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GRT1-series EtherCAT Communication Unit - Operation Manual

The program Sysmac Studio gives users the possibility to configure a NJ-series CPU
Unit for connection with for example a GRT1-ECT.
EtherCAT Slave Information Files (ESI files) supply Sysmac Studio with information of
Slaves. With PDO Mapping the I/O data of connected slaves is configured.

This section gives information on installing the ESI file for the GRT1-ECT, all
information required for PDO Mapping and to calculate the I/O Refresh Time.
Refer to manual W504 for more detailed information on Sysmac Studio.

8-1 EtherCAT Slave Information Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

General information ESI files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

ESI files library in Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

ESI files - Add to Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-5

ESI files - Check details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6

8-2 PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7

General information PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7

Calculating required PDO mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8

PDO mapping in Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-9

PDO mapping - Edit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10

PDO mapping - Add PDO Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-11

PDO mapping - Delete PDO Entry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14

8-3 Calculating I/O Refresh Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15

Calculation I/O Refresh Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15

Example calculation I/O refresh time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18

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Содержание GRT1-ECT SmartSlice

Страница 1: ...T Communication Unit OPERATION MANUAL Cat No W18E EN 02 Note Specifications subject to change without notice Authorized Distributor Printed in Europe Cat No W18E EN 02 SmartSlice GRT1 Series OPERATION MANUAL SmartSlice GRT1 Series GRT1 ECT ...

Страница 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 ...

Страница 3: ...GRT1 series EtherCAT Communication Unit Operation Manual Revised March 2012 ...

Страница 4: ...tion Unit Before use please make sure that you thoroughly read this 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 certified electricians or individuals having equivalent knowledge who are also qualified for Introducing Designing or Managing Field Automation syste...

Страница 5: ... mm 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 ...

Страница 6: ...on to read as required This information is provided to increase understanding or make operation easier This explains useful tips and reference information when using the product CAPITALS for names displayed on hardware and for abbreviations E g The RUN LED will be On Bold for names that can be read from the computer monitor E g Right click EtherCAT and then select Edit Carets for keys on the keybo...

Страница 7: ...shooting and inspection methods intended for individuals to handle abnormalities and conduct regular inspections Chapter 7 GRT1 ECT Installation This chapter explains mounting wiring and replacement of the EtherCAT Slave Chapter 8 Sysmac Studio Explains how to use Sysmac Studio to be able to connect the GRT1 ECT to an NJ series CPU Unit Appendices A1 Appendix EtherCAT Terminology EtherCAT terminol...

Страница 8: ...REMENTS 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 NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act ...

Страница 9: ... 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 sep...

Страница 10: ...resentative 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 result o...

Страница 11: ...do The specific instruction is indicated using text inside 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...

Страница 12: ...Emergency 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 sy...

Страница 13: ...e 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 measu...

Страница 14: ... 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 communication cables and connectors Do not extend connection distances or the number of connected nodes beyond the ranges given in the specific...

Страница 15: ...her safety measures against short circuiting in external wiring Wire all connections correctly according to instructions in this manual Failure to install them may result in serious accidents Do not operate the control system in the following locations Location subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications Locations subje...

Страница 16: ...irective 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 mus...

Страница 17: ...y Windows is a registered trademark of Microsoft Corporation in the USA SYSMAC is a registered trademark for Programmable Controllers made by OMRON Corporation CX One is a registered trademark for Programming 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 ...

Страница 18: ...15 GRT1 series EtherCAT Communication Unit Operation Manual ...

Страница 19: ... EtherCAT 1 2 1 1 2 Structure of EtherCAT 1 2 1 1 3 Communication types of EtherCAT 1 4 1 2 Parts of an EtherCAT Network 1 5 1 2 1 Configuration Devices of EtherCAT Network 1 5 1 2 2 Overview of EtherCAT network parts 1 6 Chapter 2 EtherCAT Communication details 2 1 2 1 Structure of CAN application protocol over EtherCAT CoE 2 2 2 2 EtherCAT Slave Information File ESI File 2 3 2 3 Process Data Obj...

Страница 20: ...5 5 5 2 6 Table Registration Function 1 REGS 5 5 5 2 7 Backup Function 4 BACK 5 6 5 2 8 Automatic Device Restore Function 3 ADR 5 7 5 2 9 Online Replacement Function 5 8 5 3 Starting Communication 5 10 5 3 1 Starting a System 5 10 5 3 2 Setting EtherCAT Communication 5 10 5 3 3 Starting EtherCAT Communication 5 10 5 4 Maintenance 5 11 5 4 1 Cleaning 5 11 5 4 2 Inspection 5 11 5 4 3 Checks 5 12 Cha...

Страница 21: ...SI files library in Sysmac Studio 8 3 8 1 3 ESI files Add to Library 8 5 8 1 4 ESI files Check details 8 6 8 2 PDO Mapping 8 7 8 2 1 General information PDO mapping 8 7 8 2 2 Calculating required PDO mapping 8 8 8 2 3 PDO mapping in Sysmac Studio 8 9 8 2 4 PDO mapping Edit 8 10 8 2 5 PDO mapping Add PDO Entry 8 11 8 2 6 PDO mapping Delete PDO Entry 8 14 8 3 Calculating I O Refresh Time 8 15 8 3 1 ...

Страница 22: ...ject Dictionary A4 2 A4 1 1 Object Dictionary Area A4 2 A4 1 2 Data Types A4 2 A4 1 3 Object Description Format A4 3 A4 1 4 Communication Objects A4 4 A4 1 5 PDO Mapping Object A4 5 A4 1 6 Sync Manager Communication Object A4 8 A4 1 7 Manufacturer Specific Objects A4 10 A4 1 8 Modular Device Profile area A4 13 ...

Страница 23: ...rCAT 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 Communication types of EtherCAT 1 4 1 2 Parts of an EtherCAT Network 1 5 1 2 1 Configuration Devices of EtherCAT Network 1 5 1 2 2 Overview of EtherCAT network parts 1 6 EtherCAT Network ...

