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E3X-ECT EtherCAT Sensor Communication Unit Instration Manual

This chapter explains the overview of EtherCAT network.

1-1 Overview of EtherCAT Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-1

Features of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-2

Structure of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-3

Communications types of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-1-4

Connection Examples of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1-2 Configuration Elements of EtherCAT Network . . . . . . . . . . . . . . . . . . . . . . 1-6

1-2-1

Configuration Devices of EtherCAT Network . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1-2-2

Overview of Configuration Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

EtherCAT Network

Summary of Contents for Sysmac E3X-ECT

Page 1: ...E3X ECT EtherCAT Sensor Communication Unit Operation Manual E413 E1 ...

Page 2: ...ssumed with respect to the use of the information contained herein Moreover because OMRON is con stantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for ...

Page 3: ......

Page 4: ...E3X ECT EtherCAT Sensor Communication Units Operation Manual Revised February 2012 ...

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Page 6: ...you thoroughly read the manual and have a full understanding of the products functions and performance After you finished reading this manual please keep it in a convenient place This manual is intended for the following individuals Those having electrical knowledge certified electricians or individuals having equivalent knowledge and also being qualified for one of the following Introducing FA eq...

Page 7: ...m max φ3 2 mm min 3 2 mm min 4 11 4 Installation and Wiring GX series EtherCAT Slave Unit User s Manual 4 4 Connecting an External Device 4 4 4 2 Connecting to e CON Connector Terminals Connect the dedicated e CON connector to the cables of the external device to be connected and then connect it to the connector terminal The wire size and sheath diameter of applicable cables vary by the type of e ...

Page 8: ...dicates precautions on what to do and what not to do to ensure using the product safely Indicates precautions on what to do and what not to do to ensure proper operation and performance This explains useful tips and reference information when using the product Icon Precautions for Safe Use Precautions for Correct Use Reference ...

Page 9: ...system setup examples Chapter 4 Installation and Wiring Explains how to install Slave Units and how to connect and wire the EtherCAT network and power supply Chapter 5 EtherCAT Communications Explains the details of EtherCAT communications Chapter 6 E3X ECT Hardware spesifications Explains the E3X ECT Hardware specifications Chapter 7 E3X ECT Functional spesifications Explains the E3X ECT Function...

Page 10: ...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 OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY...

Page 11: ...ts 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 uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to s...

Page 12: ...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 even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the resul...

Page 13: ...ide the The symbol shown to the left indicates disassembly prohibited This symbol indicates caution warnings included The specific instruction is indicated using text inside the The symbol shown to the left indicates typical cautions This symbol means it is a compulsory item an item that must be done The specific instruction is indicated using text inside the The symbol shown to the left indicates...

Page 14: ...mergency stop circuits interlock circuits limit circuits and similar safety measures must be provided in external control circuits not in the Units The PLC will turn OFF all outputs when its self diagnosis function detects any error or when a severe failure alarm FALS instruction is executed As a countermeasure for such problems external safety measures must be provided to ensure safety in the sys...

Page 15: ... the loads connected to the Unit Transferring I O memory data to the CPU Unit with a Programming Device PC tool Changing present values in memory with a Programming Device Force setting resetting bits with a Programming Device Transferring I O memory files from a memory card or EM file memory to the CPU Unit Transferring I O memory from a host computer or from another PLC on a network Fail safe me...

Page 16: ...re that all Slave Unit mounting screws and cable connector screws are tightened to the torque specified in this manual Incorrect tightening torque may result in malfunction Make sure that all terminal block screws are tightened to the torque specified in this manuals Incorrect tightening torque may result in fire malfunction or failure Always use the specified communications cables and connectors ...

Page 17: ...data required for resuming operation Not doing so may result in unexpected operation Check the user program for proper execution before actually running it on the Unit Not checking the program may result in unexpected operation When replacing relays or other parts be sure to confirm that the ratings of the new part are correct Not doing so may result in malfunction or burning Confirm that no adver...

Page 18: ...or salts Location subject to exposure to water acid oil chemicals etc Locations subject to shock or vibration Confirm voltage specifications when wiring communications the power supply and I O crossovers Incorrect wire may result in malfunction Wire all connections correctly according to instructions in this manual Use the correct wiring materials to wire the Unit Take appropriate and sufficient c...

Page 19: ... Directive Always ensure that devices operating at voltages of 50 to 1 000 VAC and 75 to 1 500 VDC meet the required safety standards Applicable standard EN 61131 2 The OMRON products described in this manual comply with the related EMC Directives To ensure that the machine or device in which the products are used complies with EC Directives the products must be installed as follows The products m...

Page 20: ...ny Windows is a registered trademark of Microsoft Corporation in the USA CX One is a registered trademark for Programming Software made by OMRON Corporation Sysmac Studio is a registered trademark for Automation Software made by OMRON Corporation Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies ...

Page 21: ...s Manual Cat No W501 W501 NJ series CPU Unit Software User s Manual Explains the following items for NJ series CPU Units CPU Unit operation CPU Unit functions Initial settings Languages and programming based on IEC 61131 3 Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 W505 NJ series CPU Unit Built in EtherCAT Port User s Manual Explains the built in EtherC...

Page 22: ...of EtherCAT Networks 1 2 1 1 1 Features of EtherCAT 1 2 1 1 2 Structure of EtherCAT 1 2 1 1 3 Communications types of EtherCAT 1 4 1 1 4 Connection Examples of EtherCAT 1 5 1 2 Configuration Elements of EtherCAT Network 1 6 1 2 1 Configuration Devices of EtherCAT Network 1 6 1 2 2 Overview of Configuration Devices 1 7 EtherCAT Network ...

Page 23: ...nsmission of output signals By fully utilizing the optimized Ethernet frame bandwidth to transfer data using a high speed repeat method it is possible to efficiently transmit a wide variety of data Extremely High Compatibility with Ethernet EtherCAT is an open network with extremely high compatibility with conventional Ethernet systems EtherCAT does not send data to individual slave nodes on the n...

