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NJ-series CPU Unit Built-in EtherCAT Port User`s Manual

1. 00 00 es 3 11 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 1 3 EtherCAT Communications 3 1 EtherCAT Communications Types and Settings 3 1 1 CoE CAN Application Protocol over EtherCAT The EtherCAT port built into the NJ series CPU Unit uses CoE CAN application protocol over Ether CAT to exchange information with slaves over EtherCAT CoE implements CANOpen an industrial communications protocol developed by CiA communications over an EtherCAT network With CoE the parameters and control information held by the slaves are specified according to data specifications for the object dictionary i Process data Communications and SDO Communications 3 2 There are two communications that are used to communicate data between the master and slaves These are described below 1 Process Data Communications Communications using process data objects PDOs to exchange information in realtime with a fixed period 2 SDO Communications Communications using service data objects SDOs for communicating information when required Controller communications master EtherCAT communications Slave line 4 Process data communications Executed periodically Output data eeereerererereee qj o o o SDO communications I I e o eee Executed for requests The EtherCAT port built into the NJ series C
2. Software is corrupted None 9 14 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting Slave Node Address Duplicated 24200000 hex The same slave address is used for two nodes EtherCAT Master Function Module At power ON at Controller reset or during commu nications Slave Error Reset System Minor fault Continues Master e f error is detection when the master is started Communications stop The master waits in the Init state e When the Fail soft operation is set to Fail soft and the error is detected during operation Slaves that were normal continue to operate Slaves after the new slave that caused the duplicated address error remain in the Init state e When the Fail soft operation is set to Stop and the error is detected during operation The slaves that were normal enter the Pre operational state Slaves after the new slave that caused the dupli cated address error remain in the Init state Slave e No error occurred Parameters other than the node address cannot be set and process data communications cannot be performed for the new slave that caused the duplicated address error and all slaves after it Re Flashes at 1 9 intervals _EC_SlavAdrDupErr BOOL Duplicated Slave Node Address Error The same node address is set for Check the node address switch or Set the node address of the slave to more than one slave no
3. 2 3 3 istot SYSIMAC Devices sniene a S E EEE 2 14 2 3 4 Sysmac Device Features and EtherCAT Masters cccccccseseeeeeceeseeeeeseeeeeeeeaaeeeeeesaaeeeeeeas 2 15 EtherCAT Communications EtherCAT Communications Types and SettingS cccsssccsssseecssseeseesseeeeneeseesseeeeeneneeseeeseas 3 2 3 1 1 CoE CAN Application Protocol over EtherCAT cccccccssseeeeceeseeeeeseeeeeecaeeeeeeeseaseeeesaaeeesesaaes 3 2 3 1 2 TY OES Of COMMUNICATIONS saeia e cheek chs hd ea ean tealieee E a Rae Re a ese 3 4 3 1 3 Types of EtherCAT Variables cccccccssseccecceseeeeeceseeeeceeseeeesneeeeeeeseasseeeseuaeeeeseageeeessagseesessases 3 6 3 1 4 Settings Required for EtherCAT COMMUNICATIONS ccceeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeeeasaaeeeeeeeeaaaees 3 7 Programming EtherCAT Communications cccceesseceeseeeeeseeeeeseeeeesseeeeneeseenseeeeneeseesseneeas 3 8 State Transitions for EtherCAT COMMUNICATIONS cccceesceeeeeeeeeeseeceeneeeeeneeeeeneeseneesnenees 3 9 3 3 1 Delf DIAGNOSIS at StartU Drenori ae p danera icraata raniad ii 3 9 3 3 2 Control States for EtherCAT Communications ccccccsseeeeeeceeeeeeeeseeeeesaueeeeeesaaeeeesseneeeesssanss 3 9 3 3 3 CPU Unit Status in Relation to EtherCAT ccccceeececceeeseeecceeeeeeeceneaeeeeceaseeeeseseeesssenseeesens 3 11 EtherCAT Network Wiring Laying the EtherCAl NetWork siiicccces scccncdeceterdccecesceessatateencudecsstueviccececassacseccs
4. 5 5 Comparing and Merging EtherCAT Network Configurations 5 5 1 Comparing and Merging with the Actual Network Configuration from the Sysmac Studio Use the Sysmac Studio to compare the network configuration information settings in the Sysmac Studio with the actual network configuration that is connected including branch lines and branch locations The following items are compared e Node addresses e Vendor IDs e Product codes e Revisions e Connected ports If the settings in the Sysmac Studio and the actual network configuration match completely it is possi ble to determine the locations of errors when they occur If differences are shown in the comparison results merge the configurations from the Sysmac Studio Network Configuration Settings on the Sysmac Studio Actual Network Configuration That Is Connected The output port numbers for the branches do not match the node addresses for the connected Slaves In this example the settings on the Sysmac Studio and the slaves connected to Out1 and Out3 on node 09 in the actual network configuration do not match Input port Output port indicates a node address Use the following procedure to compare and merge the network configuration settings on the Sysmac Studio and the actual network configuration 1 Start the Sysmac Studio and go online with the Controller 2 Double click EtherCAT under Configurations and Setup in the Multiview Explorer Or right
5. All EtherCAT Slaves The user program in an NJ series CPU Unit can read and write EtherCAT slave process data by read ing and writing device variables The slave process data is I O data that is exchanged between the master and slaves in each period NJ series CPU Unit User program Reading and writing 1 O Ps ara i EtherCAT Slave Only Servo Drive and Encoder Input Slaves Servo Drive and encoder input slave on EtherCAT can be controlled by specifying Axis Variables struc tures as parameters for motion control instruction in out variables Axis Variables structures consist of the following data e Parameters Maximum acceleration rate software limits etc e O Home proximity input Servo ON etc e Operating status Accelerating waiting for in position state etc 6 2 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 Process Data Communications and SDO Communications e Error and warning status Excessive following error acceleration error etc NJ series CPU Unit User program Reading writing and commands a Axis Variables structures Servo Drive encoder input slave Servo Drive encoder input slave Oo 1 oh UO e O D U e5 e5 O ie 3 3 c O fe fe gt u J O O e 3 3 c O fe ie gt SUOIJEOIUNWWWOD BEG SS8001q JO SB IQeUeA Peyeoo ly 1 1 9 NJ series
6. Master When the master fails to enter Pre operational state after initialization Communications stop in the Init state at the slave where the error occurred Slaves in topology up to the slave where the error occurred enter Operational state and continue to operate When the master fails to enter states after Pre opera tional state Only the slave where the error occurred enters the Init state and communications stop for it The normal slaves enter the Operational state and continue to operate Slave This depends on the slave communications status When Fail soft Operation Is Set to Stop Master e When the master fails to enter Pre operational state after initialization All slaves enter the Init state and communications stop e When the master fails to enter states after Pre opera tional state All slaves enter the Pre operational state and communi cations stop Slave This depends on the slave communications status Fresh at 1 2 intervals m _EC_SlavlnitErr BOOL Slave Initialization Error _EC_CommeE rrTbl Array 1 192 of BOOL Communications Error Slave Table An error occurred in EtherCAT master Connect the Sysmac Studio and Correctly set the slave synchroniza processing reconfigure and save the network tion settings PDO mapping informa configuration information in the mas tion and configure and save network ter again If this error occurs again configuration information in the mas check that there
7. a Node AddressiNetwork configuration Configurations and Setup v op EtherCAT E001 ACN RUBE MTSE TL R88D KNOIL ECT Rev 2 1 gt Node9 R88D KNOLL ECT E E002 Product name gt CPU Expansion Racks R88D KNO1L ECT Rev 2 1 Number of Slaves I O Map PDO Communications Cycle Time gt Controller Setup Total Cable Length gt 42 Motion Control Setup Fail soft Operation Setting amp Cam Data Settings Wait Time for Slave Startup gt Event Settings PDO communications timeout det Be Task Settings Revision Check Method FA Data Trace Settings Serial Number Check Method Item name Model Servo Drives EQ Frequency Inverter Value J Digital 10 ELOT VEEG 3 Encoder Input Master E Vision Sensor 2 1000 us nooo Faiksoftoperati v N 2 Ii Show hidden slaves Setting lt Ach v No chek v RSSD KNOLH ECT G5 Series S R88D KNOLL ECT Rev 2 1 N I y D asa D 3 D o D a TI c O ot O 5 D RSSD KNOIL ECT G5 Series S IOO MHADINN E R88D KN20H ECT Rev 2 1 R88D KN2OH ECT G5 Series S Model R88D KNO1H ECT Product name R88D KNO Revision 2 1 Vendor OMRON Corpore 1 Comment 200V 100W Se Device nme Aa URL Set a name for the master oIpnys deWSAg Ul POSM SMOPUIM Z 1 Z Setting EtherCAT Slave Variables and Axes I O Map Used to allocate device variables Use the I O Map to assign device variables to the I O ports of the EtherCA
8. 0x6077 00 259th transmit PDO Mapping Tora 0x6061 00 259th transmit PDO Mapping Mod 0x60B9 00 259th transmit PDO Mapping Tou 0x60BA 00 259th transmit PDO Mapping Tou 0x60BC 00 259th transmit PDO Mapping Tou 0x60FD 00 259th transmit PDO Mapping Digi 0x2002 01 512th transmit PDO Mapping Sys Edit PDO Map Settings Distributed Clock Enable Enabled Reference Clock Exist gt Setting Satung Parameters Edit Setting Parameters Device name Set a name for the slave The EtherCAT slave settings are listed below Name Editing Remarks Device name OK Displays the name of the slave Default setting E where is a serial number starting from 001 The default value is automatically generated based on the node address Setting range 1 to 192 Model Not Automatically displays the name of the slave model allowed Product name Not Displays the product name of the slave allowed 5 18 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio Name Remarks Revision Not Displays the revision of the slave allowed Node Address OK Sets the node address The default value is set automatically when a slave is added Setting range 1 to 192 Enable Disable Settings OK Enables or disables the slave as a communications target e Enabled The slave will operate e Disabled The slave will not operate Register slaves that are no
9. Facket monitor status Monitor stopping Save Packet Data Close Start bal Packet Monitor Packet monitor status Node AddressiNetwork configuration Be Configurations and Setup xs aj Write Slave Node Address Compare and Merge with Actual Network Configuration Get Slave Serial Numbers Display Diagnosis Statistics Information Display Production Information Display Packet Monitor Display ESI Library Click the Start Button to begin monitoring packets Click the Stop Button to stop monitoring packets i Saving Packet Data Reading Data from the Sysmac Studio After you stop packet monitoring you can use the Sysmac Studio to read the packet data and save it in a file 1 Stop monitoring packets A 8 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendix 2 Click the Save Packet Data Button to save the packet data Packet Monitor ud id Packet monitor status Monitor stopping Start al Save Packet Data Close The Save Dialog Box is displayed 3 Input a file name and then click the Save Button A TCPDump packet data file with a cap extension is saved Saving to an SD Memory Card from Memory in the CPU Unit Stop monitoring packets and then execute the EC_SaveMon Save EtherCAT Packets instruction to save a given quantity of collected packet data in memory in the CPU Unit Then execute the EC_CopyMon Transfer EtherCAT
10. The Sysmac Studio returns to the Edit Pane This completes the operation to compare and merge with the actual network configuration Removed is displayed in the Comparison results Column for a slaves that exist only in the set tings on the Sysmac Studio The following example shows a case where a node address is dif ferent in the settings on the Sysmac Studio and in the actual network configuration As a result Added and Removed are displayed in the Comparison results Column Olpnis dewWSAS y wo UOITEINBYUOD YIOMION enjoy eu UUM Huay pue Buuedwoy S s NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 23 5 Setting Up EtherCAT Communications with the Sysmac Studio gt Compare and Merge with Actual Network Configuration Sele Node Address Network configuration on Sysmac Studio Node address Actual network configuration Comparison result Actual network co Master Master p l 1 R88D KNOIL R88D KNOIL ECT Rev 2 1 LL andy E002 i i 6 R88D KNASL R88D KNASL ECT Re ii RBSD KNASL ECT Rev 1 0 ECT Rev 1 0 E003 F p 7 R88D KNASL 7 R88D KNASL R88D KNA5L ECT Re RB8D KNASL ECT Rev 1 0 ECT Rev 1 0 Tul 98 GX OD1611 o GX OD1611 Rev 1 0 Rev 1 0 Rev 1 0 Pl ns 12 GX ID1611 GX 1D1611 Rev 1 1 Rev 1 1 E001 R88D KNOIL ECT Re E004 GX OD1611 Rev 1 0 i 4 Apply actual network configuration Some slaves such as Power Supply Units are not included in the actual network configur
11. Using the built in Ether Net IP port on an NJ series CPU Unit Learning about the errors that may be detected in an NJ series Controller Learning about the operat ing procedures and func tions of the Sysmac Studio Learning how to configure networks data links rout ing tables Communica tions Unit settings etc Learning to create screen data for NS series Pro grammable Terminals Creating data transfer pro tocols for general purpose devices connected to CJ series Serial Communica tions Units NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Related Manuals Description Information on the built in EtherCAT port is pro vided This manual provides an introduction and provides information on the configuration fea tures and setup Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 Information on the built in EtherNet IP port is provided Information is provided on the basic setup tag data links and other features Use this manual together with the NJU series CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 Concepts on managing errors that may be detected in an NJ series Controller and informa tion on individual errors are described Use this manual together with the NJ series CPU Unit Hardware User s Manual
12. i Extremely High Compatibility with Ethernet EtherCAT is an open network with extremely high compatibility with conventional Ethernet systems 1 1 2 EtherCAT Communications 1 2 EtherCAT does not send data to individual slave nodes on the network instead it passes Ethernet frames through all of the slave nodes When frame passes through a slave node the slave node reads and writes data in the areas allocated to it in the frames in a few nanoseconds The Ethernet frames transmitted by the EtherCAT master pass through all EtherCAT slaves without stopping The last slave returns all of the frames which again pass through all of the slaves before returning to the EtherCAT master This mechanism ensures high speed and realtime data transmission EtherCAT master e Output data addressed to the local node is read e Input data is written Ethernet frames NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 Introduction 1 1 3 EtherCAT Features for NJ series CPU Units EtherCAT in the NJ series CPU Units has the following features Synchronization of the CPU Unit Processing Period and the EtherCAT Communications Cycle The period of sequence processing and motion processing in the CPU Unit matches the process data communications cycle of EtherCAT This enables high precision sequence control and motion control with a stable fixed period Accessing Data with Device Variables without Considering Addresses Et
13. i Saving Node Address Settings Each Sysmac device stores its own node address setting in non volatile memory within the slave This allows the master to identify slaves on the network The node addresses are set as given below depending on the type of slave e Slaves with Hardware Switches 0 The node address is set from the Sysmac Studio Not 0 The setting on the hardware switches is used e Slaves without Hardware Switches The node address is set from the Sysmac Studio Hd oo Tl D D F D wo O a w lt O 3 D O O lt O wo l Precautions for Correct Use e Set a node address for every slave so that the slaves can be identified on the EtherCAT net work Do not assign the same node address more than once e If you connect slaves from other manufacturers to the NJ series EtherCAT master set the node addresses for them from the Sysmac Studio The NJ series EtherCAT master recog nizes the value that is stored at address 0x0012 in the EtherCAT slave controller of the slave as the node address e For OMRON slaves that are not Sysmac devices set the node addresses on the hardware switches If the node address switches are set to 0 a Network Configuration Verification Error occurs soinyee4 oewWSAS Z Z EN Additional Information e Refer 2 2 Setting the Node Addresses of the EtherCAT Slaves or the manuals for each slave for the procedure to set the node addresses e Refer to 5 4 2 S
14. A 15 A 16 ESM eres ha rected stat ecteesceneres te aa a a ices A 23 Tee oneen el a et hac R A 23 EtherCAT COMMUNICATIONS uo cece cece eeceeeeeeeeeeeeneees 3 1 EtherCAT Teatures 2 os sete ie anew 1 2 EtherCAT instructions ccccceccceseesceseeeeeeeeeeeeeees 6 13 6 17 EtherCAT Junction Slave oo ceccccceccceseesseeseeeseeeueeaes 1 6 EtherCAT master bcccte nctecisntehivia st escdice veces nets 1 5 SEEING Seron a emcee amie need 5 15 EtherCAT master errors ccccccccceccecseeseecseeseeseueeeaeeaeeees 9 6 EtherCAT Master Function Module cc cee A 23 EtherCAT Message Error cccccsseeeeeecseeeeeeanees 7 3 7 9 EtherCAT slave controller ccccccceccceseesseeseeeseeeeeees A 23 EtherCAT Slave errors oo ceccceccccscesecseeseeeseeseeseueeeeesaeees 9 6 EtherCAT slave information cccceceeseeeeeeeeeees A 15 A 23 EtherCAT slave information file oo ees eeee eee e eens A 16 EINGK CAL Slaves cann areas ede ease paseo 1 5 SSI Osa curd caterne AN AE A EA EEE EA 5 18 EtherCAT state machine ccc cecceceeeseeeseeeeeeeeees A 23 EtherCAT Technology Group ccceccseeeeeeeeeeeeeeees A 23 EVENT CODES acana ie ies Bac les ee a oe 9 8 EVENT name S orrena Ta Cuntnentuneate nies 9 8 EVENTS ceceecteccuncectartalevenhar sence andeataitaak tne deseaaniroueenieas 9 2 F Fail soft Operation Setting ccccccsseeeeeceeeeeeneeeeeeeees 5 16 forced refreShing Arekere e ra r 6 11 NJ s
15. Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 Describes the operating procedures of the Sys mac Studio Describes operating procedures for the CX Inte grator Describes operating procedures for the CX Designer Describes operating procedures for the CX Pro tocol 29 Revision History Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the Cat No W505 E1 01 Revision code Revision code Dae Revised content 01 July 2011 Original production 30 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Introduction Ee This section provides an overview of EtherCAT communications describes the system configuration and specifications and provides operating procedures 1 1 Introduction to EtherCAT 0 00 es 1 2 1 1 1 EINGIGAT Features 2525 0 0 8 4 eet Oech aetna ee eee need 1 2 1 1 2 EtherCAT Communications 0 0 00 cece eee eee 1 2 1 1 3 EtherCAT Features for NJ series CPU Units 000 00 ee 1 3 1 2 System Configuration and Configuration Devices 1 4 1 2 1 SVS lemn CONNGUIAUION 2 2 donc 2 erence bee i ao ee eae ee ee ete 1 4 1 2 2 Determining the Network Configuration 00 cee eee eee 1 7 1 3 Specifications of Built in EtherCAT Port 0 02 eee 1 8 1 3 1 Performance Specifications 0 0c eee eens 1 8 1
16. ELSIF EC_CopyMon_instance Error TRUE THEN Stage INT 30 Error end END_IF NJ series CPU Unit Built in EtherCAT Port User s Manual W505 A 13 Appendix 4 Restart EtherCAT packet monitoring EC_StartMon_instance Execute TRUE IF EC_StartMon_instance Done TRUE THEN Stage INT 0 Normal end ELSIF EC_StartMon_instance Error TRUE THEN Stage INT 40 Error end END_IF 0 Processing after normal end DoEC_PktSave FALSE ELSE Processing after error end DoEC_PktSave FALSE END_CASE END_IF A 14 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendix A 3 Multi vendor Environments This section provides precautions and describes documentation for multi vendor environments a wo a lt 0 3 Q O m O 3 D mp o A 3 1 EtherCAT Slave Information File ESI Files Setting information for EtherCAT is defined in EtherCAT slave information ESI files These files are provided by the individual slave manufacturers Various EtherCAT communications settings are defined based on the ESI definitions of connected slaves You can install the ESI files in the Sysmac Studio to use them to edit the EtherCAT configuration in the Sysmac Studio and create the network configuration information You can download the network configuration information to the EtherCAT master to configure the Ether CAT network Contact the manufacturer or the point of pur
17. O e gt 3 3 2 Control States for EtherCAT Communications i Control State Machine EtherCAT communications provides four control states Communications is controlled by moving between these states Power ON Self diagnosis 1 Init state Process data communications and SDO communications are not possible 2 Pre operational state Only SDO communications is possible tis 3 Safe operational state Inputs for process data communications and SDO communications are possible 4 Operational state I O for process data communications and SDO communications are possible After the power is turned ON the communications master and slaves go from the Init state to the Pre operational state Safe operational state and then Operational state before starting EtherCAT commu nications Afterwards EtherCAT communications are performed while the state changes automatically between these states according to error occurrence and other conditions dnyieys ye sisoubeiq seS 1 E NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 9 3 EtherCAT Communications 3 10 The current control state can be determined using the RUN indicator on the front panel State 1 Init 2 Pre operational 3 Safe operational 4 Operational Description Plocess paa spe i RUN indicator communications communications Communications are Not allowed Not allowed Not lit being initialized Com mun
18. S j D N D D 5 2 D lt y 9 D 3 D D U D 5 O EN Additional Information J JSEN IWO198uIg BUMS 1 7 S Network Configuration Verification The network configuration information is verified against the actual network when the EtherCAT master is started If an inconsistency is found during verification the system defined variable for a Network Configuration Verification Error provides notification This setting applies to the entire system and not to individual slaves Verified information Description Number of slaves connected Number of slaves in the network Vender ID Vendor ID of each slave Product code Product code of each slave Revision Optional t Revision number of each slave Serial number Optional 1 2 Serial numbers of all slaves 1 Options are selectable 2 Serial number verification is performed for all slaves in the EtherCAT topology You cannot specify verifi cation for individual slaves The default setting is No check NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 17 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 4 2 Setting EtherCAT Slaves 1 Double click EtherCAT under Configurations and Setup on the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit F3 Sysmac Studio New Project new_NJ501_0 Configurations and Setup gt 5G EtherCAT gt CPL Exp A I O Ma
19. Sysmac Studio File Edit View Insert Project Controller _ Simulation Tools Help New Project new NISOL0 Y gt 33 EtherCAT CPU Expansion Racks 1 0 Map b Controller Setup Y i Motion Control Setup ae j a ap a S bw ees i Anes E Cam Da gt Event Se E Task Se Axis Setting Table i Data Trace Settings NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio The MC_Axis000 Axis Variable is added under the Axis Settings New Project new NI501_0 Configurations and Setup 5G EtherCAT H CPU Expansion Racks a 1 0 Map P amp Controller Setup Y i Motion Control Setup Y Anis Settings ef Cam Data Settings Event Settings E Task Settings KS Data Trace Settings 2 Double click Global Variables under Programming Data on the Multiview Explorer New Project rA gt V zi gt c m mp gt gt ar 2 lt D S Q z D on Q gt pa D new_NIJ501_0 v f gt 39 EtherCAT gt CPU Expansion Racks amp I O Map gt Controller Setup v Motion Control Setup v amp Axis Settings tt MC_Axis000 0 Axes Group Settings amp Cam Data Settings gt Event Settings E Task Settings W Data Trace Settings Programming gt A POUs v amp Data c Data Types gt Fo Tasks You can confirm that the MC_AxisO00 Axis Variable
20. User Pro The user program The program or the Controller page 9 12 gram Con or Controller Con Configrations and Setup is ille troller figurations and gal because the power supply Configura Setup were not to the Controller was inter tions and transferred cor rupted or communications with Setup Trans rectly the Sysmac Studio were dis fer Error connected while downloading the user program or the Con troller Configurations and Setup The program or the Controller Configrations and Setup is ille gal because the power supply to the Controller was inter rupted or communications with the Sysmac Studio were dis connected during online edit ing The user program or Controller Configurations and Setup are not correct because the power supply to the Controller was interrupted during a Clear All Memory operation Non volatile memory failed 04400000 hex Communica An error was The CPU Unit has failed y page 9 13 tions Control detected in the ler Failure hardware test at startup 14400000 hex MAC The MAC address The CPU Unit has failed y page 9 13 Address is incorrect Error 44010000 hex EtherCAT A fatal error was Software is corrupted V page 9 14 Fault detected in the EtherCAT Master Function Module 9 8 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting p Level O Slave Node Address 24200000 hex Duplicated 34400000 hex Network Configura tion Informa
21. are also disconnected O I O oI Disconnected slaves SA Simultaneously 2 E Slaves that disconnected continue to operate slaves J o N l The status of the system defined variables for disconnected slaves are listed in the following table The status in the following table are reached immediately after disconnection This status does not change even if a slave is physically removed from the actual network configuration or physically connected to the actual network configuration again The corresponding element in the Network Connected Slave Table changes to FALSE when the slave is physically removed from the actual network configuration _EC_RegSlavTbl 1 192 Registered This variable shows the slaves that are regis Remains TRUE Slave Table tered in the network configuration informa Go y p ST O Q o lt p Q f am io O O 3 3 om 5 O O tion i _EC_EntrySlavTbl 1 192 Network This variable shows the slaves that are regis The corresponding element Connected Slave Table tered in the network configuration informa changes to FALSE when the slave tion and connected to the network is removed from the actual network configuration _EC_MBXSlavTbl 1 192 Message This variable shows the slaves that are regis The corresponding element Co io Communications Enabled Slave Table
22. ie Task Settings F Data Trace Settings gt Programming sion 2 1 Vendor OMRON Corpore i Comment 200V 100W Se Device name URL Set a name for the master Refer to Section 5 Setting Up EtherCAT Communications with the Sysmac Studio for the Sysmac Studio procedures oIpnys deWSAg Ul Pasp SMOPUIM Z L Z NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 5 2 Part Names and Slave Settings 2 1 3 Connecting the Sysmac Studio You can connect the Sysmac Studio to the NJ series CPU Unit through the USB or EtherNet IP port You must set the connection method IP address to connect to and other parameters for communi cations between the computer and Controller 7 Select Communications Setup from the Controller Menu The Communications Setup Dialog Box is displayed F Communications Setup Y Connection type Select a method to connect with the Controller to use every time you go online Direct connection via USB Direct connection via Ethernet 3 Remote connection via USB Ethemet connection via a hub Select one method from these options at every online connection E Direct connection via USB E Direct connection via Ethernet E Remote connection via USB E Ethemet connection via a hub v Remote IP Address Select a method to connect with the Controller to use every time you go online USB Communications 1 Ethernet Communicatic Y Options lt Confirm the serial
23. lt _ Packet Monitoring Stopped _EC_PktSaving BOOL Saving Packet Data File _Card1Ready BOOL SD Memory Card Enabled Flag T N O 5 O 5 Q y D O P D mp T Start sequence when _EC_ErrSta changes to TRUE EC_Err _EC_ErrSta lt gt WORD 16 00 R_TRIG_instance Clk EC_Err Q gt EC_Err_Trigger Buluwwesboig ajdwes Z Y 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 Initialize instance EC_SaveMon_instance Execute FALSE EC_CopyMon_instance Execute FALSE EC_StartMon_instance Execute FALSE END_IF Instruction execution IF DoEC_PktSave TRUE THEN CASE Stage OF lie Stop EtherCAT packet monitor EC_StopMon_instance Execute TRUE IF EC_StopMon_instance Done TRUE THEN Stage INT 2 Normal end ELSIF EC_StopMon_instance Error TRUE THEN Stage INT 10 Error end END_IF 2 Save EtherCAT packet data to file in system EC_SaveMon_instance Execute TRUE IF EC_SaveMon_instance Done TRUE THEN Stage INT 3 Normal end ELSIF EC_SaveMon_instance Error TRUE THEN Stage INT 20 Error end END_IF 3 Copy EtherCAT packet data file to the SD Memory Card EC_CopyMon_instance Execute TRUE FileName PacketFile IF EC_CopyMon_instance Done TRUE THEN Stage INT 4 Normal end
24. nection command A slave was recon nected for a recon nection command A command was received to reset errors The Ethernet cable is broken The Ethernet cable for Ether CAT is disconnected A general purpose Ethernet hub is connected The master failed The slave failed The Ethernet cable is too long The CPU Unit task period is too short Noise page 9 23 A slave left the network even though the disconnection oper ation was not performed Noise The slave failed page 9 24 An emergency message was received from a slave page 9 25 Refer to the attached informa tion to check the error page 9 25 L An operation to disconnect the slave was executed from the Sysmac Studio The EC_DisconnectSlave instruction was executed page 9 26 L An operation to reconnect the slave was executed from the Sysmac Studio The EC_ConnectSlave instruc tion was executed page 9 27 a An error reset operation was performed from the Sysmac Studio page 9 28 The ResetECError instruction was executed NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting 9 2 2 Error Descriptions This section describes the information that is given for individual errors i Controller Error Descriptions The items that are used to describe individual errors events are described in the following copy of an error table Event name Meaning Source Error
25. o mp D 3 D on D a TI c 5 O i oO 5 o Options Confirm the serial ID If you select this option the names and serial IDs are compared when going online between the project and the Controller when you go online to make sure that a connection is made to the intended Controller Check forced refresh If you select this option a check is made to see if any forced ing when going offline refreshing values are still in effect before going offline Response Monitor You can set the response monitor time for communications with the Controller Time An error is displayed if a response is not received before this time expires Note The time can be set to between 1 and 3 600 s olpnis oewsAs y BuNoeUUOD Z NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 7 2 Part Names and Slave Settings 2 2 Setting the Node Addresses of the EtherCAT Slaves Setting Node Address Using Hardware Switches Setting the node address is described here An OMRON GxX series Remote I O Terminal is used as the slave With a GX series Remote I O Terminal the node address is set on hardware switches With a GX series Remote I O Terminal these switches are used to set the node address as a slave on the EtherCAT network The 10s digit is set using the left rotary switch and the 1s digit is set using the right rotary switch The setting range is from 00 to 99 EtherCAT _ Node address setting x 1 Node
26. to Controller Button opns oewsAs y woy UOIEWJOJU UOIeINBYUOD YIOMION Oy Bulpeojumoq 9 S NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 29 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 30 Synchronization Computer Update DateController Update Date Controller Data Name Compare Yy v CPU Expansion Racks 6 24 2011 1 53 26 AM 6 24 2011 1 53 26 AM W CPU Expansion Racks Y CPU Rack 6 23 2011 11 28 46 Ph 6 23 2011 11 28 46 Ph W CPU Rack Y Units 6 23 2011 11 28 46 Ph 6 23 2011 11 28 46 Ph Y Units Y Controller Setup 6 23 2011 11 28 46 Ph 6 23 2011 11 28 46 PS Y Controller Setup Operation Settings 6 23 2011 11 36 08 Ph 6 23 2011 11 36 08 Ph Operation Settings Built in EtherNet IP Por 6 24 2011 12 06 31 Ah 6 24 2011 12 06 31 AM Built in EtherNet IP Por Y Motion Control Setup 6 24 2011 1 54 10 AM 6 24 2011 1 54 10 AM W Motion Control Setup Axis Settings Axes Group Settings 6 24 2011 1 54 15 AM 6 24 2011 1 54 15 AM 6 24 2011 1 53 27 AM 6 24 2011 1 53 27 AM 6 24 2011 12 22 38 Ab 6 24 2011 12 22 38 Ab Axis Settings Axes Group Settings Cam Data Settings 6 23 2011 11 36 09 Ph 6 23 2011 11 36 09 Ph 6 24 2011 1 53 26 AM 6 24 2011 1 53 26 AM 6 23 2011 11 28 46 Ph 6 23 2011 11 28 46 Ph 6 23 2011 11 28 46 Ph 6 23 2011 11 28 46 Ph 6 24 2011 1 53 26 AM 6 24 2011 1 53 26 AM 6 24 2011 12 43 27 AD 6 24 2011 12 43 27 AM 6 24 2011 12 45 07 Al 6 24 2011 12 45 07 AM 6 23 2011 11 28 46 Ph 6 23 2011
27. who must also have knowledge of electrical sys tems an electrical engineer or the equivalent e Personnel in charge of introducing FA systems e Personnel in charge of designing FA systems e Personnel in charge of installing and maintaining FA systems e Personnel in charge of managing FA systems and facilities For programming this manual is intended for personnel who understand the programming language specifications in international standard IEC 61131 3 or Japanese standard JIS B3503 Applicable Products This manual covers the following products e NJ series CPU Units e NJ501 1300 e NJ501 1400 e NJ501 1500 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 Relevant Manuals Relevant Manuals There are three manuals that provide basic information on the NJ series CPU Units the NU series CPU Unit Hardware User s Manual the NJ series CPU Unit Software User s Manual this manual and the NJ series Instructions Reference Manual Most operations are performed from the Sysmac Studio Automation Software Refer to the Sysmac Stu dio Version 1 Operation Manual Cat No W504 for information on the Sysmac Studio Other manuals are necessary for specific system configurations and applications Read all of the manuals that are relevant to your system configuration and application to make the most of the NJ series CPU Unit NJ series CPU Unit Hardware User s Manual NJ series CPU Unit Software Use
28. 1 0 z l 98 GX 0D1611 GX 0D1611 Rev 1 0 Rev 1 0 12 GX 1D1611 Rev 1 1 4 Apply actual network configuration Some slaves such as Power Supply Units are not included in the actual network configuration Close After you drag the missing slaves and add them to the network configuration on the Sysmac Studio the Comparison results Column will show that everything in the configurations matches 5 Click the Close Button gt Compare and Merge with Actual Network Configuration ARR Node Address Network configuration on Sysmac Studio Node address Actual network configuration Network configura Comparison result Actual network co n ol Q e 3 Oo 2 Q co m mp gt gt ar D mp O an Q O Q c y e grema all Master Master Matched Master E001 a i 1 R8B8D KNOIL 1 R88D KNO1L R88D KNOIL ECT Re RB8D KNOIL ECT Rev 2 1 BEZENN Matched EGT Rev 2 1 6 R88D KNASL 6 R88D KNASL E002 C M 4 R8 amp 8D KNASL ECT Re C 1 hdna dana omeraney ECT Rev 1 0 Matohed ECT Rev 1 0 Cro w s 7 R88D KNASL 7 R88D K R88D KNASL ECT Rev 1 0 ECT Rev 1 0 Matched ECT Rev 1 0 z 98 GX OD1611 98 GX 0D1611 GCOS Rev 10 Rev 1 0 Rev 1 0 E003 R88D KNASL ECT Re E004 GX 0D1611 Rev 1 0 4 Apply actual network configuration Some slaves such as Power Supply Units are not included in the actual network configuration Close
29. 1 1 SIr 0 Ree ne Een ee eee eee A 2 A 1 2 CPU Unit Operating Modes 2 cc eee A 3 A 1 3 Controller Errors Other Than Errors in the Built in EtherCAT Master A 4 ARA NES hb aed hte oa eek te Sekt art tty see a te eet Snes ene as oe Decent yas A 5 A 2 Monitoring Packets sc 0ieedee tered on ee es eee ete eee ee A 7 A 2 1 Sample ProgramimllnG 252 4 2200 5 5 6 oes eee h le eee fae Oe i eed oe A 10 A 3 Multi vendor Environments 0000 ce eee ee es A 15 A 3 1 EtherCAT Slave Information File ESI Files 000005 A 15 A 3 2 Connecting Slaves from Other Manufacturers to an OMRON Master A 16 Ae3 3 lnstallingi ESWPiles 2tecistcaiuntadweenstetee hehe ed Sue eee A 16 Pe GIOSSALY iss este ee wed a oe ack ae ea eas wee ens Pe ees ee ee A 23 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 A 1 Appendices A 1 EtherCAT Status in Relation to CPU Unit Status The status of EtherCAT master memory the ability to download master and slave settings and the slave status are given below for different CPU Unit operating modes Controller errors and other status A 1 1 Startup Memory related to EtherCAT master Slaves Category Network pone Downloading Device vari _EC sys configura tistical master and eode Slave communica ables tem defined tion infor slaves settings p tions status informa variables mation i tion Devices vari Default set Cleared
30. 6 9 6 1 5 I O Operations for Major Fault Level Controller Errors and I O Refreshing NJ series CPU Unit Built in EtherCAT Port User s Manual W505 CONTENTS With Specified ValS csi cate lok eat ee teen aac a ats sea he haeetol aes 6 10 62 SDO COMMUNICATIONS iiia raaa a a a a aSa a Ga 6 13 6 2 1 ETS TAMAS Uh UGE ONS eb cca a ah a ea a aces eans 6 13 6 2 2 Sample Program sssr Eiaa Eara aao a oA A TDA 6 13 6 2 3 Execution Timing of SDO COMMUNICATIONS cccccceeeeeeeeceeeeeeeeceseeeecaeeeeeeesauseeessnaaeeesenaaees 6 15 6 2 4 Message Response Time for SDO COMMUNICATIONS ccceeeeeeeeeeeeneeeeeeeeeaeaeeeeeeeeesaaaaeeeees 6 15 6 3 Instructions Used in EtherCAT Communications cccccseseesseeseeeeeneeeesseeseeseeseeseeeonenenes 6 17 6 3 1 EMErCAT IASIUCH ONS enrenar aa esate chaste eaialicuae ack A 6 17 Section 7 System defined Variables That Are Related to the Built in EtherCAT Port 7 1 System defined Variables That Are Related to the Built in EtherCAT Port 00000 7 2 7 1 1 What Are System defined Variables cccccssccececssseeeeeeeneeeeceeeeeeeeeeeeeeeesaaeeeessaaeeeeeasaneeessaaaes 7 2 7 1 2 System defined Variables ccccsecccccsssscecceeececccesseeeceesececseeueeeeceuseeeseueeeeesegeeeessaseeeeesseaeeeees 7 2 7 1 3 EtherCAT Master Function Module Category Name _EC ccccccccseeeeeeeeeeeeeeeeeeeeeeeeaaeeeeeees 7 6 Section 8 Example of Operations for Ethe
31. 8 Downloading the Network Configuration Information and the User Program 8 5 8 1 9 Confirming the Start of Communications 00 002 eee eee 8 5 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 8 1 8 Example of Operations for EtherCAT Communications 8 1 Example of Operations for EtherCAT Communications 8 1 1 System Configuration Example EtherCAT master Digital I O slave Button 0 Node address 1 a Digital I O slave Node address 2 Servo Drive Servo Drive Node address 3 L _f Node address 4 LL Button 0 Operation start button Button 1 Homing button There are no restrictions on the order of node addresses 8 1 2 Wiring and Settings i Wiring e Install the NJ series CPU Unit and slaves e Connect communications cables to the EtherCAT master and slaves e Connect the power supply i Settings e Set the node address for each slave NJ series CPU Unit Built in EtherCAT Port User s Manual W505 8 Example of Operations for EtherCAT Communications 8 1 3 Setting the EtherCAT Network Configuration Start the Sysmac Studio and make the following settings Creating the EtherCAT Network Configuration Use the EtherCAT Configuration Editor to create the slave configuration File Edit View _Insert Project Controller Simulation Tools Help le 73 EN ese A Configurations and Setup LQ new_NJ50
32. Built in EtherCAT Port User s Manual W505 A 5 Appendices A 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendix A 2 Monitoring Packets Packet monitoring stores a certain number of the most recent packets sent and received by the Ether CAT master along with time information You can use an EtherCAT communications instruction or the Sysmac Studio to save the captured packet data in packet data files in the system in the CPU Unit T N O 5 O 5 Q y D O P D mp T You can use any of the following methods to obtain the packet data saved in the system memory in the CPU Unit e Reading directly from the Sysmac Studio e Saving to an SD Memory Card inserted in the CPU Unit You can view the captured packet data with packet analyzer software such as WireShark You can also use the data for analysis applications such as error analysis and data mining Sysmac Studio You can save packet data to the memory in You can save the CPU Unit data to files on an SD Memory Card NJ series CPU Unit ey ee E You can check and analyze data with packet analyzer software a as WireShark Packet data SN N J directly from the A Sysmac Studio l Tr Memory Card J 4 Packets Starting and Stopping Packet Monitor You can start and stop packet monitoring either with instructions in the user program or with operations on
