Omron NX-ECC201 User Manual Download

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Machine Automation Controller

NX-series

EtherCAT

Coupler Unit

EtherCAT Coupler Unit

User’s Manual

W519-E1-01

NX-ECC201

Summary of Contents for NX-ECC201

Page 1: ...Machine Automation Controller NX series EtherCAT Coupler Unit EtherCAT Coupler Unit User s Manual W519 E1 01 NX ECC201...

Page 2: ...ility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication OMRON 2013 Sysmac and SYSMAC are trademarks or regist...

Page 3: ...rence during operation This manual is intended for the following personnel who must also have knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of introduci...

Page 4: ...nfiguration Elements 1 5 1 2 1 System Configuration Example of an EtherCAT Network 1 5 1 2 2 Introduction to Configuration Devices 1 6 Section 2 Features and System Configuration 2 1 Features of Ether...

Page 5: ...X Unit Power Supply System 5 6 5 2 1 Procedure for Designing the NX Unit Power Supply System 5 6 5 2 2 Calculation Example for the NX Unit Power Supply 5 7 5 3 Designing the I O Power Supply System 5...

Page 6: ...therCAT Communications 8 1 Structure of CAN Application Protocol over EtherCAT CoE 8 2 8 2 EtherCAT Slave Information Files ESI Files 8 3 8 3 Transitions of Communications States 8 4 8 4 Process Data...

Page 7: ...AT Slaves 10 4 10 2 1 I O Refreshing Modes 10 4 10 2 2 I O Refreshing Mode Operation 10 4 10 3 I O Refreshing for EtherCAT Slave Terminals 10 6 10 3 1 I O Refreshing Methods 10 6 10 3 2 Setting the I...

Page 8: ...he Indicators on the NX Units 13 11 13 3 Checking for Errors and Troubleshooting on the Sysmac Studio 13 12 13 3 1 Checking for Errors from the Sysmac Studio 13 12 13 3 2 Event Codes for Errors and Tr...

Page 9: ...4 2 Supplementary Information for Connections with a Master from Another Manufacturer A 10 A 5 CoE Objects A 13 A 5 1 Object Dictionary Area A 13 A 5 2 Data Type A 13 A 5 3 Assigning Objects A 14 A 5...

Page 10: ...cations System configuration Rules on building systems Slave Terminal appli cation procedures Slave Terminal instal lation procedures Support Software connection proce dures Procedure to esti mate Sla...

Page 11: ...ies NX Series Commu nica tions Coupler Unit NX Units All Units NJ series CPU Unit Hardware User s Manual NJ series CPU Unit Software User s Manual NJ series CPU Unit Motion Control User s Manual NJ se...

Page 12: ...the Units so that the connectors fit exactly 2 The yellow sliders at the top and bottom of each Unit lock the Units together Move the sliders toward the back of the Units as shown below until they cl...

Page 13: ...ts with different unit versions and for different versions of the Sysmac Studio is given Note References are provided to more detailed or related information In this manual download refers to transfer...

Page 14: ...KNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS O...

Page 15: ...the products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or u...

Page 16: ...our OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes...

Page 17: ...ngle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for electric shock The triangle symbol in...

Page 18: ...ing to the settings in the slaves If a power supply error occurs If the power supply connection becomes faulty If a CPU watchdog timer error or CPU reset occurs If a Controller error in the major faul...

Page 19: ...unexpectedly regardless of the operating mode of the Controller Cautions Wiring When you connect a computer or other peripheral device to a Communications Coupler Unit that has a non isolated DC powe...

Page 20: ...nline editing only after confirming that no adverse effects will be caused by devia tions in the timing of I O If you perform online editing the task execution time may exceed the task period I O may...

Page 21: ...may adhere to the pins in the NX bus connector which may result in malfunctions Do not write on the Communications Coupler Unit or an NX Unit with ink within the restricted region that is shown in the...

Page 22: ...wless clamping terminal block Doing so may damage the terminal block Use all Units within the I O power supply ranges that are given in the specifications Supply sufficient power according to the cont...

Page 23: ...that are given in the specifications for the communications distance and number of connected Units Make sure that the communications distance number of nodes connected and method of connec tion for E...

Page 24: ...r 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 networ...

Page 25: ...the Units that supply power Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied in places where the power supply is unstable Install the Units...

Page 26: ...o EC Directives The NX series Units comply with EC Directives To ensure that the machine or device in which the NX series Units are used complies with EC Directives the following precautions must be o...

Page 27: ...u use NX series Units in Korea Class A Device Broadcasting Communications Device for Office Use This device obtained EMC registration for office use Class A and it is intended to be used in places oth...

Page 28: ...The unit version is given with the Unit specifications on the side of the Unit or in the notched area The following information is provided in the Unit specifications on the Unit Unit Versions Notati...

Page 29: ...ler Unit in the EtherCAT Configuration Edit Tab Page and select Edit Slave Terminal Configuration Or select the EtherCAT Coupler Unit on the EtherCAT Configuration Edit Tab Page click the Edit Slave T...

Page 30: ...an upgrade is also required to use those functions Refer to A 7 Version Information on page A 59 for the functions that are supported by each unit version In this User s Manual unit versions are spec...

Page 31: ...ion Overview Part names and functions General specifications Installation and wiring Maintenance and Inspection Use this manual together with the NJ series CPU Unit Software User s Manual Cat No W501...

Page 32: ...set tings and program ming concepts The settings and operation of the CPU Unit and programming concepts for motion control are described When programming use this manual together with the NJ series C...

Page 33: ...cted in an NJ series Control ler Concepts on managing errors that may be detected in an NJ series Controller and information on individual errors are described Use this manual together with the NJ ser...

Page 34: ...rther technology development I O map settings Settings that assign variables to I O ports Assignment information between I O ports and variables I O port A logical interface that is used by the CPU Un...

Page 35: ...where all objects in the object dictionary can be read and written Slave Information Interface SII Slave information that is stored in non volatile memory in the slave Slave Terminal A building block...

Page 36: ...nit User s Manual W519 Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Revision code Date Revised content 01 April 2013 Ori...

Page 37: ...eatures and System Configuration EtherCAT Coupler Unit Functions I O Refreshing Specifications and Application Procedures Communications Performance Part Names and Functions Troubleshooting I Index De...

Page 38: ...Sections in this Manual 36 NX series EtherCAT Coupler Unit User s Manual W519...

Page 39: ...EtherCAT networks 1 1 Introduction to EtherCAT 1 2 1 1 1 How EtherCAT Works 1 2 1 1 2 Types of EtherCAT Communications 1 4 1 2 EtherCAT Network Configuration Elements 1 5 1 2 1 System Configuration Ex...

Page 40: ...ly in large control systems that require high processing speeds and system integrity but also in small and medium control systems With EtherCAT Ethernet frames pass through all of the slave nodes When...

Page 41: ...ames Each EtherCAT telegram consists of a telegram header including the data length and one or more slave addresses data and a working counter i e check bits If you think of an Ethernet frame as a tra...

Page 42: ...tween the EtherCAT master and slaves SDO communications is used to perform message communications Whenever necessary the EtherCAT master sends a command to a slave and then the slave returns a respons...

Page 43: ...evices This section provides a system configuration example of an EtherCAT network 1 2 1 System Configuration Example of an EtherCAT Network ADR ADR ADR EtherCAT master Communications cable I O power...

Page 44: ...Units The NX Units perform process data communications with the EtherCAT master through the Ether CAT Coupler Unit Refer to Section 2 Features and System Configuration for details on the features and...

Page 45: ...make other settings The ESI files for OMRON EtherCAT slaves are already installed in the Sysmac Studio You can update the Sysmac Studio to get the ESI files for the most recent models Unit power suppl...

Page 46: ...1 EtherCAT Networks 1 8 NX series EtherCAT Coupler Unit User s Manual W519...

Page 47: ...erCAT Slave Terminals 2 2 2 2 System Configurations of EtherCAT Slave Terminals 2 4 2 2 1 System Configuration 2 4 2 2 2 Types of NX Units 2 6 2 3 Support Software 2 7 2 3 1 Applicable Support Softwar...

Page 48: ...rs and the Sysmac Studio Automation Software When the EtherCAT Coupler Unit is used together with NX Units that support synchronous I O refreshing all I O refreshing is synchronized with the task peri...

Page 49: ...gs and NX Unit settings as files This allows you to reuse settings from an EtherCAT Slave Terminal or NX Units for other EtherCAT Slave Terminals or NX Units Simplified I O Wiring with Screwless Clamp...

Page 50: ...1 System Configuration A EtherCAT master NJ series CPU Unit or master from another manufacturer G Communications cable Ethernet cables B NX Series EtherCAT Coupler Unit NX ECC201 E Sysmac Studio Suppo...

Page 51: ...ications with the EtherCAT master through the EtherCAT Coupler Unit Refer to 2 2 2 Types of NX Units on page 2 6 for the types of NX Units D End Cover The End Cover is attached to the end of the Slave...

Page 52: ...from temperature sensors System Units System Units are used as required to build a Slave Terminal Additional NX Unit Power Supply Unit This Unit is used when the NX Unit power supply is not suffi cien...

Page 53: ...Support Software Support Software Version Sysmac Studio 1 06 or higher 2 3 2 Connection Method and Procedures Going Online with the NJ series CPU Unit Connection method Connection diagram Description...

Page 54: ...wing procedure to place the Sysmac Studio online 1 Connect the EtherCAT Coupler Unit to a computer in which the Sysmac Studio is installed through a USB cable 2 Create a project for the NJ series Cont...

Page 55: ...ave Terminal at the connection Sysmac Studio cannot access any Units that are not at the connection such as the NJ series CPU Unit other EtherCAT slaves or other EtherCAT Slave Terminals 2 3 3 Scope o...

Page 56: ...2 Features and System Configuration 2 10 NX series EtherCAT Coupler Unit User s Manual W519...

Page 57: ...t and End Cover and the applications pro cedures for the EtherCAT Slave Terminal 3 1 Specifications 3 2 3 1 1 General Specifications of EtherCAT Slave Terminals 3 2 3 1 2 EtherCAT Coupler Unit Specifi...