Страница 24: ... band and transmits with the high speed repeat method thereby allowing transmitting various types of data at high efficiency Employment of standard Ethernet technology EtherCAT is a global open network that employs standard Ethernet technology in the physical layer For this reason commercially available Ethernet cables connectors tools and other general purpose products can be used EtherCAT does n...

Страница 25: ...ves Each EtherCAT telegram is configured with telegram header data length including address of one or more Slaves 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 EtherCAT ...

Страница 26: ...EtherCAT Master Unit and Slaves Communication with Service Data Objects SDO refers to message communication At any timing the EtherCAT Master Unit transmits commands to Slaves and the Slaves return responses to the EtherCAT Master Unit It performs the following data communication Read and write process data Make Slave setting Monitor Slave state 1 1 3 Communication types of EtherCAT Process Data C...

Страница 27: ... figure below 1 2 1 Configuration Devices of EtherCAT Network ESI file Communications cable I O power supply Unit power supply Analog I O Slave Unit Servo Drive Inverter Communications Unit Built in EtherCAT port EtherCAT Junction Slave EtherCAT Junction Slave Input port Output ports ADR ADR ADR Communications Unit Sysmac Studio ID211 0 1 3 2 4 5 7 6 8 9 11 10 12 13 14 15 DC24V 7mA COM MACH No AD0...

Страница 28: ...gnals from an EtherCAT Master Unit EtherCAT OUT connection s To relay signals to other EtherCAT units Possibility to connect to other units like I O units The GRT1 ECT is a Communication Unit The configuration tool is PC software for configuration of settings of the EtherCAT network and each Slave Connect the configuration tool to the EtherCAT Master Unit Use 100BASE TX shielded twisted pair cable...

Страница 29: ... 2 2 Overview of EtherCAT network parts Provides for communication of each Slave and internal operations Separate them from the I O power supply when wiring Provides power for Input Output operations of external devices connected to Slaves Separate from Unit power supply when wiring Unit power supply I O power supply ...

Страница 30: ...1 EtherCAT Network 1 8 GRT1 series EtherCAT Communication Unit Operation Manual ...

Страница 31: ...erCAT CoE 2 2 2 2 EtherCAT Slave Information File ESI File 2 3 2 3 Process Data Objects PDO 2 4 2 3 1 Overview 2 4 2 3 2 PDO Mapping Settings 2 4 2 3 3 Sync Manager PDO Assignment Settings 2 5 2 3 4 PDO Mapping for GRT1 ECT 2 5 2 4 Service Data Object SDO 2 6 2 4 1 Overview 2 6 2 4 2 Abort Codes 2 6 2 5 Communication State Transitions 2 7 EtherCAT Communication details ...

Страница 32: ...ies EtherCAT Communication Unit The CAN application protocol has a data object dictionary There are two types of data objects in this dictionary Process Data Objects PDO Contains Process data Composed of objects that can be mapped The process data is defined by PDO mapping PDO is primarily used in PDO communication for cyclic exchange of process data Service Data Objects SDO SDO are used in non cy...

Страница 33: ... of an EtherCAT Slave Unit The network setting software Configuration Tool uses the ESI files to create the network connection information This information is transferred to the EtherCAT Master Unit to establish a communication network Sysmac Studio EtherCAT master EtherCAT slaves Communications are started according to the communications settings and the network configuration in the ESI files tha...

Страница 34: ... can contain multiple objects to configure the process data being exchanged The details of process data are described in PDO Mapping Objects and Sync Manager PDO Assignment Objects GRT1 series EtherCAT Communication Unit supports PDO mapping for I O control The PDO mapping indicates the mapping for application objects real time process data between the object dictionary and PDO The number of mappe...

Страница 35: ...can also be configured by the connected EtherCAT master However the written configuration must be equal to the actual configuration of the GRT1 ECT to start the communication between the EtherCAT master and the GRT1 ECT 2 3 3 Sync Manager PDO Assignment Settings 2 3 4 PDO Mapping for GRT1 ECT 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...

Страница 36: ... 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 service parameter too high ...

Страница 37: ...SDO com munication PDO trans mission PDO recep tion Contents Initialization Init Not possible Not possible Not possible Communication is being initialized Communication is not possible Pre Operational Pre Op Possible Not possible Not possible Initialization of network settings SDO communication is possible Safe Operational Safe Op Possible Possible Not possible PDO communication is possible e g st...

Страница 38: ...2 EtherCAT Communication details 2 8 GRT1 series EtherCAT Communication Unit Operation Manual ...

Страница 39: ...iew of the GRT1 series SmartSlice I O Units and the GRT1 ECT EtherCAT Communication Unit and its functions for an EtherCAT network 3 1 GRT1 ECT In network with SmartSlices 3 2 3 2 GRT1 ECT Features 3 3 3 2 1 Features 3 3 3 2 2 GRT1 ECT and SmartSlices data exchange 3 4 GRT1 ECT Network location and Features ...

Страница 40: ...s The slice configuration can also be subdivided over two or more blocks using local extension units and extension cables as shown in the figure above Reference The GRT1 Series of SmartSlice I O Units and Communication Units is constantly being expanded with new Units Refer to the latest revisions of the GRT1 Series SmartSlice I O Units Operation Manual W455 EtherCAT USB Ethernet connection For se...

Страница 41: ...he SmartSlice I O Units that connect to a EtherCAT Communication Unit are equipped with screw less clamp terminal blocks Wiring to external I O is accomplished just by inserting the wire into the terminals eliminating the need to tighten terminal screws Table Registration The configuration of the SmartSlice I O Units mounting order and I O size connected to a EtherCAT Communication Unit can be reg...

Страница 42: ...l quasi random delay exists in the communication between the EtherCAT network and the SmartSlice I O Units To use units of the NJ serie a GRT1 ECT Version 2 0 Ver 2 0 or higher is required The Version number of the GRT1 ECT is printed on the side of the GRT1 ECT Refer to 4 1 1 Frontview and Sideview on page 4 2 for the location of the Version number The GRT1 ECT Ver 1 0 is supported by Trajexia fi...

