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Omron CJ1W- ECT21, Operation Manual

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A - 9

  Appendices

CJ-series EtherCAT Slave Units Operation Manual (W541)

A-

3  Process D

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a

 E

x

chan

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 PROGRA

M Mod

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A

A-3-

1  Dete

ction Method 

and T

iming Conside

rations

A-3 Process Data Exchange in PROGRAM 

Mode 

When an EtherCAT master or a CJ-series CPU Unit with a mounted EtherCAT Slave Unit enters PRO-
GRAM mode, the EtherCAT Slave Unit will continue to exchange process data over the EtherCAT net-
work. However, this process data is not updated in the CPU Unit that is in PROGRAM mode and is no 
longer accurate. The EtherCAT Slave Unit will maintain its current state and will not automatically indi-
cate this condition. It is necessary to monitor this condition with the user program to determine if the 
exchanged process data remains accurate.

This section describes the following items.
• The method for detecting transition of the EtherCAT master and the CPU Unit to PROGRAM mode
• Consideration of detection timing

The suggested method to detect that an EtherCAT master and a CPU Unit enter PROGRAM mode 
requires the user program that toggles process data bits ON and OFF between the EtherCAT master 
and a CJ-series CPU Unit with a mounted EtherCAT Slave Unit. If the process data bits stop toggling, 
the user program is no longer executing which is an indication that the EtherCAT master and the CPU 
Unit are in PROGRAM mode. 

Refer to the manuals for the EtherCAT master and the CJ-series CPU Unit’s user’s manual for more 
information on creating the user program. 

When implementing these detection methods, it is important to consider the maximum I/O response 
time of the EtherCAT Slave Unit. Both program examples include a timer instruction to detect that pro-
cess data is not changing within a fixed amount of time. This time should be adjusted to a value that is 
more than the maximum I/O response time. Refer to 

4-6-1 I/O Response Time

 on page 4-10 for details 

on the maximum I/O response time.

A-3-1

Detection Method and Timing Considerations

Detection Method

Timing Considerations

Summary of Contents for CJ1W- ECT21

Page 1: ...Cat No W541 E1 02 OPERATION MANUAL SYSMAC CJ Series CJ1W ECT21 EtherCAT Slave Unit ...

Page 2: ... contained in this publication Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Microsoft Windows Windows Vista Excel and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries EtherCAT is registered trademark and patented technolog...

Page 3: ...vailable for reference during operation This manual is intended for the following personnel who must also have knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of introducing FA systems Personnel in charge of designing FA systems Personnel in charge of installing and maintaining FA systems Personnel in charge of managing FA systems and facilities For pr...

Page 4: ...rrect Use 18 Regulations and Standards 19 Conformance to EC Directives 19 Conformance to UL and CSA Standards 19 Conformance to Shipbuilding Standards 20 Conformance to KC Standards 20 Unit Versions 21 Unit Versions 21 Unit Versions and CX Programmer Versions 22 Related Manuals 23 Terminology 25 Revision History 27 Sections in this Manual 29 Section 1 Features and System Configuration 1 1 Introduc...

Page 5: ...ations 3 1 Overview of the Memory Allocated to the EtherCAT Slave Unit 3 2 3 2 CIO Area Allocations 3 3 3 2 1 Overview of the Allocated CIO Area Words 3 3 3 2 2 Details of the Allocated CIO Area Words 3 4 3 3 DM Area Allocations 3 9 3 3 1 Overview of the Allocated DM Area Words 3 9 3 3 2 Details of the Allocated DM Area Words 3 9 3 4 I O Communication Area Settings 3 16 3 4 1 The Unit Edit Paramet...

Page 6: ...n 6 2 6 2 Replacing Faulty Units 6 4 6 2 1 Precautions 6 4 6 2 2 Settings When Replacing EtherCAT Slave Units 6 4 Appendices A 1 Example of Operations for EtherCAT Slave Unit Communications A 2 A 1 1 System Configuration A 2 A 1 2 Setting Condition A 3 A 1 3 Flow of the Setting Procedure A 3 A 1 4 CJ1W ECT21 Setting Procedure A 4 A 1 5 EtherCAT Master Setting Procedure A 5 A 1 6 Start EtherCAT Com...

Page 7: ...5 CONTENTS CJ series EtherCAT Slave Units Operation Manual W541 A 6 FINS Commands A 29 A 6 1 Introduction A 29 A 6 2 Details on FINS Commands A 29 A 7 Version Information A 33 Index ...

Page 8: ...CONTENTS 6 CJ series EtherCAT Slave Units Operation Manual W541 ...

Page 9: ... Unit lock the Units together Move the sliders toward the back of the Units as shown below until they click into place Precautions for Correct Use Precautions for Correct Use 4 3 1 Connecting Controller Components Connector Hook Hook holes Slider Lock Release Move the sliders toward the back until they lock into place Level 1 heading Level 2 heading Level 3 heading Level 2 heading A step in a proc...

Page 10: ... easier Version Information Information on the differences in specifications and functionality for CPU Units and EtherCAT Slave Units with different unit versions and for different versions of the CX Programmer is given Note References are provided to more detailed or related information In this manual download refers to transferring data from the CX Programmer to the physical PLC and upload refer...

Page 11: ...e price of the non complying Product provided that in no event shall Omron be responsible for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were properly handled stored installed and maintained and not subject to contamination abuse misuse or inappropriate modification Return of any Products by Buyer must be appr...

Page 12: ...hall not be responsible for the user s programming of a programmable Product or any consequence thereof Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of Omron s test conditions and the user must correlate it to actual application requirements Actual ...

Page 13: ...he circle and slash symbol indicates operations that you must not do The specific operation is shown in the circle and explained in text This example indicates prohibiting disassembly The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for electric shock The triangle symbol indicates ...

Page 14: ...Unit may malfunction regardless of the operation mode of the CPU Unit Fail safe Measures Provide safety measures in external circuits i e not in the Programmable Controller including the following items to ensure safety in the system if an abnormality occurs due to malfunction of the PLC or another external factor affecting the PLC operation Not doing so may result in serious accidents Unintended ...

Page 15: ...O even when the program is stopped i e even in PROGRAM mode Confirm safety thoroughly in advance before changing the status of any part of memory allocated to I O Units Special I O Units or CPU Bus Units Any changes to the data allocated to any Unit may result in unexpected operation of the loads connected to the Unit Any of the following operation may result in changes to memory status Transferri...

Page 16: ...turned OFF Doing so may result in burn injury Wiring Be sure that all terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals The loose screws may result in fire or malfunction Online Editing Execute online edit only after confirming that no adverse effects will be caused by extending the cycle time Otherwise the input signals may not be readable ...

Page 17: ...s on the Power Supply Unit Follow the instructions in this manual to correctly perform wiring Double check all wiring and switch settings before turning ON the power supply Incorrect wiring may result in burning Use parts and tools appropriate for wiring Do not pull on the cables or bend the cables beyond their natural limit Do not place heavy objects on top of the cables or other wiring lines Doi...

Page 18: ...smoking or burning Always input a sinusoidal wave with the frequency that is given in the operation manual of the CPU Units Install external breakers and take other safety measures against short circuiting in external wiring Always turn ON power to the PLC before turning ON power to the control system If the PLC power supply is turned ON after the control power supply temporary errors may result i...

