128
Viper 650 and 850 Robot with EtherCAT
21861-000 Rev A
8.9 EtherCAT Communications Specifications
EtherCAT communications specifications are provided in the table below.
Figure 8-21. EtherCAT Communications Specification Description
Item
Specification
Synchronization
DC (Distributed Clock)
Physical Layer
100BASE-TX
Modulation
Baseband
Baud rate
100 Mbits/s
Topology
1
Line, daisy chain, and branching
Transmission media
Twisted-pair cable of category 5 or higher
Recommended cable: straight, double-shielded cable with
aluminum tape and braiding
Maximum transmission distance
between nodes
100 m
Communications cycle
2 ms, 4 ms
1
Wiring in a ring configuration is not possible.