Omron NJ101-10 Series, User Manual

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Section 2 Part Names and Slave Settings
2-1 Part Names and Functions....................................................................................................2-2
2-1-1 Built-in EtherCAT Port Indicators.................................................................................................2-2
2-1-2 Windows Used in Sysmac Studio ...............................................................................................2-4
2-1-3 Connecting the Sysmac Studio ...................................................................................................2-7
2-2 Setting the Node Addresses of the EtherCAT Slaves ........................................................2-9
2-2-1 Setting Node Address Using Hardware Switches .......................................................................2-9
2-2-2 Setting the Node Address from the Sysmac Studio ..................................................................2-10
2-3 Features of Sysmac Devices ..............................................................................................2-12
2-3-1 Sysmac Devices........................................................................................................................2-12
2-3-2 Sysmac Device Features ..........................................................................................................2-12
2-3-3 List of Sysmac Devices .............................................................................................................2-14
2-3-4 Sysmac Device Features and EtherCAT Masters .....................................................................2-15
Section 3 EtherCAT Communications
3-1 EtherCAT Communications Types and Settings.................................................................3-2
3-1-1 CoE (CAN Application Protocol over EtherCAT) .........................................................................3-2
3-1-2 Types of Communications...........................................................................................................3-4
3-1-3 Types of EtherCAT Variables ......................................................................................................3-6
3-1-4 Settings Required for EtherCAT Communications ......................................................................3-7
3-2 Programming EtherCAT Communications ..........................................................................3-8
3-3 State Transitions for EtherCAT Communications...............................................................3-9
3-3-1 Self Diagnosis at Startup.............................................................................................................3-9
3-3-2 Control States for EtherCAT Communications ............................................................................3-9
3-3-3 EtherCAT Status in Relation to CPU Unit Status ...................................................................... 3-11
Section 4 EtherCAT Network Wiring
4-1 Supported Network Topologies............................................................................................4-2
4-1-1 Line/Daisy Chain Topology..........................................................................................................4-2
4-1-2 Branching Topology.....................................................................................................................4-2
4-1-3 Ring Topology .............................................................................................................................4-4
4-1-4 Precautions for Using Junction Slaves......................................................................................4-10
4-2 Laying the EtherCAT Network ............................................................................................4-12
4-2-1 Installation Precautions .............................................................................................................4-12
4-2-2 Installing EtherCAT Communications Cables............................................................................4-13
4-2-3 Connecting Communications Cables ........................................................................................4-16
4-2-4 Cable Connection Procedure ....................................................................................................4-18
Section 5 Setting Up EtherCAT Communications with the Sysmac
Studio
5-1 Overview of Network Configuration Information ................................................................5-2
5-2 Creating the EtherCAT Network Configuration...................................................................5-3
5-2-1 Procedure to Create the EtherCAT Network Configuration.........................................................5-3
5-2-2 Cable Redundancy Setting .........................................................................................................5-5
5-3 Setting EtherCAT Slave Variables and Axes .......................................................................5-9
5-3-1 Registering Device Variables for All EtherCAT Slaves................................................................5-9
5-3-2 Axis Settings for Servo Drives and Encoder Input Slaves ........................................................5-13
5-4 EtherCAT Master Parameter Settings ................................................................................5-14
5-5 EtherCAT Slave Parameter Settings ..................................................................................5-20
CONTENTS
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NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)