第2版【MJ0309-2B】
Contents
1.2.
3. 2
4. 2
5. EtherCAT R Beckoff Automation GmbH Etherca Etherca ii 1 9 1 11 2 EtherCAT 12 3 XSEL R S RX SX RXD SXD 13 3 1 saa 13 3 2 tt 14 3 3 EtherCAT ttt 15 3 3 1 rr 15 3 3 2 LED 16 3 4 17 3 4 1
6. EtherCA TE No 4 1
7. 26 9 11
8. 2 24V
9. 2 1 EtherCA TE
10. Etherca Etherca 1 Distribution Clock EtherCAT Distribution Clock Etherca Etherca 1 EtherCAT R IEEE802 3 Ethernet 1 XSEL R S RX SX RXD SXD EtherCAT
11. 2
12. 3 AC 0 5mm AWG20 1000 EtherCA 4 2
13. ON AC ErG OFF 24V
14. 33 34 2012 09 2012 11 EtherCA TE 2 No 226 MJ0309 2B 2014 12 424 0103 105 0014 530 0002 460 0008 020 0062 980 0802 940 0082 321 0953 360 0847 300 1207 190 0023 243 0014 390 0852 400 0031 424 0103 430 0936 446 0056 920 0024 612 8401 673 0898 700 0973 730 0802 790 0905 812 0013 870 0823 862 0954 Quality and Innovation 577 1 3 24 7 4F 2
15. 13 5 4 195 EtherCA TE EtherCAT XSEL R S RX SX RXD SXD 3 2 IF 1 EtherCAT R EC 5 0 0 0 5 RXD EC SXD EC XSEL XSEL XSEL XSEL XSEL XSEL co XSEL R S RX SX RXD SXD ra 6669 55 SW 14 Etherca 3 3 EtherCAT 3 3 1 EtherCAT OUT Link Activity EtherCAT IN Link Activity XS TXYIXS XY S A 1ASX XS TXYIXS XY S A 1ASX EtherCA TE 3 3 2 LED 2 EtherCAT OPERATION 1 EtherCAT PRE OPERATION
16. 2 1t
17. RUN 2 0 EtherCAT EtherCAT INIT OFF ERR gt 53 OFF Link OFF ON 1 blinking ms ms ON 2 single 200 1000 200 OFF ON double 200 200 200 1000 50 TS 4 flickering 16 EthercA 3 4 3 4 1 PLC EtherCAT 10 lt Ethernet Ethernet Ethernet Ethernet 5e 100m
18. 24V DO DO 1024 O 10 13 0 30 Etherca LED XSEL PLC ED5D EtherCAT No 18 0 EtherCAT 4 No A6B FBRS FBRSs No 678 I O
19. EtherCA TE 2 0 80 2 i LU 9800528800259 9 0 15 300 315 EtherCAT 0 1 1 0 299 3 300 599 1 1 1 IO 2 O2 1 O1 2 1000 3999 4000 6999 2 O IA 17O No 1 599 0 8 1 17O No
20. C ISO10218 JIS B 8433 59 36 31 32 150 EtherCA TE 104
21. 1N EtherCAT Distribution Clock XSEL EtherCAT EtherCAT PLC EtherCAT R IN OUT IN OUT XSEL R S RX SX RXD SXD EC EtherCAT IN OUT 11 JVOJ9 8 2 EtherCAT EtherCA TE CoE CAN over Ethernet I O IS 0 65535 IT 100Mbps
22. XSEL D5D A6B No 16 23 100 640001 120 1 640001 FFFFFFFF msec 16 23 64 100 100ms 100x100ms 10sec 10sec 9 EtherCAT No 120 28 31 0 28 31 1 0 120 1 0001H FFFFFFFFy 0 1 20 3 5 2 1 EtherCAT EtherCAT O 16 IO
23. http www iai robot co jp Head 2690 W 2371 Street Torrance 90505 TEL 310 891 6015 FAX 310 891 0815 Chicago Office 110 East State Parkway Schaumburg IL 60173 TEL 847 908 1400 FAX 847 908 1399 Atlanta Office 1220 Kennestone Circle Suite 108 Marietta GA 30066 TEL 678 354 9470 FAX 678 354 9471 website www intelligentactuator com GmbH Ober der ROth 4 02 65824 Schwalbach am Taunus Germany TEL 06196 88950 FAX 06196 889524 Shanghai Co Ltd SHANGHAI JIAHUA BUSINESS CENTER 8 303 808 Shanghai 200030 China TEL 021 6448 4753 FAX 021 6448 3992 website www iai robot com Copyright 2014 IAI Corporation rights reserved 14 12 000
