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EtherCAT Communications This chapter describes EtherCAT communications under the assumption that the Servo Drive is connected to a CJ1W-NC281/NC481/NC881/NCF81/NC482/ NC882 Position Control Unit. 5-1 Display Area and Settings ...........................................5-1 5-2 Structure of the CAN Application Protocol over EtherCAT ..........................5-3 5-3 EtherCAT State Machine ..............................................5-4 5-4 Process Data Objects (PDOs)......................................5-5 5-5 Service Data Objects (SDOs).......................................5-7 5-6 Synchronization with Distributed Clocks...................5-8 5-7 Emergency Messages ..................................................5-9 OMNUC G5-series AC Servomotors and Servo Drives User’s Manual (with Built-in EtherCAT Communications) 5