Страница 43: ... hardware of the GRT1 ECT 4 1 The GRT1 ECT in detail 4 2 4 1 1 Frontview and Sideview 4 2 4 1 2 Status Indicators 4 3 4 1 3 DIP switches 4 6 4 1 4 Unit and I O Power supply connector 4 7 4 1 5 Field Ground Terminal 4 7 4 1 6 Node Address Setting Switches 4 8 4 1 7 Communication Connectors 4 8 GRT1 ECT Details ...

Страница 44: ...cimal node address between 0 and 99 EtherCAT connector IN port Indicators Unit power supply terminals Connect the power supply for the Unit s internal circuits and the connected SmartSlice I O Units internal circuits I O power supply terminals Connect the power supply for the connected SmartSlice I O Units external I O Refer to 6 2 2 Status Indicators for details 0 0 2 3 4 5 6 7 8 9 1 0 2 3 4 5 6 ...

Страница 45: ...onal state Single flash Safe Operational state ON Operational state ERR indicator Color State Contents Red OFF No error Blinking Communication setting error Single flash Synchronization error or communication data error Double flash Application WDT timeout Flickering Boot error ON PDI WDT timeout ERR TS I O PWR RUN IN OUT L A L A UNIT PWR 0 0 2 3 4 5 6 7 8 9 1 0 2 3 4 5 6 7 8 9 1 ON ON V V V V V V...

Страница 46: ...ion operating Restoring settings to SmartSlice I O Unit backup function operating Downloading SmartSlice I O Unit settings ON Communication with SmartSlice I O Unit established Red Flashing Non fatal communication error occurred Communication timeout Verification error occurred with registered table Different model unit detected after SmartSlice I O Unit replacement ON Fatal communication error oc...

Страница 47: ...he input side IN and output side OUT UNIT PWR indicator Color State Contents Green OFF Unit power OFF state ON The unit power 24 VDC is supplied to the Slave I O PWR indicator Color State Contents Green OFF Unit power OFF state ON The unit power 24 VDC is supplied to the Slave L A indicators Color State Contents Green OFF Link not established in physical layer Flickering In operation after establi...

Страница 48: ...ription REGS Create enable registration table ON Registered table is enabled OFF Registered table is disabled OFF to ONa a When the unit power is on Register I O unit table ON to OFF Clear registered I O unit table NC N A OFF Not used always set to OFF ADR Automatic restore OFF to ON When the SmartSlice I O Units are replaced the parameter data that was backed up with the BACK dipswitch is automat...

Страница 49: ...AWG to 14 AWG or 0 5 to 2 0 mm2 Strip the wire between 8 mm and 10 mm of insulation at the ends of the wires stranded or solid wire or use pin terminals with a pin conductor length of 8 mm to 10 mm 4 1 4 Unit and I O Power supply connector Label Power supply terminal Description A Unit power supply terminal Power supply to the internal circuits of the GRT1 ECT and to the internal circuits of the c...

Страница 50: ...ome effective when the power supply is turned ON the next time If node addresses overlap an error occurs and the operation stops The Connectors are used to connect the communication cables 4 1 6 Node Address Setting Switches Set value for switch Set value for node address OMRON EtherCAT Master Unit EtherCAT Master Unit from another manufacturer 00 Set value according to Configuration Tool 1 to 655...

Страница 51: ...pecifications are shown below Electrical characteristics Conforms to the IEEE 802 3 standard Connector structure RJ45 8 pin modular connector conforms to ISO 8877 Terminal arrangement Pin No Signal name Abbreviation 1 Send data TD 2 Send data TD 3 Receive data RD 4 Not used 5 Not used 6 Receive data RD 7 Not used 8 Not used Hood Frame ground FG ...

Страница 52: ...4 GRT1 ECT Details 4 10 GRT1 series EtherCAT Communication Unit Operation Manual ...

Страница 53: ... 5 3 5 2 3 SmartSlice I O Unit Number Allocation 5 3 5 2 4 Communication Unit s Status Flags 5 4 5 2 5 Unit Functions 5 5 5 2 6 Table Registration Function 1 REGS 5 5 5 2 7 Backup Function 4 BACK 5 6 5 2 8 Automatic Device Restore Function 3 ADR 5 7 5 2 9 Online Replacement Function 5 8 5 3 Starting Communication 5 10 5 3 1 Starting a System 5 10 5 3 2 Setting EtherCAT Communication 5 10 5 3 3 Sta...

Страница 54: ...ly lines to the three Slaves and to the Master Unit Note that the Unit power and the I O power are separate connections for the Communication Unit Reference The setting example explained here is the basic setting of GRT1 series EtherCAT Communication Unit For more information about the SmartSlice I O Units please refer to W455 GRT1 Series SmartSlice I O Units Operation Manual If your system config...

Страница 55: ...he front of the Unit The left rotary switch sets the ten s digit and the right rotary switch sets the one s digit The valid address range is 00 to 99 Address 01 to 99 can be set as long as this number is unique in the network With Address 00 the Communication Unit retrieves its node address from settings stored in its memory With configuration software e g Sysmac Studio this node address setting c...

Страница 56: ...Normal 1 Error detected Indicates a minor SmartSlice I O Unit error This flag goes ON when there is an error in any one of the connected SmartSlice I OUnits 3 Reserved 4 SmartSlice I O Unit Alarm 0 Normal 1 Error detected Indicates a major SmartSlice I O Unit error This flag goes ON when there is an error in one of the connected SmartSlice I O Units 5 11 Reserved 12 Unit Maintenance 0 Normal 1 Err...

Страница 57: ...ndicated at the EtherCAT Communication Unit s TS indicator flashing red 5 2 5 Unit Functions Function name Summary Setting method Table registration Reads the configuration of the SmartSlice I O Units connected to the Communication Unit and registers that information in a table More info 5 2 6 Table Registration Function 1 REGS DIP switch 1 REGS Backup Records the parameter data of all connected I...