Page 19: ...noise occurs or an EtherCAT slave is disconnected from the network any current communications frames may be lost If frames are lost slave I O data is not communicated and unintended operation may occur The slave outputs will behave according to the slave specifications Confirm that the sys tem will not be adversely affected before you disconnect a slave When an EtherCAT slave is disconnected or di...

Page 20: ...measures to ensure that the specified power with the rated voltage and frequency is supplied in places where the power supply is unstable Install the control system away from sources of heat and ensure proper ventilation Not doing so may result in malfunction in operation stopping or in burning Use proper connection methods and EtherCAT communication cables Otherwise communications may be faulty R...

Page 21: ...0 VAC and 75 to 1 500 VDC meet the required safety standards The applicable directive is EN 61131 2 Conformance to EC Directives The CJ series PLCs comply with EC Directives To ensure that the machine or device in which the CJ series PLC is used complies with EC Directives the PLC must be installed as follows The CJ series PLC must be installed within a control panel You must use reinforced insula...

Page 22: ... possible for some installation locations The CJ series PLC must be installed within a control panel Gaps in the door to the control panel must be completely filled or covered with gaskets or other mate rial The following noise filter must be connected to the power supply line Observe the following precaution if you use CJ series CJ1W ECT21 EtherCAT Slave Units in Korea Class A Device Broadcasting...

Page 23: ...rm the unit version using the Unit Manufacturing Information Precautions for Correct Use The unit versions of Pre Ver 1 0 Units cannot be confirmed in Unit Manufacturing Information The following dialog box is displayed Unit Versions Notation of Unit Versions on Products Item Description Unit model Gives the model of the Unit Unit version Gives the unit version of the Unit Lot number and serial nu...

Page 24: ...nit Manufacturing Information Dialog Box will be displayed The functions that are supported depend on the unit version of the Unit The version of CX Programmer that supports the functions that were added for an upgrade is also required to use those functions Refer to A 7 Version Information on page A 33 for the functions that are supported by each version Unit Versions and CX Programmer Versions ...

Page 25: ...nctions and application methods of the CJ2 Series PLC Software Describes the following for CJ2 CPU Units CPU Unit operation Internal memory Programming Settings Function built into the CPU Unit Use together with the SYSMAC CJ Series CJ2 CPU Unit Hardware User s Manual W472 SYSMAC CJ Series CJ2 CPU Unit Hardware User s Manual W472 CJ2H CPU6 EIP CJ2H CPU6 CJ2M CPU Learning the functions and applicat...

Page 26: ...500 Sysmac Studio Version 1 Operation Manual W504 SYSMAC SE2 Learning about the operat ing procedures and func tions of the Sysmac Studio Describes the operating procedures of the Sysmac Studio NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505 NX701 NJ501 NJ301 NJ101 Using the built in EtherCAT port on an NJ NX series CPU Unit Information on the built in EtherCAT port is provided Thi...

Page 27: ...promote the further technology development I O map settings Settings that assign variables to I O ports Assignment information between I O ports and variables I O port A logical interface that is used by the CPU Unit to exchange data with an external device slave or Unit I O refreshing Cyclic data exchange with external devices that is per formed with predetermined memory addresses index Address o...

Page 28: ...ations in which ser vice data objects SDOs are used to transmit informa tion whenever required service data object SDO CoE asynchronous mailbox communications where all objects in the object dictionary can be read and writ ten Slave Information Interface SII Slave information that is stored in non volatile memory in the slave subindex Sub address of an object within the object dictionary Sync Mana...

Page 29: ... A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Revision code Date Revised content 01 April 2015 Original production 02 April 2019 Added information on the unit version that supports a ring topology W541 E1 02 Revision code Cat No ...

Page 30: ...Revision History 28 CJ series EtherCAT Slave Units Operation Manual W541 ...

Page 31: ... Units Operation Manual W541 1 2 3 4 5 6 A I 1 2 3 4 5 6 A I Features and System Configuration EtherCAT Communications Troubleshooting Appendices Maintenance and Replacement Index Nomenclature and Installation Memory Allocations Sections in this Manual ...

Page 32: ...Sections in this Manual 30 CJ series EtherCAT Slave Units Operation Manual W541 ...

Page 33: ...es 1 1 Introduction to EtherCAT 1 2 1 1 1 How EtherCAT Works 1 2 1 1 2 Types of EtherCAT Communications 1 3 1 2 EtherCAT Slave Unit Features 1 5 1 3 System Configuration of CJ series EtherCAT Slave Unit 1 7 1 4 Specifications 1 9 1 4 1 General Specifications 1 9 1 4 2 Functional and Performance Specifications 1 9 1 4 3 Dimensions 1 10 1 5 Setting Procedures 1 11 Features and System Configura tion ...

Page 34: ...hen a frame passes through a slave node the slave node reads and writes the data in the area that is allocated to it in the frame in a few nanoseconds The Ethernet frames that are transmitted by the EtherCAT master pass through all EtherCAT slaves without stopping The last slave returns all of the frames which again pass through all of the slaves before returning to the EtherCAT master This mechan...

Page 35: ...ecuted between PDO communications PDO communications transfers process data cyclically and in realtime The EtherCAT master maps the logical process data space to the nodes to achieve cyclic communica tions between the EtherCAT master and slaves 1 1 2 Types of EtherCAT Communications Process Data Communications PDO Communications Ethernet header CRC Ethernet data 1 498 bytes max Data Header WKC 1st...

Page 36: ...d then the slave returns a response to the EtherCAT master The following data communications can be performed Reading and writing process data Setting slaves Monitoring slave status Mailbox Communications SDO Communications EtherCAT master Slave Ethernet frame Slave Slave Slave Logical process data CRC Data a Data b Data c Ethernet header Ether CAT header 1st EtherCAT datagram 2nd EtherCAT datagra...

Page 37: ... data over the EtherCAT network between the EtherCAT master and the CPU Unit through the EtherCAT Slave Unit Choose the amount of data to exchange over the EtherCAT network from 0 50 100 200 or 400 bytes Data Exchange Between EtherCAT Master and CPU Unit Adjustable Data Exchange Sizes EtherCAT Slave Unit EtherCAT master RxPDO Output data to EtherCAT Slave Unit TxPDO Input data to EtherCAT master O...

Page 38: ...erCAT Slave Units Operation Manual W541 Interface with multiple networks such as EtherCAT and DeviceNet Integration with Other Networks EtherCAT Slave Unit EtherCAT master DeviceNet Master Unit DeviceNet network EtherCAT network DeviceNet slaves CPU Unit ...

Page 39: ...twork Process data communications with the EtherCAT master Message communications SDO communications with the EtherCAT master Exchange data between the CJ series CPU Unit and the EtherCAT mas ter C CJ series CPU Unit 2 The main Unit that controls a CJ series PLC The CPU Unit refreshes I O for other Units and slaves etc D CX Programmer 3 The CX Programmer runs on a personal computer and it is used ...