Page 58: ...forms to JIS B3502 and IEC 61131 2 EMC immunity level Zone B Vibration resis tance Conforms to IEC 60068 2 6 5 to 8 4 Hz with 3 5 mm amplitude 8 4 to 150 Hz acceleration of 9 8 m s2 100 min each in X...

Page 59: ...tions for details NX Unit power supply effi ciency 70 Isolation method No isolation between NX Unit power supply and Unit power supply terminals Current capac ity of power sup ply terminals 4 A max I...

Page 60: ...ecification 0 10 20 30 40 45 50 55 60 Ambient temperature C 10 8 4 2 0 6 12 Output power W 10 W output 40 C 8 5 W output 55 C 0 10 20 30 40 45 50 55 60 Ambient temperature C 10 8 4 2 0 6 12 Output pow...

Page 61: ...e as follows when the EtherCAT Coupler Unit is connected to the built in EtherCAT port on an NJ5 series CPU Unit 500 s 1 000 s 2 000 s and 4 000 s Refer to the NJ series CPU Unit Built in EtherCAT Por...

Page 62: ...minal 4 3 Hardware Switch Settings on page 4 9 6 1 Installing Units on page 6 2 Section 7 Wiring 3 Creating the EtherCAT Network Configuration and Making Settings as an EtherCAT Slave 9 2 2 Settings a...

Page 63: ...shing Method Operation on page 10 7 8 Turning ON Power and Going Online from the Sysmac Studio 4 2 Indicators on page 4 5 Sysmac Studio Version 1 Opera tion Manual W504 9 Comparing and Merging with th...

Page 64: ...the actual network devices with the compare and merge operation This sets the node address to the software setting 4 3 Hardware Switch Settings on page 4 9 Installation Connect the NX Units and End C...

Page 65: ...cycle wait time for slave startup etc The values that are set are reflected in the network configuration infor mation NJ series CPU Unit Built in EtherCAT Port User s Man ual W505 6 Assigning Slave Te...

Page 66: ...al W504 9 Comparing and Merging with the Actual Network Con figuration or the Actual Unit Configuration Comparing and Merging with the Actual Network Configuration or the Actual Unit Configuration Use...

Page 67: ...r shows the device is in the operational state normal communications state A flashing green LINK ACT indicator shows that data is being transmitted and received after the link is established If the ER...

Page 68: ...3 Specifications and Application Procedures 3 12 NX series EtherCAT Coupler Unit User s Manual W519...

Page 69: ...the parts 4 1 Parts and Names 4 2 4 1 1 EtherCAT Coupler Units 4 2 4 1 2 NX Units 4 3 4 1 3 End Cover 4 4 4 2 Indicators 4 5 4 3 Hardware Switch Settings 4 9 4 3 1 Rotary Switches 4 9 4 3 2 DIP Switc...

Page 70: ...DIN Track E Protrusions for removing the Unit The protrusions to hold when removing the Unit F Unit hookup guides These guides are used to connect two Units G Indicators The indicators show the curre...

Page 71: ...vailable markers can also be installed B NX bus connector This connector is used to connect each Unit C Unit hookup guides These guides are used to connect two Units D DIN Track mounting hooks These h...

Page 72: ...mount an End Cover to the end of the EtherCAT Slave Terminal to protect the last NX Unit in the EtherCAT Slave Terminal Not attaching the End Cover may result in malfunction or failure of the EtherCAT...

Page 73: ...ksum Error Unit Configuration Error Unit Configuration Information Error Unit Configuration Verification Error ESC Error ESC Initialization Error Slave Unit Verification Error Memory Corruption Detect...

Page 74: ...e Unit power supply Not lit No power is currently supplied I O PWR Indicator Color Status Meaning Green Lit Power is currently supplied from the I O power sup ply Not lit No power is currently supplie...

Page 75: ...re failure ESC Initialization Error Other error for which the EtherCAT Coupler Unit needs to be replaced Flickering ESC Error Blinking NX Unit Initialization Error Non volatile Memory Checksum Error U...

Page 76: ...t User s Manual W519 Additional Information The timing of flashing and flickering of the indicators is shown below on off off off off on on on Flickering Blinking Single flash Double flash 200 ms 200...

Page 77: ...4 3 3 Setting the Node Address on page 4 10 for information on setting the node address by combining the rotary switches and pin 4 of the DIP switch that is described below If you turn ON pin 4 on the...

Page 78: ...ngs as an EtherCAT Slave on page 9 6 for the procedure to set the node address from the Sysmac Studio Precautions for Correct Use The node address that is set on the switches is read only once when th...

Page 79: ...tions connectors The specifications of the EtherCAT com munications connectors are given below Electrical specifications Conform to IEEE 802 3 standards Connector structure RJ45 8 pin Modular Connecto...

Page 80: ...type and 16 terminal type Only an 8 terminal terminal block can be mounted to the EtherCAT Coupler Unit To prevent incorrect wire insertion other terminal blocks cannot be mounted Additional Informati...

Page 81: ...Unit that comes into contact with the DIN Track This plate is connected internally to the functional ground terminal on EtherCAT Coupler Unit This means that the functional ground terminal will be el...

Page 82: ...4 Part Names and Functions 4 14 NX series EtherCAT Coupler Unit User s Manual W519...

Page 83: ...the NX Unit Power Supply System 5 6 5 2 1 Procedure for Designing the NX Unit Power Supply System 5 6 5 2 2 Calculation Example for the NX Unit Power Supply 5 7 5 3 Designing the I O Power Supply Syst...

Page 84: ...AT Slave Terminal to operate This power supply is connected to the Unit power supply terminals on the EtherCAT Coupler Unit The internal power supply circuit in the EtherCAT Coupler Unit generates the...

Page 85: ...r the con nected external devices This power supply is connected to the I O power supply terminals on the EtherCAT Coupler Unit The I O power is supplied to the NX Units from the I O power sup ply ter...

Page 86: ...separating the power supply systems The NX Unit power supply of the Additional I O Power Supply Unit is connected to the NX Unit on the left through the NX bus connector Unit name Function EtherCAT C...

Page 87: ...tandards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions 5 1 3 Design Concepts for Power Supply to the EtherCAT Slave Termi nal Unit name F...

Page 88: ...umption from the NX Unit power supply that is required by the NX Units that are connected after the Additional NX Unit Power Supply Unit If the total power consumption of those NX Units exceeds the NX...

Page 89: ...er to the entire Slave Terminal If you supply power from different Unit power supplies differences in electrical potential may cause unexpected currents in the NX Unit power supply which may result in...

Page 90: ...ail able Power parameter The following example is for when the EtherCAT Coupler Unit is selected If the power to supply exceeds the NX Unit power supply capacity of the Unit that is selected to supply...

Page 91: ...ample is shown below 5 3 1 I O Power Supply Method Supply method Description Supply from the NX bus Power is supplied through the NX bus connectors by connecting an I O power supply to the I O power s...

Page 92: ...e I O power supply capacity of the EtherCAT Coupler Unit b Voltage drop in the I O power supply causes the voltage of the I O power supply to go below the voltage specifications of the I O circuits of...

Page 93: ...uits of the NX Units and the connected external devices The total current consumption from the I O power supply must not exceed the maximum current of the I O power supply The voltage drop in the I O...

Page 94: ...urrent consumption from the I O power supply are given below for a Digital Input Unit and Digital Output Unit Calculating the Total Current Consumption from the I O Power Sup ply Current consumption i...

Page 95: ...mple In actual calculations use the current consumption from the I O power supply that is given elsewhere in this manual Outline Find the I O power supply voltage of the NX Unit that is the farthest f...

Page 96: ...nal I O Power Supply Unit at the point where the power supply systems are to be separated and then perform similar calculations to design the over all system to meet the power supply conditions Unlike...

Page 97: ...ly for the Ether CAT Slave Terminal Use the following formula to calculate the required Unit power supply capacity for each block in the EtherCAT Slave Terminal Required Unit power supply capacity of...

Page 98: ...rCAT Slave Terminal Required Unit power supply capacity of EtherCAT Coupler Unit block Power consumption from NX Unit power supply of EtherCAT Coupler Unit Total power con sumption from NX Unit power...

Page 99: ...rush current when the power supply is turned ON and select an I O power sup ply with sufficient extra capacity The inrush current when power is turned ON may prevent the I O power supply from operatin...

Page 100: ...5 Designing the Power Supply System 5 18 NX series EtherCAT Coupler Unit User s Manual W519...

Page 101: ...4 Installing the EtherCAT Coupler Unit 6 9 6 1 5 Installing and Connecting NX Units 6 11 6 1 6 Mounting the End Cover 6 15 6 1 7 Mounting the End Plates 6 16 6 1 8 Attaching Markers 6 17 6 1 9 Removi...

Page 102: ...cient countermeasures when installing the EtherCAT Slave Terminal in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic...

Page 103: ...high voltage equipment Install the EtherCAT Slave Terminal at least 200 mm away from power lines Ground the mounting plate between the EtherCAT Slave Terminal and the mounting surface Installation Ori...

Page 104: ...t it is easy to wire the I O Units through ducts It is handy to have the ducts at the same height as the EtherCAT Slave Terminal Wiring Duct Example 1 The height of the DIN Track is not considered in...

Page 105: ...the panel other wiring ducts structural supports and components to provide enough space for air circulation and replacement of Units Breakers and fuses Terminal blocks for power equipment Terminal bl...

Page 106: ...treatment Insulated PFP 100N OMRON Corporation Length 100 cm Material Aluminum Surface treatment Insulated NS 35 7 5 PERF Phoenix Contact Length 75 5 95 5 115 5 or 200 cm Material Steel Surface treatm...

Page 107: ...ions for Installation DIN Tracks PFP 100N 50N DIN Track NS 35 7 5 PERF NS 35 15 PERF End Plate PFP M Two CLIPFIX 35 Two 1000 500 15 10 4 5 25 25 25 10 25 15 5 1 1 7 3 0 15 35 0 3 27 0 15 1 PFP 50N dim...

