Omron Viper 650 - Ethercat Communications Specifications

128 Viper 650 and 850 Robot with EtherCAT 21861-000 Rev A
8.9 EtherCAT Communications Specifications
EtherCATcommunications specifications are provided in the table below.
Figure 8-21. EtherCATCommunicationsSpecification Description
Item Specification
Synchronization DC(Distributed Clock)
Physical Layer 100BASE-TX
Modulation Baseband
Baud rate 100 Mbits/s
Topology
1
Line, daisy chain, and branching
Transmission media Twisted-pair cable of category 5 or higher
Recommended cable: straight, double-shielded cable with
aluminum tape and braiding
Maximum transmission distance
between nodes
100 m
Communications cycle 2 ms, 4 ms
1
Wiring in a ring configuration is not possible.