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EJ1N-HFUC-ECT EJ1 EtherCAT Slave Unit User`s Manual

1. PDO mapping Access N A Not map com index Sub RO pable lete index Objectname Read only Data Type Data range Initial value R RxPDO acces hex RW mappable 2 Read write T TxPDO map pable 1B00 hex 257th trans Possi mit PDO A oa ble mapping 00 Number of RW UNSIGNED8 00 hex to 1A hex 0B hex N A i Entries 01 Port Status RW UNSIGNED32 00000000 hex 60000110 N A 02 Input SID RW UNSIGNED32 60000110 hex 60000208 hex 03 Output SID RW UNSIGNED32 60000208 hex 60000308 hex N A Response 60000308 hex 04 Input Data RW UNSIGNED32 60000410 hex N A Type 60000410 hex 05 Input Sub RW UNSIGNED32 60000510 hex 60000510 hex N A Info 60000610 hex 06 Input Data RW UNSIGNED32 60000720 hex 60000610 hex N A E Length 60000820 hex 07 Input Data 01 RW UNSIGNED32 60000920 hex 90000720hex N A 08 Input Data 02 RW UNSIGNED32 60000820 hex N A 60000A20 hex 09 Input Data 03 RW UNSIGNED32 60000920hex N A 60000B20 hex 0A Input Data 04 RW UNSIGNED32 60000A20hex N A OB InputDataos RW UNSIGNEDa2 90000C20hex 60000820 N A ER 0C Input Data 06 RW UNSIGNED32 60000020 hex 00000000 hex N A 00 Input Data 07 RW UNSIGNED32 60000E20 hex 00000000 hex
2. EJ1N HFUC ECT EJ1LI TC2 Units EJ1LI EDU connector Use the E58 CIFQ1 sold A L separately to connect port A to USB D m port on a computer running the CX Thermo Ca TE CX Thermo for setup E I ES jee LED ia 38e E PC Ele 9 dg 5 Sigs 5k Connect the following to port B 5 Gie C Qua te When using distributed placement OE i D ED IE use an RS 485 cable to connect ports B between two EDUs Note Programmable Terminals PTs cannot be connected A maximum of 15 Basic Units can be connected side by side next to an EJ1 EtherCAT Slave Unit to perform EtherCAT communications through the EJ1 EtherCAT Slave Unit If you use distributed placement through a RS 485 communications cable from the EDU you can connect a maximum of 32 Basic Units next to the EJ1 EtherCAT Slave Unit to perform EtherCAT communications through the EJ1 EtherCAT Slave Unit Refer to the EJ1 Modular Temperature Controllers User s Manual Cat No H142 for information on distributed placement EJ1 EtherCAT Slave Unit User s Manual H192 1 3 1 Features and System Configuration Letter A Item EJ1 EtherCAT Slave Unit Description This Unit is an EJ1 Advanced Unit B EJ
3. m Communications master processing muni PETO AR Jaye Step Process e 2 cations 1 EtherCAT Slave Unit firmware pro processing in user programming Tee i m cessing 10 First input 1 The communications master outputs the 1 The EJ1 EtherCAT Slave Unit receives response following Output Notification Data the Output Notification Data given on the 2 The communications master sets the left Input SID Response to the value of the 2 The EJ1 EtherCAT Slave Unit knows Input SID received in step 9 01 hex to tell that the communications master normally the EJ1 EtherCAT Slave Unit that the com received the first Input Data because the munications master normally received the Input SID Response in the Output Notifi first Input Data cation Data is 01 hex from step 9 Output SID 02 hex Input SID Response 01 hex Output Data Type 0000 hex Reserved 0000 hex Output Data Length 0000 hex Output Data None 11 Inputting the sec 1 The communications master receives lt 1 The 1 EtherCAT Slave Unit inputs ond data the Input Notification Data given on the the following Input Notification Data right 2 The EJ1 EtherCAT Slave Unit changes 2 The communications master checks the the Input SID from 01 hex to 02 hex to tell Input SID the communications master that the Input 3 The Input SID changed from 01 to 02 Data in the Input Notification Data was hex so the communications master knows updated
4. 1 5 5 2 PDO mapping data overview 5 6 PDOmappings 3 iere iR 3 8 PDOQ SIZ6e 2 eet deseo 5 28 POrt Status 5 12 Pre Op cesa iri 3 7 Pre Operatioral n eret Pres 3 7 procedure for sending a CompoWay F command and receiving a CompoWay F response 5 16 5 18 Procedures for sending control commands and receiving responses 5 17 R Receive Data Error Flag 5 14 Restart Port 5 2 5 10 A 8 S Sas E 3 7 Safe Operational seen 3 7 SDO 3 10 SDO communications 1 5 6 2 EJ1 EtherCAT Slave Unit User s Manual H192 Send Buffer Full Flag 5 12 Send Completed Toggle Bit 5 12 Send Data Exists Flag 5 12 setting the PDO mappings for I O data 5 28 storing output data and input data in array variables 5 27 Sysmac Error status 5 7 5 14 7 6 with SDO communications
5. 1 2 1 121 OVERVIEW ns es Aca rei DR ebrei ds oer pora e qc E Ua Reds 1 2 131 2 FEAE S x ro ih erret hne x eR a ami EIA APR 1 2 1 2 System Configuration 1 3 1 3 Unit Models and Overview of Functions 1 5 1 3 1 Unit Model 1 5 1 3 2 Overview of Functions EJ1 EtherCAT Slave Unit User s Manual H192 1 1 1 Features and System Configuration 1 1 Overview and Features This section introduces the EJ1 EtherCAT Slave Unit and describes its features 1 1 1 Overview The EJ1 EtherCAT Slave Unit is a communications unit used to connect EJ1 Modular Temperature Controllers as slaves on an EtherCAT network You can send CompoWay F commands from a user program through PDO communications to perform handshaking with an EJ1 EtherCAT Slave Unit in order to write read values in EJ1 Basic Units con nected to the EJ1 EtherCAT Slave Unit 1 1 2 Features The EJ1 EtherCAT Slave Unit has the following features You can connect up to 15 Basic Units in EJ1 Modular Temperature Controllers to communicate between the EtherCAT communications master and the Basic Units If you use distributed placement you can connect up to 32 Basic Units You can send the required commands with the CompoWay F communications protocol for OMRON components from the EtherCAT communications master to re
6. Access Sub RO index Objectname Read only Data Type hex RW Read write 10 Output Data RW UNSIGNED32 11 11 Output Data RW UNSIGNED32 12 12 Output Data RW UNSIGNED32 13 13 Output Data RW UNSIGNED32 14 14 Output Data RW UNSIGNED32 15 15 Output Data RW UNSIGNED32 16 16 Output Data RW UNSIGNED32 17 17 Output Data RW UNSIGNED32 18 18 Output Data RW UNSIGNED32 19 19 Output Data RW UNSIGNED32 20 Data range 00000000 hex 70000108 hex 70000208 hex 70000310 hex 70000410 hex 70000510 hex 70000620 hex 70000720 hex 70000820 hex 70000920 hex 70000A20 hex 70000B20 hex 70000C20 hex 70000D20 hex 70000E20 hex 70000F20 hex 7000 1020 hex 7000 1120 hex 7000 1220 hex 7000 1320 hex 7000 1420 hex 7000 1520 hex 7000 1620 hex 7000 1720 hex 7000 1820 hex or 7000 1920Hex PDO mapping N A Not map pable Com Initial value R RxPDO plete mappable access T TxPDO map pable 00000000 hex N A 00000000 hex N A u 00000000 hex N A s 00000000 hex N A u 00000000 hex N A M 00000000 hex N A m 00000000 hex N A 00000000 hex N A u 00000000 hex N A 00000000 hex N A Assign data from objects in the 7000 hex range for PDO mapping of Output Notification Data EJ1 EtherCAT Slave Unit User s Manual H192 PDO Mapping Objects Input Notification Data Appendices
7. 7 7 7 4 Error Notifications Provided with Emergency Messages 7 8 7 4 1 Emergency Messages 7 8 7 5 Error Notifications Based on the AL Status 7 9 EJ1 EtherCAT Slave Unit User s Manual H192 7 1 7 Troubleshooting 7 1 Error Notification Methods This section describes how the communications master and other devices are notified when an error occurs in an EJ1 EtherCAT Slave Unit Use the following methods to check the status of errors in the EJ1 EtherCAT Slave Unit Notification to the master EtherCAT master NJ NX series CPU Unit EtherCAT EJ1 EtherCAT Slave Unit Error Sysmac Studio Support Software L EJ1LI TCA or EJ1LI TC2 Units EJ1 EJ1 er eee occurs LED EDU AL Status of ebd Description Notification method Reference notification Indicators Operation indicators on the front 3 2 EtherCAT Communica panel of the EJ1 EtherCAT Slave tions Overview on page 3 5 Unit 7 2 Error List on page 7 3 Sysmac error This status reports errors that are The status is assigned toa 7 3 Error Notifications status detected in the application layer TxPDO and sent cyclically Based on the Sysmac Error to the master Status on page 7 6 Emergency The emergency messages report When an error occurs the 7 4 Err
8. Overview Process data objects PDOs are used to transfer data during cyclic communications in realtime There are two types of process data objects PDOs RxPDOs which are used by the EJ1 EtherCAT Slave Unit to receive data from the EtherCAT master and TxPDOs which are used by the EJ1 Eth erCAT Slave Unit to send data to the EtherCAT master RxPDO Data output to the EJ1 EtherCAT Slave Unit EtherCAT master EJ1 EtherCAT Slave Unit TxPDO Data input to the EtherCAT master The EtherCAT application layer can hold more than one object to enable the transfer of various pro cess data of the EJ1 EtherCAT Slave Unit The contents of the process data is defined in the PDO mapping objects The EJ1 EtherCAT Slave Unit supports PDO mapping for I O control PDO Mappings PDO mapping objects contain the I O data for the EJ1 EtherCAT Slave Unit PDO mapping objects for the RxPDOs are managed in the object dictionary from indexes 1600 to 17FF hex and for the TxPDOs from indexes 1A00 to 1BFF hex EJ1 EtherCAT Slave Unit User s Manual H192 3 Part Names and EtherCAT Communications Overview PDO Mapping Scheme in EtherCAT The PDO mapping scheme in EtherCAT is described below Three application objects objects A B and D are allocated to the PDO name PDO 1 at index 1ZZZ hex As described here PDO mappings show how application objects are assigned to PDOs Indexes and subindexes are also assigned to application objec
9. 6 1 EJ1 EtherCAT Slave Unit User s Manual H192 Index Index EJ1 EtherCAT Slave Unit User s Manual H192 Authorized Distributor
10. Installation Connect the EJ1 EtherCAT Slave Unit to the left side of a Basic Unit or an End Unit The EJ1 cannot be used linked to a CJ series PLC Service Life Use the product within the following temperature and humidity ranges Temperature 10 to 55 C with no icing or condensation Humidity 2596 to 8596 When the Temperature Controller is incorporated in a control panel make sure that the control ler s ambient temperature and not the panel s ambient temperature does not exceed 55 C The service life of electronic devices like the Temperature Controller is determined by the service life of internal electronic components Component service life is affected by the ambient tempera ture the higher the temperature the shorter the service life and the lower the temperature the longer the service life Therefore the service life can be extended by lowering the temperature of the Temperature Controller Mounting two or more Temperature Controllers side by side or mounting Temperature Controllers above each other may cause heat to build up inside the Temperature Controllers which will shorten their service life If the Temperature Controllers are mounted above each other or side by side use forced cooling by fans or other means of air ventilation to cool down the Temperature Controllers However be sure not to cool only the terminals Doing so will result in measurement errors Take appropriate and sufficient
11. Product Remarks Twisted pair cable Cables with the following connec 100BASE TX Category 5 or higher tors can also be used Double shielding with aluminum tape and braiding RJ45 connectors Shielded EJ1 EtherCAT Slave Unit User s Manual H192 4 3 OMEN 1V249u13 Z Y suonneoeJg uonej esu L z r 4 Installation and Connection 4 2 3 Recommended EtherCAT Cables Recommended products are given in the following tables Cables with Connectors Sizes and Conductor Pairs AWG 27 4 pairs Product name Standard type Cables with Connectors on Both Ends RJ45 RJ45 E Manufacturer OMRON Corporation Cable length m 1 0 3 Model XS6W 6LSZH8SS30CM Y 0 5 XS6W 6LSZH8SS50CM Y 1 XS6W 6LSZH8SS100CM Y 10 XS6W 6LSZH8SS1000CM Y 1 Cables are available in the following lengths 0 2 0 3 0 5 1 1 5 2 3 5 7 5 10 15 and 20 m Refer to the Industrial Ethernet Connectors Catalog Cat No G019 Cables and Connectors Sizes and Conductor Pairs AWG 24 x 4 pairs Connecting Communications Cables and Connectors Use straight wiring with a cable that has two or four twisted pairs For cables with four twisted pairs use T568A or T568B cables For cables with two twisted pairs refer to the datasheet for the connector After wiring use a LAN cable tester to check the operation of the network wiring EJ1 EtherCAT Slave Unit User s Manual H192 4 Installation and Co
12. pem Indicators Operation Master notified Error name Description tion ECAT EtnercAT REOR AL status Emer Event Possible sc stato RUN ERR state Hans restric MAE gency Ord rection tion 1 tion code Slave Unit An error IP Not Flash Init ERR No 0014 hex No No 7 5 Error Notifi Verification occurred in lit ing cations Based Error 2 Slave Unit on the AL Sta verification tus on page 7 9 Mailbox Set An incorrect IP Not Flash Init ERR No 0016 hex No No 7 5 Error Notifi ting Error 2 mailbox set lit ing cations Based ting was on the AL Sta detected for tus on page 7 9 the Sync Man ager RxPDO Set An error was PS Flash Flash Pre Op No 001D hex No No 7 5 Error Notifi ting Error detected in ing ing ERR cations Based the RxPDO on the AL Sta settings tus on page 7 9 TxPDO Set An error was PS Flash Flash Pre Op No 001E hex No No 7 5 Error Notifi ting Error 2 detected in ing ing ERR cations Based the TxPDO on the AL Sta settings tus on page 7 9 PDO WDT An incorrect PS Flash Flash Pre Op No 001F hex No No 7 5 Error Notifi Setting PDO WDT ing ing ERR cations Based Error setting was on the AL Sta detected tus on page 7 9 Init State The slave PS Flash Flash Pre Op No 0021 hex No No 7 5 Error Notifi Transition sent a request ing ing ERR cations Based Request to the Ether on the AL Sta CAT master to tus on page 7 9 change to the Init state TxPDO Map An incorrect PS Flash Flash
13. Otherwise minor injury from explosion may occasionally occur Never disassemble modify or repair the product or touch any of the internal parts Minor electric shock fire or malfunction may occasionally occur Execute online editing only after confirming that no adverse effects will be caused by devia tions in the timing of I O If you perform online editing the task execution time may exceed the task period I O may not be refreshed with external devices input signals may not be read and output timing may change Always confirm safety at the destination node before you transfer Unit configuration infor mation parameters settings or other data from tools such as the Sysmac Studio D The devices or machines may operate unexpectedly regardless of the operating mode of the controller EJ1 EtherCAT Slave Unit User s Manual H192 Precautions for Safe Use Precautions for Safe Use The product is designed for indoor use only Do not use the product outdoors or in any of the follow ing locations Places directly subject to heat radiated from heating equipment Places subject to splashing liquid or oil atmosphere Places subject to direct sunlight Places subject to dust or corrosive gas in particular sulfide or ammonia gas Places subject to intense temperature change Places subject to icing or condensation Places subject to vibration or strong shocks Use and store the p