Page 108: ...Unit and restrictions to specifications that can result from the NX Units that are used For restrictions on the EtherCAT Coupler Unit refer to 3 1 2 EtherCAT Coupler Unit Specifications on page 3 2 R...

Page 109: ...t this area dirty When the Unit is installed or removed ink or dirt may adhere to the pins in the NX bus connector which may result in malfunctions in the EtherCAT Slave Terminal Precautions for Corre...

Page 110: ...o DIN Track mounting hooks on the EtherCAT Coupler Unit are in the locked position If the DIN Track mounting hooks are pressed down they are in the locked position If the DIN Track mounting hooks are...

Page 111: ...he DIN Track and then lock the DIN Track mounting hooks This section describes how to mount NX Units to the EtherCAT Coupler Unit and how to connect NX Units to each other Precautions for Safe Use Alw...

Page 112: ...X Units to each other and attempt to mount them together to the DIN Track at the same time the Units may separate from each other and fall When you handle a Unit be careful not to apply stress to the...

Page 113: ...IN Track mounting hook lock into place When you mount the NX Unit it is not necessary to release the DIN track mounting hook on the NX Unit After you mount the NX Unit make sure that it is locked to t...

Page 114: ...ck mounting hook lock into place When you mount the NX Unit it is not necessary to release the DIN track mounting hook on the NX Unit After you mount the NX Unit make sure that it is locked to the DIN...

Page 115: ...alfunctions Precautions for Correct Use Always mount an End Cover to the end of the EtherCAT Slave Terminal to protect the last NX Unit in the EtherCAT Slave Terminal Not mounting the End Cover may re...

Page 116: ...Plate in place Using CLIPFIX 35 Phoenix Contact To mount an End Plate 1 hook the top of it on the top of the DIN Track and 2 rotate the End Plate to hook the bottom of it on the bottom of the DIN Tra...

Page 117: ...rotrusions on the markers into the marker attachment locations on the EtherCAT Coupler Units NX Units and terminal blocks on NX Units Commercially Available Markers Commercially available markers are...

Page 118: ...you want to remove If you attempt to remove only one Unit it is stuck and hard to pull out Do not unlock the DIN track mounting hooks on all of the NX Units at the same time If you unlock the DIN Trac...

Page 119: ...b below a For an EtherCAT Coupler Unit place your fingers on the protrusions on the EtherCAT Cou pler Unit and pull it straight forward b For an NX Unit place your fingers on the protrusions on more t...

Page 120: ...ion Dimensions DIN Track model A DIN Track dimension B Dimension from the back of the Unit to the back of the DIN Track PFP 100N 7 3 mm 1 5 mm PFP 50N 7 3 mm 1 5 mm NS 35 7 5 PERF 7 5 mm 1 7 mm NS 35...

Page 121: ...create the Unit configuration on the Edit Slave Terminal Configuration Tab Page on the Sysmac Studio You can display the width on the right of the Slave Terminal on the Edit Slave Terminal Configurat...

Page 122: ...upler Unit Refer to Installation Dimensions on page 6 20 for the influence on the installation height on the DIN Track 1 This dimension depends on the specifications of the commercially available USB...

Page 123: ...the following cooling methods as required taking into account the ambient temperature and the amount of heating inside the panel Natural Cooling Natural cooling relies on natural ventilation through s...

Page 124: ...when the power is turned ON Maintain an air temperature of at least approximately 5 C inside the panel by implementing measures such as installing a low capacity space heater in the panel Alternative...

Page 125: ...n or shock Or secure the EtherCAT Slave Terminal and the panel with rubber padding to prevent vibration Make the building or the floor vibration resistant To prevent shock when other devices in the pa...

Page 126: ...igh voltage 600 V or higher and power devices to ensure safe operation and maintenance 6 2 5 Electrical Environment Installation Location of EtherCAT Slave Terminals Example of Recommended Equipment A...

Page 127: ...educe noise between the EtherCAT Slave Terminal and the ground Install the isolating transformer between a power supply and the noise filter and do not ground the secondary coil of the transformer Kee...

Page 128: ...n impedance does not occur Such wiring will increase the number of wires so use common return circuits Use thick wires with sufficient allowance for the return circuits and bundle them with lines of t...

Page 129: ...s to the system will also be made easier by carefully organizing the wiring from the start Power lines and signal lines Input signals and output signals Analog signals and digital signals High level s...

Page 130: ...ve Terminal a minimum of 200 mm away from high voltage lines or power lines or place the high voltage lines or power lines in metal tubing and completely ground the metal tubing to 100 or less Other P...

Page 131: ...ng so that noise current does not flow to ground lines between the devices Whenever possible use an independent ground with the ground pole separated by a minimum of 10 m from any other ground pole Gr...

Page 132: ...inal is housed from other devices If high frequency equipment is present then ground not only the high frequency equipment but also the panel itself in which the EtherCAT Slave Terminal is housed To g...

Page 133: ...cations Cables and Connectors 7 5 7 1 5 Connecting Communications Cables 7 6 7 2 Connecting the Power Supply and Ground Wires 7 8 7 2 1 Wiring the EtherCAT Coupler Unit 7 8 7 2 2 Wiring the Power Supp...

Page 134: ...ollowing items on the communications cables that are used in the network Are there any breaks Are there any shorts Are there any connector problems When you connect the cable to the communications con...

Page 135: ...o be used 100BASE TX Category 5 or higher Double shielding with aluminum tape and braiding RJ45 connectors Shielded Cables with Connectors Product name Manufacturer Length m 1 Model Cables with Connec...

Page 136: ...en selecting a connector confirm that it is applicable to the cable that will be used Con firm the following items Conductor size conductor type solid wire or twisted wire number of twisted pairs 2 or...

Page 137: ...cables T568A and T568B The T568A connection method is shown in the above figure but the T568B connection method can also be used 7 1 4 Connecting Communications Cables and Connectors White Green Green...

Page 138: ...n any two nodes L1 L2 Ln must be 100 m or less Firmly connect the communications cable connector until it clicks into place When you install the communications cables observe the cable specifications...

Page 139: ...vices connects an output port to an input port Normal communications are not possible if an output port is connected to another output port or an input port is connected to another input port You can...

Page 140: ...Unit block Refer to 5 4 1 Selecting the Unit Power Supply on page 5 15 for details on blocks I O Power Supply Terminals These terminals are connected to the I O power supply The details are given in t...

Page 141: ...CAT Slave Terminal Some of the Units in an EtherCAT Slave Terminal have ground terminals Units with Ground Terminals EtherCAT Coupler Units Additional NX Unit Power Supply Unit Shield Connection Unit...

Page 142: ...n on the NX Units that have a ground terminal refer to the NX series System Units User s Manual Cat No W523 This section describes how to ground the ground terminals on the EtherCAT Slave Terminal The...

Page 143: ...is treated to produce an insulating mate rial 1 always connect ground wires to the ground terminals Otherwise noise may cause malfunctions 1 If the surface of the DIN Track is treated to produce an in...

Page 144: ...n Spacers to the control panel with screws and then secure the DIN Track to the DIN Track Insulation Spacers The recommended tightening torque for M4 screws is 1 2 N m DIN Track Insulation Spacers NX...

Page 145: ...und the 0 V side of the external power supply i e Unit power supply or do not ground it at all EtherCAT Coupler Unit with a non isolated DC power supply internal power supply cir cuits Depending on ho...

Page 146: ...s of Wires Connected to the Terminal Block The dimensions of wires that you can connect into the terminal holes of the screwless clamping ter minal block are as in the figure below Process the applica...

Page 147: ...l Terminals other than ground ter minals Phoenix Contact AI0 34 8 0 34 22 Phoenix Contact The figure in parentheses is the applicable wire size CRIMPFOX 6 0 25 to 6 mm2 AWG24 to 10 AI0 5 8 0 5 20 AI0...

Page 148: ...ent For twisted wires strip the sheath and twist the conductor portion Do not unravel or bend the conductor portion of twisted wires or solid wires This section describes how to connect and remove wir...

Page 149: ...res Solid Wires Use the following procedure to connect the twisted wires or solid wires to the terminal block 1 Press the a flat blade screwdriver diagonally into the release hole Press at an angle of...

Page 150: ...flat blade screwdriver straight into the release hole Doing so may break the terminal block When you insert a flat blade screwdriver into a release hole press it down with a force of 30 N max Applyin...

Page 151: ...lock The removal method is the same for ferrules twisted wires and solid wires 1 Press the flat blade screwdriver diagonally into the release hole Press at an angle of 10 to 15 If you press in the scr...

Page 152: ...ock When you insert a flat blade screwdriver into a release hole press it down with a force of 30 N max Applying excessive force may damage the terminal block Do not tilt or twist the flat blade screw...

Page 153: ...the guide at the bottom of the EtherCAT Coupler Unit and press in on the top of the terminal block to attach it Only an 8 terminal terminal block can be mounted to the EtherCAT Coupler Unit Do not mou...

Page 154: ...nd terminal block are connected to each other You can use these pins to create a combination in which the wrong terminal block cannot be attached because the pin patterns do not match Types of Coding...

Page 155: ...bers 1 through 6 in the figure below As shown in the following table there are 20 unique pin patterns that can be used Pin locations for Terminal Block Pin inserted Terminal Block Unit Holes used by O...

Page 156: ...he figure on the previous page If you insert a Coding Pin into one of the holes used by OMRON on the terminal block side this makes it impossible to mount the terminal block on a Unit Inserting the Co...

Page 157: ...7 25 7 Wiring NX series EtherCAT Coupler Unit User s Manual W519 7 2 Connecting the Power Supply and Ground Wires 7 7 2 5 Wiring to the Screwless Clamping Terminal Block Unit...

Page 158: ...SB driver for a USB connection will be automatically installed in the computer When you turn ON the Unit power supply to the EtherCAT Slave Terminal and connect the EtherCAT Coupler Unit and computer...

