|
EtherCAT
Communication specifications |
Physical layer
|
100BASE-TX
|
|
Communication
connector |
RJ45 × 2 (input: CN6A; output: CN6B)
|
|
|
Network architecture
|
Serial connection
|
|
|
Transmission rate
|
2 x 1 Mbps (full-duplex)
|
|
|
Length of data
frame |
Max. 1484 bytes
|
|
|
Application layer
protocol |
CoE: CANopen over EtherCAT
|
|
|
Synchronous
mode |
DC synchronous mode (SYNC0)
Asynchronous mode (Free Run) |
|
|
Communication
object |
SDO: aperiodic data object
PDO: periodic data object EMCY: emergency object |
|
|
Application layer
specification |
CiA402 Drive Profile
|
|
|
Supported control
modes |
Profile Position Mode(PP)
Profile Velocity Mode(PV) Homing Mode(HM) Cycle Synchronized Position Mode(CSP) |
|
Driver Model
|
OL3-E57H
|
CL3-E57H
|
OL3-E86H
|
CL3-E86H
|
|
Matched Motor
|
42/57/60
|
42/57/60
|
86
|
86
|
|
Supply Voltage
|
24～48V DC
|
24～48V DC
|
24～80V AC
|
24～80V AC
|
|
Output Current
|
5A
|
5A
|
8A
|
8A
|
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