16.1 Specifications
16-3
16.1.2 EtherCAT Communication Specifications
Performance Specifications
Communication protocol EtherCAT dedicated protocol
Support service CoE (PDO communication, SDO communication)
Simultaneous
communication
DC (Distributed clock)
Communication standard IEC 61158 Type12
Modulation method Baseband
Physical layer 100BASE-TX (IEEE802.3)
Baud rate 100M bps
Duplex mode Auto
Transmission distance Max. distance between nodes: 100 m
Topology Daisy chain (without branch)
Applicable cable Shielded twisted-pair cable (Category 5e or higher)
Connector 9-pin RJ45 x 1
Communication cycle 0.5 ms / 1 ms / 2 ms / 4 ms
Connected slave
(Note 1) (Note 2) (Note 3)
Panasonic AC Servo Motor A6B/A5B series
S-LINK V Gateway Controller EtherCAT-compatible SL-VGU1-EC series
EtherCAT-compatible Communication Unit for Digital Sensor SC-GU3-03 series
No. of connected slaves
(Note 4)
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 can be
used.
(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.
Function Specifications
Item Description
Synchronous mode
Free RUN mode (Asynchronous): Digital I/O slave, Analog I/O slave
DC (Distributed clock): Encoder input slave
Process data
communication (PDO
communication)
PDO mapping by CoE
Max. number of data: IN: 5,936 bytes (2968 words), OUT: 5,936 bytes (2968
words)
Mail box communication
(SDO communication)
CoE
- Emergency message (Received from slave devices)
- SDO request, SDO response, SDO information
Max. number of data: 2,048 bytes (1024 words)
(Note): The SDO communication and PDO communication by user programs are available since FP7 MC Unit Ver.1.2.
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