Page 40: ... make other settings G Configuration Soft ware Configuration Software runs on a personal computer and it is used to con figure the EtherCAT network and EtherCAT slaves 1 An EtherCAT Slave Unit cannot be connected to any of the OMRON CJ1W NC 81 82 Position Control Units even though they can operate as EtherCAT masters 2 Refer to A 7 Version Information on page A 33 for information on CPU Unit versi...

Page 41: ...ea Setting Table I O Communication Area Reference Table Other I O memory I O communication area in any area 1 1 Set with allocated DM area words CPU Bus Unit words or CX Programmer CPU Bus Unit setting area Not used Transmission specifications Communications protocol EtherCAT protocol Modulation Baseband Baud rate 100 Mbps Physical layer 100BASE TX IEEE 802 3 Topology Depends on the specifications...

Page 42: ...1 Features and System Configuration 1 10 CJ series EtherCAT Slave Units Operation Manual W541 This section provides the external dimensions of the EtherCAT Slave Unit 1 4 3 Dimensions 31 0 90 0 65 0 ...

Page 43: ...Going online with the CX Program mer Place the CX Programmer online with the CJ series CPU Unit CX Programmer Operation Manual W446 Creating the I O tables Create the I O table with CX Program mer A 5 Creating I O Tables on page A 24 Setting and trans ferring the I O Com munication Area Setting Table Set the I O Communication Area Setting Table with one of the following methods Use the Edit Parame...

Page 44: ... Unit Creating the com munication settings Create the EtherCAT master s network communication settings Downloading the settings to the EtherCAT master Download the network configuration information and the communication set tings to the EtherCAT master Starting EtherCAT communication Enable EtherCAT network communica tions 4 Confirming Oper ation Checking indicators Check the indicators on the Eth...

Page 45: ...therCAT Slave Unit 2 8 2 2 1 System Configuration Precautions 2 8 2 2 2 Mounting to a CJ series PLC 2 8 2 2 3 Handling Precautions 2 9 2 3 EtherCAT Network Wiring 2 10 2 3 1 Installation Standards 2 10 2 3 2 Installation Precautions 2 10 2 3 3 Preparations for Installation 2 11 2 3 4 Pin Arrangements of Communications Connectors 2 12 2 3 5 Connecting Communications Cables and Connectors 2 13 2 3 6...

Page 46: ...Indicators The indicators show the current operating status of the Unit and the connection status of the IN and OUT EtherCAT ports B Unit number switch This switch sets the unit number of the EtherCAT Slave Unit as a one digit hexadecimal value C Communication connectors These connectors are connected to the communications cables of the EtherCAT network There are two connectors one for the input p...

Page 47: ...ing status of EtherCAT communications for the EtherCAT Slave Unit ECAT ERR The ECAT ERR indicator provides information on errors in the EtherCAT Slave Unit RUN The RUN indicator provides information on the operation of the EtherCAT Slave Unit ERC The ERC indicator provides information about errors of the EtherCAT Slave Unit ERH The ERH indicator provides information about errors of the CPU Unit Na...

Page 48: ...Error Process Data WDT Error Flickering ESC Error Not lit No error RUN Green Lit The Unit is in operation Not lit The Unit is not in operation ERC Red Lit The Unit has an error CPU Unit Faulty Special Unit Error ESC Error ESC Initial Error Sll Unit Verification Error Special Unit Memory Error I O Communication Error Process Data WDT Error Mailbox Setting Error Verification Error Illegal State Tran...

Page 49: ...menclature 2 2 1 2 Indicators Indicator State Timing The flashing patterns for flickering blinking single flash and double flash are given below on off off off off on on on Flickering Blinking Single flash Double flash 200 ms 200 ms 50 ms 1 000 ms 1 000 ms 200 ms s m 0 0 2 s m 0 0 2 200 ms 200 ms ...

Page 50: ...Unit con nected to the same CPU Unit Precautions for Safe Use Use a small flat blade screwdriver to turn the rotary switches be careful not to damage the switch Always turn OFF the PLC s power supply before setting the unit number Additional Information If the same unit number is set on more than one CPU Bus Unit mounted in a PLC a Unit Num ber Duplication error will occur in the PLC and the Ether...

Page 51: ...de Address with Software Switches To set the node address with software switches set the node address switches to 00 When the switches are set to 00 use the EtherCAT master Configuration Software to set a range from 1 to 65535 for the node address Precautions for Correct Use The node address that is set with hardware or software switches is read only when the Unit initializes upon power up or rest...

Page 52: ...rrent consumption of all the Units connected to the same CPU Rack or Expansion Rack does not exceed the output capacity of the Power Supply Unit EtherCAT Slave Units can be mounted in a CJ series CPU Rack or a CJ series Expansion Rack Con nect the EtherCAT Slave Unit in any of the positions shown below using the sliders on the top and bot tom of the Unit 2 2 1 System Configuration Precautions 2 2 ...

Page 53: ...to the Release direction This section provides handling precautions for the EtherCAT Slave Unit Always turn OFF the PLC s power supply before you mount or dismount a Unit or connect or discon nect cables Provide separate conduits or ducts for the I O lines to prevent noise from high tension lines or power lines Prevent wire clippings cutting chips or other materials from getting inside the Unit Th...

Page 54: ...to address the noise such as plac ing equipment in metal cases Check the following items on the communications cables that are used in the network Are there any breaks Are there any shorts Are there any connector problems When you connect the cable to the communications connectors on devices firmly insert the commu nications cable connector until it locks in place Do not lay the communications cab...

Page 55: ... 1 Refer to the XS5 XS6 Industrial Ethernet Connectors Catalog Cat No G019 for the latest lineup of these Cables Model Cables with Connec tors on Both Ends RJ45 RJ45 OMRON Corporation 0 3 XS5W T421 AMD K 0 5 XS5W T421 BMD K 1 XS5W T421 CMD K 2 XS5W T421 DMD K 5 XS5W T421 GMD K 10 XS5W T421 JMD K Cables with Connec tors on Both Ends M12 RJ45 OMRON Corporation 0 3 XS5W T421 AMC K 0 5 XS5W T421 BMC K...

Page 56: ...that will be used Con firm the following items Conductor size conductor type solid wire or twisted wire number of twisted pairs 2 or 4 outer diameter etc Use only the specified communication cables The pin arrangement of the EtherCAT communications connectors is given below Part name Manufacturer Model Cables Kuramo Electric Co Ltd KETH PSB OMR 1 1 A combination of the above cables and connectors ...

Page 57: ...ctions Connect the communications cable from the EtherCAT master to the input port on the EtherCAT Slave Unit and then connect another communications cable from the output port on the EtherCAT Slave Unit to the input port on the next EtherCAT slave Do not connect anything to the output port of the EtherCAT slave at the end of the network 2 3 5 Connecting Communications Cables and Connectors 2 3 6 ...

Page 58: ...manufacturer Do not disconnect the communications cables from the EtherCAT Slave Units during opera tion The outputs from the EtherCAT master may become unstable Additional Information Make sure the cable between each pair of devices connects an output port to an input port Normal communications are not possible if an output port is connected to another output port or an input port is connected to...

