3-5
3 Specifications
G5 Series AC Servo Drives With Built-in EtherCAT Communications, Linear Motor Type
3-1 Ser
v
o Drive Sp
ecification
s
3
3-1-3 Ethe
rCA
T
Comm
unications
S
p
ecifications
The EtherCAT twisted-pair cable is connected to a shielded connector.
•
Electrical characteristics: Conforms to IEEE 802.3.
•
Connector structure: RJ45 8-pin modular connector (conforms to ISO 8877)
3-1-3
EtherCAT Communications Specifications
Item
Specification
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
Ethernet Category 5 (100BASE-TX) or higher (twisted-pair cable with double,
aluminum tape and braided shielding) is recommended.
Communications distance
Distance between nodes: 100 m max.
Process data
Fixed PDO mapping
Mailbox (CoE)
Emergency messages, SDO requests, SDO responses, and SDO information
Distributed clock (DC)
Synchronization in DC mode.
DC cycle: 250
s, 500
s, 1 ms, 2 ms, 4 ms
Indicators
L/A IN (Link/Activity IN)
1
L/A OUT (Link/Activity OUT)
1
RUN
1
ERR
1
CiA402 Drive Profile
•
Cyclic synchronous position mode
•
Cyclic synchronous velocity mode
•
Cyclic synchronous torque mode
•
Profile potion mode
•
Homing mode
•
Touch probe function (Latch function)
•
Torque limit function (Force limit function)
3-1-4
EtherCAT Communications Connector Specifications (RJ45)
Pin No.
Signal name
Abbreviation
Direction
1
Send data +
TD+
Output
2
Send data
TD
Output
3
Receive data +
RD+
Input
4
Not used
5
Not used
6
Receive data
RD
Input
7
Not used
8
Not used
Connector hood
Protective ground
FG