Page 159: ...ter to only one EtherCAT Coupler Unit with a USB connection You cannot connect more than one of each at the same time Do not disconnect the USB cable while the Sysmac Studio is online with the EtherCA...

Page 160: ...gnal Lines Refer to the sections on wiring in the user s manuals for individual NX Units for information on wiring the external I O signal lines between the external devices and the NX Units For preca...

Page 161: ...ons States 8 4 8 4 Process Data Objects PDOs 8 5 8 4 1 Introduction 8 5 8 4 2 PDO Mappings 8 6 8 4 3 Assigning PDOs 8 8 8 5 Service Data Objects SDOs 8 9 8 5 1 Introduction 8 9 8 5 2 Abort Codes 8 9 8...

Page 162: ...ly divided into PDOs process data objects and SDOs service data objects PDOs are contained in the object dictionary The PDOs can be mapped in the object dictionary The process data is defined by the P...

Page 163: ...ration tool 1 You can download the network configuration information to the EtherCAT master to configure the Ether CAT network ESI files for the EtherCAT Coupler Unit and NX Units can be downloaded fr...

Page 164: ...re being initialized Communi cations are not possible Pre Operational Possible Not possi ble Not possible Only SDO communications message communi cations are possible in this state This state is enter...

Page 165: ...DOs which are used by the EtherCAT Slave Terminal to send data to the EtherCAT master The EtherCAT application layer can hold more than one object to enable the transfer of various process data of the...

Page 166: ...nit Application objects are assigned by default to the PDOs for each Unit The following diagram shows a specific example for one of the PDOs in an EtherCAT Coupler Unit 8 4 2 PDO Mappings PDO Mapping...

Page 167: ...but not for others Default I O entries are mapped to the I O entry mappings that allow the addition or deletion of I O entries For Units with I O entry mappings that allow the addition or deletion of...

Page 168: ...oth the RxPDOs and TxPDOs that are used for communications with the EtherCAT master You can use the Sysmac Studio to change the default PDO assignments for each Unit that allows changes to the PDO map...

Page 169: ...ory 06040041 hex The object cannot be mapped to the PDO 06040042 hex Number length of mapped objects exceeds PDO length 06040043 hex General parameter incompatibility 06040047 hex General internal inc...

Page 170: ...ons Sync0 are generated in the slaves at precise intervals based on this clock Each slave executes I O processing at this precise time EtherCAT Slave Terminals support the following two communications...

Page 171: ...ables 9 29 9 3 1 Methods to Assign Variables 9 29 9 3 2 Assigning Device Variables to I O Ports 9 30 9 3 3 I O Ports for Status That Accept Device Variable Assignments 9 32 9 3 4 Assigning Axis Variab...

Page 172: ...parameters must be set to ensure that the EtherCAT Slave Terminal operates as intended and performs process data communications with the EtherCAT master The settings are listed in the following table...

Page 173: ...t I O data in the Units in the Slave Terminal to exchange with process data communica tions Unit operation settings These are the operation settings for each Unit in the Slave Ter minal Unit applicati...

Page 174: ...on the settings 9 2 1 Items to Set Setting Description Setting location on Sysmac Studio Settings as an EtherCAT slave These settings enable the EtherCAT Coupler Unit to perform EtherCAT communication...

Page 175: ...the Unit Configuration Information on page 9 8 to 9 2 6 Unit Application Data on page 9 25 for details on the Slave Terminal configuration and operation settings Slave Terminal Configuring and Operat...

Page 176: ...ve Serial Numbers from the menu for the master A Network Configuration Verification Error occurs if the serial number on the Sys mac Studio and the serial number of the physical slave do not agree whe...

Page 177: ...l Configuration Yes These settings are for the Slave Terminal Click the Edit Slave Terminal Config uration Button to edit these parameters 1 Register Slave Terminals that are not installed on the Ethe...

Page 178: ...e items that have Yes in the Settable column 9 2 3 Setting the Unit Configuration Information Settings in the Unit Configuration Information Setting Setta ble Description Data range Default Device nam...

Page 179: ...Number of mounted Units This is the number of mounted NX Units NX Unit Connection Time s Yes This is the wait time for the NX Units to connect to the Slave Terminal 3 to 200 s 3 s Serial Number Check...

Page 180: ...11 2 NX Unit Mounting Settings on page 11 5 for details on this setting Enabled or Disabled Enabled Serial Number This is the serial number of the NX Unit You can get the serial number to set the ser...

Page 181: ...n Pane and drop it on the Slave Ter minal 5 Set the Unit configuration information in the Unit Settings Pane Item Description Edit Configuration Pane You can edit the Unit configuration information fo...

Page 182: ...PU Unit If you try to transfer the parameter settings through the USB port on the EtherCAT Coupler Unit a Synchronization Cycle Setting Error will occur You can use the Sysmac Studio to check to see i...

Page 183: ...te I O select an I O entry mapping and register an I O entry to the I O entry mapping Selecting I O Entry Mappings An I O entry mapping defines a set of I O data Each Unit has its own I O entry mappin...

Page 184: ...I O entry mappings are available Allocatable I O Data in an EtherCAT Coupler Unit I O I O entry mapping name I O entry mapping I O entry Selecting Default Editing Maximum entries Inputs 505th Transmi...

Page 185: ...ls whether mes sage communications are enabled for 31 NX Units ARRAY 0 31 OF BOOL FALSE NX Unit Message Enabled Status 31 2004 hex 02 hex NX Unit Message Enabled Status 63 This tells whether mes sage...

Page 186: ...on the number of NX Units that are mounted This status is given as an array of BOOL data The subscript of the array corre sponds to the NX Unit number A subscript of 0 indicates the EtherCAT Coupler...

Page 187: ...egistered The NX Unit does not have a WDT error The status is FALSE for NX Units that are set as unmounted Units Each bit is updated when the message communications status changes on the corresponding...

Page 188: ...he status is reported for only the NX Units for which the NX Unit Registration Status is TRUE registered This status is FALSE for all NX Units for which the NX Unit Registration Status is FALSE not re...

Page 189: ...Error Status This status gives the Sysmac error status for the EtherCAT Slave Terminal This is an OR of the error status of the EtherCAT Coupler Unit and NX Units TRUE An error of the corresponding le...

Page 190: ...f I O allocation for the entire EtherCAT Slave Terminal is displayed here 1 I O data size The size of the I O data that is allocated for the entire Slave Termi nal is given The denominator is the maxi...

Page 191: ...mn says I O entries This pane allows you to view and edit the I O entries for the I O entry mappings that are selected in the I O Entry Mapping List Each I O entry contains the following information I...

Page 192: ...that is shown below is displayed This list shows the I O data that you can add to the selected I O entry mapping list 4 Select the I O data to add and then click the OK Button The I O entry is added...

Page 193: ...ction Refer to the manual for the specific NX Unit for the settings and their meanings 9 2 5 Unit Operation Settings Unit Operation Settings for the EtherCAT Coupler Unit Setting Setting range Default...

Page 194: ...edit the Unit operation settings for the EtherCAT Coupler Unit and NX Units as necessary 1 In the Unit Settings Pane click the Edit Unit Operation Settings Button The Edit Unit Operations Settings Tab...

Page 195: ...t was created offline with the actual Unit configuration You can also use this command to merge a configuration that was created offline with the actual configuration 1 Go online right click anywhere...

Page 196: ...X Units are set to the EtherCAT Coupler Unit Use the following procedure to apply the serial numbers of the actual devices to the serial numbers of the NX Units in the Unit configuration information o...

Page 197: ...s The exported Slave Terminal setting file can be imported to add another Slave Terminal with the same settnings To do this go into the EtherCAT Configuration Edit Tab Page in the same project or a ne...

Page 198: ...ther NX Units with the same settings To do this go into the Edit Slave Terminal Configuration Tab Page in a new project or the same project on the Sysmac Studio 1 On the Edit Slave Terminal Configurat...

Page 199: ...the manuals for the specific NX Units to see which NX Units you can assign to axes 9 3 1 Methods to Assign Variables Method to assign variables Description Assignable Units Assigning device variables...

Page 200: ...I O ports with the I O Map on the Sysmac Studio Select I O Map under Configurations and Setup on the Multiview Explorer on the Sysmac Studio I O Port Names for the EtherCAT Coupler Unit Refer to Alloc...

Page 201: ...e Select a registered variable from the variable table Manually enter the device variable name Automatically create the device variable name Variable names are automatically created using the fol lowi...

Page 202: ...Ether CAT Port User s Manual Cat No W505 for details 9 3 3 I O Ports for Status That Accept Device Variable Assignments I O Ports for Status Programming Sample Using I O Ports for Status The I O data...

Page 203: ...ies Position Interface Unit User s Manual Cat No W524 for instructions on using the Position Interface Units Refer to the NJ series CPU Unit Motion Control User s Manual Cat No W507 for information on...

Page 204: ...o transfer all of the following data network configuration information configuration information Unit operation settings and Unit application data The actual operating procedure is given below 1 Place...

Page 205: ...9 2 7 Sysmac Studio Functions Used as Required on page 9 25 Additional Information You can connect the Sysmac Studio to the USB port on the EtherCAT Coupler Unit to trans fer the Slave Terminal parame...

Page 206: ...ler Unit 2 In the Unit Settings Pane on the Edit Slave Terminal Configuration Tab Page click the Online Button next to Coupler Connection USB for the target EtherCAT Coupler Unit An execution confirma...

Page 207: ...peration You can back up restore and compare the settings for the entire Slave Terminal including the Commu nications Coupler Unit and NX Units to either of these locations an SD Memory Card inserted...

Page 208: ...to the NJ series CPU Unit Software User s Manual Cat No W501 E1 06 or later for details on the Sysmac Studio backup functions Precautions for Correct Use This function is not supported if the Sysmac...

Page 209: ...or compared This data is saved in the backup file along with the other target data in the Controller OK Included NA Excluded Precautions for Correct Use To restore backup data to an EtherCAT Slave Ter...

