52
Viper 650 and 850 Robot with EtherCAT
21861-000 Rev A
Item
Switch
Description
A
2-Position Dip Switch
x256
Sets the 8th (most significant bit) of the 9-bit
EtherCAT node ID.
Moving the switch to the right turns ON the
8th bit for the node ID.
The default position is OFF (left).
B
16-Position Rotary Switch
x16
Sets bits 7 to 4 of the EtherCAT node ID.
The default setting for this switch is 0.
C
16-Position Rotary Switch
x1
Sets bits 3 to 0 of the EtherCAT node ID.
The default setting for this switch is 0.
EtherCAT Node ID Address Example
Use the following example to understand how to set the EtherCAT node ID. An EtherCAT
node ID of 196 is used in this example.
1. Convert the node ID of 196 into hexadecimal format (0x0C4).
2. Set the x256 dip switch to OFF.
3. Set the x16 rotary switch to C.
4. Set the x1 rotary switch to 4.
NOTE:
Use Sysmac Studio to verify the EtherCAT node ID setting. Refer to
Sys-
mac Studio Version 1 Operation Manual (Cat. No. W504)
for more information.
Figure 3-8. EtherCAT Node ID Set to 196
3.8 Installing Joint Labels
The system includes a set of joint directional labels that can be installed on the robot. See the
following figure. Also refer to Robot Links and Joints on page 13 for a drawing of the joint