24. 2 XSEL R S RX SX RXD SXD TDDT CD DVD
25. 64000 64q 10sec 120 1 28 31 UF 1 R 0 1 0 3 I F 1 6 EtherCAT 4 lt 7 58 225 6 00 37 06 2 0 1 CC Link 2 DeviceNet 3 PROFIBUS IF 1 0 17 85535 EtherCAT 0 65535 IF 231 2 0 0 256 8 I F 232 2 0 0 256 8 0 8 233 2 4 1000 3999 1000 8 No 1 IF 300 8 300 234 2 2 34 0 NAS 6999 2 0 PLC
26. No 2 9 No 1 No 8 14 17 8 I O 2 9 14 17 I O No 2 D75 E1F E20 E21 9 14 17 E8F 31 4 2 EtherCAT EtherCA O 0 1
27. 1 0 1 32 Etherca No 0 3 IF 1 0 1 CC Link 2 DeviceNet 3 ROFIBUS 4 5 225 6 EtherCAT 4 HEX 7 EtherNetIP 4 7 IF 2 0 5 1 CC Link 2 DeviceNet 3 PROFIBUS 4 7 CC Link 1 64 IF 1 DeviceNet 0 63 228 6095 PROFIBUS 0 125 EtherCAT CC Link 0 156kbps 1 625kbps 2 2 5Mbps 3 5Mbps 4 10Mbps DeviceNet 0 125kbps 1 250kbps 2 500kbps 227 1 0 0 9 _ EtherNetIP 0 1 10Mbps 2 10Mbps 3 100Mbps 4 100Mbps PROFIBUS EtherCAT
28. I F 1 300 8 24 300 599 17 4000 2585 300 4000 8 4000 6999 No IF 1 0 IF 1 18 1 0 5 1 1 16 23 64000 64q 10sec 120 1 1 28 31 UF 1 R 0 1 0 lt 3 IF 1 6 EtherCAT 4 lt 7 58 225 6 00 37 06 2 0 1 CC Link 2 DeviceNet 3 PROFIBUS IF 1 0 22 17 85535 EtherCAT 065535 I F 231 2 0 0 256 8 I F 232 2 0 0 256 8
29. 235 1 0 5 0 1 22 2 EtherCAT 1 EtherCAT 256 I O 48 EtherCA TE MM 1000 1255 4000 4255 0 47 300 347 EtherCAT O No 0 1 1 No 0 299 No 300599 1 1 O1 IO 2 O2 1 0 0 1 0 1 1 01 2
30. No 1000 3999 No 40006999 2 0 8 2 No 17599 0 1 300 8 No 300 599 300 0 1 3 09 2 24V O 3 24V 14 256 0 256 256 8 15 256 0256 256 8 IF 1 0 8 0 299 16 1000 gt 15 1000 1000 8 88 1000 3999 No 23 XS TXYIXS XY S A 1ASX XS TXYIXS XY S A 1ASX EtherCA No IF 1 300 8 300 599 17 4000 4000 4000 8 4000 6999 No
31. No 0 299 No 300599 1 1 0 0 20 IO 1 U O1 IO 10 01 1000 3999 30 4000 6999 IF 2 O IA IF 1 _ 256 0 256 8 15 1 256 0 256 8 2 0 8 0 299 16 1000 1 3999 1000 8 1000 3999 5 300 8 300 599 17 a 4000 1 6999 4000 8 88 4000 6999 IF 1 18 1 0 5 1 0 3 4 11 IF 1 10ms 12 15 640001 _ 16 23 120 1 H FFFFFFF 24 27 28 31
32. 150 4 150 3 150 3 2 150 3 150 3 36 31 151 150 5 150 5 150 5 150 5 NSK 150 5 36 32 51 340 1 80W 2 X Y Z 300mm 300mm 3 Z 300
33. IF 1 2 1 O1 1 0 0 1 20102 No 1000 3999 No 4000 6999 IF 2 UO IA IO 10 01 1 0 299 300 599 0 0 299 No 300 599 No 1000 3999 No 4000 6999 5 14 15 8 UF 1 _ 14 256 0 256 8 1 15 256 0 256 8
34. No 225 1 6 EtherCAT No 225 IF 6 Op 0 3 IF 1 FFFFFFFF 6 EtherCAT EtherCAT 6h 2 4 2 3 100BASE TX 18 Etherca 4 No 1 No 0 0 1 0 299 300 599
