Communication specifications
EtherCAT Communication specifications |
Physical layer |
100BASE-TX |
Communication connector |
RJ45 × 2(Input:CN6A;Output:CN6B) |
|
Network Architecture |
Cascade |
|
Transmission rate |
2 x 100 Mbps(Full duplex) |
|
Data frame length |
Maximum 1484 bytes |
|
Application layer protocol |
CoE:CANopen over EtherCAT |
|
Sync mode |
DC (SYNC0) (Free Run) |
|
Communication object |
SDO:Aperiodic Data Object PDO:Periodic Data Object EMCY:Emergency items |
|
Application layer specifications |
CiA402 Drive Profile |
|
Supported control modes |
Profile Position Mode(PP) Profile Velocity Mode(PV) Homing Mode(HM) Cycle Synchronized Position Mode(CSP) |