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1 Features and System Configuration
AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT® Communications User’s Manual (I586)
1-1 Outline
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1-1-2 EtherCAT
You can cut off the motor current to stop the motor based on a signal from an emergency stop button or
other safety equipment. This can be used for an emergency stop circuit that is compliant with safety
standards without using an external contactor. Even during the torque OFF status, the present position
of the motor is monitored by the control circuits to eliminate the need to perform the homing at the time
of restart.
You can use NX-series Safety Control Units to integrate safety controls in a sequence and motion con-
trol system.
The 1S-series Servo Drive supports the FSoE (Safety over EtherCAT) protocol as the safety communi-
cations. You can build the safety system that uses the STO function from the safety controller on the
EtherCAT network.
The damping control function suppresses vibration of low-rigidity machines or devices whose tips tend
to vibrate. The function can also be used for damping control for larger constructions as it supports
vibration ranging from 0.5 to 300 Hz. You can maximize the performance of the Servomotor by
adjusting the trade-off between the damping time and the amount of peak control.
The TDF control structure allows you to separately adjust the amount of overshooting and the
resistance against disturbance. With this feature, you can easily achieve high-precision positioning,
which is difficult to achieve with the one-degree-of-freedom (ODF) control.
EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE 802.3).
Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed.
A mechanism that allows sharing clock information enables high-precision synchronization control with
low communications jitter.
Safe Torque OFF (STO) Function to Ensure Safety
Achievement of Safety on EtherCAT Network
Suppressing Vibration of Low-rigidity Machines During Accelera-
tion/Deceleration
Easy Adjustment with TDF Control Structure
1-1-2 EtherCAT
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