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8-3-5 EtherCAT Communication
(1) ESI document
When using EtherCAT communication, the user can configure EtherCAT controller through
EtherCAT slave information file (ESI) provided by TECO. ESI file consists of all object information
JSDG2S-E servo driver can provide for using and related settings.
(2) Communication specification
Items Specification
Communication standard
IEC 61158 Type 12,
IEC 61800-7 CiA402 Drive Profile
Physical layer 100BASE-TX (IEEE802.3)
Transmission cable Ethernet Category 5 (100BASE-TX) or higher
Transmission distance Distance between nodes: 100 m max
Port
RJ45 × 2 (shielded)
ECAT IN: EtherCAT input
ECAT OUT: EtherCAT output
Mailbox(CoE) SDO requests, SDO responses
Process data PDO mapping(variable)
CiA402
Profile Position (PP)
Profile Velocity (PV)
Profile torque mode(PT)
Homing Mode(HM)
Interpolated position mode(IP)
Cyclic Synchronous Position(CSP)
Cyclic Synchronous Veocity(CSV)
Cyclic Synchronous Torque(CST)
Distributed clock (DC)
Synchronization in DC mode:
CSP: ≥ (200μs * 4)
CSV: ≥ (200μs * 2)
CST: ≥ (200μs * 1)
Applicable DC cycles: 200 μs to 4 ms in 200μs increments
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