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EC_Err:=(_EC_ErrSta <> WORD#16#00);
R_TRIG_instance(Clk:=EC_Err, Q=>EC_Err_Trigger);

IF ( (EC_Err_Trigger=TRUE) AND (DoEC_PktSave=FALSE) AND (_EC_PktMonStop=FALSE)
AND (_EC_PktSaving=FALSE) AND (_Card1Ready=TRUE) ) THEN
DoEC_PktSave:=TRUE;
Stage :=INT#1;
EC_StopMon_instance(Execute:=FALSE);
EC_SaveMon_instance(Execute:=FALSE);
EC_CopyMon_instance(Execute:=FALSE);
EC_StartMon_instance(Execute:=FALSE);
END_IF;

IF (DoEC_PktSave=TRUE) THEN
CASE Stage OF
1 :
EC_StopMon_instance(
Execute :=

TRUE);

IF (EC_StopMon_instance.Done=TRUE) THEN
Stage:=INT#2;
ELSIF (EC_StopMon_instance.Error=TRUE) THEN
Stage:=INT#10;
END_IF;

2 :

EC_SaveMon_instance(
Execute :=

TRUE);

IF (EC_SaveMon_instance.Done=TRUE) THEN
Stage:=INT#3;
ELSIF (EC_SaveMon_instance.Error=TRUE) THEN
Stage:=INT#20;
END_IF;

3 :
EC_CopyMon_instance(
Execute :=

TRUE,

FileName:=’PacketFile’);

IF (EC_CopyMon_instance.Done=TRUE) THEN

Stage:=INT#4;
ELSIF (EC_CopyMon_instance.Error=TRUE) THEN
Stage:=INT#30;
END_IF;

// Start sequence when

_EC_ErrSta

changes to TRUE.

// Instruction execution

// Stop EtherCAT packet monitor.

// Save EtherCAT packet data to file in system.

// Copy EtherCAT packet data file to the SD Memory Card.

// Normal end

// Error end

// Normal end

// Error end

// Normal end

// Error end

// Initialize instance.

4 :
EC_StartMon_instance(
Execute :=

TRUE);

IF (EC_StartMon_instance.Done=TRUE) THEN

Stage:=INT#0;
ELSIF (EC_StartMon_instance.Error=TRUE) THEN
Stage:=INT#40;
END_IF;

0 :

DoEC_PktSave:=FALSE;

ELSE
DoEC_PktSave:=FALSE;
END_CASE;
END_IF:

// Processing after normal end

// Processing after error end

// Restart EtherCAT packet monitoring.

// Normal end

// Error end

Appendices

A-14

NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)

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Содержание NJ101-10 Series

Страница 1: ...Machine Automation Controller NJ NX series CPU Unit Built in EtherCAT Port CPU Unit User s Manual W505 E1 24 NX701 1 NX102 NX1P2 1 NX1P2 9 NJ501 NJ301 1 NJ101 10 NJ101 90...

Страница 2: ...cation Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Microsoft Windows Excel and Visual Basic are ei...

Страница 3: ...t Personnel in charge of introducing FA systems Personnel in charge of designing FA systems Personnel in charge of installing and maintaining FA systems Personnel in charge of managing FA systems and...

Страница 4: ...fications and restrictions for the CPU Units are given in other manuals Refer to Relevant Manuals on page 3 and Related Manuals on page 26 Introduction 2 NJ NX series CPU Unit Built in EtherCAT Port U...

Страница 5: ...ctions Reference Manual NJ NX series CPU Unit Motion Control User s Manual NJ NX series Motion Control Instructions Reference Manual NJ NX series CPU Unit Built in EtherCAT Port User s Manual NJ NX se...

Страница 6: ...NJ series SECS GEM CPU Units User s Manual NJ series Robot Integrated CPU Unit User s Manual NJ series NJ Robotics CPU Unit User s Manual NJ NY series NC Integrated Controller User s Manual NJ NX seri...

Страница 7: ...eries Robot Integrated CPU Unit User s Manual NJ series NJ Robotics CPU Unit User s Manual NJ NY series NC Integrated Controller User s Manual NJ NX series Troubleshooting Manual Testing operation and...

Страница 8: ...below until they click into place Precautions for Correct Use Precautions for Correct Use 4 3 1 Connecting Controller Components Connector Hook Hook holes Slider Lock Release Move the sliders toward...

Страница 9: ...ions and functionality for Controller with different unit versions and for different versions of the Sysmac Studio is given Precaution on Terminology In this manual download refers to transferring dat...

Страница 10: ...Manual Structure 8 NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505...

Страница 11: ...EtherCAT Network Wiring Setting Up EtherCAT Communications with the Sysmac Studio Process Data Communications and SDO Communications System defined Variables Related to the Built in EtherCAT Port Exam...

Страница 12: ...udio Versions 25 Related Manuals 26 Revision History 29 Section 1 Introduction 1 1 Introduction to EtherCAT 1 2 1 1 1 EtherCAT Features 1 2 1 1 2 EtherCAT Communications 1 2 1 1 3 EtherCAT Features fo...

Страница 13: ...3 9 3 3 2 Control States for EtherCAT Communications 3 9 3 3 3 EtherCAT Status in Relation to CPU Unit Status 3 11 Section 4 EtherCAT Network Wiring 4 1 Supported Network Topologies 4 2 4 1 1 Line Dai...

Страница 14: ...ime in Process Data Communications 6 11 6 1 5 I O Operations for Major Fault Level Controller Errors and I O Refreshing with Speci fied Values 6 15 6 2 SDO Communications 6 19 6 2 1 EtherCAT Communica...

Страница 15: ...0 9 4 5 Replacement Procedure 9 32 Appendices A 1 EtherCAT Status in Relation to CPU Unit Status A 2 A 1 1 When the Power Supply Is Turned ON A 2 A 1 2 CPU Unit Operating Modes A 3 A 1 3 Controller Er...

Страница 16: ...lying Product or iii repay or credit Buyer an amount equal to the purchase price of the non complying Product provided that in no event shall Omron be re sponsible for warranty repair indemnity or any...

Страница 17: ...OR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCT S IS P...

Страница 18: ...ntative at any time to confirm actual specifications of purchased Product Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate how ever no resp...

Страница 19: ...ardware User s Manual Cat No W535 NX series NX102 CPU Unit Hardware User s Manual Cat No W593 NX series NX1P2 CPU Unit Hardware User s Manual Cat No W578 NJ series CPU Unit Hardware User s Manual Cat...

Страница 20: ...t Hardware User s Manual Cat No W535 NX series NX102 CPU Unit Hardware User s Manual Cat No W593 NX series NX1P2 CPU Unit Hardware User s Manual Cat No W578 NJ series CPU Unit Hardware User s Manual C...

Страница 21: ...it Hardware User s Manual Cat No W535 NX series NX102 CPU Unit Hardware User s Manual Cat No W593 NX series NX1P2 CPU Unit Hardware User s Manual Cat No W578 NJ series CPU Unit Hardware User s Manual...

Страница 22: ...t Hardware User s Manual Cat No W535 NX series NX102 CPU Unit Hardware User s Manual Cat No W593 NX series NX1P2 CPU Unit Hardware User s Manual Cat No W578 NJ series CPU Unit Hardware User s Manual C...

