RMC200 Motion Controller Communication Modules
RMC200 Communication Module Details
ECAT - EtherCAT MainDevice with Redundancy Port
The ECAT module provides EtherCAT MainDevice functionality, allowing control of electric motor drives and communication with other EtherCAT subordinate devices such as sensors and actuators. With two RJ-45 ports, the ECAT module supports cable redundancy.
The RMC200 supports position, velocity, pressure, force and torque control, and single and dual-loop axes via EtherCAT. Axes may be defined with output and feedback in any combination of EtherCAT data or directly connected sensors or actuators. The RMC200 EtherCAT supports CANopen over EtherCAT (CoE) CiA402 drive profiles and CiA408 valve profiles.
The ECAT module is supported by all RMC200 bases and may only be installed in slot 2 (the slot immediately to the right of the CPU). LED indicators provide information on the network state, redundancy state, and individual port states.
ECAT Specifications
| EtherCAT Interface | |
|---|---|
| Ports | 2 ports: ECAT1: Main port ECAT2: Redundancy port |
| Supported Topologies | Linear, ring and star |
| Hardware Interface | IEEE 802.3 for 100BASE-T (twisted pair) |
| Data Rate | 100 Mbps |
| Duplex | Full Duplex |
| Features | Auto-negotiation, Auto-crossover (MDI/MDI-X) |
| Connectors | RJ-45 (2) |
| Cable | CAT5, CAT5e or CAT6, UTP or STP |
| Cycle Times | 250 µs minimum |
| Distributed Clock | Subordinate devices that support DC on the network are synchronized with the motion loop of the RMC200 |