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A - 1

GX-series EtherCAT Slave Unit User’s Manual

A-1 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A-1-1

Object Dictionary Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A-1-2

Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A-1-3

Object Description Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3

A-1-4

Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4

A-1-5

PDO Mapping Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-10

A-1-6

Sync Manager Communication Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-26

A-1-7

Manufacturer Specific Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-32

A-2 Current Consumption Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-74

A-2-1

Digital I/O Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-74

A-2-2

Analog I/O Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-74

A-2-3

Encoder Input Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-74

A-2-4

IO-Link Master Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-75

A-2-5

Expansion Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-75

A-3 Precautions with Connecting Two-wire DC Sensors . . . . . . . . . . . . . . . . A-76

A-3-1

Relation between ON Voltage of a Unit with DC Inputs and Sensor Residual
Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-76

A-3-2

Relation between ON Current of a Unit with DC Inputs and Sensor Control Output . . . A-76

A-3-3

Relation between OFF Current of a Unit with DC Inputs and Sensor Leakage
Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-77

A-4 Wiring External Output Signal Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-78

A-5 I/O Power Supply Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-79

A-6 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-81

A-7 Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-83

Appendix

Summary of Contents for GX-AD0471

Page 1: ...mote I O Terminal GX series EtherCAT Slave Units Digital I O Units Analog I O Units Encoder Input Units IO Link Master Unit User s Manual W488 E1 09 GX ID GX OD GX OC GX MD GX AD GX DA GX EC GX ILM XW...

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 Window...

Page 3: ...GX series EtherCAT Slave Units User s Manual Revised October 2018...

Page 4: ......

Page 5: ...ad the manual and have a full understanding of the products functions and performance After you finished reading this manual please keep it in a convenient place This manual is intended for the follow...

Page 6: ...mm min 3 2 mm min 4 11 4 Installation and Wiring GX series EtherCAT Slave Unit User s Manual 4 4 Connecting an External Device 4 4 4 2 Connecting to e CON Connector Terminals Connect the dedicated e...

Page 7: ...ecautions on what to do and what not to do to ensure using the product safely Indicates precautions on what to do and what not to do to ensure proper operation and perfor mance This explains useful ti...

Page 8: ...and mounting dimensions Chapter 8 Analog I O Slave Unit Gives an overview about the Analog I O Slave Unit and explains names and functions of components consisting the Slave Unit It also contains inte...

Page 9: ...mplying 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 Prod...

Page 10: ...le 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 determin...

Page 11: ...he symbol shown to the left indicates disassembly prohibited This symbol indicates caution warnings included The specific instruction is indicated using text inside the The symbol shown to the left in...

Page 12: ...op circuits interlock circuits limit circuits and similar safety measures must be provided in external control circuits not in the Units The PLC will turn OFF all outputs when its self diagnosis funct...

Page 13: ...connected to the Unit Transferring I O memory data to the CPU Unit with a Programming Device PC tool Changing present values in memory with a Programming Device Force setting resetting bits with a Pr...

Page 14: ...re that all Slave Unit mounting screws cable connector screws and switch cover screws are tightened to the torque specified in this manuals Incorrect tightening torque may result in mal function Make...

Page 15: ...Forced refreshing Always sufficiently check the safety at the connected devices before you change the settings of a slave or Unit Do not use thinner when cleaning Use commercially available alcohol Do...

Page 16: ...rs Incorrect wire may result in malfunction Wire all connections correctly according to instructions in this manual Use the correct wiring materials to wire the Unit Take appropriate and sufficient co...

Page 17: ...ective Always ensure that devices operating at voltages of 50 to 1 000 VAC and 75 to 1 500 VDC meet the required safety standards Applicable standard EN 61131 2 Conformance to EU Directives The OMRON...

Page 18: ...lding standards and the machinery or system in which you use the GX series product must also comply with the standards consult with your OMRON representative Application conditions are defined accordi...

Page 19: ...NX series Troubleshooting Manual Concepts on managing errors that may be detected in an NJ NX series Controller and information on individual errors are described W564 NY series Troubleshooting Man ua...

Page 20: ...t enabled at startup Sysmac device functions Sysmac error status Not supported Supported Saving node address settings Not supported Supported Displaying the serial number Not supported Supported Confo...

Page 21: ...nfiguring a ring topology It depends on the specifications of the EtherCAT master to be used whether a ring topology can be configured or not Confirm the specifications of the EtherCAT master to be us...

Page 22: ...g Standards 14 Conformance to KC Certification 14 Related Manuals 15 Version Upgrade Information 16 Section 1 EtherCAT Network 1 1 Overview of EtherCAT Networks 1 2 1 1 1 Features of EtherCAT 1 2 1 1...

Page 23: ...3 4 2 Connecting to EtherCAT Network 4 4 4 2 1 Precautions for Network Connection 4 4 4 2 2 Preparation for Connecting Network 4 5 4 2 3 Connecting Communications Cables and Connectors 4 6 4 2 4 Conne...

Page 24: ...2 tier Terminal Block Relay Type 16 point Output Slave Unit GX OC1601 7 18 7 4 4 2 tier Terminal Block Type 8 point Input and 8 point Output Slave Unit GX MD1611 MD1621 7 22 7 4 5 3 tier Terminal Blo...

Page 25: ...9 8 9 3 1 Count Mode 9 8 9 3 2 Circular Counter 9 8 9 3 3 Input Signal Types 9 9 9 3 4 Encoder Direction Setting 9 11 9 3 5 Counter Reset 9 12 9 3 6 Counter Preset 9 13 9 3 7 Counter value latch 9 13...

Page 26: ...2 1 Cleaning 12 23 12 2 2 Inspections 12 23 12 2 3 Handling when Replacing Units 12 24 12 2 4 Replacing the IO Link Master Unit or IO Link Devices 12 24 Section A Appendix A 1 Object Dictionary A 2 A...

Page 27: ...AT Networks 1 2 1 1 1 Features of EtherCAT 1 2 1 1 2 Structure of EtherCAT 1 2 1 1 3 Communications types of EtherCAT 1 4 1 1 4 Connection Examples of EtherCAT 1 5 1 2 Configuration Elements of EtherC...

Page 28: ...mission of output signals By fully utilizing the optimized Ethernet frame bandwidth to transfer data using a high speed repeat method it is possible to efficiently transmit a wide variety of data Extr...

Page 29: ...nits Each EtherCAT datagram is configured with header data length including address of one or more Slave Units etc data working counter check bit When an Ethernet frame is compared to a train an Ether...

Page 30: ...herCAT Master Unit and Slave Units It refers to message communications At any timing the EtherCAT Master Unit transmits commands to Slave Units and the Slave Units return responses to the EtherCAT Mas...

Page 31: ...n examples of EtherCAT network 1 1 4 Connection Examples of EtherCAT ID211 0 1 3 2 4 5 7 6 8 9 11 10 12 13 14 15 DC24V 7mA COM MACH No AD042 RUN ERC ERH B1 A1 x101 x100 0 9 8 7 6 5 4 32 1 0 9 8 7 6 5...

Page 32: ...f EtherCAT Network ID211 0 1 3 2 4 5 7 6 8 9 11 10 12 13 14 15 DC24V 7mA COM MACH No AD042 RUN ERC ERH B1 A1 x101 x100 0 9 8 7 6 5 4 32 1 0 9 8 7 6 5 4 32 1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ADR A...

Page 33: ...When using an OMRON EtherCAT master the Sysmac Studio is used to configure the settings of the EtherCAT network and each Slave Unit For details on the versions of the Sysmac Studio that support the G...

Page 34: ...1 EtherCAT Network 1 8 GX series EtherCAT Slave Unit User s Manual Separate from Unit power supply when wiring...

Page 35: ...lave Unit 2 1 Overview of EtherCAT Slave Unit 2 2 2 1 1 Slave Units Usage 2 2 2 1 2 Features of GX series EtherCAT Slave Units 2 2 2 2 Types of EtherCAT Slave Units 2 3 2 2 1 Slave Units List 2 3 2 2...

Page 36: ...ns and input and output of digital ON OFF signals Expansion Unit Mounted on a Digital I O Slave Unit in order to expand the number of I O points Note however Expansion Units can only be mounted on Dig...

Page 37: ...inal block 16 inputs NPN GX ID1611 Equipped with a removable screw terminal block Possible to mount an Expansion Unit 16 inputs PNP GX ID1621 16 outputs NPN GX OD1611 16 outputs PNP GX OD1621 Relay 16...

Page 38: ...nputs and 16 outputs NPN GX MD3218 16 inputs and 16 outputs PNP GX MD3228 Analog I O Slave Unit Type Appearance I O points Model Features Models with screw terminal blocks 4 inputs GX AD0471 Equipped...

Page 39: ...ntal resistance IP67 Expansion Unit Type Appearance I O points Model Features Models with 2 tier terminal block 8 inputs NPN XWT ID08 Can be connected to the following Digital I O Slave Unit GX ID1611...

Page 40: ...nnected devices GX OD1611 GX OD1621 GX OC1601 GX MD1611 GX MD1621 Models with 3 tier terminal block GX ID1612 GX ID1622 GX OD1612 GX OD1622 GX MD1612 GX MD1622 e CON connectors GX ID1618 GX ID1628 e C...

Page 41: ...vices GX EC0241 IO Link Master Unit Type Model Slave Unit installation method I O connection method Internal power supply External power supply GX type IO Link Master Unit GX ILM08C Screw mounting M12...

Page 42: ...2 EtherCAT Slave Unit 2 8 GX series EtherCAT Slave Unit User s Manual...

Page 43: ...nting and Setting EtherCAT Master Unit 3 4 3 2 2 Mounting and Setting Slave Units 3 4 3 2 3 Wiring Communications Cables 3 4 3 2 4 Connecting Power Supplies 3 4 3 2 5 Wiring I O Devices 3 4 3 3 Starti...

Page 44: ...e figure above supply the unit power and the I O power separately 3 1 1 System Setting Examples Digital I O Slave Unit GX ID1611 16 inputs Expansion Unit XWT ID16 16 inputs Set the node address to 1 D...

Page 45: ...of the procedures explained in the following sections 1 If you use an IO Link Master Unit refer to the IO Link System User s Manual W570 for IO Link communications settings and for information on sta...

Page 46: ...s Wire communications cables to the EtherCAT Master Unit and each Slave Unit For wiring method refer to 4 2 Connecting to EtherCAT Network in page 4 4 Connect the unit power supply to the EtherCAT Mas...