33. CPU Unit Built in EtherCAT Port User s Manual W505 6 3 6 Process Data Communications and SDO Communications 6 1 2 Sample Programming Individual Interlocks This sample programs individual interlocks to check the validity of the process data from each slave The _EC_PDSlavTbI 1 192 Process Data Communicating Slave Table system defined variables are used to see if the process data inputs and outputs are valid for the relevant slave slave 1 LD _EC_PDSlavTbl 1 _ _EC_CommErrTbl 1 EQ Slave_1_outputs_valid EN _EC_SlavErrTbl 1 Int WORD 16 0000 In2 _EC_InDatalnvalid Slave_1_inputs_valid Slave 1 inputs Slave_1_inputs_valid E001_In_Bit0O E001_Out_Bit07 Slave 1 outputs Slave_1_outputs_valid E001_Out_Bit0O NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 Process Data Communications and SDO Communications ST IF EC PDSlavTbl 1J TRUE AND _EC_CommeErrTbl 1 FALSE AND _EC_SlavErrTbl 1J WORD 16 0 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 InDatalnvalid FALSE THEN Slav_In TRUE ELSE Slav_In FALSE END_IF e gt I oh UO O D U e5 e5 O O 3 3 c 5 O fe T O gt __ u J a O O 3 3 c 5 O fe O gt v Output data valid IF Slav_Out TRUE THEN E001_Out_Bi
34. Configuration Information Error 7 3 7 8 network Configuration verification ccccsseeeeeeeeeeeeees 5 17 Network Configuration Verification Error 7 3 7 8 Network Connected Slave Table ccceeeeeeees 7 5 7 10 node addresses 2 ccncit eae e a ct et bade 2 8 5 19 NON SYNCE slaves ceeecesesececeeeeecseeseeteseeenseeeesseneessens 1 5 NUMIDER OF SIAV CS mern ect ie eee ate cenaeeeaes 5 16 O object dictionary cacciesesthicasstaseien davccosecutenisestntea te aieadts 3 3 A 23 ODJECE r A 23 observation event level cc cecec cece eeceeeeeeeseeeeeseeeeaeees 9 7 OD a REE Ea heme ne ORO Re ie OA YR Fe EP era A 23 Operational sesia aE canes 3 10 A 23 OUTPUT POVS Granaas e des tamseiae ieee aa 1 5 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Index P packet monitoring c2ssizccnszssesesaseatooseceasetanresiarteaeanes A 7 A 23 Packet Monitoring Stopped ccccseeeeeeeeeeeeees 7 5 7 12 partial fault event level ceecceecsssseeeeeeeseeeeseeeeeeeeees 9 7 POO cier A A 23 PDO COMMUNICATIONS ceeceeceeeeeeeeeeeeeeeeees 3 4 6 2 A 23 PDO Communications Cycle Time csceeeeeeeeeees 5 16 PDO communications timeout detection count 5 16 PDO Map Settings asictettoeesteieesetreticeered be cnuderdldenes PDO Se seia ss scacessgest estes eae oeececeteteccesetas eae performance specifications Pre operational geet
35. Description The number of messages discarded in mailbox reception The number of frames that could not be received in relation to the number of repeat frames sent The propagation delay time for a frame to travel from the slave con nected to the master to the last slave when using two or more syn chronized slaves The present value of the process data transmission period ns The maximum value of the process data transmission period ns The minimum value of the process data transmission period ns The jitter in the process data transmission period ns The number of frames received that resulted in CRC errors The number of frames resulting in reception errors from the Ether net controller EtherMAC The number of delay collisions on the line after start of transmis sions The number of frames received with less than 64 bytes The number of frames received with more than 1 522 bytes This value cannot be cleared to zero from the Sysmac Studio 2 This information is valid only for slaves that support a distributed clock If a slave does not support a distributed clock is displayed NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 31 N Oo ea D N y e Oo 5 UOEWJOJU 2dSHe S pue onsoubeidq p 2 6 9 Troubleshooting 9 3 Replacing Slaves during Communications 9 3 1 Introduction You can temporarily stop and start communications with a specified slave and all
36. EtherCAT Port User s Manual W505 Description This section provides an introduction to the NJU series Controllers and their features and gives the NJ series Controller specifications This section describes the variables and control systems of the CPU Unit and CPU Unit status This section describes how to use I O ports how to create the slave configuration and unit configuration and how to assign functions This section describes the initial settings of the function modules This section describes the task system and types of tasks This section describes programming including the programming languages and the variables and instructions that are used in programming This section describes simulation of Controller operation and how to use the results of simulation This section describes CPU Unit status This section describes the functionality provided by the CPU Unit This section describes how to go online with the CPU Unit and how to connect to other devices This section describes the procedures that are used to actually operate an NJ series Controller This section describes the event codes error confirmation methods and corrections for errors that can occur The appendices provide the CPU Unit specifications task execution times system defined variable lists data attribute lists CU series Unit memory information CJ series Unit memory allocation methods and data type conversion information Manual C
37. Example of Operations for EtherCAT Communications 8 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Troubleshooting pO This section describes the event codes error confirmation methods and corrections for errors that can occur for EtherCAT communications It also describes how to replace slaves 9 1 lt OVErvieW OF Errors 4 34 0c ate te te a Se ee es 9 2 9 1 1 FIOW 10 Check JOM EIrOlVsi5 octet eet etoheeeeitacese twee tewsetee 9 3 9 1 2 Errors Related to the EtherCAT Master Function Module 9 6 9 2 Troubleshooting esistere eine eee ee ee ewe eas 9 8 9 2 1 EOL TaD tank doce Geren tah eth wie whe dat ie eg tae het ea Nah ete at aot tec ed era 9 8 9 2 2 Error DESCIDIONS cererii ea Hain aan ee ae ee eae 9 11 9 2 3 FAC SC UIC ENOS arere a a ther a ee E tec teste a oe ait 9 29 9 2 4 Diagnostic and Statistical Information 0 0000 eee ees 9 29 9 3 Replacing Slaves during Communications 0 0000008 9 32 9 3 1 IMVOOUCTION sci oe Oo wustien Dou 2 S40 EAT d SOs ae td oe ee ee 9 32 9 3 2 Slave Replacement Methods 000 eee ee eee ees 9 33 9 3 3 Backing Up Settings bats points tants Oreo esadS Pe nated san 9 34 9 3 4 Restoring Settings s ai coe ete oaet ae tenunan seed dated Bee 9 35 9 3 5 Replacement Procedure 2 000 cece ees 9 37 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 1 9 Troubleshooting 9 1 Overview of Errors You manage
38. FALSE Initialize instance O ReadDat Versionlnfo Dummy O END_IF S 3 Execute EC_CoESDORead instruction IF DoSdoRead TRUE THEN 9 EC_CoESDORead_instance S Execute TRUE z NodeAdr UINT 1 Node address 1 SdoObj SdoObject SDO parameter TimeOut UINT 20 Timeout time 2 0 s ReadDat VersionInfo Read data IF EC_CoESDORead_instance Done TRUE THEN Processing after normal end NormalEnd NormalEnd UINT 1 ELSIF EC_CoESDORead_instance Error TRUE THEN Processing after error end ErrorEnd ErrorEnd UINT 1 END_IF END IF 6 2 3 Execution Timing of SDO Communications SDO communications are executed in the system service time of the NJ series CPU Unit System ser vices are executed in the period between execution of all of the tasks Refer to the NJU series CPU Unit Software User s Manual Cat No W501 for details on the execution timing of system services p D to m x D O 5 zl 3 5 a 24 O J O O e 3 3 Z gt O D 6 2 4 Message Response Time for SDO Communications The message response time for SDO communications is the time from when the SDO communications instruction is executed in the user program until execution of the instruction is completed When the instruction is executed in the user program the master sends a frame to the slave in the sys tem service When the slave receives the frame it processes it When the slave completes proce
39. Global local Global Function This table indicates which slaves are connected to the network Slaves are given in the table in the order of slave node addresses The element for a slave is TRUE if the corresponding slave has entered the network Data type Array 1 192 OF BOOL Range of values TRUE or FALSE Usage in user program Related instruc tions 7 10 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 7 System defined Variables That Are Related to the Built in EtherCAT Port Variable name _EC_MBxXSlavTbl Meaning Message Communications Enabled Slave Table Global local Global Function This table indicates the slaves that can perform message communications Slaves are given in the table in the order of slave node addresses The element for a slave is TRUE if message communications are enabled for it pre operational safe operation or operational state Note Use this variable to confirm that message communications are possible for the relevant slave before you execute message communications with an EtherCAT slave Data type Array 1 192 OF BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc Disconnect EtherCAT Slave tions e EC_DisconnectSlave Connect EtherCAT Slave e EC_ConnectSlave Variable name _EC_PDSlavTbl Meaning Process Data Communicating Slave Table Global local Global Function This is a table that indicates the slaves that are performing process data c
40. ID Sensor Unil Chi_ExecCmd Command Execution Bit RW Chi_ErrRst Error Reset Bit Antenna RW Chi_AbtCmd Abort Bit Antenna 1 RW Chi_RunTestChg RUN TEST Bit Antenna RW Command Setting Ante RW Processing Address Ant RW B K i gii NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 3 2 Part Names and Slave Settings Axis Settings Used to create Axis Variables and set parameters for Servo Drive and encoder input slaves Use the Axis Settings to assign Axis Variables to the Servo Drive encoder input slaves 2 4 New Project A Configurations and Setup new_NISOL_0 au Mc_Axiso00 0 x Configurations and Setup gt CPU Expansion Racks I O Map Axis use Used axis zl tee ii Axis type Servo axis w 1 Motion Control Setup V i Axis Settings 7 MC_Axis000 0 z MC_Axis001 1 Axes Group Settings amp Cam Data Settings gt Event Settings E Task Settings F Data Trace Settings gt Programming Output device NOGe 43a30jdxJ MANJ Setting Axis Parameters E Sysmac Studio i New Project Configurations and Setup new_NJ501_0 Axes Setting Table x Parameters to show All v Soe therCAT V Axis Basic Settings gt CPU Expansion Racks Axis use I O Map Axis type gt Controller Setup Feedback control W i Motion Control Setup ob rain anne es Settings Output device MC_Axis000 0 dama Unit Conversion Settings Axes Group
41. Major Fault Level Controller Errors If the NJ series CPU Unit detects a major fault level Controller error all slave outputs will retain the pro cess data values from before operation stopped in Operational state Then the slaves will gradually move to Safe operational state and the slave settings will control the slave outputs The process data is still acquired for the slave inputs NJ series CPU Unit When a major fault level Controller error is detected t Input data is read Output data Values before operation stopped Slave eed Values before operation Values before operation stopped stopped When Safe operational When Safe operational state is entered the slave state is entered the slave settings control the outputs settings control the outputs When a major fault level Controller error occurs the values of the variables are not output to the slaves even if they are initialized The slave settings will control the slave outputs wy Operation stopped Values before Initial Values of variables operation stopped values Default settingz gt gt gt gt gt gt gt gt gt gt gt gt gt Slave state Operational Safe operational Safe operational gt Inputs from slaves Updated gt gt gt gt gt gt gt gt gt gt gt gt 9 9 9 9 9 9 OP PP Oma a_ nr p gt According to settings Values before Slave output values l operation stopped According to setti
42. Settings PDO communications timeout detection count 2 times Ii Show hidden staves amp Cam Data Settings Revision Check Method Se eich ieee T gees ECT Rev 2 1 gt Event Settings Serial Number Check Method No check Cail Task Settings KNOLL ECT Rev 2 1 owa acr saioe IE ETN l R88D KNO2L ECT Rev 2 1 RBSD KNO2L ECT G5 Series Si R88D KNO4H ECT Rev 2 1 RESD KNO4H ECT G5 Series S KNO4L ECT Rev 2 1 R8SD KNO4L ECT G5 Series S R88D KNO6F ECT Rev 2 sn RESD KNOG6F ECT G5 Series S A he R88D KNOSH ECT GS Series S R88D KN10F ECT Rev 2 1 RB8D KN10F ECT G5 Series S R88D KN10H ECT Rev 2 1 RSSD KN10H ECT G5 Series S E R88D KN150F ECT Rev 2 1 RB8D KN150F ECT G5 Series R88D KN150H ECT Rev 2 1 RBSD KN150H ECT G5 Series R88D KN15F ECT Rev 2 1 R88D KN15SF ECT G5 Series S fl R88D KN15H ECT Rev 2 1 R88D KN1SH ECT G5 Series S pean KN20F ECT Rev 1 SD KN20F ECT G5 Seri TJ R88D KN20H ECT Rev 2 1 RBSD KN20H ECT G5 Series S La l papm ECT R88D KNC Seca 5 i Vendor OMRON Corpor Lice Comment 200V 100W Se Device name Set a name for the master Edit Pane NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 3 5 Setting Up EtherCAT Communications with the Sysmac Studio will be added EK Ale Edit vlew Insert Projet Controller Simulation Tools __ Help New Project new _NJ501_0 i J w Configurations and Setup V op EtherCAT gt Nodal R8SD KNO1H ECT E gt CPU Eqpansion Rac
43. Settings Unit of display amp Cam Data Settings Command pulse count per motor rotation gt Event Settings Work travel distance per motor rotation Task Settings Y Operation Settings F7 Data Trace Settings Maximum velocity Velocity warming value Maximum jog velocity Maximum acceleration Acceleration warning value Maximum deceleration Deceleration warning value Acceleration deceleration over Operation selection at Reversing Positive torque warning value Negative torque waming value In position range In position check time Actual velocity filter time constant Zero position range Y Other Operation Settings Immediate stop input stop method Limit input stop method Drive error reset monitoring time Maximum positive torque limit Maximum negative torque limit Y Limit Settings Software limits Positive software limit Negative software limit Following error over value Following error warning value Y Homing Settings Homing method Home input signal Homing start direction Operation selection at positive limit input Home input detection direction I lt d m pi a Axis urbe lll v v Feedback control No control loop Y Input device lt Not assigned gt v Detailed Settin Node 9 Device R88D KNO1L ECT lt Not assigned gt 1 MC_Axis000 0 Used axis No control loop 10000 pulse re 10000 pulse re 400000000 1000000 0 0 pulse s E ele JE z alale NISIN fa S la lt lt d se rapid ac
44. Unit Built in EtherCAT Port User s Manual W505 7 11 HOd 1V319443 UI HINg y 0 payejay 1Y WEYL S qQLVHLA paulyap Wia sAS L Z 7 KioBbeyey npon uonouny selseyy WOJOUIS E 1 2 J swen 7 System defined Variables That Are Related to the Built in EtherCAT Port Variable name _EC_PDActive Meaning Process Data Communications Status Global local Global Function TRUE when process data communications are performed with all slaves Data type BOOL Range of values TRUE or FALSE R W access Rs Retained Not retained Network Publish Published Usage in user program Possible Related instruc Disconnect EtherCAT Slave tions e EC _DisconnectSlave Connect EtherCAT Slave e EC_ConnectSlave Variable name _EC_PktMonStop Meaning Packet Monitoring Stopped Global local Global Function TRUE when packet monitoring is stopped Data type BOOL Range of values TRUE or FALSE R W access R sd Retained Not retained Network Publish Published Usage in user program Possible Related instruc Stop Packet Monitor tions e EC_StopMon Start Packet Monitor e EC_StartMon Variable name _EC_LinkStatus Function TRUE if the communications controller link status is Link ON Data type BOOL Range of values TRUE or FALSE Usage in user program Related instruc tions Variable name _EC_PktSaving Meaning Saving Packet Data File Global local Global Function Shows whether a packet data file is being saved TRUE Pack
45. _EC_ErrSta Built in _EC_PortErr Communi _EC_MacAdrErr MacAdrErr MAC Address Error Address Error Partial fault EtherCAT cations Ce ae LanHwErr level Error Port Error Controller Error _EC_LinkOffErr LinkOffErr Link Link OFF Error Error Minor fault _EC_MstrErr Master a _NetCfgErr Network M me Error tion Information Error _EC_NetCfgCmpErr Network Configura tion Verification Error _EC_NetTopologyErr Network Configura tion Error _EC_PDCommeErr Process Data Com munications Error _EC_PDTimeoutErr Process Data Recep tion Timeout _EC_PDSendErr Process Data Trans mission Error _EC_SlavAdrDupErr Slave Node Address Duplicated Error _EC_ SlaviInitErr Slave Initialization Error _EC_SlavAppErr Slave Application Error _EC_CommeE rrTbl Communications Error Slave Table _EC_MsgErr EtherCAT Message Observation Error _EC_SlavEmergErr Emergency Message Detected _EC_SlaveErr Slave _EC_SlavErrTbl Slave Error Table Defined by Error the slave Note The values of all system defined variables that are related to errors in EtherCAT communications do not change until the cause of the error is removed and then the error in the Controller is reset with the trouble shooting functions of the Sysmac Studio or the ResetECError instruction NJ series CPU Unit Built in EtherCAT Port User s Manual W505 7 System defined Variables That Are Related to the Built in EtherCAT Port Functional Classification EtherCAT Commu
46. address setting x 10 UNIT PS DC24V INPUT V V The node address setting values are described in the following table Switch setting Node address setting 00 Set with the Sysmac Studio 1 to 192 01 to 99 Set with the hardware switches Setting the Node Address from the Sysmac Studio Use the Sysmac Studio to set the node address if there are no hardware switches or the node address is beyond the range that can be set with the hardware switches 1 Start the Sysmac Studio and go online with the Controller 2 Double click EtherCAT under Configurations and Setups on the Multiview Explorer Or right click EtherCAT under Configurations and Setups and select Edit Sysmac Studio File Edit View Insert Project Controller 5i a New Project new_NI501_0 d Configurations and Setup b pe EtberCAT rh Ovha 1 0 Map H amp Contoller Setup b 2 Motion Control Setup amp Cam Data Settings Event Settings E Task Settings A Data Trace Settings NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 Part Names and Slave Settings 3 Right click the EtherCAT master that is displayed in the Edit Pane and select Write Slave Node Address L eek Ae and Setup OR a OE Ce mee a a e E Node Ad AddressiNetwork co nfiguration E Mastar E001 C RE8D E002 RE8D y E002 R88D As E004 Gx OD 8 re E005 t Stave Seti GX ID ES irit
47. and Merge with Actual Network Configuration Dialog Box is displayed 4 Click the Apply actual network configuration Button gt Compare and Merge with Actual Network Configuration folk Node Address Network configuration on Sysmac Studio Node address Actual network configuration Network configura Comparison result Actual network co Master 1 R88D KNOIL R88D KNO1L ECT Rev 2 1 ECT Rev 2 1 6 R88D KNASL R88D KNASL ECT Rev 1 0 ECT R 1 0 a 7 R88D K R88D KNASL ECT Rev 1 0 ECT Rev 1 0 98 GX OD1611 Rev 1 0 12 GX 1D1611 Rev 1 1 GX 0D1611 Rev 1 0 GX 1D1611 Rev 1 1 ia LE UOHeINBYUOD yomN 24 Hulyealy Aeonewony Z S sS 4 Apply actual network configuration Some slaves such as Power Supply Units are not included in the actual network configuration Close The actual network configuration is duplicated in the network configuration on Sysmac Studio and the Comparison results Column shows that everything in the configurations matches The network configuration on the Sysmac Studio is created based on the actual network configura tion 5 Click the Close Button NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 25 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 26 gt Compare and Merge with Actual Network Configuration SEE Node Address Network configuration on Sysmac Studio Node address Actual network configuration Network configura Co
48. can install the ESI file for a slave from another manufacturer in the Sysmac Studio to handle the slave in the same way as an OMRON slave Only the ESI files for OMRON slaves for which connect ability has been confirmed are installed in the Sysmac Studio in advance When connecting a slave from another manufacturer to an OMRON master refer to the manuals for the other manufacturer s slaves and then ask your OMRON representative if you have any questions EN Additional Information EtherCAT setup software that is provided by other manufacturers cannot be connected to NJ series CPU Units A 3 3 Installing ESI Files A 16 Procedure An ESI EtherCAT slave information file is an XML file that describes the connection information and profile of the EtherCAT slave To connect an EtherCAT slave that is manufactured by other company to an NJ series master you must install the ESI file for that slave in the Sysmac Studio to enable setting the slave Use the following procedure to install an ESI file 1 Double click EtherCAT under Configurations and Setup in the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit 3 Sysmac Studio File Edit View Insert Project Controller Sir b lt Motion Control Setup Cam Data Settings AM Data Trace Settings The edit pane is displayed NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendix 2 Right click the E
49. click EtherCAT under Configurations and Setup and select Edit NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 21 o S O O 3 xe Q mA gt io Q gt Q D amp gt Co m F gt D S D O S O O gt Q c e5 O gt olpnis dewWSAS y wo UOITEINBYUOD YIOMION enjoy 3y UUM Huan pue Huedwoy S s 5 5 22 Setting Up EtherCAT Communications with the Sysmac Studio gt Sysmac Studio New Project new_NJ501_0 Configurations and Setup gt on EtherCAT gt 5 CPU Expa e amp I O Map gt 3 Controller Setup gt t Motion Control Setup amp Cam Data Settings gt Event Settings I Task Settings W4 Data Trace Settings The Edit Pane is displayed 3 Right click the EtherCAT master that is displayed in the Edit Pane and select Compare and Merge with Actual Network Configuration Configurations and Setup ns ws e Write Slave Node Address Compare and Merge with Actual Network Configuration K Get Slave Serial Numbers Display Diagnosis Statistics Information Display Production Information Display Packet Monitor Display ES Library 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 network configuration are displayed in the Comparison results Column F Compare and Merge with
50. drive slaves e You do not need to restore the settings to replace an EtherCAT slave that does not have backup parameters NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting 9 3 5 Replacement Procedure START Process data communications are performed with the slave before it is disconnected Disconnect the slave to replace with the EtherCAT slave disconnection operation on the Sysmac Studio or with the Disconnect EtherCAT Slave instruction Physically remove the EtherCAT slave from the EtherCAT network j If the node address is set on hardware Switches set the node address of the new EtherCAT slave Process data communications are interrupted with the slave Physically connect the new EtherCAT slave to the EtherCAT network f the node address is set is the software set he node address of the new EtherCAT slave Connect the new slave with the EtherCAT slave connection operation on the Sysmac Studio or with the Connect EtherCAT Slave instruction p W J D p D O 5 D lt D N 2 c 5 O fe 3 3 F O D ma O 5 D Process data communica tions are restarted with the connected slave 77 Are all disconnected Ssi i slaves now reconnected _ END BINDSDOJg JUBWDRIGeY G E G Note Steps shown in dotted boxes depend on the system NJ series CPU Unit Built in EtherCAT Port User s Manual W505
51. error occurs in the Ether CAT Master Function Module all functions of the EtherCAT Master Function Module stop Minor fault Some of the control operations for one of the function modules in the NJ series Controller stop for errors in this event level If a minor fault level error occurs for the EtherCAT Master Function Module EtherCAT communications are possible but control may be affected User action is required Observation Errors in the observation level do not affect NJ series Controller control opera tions Observations are reported in order to prevent them from developing into errors at the minor fault level or higher Information Events that are classified as information provide information that do not indicate errors i EtherCAT Master Function Module Errors by Source The following tables list the errors in each event level that can occur for each source Level Source Communications port EtherCAT master EtherCAT slaves e User Program Controller Configurations and Setup Transfer Errors No Source Classifi Major fault cation e EtherCAT Processing Error None e Communications Con Partial fault troller Error e MAC Address Error e Link OFF Error Network Configuration Infor e Network Configuration Veri mation Error fication Error Network Configuration Veri Process Data Communica fication Error tions Error Network Configuration Error Slave Node Address Dupli Process Data Reception cated
52. has been added automatically New Project H Programming new_NJ501_0 M 7 ata Initial Value pE A Retain Constant ie a gt CPU Expansion Racks I O Map gt Controller Setup w t Motion Control Setup v amp Axis Settings SOE 0 T3 Axes Group Settings amp Cam Data Settings gt Event Settings E Task Settings F7 Data Trace Settings gt POUs v Data 3 Data Types Global Variables gt Fs Tasks Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for the procedures to change delete or copy Axis Variables or the procedure to register axes groups SOAR S indu J poou4 pue SOALIG OAJ9S JO suyas SIXY Z 6 9G NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 11 5 Setting Up EtherCAT Communications with the Sysmac Studio EN Additional Information Even if you change an axis name in the Global Variable Table the axis name in the Motion Con trol Setup will not change Always change the axis name in the Motion Control Setup i Registering Slaves to Axes 1 Double click the MC_Axis000 Axis Variable that was registered New Proje e new NI501 0 Configurations and Setup b 5G EtherCAT b CPU Expansion Racks gt 1 0 Map gt 3 Controller Setup Y t Motion Control Setup Axes Group Settings amp Cam Data Settings Event Settings E Task Settings F Data Trace Settings The Axis Parameter Setting View will be displ
53. in a ring configuration is not possible NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 Introduction s xe 2 i List of Supported Functions 5 mo F zo Sp Function name Description a6 O h PDO mapping using CoE gt W Process data communica ar J tone Fail soft operation for slave communications errors o T Stop operation for slave communications errors DC distributed clock Clock synchronization CoE e Emergency message server receptions from slaves e SDO requests and responses e Communications between slaves SDO communications Automatic setting of device variable names etc Setting node address using hardware switches on the slaves Configuration Setting node address using the Sysmac Studio Network scan collection of information on devices connected to the network Display of network configuration information display of supported topology Slave configuration check when starting network _h I 9 i U D O x 3 D S O D ep O D O y O A O 5 D Reading of error information emergency error history subscription information RAS functions etc Packet monitoring Troubleshooting information When error occurs stop communications or change to fail soft operation Operations during errors Restoring communications when errors are cleared Moves to operational state Number of slaves 192 Slave information Enabling disabling slaves Disconnecting re
54. lt 0 Q O m lt O 5 3 D mp Oo soll4 ISJ Busu _ E V To add or delete an ESI file exit from this software and then add delete the file to from The change will be applied after restarting this software EN Additional Information If an ESI file for a slave cannot be used in the Sysmac Studio an exclamation mark is displayed to the left of the file name If an exclamation mark is displayed obtain an ESI file with the cause corrected from the slave manufacturer and then install the ESI file again NJ series CPU Unit Built in EtherCAT Port User s Manual W505 A 21 Appendix A 22 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendix A 4 Glossary Use the following list of EtherCAT terms for reference Term AL status application layer status CAN application protocol over Ether CAT CAN in Automation device profile device variables distributed clocks EtherCAT Master Function Module EtherCAT slave controller EtherCAT slave information EtherCAT state machine EtherCAT Technology Group index network configuration information object object dictionary Operational packet monitoring PDO communications Pre operational process data process data communications process data object receive PDO NJ series CPU Unit Built in EtherCAT Port User s Manual W505 P A Q lt Description tion Status for ind
55. nected while downloading the net work configuration information Attached Information 1 Error Details 0001 hex Illegal parameter 0014 hex Error opening file None NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Event name Meaning Source Error attributes Effects Indicators System defined variables Cause and correction Attached information Precautions Remarks 9 Troubleshooting Link OFF Error 84200000 hex A Link OFF state occurred EtherCAT Master Function Module Source details Communications Detection At power ON at port timing Controller reset or during commu nications Level o Minor fault Error Reset Reset Error Reset Log category System ae program Continues Operation Master Other communications errors caused by this error are not detected Slave Parameter setting is not possible Process data communi cations are not possible If the error occurred during syn chronized communications between the master and slave then the error occurred at the slave The error is pro cessed according to settings in the slave OOOO fasano The Ethernet cable is broken between Check the Ethernet cable between Check the Ethernet cable to see if it is the master and slaves the master and slave to see if they are operating properly damaged or disconnected and replace the cable if necessary The Ethernet cable connector is dis Reconnect the connector and make Co
56. of Network Configuration Information To execute EtherCAT communications you must create the following three types of data with the Sys mac Studio and download the data to the CPU Unit When this data is set the network configuration information is automatically created When you download the network configuration information to the CPU Unit the EtherCAT master initial izes slaves and performs process data communications based on the network configuration informa tion This section describes the procedures to set the network configuration information and how to check EtherCAT communications i Network Configuration Information Network configuration infor 1 EtherCAT network configuration mation 2 Process data information This is allocation information for PDO data in the slaves It is also called PDO mapping data EtherCAT master and slave parameter settings Examples process data communications cycle and wait all slaves startup time Sysmac Studio NJ series CPU Unit EtherCAT master Network Configuration Information l EtherCAT Master EtherCAT network configuration Parameter Settings Process Data Information Process data communications cycle EtherCAT slaves The network configu ration information is downloaded Startup wait time PDO data for for all slaves Servo Drive slaves Etc EtherCAT EJ EL 5 2 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up
57. possible for the slaves that are normal If you are using distributed clocks to synchronize the slaves and a Synchronization Error is detected only input refreshing is enabled variables _EC_NetTopologyErr BOOL Network Configuration Error Cause and Prevention Eo ten Slave output ports are connected to Correct the Ethernet cable connec Confirm that there are no incorrect each other tions Ethernet cable connections The master and slave are connected with the slave output port The number of connected slaves Disconnect unnecessary slaves and Confirm that no more than 192 nodes exceeded the maximum number of keep the number below the maximum are connected to the EtherCAT net slaves 192 nodes for the EtherCAT number work master Attached Error Details 0000 hex Too many slaves 0001 hex Incorrect connections such as a ring connection information Precautions There are restrictions on the number of slave node addresses and not on the number of slaves per se This is because Remarks there are slaves such as Junction Slaves that use more than one node Also if 192 nodes are connected and an attempt is made to make a ring connection a Too Many Slaves error 0000 hex occurs 9 18 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting Event name Network Configuration Verification Error 842200000 hex Meaning A slave that is in the network configuration information is not connected Or a slave that i
58. shielded twisted pair cable double shielding with aluminum tape and braiding of Ethernet category 5 100Base TX or higher and use straight wiring ESI EtherCAT Slave Information File The ESI files contain information unique to the EtherCAT slaves in XML format You can load an ESI file into the Sysmac Studio to easily allocate slave process data and make other settings Unit Power Supplies This power supply is for slave communications and internal operation I O Power Supply This power supply is for slave communications and internal operation NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 Introduction 1 2 2 Determining the Network Configuration Determine the type total number and positions of slaves in the network Check the total number of slaves and the cable length between slaves based on the following workflow Start Design the network configuration Peen hE AGING configuration No s 2ln q uoeinfuo pue uoljeinbijuod Wwa sAs Z Total number of slaves 192 or less Yes Design slave positions Review the slave positions Length of cable No connecting slaves 100 m or less hk I te NO J x 3 2 Q a gt D pa O x O n Q sab e O Yes End Precautions for Safe Use Make sure that the communications distance number of devices connected and method of con nection for EtherCAT are within
59. specifications NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 7 1 Introduction 1 3 Specifications of Built in EtherCAT Port 1 3 1 1 8 Performance Specifications Item Communications protocol Supported services Synchronization Physical layer Modulation Baud rate Duplex mode 2 Topology 3 Transmission media Transmission distance Maximum number of slaves Maximum process data size Maximum data sizes per slave Maximum message size Communications cycle Minimum communications cycle Maximum communications cycle Sync jitter between slaves Specification EtherCAT protocol CoE Process data communications and SDO communications DC Distributed Clock 100BASE TX Baseband 100 Mbit s 100Base TX Auto Daisy chain branch wiring Category 5 twisted pair cable or higher Cable with double aluminum tape and braided shielding and straight wiring are recommended Distance between nodes 100 m or less IEEE 802 3 192 Input 5 736 bytes Output 5 736 bytes However the data must not exceed 4 frames the maximum number of pro cess data frames Input 1 434 bytes Output 1 434 bytes 2 048 bytes 500 us 1 000 us 2 000 us or 4 000 us 500 us 4 000 us 1 us max 1 Refer to 3 1 1 CoE CAN Application Protocol over EtherCAT for details on CoE 2 Connection is possible only in full duplex mode Half duplex connections will result in link OFF status 3 Wiring
60. stuersessend tunindesPetlaeercatuuncoemeats procedures overall procedure 2 cssvseccsceaneneonicaveiceonesetsueinstiecstsaans PROCESS dala esa seceet lines can cave acs usd eeaueenatedermeueatioeoner oad Process Data Communicating Slave Table 7 5 7 11 process data communications 3 2 3 4 6 2 A 23 Process Data Communications Error 000 7 3 7 8 Process Data Communications Status 7 5 7 12 process data objects vs scseisivciiticsearepiseseceeeteuceeetazaoec debs A 23 Process Data Reception Timeout cccseeeeseeeeeeees 7 3 Process Data Reception Timeout Error 0008 7 9 Process Data Transmission Error c cceeseeeeeeees 7 3 7 9 Prod ct name sieusseieds soteveadtisenceraseasn n 5 16 5 18 R receve PDO Gi Arinina E A 23 Reference Clock 5 cerc cca scteted coc ubeeeseeteananteedeekSeneeenens 5 20 Registered Slave Table cccccsssecccssssseeeeeeeees 7 5 7 10 REVISION specu ccet eran danectacechiadedvadscrigansaeanscteieoehdseethaseiapeeeaaen 5 19 Revision Check Method cccccssseeeeeeseeeseeeeeseeees 5 16 RPD eana ne Se eee nee eee er ere A 23 S Safe operational 4 iscctes ext Aye deats Wendi eedeoice eames 3 10 A 24 saving Packet Data File ee eeceeeeeceeseeeseeeees 7 5 7 12 SDO ay ee Re eee a eee eee ere rere rere A 24 SDO communications sasesana 3 2 3 5 6 13 A 24 SOS LEE EA E E E Seed E E E EE AS 3 2 Sell GlaQnOSI
61. subsequent slaves without stopping the entire communications system This makes it possible to replace slaves during communications for maintenance or for replacement when a slave malfunctions Specified from the Sysmac Studio or Sysmac Studio with an instruction for EtherCAT E L pS eee NJ series CPU Unit EtherCAT communications instruction EC_Disconnect Slave Slave Slave aa Communications continue Slave you need to replace Slave Eee Replaced Communications stop New slave H Precautions for Correct Use e A Process Data Communications Error occurs if you physically disconnect a slave from the network without executing the disconnection instruction e A Network Configuration Verification Error occurs if the correct node address is not set for a slave that was replaced with the disconnection instruction and a connection is made to a differ ent port than the one that was used for the disconnection instruction 9 32 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting 9 3 2 Slave Replacement Methods The slave to be replaced is first disconnected from the network and then reconnected after you replace it Use one of the following methods to disconnect and reconnect the slave Method 1 Connecting and Reconnecting Specified Slaves from the Sysmac Studio Method 2 Execute the Disconnect EtherCAT Slave and Connect EtherCAT Slave instructions Execute the
62. tered in the network configuration informa changes to FALSE after the Ether on tion and able to perform message CAT slave is disconnected from the wv communications Sysmac Studio or with an instruc tion g _EC_PDSlavTbI 1 192 Process Data This variable shows the slaves that are regis The corresponding element Communicating Slave Table tered in the network configuration informa changes to FALSE after the Ether U tion and performing process data CAT slave is disconnected from the 8 communications Sysmac Studio or with an instruc tion a _EC_DisconnSlavTbi 1 192 Discon This variable shows the slaves that are regis The corresponding element nected Slave Table tered in the network configuration informa changes to TRUE after the Ether tion and disconnected from the network CAT Slave is disconnected from the Sysmac Studio or with an instruction NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 39 9 Troubleshooting i Reconnecting Slaves When reconnecting disconnected slaves after replacement or inspection make sure that the following conditions are met and then reconnect them If they are reconnected without meeting following condi tions process data communications with the slaves will not start again and a network configuration ver ification error will occur If the conditions are met _EC_EntrySlavTbl will be TRUE e Make sure that the slave s node address is set correctly e Make sure th
63. that the uses listed may be suitable for the products e Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual e Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations e Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof 16 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Read and Understand this Manual Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products ma
64. the Sysmac Studio Using Instructions in the User Program e EC_StartMon Start EtherCAT Packet Monitor instruction Starts the execution of packet monitor ing and continues to update a fixed number of packets e EC_StopMon Stop EtherCAT Packet Monitor instruction Stops the execution of packet monitor ing Operation from the Sysmac Studio 1 Start the Sysmac Studio and go online with the Controller 2 Double click EtherCAT under Configurations and Setups in the Multiview Explorer Or right click EtherCAT under Configurations and Setups and select Edit NJ series CPU Unit Built in EtherCAT Port User s Manual W505 A 7 Appendix 2 Sysmac Studio Mew Propect new NI 01_0 Configurations and Setup a EtherCAT CPUS eee 1 0 Map gt Controller Setup P Motion Control Setup amp Cam Data Settings Event Settings Task Settings EH Data Trace Settings b b 3 Right click in the EtherCAT Network Configuration Tab Page and select Display Packet Moni tor from the menu New Projet Configurations and Setup Y oo EtherCAT P Nodel GX ID1611 1D08 B B O Node G ID1611 1D08 B gt E Nodeg RB8D KNO1H ECT E b Node4 RBSD KNO1H ECT E b CPU Expansion Racks a 1 0 Map P Controler Setup b Motion Control Setup amp Cam Data Settings Ewent Settings E Task Settings BM Data Trace Settings The Packet Monitor Dialog Box is displayed Packet Monitor fx
65. the Sysmac Studio If you execute the disconnection and connection instructions they will result in errors SPOUIO uawvejd y ALIS Z 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 33 9 Troubleshooting 9 3 3 Backing Up Settings Before you replace an EtherCAT slave that is currently performing communications the settings of the EtherCAT slave to replace are backed up The settings of an EtherCAT slave are divided according to the storage locations and setting methods into initial parameters and backup parameters as shown in the following table Slave settings Storage location Slave setting method EtherCAT master These parameters are set automatically from the EtherCAT master when EtherCAT communications start or when a slave is connected EtherCAT slaves You set these parameters by transferring them to the slaves from the Backup Parameter Settings Tab Page of the Sys mac Studio The data can also be transferred from the EtherCAT Drive Tab Page Initial parameters Backup parameters To replace an EtherCAT slave you first back up the backup parameters that are stored in the EtherCAT slave 1 Click the Edit Backup Parameter Settings Button in the EtherCAT Slave Setting Tab Page The Backup Parameter Settings Tab Page is displayed 2 Click the Transfer from Slave Button All of the backup parameters that are stored in the EtherCAT slave and displayed in the list are transfe
