4.2 SERVOPACK
4-9
Specifications and External Dimensions for
Σ
-V
-SD Drivers
4
(2) EtherCAT (CoE) Specifications
Connectors and Switches
Item
Specifications
EtherCAT
Communication
Applicable
Communication
Standards
IEC 61158 Type12, IEC 61800-7 CiA402 Drive Profile
Physical Layer
100BASE-TX (IEEE802.3)
Connector
CN9A (RJ45): EtherCAT Signal IN
CN9B (RJ45): EtherCAT Signal OUT
Cable
CAT5 STP 4 pair
Note: Cables are automatically recognized by the AUTO MDIX function.
SyncManager
SM0: Mailbox output, SM1: Mailbox input
SM2: Process data outputs, SM3: Process data inputs
FMMU
FMMU0: Mapped to the process data output (RxPDO) area.
FMMU1: Mapped to the process data input (TxPDO) area.
FMMU2: Mapped to the mailbox status
EtherCAT
Commands
(Data Link Layer)
APRD, FPRD, BRD, LRD, APWR, FPWR, BWR, LWR, ARMW, FRMW
Note: APRW, FPRW, BRW, LRW Commands are not supported.
Process Data
Configurations can be changed with PDO mapping.
Mailbox (CoE)
Emergency Message, SDO Request, SDO Response, SDO information
Note: TxPDO/RxPDO and Remote TxPDO/RxPDO are not supported.
Distributed Clocks
Free-run, DC mode (Can be selected.)
Supported DC cycle: 250
µ
s to 4 ms (every 250-
µ
s cycle)
Slave Information IF
256 bytes (For reading only)
LED Indicator
EtherCAT Link/Activity indicator (L/A)
×
2
EtherCAT RUN indicator (RUN)
×
1
EtherCAT ERR indicator (ERR)
×
1
CiA402 Drive Profile
• Homing mode
• Profile position mode
• Interpolated position mode
• Profile velocity mode
• Profile torque mode
• Cyclic synchronous position mode
• Cyclic synchronous velocity mode
• Cyclic synchronous torque mode
• Touch probe function
• Torque limit function
Rotary switch (S2)
Rotary switch (S1)
CN9A connector for EtherCAT (CoE) signal input
CN9B connector for EtherCAT (CoE) signal output
SERVOPACK
For details, refer to
7.2.6 EtherCAT (CoE) Communications
.
For details, refer to
8.1.1 EtherCAT Secondary Address Settings
.