Page 47: ...unications Allocate I O data of Slave Units to the EtherCAT Master Unit PDO mapping and perform PDO communication remote I O communications For the detailed explanation of I O data of each Slave Unit...

Page 48: ...EtherCAT Master Unit to be used EtherCAT Slave Units Check that the status indicator of each Slave Unit is as follows Use the Configuration Tool to read IN data and OUT data of the EtherCAT Master Un...

Page 49: ...onnecting Network 4 5 4 2 3 Connecting Communications Cables and Connectors 4 6 4 2 4 Connecting to Communications Cables 4 7 4 3 Connecting to Unit Power Supply and I O Power Supply 4 8 4 3 1 Precaut...

Page 50: ...tion pages for the Slave Unit Mounting is possible in any of the following 6 orientations 1 Hook the top side of groove on backside of the Slave Unit to the top side of the DIN track lower the DIN tra...

Page 51: ...top side Attach an end plate on each side of the Unit Precautions for Safe Use After the operation make sure to check that the Slave Unit is securely mounted Loosen the screws on the end plate and rem...

Page 52: ...ses Check the following items for communications cables to be used Are there any disconnected cables Are any cables short circuited Are there any problems in connector connections To connect a cable t...

Page 53: ...conductors are strand wire the transmission performance will be lower than solid wire and the operation at 100 m distance cannot be guaranteed Confirm details with the cable manufacturer When selecti...

Page 54: ...ables T568A and T568B The figure above shows a wiring method conforming to the standard T568A The wiring method conforming to the standard T568B can also be used 4 2 3 Connecting Communications Cables...

Page 55: ...r of the first Slave Unit to the CN IN connector of the next Slave Unit Note that nothing should be connected to the CN OUT connector of the Slave Unit at the terminal end of the network Precautions f...

Page 56: ...e of a Slave Unit farthest to the power supply must be within the allowable variation range Supplying unit power supply and I O power supply from multiple sources When the unit power and I O power are...

Page 57: ...current have been added Use a power supply with sufficient capacity considering the inrush current at startup Connect a cable from the 24 VDC unit power supply to the unit power supply connector on ea...

Page 58: ...ale is used for the power supply connector The Unit power supply specifications are given below Power Supply Connector Model Applicable wire size Crimping tool Manufacturer AI0 5 10WH 0 5 mm AWG20 CRI...

Page 59: ...in Page 4 13 Units with e CON connectors The following e CON connector type Slave Units Output Slave Units and output sections of Input Output Slave Units are equipped with I O power supply connectors...

Page 60: ...ing male is used for the power supply connector The I O power supply specifications are given below Power Supply Connector Model Applicable wire size Crimping tool Manufacturer AI0 5 10WH 0 5 mm AWG20...

Page 61: ...the signal line to the terminal block Tighten the terminal block screws to the appropriate tightening torque of 0 5 N m The terminal block is removable remove the left and right screws if it is neces...

Page 62: ...9 to 1 0 mm 1473562 4 Yellow Sheath diameter 1 0 to 1 15 mm 2 1473562 4 Blue Sheath diameter 1 15 to 1 35 mm 4 1473562 4 Green Sheath diameter 1 35 to 1 60 mm Model Housing color Applicable wire rang...

Page 63: ...next figures When the cables are prepared this way an e CON connector cannot be attached First cut the end and remove the cable sheath as shown in the following diagram Do not strip the sheaths of the...

Page 64: ...ctors 1 Insert the wire all the way to the wire insertion opening on the cover of the cable connector 2 Use a pliers or equivalent to press the cover into the body At this point press the cover straig...

Page 65: ...Use To remove a wire push in the operation lever check that the operation lever has locked and then pull out the wire Also after removing the wire always return the operation lever to its normal posi...

Page 66: ...4 Installation and Wiring 4 18 GX series EtherCAT Slave Unit User s Manual...

Page 67: ...Data Objects PDO 5 5 5 4 1 Overview 5 5 5 4 2 PDO Mapping Settings 5 5 5 4 3 Sync Manager PDO Assignment Settings 5 6 5 4 4 Fixed PDO Mapping 5 7 5 5 Service Data Object SDO 5 10 5 5 1 Overview 5 10 5...

Page 68: ...Object and SDO Service Data Object PDO is composed of object dictionaries that can be mapped The process data is defined by PDO mapping PDO is primarily used in PDO communications for regularly excha...

Page 69: ...e ESI files of connected Slave Units and the network connection information ESI files are installed in the configuration tool to create network configuration information You can download the network c...

Page 70: ...are being initialized Communications are not possible Pre Operational Pre Op Possible Not possible Not possible SDO message communications are possible in this state This state is entered after initia...

Page 71: ...process data of EtherCAT Slave Units can be transferred The details of process data are described in PDO Mapping Objects and Sync Manager PDO Assignment Objects GX series EtherCAT Slave Units support...

Page 72: ...4 3 Sync Manager PDO Assignment Settings 1ZZZ hex 1ZZZ hex 1ZZZ hex 6TTT hex 6UUU hex 6VVV hex 6YYY hex 6ZZZ hex 02 hex 03 hex 01 hex TT hex UU hex VV hex YY hex ZZ hex 6UUU hex UU hex 6TTT hex TT he...

Page 73: ...ceive PDO Mapping 1701 hex 8 outputs of Slave Unit Write output bits 3220 hex 8 outputs of Expansion Unit only 16 outputs of Slave Unit only 16 outputs of Expansion Unit only 16 outputs of Slave Unit...

Page 74: ...x Write analog output 16 bit 6411 hex 1 257th transmit PDO Mapping 1B00 hex Read analog input 16 bit 6401 hex 2 512th transmit PDO Mapping 1BFF hex Sysmac Error 2002 hex 257th receive PDO Mapping 1700...

Page 75: ...it PDO Mapping 1A01 hex Port2 Input Data 6010 hex 3rd transmit PDO Mapping 1A02 hex Port3 Input Data 6020 hex 4th transmit PDO Mapping 1A03 hex Port4 Input Data 6030 hex 5th transmit PDO Mapping 1A04...

Page 76: ...be mapped into the PDO 06040042 hex The number and length of the objects to be mapped would exceed the PDO length 06040043 hex General parameter incompatibility reason 06040047 hex General internal i...

Page 77: ...he relevant values in the manual of the host system EtherCAT Master or CPU Unit to be used This is the time which takes for an input signal from an Input Slave Unit to be processed by the PLC of the M...

Page 78: ...cle The communications cycle is determined by setting output frequency of Sync0 signal interrupt signal in DC mode 1 125 s 250 s 500 s 1 ms 2 ms 4 ms The settings are performed on the EtherCAT Master...

Page 79: ...ify setting set it to Notify each time you turn on the power Note that an emergency message cannot be sent during an EtherCAT communications errors are occurring Precautions for Correct Use For unit v...

Page 80: ...iagnosis history is stored from Diagnosis message 1 If 8 errors are stored in order up to Diagnosis message 8 the 9th error onward are saved from Diagnosis message 1 again The GX ILM08C can save a max...

Page 81: ...n 1 0 the GX series IO Link Master Unit is a Sysmac device and supports Sysmac device functions Sysmac error status Slaves Units that are Sysmac devices systematically handle errors that occur in the...

Page 82: ...hex EtherCAT slave controller EtherCAT Master Unit Non volatile memory SII 1 When the power supply is OFF set the node address switches to 00 2 From the master write the node address to the SII in the...

Page 83: ...arameters because a slave device that was replaced is detected Conformance to ESI specifications ETG 2000 S R V1 0 1 The ESI specifications define the contents of the EtherCAT slave information ESI fi...

Page 84: ...5 EtherCAT Communications 5 18 GX series EtherCAT Slave Unit User s Manual...

Page 85: ...ifications of common areas 6 1 EtherCAT Communications Specifications 6 2 6 2 General Specifications 6 3 6 3 Specifications of Common Areas 6 4 6 3 1 Status Indicators 6 4 6 3 2 Node Address Setting S...

Page 86: ...ysical layer 100BASE TX IEEE802 3 Connectors RJ45 2 Shielded CN IN EtherCAT input CN OUT EtherCAT output Topology Depends on the specifications of the EtherCAT master 1 Communications media Category 5...

Page 87: ...ance Malfunction 10 to 60 Hz with amplitude of 0 7 mm 60 to 150Hz and 50 m s2 in each of X Y and Z directions for 80 minutes GX OC1601 Relay Output Unit only 10 to 55 Hz with double amplitude of 0 7 m...

Page 88: ...side Indicates the communication state output side 6 3 1 Status Indicators PWR indicator Color State Contents Green OFF Unit power OFF state ON The unit power 24 VDC is supplied to the Slave Unit L A...

Page 89: ...of indicator is as follows RUN indicator Color State Contents Green OFF Init state Blinking Pre Operational state Single flash Safe Operational state ON Operational state ERR indicator Color State Co...

Page 90: ...not operate if the node address setting made from the Configuration Tool is not changed from 0 to another value If the node address switches are set to 00 always use the Configuration Tool to change t...

Page 91: ...ower supply is turned ON If the same node address is allocated to more than one node an error occurs and operation stops for an OMRON EtherCAT Master Unit If you set the node address switches to 000 t...

Page 92: ...wn below The specifications are shown below Electrical characteristics Conforms to the IEEE 802 3 standard Connector structure RJ45 8 pin modular connector conforms to ISO 8877 Terminal arrangement Un...

Page 93: ...as shown below The specifications are given below Electrical specifications Conform to IEEE 802 3 standards Connector structure M12 connectors D coding female x 2 Both are shielded Terminal Arrangemen...

Page 94: ...tact Plating 2 Gold plated 0 4 m 5 Cable Connection Direction M12 Connector 1 Straight 2 Right angle 6 Cable Length A 0 3 m B 0 5 m C 1 m D 2 m E 3 m G 5 m J 10 m K 15 m 7 Connectors 0 M12 plug on one...

Page 95: ...ring connection connector with fixing screw 2 pin Supported pin terminal diameter 0 25 mm2 to 0 5 mm2 AWG24 to AWG20 Pin terminal with isolation sleeve used For types of recommended pin terminals refe...

Page 96: ...ply connector Notes Supply the Unit power supply and the I O power supply from separate sources An M12 connector A coding male is used for the power supply connector Power Supply Connector IO Link Mas...

Page 97: ...218 MD3228 Connector type Spring connection connector with fixing screw 4 pin Supported pin terminal diameter 0 25 mm2 to 0 5 mm2 AWG24 to AWG20 Pin terminal with isolation sleeve used For types of re...