Страница 23: ...versions on the ID information indications or with the Sysmac Studio Checking Unit Versions on ID Information Indications The unit version is given on the ID information indication on the side of the...

Страница 24: ...formation on an NX series NX1P2 CPU Unit is shown below PORT1 PORT2 Ver 1 HW Rev LOT No DDMYY xxxx ID information indication Lot number Serial number Unit version MAC address Hardware revision Note Th...

Страница 25: ...Right click CPU Rack under Configurations and Setup CPU Expansion Racks in the Multi view Explorer and select Production Information The Production Information Dialog Box is displayed Checking the Un...

Страница 26: ...an EtherCAT Slave You can use the Production Information while the Sysmac Studio is online to check the unit version of an EtherCAT slave Use the following procedure to check the unit version 1 Doubl...

Страница 27: ...that supports the functions that were added for an upgrade is required to use those functions Refer to the NJ NX series CPU Unit Software User s Manual Cat No W501 for the relationship be tween the un...

Страница 28: ...the basic specifications of the NX1P2 CPU Units including introductory information design ing installation and maintenance Mainly hardware in formation is provided An introduction to the entire NX1P2...

Страница 29: ...series CPU Unit Built in EtherCAT Port User s Manual W505 NX701 NX102 NX1P2 NJ501 NJ301 NJ101 Using the built in EtherCAT port on an NJ NX series CPU Unit Information on the built in EtherCAT port is...

Страница 30: ...numerical control with NJ NY series Controllers Describes the functionality to perform the numerical control NJ NY series G code Instructions Reference Man ual O031 NJ501 5300 NY532 5400 Learning abou...

Страница 31: ...PU Units Corrected mistakes 07 June 2013 Added information on functional support for unit version 1 06 and later of the CPU Units Corrected mistakes 08 September 2013 Added information on functional s...

Страница 32: ...ted mistakes 19 July 2018 Corrected mistakes 20 October 2018 Corrected mistakes 21 July 2019 Added information on functional support for unit version 1 40 of the CPU Units Corrected mistakes 22 July 2...

Страница 33: ...NJ NX series CPU Units 1 3 1 2 System Configuration and Configuration Devices 1 4 1 2 1 System Configuration 1 4 1 2 2 Determining the Network Configuration 1 8 1 3 Specifications of Built in EtherCAT...

Страница 34: ...ignal input to signal output has been significantly reduced By fully utiliz ing the optimized Ethernet frame bandwidth to transmit data using a high speed repeat method it is possible to efficiently t...

Страница 35: ...nsidering Ad dresses EtherCAT slaves are accessed using device variables that are assigned to the I O ports of the Ether CAT slaves Various types of data in Servo Drive and the encoder input slaves ar...

Страница 36: ...lave Servo Drive EtherCAT slave Inverter EtherCAT slave ESI files EtherCAT Junction Slave EtherCAT Junction Slave Input port Output ports Built in EtherCAT port Analog I O Slave EtherCAT slave NJ NX s...

Страница 37: ...ed slave Some slaves can select to operate the synced slave or the non synced slave Non synced Slaves For these slaves the distributed clock setting is disabled or selected Synced Slaves Perform the c...

Страница 38: ...tal Sensor Communications Unit E3NW Series E3NW ECT Synced or Non synced Slaves 5 Exist Not possible Fiber Sensor Communications Unit E3X Series E3X ECT Synced or Non synced Slaves 5 Exist Not possibl...

Страница 39: ...o is required to set the node addresses for these slaves The node addresses are set to 0 by default If you use these slaves with the default node address a Network Configuration Verification Error 842...

Страница 40: ...igher you can add NX series Safety Control Units to the EtherCAT network You can use NX series Safety Control Units on EtherCAT Slave Terminals to build a safety con trol system on EtherCAT 1 2 2 Dete...

Страница 41: ...vel error or other error may occur Make sure that the communications distance number of devices connected and method of connection for EtherCAT are within specifications 1 Introduction 1 9 NJ NX serie...

Страница 42: ...aves 512 64 16 4 192 64 Settable node address range 1 to 512 1 to 192 Maximum proc ess data size Input 11 472 bytes Output 11 472 bytes 5 Input 5 736 bytes Output 5 736 bytes 6 Input 1 434 bytes Outpu...

Страница 43: ...the data must be within four frames 7 However for project unit version earlier than 1 40 the data must be within one frame 8 Setting is available only for integer multiples of the task period of the p...

Страница 44: ...to 6 1 Process Data Communications PDO Communications on page 6 2 for details on the specifications of process data communications SDO communications SDO communications is a communications method in w...

Страница 45: ...therCAT master can continue the normal communications with the EtherCAT slaves even if there is only one point of disconnection in the communications cables You can set the cable redundancy function f...

Страница 46: ...es statistics on the number of communications frames sent and received by the EtherCAT master and EtherCAT slaves as well as the number of frames for which errors were detected This function acquires...

Страница 47: ...ata Communications and SDO Communications on page 6 1 7 Turning ON Power and Going Online from the Sysmac Stu dio 2 1 3 Connecting the Sysmac Studio on page 2 7 3 3 State Transitions for EtherCAT Comm...

Страница 48: ...guration or b Go online and automatically create the EtherCAT network configuration from the actual network devices Do so after making the online connection that is described in step 7 Create the Ethe...

Страница 49: ...ions and Setup Task Settings SDO communications Read and write the following specified data for slaves Use EC_CoESDORead and EC_CoESDOWrite instructions SDO data in slaves parameters error informa tio...

Страница 50: ...ss Data Commu nications Status In the Sysmac Studio check that process data communications with all EtherCAT slaves are performed normally Check the indicators on the NJ NX series CPU Unit a A flashin...

Страница 51: ...necting the Sysmac Studio 2 7 2 2 Setting the Node Addresses of the EtherCAT Slaves 2 9 2 2 1 Setting Node Address Using Hardware Switches 2 9 2 2 2 Setting the Node Address from the Sysmac Studio 2 1...

Страница 52: ...elow The locations of the built in EtherCAT port indicators are shown below NJ series CPU Units Built in EtherCAT port PORT2 Operation indicators for the Built in EtherCAT port NX701 CPU Units PORT1 E...

Страница 53: ...K ACT NETRUN NET ERR LINK ACT PORT1 EtherNet IP PORT2 EtherCAT PORT1 EtherNet IP PORT2 EtherCAT Operation Indicators and Operating Status for the Built in EtherCAT Port The operating status correspond...

Страница 54: ...g Flashing A recoverable error occurred Not lit There are no errors LINK ACT or L A Yel low Lit A link was established Flashing Data communications are in progress after the link is establish ed Flash...

Страница 55: ...xis Basic Settings Used to create Axis Variables and set parameters for Servo Drive and en coder input slaves Use the Axis Basic Settings to assign Axis Variables to the Servo Drive encoder input slav...

Страница 56: ...r and Slave Parameter Settings Set the EtherCAT master and slave parameters after selecting a master or slave on the EtherCAT network configuration Parameter Setting for the EtherCAT Master 2 Part Nam...

