Unit Functions and Restrictions
1-4
1.2 Restrictions
1.2.1 Supported Functions
FP7 MC Unit is designed in conformity with the specifications and standard of EtherCAT,
however, FP7 MC Unit supports the items listed in the following table only.
Comparison with EtherCAT specifications
Supported items by FP7 MC Unit
Transmission
system
100BASE-TX Same as on the left.
Baud rate 100 Mbps Same as on the left.
Transmission
distance
Max. 100 m between nodes Same as on the left.
Transmission cable STP cable, category 5/5e Always use a cable of category 5e or higher.
Topology Line, Daisy chain, Star, Tree Daisy chain (without branch)
Connected slave
(Note 1) (Note 2)
(Note 3)
EtherCAT-compatible devices
Panasonic AC Servo Motor A6B/A5B series
S-LINK V Gateway Controller SL-VGU1-EC series
Communication Unit for Digital Sensor SC-GU3-03
series
No. of connected
slaves
(Note 4)
65535
AFP7MC16EC: 1 to 144
(Servo/Encoder: Max. 16, Others: 128)
AFP7MC32EC: 1 to 160
(Servo/Encoder: Max. 32, Others: 128)
AFP7MC64EC: 1 to 192
(Servo/Encoder: Max. 64, Others: 128)
(Note 1): The A6B series and SL-VGU1-EC series are available since the FP7 MC Unit Ver.1.2. The Communication
Unit for Digital Sensor SC-GU3-03 series will be available in the near future.
(Note 2): More than one A6B or A5B should exist on a network. Also, the mixed connection of A6B and A5B is
available.
(Note 3): Hubs for EtherCAT and Ethernet cannot be used.
(Note 4): As for Encoder, only the operation of the encoder input terminal GX-EC0211 made by Omron Corporation
has been confirmed.
Control mode
Control mode of EtherCAT
Supported function
of A6B/A5B
Supported items by FP7 MC Unit
Cyclic position control mode (csp) Supported
The cyclic position control mode (csp) is used
when using it in combination with FP7 MC
Unit.
Profile position control mode (pp) Unsupported
Only the home return position control mode
(Method33/34/37) is supported. The cyclic
position control mode (csp) is used when
using it in combination with FP7 MC Unit.
Home return position control
mode (hm)
Supported
Interpolation position control
mode (ip)
Unsupported
When using it in combination with FP7 MC
Unit, FP7 MC Unit performs the interpolation
control.
Cyclic speed control mode (csv)
Supported Unsupported
Profile speed control mode (pv)
Cyclic torque control mode (cst)
Profile torque control mode (tq)
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