14. Never use the product without installing protective circuit in network Doing so may possibly cause abnormal operation and result in serious injury property damage or accident To operate your total system safely even if any equipment failure occurs or any trouble is caused by an external element be sure to configure an external control circuit that consists of emergency stop interlock and limit circuits to provide double or triple safeguard Do not attempt to take the Unit apart In particular parts with high power supply voltages are present in Units that supply power while power is supplied or immediately after power is turned OFF Touching any of these parts may result in electric shock There are sharp parts inside the Unit that may cause injury CAUTION Do not touch the terminals while power is being supplied Doing so may occasionally result in minor injury due to electric shock Use power supplies that comply with the reinforced insulation specified in IEC 60664 for the EJ1 external power supply and for the power supplies for devices connected to the EJ1 If non compliant power supplies are used electric shock may occasionally result in minor injury Do not allow pieces of metal wire clippings or fine metallic chips generated during installa tion to enter the product Doing so may occasionally result in electric shock fire or mal function Do not use the product where subject to flammable or explosive gas
15. inSid nextSid E001_Input_SID offset 0 state 10 10 Send CompoWay F command outSid nextSid E001_Output_SID_Response E001_Output_SID outSid IF sendLength gt 20 THEN E001_Output_Data_Type 16 1000 E001_Output_Data_Length 20 sendLength sendLength 20 ELSE E001_Output_Data_Type 16 2000 E001_Output_Data_Length sendLength END_IF AryMove sendCommand offset 0 E001_Output_Data_01 0 UINT 4 AryMove sendCommand offset 4 E001_Output_Data_02 0 UINT 4 AryMove sendCommand offset 8 E001_Output_Data_03 0 UINT 4 AryMove sendCommand offset 12 E001_Output_Data_04 0 UINT 4 AryMove sendCommand offset 16 E001_Output_Data_05 0 UINT 4 offset offset 20 state 20 20 Confirm that the command was sent IF E001_Output_SID_Response outSid THEN IF E001_Output_Data_Type 16 2000 THEN offset 0 state 30 ELSE state 10 END_IF END_IF 30 Check CompoWay F response reception IF E001_Input_SID inSid THEN state 40 END_IF 40 Receive the CompoWay F response E001 Input SID Response inSid inSid nextSid E001 Input SID IF E001 Receive Data Error FlagZTRUE THEN state 50 END_IF IF E001_Receive_Data_Flag TRUE OR E001_Receive_Last_Data_Flag TRUE THEN AryMove E001_Input_Data_01 0 cvCommand offset 0 UINT 4 AryMove E001 Input Data 02 0 rcvCommand offset 4 UINT 4 AryMove E001 Input Data 03 0 rcvCommand offset 8 UINT 4 AryMove E001 Input Data 04 0
16. m Communications master processing muni POUED ATAYA pipra id Step Process e cations EJ1 EtherCAT Slave Unit firmware pro processing in user programming Aare PR cessing 5 Confirmation of 1 The communications master receives lt 1 The 1 EtherCAT Slave Unit inputs sending the send the Input Notification Data given on the the following Input Notification Data to tell data right the communications master that the final 2 The Send Completed Toggle Bit in the send data was sent to the Basic Unit Port Status in the Input Notification Data 2 The EJ1 EtherCAT Slave Unit changes changed so the communications master the Send Completed Toggle Bit in the Port knows that the EJ1 EtherCAT Slave Unit Status sent the send data to the Basic Unit Port Status 0002 hex Input SID 00 hex Output SID Response 01 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None 6 Receiving data The EJ1 EtherCAT Slave Unit receives the from Basic Unit m receive data from the Basic Unit 7 Data input 1 The communications master receives lt 1 The 1 EtherCAT Slave Unit inputs the Input Notification Data given on the the following Input Notification Data right 2 The EJ1 EtherCAT Slave Unit changes 2 The Input SID changed from 00 to 01 the Input SID from 00 hex to 01 hex to tell hex so the communications master knows the communications master that the Input that the received Input Data in the Input Dat
17. You can perform Compo Based on those results divide the data into parts to send and receive Way F communications with user programming in the following cases with as little effect as pos when the maximum size of the data from the communications unit sible on the process data number to the FINS mini command text in the CompoWay F com cycle mand is larger than the Output Data size Conversely it must be or acceptable that Compo Way F communications are slower as a result When the maximum size of the data from the communications unit number to the FINS mini response text in the CompoWay F response is larger than the Input Data size Note The allowed size of process data for communications is deter mined by the EtherCAT communications master based on the process data cycle time For details refer to the manual for your EtherCAT communications master 40 Odd Humes 7 6 EJ1 EtherCAT Slave Unit User s Manual H192 5 31 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 8 Assigning Device Variables This section describes how to assign device variables to I O ports when the communications master is an NJ NX series CPU Unit When the communications master is an NJ NX series CPU Unit you must assign device variables to the I O ports on the I O Map Tab Page of the Sysmac Studio to access PDO entries from user program ming Area 1 below gives the I O
18. 1 by the hex If the Input 1 EtherCAT Slave SID Response is Unit set to 00 hex a Restart Port control command response is returned so the input SID will be 01 4 hex EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Object name Type 2 Size R W Function Value Default Output SID Output SID USINT 1 byte RO This is a response 00 hex Initial state 00 hex Response Response 5 parameter to the Out 94 to FF hex The put SID update notifi Output SID received cation for Output by the EJ1 EtherCAT Notification Data the Slave Unit is auto Output Notification matically stored in the Data Output SID When Output Notifica Response tion Data is received the EJ1 EtherCAT Slave Unit automati cally sets the Output SID Response to the value of the Output SID Input Data Type Input Data WORD 2 bytes RO The Input Data Type Refer to the nput 0000 hex Type contains the control Data Type on page command related 5 13 for details response and received data status Input Sub Info Input Sub Info WORD 2 bytes RO When a control com 0000 hex Control 0000 hex mand is executed the command ended nor results of that com mally mand execution is 0002 hex Control stored here command is unde fined Input Data Input Data UINT 2 bytes RO This entry gives the 0 to 80 decimal 00 00 hex Length Length by
19. 4 Select the PDO to add and click the OK Button Output Data Output Data 06 Output Data Output Data 07 Output Data Output Data 08 Output Data Output Data 09 Output Data Output Data 10 Output Data Output Data 11 Output Data Output Data 12 Output Data Output Data 13 Output Data Output Data 14 Output Data Output Data 15 Output Data Output Data 16 Output Data Output Data 17 Output Data Output Data 18 Output Data Output Data 19 Output Data Output Data 20 The PDO is added 5 Set the other PDO entries in the same way The Output Data entries are 4 bytes each Cancel If OutputData01 to OutputData20 are all registered the Output Data size will be 80 bytes and the resulting Output Notification Data will be 88 bytes The Input Data entries are 4 bytes each If InputData01 to InputData20 are all registered the Input Data size will be 80 bytes and the resulting Output Notification Data will be 90 bytes 6 Click the OK Button or Apply Button in the Edit PDO Map Settings Dialog Box The PDO entries are added to the EJ1 EtherCAT Slave Unit settings EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Guidelines for Determining the Output Data and Input Data PDO Mapping Sizes The PDO mapping sizes for Output Data and Input Data are determined based on the cases given in the following table PDO mapping sizes Case Size o
20. Pre Op No 0024 hex No No 7 5 Error Notifi ping Error 2 TxPDO was ing ing ERR cations Based set on the AL Sta tus on page 7 9 RxPDO Map An incorrect PS Flash Flash Pre Op No 0025 hex No No 7 5 Error Notifi ping Error 2 RxPDO was ing ing ERR cations Based set on the AL Sta tus on page 7 9 Illegal State An incorrect Und Flash Current sta No 0011 hex No No 7 5 Error Notifi Transition state transi efine ing tus ERR cations Based Request tion request d on the AL Sta Received was received tus on page 7 9 Error State An unclear Und Flash Current sta No 0012hex No No 7 5 Error Notifi Transition state transi efine ing tus ERR cations Based Received tion request fd on the AL Sta was received tus on page 7 9 Process Data Process data Sin Dou Safe Op No 001B hex No No 7 5 Error Notifi WDT Error communica gle ble ERR cations Based tions were flash flash on the AL Sta stopped for tus on page 7 9 more than the specified period of time 1 ERR in the EtherCAT state transition column means that an error defined in the EtherCAT specifications has occurred In this state the user is notified of an AL status error 2 This error is detected as a Slave Application Error event code 8428 0000 hex in an NJ NX series CPU Unit The AL status code that the EJ1 EtherCAT Slave Unit reports to the master is stored as Sub Info 1 of the Slave Application E
21. Specifications are the Control Com Refer to the Control Command Code List made in the lower mand below byte of the Output Bit 08 below is valid when the Control Data Type WORD Command Flag is 1 ON 08 Send Command Control Command 0 No control command sent 0 Flag Flag 1 Control command sent 09 to 11 Reserved Reserved area Always 0 OFF 0 12 Send Data Flag Intermediate Send 1 There is If both bits are 0 OFF No 0 Data Flag intermediate send data send data 13 Send Last FinalSendData 1 9 Bothofthese bits Flag Flag 3 final send od aie 9 same time data 14 to 15 Reserved Reserved area Always 0 OFF 0 1 Do not send a control command while output data is being sent for a CompoWay F command or while input data is being received for a CompoWay F response 2 If an out of range value is set for the control command the Input Sub Info will return Undefined Command 0002 hex EJ1 EtherCAT Slave Unit User s Manual H192 spie3eg ejeg Buiddew Odd S IVOJEUIA LPF 4ejse N suoneorunuuo2 ejeq uoneoynoN 1ndinO L p G 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 4 2 PDO entry 3 If an out of range value is specified for the Control Command Flag Intermediate Send Data Flag or Final Send Data Flag when WORD data is specified nothing is processed Control Command Code List Restart Port Comm
22. that the received Input Data in the Input Notification Data was updated Port Status 0002 hex Input SID 02 hex 4 The Input Data Type is 2000 hex so the Output SID Response 02 hex communications master knows that the Input Data Type 2000 hex Input Data is the final data Input Sub Info 0000 hex 5 The communications master reads the Input Data Length nnnn hex Input Data Input Data Second received data 12 Second input 1 The communications master outputs the gt 1 The EJ1 EtherCAT Slave Unit receives response following Output Notification Data 2 The communications master sets the Input SID Response to the value of the Input SID received in step 11 02 hex to tell the EJ1 EtherCAT Slave Unit that the communications master normally received the second Input Data Output SID 02 hex Input SID Response 02 hex Output Data Type 0000 hex Reserved 0000 hex Output Data Length 0000 hex Output Data None the Output Notification Data given on the left 2 The EJ1 EtherCAT Slave Unit knows that the communications master normally received the second Input Data because the Input SID Response in the Output Notification Data is 02 hex from step 11 EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 7 Setting CompoWay F Frames This section describes what data to set and what data is set in the Output Data included in Output Noti fication Data
23. Device name Model name EJIN HFUC ECT Product name EJIN HFUC ECT Revision 10 Node Address Enable Disable Settings Enabled M Serial Number 0x00000000 0x7000 01 257th receive PDO Mapping Output SID 0x7000 02 257th receive PDO Mapping Input SID Resp 0x7000 03 257th receive PDO Mapping Output Data T 0x7000 04 257th receive PDO Mapping Output Sub Info 0x7000 05 257th receive PDO Mapping Output Data L 0x7000 06 257th receive PDO Mapping Output Data 01 0x7000 07 257th receive PDO Mapping Output Data 02 0x7000 08 257th receive PDO Mapping Output Data 03 0x7000 09 257th receive PDO Mapping Output Data 04 0x7000 0A 257th receive PDO Mapping Output Data 05 0x6000 01 257th transmit PDO Mapping Port Status PDO Map Settings 0x6000 02 257th transmit PDO Mapping Input SID 0x6000 03 257th transmit PDO Mapping Output SID 0x6000 04 257th transmit PDO Mapping Input Data Type 0x6000 05 257th transmit PDO Mapping Input Sub Info 0x6000 06 257th transmit PDO Mapping Input Data Le 0x6000 07 257th transmit PDO Mapping Input Data 01 0x6000 08 257th transmit PDO Mapping Input Data 02 0x6000 09 257th transmit PDO Mapping Input Data 03 0x6000 0A 257th transmit PDO Mapping Input Data 04 0x6000 0B 257th transmit PDO Mapping Input Data 05 0x2002 01 512th transmit PDO Mapping Sysmac Error Edit PDO Map Settings 4 J eModuio Bunjes Enable Distributed Clock Reference Clock Setting Parameters Backup Parameter Settings S 2
24. G Send CompoWay F command Calculate next Output SID Set the Output SID Set Output Data Type Set Output Data Length Set Output Data Go to step G GSend processing and confirm that the command was sent If the Output SID Response is updated go to step G Check that a CompoWay F response was received If the Input SID is updated go to step Receive CompoWay F response Update the Input SID Response If a receive data error occurs go to step Receive the final data Read the Input Data Store the Input Data in rcvString Go to step If the received data is not the final data go to step GProcessing after error Processing after normal end A 6 EJ1 EtherCAT Slave Unit User s Manual H192 Appendices Sending and Receiving Data in Parts The following programming sample sends a FINS mini echoback test to communications unit number 0 In this sample the test data is long and must be sent and received in parts through data exchange with the EJ1 EtherCAT Slave Unit using PDO communications 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 CASE state OF 0 Set the CompoWay F command sendString 00000080112345678ABCD012345678ABCD012345678ABCD sendLength StringToAry sendString sendCommand 0
