Omron NJ101-10 Series, User Manual

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9-3 Precautions When Connecting or Dis-
connecting Slaves during Communi-
cations
9-3-1
Procedure for Connecting and Disconnecting Slaves during
Communications
Always use the following procedure to turn OFF the power supply to the slave or connect/disconnect
cables during EtherCAT master communications.
*1
*1. This includes the Safe-Operational and Operational states.
Step 1. Use the Sysmac Studio or an instruction to send a command to disconnect the slave.
Step 2. Confirm that the slave was disconnected normally.
Step 3. Turn OFF the power supply to the slave or disconnect the cable.
If you turn OFF the power supply or disconnect the cable without performing steps 1 and 2, the slaves
that are operating may be adversely affected.
9-3-2
Prohibition to Physically Disconnecting a Slave and Resetting
an Error or Connecting a Slave at the Same Time
If you perform the following operation a or b at the same time as operation c, a Slave Initialization
Error (84230000 hex) event will occur.
a. Turn OFF the power supply to the slave or disconnect the cable.
b. Turn ON the power supply to the slave or connect the cable.
c. Reset an error in the EtherCAT Master Function Module or connect the slave.
*1
*1. This can happen when the ResetECError (Reset EtherCAT Error) instruction or EC_ConnectSlave (Connect
EtherCAT Slave) instruction is cyclically executed in the user program.
If you perform these operations at the same time, the EtherCAT master may access a slave with a
different node address than the specified node address, or other unintended operations may occur.
Therefore, never turn OFF the power supply to the slave or disconnect the cable at the same time as
you reset an error or connect a slave.
9 Troubleshooting
9-25
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9-3
Precautions When Connecting or Disconnecting Slaves during Communications
9
9-3-1
Procedure for Connecting and Disconnecting Slaves
during Communications