Omron G5 Series Startup Guide

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9. Appendix ECAT[i] Structure Elements
The Controller uses motion controller technology developed by Delta Tau Data Systems, Inc.,
(hereafter referred to as DT) in the U.S., however, the ECAT[i] structure elements differ from those of
DT controllers. The following table shows the major changes that have been made from DT
controllers.
Element name Description Change
ECAT[i].Enable Enabling the EtherCAT
network
0: Disable, 1: Enable (2 and 3 are not
supported.)
ECAT[i].LPIO[k] Elements of low priority
I/O module
Not supported
ECAT[i].Slave[j] Slave elements Not supported
ECAT[i].Error Error code of enabling
EtherCAT network
$ 9811000C: Invalid network
configuration
$ 9811002E: Disconnected network
connection
ECAT[i].LinkUp
ECAT[i].LPDomainOutputState
ECAT[i].LPDomainState
ECAT[i].LPRxTime
ECAT[i].LPTxTime
ECAT[i].MasterStat
ECAT[i].RTDomainOutputState
ECAT[i].RTDomainState
Status data structure
elements
Not supported

Omron G5 Series Specifications

General

Feedback	Incremental Encoder, Absolute Encoder
Communication	EtherCAT
Safety Function	STO (Safe Torque Off)
Protection Functions	Overvoltage, Undervoltage, Overcurrent
Vibration Resistance	4.9 m/s² (10 to 55 Hz)