25. RO OCTET STRI n N A NG 02 Minor Fault 2 RO OCTET_STRI _ 03 Minor Fault 3 RO OCTET_STRI n x N A NG 04 Minor Fault4 RO OCTET STRI P N A i NG 05 Minor Fault 5 RO OCTET STRI _ N A i NG Note 1 Minor faults are stored in the order that they occur from subindexes 01 to 05 hex 2 The logs are cleared when 1 TRUE is written to Sysmac Error Status Clear 02 hex in the Sysmac Error 2002 hex 3 The following table gives the format of each log Item Data type Details Error code UNSIGNED32 Event code stored in little endian Reserved area UNSIGNED32 Reserved area UNSIGNED32 Refer to Event Code List on page 7 7 under Section 7 Troubleshooting for details on event codes EJ1 EtherCAT Slave Unit User s Manual H192 A 3 7 Device Profile Area Appendices The following objects are available for I O assignment in the device profile area of the EJ1N HFUC ECT Refer to 5 4 PDO Mapping Data Details on page 5 8 for information on individual objects PDO mapping Access N A Not map index Subin RO pable Com dex Object name Read only Data Type Data range Initial value R RxPDO plete hex hex RW mappable access Read write T TxPDO map pable 6000 hex Input Data Possi ra iid s ble 00 Number of RO UNSIGNED8 1A hex 1A hex N A Entries 7 01 Port Stat
26. describes how to use the EJ1 EtherCAT Slave Unit 2 1 Specifications 5525 li PEEL ae Ba eck ees Se setae 2 2 2 1 1 General Specifications 2 2 2 1 2 Function Specifications 0 eee eens 2 2 2 1 3 EtherCAT Slave Communications Specifications 2 3 2 2 Application 2 4 2 2 1 Hardware Setup Procedure 2 4 2 2 2 Software Setup Procedure 2 5 EJ1 EtherCAT Slave Unit User s Manual H192 2 1 2 Specifications and Procedures 2 1 2 1 1 Specifications This section gives the general specifications of the EJ1 EtherCAT Slave Unit General Specifications The following table gives the general specifications of the EJ1 EtherCAT Slave Unit Item Power supply voltage Specification End Unit power supply 24 VDC Allowable voltage range End Unit power supply 20 4 to 26 4 VDC Power consumption at maxi mum load 2 W max Ambient operating tempera ture 10 to 55 C with no condensation or icing Ambient operating humidity 25 to 85 Ambient storage temperature 25 to 65 C with no condensation or icing Ambient storage humidity 25 to 85 Vibration resistance 10 to 55 Hz 10 m s for 2 hours each in X Y and Z directions Shock resistance 150 m
27. of Indicators teen eem 3 3 3 1 3 Node Address Setting Switches sssssssssseee eee emnes 3 3 3 1 4 EtherCAT Communications Connectors cccccccececeeceeeeeeceece cee eeceeceeeeseaaeaeceeseseeaeeeeseseeaeeeeees 3 4 EtherCAT Communications Overview 2 cccccecceeceseeeeeeeseeeeeeeeeeeeeeeeeeeeeeessaaneeseeeeeeeeeeese 3 5 3 2 1 Structure of CAN Application Protocol over EtherCAT 3 5 3 2 2 EtherCAT Slave Information File ESI Files een 3 6 3 2 3 State Transitions for EtherCAT Communications sse eene nnne 3 7 3 2 4 Process Data Objects PDOS meine i uino cese etd oe deo ded cu uoce esi sees ecd ue 3 8 3 2 5 Service Data Objects 5005 3 10 Installation and Connection Installing the EJ1 EtherCAT Slave 4 2 EtherCAT Network Wiring eere 4 3 4 2 1 Installation Precautions certet eoe e Ree SN Ee kd eie 4 3 4 2 2 Preparations for 4 3 4 2 3 Recommended EtherCAT nennen nene 4 4 Wiring the Temperature Controllers 4 5 Using the EJ1 EtherCAT S
28. 01 Output Data 01 E001 Output Data 01 Output Data 02 Output Data 02 E001 Output Data 02 Output Data 03 Output Data 03 E001 Output Data 03 Output Data 04 Output Data 04 E001 Output Data 04 Output Data 05 Output Data 05 E001 Output Data 05 Port Status Port Status E001 Port Status Input SID Input SID E001 Input SID Output SID Response Output SID Response E001 Output SID Response Input Data Type Input Data Type E001 Input Data Type Input Sub Info Input Sub Info E001 Input Sub Info Input Data Length Input Data Length E001 Input Data Length Input Data 01 Input Data 01 E001 Input Data 01 Input Data 02 Input Data 02 E001 Input Data 02 Input Data 03 Input Data 03 E001 Input Data 03 Input Data 04 Input Data 04 E001 Input Data 04 Input Data 05 Input Data 05 E001 Input Data 05 Sysmac Error Status Sysmac Error Status E001 Sysmac Error Status Internal Variable Table The following variable table is set from the Sysmac Studio All of the variables that you registered in the I O map are registered as global variables Name Data type rcvCommand ARRAY 0 255 OF BYTE Buffer for input data storage sendCommand ARRAY 0 255 OF BYTE Buffer for output data storage State INT 0 State transition sendLength INT Output data size Offset INT Data offset when sending or
29. 05 Input 6000 01 hex Required O Port Status Port Status 2 bytes Notifica hex 02 hex Required O Input SID Input SID 1 byte tion Data 03 hex Required O Output SID Output SID 1 byte Response Response 04 hex Required O Input Data Type Input Data Type 2 bytes 05 hex Required O Input Sub Info Input Sub Info 2 bytes 06 hex Required O Input Data Input Data Length 2 bytes Length 07 hex Required O Input Data 01 to Input Data 01 to 4 bytes x 1 08 to OB Any value O Input Data 20 Input Data 20 to 4 bytes x 20 hex Defaults Input Defaults Input Default 4 x 5 OCto1A Anyvalue Data 01 to Input Data 01 to Input bytes hex Data 05 Data 05 Sysmac 2002 01 hex Any value Sysmac Error Sysmac Error Sta 1 byte Error hex Status tus Status 1 The following PDO entries are required Do not delete these PDO entries when you set the PDO mappings Index 7000 hex subindices 01 02 03 04 05 and 06 hex Index 6000 hex subindices 01 02 03 04 05 06 and 07 hex 2 The I O port names are used to assign variables on the Sysmac Studio if you use an NJ NX series communi cations master EJ1 EtherCAT Slave Unit User s Manual H192 Buiddew Odd S S 1sr1 ejeq Budde Odd Z 9 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 4 PDO Mapping Data Details This section provides details on the PDO mapping data It is separated into Output Notification D
30. Click the Edit PDO Map Settings Button The following dialog box is displayed cat Mop Seng PDO Map PDO entries included in 257th receive PDO Mapping Process Data Size Input 248 bit 11472 bit Index Size Data type PDO entry name Con S Output 224 bit 11472 bit Selection Input Output Name Flag 0 7000 02 8 bit USINT Input SID Response Input SIC Output 257th receive PDO Mapping Editable 0x7000 03 16 bii WORD Output Data Type Output D 0x7000 04 16 bii WORD Output Sub Info Output Si 0x7000 05 16 bit UINT Output Data Length Output D TEM No option 0x7000 06 32 bit ARRAY C Output Data 01 Output D Input 512th transmit PDO Mapping 0x7000 07 32 bit ARRAY C Output Data 02 Output D 0x7000 08 32 bit Output Data 03 Output D 0x7000 09 32 bit ARRAY C Output Data 04 Output D 0x7000 0A 32 bit ARRAY C Output Data 05 Output D Input 257th transmit PDO Mapping Editable 40 sbuiddew BUMS Move Down Align Add PDO Entry OK Cancel EJ1 EtherCAT Slave Unit User s Manual H192 5 29 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 3 Select 257th receive PDO Mapping and click the Add PDO Entry Button The following dialog box is displayed 0x0000 00 0x7000 0B 0x7000 0C 0x7000 0D 0x7000 0E 0x7000 0F 0x7000 10 0x7000 11 0x7000 12 0x7000 13 0x7000 14 0x7000 15 0x7000 16 0x7000 17 0x7000 18 0x7000 19 Data type Comment
31. Data Is Sent and Received with PDO Communications This section describes how data is sent and received between the communications master and the EJ1 EtherCAT Slave Unit with PDO communications The operation is described separately when CompoWay F commands and responses are executed and when control commands and responses are executed 5 2 1 CompoWay F Commands and Responses This section describes how data is sent and received when CompoWay F commands and responses are used How Data Is Sent The following procedure is used to send data suoneoiunuiuo paAla es pue juag S ejeg Z S 1 In each process data communications cycle the Output Notification Data from the EtherCAT master is automatically sent to the send buffer in the EJ1 EtherCAT Slave Unit The size of the data sent at one time depends on the PDO map settings that are made from the Sysmac Studio The PDO mapping sizes for Output Data and Input Data can be set from 4 to 80 bytes The default setting is 20 bytes 2 The EJ1 EtherCAT Slave Unit is notified through user programming that the Output Notification Data was updated and handshaking is performed when the EJ1 EtherCAT Slave Unit receives that notification 3 The data in the send buffer in the EJ1 EtherCAT Slave Unit is used to automatically generate a CompoWay F command and send it to the destination Basic Unit via the lateral EJ1 bus How Data Is Received 1 The CompoWay F commands
32. ESC Initial Initialization of Not Lit Stops in Init Init No No No If this error is ization the EtherCAT lit state not cleared Error 2 slave commu when the power nications con supply to the troller failed Unit is cycled there is a Unit hardware fail ure Replace the Unit Slave Hard A hardware Lit Stops in Init Init No No No If this error is ware Error error occurred lit state not cleared 1 2 in the Slave when the power Unit supply to the Unit is cycled there is a Unit hardware fail ure Replace the Unit 1 This error is detected as a Slave Initialization Error event code 84230000 hex or a Network Configuration Verification Error event code 84220000 hex in an NJ NX series CPU Unit 2 If this type of error occurs the user is unable to determine the type of error because EtherCAT communications will be unusable Note The meanings for the symbols in the Detection state column above are as follows I Init state P During transition from Init state to Pre Op state P Pre Op state P S During transition from Pre Op state to Safe Op state S Safe Op state S O During transition from Safe Op to Op state O OP state and Undefined EJ1 EtherCAT Slave Unit User s Manual H192 1917 Z Z ix sseooJgd 100g Buunp s1043 7 Troubleshooting 7 2 2 EtherCAT Communications Errors
33. EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 2 2 Control Commands and Responses This section describes how data is sent and received when control commands and responses are used How Data Is Sent The following procedure is used to send data 1 In each process data communications cycle the Output Notification Data which includes con trol commands is automatically sent from the EtherCAT master to the send buffer in the EJ1 EtherCAT Slave Unit 2 The EJ1 EtherCAT Slave Unit is notified through user programming that the Output Notification Data was updated and handshaking is performed when the EJ1 EtherCAT Slave Unit receives that notification How Data Is Received 1 The control commands are processed by the EJ1 EtherCAT Slave Unit 2 In each process data communications cycle the Input Notification Data which includes control responses is automatically sent to the EtherCAT master SUOIJEDIUNWIWOD paAla es pue juag S ejeg Z S 3 The EJ1 EtherCAT Slave Unit sends a notification through user programming that the Input Notification Data was updated and handshaking is performed when the notification is received CPU Unit EtherCAT master EJ1 EtherCAT Slave Unit User EtherCAT PDO Send buffer programming communications EtherCAT Slave Output Notification Control command processing Data including control commands Unit to send
34. G3PW Power Controllers Cat No Z280 14 Model number G3PW A220EC C FLK G3PW A230EC C FLK G3PW A245EC C FLK G3PW A260EC C FLK G3PW A220EC S FLK G3PW A230EC S FLK G3PW A245EC S FLK G3PW A260EC S FLK Manual name G3PW series Application Using the G3ZA to perform high precision control of heater power with RS 485 serial communications Com poWay F from an EJ1 or the Sysmac Studio Description The following information is pro vided on the G3ZA Overview and features Installation and wiring Setting RS 485 serial communi cations Basic functions Description Power Controller User s Manual Using the G3PW under phase control or cyclic control to perform control that achieves higher precision than with the G3ZA on heater power with a continuous proportional out put or with RS 485 serial communications Compo Way F from an EJ1 The following information is pro vided on the G3PW Overview and features Installation and wiring Setting RS 485 serial communi cations Basic functions EJ1 EtherCAT Slave Unit User s Manual H192 Meanings of Abbreviations and Terms Meanings of Abbreviations and Terms The following abbreviations and terms are used in this manual Abbreviation or term Meaning CompoWay F com Also called FINS mini commands responses mands responses This manual uses the term CompoWay F commands responses EDU EJ1 End
35. ON when a communi 4 EJ4 Bus Commu Error Flag cations error occurs nications Error the EJ1 bus the internal occurred bus between the EJ1 EtherCAT Slave Unit and Basic Unit due to noise or other factors This flag resets to 0 OFF when a correct response is received 15 BCC Error BCC Error This bit changes to 1 0 Normal 0 Flag ON when the BCC 4 BCC error check of the received occurred 1 If an EJ1 bus communications error occurs the EJ1 EtherCAT Slave Unit may still be receiving a CompoWay F response indicates that communications failed The received data is dis carded This flag resets to 0 OFF when a correct response is received response Allow at least 32 ms after detecting an EJ1 bus communications error before executing the next out put data notification Az m Input Data Type 3 The Input Data Type contains the control command related response and received data status Bi is P a It posi I O port name arameter Value Default S tion name 9 00 to 07 None Control Com The control command code that was sent in 00 hex a Specifications are Mand the control command of the Output Data Type made the lower Response is returned as is Bit 09 below is valid when m byte of the Input the Control Command Response Flag is 1 2 Data Type WORD ON S 08 Reserved Reserved area Always 0 0 0 09 Receive Command Control 0 There is
36. Overview of Functions 1 3 1 Unit Model Number eorpore eoe ex cete rere pea epe eheu eda 1 3 2 Overview of nennen nnn nennt eene nna Section 2 Specifications and Procedures 2 1 Specifications cree ener ete rre ener ea enn erts eed 2 1 1 General Specifications 20 02 2 cee ececece cece cee eecee cece ceeeenaeceeeeeecaaeeeeeeseeeaeeeeeeseaeeeeees 2 1 2 Function Specifications cccccececceceeeecee cece eeeeeeeeeeeeeeeceeeeeeeeecaeeeeeeeeeieaeeeeee 2 1 3 EtherCAT Slave Communications 18 EJ1 EtherCAT Slave Unit User s Manual H192 Section 3 3 1 3 2 Section 4 4 1 4 2 4 3 Section 5 5 1 5 2 5 5 5 6 5 7 5 8 CONTENTS Application Procedures iine ende caveat cael tie et eerte neas besar detis e RE eR REDE 24 2 2 1 Hardware Setup 2 4 2 2 2 Software Set p Procedure 3 ice edeecen dade 2 5 Part Names and EtherCAT Communications Overview Part Names 3 2 3 1 1 Appearance and Names of Parts on the Front 3 2 3 1 2 Meanings