66. tion Error Link OFF Error 84200000 hex 84210000 hex Network Configura tion Error 842200000 Network hex Configura tion Verifica tion Error Slave Initial ization Error 84230000 hex 84280000 hex Slave Appli cation Error 84290000 hex Process Data Transmis sion Error NJ series CPU Unit Built in EtherCAT Port User s Manual W505 The same slave address is used for two nodes There is an error in the network config uration information A Link OFF state occurred The EtherCAT net work configuration is incorrect A slave that is in the network configura tion information is not connected Or a Slave that is not in the network config uration information is connected Slave initialization failed An error occurred in the slave applica tion Sending process data failed e The same node address is set for more than one slave The power supply to the Con y page 9 16 troller was interrupted or com munications with the Sysmac Studio were disconnected while downloading the network con figuration information The Ethernet cable is broken y page 9 17 between the master and slaves The Ethernet cable connector is disconnected The Ethernet cable is not con nected Slave output ports are con V page 9 18 nected to each other The master and slave are con nected with the slave output port The number of connected slaves exceeded the maximu
67. variable shows the slaves that are regis The corresponding element Communicating Slave Table tered in the network configuration information changes to TRUE after the and performing process data communications EtherCAT slave is connected from the Sysmac Studio or with an instruction _EC_DisconnSlavTbl 1 192 Discon This variable shows the slaves that are regis The corresponding element nected Slave Table tered in the network configuration information changes to FALSE after the and disconnected from the network EtherCAT Slave is disconnected from the Sysmac Studio or with an instruction 9 40 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting EN Additional Information Synchronization correction processing is performed to reconnect synced slaves Therefore sev eral seconds may be required per slave until reconnection is completed p W J D p D O 5 D lt D N 2 c 5 O fe 3 3 F O D ma O 5 D nNp dOld ju w Ljd y G E 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 41 9 Troubleshooting 9 42 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendices The appendices describe the relation of EtherCAT communications to overall CPU Unit status packet monitoring functions and multi vendor application A 1 EtherCAT Status in Relation to CPU Unit Status 0055 A 2 A
68. with a Controller This section describes how to debug the programs online on the Controller or debug it offline with the Simulator This section describes Sysmac Studio functions other than system design functions This section describes how to reuse the programs that you create with the Sysmac Studio This section describes the Support Software that is provided with the Sysmac Studio This section describes the error messages that are displayed when you check a pro gram on the Sysmac Studio and how to correct those errors The appendices describe the following Driver Installation for Direct USB Cable Connection Specifying One of Multiple Ethernet Interface Cards Online Help Simulation Instructions Manual Structure Manual Structure Page Structure The following page structure is used in this manual 4 Installation and Wiring Level 1 heading Level 2 heading Level 2 heading 4 3 Mounting Units Level 3 heading Gives the current Level 3 heading 4 3 1 Connecting Controller Components headings The Units that make up an NJ series Controller can be connected simply by pressing the Units together and locking the sliders by moving them toward the back of the Units The End Cover is connected in the same way to the Unit on the far right side of the Controller A step In a proced u re 1 Join the Units so that the connectors fit exactly Indicates a procedure CA Ois Heeros Page tab Gives the number of the main section
69. you can also automatically create the net work configuration on the Sysmac Studio based on the actual network configuration Use the following procedure to automatically duplicate the actual network configuration on the Sysmac Studio 1 Start the Sysmac Studio and go online with the Controller 2 Double click EtherCAT under Configurations and Setup in the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio F Sysmac Studio New Project new_NJ501_0 gt oa EtherCAT gt Si CPU Ep AEL amp I O Map gt Controller Setup gt t Motion Control Setup amp Cam Data Settings gt Event Settings E Task Settings W7 Data Trace Settings 3 Right click the EtherCAT master that is displayed in the Edit Pane and select Compare and Merge with Actual Network Configuration Configurations and Setup Node Address Network configuration ay Master n ol O e 3 O gt 2 Q m mp gt gt D mp O an Q O eQ c y e gt Write Slave Node Address Compare and Merge with Actual Network Configuration Get Slave Serial Numbers Display Diagnosis Statistics Information Display Production Information Display Packet Monitor Display ES Library The Compare
70. you can check Checking the indicators You can check the error status of the CPU Unit and EtherCAT Master Function Module Troubleshooter of the Sys You can check for current Controller errors a log of past Controller errors error mac Studio sources error causes and corrections Checking with the Trouble You can check for current Controller errors a log of past Controller errors error shooter of an NS series PT sources causes and corrections Checking with instructions You can check the highest level status and highest level event code in the current that read function module Controller errors error status Checking with system You can check the current Controller error status for each function module defined variables This section describes the above checking methods i Checking the Indicators CPU Unit Operating Status You can use the PWR indicator on the Power Supply Unit and the RUN and ERROR indicators on the CPU Unit to determine the event level for an error The following table shows the relationship between the Controller s indicators and the event level Indicators Error confirmation with the Sys PWR RUN ERROR Ce mtoperaNno Status mac Studio or an NS series PT Not lit Not lit Not lit Power Supply Error Not possible Refer to the NJ series l 7 Troubleshooting Manual Cat No Lit Flashing Incorrect Power Supply Unit Con nected Lit Not lit CPU Unit Watchdog Timer Error 2 Lit Not lit Maj
71. 00 261W ret 0x603F 00 259th tran 0x6041 00 259th tran 0xG064 00 259th tran 0x6077 00 259th tran 0x6061 00 259th tran 0xG0B9 00 259th tran UXOUBA UU 259th tra Ox60RC 00 259th tra 0x60FD 00 259th tra Ux2UU2 01 512th tran Edit PDO Map Settings Distributed Clock Enable Enabled Reference Clock Exist Setting Edit Setting Parameter E Task Settings i PDO Map Settings FA Dala Trace Sellinys gt Programming POOG weunW E Setting Parameters FCT Product name R88D KNC Revision 2 1 Vendor OMRON Corporz I Comment 200V 100W S Device name URL Set a name for the slave For detailed procedures such as those for deleting slaves or copying and pasting slaves refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 EN Additional Information You can go online and read the actual network configuration from the Sysmac Studio to display it and to use it as the network configuration in the project For details refer to 5 5 2 Automatically Creating the Network Configuration 5 4 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 3 Setting EtherCAT Slave Variables and Axes Device variables are used to read and write process data for EtherCAT slaves Axis variables are used to manipulate slaves to which axes are assigned from the Motion Control Function Module This s
72. 11 28 46 Ph 6 23 2011 11 28 46 Ph 6 23 2011 11 28 46 Ph 6 23 2011 11 28 46 Ph 6 23 2011 11 28 46 Ph 6 24 2011 12 43 03 Ab 6 24 2011 12 43 03 AP 6 24 2011 1 38 33 AM 6 24 2011 1 38 33 AM m v al al al al al ail al il all al al al al al a a ual al al al ail ail Global Variables Global Variables Legend Synchronized E Clear the present values of variables with Retain attribute Valid for Transfer to Controller Hi Do not transfer the program source Valid for Transfer to Controller All data will be re transferred when this option is changed Do not transfer Special Unit parameters and backup parameters of EtherCAT slaves out of synchronization scope Transfer To Controller Transfer From Controller The network configuration information is downloaded from the Sysmac Studio to the Controller l Precautions for Correct Use e After you transfer the user program the CPU Unit is restarted Communications with the EtherCAT slave are cut off for up to 45 seconds During that period the slave outputs behave according to the slave settings Before you transfer the user program confirm the safety of the controlled system e Use the Synchronization Menu of the Sysmac Studio to upload and download the project EN Additional Information The backup parameters of EtherCAT slaves are out of the scope of synchronization and are not downloaded to the slaves for the default settings To transfer the backu
73. 1_0 m E Ethe DO O MT Node AddressiNetwork configuration E Servo Drives Configurations and Setup E Frequency Inverter Item name Digital 10 Analog 10 GX ID1611 1D08 E Encoder Input GX ID1611 1D08 B Model i Enc R88D KNO1H ECT E Product name E Vision Sensor RBBD KNOLH ECT G E003 J Node Address gt CPU Expansion Racks Enable Disable Settings I O Map R88D KNO1H ECT Rev 2 1 Serial Number gt Controller Setup gt amp Motion Control Setup amp Cam Data Settings gt Event Settings H REED KNOLH ECT G5 Series S i Task Settings sal R88D KNO1L ECT Rev 2 1 F Data Trace Settings sse iJ R88D KNO1L ECT G5 Series S Il Show hidden slaves 0x603F 00 0x6041 00 0x6064 00 0x6077 00 0x6061 00 0x60B9 00 O0x60BA 00 Ox60BC 00 R88D KNOSH ECT GS Ox60FD 00 REED XNIOR ECT 0x2002 01 RSSD KN10F ECT Edit PDO M Distributed Clock Enable Enabled pees Pero j R88D KN150F ECT s aa nock pas RB8D KN150F ECT G5 Series Setting R88D KN150H ECT Rev 2 1 Edit Setting RBS PDO Map Settings moda MAADINWN E Setting Parameters R88D KN15H ECT R88D KN20F EC R88D KN20F ECT R88D KN20H ECT RS8D KN20H ECT GS Model R88D KNO1H ECT Product name R88D KN0 Revision 2 1 Vendor OMRON Corporz 1 Comment 200V 100W Se Device name URL Set a name for the slave In this example digital I O slaves are set to node addresses 1 and 2 a
74. 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 click into place Move the sliders toward the back O O OP until they lock into place J iat Yan Ev g ino jl Special info rmation i Precautions for Correct Use SEE _ ____________ _____se__ __ i_ e_ ___ e_ei_ _e i ___ i The sliders on the tops and bottoms of the Power Supply Unit CPU Unit I O Units Special I O sjusuodwOd Ja O1JU0D Buyoeuu0g p Units and CPU Bus Units must be completely locked until they click into place after connecting Icons indicate the adjacent Unit connectors precautions additional information or reference information amp 05 M a n u al n am e NJ series CPU Unit Hardware User s Manual W500 This illustration is provided only as a sample It may not literally appear in this manual Special Information Special information in this manual is classified as follows Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance EN Additional Information Additional information to read as required This information is provided to increase understanding or make operation easier Note References are provided to more detailed or related informat
75. 3 Connect ing the Sysmac Studio 3 3 State Tran sitions for EtherCAT Com munications 5 5 Comparing and Merging EtherCAT Net work Configura tions NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 Introduction Tare Sysmac Studio Description operation 9 Downloading the Network Download the network configuration infor Select Synchroniza 5 6 Download Configuration Information and mation EtherCAT configuration process tion from the Controller ing the Network the User Program data information and parameters Menu to download and_ Configuration ew verify the network con Information Note Use the synchronization operation of figuration information the Sysmac Studio to download the project SUOIJEJIUNWIWIOD LYVD19U15 p Np 2O0ld 10 Checking Indicators Check the indicators on the NJ series CPU 5 7 Confirming Unit Communica e A flashing yellow EtherCAT LINK ACT tions after Com indicator shows that data is being trans pleting mitted and received after the link is estab EtherCAT Con lished figuration and A solid green EtherCAT NET RUN indica tor shows the device is in the operational state normal communications state If the EtherCAT NET ERR indicator is not lit there is no error s I gt NO J D D D Settings NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 13 1 Introduction NJ series CPU Unit Built in EtherCAT P
76. 4 EtherCAT Communications Procedure 000 cee e eee eee 1 10 1 4 1 OVGIVICW e525 Sh eres Geet a a at Bl che de dat ana Os ae ta 1 10 1 4 2 Detalls 9 53 2 ee 3 45 inh arate ave lec de Sanda loose ests a eecae e ade ee teen 1 11 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 1 J 1 1 Introduction Introduction to EtherCAT 1 1 1 EtherCAT Ethernet Control Automation Technology is a high performance industrial network system that enables faster and more efficient communications based on Ethernet Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed Furthermore even though EtherCAT is a unique protocol it offers excellent general purpose applicability For example you can use Ethernet cables because EtherCAT utilizes standard Ethernet technology for the physical layer And the effectiveness of EtherCAT can be fully utilized not only in large control systems that require high processing speeds and system integrity but also in small and medium control systems EtherCAT Features EtherCAT provides the following features High speed Communications at 100 Mbps High speed Communications at 100 Mbps The I O response time from signal input to signal output has been significantly reduced By fully utilizing the optimized Ethernet frame bandwidth to transmit data using a high speed repeat method it is possi ble to efficiently transmit a wide variety of data
77. 4 The digital input value o R In Bit15 The digital input value o R In Bitl6 The digital input value o R In Bit17 The digital input value o R In Bit18 The digital input value o R In Bit19 The digital input value o R In Bit20 The digital input value o R In Bit21 The digital input value o R In Bit22 The digital input value o R In Bit23 The digital input value o R Sysmac Error Status Sysmac error status R Observation Observation levels of infi R Minor Fault Minor Fault levels of infa R GX ID1611 ID08 Read input ist double word Digital input values 4by R In Bitoo The digital input value o R In BitO1 The digital input value o R In Bit02 The digital input value o R In Bit03 The digital input value o R P 2 e uogeIn yuon JON 1y019443 eu BUNNIES E 1 8 In Bit04 The digital input value o R In Bit05 The digital input value o R In Bit06 The digital input value o R In Bit07 The digital input value o R Tn RIINA The dinital innut value a R l In this example Pwr_On is assigned to bit 0 of slave 1 and Hm1_Onis assigned to bit 1 of slave 1 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 8 3 8 Example of Operations for EtherCAT Communications Axis Settings for the Servo Drives Node Addresses 3 and 4 Add an axis to the Motion Control Setup and then assign the Servo Drive with node address 3 to the axis to set the axis 3 Sysmac Studio File Edit View Insert Project Controller Simulation Tools He
78. 9 2 3 FAS SUNN EIO aaa a a ecte pected oe once 9 29 9 2 4 Diagnostic and Statistical INfOrMALION cccccccseeeeeeeseeeeeceaeeeeeeeeaueeeeeaueeeeecsuaeeeessanseeeessases 9 29 9 3 Replacing Slaves during COMMUNICATIONS ccccecseeeeeseeeeeneeseeeeeeeeeseeeenseesenseeenensenoeneeees 9 32 9 3 1 HATE OCUICT ON tes acter aus eae a a ster chatuean se enueradid a 9 32 9 3 2 Slave Replacement Methods cccccsscecccceeeeeeceesseeecceseeeceeaseeecsaueeeeecsseceesseuseeesseageeessseages 9 33 9 3 3 Backing Up Sein S tesitakeceti cnc tinea a edict ale ale Mle at ale to 9 34 9 3 4 Reston SUING S sehen ee eas ete cts cin ec om osc enters Masanori ets ac renee vite nates 9 35 9 3 5 Replacement Procedure sunset Ani ei ae ee A asta aie eae eee ne 9 37 Appendices A 1 EtherCAT Status in Relation to CPU Unit Status 0 0 0 ee cee eeeeneeee eee eeeeeeeaseeeseeaaseeeeeeeneenes A 2 A 1 1 SRI ENO ie hchoce ce ctas ta te ates asa a esac Sac eee rA A 2 A 1 2 CPU Unit Operating MOdeS ccccccccsseeeeceneseecceeeeeeecceuseeeceeaueeeeceaseeeeseuseeeessaueeeecsuseesssaaeeess A 3 A 1 3 Controller Errors Other Than Errors in the Built in EtherCAT Master cccssseseeeeeeeeeeeeees A 4 A 1 4 S eee ee ee a E A ek ee de ee eee ert ee E ee eer eee A 5 AZ Monitoring PACK ONS ci a A 7 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 13 CONTENTS A 3 A 4 Index 14 A 2 1 SAMPE Prog amMMN G aenean e
79. 9 37 9 Troubleshooting Precautions for Safe Use e When an EtherCAT slave is disconnected from the Sysmac Studio or with an instruction com munications will stop and control of the outputs will be lost not only for the disconnected slave but for all slaves connected after it Always confirm system safety before you disconnect an EtherCAT slave e f you disconnect the cable from an EtherCAT slave to disconnect it from the network e g to replace it any current communications frames may be lost If frames are lost slave I O data is not communicated and unintended operation may occur Perform the following processing for a Slave that needs to be replaced e Program the _EC_InDatalnvalid Input Data Disable system defined variable as an inter lock condition Refer to 6 1 2 Sample Programming for a sample of programming interlocks e Set the PDO communications timeout detection count setting in the EtherCAT master to at least 2 Refer to 5 4 1 Setting EtherCAT Master for the setting procedure 9 38 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting i Disconnecting Slaves If a slave is disconnected slaves connected after the designated slave on the output side in a daisy chain are disconnected at the same time Slaves connected before the disconnected slave on the input side and slaves connected beyond Junction Slaves continue to operate If 1 is disconnected in the following figure 2 and 3
80. AT communications are established Communications is in one of the following states sf OR EtherCAT a message communications is function NET RUN l Green e Only message communications and I O data input operations are functioning Not lit EtherCAT communications are stopped e Power is OFF or the Unit is being reset e There is a MAC address error communica tions controller error or other error is an unrecoverable error such as a EtherCAT I fe error or an exception NET ERR Flashing si Flashing There is a recoverable error Notit lit There is no error Gto The link is established t A link is established and data is being sent and EtherCAT received Link Activit LINK ACT a llow The indicator flashes whenever data is sent or received Notit lit Refer to 3 3 2 Control States for EtherCAT Communications for details on the states NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 1 2 Windows Used in Sysmac Studio 2 Part Names and Slave Settings Use the Sysmac Studio to create the EtherCAT network configuration and to make other settings The following windows are used Creating the EtherCAT Network Configuration Use the EtherCAT Configuration Editor offline to register slaves in the EtherCAT slave configuration Or upload the network configuration online Fal Sysmac Studio Bo A All vendors New Project A Configurations and Setup s Groups new_NJ501_0 v
81. Actual Network Configuration SEE Node Address Network configuration on Sysmac Studio Node address Actual network configuration Network configura Comparison result Actual network co Master E001 1 R88D KNO1L 1 R88D KNOIL R88D KNOIL ECT Re T R88D KNOIL ECT Rev 2 1 METSI ECT Rev 2 1 98 GX 0D1611 v 1 0 R88D KNASL ECT Rev 0 6 R88D KNASL Cro Re ECT Rev 1 0 roi 12 GX ID1611 GX ID1611 Rev 1 1 Rev 1 1 ze 7 R88D KNASL R88D KNASL ECT Rev 1 0 ECT Rev 1 0 GX 0D1611 Rev 1 0 4 Apply actual network configuration Some slaves such as Power Supply Units are not included in the actual network configuration Close 4 If there is a slave that exists only on the actual network Added is displayed in the Comparison results Column Drag the slave in the actual network configuration to the Sysmac Studio net work configuration NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio gt Compare and Merge with Actual Network Configuration SEF Node Address Network configuration on Sysmac Studio Node address Actual network configuration Network configura Comparison result Actual network co Master Ld all Master Master Master Matched Master je fi ReaD KNo1L ECT Rev 2 1 Mec oe Matched 1 RB8BD KNOIL ey R88D KNASL E fi Rev 1 0 ECT Rev 2 1 ECT Rev 2 1 7 z 7 R88D K R88D KNA5L ECT Rev 1 0 ECT Rev
82. Are Related to the Built in EtherCAT Port 7 2 7 1 1 What Are System defined Variables nnana ccc eee 7 2 7 1 2 System defined Variables 0 0 ccc ee eee 7 2 7 1 3 EtherCAT Master Function Module Category Name EC 7 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 7 1 7 System defined Variables That Are Related to the Built in EtherCAT Port 7 1 System defined Variables That Are Related to the Built in EtherCAT Port 7 1 1 What Are System defined Variables System defined variables are variables that are defined by the system for use with EtherCAT communi cations These are provided in advance in the global variable table The user program can input status and set parameters for the EtherCAT master and slaves by reading and writing system defined variables NJ series CPU Unit User programming System defined variables Writing 7 1 2 System defined Variables Functional Classification EtherCAT Communications Errors values _EC_ErrSta Built in This system defined variable provides the col WORD 16 0000 to page 7 6 EtherCAT Error lective status of errors in the EtherCAT Master Function Module 16 00F0 Refer to Meanings of Error Status Bits given later for the meaning of individual bits _EC_PortErr Communications This system defined variable provides the col WORD 16 0000 to page 7 6 16 00F0 Port Error lective status of errors in the com
83. DeviceProtiles EsiFiles UserEsiFiles A File and Folder Tasks Make a new folder Ls Publish this Folder to the Web be Share this Folder Other Places 9 EsiFiles G My Documents 9 Shared Documents My Computer a My Network Places 0 objects 0 bytes Y My Computer 5 Restart the Sysmac Studio The ESI file that you installed is displayed in the ESI Library Dialog Box after you restart the Sysmac Studio A 18 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendix Procedure to Confirm ESI File Installation Use the following procedure to confirm that an ESI file was installed correctly 1 Double click EtherCAT under Configurations and Setup in the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit 3 Sysmac Studio gt OO c I lt 5 2 O m 5 lt O 5 3 D 5 mh o New Propect new NI501 0 Configurations and Setup gt 3G EtherCAT a 1 0 Map b Controller Setup P Motion Control Setup amp Cam Data Settings Event Settings E Task Settings FH Data Trace Settings soll4 ISJ ueu Vv The edit pane is displayed 2 Right click the EtherCAT master that is displayed in the edit pane and select Display ESI Library Configurations and Setup Node AddressiNetwork co nfiguration i Master Write Slave Node Address Compare and Merge with Actual Network Configuration Ge
84. Display Diagnosis Sta tistics Information from the menu New Project He Y 33 EtherCAT gt Node1 GX ID1611 ID08 B gt c Node2 GX ID1611 ID08 B gt Node3 R88D KNO1H ECT E gt Node4 R88D KNO1H ECT E gt CPU Expansion Racks amp I O Map gt 3 Controller Setup gt i Motion Control Setup ef Cam Data Settings gt Event Settings E Task Settings F Data Trace Settings gt Programming Configurations and Setup Node Address Network configuration _ gt Ua g BE e Write Slave Node Address Compare and Merge with Actual Network Configuration Get Slave Serial Numbers a Display Diagnosis Statistics Information ig ee Utspiay ou Guar The Diagnosis Statistics Information Dialog Box is displayed Diagnosis Statistics Information Laba Total frames Received Frame reception timeout count Reception buffer overflow count Non EtherCAT frames received Link OFF count Discarded process data receptions Discarded message receptions Lost repeat send frames Network propagation delay time Current transmission period Maximum transmission period Minimum transmission period Transmission jitter CRC Error Frames Received Frame reception errors Collision count Short frames received Overlength frames received Output File Update Item Output File Update Clear x Value oO o 0 0 1 oO 0 0 0 o oO 0 oO Clear Clos
85. Err Meaning Process Data Reception Timeout Error Global local Global Function TRUE if a timeout occurs while receiving process data Data type BOOL Range of values TRUE or FALSE R W access Rs Retained Not retained Network Publish Published Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Variable name _EC_PDSendErr Meaning Process Data Transmission Error Global local Global Function TRUE if there is a process data transmission error cannot send within the process data communications period or transmission jitter is over the limit Data type BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Variable name _EC_SlavAdrDupErr Meaning Slave Node Address Duplicated Error Global local Global Function TRUE if the same node address is set for more than one slave Data type BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError N P ary w lt e 1 Q p gt p Q S S p gt fe gt p JJ D fe m 1 Q e gt p u Le gt m m gt p S UO O Variable name _EC_SlaviInitErr Meaning Slave Initialization Error Global local Global T Function TRUE if there is an error in an initialization command add
86. Error 14400000 hex The MAC address is incorrect EtherCAT Master Function Module Source details Communications Detection At power ON or port timing Controller reset Level Partial fault Recovery Cycle the power Log category System supply or reset the Controller User program Continues Operation Master The master waits in the Init state Slave Parameter setting is not possible Process data communi cations are not possible None None NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 13 N Oo ea D N oO Oo 5 suonduos q 10113 2 2 6 9 Troubleshooting EtherCAT Fault 44010000 hex A fatal error was detected in the EtherCAT Master Function Module EtherCAT Master Function Module Cycle the power supply or reset the Controller During communi cations Partial fault System Master The EtherCAT Master Function Module stops Slave Parameter setting is not possible Process data communi cations are not possible If the error occurred during synchronized communications between the master and slave then the error occurred at the slave The error is processed according to settings in the slave Continues Replace the CPU Unit None Attached information 1 System information 1 Attached information 2 System information 2 Attached information 3 System information 3 Attached information 4 System information 4
87. EtherCAT Communications with the Sysmac Studio 5 2 Creating the EtherCAT Network Configuration This section describes how to create the EtherCAT network configuration 1 Start the Sysmac Studio offline 2 Double click EtherCAT under Configurations and Setup on the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit Double click EtherCAT or rightclick EtherCAT and select Edit Za Configurations and Setup J lt Clearsearch gt search gt V amp Axis Settings 3 MC_Axis000 0 3 MC_Axis001 1 5 Axes Group Settings Cam Data Settings gt Event Settings I Task Settings F Data Trace Settings gt Programming Y Motion Control Setup a N O Q mp gt D m mp gt gt ar D mp O Q e gt Q c e gt Multi view Explorer EtherCAT master will be displayed in the Edit Pane BAE alar x ul Configurations and Setup new_NJ501_0 v p EtherCAT Node AddressiNetwork amo w Configurations and Setup m mpethercaT OOOO O aii LEO eee Model Master wee Product name Master D gt EX Controller Setup Number of Slaves 0 V t Motion Control Setup PDO Communications Cycle Time 1000 us V i Axis Settings Total Cable Length 1000 O o 3 MC_Axis000 0 Fail soft Operation Setting Fail soft operation v Z MC_Axis001 1 Wait Time for Slave Startup C Axes Group
88. ID when going online Check forced refreshing when going offline Response Monitor Time Set the Response Monitor Time in the communications with the Controller 2 Select the connection method for the connection configuration from the Connection type Area If you specify a Remote connection via USB or an Ethernet connection via a hub enter the IP address of the Controller in the Remote IP Address Area Also set the Options and Response Monitor Time parameter to the required time Refer to Communications Setup Dialog Box Set tings on the next page for information on the settings Click the OK Button This completes the setup NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 Part Names and Slave Settings Communications Setup Dialog Box Settings Item Description Connection type Specify the connection method to use for online communications The specified connec tion method is used when you go online Remote IP Address If you specify a USB remote or Ethernet hub connection set the IP address of the Con troller that you normally will connect to USB Communica These buttons perform a communication test with the Controller tions Test Button at the specified IP address The result is displayed as follows Ethernet Communica Normal Test OK tions Test Button e Error The Controller was not found or There is more than one Controller with the specified IP address N I ooh UO
89. KNO1H ECT Rev 2 1 3 j E003 R88D KNO1H ECT Rev 2 1 E004 R88D KNO1H ECT Rev 2 1 Node Address Network configuration Master Master Select the slave for which to change the allocated data The parameters and allocated data for R88D KNO1H ECT Rev 2 1 R88D KNO1H ECT Rev 2 1 Allocated data Slave parameters Item name Device name Model Product name Revision Node Address Enable Disable Settings Serial Number PDO Map Settings Distributed Clock Enable Reference Clock Setting Parameters NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Item name Value Device name E001 Model R88D KNO1H ECT Product name R88D KNO1H ECT G5 Series ServoDrive Motor Revision 2 1 Node Address Enable Disable Settings Enabled v Serial Number 0x00000000 0x6040 00 261th receive PDO Mapping Contr 0x607A 00 261th receive PDO Mapping Targ 0x60FF 00 261th receive PDO Mapping Targe 0x6071 00 261th receive PDO Mapping Targe 0x6060 00 261th receive PDO Mapping Mode 0x60B8 00 261th receive PDO Mapping Touc 0x607F 00 261th receive PDO Mapping Max 0x60E0 00 261th receive PDO Mapping Positi 0x60E1 00 261th receive PDO Mapping Nega 0x603F 00 259th transmit PDO Mapping Erro 0x6041 00 259th transmit PDO Mapping Stat 0x6064 00 259th transmit PDO Mapping Posi 0x6077 00 259th transmit PDO Mapping Tora 0x6061 00 259th transmit PDO Mapping Mod 0x60B9 00 259th transmit PDO Mapping
90. M 1 00 00 22519 Model information Lot number BOOT 20110627 TOPFE B 3 0 Rack 0 Slot 1 Unit 0 C 1W V680C12 Ver 1 2 16 10V TOPAW 0 73 Runtime 155 Rack 0 Slot 1 Unit 0 CIIW V680C12 Ver 1 2 167 10V Unit revision 1 PCE revision 100 Software revision 17 0 Output file Simple Display Detailed Display In this example Ver 1 0 is displayed next to the unit model The following items are displayed CPU Unit CJ series Units Unit model Unit model Unit version Unit version Lot number Lot number Rack number slot number and unit number EtherCAT Slaves 1 Double click EtherCAT under Configurations and Setup in the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit from the menu The EtherCAT Configuration Tab Page is displayed for the Controller Configurations and Setup layer 2 Right click the master in the EtherCAT Configurations Editing Pane and select Display Produc tion Information The Production Information Dialog Box is displayed 3 Production Information fx Type information Serial number Node9 RSSD KNO1L ECT Rev 2 1 OMRON Corporation Oxo0000000 The following items are displayed Node address Type information Serial number If the model number cannot be determined such as when there is no ESI file the vendor ID product code and revision number are displayed 26 NJ series CPU Unit Built in EtherCAT Port User s Manua
91. MERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR NJ series CPU Unit Built in EtherCAT Port User s Manual W505 15 Read and Understand this Manual Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply
92. OMRON Machine Automation Controller NJ series CPU Unit Built in EtherCAT Port User s Manual NJ501 1300 NJ501 1400 NJ501 1500 CPU Unit SYS Tletl always in control OMRON 2011 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Introduction Introduction Thank you for purchasing an NJ series CPU Unit This manual contains information that is necessary to use the NJ series CPU Unit Please read this manual and make sure you understand the functionality and performance of the NJ series CPU Unit before you attempt to use it in a control system Keep this manual in a safe place where it will be available for reference during operation Intended Audience This manual is intended for the following personnel
93. ON XS5W T421 DMC K OMRON Customer tors on both Ends Corporation XS5W T421 GMC K i M12 RJ45 Service Center Cables are available in the following lengths 0 3 0 5 1 2 3 5 10 and 15 m Refer to the Industrial Ethernet Connectors Catalog Cat No G019 4 4 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 4 EtherCAT Network Wiring i Cables and Connectors Sizes and Conductor Pairs AWG 24 x 4 Pairs Cables Tonichi Kyosan Cable Ltd NETSTAR C5E SAB Planning Department 0 5 x 4P Kanetsu Co Ltd Kuramo Electric Co KETH SB Kuramo Electric Co SWCC Showa Cable Sys FAE 5004 SWCC Showa Cable Sys tems Co tems Co RJ45 Connectors Panduit Corporation MPS588 Panduit Corporation US Headquarters We recommend that you use combinations of the above Cables and Connectors Aa 1 k re f3 gt Q gt p m gt p p e Sizes and Conductor Pairs AWG 22 x 2 Pairs Cables Kuramo Electric Co KETH PSB OMR Kuramo Electric Co RJ45 Assembly Connec OMRON Corporation XS6G T421 1 OMRON Customer Ser tors vice Center We recommend that you use combinations of the above Cables and Connectors l Precautions for Correct Use e The maximum length between nodes is 100 m However some cables are specified for less than 100 m Generally speaking if the conductors are twisted wire rather than solid wire transmission performance will be lower an
94. PU Radh CPU Rack 0 i j EtherCAT Network Configuration Select user defined variables that were previously EtherCAT Master registered in the global variable table Nodel Y R88D KNO1H ECT Controlword Controlword W WORD Target position Target position Ww Target velocity Command speed for the W Target torque Target torque Ww Modes of operation Modes of operation w aa z Touch probe function Touch probe function W pa arr is Max profile velocity Max profile velocity w E Tact E Positive torque limit value Positive torque limit valu W E001_Digital_inputs Negative torque limit value Negative torque limit val W Se Error code Error code R Statusword Statusword R Position actual value Position actual value R Torque actual value Torque actual value R Modes of operation display Modes of operation displ R Touch probe status Touch probe status R SOAR S 1y019444 Ily 40 sejqeuen qd Buuseysi6ey L E G NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 5 5 Setting Up EtherCAT Communications with the Sysmac Studio i Inputting New Device Variable Names You can input the required device variable names For example this method can be used to register device variables in the following case e To give suitable names to device variables that are assigned to I O for I O slaves Use the following procedure 1 Double click I O Map under Configurations and Setup on the Multiview Explorer Or right click O Map under Config
95. PU Unit uses process data communications for commands to refresh I O data in a fixed control period including I O data for EtherCAT slaves and position control data for Servomotors It uses SDO communications for commands to read and write data such as for parameter transfers at specified times Process data communications are executed each control cycle to refresh data continuously and SDO communications are executed between PDO communications NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 EtherCAT Communications EN Additional Information Object Dictionary The object dictionary is a data table within the device that interfaces the application and commu nications It describes the information handled by the device Each piece of information is called an object Each object is assigned a 4 digit hexadecimal index Each object is divided into a data type area a CoE communications area and a manufacturer specific area CANopen device Application Object content Go I h m gt S j O 3 5 Cc 5 O e a D g Q dp 4 gt a 1000 hex Device Type Object dictionary 1600 hex Process Data 3000 hex Parameters Communications PDO SDO es Process data communications is used to read and write the process data in the CoE communi cations area in these objects SDO communications is used to read and write the paramete
96. Packets 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 The number of files is limited only by the space that is available on the SD Memory Card EN Additional Information e Packet data in the CPU Unit s memory is not retained when the power is interrupted e Packet data cannot be saved while packets are being monitored e Packet monitoring cannot be started while saving packet data e If an SD Memory Card is not inserted and you execute the instruction to copy the data to the SD Memory Card then an error is returned If there is no SD Memory Card only the one file in the CPU Unit s memory can be read to the Sysmac Studio e Packet monitoring starts when the power is turned ON i Packet Monitoring Specifications Item Specification Maximum data size of one packet data file 12 MB Maximum number of packets that can be obtained 3 904 packets Format of packet data file TCPDump format cap Time information Recorded unit us The elapsed time starting when packet monitoring begins is recorded Packet moni toring can be started when power turns ON for an EtherCAT instruction or for a Sysmac Studio opera tion Save location for packet data file CPU Unit s system 1 file SD Memory Card inserted in CPU Unit Multiple files up to capacity of SD Memory Card NJ series CPU Unit Bu
97. R TSC EC_CoESDORead_instance EC_CoESDORead p a bala _EC_MBXSlavTbl_ ARRAY 1 192 OF BOOL Message Communications Enabled Slave Table Accept trigger Trigger _EC_MBXSlavTbl 1 UINT 16 100A SdoObject Index USINT 0 SdoObject Subindex FALSE SdoObject lsComleteAccess EC_CoESDORead_instance EC_CoESDORead Execute Done UINT 1 NodeAdr Busy SdoObject SdoObj Error UINT 20 TimeOut ErrorlD VersionInfo AbortCode ReadSize Processing after normal end Trigger EC_CoESDORead_instance Done Inline ST 1 Processing after normal end 25 Processing after error end Trigger EC_CoESDORead_instance Error Inline ST 1 Processing after error end 25 6 14 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 Process Data Communications and SDO Communications ST Varabos Data type inital value DoSdoRead BOOL Versioninfo sTRNG2s OO Readdata NormalEnd JUIN Normalend _ __ ErrorEnd UNT o o y y y o SErrorend EC_CoESDORead_instance EC_CoESDOReaa SSSOS S S S varabies __Vatiable Data type _EC_MBXSlavTbl_ ARRAY 1 192 OF BOOL Message Communications Enabled Slave Table Detect when Trigger changes to TRUE IF Trigger TRUE AND DoSdoRead FALSE AND _EC_MBXSlavTbl 1 TRUE THEN DoSdoRead TRUE SdoObject Index UINT 16 100A SdoObject Subindex USINT 0 SdoObject IsCompleteAccess FALSE T EC_CoESDORead_instance N Execute
98. S eree E e A E 3 9 Seral NUMDET siir a a S 5 19 Serial Number Check Method cccccceeeeeeeeeeeeees 5 16 service data objects cececceeccesseceesseeeeeeeeeeeseeesnaeees A 24 Setting Parameters cinan nn 5 20 NEE EER E E oe RP ne Or A 24 Slave Application Error cccccccssssseeeeeseeeeeeenees 7 3 7 9 Slave ENON aosida dae aa ad 7 3 7 7 9 5 Slave Error Table a ca 7 3 7 7 9 5 Slave Information Interface ccccccecseeeeeseeeeeeeeeeees A 24 Slave Initialization Error wo ceeeeeceeeeeeceeeeeeeeeeeenens 7 3 7 9 Slave Node Address Duplicated Error 7 3 7 9 slaves FE DIAGING anisa a E 9 32 A EET E E E E E A E A E A 24 SUDING Os crake Soa e ea eeee dae ees A 24 syne manag ccna awe eels canta A 24 Index 3 Index synced Slave S irrena e e ecu idee deatese 1 5 Sysmac devices ccccccsseeeecceeeeeeeceeeeeeeeeeeeeeeseenseeeeees 2 10 feature Sao a N 2 10 SOV SINAC SUJO eces tenet cetacleaianh cet uncranencecuneeanacie 1 6 system configuration cceccccceeeeeeecceeeeeeceeseensceeaeeess 1 4 system response time ssssssssesseeeresrrrrsrrrrsrrrrrrrrerrrrn 6 9 system defined variables 00 3 6 7 2 9 5 A 24 EtherCAT COMMUNICATIONS errors ccccsseeeeeeeeeees 7 6 EtherCAT communications status 7 5 7 10 T TOD OIOGISS ice researc sacap E eee sevaenerie caret eeieurs 4 2 Total Cable Length ccccsss
99. Series ServoDrive Motor R88D KN15H ECT Rev 1 0 R88D KN15H ECT G5 Series ServoDrive Motor R88D KN20H ECT Rev 1 0 R88D KN20H ECT G5 Series ServoDrive Motor R88D KN3OH ECT Rev 1 0 R88D KN30H ECT G5 Series ServoDrive Motor R88D KN50H ECT Rev 1 0 R88D KN50H ECT G5 Series ServoDrive Motor R88D KN75H ECT Rev 1 0 R88D KN75H ECT G5 Series ServoDrive Motor R88D KN150H ECT Rev 1 0 R88D KN150H ECT G5 Series ServoDrive Motor R88D KNO6F ECT Rev 1 0 R88D KNO6F ECT G5 Series ServoDrive Motor R88D KN10F ECT Rev 1 0 R88D KN10F ECT G5 Series ServoDrive Motor R88D KN15F ECT Rev 1 0 R88D KN15F ECT G5 Series ServoDrive Motor R88D KN20F ECT Rev 1 0 R88D KN20F ECT G5 Series ServoDrive Motor R88D KN3OF ECT Rev 1 0 R88D KN30F ECT G5 Series ServoDrive Motor R88D KN50F ECT Rev 1 0 R88D KN50F ECT G5 Series ServoDrive Motor R88D KN75F ECT Rev 1 0 R88D KN75F ECT G5 Series ServoDrive Motor R88D KN150F ECT Rev 1 0 R88D KN150F ECT G5 Series ServoDrive Motor To add or delete an ESI file exit from this software and then add delete the file to from change will be applied after restarting this software Close A 20 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendix 4 If an exclamation mark is not displayed click the Close Button gt ESI Library Omron 3G3AX MX2 ECT Omron FZM1 XXX ECT Omron GX Analog IO Omron GX Digital IO Omron GX Encoder Omron GX JC Omron R88D KNbo ECT W I