Страница 58: ...mation records the order that the SmartSlice I O Units are connected and the I O size input or output number of bits of each SmartSlice I O Unit The I O Unit model numbers are not recorded The backup function records the parameter data of all SmartSlice I O Units connected to the EtherCAT Communication Unit The parameter data recorded in the Communication Unit can be restored to the SmartSlice I O...

Страница 59: ...p the parameter data is required for easy replacement of faulty Units When a SmartSlice I O Unit has been replaced this function will automatically download restore SmartSlice I O Unit parameter data that was previously backed up in the EtherCAT Communication Unit The following conditions are required to execute the automatic restore function with a replaced SmartSlice I O Unit DIP switch 1 REGS i...

Страница 60: ... restored properly if the power is turned OFF When an I O Unit has been replaced with the power ON and the new I O Unit joins I O communication the new Unit will be compared to the previous one and the parameter data restore operation will start automatically While data is being restored the EtherCAT Communication Unit s TS indicator will flash green every 0 5 s The TS indicator will stop flashing...

Страница 61: ... will flash red Before using the automatic restore function the preparation for automatic restoration creating backup data and turning ON DIP switch 3 must be completed See 5 2 8 Automatic Device Restore Function 3 ADR for details Always turn OFF the I O Unit s I O power supply before replacement in order to prevent false output signals false input signals and electrical shocks In addition if exte...

Страница 62: ...a 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 fo...

Страница 63: ...inspect the system once or twice a year but more frequently if the system is used in high temperature or high humidity environments or dirty dusty conditions Inspection Equipment Prepare the following equipment before inspecting the system Required Equipment Philips type screwdriver multimeter alcohol and a clean cloth Optional Test Equipment Depending on system conditions a synchroscope oscillosc...

Страница 64: ...t status of the status indicators of each Slave 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 as required via the SDO communication For the details of parameters that can be set refer to Appendix A4 to 1 Appendix Object Dictionary 5 4 3 Checks...

Страница 65: ...ormation using LED indicators and Sysmac Studio 6 1 Troubleshooting with LED indicators 6 2 6 1 1 Power Supply Errors 6 2 6 1 2 SmartSlice I O System Errors 6 4 6 1 3 EtherCAT Errors 6 5 6 1 4 Other Errors SmartSlice I O Communication 6 9 6 2 Troubleshooting with Sysmac Studio 10 GRT1 ECT Troubleshooting ...

Страница 66: ... Power The UNIT PWR LED Indicator shows whether or not sufficient power is supplied to the EtherCAT Communication Unit and the SmartSlice I O Units in order for them to startup and operate properly A UNIT PWR LED Indicator is provided on the following Units GRT1 ECT EtherCAT Communication Unit GRT1 TBL Left Turnback Unit The table below shows the LED Indicator options 6 1 1 Power Supply Errors RUN...

Страница 67: ...RT1 PD2 I O Power Supply Unit The table below shows the LED Indicator options Unit Power Error UNIT PWR indicator Cause Actions Off No Power or not enough power is being supplied to the Units See note Check whether power is supplied to the Unit Power Connector Check that the supplied power is with in the required range i e 24 Vdc 10 15 20 4 to 26 4 Vdc Flashing The Unit power supply capacity is in...

Страница 68: ...t up The TS LED Indicator on all SmartSlice I O Units slices are flashing Check the End Unit connection and ensure that it is correctly connected to the Smart Slice system Red SmartSlice bus communication error occurred Check whether the SmartSlice I O System s base block is connected properly When the registration table function is enabled the actual configuration does not match the registered co...

Страница 69: ... error occurred Check whether the connector is inserted properly Flashing 2 Hz Green Restore operation in progress Wait until the restore operation is completed Backup operation in progress Wait until the backup operation is com pleted On Red Unit hardware failure Turn the power OFF and then ON again Replace the Unit if the error recurs Green SmartSlice I O Unit operating normally 6 1 3 EtherCAT E...

Страница 70: ...settings Hardware error A hardware failure occurred If the problem is not resolved even after the measures described above are taken the Slave hardware may be damaged Replace the applicable Slave Off Off Init state The EtherCAT Master Unit com mands to go to Init state If TS Green Check the state of the master if TS Red SmartSlice I O Unit configura tion error Are more than 64 I O Units con nected...

Страница 71: ...e damaged Replace the applicable Slave DF Process data communica tions timeout A communication error occurred After checking the following items restart the Slave according to the specification of connected EtherCAT Master Unit Item about communication cable Is the communication cable wired correctly Are any cables disconnected or loose in the part that connects to the connector Is the cable lengt...

Страница 72: ...Node Address 0 Slave Node Address is automatically updated to 0 Cycle the power to the GRT1 ECT AL status code 0x8001 Unsupported SmartSlice I O Unit detected Remove the unsupported SmartSlice I O Unit The following Units are not supported GRT1 END M use GRT1 END GRT1 CT1 1 and CP1 L are supported from Ver 2 1 AL status code 0x8002 One or more SmartSlice I O Units are not set to their default conf...

Страница 73: ... power supply requirement and replace the power supply with one that has sufficient capacity The I O Unit repeatedly checks LEDs TS LED flashing green and red The Communication Unit s TS LED intermittently flashes green The TS LED of the I O Units in front of the bad connec tion light green while the TS LED of the I O Units behind the bad connection are OFF The slide connector on the left side of ...

Страница 74: ...erCAT Communication Unit Operation Manual 6 2 Troubleshooting with Sysmac Studio Sysmac Studio also has information available to help troubleshooting 1 Select the Troubleshooting item from the Tools menu 2 Select the line with event code 0x84280000 ...

Страница 75: ...y updated to 0 Cycle the power to the GRT1 ECT 0x8001 Unsupported SmartSlice I O Unit detected Remove the unsupported SmartSlice I O Unit The following Units are not supported GRT1 END M use GRT1 END GRT1 CT1 1 and CP1 L are supported from Ver 2 1 0x8002 One or more SmartSlice I O Units are not set to their default config uration Replace the SmartSlice I O Unit s or set to their default configurat...

Страница 76: ...6 GRT1 ECT Troubleshooting 6 12 GRT1 series EtherCAT Communication Unit Operation Manual ...