Page 24: ...Units Each EtherCAT telegram is configured with telegram header data length including address of one or more Slave Units etc data working counter check bit When an Ethernet frame is compared to a train an EtherCAT telegram can be considered as railway car Ethernet header CRC Ethernet data Maximum 1498 bytes Data Telegram header WKC 1 n EtherCAT telegram EtherCAT header 1st EtherCAT telegram 2nd Et...

Page 25: ...ng the EtherCAT Master Unit and Slave Units It refers to message communications At any timing the EtherCAT Master Unit transmits commands to Slave Units and the Slave Units return responses to the EtherCAT Master Unit It performs the following data communications Read and write process data Make Slave Unit setting Monitor Slave Unit state 1 1 3 Communications types of EtherCAT Process data communi...

Page 26: ... section explains the connection examples of EtherCAT network 1 1 4 Connection Examples of EtherCAT ID211 0 1 3 2 4 5 7 6 8 9 11 10 12 13 14 15 DC24V 7mA COM MACH No AD042 RUN ERC ERH B1 A1 x101 x100 0 9 8 7 6 5 4 32 1 0 9 8 7 6 5 4 32 1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ADR ADR ADR Digital I O Slave Unit EtherCAT Master Unit Servo Drive Servomotor Inverter ...

Page 27: ...w 1 2 1 Configuration Devices of EtherCAT Network ID211 0 1 3 2 4 5 7 6 8 9 11 10 12 13 14 15 DC24V 7mA COM MACH No AD042 RUN ERC ERH B1 A1 x101 x100 0 9 8 7 6 5 4 32 1 0 9 8 7 6 5 4 32 1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 ESI file PC Configuration Tool Peripheral port connection RS 232C port connection ADR ADR ADR Communications cable Unit power supply I O power supply Digital I O Slave Unit A...

Page 28: ...t can be used either by connecting to the EtherCAT Master Unit or as a substitute of the EtherCAT Master Unit Uses cables of Ethernet category 5 100BASE TX or higher with double shield aluminum tape and braided shielding which are connected straight Describes information specific to EtherCAT Sensor Communication Units in XML format By reading this file into the Configuration Tool it is possible to...

Page 29: ...1 EtherCAT Network 1 8 E3X ECT EtherCAT Sensor Communication Unit Instration Manual ...

Page 30: ...l This chapter explains the overview of EtherCAT Slave Unit 2 1 Overview of E3X ECT 2 2 2 1 1 Features of E3X ECT EtherCAT Sensor Communication Units 2 2 2 2 Types of EtherCAT Sensor Communication Units 2 3 2 2 1 Slave Units List 2 3 EtherCAT Sensor Communication Unit ...

Page 31: ...oler bySDO Connect fiver sensor amplifier laser sensor amplifier and proxmity sensor amplifier The E3X ECT EtherCAT Sensor Communication Units are Sysmac devices You can use them together with NJ series Controller other Machine Automation Controllers and the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation Sysmac devices is a generic name for EtherCAT Sensor...

Page 32: ...on explains the types of connectable sensor amplifiers with EtherCAT Sensor Communication Units 2 2 1 Slave Units List List of Sensor Amplifiers Sensor Type Fiber Sensor E3X HD0 Standerd fiber sensor amplifier with GIGA Ray 2 E3X MDA0 2CH fiber sensro amplifier E3X DA0 S 2 threshold type fiver sensor amplifier with GIGA Ray Laser Sensor E3C LDA0 Laser sensor amplifier Proxmity Sensor E2C EDA0 High...

Page 33: ...2 EtherCAT Sensor Communication Unit 2 4 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual ...

Page 34: ...4 3 2 1 Mounting and Setting EtherCAT Master Unit 3 4 3 2 2 Mounting and Setting Slave Units 3 4 3 2 3 Wiring Communications Cables 3 4 3 2 4 Connecting Power Supplies 3 4 3 2 5 Connecting fiber or Sensors head 3 4 3 3 Starting Communications 3 5 3 3 1 Starting a System 3 5 3 3 2 Setting EtherCAT Communications 3 5 3 3 3 Starting EtherCAT Communications 3 5 3 4 Checking Operations 3 6 3 4 1 Checki...

Page 35: ...the basic setting of E3X ECT EtherCAT Sensor Communication Units If more detailed settings are required in actual operation refer to the manual of the EtherCAT Master Unit Moreover if your system configuration includes Slave Units other than our products make the setting upon referring to the manual of the relevant Slave Units 3 1 1 System Setting Examples EtherCAT Master Unit Digital I O Slave Un...

Page 36: ...hecking Operations Section 3 2 2 Section 3 2 3 Section 3 2 4 Section 3 2 5 Section 3 3 1 Section 3 3 3 Section 3 3 2 Section 3 2 1 Section 3 4 1 Section 3 4 2 End Section 3 4 3 Mounting and Setting Slave Units Wiring Communications Cables Connecting fiber or sensor head Starting a System Starting EtherCAT Communications Mounting and Setting EtherCAT Master Unit Checking Unit Displays Connecting Po...

Page 37: ...n the general specification and details of each type of Slave Units Wire communications cables to the EtherCAT Master Unit and each Slave Unit For wiring method refer to 4 2 Connecting to EtherCAT Network in page 4 4 Connect the unit power supply to the EtherCAT Master Unit and Slave Units In addition connect the I O power supply to each Slave Unit as required For the connection method refer to 4 ...

Page 38: ...m PDO communication remote I O communications For the detailed explanation of I O data of each Slave Unit refer to I O Data Allocation PDO Mapping in Chapter 7 Note that the ESI file are used to allocate I O data For the detailed explanation of the procedure refer to the manual of the EtherCAT Master Unit to be used and the manual of the Configuration Tool E3X ECT can allocate PDO 36byte max SDO c...