37. PDO Communications 5 3 2 PDO Mapping Data List The following table lists the PDO mapping data by PDO entry l Precautions for Correct Use Set the assignments to meet the following conditions for PDO mapping If the following condi tions are not met it will not be possible to change the EtherCAT communications state to the Safe Operational Safe Op state to enable PDO communications Mapping must be in ascending order by index and subindex Do not map a PDO at index 0000 hex subindex 00 hex Do not delete required PDO entries when mapping Refer to 5 3 2 PDO Mapping Data List on page 5 7 for details on the required PDO entries Data PDO Set b Index Subindex Y I O port Object name Size name entry default Output 7000 01 hex Required O Output SID Output SID 1 byte Notifica hex 02 hex Required O Input SID Input SID 1 byte tion Data Response Response 03 hex Required O Output Data Output Data Type 2 bytes Type 04 hex Required O Output Sub Info Output Sub Info 2 bytes 05 hex Required O Output Data Output Data 2 bytes Length Length 06 hex Required O Output Data 01 Output Data 01 to 4 bytes 1 07 to OA Any value to Output Data Output Data 20 to 4 bytes x 20 hex 20 Defaults Output Default 4 x 5 OB to 19 Any value Defaults Out Data 01 to Output bytes hex put Data 01 to Data 05 Output Data
38. PDO communications consecutive timeout detection count setting in the EtherCAT master to at least 2 Refer to the NJ NX series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 for details When an EtherCAT slave is disconnected communications will stop and control of the outputs will be lost not only for the disconnected slave but for all slaves connected after it Confirm that the system will not be adversely affected before you disconnect a slave If you disconnect the cable from an EtherCAT slave to disconnect it from the network any current communications frames may be lost If frames are lost slave I O data is not communicated and the EJ1 EtherCAT Slave Unit User s Manual H192 7 Precautions for Safe Use intended operation is sometimes not achieved Perform the following processing for a slave that needs to be replaced Program the EC nDatalnvalid Input Data Invalid EC _InData1Invalid Input Data 1 Invalid and EC InData2lInvalid Input Data 2 Invalid system defined variables as interlock conditions in the user program Set the PDO communications consecutive timeout detection count setting in the EtherCAT master to at least 2 Refer to the NJ NX series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 for details Make sure that the PDO recording area for EtherCAT communications is correct EJ1 EtherCAT Slave Unit User s Manual H192 Precautions for Correct Use Precautions for Correct Use
39. Studio by using the PDO map settings to set the PDO sizes to between 4 and 80 bytes for both inputs and outputs You can adjust the Output Data and Input Data PDO mapping sizes to prioritize either CompoWay F communications performance or PDO communications performance For guidelines on how to deter mine the PDO sizes refer to the Guidelines for Determining the Output Data and Input Data PDO Map ping Sizes on page 5 31 later in this manual How to set the PDO mapping sizes when an EJ1 EtherCAT Slave Unit is registered to the EtherCAT network configuration is described next i Precautions for Correct Use Set the assignments to meet the following conditions for PDO mapping If the following condi tions are not met it will not be possible to change the EtherCAT communications state to the Safe Operational Safe Op state to enable PDO communications Mapping must be in ascending order by index and subindex Do not map a PDO at index 0000 hex subindex 00 hex Do not delete required PDO entries when mapping Refer to 5 3 2 PDO Mapping Data List on page 5 7 for details on the required PDO entries EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 1 Click the EJ1N HFUC ECT in the EtherCAT network configuration 5050505050 Node Address Network confiquration l EH Master 1 f E001 EJIN HFUC ECT Rev 1 0 The following dialog box is displayed Item name Oo CONI
40. Visual inspection Installation condi Is the Unit installed securely No looseness Phillips screwdriver tions Are the connectors of the communica No looseness Visual inspection tions cables fully inserted Are the external wiring screws tight No looseness Phillips screwdriver Are the connecting cables undamaged No externally visible dam Visual inspection age uonoedsu pue 2 1 8 uonoedsu 8 EJ1 EtherCAT Slave Unit User s Manual H192 8 3 8 Maintenance and Inspection 8 2 Replacing Units The EJ1 EtherCAT Slave Unit is part of an EtherCAT network The entire network is affected when a Unit is faulty so a faulty Unit must be repaired or replaced quickly We recommend having spare Units available to restore network operation as quickly as possible 8 2 1 Unit Replacement Precautions Observe the following precautions when you replace a faulty Unit Check the new Unit to make sure that there are no errors If returning malfunctioning devices for repair attach a detailed description of the malfunction to the device and send the device to the OMRON representative listed at the end of this manual or to your OMRON representative If there is faulty contact try wiping the contacts with a clean lint free cotton cloth dampened with alcohol 8 2 2 Unit Replacement Procedure Step Item Description 1 System power supply OFF Turn OFF the power supply to the system 2 Unit replacement Replace
41. a n e XS 6 2 6 2 Abort Codes gt i sie eed ese ea eae eia barra e wa he eS a 6 3 EJ1 EtherCAT Slave Unit User s Manual H192 6 1 6 Using the EJ1 EtherCAT Slave Unit with SDO Communications 6 1 Overview The EJ1 EtherCAT Slave Unit supports SDO message communications The communications master can read and write data in entries in the object dictionary with SDO com munications to make parameter settings and monitor status when necessary If the communications master is an NJ NX series CPU Unit the following EtherCAT communications instructions are used Instruction Function EC CoESDORead Reads a value from a CoE object in the specified slave EC CoESDOWrite Writes a value to a CoE object in the specified slave For details on the EtherCAT communications instructions refer to the NJ NX series Instructions Refer ence Manual Cat No W502 EJ1 EtherCAT Slave Unit User s Manual H192 6 Using the EJ1 EtherCAT Slave Unit with SDO Communications 6 2 Abort Codes JE SSS The following table lists the abort codes for SDO communications errors Value Meaning 06010000 hex Unsupported access to an object 06010002 hex Attempt to write to a read only object 06020000 hex The object does not exist in the object directory 0604 0041 hex The object cannot be mapped to the PDO 06040042 hex The number and length of the objects to be mapped would exceed the PDO length 0607
42. a Software Process ssssssseee enm eene 7 5 7 3 Error Notifications Based on the Sysmac Error Status 7 6 72321 Sysmac Err r Slaltus netos dee sate e eo est De entes coe Wet uo E eui aa a a 7 6 7 3 2 Checking and Responding to Event Codes 2 2 7 7 7 4 Error Notifications Provided with Emergency Messages enn 7 8 A4 1 Emergency Messages aec raa ctv a ED ud sec ee 7 8 7 5 Error Notifications Based on the AL nnne nnns 7 9 Section 8 Maintenance and Inspection 8 1 Cleaning and nennen nennt nennen nnn nn nnn nnns 8 2 8 121 Cleaning orietur on oe nobi Me tga eee ere ae 8 2 8 1 2 Inspection Methods astran a here edere denen ere Dr Ie Ene ce acp eee 8 2 8 123 INSPECTION HEMS eiie co oret e eerte eti ace neret ae Sa erbe RED sel de Pending 8 3 8 2 Replacing Units is fc ics ettet rte un nai ERI ERE 8 4 8 2 1 Unit Replacement 8 4 8 2 2 Unit Replacement Procedure 2 c cccicegeccsesdsecescececcenesuarersesnttcescecedenseredectensbogecsancnensceseusseeedseres 8 4 Appendices 1 Dimensions aese
43. an EtherCAT communications device this Unit is classi fied as an EtherCAT slave You can use PDO communications to perform CompoWay F command response communications between the EJ1 Eth erCAT Slave Unit and Basic Units Power supply 24 VDC provided from the End Unit The following table provides an overview of the functions provided by an EJ1 EtherCAT Slave Unit Function PDO communica tions Description Reference The following two types of communications commands Section 5 Using the EJ1 Eth can be sent and received by using PDO communications erCAT Slave Unit with PDO from a user program to perform handshaking 1 CompoWay F commands Commands to read the present values or write set values in Basic Units 2 Control commands Commands used to control an EJ1 EtherCAT Slave Unit Communications SDO communica tions You can use SDO communications to access objects that Section 6 Using the EJ1 Eth cannot be registered in PDO mappings You cannot use erCAT Slave Unit with SDO it for objects that can be registered in PDO mappings Communications EJ1 EtherCAT Slave Unit User s Manual H192 JO MAIAJOAQ pue HUN L JequinN I PON 3Uf L L 1 Features and System Configuration EJ1 EtherCAT Slave Unit User s Manual H192 Specifications and Procedures SaaS This section provides the general specifications and individual Unit specifications and
44. and Input Data included in Input Notification Data for the CompoWay F frames during CompoWay F communications This section also describes how to arrange that data in array variables 5 7 1 Output Data and Input Data Contents This section describes the information that you must set in the Output Data i e the data sent from the EJ1 EtherCAT Slave Unit to a Basic Unit from user programming and the information that is set auto matically in the Input Data i e the data received by the EJ1 EtherCAT Slave Unit from the Basic Unit Output Data Contents Set the text portion from the communications unit number to the FINS mini command text in the CompoWay F command frame to the Output Data index 7000 hex subindex 06 hex to 19 hex with user programming Do not include the leading STX 02 hex and ETX 03 hex BCC at the end 4 Bunjes Text Communications UnitNo Sub address SID FINS mini command text BCC calculation range Input Data Contents Set the text portion from the communications unit number to the FINS mini response text in the CompoWay F response frame to the Input Data index 6000 hex subindex 07 hex to 1A hex with user programming Do not include the leading STX 02 hex and ETX 03 hex BCC at the end Text Communications UnitNo Sub address code FINS mini response text U9 U0D eq yndu pue geq jndino L L S 0 0 BCC ca
45. are processed by the Basic Unit a CompoWay F response is sent back from the Basic Unit via the lateral EJ1 bus and the response is stored in the EJ1 Eth erCAT Slave Unit s receive buffer sesuodsey pue spuewwoy J eAyodulo9 L Z G 2 In each process data communications cycle the Input Notification Data in the receive buffer in the EJ1 EtherCAT Slave Unit is automatically sent to the EtherCAT master The size of the data received at one time depends on the PDO map settings that are made from the Sysmac Studio The PDO mapping sizes for Output Data and Input Data can be set from 4 to 80 bytes The default setting is 20 bytes Vi Precautions for Correct Use If you use broadcast CompoWay F commands you do not need to perform reception process ing for CompoWay F responses EJ1 EtherCAT Slave Unit User s Manual H192 5 3 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 3 The EJ1 EtherCAT Slave Unit sends a notification through user programming that the Input Notification Data was updated and handshaking is performed when the notification is received CPU Unit EtherCAT master EJ1 EtherCAT Slave Unit EJ1 Basic I O Unit User EtherCAT PDO EJ1 lateral programming communications Send buffer connection EJ1 bus Handshaking C 2 us with the EJ1 Output CompoWay F EtherCAT Slave EUM CompoWay F Unit to send and Notification Data command receive updated Receive buffer processing CompoWay F response 5 4 EJ1
46. countermeasures when installing the controller in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Locations subject to possible exposure to radioactivity Locations close to power lines Precautions for Operation ttakes a certain amount of time for the outputs to turn ON from after the power supply is turned ON Due consideration must be given to this time when designing control panels etc It takes 30 minutes from the time the product is turned ON until the correct temperature is indi cated Always turn ON the power supply at least 30 minutes before starting temperature control Avoid using the Temperature Controller near a radio television set or other wireless device Its use would result in reception disturbance EJ1 EtherCAT Slave Unit User s Manual H192 9 Preparations for Use Preparations for Use Be sure to thoroughly read and understand the manual provided with the product and check the follow ing points Timing Purchasing the product Check point Product appear ance Details After purchase check that the product and packaging are not dented or otherwise damaged Damaged internal parts may prevent optimum con trol Product model and specifications Make sure that the purchased product meets the required specifications Setting the Unit Product installa tion location Provide sufficient
47. data The EJ1 EtherCAT Slave Unit receives the from Basic Unit m receive data from the Basic Unit 9 Inputting the first 1 The communications master receives 1 The EJ1 EtherCAT Slave Unit inputs data the Input Notification Data given on the the following Input Notification Data right 2 The Input SID changed from 00 to 01 hex so the communications master knows that the received Input Data in the Input Notification Data was updated 3 The Input Data Type is 1000 hex so the communications master knows that the Input Data is not the final data 4 The communications master reads the Input Data EJ1 EtherCAT Slave Unit User s Manual H192 2 The EJ1 EtherCAT Slave Unit sets the Receive Data Exists Flag bit 11 in the Port Status to 1 ON to indicate that the CompoWay F response was received from the Basic Unit 3 The EJ1 EtherCAT Slave Unit changes the Input SID from 00 hex to 01 hex to tell the communications master that the Input Data in the Input Notification Data was updated Port Status 0802 hex Input SID 01 hex Output SID Response 02 hex Input Data Type 1000 hex Input Sub Info 0000 hex Input Data Length nnnn hex Input Data First received data BulAlgoey pue spueuiuio J eModuio Buipues 104 ajdwiexy 9 G sosuodsey seg geq pue Buipues ejduiex3 z 9 G 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications
48. eee 1 4 BCG Error Flag iere nee eit 5 13 C COE objects 4 engine deii i eure A 9 Command code of the control command 5 9 CompoWay F command frame 5 25 CompoWay F commands 1 5 CompoWay F commands and responses 5 3 CompoWay F response frame 5 25 Configuration tool essee m 3 3 control command code list 5 10 control command flag 5 9 control command response 5 13 Control Command Response Flag 5 13 control commands sese 1 5 Control commands and responses 5 5 CX Thetto eee e ls 1 4 D determining the output data and input data PDO mapping SIZOS coi do o HERE RR 5 31 E editing PDO map settings 5 28 EJ1 Bus Communications Error Flag 5 13 emergency messages 7 8 End Unit EDU 2er ette 1 4 ipM 7 3 error notification methods sse 7 2 error notifications based on the Sysmac Error Status 7 6 ESIfilE re eee rere 3 6 event code ie eee tee pd
49. eno rore RR PER ER ERE E Ene EO RR HERR nere EE een A 2 1 1_ linen Ee 2 A 2 Sample Programming iv scscccccecescscecseeveccacectesseteeesvessecaeereuessneeeeseseucoeesteessoeeseeteancoeerereteneeeeertens A 3 A 2 1 Items Common to All Programming Samples sse A 3 A 2 2 Sending CompoWay F Commands and Receiving A 6 Ac2 3 Restart uendere rer EUER E Er iP Ere A 8 3 m ANAA A 9 A 3 1 Object Dictionary Area cie etr re Rr ER REEL IRE A 9 A 3 2 Data type sei pec she pp lle ee eee ee A 9 A 3 3 Communications n nanne nant A 10 3 4 PDO Mapping Objets x iota cce i nete Eco ceto evi eee eee A 11 A 3 5 Sync Manager Communications Objects ssssssseeee mene A 14 A 3 6 Manufacturer specific Object 1 A 15 327 Device Profile Area eerte rented ERE EP REFERRE RENE IRR E PRI R RA Ro tI ERO Ena ERR Een A 17 Index 20 EJ1 EtherCAT Slave Unit User s Manual H192 Features and System Configura tion EL This section describes the features of the EJ1 EtherCAT Slave Unit and the system configuration in which the EJ1 EtherCAT Slave Unit is used 1 1 Overview and Features
50. error occurs may also change Confirm safety before you change the fail soft operation setting Confirm that the controlled system will not be adversely affected before you perform any of the fol lowing operations Changing the operating mode of the CPU Unit including changing the setting of the Operating Mode at Startup Changing the user program or settings Changing set values or present values Forced refreshing Dispose of the product according to local ordinances as they apply Do not allow foreign matter to enter the openings in the Unit Doing so may result in Unit burning electric shock or failure Before installing the Unit do not remove the enclosed cover seal from the connector opening on the left end of the Unit You can connect up to 16 Units for one End Unit However you can connect only one Advanced Unit Do not connect more than 16 Units You can connect up to 32 Basic Units with branch wiring Do not connect more than 32 Basic Units Observe the following precautions for EtherCAT communications Make sure that the communications distance number of nodes connected and method of connec tion for EtherCAT are within specifications Do not connect EtherCAT Coupler Units to EtherNet IP a standard in house LAN or other networks An overload may cause the network to fail or malfunction Malfunctions or unexpected operation may occur for some combinations of EtherCAT revisions of the master and slaves If
51. map pable 2003 hex x Sysmac e E 27 n nt Possi Observation ble 00 Number of RO UNSIGNED8 00 hex to 05 hex 00 hex N A Observations 01 Observation RO OCTET_STRI m N A 1 NG 02 Observation RO OCTET_STRI m x N A 2 NG 03 Observation RO OCTET_STRI X N A m 3 NG 04 Observation RO OCTET STRI Im N A B 4 NG 05 Observation RO OCTET_STRI M 5 NG Note 1 Observations are stored in the order that they occur from subindexes 01 to 05 hex 2 The logs are cleared when 1 TRUE is written to Sysmac Error Status Clear 02 hex in the Sysmac Error 2002 hex 3 The following table gives the format of each log EJ1 EtherCAT Slave Unit User s Manual H192 A 15 syoefqo 302 v gt p fqo oloeds sesnjoeynuey 9 e v Appendices Item Data type Details Error code UNSIGNED32 Event code stored in little endian Reserved area UNSIGNED32 Reserved area UNSIGNED32 Refer to Event Code List on page 7 7 under Section 7 Troubleshooting for details on event codes PDO mapping Access N A Not map index Sub RO pable Com index Objectname Read only Data Type Data range Initial value R RxPDO plete hex hex RW mappable access Read write T TxPDO map pable 2004 hex Sysmac um m E Possi Minor Fault ble 00 Number of RO UNSIGNED8 00 hex to 05 hex 00 hex N A m Minor Faults 01 Minor Fault 1
52. mapping Access N A Not map Sub RO pable Com index Objectname Read only Data Type Data range Initial value R RxPDO plete hex RW mappable access Read write T TxPDO map pable 1C00 hex Sync Man Possi ble nication Type 00 SM Channel RO UNSIGNED8 04 hex 04 hex N A Number 01 Communica RO UNSIGNED8 01 hex 01 hex N A tions Type SMO 02 Communica RO UNSIGNED8 02 hex 02 hex N A tions Type SM1 03 Communica RO UNSIGNED8 03 hex 03 hex N A tions Type SM2 04 Communica RO UNSIGNED8 04 hex 04 hex N A tions Type SM3 1010 hex Sync Man Possi ager 0 PDO ble Assignment 00 Number of RO UNSIGNED8 00 hex 00 hex N A Entries 1C11 hex Sync Man Possi 1 Assignment 00 Number of RO UNSIGNED8 00 hex 00 hex N A Entries Index hex 1012 hex Sync Man Possi 2 ble Assignment 00 Number of RW UNSIGNED8 00 hex to 01 hex 01 hex N A Entries 01 Receive PDO RW UNSIGNED16 0000 hex or 1700 hex N A Mapping 1700 hex Assignment 1 1013 hex Sync Man Possi ager 3 PDO ble Assignment 00 Number of RW UNSIGNED8 00 hex to 02 hex 02 hex N A Entries 01 Send PDO RW UNSIGNED16 0000 hex 1B00 hex N A Mapping 1B00 hex or Assignment 1 1BFF hex 02 Send PDO RW UNSIGNED16 000
53. nextSid E001_Output_SID_Response 9 E001 Output SID outSid 10 E001 Output Data _Type 16 2000 11 E001 Output Data Length sendLength 12 AryMove sendCommand 0 E001 Output Data 01 0 UINT 4 13 AryMove sendCommand 4 E001 Output Data O2 0 UINT 4 14 AryMove sendCommand 8 E001 Output Data 03 0 UINT 4 15 AryMove sendCommand 12 E001 Output Data 04 0 UINT 4 16 AryMove sendCommand 16 001 Output Data O5 0 UINT 4 17 state 20 18 20 Confirm that the command was sent 19 IF E001_Output_SID_Response outSid THEN 20 state 30 21 END_IF 22 30 Check CompoWay F response reception 23 IF E001_Input_SID inSid THEN 24 state 40 25 END_IF 26 40 Receive the CompoWay F response 27 E001_Input_SID_Response inSid 28 IF E001_Receive_Data_Error_Flag TRUE THEN 29 state 50 30 END_IF 31 IF E001_Receive_Last_Data_Flag TRUE THEN 32 AryMove E001_Input_Data_01 0 cvCommand 0 UINT 4 33 AryMove E001_Input_Data_02 0 rcvCommand 4 UINT 4 34 AryMove E001_Input_Data_03 0 rcvCommand 8 UINT 4 35 AryMove E001_Input_Data_04 0 rcvCommand 12 UINT Z4 36 AryMove E001_Input_Data_05 0 rcvCommand 16 UINT Z4 37 revString AryToString rcvCommand 0 E001_Input_Data_Length 38 state 60 39 ELSE 40 state 50 41 END_IF 42 50 Error occurs 43 44 60 Normal end 45 46 END CASE Olnitial processing Set the CompoWay F command Copy data to sendCommand Calculate next Input SID Go to step
54. port names for the 1 EJ1 EtherCAT Slave Unit You can right click on any of these I O ports and select Create Device Variable to assign device vari ables Position EtherCA Nodel Position EtherCA 1 v w EtherCAT Network Configuration v EtherCAT Network Configuration Master EJIN HFUC ECT Output SID Input SID Response gt Output Data Output Sub Info Output Data Length Output Data 01 Output Data 02 Output Data 03 Output Data 04 Output Data 05 gt Port Status Input SID Output SID Response gt Input Data Type Input Sub Info Input Data Length Input Data 01 Input Data 02 Input Data 03 Input Data 04 Input Data 05 Port Master EJIN HFUC ECT Output SID Input SID Response gt Output Data Type Output Sub Info Output Data Length Output Data 01 Output Data 02 Output Data 03 Output Data 04 Output Data 05 gt Port Status Input SID Output SID Response gt Input Data Type Input Sub Info Input Data Length Input Data 01 Input Data 02 Input Data 03 Input Data 04 Input Data 05 Error Status Description Output SID Input SID Response Output Data Type Output Sub Info Output Data Length Output Data 01 Output Data 02 Output Data 03 Output Data 04 Output Data 05 Port Status Input SID Output SID Response Input Data Type Input Sub Info Input Data Length Input Data 01 Input Data 02 Input Data 03 Input Data 04 Input
55. rcvCommand offset 12 UINT 4 AryMove E001 Input Data 05 0 rcvCommand offset 16 UINT 4 IF E001 Receive Data Flagz TRUE THEN offset offset 20 state 30 ELSE rcvString AryToString revCommand 0 offset E001 Input Data Length state 60 END_IF ELSE state 50 END_IF 50 Error occurs 60 Normal end END_CASE EJ1 EtherCAT Slave Unit User s Manual H192 Olnitial processing Set the CompoWay F command Copy data to sendCommand Calculate next Input SID Initialize Offset Go to step Send CompoWay F command Calculate next Output SID Set the Output SID If intermediate send data Set Output Data Type Set Output Data Length and calculate the remaining send size If final send data Set Output Data Type Set Output Data Length Set Output Data Increment Offset by 20 bytes Go to step Confirm that the command was sent for send processing If the Output SID Response is updated If final send data initialize Offset Go to step If intermediate send data Go to step G Check CompoWay F response reception If the Input SID is updated go to step GReceive CompoWay F response Update the Input SID Response Calculate next Input SID If a Receive Data Error occurs go to step If Input Data is received Read the Input Data If intermediate receive data increment Offset by 20 bytes Go to step If final receive data store the Input Data in rcvString G
56. receiving data in parts outSid USINT Output SID inSid USINT Input SID sendString STRING 256 CompoWay F command text string to send rcvString STRING 256 Received CompoWay F response text string EJ1 EtherCAT Slave Unit User s Manual H192 Appendices Common Function nextSid This function is used in the programming samples It returns the next SID after the SID it is given e Variable Table I O Comment Present value of the SID argument to the nextSid function Name currentSid Variable Table Return Value Comment The return value of the nextSid func tion which is the next SID Name nextSid nextSid Function 1 nextSid currentSid 1 Add 1 to the given SID 2 IF nextSid USINT 0 THEN 3 nextSid 1 4 END IF If the resulting SID from the above calculation is 0 set the SID to 1 Buruiuej604g ajdwes z v gt Bulwwesbold 0 UOWWOD sula Z V EJ1 EtherCAT Slave Unit User s Manual H192 A 5 Appendices A 2 2 Sending CompoWay F Commands and Receiving Responses i Sending and Receiving Data without Dividing It The following programming sample sends a FINS mini echoback test to communications unit number 0 1 CASE state OF 2 0 Set the CompoWay F command 3 sendString 000000801 1234 4 sendLength StringToAry sendString sendCommand 0 5 inSid znextSid EO001 Input SID 6 state 10 7 10 Send CompoWay F command 8 outSid
57. reception of data from the Basic Unit the Receive Data Error Flag changes to 1 ON One of the following errors is the cause The received data fails the BCC check The received data is corrupted due to noise or some other cause 5 4 3 Sysmac Error Status PDO entry name I O port Object name Type Size R W Function Value Default name Sysmac Error Sysmac Error BYTE 1 byte RO This is the Sysmac Bit 05 Minor fault 00 hex Status Status error status for the Bit 04 Observation EJ1 EtherCAT Slave Unit 1 ON An error at the relevant event level occurred 0 OFF There are no errors at the rele vant event level Refer to 7 3 Error Notifications Based on the Sysmac Error Status on page 7 6 for details 5 14 EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 5 Writing User Programming This section describes how to write user programming to perform data transfer between the communi cations master and the EJ1 EtherCAT Slave Unit It is necessary to use handshaking to confirm that the Input Notification Data and Output Notification Data that are updated between the communications master and the EJ1 EtherCAT Slave Unit are received normally by the other party EN Additional Information SID in output SID and input SID stands for sequential ID The SID is an identifier used to determine the sequential number of data in a se
58. space around the product for heat dissipation Do not block the vents on the product Wiring Terminal wiring Do not subject the terminal screws to excessive stress force when tightening them Make sure that there are no loose screws after tightening terminal screws to the specified torque of 0 25 to 0 30 N m Be sure to confirm the polarity for each terminal before wiring the termi nal block and connectors Power supply inputs Wire the power supply inputs correctly Incorrect wiring will result in dam age to the internal circuits Operating envi ronment 10 Ambient tempera ture The ambient operating temperature for the product is 10 to 55 C with no condensation or icing To extend the service life of the product install itin a location with an ambient temperature as low as possible In loca tions exposed to high temperatures if necessary cool the products using a fan or other cooling method Vibration and shock Check whether the standards related to shock and vibration are satisfied at the installation environment Install the product in locations where the conductors will not be subject to vibration or shock Foreign particles Install the product in a location that is not subject to liquid or foreign par ticles entering the product If sulfide chlorine or other corrosive gases are present remove the source of the gas install a fan or use other countermeasures to pr
59. specifica An introduction to the entire NJ series NJ301 Hardware User s tions of the NJ series CPU system is provided along with the follow 101 Manual Units including introductory ing information on the CPU Unit EJ1 EtherCAT Slave Unit User s Manual H192 information designing instal lation and maintenance Mainly hardware information is provided Features and system configuration Introduction Part names and functions General specifications Installation and wiring Maintenance and inspection Use this manual together with the NJ NX series CPU Unit Software User s Manual Cat No W501 13 Related Manuals Cat No Model number Manual name Application Description W535 NX701 NX series CPU Unit Learning the basic specifica An introduction to the entire NX series Hardware User s tions of the NX series CPU system is provided along with the follow Manual Units including introductory ing information on the CPU Unit information designing instal Features and system configuration lation and maintenance R Introduction Mainly hardware information part names and functions is provided General specifications Installation and wiring Maintenanc