Страница 57: ...on method IP address to connect to and other parameters for commu nications between the computer and Controller Precautions for Correct Use You cannot connect a computer and an NX102 or an NX1P2 CPU U...

Страница 58: ...u normally connect to USB Communications Test But ton Ethernet Communications Test Button These buttons perform a communication test with the Controller at the specified remote IP address The result i...

Страница 59: ...power supply to the slave to apply the setting 2 2 1 Setting Node Address Using Hardware Switches For slaves with hardware switches you can set the node address using only the hardware switches inste...

Страница 60: ...under Configurations and Setup on the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit 3 Right click the EtherCAT master that is displayed in the EtherCAT Tab...

Страница 61: ...ame values Version Information Sysmac Studio version 1 22 or higher is required to use the Update With Latest Actual Network Configuration Button When the Slave Node Address Writing Dialog Box Is Not...

Страница 62: ...0 1 ESI specifications is used to ena ble backing up and restoring slave parameters called backup parame ters Saving node address settings The node address setting for each slave is stored in non vol...

Страница 63: ...s mapped to object 2002 hex is not selected If you do so you can detect errors that occur in the slave applications other than communica tions errors only through the transmission of emergency message...

Страница 64: ...ddresses Refer to 5 5 EtherCAT Slave Parameter Settings on page 5 20 for information on setting node addresses from the Sysmac Studio Verifying the EtherCAT Network Configuration Using Serial Num bers...

Страница 65: ...evision 1 0 or later Fiber Sensor Communications Unit E3X ECT Revision 1 0 or later Confocal Fiber Type Displacement Sensors ZW CE1 Revision 1 0 or later 1 A CPU Unit with unit version 1 05 or later a...

Страница 66: ...ture OMRON EtherCAT master EtherCAT master from another manufacturer NJ NX series CPU Unit NX701 NX102 NX1P2 NJ501 NJ301 NJ101 CJ series Position Con trol Unit CJ1W NC 8 Troubleshooting Not supported...

Страница 67: ...n setting may be missing or the slave functionality may be restricted with an ESI file that is not supported by Sysmac Studio The slave may not operate properly The node address setting from the Sysma...

Страница 68: ...2 Part Names and Slave Settings 2 18 NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505...

Страница 69: ...1 2 Types of Communications 3 4 3 1 3 Types of EtherCAT Variables 3 6 3 1 4 Settings Required for EtherCAT Communications 3 7 3 2 Programming EtherCAT Communications 3 8 3 3 State Transitions for Eth...

Страница 70: ...n in realtime with a fixed period SDO communications Communications using service data objects SDOs for communicating information when required Controller communications master EtherCAT communications...

Страница 71: ...c area PDO SDO 1000 hex 1600 hex 3000 hex EtherCAT CANopen device Communications Object dictionary Parameters Process Data Device Type Object content Index Application Process data communications is u...

Страница 72: ...AT master of the NX series CPU Unit Of the slaves that provide a reference clock the slave that is the closest to the EtherCAT master on the wiring In the above figure the left most slave of the slave...

Страница 73: ...d output peri odically each EtherCAT process data communications cycle i e the task period of primary periodic task or priority 5 periodic task It is accessed from the NJ NX series CPU Unit in the fol...

Страница 74: ...les for I O ports Axis Varia bles These are structure variables for I O and parameters for Servo Drive and en coder input slaves You can change the names of these variables EtherCAT Servo Drive Servo...

Страница 75: ...it Time for Slave Startup Process data information Allocation information for slave PDO data Additional Information EtherCAT communications cannot be performed unless the correct network configuration...

Страница 76: ...tten Read write instructions such as LD OUT and MOV Device variables SDO data Read written as re quired EtherCAT communica tions instructions EC_CoESDORead or EC_CoESDOWrite User defined variables Sla...

Страница 77: ...W503 for details on events 3 3 2 Control States for EtherCAT Communications Control State Machine EtherCAT communications provides four control states Communications is controlled by moving be tween t...

Страница 78: ...ig uration information 2 Pre Op erational Only SDO communications are possible in this state Communications always enters this state after initiali zation and changes to the Safe Operational state af...

Страница 79: ...ned variable for the relevant slave changes to TRUE I O refreshing for the relevant slave is enabled 4 When the _EC_MBXSlavTbl system defined variable for the relevant slave changes to TRUE message co...

Страница 80: ...3 EtherCAT Communications 3 12 NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505...

Страница 81: ...ranching Topology 4 2 4 1 3 Ring Topology 4 4 4 1 4 Precautions for Using Junction Slaves 4 10 4 2 Laying the EtherCAT Network 4 12 4 2 1 Installation Precautions 4 12 4 2 2 Installing EtherCAT Commun...

Страница 82: ...r in a row Slave EtherCAT master Input port Output port Slave Slave Slave Slave Features of Line Daisy Chain Topology The master and slaves can be connected easily However if a slave is disconnected d...

Страница 83: ...er the disconnected slave are also disconnected from the network If you configure a network with the branching topology you can reduce the disconnected slaves to only those in a branched path EtherCAT...

Страница 84: ...f disconnection in the communications cables If disconnection occurs at a point between Slave 1 and Slave 2 as shown in the figure below in Slave 1 the output port is closed but communications frames...

Страница 85: ...terruption It continues communica tions with other slaves In this case an Illegal Slave Disconnection Detected 84310002 hex event occurs Components of the Ring Topology The components of the ring topo...

Страница 86: ...nual for each slave for information on topolo gies and check that the slaves support the ring topology Check also that their versions are supported b You cannot connect synced slaves in a ring topolog...

Страница 87: ...r the Junction Slave connected to input port for the Junction Slave between Junction Slaves if more than one Junction Slave is connected This section describes an example to which two Junction Slaves...

Страница 88: ...below a If you use a Junction Slave in a ring topology connect the last port of the Junction Slave to the input port of the next slave to connect to in the ring topology The last port is the last to r...

Страница 89: ...inating slave of the ring Ring topology GX JC03 Junction Slave Example for Configuring Drop Line from the Ring with Junction Slaves You can connect Junction Slaves in a ring topology to configure a dr...

Страница 90: ...his section provides precautions for using Junction Slaves in a network configuration based on the branching or ring topology Precautions for Safe Use You cannot use standard Ethernet hubs or repeater...

Страница 91: ...EtherCAT Junction Slave supports a reference clock from the Reference Clock in the slave settings on the Sysmac Studio OMRON EtherCAT Junction Slaves support a reference clock Precautions for Correct...

Страница 92: ...earthing ap propriately so that noise current does not flow to ground lines between the devices For Earthing methods refer to the NJ series CPU Unit Hardware User s Manual Cat No W500 the NX series CP...

Страница 93: ...8SS30CM Y OMRON Cus tomer Service Center 0 5 XS6W 6LSZH8SS50CM Y 1 XS6W 6LSZH8SS100CM Y 2 XS6W 6LSZH8SS200CM Y 3 XS6W 6LSZH8SS300CM Y 5 XS6W 6LSZH8SS500CM Y 1 Cables are available in the following len...