Page 210: ...Special Unit parameters and EtherCAT slave backup parameters Slave Terminal Unit operation settings and NX Unit application data 3 From the Comparison Results Dialog Box select the Communications Cou...

Page 211: ...of all NX Units to the right of the new NX Unit C to E in the bottom figure will change If you specify the subscripts of arrays directly with numbers the subscripts in the program must be cor rected...

Page 212: ...esh cycle of a Slave Terminal increases in the following cases If you add an NX Unit with a long refresh cycle to a Slave Terminal the synchronous I O refresh cycle will greatly depend on the refresh...

Page 213: ...ettings from the Unit configuration of the set Slave Terminal and then import the settings to the Unit configuration of the newly mounted Slave Terminal Additional Information Refer to 9 2 7 Sysmac St...

Page 214: ...9 Setting Up Slave Terminals 9 44 NX series EtherCAT Coupler Unit User s Manual W519...

Page 215: ...CAT Slave Terminals 10 2 10 2 I O Refreshing for EtherCAT Slaves 10 4 10 2 1 I O Refreshing Modes 10 4 10 2 2 I O Refreshing Mode Operation 10 4 10 3 I O Refreshing for EtherCAT Slave Terminals 10 6 1...

Page 216: ...d for communications with an EtherCAT Slave Terminal The B process data communications cycle and C refresh cycle of the NX bus are automatically synchronized with the A primary period of the CPU Unit...

Page 217: ...Slave Terminal is determined by the combination of the I O refresh types for the above ranges The rest of this section gives a general description of I O refreshing between the built in EtherCAT port...

Page 218: ...C Mode In that case the process data communications cycle and the I O cycle of the slaves operate asynchronously The operation mode of slaves that operate in this manner is called Free Run Mode The bu...

Page 219: ...rimary periodic task Primary periodic task Sync0 Sync0 D C Input delay and AD conversion time Output delay and DA conversion time Sync0 B EtherCAT Master Function Module PLC Function Module EtherCAT c...

Page 220: ...inals Refer to the manuals for the specific NX Units for details on the operation for each I O refreshing method The I O refreshing method between the EtherCAT Coupler Unit and each NX Unit depends on...

Page 221: ...eously but at different intervals from the intervals for the inputs If there are multiple Slave Terminals on the same EtherCAT network all of them operate as described above This means that all NX Uni...

Page 222: ...mance levels for the timing of reading inputs and updating outputs the timing of reading inputs and updating outputs are not the same for them With Free Run refreshing the refresh cycle of the NX bus...

Page 223: ...T Slave Terminal 3 Sync0 Sync0 Sync0 ON OFF response time Input filter time ON OFF response time Input filter time Process data communica tions cycle example 500 s Process data communica tions cycle e...

Page 224: ...od manually With the primary periodic task in Configurations and Setup Task Setup select the task period in the Period Execution Condition from the list Set the primary period so that it is longer tha...

Page 225: ...ecifications of Verification of Operation Authority for the EtherCAT Slave Terminal 11 10 11 5 Event Logs 11 12 11 5 1 Introduction 11 12 11 5 2 Detailed Information on Event Logs 11 13 11 5 3 Reading...

Page 226: ...Coupler Unit Functions 11 2 NX series EtherCAT Coupler Unit User s Manual W519 11 9 Resetting Errors 11 27 11 9 1 Introduction 11 27 11 9 2 Details on Resetting Errors 11 27 11 9 3 Procedure to Reset...

Page 227: ...below is synchronous with the timing at which the NX Units refresh the data to be exchanged Synchronous input refreshing Synchronous output refreshing NX Unit Mounting Settings This function is used...

Page 228: ...changes that occur in the EtherCAT Slave Terminal 11 5 Event Logs on page 11 12 Clear All Memory This function initializes the entire EtherCAT Slave Termi nal or specified Units from the Sysmac Studio...

Page 229: ...that it is reserved for mounted NX Units Unmounted NX Units are also assigned NX Unit numbers This prevents the NX Unit numbers of other NX Units in the same Slave Terminal from changing when you cha...

Page 230: ...nmounted Unit a Unit Configuration Verifica tion Error will occur 11 2 2 Applications 11 2 3 Operating Specifications for NX Units That Are Set as Unmounted Units Item Operation Bandwidth reservation...

Page 231: ...he NX Units to set as unmounted Units from those that are registered to the EtherCAT Coupler Unit on the Edit Slave Terminal Configuration Tab Page The Unit Settings Pane is displayed 2 In the Unit Se...

Page 232: ...you to use the troubleshooting functions on the Sysmac Studio to view and correct errors that occur in the EtherCAT Slave Terminal The Sysmac error status has error level information that is commonly...

Page 233: ...when the EtherCAT Coupler Unit was replaced so that you can remember to set the parameters for the EtherCAT Coupler Unit SII Data Checking The EtherCAT Coupler Unit checks the information in the SII...

Page 234: ...Operation authority verification Prevention of incor rect operation 11 4 2 Specifications of Verification of Operation Authority for the EtherCAT Slave Terminal Monitoring status Adminis trator Design...

Page 235: ...no operation authority function if the Sysmac Studio is connected to the EtherCAT Coupler Unit directly through the peripheral USB port Backing up and restoring parameters Adminis trator Designer Main...

Page 236: ...d status changes that occur in the EtherCAT Slave Terminal You can use the Sysmac Studio to check the meaning of the events in the EtherCAT Slave Terminals Event for an EtherCAT Slave Terminal is a ge...

Page 237: ...st events in an EtherCAT Slave Terminal Additional Information With an NS series PT you can check for current errors in the EtherCAT Coupler Unit and determine the NX Unit where the error occurred You...

Page 238: ...and model number Event Log Categories Event type Event log category Description Controller event System log This is a log of the events that are detected by each Unit Access log This is a log of the...

Page 239: ...nal is turned ON but before it moves to the Pre Operational state Each event has an event level Events are classified into the following five levels according to the level of impact the events have on...

Page 240: ...1 Select Troubleshooting from the Tools Menu while online You can also click the Trouble shooting Button in the toolbar The following Troubleshooting Dialog Box is displayed 2 Click the Controller Ev...

Page 241: ...urrently mounted NX Units select the NX Units in the Select the Display Target If the most recent version of the Sysmac Studio is not used the Sysmac Studio may not sup port some events If unsupported...

Page 242: ...NX Unit 1 Select Troubleshooting from the Tools Menu while online You can also click the Trouble shooting Button in the toolbar The following Troubleshooting Dialog Box is displayed 2 In the Select th...

Page 243: ...the Sysmac Studio 1 Select Troubleshooting from the Tools Menu while online You can also click the Trouble shooting Button in the toolbar The following Troubleshooting Dialog Box is displayed 2 In th...

Page 244: ...nction clears the following data in the EtherCAT Slave Terminal 11 6 1 Introduction 11 6 2 Details on Clearing All Memory Specifying the Scope of Memory to Clear Scope of Data to Clear and State of Me...

Page 245: ...To clear the memory in all Units right click the EtherCAT Coupler Unit and select Clear All Memory The Clear All Memory Dialog Box is displayed 3 Check the areas to clear and then click the Execute Bu...

Page 246: ...nd then execute the restart The methods for restarting are listed below Commands to restart NX Units from the Sysmac Studio Restart NX Unit RestartNXUnit instruction To restart NX Units from the Sysma...

Page 247: ...e to restart all of the Units in the Slave Terminal Use the Sysmac Studio 1 Go online right click the EtherCAT Coupler Unit in the Edit Slave Terminal Configuration Tab Page and select Restart A Resta...

Page 248: ...its Refer to Error Event Codes and Troubleshooting in the Troubleshooting section of the manual for the NX Unit for the events for which you can change the event level in each NX Unit Changes to the e...

Page 249: ...rations Settings Tab Page is displayed 2 From the events for which Level setting is displayed select the event for which you want to change the level and then select a level from the list in the Value...

Page 250: ...26 NX series EtherCAT Coupler Unit User s Manual W519 Precautions for Correct Use If you change the event level of a Controller error the output status when the error occurs may also change Confirm sa...

Page 251: ...ors in the EtherCAT Slave Terminal from the Sysmac Stu dio and gives the range of errors that you can reset Additional Information You can use an NS Series PT to reset errors for the entire Controller...

Page 252: ...ck the Trouble shooting Button in the toolbar The following Troubleshooting Dialog Box is displayed The current Controller errors are displayed on the Controller Errors Tab Page Observations and infor...

Page 253: ...online 2 Select Troubleshooting from the Tools Menu while online You can also click the Trouble shooting Button in the toolbar The following Troubleshooting Dialog Box is displayed The current Contro...

Page 254: ...11 EtherCAT Coupler Unit Functions 11 30 NX series EtherCAT Coupler Unit User s Manual W519...

Page 255: ...ormance of message communications for EtherCAT Slave Termi nals 12 1 Performance of Process Data Communications 12 2 12 1 1 I O Response Times for Synchronous I O Refreshing 12 2 12 1 2 I O Response T...

Page 256: ...g on all of the EtherCAT Slave Terminals Therefore when you calculate the I O response times for an NX Unit on an EtherCAT Slave Terminal you must use in the calculations the longest elements for all...

Page 257: ...1 EtherCAT Coupler Unit NX Unit inputs NX Unit outputs EtherCAT Slave Terminal 2 EtherCAT Coupler Unit NX Unit inputs NX Unit outputs Signal from output terminal EtherCAT transmission time Sync0 Sync...

Page 258: ...ster Use the following formula to find Edelay Etxj This is the transmission jitter of the EtherCAT master The value is 100 s Formula Maximum I O response time Tcycle 2 Edelay Etxj Tmax InTrans Tmax Ou...

Page 259: ...node address of the EtherCAT Slave Terminal n is the ad dress Max indicates the maximum value in the parentheses Formula T n InTrans 9 22 Integer quotient of total byte size 1 of the NX Unit input dat...

Page 260: ...the address Max indicates the maximum value in the parentheses Formula T n OutTrans 11 71 Integer quotient of total byte size 1 of the NX Unit output data 32 2 1 This is the total byte size of the out...

