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ID : 2953

Hardware Connection Structure

Connect to the robot controller that is built-in EtherCAT master board (selective extended joint) as follows:
Connect to the EtherCAT interface (RJ-45 connector) on the LED side (the left of the following figure) of EtherCAT master board (selective extended joint) with a twisted-pair cable that is more than category-5. For how to connect to an EtherCAT Slave supported amplifier, refer to the manual of its Amp maker. For EtherCAT Slave supported amplifiers that correspond to selective extended joint function, refer to the following table.
For the connection order for an extended joint amplifier, a connector whose joint number is smaller and is on the left side of extended joint board (LED side) should be connected in turn. If the connection order is wrong, the communication is unable to setup, and results in an error.

Do NOT connect a cable to the right side-RJ-45 connector on the EtherCAT master board (selective extended joint) as shown in the figure below.

When Connecting with 2 EtherCAT Slave Supported Amplifiers

EtherCAT Slave Supported Amplifier

Manufacturer Supported amplifier
SANYO DENKI CO.,LTD. SANMOTION R ADVANCED MODEL 100 VAC 200 VAC type
(Supported High speed communication type (Model: RS2*****H**) only. Excluding Linear amplifier)
YASKAWA Electric Corporation SGD7S EtherCAT 100 VAC 200 VAC 400 VAC type
(Model: SGD7S-****A0********)
(Excluding Linear, Direct drive)

Delta Electronics, Inc.

(Available for Ver.2.5.* or higher)

ASDA-A2-E series (Model: ASD-A2-****-E)

(Excluding Linear amplifier)

Panasonic Corporation

(Available for Ver.2.5.* or higher)
  • MINAS A5B (Model: M*DH*****B**) series (Excluding M-frame)
  • MINAS A6BE A6BF (Model: M*DL***BE*** or M*DL***BF***) series
  • MINAS A6BL A6BM (Model: M*DL***BL*** or M*DL***BM***) series

Linear motor is available for Ver.2.9.* or higher. Direct drive is not available.

When you use a linear motor, the pitch length of encoder should be used 1μm or more (Example: 5μm) and the maximum speed should be used within 10m/s.

If it exceeds this range, please contact our sales representatives.

HIWIN

(Available for Ver.2.7.* or higher)
  • D1 series (EtherCAT supported models)
  • D2 series (Model: D2*-****-E-**)

(Excluding D1N series. Available to Linear amplifier)

Note: For asterisks (*), any letters that stand for the power capacity, encoder type, and other information are entered.

For selective extended joint, the multi-axis servo amplifier is not supported.

ID : 2953

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