60. that the Output Notification Data was received normally Port Status 0001 hex Input SID 00 hex Output SID Response 01 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None 4 Outputting the 1 The communications master outputs the The EJ1 EtherCAT Slave Unit receives the final send data following Output Notification Data Output Notification Data given on the left 2 The communications master sets the Output Data Type to 2000 hex to indicate that the Output Data is the final data 3 The communications master increments the Output SID by 1 then passes the Out put Data Length and final send data to the EJ1 EtherCAT Slave Unit Output SID 02 hex Input SID Response 00 hex Output Data Type 2000 hex Reserved 0000 hex Output Data Length nnnn hex Output Data This is the final send data 5 Output response 1 The communications master receives lt 1 The EJ1 EtherCAT Slave Unit inputs for the final send the Input Notification Data given on the the following Input Notification Data data right 2 When the value of the Output SID 2 The communications master knows that Response is 02 hex it tells the communi sent data was received by the EJ1 Ether cations master that the final send data CAT Slave Unit because the Output SID was received normally Response in the Input Notification Data matches the value of the Output SID output Port Status 0001 hex in step 4 Input SID 00 hex Output SID Respon
61. waiting to receive a CompoWay F response Implement timeout and retry processing during CompoWay F response confirmation in your application A 2 1 Items Common to All Programming Samples This section specifies the items that are the same in all three ST programming samples System Configuration The following system configuration is used Item Specification Communications master NJ301 1200 EJ1 EtherCAT Slave Unit EJ1 HFUC ECT EJ1 System EJ1 Basic I O Units NJ series CPU Unit NJ301 1200 ajdwes z v EtherCAT gt EJ1 EtherCAT Slave Unit PDO Size Settings The following PDO sizes are set from the Sysmac Studio as the default values Data entry name Size bytes Input Data Input Data 01 to 05 20 Output Data Output Data 01 to 05 20 Bulwwesbold 0 UOWWOD sula L z v EJ1 EtherCAT Slave Unit User s Manual H192 A 3 Appendices Map The following I O map settings for variables are made from the Sysmac Studio Unit EJ1 HFUC ECT Port Description Variable Output SID Output SID E001_Output_SID Input SID Response Input SID Response E001_Input_SID_Response Output Data Type Output Data Type E001_Output_Data_Type Output Sub Info Output Sub Info E001 Output Sub Info Output Data Length Output Data Length E001 Output Data Length Output Data
62. 0 Number of RW UNSIGNED8 00 hex to 19 hex hex N A m Entries 01 Output SID RW UNSIGNED32 00000000 hex 70000108 hex N A 02 Input SID RW UNSIGNED32 70000108 hex 70000208 hex N A m Response 70000208 hex 03 Data RW UNSIGNED32 70000310 hex 70000310 hex N A lt n 04 OutputSub RW UNSIGNED32 70000410 hex 70000410hex N A Info 70000510 hex au 05 Output Data RW UNSIGNED32 70000620 hex 70000510 hex N A iu Length 70000720 hex 06 oun Data RW UNSIGNED32 79999820 hex 70000620 hex N A n 07 Output Data RW UNSIGNED32 9000920hex 70000720 hex N A 02 70000A20 hex em 08 Output Data RW UNSIGNED32 70000B20 hex 70000820 hex N A a 03 70000C20 hex 09 Output Data RW UNSIGNED32 70000D20 hex 70000920 hex N A m 04 70000E20 hex 0A Output Data RW UNSIGNED32 70000A20hex N A 05 70000F20 hex 0B Output Data RW UNSIGNED32 70001020 hex 00000000 hex N A 06 70001120 hex 0C Output Data RW UNSIGNED32 70001220 hex 00000000 hex N A iu o 70001320 hex 00 Output Data RW UNSIGNED32 00000000 hex N A 08 70001420 hex OE Output Data RW UNSIGNED32 70001520 hex 00000000 hex 09 70001620 hex OF Output Data RW UNSIGNED32 70001720 hex 00000000 hex N A 10 70001820 or 70001920 hex EJ1 EtherCAT Slave Unit User s Manual H192 11 syoefqo 302 v gt spefqo Odd Appendices Index hex 1700 hex
63. 0 hex 1BFF hex N A Mapping 1B00 hex or Assignment 2 1BFF hex 14 EJ1 EtherCAT Slave Unit User s Manual H192 Appendices A 3 6 Manufacturer specific Object 1 PDO mapping Access N A Not map index Sub RO pable Com index Objectname Read only Data Type Data range Initial value R RxPDO plete hex hex RW mappable access Read write T TxPDO map pable 2002 hex e Sysmac Error 42 m Possi ble 00 Number of RO UNSIGNED8 02 hex 02 hex N A LUE Entries 01 SysmacError RO UNSIGNED8 00 hex to FF hex 00 hex T Status 1 02 Sysmac Error RW UNSIGNED8 00 hex or 01 hex 00 hex N A Status Clear E 2 1 The assignments of bits in the Sysmac error status at subindex 01 hex are listed below The applicable bit is 0 FALSE if no error exists or 1 TRUE if an error exists Bits 6 to 15 Reserved Bit 5 Minor fault Bit 4 Observation Bits 2 to 3 Reserved Bit 1 Reserved Bit 0 Reserved 2 Subindex 02 hex is used to clear the Sysmac Error Status Write 01 hex to clear the Sysmac Error Status If you write a value other than 01 hex the command is invalid and the abort code is returned When a read is performed 00 hex is given PDO mapping Access N A Not map Index Sub RO pable Com index Objectname Read only Data Type Data range Initial value R RxPDO plete hex hex RW mappable access Read write T TxPDO
64. 000 hex Output Data Length nnnn hex Output Data Send data 3 Output response 1 The communications master receives lt 1 The 1 EtherCAT Slave Unit inputs for the send data the Input Notification Data given on the the following Input Notification Data right 2 The EJ1 EtherCAT Slave Unit changes 2 The communications master knows that the Send Data Exists Flag bit 00 in the sent data was received by the EJ1 Ether Port Status to 1 ON to indicate that there CAT Slave Unit because the Output SID is data in the send buffer Response in the Input Notification Data 3 When the value of the Output SID matches the value of the Output SID output Response is 01 hex i e the value of the in step 2 Output SID from step 2 it tells the com munications master that the Output Notifi cation Data was received normally Port Status 0001 hex Input SID 00 hex Output SID Response 01 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None 4 Sending the send The EJ1 EtherCAT Slave Unit sends the data a data to the Basic Unit EJ1 EtherCAT Slave Unit User s Manual H192 pue spueuiuio J eModuio 104 ajdwiexy 9 6 sosuodsey geq pue Burpues Jo sSjduex3 9 6 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications
65. 0010 hex Data type does not match or length of service parameter does not match 06090011 hex Subindex does not exist 06090030 hex Value range of parameter exceeded only for write access 06090031 hex Value of parameter that was written is too high 06090032 hex Value of parameter that was written is too low 08000021 hex Data cannot be transferred or stored to the application because of local control 08000022 hex Data cannot be transferred or stored to the application because of the present device state EJ1 EtherCAT Slave Unit User s Manual H192 6 3 uoqy 2 9 6 Using the EJ1 EtherCAT Slave Unit with SDO Communications 6 4 EJ1 EtherCAT Slave Unit User s Manual H192 Troubleshooting zr Xr This section describes the notification and confirmation methods and checking proce dures when an error occurs in an EJ1 EtherCAT Slave Unit 7 1 Error Notification Methods 7 2 1 2 Error List ox anew oes ae anastasia Fa AARON E cR RA 7 3 7 2 4 Errors Detected during Boot Process 7 3 7 2 2 EtherCAT Communications Errors 7 4 7 2 3 Errors Detected during a Software Process 7 5 7 3 Error Notifications Based on the Sysmac Error Status 7 6 7 3 1 Sysmac Error Status 0 0 0 0 7 6 7 3 2 Checking and Responding to Event Codes
66. 1 Basic Units The Basic Units are modular temperature controllers with I O There are two models of Basic Units The TC4 with four I O chan nels and the TC2 with two I O channels You can connect up to eight G3ZA Multi channel Power Controllers or V1 1 G3PW Power Controllers to each Basic Unit C EJ1 End Unit EDU This Unit provides power to the connected Basic Units and Advanced Unit The End Unit must be connected as the far right module when you use the EJ1 EtherCAT Slave Unit You can con nect up to 16 Units for one End Unit However you can connect only one Advanced Unit D CX Thermo EST2 2C MVL This computer software application is used to set up and monitor the EJ1 Basic Units An E58 CIFQ1 USB Serial Conversion Cable is required to connect the CX Thermo You can also use a K3SC 10 Interface Converter to convert to RS 232C RS 485 and thereby enable connecting to more than one EJ1 EtherCAT Slave Unit at the same time E EtherCAT communications mas ter This is an EtherCAT communications master such as an NJ NX series CPU Unit or a communications master from another manufacturer F Sysmac Studio Support Software This computer software application is used to set up the EtherCAT network and make other settings It is used to register an EJ1 Eth erCAT Slave Unit in the EtherCAT network configuration The Sysmac Studio is also used to set the PDO mappings for the EtherC
67. 1 Object Dictionary Area A 9 A3 2 Datatype sees ere quede cade cere yer een APR A 9 A 3 3 Communications Objects A 10 3 4 Mapping Objects A 11 A 3 5 Sync Manager Communications Objects A 14 A 3 6 Manufacturer specific Object 1 A 15 A 3 7 Device Profile Area rnb cR LS ED TREE oed EE A 17 EJ1 EtherCAT Slave Unit User s Manual H192 1 Appendices A 1 Dimensions A 1 1 EJ1N HFUC ECT 31 75 gt E gt 5 PWR omron 1 EJIN HFUC ECT L A IN OUT ADR x16 Fthereair gt O 90 Jane lt 8 BP IN bis Cn iin E HI ape cage zi 4 Y e 120 max Unit mm 2 EJ1 EtherCAT Slave Unit User s Manual H192 Appendices A 2 Sample Programming l Precautions for Correct Use These programming samples do not implement processing for when a timeout occurs while
68. AT Slave Unit inputs the following Input Notification Data 2 The EJ1 EtherCAT Slave Unit sets the Input SID to 00 hex to notify the communi cations master that the Input Notification Data was not updated Port Status 0000 hex Input SID 00 hex Output SID Response 00 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications m Communications master processing muni EM EH a eni a se ing Step Process NET cations EJ1 EtherCAT Slave Unit firmware pro processing in user programming ieee S cessing 2 Input response 1 The communications master outputs the The EJ1 EtherCAT Slave Unit receives the for no Input Data following Output Notification Data Output Notification Data given on the left output of undi 2 The communications master has not yet vided send data received input data so the Input SID Response remains at 00 hex 3 The communications master sets the Output Data Type to 2000 hex to indicate that the Output Data is the final data because it is not divided 4 The communications master increments the Output SID by 1 then passes the Out put Data Length and Send Data to the EJ1 EtherCAT Slave Unit Output SID 01 hex Input SID Response 00 hex Output Data Type 2000 hex Reserved 0
69. AT communications master To change the default PDO sizes edit the PDO mappings in the communications master of the EJ1 EtherCAT Slave Unit in Ether CAT slave settings on the Sysmac Studio G ESI files ESI files contain information that is unique to the EJ1 EtherCAT Slave Unit in XML format ESI files are required to connect OMRON EtherCAT slaves to con trollers from other companies To connect an EJ1 EtherCAT Slave Unit to a controller from another company install the ESI file for the EJ1 EtherCAT Slave Unit in the configuration software that you are using For details on ESI files refer to 3 2 2 EtherCAT Slave Infor mation File ESI Files on page 3 6 H EtherCAT communications cable Use a double shielded cable with aluminum tape and braiding of Ethernet category 5 100BASE TX or higher and use straight wir ing EJ1 EtherCAT Slave Unit User s Manual H192 1 Features and System Configuration 1 3 Unit Models and Overview of Func tions This section introduces the EJ1 EtherCAT Slave Unit model number and provides an overview of the functions of the EJ1 EtherCAT Slave Unit 1 3 1 Unit Model Number The model number and specifications for the EJ1 EtherCAT Slave Unit are given in the following table Unit name EJ1 EtherCAT Slave Unit Model number Specifications EJ1N HFUC ECT In the EJ1 Series this Unit is classified as an Advanced Unit 1 3 2 Overview of Functions As
70. CAT CoE 3 5 3 2 2 EtherCAT Slave Information File ESI Files 3 6 3 2 3 State Transitions for EtherCAT Communications 3 7 3 2 4 Process Data Objects PDOs 3 8 3 2 5 Service Data Objects 5005 3 10 EJ1 EtherCAT Slave Unit User s Manual H192 3 1 3 Part Names and EtherCAT Communications Overview 3 1 Part Names and Functions This section gives the names of the parts of the EJ1 EtherCAT Slave Unit and describes its external appearance 3 1 1 Appearance and Names of Parts on the Front Panel Appearance Front panel Names of Parts on the Front Panel Operation Indicators PWR RUN xm mmm ERR pum EtherCAT L A IN OL A OUT ADR node address L A OUT gy VY rotary switches EtherCAT T IN port OUT EtherCAT OUT port EJ1 EtherCAT Slave Unit User s Manual H192 3 Part Names and EtherCAT Communications Overview 3 1 2 Meanings of Indicators The following table gives the meanings of the operation indicators on the front panel of the EJ1 Ether CAT Slave Unit Operation Indicators Indicator Name Color Indicator Description PWR Power sup Green Lit Power is supplied to the Unit 1 p
71. CAT Slave Unit This manual provides information required to use the EJ1 EtherCAT Slave Unit including information on functions performance and application methods Observe the following items when you use the EJ1 EtherCAT Slave Unit Allow only a specialist with knowledge of electrical systems to handle the EJ1 EtherCAT Slave Unit Read and understand this user s manual completely and use the EJ1 EtherCAT Slave Unit correctly Keep this user s manual in a safe place where it will be available for reference when required EJ1 EtherCAT Slave Unit User s Manual H192 1 Terms and Conditions Agreement Terms and Conditions Agreement Warranty Limitations of Liability Warranties Exclusive Warranty Omron s exclusive warranty is that the Products will be free from defects in materials and workman ship for a period of twelve months from the date of sale by Omron or such other period expressed in writing by Omron Omron disclaims all other warranties express or implied Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED ABOUT NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellect
72. Com pleted Toggle Bit This bit toggles each time a CompoWay F command is sent from the EJ1 EtherCAT Slave Unit to the Basic Unit The value is tog gled between 0 and 1 after each send operation 02 Send Buffer Full Flag Send Buffer Full Flag This bit changes to 1 ON when the send data exceeds the maxi mum size of the buffer The maximum send data buffer size is 2 048 bytes To reset this bit to 0 OFF restart the port or use the Clear Send and Receive Buffers control command 0 No error occurred 1 Error occurred 03 to 10 Reserved Reserved area Always 0 11 Receive Data Exist Final Data Reception Flag This bit changes to 1 ON when the entire CompoWay F response is received up to the BCC by the receive buffer in the EJ1 Ether CAT Slave Unit from a Basic Unit The bit changes back to 0 OFF when the com munications master reads the received CompoWay F response data from the receive buffer of the EJ1 Ether CAT Slave Unit 0 There is no data in the receive buffer 1 There is data in the receive buffer 12 to 13 Reserved Reserved area Always 0 EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Bit I O port name Parameter Function Value Default tion name 14 EJ1Bus Communi EJ1 Bus Com This bit changes to 1 0 Normal 0 cation Error munications