Page 261: ...e NX Unit reads the output data that was sent by the EtherCAT Coupler Unit until preparations to update the output data are completed There is a unique value for each type of NX Unit With synchronous...

Page 262: ...finition of the output delay time for each type of NX Unit If a formula rather than a value is given for Tnx Outdelay in the above table refer to the user s man uals for individual NX Units or to the...

Page 263: ...dividual NX Units or to the NX series Data Reference Manual Cat No W525 for the default values of the Unit data sizes This section provides a calculation example for I O response times Calculation Con...

Page 264: ...Input Units NX ID3343 8 4 1 1 The input data size of one NX ID3343 is 0 5 bytes Therefore the byte size of the input data is 8 Units 0 5 bytes or 4 bytes 0 8 Digital Output Units NX OD3153 8 0 4 2 2...

Page 265: ...e the value of Tmax InTrans is as follows Formula Etxj 100 Unit s Parameter Value Remarks Total byte size of the input data of the NX Unit 20 bytes This is the total input data size of the NX Unit Num...

Page 266: ...times the number of points The conversion time is 10 s per point and there are 4 points Therefore the value of Tmax OutProc is as follows Parameter Value Remarks Total byte size of the out put data of...

Page 267: ...Outdelay The Tnx Outdelay of an NX OD3153 Digital Output Unit is defined as the ON OFF response time The ON OFF response time is 0 30 s Therefore the value of Tnx Outdelay for the NX OD3153 Digital Ou...

Page 268: ...the maximum I O response time 12 1 2 I O Response Times for Free Run Refreshing Timing Chart and Configuration Elements of the I O Response Time Tcycle Edelay Etxj Primary periodic task IO UPG MC IO...

Page 269: ...period of the primary periodic task in the CPU Unit Edelay This is the transmission delay time of the EtherCAT master Refer to Definitions of Formula Ele ments and Calculation Methods on page 12 4 in...

Page 270: ...CAT Slave Ter minal with node address n in Free Run Mode Use the following formula to find T n exsoft Tnx InProc This is the input data processing time of the NX Unit It is the time from reading the s...

Page 271: ...series Data Reference Manual Cat No W525 to make the calculations Tnx Outdelay This is the output delay time of the NX Unit This is the time to change the output terminals accord ing to the updated ou...

Page 272: ...o Calculation Example on page 12 9 in 12 1 1 I O Response Times for Synchronous I O Refreshing on page 12 2 and Unit Configuration and Data Sizes in the EtherCAT Slave Terminal on page 12 10 in 12 1 1...

Page 273: ...e NX Unit 32 0 34 Number of NX Units with BOOL input data 3 41 3 53 Number of NX Units 0 014 Total bytes size of NX Unit input data 75 17 9 22 Integer quotient of 20 bytes 32 0 55 Remainder of 20 byte...

Page 274: ...it is defined as the ON OFF response time plus the input filter time The ON OFF response time is 0 10 s and the input filter time is 0 s 1 1 Calculation condition 5 says there is no filter so the time...

Page 275: ...s based on the calculation results for the elements Formula Maximum I O response time Tcycle 2 Edelay Extj T 1 Free_I OCycle 2 T 1 InTrans T 1 OutTrans Tnx InProc 2 Tnx OutProc 2 Tnx Indelay Tnx Outde...

Page 276: ...hen the EtherCAT Coupler Unit and NX Unit receive the frame they process the message When the mes sage processing is completed the EtherCAT master receives a response from the EtherCAT Slave Ter minal...

Page 277: ...Coupler Unit the value is as follows Ts resp 400 to 1 000 s If the destination is an NX Unit the value is as follows Ts resp 450 to 7 000 s Calculating the Message Response Time Message response time...

Page 278: ...12 Communications Performance 12 24 NX series EtherCAT Coupler Unit User s Manual W519...

Page 279: ...es 13 14 13 4 Resetting Errors 13 40 13 5 Error Notification Methods 13 41 13 6 Error Notifications Based on the Sysmac Error Status 13 42 13 7 Emergency Messages 13 43 13 7 1 Enabling Disabling Emerg...

Page 280: ...ou use an NJ series Controller refer to the NJ series Troubleshooting Manual Cat No W503 for the procedures to check for errors in the entire Controller Checking method What you can check Checking the...

Page 281: ...indicator shows the status of the inputs in EtherCAT communications L A OUT The L A OUT indicator shows the status of the outputs in EtherCAT communications RUN The RUN indicator shows the operating s...

Page 282: ...d make sure that power is correctly supplied from the Unit power sup ply Checks Related to the Power Sup ply Make sure that the power supply cable is wired properly Make sure that there are no breaks...

Page 283: ...power supply to the EtherCAT Slave Terminal does not clear the error replace the Ether CAT Coupler Unit Lit B B Not Lit FS 1 s NX Unit Commu nications Timeout Check the following items Make sure that...

Page 284: ...e power supply to the EtherCAT Coupler Unit or disconnect communications with the Sysmac Studio while a down load of Unit configuration informa tion is in progress clear all memory on the EtherCAT Cou...

Page 285: ...PDO WDT Set ting Error SM Event Mode Setting Error TxPDO Map ping Error RxPDO Map ping Error Correct the setting and then down load the settings to the EtherCAT master again Illegal State Transition R...

Page 286: ...the cable is of the appropriate length Make sure that the communica tions cable meets the recom mended specifications Items Related to the Synchroniza tion Settings Make sure that the synchroniza tion...

Page 287: ...Master Check if there was a power interruption during process data communications with the host EtherCAT master Lit SF DF Not Lit FS 1 s Process Data WDT Error Check the following items and then reset...

Page 288: ...mended specifications The host master is not operating Make sure that the operation of the EtherCAT master is correct If you cannot resolve the problem after you check the above items and cycle the Un...

Page 289: ...ve action Green Lit Power is currently sup plied from the I O power supply This is the normal status Not Lit No power is currently sup plied There is no I O power supply Check the following items and...

Page 290: ...Unit errors and some of the NX Units as well as information on the NX Units in which current errors occurred You cannot use it to check event logs and details on current errors in the NX Units 13 3 1...

Page 291: ...nd corrections for previous errors Refer to the NJ series Troubleshooting Manual Cat No W503 and the Sysmac Studio Version 1 Operation Manual Cat No W504 for the items that you can check and the proce...

Page 292: ...rror Initialization of the EtherCAT slave communications controller failed An initialization error occurred in the EtherCAT slave commu nications controller P 13 20 05030000 hex Slave Unit Verificatio...

Page 293: ...isconnected during operation while the Unit configuration information was not set A Unit was connected during operation while the Unit config uration information was not set The serial number of a Uni...

Page 294: ...ting Error When DC Mode was confirmed the cycle time was set to a value that made operation impossible AL Status Code 0035 hex When DC Mode was con firmed the cycle time was set to a value that made o...

Page 295: ...tartup error occurred in an NX Unit P 13 36 35030000 hex NX Unit Observation An observation was detected in an NX Unit An observation level error occurred in a Unit where an error was detected This ev...

Page 296: ...vent code Gives the code of the error Meaning Gives a short description of the error Source Gives the source of the error Source details Gives details on the source of the error Detection timing Tells...

Page 297: ...CAT Slave Terminal Sys tem defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention The Unit has failed Replace the EtherCAT Coupler Unit None Attached i...

Page 298: ...lave communications controller Replace the EtherCAT Coupler Unit None Attached information None Precautions Remarks None Event name ESC Initialization Error Event code 05020000 hex Meaning Initializat...

Page 299: ...Unit information Replace the EtherCAT Coupler Unit None Attached information None Precautions Remarks None Event name Non volatile Memory Control Parameter Error Event code 10420000 hex Meaning An er...

Page 300: ...one Event name Unit Configuration Error Too Many Units Event code 24A00000 hex Meaning The number of connected NX Units exceeds the maximum value for the EtherCAT Coupler Unit Source EtherCAT Master F...

Page 301: ...Continues Operation The Slave Terminal stops in Pre Operational state I O refreshing for the NX Units in the EtherCAT Slave Terminal stops Messages cannot be sent to the NX Units in the EtherCAT Slave...

Page 302: ...ration The Slave Terminal stops in Pre Operational state I O refreshing for the NX Units in the EtherCAT Slave Terminal stops Messages cannot be sent to the NX Units in the EtherCAT Slave Terminal Sys...

Page 303: ...erminal Sys tem defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention An NX Unit that is registered in the Unit configuration information is not conne...

Page 304: ...hich the serial number of the connected Unit is set to the Communications Cou pler Unit If the Serial Number Check Method is set to Setting Actual device read the serial numbers of the actually connec...

Page 305: ...the Communications Cou pler Unit Check the cause of the minor fault in the NX Unit Attached information None Precautions Remarks None Event name Mailbox Setting Error Event code 35040000 hex Meaning...

Page 306: ...ations for the Slave Terminal that are set in the EtherCAT master according to the ESI Attached information None Precautions Remarks None Event name TxPDO Setting Error Event code 35060000 hex Meaning...

Page 307: ...ettings to the EtherCAT master again Set the communications for the Slave Terminal that are set in the EtherCAT master according to the ESI Attached information None Precautions Remarks None Event nam...

Page 308: ...ations for the Slave Terminal that are set in the EtherCAT master according to the ESI Attached information None Precautions Remarks None Event name RxPDO Mapping Error Event code 350A0000 hex Meaning...

Page 309: ...l Between Init state and Pre Operational state between Pre Operational state and Safe Operational state or between Safe Operational state and Operational state Attached information None Precautions Re...

Page 310: ...rminal that are set in the EtherCAT master according to the ESI Attached information None Precautions Remarks None Event name NX Unit Communications Timeout Event code 84C00000 hex Meaning An error oc...

Page 311: ...d correction Assumed cause Correction Prevention An error occurred in processing the EtherCAT Coupler Unit Set and save the Unit configura tion information in the EtherCAT Coupler Unit again If this e...

