Chapter 2 Specification
2.3.2 Communication Specification
Item Specification
Communication protocol EtherCAT
Support specification CoE(CANopen over EtherCAT)
Physical layer 100BASE-TX
Communication speed 100Mbps
Topology Daisy Chain
Communication cable Over Cat. 5 STP(Shielded Twisted-pair) cable
Number of maximum slave 64(Able to mapping Max. 32 drive to motion axis)
Communication period 0.5ms/1ms/2ms/4ms
Synchronous Jitter 0.5ms/1ms/2ms/4ms
Synchronous communication PDO(Process Data Object) Mapping through CoE
Non-synchronous communication SDO(Service Data Object) communication through CoE
Communication setting Set the communication configuration using XG5000
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