35. 17 3 4 2 etter 17 3 5 18 3 5 1 18 35 2 ee 21 3 6 XSEL oo 27 37 28 30 4 1 30 4 2 EtherCAT 32 Etherca Etherca ISO DIS12100 4 ISO IEC
36. IF 1 0 IF 1 18 1 0 5 1 bas 1 16 23 64000 64q 10sec 120 1 1 28 31 UF 1 R 0 1 0 3 1 6 EtherCAT 4 lt 7 58 225 6 00 37 06 2 0 1 CC Link 2 DeviceNet 3 PROFIBUS IF 1 0 226 17 EtherCAT 0 65535 I F 231 2 0 0 256 0 8 I F 232 2 0 0 256 0 8 0 8 233 2 4 1000 2 3999 1000 8 No 1 IF 300 8
37. 2 300 234 1 599 1 4000 8 4000 1 No 6999 6 0 PLC 235 1I F 2 1 05 0 1 24 3 EtherCAT 1 EtherCAT O 192 I O 48 EtherCA TE MM I 0 191 300 491 192 239 No 492 539 EtnerCAT JO No 0 1 1 No 0 299 No 300599 1 1 101 IO
38. 3 FBRS TPRS LED BOX psE BOX LED I O No 225 D5F I O No 225 IF IO No 226 Exception D77 Exception LED
39. 6 16 17 8 No Pe IF 1 0 8 0 299 2420 2 16 No 1000 13999 1000 8 1000 3999 300 8 300 599 17 4000 1 6999 4000 8 4000 6999 19 XS TXYIXS XY S A 1ASX XS TXYIXS XY S A 1ASX 7 EtherCAT EtherCA TE I O No 18 1 EtherCAT IF 1 1 _ 0 EtherCAT 1 EtherCAT 8 EtherCAT No 120 16 23 EtherCAT
40. LSB 307 008 308 009 309 010 310 011 311 012 312 013 MSB 313 014 314 015 315 000 299 300 300 599 300 EtherCAT 27 XS TXYIXS XY S A 1ASX 3 7 28 XSEL O SEL EtherCAT XSEL XSEL EtherCAT EtherCA TE Bit7 6
41. 0 8 233 2 4 1000 4 3999 1000 8 No 1 IF 300 8 300 234 i BMN 6999 0 PLC 235 I F 2 1 0 5 0 1 26 Etherca 3 6 XSEL O XSEL IO XSEL R S RX SX RXD SXD XS TXYIXS XY S A 1ASX No 000 300 001 301 002 302 003 303 004 304 005 305 006 306 007
42. 100BASE TX 5e RJ45x2 12 EtherCAT Distribution Clock Etherca 3 XSEL R S RX SX RXD SXD 3 1 EtherCAT XSEL 1 MAX 256 1 IO 1 I O XSEL 1 1 1bit PIO 24V 1 PIO PIO XSEL MO O O EtherCAT EtherCAT EtherCAT
43. 679 O JO 67A I O JO Min ACK 056 MinACK LED 2 DPRAM ps9 77 TE DPRAM LED TOGGLE D5A TOGGLE LED LED
44. WING 7F 1 11 1 2F 1 38 33 1F TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL TEL 054 364 5105 03 5419 1601 06 6457 1171 052 269 2931 019 623 9700 022 723 2031 0258 31 8320 028 614 3651 048 530 6555 029 830 8312 042 522 9881 046 226 7131 0263 40 3710 055 230 2626 054 364 6293 053 459 1780 0566 71 1888 076 234 3116 075 646 0757 078 913 6333 086 805 2611 082 532 1750 089 986 8562 092 415 4466 097 543 7745 096 386 5210 FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX FAX 054 364 2589 03 3455 5707 06 6457 1185 052 269 2933 019 623 9701 022 723 2032 0258 31 8321 028 614 3653 048 530 6556 029 830 8313 042 522 9882 046 226 7133 0263 40 3715 055 230 2636 054 364 2589 053 458 1318 0566 71 1877 076 234 3107 075 646 0758 078 913 6339 086 244 6767 082 532 1751 089 986 8563 092 415 4467 097 543 7746 096 386 5112 24 7 00 7 00AM 8 00 5 00PM 2 0800 888 0088 FAX 0800 888 0099
