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ID : 3071
Wiring When Using Ethernet and EtherCAT
There are the two main wiring patterns when using Ethernet and EtherCAT.
One is to use the cooperative control function not together with the selective extended joint function, and one is to use it with the selective extended joint function.
When the selective extended joint function is used, selective extended joints can also be interlocked with multiple robots.
There are two methods of controlling motors other than robots. One is to use a robot controller with the extended-joint specification. The other is to use the selective extended joint function.
When a robot controller with the extended-joint specification is used, a motor-driving amplifier does not need to be separately prepared.
When the selective extended joint function is used, a motor-driving amplifier (supporting EtherCAT Slave) needs to be separately prepared. However, this allows to control motors other than ones that can be controlled by a robot controller with the extended-joint specification.
For the wiring method for each pattern, refer to the reference in the table below.
| Selective extended joint function | Reference |
|---|---|
| Not used | Refer to "Wiring When Not Using the Selective Extended Joint Function". |
| Used | Refer to "Wiring When Using the Selective Extended Joint Function". |
ID : 3071