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3 Specifications
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
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S
e
rv
o Drive Sp
ecificat
ion
s
3
3-
1-3 Ethe
rCAT
Communications Specifica
tions
The EtherCAT twisted-pair cable is connected to a shielded connector.
•
Electrical characteristics: Conform to IEEE 802.3.
•
Connector structure: RJ45 8-pin modular connector (conforms to ISO 8877)
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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
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 µs, 500 µs, 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
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Cyclic synchronous position mode
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Cyclic synchronous velocity mode
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Cyclic synchronous torque mode
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Profile position mode
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Homing mode
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Touch probe function (Latch function)
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Torque limit function (Force limit function)
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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
–