73. D from step 4 above to notify the EJ1 EtherCAT Slave Unit that the Input Notification Data was received sesuodsey pue spueululo2 Bulpuas 104 seunpeooJd G G EJ1 EtherCAT Slave Unit User s Manual H192 5 17 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 6 Example Procedures for Sending CompoWay F Commands and Receiving Responses 5 6 1 Step This section provides example procedures for sending CompoWay F commands and receiving responses Whether or not the data must be sent or received in parts depends on whether the Output Data or Input Data exceeds the assigned PDO mapping size The following examples demonstrate sending and receiving data both not dividing the data and dividing the data into parts Parts Example of Sending and Receiving Data without Dividing into If the Output Data and Input Data do not exceed the assigned PDO mapping sizes the Output Data and Input Data are sent and received without division into parts Process No data reception Communications master processing processing in user programming 1 The communications master receives the Input Notification Data given on the right 2 The Input SID is 00 hex so the master knows that the received Input Notification Data was not updated Com muni cations direc tion EJ1 EtherCAT Slave Unit processing EJ1 EtherCAT Slave Unit firmware pro cessing 1 The EJ1 EtherC
74. DO Communications 5 5 3 Procedures for Sending Control Commands and Receiving Responses Create user programming based on the following procedure when you send a control command receive a control command response and perform handshaking as discussed previously 1 Set the Output Data Type to 0101 hex Port Restart or 0106 hex Clear Send and Receive Buf fers Increment the Output SID from the previous value 1 This allows the communications master to notify the EJ1 EtherCAT Slave Unit that the Output Notification Data was updated 3 If the received Output SID Response matches the value of the Output SID sent in step 2 above it means that the EJ1 EtherCAT Slave Unit received the sent data Check the value of the Input SID If the value is 0101 hex Restart Port If the Input SID is not 0 before restarting the port the Input SID changes to 0 after the port is restarted If the Input SID is 0 set the Input SID Response to 0 When the Input SID is updated to 1 check the Input Data Type If the Control Command Response Flag is 1 ON there is a control command response 3SN S S If the value is 0106 hex Clear Send and Receive Buffers If the Input SID was incremented 1 from its previous value it has an initial value of 00 hex check the Input Data Type If the Control Command Response Flag is 1 ON there is a control command response 5 Set the Input SID Response to the Input SI
75. Data 05 Sysmac Error Status Description Output SID Input SID Response Output Data Type Output Sub Info Output Data Length Output Data 01 Output Data 02 Output Data 03 Output Data 04 Output Data 05 Port Status Input SID Output SID Response Input Data Type Input Sub Info Input Data Length Input Data 01 Input Data 02 Input Data 03 Input Data 04 Input Data 05 Sysmac Error Status Data Type USINT USINT WORD WORD UINT ARRAY O 3 OF BYTE ARRAY O 3 OF BYTE ARRAY 0 3 OF BYTE ARRAY 0 3 OF BYTE ARRAY 0 3 OF BYTE WORD USINT USINT WORD WORD UINT ARRAY O 3 OF BYTE ARRAY 0 3 OF BYTE ARRAY 0 3 OF BYTE ARRAY 0 3 OF BYTE ARRAY 0 3 OF BYTE BYTE Data Type USINT USINT WORD WORD UINT ARRAY 0 3 OF BYTE ARRAY O 3 OF BYTE ARRAY 0 3 OF BYTE ARRAY 0 3 OF BYTE ARRAY O 3 OF BYTE WORD USINT USINT WORD WORD UINT ARRAY 0 3 OF BYTE ARRAY 0 3 OF BYTE ARRAY 0 3 OF BYTE ARRAY 0 3 OF BYTE ARRAY O 3 OF BYTE BYTE Variable Variable Comment Variable Type Variable Search Variable Comment v Expand Collapse All Variable Type EJ1 EtherCAT Slave Unit User s Manual H192 Using the EJ1 EtherCAT Slave Unit with SDO Communications E This section describes how to read and write data in the EJ1 EtherCAT Slave Unit by using SDO communications from the communications master 6 1 OVERVIEW sie onl reee a a RE LIEBER eee
76. ERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED IN CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY Further in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted 2 EJ1 EtherCAT Slave Unit User s Manual H192 Terms and Conditions Agreement Application Considerations i Suitability of Use Omron Companies shall not be responsible for conformity with any standards codes or regulations which apply to the combination of the Product in the Buyer s application or use of the Product At Buyer s request Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product This information by itself is not sufficient for a com plete determination of the suitability of the Product in combination with the end product machine sys tem or other application or use Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer s application product or system Buyer shall take applica tion responsibility in all cases NEVER USE THE PRODUCT 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 PRODUCT S IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM i Programmable Prod
77. ES Input Data 08 RW UNSIGNED32 60000F20 hex 00000000 hex N A OF Input Data 09 RW UNSIGNED32 60001020hex 00000000 hex N A 10 Input Data 10 RW UNSIGNED32 60001120 hex 00000000 hex N A e 11 Input Data 11 RW UNSIGNED32 60001220 hex 00000000hex N A 12 Input Data 12 RW UNSIGNED32 60001320 hex 00000000hex N A m 13 Input Data 13 RW UNSIGNED32 60001420 hex 00000000hex N A EK 14 Input Data 14 RW UNSIGNED32 64991590 hex 00000000 hex N A 15 Input Data 15 RW UNSIGNED32 00000000hex N A 6000 1620 hex 16 Input Data 16 RW UNSIGNED32 00000000hex N A 6000 1720 hex 17 Input Data17 RW UNSIGNED32 00000000hex N A EK 18 Input Data 18 RW UNSIGNED32 60001820 hex 00000000 N A 19 Input Data 19 RW UNSIGNED32 60001920hex or 00000000 hex N A m 1A Input Data 20 RW UNSIGNED32 60001A20 hex 00000000 hex N A m 1BFF hex 512th trans Possi mit PDO EE Ex ble mapping 00 Number of RO UNSIGNED8 01 hex 01 hex N A _ Entries 01 SysmacError RO UNSIGNED32 20020108 hex 20020108 N A Status Assign data from objects in the 6000 hex range for PDO mapping of Input Notification Data EJ1 EtherCAT Slave Unit User s Manual H192 A 13 syoefqo 302 v gt spefqo Odd Appendices A 3 5 Sync Manager Communications Objects The EtherCAT communications memory is set with objects from 1C00 to 1013 hex PDO
78. ID 01 hex Input SID Response 00 hex Output Data Type 1000 hex Reserved 0000 hex Output Data Length nnnn hex Send data that is not the final send data Output Data EJ1 EtherCAT Slave Unit User s Manual H192 Output Notification Data given on the left pue J eModuio Buipues 104 ajdwiexy 9 6 sosuodsey sueg geq pue ejduiex3 z 9 G 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications m Communications master processing muni RU EE CAM UUR Eng Step Process xA i cations EJ1 EtherCAT Slave Unit firmware pro processing in user programming Tee Men cessing 3 Output response 1 The communications master receives lt 1 The EJ1 EtherCAT Slave Unit inputs for send data that the Input Notification Data given on the the following Input Notification Data is not the final right 2 The EJ1 EtherCAT Slave Unit changes send data 2 The communications master knows that the Send Data Exists Flag bit 0 in the sent data was received by the EJ1 Ether Port Status to 1 ON to indicate that there CAT Slave Unit because the Output SID is data in the send buffer Response in the Input Notification Data 3 When the value of the Output SID matches the value of the Output SID output Response is 01 hex it tells the communi in step 2 cations master
79. N 61326 Radiated emission characteristics 10 m regulations may vary depending on the configuration of the control panel used other devices connected to the control panel wiring and other conditions You must therefore confirm that the overall machine or equipment complies with EU Directives The Unit is a Class A product products for industrial environments In residential environment areas it may cause radio interference in which case the user may be required to take adequate measures to reduce interference EJ1 EtherCAT Slave Unit User s Manual H192 11 Revision History Revision History A manual revision code appears as a suffix to the catalog number at the bottom of the back cover of the manual Cat No Revision code Revision code Date Revised content 01 October 2015 Original production 12 EJ1 EtherCAT Slave Unit User s Manual H192 Related Manuals Related Manuals The manuals related to the EJ1 EtherCAT Slave Unit are configured as shown in the following tables Refer to these manuals as required EJ1 Cat No H192 This manual Model number EJ1N HFUC ECT Manual name EJ1 EtherCAT Slave Unit User s Manual Application Learning the basic specifica tions of the EJ1 EtherCAT Slave Unit including introduc tory information designing and maintenance Description The following information is provided on the EJ1 EtherCAT Slave Unit Overview and features System co
80. N to synchro turned ON to synchro nize the baud rates nize the baud rates 8 Set the node Set the EtherCAT node address 0 to 255 of the EJ1 EtherCAT Section 3 Part Names address Slave Unit using the rotary switches Set a unique node address for each slave connected to the same communications master and EtherCAT Com munications Overview EJ1 EtherCAT Slave Unit User s Manual H192 Sel iem 000 Connect the Ether CAT communica tions connector 2 Specifications and Procedures Connect the EtherCAT communications connector to the EJ1 Eth erCAT Slave Unit 2 2 2 Software Setup Procedure Step 1 Item Create the EtherCAT network configura tion Description Register the EJ1 EtherCAT Slave Unit when you create the Ether CAT network configuration on the Sysmac Studio or another Ether CAT communications master tool Reference Section 4 Installation and Connection Reference Sysmac Studio Opera tion Manual Cat No W504 Section 5 Using the EJ1 EtherCAT Slave Unit with PDO Com munications Section 5 Using the EJ1 EtherCAT Slave Unit with PDO Com munications EJ1 Modular Tempera ture Controllers User s Manual Cat No H142 Section 3 Part Names and EtherCAT Com munications Overview Sysmac Studio Opera tion Manual Cat No W504 2 Set the PDO map Edit the I O data PDO mappings used by the EJ1 EtherCAT Slave pings for I O data Unit on the Sysm
81. OMRON EJ1 EtherCAT Slave Unit EJ1N HFUC ECT User s Manual NOTE 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 Neverthe less 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 Trademarks Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products EtherCATe is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Other company names and product names in this document are the trademarks or registered trademarks of their respective companies Copyrights Microsoft product screen shots reprinted with permission from Microsoft Corporation Introduction Introduction Thank you for purchasing an EJ1 Ether
82. S mini command text Storing Input Data for a CompoWay F Response in Array Variables Element No byte 9 Input Data 01 0 Communications Unit No upper byte 1 Communications Unit No lower byte 2 30 hex sub address upper byte 3 30 hex sub address lower byte Input Data 2 o __ End code upper byte 1 End code lower byte 2 MRC upper byte 3 MRC lower Input Data 3 o SRC upper byte 1 SRClowerbyte 2 Response code MRES upper byte 3 Response code MRES lower byte Input Data 4 0 Response code SRES upper byte I 1 Response code SRES lower byte Fs pani command tox se qeueA Aey ui ejeq 1ndu pue geq 1ndino Bunos Z z 2 3 Data 2 Input Data m m 20 max 0 1 2 3 EJ1 EtherCAT Slave Unit User s Manual H192 5 27 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications H Precautions for Correct Use If the CompoWay F command or CompoWay F response to send or receive exceeds the PDO assignment sizes send the data divided into parts Refer to Example of Sending and Receiving Data in Parts on page 5 21 for how to send and receive data divided into parts 5 7 3 Setting the PDO Mappings for I O Data You must set the PDO mappings for Input Data and Output Data used for PDO communications between the communications master and EJ1 EtherCAT Slave Unit You can edit the Input Data and Output Data PDO mapping sizes on the Sysmac
83. Unit Basic Unit EJ1 Basic Unit TC4 Four channel Basic Unit TC2 Two channel Basic Unit Advanced Unit EJ1 EtherCAT Slave Unit Temperature Controller One of the EJ1 Basic Units given above communications unit num ber An identification number in CompoWay F communications for a Temperature Con troller connected to an EJ1 EtherCAT Slave Unit Set the communications unit number with rotary switch 1 and DIP switch 2 on each Basic Unit EJ1 EtherCAT Slave Unit User s Manual H192 15 16 Meanings of Abbreviations and Terms EJ1 EtherCAT Slave Unit User s Manual H192 Sections in this Manual Sections in this Manual Index Features and System Configuration Specifications and Procedures Part Names and EtherCAT Communications Overview Installation and Connection Using the EJ1 EtherCAT Slave Unit with PDO Communications Using the EJ1 EtherCAT Slave Unit with SDO Communications Troubleshooting Maintenance and Inspection Appendices EJ1 EtherCAT Slave Unit User s Manual H192 17 CONTENTS CONTENTS Introd ction eee E EE A E E Terms and Conditions Agreement eren Warranty Limitations of Liability sess nennen Application nemen nnne nnns Disclaimer S se EET Safety PreCaUtlOms ec rem Notat
84. Units from munications cable to port B on the End Unit of each block Manual Cat No the CX Thermo con If you use the CX Thermo configuration tool on a computer to set H142 nect an RS 485 com up the Basic Units connected by distributed placement connect a munications cable communications cable to port A i e the terminal block 4 Connect the power Connect a 24 VDC power supply to the power supply terminals of supply the End Unit Note Do not turn ON the power supply at this time This power supply is used as the internal circuit power supply of the Basic Units and the EJ1 EtherCAT Slave Unit 5 Wire the Basic Units Wire the Basic Unit temperature inputs control outputs and other signals Note Do not turn ON the power supply to any peripheral devices at this time 6 Set the communica Set the CompoWay F communications unit number of each Basic tions unit numbers of Unit using the rotary switch and DIP switch on the Basic Unit Set a the Basic Units unique CompoWay F communications unit number for each Basic Unit 7 Set the Basic Unit If you use distributed placement turn ON pin 8 on SW2 on the baud rate Basic Unit connected at the far left for all blocks not connected to an EJ1 EtherCAT Slave Unit d 3 JE N SIC N SIC N SIC E EJ1 EtherCAT ji Slave Unit Turn ON pin 8 Turn ON pin 8 on SW2 on SW2 The baud rate is Pin 8 SW2 mustbe Pin 8 on SW2 must be automatically set turned O
