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Introduction
3.5 Remote Expansion Module (EtherCAT)
3.5.1 EtherCAT Communication Module
Two interface modules (AM600-RTU-ECT and AM600-RTU-ECTA) that support EtherCAT communication
are provided. The AM600-RTU-ECTA module supports automatic scan. The detailed specications are as
follows:
1) Basic specications
Item Specications
Power supply voltage
24 VDC (20.4 VDC to 28.8 VDC) (–15% to +20%)
,
which can be connected from
an external power supply.
Protocol for communication with
CPU module
EtherCAT
,
100 Mbit/s network speed
EtherCAT communication baud rate
Maximum 100 Mbit/s to support the EtherCAT communication baud rate of
the master station
Network port/network cable
Standard Ethernet interface and standard Ethernet cable (Cat5e network
cable)
Station number range
1 to 125. The internal address is automatically arranged in the network bus
connection sequence.
Expandability of subsequent I/O
modules
A maximum of 16 I/O expansion modules can be connected. The number and
conguration vary depending on power consumption of the modules.
The following table lists the performance indicators:
Item Specications
Communication protocol EtherCAT
Service supported CoE (PDO
,
SDO)
Minimum synchronization period of
6-axis cam
1250 μs (TYP)
Synchronization mode The servo uses a DC distributed clock. I/O uses I/O synchronization.
Physical layer 100BASE-TX
Baud rate 100 Mbit/s (100Base-TX)
Duplex mode Full duplex
Topological structure Linear topological structure
Transmission medium For the network cable
,
see
"Chapter 5 Wiring"
.
Transmission distance Less than 100 M between two nodes
Number of slaves The maximum number of slave stations is 125.
EtherCAT frame length 44 bytes to 1498 bytes
Process data A single Ethernet frame contains a maximum of 1486 bytes.
Synchronization jitter of two slaves < 1 μs
Refresh time
1000 digital inputs and outputs: approximately 30 μs; 32 servo axes: approxi-
mately 100 μs
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