W
ATLOW
®
EZ-ZONE
®
RMZ4
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18
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E
THER
CAT
®
A
DAPTER
Some configuration data such as sensor type, cycle time, input and output scaling are considered configuration
data by EtherCAT®. It is not part of the EtherCAT®’s fast I/O cycle. These values are written out to each of the
RM modules on power-up or value change to ensure the I/O configuration matches the SDO values. Local
copies in the EtherCAT® module are maintained for immediate access even though a proxy write is required on
change. The configuration values changed will take effect within 200ms.
The RMZ4 models individual control loops as modules or slots as described by the EtherCAT® Modular Device
Profile. Each control loop is mapped to a module or slot. This is a logical association. The EtherCAT® loop
module does not map one to one with physical RM modules. The configuration section describes how to map
the I/O in each RM physical module with the appropriate control loop. Any of the RM family with IO may be
used in conjunction with the RMZ. This includes RMC, RMH, RMS, RML, and RME.
Details and specifications for EtherCAT® are available at:
http://www.ethercat.org/
FIGURE 8 – CONNECTIONS AND TOPOLOGY
