Mitsubishi Electric MELSERVO-J4 Instruction Manual page 13

1. EtherCAT COMMUNICATION
(3) Synchronous mode (DC mode) /asynchronous mode (Free-run mode) in each control mode
Since the cyclic synchronous position mode, cyclic synchronous velocity mode, and cyclic torque mode
are designed under the assumption that these modes are used in the cyclic synchronous mode with the
DC (Distributed Clock) function specified in the EtherCAT standard, use these modes in the
synchronous mode (DC mode). When setting the synchronous mode, set Sync0 and Sync1 as follows.
Cycle time
Shift time
The profile position mode, profile velocity mode, profile torque mode, and homing mode can be used in
both the synchronous mode and asynchronous mode.
(4) Compliance with standards
MR-J4-_TM_ servo amplifiers comply with the following standards. Refer to the following standards for
the description not written in this Instruction Manual.
ETG.1000.2 EtherCAT Specificaation – Part2
Physical Layer service definition and protocol specification
ETG.1000.3 EtherCAT Specificaation – Part3
Data Link Layer service definition
ETG.1000.4 EtherCAT Specificaation – Part4
Data Link Layer protocol specification
ETG.1000.5 EtherCAT Specificaation – Part5
Application Layer service definition
ETG.1000.6 EtherCAT Specificaation – Part6
Application Layer protocol specification
ETG.1020 EtherCAT Protocol Enhancements
ETG.1300 EtherCAT Indicator and Labeling Specification
ETG.2000 EtherCAT Slave Information (ESI) Specification
ETG.6010 Implementation Directive for CiA 402 Drive Profile
IEC 61800-7-201 Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
Adjustable speed electrical power drive systems –
Part 7-301: Generic interface and use of profiles for power drive systems –
Mapping of profile type 1 to network technologies
0.25 ms (When the PDO communication cycle is set to 0.25 ms)
0.5 ms (When the PDO communication cycle is set to 0.5 ms)
1 ms (When the PDO communication cycle is set to 1 ms)
2 ms (When the PDO communication cycle is set to 2 ms)
Standards
1 - 2
Sync0
0
Sync1
Unused
-
Version
V1.0.3
V1.0.3
V1.0.3
V1.0.3
V1.0.3
V1.1.0
V1.1.0
V1.0.7
V1.1.0
Edition 1.0
Edition 1.0