Страница 77: ...1 ECT and Units 7 6 7 2 1 Handling Precautions 7 6 7 2 2 Installation on a DIN Rail 7 7 7 2 3 Connecting the EtherCAT Unit and SmartSlice I O Units 7 8 7 2 4 Connecting Additional SmartSlice I O Units 7 9 7 3 Installing the Power Supplies 7 11 7 3 1 Precautions for Power Supplies 7 11 7 3 2 Unit Power Supply Calculation 7 12 7 3 3 SmartSlice I O Power Supply Calculation 7 13 7 3 4 Power Supplies E...

Страница 78: ...ted then make sure to take noise measures such as housing each device in metal cases Check all communication cables on cable breakage short circuits and a good connector Check for all connectors if the communication cable is locked to the device Install communication cables separate from high voltage electrical power lines and from devices generating noise Prevent using cables in high temperature ...

Страница 79: ...The maximum cable length between connected nodes is 100 m Note that some cables do not guarantee 100 m In general if the conductors are strand wire the transmission performance will be lower than solid wire and the operation 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...

Страница 80: ...ard T568A The wiring method conforming to the standard T568B can also be used Connect both ends of cable shielded wires to the connector hoods The twisted pairs are 1 2 3 6 4 5 and 7 8 7 1 3 Communication Cables and Connectors Wiring 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...

Страница 81: ...ctor of the first Slave Connect all Slaves Connect a communication cable from each CN OUT connector of a Slave to the CN IN connector of the next Slave The CN OUT connector of the last Slave can be left unconnected Reference Unlike other networks there is no terminator required at the end of the network L1 Connection between Master and first Slave L2 L3 Connections between Slaves 7 1 4 Connecting ...

Страница 82: ...that the power supplies for the EtherCAT Communication Unit and the SmartSlice I O Units and the external I O are wired correctly Provide separate conduits or ducts for the I O and communication lines to prevent noise from high tension lines or power lines The SmartSlice I O system is installed and set up as an EtherCAT Slave The EtherCAT Communication Unit s communication connector connects to th...

Страница 83: ...lowing 6 directions Installing a Unit To install an EtherCAT Communication Unit on the DIN rail press the Unit onto the DIN rail Press the Unit firmly until it clicks indicating that the Unit s DIN rail Mounting Hooks have all locked onto the DIN rail 7 2 2 Installation on a DIN Rail Attach the rail with screws at a maximum spacing of 105 mm between adjacent screws PFP 50N 50 cm or PFP 100N 100 cm...

Страница 84: ...ides of the Units and sliding in the SmartSlice I O Unit from the front Additional SmartSlice I O Units can be connected consecutively to the first Precautions for Correct Use Do not touch the connector on the Unit s base block 7 2 3 Connecting the EtherCAT Unit and SmartSlice I O Units Slide the Slice I O Unit toward the DIN Rail from the front Insert the Unit until you hear a click which indicat...

Страница 85: ... of the first block Connect a GRT1 TBL Left Turnback Unit to the left side of the expansion block and connect additional SmartSlice I O Units Use a GCN2 100 Turnback Cable to connect the Turnback Units together The Turnback Units can be used to divide a SmartSlice I O System into up to three blocks 7 2 4 Connecting Additional SmartSlice I O Units Slide the Unit to the DIN Rail from the front Inser...

Страница 86: ...the End Plate and pull the End Plate down onto the top edge of the DIN Rail 2 Tighten the End Plate s securing screw Precautions for Correct Use Always secure the SmartSlice I O System by attaching End Plates on both ends Installation of SmartSlice I O Units Refer to W455 GRT1 Series SmartSlice I O Units Operation Manual GRT1 END End Unit 1 2 End Unit End Plate End Plate 0 0 2 3 4 5 6 7 8 9 1 0 2 ...

Страница 87: ...lave most far from the power supply stays within specifications Consider the use of multiple power supplies The layout and grouping of power supplies determines what stops when a power supply error occurs If you want to avoid stopping the entire system we recommend to set power supplies at several locations and supply power to groups of Slaves or take similar measures When the power supplied is ge...

Страница 88: ...SmartSlice I O Unit 2 If the total power consumption exceeds 80 W then regroup the SmartSlice I O Units 1 Create a first group with a power consumption less then 80W 2 Mount a Right Turnback Unit GRT1 TBR at the side of this first group 3 Mount a Left Turnback Unit GRT1 TBL at the left side of the second group 4 Connect the Right and Left Turnback Unit with a Turnback Cable 5 Connect the 24 VDC Un...

Страница 89: ...nsumption calculation is important for actual occuring current consumption If I O can not be activated simultaniously this can influence the calculation Contact Field Automation certified engineers for more details 2 If the current consumption exceeds 4 A provide a separate external I O power supply 1 An external I O power supply can be mounted between SmartSlice I O Units OMRON advises the GRT1 P...

Страница 90: ... O IN I O OUT I O OUT I O OUT CPU I O OUT I O OUT I O AD I O AD I O power supply GRT1 PD2 I O Power Supply Unit End Unit Connector Power is not supplied through the Turnback Cable EtherCAT Communication Unit Power supply 24 VDC GRT1 TBR Turnback Unit Right Do not exceed 80 W power consumption in one block I O power supply I O power supply Connector GRT1 TBL Turnback Unit Left Do not exceed 80 W po...

Страница 91: ...amping power supply terminals If pin terminals are used on the wire ends the pin terminals can be inserted to wire the power Precautions for Correct Use The GRT1 TBL Left Turnback Unit and GRT1 PD2 I O Power Supply Unit have the same screwless clamping power supply terminals These terminals are wired in the same way as the EtherCAT Communication Unit s terminals by inserting the power supply wires...

Страница 92: ... output voltage of 30 Vr m s and a 42 4 V peak or maximum of 60 VDC Recommended power supply S82K 01524 OMRON or S8TS 06024 OMRON Recommended Wire Strip Length Pin Terminal Length Strip wire between 7 and 10 mm of insulation at the ends of the wires stranded or solid wire or use pin terminals with a pin conductor length of 8 to 10 mm Type Gauge Stranded wire 20 AWG to 16 AWG 0 5 to 1 25 mm2 Solid ...

