Omron R88M-K Series User Manual page 221

EtherCAT Communications
OMNUC G5-series AC Servomotors and Servo Drives User's Manual (with Built-in EtherCAT Communications)
This chapter describes EtherCAT communications under the assumption that the
Servo Drive is connected to a CJ1W-NC281/NC481/NC881/NCF81/NC482/
NC882 Position Control Unit.
5-1 Display Area and Settings ...........................................5-1
5-2 Structure of the CAN
Application Protocol over EtherCAT ..........................5-3
5-3 EtherCAT State Machine ..............................................5-4
5-4 Process Data Objects (PDOs)......................................5-5
5-5 Service Data Objects (SDOs).......................................5-7
5-6 Synchronization with Distributed Clocks...................5-8
5-7 Emergency Messages ..................................................5-9
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