Страница 94: ...Shield Strengthening cable 2 M12 Smartclick connector and rugged RJ45 plug Cable color Black OMRON Corpora tion 0 5 XS5W T421 BMC SS 1 XS5W T421 CMC SS 2 XS5W T421 DMC SS 3 XS5W T421 EMC SS 5 XS5W T4...

Страница 95: ...Japan Limited RJ45 Assembly Con nectors 3R104 1110 000AM We recommend that you use combinations of the above Cables and Connectors Precautions for Correct Use The maximum length between nodes is 100 m...

Страница 96: ...scription Electrical characteristics Conforms to IEEE 802 3 standards Connector structure RJ45 8 pin modular connector Conforms to ISO 8877 Pin Assignments Pin No Signal name Abbreviation Signal direc...

Страница 97: ...Disconnect the EtherCAT slave from the network Disable the EtherCAT slaves and all slaves connected after it Refer to 9 4 Replacing Slaves during Communications on page 9 26 for information on replac...

Страница 98: ...series CPU Unit Hardware User s Manual Cat No W535 for details on the NX701 CPU Unit Refer to the NX series NX102 CPU Unit Hardware User s Manual Cat No W593 for details on the NX102 CPU Unit Refer t...

Страница 99: ...ing the PDO Map Settings 5 23 5 5 2 EtherCAT Slave Enable Disable Settings 5 25 5 6 Comparing and Merging EtherCAT Network Configurations 5 28 5 6 1 Introduction for Comparing and Merging EtherCAT Net...

Страница 100: ...guration Information Network configuration information EtherCAT network configuration Process data information This is allocation information for PDO data in the slaves It is also called PDO mapping d...

Страница 101: ...the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit Double click EtherCAT or rightclick EtherCAT and select Edit Multi view Explorer EtherCAT Master will be...

Страница 102: ...the master Toolbox Drag the slaves 4 Select another slave in the Toolbox drag it to the EtherCAT Tab Page and drop it under the slave to which you want to connect it to The slave will be added under...

Страница 103: ...2 Cable Redundancy Setting This section describes the settings for configuring a ring topology To configure a ring topology you must enable the cable redundancy function Precautions for Correct Use R...

Страница 104: ...d the event occurs it is displayed on the current errors in the Sysmac Studio When you repair the point of disconnection for example by replacing the cables in the ring discon nection status the topol...

Страница 105: ...gy You cannot enable the cable redundancy function 3 In the EtherCAT Tab Page right click the originating slave of the ring and select Cable Redundancy to Enable Originating slave of the ring 5 Settin...

Страница 106: ...is indicated and double lines are displayed on the location where the cable redundancy is enabled 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 8 NJ NX series CPU Unit Built in EtherCA...

Страница 107: ...That Were Previously Registered in a Variable Table You can select variables that are already registered on the menu on the I O Map Tab Page For example this method can be used to register device var...

Страница 108: ...or example this method can be used to register device variables in the following cases To give suitable names to device variables that are assigned to I O for I O slaves Use the following procedure 1...

Страница 109: ...e specify the Variable Type Automatically Creating Device Variable Names The device variable names can be created by combining the device name and the I O port name 5 Setting Up EtherCAT Communication...

Страница 110: ...I O Map under Configurations and Setup on the Multiview Explorer Or right click I O Map under Configurations and Setup and select Edit The I O Map Tab Page will be displayed 2 Select a slave or I O p...

Страница 111: ...ails on devices variables If you do not specify anything in the Variable Type Column when you register a variable or create device variables the variables are automatically registered in the global va...

Страница 112: ...therCAT under Configurations and Setup and select Edit 2 Select the EtherCAT master that is displayed in the Edit Pane For NJ series CPU Units For NX series CPU Units The above screen is for NX102 CPU...

Страница 113: ...e task period of the primary periodic task Display range 500 to 4 000 s Default setting 1 000 s PDO Communications Cycle 1 3 Not al low ed Displays the time of Process Data Communications Cycle 1 This...

Страница 114: ...EtherCAT Master Function Module in the NJ NX series Troubleshooting Manual Cat No W503 For events that are affected by the Fail soft Operation Setting the op erating specifications are specified for...

Страница 115: ...ng option and reconnect the slave If the error does not occur any more that means a longer time is required for the startup of all slaves and slave reconnection Setting range Enable or Disable slave m...

Страница 116: ...l soft Operation parameter setting results in safe operation when a de vice error occurs If the Revision Check Method is set to No check parameters are also transferred to slaves with different EtherC...

Страница 117: ...tional Description Number of slaves connected Required Number of slaves in the network Vendor ID Required Vendor ID of each slave Product code Required Product code of each slave Revision Optional 1 R...

Страница 118: ...Or right click EtherCAT under Configurations and Setup and select Edit 2 Select an EtherCAT slave that is displayed in the EtherCAT Tab Page For NJ series CPU Units For NX series CPU Units 5 Setting...

Страница 119: ...Not al lowed Displays the process data communications cycle assigned for the slave Either of the following values is displayed PDO Communications Cycle 1 Communications cycle is the task period of the...

Страница 120: ...to ac cess the serial number of the physical slave PDO Map Settings OK Default allocations of process data for slaves are provided by the Sysmac Studio When the network configuration is created device...

Страница 121: ...abled slave during system operation You can also execute the spe cial instruction to disable a slave during system operation 4 With the NJ series CPU Unit if you configure the system to connect the Et...

Страница 122: ...lect the output data RxPDO and input data TxPDO in the PDO Map You can add or delete the PDOs with Editable Flags as entries for the objects to use for the slaves Refer to A 3 4 Editing PDO Entry Tabl...

Страница 123: ...ruction for the EtherCAT slave status EtherCAT slave status before instruction exe cution Instruction setting Result after instruction execution Instruction execution result EtherCAT slave ena bled di...

Страница 124: ...on the settings of the slave and on slave mod els With GX series EtherCAT Slaves a value is output ac cording to the Error Mode Output set ting on each slave Precautions for Correct Use To access the...

Страница 125: ...error Performed Different Not performed A Network Configuration Verification Error 84220000 hex or Network Configuration Verification Error Mismatched Slave 84330004 hex event occurs Not performed Di...

Страница 126: ...from the Sysmac Studio Network Configuration Settings on the Sysmac Studio 10 13 15 Out1 Out2 Out3 15 13 10 Out1 Out2 Out3 11 14 12 11 12 14 09 Junction Slave Input port indicates a node address Outp...

Страница 127: ...and Merge with Actual Network Configuration The Compare and Merge with Actual Network Configuration Dialog Box is displayed The results of comparing the settings on the Sysmac Studio with the actual...

Страница 128: ...figuration on Sysmac Studio and drop it Drag and drop After you drag and drop the missing slaves and add them to the Network configuration on Sysmac Studio the Comparison results Column will show that...

Страница 129: ...a re sult Added and Removed are displayed in the Comparison results Column Here either correct the node address in the network configuration on the Sysmac Studio or the node address in the physical sl...

Страница 130: ...for the slaves Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for information on synchronization For project unit version 1 40 or later if the synchronization between the Sysmac Stu...

Страница 131: ...splay incorrect wiring in a ring topology There are following cases weather you can identify incorrect wiring points of communications cables When You Can Identify Incorrect Wiring Points of Communica...

