Omron NJ101-10 Series, User Manual

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When a major fault level Controller error occurs, the values of the variables are not output to the
slaves even if they are initialized. The slave outputs are processed according to settings in the slave.
Values of variables
Default setting
®®®®®®®®®®®®®
Inputs from slaves
®®®®®®®®®®®®®®®®®®®®®®®®®®®®
Values before
operation stopped
Values before
operation stopped
Initial
values
Slave state
Safe-Operational
®®
Slave output values
According to settings
®®®®®®®®
Values before
operation stopped
According
to settings
Operation stopped.
Operational
Safe-Operational
*1
When all slaves have entered
Safe-Operational state, the slave
settings control all of the outputs.
Gradually change.
*1. The following errors may occur when the slave enters to the Safe-Operational state.
•
Slave Application Error (84280000 hex) event
•
Slave Initialization Error (84230000 hex) event
•
Slave State Transition Failed (84300001 hex) event
•
Slave AL Status Error Detected (84360000 hex) event
The formula and the maximum time required for all the slaves to enter Safe-Operational state and for
the slave output to reach to the value set from the slave settings are shown below. This formula ap-
plies to only OMRON slaves.
Maximum time required for the slave output to reach to the value set from the slave settings
*1
=
PDO communications timeout detection count × Task period of the task assigned to slave + 10 ms
*1. The maximum time is 100 to 110 ms if the calculation result is 110 ms or less.
Precautions for Correct Use
You cannot obtain current errors from slaves after a major fault occurs except for those in Ether-
CAT Slave Terminals.
Additional Information
When a major fault level Controller error occurs, the related system-defined variables have the
following values.
• For NX701 CPU Units
_EC_InData1Invalid = TRUE
_EC_InData2Invalid = TRUE
_EC_PDSlavTbl[] = FALSE
_EC_MBXSlavTbl[] = Values before operation stopped
• For NX102 and NX1P2 CPU Units and NJ-series CPU Units
_EC_InDataInvalid = TRUE
_EC_PDSlavTbl[] = FALSE
_EC_MBXSlavTbl[] = Values before operation stopped
6 Process Data Communications and SDO Communications
6-16
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)