Page 98: ...6 Basic Specifications of Slave Units 6 14 GX series EtherCAT Slave Unit User s Manual...

Page 99: ...621 7 22 7 4 5 3 tier Terminal Block Type 16 point Input Slave Unit GX ID1612 ID1622 7 28 7 4 6 3 tier Terminal Block Type 16 point Output Slave Unit GX OD1612 OD1622 7 33 7 4 7 3 tier Terminal Block...

Page 100: ...nual 7 1 Digital I O Slave Unit Digital I O Slave Units refer to slaves with processing functions for digital I O data ON OFF signals Moreover this Slave Unit has the input filter function input only...

Page 101: ...unted You can also assign the Sysmac error status 1 The input data is assigned in this order in byte increments 1 Unit version 1 1 or later only 8 point Input Slave Unit 16 point Input Slave Unit 32 p...

Page 102: ...it 7 to 0 bit 1 Input data of the Slave Unit 15 to 8 bit 2 Input data of the Expansion Unit 7 to 0 bit 3 Reserved Offset byte 7 bit 0 bit 0 Input data of the Slave Unit 7 to 0 bit 1 Input data of the...

Page 103: ...ve Unit 8 point Expansion Unit Offset byte 7 bit 0 bit 0 Sysmac error status 7 to 0 bit 7 2 2 Output Data Allocation Output data allocation example Offset byte 7 bit 0 bit 0 Output data of the Slave U...

Page 104: ...Expansion Unit 7 to 0 bit 1 Output data of the Expansion Unit 15 to 8 bit Offset byte 7 bit 0 bit 0 Output data of the Slave Unit 7 to 0 bit 1 Output data of the Slave Unit 15 to 8 bit 2 Output data...

Page 105: ...reads inputs ON OFF within a certain set time and turn ON the inputs if they are all same all ON or all OFF and turn them OFF if not Note that this function works for all inputs of Slave Units and Exp...

Page 106: ...Master Unit cannot be received any longer due to communications errors Applicable Slave Unit Slave Units with digital outputs and Expansion Units GX ODxxxx GX OC1601 output section of GX MDxxxx XWT O...

Page 107: ...circuits diagram Wiring diagram 2 tier terminal block type GX ID1611 GX ID1621 7 10 7 11 7 12 7 13 GX OD1611 GX OD1621 7 14 7 15 7 16 7 17 GX OC1601 7 18 7 19 7 21 7 21 GX MD1611 GX MD1621 7 22 7 24...

Page 108: ...rminal and the V terminal 5 VDC max between each input terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay 0 1 ms max OFF de...

Page 109: ...f Common Areas in Page 6 4 2 Unit power supply connector 3 Status indicators 4 Node Address setting Switches 5 Input indicators 0 to 15 Indicates the state of an input contact ON OFF Not lit Contact O...

Page 110: ...iagram V 24 VDC 0 1 G Photocoupler Photocoupler Internal circuits TX Physical layer DC DC converter No isolation type TX RX RX TX TX RX RX CN IN CN OUT UNIT PS V V V 24 VDC 0 1 G Photocoupler Photocou...

Page 111: ...imity sensors The colors in parentheses are the wire colors prior to the revisions Wiring diagram I O power supply 24 VDC NPN output 3 wire sensor Photoelectric sensor proximity sensor 2 wire sensor L...

Page 112: ...etween each output terminal and the G terminal 1 2 V max 0 5 ADC between each output terminal and the V terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1 5 ms max Number of circuits...

Page 113: ...Common Areas in Page 6 4 2 Unit power supply connector 3 Status indicators 4 Node Address setting Switches 5 Output indicators 0 to 15 Indicates the state of an output contact ON OFF Not lit Contact O...

Page 114: ...V 24 VDC Photocoupler Internal circuits Photocoupler Voltage drop TX Physical layer DC DC converter No isolation type TX RX RX TX TX RX RX CN IN CN OUT UNIT PS V V 0 1 G V 24 VDC Photocoupler Photocou...

Page 115: ...Use When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Sign...

Page 116: ...Type 16 point Output Slave Unit GX OC1601 Specification Item Specification Output capacity 16 points Mounted relays DRTA NY5W K Rated load Resistance load 250 VAC 2 A output common 8 A 30 VDC 2 A outp...

Page 117: ...e 6 4 2 Unit power supply connector 3 Status indicators 4 Node Address setting Switches 5 Output indicators 0 to 15 Indicates the state of an output contact ON OFF Not lit Contact OFF output OFF state...

Page 118: ...elay actual measurement data The graphs below show the actual measurement values of relay characteristics sampled from the production lines There is some variation in relay characteristics so use this...

Page 119: ...ternal circuits 8 9 COM1 Photocoupler Photocoupler DC DC converter for relay drive No isolation type 0 1 COM0 Photocoupler Photocoupler DRTA NY5W K TX Physical layer DC DC converter No isolation type...

Page 120: ...X MD1621 Input capacity 8 points ON voltage 15 VDC min between each input terminal and the V terminal 15 VDC min between each input terminal and the G terminal OFF voltage 5 VDC max between each input...

Page 121: ...GX MD1621 Output capacity 8 points Rated output current 0 5 A output 2 0 A common Residual voltage 1 2 V max 0 5 ADC between each output terminal and the G terminal 1 2 V max 0 5 ADC between each outp...

Page 122: ...OFF state Lit in yellow Contact ON input ON state 6 Output indicators 0 to 7 Indicates the state of an output contact ON OFF Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON sta...

Page 123: ...circuits diagram Photocoupler 0 1 G2 Photocoupler V2 24 VDC Photocoupler Photocoupler V1 24 VDC 0 1 G1 Voltage drop Internal circuits TX Physical layer DC DC converter No isolation type TX RX RX TX TX...

Page 124: ...nsor proximity sensor 2 wire sensor Limit switch etc Blue black Black white Brown white Blue black Brown red V1 NC G1 NC V2 G2 1 3 5 7 1 3 5 7 0 2 4 6 0 2 4 6 I O power supply 24 VDC Solenoid valve et...

Page 125: ...upply are not connected internally Supply power separately for V1 G1 and V2 G2 When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive...

Page 126: ...erminal 5 VDC max between each input terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay 0 1 ms max OFF delay 0 2 ms max Inp...

Page 127: ...Switches 5 Input indicators 0 to 15 Indicates the state of an input contact ON OFF Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state 6 Terminal block Connects external devic...

Page 128: ...al circuits Photocoupler Photocoupler Input circuit Input circuit TX Physical layer DC DC converter No isolation type TX RX RX TX TX RX RX CN IN CN OUT UNIT PS V V G1 V1 24 VDC G1 0 to 7 V1 G2 V2 24 V...

Page 129: ...k white Brown red Brown white Blue black NC NC 8 9 0 1 2 3 4 5 6 7 V1 V1 V1 V1 V1 V1 V1 V1 G1 G1 G1 G1 G1 G1 G1 G1 V1 G1 10 11 12 13 14 15 V2 V2 V2 V2 V2 V2 V2 V2 V2 G2 G2 G2 G2 G2 G2 G2 G2 G2 I O pow...

Page 130: ...he G1 and G2 terminals of the I O power supply are not connected internally Supply power separately for V1 G1 and V2 G2 Do not wire NC terminals Reference Wire colors have been changed according to re...

Page 131: ...PNP Residual voltage 1 2 V max 0 5 ADC between each output terminal and the G terminal 1 2 V max 0 5 ADC between each output terminal and the V terminal Leakage current 0 1 mA max ON delay 0 5 ms max...

Page 132: ...an output contact ON OFF Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 6 Terminal block Connects external devices and the I O power supply Left side V1 G1 I O power sup...

Page 133: ...V1 G1 V2 24 VDC G2 V2 G2 Internal circuits Photocoupler Photocoupler Output 0 to 7 Output 8 to 15 Voltage drop Voltage drop TX Physical layer DC DC converter No isolation type TX RX RX TX TX RX RX CN...

Page 134: ...4 5 6 7 V1 V1 V1 V1 V1 V1 V1 V1 G1 G1 G1 G1 G1 G1 G1 G1 V1 G1 10 11 12 13 14 15 V2 V2 V2 V2 V2 V2 V2 V2 V2 G2 G2 G2 G2 G2 G2 G2 G2 G2 I O power supply 24 VDC Solenoid valve etc PNP input 3 wire exter...

Page 135: ...V1 G1 and V2 G2 Use a maximum current of 500 mA for each V1 V2 G1 and G2 terminals aside from the I O power supply terminals When using an inductive load such as a solenoid valve either use a built in...

Page 136: ...8 points ON voltage 15 VDC min between each input terminal and the V terminal 15 VDC min between each input terminal and the G terminal OFF voltage 5 VDC max between each input terminal and the V term...

Page 137: ...city 8 points Rated output current 0 5 A output 2 0 A common Residual voltage 1 2 V max 0 5 ADC between each output terminal and the G terminal 1 2 V max 0 5 ADC between each output terminal and the V...

Page 138: ...input ON state 6 Output indicators 0 to 7 Indicates the state of an output contact ON OFF Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 7 Terminal block Connects extern...

Page 139: ...ts diagram V1 24 VDC G1 V1 0 to 7 G1 V2 24 VDC G2 V2 0 to 7 G2 Internal circuits Photocoupler Photocoupler Input circuit Voltage drop TX Physical layer DC DC converter No isolation type TX RX RX TX TX...

Page 140: ...c NPN input 3 wire external device Emitter of photoelectric sensor Blue black Pink white Brown red I O power supply 24 VDC I O power supply 24 VDC 2 3 4 5 6 7 NC NC 0 1 0 1 2 3 4 5 6 7 V1 V1 V1 V1 V1...

Page 141: ...ely for V1 G1 and V2 G2 Use a maximum current of 500 mA for each V1 V2 G1 and G2 terminals aside from the I O power supply terminals When using an inductive load such as a solenoid valve either use a...

Page 142: ...V terminal 5 VDC max between each input terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay 0 1 ms max OFF delay 0 2 ms max...

Page 143: ...t OFF state Lit in yellow Contact ON input ON state 6 I O connectors 0 to 15 Connects an external device 7 DIN track mounting hook Fixes a Slave Unit to a DIN track 5 1 6 2 3 4 7 0 1 2 3 4 5 6 7 1 2 3...