Page 39: ...r of each Slave Unit is as follows Use the Configuration Tool to read IN data and OUT data of the EtherCAT Master Unit in order to check that the I O data is correctly read and written Make parameter settings for each Slave Unit as required via the SDO communications For the details of parameters that can be set refer to the pages explaining details of each Slave Unit in Chapter 7 E3X ECT must be ...

Page 40: ...necting to EtherCAT Network 4 4 4 2 1 Precautions for Network Connection 4 4 4 2 2 Preparation for Connecting Network 4 5 4 2 3 Connecting Communications Cables and Connectors 4 6 4 2 4 Connecting to Communications Cables 4 7 4 3 Connecting to Unit Power Supply and I O Power Supply 4 8 4 3 1 Precautions at Supplying Unit Power and I O Power 4 8 4 3 2 Unit Power Supply Specifications 4 9 4 3 3 Conn...

Page 41: ... of groove on backside of the Slave Unit to the top side of the DIN track 2 Push bottom side to DIN track 3 Release the cover of E3X ECT right side Slide sensor amplifiers and connect each other securely 4 Set end plates each side at last set the cover at 3 to the last amplifier Precautions for Safe Use After the operation make sure to check that the Slave Unit is securely mounted 4 1 1 Mounting M...

Page 42: ...mmunication Unit Instraction Manual 4 1 Mounting E3X ECT and Sensor Amplifiers 4 4 1 2 Removal Method 1 Release E3X ECT form amplifiers to slide sensor amplifiers 2 Push to DIN track and push up E3X ECT 4 1 2 Removal Method Push to DIN track Push up E3X ECT ...

Page 43: ...n metal cases Check the following items for communications cables to be used Are there any disconnected cables Are any cables short circuited Are there any problems in connector connections To connect a cable to communications connector of each device insert it securely until the connector of the communications cable is locked Lay down and wire the communications cables separately from high voltag...

Page 44: ...on at 100 m distance cannot be guaranteed Confirm details with the cable manufacturer When selecting connectors check that the cables to be used conform to connectors Items to be checked include conductor size conductor wire type solid wire twisted wire 2 4 pairs and outer diameter Reference We recommend cables with double aluminum tape and braded shielding taking noise resistance into considerati...

Page 45: ...Ethernet cables T568A and T568B The figure above shows a wiring method conforming to the standard T568A The wiring method conforming to the standard T568B can also be used 4 2 3 Connecting Communications Cables and Connectors White Green Green White Orange Blue White Blue Orange White Brown Brown Connector hood 1 2 3 4 5 6 7 8 Shielded cable Wire color Pin No White Green Green White Orange Blue Wh...

Page 46: ...e CN OUT connector of the first Slave Unit to the CN IN connector of the next Slave Unit Note that nothing should be connected to the CN OUT connector of the Slave Unit at the terminal end of the network Precautions for Correct Use The cable length between each Slave Unit L1 L2 Ln must be within 100 m Connect cables securely until communications cable connectors click and are fixed in place When y...

Page 47: ... drop The power supply voltage of a Slave Unit farthest to the power supply must be within the allowable variation range Supplying unit power supply and I O power supply from multiple sources When the unit power and I O power are supplied from multiple power supplies instead of from one power supply the line current voltage drop and cable size can be reduced Moreover it is effective to secure safe...

Page 48: ...the unit power supply connector on each Slave Unit and supply power to individual Slave Units Mount a pin terminal or equivalent to the unit power supply cable so that it will not be displaced 4 3 2 Unit Power Supply Specifications Item Specification Output voltage 24 VDC 10 Output ripple 600 mVp p Output current Has the capacity to supply power more than the total current consumption of each Slav...

Page 49: ...t power supply cables Also the following screwdriver is recommended for removing pin terminals Model Applicable wire size Crimping tool Manufacturer AI0 5 10WH 0 5 mm AWG20 CRIMPFOX UD6 Product No 1204436 or CRIMPFOX ZA3 series Phoenix Contact Co Ltd H0 5 16 orange 0 5 mm AWG20 Crimper PZ1 5 Product No 900599 Weidmueller Japan Co Ltd Model Manufacturer XW4Z 00C OMRON ...

Page 50: ...llowing pin terminals are recommended for the unit power supply cables Also the following screwdriver is recommended for removing pin terminals Model Applicable wire size Crimping tool Manufacturer AI0 5 10WH 0 5 mm AWG20 CRIMPFOX UD6 Product No 1204436 or CRIMPFOX ZA3 series Phoenix Contact Co Ltd H0 5 16 orange 0 5 mm AWG20 Crimper PZ1 5 Product No 900599 Weidmueller Japan Co Ltd Model Manufactu...

Page 51: ...4 Installation and Wiring 4 12 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual ...

Page 52: ...5 4 5 4 Process Data Objects PDO 5 5 5 4 1 Overview 5 5 5 4 2 PDO Mapping Settings 5 5 5 4 3 Sync Manager PDO Assignment Settings 5 6 5 4 4 PDO Mapping 5 7 5 5 Service Data Object SDO 5 9 5 5 1 Overview 5 9 5 5 2 Abort Codes 5 9 5 6 EtherCAT Master Unit Slave Unit Communications 5 10 5 6 1 FREE RUN Mode 5 10 5 6 2 DC Mode 5 10 5 7 Emergency Messages 5 12 5 7 1 Emergency Message Notification 5 12 5...

Page 53: ...naries PDO Process Data Object and SDO Service Data Object PDO is composed of object dictionaries that can be mapped The process data is defined by PDO mapping PDO is primarily used in PDO communications for regularly exchanging process data Moreover SDO is able to read and write all object dictionaries and is used in non fixed cycle type SDO event type messages communications By using the CoE int...