Page 59: ...ted to the EtherCAT Slave Unit 3 2 3 2 CIO Area Allocations 3 3 3 2 1 Overview of the Allocated CIO Area Words 3 3 3 2 2 Details of the Allocated CIO Area Words 3 4 3 3 DM Area Allocations 3 9 3 3 1 Overview of the Allocated DM Area Words 3 9 3 3 2 Details of the Allocated DM Area Words 3 9 3 4 I O Communication Area Settings 3 16 3 4 1 The Unit Edit Parameters Dialog Box 3 16 3 4 2 Setting Proced...

Page 60: ...CIO Area n CIO 1 500 25 x unit number First word allocated in the DM Area m D30 000 100 x unit number Precautions for Correct Use Setting results are refreshed when the Unit restarts or when the Unit is powered ON CPU Unit Allocated CIO Area words Allocated to the Unit as a CPU Bus Unit 100 words 100 words 100 words EtherCAT Slave Unit 100 words I O Communication Area Reference Tables Power ON or ...

Page 61: ...ach Unit The beginning word n is calculated by the following equation Beginning word n CIO 1500 25 unit number Precautions for Correct Use The reserved words are regularly refreshed with all zeroes 3 2 1 Overview of the Allocated CIO Area Words Reserved Unit Status 1 Unit Status 2 Slave Status 1 Slave Status 2 Reserved EtherCAT Slave Unit CPU Unit EtherCAT Slave Unit CPU Unit Offset Bit Data direc...

Page 62: ...FF when the error is cleared Default OFF 1 to 2 Reserved 3 Slave Function Error Unit ON Indicates that at least one slave error occurred Refer to Slave Status 1 The slave errors are as follows Slave AL Status Error SII Unit Verification Error Verification Error Mailbox Setting Error I O Communication Error Illegal State Transition Request Received I O Refresh Error OFF Indicates that none of the a...

Page 63: ...n ON and will not return to OFF Default OFF 6 to 15 Reserved Unit Status 2 n 11 Bit Name Manipulated by Unit operation 0 Online Status Unit ON Indicates that the Unit is online and capable of commu nicating on the network OFF Indicates that the Unit is offline A Unit will go offline under the following conditions Operation is stopped by the hardware software check at startup An ESC Error has occur...

Page 64: ...Unit ON Indicates that the I O communication area size does not match with the Sync Manager size set by the EtherCAT master OFF Indicates that the I O communication area size matches with the Sync Manager size set by the EtherCAT master Default OFF 4 Mailbox Setting Error Unit ON Indicates that the Unit is requested to change Pre Oper ational state without mailbox settings or the mailbox size sett...

Page 65: ... OFF 7 I O Refresh Error Unit ON Indicates that an I O Refresh Error occurred while in operation OFF Indicates that an I O Refresh Error has not occurred while in operation Default OFF 8 to 14 Reserved Slave Status 2 n 13 Bit Name Manipulated by Unit operation 0 Reserved 1 Available Mailbox Com munication Unit ON Indicates that mailbox communication is available for the Unit OFF Indicates that mai...

Page 66: ...e by process data communication Data is valid and usable for con trol OFF Indicates that the Unit is not processing receive by pro cess data communication Data is invalid and unusable for control Default OFF This bit will remain ON while the Unit is in Operational state This bit will also remain ON if the IN port link is not established with another device Refer to A 2 Pro gramming Example To Dete...

Page 67: ...es in this area to specify the input and output words used by the EtherCAT Slave Unit Changes to the I O Communication Area Setting Table require a Unit restart to take effect Relationship Between I O Communication Area and Process Data Objects IN and OUT data area settings determine where the PDO data that is exchanged over the EtherCAT network is allocated in the memory of the CPU Unit The IN da...

Page 68: ...rCAT Slave Unit RxPDO Output data to EtherCAT Slave Unit Input data to EtherCAT master CJ series CPU Unit OUT data area IN data area Offset Bit Reserved 15 8 7 0 OUT data area type First word in OUT data area m m 1 OUT data area size byte Reserved First word in IN data area IN data area size byte Setting results IN data area type m 2 m 3 m 4 m 5 m 6 ...

Page 69: ...First word in OUT data area User 0000 hex Set the starting word of the OUT data area Setting ranges vary by OUT data area type CIO 0000 to 17FF hex DM 0000 to 7FFF hex WR 0000 to 01FF hex HR 0000 to 01FF hex EM 1 0000 to 7FFF hex m 2 00 to 15 OUT data area size User 0000 hex Set the OUT data area size in bytes from one of the following 00 hex 0 byte 32 hex 50 byte 64 hex 100 byte C8 hex 200 byte 1...

Page 70: ...lt values the setting result code will be 0000 hex and the Unit can not perform process data communications with the EtherCAT master Completed normally 1101 hex Incorrect area setting Ensure that the memory area codes for OUT data area type and IN data area type are set to the allowable values 1103 hex The first word is outside the setting range Ensure that the first word in OUT data area and firs...

Page 71: ... with another memory area that is already in use Also ensure the size of the area is within a valid memory area by prop erly setting the first word and size values for the memory type selected Otherwise an incor rect area setting result will occur EM memory area availability and size vary depending on the CPU Unit series and model type Refer to the operation manuals of the CPU Units for details on...

Page 72: ...pansion Mem ory EM bank 0 to C 1 08 to 15 Reserved Reserved by system m 8 00 to 15 First word in OUT data area Unit 0000 hex The starting word of the OUT data area in use is indicated The ranges vary by OUT data area type CIO 0000 to 17FF hex DM 0000 to 7FFF hex WR 0000 to 01FF hex HR 0000 to 01FF hex EM 1 0000 to 7FFF hex m 9 00 to 15 OUT data area size Unit 0000 hex The OUT data area size in use...

Page 73: ...rd in IN data area Unit 0000 hex The starting word of the IN data area in use is indicated The ranges vary by IN data area type CIO 0000 to 17FF hex DM 0000 to 7FFF hex WR 0000 to 01FF hex HR 0000 to 01FF hex EM 0000 to 7FFF hex 1 m 12 00 to 15 IN data area size Unit 0000 hex The IN data area size in use is indicated The value is in bytes from one of the following 00 hex 0 byte 32 hex 50 byte 64 h...

Page 74: ... and size for the EtherCAT Slave Unit with CX Programmer The Edit Parameters Dialog Box of the EtherCAT Slave Unit is used for setting and referencing the I O communication area table The Edit Parameters Dialog Box has two tables I O Communication Area Setting Table I O Communication Area Reference Table 3 4 1 The Unit Edit Parameters Dialog Box I O Communication Area Setting Table I O Communicati...

Page 75: ... to 01FF hex EM 0000 to 7FFF hex 1 1 EM areas are not available for all CJ series CPU Units Refer to the operation manuals of the CPU Units for details on the EM memory area specification 0000 hex OUT data area size Pull down list OUT data area size in bytes 0 byte 50 byte 100 byte 200 byte 400 byte 0 byte IN data area type Pull down list PLC memory area type used for TxPDO data to the EtherCAT ma...

Page 76: ...1 1 EM areas are not available for all CJ series CPU Units Refer to the operation manuals of the CPU Units for details on the EM memory area specification 0000 hex OUT data area size The reference OUT data area size in bytes 0 byte 50 byte 100 byte 200 byte 400 byte 0 byte IN data area type The reference PLC memory area type used for TxPDO data to the EtherCAT master Do not use CIO Area Data Memor...

