Host to dev_joint_controller Ethercat
Host to dev_joint_controller Ethercat Wiring
Connect the first joint controller in the Ethercat network chain via a simple RJ45 to 5 pin PicoClasp adaptor.
Wiring diagram
| Signal | Description | RJ45 Pin | RJ45 colour | dev_jc Pin |
|---|---|---|---|---|
| TX+ | Differential transmit data + output | 1 | Green / white | 1 |
| TX- | Differential transmit data - output | 2 | Green | 2 |
| RX+ | Differential receive data + input | 3 | Orange / white | 4 |
| - | Unused | 4 | Blue | - |
| - | Unused | 5 | Blue / white | - |
| RX- | Differential receive data + input | 6 | Orange | 5 |
| - | Unused | 7 | Brown / white | - |
| - | Unused | 8 | Brown | - |
| GND | Screen / Shield | Shield | - | 3 |
NOTE:
Leave unused wires unconnected. It can be useful to cut them short and cover in heat-shrink.