Страница 132: ...Slave IN X2 X3 Slave The output ports are connected to each other The output ports are connected to each other The following error message is displayed Correct the error as follows Review the wiring t...

Страница 133: ...The following error message is displayed The correction for each cause of incorrect wiring is described as follows Cause 1 of incorrect wiring There is more than one ring topology Check that there is...

Страница 134: ...f the ring If you do not configure a ring topology review the wiring so that output ports are not connected to each other In the example below if you configure a ring topology change the GX JC06 Junct...

Страница 135: ...the ring and the wiring for the end port of the ring Input port Output port X2 X3 IN GX JC03 Junction Slave Start port of the ring End port of the ring Cause 4 of incorrect wiring If a Junction Slave...

Страница 136: ...Output port GX JC03 Junction Slave Slave Slave Drop line from the ring When More Than the Maximum Number of Slaves Are Connected If more than the maximum number of slaves are connected in the actual...

Страница 137: ...topology so that output ports are not connected to each other In the example below Slave 2 is not displayed in the Actual network configuration display area be cause output ports are connected to each...

Страница 138: ...ine with the Controller 2 Double click EtherCAT under Configurations and Setup on the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit 3 Right click the EtherC...

Страница 139: ...uration on the Sysmac Studio is creat ed based on the actual network configuration 5 Click the Close Button 6 Go offline and then assign device variables set the axis parameters set up the tasks and s...

Страница 140: ...d in the axis settings and task settings to control slaves that are registered in the task settings To merge the actual network configuration information without losing the current settings in the Sys...

Страница 141: ...io 1 Start the Sysmac Studio and go online with the Controller 2 Double click EtherCAT under Configurations and Setup on the Multiview Explorer Or right click EtherCAT under Configurations and Setup a...

Страница 142: ...are slaves in the Sysmac Studio settings that are disabled If you get the serial numbers of the slaves when there are disabled slaves that do not exist in the actual network configuration the serial...

Страница 143: ...ave according to the slave specifications The time that communications are cut off depends on the EtherCAT network con figuration Before you transfer the user program confirm that the system will not...

Страница 144: ...he slaves for the default settings To transfer the backup parameters clear the selection of the Do not transfer Special Unit parameters and backup parameters of EtherCAT slaves out of synchronization...

Страница 145: ...is Communicating process data communications are performed normally Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for how to display the Controller status monitor of the Sysmac St...

Страница 146: ...figuration information again If network configuration information is not downloaded to the Controller the EtherCAT master will not perform process data communications Because of this notification of e...

Страница 147: ...6 1 3 Checking Validity of Process Data 6 6 6 1 4 System Response Time in Process Data Communications 6 11 6 1 5 I O Operations for Major Fault Level Controller Errors and I O Re freshing with Specif...

Страница 148: ...ave type Allocated variables Operation screen in Sysmac Studio EtherCAT slaves which are not assigned to axes Device Variables I O Map EtherCAT slaves which are assigned to axes Axis Variables Axis Se...

Страница 149: ...cess data Process data Servo Drive encoder input slave Servo Drive encoder input slave Axis Variables structures Reading writing and commands User program NJ NX series CPU Unit 6 1 2 Process Data Comm...

Страница 150: ...ons cycles must be distinguished the cycle for the primary periodic task is called process data communications cycle 1 and the cycle for the priority 5 periodic task is called process data communicati...

Страница 151: ...r details For the slaves and Units that are assigned to axes specify the motion controls to use in Motion Control Setup under Confugurations and Setup of the Sysmac Studio The tasks to perform I O ref...

Страница 152: ...of the slaves The process data communications for the primary periodic task is processed in priority over the process data communications for the priority 5 periodic task Therefore the size of process...

Страница 153: ...ster to at least 2 Refer to 5 4 EtherCAT Master Parameter Settings on page 5 14 for the setting pro cedure A sample programming to check the validity of the process data is shown in the next section S...

Страница 154: ...EC_CommErrTbl 1 FALSE THEN A TRUE ELSE A FALSE END_IF Output valid condition IF A TRUE THEN Slav_Out TRUE ELSE Slav_Out FALSE END_IF Input valid condition IF A TRUE AND _EC_InDataInvalid FALSE THEN Sl...

Страница 155: ...ocess data inputs and outputs are valid for all of the slaves If the process data inputs and outputs with all slaves are valid E001_Out_Bit07 changes to TRUE when E001_In_Bit00 changes to TRUE Also wh...

Страница 156: ...A TRUE ELSE A FALSE END_IF Output valid condition IF A TRUE THEN AllSlav_Out TRUE ELSE AllSlav_Out FALSE END_IF Input valid condition IF A TRUE AND _EC_InDataInvalid FALSE THEN AllSlav_In TRUE ELSE Al...

Страница 157: ...ol Slave output response time Slave input response time Maximum I O response time Task period Transmission delay time Transmission jitter Process data communications cycle Task period 1 2 3 4 5 1 The...

Страница 158: ...iodic task The priori ty 5 periodic task is applicable only when you use an NX701 CPU Unit Transmission Delay Time The following methods are provided to calculate the transmission delay times for the...

Страница 159: ...s EtherCAT slaves Data size of 20 bytes slave One EtherCAT Slave Terminal Input data size of 50 bytes and output data size of 30 bytes EtherCAT frame length 20 bytes 20 bytes 50 bytes 90 bytes Total C...

Страница 160: ...the Master 2 The transmission delay times of PDO communications cycle 1 and PDO communications cycle 2 are displayed in the Output Tab Page The applied transmission delay times of the EtherCAT master...

Страница 161: ...function for the EtherCAT master 6 1 5 I O Operations for Major Fault Level Controller Errors and I O Refreshing with Specified Values I O Operation for Major Fault Level Controller Errors If the NJ N...

Страница 162: ...red for all the slaves to enter Safe Operational state and for the slave output to reach to the value set from the slave settings are shown below This formula ap plies to only OMRON slaves Maximum tim...

Страница 163: ...ion Major fault level Controller error Normal operation Forced refresh ing Ena bled Output data Values from before operation stopped Operational state Slave settings control the outputs Safe Operation...

Страница 164: ...e If a communications error prevents the slaves from receiving signals from the master the slave outputs are processed according to settings in the slave During the time to change from normal operatio...

Страница 165: ...ware version of an OMRON R88D KN01L ECT Servo Drive The node address of the slave is 1 The object index for the software version is 16 100A The subindex is 0 The read value is stored in STRING variabl...

Страница 166: ...doObj Error TimeOut ErrorID ReadDat AbortCode ReadSize EC_CoESDORead_instance ST Internal Varia bles Variable Data type Initial value Comment Trigger BOOL False Execution condition SdoObject _sSDO_ACC...

Страница 167: ...6 2 4 Minimum Message Response Time for SDO Communications The minimum message response time for SDO communications is the time from when the SDO com munications instruction is executed in the user pr...

Страница 168: ...s 5 IO UPG MC Task period 1 ms Task period 1 ms Task period 1 ms Task period 1 ms Task period 1 ms Task period 1 ms Execution of SDO communications instruction completed Slave SDO processing time IO U...

