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16.1.2 EtherCAT Communication Specifications
Performance Specifications
Item
Communication protocol
Support service
Simultaneous
communication
Communication standard
Modulation method
Physical layer
Baud rate
Duplex mode
Transmission distance
Topology
Applicable cable
Connector
Communication cycle
Connected slave
(Note 1) (Note 2) (Note 3)
No. of connected slaves
(Note 4)
(Note 1): The A6B series and SL-VGU1-EC series are available since the FP7 MC Unit Ver.1.2. The Communication
Unit for Digital Sensor SC-GU3-03 series will be available in the near future.
(Note 2): More than one A6B or A5B should exist on a network. Also, the mixed connection of A6B and A5B can be
used.
(Note 3): Hubs for EtherCAT and Ethernet cannot be used.
(Note 4): As for Encoder, only the operation of the encoder input terminal GX-EC0211 made by Omron Corporation
has been confirmed.
Function Specifications
Item
Synchronous mode
Process data
communication (PDO
communication)
Mail box communication
(SDO communication)
(Note): The SDO communication and PDO communication by user programs are available since FP7 MC Unit Ver.1.2.
Description
EtherCAT dedicated protocol
CoE (PDO communication, SDO communication)
DC (Distributed clock)
IEC 61158 Type12
Baseband
100BASE-TX (IEEE802.3)
100M bps
Auto
Max. distance between nodes: 100 m
Daisy chain (without branch)
Shielded twisted-pair cable (Category 5e or higher)
9-pin RJ45 x 1
0.5 ms / 1 ms / 2 ms / 4 ms
Panasonic AC Servo Motor A6B/A5B series
S-LINK V Gateway Controller EtherCAT-compatible SL-VGU1-EC series
EtherCAT-compatible Communication Unit for Digital Sensor SC-GU3-03 series
AFP7MC16EC: 1 to 144
(Servo/Encoder: Max. 16, Others: 128)
AFP7MC32EC: 1 to 160
(Servo/Encoder: Max. 32, Others: 128)
AFP7MC64EC: 1 to 192
(Servo/Encoder: Max. 64, Others: 128)
Description
Free RUN mode (Asynchronous): Digital I/O slave, Analog I/O slave
DC (Distributed clock): Encoder input slave
PDO mapping by CoE
Max. number of data: IN: 5,936 bytes (2968 words), OUT: 5,936 bytes (2968
words)
CoE
- Emergency message (Received from slave devices)
- SDO request, SDO response, SDO information
Max. number of data: 2,048 bytes (1024 words)
16.1 Specifications
16-3
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