Page 312: ...name Synchronization Interruption Error Event code 85010000 hex Meaning A synchronization interruption error occurred Source EtherCAT Master Function Mod ule Source details EtherCAT Cou pler Unit Det...

Page 313: ...r Unit If the error occurs again even after you make the above correction replace the EtherCAT Coupler Unit None Attached information None Precautions Remarks None Event name Communications Synchroniz...

Page 314: ...u pler Unit or restart the EtherCAT Cou pler Unit Log category System Effects User program Continues Operation The Slave Terminal moves to Safe Operational state I O refreshing for all of the NX Units...

Page 315: ...level error occurred in a Unit where an error was detected This event is recorded in the event log in the Communications Cou pler Unit Check the cause of the observa tion in the NX Unit Attached info...

Page 316: ...NX messages The communications cable is dis connected or broken This cause does not apply if attached information 2 is 0 NX bus Connect the communications cable securely Connect the communications cab...

Page 317: ...e of restart 0 The EtherCAT Slave Terminal was restarted Precautions Remarks None Event name Memory All Cleared Event code 90430000 hex Meaning The Unit settings were cleared Source EtherCAT Master Fu...

Page 318: ...Reference Manual Cat No W502 Method Operation Scope of error reset Description Commands from Sysmac Studio Resetting Controller errors All errors in the Con troller Reset the Controller error from th...

Page 319: ...DO and notified cyclically to the master Emergency message The emergency message reports application level errors The error code contains the CiA defined error code and an additional error code in the...

Page 320: ...ification allows the Controller to detect and make use of the error status in the Slave Terminal Refer to the NJ series Troubleshooting Manual Cat No W503 for information on the operation of the NJ se...

Page 321: ...ng Procedures on page 13 14 for details on event codes Additional Information If you use an NJ series CPU Unit you can use the setting to provide notification just by turning ON the Unit power supply...

Page 322: ...maximum number of NX Units Unit Configuration Error Unsup ported Unit The total byte size of all I O data for the connected NX Units exceeds the prede termined maximum value for the Ether CAT Coupler...

Page 323: ...o change the Unit configu ration information to reflect the actually connected NX Units and download the Unit configuration information to the EtherCAT Coupler Unit Cause An NX Unit that is not regis...

Page 324: ...ing an NX Unit failed Saved Possible Cause An error occurred in process ing the EtherCAT Coupler Unit Corrective Action Set and save the Unit config uration information in the EtherCAT Coupler Unit ag...

Page 325: ...T master Corrective action 0001 State Transition Impossible The number of received state tran sition requests exceeded the limit set by the applica tion Not saved Possible An error occurred in the Eth...

Page 326: ...al RxPDO was set Not saved Possible Correct the settings and then down load the settings to the EtherCAT master again 0028 SM Event Mode Setting Error An SM Event Mode that is not sup ported was set N...

Page 327: ...the speci fications of the connected EtherCAT master Wire the EtherCAT communica tions cable correctly Check to see if the EtherCAT communications cable is exposed to excessive noise 0035 Synchroniza...

Page 328: ...nected properly Connect it properly and cycle the power supply All TS indicators on the EtherCAT Slave Terminal EtherCAT Cou pler Unit and NX Units are lit green When the output of the EtherCAT Couple...

Page 329: ...are any Does the troubleshooting function of the Sysmac Studio show an error in the EtherCAT Slave Terminal Error occurs Yes No No No Can go online from Sysmac Studio Refer to the NJ series Troublesh...

Page 330: ...or on EtherCAT Coupler Unit Refer to the manual for the specific NX Unit Can Sysmac Studio go online through USB port on EtherCAT Coupler Unit Use the troubleshooting functions of the Sysmac Studio to...

Page 331: ...e with the EtherCAT Coupler Unit 13 11 1 Causes and Corrective Actions When the Sysmac Studio Cannot Go Online Cause Description Corrective action Incorrect setting or faulty communications path The s...

Page 332: ...Cycle the power supply to the EtherCAT Coupler Unit EtherCAT Coupler Unit failure If you cannot restore normal operation even after you make the above correction replace the EtherCAT Coupler Unit End...

Page 333: ...eplacing EtherCAT Coupler Units 14 1 Cleaning and Maintenance 14 2 14 1 1 Cleaning 14 2 14 1 2 Periodic Inspections 14 2 14 2 Maintenance Procedures 14 4 14 2 1 Backing Up Data 14 4 14 2 2 Replacement...

Page 334: ...riorate under improper environmental conditions Periodic inspections are thus required Inspection is recommended at least once every six months to a year but more frequent inspections will be necessar...

Page 335: ...t the EtherCAT Coupler Unit if necessary Check for corrosive or flamma ble gases in the area of the EtherCAT Coupler Unit No corrosive or flammable gases Check by smell or use a gas sensor Check that...

Page 336: ...rCAT Coupler Unit are listed below Unit configuration information I O allocation information Unit operation settings Hardware switch information Production information Precautions for Correct Use The...

Page 337: ...e EtherCAT Coupler Unit If the Serial Number Check Method setting on the EtherCAT master is set to Setting Actual device temporarily change this setting to None and then replace the EtherCAT Coupler U...

Page 338: ...n addition to this manual 1 Turn OFF the power supply to all of the equipment or disconnect the EtherCAT Slave Terminal that includes the NX Unit to replace from the EtherCAT network 2 Turn OFF the Un...

Page 339: ...heck Method setting set to Setting Actual device a Unit Configuration Verification Error will occur Refer to 9 2 3 Setting the Unit Configuration Information on page 9 8 for details on the Serial Numb...

Page 340: ...14 Maintenance and Inspection 14 8 NX series EtherCAT Coupler Unit User s Manual W519...

Page 341: ...ring the Unit Operation Settings A 6 A 3 Special Instructions A 7 A 3 1 Instructions A 7 A 3 2 Specifying the Targets for Instructions A 7 A 4 Connecting to Masters from Other Manufacturers A 9 A 4 1...

Page 342: ...iptions A 52 A 6 3 Unit Information Object A 53 A 6 4 Objects That Accept I O Allocations A 54 A 6 5 Other Objects A 56 A 7 Version Information A 59 A 7 1 Relationship between the Unit Versions of Eth...

Page 343: ...EtherCAT Coupler Unit Only With Cables Connected 1 This dimension depends on the specifications of the commercially available USB cable Check the specifi cations of the USB cable that is used A 1 1 Et...

Page 344: ...pler Unit User s Manual W519 2 This is the dimension from the back of the Unit to the communications cables 100 mm When an MPS588 C Connector is used 120 mm When an XS6G T421 1 Connector is used A 1 2...

Page 345: ...oupler Unit and the NX Units between the Sysmac Studio and the Controller Yes Backing up and restoring set tings This function saves and restores all of the set tings in the EtherCAT Slave Terminal Ye...

Page 346: ...s operation Are you sure you want to execute the transfer 4 Click the Yes Button The Unit operation settings are transferred Precautions for Correct Use If a restart is necessary the entire Slave Term...

Page 347: ...utline of function System control instructions NX_ChangeWrite Mode Change to NX Unit Write Mode This instruction changes the specified Communi cations Coupler Unit or NX Unit to the mode that allows t...

Page 348: ...l W519 Refer to A 6 NX Objects on page A 52 for details on indexes and subindexes of NX objects for the EtherCAT Coupler Unit and for the meanings of those objects Refer to the manuals for the individ...

Page 349: ...referred to as the software from the other manufacturer 2 Install the ESI files for the EtherCAT Coupler Unit and the NX Units that you will use into the software from the other manufacturer 3 Perfor...

Page 350: ...s set in the software from the other manufacturer This section describes the I O map PDO Groups There are three groups of PDOs These are described in the following table PDO Group Mapping Order Mappin...

Page 351: ...Units that support Synchronous I O refreshing and Free Run refreshing can operate in the Free Run Mode with Free Run refreshing To operate an EtherCAT Slave Terminal in Free Run Mode set up communicat...

Page 352: ...al in DC Mode set up communications in the software from another manufacturer so that the EtherCAT Slave Terminal operates in DC Mode NX Units that sup port synchronous I O refreshing and Free Run ref...

Page 353: ...O mapping objects 2000 to 2FFF hex Manufacturer specific Area 1 The objects in this area are defined for all OMRON products 3000 to 5FFF hex Manufacturer specific Area 2 The objects in this area are d...

Page 354: ...for the NX Units 1 2 125 Input Data Mapping Objects PDO mapping objects for TxP DOs 1BF4 hex to 1BFF hex 1A00 hex to 1A03 hex 1A04 hex to 1A07 hex 1BF0 hex to 1BF3 hex Input Data Objects application...

Page 355: ...communications specify the index number as follows shift the index number of the object by subtracting 1 hex from the NX Unit number of the target NX Unit in hex and then multiply this by 20 hex Exam...

Page 356: ...index Default This is the value that is set when the product is shipped from the factory Data range For a read only RO object this is the range of the data that you can read For a read write RW object...

Page 357: ...dex hex Object name Default Data range Unit Data attribute Size Access PDO map ping Com plete access 1008 ManufacturerDevice Name NX ECC201 padded with 11 spaces character 20 hex NX ECC201 padded with...

Page 358: ...revision number of the EtherCAT Coupler Unit Subindex 04 hex gives the serial number of the EtherCAT Coupler Unit This is a unique value for each product Index hex Subin dex hex Object name Default Da...

Page 359: ...x 03 hex gives the node address that is set on the hardware switches When Writing If the hardware switches for the node address are set to 0 an SDO communications error occurs and abort code 08000021...

Page 360: ...he format of a diagnosis message Index hex Subin dex hex Object name Default Data range Unit Data attribute Size Access PDO map ping Com plete access 10F3 Diagnosis History Possible 00 Number of entri...

Page 361: ...AT Slave Terminal Subindexes 01 hex and on give the mapped application object information A 5 6 PDO Mapping Objects Index hex Description 1600 to 17FF Receive PDO mappings for NX Units 1A00 to 1BF3 Tr...