100. T Master Function Module Classification Description Communications port errors If an error is detected in overall EtherCAT communications the correspond ing bit in the Communications Port Error status variable shows the error EtherCAT master errors If the EtherCAT master detects an error in its own settings or processing the corresponding bit in the Master Error status variable shows the error If the EtherCAT master detects an error in a slave the corresponding bit in the Master Error status variable shows the error EtherCAT slave errors If the EtherCAT master detects an error in a slave the error status for the slave will show that the master detected an error 1 2 1 The EtherCAT master periodically reads error status information from the slaves It updates the system defined variables at the same time as the I O data 2 The EtherCAT master will set the bits for EtherCAT slaves that do not report error status to FALSE in the Slave Error Table 9 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting i Event Levels This section describes the operation of the EtherCAT Master Function Module for each event level Event level of the error Operation Major fault All NJ series Controller control operations stop for errors in this event level Partial fault All control operations for one of the function modules in the NJ series Controller stop for errors in this event level If a partial fault level
101. T RUN EtherCAT NET ERR EtherCAT LINK ACT _EC_DisconnSlavTbl Array 1 192 of BOOL Disconnected Slave Table _EC_PDSlavTbl Array 1 192 of BOOL Process Data Communicating Slave Table _EC_MBXSlavTbl Array 1 192 of BOOL Message Communications Enabled Slave Table Assumed cause Correction Prevention An operation to reconnect the slave was executed from the Sysmac Stu dio The EC_ConnectSlave instruction ats was executed None None NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 27 P N Oo Ss D N oO Oo 5 suonduos q 10113 2 2 6 9 Troubleshooting Errors Reset 94430000 hex A command was received to reset errors EtherCAT Master Function Module When errors are reset Master Information System Continues The current errors are reset and the network is verified again If the Fail soft operation was performed process data communications with the slaves that were in Fail soft operation are restarted Slave The slave where the error occurred enters the Operational state _EC_PDSlavTbl Array 1 192 of BOOL Process Data Communicating Slave Table _EC_MBXSlavTbl Array 1 192 of BOOL Message Communications Enabled Slave Table An error reset operation was per ae formed from the Sysmac Studio The ResetECError instruction was executed None None 9 28 NJ series CPU Unit Built in EtherCAT Port User s Man
102. T SIAV OS iieiea ienirt onnsesnaienntssosaleonasaged co uadacstssonaseteasieeteecuaiaanecaeetes 5 18 Comparing and Merging EtherCAT Network Configurations cccceeseeseeseesenseeeeneenes 5 21 5 5 1 Comparing and Merging with the Actual Network Configuration from the Sysmac Studio 5 21 5 5 2 Automatically Creating the Network Configuration cccccceeeeeeeeeeeeeeeeeeeeeeeeeaaaaeeeeeeeesaaaeneeeees 5 24 5 5 3 Using the Sysmac Studio to Obtain Serial Numbers from the Actual Network Configuration 5 27 Downloading the Network Configuration Information cccceesseeseseeeeeseeeeneeseeneeseenees 5 29 5 6 1 Downloading the Network Configuration Information from the Sysmac Studio cc0 5 29 Confirming Communications after Completing EtherCAT Configuration and Settings 5 31 Process Data Communications and SDO Communications Process Data Communications PDO CommunicatiOns cccsseeceseeceseeceseeenseeeeneeseees 6 2 6 1 1 Allocated Variables for Process Data COMMUNICATIONS ccccccseeeeeeceeeeeeeeeeeeeeecaeeeeessaaeeess 6 2 6 1 2 SAMPE Programming zo escia tire cela Ccew entered a Saeniritanb sadwuatanar sensu pene yuoveeieuaatenentes 6 4 6 1 3 Process Data COMMUNICATIONS TIMING c cee eceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeaaeeeeeeeeesaaaeeeeeeesaenseeeeeeeeas 6 8 6 1 4 System Response Time in Process Data COMMUNICATIONS cccseccceeeeeeeseeeeeseeeeeseeeeeseeeeees
103. T slaves elt A Configurations and Setup new_NJ501_0 B O Map E FOO Pog Port Mea a v j EtherCAT CF w CPU Rack 0 gt Nodel0 R88D KNOIL ECT 0 vY CJ1W 0D232 Transistor Outpt gt Node9 R88D KNOLL ECT E chi_Out Output CH1 gt CPU Expansion Racks 1 Chi_Out00 Output CH1 bit 00 I O Map Chi_Out01 Output CH1 bit 01 gt Controller Setup Chi_Out02 Output CH1 bit 02 gt 1 Motion Control Setup Chi_Outo3 Output CH1 bit 03 amp Cam Data Settings Chi_Out04 Output CH1 bit 04 gt Event Settings Ch1_Out05 Output CH1 bit 05 Be Task Settings Chi_Out06 Output CH1 bit 06 F7 Data Trace Settings Chi_Out07 Output CH1 bit 07 Chi_Out08 Output CH1 bit 08 gt Programming Description R W Data Ty Variable Ch1_Out09 Output CH1 bit 09 Chi_Out10 Output CH1 bit 10 Chi_Out11 Output CH1 bit 11 Chi_Outi2 Output CH1 bit 12 Chi_Out13 Output CH1 bit 13 Chi_Out14 Output CH1 bit 14 Chi_Out15 Output CH1 bit 15 Y Ch2_Out Output CH2 Ch2_Out00 Output CH2 bit 00 Ch2_Out01 Output CH2 bit 01 Ch2_Out02 Output CH2 bit 02 Ch2_Out03 Output CH2 bit 03 Ch2_Out04 Output CH2 bit 04 Ch2_Out05 Output CH2 bit 05 Ch2_Out06 Output CH2 bit 06 Ch2_Out07 Output CH2 bit 07 Ch2_Out08 Output CH2 bit 08 Ch2_Outo9 Output CH2 bit 09 Ch2_Out10 Output CH2 bit 10 Ch2_Outi1 Output CH2 bit 11 Ch2_Out12 Output CH2 bit 12 Ch2_Outi3 Output CH2 bit 13 Ch2_Out14 Output CH2 bit 14 Ch2_Outi5 Output CH2 bit 15 0 v CJIW V680C12
104. The motion control instructions are described When programming use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 NJ series CPU Unit Software User s Manual Cat No W501 and NJ series CPU Unit Motion Control User s Man ual Cat No W507 The methods and precautions for using CJ series Units with an NJ501 CPU Unit are described including access methods and pro gramming interfaces Manuals are available for the following Units Analog I O Units Insulated type Analog I O Units Temperature Control Units ID Sensor Units High speed Counter Units Serial Com munications Units and DeviceNet Units Use these manuals together with the NJU series CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Manual name NJ series CPU Unit Built in EtherCAT Port User s Manual NJ series CPU Unit Built in EtherNet IP Port User s Manual NJ series Troubleshoot ing Manual Sysmac Studio Version 1 Operation Manual CX Integrator CS CJ CP NSJ series Network Configuration Tool Operation Manual CX Designer User s Manual CX Protocol Operation Manual Model numbers Application W505 W506 W503 W504 W464 V099 W344 NJ501 OULL I NJ501 UOULL I NJ501 OULLI SYSMAC SE2ULLI Using the built in EtherCAT port on an NJ series CPU Unit
105. Timeout Error Slave Initialization Error Process Data Transmission Slave Application Error Error Slave Node Address Dupli cated Slave Initialization Error Obostiaton e None e EtherCAT Message Error e Emergency Message Detected e None e Errors Reset e Slave Disconnected Information e Slave Connected Slave errors that are detected by the master are listed There will also be a master error if any of these errors occurs For slave errors that are not detected by the master the errors and levels are defined by the individual slaves Refer to the manual for the slave Minor fault NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 7 ginpoyy UuoNoOUN 1 SEN 1V0194 3 OU 0 Ppoyejay SION Z L 6 co I ok Oo lt Oo h m Oo 9 Troubleshooting 9 2 Troubleshooting This section describes the errors that can occur and the corrections for them 9 2 1 Error Table The errors i e events that can occur in the Built in EtherCAT Master Function Module are given on the following pages Event levels are given as following in the tables Maj Major fault level Par Partial fault level Min Minor fault level Obs Observation Info Information Refer to 9 2 2 Error Descriptions for details on individual errors Refer to the NJ series Troubleshooting Manual Cat No W503 for all of the event codes that may occur in an NJ series Controller p Level 10200000 hex
106. Tou 0x60BA 00 259th transmit PDO Mapping Tou Ox60BC 00 259th transmit PDO Mapping Tou Ox60FD 00 259th transmit PDO Mapping Didi 0x2002 01 512th transmit PDO Mapping Sys Edit PDO Map Settings PDO Map Settings q oo V i Ce m mp gt gt ar 2 lt D S Q z D on Q gt pa D Distributed Clock Enable Enabled Reference Clock Exist Setting ae eee Edit Setting Parameters Device name Set a name for the slave Value E001 R88D KNO1H ECT R88D KNO1H ECT G5 Series ServoDrive Motor 2 1 Enabled X 0x00000000 0x6040 00 261th receive PDO Mapping Contr 0x607A 00 261th receive PDO Mapping Targ Ox60FF 00 261th receive PDO Mapping Targe 0x6071 00 261th receive PDO Mapping Targe 0x6060 00 261th receive PDO Mapping Mode 0x60B8 00 261th receive PDO Mapping Touc 0x607F 00 261th receive PDO Mapping Max 0x60E0 00 261th receive PDO Mapping Positi 0x60E1 00 261th receive PDO Mapping Nega 0x603F 00 259th transmit PDO Mapping Erro 0x6041 00 259th transmit PDO Mapping Stat 0x6064 00 259th transmit PDO Mapping Posi 0x6077 00 259th transmit PDO Mapping Tora 0x6061 00 259th transmit PDO Mapping Mod 0x60B9 00 259th transmit PDO Mapping Tou 0x60BA 00 259th transmit PDO Mapping Tou O0x60BC 00 259th transmit PDO Mapping Tou Ox60FD 00 259th transmit PDO Mapping Didi 0x2002 01 512th transmit PDO Mapping Sys Edit PDO Map Set
107. _instance Error EC_SaveMon_instance Error EC_CopyMon_instance Error EC_StartMon_instance Error Monitor for EtherCAT errors as Up _EC_PktMonStop EC_StopMon_instance Busy A EN In _EC_ErrSta In WORD 16 00 In2 A EC_SaveMon_instance Busy EC_CopyMon_instance Busy EC_StartMon_instance Busy B RS_instance B _EC_PktSaving RS Operating Set OperatingEnd Reset1 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 A 11 T N O 5 O 5 Q y D O P D mp T NulwweLeIHoid ajdwes Z Y Appendix A 12 Instruction execution Operating _Card1 Ready PacketFile Processing after normal end Operating EC_StopMon_instance EC_SaveMon_instance EC_StopMon EC_SaveMon Execute Done Execute Done Busy Busy Error Error ErrorlD ErrorlD EC_CopyMon_instance EC_StartMon_instance EC_CopyMon EC_StartMon Execute Done Execute Done FileName Busy Busy Error Error ErrorlD ErrorlD Inline ST 1 Processing after normal end a NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendix ST Internal Sot Datatype iniial value Comment Stage Im o Sagechang OO O OOS S R TRG insane RAG O O O OSS SSS EC_StopMon_instance EC_StopMon O EC_SavelMon_instance EC_SaveMon _ EC_CopyMon_instance EC_CopyMon CC EC_StariMon_instance EC_StatMon O oO _EC_ErrSta WORD Built in EtherCAT Error _EC_PktMonStop BOOL
108. ables 0 00000 ee 4 4 4 1 4 Connecting Communications Cables 0 0 00 cc ees 4 7 4 1 5 Cable Connection Procedure 0 0 00 ccc ee 4 8 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 4 1 4 EtherCAT Network Wiring 4 1 Laying the EtherCAT Network 4 2 This section describes how to install EtherCAT networks 4 1 1 Supported Network Topologies The NJ series CPU Unit can be connected using daisy chain connections with no branching or with branching connections using Junction Slaves This supports redundancy and all topologies other than rings Examples of topology without branching and with branching Junction Slaves are shown below No Branching EtherCAT Master Remote I O Slave Output port Input port NJ series CPU Unit Built in EtherCAT Port User s Manual W505 4 EtherCAT Network Wiring Branching EtherCAT Master Junction Slave Junction Slave ON sah Seah Remote I O Slave Junction Slave I re fe lt gt Q gt D m gt D D mp oO an Servo Drive Slave Servo Drive Slave Servo Drive Slave Servo Drive Slave Servo Drive Slave Remote I O Slave Output port Input port EN Additional Information saibojodo Yom N pewoddns r When you use a system configuration in which an EtherCAT Junction Slave is connected to syn chronized slaves that provide a distributed clo
109. al Function TRUE if there is an illegal MAC address Data type BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError KioBbeyed ejnpoyy uonouny selsey WOJOUIS E 1 2 94 swen NJ series CPU Unit Built in EtherCAT Port User s Manual W505 7 7 7 System defined Variables That Are Related to the Built in EtherCAT Port Variable name _EC_LanHweErr Meaning Communications Controller Error Global local Global Function TRUE if there is a communications controller hardware error Data type BOOL Range of values TRUE or FALSE R W access Rs Retained Not retained Network Publish Published Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Variable name _EC_LinkOffErr Meaning Link OFF Error Global local Global Function TRUE if the communications controller link is not established Data type BOOL Range of values TRUE or FALSE R W access R ss Retained Not retained Network Publish Published Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Variable name _EC_NetCfgErr Meaning Network Configuration Information Error Global local Global Function TRUE if there is illegal network configuration information Data type BOOL Range of values TRUE or FALSE R W access R ss Retained Not retained Network Publish Publish
110. all of the errors that occur on the NJ series Controller as events The same methods are used for all events This allows you to see what errors have occurred and find corrections for them with the same methods for the entire range of errors that is managed i e CPU Unit EtherCAT slaves and CJ series Units The EtherCAT slaves Sysmac devices must support NU series error management Host computer NS series PT EtherNet IP Troubleshooter at NJ series NJ series CPU Unit CPU Unit CJ series Units Troubleshooting functions E o e Sysmac Studio WS RY CY Built in EtherCAT port EtherCAT slaves a 2 a TE a Error management range for NJ series Controller You can use the troubleshooting functions of the Sysmac Studio or the Troubleshooter on an NS series PT to quickly check for errors that have occurred and find corrections for them This manual describes the errors that originate in the EtherCAT Master Function Module Refer to the NJ series Troubleshooting Manual Cat No W503 for specific corrections when errors occur and for troubleshooting information on the entire NJ series Controller 9 2 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting 9 1 1 How to Check for Errors You can check to see if an error has occurred with the following methods Checking method What
111. alues oo stopped Operational Input data Forced refreshing values state Slave settings control the outputs Safe operational state Input data Process data Disabled Output data Values from before Output data Process data operation stopped Operational Input data Process data state Slave settings control the outputs Safe operational state Input data Process data If a major fault level Controller error occurs the output values from before operation stopped are retained while the slaves are in Operational state and the slave settings control the outputs after the slaves enter Safe opera tional state NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 11 sonjeA payioeds UUM BulysesJay O pue SIOZ 191101 U09 3407 NL 10fe 10 suoneiado O I S 4 9 e gt I UO O D U fe e5 O O 3 3 c 5 O fe T O gt __ u J a O O 3 3 c 5 O fe O gt v 6 Process Data Communications and SDO Communications Precautions for Safe Use e You can select whether the master continues or stops communications with all slaves when a communications error occurs Refer to 5 4 1 Setting EtherCAT Master for details Frames that are sent to EtherCAT slave are sometimes lost due to noise or other factors If frames are lost slave I O data is not communicated and the intended operation is sometimes not achieved If noise countermeasure
112. ame generation Refreshing g 4 Refreshing ae period ait time EtherCAT master OP LE vr rrr err nee Reception C16 Transmission Transmis eos l EtherCAT communi sion time a 3 Transmission time 8 Transmission time o Not in time cations path F Lo x 2 Input response time 9 Output response time 1 External devices Process data communications cycle Process data communications cycle 10 Primary period Primary period System response time Process data communications cycle Primary period System s maximum input and output response time Primary period i e the process data communications cycle x 2 Slave input response time Slave output response time 1 Sensor and other inputs are input to the slave 2 Signals are detected by the slave after the input response time 3 Process data is transmitted from the slave to the EtherCAT communications line 4 5 e gt I u O D U e5 e5 O O 3 3 c 5 O fe O gt _ u J O O O 3 3 c 5 O fe O gt v The EtherCAT master reads refreshes the data and passes it to the PLC Function Module Sequence processing is performed by the CPU Unit based on the input data When a motion control instruction is executed the Motion Control Function Module is asked to per form the processing and the motion control processing is performed Output data is determ
113. and I O Refreshing with Specified Values serrare Yeh So Ae ers 2S SORE SORE OF GEESE Rees SOUR 6 10 6 2 SDO Communications 20 03 00ts k twee she Kh hoe eweewaes 6 13 6 2 1 EtherCAT Instructions nananana sets oh cota as Met enone an eau are 6 13 6 2 2 Sample Programming 2 214 445 449 eedh eben k Bek aera eee eek 6 13 6 2 3 Execution Timing of SDO Communications 0000 es 6 15 6 2 4 Message Response Time for SDO Communications 6 15 6 3 Instructions Used in EtherCAT Communications 000 6 17 6 3 1 EtherGAlINSWucCions 42 3 reaa rere tees 240 Geb Choe EA ee ee es 6 17 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 1 6 Process Data Communications and SDO Communications 6 1 Process Data Communications PDO Communications Process data communications cyclically exchanges data between the master and slaves in the process data communications cycle i e the task period of primary periodic task From the user program in the NJ series CPU Unit slave data is accessed through allocated variables 6 1 1 Allocated Variables for Process Data Communications The variables that are allocated depend on the slave type as shown in the following table Slave type Allocated variables Operation in Sysmac Studio Only Servo Drive and encoder input Axis Variables structures Axis Settings slaves Allocated variables are specified for instructions in the user program
114. are no errors in the ter slave synchronization settings and the PDO mapping information and correct any errors that are found An initialization error occurred in the Cycle the power supply to the Ether None EtherCAT slave CAT slave If this error persists replace the EtherCAT slave 9 20 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting 84280000 hex Slave Application Error An error occurred in the slave application EtherCAT Master Function Module Minor fault Continues During communi cations Slave Error Reset System When Fail soft Operation Is Set to Fail soft Master The slave communications status is not manipulated but operation continues The status of slaves with an applica tion layer status error is also not manipulated Slave An error occurred Operation is according to the state transition behavior of the slave where the error occurred When Fail soft Operation Is Set to Stop Master All slaves enter the Pre operational state when an applica tion layer status error occurs Slave An error occurred All slaves enter the Pre operational state Fes at 1 9 interval _EC_SlavAppErr BOOL Slave Application Error _EC_CommeErrTbl Array 1 192 of BOOL Communications Error Slave Table Clear the error from the EtherCAT slave where the application error occurred Use the procedure given in th
115. at there are no errors in the order that the slaves are connected There are no restrictions on the order when reconnecting slaves that are in a daisy chain For example even if slaves 1 to 3 in a configuration such as the one shown in the following figure are discon nected there are no restriction on the reconnection order of slaves 1 to 3 For example the slaves can be reconnected in the order 3 2 1 or 1 3 2 Junction Slave a im E Disconnected slaves The status of the system defined variables for disconnected slaves that have been successfully recon nected are listed in the following table _EC_RegSlavTbl 1 192 Registered This variable shows the slaves that are regis Remains TRUE Slave Table tered in the network configuration information _EC_EntrySlavTbl 1 192 Network This variable shows the slaves that are regis Shows actual network configu Connected Slave Table tered in the network configuration information ration changes to FALSE for and connected to the network disconnection and to TRUE for connection _EC_MBXSlavTbl 1 192 Message This variable shows the slaves that are regis The corresponding element Communications Enabled Slave Table tered in the network configuration information changes to TRUE after the and able to perform message communications EtherCAT slave is connected from the Sysmac Studio or with an instruction _EC_PDSlavTbI 1 192 Process Data This
116. ation Close Here either correct the node address in the network configuration on the Sysmac Studio or the node address in the physical slave in the actual network configuration and then repeat the com pare and merge operation to confirm that the configurations are the same EN Additional Information e Make sure that the communications cables between the master and slaves are connected cor rectly before you perform the compare and merge operation The Compare and Merge with Actual Network Configuration Dialog Box is not displayed if the connections are not correct e The Compare and Merge with Actual Network Configuration Dialog Box is not displayed if there is a slave in the actual network configuration for which the node address is not set or if the same address is set for more than one slave in the actual network configuration Make sure that node addresses are set correctly for the slaves in the actual network configuration before you perform the compare and merge operation e When the compare and merge operation is performed the synchronization between the Sys mac Studio and the Controller is lost Synchronize the Sysmac Studio and Controller before you perform any online operations for the slaves Refer to the Sysmac Studio Version 1 Oper ation Manual Cat No W504 for information on synchronization 5 5 2 Automatically Creating the Network Configuration 5 24 Instead of manually setting the network configuration offline
117. attributes Effects Indicators System defined variables Cause and cor rection Attached information Precautions Remarks Gives the name of the error Gives the code of the error Gives a short description of the error Tells when the error is detected Detection timing Gives details on the source of the error Gives the source of the error Source details Tells the level of Gives the recov Tells which log influence on con ery method 2 the error is saved trol in 3 Recovery Log category Provides special information on the operation that results from the error Tells what will hap pen to execution of the user pro User program Operation gram 4 Gives the status of the built in EtherNet IP port and built in EtherCAT port indicators Indicator status is given only for errors in the EtherCAT Master Function Module and the EtherNet IP Function Module Data type Name Lists the variable names data types and meanings for system defined variables that provide direct error notification that are directly affected by the error or that contain settings that cause the error Correction Prevention Lists the possible causes corrections and preventive measures for the error Variable Assumed cause This is the attached information that is displayed by the Sysmac Studio or an NS series PT Provides precautions restrictions and supplemental information 1 One of the foll
118. ayed in the Edit Pane The Axis Basic Settings Tab Page will be displayed first alarxcaa New Project new _NJ501_0 a Configurations and Setup Axis type Virtual servo axis v Y i Motion Control Setup So pee vV amp Axis Settings Axes Group Settings amp Cam Data Settings gt Event Settings Ee Task Settings F7 Data Trace Settings Detailed Settings 5 12 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio 2 To enable the use of a servo axis set the Axis use Box to Used axis and set the Axis type to Servo axis Configurations and Setup MC_Axis000 0 x Axis number o Axis use Used axis v Axis type Virtual servo axis v Feedback control sc i tah aaron axis Output device Virtual encoder axis Detailed Settings 3 Select the slave that is assigned to the registered servo axis for the input device Configurations and Setup MC_Axis000 0 x F Axis number W Axis use Used axis Axis type Servo axis Feedback control No control loop Y Input device lt Notassigned gt E e i Node 1 Device R88D KNO1H ECT Node 3 Device RB8D KNO1H ECT Node 4 Device R amp S0 KNOLH ECT lt Not assigned gt rA gt V zi gt Q m mp gt gt ar L lt D S z D on gt 2 gt pa D i Setting Axis Parameters 1 Click each of the icons in the Axis Parame
119. bal Function This system defined variable provides the collective status of errors in the EtherCAT Master Function Module Refer to Meanings of Error Status Bits provided above for the meanings of the error status bits Data type WORD Range of values 16 0000 to 16 00F0O Usage in user program Possible Related instruc Get EtherCAT Error Status tions e GetECError Reset EtherCAT Controller Error e ResetECError Variable name _EC_PortErr Meaning Communications Port Error Global local Global Function This system defined variable provides the collective status of errors in the communications ports for the EtherCAT master Refer to Meanings of Error Status Bits provided above for the meanings of the error status bits Data type WORD Range of values 16 0000 to 16 00F0 Usage in user program Possible Related instruc Get EtherCAT Error Status tions e GetECError Reset EtherCAT Controller Error e ResetECError 7 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 7 System defined Variables That Are Related to the Built in EtherCAT Port Variable name _EC_MstrErr Function This system defined variable provides the collective status of EtherCAT master errors and slave errors detected by the EtherCAT master Refer to Meanings of Error Status Bits provided above for the meanings of the error status bits Data type WORD Range of values 16 0000 to 16 00F0O R W access R ss Retained Not retained Network Pub
120. ccceceseceeeceseeeeeneseeeeeeeees 5 16 TAINS FE PO psia a A 24 Troubleshooter siser te esta ance de a eneeretee aac 9 4 TOUDICSMOOUMNG vissri tie a 9 4 HB cy 1 O rooe a ener ere A 24 U unit power supplies cossechccsctiidsestenenduarebinseavsnsii viedo 1 6 W Wait Time for Slave Startup ccccccssseeeeeeseeeeeeeeeees 5 16 A STRESS ae iL Gee nee eee te ee ee ener en ee ee eee ene A 24 Index 4 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Authorized Distributor
121. celeration deceleration Blending is char Deceleration stop Immediate stop Immediate stop 200 msec 300 0 Disabled on Zero position presei w at S JEEE S 2 Operation selection at negative limit input o a a lllllllt leaversetuniimmediatelstopl Homing velocity Homing approach velocity NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 Part Names and Slave Settings EtherCAT Master Settings Used to set the EtherCAT master Set the EtherCAT master and slaves from the EtherCAT master settings and the slave settings in the EtherCAT configuration ES Sysmac Studio DER File Edit View Insert Project Controller Simulation Tools Help _ E EEE fe f mr j All vendors bi n Configurations and Setup TAQEL roups new_NJ501_0 x Configurations and Setup v amp Motion Control Setup V amp Axis Settings a MC_Axis000 0 Node AddressiNetwork configuration Master Servo Drives FE Frequency Inverter Digital 10 Model Product name Number of Slaves PDO Communications Cycle Time Total Cable Length Fail soft Operation Setting N L u D asa D 3 D o D a TI c 5 O ot O 5 D 4 MC_Axis001 1 Wait Time for Slave Startup Axes Group Settings PDO communications timeout detection count ef Cam Data Settings Revision Check Method gt Event Settings Serial Number Check Method
122. chase to obtain the most recent ESI files for slaves that are manufactured by other companies Sysmac Studio EtherCAT master Network lt lt O OF configuration Lei oe E information prJ NI Ht S y EtherCAT slaves l s ll4 IS l UOeWJOJU LelS 1V4 1 e V Communications are started according to the communications settings and the network configuration in the ESI files that are installed EN Additional Information ESI file versions that are lower than ESI version 1 0 1 specifications are not supported If you install an ESI file version that is not supported a message saying that you cannot use the slave is displayed by the Sysmac Studio The NJ series CPU Units do not support the following data types for variables If variables with any of these data types are included in the slave information ESI you cannot use the slave Bit data types BIT1 BIT2 BITS BIT4 BIT5 BIT6 BIT7 and BIT8 Integer data types INT24 INT40 INT48 and INT56 Unsigned integer data types UINT24 UINT40 UINT48 and UINT56 If variables with any of these data types are included in the slave information ESI a message saying that you cannot use the slave is displayed in the ESI Library Dialog Box of the Sysmac Studio NJ series CPU Unit Built in EtherCAT Port User s Manual W505 A 15 Appendix A 3 2 Connecting Slaves from Other Manufacturers to an OMRON Master You
123. ck at least one of the following two conditions below must be met e A slave that provides a reference clock must be connected between the EtherCAT master and the first Junction Slave e The Junction Slave must provide a reference clock However the above conditions do not apply when synchronization is not performed between slaves providing a distributed clock throughout the entire EtherCAT network You can determine whether the Junction Slave supports a reference clock from the Reference Clock setting in the Sysmac Studio slave settings OMRON Junction Slaves support a reference clock NJ series CPU Unit Built in EtherCAT Port User s Manual W505 4 3 4 EtherCAT Network Wiring 4 1 2 Installation Precautions Basic precautions for the installation of EtherCAT networks are provided below i Precautions when Installing a Network e When you install an EtherCAT network take sufficient safety precautions and perform the installation according to standards and specifications Refer to JIS X5252 or to electrical facility technical refer ences An expert well versed in safety measures and the standards and specifications should be asked to perform the installation e Do not install EtherCAT network equipment near sources of noise If the network must be installed in an area with noise take steps to address the noise such as placing equipment in metal cases f Precautions when Installing Communications Cables e Check the follo
124. connecting slaves NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 9 1 Introduction 1 4 EtherCAT Communications Procedure 1 4 1 Overview 1 Mounting and Setting Devices and Hardware 2 2 Setting the Node Addresses of the EtherCAT Slaves 2 Laying EtherCAT Communications Cables Section 4 EtherCAT Network Wiring 3 Creating the EtherCAT Network Configuration 5 2 Creating the EtherCAT Network Con figuration 4 Setting EtherCAT Slave Variables and Axes 5 3 Setting EtherCAT Slave Variables and Axes 5 4 EtherCAT Master and Slave Parame ter Settings 5 Setting EtherCAT Parameters Section 6 Process Data Communications and SDO Communications 6 Programming Dibia J 2 Laing e Cemmuiiiesiems Geb J Eee J Gesu aaa J iiaa J See J 7 Turning ON Power and Going Online from the Sysmac Studio 2 1 3 Connecting the Sysmac Studio 3 3 State Transitions for EtherCAT Com munications 8 Online Debugging 5 5 Comparing and Merging EtherCAT Network Configurations 9 Downloading the Network Configuration Information and the User 5 6 Downloading the Network Configura Program tion Information 10 Checking Indicators 5 7 Confirming Communications after Completing EtherCAT Configuration and Settings 1 10 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 4 2 Details Step 1 Mounting and Setting Devices and Hardware 2 Laying EtherCAT Communi cations Cables 3 Creating
125. d ing on the slave specifications e Verification with serial numbers is not possible for slaves that do not have the serial number in SII Y OO Tl mp c oO U lt 3 O 0 i O Supported Partially supported 2 Partially supported 3 Supported Supported Partially supported 4 Supported Not supported Partially supported gt S1 SeN 1WV919y 4 pue SoiNnyes sdIANG DLWS S v S c NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 15 2 Part Names and Slave Settings NJ series CPU Unit Built in EtherCAT Port User s Manual W505 EtherCAT Communications This section describes the different types of EtherCAT communications EtherCAT set tings and state transitions 3 1 3 2 3 3 EtherCAT Communications Types and Settings 000000 3 2 3 1 1 CoE CAN Application Protocol over EtherCAT 00005 3 2 3 1 2 Types of Communications 0 00 ee eee 3 4 3 1 3 Types of EtherCAT Variables 0 0 0c cee 3 6 3 1 4 Settings Required for EtherCAT Communications 005 3 7 Programming EtherCAT Communications 000e ee eeeeee 3 8 State Transitions for EtherCAT Communications 000055 3 9 3 3 1 Self Diagnosis at Startup 0 0 0 eens 3 9 3 3 2 Control States for EtherCAT Communications 000005 3 9 3 3 3 CPU Unit Status in Relation to EtherCAT
126. d reliable communications may not be possible at 100 m Confirm details with the cable manufacturer e When selecting a connector confirm that it is applicable to the cable that will be used Confirm the following items Conductor size conductor type solid wire or twisted wire number of twisted pairs 2 or 4 outer diameter etc saiqeg suoyeounwwop 1Y919443 Buljjeisu L P EN Additional Information lf an Ethernet cable of category 5 or higher is used communications will be possible even if the cable is not shielded However we recommend a cable with double aluminum tape and braided shielding to ensure sufficient noise immunity i Attaching the Connectors to the Cable and Pin Assignments Use straight wiring to attach the connectors to the communications cable NJ series CPU Unit Built in EtherCAT Port User s Manual W505 4 5 4 EtherCAT Network Wiring a le M on e Tf T a 7 mesom Te T om t Shield Shield 1 Connect the cable shield to the connector hood at both ends of the cable Green 2 White Orange 3 Bue 4 gt jo N 2 There are two connection methods for Ethernet T568A and T568B The T568A connection method is shown above but the T568B connection method can also be used Connector Specifications Specification Description Electrical characteristics Conforms to IEEE 802 3 standards Connector structure RJ45 8 pin modular connector C
127. de address set value of the slave prevent duplication and change it to prevent address duplication P N Oo a 2 D N Oo Oo 5 None The slave cannot be used unless the slave node address is set suonduos q 10113 2 2 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 15 9 Troubleshooting Event name Meaning Source Error attributes Effects Indicators System defined variables Cause and correction Attached information Precautions Remarks 9 16 Network Configuration Information Error 34400000 hex There is an error in the network configuration information i At power ON or EtherCAT Master Function Module Source details Master timing Controller reset ery User program Continues Operation Master The master waits in the Init state Slave Parameter setting is not possible Process data communi cations are not possible EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT _EC_NetCfgErr BOOL Network Configuration Information Error Assumed cause Correction Prevention The power supply to the Controller Clear memory set the network config Do not turn OFF the power supply to was interrupted or communications uration information and then save it the Controller or disconnect commu in the master again nications with the Sysmac Studio while downloading the network con figuration information Detection with the Sysmac Studio were discon
128. dress The following information is provided on the ID information label Item Description Unit model Gives the model of the Unit Unit version Gives the unit version of the Unit Lot number and Gives the lot number and serial number of the Unit serial number DDMYY Lot number LJ For use by OMRON xxxx Serial number M gives the month 1 to 9 January to September X October Y November Z December MAC address Gives the MAC address of the built in port on the Unit i Confirming Unit Versions with Sysmac Studio You can use the Unit Production Information on the Sysmac Studio to check the unit version of the CPU Unit CJ series Special I O Units CJ series CPU Bus Units and EtherCAT slaves The unit versions of CJ series Basic I O Units cannot be checked from the Sysmac Studio CPU Unit and CJ series Units 1 Double click CPU Expansion Racks under Configurations and Setup in the Multiview Explorer Or right click CPU Expansion Racks under Configurations and Setup and select Edit from the menu The Unit Editor is displayed for the Controller Configurations and Setup layer NJ series CPU Unit Built in EtherCAT Port User s Manual W505 25 Unit Versions 2 Right click any open space in the Unit Editor and select Production Information The Production Information Dialog Box is displayed 3 Production information fx Model information Lot number 501 1500 af 31810 Hardware Production information SYSTE
129. e Description Outputs the information to a CSV file Gets the diagnosis statistics information from the Controller and updates the display Clears the diagnosis statistics information from the Controller to all zeros Diagnostic and statistical information is cleared to all zeros when the power supply is turned ON Diagnostic and Statistical Information Total frames Sent Total frames Received Frame reception timeout count Reception buffer overflow count Non EtherCAT frames received Link OFF count Discarded process data receptions Description The total number of EtherCAT frames sent by the master The total number of EtherCAT frames received by the master The number of frame reception timeouts that occurred The number of frames discarded due to buffer overflows when receiving data The number of frames received other than EtherCAT frames The number of times link OFF was detected The number of process data packets discarded when receiving process data NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Diagnostic and Statistical Information Discarded message receptions Lost repeat send frames Network propagation delay time Current transmission cycle 2 Maximum transmission cycle 2 Minimum transmission cycle 2 Transmission jitter 2 CRC Error Frames Received Frame reception errors Collision count Short frames received Overlength frames received ae 9 Troubleshooting
130. e Slave Node Addres i ne and Merge with Actual k Configuration Get Slave Senal Numbers Display EEREN Statistics Information Display Production Information Display Packet Monitor Display ES Library JO SOSSOIPpY BPON y HulesS Z Z m mp gt gt ar 2 lt D The Slave Node Address Writing Dialog Box is displayed 4 If there are slaves for which the node address is not set i e for which the present value is 0 or if there is more than one slave with the same node address indicated by change the set val ues of the slave addresses and then click the Write Button If the correct node addresses are set for all of the slaves click the Cancel Button ES Slave Node Address Writing Present value Set value Actual network configuration ef Master RBSD KNOIL ECT Rev 2 1 RESD KNASL EGT Rev 1 0 RBSD KNASL ECT Rev 1 0 ga 001811 Rev 1 0 a GA ID1611 Rew1 1 Node addresses are set for slaves When any value other than 0 is set to a slave whose node address oan be set from hardware the setting has priority In other The node addresses are written to the actual slaves EN Additional Information e The switch setting is read only once when the power is turned ON Even if the setting is changed after the power supply is turned ON the new setting will not be used until the next time that power is turned ON e f same node address is set for
131. e Startup tions timeout detection count Item name 3 gt Event Settings Write Slave Node Address Aethod E Task Settings Compare and Merge with Actual Network Configuration heck Method F7 Data Trace Settings Get Slave Serial Numbers Dispiay Diagnosis statistics Information Display Production Information Display Packet Monitor Display ESI Library The serial numbers of the physical slaves are saved as the serial numbers in the slave settings on the Sysmac Studio NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 27 i oO O e 3 oO D 5 D 5 a D Q 5 m ana gt D D Oo an O O 5 D e 5 T UONCINBYUOD YWOMION Jeno Ou wo SIOQUINN eaS uleq 0 opns oewsAs y BulsN S G 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 28 EN Additional Information Make sure that the communications cables between the master and slaves are connected cor rectly before you perform this operation You cannot get the serial numbers of the slaves unless the connections are correct You cannot get the serial numbers of the slaves if there is a slave in the actual network config uration for which the node address is not set or if the same address is set for more than one slave in the actual network configuration Make sure that node addresses are set correctly for the slaves in the actual network configuration before you p
132. e Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products e Windows Windows 98 Windows XP Windows Vista and Windows 7 are registered trademarks of Microsoft Corporation in the USA and other countries e EtherCAT is a registered trademark of Beckhoff Automation GmbH for their patented technology e The SD logo is a trademark of SD 3C LLC SS P Other company names and product names in this document are the trademarks or registered trade marks of their respective companies Software Licenses and Copyrights This product incorporates certain third party software The license and copyright information associ ated with this software is available at http www fa omron co jp nj_info_e 24 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Unit Versions Unit Versions Unit Versions A unit version has been introduced to manage CPU Units in the NJ Series according to differences in functionality accompanying Unit upgrades i Notation of Unit Versions on Products The unit version is given on the ID information label of the products for which unit versions are man aged as shown below Example for NJ series NJ501 OUULI CPU Unit ID information label Unit model Unit version i NJ501 1500 1 Ver 1 00 PORT1 MAC ADDRESS sO00000000000 PORT2 oS ADDRESS Benes a Lot number and serial number MAC ad
