Omron R88D-KN02H-ECT-L User Manual

5 - 1
5
G5-series Linear Motors/Servo Drives With Built-in EtherCAT Communications
This section describes EtherCAT communications under the assumption that the G5-
series Servo Drive is connected to the Machine Automation Controller NJ-series
(Model: NJ301-/NJ501-) or Position Control Unit (Model:
CJ1W-NC281/NC481/NC881/NCF81/NC482/NC882/NCF82).
5-1 Display Area and Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-1 Node Address Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-2 Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5-2 Structure of the CAN Application Protocol over EtherCAT . . . . . . . . . . . . 5-4
5-3 EtherCAT State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-4 Process Data Objects (PDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-4-1 PDO Mapping Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-4-2 Sync Manager PDO Assignment Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5-4-3 Fixed PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5-4-4 Variable PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5-4-5 Multiple PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5-5 Service Data Objects (SDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5-6 Synchronization with Distributed Clocks . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5-7 Emergency Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5-8 Sysmac Device Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15
EtherCAT Communications

Omron R88D-KN02H-ECT-L Specifications

General

Brand	Omron
Model	R88D-KN02H-ECT-L
Category	Servo Drives
Language	English