Omron CK3M Seres Hardware User Manual page 56

3 Configuration Units
Item
CK3W-AX
Unit
Motion con-
trol
EtherCAT
Communications protocol
Baud rate
Physical layer
Topology
EtherCAT
communica-
Transmission media
tions speci-
Transmission distance
fications
Maximum number of
slaves
Range of node addresses
that can be set
3-4
CK3M-
CPU101
Maximum 16 axes (when using four CK3W-AX Units)
number of
controlled
axes
Speed and torque control using analog output
Control
Stepper motor control using pulse output
method
Commutation control using DirectPWM output
Maximum None
number of
controlled
axes
Communi-
cations cy-
cle
Control
method
None
CK3M/CK5M Series Programmable Multi-Axis Controller Hardware User's Manual (O036)
CK3M- CK3M-
CPU111 CPU121
4 axes 8 axes
250 µs min.
Issuing control commands using EtherCAT
EtherCAT protocol
100 Mbps
100BASE-TX (IEEE 802.3)
Line, daisy chain, branching, and ring
Twisted-pair cable of category 5 or higher (double-shielded
cable with aluminum tape and braiding)
Distance between nodes: 100 m or less
32
1 to 32
CK5M- CK5M-
CPU131 CPU141
32 axes (when using eight
CK3W-AX Unit Units)
16 axes 32 axes
62.5μs min.
*1
64
1 to 64