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Machine Automation Controller

NX-series

EtherCAT

Coupler Unit

EtherCAT Coupler Unit

User’s Manual

W519-E1-01

NX-ECC201

Содержание NX-ECC201

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Страница 24: ...r all slaves connected after it Confirm that the system will not be adversely affected before you disconnect a slave If you disconnect the cable from an EtherCAT slave to disconnect it from the networ...

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Страница 405: ......

Страница 406: ...S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67 69 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 Contact www ia omron com Tokyo J...

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