Page 54: ...ed from the ESI files of connected Slave Units and the network connection information ESI files are installed in the configuration tool to create network configuration information You can download the network configuration information to the EtherCAT Master Unit to configure the EtherCAT network ESI files Network configuration information EtherCAT Master Unit EtherCAT Slave Units Configuration too...

Page 55: ...ssible Not possible Not possible Communications are being initialized Communications are not possible Pre Operational Pre Op Possible Not possible Not possible SDO message communications are possible in this state This state is entered after initialization has been completed It is used to initialize network settings Safe Operational Safe Op Possible Possible Not possible In this state PDO transmis...

Page 56: ...cess data of EtherCAT Sensor Communication Units can be transferred The details of process data are described in PDO Mapping Objects and Sync Manager PDO Assignment Objects E3X ECT EtherCAT Sensor Communication Units support PDO mapping for I O control The PDO mapping indicates the mapping for application objects realtime process data between the object dictionary and PDO The number of mapped obje...

Page 57: ... mapping 5 4 3 Sync Manager PDO Assignment Settings 1ZZZ hex 1ZZZ hex 1ZZZ hex 6TTT hex 6UUU hex 6VVV hex 6YYY hex 6ZZZ hex 02 hex 03 hex 01 hex TT hex UU hex VV hex YY hex ZZ hex 6UUU hex UU hex 6TTT hex TT hex 6YYY hex YY hex 8 16 8 Object B Object C Object A Object E Object D Object A Object B Object D PDO Length 32 Bit PDO_1 Index Sub Object contents Mapping objects Application objects Object ...

Page 58: ... hex No 9 Sensor Input 1 No 9 Sensor Input 2 No 16 Sensor Input 1 No 16 Sensor Input 2 Read Input 2nd word 6100Hex 265th transmit PDO Mapping 1B08 hex Sensor Status bits 3000Hex 267th transmit PDO Mapping 1B0A hex Connecting Sensor bits 3001Hex 512th transmit PDO Mapping 1BFF hex Sysmac Error 2002 hex 257th transmit PDO Mapping 1B00 hex No 1 Sensor Input 1 No 1 Sensor Input 2 No 8 Sensor Input 1 N...

Page 59: ...o 1 Sensor Input 1 No 1 Sensor Input 2 No 8 Sensor Input 1 No 8 Sensor Input 2 Read Input bits 3020Hex 262th transmit PDO Mapping 1B05 hex No 9 Sensor Input 1 No 9 Sensor Input 2 No 16 Sensor Input 1 No 16 Sensor Input 2 Read Input bits 3020Hex 265th transmit PDO Mapping 1B08 hex Sensor Status bits 3000Hex 267th transmit PDO Mapping 1B0A hex Connecting Sensor bits 3001Hex ...

Page 60: ...nto the PDO 06040042 hex The number and length of the objects to be mapped would exceed the PDO length 06040043 hex General parameter incompatibility reason 06040047 hex General internal incompatibility in the device 06060000 hex Access failed due to a hardware error 06070010 hex Data type does not match length of service parameter does not match 06070012 hex Data type does not match length of ser...

Page 61: ... the manual of the host system EtherCAT Master or CPU Unit to be used This is the time which takes for an input signal from an Input Slave Unit to be processed by the PLC of the Master Unit and output to an Output Slave Unit In the DC mode a Slave Unit operates synchronously with the EtherCAT Master Unit A mechanism called distributed clock DC where the EtherCAT Master Unit and Slave Units share t...

Page 62: ...unications 5 5 6 2 DC Mode Communications cycle The communications cycle is determined by setting output frequency of Sync0 signal interrupt signal in DC mode 1 125 s 250 s 500 s 1 ms 2 ms 4 ms The settings are performed on the EtherCAT Master Unit side For the setting method refer to the manual of the EtherCAT Master Unit to be used ...

Page 63: ...n below For contents of emergency message refer to 11 1 5 Emergency Error Code in page 11 15 For contents of Sysmac error status codes refer to 11 1 4 Sysmac Error Status Codes in page 11 9 A E3X ECT EtherCAT Slave Unit can save up to eight emergency messages in non volatile memory inside the Slave Unit The saved messages can be read with SDO communications Indexes to be read are sub indexes 06 he...

Page 64: ...re Sysmac devices and support Sysmac device functions Sysmac error status Slaves Units that are Sysmac devices systematically handle errors that occur in the Slave Unit You can therefore use the Sysmac Studio to check errors and confirm corrections by using the same procedures for all Sysmac devices Errors are reported in 2002 hex 01 hex Sysmac Error Status To display errors that are detected by a...

Page 65: ...ster 0012 hex EtherCAT slave controller EtherCAT Master Unit Non volatile memory SII 1 When the power supply is OFF set the node address switches to 00 2 From the master write the node address to the SII in the Slave Unit 3 When the power supply to the Slave Unit is turned ON the software writes the node address setting to register address 0012 hex 4 The EtherCAT Master Unit reads the setting in r...

Page 66: ...g to set the parameters because a slave device that was replaced is detected Conformance to ESI specifications ETG 2000 S R V1 0 1 The ESI specifications define the contents of the EtherCAT slave information ESI files Controllers that support Sysmac device functions can use an optional function that is defined in the ESI specifications to specify backup parameters in the Slave Units You can back u...

Page 67: ...5 EtherCAT Communications 5 16 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual ...

Page 68: ...cations and Hardware specifications 6 1 EtherCAT Communications Specifications 6 2 6 2 General Specifications 6 3 6 3 Hardware Specifications 6 4 6 3 1 Status Indicators 6 4 6 3 2 Node Address Setting Switches 6 6 6 3 3 Communications Connectors 6 7 6 3 4 Unit Power Supply Connector 6 7 Hardware Specifications of E3X ECT ...