Page 144: ...it protection element Photocoupler Photocoupler TX Physical layer DC DC converter No isolation type TX RX RX TX TX RX RX CN IN CN OUT UNIT PS V V Internal circuits Input circuit Input circuit V0 NC G...

Page 145: ...Blue black NPN output 3 wire sensor Photoelectric sensor proximity sensor Blue black Black white Brown red V V V V V V V V NC NC NC NC NC NC NC NC G0 G1 G2 G3 G4 G5 G6 G7 IN0 IN1 IN2 IN3 IN4 IN5 IN6 I...

Page 146: ...2 V max 0 5 ADC between each output terminal and the V terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1 5 ms max Number of circuits per common 16 points common Output indicators LED...

Page 147: ...witches 5 Output indicators 0 to 15 Indicates the state of an output contact ON OFF Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 6 I O connectors 0 to 15 Connects an e...

Page 148: ...ocoupler Photocoupler Internal circuits Voltage drop TX Physical layer DC DC converter No isolation type TX RX RX TX TX RX RX CN IN CN OUT UNIT PS V V Voltage drop V NC G OUT1 V V G G NC V G OUT0 Phot...

Page 149: ...NC NC NC V V V V V V V V NC NC NC NC NC NC NC NC G G G G G G G G G G G G G G G G OUT 8 OUT 9 OUT 10 OUT 11 OUT 12 OUT 13 OUT 14 OUT 15 OUT 0 OUT 1 OUT 2 OUT 3 OUT 4 OUT 5 OUT 6 OUT 7 V V G G I O power...

Page 150: ...O power supply to the next unit Use a maximum current of 4 A per terminal When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force...

Page 151: ...ction Available at input section only Operates at 50 mA point min Item Specification GX MD1618 GX MD1628 Input capacity 8 points ON voltage 15 VDC min between each input terminal and the V terminal 15...

Page 152: ...l voltage 1 2 V max 0 5 ADC between each output terminal and the G terminal 1 2 V max 0 5 ADC between each output terminal and the V terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1...

Page 153: ...yellow Contact ON output ON state 7 I O connectors 0 to 15 Connects an external device Top side For input device Bottom side For output device 8 I O power supply connector Supplies the I O power For...

Page 154: ...element Photocoupler Photocoupler TX Physical layer DC DC converter No isolation type TX RX RX TX TX RX RX CN IN CN OUT UNIT PS V V Internal circuits Voltage drop Input circuit V0 NC G1 IN0 V V G G N...

Page 155: ...G G G G G G OUT 0 OUT 1 OUT 2 OUT 3 OUT 4 OUT 5 OUT 6 OUT 7 V1 V1 V1 V1 V1 V1 V1 V1 NPN input 3 wire external device Emitter of photoelectric sensor Blue black Pink white Brown red Solenoid valve etc...

Page 156: ...O power supply to the next unit Use a maximum current of 4 A per terminal When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force...

Page 157: ...FF voltage 5 VDC max between each input terminal and the V terminal 5 VDC max between each input terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC 3 0 mA max...

Page 158: ...IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 8 9 10 11 12 13 14 15 1 2 3 4 V V V V V V V V NC NC NC NC NC NC NC NC G8 G9 IN8 IN9 G10 G11 G12 G13 G14 G15 IN10 IN11 IN12 IN13 IN14 IN15 IN1 IN2 0 1 2 3 4 5 6 7 1 2 3...

Page 159: ...ctors Refer to 6 3 Specifications of Common Areas in Page 6 4 2 Unit power supply connector 3 Status indicators 4 Node Address setting Switches 5 Input indicators IN1 0 to 15 IN2 0 to 15 Indicates the...

Page 160: ...it protection element Photocoupler Photocoupler TX Physical layer DC DC converter No isolation type TX RX RX TX TX RX RX CN IN CN OUT UNIT PS V V Internal circuits Input circuit V0 NC G IN0 V1 NC G IN...

Page 161: ...V V V V V V V NC NC NC NC NC NC NC NC G8 G9 IN8 IN9 G10 G11 G12 G13 G14 G15 IN10 IN11 IN12 IN13 IN14 IN15 V V V V V V V V NC NC NC NC NC NC NC NC G0 G1 G2 G3 G4 G5 G6 G7 IN0 IN1 IN2 IN3 IN4 IN5 IN6 I...

Page 162: ...2 V max 0 5 ADC between each output terminal and the V terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1 5 ms max Number of circuits per common 16 points common Output indicators LED...

Page 163: ...ow Contact ON output ON state 6 I O connectors 0 to 15 2 Connects an external device 7 I O power supply connectors 2 Supplies the I O power 8 DIN track mounting hook Fixes a Slave Unit to a DIN track...

Page 164: ...ocoupler Photocoupler Internal circuits TX Physical layer DC DC converter No isolation type TX RX RX TX TX RX RX CN IN CN OUT UNIT PS V V Voltage drop Voltage drop V V G G NC V G OUT0 V V G G NC V G O...

Page 165: ...12 OUT 13 OUT 14 OUT 15 G G G G G G G G G G G G G G G G OUT 8 OUT 9 OUT 10 OUT 11 OUT 12 OUT 13 OUT 14 OUT 15 G G G G G G G G OUT 0 OUT 1 OUT 2 OUT 3 OUT 4 OUT 5 OUT 6 OUT 7 G G G G G G G G I O power...

Page 166: ...for the I O power supply to the next unit Use a maximum current of 4 A per terminal When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectrom...

Page 167: ...nction Available at input section only Operates at 50 mA point min Item Specification GX MD3218 GX MD3228 Input capacity 16 points ON voltage 15 VDC min between each input terminal and the V terminal...

Page 168: ...l voltage 1 2 V max 0 5 ADC between each output terminal and the G terminal 1 2 V max 0 5 ADC between each output terminal and the V terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1...

Page 169: ...OFF output OFF state Lit in yellow Contact ON output ON state 7 I O connectors 1 to 16 2 Connects an external device Left side For input device Right side For output device 8 I O power supply connecto...

Page 170: ...r TX Physical layer DC DC converter No isolation type TX RX RX TX TX RX RX CN IN CN OUT UNIT PS V V Internal circuits Short circuit protection element Voltage drop Input circuit V0 NC G IN0 V V G G NC...

Page 171: ...3 wire sensor Photoelectric sensor proximity sensor Blue black Black white Brown red NPN input 3 wire external device Emitter of photoelectric sensor Blue black Pink white Brown red Solenoid valve etc...

Page 172: ...O power supply to the next unit Use a maximum current of 4 A per terminal When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force...

Page 173: ...Mounting Dimensions 7 7 5 1 2 tier Terminal Block Type 7 5 Mounting Dimensions The mounting dimensions of a Digital I O Slave Unit are shown below GX ID1611 ID1621 OD1611 OD1621 GX OC1601 7 5 1 2 tie...

Page 174: ...7 Digital I O Slave Unit 7 76 GX series EtherCAT Slave Unit User s Manual GX MD1611 MD1621 7 5 2 3 tier Terminal Block Type 73 9 57 1 50 135 52 3 14 mm 10 1 93 5 200 52 50 3 14 68 9 mm...

Page 175: ...Unit GX series EtherCAT Slave Unit User s Manual 7 5 Mounting Dimensions 7 7 5 3 e CON Connector Type GX ID1618 ID1628 GX OD1618 OD1628 MD1618 MD1628 7 5 3 e CON Connector Type 50 52 115 3 14 43 85 m...

Page 176: ...7 Digital I O Slave Unit 7 78 GX series EtherCAT Slave Unit User s Manual GX ID3218 ID3228 GX OD3218 OD3228 3 14 52 180 50 43 85 mm 3 14 52 180 50 49 8 mm...

Page 177: ...7 79 7 Digital I O Slave Unit GX series EtherCAT Slave Unit User s Manual 7 5 Mounting Dimensions 7 7 5 3 e CON Connector Type GX MD3218 MD3228 3 14 52 180 50 49 8 mm...

Page 178: ...7 Digital I O Slave Unit 7 80 GX series EtherCAT Slave Unit User s Manual...

Page 179: ...2 Moving Average 8 8 8 3 3 Disconnected Line Detection 8 10 8 3 4 User adjustment 8 10 8 4 Overview of the Analog Output Slave Unit 8 12 8 4 1 Output Range and Converted Data 8 12 8 4 2 I O Data Allo...

Page 180: ...Slave Unit User s Manual 8 1 Analog I O Slave Unit Analog I O Slave Units refer to slaves with processing functions for analog I O data voltage value current value Other functions of the Slave Unit i...

Page 181: ...ds the data range for which conversion is possible the converted data is fixed to the maximum or minimum value of the range Input range 0 to 5 V Voltage of 0 to 5 V is converted to data from 0000 to 1...

Page 182: ...range 0 to 10 V Voltage of 0 to 10 V is converted to data from 0000 to 1F40 hex 0 to 8000 The input data range for which conversion is possible is 0 5 to 10 5 V and here the output data is FE70 to 20D...

Page 183: ...8 mA and here the output data is FE70 to 20D0 hex 400 to 8400 If the input current drops below the input range to lower than 1 2 mA due to disconnection and so on the disconnected line detection is ac...

Page 184: ...hods 1 Unit version 1 1 or later only Analog input data for 4 channels Analog input data for 4 channels and Sysmac error status 8 2 2 I O Data Allocation PDO Mapping Input data allocation Offset byte...

Page 185: ...t unused points are not converted By reducing the number of conversion points the conversion cycle speed is increased Whether AD conversion is enabled or disabled is settable for each point Default se...

Page 186: ...use the following formula to calculate the sampling count from the setting of the Analogue Input Moving Average object and the number of AD conversion available points Digits below the decimal point...

Page 187: ...average calculation 4th Moving average calculation 5th Moving average value D1 4 4 Moving average value D1 3 D2 4 Moving average value D1 2 D2 D3 4 Moving average value D1 D2 D3 D4 4 Moving average va...

Page 188: ...ted data at disconnected line detection is 7FFF hex If the input returns to the convertible range again this function is automatically cancelled and normal conversion data is input The table below sho...

Page 189: ...t High Execute user adjustment execution upper limit Lower limit correction 3115 hex Analogue Input Adjustment Low Execute user adjustment execution lower limit For the correction procedure refer to t...

Page 190: ...0 to 5 V Data from 0000 to 1F40 hex 0 to 8000 is converted to voltage from 0 to 5 V and output The output data range for which conversion is possible is FE70 to 20D0 hex 400 to 8400 and here the outpu...

