YASKAWA UAK series User Manual page 83

(2) EtherCAT (CoE) Specifications
Item
Applicable
Communication
Standards
Physical Layer
Connector
Cable
SyncManager
FMMU
EtherCAT
Communication
EtherCAT
Commands
(Data Link Layer)
Process Data
Mailbox (CoE)
Distributed Clocks
Slave Information IF 256 bytes (For reading only)
LED Indicator
CiA402 Drive Profile
Connectors and Switches
SERVOPACK
IEC 61158 Type12, IEC 61800-7 CiA402 Drive Profile
100BASE-TX (IEEE802.3)
CN9A (RJ45): EtherCAT Signal IN
CN9B (RJ45): EtherCAT Signal OUT
CAT5 STP 4 pair
Note: Cables are automatically recognized by the AUTO MDIX function.
SM0: Mailbox output, SM1: Mailbox input
SM2: Process data outputs, SM3: Process data inputs
FMMU0: Mapped to the process data output (RxPDO) area.
FMMU1: Mapped to the process data input (TxPDO) area.
FMMU2: Mapped to the mailbox status
APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, FRMW
Note: APRW, FPRW, BRW, LRW Commands are not supported.
Configurations can be changed with PDO mapping.
Emergency Message, SDO Request, SDO Response, SDO information
Note: TxPDO/RxPDO and Remote TxPDO/RxPDO are not supported.
Free-run, DC mode (Can be selected.)
Supported DC cycle: 250 µs to 4 ms (every 250-µs cycle)
EtherCAT Link/Activity indicator (L/A) × 2
EtherCAT RUN indicator (RUN) × 1
EtherCAT ERR indicator (ERR) × 1
• Homing mode
• Profile position mode
• Interpolated position mode
• Profile velocity mode
• Profile torque mode
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode
• Cyclic synchronous torque mode
• Touch probe function
• Torque limit function
CN9A connector for EtherCAT (CoE) signal input
CN9B connector for EtherCAT (CoE) signal output
For details, refer to 7.2.6 EtherCAT (CoE) Communications.
Rotary switch (S1)
Rotary switch (S2)
For details, refer to 8.1.1 EtherCAT Secondary Address Settings.
4.2 SERVOPACK
Specifications
4
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