Page 77: ... grammer 1 Double click IO Table and Unit Setup Icon in the project workspace in the CX Programmer The PLC IO Table Window will be displayed When the EtherCAT Slave Unit is registered in the I O tables of the CX Programmer the Unit will be displayed in the I O tables Refer to A 5 Creating I O Tables on page A 24 for details 2 Right click the EtherCAT Slave Unit in the I O table and select Unit Set...

Page 78: ...3 Memory Allocations 3 20 CJ series EtherCAT Slave Units Operation Manual W541 The Edit Parameters Dialog Box will be displayed 3 Make the necessary settings I O Communication Area Setting Table ...

Page 79: ...ngs 6 Check the indicators on the EtherCAT Slave Unit If the RUN indicator is lit while the ERC and ERH indicators are not lit it indicates that the Ether CAT Slave Unit has recognized the new I O communication area settings Refer to Setting Results Codes on page 3 12 7 Check the I O Communication Area Reference Table in the Edit Parameters Dialog Box Click the Compare Button If the compare is suc...

Page 80: ... Slave Unit so check the connected Unit before downloading parameters The EtherCAT Slave Unit must restart in order to enable the parameter settings that are transferred to it Verify that restarting the Unit will not cause any problems in the system before restarting it When the Special Unit Settings and the other data in the PLC are trans ferred the EtherCAT Slave Unit will be restarted automatic...

Page 81: ...rCAT Slave Information Files ESI Files 4 3 4 3 Transitions of Communications States 4 4 4 4 Process Data Objects PDOs 4 5 4 4 1 Introduction 4 5 4 4 2 PDO Mappings 4 5 4 4 3 Assigning PDOs 4 7 4 5 Service Data Objects SDOs 4 9 4 5 1 Introduction 4 9 4 5 2 Abort Codes 4 9 4 6 Communications Performance 4 10 4 6 1 I O Response Time 4 10 4 6 2 SDO Message Response Time 4 12 EtherCAT Communications ...

Page 82: ... divided into PDOs process data objects and SDOs service data objects PDOs are contained in the object dictionary The PDOs can be mapped in the object dictionary The process data is defined by the PDO mappings PDOs are used in PDO communications for periodic exchange of process data SDOs are the objects that can be read and written SDOs are used in non periodic SDO communica tions event driven mes...

Page 83: ...connection information You can create the network configuration information by installing ESI files into the network setup soft ware Configuration Software You can download the network configuration information to the EtherCAT master to configure the EtherCAT network ESI files for the EtherCAT Slave Units can be downloaded from the OMRON website EtherCAT master ESI files Configuration Software Net...

Page 84: ...ing initial ized Communications are not possi ble Pre Operational Possible Not possible Not possible Only SDO communications message communications are possible in this state This state is entered after initialization is completed It is used to initialize network settings Safe Opera tional Possible Possible Not possible In this state both SDO communica tions message communications and sending PDOs...

Page 85: ...ss data of the EtherCAT Slave Unit The contents of the process data are defined in the PDO mapping objects EtherCAT Slave Units support PDO mapping for I O control PDO mapping objects contain the I O data for the EtherCAT Slave Units PDO mapping objects for the RxPDOs are managed in the object dictionary from indexes 1600 to 17FF hex The TxPDOs are man aged in the object dictionary from indexes 1A...

Page 86: ...Output001 to Output025 7000 hex 01 to 19 hex OUT data area size is 50 bytes 258th receive PDO Mapping 1701 hex Output001 to Output050 01 to 32 hex OUT data area size is 100 bytes 259th receive PDO Mapping 1702 hex Output001 to Output100 01 to 64 hex OUT data area size is 200 bytes 260th receive PDO Mapping 1703 hex Output001 to Output200 01 to C8 hex OUT data area size is 400 bytes 8 16 8 Object B...

Page 87: ...ication object of the PDO mapping Description Name Index number Name Index number Sub index number 257th transmit PDO Mapping 1B00 hex Input001 to Input025 6000 hex 01 to 19 hex IN data area size is 50 bytes 258th transmit PDO Mapping 1B01 hex Input001 to Input050 01 to 32 hex IN data area size is 100 bytes 259th transmit PDO Mapping 1B02 hex Input001 to Input100 01 to 64 hex IN data area size is ...

Page 88: ...ls of the Allocated DM Area Words on page 3 9 for the I O Communication Area Reference Table Refer to 4 4 2 PDO Mappings on page 4 5 for PDO Mapping of the EtherCAT Slave Unit Precautions for Correct Use The IN and OUT data area size allocation for the EtherCAT Slave Unit must be the same size as the PDO mapping for the EtherCAT master Refer to 3 3 1 Overview of the Allocated DM Area Words on page...

Page 89: ... to A 4 CoE Objects on page A 13 for the objects that you can use with SDO communications The following table lists the abort codes for the SDO communications errors 4 5 1 Introduction 4 5 2 Abort Codes Value Meaning 06010000 hex Unsupported access to an object 06010002 hex Attempt to write to a read only object 06020000 hex The object does not exist in the object directory 06040041 hex The object...

Page 90: ...mine the maximum I O response time 4 6 1 I O Response Time Timing Chart for I O Response Time Element Description Tmaster 1 1 The cycle time of the EtherCAT master is based on the assumption that the EtherCAT master cycle is the same as the cycle of process data communication Refer to the EtherCAT master manual about the relation ship between these cycles Cycle time of the EtherCAT master Tslave P...

Page 91: ...Unit and the EtherCAT Slave Unit The PLC cycle time is increased when an EtherCAT Slave Unit is mounted as shown in the formula below Units of IN and OUT data area size are in channels CH Use the values of A and B in table below for the CPU type that has the EtherCAT Slave Unit mounted Ttrans The transmission time of the EtherCAT master can be calculated with the formula below The number of EtherC...

Page 92: ... elements are in ms Tmaster The cycle time of the EtherCAT master is assumed to be the same as the process data communica tion cycle Use the process data communication cycle that is set in the EtherCAT master Ts_resp This is the time from when the message request is received until the EtherCAT Slave Unit completes generating the response 4 6 2 SDO Message Response Time Timing Chart for SDO Message...

Page 93: ... 5 2 Troubleshooting with Indicators 5 5 5 2 1 Checking for Errors and Troubleshooting with the Indicators 5 5 5 2 2 Corrective Actions When the CPU Unit s Indicators are Lit or Flashing 5 12 5 3 Error Log Function 5 13 5 3 1 Error Log Data Specifications 5 13 5 3 2 Error Log Registration 5 14 5 3 3 FINS Commands for Error Logs 5 14 5 3 4 Error Log Error Codes 5 15 5 4 Troubleshooting with Emergen...

Page 94: ...have occurred 5 1 1 Error Notification Methods Type of error notification Overview Notification method Emergency message The emergency message reports applica tion level errors The error code contains the CiA defined error code and an additional error code in the unique header area When an error occurs the EtherCAT Slave Unit notifies the EtherCAT mas ter EtherCAT master CJ series CPU Unit Notific...