Page 191: ...sion is possible is EED0 to 1130 hex 4400 to 4400 and here the output data is 11 to 11 V Negative voltages are specified as two s complements hexadecimal Output range 4 to 20 mA Data from 0000 to 1F40...

Page 192: ...s in Page 8 23 An Analog Output Slave Unit has output data and it is allocated to the OUT area of I O memory of the EtherCAT Master Unit Also the Sysmac error status is allocated to the IN area of I O...

Page 193: ...s are not converted By reducing the number of conversion points the conversion cycle speed is increased Whether DA conversion is enabled or disabled is settable for each point Default setting Enable a...

Page 194: ...tents Hold Last State Holds and outputs the value immediately before the error occurred Low Limit Outputs the values in the following table according to the output range High Limit Outputs the values...

Page 195: ...ge is as follows Set by SDO communications The target indexes are as follows Upper limit correction 3212 hex Analogue Output Adjustment High Execute user adjustment execution upper limit Lower limit c...

Page 196: ...O Slave Units names and functions of each part internal circuit diagram and wiring diagram Refer to the following corresponding page to each model Type Model Reference page Specification Names and fun...

Page 197: ...H2 common to input CH3 CH4 SDO communications Possible to set input CH1 to CH4 separately Maximum signal input 15 V 30 mA Input impedance 1 M min Approx 250 Resolution 1 8000 full scale Overall accura...

Page 198: ...connector 3 Status indicators 4 Node Address setting Switches 5 Input range setting Switches DIP switches for setting input range Refer to the following section 6 Terminal block Terminal block for an...

Page 199: ...ch settings will not be reflected The settings of this switch are read only once when the power is turned ON Setting of input CH1 CH2 range Pin1 to Pin3 Setting of input CH3 CH4 range Pin4 to Pin6 Pre...

Page 200: ...al circuits diagram Wiring diagram V I AG V Analog GND 250 510 k 510 k 0 V 0 V Short circuit Voltage input Current input Short circuit the V positive terminal and I positive terminal at current input...

Page 201: ...set outputs CH1 and CH2 separately External output allowable load resistance 5 k min 600 max Resolution 1 8000 full scale Overall accuracy 25 C 0 4 FS 10 to 55 C 0 8 FS Analog conversion cycle 500 s i...

Page 202: ...Page 6 4 2 Unit power supply connector 3 Status indicators 4 Node Address setting Switches 5 Output range setting Switches DIP switches for setting output range Refer to the following section 6 Termi...

Page 203: ...tput CH2 range Pin4 to Pin6 Output range Pin1 Pin2 Pin3 0 to 5 V OFF OFF OFF 1 to 5 V ON OFF OFF 0 to 10 V OFF ON OFF 10 to 10 V ON ON OFF 4 to 20 mA OFF OFF ON Output range Pin4 Pin5 Pin6 0 to 5 V OF...

Page 204: ...EtherCAT Slave Unit User s Manual Precautions for Correct Use Do not wire NC terminals Wiring diagram External device Output 1 At voltage output External device Output 2 At current output V1 I1 V2 I2...

Page 205: ...alog I O Slave Unit GX series EtherCAT Slave Unit User s Manual 8 7 Mounting Dimensions 8 8 7 Mounting Dimensions The mounting dimensions of an Analog I O Slave Unit are shown below 73 9 50 135 52 3 1...

Page 206: ...8 Analog I O Slave Unit 8 28 GX series EtherCAT Slave Unit User s Manual...

Page 207: ...6 9 3 Function of the Encoder Input Slave Units 9 8 9 3 1 Count Mode 9 8 9 3 2 Circular Counter 9 8 9 3 3 Input Signal Types 9 9 9 3 4 Encoder Direction Setting 9 11 9 3 5 Counter Reset 9 12 9 3 6 Cou...

Page 208: ...lave Unit User s Manual 9 1 Encoder Input Slave Unit An Encoder Input Slave Unit has 5 V and 24 V open collector input function or line driver input function The open collector input can be measured u...

Page 209: ...version 1 1 or later only Encoder Input Slave Unit stores the counter present value external latch value A external latch value B and the counter status as input data and can allocate required data to...

Page 210: ...26 bytes Offset byte D07 D06 D05 D04 D03 D02 D01 D00 0 CRUN1 CERR1 Reserved EXLB1 EXLA1 EXRES1 RACK1 PACK1 1 CRUN2 CERR2 Reserved EXLB2 EXLA2 EXRES2 RACK2 PACK2 2 CH1 Present value data LL 3 LH 4 HL 5...

Page 211: ...Offset byte D07 D06 D05 D04 D03 D02 D01 D00 0 CRUN1 CERR1 Reserved EXLB1 EXLA1 EXRES1 RACK1 PACK1 1 CRUN2 CERR2 Reserved EXLB2 EXLA2 EXRES2 RACK2 PACK2 2 CH1 Present value data LL 3 LH 4 HL 5 HH 6 CH...

Page 212: ...ch Present value reset execution is set to 0 EXRESn External reset generation flag 1 Turned ON at reset generation by external input phase Z 0 Soft switch present value external reset generation flag...

Page 213: ...Preset command value LH 10 HL 11 HH 0 to 3 Soft switch Abbreviati on Status name Operation Detection CENBn Count possible not possible 1 Count possible command 0 Count not possible command Level PSETn...

Page 214: ...the maximum value the counter value returns to 0 to continue count operation If the counter value becomes less than 0 the counter value returns to the maximum value to continue count operation The set...

Page 215: ...Page A 50 Phase A B phase difference pulse input Multiplication 1 2 4 1 Multiplication 1 Count at signal change of phase A when phase B signal is turned OFF The count is incremented at rise of phase...

Page 216: ...ion with external input devices becomes as follows Incremental decremental pulse input The count is incremented at rise of input A pulse and decremented at rise of input B pulse Encoder A B Z Reset In...

Page 217: ...en from the shaft of the connected encoder Forward direction at CCW counterclockwise rotation seen from the shaft of the connected encoder Note that SDO communications are used to set encoder directio...

Page 218: ...ut of the present value external reset or phase Z the external reset generation flag is turned ON By changing clear present value external reset generation flag from 0 to 1 external reset generation f...

Page 219: ...resent counter value is acquired stored at the rise of latch A of external control input However it is necessary to set the soft switch external latch A enabled to enabled External control input latch...

Page 220: ...Input Slave Units names and functions of each part internal circuit diagram and wiring diagram Refer to the following corresponding page to each model Type Model Reference page Specification Names an...

Page 221: ...icators LED display yellow Unit power supply current consumption 130 mA max for 20 4 to 26 4 VDC power supply voltage Weight 390 g max Item Specification Counter phase A B Counter phase Z Input voltag...

Page 222: ...encoder to be used the length of encoder cable and frequency of count pulse Timing condition A B C D E F G 0 3 s 1 s 2 s 4 s 8 s 2 s 4 s C B B A A ON voltage OFF voltage Terminal input G A A E D A A...

Page 223: ...FF response time 3 s max 90 s max Names and functions No Name Function 1 Communications connectors Refer to 6 3 Specifications of Common Areas Page 6 4 2 Unit power supply connector 3 Status indicator...

Page 224: ...gnal count direction control signal decremental count signal available OFF Input B phase B signal count direction control signal decremental count signal not available OFF Input B phase B signal count...

Page 225: ...twisted pair wiring 6 RSV 7 LA1 LA2 Latch A input 8 LB1 LB2 Latch B input 9 RST1 RST2 Reset input 10 V1 Encoder power supply input 11 V1 Encoder power supply output 12 A24 Phase A input 24 V 13 B24 Ph...

Page 226: ...V2 V2 LA LB G2 1 2 k 1 5 k 430 1 2 k 1 5 k 430 1 2 k 1 5 k 430 2 k 2 k V2 RST G2 3 3 k Photocoupler Internal circuits Photocoupler Photocoupler Photocoupler Photocoupler Input circuits Input circuits...

Page 227: ...oder power supply 24 VDC or 5 VDC Blue 0V Brown Vcc Black Phase A White Phase B Orange Phase Z Encoder NPN open collector output type Black Blue Latch Sensor power supply 24 VDC RSV RSV V1 V1 V1 RSV L...

Page 228: ...ng to RSV terminals V1 G1 V2 and V2 terminals shall be wired as shown in the above wiring diagram RSV RSV V1 V1 V1 RSV LA1 LB1 RST1 V1 V1 A24 B24 Z24 V2 V2 V2 G1 G1 A5 B5 Z5 G2 G2 G2 V2 G2 RSV RSV V1...

Page 229: ...ase Z Latch input A B Counter reset input Counter enabled status display LED display green Input indicators LED display yellow Unit power supply current consumption 100 mA max for 20 4 to 26 4 VDC pow...

Page 230: ...nd frequency of count pulse Timing condition A B C D E F G 25 ns 125 ns 250 ns 0 5 s 1 s 0 25 s 0 5 s C B F F F F A A ON OFF ON OFF A B A B G A A ON OFF ON OFF Z Z E D A A ON OFF ON OFF A A Phase A E...

Page 231: ...ax OFF response time 3 s max 90 s max Names and Functions No Name Function 1 Communications connectors Refer to 6 3 Specifications of Common Areas Page 6 4 2 Unit power supply connector 3 Status indic...

Page 232: ...gnal count direction control signal decremental count signal available OFF Input B phase B signal count direction control signal decremental count signal not available OFF Input B phase B signal count...

Page 233: ...Latch B input 9 RST1 RST2 Reset input 10 V1 Internal circuit sensor power supply input 11 V1 Spare 12 A Phase A input 13 B Phase B input 14 Z Phase Z input 15 V1 Spare 16 V1 Sensor power supply outpu...

Page 234: ...A LB V1 A A V1 G1 B B Z Z Line receiver 2 k 2 k 4 7 k 4 7 k 4 7 k 4 7 k 4 7 k 4 7 k G1 RST V1 3 3 k Internal circuits Photocoupler Photocoupler Input circuits Input circuits TX Physical layer DC DC co...

Page 235: ...s as much as possible Do not wire anything to RSV terminals Wiring diagram RSV RSV RSV RSV RSV RSV LA1 LB1 RST1 V1 V1 A B Z V1 V1 V1 G1 G1 A B Z G1 G1 G1 V1 G1 RSV RSV RSV RSV RSV RSV LA2 LB2 RST2 V1...