133. e cables during operation The output may become unsta ble Refer to 9 3 Replacing Slaves during Communications for information on replacing slaves during operation EN Additional Information Make sure the cable between each pair of devices connects an output port to an input port Nor mal communications are not possible if an output port is connected to another output port or an input port is connected to another input port NJ series CPU Unit Built in EtherCAT Port User s Manual W505 4 7 4 EtherCAT Network Wiring 4 1 5 Cable Connection Procedure Precautions for Correct Use e Turn OFF the Controllers power supply before connecting or disconnecting Ethernet commu nications cable e Allow enough space for the bending radius of the Ethernet communications cable as shown below 35 mm a E 1 Lay the Ethernet communications cable ee EE 2 Connect the Ethernet communications cable to the built in EtherCAT port on the NJ series CPU Unit Firmly insert the connector until it locks into place Built in EtherCAT port 4 8 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 RJ45 Modular Connector PON NJ series CPU Unit Setting Up EtherCAT Communications with the Sysmac Studio Pe This section describes how to set the network configuration information and how to check EtherCAT communications from the Sysmac Studio 5 1 5 2 5 3 5 4 5 5 5 7 Overview o
134. e error status of all error sta Port Error tus for the EtherCAT communications port EC MstrErr WORD Master Error Gives the collective error status of the EtherCAT master error status and slave error status detected by the EtherCAT master _EC_SlaveErr WORD Slave Error Gives the collective error status of the error sta tus for all EtherCAT slaves _EC_SlavErrTbl ARRAY 1 192 Slave Error Table Gives the error status for each EtherCAT slave OF WORD The meanings of the individual bits in the above error status variables are given below 15 Master Detection This bit indicates whether the master TRUE Error detected an error in the slaves that it FALSE Nio error manages 14 Slave Summary 2 Indicates whether there is an errorat TRUE Error a level below the function module FALSE No error 8to 13 Not used 7 Major Fault Indicates if there is a major fault level Error m SON FALSE No error 6 Partial Fault Indicates if there is a partial fault level e 5 Minor Fault Indicates if there is a minor fault level ee 4 Observation Indicates if there is an observation TRUE Error level error FALSE No error Oto3 Not used co I ok Oo lt Oo h m Oo 1 For the EtherCAT Master Function Module only _EC_S avErrTbl Slave Error Table is used 2 For the EtherCAT Master Function Module only _EC_ErrSta Built in EtherCAT Error is used Other System defined Variables Related t
135. e slave documentation An error was detected in the slave s application layer status register Attached Information 1 AL status code for the slave where the error was detected None NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 21 P N O Z 5 D o gt O O ot 5 To suonduos q JOU 2 2 6 9 Troubleshooting Event name Process Data Transmission Error 84290000 hex Meaning Sending process data failed Source EtherCAT Master Function Module Source details Master Detection During communi timing cations Effects User program Continues Operation When Fail soft Operation Is Set to Fail soft Master Operation continues Slave The error occurs only with synced slaves When Fail soft Operation Is Set to Stop Master All slaves enter the Pre operational state Slave Errors only occur in synced slaves System defined Variable Name variables _EC_PDSendErr Process Data Transmission Error Cause and Assumed cause Prevention correction It was not possible to send the Ether Connect the Sysmac Studio increase Set the task period of the primary CAT frame during the EtherCAT com the task period setting of the primary periodic task to a value that provides munications period periodic task and set and save the sufficient processing time Use the The frame transmission jitter has a aie information in a to check seein avcecded th limit the Ether master ther communicat
136. eature NJ501 1000 NJ series CJ1 NCH18 CJ series adoha man eet CPU Unit Position Control Unit Troubleshooting Not supported Not supported Not supported Backing up and restor 9 9 ing parameters Supported Partially supported Partially supported aving node address Saving Partially supported 4 Partially supported 4 Partially supported settings Verifying the EtherCAT 6 network configuration POL SUPRORES Not supported Partially supported 1 Error notification is provided with emergency messages 2 You cannot specify the parameters that are backed up and restored 3 The ability to back up and restore parameters depends on the ability of the EtherCAT master from another manufacturer 4 Setting is possible on the node address switches Node addresses set with the software cannot be stored in the slave 5 The ability to store node addresses depends on the ability of the EtherCAT master from another manufacturer 6 The ability to verify serial numbers depends on the ability of the EtherCAT master from another manufacturer i Slaves from Other Manufacturers If you connect slaves from other manufacturers to an OMRON EtherCAT master functionality is restricted as given below depending on the functionality of the slaves e Slaves cannot be connected if the ESI files do not comply with the most recent ESI standards e The Sysmac Studio operation to set node addresses may not be supported by some slaves depen
137. ecesvawecscavectesuieses eect 4 2 4 1 1 Supported Network Topologies sc ive ciiscot au ses iercadeesleecias recat lie e se abetinareteteretecstetaaeeeriee reyes 4 2 4 1 2 installation Precautions aroan a EE E 4 4 4 1 3 Installing EtherCAT Communications Cables ccccceececeeeeeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeeeesaaeeeeeeeeeeeas 4 4 4 1 4 Connecting Communications Cables ccccccseeceeccesseeeecesececceeeeeeeceeeaeeeeceasseeeesseseeesssageesessaass 4 7 4 1 5 Cable Connection Procedure cccccssceccceeseeececeeeeeecceueececeeaueeceseseeeessaseeeseeaueeeeseuseeeessaneessesanss 4 8 Setting Up EtherCAT Communications with the Sysmac Studio Overview of Network Configuration Information cccccsesseeeeseeseeeseeeesseeeeaseesenseeeenneesoeas 5 2 Creating the EtherCAT Network Configuration sccccssesecseeseeeeesseeeeeseeeeesseeeesseseeeneeseeas 5 3 Setting EtherCAT Slave Variables and AXES c ccccceeseeeeeeeeseeeseeeeeneeeeeseeseenseeeeaseeeennessonnees 5 5 5 3 1 Registering Device Variables for All EtherCAT Slaves cccccsececccceseeeeeceeeeeeeeeeeeeseeeseesssaeeess 5 5 5 3 2 Axis Settings for Servo Drives and Encoder Input SlaVeS ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeaeaaeeeeees 5 10 EtherCAT Master and Slave Parameter Settings csccsssseeseeseeseneeseeeeeseeneeeeesseeeennenes 5 15 5 4 1 Seung BInerGAl Master 1 ac ical E ee a eee ale eae ae 5 15 5 4 2 Setting EtherGA
138. ection describes how to register device variables and set the axes 5 3 1 Registering Device Variables for All EtherCAT Slaves You use the I O Map Tab Page in the Sysmac Studio to assign device variables to the I O ports The device variables that you create are registered in the global variable table Use one of the following three methods e Selecting variables that were previously registered in a variable table e Inputting new device variable names e Automatically creating device variable names i Selecting Variables 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 exam ple this method can be used to register device variables in the following cases e To write the program before the slave configuration information is created e To reuse programming from another project a do U D 5 m mr gt D te lt S 9 a D O teh 5 2 gt x O Use the following procedure 1 Register the variables in advance in the global variable table or the local variable table of one of the POUs Program using those variables Create the slave configuration information WON Select the variables from the pull down list in the I O Map Tab Page to assign them to I O ports Configurations and Setup Position Port Description R W Data Type Variable Variable Cc Y cpu Expansion Racks C
139. ed Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Variable name _EC_NetCfgCmpErr Meaning Network Configuration Verification Error Global local Global Function TRUE if the network configuration information does not match the actual network configuration Data type BOOL Range of values TRUE or FALSE R W access R Retained Not retained Network Publish Published Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Variable name _EC_NetTopologyErr Meaning Network Configuration Error Global local Global Function TRUE if there is a network configuration error too many devices connected or ring connection Data type BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Variable name _EC_PDCommErr Meaning Process Data Communications Error Global local Global Function TRUE if there is an unexpected slave disconnection or connection or if a slave WDT error is detected during pro cess data communications Data type BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError 7 8 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 7 System defined Variables That Are Related to the Built in EtherCAT Port Variable name _EC_PDTimeout
140. eeseceeeeecaneeeeeeseuaueeeeseeeeeeesaaneeesesaaess 1 7 1 3 Specifications of Built in EtherCAT Port cccsccssssecsessceeseceeseceeseceeseecnseseeseseoseesenessones 1 8 1 3 1 Performance Specifications cccccscccccsssseecceeeseeeceeeeeeecsusseecsseaeeeeseuaueeeesesseeesseseeeeeseageeenesseass 1 8 1 4 EtherCAT Communications ProCedure cccsccesseeeeeceeecenecensecnsenensceasecnseonsesenesonseoneess 1 10 1 4 1 OVENI W a a a a a Ne ee ene ee 1 10 1 4 2 Petals aaa E A a nina A a a 1 11 Section 2 Part Names and Slave Settings 2 1 Part Names and FUNCHONS sccccsccccccesecsiecacece scecatceavenzececuesscedecesicsacaveescoaaeseeecescccscesiseneccsesieeuseues 2 2 2 1 1 EtherCAT Master INnGiCdtOrS rerien a a A 2 2 2 1 2 Windows Used in Sysmac StuCiO ccccseececccsseeeeecceeeeeeeeeseeeeeseeceeeeseeeeeeesseaeeeeesaaeeeeesneeeeeessans 2 3 2 1 3 Connecting the SYSMAC StUdiOs iraia iia E r aa 2 6 2 2 Setting the Node Addresses of the EtherCAT Slaves ccsscceseeeeeseeseeeeeeeeeeenseeenneeseenees 2 8 2 3 Features of Sysmac DEVICES aii cscs iscteis nnani anean a iaa ea sinn aea Kaa Eaa Aaaa asai Aana AASEN anced 2 10 2 3 1 yS mac DoVICES eoe a E a r a a a S 2 10 2 3 2 oysmac Device FEA CS asirna r A R T 2 10 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 11 CONTENTS Section 3 Section 4 3 1 3 2 3 3 Section 5 Section 6 12 4 1 5 1 5 2 5 4 5 5 5 6 5 7
141. eeseeeeesenenes A 23 CA bcd ath e ht senile Risane aa ele oa aN te A 23 COE vanvan aan ne ee ee eee eee eee ee 3 2 A 23 communications cables 0 ee cec esses eeeeeeeeeeeeeeeees 1 6 4 4 Communications Controller Error aese 7 3 7 8 Communications Error Slave Table 7 3 7 10 Communications Port Error aese 7 2 7 6 9 5 COMMUNICATIONS port errors cceceeeeeeceeeeeeeeeeeeseeeeeees 9 6 comparing and merging ccccseeeeeeeeeeeeeeeeeeeneeeeenaeees 5 21 COMMOl Stale S ra E AA 3 9 D E EE TE EAE I IE E E E E S E 3 3 A 23 Device NAME sassssssssssnrssrerennrernnnrnnnrnrnrnrennrnnrrnrne 5 16 5 18 device profile ee A 23 device variables oo cceeeeseeceeeeeeeseeeneens 3 6 5 5 A 23 diagnostic and statistical information ccccce 9 29 Disabled Slave Table ccccccesceseeseeeeeeeeeeeeeeeeeees 7 5 7 11 Disconnected Slave Table ccccceeseeseeeeeseeeeeees 7 5 7 11 Distributed Clock Enable ou ceccceseeeseeseeeeeeeeaes 5 19 distributed clocks 2 4 sicc tee etki 3 3 A 23 E EC COMMENTO sra ee 7 3 7 10 EC Disable Slav Tol nanan a e 7 5 7 11 EC DISCONNSIAV TOD ernennen 7 5 7 11 SEC EntrySlaV T Di ried a Aaetelaues 7 5 7 10 JE CENSI ee ene E 7 2 7 6 9 5 HEC IND AAI AVA eea a ie cet 7 5 7 12 SEG RaW EUW etaan a tines 7 3 7 8 AEG HAKONE M ceel a N 7 3 7 8 SEG EWA SUAS ae a a ay det A tates eck 7 5 7 12 HEC IMACAGLE M ocina a stexetacoad 7 3 7 7 JBC MBXSIa VT Di a 7 5 7 11 MIS Ve cette Sea
142. em defined variable in the user program to confirm that communica tions are established before you attempt to control device variables and Axis Variables e After you change any EtherCAT slave or Special Unit settings carefully check the safety of the controlled system before you restart the Unit pue uoleinbiju0y 1y3134 3 Hule dwoy seye suoneaiunwwo Bulwuljuog Z s6ulyjes l Precautions for Correct Use When you change the EtherCAT slave configuration and reconfigure the axis allocation settings you must download the network configuration information again NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 31 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 32 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Process Data Communications and SDO Communications This section describes the timing of communications response times and special instructions for process data communications and SDO communications It also pro vides sample programming 6 1 Process Data Communications PDO Communications 6 2 6 1 1 Allocated Variables for Process Data Communications 6 2 6 1 2 Sample Programming 0 00 cece ee eee eee eee 6 4 6 1 3 Process Data Communications Timing 002 0c eee eee ees 6 8 6 1 4 System Response Time in Process Data Communications 6 9 6 1 5 I O Operations for Major Fault Level Controller Errors
143. emely important to safety Always read and heed the information provided in all safety precautions The following notation is used Refer to the following manuals for safety precautions for the built in EtherCAT port Installation precautions are also provided for the NJ series CPU Unit and NJ series Controller system e NJ series CPU Unit Hardware User s Manual Cat No W500 e NJ series CPU Unit Software User s Manual Cat No W501 Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage ED precautions for Safe Use Indicates precautions on what to do and what not to do to ensure safe usage of the product la Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance NJ series CPU Unit Built in EtherCAT Port User s Manual W505 19 Safety Precautions Symbols 20 The circle and slash symbol indicates operations that you must not do The specific operation is shown in the circle and explained in text This example indicates prohibiting disassembly The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for elec
144. erform this operation You cannot get the serial numbers of the slaves unless the Compare and Merge with Actual Network Configuration Dialog Box shows that the entire slave configurations agree Make sure that the Compare and Merge with Actual Network Configuration Dialog Box shows that the entire slave configurations agree before you perform this operation However you can get the serial numbers of the slaves even if the entire slave configurations do not agree if there 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 numbers of the disabled slaves will be cleared to Ox00000000 in the settings on the Sysmac Studio If the disabled slaves exist in the actual net work configuration the serial numbers of the slaves in the actual network configuration are saved in the settings on the Sysmac Studio Any serial numbers that are set for slaves in the settings on the Sysmac Studio are overwritten when the serial numbers are obtained from the actual network configuration Make sure that it is OK to overwrite the serial numbers on the Sysmac Studio before you perform this operation When you get the serial numbers from the slaves on the actual network configuration the syn chronization between the Sysmac Studio and the Controller is lost Synchronize the Sysmac Studio and Controller before you perform any
145. eries CPU Unit Built in EtherCAT Port User s Manual W505 G Get EtherCAT Error Status instruction oo 9 4 I VO POWER SUDDIY 2 08 sicctens Secon sa AE 1 6 YO FERS SIMA otepa rara ra a i 3 11 as Gene en ets eer rn men SPP ne Ame 8 Pes a oe OPE ee A 23 VG CATON S win sates scene a a E 2 2 9 3 information event level oo eeeeceseeseeeeeeeeeeeeeeeeeeeeeeeees 9 7 FONE erea EE E ate 3 10 INDUt Data nyald sesandi iota 7 5 7 12 HSIAO eects lettered 4 4 communication cables ce cece eee eeceeeeeeeeeneeaenees 4 4 instructions GeELEGEIVON cient cis bk terested bk 9 4 L levels OVENS St Bite Reet Merete Rha Rh att San athe 9 7 MINK OFF ENO facet nae a a ts ene 7 3 7 8 LINK Status ara aera es Sees cea ei ces 7 5 7 12 M MAC Address Error siasicshciveasced i vtssepaniintuacttactunees 7 3 7 7 major fault event level ccceseeeeeessseeeeeeeseeeeeseaeeeeeens 9 7 major fault level Controller errors cccsseseeeeeeeeeeees 6 10 Master Error c ccccccecceccesececeeseeceeeeeeuseeeuaesans 7 2 7 7 9 5 Message Communications Enabled Slave Table 7 11 minor fault event level oo ceceeseeceeseeeeeeeeeeeeeeneeeeneeeees 9 7 Modele aa ee caer E ee csem eee 5 16 5 18 N Network Configuration Error cc csssseeeeseeeeeeees 7 3 7 8 network configuration information 00008 5 2 A 23 downloading avccttescteewctncadstesasancacduse scanedecestesceiniasaas 5 29 Network
146. ervo Drive Outlines of the configuration devices are given below gt L aS a x a Ba X s X iji T Tn w rA X LY er x 5 x Built in EtherCAT port Communications cable I O power supply CL Gs Oro ere MEE i AUU ULL EtherCAT Junction Slave C h aaen ppano PEE 2 Digital I O Slave Unit cod Ber aaf Ce Ce Aog Analog I O Slave Unit n l i l L Communications Unit Inverter NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 Introduction EtherCAT Master The EtherCAT master manages the network monitors the status of slaves and exchanges I O data with slaves There is one output port Output Port The output port transmits EtherCAT communications data to other devices When you connect the output port to another device always connect it to the input port on the other device Normal com munications will not be possible if you connect to the output port on another device Sd8dIA0g UOT e nBIUu0D pue uoljeinbijuoyd wa sAs Z Input Port This port is used to input EtherCAT communications data Always connect it to the output port on another device Normal communications will not be possible if you connect to the input port on another device EtherCAT Slaves Each EtherCAT slave outputs the output data that it received from the EtherCAT master through the EtherCAT network It also sends input data to the EtherCAT master through the E
147. es with e CON connectors GX LID16_ 8 _ID32_18 Non synced Not Slaves possible Analog I O Slaves with screw terminals and GX AD0471 DA0271 Non synced Not Slaves 2 tier terminal block Slaves possible Multifunctional MX2 Series 3G3MX2 with EtherCAT Communications Non synced Not Compact Unit Slaves possible Inverters 3G3AX MX2 ECT AC Servo Drive G5 series Servo Drive with R88M K R88D KNL J ECT Synced Possible EtherCAT communications Slaves Encoder Input Slave with 3 tier terminal block GX EC0211 EC0241 Synced Possible Slaves Slaves NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 5 1 Introduction EtherCAT Junction Slave This is a special unit for branching EtherCAT network wiring Set the node address in the EtherCAT Junction Slave Each Junction Slave has one input port and more than one output port The output ports on each Junction Slave can be connected to another Junction Slave or other EtherCAT slaves The following models are examples of some of the OMRON EtherCAT slaves 1 Slave type name Number of ports Model EtherCAT Junction Slave GX JC03 6 ports GX JC06 2 1 OMRON EtherCAT Junction Slaves are scheduled for release in the near future 2 Two node addresses are set for the GX JCO6 Sysmac Studio The Sysmac Studio runs on a personal computer and it is used to configure EtherCAT networks and slaves and to program monitor and debug the Controller Communications Cables Use a
148. et data file being saved FALSE Packet data file not being saved Data type BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc Saving Packet Data File tions e EC_SaveMon Variable name _EC_InDatalnvalid Meaning Input Data Invalid Global local Global Function TRUE when process data communications are not normal and the input data is not valid Data type BOOL Range of values TRUE or FALSE R W access R ss Retained Not retained Network Publish Published Usage in user program Related instruc tions Note All system defined variables that are related to the status of EtherCAT communications give the current status 7 12 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Example of Operations for EtherCAT Communications This section provides a series of example operations for when an NJ series CPU Unit is connected to slaves 8 1 Example of Operations for EtherCAT Communications 8 2 8 1 1 System Configuration Example 0 0000 cee ees 8 2 8 1 2 Wiring and Settings 0 cc eee ees 8 2 8 1 3 Setting the EtherCAT Network Configuration 0000005 8 3 Cela Programmid ei os Sa bc bok oe boa as a ees eee E 8 4 8 1 5 Offline Debugging 0 0c eee eens 8 5 8 1 6 Turning the Power ON 2 2 2 2010 2240 4 ceus edaces een ed ord bee eee 8 5 8 1 7 Online Debugging 32 2 246244 5 eee Ae Aide Anette Beedle ee ek 8 5 8 1
149. etting EtherCAT Slaves for information on setting node addresses with the Sysmac Studio NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 13 2 Part Names and Slave Settings i Verifying the EtherCAT Network Configuration Using Serial Numbers Each Sysmac device slave stores its serial number in non volatile memory within the slave If serial number verification is enabled in the EtherCAT master settings the EtherCAT network configu ration is verified based on the serial numbers when the EtherCAT master is started The following are enabled by verification of the serial numbers e If the EtherCAT network configuration changes the serial numbers will not match and a Network Configuration Verification Error occurs This helps prevent forgetting to set the parameters when a slave is replaced e The serial numbers of any of the slaves can be checked from the EtherCAT master EN Additional Information Refer to 5 4 1 Setting EtherCAT Master for information on checking serial numbers 2 3 3 List of Sysmac Devices The following table lists the OMRON Sysmac slaves Refer to the manual for the slave for information on OMRON slaves that are not listed in the following table Name Woi Revision Unit version AC Servo Drives R88D R88D KNOOO ECT ECT Revision 2 1 or higher Unit version 2 1 or later Multifunctional Compact P See Im MX2 ECT Revision 1 1 or higher Unit version 1 1 or later Inverters Digital I O S
150. f Network Configuration Information 0 00005 5 2 Creating the EtherCAT Network Configuration 0000000es 5 3 Setting EtherCAT Slave Variables and AxeS 000 cee ee eeaes 5 5 5 3 1 Registering Device Variables for All EtherCAT Slaves 5 5 5 3 2 Axis Settings for Servo Drives and Encoder Input Slaves 5 10 EtherCAT Master and Slave Parameter Settings 00005 5 15 5 4 1 Setting EtherCAT Master 0 0 cece ee eee 5 15 5 4 2 Setting EtherCAT Slaves 0 0 cc eens 5 18 Comparing and Merging EtherCAT Network Configurations 5 21 5 5 1 Comparing and Merging with the Actual Network Configuration from the Sysmac MUGIO ieh aa a nr ee eee 5 21 5 5 2 Automatically Creating the Network Configuration 5 24 5 5 3 Using the Sysmac Studio to Obtain Serial Numbers from the Actual Network COOMMOUNATION lt aii cocaine cians ei esa bo Ses See are oS eee eee 5 27 Downloading the Network Configuration Information 5 29 5 6 1 Downloading the Network Configuration Information from the SVSIMaC SlUGIO 22 5 obs 5 arate til dee etic ae E a dik oe eich ek a 5 29 Confirming Communications after Completing EtherCAT Configuration and SEUN S eea n es Sa ea eset oink rea das ya ies eee 5 31 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 1 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 1 Overview
151. figurations and Setup new_NIJ501_0 v _ pa _ Node Address Network configuration Configurations and Setup v tp EtherCaT 7 E001 gt G ca RBE KEET E R88D KNO1H ECT Rev 2 1 Model gt Node E002 gt Node3 R88D KNO1H R88D KNO1H ECT Rev 2 1 eaea E003 gt Node4 R88D KNO1H ECT E icati a a i R88D KNO1H ECT Rev 2 1 PDO Communications Cyde Time Ss Expansion Racks E004 Total Cable Length itp R88D KNO1H ECT Rev 2 1 Fail soft Operation Setting gt Controller Setup Wait Time for Slave Startup gt 4 Motion Control Setup PDO communications timeout detection count amp Cam Data Settings Revision Check Method Serial Number Check Method Item name Ja SeW 1Y9194 3 HUMOS 1 7 S F Data Trace Settings I4 g f Device name Set a name for the master NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 15 5 Setting Up EtherCAT Communications with the Sysmac Studio The EtherCAT master settings are listed below Name Editing Remarks Device name OK Displays the name of the EtherCAT master Default setting Master Model Not Always Master allowed Product name Not Always Master allowed Number of Slaves Not The number of slaves is automatically calculated based on the allowed topology There can be up to 192 slaves Display range 0 to 192 PDO Communications Cycle Not This is automatically input based on the task period of the pri Time allo
152. following instructions in the user program You can use a pushbutton or a PT to input the execution condition Disconnect EtherCAT Slave EC_DisconnectSlave Temporarily disconnects a slave from the EtherCAT network for maintenance such as replacement of the slave Connect EtherCAT Slave EC_ConnectSlave Reconnects a temporarily disconnected slave to the EtherCAT network after maintenance such as replacement of the slave If the EtherCAT slave to replace has backup parameters we recommend that you use the Sysmac Stu dio to replace the slave You can specify backing up the parameters in the EtherCAT slave from the Sysmac Studio Node Address Network configuration Item name Value T Device name E001 GX ID1611 ID08 GX ID1611 XWT IDO8 2 tier t Revision i Fal Node Address i Enable Disable Settings Enabled Serial Number 0x00000000 0x6120 01 257th transmit PDO PDO Map Settings 0x2002 01 512th transmit PDO k rt ev 1 1 GX ID1611 ID08 Rev 1 1 R88D KNO1H ECT Rev 2 1 E004 R88D KNO1H ECT Rev 2 1 Distributed Clock Enable Reference Clock Setting Parameters Edit Backup Parameter Settings EN Additional Information P W J D p D O 5 D lt D N 2 5 To O fe 3 3 F O D za O 5 D The disconnection and reconnection operations are not required for slaves that are disabled with the EtherCAT Slave Enable Disable Settings You therefore cannot disconnect and reconnect them from
153. from a slave the _EC_SlavEmergErr system defined variable changes to TRUE Check the contents of the emergency message from the slave on the Troubleshooting Dialog Box e Refer to Section 9 Troubleshooting for details on checking for errors and corrections NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 11 D OO Tl mp c oO a p lt 3 pe O g i O 1 soinyee4 oewWSAS Z Z 2 Part Names and Slave Settings 2 12 i Backing Up and Restoring Parameters The Sysmac devices use an option in the version 1 0 1 ESI specifications to enable backing up and restoring the backup parameters that are specified in the ESI files in non volatile memory in the slaves You can back up and restore the backup parameters that are stored from the Sysmac Studio This makes it easy to set slaves when they are replaced EN Additional Information e If you use slaves from other manufacturers obtain the slave information files that are compli ant with the version 1 0 1 ESI specifications from the slave manufacturers e Refer to 9 3 3 Backing Up Settings for the procedure to back up slave data from the Sysmac Studio e Refer to 9 3 4 Restoring Settings for the procedure to restore slave data from the Sysmac Stu dio e Refer to A 3 Multi vendor Environments for information on ESI NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 Part Names and Slave Settings
154. g up and restoring slave parameters called backup parameters Saving node address settings The node address setting for each slave is stored in non volatile memory within the slave Verifying the EtherCAT network You can verify the EtherCAT network configuration based on serial numbers configuration using serial num bers 2 10 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 Part Names and Slave Settings i Troubleshooting OMRON defines component error status as Sysmac errors for the entire Sysmac Series You can use Sysmac errors to display errors that occur in slaves on the Sysmac Studio together with corrections for the errors This allows you to detect slave errors and isolate the causes of the errors If a Sysmac error occurs in a slave the values of the _EC_SlavErr system defined variable and the ele ment of the _EC_SlavErrTbl system defined variable that corresponds to the slave node address change Refer to 9 1 1 How to Check for Errors for details on the values EN Additional Information e This feature is not supported for OMRON slaves that are not Sysmac devices and slaves that are manufactured by other companies Check the error detection methods for each slave e Before you reset an error from the NJ series EtherCAT master make sure you confirm the cause of the error in the slave e Sysmac errors are not displayed on the Troubleshooting Dialog Box when the slaves are in Init state When a
155. gram Continues Operation When Fail soft Operation Is Set to Fail soft Master Operation continues Slave An error occurred Operational state continues If a PDI watchdog error occurs in a slave the slave enters the Init state Check for communications errors for each slave in system defined variables _EC_CommErrTbl 1 to _EC_CommE rrTbl 192 When Fail soft Operation Is Set to Stop Master All slaves enter the Pre operational state Slave An error occurred When operation stops all slaves enter the Pre operational state If a PDI watchdog error occurs in a slave the slave enters the Init state variables Process Data Communications Error Communications Error Slave Table _EC_PDaActive BOOL Process Data Communications Sta tus Cause and Assumed cause Correction Prevention COMeceD A slave left the network even though Perform the disconnection operation Perform the disconnection operation the disconnection operation was not before removing the slave from the before removing the slave from the performed network If the Ethernet cable is bro network ken replace it Noise Implement noise countermeasures if Implement noise countermeasures if there is excessive noise there is excessive noise Moving Slaves If this error occurs again even after None the above correction replace the slave Attached Attached Information 1 Error Details 0001 hex Slave WDT error 0002 hex Slave disconnected information Precauti
156. gt gt NUEVO GUC HON acs sedauee ceeieii seis a a a 1 Relevan MAM UNS cisien a Eiaa 2 Mantial COnfiGuration sssisss aa aa 3 Manual Structure psie Eaa baa 6 SEGCHONS in this Man aloioc aaa aA 9 Read and Understand this Manual cccccscceseeeeeneeeeeenscnsceseensensensennscnsensennens 15 Safety Precaut ons srorssresr a a aa ai 19 Precautions for Sale Se srnu aaa a aaia a 21 Precautions fOr Correct USC iiss tessccte cca cecadie aa aA a a aa 22 Reg lations and Standards visicsvicies soccseccetcocnceiceanavebssewctcsscenseseesesdevsndseesssecetencvatene 23 UNIE VOU SIONS sannana aaa ea aaa a aa a ndeudbelas 25 Related Manuals ossea aE Raa 28 PROVISION HISIONY vosanieg iana a aaa aa a aaa aa aaa 30 Section 1 Introduction 1 1 Introduction to EtherCAT ssessennnunnnnonnnennnnnnnnnnnnannennnunnnnnannennonnnnnnnnnannannnunnnnnnnnannnnnnannnnnannan nnan 1 2 1 1 1 EtHErCAT Fear CS scsi cates e cacenasaiconwesedecaes danateeaeg anew a e E 1 2 1 1 2 PINGICAT COMMUNICATIONS i iste acct acta enantoadtscnan r a a eaattecacconaasauantecanutvantevaeacurs 1 2 1 1 3 EtherCAT Features for NU serieS CPU UNiIts 0 ecccecccsseceeeeeeeeeeeeeeeeeeeeeeeeeeseeeeseeeeseeeeteeeeeees 1 3 1 2 System Configuration and Configuration DeVICES ccccceeseeeeeseeeeenseeeesseeeeeseeeeeseeseeneeees 1 4 1 2 1 SY SIEM COMMOU FANON wo tevcsaes hed ct sace tots a a heer e E 1 4 1 2 2 Determining the Network ConfiQuratiOn ccccccccsseeeecsseeee
157. h the Sysmac Studio 5 5 3 Using the Sysmac Studio to Obtain Serial Numbers from the Actual Network Configuration If the Serial Number Check Method in the EtherCAT master settings is set to Setting Actual device you must download the network configuration information in which the slave serial numbers are set to the CPU Unit Use the following procedure to get the serial numbers of the physical slaves and apply them as the serial numbers of the slaves in the settings on the Sysmac Studio 1 Start the Sysmac Studio and go online with the Controller 2 Double click EtherCAT under Configurations and Setup in the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit 3 Sysmac Studio New Project new_NJ501_0 Y Configurations and Setup gt oe EtherCAT gt S CPU Exp E amp I O Map gt Controller Setup gt Motion Control Setup amp Cam Data Settings gt Event Settings fr Task Settings W Data Trace Settings 3 Right click the EtherCAT master that is displayed in the Edit Pane and select Get Slave Serial Numbers New Project Configurations and Setup Node AddressiNetwork configuration _ Master v om EtherCAT 7 gt Node10 R88D KNO1L ECT I 10 i gt Node9 R88D KNO1L ECT E I gt CPU Eqpansion Racks s amp I O Map itions Cycle Time gt Controller Setup ith gt i Motion Control Setup on Setting Cam Data Settings av
158. he slaves 4 Select another slave in the Toolbox drag it to the Edit Pane and drop it under the slave to which you want to connect it to The slave will be added under the slave EER z Sysmac Studio File Edit view Insert Project Controller Simulation Tools _ Help a jasaxnaojr ve Projed n Ni vend atiko an A Configurations and Setup 5 a oups new_NI5O1_0 X _ Node AddressiNetwork configuration J E Servo onves Y Configurations and Setup E Frequency Inverter v iG EtherCaT gt Nodal R8SD KNO1H ECT E gt Node2 R88D KNO1H ECT E gt Node3 R88D KNO1H ECT E gt Noded RSSU KNULH ECI t gt CPU Eqancion Racks I U Map gt F Controller Setup dz MC_Axdso00 0 ae MC_Axisnnt 1 Axes Group Settings amp Cam Data Settings gt Everl Setlinys R88D KNOLH ECT Rev 2 1 R amp RN KNOIH FCT Rev 1 E003 R88D KNO1H ECT Rev 2 1 tUU lt Item name Model Product name Revision Node Address Enable Disable Settings Senal Number Value RRAD KNN1H FCT R88D KNO1H ECT C5 2 1 Tnabkd UxXUUUOUUUU Ox6N40 00 261th ree 0x607A 00 261th rec UX 6UH UU 261th rece 0x6071 00 261th rec 0x6060 00 261th rec Ox60B8 00 261th rec 0x607F 00 261th rece 0x60E0 00 261th rec E Digital 10 Analog 10 Encoder Input F Vision Sensor E Show hiddan slavas F KSUU ANUIHECI G Senes 4 0x60E1
159. herCAT Mas ter 5 4 2 Setting EtherCAT Slaves a Process Data Communica tions SDO Communications 7 Turning ON Power and Going Online from the Sysmac Studio 8 Online Debugging Specify the device variables in the user pro gram Input conditions include system defined variables for network error flags and normal or error flags for each slave Read and write the following specified data for slaves Use EC_CoESDORead and EC _CoESDOWrite instructions e SDO data in slaves parameters error information etc Turn ON the power supply to EtherCAT slaves Turn ON the I O power supplies to the slaves Turn ON the power supply to NJ series Controller Use the Sysmac Studio to set communi cations with the NJ series Controller and connect online Go online with the Controller before you cre ate the slave configuration from the installed network in step 3 Compare and merge the network configura tion that was set on the Sysmac Studio and the actual network configuration Create the programs with POUs under Pro gramming Create the programs with POUs under Pro gramming Select Communica tions Setup from the Controller Menu and make the settings to go online Right click the Ether CAT master under Con figurations and Setup EtherCAT and select Actual network configu ration 6 1 Process Data Communi cations PDO Communica tions 6 2 SDO Com munications 2 1
160. herCAT slaves are accessed using device variables in the same way as the Units on the NJ series CPU Racks and Expansion Racks Various types of data in Servo Drive and the encoder input slaves are accessed using structure type Axis Variables prepared in advance This enables access to slaves on EtherCAT without regard to addresses Optimum Functionality and Ease of Operation Based on Unified Specifications You can use the NJ series Machine Automation Controllers together with Sysmac devices and the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation Sysmac devices is a generic name for EtherCAT slaves and other OMRON control components that were designed with the same communications and user interface specifications 1 5 e Q c O m e gt e m gt p SHUN MdO S H S PN 10 SANAJ IYO E L NJ series CPU Unit Built in EtherCAT Port User s Manual W505 1 3 1 Introduction 1 2 System Configuration and Configuration Devices 1 2 1 System Configuration The EtherCAT network configuration and configuration devices are shown below sysmac Studio ESI file Input port EtherCAT Junction Slave 2 Unit power supply Output ports CL NJ series CPU Unit D211 S
161. icating information on errors that occur in an application on a slave A CAN application protocol service implemented on EtherCAT CiA CiA is the international users and manufacturers group that devel ops and supports higher layer protocols Collection of device dependent information and functionality provid ing consistency between similar devices of the same device type Variables in the NJ series CPU Unit to which process data on Ether CAT slaves are allocated Slave process data is accessed by directly reading and writing these device variables from user applications on the NJ series CPU Unit C Clock distribution mechanism used to synchronize EtherCAT Slave Units and the EtherCAT Master Units One of the function modules This module controls the EtherCAT slaves as the EtherCAT master ESC A controller for EtherCAT slave communication ESI An XML file that contains setting information for an EtherCAT Slave Unit An EtherCAT communication state machine ETG The ETG is a global organization in which OEM End Users and Technology Providers join forces to support and promote the further technology development Address of an object within an application process The EtherCAT network configuration information held by the Ether CAT master Abstract representation of a particular component within a device which consists of data parameters and methods Data structure addressed by Index and Sub index that contains descr
162. ications are not possible This state continues if the network is not configured Only SDO communi Not allowed Possible Flashing cations are possible in this state Communications always enters this state after initializa tion and changes to the safe operational state after initial set ting of the network is performed In this state SDO communications and only inputs for pro cess data communi cations are possible Communications always enters this state before going into the Operational state This is the normal Possible Possible Lit state for communica tions Possible Flashing Only inputs are possible NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 EtherCAT Communications EN Additional Information I O Refreshing The procedure from startup of the EtherCAT network until process data I O can be refreshed is shown below There is no correlation between the startup of the EtherCAT network and the exe cution of the user program Design the user program by adding the system defined variables for the relevant slaves to the interlock conditions of the device variables for the slaves EC _ActSlavTbl 1 192 EC MBXSlavTbl 1 192 EC PDSlavTbl 1 192 _EC_DisconnSlavTbl 1 192 START Power ON p OO U mp fet mp p x gt i oO gt A Oo m mp gt S j O e 3 3 c O e gt 1 EtherCAT master ini
163. ice data objects SDOs for communicating information when required CoE asynchronous mailbox communications where all objects in the object dictionary can be read and written SII Slave information that is stored in non volatile memory in the slave lt Sub address of an object within the object dictionary Collection of control elements to coordinate access to concurrently used objects A variable in the NJ series CPU Unit for providing information such as the EtherCAT communications status and error status Status information about EtherCAT communications is obtained by reading system defined variables from user applications in the NJ series CPU Unit A process data object sent from an EtherCAT Slave Unit Freeware for monitoring and capturing packets NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Index NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Index 1 Index Index A ALSA Cs em CT A A 23 ASSUME CAUSES 2 ceccecceecceceeeeeeceeeeteeecueseeeeeeeaeetseeeeeeess 9 8 AXIS SCUINGS asor alc eae erased a 5 10 AXIS VANIADICS ccoccecuodcaccecacztcasacsactesassinatceseresedegsuataedecaneke 3 6 B Backup Parameter Settings cccccceseeseeeeeeeeeeeneees 5 20 Built in EtherCAT Error ccccccccccesseeeeseeeeeeeees 7 2 7 6 9 5 C CAN application protocol over EtherCAT 3 2 A 23 CAN in Automation 0 ccccccccccecceceeeseeeseeee
164. ilt in EtherCAT Port User s Manual W505 A 9 T N O 5 O 5 Q y D O P D mp Z Appendix A 2 1 Sample Programming This sample transfers EtherCAT communications packets to an SD Memory Card when an EtherCAT slave error occurs The file name is PacketFile The processing procedure is as follows 1 The system defined variable _EC_ErrSta EtherCAT Error is monitored and processing is started if an error occurs The EC_StopMon instruction is used to stop execution of packet monitoring for EtherCAT com munications The EC_SaveMon instruction is used to save EtherCAT communications packet data to a file in the system of the CPU Unit The EC_CopyMon instruction is used to copy that file to the SD Memory Card Q A Q N The EC_StartMon instruction is used to restart execution of packet monitoring for EtherCAT communications A 10 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendix LD el y oor Oo Se mo OOOO co Boo Fas S RSinstance Rs O OOOCOC SOS EC_StopMon_mnstance EC_StopMon lt EC_SaveMon_instance EC_SaveMon EC_CopyMon_instance EC_CopyMon S EC_StartMMon_instance EC_StartMon sSsSsSsSs sSsS EC_ErrSta WORD 4 ___ Built inEtherCATError Si EC_PktMonStop BOOL 4 ___ Packet Monitoring Stopped Determine if instruction execution is completed EC_StartMon_instance Done OperatingEnd EC_StopMon