Страница 93: ...upplies the EtherCAT Communication Unit Connect the Turnback Units with a Turnback Cable as shown in the following diagram A single EtherCAT Communication Unit can be expanded with up to two additional blocks connected with two Turnback Cables 2 m total 7 3 6 Connecting the Turnback Units GRT1 TBR Turnback Unit GRT1 TBL Turnback Unit GCN2 100 Turnback Cable Insert the cable s connector fully until...

Страница 94: ... Unit for repair always attach a detailed fault report to the Unit and return it to the nearest OMRON dealer Precautions for Correct Use In order to prevent faulty operation be sure to turn off the power to all master and slave devices before replacing the Unit When replacing the Unit do not reconnect it to the Network before carrying out the procedures listed below After replacing the Unit before...

Страница 95: ...O Refresh Time Refer to manual W504 for more detailed information on Sysmac Studio 8 1 EtherCAT Slave Information Files 8 2 8 1 1 General information ESI files 8 2 8 1 2 ESI files library in Sysmac Studio 8 3 8 1 3 ESI files Add to Library 8 5 8 1 4 ESI files Check details 8 6 8 2 PDO Mapping 8 7 8 2 1 General information PDO mapping 8 7 8 2 2 Calculating required PDO mapping 8 8 8 2 3 PDO mapping...

Страница 96: ...turers Part of the EtherCAT communication settings of the GRT1 ECT come from the ESI file You can install ESI files in Sysmac Studio and edit the EtherCAT configuration to create or change the network configuration information You must download the network configuration information to the EtherCAT master to configure the EtherCAT network Contact the supplier of your slave device s to obtain the mo...

Страница 97: ...re to display an overview of available ESI files slaves 1 Start the program Sysmac Studio 2 Ensure the Multiview Explorer is displayed Click the left bar Multiview Explorer if required 3 Open the menu Configurations and Setup and select EtherCAT 4 Doubleclick EtherCAT to open the EtherCAT tab The edit pane is displayed Note Another display method is Right click EtherCAT and then select Edit 5 Righ...

Страница 98: ...AT Communication Unit Operation Manual 6 A new window with the title ESI Library is displayed All available ESI files are displayed in this tree structure If the ESI file is not available refer to 8 1 3 ESI files Add to Library in Page 8 5 ...

Страница 99: ... See also 8 1 2 ESI files library in Sysmac Studio in Page 8 3 2 Click the green this folder link at the bottom of the ESI Library window An Explorer with the contents of the UserEsiFiles folder is displayed 3 Copy the ESI file for the slave and paste it in this UserEsiFiles folder Additional information For installation of the GRT1 ECT EtherCAT slave the ESI file named OMRON GRT1 ECT xml has to b...

Страница 100: ... ESI files library in Sysmac Studio See also 8 1 2 ESI files library in Sysmac Studio in Page 8 3 2 Check if no exclamation mark is displayed to the left of the name Precautions for Correct Use If an ESI file for a slave cannot be used in Sysmac Studio an exclamation mark is displayed Install a new improved ESI file from the slave manufacturer to remove the exclamation mark 3 Click the Icon to the...

Страница 101: ...Counter Outputs CO Digital Inputs DI Analog Inputs AI and Counter Inputs CI The GRT1 ECT can handle up to 512 digital inputs 512 digital outputs 64 analog inputs 64 analog outputs and 10 counters The combination of type and sequence number creates unique PDO names The total connected hardware determines the total number of required PDO names E g For two SmartSlices with each 4 Digital Inputs it is...

Страница 102: ...ts the amount of digital analog and counter I O for all supported SmartSlice I O Units and similar models E g GRT1 OD4 cover models GRT1 OD4 GRT1 OD4 1 GRT1 OD4G 1 and GRT1 OD4G 3 Additional information Check the supplied documentation to prevent mistakes Example 1 Hardware GRT1 OD4 and GRT1 OD8 and GRT1 ROS2 2 DO Example 2 8 2 2 Calculating required PDO mapping Model DO AO CO DI AI CI GRT1 ROS2 2...

Страница 103: ...m Sysmac Studio 2 Ensure the Multiview Exporer is displayed Click the left bar Multiview Explorer if required 3 Open the menu Configurations and Setup and select EtherCAT 4 Doubleclick EtherCAT to open the EtherCAT tab The edit pane is displayed Note Another display method is Right click EtherCAT and then select Edit 5 Select the GRT1 ECT in the column Network configuration The details window show...

Страница 104: ...ries The displayed PDO entries are already selected PDO entries for the selected PDO Map PDO entries for Inputs and Outputs use an Input list and an Output list The top part of these lists display Digital IO then Analog IO then Counter IO GRT1 ECT specific remarks Remarks for the GRT1 ECT The GRT1 can handle 512 Digital Outputs and 512 Digital Inputs each divided in three blocks 001 to 240 241 to ...

Страница 105: ...and AO for the connected SmartSlice I O units Each slave can have a different number of DI DO AI and AO The total quantity of each type is required for the mapping Refer to Calculating required PDO mapping for more details 2 Select the correct PDO Map in the PDO Map overview 3 Select the button Add PDO entry in the Edit PDO Map Settings window A window with a listing of available PDOs appears 8 2 ...

Страница 106: ...rrows home end shift to select the desired PDOs Digital IOs are presented at the top of the list To select Analog IO scroll down to the analog IO part of the list Tip To select large number of IOs you can select click on the first item and then use shift click on the last item selecting all items in between ...

Страница 107: ...quires 2 output objects Set value and Command and 2 input objects Data and Status to be mapped Additional information Ensure all PDOs are selected Unused PDOs are only allowed at the end of the total range 5 Select OK when the number of PDOs to add is correct 6 Select each PDO map in the PDO Map window and add the desired number of PDOs See step 1 of this procedure for the desired number Use the o...