Page 236: ...Encoder Input Slave Unit 9 30 GX series EtherCAT Slave Unit User s Manual 9 5 Mounting Dimensions The mounting dimensions of an Encoder Input Slave Unit are shown below 93 5 10 1 68 9 52 3 14 50 215 m...

Page 237: ...ocations PDO Mapping 10 4 10 2 1 Allocating Input Data 10 4 10 2 2 Allocating Output Data 10 6 10 3 Functions of the IO Link Master Unit 10 7 10 4 Specifications 10 9 10 4 1 Specifications 10 9 10 4 2...

Page 238: ...so with IO Link devices that support digital inputs with Pin 2 the IO Link Master Unit can simultaneously perform both IO Link communications and receive digital inputs A GX series IO Link Master Unit...

Page 239: ...0 1 3 Support Software to Be Used Controller Application I O allocation setting for controller PDO assignment setting IO Link master setting Settings monitor for I O Link device NJ NX series CPU Unit...

Page 240: ...You can also allocate Sysmac error status 1 Unit version 1 0 No Unit version 1 1 or later Yes 2 The digital input data collection function is supported in IO Link Master Unit with unit version 1 1 or...

Page 241: ...Data 01 Lower Byte 12 Port 8 IO Link Input Data 01 Upper Byte Port 8 IO Link Input Data 01 Lower Byte 13 Not used D00 Newest Message 14 Not used Sysmac Error Status Input offset words D15 D14 D13 D12...

Page 242: ...ut data from IO Link devices such as actuators that are connected to port 8 in IO Link Mode Output offset words D15 D14 D13 D12 D11 D10 D09 D08 D07 D06 D05 D04 D03 D02 D01 D00 0 Port 1 IO Link Process...

Page 243: ...ld settings tuning execution and ON delay time changes from a program During operation you can check the internal status such as the operating times of devices Communications mode settings You can sel...

Page 244: ...int due to chattering and noise this function prevents changes in data and stabilizes it Digital input collection Unit version 1 1 or later In IO Link Mode this function reflects the specified bit dat...

Page 245: ...1 Specifications Item Specification Communications protocol EtherCAT protocol Modulation Baseband Baud rate 100 Mbps Physical layer 100BASE TX IEEE 802 3 Connectors M12 D coding female 2 shielded CN I...

Page 246: ...7 mm Dielectric strength 600 VAC between isolated circuits Insulation resistance 20 M min between isolated circuits Ambient operating temperature 10 to 55 C Ambient operating humidity 25 to 85 with no...

Page 247: ...32 ms 64 ms 128 ms or 256 ms Digital outputs in SIO DIO Mode Internal I O common PNP Output type Push pull Rated voltage 24 VDC 20 4 to 26 4 VDC Maximum load current 0 3 A port Short circuit protectio...

Page 248: ...t layout Installation orientation and restrictions Installation orientation 6 possible orientations Restrictions No restrictions Protective functions Short circuit protection for L terminal Short circ...

Page 249: ...CAT cable connection OUT side M12 connector D coding female 3 Power supply connector Connects to Unit power supply and I O power supply cable M12 connector A coding male 4 I O connectors Connect to IO...

Page 250: ...rCAT communications For the indicator specifications refer to 6 3 1 Status Indicators in Page 6 4 ERR Indicator This indicator provides information on errors For the indicator specifications refer to...

Page 251: ...Operation is currently performed in SIO DI or SIO DO Mode The port is disabled Red Flashing 1 s intervals There is an IO Link communications error during operation in IO Link Mode Not lit There are no...

Page 252: ...iption 1 UNT_P Unit power supply 2 UNT_P Unit power supply 3 I O_P I O power supply 4 I O_P I O power supply I O Connectors Pin Signal Description 1 L Device power supply 2 DI Digital input 3 L Device...

Page 253: ...ual 10 5 Mounting Dimensions 10 10 5 Mounting Dimensions The mounting dimensions of the IO Link Master Unit are shown below GX ILM08C mm 13 5 46 5 15 1 44 9 22 18 3 57 5 86 111 136 161 60 175 40 7 49...

Page 254: ...in Page 10 20Determining the IO Link Communications Cycle 10 6 1 Maximum I O Response Time I O data type IO Link process input data from IO Link communications in IO Link Mode Digital input data for...

Page 255: ...ink process output data from IO Link communications from port 1 to port 8 3 04 IO Link communications cycle 2 ms 0 091 Pout_size 1 0 001 Total size in bytes of IO Link process output data from IO Link...

Page 256: ...When the minimum cycle time of the IO Link devices is greater than 1 1 ms The IO Link communications cycle Minimum cycle time of the IO Link devices The IO Link communications cycle will be as describ...

Page 257: ...h Connectors on Both Ends M12 Straight RJ45 M12 plug D cod ing male to RJ45 4 Smart click connec tor Straight str aight 0 5 m XS5W T421 BMC SS 1 m XS5W T421 CMC SS 2 m XS5W T421 DMC SS 3 m XS5W T421 E...

Page 258: ...XS5F D421 E80 F 5 m XS5F D421 G80 F 10 m XS5F D421 J80 F XS5W Connector with Cable Socket on One End Plug on Other End M12 socket A coding female to M12 plug A coding male uses DC 4 Smart click connec...

Page 259: ...ctor or I O connector Name and appearance Specifica tion Num ber of cable con ductors Avail able connec tors Cable con nection direction Cable length Model XS5W Connector with Cable Socket on One End...

Page 260: ...ounting a Smartclick Waterproof Cover on a connector torque management is not required The tool for tightening M12 Threaded Connectors is used when tightening to a specified torque Smartclick Waterpro...

Page 261: ...Units 11 2 11 1 2 I O Power Supply 11 3 11 2 Specifications of Expansion Unit 11 4 11 2 1 8 point Input Expansion Unit XWT ID08 ID08 1 11 5 11 2 2 8 point Output Expansion Unit XWT OD08 OD08 1 11 8 11...

Page 262: ...provides the same functions available through the Digital I O Slave Unit For details refer to 7 3 Functions of Digital I O Slave Units in page 7 7 1 Remove the cover from the right side of the Digita...

Page 263: ...n Unit These differences depend on the I O combination Refer to the following table for the correct supply 11 1 2 I O Power Supply Expansion Unit Slave Unit Input Output XWT ID08 1 XWT ID16 1 XWT OD08...

Page 264: ...es and functions internal circuits and wiring diagram Refer to the following corresponding page to each model Model Reference page Specification Names and functions Internal circuits diagram Wiring di...

Page 265: ...en each input terminal and the V terminal 15 VDC min between each input terminal and the G terminal OFF voltage 5 VDC max between each input terminal and the V terminal 5 VDC max between each input te...

Page 266: ...low Contact ON input ON state 2 Slave connector Connects the connector on the right side of the Slave Unit 3 Terminal block Connects external devices and the I O power supply V G I O power supply term...

Page 267: ...c and proximity sensors The colors in parentheses are the wire colors prior to the revisions Wiring diagram NPN output 3 wire sensor Photoelectric sensor proximity sensor 2 wire sensor Limit switch et...

Page 268: ...0 A common Residual voltage 1 2 V max 0 5 ADC between each output terminal and the G terminal 1 2 V max 0 5 ADC between each output terminal and the V terminal Leakage current 0 1 mA max ON delay time...

Page 269: ...act OFF output OFF state Lit in yellow Contact ON output ON state 2 Slave connector Connects the connector on the right side of the Slave Unit 3 Terminal block Connects external devices and the I O po...

Page 270: ...a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in page A 78 Wiring diagram I O...

Page 271: ...age 15 VDC min between each input terminal and the V terminal 15 VDC min between each input terminal and the G terminal OFF voltage 5 VDC max between each input terminal and the V terminal 5 VDC max b...

Page 272: ...FF Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state 2 Slave connector Connects the connector on the right side of the Slave Unit 3 Terminal block Connects external devices a...

Page 273: ...11 2 Specifications of Expansion Unit 11 11 2 3 16 point Input Expansion Unit XWT ID16 ID16 1 XWT ID16 NPN XWT ID16 1 PNP Internal circuits diagram V 24 VDC 0 1 G Photocoupler Photocoupler Internal c...

Page 274: ...ior to the revisions Wiring diagram NPN output 3 wire sensor Photoelectric sensor proximity sensor 2 wire sensor Limit switch etc Blue black Black white Brown white Blue black Brown red V 1 3 5 7 9 11...

Page 275: ...PN PNP I O capacity 16 outputs Rated output current 0 5 A output 4 0 A common Residual voltage 1 2 V max 0 5 ADC between each output terminal and the G terminal 1 2 V max 0 5 ADC between each output t...

Page 276: ...F Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 2 Slave connector Connects the connector on the right side of the Slave Unit 3 Terminal block Connects external devices...

Page 277: ...cations of Expansion Unit 11 11 2 4 16 point Output Expansion Unit XWT OD16 OD16 1 XWT OD16 NPN XWT OD16 1 PNP Internal circuits diagram 0 1 G V 24 VDC Photocoupler Photocoupler Voltage drop Internal...

Page 278: ...er use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in page A 78 Wiring diagram I O power supply 24 VDC S...

Page 279: ...ions 11 11 3 Mounting Dimensions The mounting dimensions of the Expansion Unit are shown below XWT ID08 ID08 1 OD08 OD08 1 XWT ID16 ID16 1 OD16 OD16 1 3 1 50 13 66 43 9 49 7 29 9 mm 0 1 2 3 4 5 6 7 0...

Page 280: ...11 Expansion Unit 11 20 GX series EtherCAT Slave Unit User s Manual...

Page 281: ...Take 12 2 12 1 2 Errors Unique to Each Slave Unit 12 7 12 1 3 Error Notification Methods and Types 12 13 12 1 4 Sysmac Error Status Codes 12 14 12 1 5 Emergency Error Code 12 19 12 1 6 Application Lay...

Page 282: ...ing DF Double flash ON 200 ms OFF 200 ms ON 200 ms OFF 1000 ms flashing Unknown PWR indicator L A IN L A OUT LED RUN indicator ERR indicator Description Cause Actions On F On Off EtherCAT communicatio...

Page 283: ...he switch settings then restart the Slave Unit according to the specification of connected EtherCAT Master Unit Non volatile memory data error A non volatile memory data error occurred Use the Configu...

Page 284: ...Master Unit Is the communications cable wired correctly Are any cables disconnected or loose in the part that connects to the connector Is the cable length appropriate Is the communications cable of...

Page 285: ...ons cable of the recommended specification Item about power supply Is the power supply voltage within the specification range Is the power supply capacity sufficient Malfunction due to noise If there...