Page 95: ...us register to notify the EtherCAT master Unit status Slave status The status of the EtherCAT Slave Unit allo cated to CIO Area is notified When an error occurs the EtherCAT Slave Unit notifies the CJ series CPU Unit Indicators These are the indicators on the EtherCAT Slave Unit 5 1 2 How to Check for Errors Checking method Information provided Checking the indicators The indicators provide the st...

Page 96: ... PLC Displaying error log for CPU Bus Units or Special I O Units in the I O table with CX Programmer The error log is recorded by the error log function of the EtherCAT Slave Unit The error log can be read with FINS commands to the Unit Checking the Unit status and slave status areas These areas indicate the status of the EtherCAT Slave Unit and the level of the error Checking with Configuration S...

Page 97: ...ction L A IN The L A IN indicator shows the link activity of the input port L A OUT The L A OUT indicator shows the link activity of the output port ECAT RUN The ECAT RUN indicator shows the operating status of EtherCAT communications for the EtherCAT Slave Unit ECAT ERR The ECAT ERR indicator provides information on errors in the EtherCAT Slave Unit RUN The RUN indicator provides information on t...

Page 98: ...ion Manual W541 The flashing patterns for flickering blinking single flash and double flash are given below on off off off off on on on Flickering Blinking Single flash Double flash 200 ms 200 ms 50 ms 1 000 ms 1 000 ms 200 ms s m 0 0 2 s m 0 0 2 200 ms 200 ms ...

Page 99: ... Dupli cation The same unit number is set on another Unit Operation stops and error is recorded in the error log 0006 Set the unit num bers correctly and restart the EtherCAT Slave Unit CPU Unit Faulty 000F Replace the CPU Unit if the error recurs after restarting the CPU Unit I O Table Not Regis tered The CPU Unit s I O table is not registered 0006 Create the I O table Not Lit Not Lit Lit Lit CPU...

Page 100: ...g environment I O Refresh Error The I O communi cation area does not exist in the CPU Unit This can occur when the I O com munication area is set incorrectly when the Unit is mounted to a dif ferent CPU Unit with a different number of EM banks or when EM has been con verted to file mem ory 0347 n 12 bit 01 2 n 12 bit 07 Check the I O communication area and change to the correct allocation and rest...

Page 101: ...e is sent 0001 Replace the CPU Unit CPU Unit Service Monitor ing Error Servicing from the CPU Unit was not com pleted within the fixed interval The monitoring time is normally 11 s 0002 Check the CPU Unit s operating environment and then turn OFF the error bit of AL status from the EtherCAT master I O Refresh Error The I O commu nication area does not exist in the CPU Unit This can occur when EM h...

Page 102: ...ds an error 0602 in the RAM error log area Remaining writes to non volatile memory are all ignored and normal operation continues Error records will continue to be written to RAM 0602 n 10 bit 04 Indicator Error Cause Unit operation Error log hex CIO area Countermea sures ECAT RUN ECAT ERR ERC ERH RUN Not Lit Lit Lit Not Lit Special Unit Error An error occurred in the EtherCAT Slave Unit Operation...

Page 103: ...mismatch occurred between the RxPDO setting size from the Ether CAT master and the OUT data area size setting in the EtherCAT Slave Unit Records the error in the error log 0344 n 12 bit 01 n 12 bit 03 Correct the OUT data area size set ting to match the Ethercat master RxPDO setting and then turn OFF the error bit of AL status from the EtherCAT master A mismatch occurred between the TxPDO setting ...

Page 104: ...ly after power is turned OFF The power is turned ON in this state 5 2 2 Corrective Actions When the CPU Unit s Indicators are Lit or Flashing Error Corrective action An I O verification error occurred Confirm that the Unit is connected properly Check the I O table with the I O table verification operation and cor rect it if necessary After correcting it perform the I O table create operation A CPU...

Page 105: ...t cleared Each time an error occurs one error record is recorded in the EtherCAT Slave Unit s RAM error log table You can record a maximum of 203 records If another error occurs when the table is full the old est record will be erased to make room for the new error record The error log table records the following information Error code Detail code Time of occurrence The CPU Unit s time is used for...

Page 106: ... time information is used for the time stamps in the EtherCAT Slave Unit s error log records If the time information cannot be read from the CPU Unit the time stamp will be as follows When the error log is read with a FINS command The time stamp contains all zeroes When the error log is read from the CX Programmer The invalid data and time are displayed Moreover if the battery is replaced in a CJ ...

Page 107: ... node address FINS Response Bit 15 ON Bits 08 to 14 Destination network address Bits 00 to 07 Destination node address No 0344 Verification Error A mismatch occurred between the RxPDO setting size from the EtherCAT master and the OUT data area size set ting in the EtherCAT Slave Unit A mismatch occurred between the TxPDO setting size from the EtherCAT master and the IN data area size set ting in t...

Page 108: ...2 3 4 5 6 7 Contents Emergency error code Reserved 0000 hex 5 4 2 Emergency Error Codes Error code hex Error type Error name Description Notificationto EtherCAT master Corrective action 5530 Memory access error Special Unit Memory Error An error occurred while reading or writing the error log All error log records cannot be used during initialization or registering an error log record Yes Restart ...

Page 109: ...e Monitor ing Error Servicing from the CPU Unit was not completed within the fixed interval Check the CPU Unit s operating environment and then turn OFF error bit of AL status from Ether CAT master I O Bus Error An error occurred while exchanging data with the CPU Unit FF07 I O Refresh Error The I O communication area does not exist in the CPU Unit This can occur when the I O communication area is...

Page 110: ...Error A mismatch occurred between the RxPDO setting size from the Ether CAT master and the OUT data area size setting in the EtherCAT Slave Unit Correct the OUT data area size to match the EtherCAT master RxPDO setting and then turn OFF the error bit of AL status from the EtherCAT master 001E TxPDO Setting Error A mismatch occurred between the TxPDO setting size from the Ether CAT master and the I...

Page 111: ... the procedures for cleaning inspecting and replacing EtherCAT Slave Units 6 1 Cleaning and Inspection 6 2 6 1 1 Cleaning 6 2 6 1 2 Inspection 6 2 6 2 Replacing Faulty Units 6 4 6 2 1 Precautions 6 4 6 2 2 Settings When Replacing EtherCAT Slave Units 6 4 Maintenance and Replacement ...

Page 112: ... of the Unit Be sure to inspect the system periodically to keep it in its optimal operating condition In general inspect the system once every 6 to 12 months but inspect more frequently if the system is used with high temperature or humidity or under dirty dusty conditions Prepare the following equipment before inspecting the system Required Equipment Have a standard and Phillips head screwdriver ...

Page 113: ... 1 Cleaning and Inspection 6 6 1 2 Inspection Installation Are the Units installed securely No looseness Phillips head screwdriver Are the communications connec tors fully inserted and locked No looseness Check visually Are the connecting cables undam aged No damage Item Standard Equipment ...

Page 114: ... with alcohol Precautions for Safe Use To prevent electric shock when replacing a Unit be sure to stop communications in the network and turn OFF the power supplies to all of the nodes master and slaves before removing the faulty Unit When a Unit is replaced verify that the following steps have been made correctly Set the node address and unit number Connect the communication cables Precautions fo...