165. ined and the send frame is generated 7 There is wait time during the primary period On the scheduled trigger the frame is transmitted to the EtherCAT communications line Signals are input to the slave 10 Signals are output after the output response time EN Additional Information The communications jitter in EtherCAT communications is 10 us max The communications jitter is the deviation in the process data communications cycle If the communications jitter exceeds 10 us a process data send error a Controller error in the minor fault level occurs This error is recorded in the event log e If the fail soft operation is set to stop operation the EtherCAT master will change to the pre operational state and process data communications will stop e f the fail soft operation is set to fail soft operation the EtherCAT master will remain in opera tional state and process data communications will continue SUOI COIUNLULUOYD geq SS800J4 Ul Bw asuods y WelsAS vy 9 In either case the _EC_PDSendErr Process Data Send Error system defined variables will change to TRUE If this happens increase the task period of the primary periodic task and execute communica tions again NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 9 6 Process Data Communications and SDO Communications 6 1 5 I O Operations for Major Fault Level Controller Errors and I O Refreshing with Specified Values I O Operations for
166. ing EtherCAT Master Function Module Error Status If the EtherCAT NET ERR indicator is also lit in addition to the PWR RUN and ERROR indicators then an error in the minor fault level or a higher level has occurred in the EtherCAT Master Function Module The indicator lets you check the status given in the following table Indicator Indicated status EtherCAT NET ERR EtherCAT Master Function Module Status e Lit An error for which normal status cannot be recovered through user actions i e errors for which you must replace the CPU Unit or contact your OMRON representa tive has occurred e Flashing An error for which normal status can be recovered through user actions has occurred e Not lit There is no minor fault level or higher level error f Checking with the Troubleshooting Function of Sysmac Studio When an error occurs you can connect the Sysmac Studio online to the Controller to check current Controller errors and the log of past Controller errors You can also check the cause of the error and corrections Refer to the NJ series Troubleshooting Manual Cat No W503 for the procedures to check for errors with the Sysmac Studio fi Checking with the Troubleshooter of an NS series PT lf you can connect communications between an NS series PT and the Controller when an error occurs you can check for current Controller errors and the log of past Controller errors You can also check the cause of the error and correction
167. ing 8 1 6 Turning the Power ON Turn ON the following power supplies e Slave unit power supply The PWR indicator on the slave will light when the power supply turns ON e Slave I O power supply e NJ series Controller power supply 8 1 7 Online Debugging Compare and merge the network configuration that was set on the Sysmac Studio and the actual con figuration 8 1 8 Downloading the Network 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 NJ series Controller I m X 3 Ss g oO ty O 9 teh mg e gt r oO m r gt O e 3 3 c O oO gt Note Use the synchronization operation of the Sysmac Studio to download the data 8 1 9 Confirming the Start of Communications Check to make sure that all registered slaves are participating in the network and that communications Start Make sure that the master indicators are in the following status NET RUN indicator Lit LINK ACT indicator physical layer LINK Flashing BuibBngqeq eUulIyO S L 8 Make sure that the status indicators on all slaves are in the following status RUN indicator L A IN physical layer LINK inputs Flashing L A OUT physical layer LINK outputs Flashing Not lit on the last slave NJ series CPU Unit Built in EtherCAT Port User s Manual W505 8 5 8
168. ion 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Manual Structure Precaution on Terminology In this manual download refers to transferring data from the Sysmac Studio to the physical Controller and upload refers to transferring data from the physical Controller to the Sysmac Studio For the Sysmac Studio synchronization is used to both upload and download data Here synchronize means to automatically compare the data for the Sysmac Studio on the computer with the data in the physical Controller and transfer the data in the direction that is specified by the user NJ series CPU Unit Built in EtherCAT Port User s Manual W505 7 Manual Structure 8 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Sections in this Manual Sections in this Manual 1 Introduction Appendices i Part Names and Slave Settings EtherCAT Communications Index EtherCAT Network Wiring Setting Up EtherCAT Communications with the Sysmac Studio Process Data Communications and SDO Communications System defined Variables That Are Related to the Built in EtherCAT Port Example of Operations for EtherCAT Communications Troubleshooting NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Sections in this Manual 10 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 CONTENTS CONTENTS gt
169. ion before you perform this operation Even if you have previously set them on the Sysmac Studio the following configuration and settings are discarded when you automatically create the network configuration on the Sys mac Studio based on the actual network configuration network configuration master settings and any slave settings including enable settings PDO map settings setting parameter set tings backup parameter settings device variable assignments in the I O map slave assign ments to Axes Variables registered in the axis settings and master settings to control slaves that are registered in the task setup To merge the actual network configuration information without losing the current settings in the Sysmac Studio use the compare and merge opera tion to create the network configuration Refer to 5 5 7 Comparing and Merging with the Actual Network Configuration from the Sysmac Studio for information on the operation to compare and merge with the actual network configuration on the Sysmac Studio When the compare and merge operation is performed the synchronization between the Sys mac Studio and the Controller is lost Synchronize the Sysmac Studio and Controller before you perform any online operations for the slaves Refer to the Sysmac Studio Version 1 Oper ation Manual Cat No W504 for information on synchronization NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications wit
170. ions 6 2 SDO Communications SDO communications are performed by using EtherCAT instructions to access SDO data in slaves when required 6 2 1 EtherCAT Instructions You can perform the following SDO communications with EtherCAT instructions e Reading and writing of SDO data i Reading and Writing SDO Data Function Description CoE messages EC_CoESDORead You set parameters to read data from the slave s object dictionary Read CoE SDO SDO data CoE messages EC_CoESDOWrite You set parameters to write data to the slave s object dictionary Write CoE SDO SDO data 6 2 2 Sample Programming p N w J O O e 3 3 c 5 O e5 e gt This sample uses an EtherCAT SDO message to read the software version of an OMRON V1 02 R88D KNO1L 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 variable VersionInfo Remote slave node address 1 Object Dictionary Settings Index 16 100A _ SDO read Subindex 0 Built in EtherCAT port SUO ONAISU 1W0194 3 L o 9 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 13 6 Process Data Communications and SDO Communications LD varabies Data type nal value BOOL Execution condition SdoObject _sSDO_ACCESS _ Index 0 Subindex 0 SDO parameter IsCompleteAccess False Versionino S STAINGQG P CC C i i
171. ions period Attached Attached Information 1 Error Details Frame generation was late for the transmission timing 0000 hex If the transmis information sion jitter exceeds the limit of 10 us 0001 hex Attached Information 2 Transmission jitter ns O to 4294967295 Precautions None Remarks 9 22 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting Event name Process Data Reception Timeout 842B0000 hex Meaning Process data reception timed out Source EtherCAT Master Function Module Source details Master Detection During communi timing cations Effects User program Continues Operation When Fail soft Operation Is Set to Fail soft Master Operation continues Slave Errors only occur in synced slaves Operational state con tinues Safe operational state is entered if the state transi tion is made at the slave When Fail soft Operation Is Set to Stop Master All slaves enter the Pre operational state Slave Errors only occur in synced slaves System defined Variable Name variables _EC_PDTimeoutErr Process Data Reception Timeout Cause and Assumed cause Prevention Lelie The Ethernet cable is broken The causes given on the left are pos None The Ethernet cable for EtherCAT is sible if the error EG irom wnen the Confirm that the Ethernet cable con disconnected SySIOm orarie OPErAuSN or if it always nector is mated securely occurs after a specific time after the A general purpose Ether
172. iption of data type objects communication objects and applica tion objects A state in EtherCAT communications where SDO communications and I O are possible A function that enables the EtherCAT master to capture packets flow ing over an EtherCAT line and store them in the master You can start and stop capturing packets from the Sysmac Studio or with EtherCAT communications instructions An acronym for process data communications A state in EtherCAT communications where only SDO communica tions are possible without being able to perform I O Collection of application objects designated to be downloaded cycli cally or acyclically for the purpose of measurement and control One type of EtherCAT communications that uses process data objects PDOs to exchange information in realtime with a fixed cycle This is also called PDO communications Structure described by mapping parameters containing one or sev eral process data entities A process data object received by an EtherCAT Slave Unit A 23 Appendix Term Safe operational SDO communications service data object Slave Information Interface subindex sync manager system defined variable transmit PDO WireShark A 24 Abbrevia a Description tion A state in EtherCAT communications where only SDO communica tions and reading input data from slaves are possible Outputs from slaves are not performed One type of EtherCAT communications that uses serv
173. ive torque limit val W 001_Negative_torque_limit_value Error code Error code R 001_Error_code Statusword Statusword R 001_Statusword Position actual value Position actual value R 001_Position_actual_value 001_Modes_of_operation SOAR S 1y019444 Ily 10 sejqeueA qd Buuseysi6ey L E G mim j Torque actual value Torque actual value R 001_Torque_actual_value Modes of operation display Modes of operation displ R 001_Modes_of_operation_display Touch probe status Touch probe status R 001_Touch_probe_status Touch probe pos1 pos value The latch position for La R 001_Touch_probe_posi_pos_value m Touch probe pos2 pos value The latch position for La R 001_Touch_probe_pos2_pos_value Digital inputs Digital inputs R R 001_Digital_inputs Sysmac Error Status Sysmac error status R 001_Sysmac_Error_Status Observation Observation levels of inf R E001_Observation Minor Fault Minor Fault levels of info R E001_Minor_Fault Node2 Y R88D KNO1H ECT Controlword Controlword w Target position Target position UO LEE e Device variables are automatically assigned to the I O ports of the slaves and registered in the variable table that is specified by the Variable Type NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 7 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 8 EN Additional Information e We recommend that you set device names e To delete the mapping for the variable that is assigned to a port delete
174. ks IJO Map gt Controller Setup W 3 Motion Control Setup v 1 Aas settings 2 MC_Axis000 0 J MU Aasu 1 Axes Group Settings g Cam Data Settings gt Fvent Settings o Task Settings FF Data Trace Settings Fy o alecuoaua 7 under the master t A Configurations and Setup Node AddressiNetwork configuration _ S Master Item name Model Product name Revision Node Address Enable Disable Settings Senal Number 3 Select a slave in the Toolbox drag it to the Edit Pane and drop it under the master Toolbox E001 RRAN KNN1H FCT R88D KNO1H ECT C5 2 1 Cnabled pall UXxUUU0UUUU 0x6040 00 761th rer 0x607A 00 261th rec UXOUFF UU 261th rece 0x6071 00 261th rec 0x6060 00 261th rec Ox60B8 00 261th rec 0x607F 00 261th rece 0x60E0 00 261th rec The slave 0x60E1 00 26101 rec 0x603F 00 259th tran 0x6041 00 259th tran 0xG0G4 00 259th tran 0x6077 00 259th tran 0x6061 00 259th tran 0xG0B9 00 259th tran P Programming PDO Map Settings UXOUBA UU 259th tra Ox60RC 00 259th tra Ox60rD 00 259th tra UxX2UU2 01 512th tran Edit PDO Map Settings Distributed Clock Enable Enabled Reference Clock Exist Sctting Edit Setting Parameter JDJ MNW E Setting Parameters Vendor OMRON Corpor i Comment 200V 100W S lt Device name HI URL Set a name for the slave Drag t
175. l W505 Unit Versions Unit Version Notation In this manual unit versions are specified as shown in the following table Product nameplate Notation in this manual Remarks Ver 1 0 or later to the right of Unit version 1 0 or later Unless unit versions are specified the information in this manual the lot number applies to all unit versions NJ series CPU Unit Built in EtherCAT Port User s Manual W505 27 Related Manuals Related Manuals The following manuals are related to the NJ series Controllers Use these manuals for reference Manual name NJ series CPU Unit Hardware User s Manual W500 NJ501 OUUL I W501 NJ501 OUUL I W507 NJ501 OUUL I W502 NJ501 OUUL I W508 NJ501 UOLUUL I CJ1W OOLULI NJ series CPU Unit Soft ware Users Manual NJ series CPU Unit Motion Control Users Manual NJ series Instructions Reference Manual NJ series Motion Control Instructions Reference Manual CJ series Special Unit Manuals for NJ series CPU Unit 28 Model numbers Application Learning the basic specifi cations of the NJ series CPU Units including intro ductory information designing installation and maintenance Mainly hard ware information is pro vided Learning how to program and set up an NJ series CPU Unit Mainly software information is provided Learning about motion control settings and pro gramming concepts Learning about the specifi cations of the instruction set
176. laves GX IDULUHULI Revision 1 1 or higher Unit version 1 1 or later GX ODUULLI GX MDUHULI GX OCULULI Analog I O Slaves GX ADOL 1 71 Revision 1 1 or higher Unit version 1 1 or later GX DAOL 171 Encoder Input Slaves GX ECO02L 11 Revision 1 1 or higher Unit version 1 1 or later NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 Part Names and Slave Settings 2 3 4 Sysmac Device Features and EtherCAT Masters The following table shows the relationship between Sysmac device features and EtherCAT masters i OMRON Sysmac Device Slaves OMRON EtherCAT master EtherCAT master from Sysmac device feature NJ501 1000 NJ series CJ1 NCO8L CJ series e aA ror CPU Unit Position Control Unit Troubleshooting Supported Not supported 1 Not supported 1 Backing up and restor ing parameters Saving node address settings Verifying the EtherCAT network configuration 1 Error notification is provided with emergency messages 2 You cannot specify the parameters that are backed up and restored 3 The ability to back up and restore parameters depends on the ability of the EtherCAT master from another manufacturer 4 The ability to store node addresses depends on the ability of the EtherCAT master from another manufacturer 5 The ability to verify serial numbers depends on the ability of the EtherCAT master from another manufacturer j OMRON Slaves That Do Not Support Sysmac Devices PSE Sysmac device f
177. ler during a Clear All Mem Non volatile memory failed If the error persists even after you None make the above correction replace the CPU Unit Attached Information 1 Cause Details None Power was interrupted or communications were disconnected during a download or power was interrupted dur ing online editing Downloading Predownloading For other causes the timing of error occurrence during download or during download preparations is given None NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Event name Meaning Source Error attributes Effects Indicators System defined variables Cause and correction Attached information Precautions Remarks Event name Meaning Source Error attributes Effects Indicators System defined variables Cause and correction Attached information Precautions Remarks 9 Troubleshooting Communications Controller Failure 04400000 hex An error was detected in the hardware test at startup Built in EtherCAT port Source details Communications Detection At power ON or port timing Controller reset Level Partial fault Recovery Cycle the power Log category System supply or reset the Controller User program Continues Operation Master The master waits in the Init state Slave Parameter setting is not possible Process data communi cations are not possible Communications Controller Error None None MAC Address
178. ler specifications This section describes the system configuration used for NJ series Controllers This section describes the parts and functions of the configuration devices in the NJ series Controller configuration including the CPU Unit and Configuration Units This section describes where and how to install the CPU Unit and Configuration Units and how to wire them This section describes the event codes error confirmation methods and corrections for errors that can occur This section describes the contents of periodic inspections the service life of the Bat tery and Power Supply Units and replacement methods for the Battery and Power Supply Units The appendices provide the specifications of the Basic I O Units Unit dimensions load short circuit protection detection line disconnection detection and measures for EMC Directives i NJ series CPU Unit Software User s Manual Cat No W501 Section Section 1 Introduction Section 2 CPU Unit Operation Section 3 I O Ports Slave Configuration and Unit Configuration Section 4 Controller Setup Section 5 Designing Tasks Section 6 Programming Section 7 Simulation Transferring Projects to the Physical CPU Unit and Opera tion Section 8 CPU Unit Status Section 9 CPU Unit Functions Section 10 Communications Setup Section 11 Example of Actual Application Pro cedures Section 12 Troubleshooting Appendices NJ series CPU Unit Built in
179. liminate the work that is involved in obtaining the device variable names Use the following procedure 1 Double click I O Map under Configurations and Setup on the Multiview Explorer Or right click I O Map under Configurations and Setup select Edit New Project new _NJ501 0 b lt Motion Control Setup B Cam Data Settings q oo V zi gt c m mp gt gt ar 2 lt D S Q z D on Q gt pa D Event Settings E Task Settings F4 Data Trace Settings The I O Map Tab Page will be displayed 2 Select a slave or I O ports on the I O Map Tab Page right click and select Create Device Vari able Configurations and Setup Device variables that were automatically created Position Port Description R W Data Type Y CPU Expansion Racks CPU Ract gt CPU Rack 0 v EtherCAT Network Configuration EtherCAT Master Node1 Y R88D KNO1H ECT Controlword Controlword w 58 Target position Target position W 001_Target_position Target velocity Command speed for the W 001_Target_velocity WwW W Variable Comm E001_Controlword Target torque Target torque 001_Target_torque Modes of operation Modes of operation Touch probe function Touch probe function W 001_Touch_probe_function Max profile velocity Max profile velocity Ww 001_Max_profile_velocity Positive torque limit value Positive torque limit valu W 001_Positive_torque_limit_value Negative torque limit value Negat
180. lish Published Usage in user program Possible Related instruc Get EtherCAT Error Status tions e GetECError Reset EtherCAT Controller Error e ResetECError Variable name _EC_SlavErr Function This system defined variable provides the collective status of all the error status for EtherCAT slaves Refer to Meanings of Error Status Bits provided above for the meanings of the error status bits Data type WORD Range of values 16 0000 to 16 00F0O Usage in user program Possible Related instruc Get EtherCAT Error Status tions e GetECError Reset EtherCAT Controller Error e ResetECError HOd 1V319443 UI INg y 0 payejay 1Y JeYL S qQLVHLA pauljap Wa sAS L Z Variable name _EC_SlavErrTbl Meaning Slave Error Table Global local Global Function This system defined variable gives the error status for each EtherCAT slave The error status is given for each slave in the actual system configuration 7 This variable array indicates slaves in which there are errors Status is provided for each EtherCAT slave node address 1 to 192 Refer to Meanings of Error Status Bits provided above for the meanings of the error status bits Data type Array 1 192 OF WORD Range of values 16 0000 to 16 00F0 Usage in user program Possible Related instruc Get EtherCAT Error Status tions e GetECError Reset EtherCAT Controller Error e ResetECError Variable name _EC_MacAdrErr Meaning MAC Address Error Global local Glob
181. lp Axis type Servo axis Feedback control No control loop Y ice lt Not assigned gt v device Detailed Settin Node 4 Device R88D KNO1H ECT lt Not assigned gt In the same way add an axis and assign the Servo Drive with node address 4 to it Setting EtherCAT Master Parameters Set the parameters for the EtherCAT master from the EtherCAT master settings Setting Slave Parameters Set the slave parameters from the EtherCAT configuration slave settings If a communications error prevents the slaves from receiving signals from the EtherCAT master the slave settings will control the slave outputs 8 1 4 Programming Programming When the operation start button is pressed the Pwr_On variable changes to TRUE and axis control is enabled See rung 0 0 Pwr_On _EC PDSlavTbI MC_ ods000 Cfg NodeAddress MC_Axis000 Axis Axis HMC Axi Pwri_Status Enter Variable Enter Varaive When the homing button is pressed the Hm71_On variable changes to TRUE and homing is per formed See rung 1 1 Hmi_On Pwri_Status MC_Axis000 Axis 8 4 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 8 Example of Operations for EtherCAT Communications Program Assignments The Program Assignments are used to assign the programs to tasks and set the program execution order 8 1 5 Offline Debugging You can use the Simulator to check the program and task execution times with offline debugg
182. m number of slaves 192 nodes for the EtherCAT master A slave that is in the network y page 9 19 configuration information is not connected There is a node address mis match A different slave from the one that is specified in the network configuration information is connected A slave that is not in the net work configuration information is connected The Ethernet physical layer is broken between two slaves An error occurred in EtherCAT y page 9 20 master processing ERNER An initialization error occurred TPE in the EtherCAT slave An error was detected in the slave s application layer status register It was not possible to send the EtherCAT frame during the EtherCAT communications period The frame transmission jitter exceeded the limit 9 9 N Oo ea D N oO Oo 5 jqel 1013 1 c 6 9 Troubleshooting p Level O 842B0000 hex 842C0000 hex 64200000 hex 842D0000 hex 94400000 hex 94410000 hex 94430000 hex 9 10 Process Data Reception Timeout Process Data Communica tions Error Emergency Message Detected EtherCAT Message Error Slave Dis connected Slave Con nected Errors Reset Process data reception timed out An error occurred in process data com munications An emergency message was detected An error occurred in a message commu nications with the slave A slave was discon nected for a discon
183. more than one node a Slave Node Address Duplicated Error occurs and the operation of the slave stops If a duplicated node address is set the system defined variable _EC_SlavAdrDupErr Slave Node Address Duplicated Error changes to TRUE e Use the Sysmac Studio to set the node address if there are no hardware switches or the node address is beyond the range that can be set with the hardware switches NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 9 2 Part Names and Slave Settings 2 3 Features of Sysmac Devices 2 3 1 Sysmac Devices Sysmac devices is a generic name for EtherCAT slaves and other OMRON control components that were designed with the same communications and user interface specifications You can use the NJ series Machine Automation Controllers together with Sysmac devices and the Sysmac Studio Automa tion Software to achieve optimum functionality and ease of operation 2 3 2 Sysmac Device Features You can connect Sysmac device slaves to an NJ series Machine Automation Controller to use the fol lowing features Sysmac device feature Description Troubleshooting OMRON defines component error status as Sysmac errors for the entire Sys mac Series You can use Sysmac errors to display errors that occur in slaves on the Sys mac Studio together with corrections for the errors Backing up and restoring An optional feature in the version 1 0 1 ESI specifications is used to enable parameters backin
184. mparison result Actual network co 1 R88D KNOIL 1 R88D KNOIL R88D KNOIL ECT Rev 2 1 ECT Rev 2 1 ECT Rev 2 1 E001 R88D KNOIL ECT Re E002 7 r 6 R88D KNASL 6 R88D KNASL R88D KNASL ECT Re RB8D KNASL ECT Rev 1 ORR Sawin ECT Rev 1 0 E003 ie WP 7 R8BD KNASL 7 R88D K R88D KNA5L ECT Re ee ee ECT Rev 1 0 ECT Rev 1 0 004 FUI av 98 GX 0D1611 98 GX 0D1611 GX 0D1611 Rev 1 0 GX 0D1611 Rev 10 Rev 1 0 Rev 1 0 E005 Bm i 12 GX 1D1611 12 GX 1D1611 GX 1D1611 Rev 1 1 GX 1D1611 Rev 1 1 Rev 1 1 Rev 1 1 4 Apply actual network configuration Some slaves such as Power Supply Units are not included in the actual network configuration Close 6 Go offline and then assign device variables set the axis parameters set up the tasks and set the master and slave parameters EN Additional Information e Make sure that the communications cables between the master and slaves are connected cor rectly before you perform this operation The Compare and Merge with Actual Network Config uration Dialog Box is not displayed if the connections are not correct The Compare and Merge with Actual Network Configuration Dialog Box is not displayed if there is a slave in the actual network configuration for which the node address is not set or if the same address is set for more than one slave in the actual network configuration Make sure that node addresses are set correctly for the slaves in the actual network configurat
185. munications ports for the EtherCAT master Refer to Meanings of Error Status Bits given later for the meaning of individual bits _EC_MstrErr Master Error This system defined variable provides the col WORD 16 0000 to page 7 7 7 2 lective status of EtherCAT master errors and 16 00F0 slave errors detected by the EtherCAT master Refer to Meanings of Error Status Bits given later for the meaning of individual bits NJ series CPU Unit Built in EtherCAT Port User s Manual W505 7 System defined Variables That Are Related to the Built in EtherCAT Port Variable name values _EC_SlavErr Slave Error This system defined variable provides the col 16 0000 to page 7 7 lective status of all the error status for Ether 16 00F0 CAT slaves Refer to Meanings of Error Status Bits given later for the meaning of individual bits _EC_SlavErrTbl Slave Error Table This system defined variable gives the error ARRAY 16 0000 to page 7 7 _EC_MacAdrErr _EC_LanHweErr _EC_LinkOffErr _EC_NetCfgErr _EC_NetCfgCmpErr _EC_NetTopologyErr EC PDCommeErr EC_PDTimeoutErr _EC_PDSendErr _EC_SlavAdrDupErr _EC_ SlavtInitErr Network Configuration Information Error Network Configuration Verification Error Network Configuration Error Process Data Communications Error Process Data Reception Timeout Process Data Transmission Error Slave Node Address Duplicated Error sta
186. n All of the backup parameters that are stored in the EtherCAT slave and displayed in the list are downloaded to the EtherCAT slave Configurations and Setup Item name W J D b O 5 amp lt O 2 5 amp O le 3 3 F O fet O 5 D Help Data type Comment Sets the input filter sBulyes Bunozs y v 6 Transfer to Slave Transfer from Slave eer FTE T aaae 3 Click the Compare Button Check to be sure that you have correctly transferred the backup parameters in step 2 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 35 9 Troubleshooting 9 36 Precautions for Correct Use Restore the settings to the EtherCAT slave before you connect the EtherCAT slave to restart pro cess data communications Restore the EtherCAT slave settings while the slave is connected to the network i e whenever the _EC_EntrySlavTbif 1 192 Network Connected Slave Table system defined variable is TRUE Restore the EtherCAT slave settings while the slave is con nected to the network i e whenever the _EC_EntrySlavTbl 1 192 Network Connected Slave Table system defined variable is TRUE Additional Information e You can set the EtherCAT drive slaves from the EtherCAT Drive Tab Page Restore the set tings information from the EtherCAT Drive Tab Page Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for the applicable EtherCAT
187. n Does not depend on the operat ing mode of the CPU Unit Continually show Ether CAT com munications status Downloading master and slaves set tings e Master set tings OK Slave set tings OK However setting may not be possi ble depend ing on the status of the slave Master set tings Not possible Slave set tings OK However setting may not be possi ble depend ing on the status of the slave Appendices Slave out puts Does not depend on the operat ing mode of the CPU Unit Continually show the output data sent from the Ether CAT master Slaves Slave com munica tions status Does not depend on the operat ing mode of the CPU Unit A 3 uol ej 4 UI SNES 1V9194 3 L V e O u C C gt o fe c s po Buneredo HUN Add 2 b V Appendices A 1 3 CPU Unit sta tus A major fault level Control ler error occurs A partial fault level Control ler error occurs A minor fault level Control ler error occurs Controller Errors Other Than Errors in the Built in EtherCAT Master Device vari ables Device vari ables that are not retained Default settings Normal Ether CAT communi cations are performed and I O is refreshed Category _EC sys tem defined variables Does not depend on the operat ing mode of the CPU Unit Continually show Ether CAT com munications s
188. n required SDO data communications NJ series CPU Unit EtherCAT communications Cyclic communications for PDO data Process data communications DEVICE Constant data exchange variables and process data communications cycle each period of primary periodic task Axis Variables EtherCAT SDO communications When required from instruction or Sysmac Studio Device variables for EtherCAT slaves Axis Variables only for Servo Drive and encoder input slaves to which axes are allocated i Process Data Communications PDO Communications PDO communications is used for constant data exchange between the master and slaves It is called process data communications PDO data i e I O data that is mapped to PDOs that is allocated in advance is input and output periodically each EtherCAT process data communications cycle i e the period of primary periodic task It is accessed from the NJ series CPU Unit in the following ways e With device variables for EtherCAT slave I O e With Axis Variables for Servo Drive and encoder input slaves to which an axis is allocated 3 4 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 EtherCAT Communications i SDO Communications SDO communications are used to read and write specified slave data from the master when required This is called SDO communications You can read write the following specified slave data with the EC_CoESDORead Read CoE SDO instruc
189. nd Servo Drives are set to node addresses 3 and 4 fo I ol m lt lt Q 3 p D e O p e5 m ie gt e m gt S O e 3 3 c O e5 ie gt Assigning Device Variables to Digital I O Slaves Node Addresses 1 and 2 Use the I O Map to assign device variables to the I O ports of the slaves File Edit View Insert Project Controller Simulation Tools Help are configurations and seu O r new_NJ501_0 v Ea zan eee Pog Port Description R W Data Tyg Variable Variable G v S CPUTExpansion Racks gt CPU Rack 0 gt S CPU Expansion Racks W amp EtherCAT Network Configuration 1 0 Map Et Master gt Controller Setup Ne w GX ID1611 ID08 gt i Motion Control Setup Read input ist double word Digital input values 4by R amp Cam Data Settings In Bit00 The digital input value o R gt Event Settings i In BitO1 The digital input value o R B Task Settings In Bit02 The digital input value o R E7 Data Trace Settings In Bit03 The digital input value o R In Bit04 The digital input value o R In Bit05 The digital input value o R In Bit06 The digital input value o R In Bit07 The digital input value o R In Bit08 The digital input value o R In Bit09 The digital input value o R In Bit10 The digital input value o R In Bit11 The digital input value o R In Bit12 The digital input value o R In Bit13 The digital input value o R In Bit1
190. net hub is system starts operation If the Ether When branching an EtherCAT net connected net cable between the master and work use an EtherCAT Junction P slave is broken replace it Or recon Slave N nect the connector and make sure itis None mated correctly If a general purpose The slave failed Ethernet hub is connected replace it NONG D with an EtherCAT Junction Slave If the CPU Unit or an EtherCAT slave A fails replace it B The Ethernet cable is too long The causes given on the left are pos Make the Ethernet cable as short as sible if the error occurs from when the possible The CPU Unit task period is too short system oe operation If the PeT If there is a large number of EtherCAT ag cane a A a Mine slaves connected increase the task error still occurs connect the Sysmac period of the primary periodic task Studio increase the task period of the primary periodic task and reconfigure Y the Controller gt m Noise If this error occurs irregularly imple Implement noise countermeasures 3 ment noise countermeasures s Attached None information pel Precautions None 3 Remarks NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 23 9 Troubleshooting Event name Process Data Communications Error 842C0000 hex Meaning An error occurred in process data communications Source EtherCAT Master Function Module Source details Slave Detection During communi timing cations Effects User pro
191. nfirm that the Ethernet cable is connected sure it is mated correctly connected securely The Ethernet cable is not connected Confirm that all Ethernet cables are connected and connect any cables that are not connected None None NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 17 P N z e Ss D N oO Oo 5 suonduos q 10113 2 2 6 9 Troubleshooting Event name Network Configuration Error 84210000 hex Meaning The EtherCAT network configuration is incorrect Source EtherCAT Master Function Module Source details Master Detection At power ON at timing Controller reset or during commu nications Level o Error attributes Effects i program Continues Operation Master e When error is detected at power ON or Controller reset All slaves remain in the Init state and communications stop e When the error is detected during operation while Fail soft operation is set to Fail soft The slaves that are normal continue to operate If you are using distributed clocks to synchronize the slaves a Synchronization Error may occur between the slaves Slave e No error occurred e When error is detected at power ON or Controller reset All slaves are initialized Parameter setting is not possi ble Process data communications are not possible e When the Fail soft operation is set to Fail soft and the error is detected during operation Process data communications are
192. ngs gt gt gt gt gt gt gt gt a When all slaves have entered Safe operational state the slave Gradually change settings control all of the outputs Minimum time for 192 slaves If there are 192 slaves connected the maximum time required for all outputs to be controlled by the slave settings i e the time to enter Safe operational state is the communications cycle multiplied by 20 plus the slave Safe operational state transition time 10 ms max or OMRON slaves NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 Process Data Communications and SDO Communications Forced Refreshing You can specify forced refreshing from the Sysmac Studio for debugging This allows you to change process data output values to the slaves and input values from the slaves to the values that you specify in advance Sysmac Studio Forced refreshing specified NJ series CPU Unit Debugging Input data is changed to values specified with forced refreshing Output data is changed to values specified with forced refreshing Relationship between Major Fault Level Controller Errors Normal Operation and Forced Refreshing Forced refreshing functions as shown in the following table for major fault level Controller errors and for normal operation Condition Major fault level controller error Normal operation Forced refreshing Enabled Output data Values from before Output data Forced refreshing v
193. nications Status values _EC_RegSlavTbl Registered Slave This table indicates the slaves that are regis ARRAY TRUE or page 7 10 Table tered in the network configuration information 1 192 FALSE Slaves are given in the table in the order of OF BOOL slave node addresses The element for a slave is TRUE if the corresponding slave is registered _EC_EntrySlavTbl Network This table indicates which slaves are con ARRAY TRUE or page 7 10 Connected Slave nected to the network Slaves are given in the 1 192 FALSE Table table in the order of slave node addresses OF BOOL The element for a slave is TRUE if the corre sponding slave has entered the network _EC_MBXSlavTbl Message Com This table indicates the slaves that can per ARRAY TRUE or page 7 11 munications form message communications Slaves are 1 192 FALSE Enabled Slave given in the table in the order of slave node OF BOOL Table addresses The element for a slave is TRUE if message communications are enabled for it pre opera tional safe operation or operational state Note Use this variable to confirm that mes sage communications are possible for the relevant slave before you execute message communications with an EtherCAT slave _EC_PDSlavTbl Process Data This table indicates the slaves that are per ARRAY TRUE or page 7 11 Communicating forming process data communications Slaves 1 192 FALSE Slave Table are given in the table in the order of slave OF BOOL
194. node addresses The element for a slave is TRUE if process data of the corresponding slave is enabled operational for both slave inputs and out puts Note Use this variable to confirm that the data for the relevant slave is valid before controlling an EtherCAT slave Mod 1Y919443 UI INg 94 0 payejay aly PYL SILLA pauljap wWaysAs L Z 7 N _EC_DisconnSlavTbl Disconnected Slaves are given in the table in the order of ARRAY TRUE or page 7 11 D Slave Table slave node addresses 1 192 FALSE 2 OF BOOL g The element for a slave is TRUE if the corre T sponding slave was disconnected D _EC_DisableSlavTbl Disabled Slave Slaves are given in the table in the order of ARRAY TRUE or page 7 11 5 Table slave node addresses 1 192 FALSE 2 The element for a slave is TRUE if the corre OF BOOL S sponding slave is disabled a D n _EC_PDActive Process Data TRUE when process data communications BOOL TRUE or page 7 12 Communications are performed with all slaves FALSE Status _EC_PktMonStop Packet TRUE when packet monitoring is stopped BOOL TRUE or page 7 12 Monitoring FALSE Stopped _EC_LinkStatus Link Status TRUE if the communications controller link BOOL TRUE or page 7 12 status is Link ON FALSE _EC_PktSaving Saving Packet Shows whether a packet data file is being BOOL TRUE or page 7 12 Data File saved FALSE TRUE Packet data file being saved FALSE Packet data file not being saved _EC_InDatalnvalid I
195. nput Data Invalid TRUE when process data communications BOOL TRUE or page 7 12 are not normal and the input data is not valid FALSE Note All system defined variables that are related to the status of EtherCAT communications give the current status NJ series CPU Unit Built in EtherCAT Port User s Manual W505 7 5 7 System defined Variables That Are Related to the Built in EtherCAT Port Meanings of Error Status Bits The meanings of the individual bits in the above error status variables are given below 15 Master Detection This bit indicates whether the master TRUE Error detected an error in the slaves that it FALSE No error manages 14 Slave Summary 2 Indicates whether there is anerrorat TRUE Error a level below the function module FALSE No error 8to 13 Not used 7 Major Fault Indicates if there is a major fault level Error 6 Partial Fault Indicates if there is a partial fault level Error 5 Minor Fault Indicates if there is a minor fault level Error 4 Observation Indicates if there is an observation Error Oto3 Not used 1 For the EtherCAT Master Function Module only _EC_S avErrTbl Slave Error Table is used 2 For the EtherCAT Master Function Module only _EC_ErrSta Built in EtherCAT Error is used 7 1 3 EtherCAT Master Function Module Category Name EC Functional Classification EtherCAT Communications Errors Variable name _EC_ErrSta Meaning Built in EtherCAT Error Global local Glo