Page 286: ...t is commanded from the EtherCAT Master Unit to shift to the Safe Operational state If the trouble occurred during operating the system check the state of the connected EtherCAT Master Unit On B Pre O...

Page 287: ...tly Is the communications cable exposed to excessive noise Review set time of Communication Error Setting On SF SF Synchronization error in operation After checking the following items restart the Sla...

Page 288: ...t and Slave Unit s input indicator does not turn ON either The I O power is not supplied Check that the I O power is supplied I O power supply voltage is outside the rated range Set the I O power supp...

Page 289: ...eck if a communications error occurred Cannot hold outputs when communications errors occur The Unit is set to clear outputs at communications errors Change the setting to hold outputs at communicatio...

Page 290: ...er adjustment is not accepted Attempted to make adjustment with inputs outside the compensation range Enter a voltage current within the compensation range with the input device and make adjustment ag...

Page 291: ...nal reset enabled to 1 enabled Counting is not possible The count value cannot be reset with external input when counting is not possible Change to count possible status If it is necessary to reset be...

Page 292: ...the count is disabled execute the count enable command At preset execution present value preset execution completion is not turned ON but present value preset set value error is turned ON It is attem...

Page 293: ...ication is provided of application level errors Either CiA defined error codes are used or error codes are added to vendor specific areas The slave notifies the master when an error occurs 12 1 5 Emer...

Page 294: ...cause Level Reference Maj Prt Min Obs Info 04A00000 hex Expansion Unit Hardware Error An Expansion Unit was disconnected during operation or a signal between the Slave Unit and Expansion Unit was brok...

Page 295: ...ps Starts Execution of the user program starts Error Descriptions Event name Gives the name of the error Event code Gives the code of the error Meaning Gives a short description of the error Source Gi...

Page 296: ...cted during operation A signal between the Slave Unit and Expansion Unit was broken Turn OFF the power supply mount the Expansion Unit and turn the power supply back ON If cycling the power supply doe...

Page 297: ...store parameters 1011 hex of the EtherCAT Slave Unit Implement noise countermeasures Attached information None Precautions Remarks The emergency error code is 6330 hex Event name Switch Setting Error...

Page 298: ...O signal line is disconnected Replace the I O signal line None Attached information Attached information 1 Detected channel for Analog I O Unit Precautions Remarks The emergency error code is 2130 he...

Page 299: ...rCAT LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention Non volatile memory failure Replace the EtherCAT Slave Unit None Attached i...

Page 300: ...ode Name of error Contents Diagnosis history Notification to EtherCAT Master Unit Measures 5020 hex Expansion Unit Hardware Error Expansion Unit hardware errors Saved Cannot be notified The Expansion...

Page 301: ...execute restore parameter and then restart the Slave Unit 0011 hex Illegal State Transition Request Received An illegal state transition request was received Not saved Can be notified None 0012 hex E...

Page 302: ...d Can be notified Check the TxPDO assignment settings in the Master Unit 0025 hex RxPDO Assignment Error An incorrect RxPDO setting was made e g an index subindex or size that is out of range was regi...

Page 303: ...r a long period Remove such items during regular cleaning Precautions for Correct Use Never use benzene thinners or other volatile solvents or chemical cloths The unit coating may change if these prod...

Page 304: ...ve listed at the end of this manual or to your OMRON representative If contacts are defective wipe them with a clean pure cotton cloth that has been soaked in industrial alcohol After replacing a Unit...

Page 305: ...2 Analog I O Slave Unit A 74 A 2 3 Encoder Input Slave Unit A 74 A 2 4 IO Link Master Unit A 75 A 2 5 Expansion Unit A 75 A 3 Precautions with Connecting Two wire DC Sensors A 76 A 3 1 Relation betwe...

Page 306: ...s 2000 hex 2FFF hex Manufacturer Specific area 1 Variables defined for all OMRON products 3000 hex 5FFF hex Manufacturer Specific area 2 Variables defined for GX series EtherCAT Slave Units 6000 hex 9...

Page 307: ...dex given by a four digit hexadecimal number Object name The object name Range The possible range of settings Unit Physical unit Default Default value set before product shipment Attribute The data at...

Page 308: ...ss RO PDO map Not possible Bits Name Bits Name 0 Generic error 4 Communications error 1 Current error 5 Device profile specific error 2 Voltage error 6 Reserved 3 Temperature error 7 Manufacturer spec...

Page 309: ...010191 hex GX ID1612 GX ID1622 space 20 hex of 11 characters GX OD1612 OD1622 00020191 hex GX OD1612 GX OD1622 space 20 hex of 11 characters GX MD1612 MD1622 00030191 hex GX MD1612 GX MD1622 space 20...

Page 310: ...e 20 hex of 11 characters GX ILM08C 00001389 hex GX ILM08C space 20 hex of 11 characters 1011 hex Restore Default Parameters Sub index 0 Number of entries Range Unit Default 01 hex Attribute Size 1 by...

Page 311: ...22 00010000 XWT ID16 0000002B 00010000 XWT ID16 1 00000026 00010000 XWT ID16 1 0000002F 00010000 XWT OD08 00000023 00010000 XWT OD08 0000002C 00010000 XWT OD08 1 00000027 00010000 XWT OD08 1 00000030...

Page 312: ...2 Newest Message Range Unit Default Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 3 Newest Acknowledged Message 1 Range Unit Default 00 hex Attribute Size 1 byte U8 Access RW PDO m...

Page 313: ...nits and Encoder Input Slave Units This object is used to set the present time for the diagnosis history The time information is indicated in a relative time from 1970 1 1 0 00 00 The unit is seconds...

Page 314: ...bytes U32 Access RO PDO map Not possible 1701 hex 258th receive PDO Mapping Sub index 0 Number of objects Range Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RO PDO map Not p...

Page 315: ...index 17 17th Output Object to be mapped Range Unit Default 32201101 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 18 18th Output Object to be mapped Range Unit Default 32201...

Page 316: ...st Input Object to be mapped Range Unit Default Differ by Slave Unit types Attribute Size 4 bytes U32 Access RO PDO map Not possible Type Model 257th Receive PDO Mapping 257th Transmit PDO Mapping Sla...

Page 317: ...mapped Range Unit Default 30200801 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 9 9th Input Object to be mapped Range Unit Default 30200901 hex Attribute Size 1 byte BOOL A...

Page 318: ...e BOOL Access RO PDO map Not possible Sub index 25 25th Input Object to be mapped Range Unit Default 30201901 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 26 26th Input Obje...

Page 319: ...WT ID08 1 20 hex XWT ID16 1 20 hex XWT OD08 1 10 hex 10 hex XWT OD16 1 10 hex 10 hex GX OD1611 OD1621 10 hex XWT ID08 1 10 hex 10 hex XWT ID16 1 10 hex 10 hex XWT OD08 1 20 hex XWT OD16 1 20 hex GX OC...

Page 320: ...d Output Object to be mapped Range Unit Default 64110210 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible 1B00 hex 257th transmit PDO Mapping Sub index 0 Number of objects Range Unit Defa...

Page 321: ...ed Range Unit Default 40200110 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Output Object to be mapped Range Unit Default 40200210 hex Attribute Size 4 bytes U32 Acces...

Page 322: ...hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 9 9th Output Object to be mapped Range Unit Default 40210901 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub i...

Page 323: ...map Not possible Sub index 26 26th Output Object to be mapped Range Unit Default 40211A01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 27 27th Output Object to be mapped Ran...

Page 324: ...e 1B02 hex 259th transmit PDO Mapping Sub index 0 Number of objects Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Range Un...

Page 325: ...Sub index 7 7th Input Object to be mapped Range Unit Default 40310701 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 8 8th Input Object to be mapped Range Unit Default 403108...

Page 326: ...e PDO Mapping Sub index 0 Number of objects in this PDO Range 00 to 10 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 1st Output Object to be mapped Range...

Page 327: ...dex 16 16th Input Object to be mapped Range 60701010 hex Unit Default 60701010 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible 1B00 hex 257th transmit PDO Mapping Sub index 0 Number of o...

Page 328: ...Input Object to be mapped Range 30040110 hex Unit Default 30040110 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible 1B05 hex 262th transmit PDO Mapping Sub index 0 Number of objects in t...

Page 329: ...PDO assignment is assigned to this object This object is automatically assigned in the default settings of the Sysmac Studio For the GX series Digital I O Slave Units Analog I O Slave Units and Encode...

Page 330: ...n Type Sub index 0 Number of used SM channels Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Communication Type Sync Manager 0 Range Unit Default 01 hex...

Page 331: ...assigned PDOs Range 00 hex Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible 1C12 hex Sync Manager 2 PDO Assignment Sub index 0 Number of assigned PDOs Range 00 hex to 08 hex...

Page 332: ...XWT ID16 1 01 hex 1700 hex 01 hex 1B00 hex XWT OD08 1 01 hex 1700 hex 00 hex XWT OD16 1 01 hex 1700 hex 00 hex GX MD1611 MD1621 01 hex 1700 hex 01 hex 1B00 hex GX ID1612 ID1622 00 hex 01 hex 1B00 hex...

Page 333: ...ssignment Sync manager 3 PDO assignment Number of assigned RxPDOs Assigned PDO 1 Number of assigned TxPDOs Assigned PDO 1 GX ILM08C 09 hex 1600 hex 1601 hex 1602 hex 1603 hex 1604 hex 1605 hex 1606 he...

Page 334: ...1B01 hex XWT ID16 1 01 hex 1701 hex 01 hex 1B01 hex XWT OD08 1 01 hex 1701 hex 00 hex XWT OD16 1 01 hex 1701 hex 00 hex GX MD1611 MD1621 01 hex 1701 hex 01 hex 1B01 hex GX ID1612 ID1622 00 hex 01 hex...

Page 335: ...same time When using the OMRON Support Software only 1700 hex and 1B00 hex can be set for Digital I O Slave Units and only 1700 hex and 1B03 hex can be set for Encoder Input Slave Units Model Sync ma...

Page 336: ...mac device to reset errors that occur in Slave Units For the GX series Digital I O Slave Units Analog I O Slave Units and Encoder Input Slave Units this object can be set for unit version 1 1 or later...

Page 337: ...upply of the EtherCAT Slave Units is turned OFF with the Communications Error Setting set value set to 0 communications may discontinue Object mounted only on Slave Units operating in the DC mode This...