Страница 169: ...s The calculation formula for the minimum message response time is given below Minimum message response time ms Task period of the task that executes the SDO communications instruction Slave SDO proce...

Страница 170: ...O UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC Frame sent SDO request received SDO response generation completed EtherCAT master captures SDO response data from slave 256 bytes per frame IO I O refr...

Страница 171: ...nected slave to the EtherCAT network after maintenance such as re placement of the slave Enable Disable EtherCAT Slave EC_ChangeEnableSetting Enables or disables an EtherCAT slave Get EtherCAT Error S...

Страница 172: ...6 Process Data Communications and SDO Communications 6 26 NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505...

Страница 173: ...elated to the built in EtherCAT port 7 1 System defined Variables That Are Related to the Built in Ether CAT Port 7 2 7 1 1 What Are System defined Variables 7 2 7 1 2 System defined Variables 7 2 7 1...

Страница 174: ...Communications Errors Variable name Meaning Function Data type Range of values Reference _EC_ErrSta Built in EtherCAT Er ror This system defined variable provides the collective status of errors in th...

Страница 175: ...OL TRUE or FALSE page 7 11 _EC_LanHwErr Communications Controller Error TRUE if the Communications Controller Error 047C0000 hex event occurred BOOL TRUE or FALSE page 7 11 _EC_LinkOffErr Link OFF Err...

Страница 176: ...0 hex BOOL TRUE or FALSE page 7 13 _EC_MsgErr EtherCAT Message Error TRUE if one of the following events oc curred EtherCAT Message Error 842D0000 hex Illegal Mailbox Received 84350000 hex BOOL TRUE o...

Страница 177: ...pErr Slave Node Ad dress Duplicated Error _EC_SlavInitErr Slave Initializa tion Error _EC_SlavAppErr Slave Applica tion Error _EC_CommErrTbl Communications Error Slave Ta ble _EC_CycleExceed ed EtherC...

Страница 178: ..._PDSlavTbl Process Data Com municating Slave Ta ble This table indicates the slaves that are performing process data communica tions Slaves are given in the table in the order of slave node addresses...

Страница 179: ...gy except for disabled slaves are con nected and if there is only one point of disconnection in the communications ca bles in the ring topology BOOL TRUE or FALSE page 7 18 _EC_RingBreakNo deAdr Ver...

Страница 180: ...log operation is started The error end is caused by the following Another records cannot be added in the log file because the capacity of the SD Memory Card is fully used The SD Memory Card is write...

Страница 181: ...ta 14 Collective slave error status This bit indicates if a Controller error was detected for levels e g a Unit slave axis or axes group that are lower than the event source i e for a function module...

Страница 182: ...et EtherCAT Error Status GetECError Reset EtherCAT Error ResetECError Variable name _EC_MstrErr Meaning Master Error Global local Global Function This system defined variable provides the collective s...

Страница 183: ...ro gram Possible Related in structions Variable name _EC_LanHwErr Meaning Communications Controller Error Global local Global Function TRUE if the Communications Controller Error 047C0000 hex event oc...

Страница 184: ...e _EC_PDCommErr Meaning Process Data Communications Error Global local Global Function TRUE if one of the following events occurred Process Data Communications Error 842C0000 hex Illegal Slave Disconn...

Страница 185: ...ALSE R W access R Retained Not retained Network Publish Published Usage in user pro gram Possible Related in structions Reset EtherCAT Error ResetECError Variable name _EC_MsgErr Meaning EtherCAT Mess...

Страница 186: ...r is removed and then the error in the Controller is reset with the troubleshooting functions of the Sysmac Studio or the ResetECError instruction Variable name _EC_CycleExceeded Meaning EtherCAT Comm...

Страница 187: ...retained Network Publish Published Usage in user pro gram Possible Related in structions Disconnect EtherCAT Slave EC_DisconnectSlave Connect EtherCAT Slave EC_ConnectSlave 1 For the NX102 CPU Units...

Страница 188: ...the data type is ARRAY 1 192 OF BOOL Variable name _EC_PDActive Meaning Process Data Communications Status Global local Global Function TRUE when process data communications are performed with all sl...

Страница 189: ...es TRUE or FALSE R W access R Retained Not retained Network Publish Published Usage in user pro gram Possible Related in structions Note 1 All system defined variables that are related to the status o...

Страница 190: ...tatistics Log Variable name _EC_StatisticsLogEnable 1 Meaning Diagnosis Statistics Log Enable Global local Global Function Changes to TRUE when the diagnosis statistics log is started Changes to FALSE...

Страница 191: ...o FALSE after the diagnosis statistics log operation is started The error end is caused by the following Another records cannot be added in the log file because the capacity of the SD Memory Card is f...

Страница 192: ...7 System defined Variables Related to the Built in EtherCAT Port 7 20 NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505...

Страница 193: ...1 System Configuration Example 8 2 8 1 2 Wiring and Settings 8 2 8 1 3 Setting the EtherCAT Network Configuration 8 2 8 1 4 Programming 8 4 8 1 5 Offline Debugging 8 5 8 1 6 Turning the Power ON 8 5 8...

Страница 194: ...ming button There are no restrictions on the order of node addresses 8 1 2 Wiring and Settings Wiring Install the Controller and slaves Connect communications cables to the EtherCAT master and slaves...

Страница 195: ...variables to the I O ports of the slaves In this example Pwr_On is assigned to bit 0 of slave 1 and Hm1_On is assigned to bit 1 of slave 1 Axis Settings for the Servo Drives Node Addresses 3 and 4 Add...

Страница 196: ...ng to settings in the slave Assigning Tasks to Slaves Use Task Settings to assign tasks to slaves Set Period Execution Conditions for each task from Task Settings Set names of the tasks that are assig...

Страница 197: ...work Configuration Information and the User Program Download the network configuration information and the user program that were created on the Sys mac Studio to the Controller Note Use the synchroni...

Страница 198: ...physical layer LINK inputs Flashing L A OUT physical layer LINK outputs Flashing Not lit on the last slave 8 Example of Operations for EtherCAT Communications 8 6 NJ NX series CPU Unit Built in Ether...

Страница 199: ...3 9 2 1 Error Table 9 3 9 2 2 Error Descriptions 9 3 9 2 3 Resetting Errors 9 3 9 2 4 Diagnostic and Statistical Information 9 3 9 2 5 Identifying an Error Slave and Cause of Error 9 21 9 3 Precaution...

Страница 200: ...rCAT Troubleshooter You can use the troubleshooting functions of the Sysmac Studio or the Troubleshooter on an HMI to quickly check for errors that have occurred and find corrections for them Refer to...

Страница 201: ...how to reset errors 9 2 4 Diagnostic and Statistical Information The diagnostic and statistical information provides statistics on the number of communications frames sent and received by the EtherCA...

Страница 202: ...cs log of CPU Unit The CPU Unit acquires the diagnostic and statisti cal information periodically The acquired diagnostic and statistical information is saved in an SD Memo ry Card that is mounted on...

Страница 203: ...Slave Diagnostic and Statistical Informa tion on page 9 5 Additional Information A certain number of the frame reception timeout count or a certain number of CRC error frames received is also detecte...

