Omron GRT1-ECT SmartSlice, Руководство по эксплуатации, Страница: 62 / 142

5 GRT1-ECT Procedures
5 - 10 GRT1-series EtherCAT Communication Unit - Operation Manual
5-3 Starting Communication
Start the system, allocate I/O data of Slaves, and then start the EtherCAT communication.
For communication state details refer to "2-5 Communication State Transitions" in page 2 - 7.
Turn ON the power supply to each Unit.
(1) Unit power supply of EtherCAT Master Units
(2) Unit power supply of Slaves (When the power is supplied, Slave's [PWR] indicator is lit.)
(3) I/O power supply of Slaves
Note that there are no restrictions on the order of turning ON the power supplies.
The following communications are performed in EtherCAT.
 PDO communication (remote I/O communication)
Allocate I/O data of Slaves to the EtherCAT Master Unit (PDO mapping) and perform PDO
communication (remote I/O communication).
Reference
• For a detailed explanation of I/O data of the GRT1-ECT refer to "8-2-1 General information
PDO mapping" in page 8 - 7.
• ESI file are used to allocate I/O data.For a detailed explanation of the procedure, refer to
"8-1-2 ESI files library in Sysmac Studio" in page 8 - 3.
 SDO communication (message communication)
For the method of using, refer to the manual of the EtherCAT Master Unit to be used.
Refer to "Appendix A4 to 1 Appendix Object Dictionary" for the detailed explanation of objects
implemented on GRT1-series EtherCAT Slaves.
Reference
SDO communication is available in the pre-operational state.
For communication state details refer to "2-5 Communication State Transitions" in page 2 - 7.
Shift to the operational state (EtherCAT communication possible) to start the EtherCAT communication.
For how to shift to the operational state, refer to the manual of the EtherCAT Master Unit to be used.
Reference
For communication state details refer to "2-5 Communication State Transitions" in page 2 - 7.
5-3-1 Starting a System
5-3-2 Setting EtherCAT Communication
5-3-3 Starting EtherCAT Communication