Страница 108: ...se the mouse or keyboard arrows home end shift to select the PDO entries to delete in the PDO entries overview 4 Select the button Delete PDO entry in the Edit PDO Map Settings window Note Also the Delete key will remove selected PDO entries 5 Select OK when the number of PDOs to add is correct Additional information Ensure all selected PDO entries are selected sequential Unused PDOs are only allo...

Страница 109: ...al Input or Output has a I O size of 1 bit On Off One Analog Input or Output has a I O size of 2 bytes One Counter Unit has an Input size of 6 bytes and an Output size of 6 bytes 1 byte 8 bits 3 Calculate the total number of bytes for Inputs named IN_size IN_size Size Digital Inputs Size Analog Inputs Size Communication Unit status Size Digital Inputs DI The IN_size is in bytes the actual unit is ...

Страница 110: ...UT_size Size Digital Outputs Size Analog Outputs Size Digital Outputs The required unit is bytes the actual unit is bits so conversion from bits to bytes is required Add all digital outputs together Convert the result from bits to bytes Total number of DO 8 and then round to next integer value Size Analog Outputs Each analog SmartSlice Output Unit uses 4 bytes One analog SmartSlice unit has 2 anal...

Страница 111: ... refresh time I O refresh time Pack Unpack Xmit Required are the calculations of OUT_size IN_size and IO_size Pack Pack is the time required by the EtherCAT master to generate the OUT data Pack 0 007 OUT_size byte Unpack Unpack is time required by the EtherCAT master to retrieve the IN data Unpack 0 009 IN_size byte Xmit Xmit is the time required to transmit the EtherCAT data Xmit Processing time ...

Страница 112: ...dd 2 bytes for the Communication Unit status 6 bytes digital analog 2 bytes Communication Unit status 8 bytes So IN_size 8 3 Calculate output data size Add all digital outputs together OD4 4 bits OD4 4 bits OD4 8 bits 16 bits Divide the total number of digital outputs by 8 and round to the next integer value 16 bits 8 2 bytes of digital output data Add the analog output data 4 bytes per analog Sma...

Страница 113: ...A1 1 A GRT1 series EtherCAT Communication Unit Operation Manual A1 1EtherCAT Terminology A1 2 Appendix EtherCAT Terminology ...

Страница 114: ...T Slave sync manager SM Collection of control elements to coordinate access to concurrently used objects distributed clock DC Clock distribution mechanism used to synchronize EtherCAT Slaves and the EtherCAT Master Units device profile Collection of device dependent information and functionality providing consistency between similar devices of the same device type fieldbus memory management unit F...

Страница 115: ...it Operation Manual This chapter explains EtherCAT communication specifications Slaves performance specifications and the specifications of common areas A2 1Specifications A2 2 A2 1 1 EtherCAT Specifications A2 2 Appendix EtherCAT Specifications ...

Страница 116: ...ory 5 or higher cable with double aluminum tape and braided shielding is recommended Communication distance Distance between nodes Slaves 100 m max Noise immunity Conforms to IEC 61000 4 4 1 kV or higher Node address setting method Set with decimal rotary switch or Configuration Tool Node address range 1 to 99 Set with rotary switch 1 to 65535 Set with Configuration Tool Indicator PWR 2 Unit PWR I...

Страница 117: ... for the GRT1 ECT and it s environment A3 1Specifications GRT1 ECT A3 2 A3 1 1 Installation specifications A3 2 A3 1 2 Environment specifications A3 2 A3 1 3 SmartSlice I O System specifications A3 2 A3 1 4 Supported SmartSlice I O Units A3 3 A3 1 5 External dimensions A3 4 Appendix GRT1 ECT Specifications ...

Страница 118: ...erature 10 to 57Hz 0 7 mm amplitude 57 to 150Hz acceleration 49 m s2 Shock resistance 150 m s2 Dielectric strength 500 VAC between isolated circuits Conformance to EMC and Electrical safety standards EN61131 2 2007 Enclosure rating IP20 A3 1 3 SmartSlice I O System specifications Item Specification Number of connectable SmartSlice I O Units 64 Units max Connected directly to the GRT1 ECT or via tu...

Страница 119: ... V 1 5 V GRT1 DA2C 2 analog outputs current 0 20 mA 4 20 mA GRT1 IA4 1 Four point AC Input Unit 100 to 120 VAC 50 60 Hz GRT1 IA4 2 Four point AC Input Unit 200 to 240 VAC 50 60 Hz GRT1 TS2P Two point Temperature Input Unit Resistance thermometer input Input type PT100 200 to 850 C or PT100 200 to 200 C GRT1 TS2PK Two point Temperature Input Unit Resistance thermometer input Input type PT1000 200 t...

Страница 120: ...T1 ECT Specifications A3 4 GRT1 series EtherCAT Communication Unit Operation Manual The external dimensions are in mm A3 1 5 External dimensions 13 8 36 8 16 2 30 2 42 8 54 1 4 4 58 2 5 80 4 4 27 6 61 2 1 5 69 7 13 1 ...

Страница 121: ...t Dictionary Area A4 2 A4 1 2 Data Types A4 2 A4 1 3 Object Description Format A4 3 A4 1 4 Communication Objects A4 4 A4 1 5 PDO Mapping Object A4 5 A4 1 6 Sync Manager Communication Object A4 8 A4 1 7 Manufacturer Specific Objects A4 10 A4 1 8 Modular Device Profile area A4 13 Appendix Object Dictionary ...

Страница 122: ...ll OMRON products 3000 hex 5FFF hex Manufacturer Specific area 2 Variables defined for the GRT1 series EtherCAT Communication Unit 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 digital I Os and analog I Os A000 hex EFFF hex Reserved area Area reserved for future use F0...

Страница 123: ...etting Attribute Data attribute Size Size Access Access PDO map 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 valu...

Страница 124: ...DO map Not possible 1008 hex Manufacturer device name Range Unit Default GRT1 ECT Attribute Size 20 bytes VS Access RO PDO map Not possible 1009 hex Manufacturer hardware version Range Unit Default A Attribute Size 20 bytes VS Access RO PDO map Not possible 100A hex Manufacturer software version Range Unit Default 2 10 Attribute Size 20 bytes VS Access RO PDO map Not possible 1018 hex Identity obj...