Страница 204: ...more than one port start finding error locations from the port with the highest number of error frames The error locations that you find will change depending on the configuration of EtherCAT slave c...

Страница 205: ...ceived on the input port for node address 4 Therefore you can assume that there is a problem between the output port PortB for node ad dress 3 and the input port for node address 4 This corresponds to...

Страница 206: ...ror frames were received on the input port for node address 4 Therefore you can assume that there is a problem between the output port X3 for node ad dress 64 and the input port for node address 4 Thi...

Страница 207: ...ere is an error in node address 4 that prevents communica tions Concretely you can assume the following possible error locations The device at node address 64 The cable between the output port at node...

Страница 208: ...isconnected the contact is faulty or parts are faulty Make sure the connector is mated correctly or re connect the connector The EtherCAT slave failed Replace the EtherCAT slave Failed is displayed fo...

Страница 209: ...Sysmac Studio and go online with the Controller 2 Double click EtherCAT under Configurations and Setup on the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit...

Страница 210: ...CSV or a Viewer For mat file 3 in a specified folder The following data are output Master diagnostic and statistical information Slave diagnostic and statistical information 4 1 Only for the EtherCAT...

Страница 211: ...agation delay time is not cleared to zero when the master diagnostic and statistical information is cleared Values of the network propagation delay time and transmission cycle are valid only if an Eth...

Страница 212: ...the NJ NX series Troubleshooting Manual Cat No W503 and remove the cause of the error Discarded process data receptions The number of proc ess data packets dis carded when receiv ing process data Ope...

Страница 213: ...s are normal values other than 0 may occur for the frame reception timeout count and the number of CRC error frames received Refer to EtherCAT Network Diag nostic Procedure on page 9 3 to determine if...

Страница 214: ...ith the actual network the slave diagnostic and statistical information is not displayed correctly If a project where the network configuration agrees with the actual network is not available create a...

Страница 215: ...Refer to Slave Diagnostic and Statistical Informa tion on page 9 15 for details 1 Only for the EtherCAT slaves that are registered in the EtherCAT master network configuration informa tion of the pro...

Страница 216: ...ution of the diagnosis statistics log Refer to 7 1 2 System defined Variables on page 7 2 for details on system defined variables Variable name Meaning _EC_StatisticsLogEnable Diagnosis Statistics Log...

Страница 217: ...occurs _EC_StatisticsLogErr changes to TRUE An EtherCAT Diagnosis Statistics Log Ended error is recorded in the event log 3 Change _EC_StatisticsLogEnable Diagnosis Statistics Log Enable from TRUE to...

Страница 218: ...isticsLogBusy is FALSE before you execute the diagnosis statistics log Even if you change the value of _EC_StatisticsLogCycleSec during the diagnosis statistics log the change is not reflected to the...

Страница 219: ...onfiguration view of the current error Display Method Right click the master on the EtherCAT Tab Page and select Display Diagnosis Statistics Information from the menu The network configuration inform...

Страница 220: ...e event name of the current error on the relevant slave is displayed in the tooltip of the error icon c Location where communications stopped The connecting line between the ports at which communicati...

Страница 221: ...the Controller Event Log Tab Page and select Display EtherCAT Configuration Information Event Log from the menu Additional Information You can narrow down the range to display the event log using time...

Страница 222: ...h error icons in the display when they have an error whose source is Ether CAT Master Function Module and whose level is higher than the minor fault level 9 Troubleshooting 9 24 NJ NX series CPU Unit...

Страница 223: ...lowing operation a or b at the same time as operation c a Slave Initialization Error 84230000 hex event will occur a Turn OFF the power supply to the slave or disconnect the cable b Turn ON the power...

Страница 224: ...tions stop Precautions for Safe Use Make sure that the communications distance number of nodes connected and method of con nection for EtherCAT are within specifications Do not connect EtherCAT commun...

Страница 225: ...he Sysmac Studio Precautions for Correct Use For the slaves in the ring topology you cannot perform the disconnect operation from the Sys mac Studio and execute the Disconnect EtherCAT Slave instructi...

Страница 226: ...Backup parameters EtherCAT slaves You set these parameters by transferring them to the slaves from the Backup Parameter Settings Tab Page of the Sysmac Studio The data can also be transferred from th...

Страница 227: ...and is sent to the EtherCAT slave You can also set the EtherCAT drive slaves from the EtherCAT Drive Tab Page Back up the settings information from the EtherCAT Drive Tab Page Refer to the Sysmac Stud...

Страница 228: ...ed in the list are downloaded to the EtherCAT slave 3 Click the Compare Button Check to be sure that you have correctly transferred the backup parameters in step 2 Precautions for Correct Use Restore...

Страница 229: ...r to the Sysmac Studio Version 1 Operation Manual Cat No W504 for the applicable EtherCAT drive slaves You do not need to restore the settings to replace an EtherCAT slave that does not have backup pa...

Страница 230: ...f the node address is set in the software set the node address of the new EtherCAT slave Restore the backup parameters Connect the new slave with the EtherCAT slave connection operation on the Sysmac...

Страница 231: ...slave outputs behave according to the slave specifica tions For details refer to relevant manuals for each slave If a noise countermeasure or slave replacement is required perform the following proces...

Страница 232: ...formation Remains TRUE _EC_EntrySlavTbl Network Connected Slave Table This variable shows the slaves that are registered in the network configuration information and connected to the net work Remains...

Страница 233: ...t changes to FALSE when the slave is removed from the actual net work configuration 9 Troubleshooting 9 35 NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505 9 4 Replacing Slaves during C...

Страница 234: ...ns on the order when reconnecting slaves that are in a daisy chain For exam ple even if slaves 1 to 3 in a configuration such as the one shown in the following figure are dis connected there are no re...

Страница 235: ...This variable shows the slaves that are registered in the network configuration information and disconnected from the network Changes to FALSE 1 The value changes to TRUE when the slave is connected t...

Страница 236: ...9 Troubleshooting 9 38 NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505...

Страница 237: ...A 3 Multi vendor Environments A 15 A 3 1 EtherCAT Slave Information File ESI Files A 15 A 3 2 Connecting Slaves from Other Manufacturers to an OMRON Master A 16 A 3 3 Installing ESI files A 16 A 3 4...

Страница 238: ...bles Category _EC system de fined varia bles Network con figuration in formation Diagnostic and statistical information Protocol mon itor Slave outputs Slave commu nications sta tus Devices varia bles...

Страница 239: ...Switching between PRO GRAM and RUN modes and Device Output Hold Configurat ion 1 disa bled Devices variables that are not retained Initial val ues Axis varia bles Re tained Switching between PRO GRAM...

Страница 240: ...ows EtherCAT communi cations sta tus 1 Retained 1 In Opera tional state the values from before operation stopped are output When the slaves have en tered Safe Operational state the outputs de pend on...

Страница 241: ...d to all zeros 3 Enters the Ini tialized state when parame ters are transfer red to the mas ter Enters the Pre Opera tional state when backup parame ters are down loaded to slaves Download ing data an...

Страница 242: ...mation Diagnostic and statisti cal informa tion Proto col monitor Current er rors Slave out puts Slave com munications status Does not change Does not change Does not change Updating the protocol moni...