Page 69: ...ications media Category 5 or higher cable with double aluminum tape and braided shielding is recommended Communications distance Distance between nodes Slave Units 100 m max Noise immunity Conforms to IEC 61000 4 4 1 kV or higher Node address setting method Set on decimal node address switches or with a Configuration Tool Node address range 1 to 999 Node address switch setting 1 to 65535 Set with ...

Page 70: ...kV power line Vibration resistance Malfunction 10 to 60 Hz with amplitude of 0 7 mm 60 to 150Hz and 50 m s2 in each of X Y and Z directions for 80 minutes Shock resistance 150 m s2 with amplitude of 0 7 mm 3 times each in 6 directions on 3 axes Dielectric strength 500 VAC between isolated circuits Insulation resistance 20 M or more between isolated circuits Ambient operating temperature 0 to 55 C ...

Page 71: ... 3 1 Status Indicators PWR indicator Color State Contents Green OFF Unit power OFF state ON The unit power 24 VDC is supplied to the Slave Unit L A IN indicator Color State Contents Green OFF Link not established in physical layer Flickering In operation after establishing link ON Link established in physical layer L A OUT indicator Color State Contents Green OFF Link not established in physical l...

Page 72: ... Contents Green OFF Init state Blinking Pre Operational state Single flash Safe Operational state ON Operational state ERR indicator Color State Contents Red OFF No error Blinking Communications setting error Single flash Synchronization error or communications data error Double flash Application WDT timeout Flickering Boot error ON PDI WDT timeout SS indicator Color State Contents OFF Power OFF o...

Page 73: ...read only once when the power is turned ON Even if the settings are changed after turning the power supply ON they are not reflected in the control They become effective when the power supply is turned ON the next time If node addresses overlap an error occurs and the operation stops 6 3 2 Node Address Setting Switches Node address switch setting Set value for node address OMRON EtherCAT Master Un...

Page 74: ...ector is used to connect the unit power supply 24 VDC Connector type Spring connection connector with fixing screw 2 pin Supported pin terminal diameter 0 25 mm2 to 0 5 mm2 AWG24 to AWG20 Pin terminal with isolation sleeve used For types of recommended pin terminals refer to 4 3 3 Connecting the Unit Power Supply in page 4 9 6 3 3 Communications Connectors Pin No Signal name Abbreviation 1 Send da...

Page 75: ...6 Hardware Specifications of E3X ECT 6 8 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual ...

Page 76: ...l This chapter explains the function specifications of E3X ECT 7 1 I O Data Allocation PDO Mapping 7 2 7 1 1 Input Data Allocation 7 2 7 2 Functions of E3X ECT 7 4 7 2 1 Input Filter 7 4 7 2 2 Dummy Sensor Setting 7 5 7 3 Mounting Dimensions 7 6 Function Spcifications ...

Page 77: ...or the detailed explanation of allocation method refer to the manual of EtherCAT Master Unit to be connected The input data for E3X ECT You can also assign the Sysmac error status E3X ECT recognize the sensor number from left side And each sensor has IN1 sensor output1 and IN2 sensor output2 7 1 1 Input Data Allocation Sensor Numbers No 1 No 2 No 3 No 4 No 5 No 6 No 7 No 8 No 9 No 10 No 11 No 12 N...

Page 78: ... IN1 Sensor2 IN2 Sensor2 IN1 Sensor1 IN2 Sensor1 IN1 1 Sensor8 IN2 Sensor8 IN1 Sensor7 IN2 Sensor7 IN1 Sensor6 IN2 Sensor6 IN1 Sensor5 IN2 Sensor5 IN1 2 Sensor12 IN2 Sensor12 IN1 Sensor11 IN2 Sensor11 IN1 Sensor10 IN2 Sensor10 IN1 Sensor9 IN2 Sensor9 IN1 3 Sensor16 IN2 Sensor16 IN1 Sensor15 IN2 Sensor15 IN1 Sensor14 IN2 Sensor14 IN1 Sensor13 IN2 Sensor13 IN1 4 reserved reserved reserved reserved r...

Page 79: ...FF if not Note that this function works for all inputs of Slave Units and Expansion Units at the same time When the input shifts from OFF to ON or ON to OFF it is read 4 times from that point at an interval of 1 4 of the set time When all read results are ON or OFF the input is turned ON or OFF The settings are made using the SDO communication The target index is 3002 hex For the set values refer ...

Page 80: ... change by customer option sensing point degrees and so on Details of functions E3X ECT can be set dummy sensor so I O map keep by using dummy sensor setting The settings are made using the SDO communication The target index is 3004 hex For the set values refer to the information in the corresponding index of Appendix A 1 Object Dictionary in A 1 7 7 2 2 Dummy Sensor Setting Overview of functions ...

Page 81: ...7 Function Spcifications 7 6 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 7 3 Mounting Dimensions The mounting dimensions are shown below ...

Page 82: ...at Can be Checked with Status Indicator and Actions to Take 8 2 8 1 2 Errors Unique to E3X ECT 8 7 8 1 3 Error Notification Methods and Types 8 8 8 1 4 Sysmac Error Status Codes 8 9 8 1 5 Emergency Error Code 8 15 8 1 6 Application Layer Status Codes 8 16 8 2 Equipment Maintenance 8 18 8 2 1 Cleaning 8 18 8 2 2 Inspections 8 18 8 2 3 Handling when Replacing Units 8 19 Troubleshooting and Maintenan...

Page 83: ...ms flashing DF Double flash ON 200 ms OFF 200 ms ON 200 ms OFF 1000 ms flashing Unknown PWR indicator L A IN L A OUT LED RUN indicator ERR indicator Description Cause Actions On F On Off EtherCAT communication is in progress EtherCAT communication is being executed PDO communications or both PDO and SDO communications are being executed State is normal Off Off Off Off Power supply error The power ...