Page 362: ...ssi ble 1604 to 1607 5th 8th receive PDO Mapping Possible 00 Number of objects in this PDO Depends on Unit 00 to FF hex Depends on Unit 1 byte U8 Depends on Unit Not possi ble 01 to FF 1st 255th Outpu...

Page 363: ...Object to be mapped FF 255th Output Object to be mapped 1601 2nd receive PDO Mapping 00 Number of objects in this PDO 01 1st Output Object to be mapped FF 255th Output Object to be mapped 1602 3rd re...

Page 364: ...t receive PDO Mapping Possible 00 Number of objects in this PDO 01 hex 01 hex 1 byte U8 RO Not possi ble 01 1st Output Object to be mapped 00000000 hex 00000000 to 00000010 hex B 4 bytes U32 RW Possi...

Page 365: ...2 Depends on Unit Not possi ble 1A04to 01A07 5th 8th transmit PDO Mapping Possible 00 Number of objects in this PDO Depends on Unit 00 to FF hex Depends on Unit 1 byte U8 Depends on Unit Not possi ble...

Page 366: ...01 1st Input Object to be mapped FF 255th Input Object to be mapped 1A02 3rd transmit PDO Mapping 00 Number of objects in this PDO 01 1st Input Object to be mapped FF 255th Input Object to be mapped 1...

Page 367: ...ping Com plete access 1BF4 501st transmit PDO Mapping Possible 00 Number of objects in this PDO 01 hex 01 hex 1 byte U8 RO Not possi ble 01 1st Input Object to be mapped 00000000 hex 00000000 to 00000...

Page 368: ...0000000 hex B 4 bytes U32 RW Not possi ble 05 5th Input Object to be mapped 00000000 hex B 4 bytes U32 RW Not possi ble 06 6th Input Object to be mapped 00000000 hex B 4 bytes U32 RW Not possi ble Dat...

Page 369: ...t is connected to the built in EtherCAT port on an NJ series CPU Unit this object is assigned to the Sync Manager 3 PDO Assignment object 1C13 hex This object is assigned automatically in the default...

Page 370: ...ct name Default Data range Unit Data attribute Size Access PDO map ping Com plete access 1C00 Sync Manager Com munication Type Possible 00 Number of used SM channels 04 hex 04 hex 1 byte U8 RO Not pos...

Page 371: ...x Subin dex hex Object name Default Data range Unit Data attribute Size Access PDO map ping Com plete access 1C12 Sync Manager 2 PDO Assignment Possible 00 Number of assigned RxPDOs 00 hex 00 to FF he...

Page 372: ...gives the minimum cycle time that is supported by the EtherCAT Slave Terminal Subindex 06 gives the amount of time it will take for the EtherCAT Slave Terminal to process the pro cess data Subindex 09...

Page 373: ...t is supported by the EtherCAT Coupler Unit Free Run Mode and DC Mode Sync0 are supported Subindex 05 hex gives the minimum cycle time that is supported by the EtherCAT Slave Terminal Subindex 06 give...

Page 374: ...00 hex gives the number of observations that are detected by the EtherCAT Slave Termi nal A 5 8 Manufacturer specific Object 1 Index hex Subin dex hex Object name Default Data range Unit Data attribu...

Page 375: ...t currently exist The com bined total number of logs for minor faults and observations 2003 hex that are detected by the EtherCAT Slave Terminal is 128 If a minor fault is detected when there are a to...

Page 376: ...ng to Safe Operational state when DC mode operation is confirmed If the first interrupt signal Sync0 is not received within the time set here a Synchronization Error will occur The data range is from...

Page 377: ...pdated at the following times 0 FALSE to 1 TRUE When an error occurs 1 TRUE to 0 FALSE When error is reset Even if the cause of the error has been removed you must reset the error for the status to ch...

Page 378: ...it Registration Status Not pos sible 00 Number of entries 04 hex 04 hex 1 byte U8 RO Not possi ble 01 NX Unit Registration Status 15 0000 hex 0000 to FFFF hex ARRAY 0 1 OF BYTE RO Possi ble 02 NX Unit...

Page 379: ...ap ping Com plete access 3005 NX Unit Message Enabled Status Not pos sible 00 Number of entries 04 hex 04 hex 1 byte U8 RO Not possi ble 01 NX Unit Message Enabled Status 15 0000 hex 0000 to FFFF hex...

Page 380: ...ess 3006 NX Unit I O Data Active Status Not pos sible 00 Number of entries 04 hex 04 hex 1 byte U8 RO Not possi ble 01 NX Unit I O Data Active Status 15 0000 hex 0000 to FFFF hex ARRAY 0 1 OF BYTE RO...

Page 381: ...s Not pos sible 00 Number of entries 04 hex 04 hex 1 byte U8 RO Not possi ble 01 NX Unit Error Sta tus 15 0000 hex 0000 to FFFF hex ARRAY 0 1 OF BYTE RO Possi ble 02 NX Unit Error Sta tus 31 00000000...

Page 382: ...ting Actual device the serial numbers of the NX Units are verified at these times when the power is turned ON and after the EtherCAT Coupler Unit is restarted The serial numbers of the NX Units saved...

Page 383: ...01 hex to restart the entire EtherCAT Slave Terminal If you write a value other than 0000 hex the abort code is returned Index hex Subin dex hex Object name Default Data range Unit Data attribute Size...

Page 384: ...on the communications control status The specifications are given in the following table A 5 10 Device Profile Area Index hex Description 6000 to 6FFF Input Data Object Area 7000 to 7FFF Output Data O...

Page 385: ...ting are not allowed If the Object Is Not Mapped to a PDO Reading and writing depend on the communications control status The specifications are given in the following table Output Data Object Area Ob...

Page 386: ...ze Access PDO map ping Com plete access 8000 NX Unit No 01 20 Configuration Area 1 Possible 00 Number of entries 0A hex 0A hex 1 byte U8 RO Not possi ble 01 Unit No NX Unit num ber 0000 to 007D hex 2...

Page 387: ...hex gives the PDO group number where the NX Unit is assigned 0004 hex Reserved 0003 hex Bit PDO group 0002 hex Word PDO group 0001 hex Coupler PDO group Subindex 0A hex gives the module identificatio...

Page 388: ...ication number of the NX Unit Index hex Subin dex hex Object name Default Data range Unit Data attribute Size Access PDO map ping Com plete access 9000 NX Unit No 01 20 Information Area 1 Possible 00...

Page 389: ...on gives a supported subindex Subindex 05 hex gives the number of PDO groups in the module A 5 11 Modular Device specific Area Index hex Subin dex hex Object name Default Data range Unit Data attribut...

Page 390: ...ze Access PDO map ping Com plete access F00E Module PDO Group Alignment PDO Number Possible 00 Number of objects 04 hex 04 hex 1 byte U8 RO Not possi ble 01 PDO Number of Module Group 0 01F4 hex 01F4...

Page 391: ...his table The number after the object name for subindexes 02 to 7C hex are 2 to 124 and are assigned in ascending order The data definitions except for object names are the same as those for subindexe...

Page 392: ...bject Descriptions Index hex Subindex hex Object name Default Data range Unit Data type Access I O alloca tion Data attribute Index Subin dex Object name Default Data range Unit Data type Access I O a...

Page 393: ...ess I O allo cation Data attribute 1000 NX Bus Identity 00 Number of Entries 7 7 USINT RO Not possi ble 02 Model NX ECC20 1 padded with 3 spaces character 20 hex ARRAY 0 11 OF BYTE RO Not possi ble 04...

Page 394: ...LSE BOOL RO Possi ble Index hex Subindex hex Object name Default Data range Unit Data type Access I O allo cation Data attribute 2003 NX Unit Registration Status 00 Number of Entries 4 4 USINT RO Not...

Page 395: ...t I O Data Active Status 63 FALSE TRUE or FALSE ARRAY 0 63 OF BOOL RO Possible 04 NX Unit I O Data Active Status 125 FALSE TRUE or FALSE ARRAY 0 125 OF BOOL RO Possible Index hex Subindex hex Object n...

Page 396: ...ess I O allo cation Data attribute 2002 Coupler Unit Sysmac Error Status 00 Number of Entries 1 1 USINT RO Not pos sible 01 Coupler Unit Sysmac Error Status 0002 hex WORD RO Not pos sible Coupler Unit...

Page 397: ...for connection of the NX Units 2007 7D NX Unit 125 Sys mac Error Status 0000 hex WORD RO Not possi ble NX Unit 125 Obser vation FALSE TRUE or FALSE BOOL RO Not possi ble NX Unit 125 Minor Fault FALSE...

Page 398: ...n ON within this set time after the EtherCAT Coupler Unit enters the Safe Operational state A value of 0 implies 120 s Index hex Subindex hex Object name Default Data range Unit Data type Access I O a...

Page 399: ...p between the unit versions of the EtherCAT Coupler Unit and the CPU Unit Yes Can be used No Cannot be used Precautions for Correct Use On the Select Device Tab Page in the project on the Sysmac Studi...

Page 400: ...Appendices A 60 NX series EtherCAT Coupler Unit User s Manual W519...

Page 401: ...Index 1 NX series EtherCAT Coupler Unit User s Manual W519 I Index...

Page 402: ...ngs 9 36 complete access A 16 configuration width of an EtherCAT Slave Terminal 6 21 connecting removing wires 7 16 crimping tool 7 15 current errors 13 13 D data attribute A 16 A 52 data type A 13 A...

Page 403: ...it Error Status 9 18 NX Unit I O Data Active Status 9 17 NX Unit Message Enabled Status 9 17 NX Unit Mounting Setting 9 10 NX Unit mounting settings 11 5 NX Unit Number 9 10 NX Unit power 5 2 NX Unit...

Page 404: ...1 8 Sysmac error status 9 19 13 42 Sysmac Studio 2 5 Sysmac Studio Controller backup function 9 38 Sysmac Studio versions A 59 System Units 2 6 T terminal block 4 2 4 3 4 12 terminal holes 4 12 termin...

Page 405: ......

Page 406: ...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 com Tokyo J...

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