Ethercat Communications Specifications - Omron 1 S Series User Manual

3 Specifications
3-1-3

EtherCAT Communications Specifications

The specifications of EtherCAT communications are shown below.
Item
Communications standard IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
Physical layer
Connectors
Communications media
Communications distance
Process data
Mailbox (CoE)
Synchronization mode
and communications cycle
Indicators
CiA 402 Drive Profile
3 - 8
100BASE-TX (IEEE802.3)
RJ45 × 2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Recommended media:
Twisted-pair cable, which is doubly shielded by the aluminum tape and braid, with
Ethernet Category 5 (100BASE-TX) or higher
Distance between nodes: 100 m max.
Fixed PDO mapping
Variable PDO mapping
Emergency messages, SDO requests, SDO responses, and SDO information
DC Mode (Synchronous with Sync0 Event)
Communications cycle: 125 µs, 250 µs, 500 µs, 750 µs, 1 to 10 ms (in 0.25 ms
increments)
Free Run Mode
ECAT-L/A IN (Link/Activity IN) × 1
ECAT-L/A OUT (Link/Activity OUT) × 1
ECAT-RUN × 1
ECAT-ERR × 1
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode
• Cyclic synchronous torque mode
• Profile position mode
• Profile velocity mode
• Homing mode
• Touch probe function
• Torque limit function
1S-series with Built-in EtherCAT Communications and Safety Functionality User's Manual (I621)
Specifications