Page 84: ...Check the switch settings then restart the Slave Unit according to the specification of connected EtherCAT Master Unit Non volatile memory data error A non volatile memory data error occurred Use the Configuration Tool or SDO communications to restore the default data and restart the Slave Unit according to the specification of connected EtherCAT Master Unit Sync manager setting error The sync man...

Page 85: ... EtherCAT Master Unit Is the communications cable wired correctly Are any cables disconnected or loose in the part that connects to the connector Is the cable length appropriate Is the communications cable of the recommended specification The host master has not been started Check that EtherCAT Master Unit is operating correctly If using an OMRON EtherCAT Master Unit check the EtherCAT Master Unit...

Page 86: ...unications cable of the recommended specification Item about power supply Is the power supply voltage within the specification range Is the power supply capacity sufficient Malfunction due to noise If there are devices in the vicinity that generate noise take necessary measures against the noise to protect the EtherCAT Master Unit and Slave Units and the communications cable The noise resistance d...

Page 87: ...ion frequency Sync0 frequency setting error After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit Set the correct synchronization frequency On B SF Synchronization error at synchronization start After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit Is the commun...

Page 88: ... the applicable Slave Unit 8 1 2 Errors Unique to E3X ECT Symptom Cause Measures Some functions are not reflected even after parameters have been set The functions enabled by recycling the power were changed Turn ON Slave Unit power supply again after changing the setting SS LED lights red Nmber of sensors setting is deffernt from Number of connecting sensors Set correct number of sensors setting ...

Page 89: ...tion is provided of application level errors Either CiA defined error codes are used or error codes are added to vendor specific areas The slave notifies the master when an error occurs 15 Application layer status Notification is provided of errors in EtherCAT communications The error notification method and error codes that are defined by ETG are used The master is notified by writing to the appl...

Page 90: ...o 04C40000 hex Sensor Com munications Error An error occurred in a Sensor connec tion The Sensor is disconnected Ö 11 04C50000 hex Sensor Com munications Has Not Been Estab lished Communications has not been estab lished with the Sen sor A sensor is not connected Ö 11 14A00000 hex Non volatile Memory Checksum Error An error occurred in the control parame ters Noise Ö 12 24780000 hex Number of Sens...

Page 91: ...user program starts Error Descriptions Event name Gives the name of the error event Event code Gives the code of the error event Meaning Gives a short description of the error event Source Gives the source of the error event Source details Gives details on the source of the error Detection timing Tells when the error is detected Error attributes Level Tells the influence on control 1 Recovery Give...

Page 92: ... the Sensor and then reset the Sensor or cycle the power supply Connect the Sensor securely Attached information None Precautions Remarks None Event name Sensor Communications Has Not Been Established Event code 04C50000 hex Meaning Communications has not been established with the Sensor Source EtherCAT Master Function Module Source details Slave Detection timing When establish ing communica tions...

Page 93: ...n None Precautions Remarks None Event name Number of Sensors Verify Error Event code 24780000 hex Meaning The number of Sensors that is connected does not agree with the settings Source EtherCAT Master Function Module Source details Slave Detection timing Continuously Error attributes Level Minor fault Recovery Error reset after resetting slave or cycling the power Log category System Effects User...

Page 94: ...over Simply reset the error in the Control ler Do not connect more than the maxi mum number of Sensors Attached information None Precautions Remarks None Event name Dummy Sensors Setting Error Event code 34F80000 hex Meaning Too many Dummy Units are set Source EtherCAT Master Function Module Source details Slave Detection timing When establish ing communica tions Error attributes Level Minor fault...

Page 95: ...ning ON power to the slave Error attributes Level Observation Recovery Log category System Effects User program Continues Operation Non volatile memory cannot be written Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention Non volatile memory failure Replace the EtherCAT Communi...

Page 96: ...40 hex Slave Unit Verification Error At turning ON the power supply a verification error occurred on the Slave Unit information stored in the Slave Unit Saved Cannot be notified If the error occurs even after restarting the power supply the Slave Unit is damaged Replace the Slave Unit 6330 hex Non volatile Memory Checksum Error An error occurred in non volatile memory data in the Slave Unit Saved ...

Page 97: ...setting was detected in the mailbox of the Sync Manager Not saved Can be notified Check the mailbox settings in the Master Unit 001B hex Process Data WDT Error A timeout was detected for an I O data transmission frame Not saved Can be notified Check the WDT settings in the Master Unit 001D hex RxPDO Setting Error An error was detected in the RxPDO settings e g a logic setting error in the Sync Man...

Page 98: ... 8 1 6 Application Layer Status Codes 002D hex SYNC Signal Not Received No SYNC0 signals have been received since entering DC mode Not saved Can be notified Check the synchronization settings Encoder Input Slave Units only AL status code Name of error Contents Diagnosis history Notification to EtherCAT Master Unit Measures ...

Page 99: ...od Remove such items during regular cleaning Precautions for Correct Use Never use benzene thinners or other volatile solvents or chemical cloths The unit coating may change if these products are used Always perform periodic inspections to ensure the equipment is kept in the best possible condition Periodic inspections should occur every 6 months to a year Periodic inspections should occur more fr...

Page 100: ...s for repair attach a detailed description of the malfunction to the device and send the device to the OMRON representative listed at the end of this manual or to your OMRON representative If contacts are defective wipe them with a clean pure cotton cloth that has been soaked in industrial alcohol After replacing a Unit make the switch and other settings the same as before the Unit was replaced In...

Page 101: ...8 Troubleshooting and Maintenance 8 20 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual ...

Page 102: ... 1 Object Dictionary A 2 A 1 1 Object Dictionary Area A 2 A 1 2 Data Types A 2 A 1 3 Object Description Format A 3 A 1 4 Communication Objects A 4 A 1 5 PDO Mapping Object A 7 A 1 6 Sync Manager Communication Object A 11 A 1 7 Manufacturer Specific Objects A 14 Appendix ...