Страница 125: ...ndex of the mapped object Bits 16 to 31 Index of the mapped object 16kk hex RxPDO mapping parameter digital outputs n n hh where n kk 240 1 Sub index 0 Number of objects Range Unit Default hh 1 when padding is used Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Digital output n Range Unit Default 70kk0101 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index ...

Страница 126: ...0 Number of objects Range Unit Default hh Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Counter output 1 Range Unit Default 70200120 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index 2 Counter output 2 Range Unit Default 70200210 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index n Counter output n Range Unit Default 7020hh10 hex Att...

Страница 127: ...20 hex RxPDO mapping parameter analog inputs 1 hh Sub index 0 Number of objects Range Unit Default hh Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Analog input 1 Range Unit Default 60200110 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index Range Unit Default Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index n Analog input n Range Unit ...

Страница 128: ...n type Sub index 0 Number of used sync manager channels Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Communication type SM0 Range Unit Default 01 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 2 Communication type SM1 Range Unit Default 02 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 3 Communication ...

Страница 129: ...ot possible Sub index 5 Assignment of counter outputs Range 1600 hex to 17FF hex Unit Default 1620 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible 1C13 hex Sync manager 3 PDO assignment Sub index 0 Number of assigned TxPDOs Range 00 hex to 05 hex Unit Default 06 hex Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Assignment of com status Range 1A00 hex to 1BFF hex...

Страница 130: ...7 Manufacturer Specific Objects 60 kk hex Digital inputs n n hh where kk 10 12 hex n kk 10 hex 240 1 Sub index 0 Number of digital inputs n n hh Range 00 hex to 04 hex Unit Default hh Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Digital input n Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Possible Sub index Range 0 to 1 Unit Default Attribute Size 1 ...

Страница 131: ... outputs When no analog outputs are connected object 7010 hex will contain 0 entries Value range depends on the total number of analog outputs hh 01 40 hex Sub index 2 Counter input 2 Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes U16 Access RO PDO map Possible Sub index n Counter input n Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes U16 Access RO PDO map Possible ...

Страница 132: ...nds on the total number of counter outputs hh 01 20 7020 hex Counter outputs Sub index 0 Number of counter outputs 1 hh Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Counter output 1 Range 00000000 hex toFFFF FFFF hex Unit Default Attribute Size 4 bytes INT32 Access RO PDO map Possible Sub index 2 Counter output 2 Range 0000 hex to FFFF hex Unit Defa...

Страница 133: ...GRT1 OD4G 3 060D hex Four point 2 A Transistor Output Unit PNP with overcurrent and short circuit protection GRT1 ID8 05E3 hex Eight point DC Input Unit NPN GRT1 ID8 1 05E1 hex Eight point DC Input Unit PNP GRT1 OD8 05E6 hex Eight point Transistor Output Unit NPN GRT1 OD8 1 05E5 hex Eight point Transistor Output Unit PNP GRT1 OD8G 1 05E2 hex Eight point Transistor Output Unit PNP with overcurrent ...

Страница 134: ...it Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Withdrawal state of SmartSlice unit 1 Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Not possible Sub index Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Not possible Sub index 1 Withdrawal state of SmartSlice Unit hh Range 0 to 1 Unit Default Attribute Size 1 bit BO...

Страница 135: ...on 13 Automatic Restore Monitor 0 Restore successful 1 Restore failed Indicates whether or not the automatic parameter restore to the SmartSlice I O Units was completed successfully 14 Communication Unit Error 0 Normal 1 Error occurred This flag is ON if one of the other flags bits 0 to 13 is ON 15 I O Refreshing 0 I O communication stopped 1 I O communication normal Indicates whether I O data is ...

Страница 136: ...A4 Appendix Object Dictionary A4 16 GRT1 series EtherCAT Communication Unit Operation Manual ...

Страница 137: ...tion 5 4 5 5 Installation 7 6 Installing a Unit 7 7 Online replacement of I O units 5 8 Removing a Unit 7 8 Table registration 5 6 H Handling Precautions 1 12 I I O data allocation 5 4 5 5 Table registration 5 6 I O power supply 1 7 7 11 Icons 1 3 Initialization 2 7 Installation Handling precautions 7 6 Precautions 1 11 L L A IN Indicator 4 5 Liability 1 5 M Maintenance Inspection Equipment 5 11 P...

Страница 138: ...O Units Online replacement 5 8 Troubleshooting 6 4 Symbols 1 8 Sync manager channel 2 5 Sync manager PDO assignment object 2 4 2 5 Sync manager PDO assignment table 2 5 Sync manager PDO mapping 2 5 T Table registration 5 6 Troubleshooting SmartSlice I O Unit errors 6 4 TxPDO 2 4 Typography 1 3 U Unit power supply 1 7 7 11 W Warranty 1 5 Wiring Precautions 1 11 Wiring standards 7 4 ...

Страница 139: ...alog 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 October 2011 First release 02 March 2012 GRT1 ECT Version 2 1 GRT1 CT1 1 and GRT1 CP1 L added Cat No W18E EN 01 Revision code ...

Страница 140: ...Revision 2 GRT1 ECT series EtherCAT Slave Unit User s Manual ...

Страница 141: ...ent or addition to the above warranty See http www omron247 com or contact your Omron representative for pub lished information 14 Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED IN CONTRACT WARRANTY NEGLIGENCE ...

Страница 142: ...o SP Brasil 55 11 2101 6300 www omron com br OMRON ARGENTINA SALES OFFICE Cono Sur 54 11 4783 5300 OMRON CHILE SALES OFFICE Santiago 56 9 9917 3920 OTHER OMRON LATIN AMERICA SALES 54 11 4783 5300 OMRON INDUSTRIAL AUTOMATION THE AMERICAS HEADQUARTERS Schaumburg IL USA 847 843 7900 800 556 6766 www omron247 com OMRON EUROpE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 0 23 568 13 0...

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