Page 115: ...unication A 7 A 2 Programming Example To Detect Valid I O Process Data A 8 A 3 Process Data Exchange in PROGRAM Mode A 9 A 3 1 Detection Method and Timing Considerations A 9 A 3 2 Program Example for the EtherCAT Master A 10 A 3 3 Program Example for the EtherCAT Slave Unit A 11 A 4 CoE Objects A 13 A 4 1 Object Dictionary Area A 13 A 4 2 Data Type A 13 A 4 3 Format of Objects A 13 A 4 4 Communica...

Page 116: ...tions on using the built in EtherCAT port on the NJ series CPU Unit The following configuration is used for this example A 1 1 System Configuration Letter Description Comment A Sysmac Studio Used to configure the EtherCAT master B EtherCAT master NJ series CPU Unit Built in EtherCAT port on NJ series CPU Unit C Communications cable D CJ series EtherCAT Slave Unit CJ1W ECT21 E CJ series CPU Unit F ...

Page 117: ...tion I O Communication Area Setting Table Name Setting value OUT data area type CIO First word in OUT data area 0000 hex OUT data area size 50 byte IN data area type CIO First word in IN data area 001A hex IN data area size 50 byte PDO Mapping for the EtherCAT Master Name Setting value Output 257th receive PDO Mapping Input 257th transmit PDO Mapping EtherCAT Slave Unit Switch Settings Name Settin...

Page 118: ...series PLC on page 2 8 3 Connect the communications cable between the EtherCAT master and EtherCAT Slave Unit Refer to 2 3 EtherCAT Network Wiring on page 2 10 4 Connect the CX Programmer to the CJ series CPU Unit 5 Turn ON the power supply to the CJ series PLC 6 Place the CX Programmer online with the CJ series CPU Unit 7 Create the I O table with CX Programmer Refer to A 5 Creating I O Tables on...

Page 119: ...Dialog Box Click the Compare Button If the compare is successful click the Transfer Unit to PC Button to update the I O Communication Area Reference Table values If the compare is unsuccessful transfer the settings again Refer to the CX Programmer Operation Manual Cat No W446 for the Edit Parameters Dialog Box operation The setting procedure of the EtherCAT master is provided below Refer to the Sy...

Page 120: ... of the EtherCAT Slave Unit Assign the PDOs of the same size as the set ting value of the IN and OUT data area size in the I O Communication Area Setting Table of the EtherCAT Slave Unit The example is shown below 5 Set the EtherCAT master parameters if necessary Refer to the NJ NX series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 for details on the parameters of the built in EtherC...

Page 121: ...riable names are automatically created 7 Create the user program using the device variables 8 Turn ON the power supply to the NJ series Controller 9 Use the Sysmac Studio to set communications with the NJ series Controller and go online 10Download the network configuration information and the user program to the NJ series Control ler Use the synchronization operation of the Sysmac Studio to downlo...

Page 122: ...s of Unit Status 1 and Slave Status 2 The unit number of the EtherCAT Slave Unit is set to 01 for this example Bit Name Description n 10 bit 00 Unit Error Indicates EtherCAT Slave Unit operating errors n 13 bit 02 Input Data Valid Indicates that the Unit is processing transmit by process data communica tion Data is valid and usable for control n 13 bit 03 Output Data Valid Indicates that the Unit ...

Page 123: ... of detection timing The suggested method to detect that an EtherCAT master and a CPU Unit enter PROGRAM mode requires the user program that toggles process data bits ON and OFF between the EtherCAT master and a CJ series CPU Unit with a mounted EtherCAT Slave Unit If the process data bits stop toggling the user program is no longer executing which is an indication that the EtherCAT master and the...

Page 124: ...process data communications E001_Input001 0 Device variable assigned to the EtherCAT Slave Unit E001_Output001 0 WatchDogBit Internal variable to reset the accumulation timer when E001_Input001 0 changes state AccumulationTimer instruction Instruction that checks for a stop in bit toggling for a preset time amount that will occur when the CJ series CPU Unit with a mounted EtherCAT Slave Unit enter...

Page 125: ... following items A 3 3 Program Example for the EtherCAT Slave Unit Item Description OUT_Data_Bit Process data exchanged with the EtherCAT master IN_Data_Bit Input_Data_Valid Slave Status 2 bit to indicate that the EtherCAT Slave Unit is processing transmit by process data communication Output_Data_Valid Slave Status 2 bit to indicate that the EtherCAT Slave Unit is processing receive by process da...

Page 126: ...or a preset time amount that will occur when the EtherCAT master enters PROGRAM mode Refer to Timing Con siderations on page A 9 FAL 006 instruction Instruction that creates a user defined error when the EtherCAT master enters PROGRAM mode ECAT_Master_PRG_Mode Bit to indicate that the EtherCAT master has entered PROGRAM mode Item Description ...

Page 127: ...communications PDO mapping objects 2000 to 2FFF hex Manufacturer specific Area 1 The objects in this area are defined for all OMRON prod ucts 3000 to 5FFF hex Manufacturer specific Area 2 The objects in this area are defined for the EtherCAT Slave Unit 6000 to 9FFF hex Device Profile Area The objects in this area are defined by the CiA401 Generic I O Module Device Profile a profile that specifies ...

Page 128: ...en changes to writable objects are enabled A Enabled at all times B When moving from Pre Operational state to Safe Operational state C When moving from Pre Operational state to Init state R When the power supply is reset or the Unit is restarted Write prohibited Size This is the size of the object in bytes Access This data indicates if the object is read only or read write RO Read only RW Read wri...

Page 129: ... provides the serial number of the EtherCAT Slave Unit This is a unique value for each product Index hex Subin dex hex Object name Default Data range Unit Data attribute Size Access PDO map ping Complete access 1009 Manufac turer Hard ware Version A padded with 19 spaces char acter 20 hex A padded with 19 spaces char acter 20 hex 20 byte VS RO Not possible Not possible Index hex Subin dex hex Obje...

Page 130: ...ex hex Subin dex hex Object name Default Data range Unit Data attri bute Size Access PDO mapping Complete access 1700 257th receive PDO Mapping Possible 0 Number of objects in this PDO 19 hex 19 hex 1 byte U8 RO Not possi ble 1 1st Output Object to be mapped 70000110 hex 70000110 hex 4 byte U32 RO Not possi ble 2 2nd Output Object to be mapped 70000210 hex 70000210 hex 4 byte U32 RO Not possi ble ...

Page 131: ...ta range Unit Data attri bute Size Access PDO mapping Complete access 1702 259th receive PDO Mapping Possible 00 Number of objects in this PDO 64 hex 64 hex 1 byte U8 RO Not possi ble 01 1st Output Object to be mapped 70000110 hex 70000110 hex 4 byte U32 RO Not possi ble 02 2nd Output Object to be mapped 70000210 hex 70000210 hex 4 byte U32 RO Not possi ble Sub indexes 03 to 63 64 100th Output Obj...

Page 132: ...hex Subin dex hex Object name Default Data range Unit Data attri bute Size Access PDO mapping Complete access 1B01 258th transmit PDO Mapping Possible 00 Number of objects in this PDO 32 hex 32 hex 1 byte U8 RO Not possi ble 01 1st Input Object to be mapped 60000110 hex 60000110 hex 4 byte U32 RO Not possi ble 02 2nd Input Object to be mapped 60000210 hex 60000210 hex 4 byte U32 RO Not possi ble S...