Page 338: ...th input points including Expansion Units if they are connected Digital I O Slave Unit 3000 hex Input Time Constant Sub index 0 Filter Constant Range 00 hex to 07 hex Unit Default 02 hex Attribute D S...

Page 339: ...e Sub index 8 Input Bit07 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 9 Input Bit08 Range 00 hex to 01 hex Unit Default 00 hex Attribute...

Page 340: ...00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 25 Input Bit24 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 26 Inp...

Page 341: ...index 8 Output Bit07 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 9 Output Bit08 Range 00 hex to 01 hex Unit Default 00 hex Attribute A...

Page 342: ...hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 25 Output Bit24 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 26 Ou...

Page 343: ...Sub index 2 Read input 2nd byte Range 00h to FFh Unit Default Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 3 Read input 3rd byte Range 00 hex to FF hex Unit Default Attribute Siz...

Page 344: ...output 3rd byte Range 00 hex to FF hex Unit Default Attribute A Size 1 byte U8 Access RW PDO map Not possible Sub index 4 Write output 4th byte Range 00 hex to FF hex Unit Default Attribute A Size 1 b...

Page 345: ...g 0 Clear to 0 1 Retain the value at error occurrence 6326 hex Error mode output 32bit Sub index 0 Number of outputs 32bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not poss...

Page 346: ...No No XWT OD16 1 16 inputs and 16 outputs 17 17 3 2 No 3 2 2 No No GX OD1611 OD1621 XWT ID08 1 8 inputs and 16 outputs 17 17 3 2 No 3 2 2 No No XWT ID16 1 16 inputs and 16 outputs 17 17 3 2 No 3 2 2 N...

Page 347: ...ed 0 CH1 disabled 1 1 CH2 enabled 0 CH2 disabled 2 1 CH3 enabled 0 CH3 disabled 3 1 CH4 enabled 0 CH4 disabled 4 to 15 Reserved 3101 hex Analogue Input Range Sub index 0 Number of channel Range Unit D...

Page 348: ...e is invalid A value 0000 0000 hex is indicated when reading Stores the lower limit of user adjustment 3112 hex Analogue Input Adjustment High Execute Sub index 0 Number of channel Range Unit Default...

Page 349: ...channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 4 Adjustment Low Execute Range Unit Default 00000000 hex Attribute A Size 4 bytes U32 A...

Page 350: ...t 0000 hex Attribute Size 2 bytes INT16 Access RO PDO map Possible Analog Output Slave Unit 3200 hex Analogue Output Available Channel Choice Range 0001 hex to 0003 hex Unit Default 0003 hex Attribute...

Page 351: ...limit is adjusted without adjusting the upper limit 100 the lower limit adjustment may have an error Stores the lower limit of user adjustment 3210 hex Analogue Output Adjustment High Value Sub index...

Page 352: ...t 3215 hex Analogue Output Adjustment Low Execute Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Adjustment Lo...

Page 353: ...ssible 6411 hex Write Analogue Output 16bit Sub index 0 Number of channel Range Unit Default 05 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Input 16bit Range U...

Page 354: ...ultiplication 1 cycle 04 hex Incremental decremental pulse 4003 hex Max Count Setting Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Su...

Page 355: ...Instruction Flag Sub index 0 Number of channel Range 00 hex to 32 hex Unit Default 32 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 CH1 Count Possible Range 00 hex to 01 hex...

Page 356: ...it Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 26 CH2 Ext Latch A Enabled Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map...

Page 357: ...resent Value Preset Set Value Error Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 8 CH1 Counter Operation State Range 00 hex to 01 hex Un...

Page 358: ...Enabled Flag FALSE FALSE TRUE BOOL RO Possible 3 Port 4 Input Data Enabled Flag FALSE FALSE TRUE BOOL RO Possible 14 IO Link Communications Module Processing Error FALSE FALSE TRUE BOOL RO Possible 1...

Page 359: ...Data type Access I O allo cation Data attribute 0 Port 3 IO Link Communications Error Flag FALSE FALSE TRUE BOOL RO Possible 1 Port 3 IO Short Detected Flag FALSE FALSE TRUE BOOL RO Possible 2 Port 3...

Page 360: ...ag FALSE FALSE TRUE BOOL RO Possible 10 Port 6 Verification Error Flag FALSE FALSE TRUE BOOL RO Possible 11 Port 6 Device I O Size Error Flag FALSE FALSE TRUE BOOL RO Possible 12 Port 6 Device Error l...

Page 361: ...ndex 0 Number of entries Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Digital Output Data Range Unit Default 0000 hex Attribute A Size 2 bytes U16 Acce...

Page 362: ...ble Sub index 4 Port4 Device Verification Setting Range 00 to 02 hex Unit Default 00 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sub index 5 Port5 Device Verification Setting Range 0...

Page 363: ...x Unit Default 00 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sub index 4 Port4 Backup Setting Range 00 hex or 01 hex Unit Default 00 hex Attribute R Size 1 byte U8 Access RW PDO map...

Page 364: ...hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sub index 4 Port5 Restore Setting Range 00 hex or 01 hex Unit Default 00 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sub...

Page 365: ...hex Unit Default 00 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sub index 4 Port4 Load Rejection Output Setting Range 00 hex or 01 hex Unit Default 00 hex Attribute R Size 1 byte U8...

Page 366: ...Filter Value Setting Range 00 to 0B hex Unit Default 00 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sub index 6 Port6 Input Filter Value Setting Range 00 to 0B hex Unit Default 00 h...

Page 367: ...ital Input Collection Setting Range 00 to 01 hex Unit Default 00 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sub index 3 Port 3 Digital Input Collection Setting Range 00 to 01 hex Un...

Page 368: ...00 to FF hex Unit Default 00 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sub index 3 Offset Setting of Port 3 Digital Input Collection Range 00 to FF hex Unit Default 00 hex Attribut...

Page 369: ...ize 2 bytes U16 Access RW PDO map Not possible Sub index 4 Subindex Range 00 to FF hex Unit Default 00 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sub index 5 Length Range 00 to FF h...

Page 370: ...ize 1 byte U8 Access RO PDO map Not possible Sub index 3 Index Range 0000 to FFFF hex Unit Default 0000 hex Attribute R Size 2 bytes U16 Access RW PDO map Not possible Sub index 4 Subindex Range 00 to...

Page 371: ...for indexes 6000 hex and 6070 hex 6000 hex Port1 Input Data Sub index 0 Number of entries Range Unit Default 10 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Port1 Input Dat...

Page 372: ...hex Port1 Output Data Sub index 0 Number of entries Range Unit Default 10 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Port1 Output Data01 Range 0000 to FFFF hex Unit Defaul...

Page 373: ...ttribute R Size 1 byte U8 Access RW PDO map Not possible Sub index 25 Process Data Out Length Range 00 to 20 hex Unit Default 02 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sub index...

Page 374: ...are intentionally omitted from this table Port numbers in each object name of the indexes 8013 hex to 8063 hex are assigned in order from port 2 to port 7 in ascending order The data definitions excep...

Page 375: ...efault 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 24 Process Data In Length Range 00 to 20 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible...

Page 376: ...ept for the object names are the same as those for indexes 9003 hex and 9073 hex 9001 hex Port1 Serial Number Information Area Range Unit Default Attribute Size 16 bytes VS Access RO PDO map Not possi...

Page 377: ...8 Access RO PDO map Not possible Sub index 1 Port5 Lost Frames Range 00 to FF hex Unit Default 00 hex Attribute A Size 1 byte U8 Access RW PDO map Not possible A050 hex Port6 IO Link Master Object Sub...

Page 378: ...ID1618 150 mA max at 24 VDC 150 mA max at 20 4 VDC GX ID1628 150 mA max at 24 VDC 150 mA max at 20 4 VDC GX OD1618 70 mA max at 24 VDC 80 mA max at 20 4 VDC GX OD1628 70 mA max at 24 VDC 80 mA max at...

Page 379: ...it Model Unit power supply current consumption GX ILM08C 60 mA max for 24 VDC A 2 5 Expansion Unit Model Unit power supply current consumption Model Unit power supply current consumption XWT ID08 5 mA...

Page 380: ...ible to satisfy the above equation by adjusting the I O power supply voltage VCC to 26 4 V IOUT min ION IOUT max IOUT Sensor control output load current ION ON current of a Unit with DC inputs ION is...

Page 381: ...FF OFF current of a Unit with DC inputs Ileak Sensor s leakage current Connect a bleeder resistor if the sensor s leakage current is greater than the OFF current of a Unit with DC inputs The bleeder r...

Page 382: ...points when wiring external output signal lines To absorb reverse electromotive force when an inductive load is connected to an output signal connect a diode near the inductive load Connect a diode in...

Page 383: ...put Slave Unit from I O power supply Input current of Input Slave Unit Number of inputs used Example The following example is for when seven three wire sensors with a current consumption of 30 mA each...

Page 384: ...of 4 0 mA common I O power supply current consumption of 10 mA max at 20 4 to 26 4 VDC Also relays are two wire output devices so there is no output device current consumption Therefore I O power supp...

Page 385: ...configuration information The EtherCAT network configuration information held by the EtherCAT master object Abstract representation of a particular component within a device which consists of data pa...

Page 386: ...t is stored in non volatile memory in the slave subindex Sub address of an object within the object dictionary sync manager SM Collection of control elements to coordinate access to concurrently used...

Page 387: ...rade Information on page 16 for details on the functions that have been added or changed due to the unit version upgrade of the EtherCAT Slave Units EtherCAT Slave Unit model Unit version Compatible v...

Page 388: ...A Appendix A 84 GX series EtherCAT Slave Unit User s Manual...

Page 389: ...EtherCAT Master Unit 3 4 EtherCAT slave 1 7 EtherCAT telegram 1 3 Expansion Unit 2 2 extension cables from sensors with M12 plugs 10 23 External control input 9 12 9 13 External latch A enabled 9 7 Ex...

Page 390: ...pleted 9 6 Present value preset execution 9 7 Present value preset execution completed 9 6 Present value preset set value error 9 6 Preset command value 9 6 9 13 PWR LED 6 4 R RJ45 connector 4 5 RUN i...

Page 391: ...er Input Slave Units GX EC02xx 03 July 2011 Added functions for change to unit version 1 1 and corrected errors 04 November 2013 Added descriptions and corrected mistakes 05 July 2016 Added GX ILM08C...

Page 392: ...Revision 2 GX series EtherCAT Slave Unit User s Manual...

Page 393: ......

Page 394: ...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...

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