Page 103: ...ed communications 2000 hex 2FFF hex Manufacturer Specific area 1 Variables defined for all OMRON products 3000 hex 5FFF hex Manufacturer Specific area 2 Variables defined for E3X ECT EtherCAT Sensor Communication Units 6000 hex 9FFF hex Device Profile area Variables defined for CiA401 generic I O module device profiles profile specifying the CAN application protocol interface for devices with digi...

Page 104: ... Possible Not possible Sub index N Range Setting Range Unit Unit Default Default setting Attribute Data attribute Size Size Access Access PDO map Possible Not possible Indexes An object index given by a four digit hexadecimal number Object name The object name Range The possible Range of settings Unit Physical unit Default Default value set before product shipment Attribute The timing when a chang...

Page 105: ...y Slave Unit types 16 23 Type Differ by Slave Unit types 25 31 Mode 0 Manufacturer specific 1001 hex Error Register Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Bits Name Bits Name 0 Generic error 4 Communications error 1 Current error 5 Device profile specific error 2 Voltage error 6 Reserved 3 Temperature error 7 Manufacturer specific error 1008 hex Manufactu...

Page 106: ... index 4 Serial Number gives a serial number for each product 1011 hex Restore Default Parameters Sub index 0 Number of entries Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Restore Default Parameters Range Unit Default 00000001 hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible MSB LSB d a o l 64 hex 61 hex 6F hex 6C hex 1018 hex Identi...

Page 107: ...ub indexes 6 to 13 Diagnosis messages 1 to 8 indicate the diagnosis history From Sub index 6 Diagnosis message 1 to Sub index 13 Diagnosis message 8 are stored 8 errors The 9th error and onward are stored from the Sub index 6 Diagnosis message 1 again 10F3 hex Diagnosis History Sub index 0 Number of entries Range Unit Default 0D hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index...

Page 108: ...xes 1A00 hex to 1BFF hex are used for Transmit PDO mapping Sub indexes after Sub index 1 provide information about the application object being mapped A 1 5 PDO Mapping Object 31 16 15 8 7 0 Indexes Sub Indexes Bit length MSB LSB Bits 0 to 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bits 8 to 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object ...

Page 109: ...mit PDO Mapping Sub index0 Number of objects Range Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 1st Input Object to be mapped Range Unit Default 61000310Hex Attribute Size 4byte U32 Access RO PDO Map Disable 1B03Hex 260th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 1st Inp...

Page 110: ...1B07Hex 264th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 10Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 16 1st 16th Input Object to be mapped Range Unit Default 30203101Hex 30203201Hex 30203301Hex 30203F01Hex 30204001Hex Attribute 1B08Hex 265th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01Hex Attribute Size 1byte U8 Access RO ...

Page 111: ...ccess RO PDO Map Disable 1B10Hex 1B11Hex 1B12Hex 1B4BHex 273th 332nd transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 1st Input Object to be mapped Range Unit Default 40010110Hex 40010210Hex 41810110Hex 41810210Hex 4E810110Hex 4E810210Hex Attribute Size 4byte U32 Access RO PDO Map Disable 1BFFHex 512ndth transmi...

Page 112: ... Object 1C00 hex Sync Manager Communication Type Sub index 0 Number of used SM channels Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Communication Type Sync Manager 0 Range Unit Default 01 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 2 Communication Type Sync Manager 1 Range Unit Default 02 hex Attribute Size 4 bytes U8 Acc...

Page 113: ... hex Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible 1C12 hex Sync Manager 2 PDO Assignment Sub index 0 Number of assigned PDOs Range 00 hex to 08 hex Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 to 8 1st 8th PDO Mapping Object Index of assigned PDO Range 1600 hex to 17FF hex Unit Default Differ by Slave Uni...

Page 114: ...2 PDO assignment Sync manager 3 PDO assignment Number of assigned RxPDOs Assigned PDO Number of assigned TxPDOs Assigned PDO 1 2 3 4 4 00Hex 05Hex 1B00Hex 1B01Hex 1B08Hex 1B0AHex 1BFFHex Sync manager 2 PDO assignment Sync manager 3 PDO assignment Number of assigned RxPDOs Assigned PDO Number of assigned TxPDOs Assigned PDO 1 2 3 4 00Hex 04Hex 1B00Hex 1B00Hex 1B09Hex 1B0AHex Sync manager 2 PDO assi...

Page 115: ...This object is used by the Controller a Sysmac device to reset errors that occur in Slave Units Reference In the default Sysmac Studio settings sub index 1 Sysmac Error Status is automatically mapped to a PDO because 1BFF hex 512th transmit PDO Mapping is assigned A 1 7 Manufacturer Specific Objects 2100Hex Error History Clear Range Unit Default 00000000Hex Attribute A Size 4byte U32 Access RW PDO...

Page 116: ...in the DC mode This object is used to set the standby time until the first synchronization interrupt signal SYNC0 is input after shifting to the safe operational state state where a DC mode is confirmed If the first interrupt signal SYNC0 is not input at all within this setting time a synchronization error occurs The setting range is from 0000 hex to 0258 hex 600s and operation is performed at 120...

Page 117: ...nsors 3000Hex Sensor Communication Status Sub index0 Range 08Hex Unit Default 08Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Communication Busy Range 00Hex 01Hex Unit Default 00Hex Attribute A Size 1 BOOL Access RO PDO map possible Sub index2 Communication Error Range 00Hex 01Hex Unit Default 00Hex Attribute A Size 1 BOOL Access RO PDO map possible 3001Hex Number of Sensor...

Page 118: ... 1 Dummy sensor reply error responce 3002Hex Input Filter for Free Run Mode Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Input Filter Setting Range 00Hex 01Hex Unit Default 00Hex Attribute A Size 1 BOOL Access RW PDO map Not possible Sub index2 Input Filter Information Range 00Hex 01Hex Unit Default 00Hex Attribute A Size 1 BOOL Access...

