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Precautions for Safe Use

NJ-series NJ Robotics CPU Unit User’s Manual (W539)

• All related EtherNet/IP nodes are reset when you transfer settings for the built-in EtherNet/IP port

(including IP addresses and tag data links settings). Confirm that the system will not be adversely
affected by resetting nodes before you transfer the settings.

• If EtherNet/IP tag data links (cyclic communications) are used with a repeating hub, the communica-

tions load on the network will increase. This will increase collisions and may prevent stable communi-
cations. Do not use repeating hubs on networks where tag data links are used. Use an Ethernet
switch instead.

• Make sure that the communications distance, number of nodes connected, and method of connec-

tion for EtherCAT are within specifications.
Do not connect EtherCAT communications to other types of networks such as EtherNet/IP and a
standard in-house LAN. An overload may cause the network to fail or malfunction.

• Malfunctions or unexpected operation may occur for some combinations of EtherCAT revision num-

bers of the master and slaves. If you disable the revision check in the network settings, you must use
the Sysmac Studio to check the slave revision numbers in the master settings against the actual
slave revision numbers. Check the functional compatibility by referring to the manuals or other refer-
ences of the slaves before using. You can check the actual slave revisions from the Sysmac Studio or
on slave nameplates.

• After you transfer the user program, the CPU Unit is restarted and communications with the Ether-

CAT slaves are cut off. During that period, the slave outputs behave according to the slave settings.
The time that communications are cut off depends on the EtherCAT network configuration. If the Eth-
erCAT network configuration contains only OMRON EtherCAT slaves, communications are cut off for
a maximum of 45 seconds.
Before you transfer the user program, confirm that the Units will not be adversely affected.

• If the

Fail-soft Operation Setting

parameter is set

Stop

, process data communications will stop for all

slaves when an EtherCAT communications error is detected in a slave. For this reason, if Servo
Drives are connected, the Servo Drives for all axes will be turned OFF. Make sure that the

Fail-soft

Operation Setting

results in safe operation when a device error occurs.

• EtherCAT communications are not always established immediately after the power supply is turned

ON. Use the system-defined variables in the user program to confirm that communications are estab-
lished before attempting control operations.

• If frames sent to EtherCAT slaves are lost due to noise or other causes, slave I/O data is not transmit-

ted, and unexpected operation may occur. If noise countermeasures are required, use the

_EC_In-

DataInvalid

(Input Data Disable) system-defined variable as an interlock condition in the user

program.
Refer to the

NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual

(Cat. No. W505) for

details.
The slave outputs behave according to the slave settings. Refer to the manuals for the slaves for
details.

• When an EtherCAT slave is disconnected, communications will stop and control of the outputs will be

lost not only for the disconnected slave, but for all slaves connected after it. Confirm that the system
will not be adversely affected before you disconnect a slave.

• If you disconnect the cable from an EtherCAT slave to disconnect it from the network, any current

communications frames may be lost. If frames are lost, slave I/O data is not transmitted, and unex-
pected operation may occur. Perform the following processing for a slave that needs to be replaced.

a) Create the program using the

_EC_InDataInvalid

(Input Data Disable) system-defined variable

as an interlock condition.

b) Set the

PDO communications timeout detection count

to at least 2 in the EtherCAT master set-

tings pane.

EtherNet/IP Communications

EtherCAT Communications