Ethercat Communications Specifications - Omron R88M-K User Manual

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EtherCAT Communications Specifications

Item
Communications standard
Physical layer
Connectors
Communications media
Communications distance
Process data
Mailbox (CoE)
Distributed clock (DC)
Indicators
CiA402 Drive Profile
G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
100BASE-TX (IEEE802.3)
RJ45 × 2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double,
aluminum tape and braided shielding) is recommended.
Distance between nodes: 100 m max.
Fixed PDO mapping
Emergency messages, SDO requests, SDO responses, and SDO information
Synchronization in DC mode.
DC cycle: 250 µs, 500 µs, 1 ms, 2 ms, 4 ms
L/A IN (Link/Activity IN) × 1
L/A OUT (Link/Activity OUT) × 1
RUN × 1
ERR × 1
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode
• Cyclic synchronous torque mode
• Profile potion mode
• Homing mode
• Touch probe function (Latch function)
• Torque limit function
3 Specifications
Specification
3
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