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6 Inspection and Maintenance
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual (I610)
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To replace an EtherCAT slave connected to the Programmable Multi-Axis Controller, you can only dis-
connect the target slave and slaves connected after it from the EtherCAT network. This enables you to
replace slaves without interrupting the total communication system when performing maintenance or
replacement work in the case a slave malfunctions.
The following describes the basic procedure to replace a slave connected to the Programmable
Multi-Axis Controller.
6
Restoration and verifi-
cation
Restore the backup file to the Programmable
Multi-Axis Controller by using Power PMAC IDE.
Then, verify the file restored to the Programmable
Multi-Axis Controller with the backup file to ensure
that the backup file has been adequately restored.
Refer to “
Power PMAC
IDE User Manual” for
details.
7
Activation of the Ether-
CAT network
Activate the EtherCAT network by using Power
PMAC IDE and change the state of the connected
EtherCAT slaves to an operational state.
Refer to “
Power PMAC
IDE User Manual” for
details.
8
Checking operation
By using Power PMAC IDE and the actual
machine, check the motor settings and that the
program has been adequately restored.
Refer to “
Power PMAC
IDE User Manual” for
details.
Procedure to Replace an EtherCAT Slave
No.
Step
Description
Reference
1
State transition instruc-
tion
By using Power PMAC IDE, instruct the slave to be
replaced and slaves connected after it to change to
the init state. The init state is a state where com-
munications cannot be carried out.
Then, ensure that the state transition of the slaves
has been completed successfully.
Refer to “Power PMAC
Software Reference Man-
ual”.
2
Disconnection of the
Unit to be replaced
Turn OFF the unit power supply of the slave to be
replaced or remove the EtherCAT communications
cable to disconnect the slave from the EtherCAT
network.
---
3
Mounting of a Unit
Connect a new slave to the EtherCAT network, and
turn ON the unit power supply of the slave. In
doing so, reconfigure the settings, if required, by
referring to the manual for the slave.
Refer to the manual for
the EtherCAT slave.
4
Mounting and wiring of
the Programmable
Multi-Axis Controller
By using Power PMAC IDE, instruct the slave in
the init state to change to the communications sta-
tus (pre-operational state, safe-operational state,
or operational state) and allow it to connect to the
EtherCAT network. Refer to “Power PMAC Soft-
ware Reference Manual” for detailed instructions.
Refer to “Power PMAC
Software Reference Man-
ual”.
5
Confirmation of con-
nection
Make sure that the state transition of the slaves
has been completed successfully.
Refer to “Acontis EC-Engi-
neer manual” and “Power
PMAC Software Refer-
ence Manual”.
No.
Step
Description
Reference