Page 133: ... objects in this PDO C8 hex C8 hex 1 byte U8 RO Not possi ble 01 1st Input Object to be mapped 60000110 hex 60000110 hex 4 byte U32 RO Not possi ble 02 2nd Input Object to be mapped 60000210 hex 60000210 hex 4 byte U32 RO Not possi ble Sub indexes 03 to C7 C8 200th Input Object to be mapped 6000C810 hex 6000C810 hex 4 byte U32 RO Not possi ble A 4 6 Sync Manager Communication Objects Index hex Sub...

Page 134: ...hex Subin dex hex Object name Default Data range Unit Data attri bute Size Access PDO mapping Complete access 1C11 Sync Manager 1 PDO Assignment Possible 00 Number of assigned PDO 00 hex 00 hex 1 byte U8 RO Not possi ble Index hex Subin dex hex Object name Default Data range Unit Data attri bute Size Access PDO mapping Complete access 1C12 Sync Manager 2 PDO Assignment Possible 00 Number of assign...

Page 135: ...tion that is supported by the EtherCAT Slave Unit Subindex 05 hex provides the minimum cycle time that is supported by the EtherCAT Slave Unit Index hex Subin dex hex Object name Default Data range Unit Data attri bute Size Access PDO mapping Complete access 1C32 Sync Manager 2 Synchronization Possible 00 Number of Syn chronization Parameters 20 hex 20 hex 1 byte U8 RO Not possi ble 01 Synchroniza...

Page 136: ...pend on the communications control sta tus The specifications are given in the following table A 4 7 Device Profile Area Index hex PDO mapping 6000 I O Input Data Area 7000 I O Output Data Area I O Input Data Area Status Specification Pre Operational Reading and writing are not allowed Safe Operational Reading is allowed and writing is not allowed Operational Index hex Subin dex hex Object name De...

Page 137: ...bject name Default Data range Unit Data attri bute Size Access PDO mapping Complete access 7000 I O Output Data Area Not possible 00 Number of entries C8 hex C8 hex 1 byte U8 RO Not possi ble 01 Output001 0000 hex 0000 to FFFF hex A 2 byte U16 RW Possible Sub indexes 2 to C7 C8 Output200 0000 hex 0000 to FFFF hex A 2 byte U16 RW Possible ...

Page 138: ...d on the Units mounted to the PLC Using the CPU Unit s automatic I O allocation at startup To create the I O tables connect a programming device such as a CX Programmer or Programming Console to the PLC The following programming devices can be used with CJ series PLCs CX Programmer For information on how to connect and operate the CX Programmer refer to the CX Programmer Operation Manual Cat No W4...

Page 139: ... CX Program mer version 9 54 or higher Refer to the CX Programmer Operation Manual Cat No W446 for details on the operating procedures This section describes how to register the CJ1W ECT21 in the I O tables by creating the I O tables on a computer with the CX Programmer In this example the computer is connected to the PLC using a serial cable The CJ1W ECT21 is connected to a CJ1H CPU65 CPU Unit 1 ...

Page 140: ...l connection select the name of the applicable computer serial port and then press the Connect Button 3 If the connection process is successful the system will be connected online Here check the operating mode of the PLC If the operating mode is not PROGRAM mode change the mode by selecting PLC Operating Mode Program from the menus ...

Page 141: ...A A 5 3 Procedure for Creating I O Tables 4 Double click IO Table and Unit Setup Icon in the project workspace in the CX Programmer The PLC IO Table Window will be displayed Select Options Create from the menus 5 The EtherCAT Slave Unit will be displayed at the position it is mounted in the PLC ...

Page 142: ...e Programming Console s operation manual Use the following procedure to create the I O tables Additional Information With the CJ Series it is necessary to create I O tables only when the user is allocating I O man ually Programming Console Initial screen Password or Save or clear the CPU Bus Unit System Setup SHIFT WRITE CHG CH DM 000000 I O TBL 000000 I O TBL WRIT 000000CPU BU ST 0 CLR 1 KEEP 000...

Page 143: ...ction Command code Function name MRC SRC 05 01 CONTROLLER DATA READ 21 02 ERROR LOG READ 03 ERROR LOG CLEAR A 6 2 Details on FINS Commands Controller Data Read 0501 Name Description Model number The model number of the EtherCAT Slave Unit is returned as ASCII characters occupying 20 bytes i e 20 characters each If all bytes are not used the remaining bytes will be all spaces ASCII 20 hex Example M...

Page 144: ... Block Response Block End code hex Description 0000 Normal 1001 Command too large Error Log Read 2102 21 02 Beginning record number Number of records Command code 21 02 Maximum number of stored records Number of stored records Number of read records 10 bytes 10 bytes Error log data End code Command code Error log data ...

Page 145: ... Unit being used In an EtherCAT Slave Unit the maximum number of stored records is fixed at 00FA hex 250 decimal Number of stored records response The number of records stored at the time the command is executed is returned Number of read records response The number of actual records read is returned as a hexadecimal value Error log data response The specified number of error log records from the ...

Page 146: ...command clears the error log for the EtherCAT Slave Unit and resets the number of stored records to 0 Command Block Response Block End Code Error Log Clear 2103 End code hex Description 0000 Normal end 1001 Command too large 21 03 Command code 21 03 Response code Command code ...

Page 147: ...her than the corresponding versions given in the following table Model number of EtherCAT Slave Unit Unit version Corresponding unit version version 1 1 Some Units do not have all of the versions given in the above table If a Unit does not have the specified ver sion support is provided by the oldest available version after the specified version Refer to the user s manuals for the specific Units f...

Page 148: ...Appendices A 34 CJ series EtherCAT Slave Units Operation Manual W541 ...

Page 149: ...I 1 I CJ series EtherCAT Slave Units Operation Manual W541 Index ...

Page 150: ...eceived 5 18 errors related to the CPU Unit 5 17 5 18 ESC Error 3 5 5 10 5 16 ESC Initial Error 5 10 ESI 1 8 ESI file 4 3 EtherCAT 1 2 EtherCAT master 1 7 EtherCAT Slave Unit Faulty 5 7 Ethernet frames 1 2 F FINS commands A 29 first word in IN data area 3 12 first word in OUT data area 3 11 fixed PDO mapping 4 6 Free Run Mode 1 9 I I O Bus Error 5 8 5 9 5 15 5 17 I O Communication Area Reference T...

Page 151: ...1 RUN 2 3 5 5 RxPDO 3 9 RxPDO Setting Error 5 18 S Safe Operational 4 4 SDO 4 2 SDO communications 1 4 SDO Message Response Time 4 12 Serial Number A 15 service data object 4 9 setting results 3 12 SII Unit Verification Error 3 6 5 10 5 16 5 18 simple backup 6 4 Slave AL Status Error 3 6 Slave Function Error 3 4 Slave Restarted 5 18 Slave Status 1 3 6 Slave Status 2 3 7 slider 2 9 Special Unit Err...

Page 152: ...I 4 CJ series EtherCAT Slave Units Operation Manual W541 Index ...

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Page 154: ... IL 60169 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Kyoto JAPAN OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China T...

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