Omron Viper 650 User Manual page 9

The eCS-ECAT is a distributed servo controller and amplifier. It is designed with a dedicated
digital signal processor to communicate, coordinate, and execute servo commands. The eV+
operating system runs on both the eCS-ECAT and the NJ-series Robot Integrated CPU Unit.
The eCS-ECAT contains power amplifiers, safety circuitry, and I/O as well as full trajectory, kin-
ematic, and servo robot control hardware. The robot motors are powered by the eCS-ECAT
amplifiers.
This robot is intended to operate within an EtherCAT network. It receives commands and con-
trol signals from the NJ-series Robot Integrated CPU Unit over an EtherCAT network.
External Control System (eCS-ECAT)
This section is about the eCS-ECAT, which is a distributed servo controller and amplifier used
with Viper robots. The eCS-ECAT has a dedicated microprocessor to communicate, coordinate,
and execute servo commands. The eCS-ECAT unit receives eV+ commands from the NJ-series
Robot Integrated CPU Unit and processes these commands to execute robots motions and other
functions.
The eCS-ECAT contains the interface panel, which provides connections for power supply, peri-
pheral devices such as the front panel, pendant, and user-supplied safety equipment, and
EtherCAT network cables. The interface panel also has switches for setting an explicit
EtherCAT Node address and operating mode as well as LEDs to indicate operating status.
Additional Information: Refer to eCS-ECAT Interface Panel on page 16 for more
information.
21861-000 Rev A
Figure 1-2. Viper 650 Robot
Viper 650 and 850 Robot with EtherCAT
Chapter 1: Introduction
9