Page 119: ...it 58 No 29 sensor input 2 Input Bit 59 No 30 sensor input 1 Input Bit 60 No 30 sensor input 2 300AHex Sensor Communication Status 8bit Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Communication Busy Range 00Hex 02Hex Unit Default 00Hex Attribute A Size 1byte U8 Access RO PDO map possible 3010Hex Restart Sensors Sub index0 Range 01Hex ...

Page 120: ...sor No 3 4100 417F Sensor No 4 4180 41FF Sensor No 5 4200 427F Sensor No 6 4280 42FF Sensor No 7 4300 437F Sensor No 8 4380 43FF Sensor No 9 4400 447F Sensor No 10 4480 44FF Sensor No 11 4500 457F Sensor No 12 4580 45FF Sensor No 13 4600 467F Sensor No 14 4680 46FF Sensor No 15 4700 477F Sensor No 16 4880 48FF Sensor No 17 4800 487F Sensor No 18 4980 49FF Sensor No 19 4900 497F Sensor No 20 4A80 4...

Page 121: ...Default 0000Hex Attribute A Size 2byte INT16 Access RO PDO map possible Sub index1 No 01 to 30 Detection Level IN2 Range F831Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte INT16 Access RO PDO map possible 002 or 802Hex No 01 to 30 ON Detection Level Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 ON Detection Level IN...

Page 122: ...efault 00C8Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Color Ratio RED IN2 Range 0000Hex 03E8Hex Unit Default 00C8Hex Attribute A Size 2byte U16 Access RW PDO map Not possible 006 or 806Hex No 01 to 30 Color Ratio GREEN Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Color Ratio GREEN I...

Page 123: ... 30 Difference Threshold Settings Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Difference Threshold Settings IN1 Range F831Hex 270FHex Unit Default 0005Hex Attribute A Size 2byte INT16 Access RW PDO map Not possible Sub index1 No 01 to 30 Difference Threshold Settings IN2 Range F831Hex 07CFHex Unit Default 0005Hex Attribute...

Page 124: ...Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Differentiation Response Time Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible DATA Setting 0000Hex One side edge 0001Hex Double side edge 0002 FFFFHex Reserved 00D or 80DHex No 01 to 30 Differentiation Response Time Sub index0 Range 01Hex Unit De...

Page 125: ...able timer function 0001Hex OFF delay timer 0002Hex ON delay timer 0003Hex One shot timer 0004 00FFHex Reserved 00F or 80FHex No 01 to 30 Timer Value Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Timer Value IN1 Range 0000Hex 270FHex Unit Default 0040Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No...

Page 126: ...Peek and bottom Detection level 1 0004Hex Peak and bottom Detection level 2 0005Hex Analog bar 0006Hex Detection level and Peak Detection level 0007 FFFFHex Reserved 013 or 813Hex No 01 to 30 Display Direction Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Display Direction Range 0000Hex 0001Hex Unit Default 0000Hex Attribute...

Page 127: ...OR output MDA0 0005Hex difference output MDA0 0006Hex low edge sync output MDA0 0007Hex high edge sync output MDA0 0007Hex sensor head error output EDA0 0005 FFFFHex reserved 016 or 816Hex No 01 to 30 Output Timer Function Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Timer Function Range 0000Hex 0004Hex Unit Default 0000Hex...

Page 128: ...byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Power Tuning Threshold IN1 Range 0000Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Power Tuning Threshold IN2 Range 0000Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible 01A or 81AHex No 01 to 30 Teaching Level without Work piece...

Page 129: ...ss RW PDO map Not possible DATA Setting 0000Hex OFF 0001Hex ON 0002 FFFFHex Reserved 01D or 81DHex No 01 to 30 Eco Mode Setting Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Eco Mode Setting Range 0000Hex 0002Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible DATA Setting 0000Hex OFF 0001Hex E...

Page 130: ...Hex 0063Hex Unit Default 0006Hex Attribute A Size 2byte INT16 Access RW PDO map Not possible 020 or 820Hex No 01 to 30 Number of Interference Prevention Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Number of Interference Prevention Range 0000Hex 0005Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not p...

Page 131: ...n Mode IN1 Range 0000Hex FFFFHex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Distinction Mode IN2 Range 0000Hex FFFFHex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible 030 or 830Hex No 01 to 30 Maximum Sensitivity Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible ...

Page 132: ...U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Teaching without Workpiece Through beam IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible 033 or 833Hex No 01 to 30 Teaching First Point Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Teaching First Point IN1 Range...

Page 133: ...836Hex No 01 to 30 Auto Teaching Start Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Auto Teaching Start IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Auto Teaching Start IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16...

Page 134: ...s RW PDO map Not possible 03A or 83AHex No 01 to 30 Zero Reset Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Zero Reset IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Zero Reset IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2by...

Page 135: ...Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible 03E or 83EHex No 01 to 30 Display Blinking Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Display Blinking IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Display Blink...

Page 136: ...rs and methods object dictionary OD Data structure addressed by Index and Sub index that contains description of data type objects communication objects and application objects operational A state in EtherCAT communications where SDO communications and I O are possible PDO communications An acronym for process data communications pre operational A state in EtherCAT communications where only SDO co...

Page 137: ...A Appendix A 36 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual ...

Page 138: ... code appears as a suffix to the catalog number on the front cover of the manual The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content 01 February 2012 Original production Cat No E413 E1 01 Revision code ...

Page 139: ...Revision 2 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual ...

Page 140: ......

Page 141: ... 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 JAPAN OMRON ASIA PACIFIC PTE LTD No 438A Alexandra Road 05 05 08 Lobby 2 Alexandra Technopark Singapore 119967 Tel 65 6835 3011 Fax 65 6835 2711 OMRON CHINA CO LTD Room 2211 Bank of China Tower 200 Yi...

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