196. o Errors For the EtherCAT Master Function Module there are other system defined variables that show error status in addition to the error status variables Refer to 7 1 2 System defined Variables for system defined variables that are related to errors SIO 10 YOOYUD O MOH L L 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 5 9 Troubleshooting 9 1 2 Errors Related to the EtherCAT Master Function Module This section describes the errors that are related to the EtherCAT Master Function Module i Locations of Errors in the EtherCAT Master Function Module Errors can occur internally in the EtherCAT Master Function Module or they can occur in the built in EtherCAT port or in EtherCAT slaves NJ series CPU Unit Sysmac Studio NS series PT EtherCAT Master Function Module Error information Built in EtherCAT port EtherCAT EtherCAT saves O EN Additional Information If any one of the following errors occurs at the same time for more than one slave only the error for the slave that is closest to the master is recorded in the event log The same error is not recorded in the event log for slaves that are connected further from the master e Network Configuration Verification Error e Process Data Communications Errors when caused by a disconnected cable e Slave Node Address Duplicated e Slave Initialization Error g Classifications There are the following three sources of errors in the EtherCA
197. o use to verify the revision numbers that are stored in the network configuration information setting against the actual revision numbers of the slaves actual device at the start of communications Verification is required to enable opera tion Communications will not start if there are unverified slaves and a network configuration verification error will occur Setting values Setting lt Actual device Setting Actual device or No check Default setting Setting lt Actual device Serial Number Check Method 2 OK Specify whether to verify the slave serial numbers that are stored in the network configuration information against the serial num bers that are set in the actual slaves when initiating communica tions Communications will not start if there are unverified slaves and a network configuration verification error will occur Setting values Setting Actual device or No check Default setting No check 5 16 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio 1 Operations for the setting values of the revision check method are described in the following table Result of revision number Setting value Communications with slaves Setting Actual device Communications are possible Setting lt Actual device Communications are possible Setting lt Actual device Communications are not possible Communications are possible Communication
198. ommunications Slaves are given in the table in the order of slave node addresses The element for a slave is TRUE if process data of the corresponding slave is enabled operational for both slave inputs and outputs Note Use this variable to confirm that the data for the relevant slave is valid before controlling an EtherCAT slave Data type Array 1 192 OF BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc Disconnect EtherCAT Slave tions e EC_DisconnectSlave Connect EtherCAT Slave e EC _ConnectSlave Variable name _EC_DisconnSlavTbl Meaning Disconnected Slave Table Global local Global Function Slaves are given in the table in the order of slave node addresses The element for a slave is TRUE if the corresponding slave was disconnected Data type Array 1 192 OF BOOL Range of values TRUE or FALSE R W access R ss Retained Not retained Network Publish Published Usage in user program Possible Related instruc Disconnect EtherCAT Slave tions e EC_DisconnectSlave Connect EtherCAT Slave e EC_ConnectSlave Variable name _EC_DisableSlavTbl Meaning Disabled Slave Table Global local Global Function Slaves are given in the table in the order of slave node addresses The element for a slave is TRUE if the corresponding slave is disabled Data type Array 1 192 OF BOOL Range of values TRUE or FALSE Usage in user program Related instruc tions NJ series CPU
199. on is specified during communications Slave Information Continues _EC_DisconnSlavTbl Array 1 192 of BOOL Disconnected Slave Table _EC_PDSlavTbl Array 1 192 of BOOL Process Data Communicating Slave Table _EC_MBXSlavTbl Array 1 192 of BOOL Message Communications Enabled Slave Table An operation to disconnect the slave was executed from the Sysmac Stu dio The EC_DisconnectSlave instruction ae was executed None Master System Process data communications are stopped for the slave and all slaves after it Monitoring of topology changes is stopped for the slave and all slaves after it Slave The slave enters the Init state You can back up and restore parameters with the Sysmac Studio Process data communications are not possible None 9 26 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Event name Meaning Source Error attributes Effects Indicators System defined variables Cause and correction Attached information Precautions Remarks 9 Troubleshooting Slave Connected 94410000 hex A slave was reconnected for a reconnection command EtherCAT Master Function Module Source details Slave Detection When slave timing reconnection is specified during communications program Continues Operation Master The slave enters the Operational state again and process data communications restart Slave Enters Operational state EtherCAT NE
200. onfiguration NJ series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 This Manual Section Description Section 1 This section provides an overview of EtherCAT communications describes the sys Introduction tem configuration and specifications and provides operating procedures Section 2 This section provides the part names and describes the slave settings and Sysmac Part Names and Slave Settings device functions Section 3 This section describes the different types of EtherCAT communications EtherCAT EtherCAT Communications settings and state transitions Section 4 This section describes how to connect and wire an EtherCAT network EtherCAT Network Wiring Section 5 This section describes how to set the network configuration information and how to Setting Up EtherCAT Communica check EtherCAT communications from the Sysmac Studio tions with the Sysmac Studio Section 6 This section describes the timing of communications response times and special Process Data Communications and instructions for process data communications and SDO communications It also pro SDO Communications vides sample programming Section 7 This section describes the system defined variables that are related to the built in System defined Variables That Are EtherCAT port Related to the Built in EtherCAT Port Section 8 This section provides a series of example operations for when an NJ series CPU Unit Example of Operations for EtherCAT is c
201. onforms to ISO 8877 Pin Assignments PinNo Signalname Abbreviation Signal direction a f ws g Os f ws g e Resepton data Ro O7 f ws Oe f ws Output Output Input 4 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 4 EtherCAT Network Wiring 4 1 4 Connecting Communications Cables Cable connections can be made freely in EtherCAT networks Connect the communications cable from the EtherCAT master to the input port on the first slave and then connect the communications cable to the next slave to the output port on the first slave Do not connect anything to the output port of the slave at the end of the network EtherCAT master Communications cable Input port gt 1 k re fes gt Q gt p m gt p p e Output port 1 Slaves saiqed suoleolunwWoy Buloeuuod 4 P Do not connect anything a ical REF Last slave The cable between any two nodes L1 L2 Ln must be 100 m or less Use the Sysmac Studio to con firm if communications are possible for the total cable length Firmly connect the communications cable connector until it clicks into place I Precautions for Correct Use Do not disconnect the EtherCAT slav
202. online operations for the slaves Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for information on synchroniza tion NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 6 Downloading the Network Configuration Information 5 6 1 Downloading the Network Configuration Information from the Sysmac Studio You must download the network configuration information in the project from the Sysmac Studio to the NJ series CPU Unit Use the synchronize operation to download the network configuration information Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for information on synchroni zation 1 Go online and select Synchronization from the Controller Menu 3 Sysmac Studio File Edit View Insert Project Simulation Tools Help Ctrl W Ctrl Shift w New Project rh o J O oO pe 2 gt Q mp gt D Z D mp Oo O e Q c teh e m 5 a Oo 3 teh Oo Monitor Configurations and Setu Set Reset Forced Refreshing MC Test Run MC Monitor Table SD Memory Card t Controller Clock s Release Access Right Update CPU Unit Name Security Clear All Memory The Synchronization Dialog Box is displayed 2 Select the EtherCAT Check Box in the Synchronization Dialog Box and then click the Transfer
203. onnected to slaves Communications This section describes the event codes error confirmation methods and corrections for errors that can occur for EtherCAT communications It also describes how to replace slaves Section 9 Troubleshooting The appendices describe the relation of EtherCAT communications to overall CPU Appendices Unit status packet monitoring functions and multi vendor application 4 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Manual Configuration i Sysmac Studio Version 1 Operation Manual Cat No W504 Section Section 1 Introduction Section 2 Installation and Uninstallation Section 3 System Design Section 4 Programming Section 5 Online Connections to a Controller Section 6 Debugging Section 7 Other Functions Section 8 Reusing Programming Section 9 Support Software Provided with the Sysmac Studio Section 10 Troubleshooting Appendices NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Description This section provides an overview and lists the specifications of the Sysmac Studio and describes its features and components This section describes how to install and uninstall the Sysmac Studio This section describes the basic concepts for designing an NJ series System with the Sysmac Studio and the basic operating procedures This section describes how to create programs with the Sysmac Studio This section describes how to go online
204. ons None Remarks 9 24 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting Event name Emergency Message Detected 64200000 hex Meaning An emergency message was detected Source EtherCAT Master Function Module Source details Slave Detection During communi timing cations Effects User program Continues Operation Slave An error occurred Other operation is not affected Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT ee _EC_SlavEmergErr BOOL Emergency Message Detected clelteenetn An emergency message was Clear the error from the EtherCAT Refer to the information given in the received from a slave slave where the application error manual for the slave and implement occurred Use the procedure given in countermeasures to prevent the prob the slave documentation lem Attached Attached Information 1 Slave emergency code information Attached information 2 Slave error register object value Attached Information 3 Slave emergency data Only the lower five bytes are valid Precautions None Remarks Event name EtherCAT Message Error 842D0000 hex Meaning An error occurred in a message communications with the slave Source EtherCAT Master Function Module Source details Master Detection During communi timing cations Effects User program Continues Operation Slave An error occurred Other operation is not affected Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT
205. or fault level Possible Connect the Sysmac Stu Lit Flashing Partial fault level 2 dio or an NS series PT and check the cause of and correction for the Lit Flashing Minor fault level error in the troubleshooting func co I onl Oo lt oO A m oO Lit Lit Not lit Observation tions of the Sysmac Studio or the Troubleshooter of the NS series PT Lit Not lit Normal operation in RUN mode Lit Not lit Not lit Normal operation in PROGRAM mode 1 Lit Flashing Not lit Normal operation in startup state 1 If you can connect communications to the CPU Unit from the Sysmac Studio with a direct connection via USB the CPU Unit is in PROGRAM mode If you cannot connect communications the CPU Unit is being reset 3 2 If you can connect communications to the CPU Unit from the Sysmac Studio with a direct connection via USB a major fault level error has occurred If you cannot connect communications a watchdog timer error has occurred in the CPU Unit 3 3 If you cannot connect communications to the CPU Unit from the Sysmac Studio it is also possible that the USB cable is faulty or that the connection type on the Sysmac Studio is not set for a direct connection via USB Refer to the NU series Troubleshooting Manual Cat No W503 if you cannot connect communications to the CPU Unit SIO 10 YOOYUD O MOH L L 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 3 9 Troubleshoot
206. ort User s Manual W505 Part Names and Slave Settings This section provides the part names and describes the slave settings and Sysmac device functions 2 1 Part Names and Functions 0000 eee es 2 2 2 1 1 EtherCAT Master Indicators 0 0 eee eee 2 2 2 1 2 Windows Used in Sysmac Studio 0 00 ee 2 3 2 1 3 Connecting the Sysmac Studio 0 0 cc ee 2 6 2 2 Setting the Node Addresses of the EtherCAT Slaves 2 8 2 3 Features of Sysmac Devices 2 ccc es 2 10 2 3 1 SYSinac DEVICES 25 cha hoes eid Seed See Se doe ks GR deed 2 10 2 3 2 Sysmac Device Features 0 cece ees 2 10 2 3 3 Listof Sysmac Devices crisare ceira ene 2 14 2 3 4 Sysmac Device Features and EtherCAT Masters 05 2 15 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 2 1 2 Part Names and Slave Settings 2 1 Part Names and Functions 2 1 1 EtherCAT Master Indicators A Z A OPEN N OPEN RUN OMRON lt j rror NJ501 1500 USB port NET RUN PORTI EtherNet IP_ NET ERR r Built in EtherNet IP port 100Base TX 10Base T LINK ACT The link is not established H NET RUN A NET ERR lt m Built in EtherCAT port L E unkiact wif 1 OOBase TX 2 om fe Gee z EtherCAT master indicators an a communications are in progress e O data is being input and output ae EtherC
207. other functions You cannot change the names ables EtherCAT master of these variables 3 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 EtherCAT Communications 3 1 4 Settings Required for EtherCAT Communications For EtherCAT communications you must set the following network configuration information from the Sysmac Studio and download it to the CPU Unit e Network configuration Master and slave configuration e EtherCAT master settings Parameters settings such as the process data communications cycle e Process data information Allocation information for slave PDO data EN Additional Information EtherCAT communications cannot be performed unless the correct network configuration infor mation is downloaded to the CPU Unit Refer to Section 5 Setting Up EtherCAT Communications with the Sysmac Studio for details Go I h m gt S j O 3 5 Cc 5 O e a D g Q dp 4 gt a SUOITEOIUNWWOD 1Yy919443 10 posinbey sumas rv L NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 7 3 EtherCAT Communications 3 2 Programming EtherCAT Communications The user program in the NJ series CPU Unit reads writes EtherCAT slave data and performs motion control for Servo Drive and encoder input slaves Instructions and variables are used according to slave types and target data as shown below upc tiu tess ear Slave t
208. owing Major fault Major fault level Partial fault Partial fault level Minor fault Minor fault level Observation Information 2 One of the following Automatic recovery Normal status is restored automatically when the cause of the error is removed Error reset Normal status is restored when the error is reset after the cause of the error is removed Cycle the power supply Normal status is restored when the power supply to the Controller is turned OFF and then back ON after the cause of the error is removed Controller reset Normal status is restored when the Controller is reset after the cause of the error is removed Depends on cause The recovery method depends on the cause of the error 3 One of the following System System event log Access Access event log 4 One of the following Continues Execution of the user program will continue Stops Execution of the user program stops Starts Execution of the user program starts NJ series CPU Unit Built in EtherCAT Port User s Manual W505 P N e Ss D N oO Oo 5 suonduos q 10113 2 2 6 9 Troubleshooting Errors Related to Tasks Event name Meaning Source Error attributes Effects System defined variables Cause and correction Attached information Precautions Remarks 9 12 User Program Controller Configurations and Setup Trans 10200000 hex fer Error The user program or Controller Configurations and Set
209. p gt amp Controller Setup gt i Motion Control Setup amp Cam Data Settings Event Settings B Task Settings W Data Trace Settings 2 Select an EtherCAT slave that is displayed in the Edit Pane fl S i fins i i X mi P gu l6 i pitis at Configurations and Setup y new_NJ501_0 ii Node AddressiNetwork configuration Configurations and Setup v5 EtherCaT a Item name Value gt Node1 R88D KNO1H ECT E per D KNO1H EC 9 aa an ETET PB ee eo ater z Product name R88D KNO1H ECT G5 Series ServoDrive Motor gt Node3 R88D KNO1H ECT E es Rev 2 1 Ravish 21 Lac Rie a R88D KNO1H ECT Rev 2 1 Node Address gt CPU Expansion Racks E004 Enable Disable Settings P yo Map R88D KNO1H ECT Rev 2 1 Serial Number 0x00000000 gt Controller Setup 0x6040 00 261th receive PDO Mapping Contv gt t Motion Control Setup 0x607A 00 261th receive PDO Mapping Targ e Cam Data Settings Ox60FF 00 261th receive PDO Mapping Targe gt Event Settings 0x6071 00 261th receive PDO Mapping Targe EPP 0x6060 00 261th receive PDO Mapping Mode rabe i 0x60B8 00 261th receive PDO Mapping Touc amp 7 Data Trace Settings 0x607F 00 261th receive PDO Mapping Max 0x60E0 00 261th receive PDO Mapping Positi 0x60E1 00 261th receive PDO Mapping Nega A 0x603F 00 259th transmit PDO Mapping Erro PDO Map Settings 0x6041 00 259th transmit PDO Mapping Stat 0x6064 00 259th transmit PDO Mapping Posi
210. p parameters clear the selection of the Do not transfer Special Unit parameters and backup parameters of EtherCAT slaves out of synchronization scope Check Box in the Synchronization Pane NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 7 Confirming Communications after Completing EtherCAT Configuration and Settings If normal network configuration information is downloaded to the CPU Unit EtherCAT communications start automatically regardless of the operating mode of the CPU Unit EtherCAT communications are in operational state normal communications state if the EtherCAT NET RUN indicator on the front of the NJ series CPU Unit is lit green Refer to 9 2 3 Resetting Errors if the EtherCAT NET RUN indicator is not lit green If network configuration information is not downloaded to the CPU Unit the EtherCAT master will not perform process data communications Because of this notification of errors will not occur The Ether CAT communications will be in the Init state where both process data communications and SDO com munications are disabled You can check from the user program to see if I O refreshing is normal by checking the system defined variable _EC_PDSlavTbl Process Data Communicating Slave Table Precautions for Safe Use e EtherCAT communications are not always established immediately after the power supply is turned ON Use the syst
211. r s Manual rroan onoare fo Setting devices and hardware Software settings Programming Testing operation and debugging Using motion control Using EtherCAT Using EtherNet IP Use the relevant manuals for references according to any error that Troubleshooting and managing errors in an NJ series Controller Maintenance Using EtherCAT Using EtherNet IP Using CJ series Units E i ATE L T ii Nri NJ series User s Manuals NJ series Instructions NJ series CPU Unit Motion Control User s Manual NJ series CPU Unit Built in EtherCAT Port User s Manual NJ series Motion Control Instructions Reference Manual NJ series CPU Unit Built in EtherNet IP Port User s Manual NJ series Troubleshooting Manual CJ series Special Unit Operation Manuals for NJ series CPU Unit Reference Manual v v oO l gt NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Manual Configuration Manual Configuration NJ series CPU Unit Hardware User s Manual Cat No W500 I Nu series CPU Unit Hardware User s Manual Cat No W500 Section Section 1 Introduction Section 2 System Configuration Section 3 Configuration Units Section 4 Installation and Wiring Section 5 Troubleshooting Section 6 Inspection and Maintenance Appendices Description This section provides an introduction to the NJ series Controllers and their features and gives the NJ series Control
212. rCAT Communications 8 1 Example of Operations for EtherCAT Communications cccccesseceeeceneeenssensenenesenees 8 2 8 1 1 System Conigu ratiom Example denise a a E EA 8 2 8 1 2 Wirmo and SENGS tix ixdcddttet gute tiai e e r e aa aa a a a 8 2 8 1 3 Setting the EtherCAT Network Configuration cccccceeeeeeeeeeeeeeeeeeeeeeeeeeeesaeeaeeeeeeesaaaeeeeeeenaas 8 3 8 1 4 Programming seeatct iret cie tie dicnslet ue a a a setedetar se teuseetanstods teers aseieiaedereeees 8 4 8 1 5 CMM IDS DU GOING E aii eee ee eee E E aha E E E E E A 8 5 8 1 6 FUMA The ROWS ON secre ensopssesececcacoaceessancaaneieenat ace DOT a AE RO N ri 8 5 8 1 7 OMNIS DS DUGG esen aa a a a a e Maaals 8 5 8 1 8 Downloading the Network Configuration Information and the User Program cccseeeees 8 5 8 1 9 Confirming the Start Of COMMUNICATIONS cccccccceeeeeeeceeeeeeeecseseeeeesaeeeeeeaeeeeessaaeeeeesanseeseeas 8 5 Section 9 Troubleshooting G21 OVEIVICW OF ENOTS vccasscecssdececczacccssecccsansacscuveccesasecusenactsuadecces OSa anaE aaa aaa aa iS 9 2 9 1 1 HOW 10 GHeCKTOMENMONS airn E a dees ee ie E NA 9 3 9 1 2 Errors Related to the EtherCAT Master Function MOdule cccccsssseeeeceeeeeeeeeeeeeeeeeeseeesaaaees 9 6 9 2 TROUDIOSIIOOUING aana E E a 9 8 9 2 1 221110 age 16 Seen a A E ene eee een ere Pert rrr at Tore 9 8 9 2 2 EOF DOSCIIOLOMNS veces sckcteiscavstareewts a CB focaw eg ese ges R eee eeecs a aeaeeas 9 11
213. ressed to a slave Data type BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Variable name _EC_SlavAppErr Meaning Slave Application Error Global local Global Function TRUE if there is an error in the slave s application status register Data type BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Variable name _EC_MsgErr Kiobeyey ejnpoyy uonouny seysey WOJOUIS E 1 2 Z Meaning EtherCAT Message Error Global local Global S MO Function TRUE when a message is sent to a slave that does not support messages or when there is an error in the format of the response to a message that was sent to a slave N Data type BOOL Range of values TRUE or FALSE Usage in user program Possible Related instruc CoE messages Read CoE SDO tions e EC_CoESDORead CoE messages Write CoE SDO e EC_CoESDOWrite NJ series CPU Unit Built in EtherCAT Port User s Manual W505 7 9 7 System defined Variables That Are Related to the Built in EtherCAT Port Variable name _EC_SlavEmergErr Meaning Emergency Message Detected Global local Global Function TRUE if the master detects an emergency message that was sent by a slave Data type BOOL Range of values TRUE or FALSE R W access Rs Retained Not retained Network Publish Published Usage in
214. rred from the EtherCAT slave Configurations and Setup TAA Item name Value 2 1 ms v Help Data type Comment Sets the input filter Transfer to Slave Transfer from Slave 3 Click the Compare Button Check to be sure that you have correctly obtained the backup parameters in step 2 9 34 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting EN Additional Information e You can back up the EtherCAT slave settings for any EtherCAT slave that is connected to the network i e whenever the _EC_EntrySlavTblif 1 192 Network Connected Slave Table sys tem defined variable is TRUE either before of after the disconnection command is sent to the EtherCAT slave e 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 Studio Version 1 Operation Manual Cat No W504 for the applicable EtherCAT drive slaves e You do not need to back up the settings to replace an EtherCAT slave that does not have backup parameters After you replace the EtherCAT slave you restore the settings that you backed up before you replaced the slave The backup parameters that were backed up are restored to the EtherCAT slave 1 Click the Edit Backup Parameter Settings Button in the EtherCAT Slave Setting Tab Page The Backup Parameter Settings Tab Page is displayed 2 Click the Transfer to Slave Butto
215. rs within the manufacturer specific area in these objects 1Y9194 4 ABAO O90 01q UOHeI ddy NWO 309 L L Distributed Clock DC This is a unique EtherCAT feature that enables precisely synchronizing time The DC based clock synchronization enables sharing the same time i e the EtherCAT System Time between the EtherCAT master and the slaves This enables the timing of the operation of the EtherCAT master and slaves to be synchronized with the shared time i goes Operation timing is synchronized by sharing time information between the EtherCAT master and slaves i TI i EtherCAT master T yt f A A A Slaves All slaves that support a distributed clock synchronized slaves are synchronized with the refer ence clock In this EtherCAT system the closest slave on the network to the EtherCAT master of all the slaves with a reference clock provides the reference clock The EtherCAT master and slaves automatically access this reference clock NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 3 3 EtherCAT Communications 3 1 2 Types of Communications The following two methods are used to exchange data between master and slaves in EtherCAT commu nications Communication Name of communication a Timing of processing Type of data type type Cyclic Process data Constant PDO data communications communications process data communications cycle PDO communications Message SDO communications Whe
216. s Refer to the NJU series Troubleshooting Manual Cat No W503 for the procedures to check for errors with an NS series PT i Checking with Instructions That Read Error Status You can use instructions in the user program to check the error status of each function module The following instruction is used to read the error status of the EtherCAT Master Function Module Instruction Name Outline of function GetECError Get EtherCAT The GetECError instruction gets the highest level status partial fault Error Status or minor fault and highest level event code of the current Controller errors in the EtherCAT Master Function Module For details on the instructions that get error status refer to the NJU series Instructions Reference Manual Cat No W502 9 4 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 Troubleshooting i Checking with System defined Variables You can use system defined variables to check for errors in the EtherCAT Master Function Module Error Status Variables You can check for errors in each function module of the NJ series Controller with error status vari ables The following variables show the error status of the EtherCAT Master Function Module Variable name Data type Meaning Function _EC_ErrSta WORD Built in EtherCAT Gives the collective error status of all error sta Error tus for the EtherCAT Master Function Module _EC_PortErr WORD Communications Gives the collectiv
217. s Applicable Directives e EMC Directives e Low Voltage Directive i Concepts EMC Directive OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine The actual products have been checked for conformity to EMC standards Whether the products conform to the standards in the system used by the customer however must be checked by the customer EMC related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel on which the OMRON devices are installed The customer must therefore perform the final check to confirm that devices and the overall machine conform to EMC standards Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnetic Susceptibility EN 61131 2 and EN 61000 6 2 EMI Electromagnetic Interference EN 61131 2 and EN 61000 6 4 Radiated emission 10 m regulations Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 VAC and 75 to 1 500 VDC meet the required safety standards The applicable directive is EN 61131 2 Conformance to EC Directives The NuJ series Controllers comply with EC Directives To ensure that the machine or device in which the NJ series Controller is used complies with EC Directives the Controller must be in
218. s are possible Setting Actual device Communications are not possible Communications are possible Communications are not possible No check Communications are possible Setting Actual device Setting lt Actual device 2 If the set value is Setting Actual device communications with slaves in the network is not started if a slave is replaced If it is necessary to replace a slave while the set value is Setting Actual device you must cor rect the network configuration information and transfer it to the EtherCAT master again Set this parameter to Setting Actual device if strict management of the equipment configuration is required Precautions for Safe Use e If the Fail soft Operation Setting parameter is set to Stop process data communications will stop for all slaves when an EtherCAT communications error is detected in a slave For this rea son if Servo Drives are connected the Servo Drives for all axes will be turned OFF Make sure that the Fail soft Operation parameter setting results in safe operation when a device error Occurs e f verifying revisions is disabled parameters are also transferred to slaves with different Ether CAT revisions If an incompatible revision of a slave is connected incorrect parameters may be set and operation may not be correct If you disable the revision check make sure that only compatible slaves are connected before transferring the parameters rt gt m gt D
219. s are required program the _EC_I nDatalnvalid Input Data Disable system defined variable as an interlock condition Refer to 6 1 2 Sample Pro gramming for a sample of programming interlocks lf a communications error prevents the slaves from receiving signals from the master the slave settings will control the slave outputs During the time that is required to change from normal operation to a communications error status frames will be lost The outputs for lost frames are different for synced slaves Servo Drives and encoders and non synced slaves The slave set tings will control the slave outputs for synced slaves The previous values are retained for the slave outputs for non synced slaves Communications Normal operation error status Controlled by the Controlled by the Controlled by the values of device slave settings slave settings variables Controlled by the The previous val Controlled by the Outputs from non synced slaves values of device ues are output slave settings variables Outputs from synced slaves Servo Drives and encoders For details refer to relevant manuals for each slave EN Additional Information You can check from the user program to see if I O refreshing is normal by checking one of the system defined variables _EC_PDSlavTbI 1 192 Process Data Communicating Slave Table NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 Process Data Communications and SDO Communicat
220. s not in the network configura tion information is connected Source EtherCAT Master Function Module Source details Master Slave Detection At power ON at Controller reset or during commu nications User program Continues Operation When Fail soft Operation Is Set to Fail soft Master Slaves that are consistent with the network configuration information enter the Operational state Slaves that are not consistent with the network configuration information and all subsequent slaves remain in Init state Slave Depends on the slave communications status When Fail soft Operation Is Set to Stop Master All slaves remain in the Init state and operation stops Slave Init state EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT timing Error attributes Effects Indicators ee _EC_NetCfgCmpErr BOOL Network Configuration Verification Error When Inconsistencies Are Found in Array 1 192 of BOOL Communications Error Slave Table Verification _EC_CommeErrTbl E j c COTTE CNOM A slave that is in the network configu Connect the slaves that are in the net Set and save the network configura e ration information is not connected work configuration information Or tion information for the configuration O connect the Sysmac Studio and set actually connected in the master 9 and save the network configuration information with the slave deleted in ve the master There is a node address mismatch Make the slave node addre
221. s_valid _E001_In_BitOO E001_Out_Bit07 H All slave outputs All_slave_outputs_valid E001_Out_Bit0O NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 Process Data Communications and SDO Communications ST IF EC PDActive TRUE AND _EC_SlavErr WORD 16 0 THEN 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 InDatalnvalid FALSE THEN AllSlav_In TRUE ELSE AllSlav_In FALSE END_IF e gt I oh UO O D U e5 e5 O O 3 3 c 5 O fe T O gt __ u J a O O 3 3 c 5 O fe O gt v Output data valid IF ALLSlav_Out TRUE THEN E002_Out_Bit00 TRUE ELSE E002_Out_Bit00 FALSE END_IF BuiluwwesBbolg ajdwes Z 4 9 Input data valid IF ALLSlav_In TRUE AND E002_In_BitOO TRUE THEN E002_Out_Bit07 TRUE ELSE E002_Out_Bit07 FALSE END_IF Precautions for Safe Use If you disconnect the cable from an EtherCAT slave to disconnect it from the network e g to replace it any current communications frames may be lost If frames are lost slave I O data is not communicated and the intended operation is sometimes not achieved If slave replacement is required program the _EC_ nDatal nvalid Input Data Disable system defined variable as an interlock condition NJ series CPU Unit Built in EtherCAT Port U
222. sent is displayed SOAREIS IVOJEUIQ Buies Z v G If editing the process data allocations is required click the Edit PDO Map settings Button at the bottom of the list Refer to 5 3 7 Registering Device Variables for All EtherCAT Slaves for details Distributed Clock Enable OK If a slave provides a distributed clock Enabled is displayed You can also disable the distributed clock If a slave provides a distributed clock and you can disable it either Enabled or Disabled is displayed If a slave does not provide a distributed clock is displayed NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 19 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 20 Reference Clock Not allowed Setting Parameters OK Backup Parameter Set OK tings Remarks Displays whether the slave provides a reference clock If there is more than one slave in the system with an enabled distributed clock there must be a slave that provides a reference clock before the first Junction Slave Exist is displayed if the slave pro vides a reference clock Not exist is displayed if the slave does not provide a reference clock If a slave has an initial parameter setting function Setting is dis played If a slave does not have an initial parameter setting function is displayed To edit the settings click the Edit Setting Parameters Button If a slave has a backup parameter setting func
223. ser s Manual W505 6 7 6 Process Data Communications and SDO Communications 6 1 3 Process Data Communications Timing The EtherCAT communications cycle is the same as period of the primary periodic task for sequence control It is also the same as the motion control period The relationships between sequence processing motion control processing and data exchange in EtherCAT communications are shown below Basic I O Units Special I O Units NJ series CPU Unit and CPU Bus Units Execution of user program in PLC Function Module EtherCAT Processing in slave EtherCAT Master Function Module Sequence control period Process data communications cycle Data refresh cycle in slave period of primary periodic EtherCAT data transmission cycle depends on the slave task and periodic tasks This is same as the primary periodic task period Primary periodic task period Motion control period Process data communications cycle 6 8 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 Process Data Communications and SDO Communications 6 1 4 System Response Time in Process Data Communications Standard Synchronization Timing Here sequence control and motion control are performed within the task period of the primary peri odic task in which EtherCAT communications were refreshed Scheduled Scheduled Scheduled trigger trigger trigger 7 Vv v PLC Function Module Data processing a Data processing emt E 6 Fr
224. slave in Init state where a Sysmac error was detected is connected you cannot confirm the Sysmac error that was detected by the slave until communications are restarted with that slave Therefore if an error that results in a slave going to Init state and a slave Sys mac error are detected at the same time first reset the slave Init state restart communications with the slave and then check the Sysmac error Then eliminate the cause of the error and reset the error Refer to 9 2 2 Error Descriptions for the errors that result in the Slave entering Init state e If you delete the assignment of the Sysmac error status from the processing data communica tions data e g to reduce the load on the EtherCAT communications line you will not be able to use the Sysmac error status in troubleshooting To delete the assignment edit the PDO map settings in the EtherCAT master settings on the Sysmac Studio so that the map object that is mapped to object 2002 hex is not selected If you do so you can detect errors that occur in the slave applications other than communications errors only through the transmis sion of emergency messages or status information that is mapped for other process data com munications Use emergency messages and other status information for which PDOs are mapped to detect slave errors in this case Transmission of emergency messages is disabled by default for OMRON slaves e When the EtherCAT master detects an emergency message
225. sponse data sent SDO response data sent generation completed 64 bytes per frame 64 bytes per frame Performance Model Example Task period ms 1 SDO size bytes 128 Slave SDO processing time ms 2 Message response time ms 6 EN Additional Information The message response time depends on the unused time in task execution slave SDO size and slave SDO processing time The above timing chart is for reference only 6 16 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 Process Data Communications and SDO Communications 6 3 Communications 6 3 1 EtherCAT Instructions Start EtherCAT Packet EC_StartMon Monitor Stop EtherCAT Packet EC_StopMon Monitor Save Packet Data File EC_SaveMon Copy Packet Data File to EC_CopyMon SD Memory Card EC_DisconnectSlave Disconnect EtherCAT Slave Connect EtherCAT Slave EC _ConnectSlave GetECError Get EtherCAT Error Status Reset EtherCAT Controller ResetECError Error NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Instructions Used in EtherCAT Description Starts packet monitoring of the EtherCAT master built into the NJ series CPU Unit Stops packet monitoring of the EtherCAT master built into the NJ series CPU Unit Saves captured data in a file in the system of the NJ series CPU Unit The packet monitor is a function of the EtherCAT master built into the NJ series CPU Unit The captured files in the s
226. ss settings consistent with the network configura tion information A different slave from the one that is Connect the slave that is specified in specified in the network configuration the network configuration information N information is connected Or connect the Sysmac Studio and i set and save the network configura u tion information with the correct 2 slaves in the master i A slave that is not in the network con Disconnect the slave that is not in the figuration information is connected network configuration information 3 from the network Or connect the 7 Sysmac Studio and set and save the network configuration information with the slave added in the master The Ethernet physical layer is broken In cases not caused by the above None between two slaves causes confirm the location of the break in the Ethernet cable and replace the cable Attached None information Precautions If you add check items in the options for network configuration verification check whether the items match Remarks NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 19 9 Troubleshooting Slave Initialization Error 84230000 hex Slave initialization failed EtherCAT Master Function Module Master Slave At power ON Controller reset or error reset Error reset hard ware replace ment Partial fault System Continues When Fail soft Operation Is Set to Fail soft
227. ssing the master receives a response from the slave to complete execution of the instruction NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 15 6 Process Data Communications and SDO Communications Calculating the Message Response Time Message response time Task period Slave SDO processing time Task period 1 1 x Task period SDO response data size 64 bytes 1 2 x Task period Task period 1 Ifthe slave SDO processing time divides evenly by the task period then 1 is not required 2 If the SDO response data size divides evenly by 64 bytes then 1 is not required The following timing chart shows an example of the timing from execution of the instruction for SDO message communications to the completion of instruction execution i e until a response is received Performance Model Example Execution of SDO Communications cycle 1 ms SDO communications communications Slave SDO size 128 bytes instruction executed instruction completed l Task period Task period Task period Task period Task period Task period IO I O refreshing 1ms 1ms ims 1ms ims imis UPG User program execution A MC Motch coral IO _JUPG MC IUPG MC MC 107 UPG MC MC 107 UPG MC me fo IUPG MC IO _ UPGIMC SDO re response se confirmation p processing 1 interval communications aee J System service Line delay Slave SDO processing Slave processing time 2 ms SDO response SDO re