45. 2 O2 1 0 0 1 0 1 1 01 2 No 1000 3999 No 40006999 2 0 8 2 No 0 17599 192 1 300 8 No 0 O 1 3 10 IO 101 1 5 2 24V VO 3 24V 14 256 0 lt 256 192 8 15 256 0 256 192 8 IF 1 0 8 0 299 16 1000 0 1000 8 1000 3999 No 25 XS TXYIXS XY S A 1ASX XS TXYIXS XY S A 1ASX EtherCA
46. 1 2 EtherCAT IN OUT 3 3 4 2 1 TD 8 2 TD 3 RD 4 1 5 RJ45 8 6 RD 7 8 FG 17 XS TXYIXS XY S A 1ASX 5 4 15 Etherca 3 5 SW EtherCAT R XSEL 9 00 00 00 SEL T TG V1 12 IA T X IA T XD V1 52 3 5 1 1
47. XSEL 2 XSEL LED IO ENB AUTO MANU MANU AUTO MANU AUTO
48. 300 1 599 300 8 1 O1 0 O 1 2 24V 3 24V I F 1 256 0 256 8 IF 1 256 0 256 8 21 XS TXYIXS XY S A 1ASX XS TXYIXS XY S A 1ASX EtherCA IF 1 0 8 0 299 16 1000 1 3999 0 1000 8 1000 3999 No IF 1 300 8 300 599 17 4000 1 6999 300 4000 80240 4000 6999 No IF 1 0 1 18 a 1 0 5 1 1 16 23
49. 5 3 TSS 4F 5 28 12 8F 6 7 21 7F 14 15 4F 3 5 17 2F 5 1 16 1 312 5F 5 3 2 2F 3 14 2B0SEN 2F 1 10 6 943 401 2 12 1 3F 577 1 125 1 9 2 3F 3 1 32 A 2F 22 11 3 8 34 8F 311 114 OMOT0 ROOT BLD 101 2 1 9 5F 4 9 22 21 1F 3 13 21
50. 5 4 3 2 1 0 MSB LSB XSEL 307 306 305 304 303 302 301 300 EtherCAT 0 XSEL 315 314 313 312 311 310 309 308 EtherCAT 0 XSEL 323 322 321 320 319 318 317 316 EtherCAT 1 XSEL 331 330 329 328 327 326 325 324 EtherCAT 1 XSEL 1234h EtherCAT 1234h HEX 1 2 3 i EE BIN 0001 0010 0011 0100 HEX 1 2 3 EherCAT 0001 0010 0011 0100 EtherCAT XSEL Bit7 6 5 4 3 2 1 0 MSB LSB XSEL 7 6 5 4 3 2 1 0 EtherCAT 0 XSEL 15 14 13 12 11 10 9 8 EtherCAT 0 XSEL 23 22 21 20 19 18 17 16 EtherCAT 1 XSEL 31 30 29 28 27 26 25 24 EtherCAT 1 EtherCAT 1234h XSEL 1234h HEX 1 2 3 eA 000
51. 0 XSEL 323 322 321 320 319 318 317 316 EtherCAT 31 30 29 28 27 26 25 24 EtherCAT 1 XSEL 331 330 329 328 327 326 325 324 EtherCAT 23 22 21 20 19 18 17 16 EtherCAT 1 EtherCAT 1234h X SEL 3412h HEX 1 2 3 4 ElhetCAE 97 0001 0010 0011 0100 3 4 1 2 BIN 001 0100 0001 0040 29 XS TXYIXS XY S A 1ASX Etherca 4 4 1 EtherCAT LED 3 3 2 XSEL XSEL 4 1
52. 1 000 0017 0100 HEX 1 2 3 BIN 0001 0010 0011 0100 Etherca 16 8 8 16 8 8 XSEL IN OUT FMIO 16 8 8 XSEL EtherCAT XSEL EtherCAT XSEL Bit7 6 5 4 3 2 1 0 MSB LSB XSEL 307 306 305 304 303 302 301 300 EtherCAT 15 14 13 12 11 10 9 8 EtherCAT 0 XSEL 315 314 313 312 311 310 309 308 EtherCAT 7 6 5 4 3 2 1 0 EtherCAT
53. mm 1 RCS2 RCS2CR SS8 300mm 300mm 80W ISA ISB ISPA ISPB SSPA ISDAISDB ISPDAIISPDB SSPDA ISWAISPWA IF FS NS 3 300mm 4 1 3 1 CT4 IX 300mm IX NNN1205 1505 1805 2515 NNW2515 NNC1205 1505 1805 2515 ee EtherCAT No
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