1-3
1 Features and System Configuration
G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications)
1-1 Outline
1
1-1-2 What Is 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 an origin search when
restarting.
The damping control function suppresses vibration of low-rigidity mechanisms or devices whose tips
tend to vibrate.
Two damping filters are provided to enable switching the damping frequency automatically according to
the rotation direction and also via an external signal. In addition, the settings can be made easily by
setting the damping frequency and filter values.
EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE 802.3).
Each node achieves a short 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.
EtherCAT is a registered trademark of Beckhoff Automation Gmbh (Germany). EtherCAT technology is
protected by patents.
G5-series Servo Drives with Built-in EtherCAT Communications use the object dictionary for CAN
application protocol over EtherCAT (CoE) as a base for communications.
An object is a special data structure inside a device that consists of data, parameters, and methods.
An object dictionary is a data structure that describes the data type objects, communications objects,
and application objects.
All objects are assigned four-digit hexadecimal numbers in the areas shown in the following table.
*1 G5-series Servo Drive parameters (Pn) are allocated to objects 3000 to 3999 hex. Indexes 3 hex
correspond to G5-series Servo Drive parameters Pn. For example, object 3504 hex is the same as
parameter Pn504.
Pn uses decimal numbers but object 3 is a hexadecimal number.
For details on servo parameters, refer to Chapter 9 Details on Servo Parameter Objects.
Safe Torque OFF (STO) Function to Ensure Safety
Suppressing Vibration of Low-rigidity Mechanisms during
Acceleration/Deceleration
1-1-2 What Is EtherCAT?
1-1-3 Object Dictionary
Indexes Area Contents
0000 to 0FFF hex Data Type Area Definitions of data types.
1000 to 1FFF hex CoE Communications Area Definitions of variables that can be used by all servers for
designated communications.
2000 to 2FFF hex Manufacturer Specific Area 1 Variables with common definitions for all OMRON
products.
3000 to 5FFF hex Manufacturer Specific Area 2 Variables with common definitions for all G5-series Servo
Drives (servo parameters).
*1
6000 to 9FFF hex Device Profile Area Variables defined in the Servo Drive's CiA402 drive profile.
A000 to FFFF hex Reserved Area Area reserved for future use.
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