228. stalled as fol lows e The NJ series Controller must be installed within a control panel e You must use reinforced insulation or double insulation for the DC power supplies connected to DC Power Supply Units and I O Units e NJ series Controllers that comply with EC Directives also conform to the Common Emission Stan dard EN 61000 6 4 Radiated emission characteristics 10 m regulations may vary depending on the configuration of the control panel used other devices connected to the control panel wir ing and other conditions You must therefore confirm that the overall machine or equipment complies with EC Directives NJ series CPU Unit Built in EtherCAT Port User s Manual W505 23 Regulations and Standards Conformance to Shipbuilding Standards The NJ series Controllers comply with the following shipbuilding standards Applicability to the ship building standards is based on certain usage conditions It may not be possible to use the product in some locations Contact your OMRON representative before attempting to use a Controller on a ship i Usage Conditions for NK and LR Shipbuilding Standards e The NJ series Controller must be installed within a control panel e Gaps in the door to the control panel must be completely filled or covered with gaskets or other material e The following noise filter must be connected to the power supply line Noise Filter Manufacturer Model Cosel Co Ltd TAH 06 683 Trademarks
229. t Slave Senal Numbers Display Diagnosis Statistics Information Display Production Information Display Packet Monitor C Display ESI Library The ESI Library Dialog Box is displayed NJ series CPU Unit Built in EtherCAT Port User s Manual W505 A 19 Appendix 3 Click the Icon to the left of the name of the ESI file that was added 5 ESI Library SE Omron 3G3AX MX2 ECT Omron FZM1 XXX ECT Omron GX Analog 10O Omron GX Digital IO Omron GX Encoder Omron GX JC Omron R88D KNbowx ECT To add or delete an ESI file exit from this software and then add delete the file to from The change will be applied after restarting this software Close The slave definitions in the ESI file are expanded so that you can check the following items e Model e Revision e Product name F3 ESI Library z Omron 3G3AX MX2 ECT Model Omron FZM1 XXX ECT Omron GX Analog IO Revision Omron GX Digital IO Omron GX Encoder Product name DeEeEeees R88D KNA5L ECT G5 Series ServoDrive Motor R88D KNO2L ECT Rev 1 0 R88D KNO2L ECT G5 Series ServoDrive Motor R88D KNO4L ECT Rev 1 0 R88D KNO4L ECT G5 Series ServoDrive Motor R88D KNO1H ECT Rev 1 0 R88D KNO1H ECT G5 Series ServoDrive Motor R88D KNO2H ECT Rev 1 0 R88D KNO2H ECT G5 Series ServoDrive Motor R88D KNO4H ECT Rev 1 0 R88D KNO4H ECT G5 Series ServoDrive Motor R88D KNO8H ECT Rev 1 0 R88D KNO8H ECT G5 Series ServoDrive Motor R88D KN10H ECT Rev 1 0 R88D KN10H ECT G5
230. t installed on the EtherCAT network but are scheduled for addition at a later date as disabled slaves Even for disabled slaves process data allocations can be set and used as system defined variables and device variables in the user program Default setting Enabled Serial Number Not Displays the serial number of the slave allowed Default 0x00000000 when offline The value is updated to the serial number of the physical slave when you select Get Slave Serial Numbers from the menu for the master rt m 5 D S D m D o 2 D lt y 9 D 3 D D w D 5 O A Network Configuration Verification Error occurs if the serial number on the Sysmac Studio and the serial number of the phys ical slave do not agree when the Serial Number Check Method in the master settings is set to Setting Actual device Refer to 5 5 3 Using the Sysmac Studio to Obtain Serial Num bers from the Actual Network Configuration for how to access 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 variables are automatically created in the initial process data allocations You can read and write these process data allocations as device vari ables from the user program When valid PDOs are present a list of them is displayed When valid PDOs are not pre
231. t00 TRUE ELSE E001_Out_Bit00 FALSE END_IF BuiluwwesBolg ajdwes Z 4 9 Input data valid IF Slav_In TRUE AND E001_In_BitOO TRUE THEN E001_Out_Bit07 TRUE ELSE E001_Out_Bit07 FALSE END_IF Precautions for Safe Use If you disconnect the cable from an EtherCAT slave to disconnect it from the network e g to replace it any current communications frames may be lost If frames are lost slave I O data is not communicated and the intended operation is sometimes not achieved If slave replacement is required program the _EC_ nDatal nvalid Input Data Disable system defined variable as an interlock condition NJ series CPU Unit Built in EtherCAT Port User s Manual W505 6 5 6 Process Data Communications and SDO Communications EN Additional Information You can read the status of the _EC_PDSlavTbIi 1 192 Process Data Communicating Slave Table system defined variables from the user program to see if I O refreshing is normal Overall Interlock This sample programs an interlock to check the validity of the process data from all of the slaves that are connected to the network The _EC_PDActive Process Data Communications Status system defined variable is used to see if the process data inputs and outputs are valid for all of the slaves LD _EC_PDActive EQ All_slave_outputs_valid EN _EC_SlaveErr Int WORD 16 0000 In2 _EC_InDatalnvalid All_slave_inputs_valid All slave inputs All_slave_input
232. tac oe eal e raeee acialniaciees sareeeneeee 7 3 7 9 JBC MSME reena e cece eauincaveek bans 7 2 7 7 9 5 EC NetCigCmp EM rnanca ri 7 3 7 8 Index 2 SHG AINGLG GEG erueten a hvauetaesaaeealp ee 7 3 7 8 EC Net lopology Eth nescie wend 7 3 7 8 EGC IP DACIING arn e names 7 5 7 12 HEC PDCOMMEN cetdcecke retell Aavenet cee aancheodces 7 3 7 8 EG RDSENQE iee eo a e e T 7 3 7 9 ECG PDSIAV Diea en sear senacaeateeene 7 5 7 11 EC PD TMEGUTE M eroon cretion cteeeecee taker ect 7 3 7 9 EC PRIMOMSIOD aede achat eelaeh 7 5 7 12 SEG PRIS AVING case tiesenttavectacectede eQeetiendienedcide lt tteoes 7 5 7 12 ONT Wh sees ees seca dencaseed ee tsseman dna nnd ets 7 2 7 6 9 5 EC RegSlavT bl cccccesecccssseseeeceesseeeeseneeeees 7 5 7 10 EG SIAVACKDUDEM ein senting a aai 7 3 7 9 we SSIAVADDEM 22 200 Aerteoacene woe dieinaneeuimcune 7 3 7 9 JEG SIaVEMCIGED on a 7 3 7 10 al OF 2 i gee OO 7 3 7 7 9 5 SBE GY SWEN il ia a 7 3 7 7 9 5 EC SIAVE sorene a cedhee seek 7 3 7 9 Emergency Message Detected ccceeeeeee 7 3 7 10 Enable Disable Settings ccccccccsssseeeeeeeeeeeeeeeeeeees 5 19 errors checking for errors cach sccncesiepttemnttce duet dairundsnanuetateettes 9 3 SOLUCES ifrreccett eerie A adn aess 9 6 SlalUS VANIADICS testacestseceeroneecren cheater EiS 9 5 EOG Scheele A aed A haat ae A 23 ae na ENE ee a ONL mere ONE RN Oe eT meen A 23 Sh os ae ene ee nO Pn NS 1 6
233. tatus Network configura tion infor mation Nothing is performed does not depend on the operat ing mode of the CPU Unit Memory related to EtherCAT master Diagnos tic and sta tistical informa tion Does not depend on the operat ing mode of the CPU Unit Continually show Ether CAT com munication s status Downloading master and slaves set tings Refer to 9 7 Overview of Errors if a Controller error occurs in the built in EtherCAT master A 4 Slaves Slave out puts In Opera tional state the values from before operation stopped are output When the slaves have entered Safe opera tional state the slave settings control all of the outputs Inputs are enabled Does not depend on the operat ing mode of the CPU Unit Continually show the output data sent from the Ether CAT master Slave com munica tions status The Ether CAT master moves the slaves into the safe operational State Does not depend on the operat ing mode of the CPU Unit NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Appendices uoHejay Ul SN elS 1V3194 3 L V snyeys HUN Nd 0 EtherCAT EtherCAT Cleared to all Initialized to Deleted Cleared to zeros default val all zeros communica communica ues 0 tions stop tions stop A Output val gt ues depend Q on the D slave NJ series CPU Unit
234. ter Settings Tab Page The settings for each icon are displayed on the Axis Parameter Settings Tab Page Configurations and Setup 1 Q new_NISO1_0 i Mc Axisooo 0 x v Configurations and Setup G G x 5 Das Axis number Axis use Used axis v Axis type Servo axis v Feedback control No control loop Y Input device Output device Detailed Settings S ALJS indu J poou4 pue SOALIG OAJ9S JO suyas SIXY Z 6 9G gt Programming NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 13 5 Setting Up EtherCAT Communications with the Sysmac Studio The parameters that are displayed for these icons are described in the following table Overview of Axis Parameter Settings Tab Page Axis Basic Set Displays the page to enable disable axis and to set axis types node tings addresses and channels Unit Conversion Displays the page to set the gear ratio of the electronic gear using the pulses Settings per motor rotation and travel distance Operation Set Displays the page to set the velocity acceleration rate deceleration rate tings torque warning values and other monitor parameters Other Operation Displays the page to set the Servo Drive I O Settings Limit Settings Displays the page to set software limits and following error limits Homing Settings Displays the page to set the homing operation Position Count Displays the page to set Count Mode of the Controller Settings Servo Drive Set Displa
235. ter mney tree caterer me a e ammo ie ne aire ee eee are ee tree A 10 M hi vendor Environments sccis a aaa a E aaaea aaa A 15 A 3 1 EtherCAT Slave Information File ESI Files ccccsssseccecseeeeeeeseeeeeeceaeeeeeeseueeeeessenseeeesaaeeees A 15 A 3 2 Connecting Slaves from Other Manufacturers to an OMRON Mastet ccccseseeeeeeeeeeeeeees A 16 A 3 3 INS Cet TING Ey Sa ae ae a a A 16 GOSS AL Gy eects siete eee E NE aE E E A 23 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Read and Understand this Manual Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COM
236. that is provided by OMRON Learning about the specifi cations of the motion con trol instructions that are provided by OMRON Learning how to use CJ series Units with an NJ series CPU Unit Description An introduction to the entire NJ series system is provided along with the following information on a Controller built with an NJ501 CPU Unit e Features and system configuration e Introduction e Part names and functions e General specifications e Installation and wiring e Maintenance and inspection Use this manual together with the NJ series CPU Unit Software User s Manual Cat No W501 The following information is provided on a Con troller built with an NJ501 CPU Unit e CPU Unit operation e CPU Unit features e Initial settings e Programming based on IEC 61131 3 lan guage specifications Use this manual together with the NJU series CPU Unit Hardware User s Manual Cat No W500 The settings and operation of the CPU Unit and programming concepts for motion control are described Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and NJU series CPU Unit Soft ware User s Manual Cat No W501 The instructions in the instruction set IEC 61131 3 specifications are described When programming use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and NU series CPU Unit Soft ware User s Manual Cat No W501
237. the EtherCAT Net work Configuration 1 Use the hardware switches on all of the EtherCAT slaves in the network to set the node addresses The starting node address and sequence are not speci fied See the manuals for each slave for information on the procedure for setting node addresses Note Use the Sysmac Studio to set the node address if there are no hardware switches or the node address is beyond the range that can be set with the hardware switches 2 Connect the EtherCAT slaves and exter nal I O devices Connect the EtherCAT slaves to the Ether CAT port of the NJ series CPU Unit If there is more than one EtherCAT slave connect them using a daisy chain or branch wiring 1 Use the Sysmac Studio to create a new project a Create EtherCAT network configu ration offline or Go online and create the EtherCAT network configuration from the actual network devices Do so after making the online connection that is described in step 7 Create EtherCAT net work configurationn with EtherCAT under Configurations and Setup Introduction operation 2 2 Setting the Node Addresses of the EtherCAT Slaves Section 4 EtherCAT Net work Wiring 5 2 Creating the EtherCAT Net work Configura tion 4 Setting EtherCAT Slave Variables and Axes All EtherCAT Slaves Only EtherCAT Servo Drive and encoder input slaves Allocate variables to the I O ports e f necessary change the names of au
238. the contents of the cell in the Variable column or right click the cell and select Reset Assignment The mapping of the device variable is deleted The variable is not deleted from the variable table Refer to NJ series CPU Unit Software User s Manual Cat No W501 for details on device variables NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio EN Additional Information Default allocations of process data for slaves are defined in the ESI files Depending on the slave you may have to change the process data assignment as required by the application Use the following procedure the slave will appear bias l a u u lz i New Project iE Configurations and Setup B r UU AT Configurations and Setup EtherCAT x new _NJ501_0 v gt Nodel R88D KNO1H ECT E gt Node2 R88D KNO1H ECT E gt Node3 R88D KNO1H ECT E gt Node4 R88D KNO1H ECT E gt CPU Expansion Racks I O Map gt Controller Setup gt i Motion Control Setup amp Cam Data Settings gt Event Settings E Task Settings F Data Trace Settings 2 Click the Edit PDO Map Settings Button at the lower right of the allocated data in the pane Configurations and Setup EtherCAT x Node Address Network configuration i Master p L4 Master i R88D KNO1H ECT Rev 2 1 a E002 C R88D
239. the limit TRUE if the same node address is set for BOOL TRUE or page 7 9 FALSE more than one slave Slave TRUE if there is an error in an initialization BOOL TRUE or page 7 9 Initialization Error command addressed to a slave FALSE _EC_SlavAppErr Slave TRUE if there is an error in the slave s appli BOOL TRUE or page 7 9 Application Error cation status register FALSE _EC_MsgErr EtherCAT Message Error TRUE when a message is sent to a slave that BOOL TRUE or page 7 9 does not support messages or when there is FALSE an error in the format of the response to a message that was sent to a slave _EC_SlavEmergErr Emergency Mes TRUE if the master detects an emergency BOOL TRUE or page 7 10 sage Detected message that was sent by a slave FALSE EC_CommeErrTbl NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Communications Error Slave Table Slaves are given in the table in the order of ARRAY TRUE or page 7 10 slave node addresses The corresponding 1 192 FALSE slave element is TRUE if the master detected OF BOOL an error for the slave 7 3 HOd 1V319443 UI HINg y 0 payejay 1Y PLUL S qQLHLA pauljyap Waj sAS L Z 7 SE qeueA Peuljep Wa SAS Z Z 7 System defined Variables That Are Related to the Built in EtherCAT Port 1 4 EN Additional Information Typical Relationships for the Built in EtherCAT Error Flags Variable varan E Variable Name Event level Name Name
240. therCAT master that is displayed in the edit pane and select Display ESI Library Configurations and Setup f Node AddressiNetwork co nfigu ration Master gt OO c I lt 5 2 O m 5 lt O 5 3 D 5 mh o Write Slave Node Address Compare and Merge with Actual Network Configuration Get Slave Senal Numbers Display Diagnosis Statistics Information Display Production Information Display Packet Monitor C Display ES Library i el sollq ISJ Suryersuy _ E V The ESI Library Dialog Box is displayed 3 Click the this folder link in the ESI Library Dialog Box F ESI Library i Omron SG3AX MX2 ECT Omron FZM1 X4X ECT a Omron GxX Analog l0 Omron GX Digital lO Omron GX Encoder Omron GX JC Omron R amp SD KAbow ECT To add or dy BS exilt from this software and then add delete the file to THY change will be applied after restarting this software Close The contents of the EsiFiles folder are displayed NJ series CPU Unit Built in EtherCAT Port User s Manual W505 A 17 Appendix 4 Copy the ESI file for the EtherCAT slave that is manufactured by another company and paste it in the EsiFiles folder Obtain the ESI file from the slave manufacturer The ESI file must conform to the most recent ETG ESI specifications UserEsiFiles File Edit View Favorites Tools Help Q Bagh Ej p Search Wey Folders f Address CiProgram FilesjOMRON Sysmac Studio lO
241. therCAT network In the EtherCAT network you can use a total of 192 slaves nodes These can include the slaves that are listed below The slaves are synchronized even when multiple non synced slaves and Junction Slaves are connected Slaves have one input port and at least one output port Assign node addresses 1 to 192 to the slaves You can assign any address within the node address setting range 1 to 192 regardless of the type of slave However each node address can be used for only one slave There are also Junction Slaves for which more than one node address is set I NO ma o lt ep parn D 3 O O mj Q Cc pa ped O gt Non synced Slaves These slaves perform sequence control Synchronization is not required between them They include digital slaves analog slaves etc Each non synced slave has one input port and one output port Synced Slaves The operation of these slaves is synchronized with a distributed clock DC They include Servo Drive and encoder input slaves Each synced slave has one input port and one output port The following tables lists some of the OMRON EtherCAT slaves that are available Synced Non Assign Name Type synced ing an Slaves axis Digital I O Slaves with screw terminals and GX LJD16L11 0C1601 Non synced Not Slaves 2 tier terminal block Slaves possible Slaves with screw terminals and GX ID16_12 0D16LJ2 MD16L_1 2 Non synced Not 3 tier terminal block Slaves possible Slav
242. tialized 2 Slaves initialized based on network configuration information 3 The program waits for slaves to join the EtherCAT network 4 When the system defined variable _EC_MBXSlavTbI for the relevant slave changes to TRUE message communications for Applicable slave the relevant slave are possible parameters can be set 5 When the system defined variable _EC_PDSlavTbl for the relevant slave changes to TRUE I O refreshing for the relevant IW 0194 3 0 UOTE U SNIS HUN Add E E E slave is enabled I O refreshing started for the relevant slave User program executed 3 3 3 CPU Unit Status in Relation to EtherCAT Refer to A 1 EtherCAT Status in Relation to CPU Unit Status for details on the following memory related to the EtherCAT master the ability to download master settings and slave settings and the sta tus of slaves according to the CPU Unit operating mode and the status of Controller errors NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 11 3 EtherCAT Communications NJ series CPU Unit Built in EtherCAT Port User s Manual W505 EtherCAT Network Wiring This section describes how to connect and wire an EtherCAT network 4 1 Laying the EtherCAT Network 200 eee es 4 2 4 1 1 Supported Network Topologies 0000 e eee eee eee ees 4 2 4 1 2 Installation PIECAUTIONS sn c08 add 2 etd ed aw ee eed Se ae ie 4 4 4 1 3 Installing EtherCAT Communications C
243. tings SOAR S 1y019444 Ily 40 sejqeuen qd Buuseysi6ey L E G Enabled Exist Setting Edit Setting Parameters 5 Setting Up EtherCAT Communications with the Sysmac Studio The Edit PDO Map Settings Dialog Box will appear Edit the allocated data as required Edit PDO Map Settings d EJ PDO Map PDO entries induded in 512th transmit PDO Mapping Process Data Size Input 208 bit 240 bit Index Size Datatypel PDO entryname Comment I Output 184 bit 192 0x2002 01 8 bit Sysmac Error Status Sysmac error status Hag No option ist receive PDO Mapping 258th receive PDO Mapping 259th receive PDO Mapping 260th receive PDO Mapping 261th receive PDO Mapping 262th receive PDO Mapping No option ist transmit PDO Mapping 258th transmit PDO Mapping 259th transmit PDO Mapping 260th transmit PDO Mapping 261th transmit PDO Mapping 3 o S gt lt No option Input ___ 512th transmit PDO Mapping Cancel 3 Select the output data RxPDO and input data TxPDO in the PDO Map List You can add or delete the PDOs with Editable Flags as entries for the objects to use for the slaves 4 Glick the OK Button 5 3 2 Axis Settings for Servo Drives and Encoder Input Slaves i Adding Axes 1 Right click Axis Settings under Configurations and Setup Motion Control Setup on the Multiview Explorer Select Add Axis Settings from the menu E
244. tion Setting is dis played If a slave does not have a backup parameter setting function is displayed To edit the settings click the Edit Backup Parameter Settings Button Network errors do not occur even if disabled slaves are not present on the EtherCAT network You can use them to prepare for future system expansions When you actually add the slave to the network communications between the master and the new slave will not be initiated until the disabled slave is enabled in the Sysmac Studio and the network configuration information is downloaded to the built in EtherCAT master in the NJ series CPU Unit again A disabled slave is treated as not existing even if it is actually present on the network Make sure you download the network configuration informa tion when actually adding a slave When a slave is present in the position of a disabled slave in the actual network configuration operations occur as shown in the following table Refer to 9 1 1 How to Check for Errors for the behavior of enabled slaves Slave in actual network configuration Operation for disabled slave Vendor ID Process data Node address Mees Error Product Code communications mi oO N Network configuration verification error Network configuration verification error Network configuration verification error NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio
245. tion or the EC_CoESDOWrite Write CoE SDO instruction e SDO data in slaves parameters error information etc amp I h m aa 4 Q j O e 3 5 ce 3 O oO rp a D p Q U 4 Q SUOI JEDIUNWILUOYD JO SEGA Z NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 5 3 EtherCAT Communications 3 1 3 Types of EtherCAT Variables There are three types of EtherCAT variables as listed below Variable type Description Allocated Device variables These are common in out variables for EtherCAT slaves You can change variables the names of these variables Device variables for I O ports NJ series CPU unit EtherCAT master Basic I O Unit Basic I O Unit Special I O Units and CPU Bus Unit CPU Bus Unit pO EtherCAT EtherCAT EtherCAT slave slave slave Axis Variables These are structure variables for I O and parameters for Servo Drive and encoder input slaves Slave configuration You can change the names of these variables NJ series CPU Unit g ep lt x 2 S L Axis Variable A Axis Variable B Allocated Allocated EtherCAT r n l l EtherCAT slave 1 l l l l l J Vana wee N Servo Drive Servo Drive System System defined These variables are defined by the system for communications parameters defined vari variables for communication status and
246. to matically generated device variables for each I O port to user defined variable names Set up the axes e Create axes axes variables e Set the axis types for the Axis Variables to a servo axis virtual axis etc and set the IDs of the Servo Drives Axis Variables are automatically registered in the global variable table NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Make the settings with I O Map under Config urations and Setup Create and set up the axes with the Add Axis Settings com mand for Configura tions and Setup Motion Control Setup Axis Settings 5 3 1 Register ing Device Vari ables for All EtherCAT Slaves 5 3 2 Axis Set tings for Servo Drives and Encoder Input Slaves SUOIJEIIUNWWIOD LYVD19U15 p u O O D Q c D S e q c v 1 Introduction Sens Sysmac Studio Description operation 5 Setting EtherCAT Parame ters Setting EtherCAT Master Parameters Setting EtherCAT Slave Parameters Set the EtherCAT master parameters Examples process data communications cycle and wait all slaves startup time The values that are set are reflected in the network configuration information Set the EtherCAT slave parameters Example Enable disable slaves Create an EtherCAT master with EtherCAT under Configurations and Setup Create EtherCAT slaves with EtherCAT under Configurations and Setup 5 4 1 Setting Et
247. to The status of The EtherCAT mas ables thatare tings Default all zeros slave outputs ter moves slaves into not retained settings are before the start of the operational state Initial settings setin the EtherCAT com according to the net EtherCAT master munications work configuration depend on the information slave Slaves out put values of device variables after EtherCAT communications start A 2 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 A 1 2 CPU Unit sta tus PROGRAM mode Switching between PRO GRAM and RUN mode RUN mode Device vari ables Normal Ether CAT communi cations are performed and I O is refreshed Device vari ables that are not retained Default settings Normal Ether CAT communi cations are performed and I O is refreshed Category _EC sys tem defined variables Continually show Ether CAT com munications status Not initial ized Com munications status is still updated by the Ether CAT master regardless of the oper ating mode of the CPU Unit Continually show Ether CAT com munications Status CPU Unit Operating Modes Memory related to EtherCAT master Network configura tion infor mation Nothing is performed does not depend on the operat ing mode of the CPU Unit NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Diagnostic and statis tical infor matio
248. tric shock The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a general precaution The filled circle symbol indicates operations that you must do The specific operation is shown in the circle and explained in text This example shows a general precaution for something that you must do NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Precautions for Safe Use Precautions for Safe Use Refer to the following manuals for precautions for the safe use of the built in EtherCAT port Installation precautions are also provided for the NJ series CPU Unit and NJ series Controller system e NJ series CPU Unit Hardware User s Manual Cat No W500 e NJ series CPU Unit Software User s Manual Cat No W501 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 21 Precautions for Correct Use Precautions for Correct Use Refer to the following manuals for precautions for the correct use of the built in EtherCAT port Installation precautions are also provided for the NJ series CPU Unit and NJ series Controller system e NJ series CPU Unit Hardware User s Manual Cat No W500 e NJ series CPU Unit Software User s Manual Cat No W501 22 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Regulations and Standards Regulations and Standards Conformance to EC Directive
249. tus for each EtherCAT slave The error sta 1 192 16 00F0 tus is given for each slave in the actual system OF WORD configuration This variable array indicates slaves in which there are errors Status is pro vided for each EtherCAT slave node address 1 to 192 Refer to Meanings of Error Status Bits given later for the meaning of individual bits MAC Address TRUE if there is an illegal MAC address BOOL TRUE or page 7 7 Error FALSE Communications TRUE if there is a communications controller BOOL TRUE or page 7 8 Controller Error hardware error FALSE Link OFF Error TRUE if the communications controller link is BOOL TRUE or page 7 8 not established FALSE TRUE if there is illegal network configuration information BOOL TRUE or page 7 8 FALSE TRUE if the network configuration information BOOL TRUE or page 7 8 does not match the actual network configura FALSE tion TRUE if there is a network configuration error BOOL TRUE or page 7 8 too many devices connected or ring connec FALSE tion TRUE if there is an unexpected slave discon BOOL TRUE or page 7 8 nection or connection or if a slave WDT error FALSE is detected during process data communica tions TRUE if a timeout occurs while receiving pro BOOL TRUE or page 7 9 cess data FALSE TRUE if there is a process data transmission BOOL TRUE or page 7 9 error cannot send within the process data FALSE communications cycle or transmission jitter is over
250. ual W505 9 Troubleshooting 9 2 3 Resetting Errors There are three methods to reset errors e Sysmac Studio e NS series PT e Execution of the Reset EtherCAT System Error ResetECError instruction Refer to the NJU series Troubleshooting Manual Cat No W503 for the resetting procedures from the Sysmac Studio or an NS series PT Refer to the NJU series Instructions Reference Manual Cat No W502 for details on the Reset EtherCAT System Error ResetECError instruction 9 2 4 Diagnostic and Statistical Information The EtherCAT master provides the following diagnostic and statistical information You can refer to these to help isolate the cause of errors and obtain the status of the network You can access this infor mation from the Sysmac Studio with the following procedure 1 Start the Sysmac Studio and go online with the Controller 2 Double click EtherCAT under Configurations and Setup in the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit 3 Sysmac Studio Ale Edit View Insert Project Controller Si N Oo a ea D N S e Oo 5 b 2 Controller Setup b lt Motion Control Setup Cam Data Settings Event Settings Task Settings H Data Trace Settings s10113 Buiesey 2 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 29 9 Troubleshooting 9 30 3 Right click in the EtherCAT Network Configuration Tab Page and select
251. up were not transferred correctly PLC Function Module Motion Control Function Module EtherCAT Master Function Module EtherNet IP Function Module r Source details Cycle the power supply or reset the Controller Detection At power ON or timing Controller reset Log category System The user program or Controller Con Clear all of memory and then down Do not turn OFF the power supply to figurations and Setup are not correct load the project from the Sysmac Stu the Controller or disconnect commu because the power supply to the Con dio If attached information is nications with the Sysmac Studio dur troller was interrupted or communica registered cycle the power supply to ing a download of the user program or tions with the Sysmac Studio were the Controller and then implement the the Controller Configurations and disconnected during a download of above correction Setup the user program or the Controller Configurations and Setup The user program or Controller Con figurations and Setup are not correct because the power supply to the Con troller was interrupted during online editing Do not interrupt the power supply to the Controller during online editing The user program or Controller Con figurations and Setup are not correct because the power supply to the Con ory operation troller was interrupted during a Clear All Memory operation Do not interrupt the power supply to the Control
252. urations and Setup and select Edit New Project new NI501_0 E gt 39 EtherCAT 2 1 0 Map b 2 Motion Control Setup amp Cam Data Settings Event Settings amp Task Settings kM Data Trace Settings 2 Select the I O port on the I O Map Tab Page and enter the variable name in the Variable column lt Configurations and Setup R W Data Ty Variable Y CPU Expansion Racks CF ow CPU Rack 0 ia 0 Y CILW OD232 Transistor Outpt Y Chi_ ut Output CHi RW Pog Pot Chi Outo Output CH1 bit 00 RW Chi_Outdl Output CH1 bit 01 RW Chi_Out03 Output CH1 bit 03 RW Chi_Out04 Output CH1 bit 04 RW Chi_Out05 Output CH1 bit 05 RW Chi_Out06 Output CH1 bit 06 RW s Chi_Outo2 Output CH1 bit 02 RW Chi_Out07 Output CH1 bit 07 RW Device variables are automatically assigned to the I O ports of the slaves and registered in the variable table that is specified by the Variable Type 5 6 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio i Automatically Creating Device Variable Names The device variable names will be created by combining the device name and the I O port name The device names are set in the slave parameters The default device names are E followed by a serial number that starts from 001 For example this method can be used to register device variables in the following case e To e
253. user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Variable name _EC_CommeErrTbl Meaning Communications Error Slave Table Global local Global Function Slaves are given in the table in the order of slave node addresses The corresponding slave element is TRUE if the master detected an error for the slave Data type Array 1 192 OF BOOL Range of values TRUE or FALSE R W access Rs Retained Not retained Network Publish Published Usage in user program Possible Related instruc Reset EtherCAT Controller Error tions e ResetECError Note The values of all system defined variables that are related to errors in EtherCAT communications do not change until the cause of the error is removed and then the error in the Controller is reset with the troubleshooting functions of the Sys mac Studio or the ResetECError instruction Functional Classification EtherCAT Communications Status Variable name _EC_RegSlavTbl Meaning Registered Slave Table Global local Global Function This table indicates the slaves that are registered in the network configuration information Slaves are given in the table in the order of slave node addresses The element for a slave is TRUE if the corresponding slave is registered Data type Array 1 192 OF BOOL Range of values TRUE or FALSE Usage in user program Related instruc tions Variable name _EC_EntrySlavTbl Meaning Network Connected Slave Table
254. variables _EC_MsgErr BOOL EtherCAT Message Error P N Oo ea D N oO Oo 5 correction Refer to the attached information to Send messages only to slaves that Use messages that match the slave check the error support the message protocol Iden specifications Also check to make tify the error message with the error sure that messages are addressed to details that are given in the attached the correct node g information and correct the message N NO Attached Attached Information 1 Error Details m information 1st byte 00 hex Error message reception 02 hex Illegal or unsupported message discarded a 2nd byte m For Transmission D 00 hex Error 01 hex VoE AoE 02 hex EoE 03 hex CoE 04 hex FoE S 05 hex SoE OF hex VoE z For Reception gt 80 hex Error 81 hex VoE AoE 82 hex EoE 83 hex CoE 84 hex FoE 85 hex SoE 8F hex VoE Attached information 2 Source node address If the source is the master 0 Attached Information 3 Transmission destination node address If the destination is the master 0 Attached information 4 Error service data This data is valid only when byte 2 of attached information 1 is 00 or 80 hex Precautions None Remarks NJ series CPU Unit Built in EtherCAT Port User s Manual W505 9 25 9 Troubleshooting Slave Disconnected 94400000 hex A slave was disconnected for a disconnection command EtherCAT Master Function Module When slave dis connecti
255. wed mary periodic task Setting range 500 to 4 000 us O Total Cable Length This is the total cable length between the slaves Setting range 1 to 4 294 967 295 Default setting 1 000 m Fail soft Operation Setting O Select Stop or Fail soft operation for communications with all slaves on the network when the master detects a communica tions error cable disconnection slave malfunction etc Default setting Fail soft operation Refer to 9 1 Overview of Errors for details on errors Wait Time for Slave Startup O Set the time to wait from the detection of the link on the EtherCAT port until all slaves join the network Setting range 3 to 200 s Default setting 30 s Process data communications start if all slaves are present within the wait time If all of the slaves are not present after the wait time elapses a network configuration verification error occurs When you use a slave that takes time to start use a longer wait time setting to prevent errors PDO communications timeout OK A Process Data Reception Timeout error occurs if process data detection count PDO communications timeouts occur continuously the specified number of times Increase the setting if process data reception timeout errors occur frequently such as in high noise environ ments Set the value to 2 or higher for a slave that needs to be replaced Setting range 1 to 8 errors Default setting 2 errors A Revision Check Method O Specify the method t
256. wing items on the communications cables that are used in the network e Are there any breaks e Are there any shorts e Are there any connector problems e When you connect the cable to the communications connectors on devices firmly insert the commu nications cable connector until it locks in place e Do not lay the communications cables together with high voltage lines e Do not lay the communications cable near devices that generate noise e Do not lay the communications cables in locations subject to high temperatures or high humidity e Do not lay the communications cables in locations subject to excessive dirt and dust or to oil mist or other contaminants e There are limitations on the bending radius of communications cables Check the specifications of the communications cable for the bending radius 4 1 3 Installing EtherCAT Communications Cables Ethernet communications cables and connectors are used to connect the built in EtherCAT port with EtherCAT slaves Use a shielded twisted pair cable double shielding with aluminum tape and braiding of Ethernet cate gory 5 100Base TX or higher and use straight wiring j Cable with Connectors Sizes and Conductor Pairs AWG 22 x 2 Pairs Product name Manufacturer Length length m Model Contact information Cable with Connec OMRON O38 0 XS5W T421 AMD K OMRON Customer tors on both Ends Corporation XS5W 1421 BMD K RJ45 RJ45 Service Center Cable with Connec OMR
257. y be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your 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 even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions NJ series CPU Unit Built in EtherCAT Port User s Manual W505 17 Read and Understand this Manual 18 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 Safety Precautions Safety Precautions Definition of Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of the built in EtherCAT port on an NJ series CPU Unit The safety precautions that are provided are extr
258. ype Slaves to which you cannot assign axes Slaves to which you can assign axes Process data SDO data SDO data Constantly read written Read written as required Constantly read written Read written as required Read write instructions Device variables such as LD OUT and MOV EtherCAT instructions User defined variables EC_CoESDORead or EC_CoESDOWrite Motion control instruc Axis Variables or tions or read write device variables instructions such as LD OUT and MOV EtherCAT instructions User defined variables EC_CoESDORead or EC_CoESDOWrite NJ series CPU Unit Built in EtherCAT Port User s Manual W505 3 EtherCAT Communications 3 3 State Transitions for EtherCAT Communications 3 3 1 Self Diagnosis at Startup The EtherCAT master executes the following self diagnosis when the power is turned ON The results of self diagnosis are provided in the following system defined variables as EtherCAT master errors if errors are detected Diagnosis Detected error type System defined variables Diagnosis of network configuration Network configuration information error EC NetCfgErr information Diagnosis of communications port MAC address error _EC_MacAdrErr Communications controller error _EC_LanHweErr Refer to 9 1 Overview of Errors for details on error types p OO U mp fet mp p x gt i oO gt A Oo m mp gt S j O e 3 3 c
259. ys the page to set the Servo Drive parameters tings EN Additional Information You can display all of the axis parameters in an Axis Setting Table You can edit the axis parame ters in this table in the same way as for the Axis Parameter Setting View Any parameters that are edited in the Axis Parameter Setting View are automatically updated in the Axis Setting Table Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for details on the Axis Setting Table Refer to NJ series CPU Unit Motion Control User s Manual Cat No W507 for details on axis parameters 5 14 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 5 Setting Up EtherCAT Communications with the Sysmac Studio 5 4 EtherCAT Master and Slave Parameter Settings 5 4 1 Setting EtherCAT Master 1 Double click EtherCAT under Configurations and Setup on the Multiview Explorer Or right click EtherCAT under Configurations and Setup and select Edit F3 Sysmac Studio New Project new_NJ501_0 gt oe EtherCAT gt S CPU Expa I O Map gt 3 Controller Setup gt i Motion Control Setup amp Cam Data Settings gt Event Settings E Task Settings W Data Trace Settings 2 Select the EtherCAT master that is displayed in the Edit Pane 3 Sysmac Studio ES r a m mp gt gt i mp Q Q 2 9 lt D y o 3 D mp V i Q in Pees poe Con
260. ystem of the NJ series CPU Unit are not retained when the power is inter rupted Copies the captured data that was saved in the sys tem of the NJ series CPU Unit to a file on an SD Memory Card The captured data is previously saved from EtherCAT master built into the NJ series CPU Unit into the system of the NJ series CPU Unit The files saved to an SD Memory Card are retained after the power is interrupted Temporarily disconnects a slave from the EtherCAT network for maintenance such as replacement of the Slave Reconnects a temporarily disconnected slave to the EtherCAT network after maintenance such as replacement of the slave Gets the status of Controller errors partial faults or minor faults that occur in the EtherCAT master and the highest level event code for the current errors Resets Controller errors in the EtherCAT master Execute this instruction only after eliminating the cause of the error 6 17 p io 5 r c O y fe gt Cc Q m gt p O fe 3 5 c 5 O fe m e gt SUOHONASU I1Vo194 3 L 9 6 Process Data Communications and SDO Communications 6 18 NJ series CPU Unit Built in EtherCAT Port User s Manual W505 System defined Variables That Are Related to the Built in EtherCAT Port This section describes the system defined variables that are related to the built in EtherCAT port 7 1 System defined Variables That

NJ-series CPU Unit Built-in EtherCAT Port User`s Manual

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