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2
EtherCAT COMMUNICATION
2.1
Communication specifications
The communication specifications are shown in the following table.
Item
EtherCAT communication specifications
Physical layer
Communication connector
Communication
Cable type
cable
Standard
Connector
Network topology
Communication speed
Transmission distance between stations
Number of connection nodes
SDO (Mailbox) communication
PDO (Process Data) communication
PDO mapping
Distributed clock (DC)
Explicit Device Identification
LED display
*1 There are restrictions on the communication cycle depending on the function used. For details, refer to "Function restrictions" in the
following manual.
MR-J5-G-N1/MR-J5W-G-N1 User's Manual (Introduction)
2 EtherCAT COMMUNICATION
8
2.1 Communication specifications
Description
IEC 61158 Type12
CAN application protocol over EtherCAT (CoE), IEC
61800-7 CiA 402 Drive Profile
100BASE-TX (IEEE802.3)
Two RJ45 ports (IN port and OUT port)
Category 5e or higher, (double shielded/STP)
straight cable
One of the following standards must be met.
• IEEE802.3 100BASE-TX
• ANSI/TIA/EIA-568-B (Category 5e)
RJ-45 shielded connector
Line, Tree, Star, or Hybrid of these three topology
types
100 Mbps (Full duplex)
Max. 100 m
Max. 65535
Asynchronous communication
Sending/Receiving: 1 channel each
*1
Cycle time: Select from 0.125 ms, 0.25 ms, 0.5 ms, 1
ms, 2 ms, 4 ms, or 8 ms.
Receive PDO (RxPDO): 1 channel
Send PDO (TxPDO): 1 channel
The servo amplifiers support variable PDO mapping.
DC mode or Free-run mode can be selected.
Supported
RUN, ERROR, LINK/Activity (IN, OUT)
Remark
The number of connection nodes for actual use varies
depending on the specifications of the master controller.
Maximum data size in sending/receiving:
1486 bytes per channel
Multi-axis servo amplifiers do not support a
communication cycle of 0.125 ms.
• Maximum sizes of RxPDO and TxPDO
Page 17 Variable PDO mapping
• Maximum number of object mappings
MR-J5-_G_-_N1: 32
MR-J5W2-_G-N1: 64
MR-J5W3-_G-N1: 96
Sync0: Set the same cycle as the PDO communication
cycle
Sync1: Not used
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