Страница 243: ...g directly from the Sysmac Studio Slave Slave Version Information For the NJ301 CPU Units the CPU Unit with unit version 1 10 or later and Sysmac Studio version 1 12 or higher are required to use the...

Страница 244: ...erCAT under Configurations and Setup on the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit 3 Right click the master on the EtherCAT Tab Page and select Displ...

Страница 245: ...ts instruction to save the packet data that was saved in the CPU Unit to a file on an SD Memory Card inserted into the CPU Unit You can specify the name of the file that is saved in the SD Memory Card...

Страница 246: ...is as follows 1 The system defined variable _EC_ErrSta EtherCAT Error is monitored and processing is started if an error occurs 2 The EC_StopMon instruction is used to stop execution of packet monito...

Страница 247: ...WORD Built in EtherCAT Error _EC_PktMonStop BOOL Packet Monitoring Stop ped _EC_PktSaving BOOL Saving Packet Data File _Card1Ready BOOL SD Memory Card Ready Flag Appendices A 11 NJ NX series CPU Unit...

Страница 248: ...on_instance Busy EC_CopyMon_instance Busy B _EC_PktSaving EC_StartMon_instance Busy Inline ST Processing after normal end Instruction execution C Operating 1 Processing after normal end 2 Operating C...

Страница 249: ...ance R_TRIG EC_StopMon_instance EC_StopMon EC_SaveMon_instance EC_SaveMon EC_CopyMon_instance EC_CopyMon EC_StartMon_instance EC_StartMon External Variables Variable Data type Constant Comment _EC_Err...

Страница 250: ...UE THEN Stage INT 20 END_IF 3 EC_CopyMon_instance Execute TRUE FileName PacketFile IF EC_CopyMon_instance Done TRUE THEN Stage INT 4 ELSIF EC_CopyMon_instance Error TRUE THEN Stage INT 30 END_IF Start...

Страница 251: ...ration in the Sysmac Studio and create the network configuration information You can download the network configuration information to the EtherCAT master to configure the EtherCAT network Contact the...

Страница 252: ...ot support ed Not support ed Not support ed STRING n Not support ed Not support ed Not support ed 1 With Sysmac Studio version 1 06 1 07 or 1 08 you can read ESI files and assign device variables Howe...

Страница 253: ...he slave manufacturer The ESI file must conform to the most recent ETG ESI specifications Use the following procedure to install an ESI file 1 Double click EtherCAT under Configurations and Setup on t...

Страница 254: ...ect the folder in which ESI files are stored and then click the OK Button The ESI files are installed and the corresponding slaves are displayed in the ESI Library Dia log Box Procedure to Confirm ESI...

Страница 255: ...erCAT Tab Page and select Display ESI Library The ESI Library Dialog Box is displayed 3 Click the Icon to the left of the name of the ESI file that was added Appendices A 19 NJ NX series CPU Unit Buil...

Страница 256: ...ded so that you can check the following items Model Revision Product name Revision Model Product name 4 If an exclamation mark is not displayed click the Close Button Appendices A 20 NJ NX series CPU...

Страница 257: ...e dialog box to confirm execution is displayed 2 Click the Yes Button The ESI file is uninstalled and the corresponding slaves are removed from the ESI Library Dialog Box A 3 4 Editing PDO Entry Table...

Страница 258: ...arrange objects within byte boundaries Click the Align Button Padding is automatically entered Refer to the descriptions of the buttons below for details Add padding to the PDO entries manually In th...

Страница 259: ...tton 1 2 Use this button to upload the PDO map settings from the actual slave and update only the PDO mapping data in the PDO Map Settings Window 1 This button is displayed only when Sysmac Studio is...

Страница 260: ...rsion Information Sysmac Studio version 1 23 or higher is required to display all objects in the slave Editing PDO Entries Select padding 0x0000 00 in the PDO entry table and click the Edit PDO Entry...

Страница 261: ...not change PDO mapping selection or edit PDO en tries Additional Information The PDO Map Settings Window can be displayed while the Sysmac Studio is online You can execute to compare and upload the PD...

Страница 262: ...ng list and the PDO en try list of the actual slave Click the OK Button or Apply Button in the Edit PDO Map Settings Window to update the project with the PDO mapping list and PDO entry list of the ac...

Страница 263: ...odules that are connected b Items for which the current setting is changeable The items that you can edit are the PDO Map Settings Module config send method Setting Parameters and Backup Parameter Set...

Страница 264: ...position The connected position of the device b Items for which the current setting is changeable The items that you can edit are the Device name PDO Map Settings Setting Parameters and Backup Paramet...

Страница 265: ...t Module Configuration An edit pane for the module configuration is displayed 2 Select a slave on the edit pane for the module configuration A list of the slave settings is displayed 3 Select the loca...

Страница 266: ...The module is registered and a list of module settings is displayed Appendices A 30 NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505...

Страница 267: ...l measurement Otherwise the correct transmission delay time cannot be calculated Connect all slaves including disconnected and temporarily disabled slaves to the network If a ring topology is included...

Страница 268: ...ansmission delay time is displayed on Calculation result from the measured value in the actual network configuration in the Transmission Delay Time Setting Dialog Box even offline The following dialog...

Страница 269: ...ts index Address of an object within an application process object An abstract representation of a particular component within a device which consists of data parameters and methods object dictionary...

Страница 270: ...unction that enables the EtherCAT master to capture packets flowing over an EtherCAT line and store them in the master You can start and stop capturing packets from the Sysmac Studio or with EtherCAT...

Страница 271: ...cket monitoring can be used with project unit version earlier than 1 40 It cannot be used with project unit version 1 40 or later 3 The cable redundancy function can be used with project unit version...

Страница 272: ...cation Error Mismatched Slave 84330004 hex event Network Configuration Verification Error Slave Unconnected 84380000 hex event Operation of the slaves that are disconnected from the Sysmac Studio or w...

Страница 273: ...003 hex event occurs Communications continue with sal ves that are during communica tions However an error may occur in synced slaves Event that will occur Refer to Correspondence of Events between Pr...

Страница 274: ...Appendices A 38 NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505...

Страница 275: ...I Index I 1 NJ NX series CPU Unit Built in EtherCAT Port User s Manual W505 I...

Страница 276: ...Status 7 6 7 16 _EC_MacAdrErr MAC Address Error 7 3 7 11 _EC_MBXSlavTbl Message Communications Enabled Slave Table 7 6 7 15 _EC_MsgErr EtherCAT Message Error 7 4 7 13 _EC_MstrErr Master Error 7 3 7 10...

Страница 277: ...guration verification 5 19 Network Configuration Verification Error 7 3 7 12 Network Connected Slave Table 7 6 7 15 Node Address 5 21 node addresses 2 9 non synced slaves 1 5 Number of Slaves 5 15 O o...

Страница 278: ...lave Node Address Duplicated Error 7 4 7 13 SM A 33 Start port of the ring A 34 subindex A 33 sync jitter A 34 sync manager A 33 synced slaves 1 5 Sysmac devices 2 12 Sysmac devices features 2 12 Sysm...

Страница 279: ......

Страница 280: ...IL 60169 U 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...

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