Omron TJ2-MC02 Hardware Reference Manual page 33

System philosophy
The most restrictive rules are given in the tables below. For each unit the
table lists the maximum number of devices the unit can control at the given
SERVO_PERIOD setting.
/i
1
SERVO_PERIOD TJ2-MC64
3
0.25 ms 16 axes
0.5 ms 32 axes
1.0 ms 64 axes
2.0 ms 64 axes
1. Total number of axes: real + virtual
2. Maximum number of real axes. For maximum number of virtual axes see
TJ2-MC64
3. MECHATROLINK-II does not support 0.25 ms
Servo period rules EtherCAT
The number of axes with an EtherCAT network is restricted by the
SERVO_PERIOD system parameter, the type of axis and the type of Ether-
CAT master unit.
There are 3 types of EtherCAT devices that are supported by the TJ2-MC__
units:
• Devices with feedback: Servo Drives
The TJ2-MC__ considers Servo Drives as axes. Maximum number
restricted by the SERVO_PERIOD and EtherCAT master type.
• Devices without feedback: Inverters
The TJ2-MC__ considers EtherCAT Inverters as axes, but the maximum
number is not restricted by the EtherCAT master type. Maximum number
restricted by the SERVO_PERIOD.
• I/O units
The TJ2-MC__ does not consider I/O units as axes.
HARDWARE REFERENCE MANUAL
2
TJ2-MC02 TJ1-ML16 TJ1-ML04
3 axes N/A N/A
3 axes 4 devices 4 devices
3 axes 8 devices 4 devices
3 axes 16 devices 4 devices
28