3 Specifications
3 - 8
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
The specifications of EtherCAT communications are shown below.
3-1-3
EtherCAT Communications Specifications
Item
Specifications
Communications standard IEC 61158 Type 12, IEC 61800-7 CiA 402 Drive Profile
Physical layer
100BASE-TX (IEEE802.3)
Connectors
RJ45 × 2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Communications media
Recommended media:
Twisted-pair cable, which is doubly shielded by the aluminum tape and braid, with
Ethernet Category 5 (100BASE-TX) or higher
Communications distance
Distance between nodes: 100 m max.
Process data
Fixed PDO mapping
Variable PDO mapping
Mailbox (CoE)
Emergency messages, SDO requests, SDO responses, and SDO information
Synchronization mode
and communications cycle
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
Indicators
ECAT-L/A IN (Link/Activity IN) × 1
ECAT-L/A OUT (Link/Activity OUT) × 1
ECAT-RUN × 1
ECAT-ERR × 1
CiA 402 Drive Profile
• 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
Summary of Contents for R88D-1SN01H-ECT
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