85. User s Manual H192 Maintenance and Inspection E This section describes how to clean inspect and maintain an EJ1 EtherCAT Slave Unit 8 1 Cleaning and Inspection 8 2 9 1 1 Cleanlng e te wake a eats gym aya e desde eive ds 8 2 8 1 2 Inspection Methods 0 e n 8 2 8 1 3 Inspection Items 8 3 8 2 Replacing Units 8 4 8 2 1 Unit Replacement Precautions 8 4 8 2 2 Unit Replacement Procedure 8 4 EJ1 EtherCAT Slave Unit User s Manual H192 8 1 8 Maintenance and Inspection 8 1 Cleaning and Inspection This section describes the cleaning and inspection methods recommended as regular maintenance 8 1 1 Cleaning Clean the EJ1 EtherCAT Slave Unit regularly as described below in order to keep the network in opti mal operating condition Wipe the equipment over with a soft dry cloth when performing daily cleaning If dirt remains even after wiping with a soft dry cloth wipe over with a cloth that has been wet with a sufficiently diluted detergent 296 and wrung dry Smudges may remain on the Unit from gum vinyl or tape that was left on for a long time Remove these smudges when cleaning 14 Precautions for Correct Use Never use volatile solvents such as pa
86. You cannot access these bits as BOOL data except from the Sysmac Studio BYTE data is displayed as USINT data except on the Sysmac Studio On the Sysmac Studio each bit of BYTE data can be accessed as BOOL data You cannot access these bits as BOOL data except from the Sysmac Studio How to Use Output SIDs in User Programming Perform the following processing in user programming Each time you update the Output Notification Data increment the Output SID previous value 1 Q If the Output SID Response in the next received Input Notification Data matches the Output SID incremented in step 1 it means that the EJ1 EtherCAT Slave Unit received the updated Output Notification Data If the EJ1 EtherCAT Slave Unit detects that the Output SID was incremented previous value 1 it receives the Output Notification Data by itself If the Output SID value is not equal to the previous value plus 1 the data is considered invalid and is not received How to Use Input SID Responses in User Programming Perform the following processing in user programming When Input Notification Data is received set the Input SID Response to the value of the Input SID Output Data Type The following table shows how the Output Data type specifies the control command relationship and the send data status Bit position port name Parameter name Value Default 00 to 07 None Command Code of Specifies the control command code 0
87. a in the Input Notification Data was Notification Data was updated updated 3 The Input Data Type is 2000 hex so the communications master knows that the Port Status 0002 MBA Input Data is the final data Input SID EDO Output SID Response 01 hex 4 The communications master reads the Input Data Type 2000 hex Input Data Input Sub Info 0000 hex Input Data Length nnnn hex Input Data Received data 8 Input response 1 The communications master outputs the 1 The EJ1 EtherCAT Slave Unit receives following Output Notification Data the Output Notification Data given on the 2 The communications master sets the left Input SID Response to the value of the 2 The EJ1 EtherCAT Slave Unit knows Input SID received in step 7 01 hex to tell that the communications master normally the EJ1 EtherCAT Slave Unit that the com received the Input Notification Data munications master normally received the because the value of the Input SID Input Data Response in the Output Notification Data from step 7 is 01 hex Output SID 01 hex Input SID Response 01 hex Output Data Type 0000 hex Reserved 0000 hex Output Data Length 0000 hex Output Data None 5 20 EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 6 2 Example of Sending and Receiving Data in Parts If the Output Data or Input Data exceeds the assigned PDO mapping size the Output Data or Input Data is divided to be sent or recei
88. ac Studio or another EtherCAT communications master tool 3 Assign I O ports to If you use an NJ NX series CPU Unit as the communications mas device variables and ter perform the following tasks the Sysmac Studio create the user pro Assign I O port device variables for the EJ1 EtherCAT Slave Unit gram Create the user program to send CompoWay F commands receive CompoWay F responses and perform handshaking for that data 4 Turn ON the power Turn ON the power supply connected to the End Unit supply to the EJ1 The Basic Units will start system There are no restrictions on the order for turning ON the power sup ply 5 Configure the Basic Connect an E58 CIFQ1 USB Serial Conversion Cable between a Unit settings COM port on the computer on which the CX Thermo is installed and port A on the End Unit Configure the Basic Unit settings on the CX Thermo 6 Turn ON the power Turn ON the power supply to the EtherCAT communications mas supply to the Ether ter CAT communica tions master 7 Check the PWR Confirm that the PWR operation indicator on the EJ1 EtherCAT operation indicator Slave Unit is as follows on the EJ1 Ether PWR The power supply status is normal if the indicator is lit green CAT Slave Unit 8 Transfer the network Transfer the network configuration information and the user pro configuration infor gram created on the Sysmac Studio or other EtherCAT communica mation and the user tions master tool sof
89. ad write present values and set values or to perform other processing 1 2 EJ1 EtherCAT Slave Unit User s Manual H192 1 Features and System Configuration 1 2 System Configuration This section describes the overall system configuration in which an EJ1 EtherCAT Slave Unit is used uiejs S Z L The EJ1 EtherCAT Slave Unit is connected to an EtherCAT network that is connected to an NJ NX series CPU Unit or a non OMRON EtherCAT communications master The EJ1 EtherCAT Slave Unit is connected as the far left module and EJ1 Basic Units TC4 TC2 are connected on the right of it An EJ1 End Unit EDU is connected as the far right module The elements in the system configuration are described in the following system configuration dia gram E EtherCAT master F Sysmac Studio NJ NX series CPU Unit or non OMRON master Support Software G ESI files 57 Ww Connect to peripheral USB port or built in EtherNet IP port on NJ NX series CPU Unit Built in EtherCAT port va EtherCAT H Communications cable A B Ethernet cable B EJ1 EtherCAT Slave Unit 1 4 or C Connect the following to the port A
90. and receive updated Input Notification Data including Receive buffer control responses pue Z z G 1 EtherCAT Slave Unit User s Manual 192 5 5 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 3 PDO Mapping Data Overview This section provides an overview of mapping data for the communications master of the EJ1 EtherCAT Slave Unit for PDO communications The following section describes the types of PDO mapping data and provides a list of PDO entries 5 3 1 Types of PDO Mapping Data The following data is input and output cyclically in each process data communications cycle between the communications master and the EJ1 EtherCAT Slave Unit Data name Description Index Size Output Notification This data is cyclically output from 7000 hex The Output Data consists of 8 Data the communications master to 4 x m bytes where m 1 2 3 the EJ1 EtherCAT Slave Unit 20 Input Notification Data This data is cyclically input from 6000 hex The Input Data consists of 10 4 the EJ1 EtherCAT Slave Unit to x n bytes where n 1 2 3 the communications master 20 Sysmac Error Status The Sysmac Error Status data is 2002 hex 1 byte cyclically input from the EJ1 Eth subindex 01 erCAT Slave Unit to the commu hex nications master EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with
91. and code 01 hex Description Clears the send and receive buffers and resets the Input SID 1 to 0 to restore the port to its initial state i 06 hex Clear Send and Receive Clears the send and receive buffers Buffers 1 The Output SID is not reset if the port is restarted Input Notification Data EJ1 EtherCAT Slave Unit to Communica tions Master The following data is cyclically input from the communications EJ1 EtherCAT Slave Unit to the commu nications master name Object name Type 2 Size R W Function Value Default Port Status Port Status WORD 2 bytes RO This status provides Refer to the Port Sta 0000 hex or BOOL information on the tus on page 5 12 for communications state details Input SID Input SID USINT 1 byte RO This parameter allows 00 hex Initial state 00 hex the EJ1 EtherCAT no received data Slave Unit to tell the 01 hex to FF hex communications mas The Input SID is auto ter whether or not the matically incre Input Notification Data mented when the EJ1 was updated EtherCAT Slave Unit When the EJ1 Ether updates the data CAT Slave Unit The value returns to receives a Compo 04 hex after FF hex Way F command Ifthe EJ1 Ether response or a con 7 CAT Slave Unit trol command response from a performs a port restart the input Basic Unit this Input SID is automatically SID is reset to its incremented previ initial state of 00 ous value
92. ata Input Notification Data and Sysmac Error Status Note The data in the PDO entry name I O port name column in the following tables match the PDO entry names and I O port names i e the names assigned to variables on the Sysmac Studio if you use an NJ NX series communications master in the PDO mapping However the I O port name column lists only the I O port names 5 4 1 Output Notification Data Communications Master to EJ1 Ether CAT Slave Unit The following data is cyclically output from the communications master to the EJ1 EtherCAT Slave Unit PDO entry name I O port Objectname Type Size R W Function Value Default name Output SID Output SID USINT 1 byte R W This parameter tells 00 hex Initial state 00 hex the EJ1 EtherCAT 01 hex to FF hex Slave Unit whether or the Output SID is not the Output Notifi incremented each cation Data was time data is sent by updated user programming The value returns to 01 hex after FF hex Input SID Input SID USINT 1 byte R W This is a response 00 hex Initial state 00 hex Response Response 4 parameter to the 01 hex to EF hex Set Input SID update SID with user pro notification for Input gramming Notification Data in the Input Notification Data The EJ1 EtherCAT Slave Unit will not send notification of the next Input Data until the Input SID Response and Input SID match The last value is retained Output Data Type Outpu
93. ay Variables 5 27 5 7 3 Setting the PDO Mappings for I O Data 5 28 Assigning Device Variables 5 32 EJ1 EtherCAT Slave Unit User s Manual H192 5 1 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 1 EJ1 PDO Communications Overview This section provides an overview of PDO communications when the EJ1 EtherCAT Slave Unit is used with EJ1 Basic Units as slave devices Reading EJ1 Basic Unit Present Values and Writing Target Values If you want to access an EJ1 Basic Unit connected to an EJ1 EtherCAT Slave Unit on the EtherCAT network from the communications master to read present values or write target values you can use PDO communications to send a CompoWay F command to the Basic Unit and receive a Compo Way F response back from that Basic Unit To do this user programming is used to perform hand shaking and to send and receive data Restarting a Port on the EJ1 EtherCAT Slave Unit To restart a port or clear the send and receive buffers in the EJ1 EtherCAT Slave Unit from the com munications master you can send control commands to control the EJ1 EtherCAT Slave Unit and then receive the response back for those commands To do this user programming is used to per form handshaking and to send and receive data 5 2 EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 2 How
94. ce that is designed to provide compatibility with Ether CAT devices The CAN application protocol is an open network standard M9IAJ9AQ SUOHEIUNWIWOD 1v23Jeuj3 z e The following figure shows how the CoE is structured for an EtherCAT Slave Unit EtherCAT Slave Unit Application layer Slave application Object dictionary Transitions of SDO mailbox PDO mappings communicatione statas PDO communications cyclic DI ss data il FMMU EtherCAT data link layer EtherCAT physical layer The objects in the object dictionary for the CAN application protocol are broadly divided into PDOs pro cess data objects and SDOs service data objects 309 1v249ui3 1e o 0901044 uoneoiddy NYO Jo eanpnas L Z PDOs are contained in the object dictionary The PDOs can be mapped in the object dictionary The process data is defined by the PDO mappings PDOs are used in PDO communications for periodic exchange of process data SDOs are the objects that can be read and written SDOs are used in non periodic SDO communica tions event driven message communications If you use the CoE interface to set the object dictionary for PDOs and SDOs you can provide EtherCAT devices with the same device profiles as the CAN application protocol EJ1 EtherCAT Slave Unit User s Manual H192 3 5 3 Part Names and EtherCAT Communications Overview 3 2 2 EtherCAT Slave Information File ESI Files The setting info
95. char N A N A Version STRING P acter 20 hex 100A hex Software Ver RO VISIBLE 1 00 padded N A N A sion STRING with 15 spaces character 20 hex 1018 hex ID Informa Possi o tion ud ux oc ble 00 Number of RO UNSIGNED8 04 hex N A Entries X ES 01 Vendor ID RO UNSIGNED32 00000083 hex N A 02 ProductCode RO UNSIGNED32 000000C0 hex N A 03 Revision RO UNSIGNED32 0001 0000 hex N A 04 Serial Num RO UNSIGNED32 Set to a unique N A ber value for each Unit by default 10E0 hex Reload Node N A dd Address B a pi 00 Number of RO UNSIGNED8 03 hex 03 hex N A Entries 01 Configured RW UNSIGNED16 0000 hex to 0000 hex N A Station Alias FFFF hex Register Value 03 ID Selector RW UNSIGNED416 0000 hex to 0000 hex N A Validation FFFF hex 10 1 EtherCAT Slave Unit User s Manual H192 Appendices A 3 4 PDO Mapping Objects The following table lists the PDO mapping objects for the EJ1 EtherCAT Slave Unit PDO Mapping Objects Output Notification Data PDO mapping Access N A Not map index Sub RO pable Com index Objectname Read only Data Type Data range Initial value R RxPDO plete hex hex RW mappable access Read write T TxPDO map pable 1700 hex 257 receive Possi PDO Map ble ping 0
96. ddress setting is 00 hex ADR x16 x1 14 Precautions for Correct Use Make sure that the power supply to the EJ1 EtherCAT Slave Unit is OFF before manipulating the switches The setting is enabled when the power supply is turned ON e Set the switches with a small flat blade screwdriver Do not set the switches midway between two settings 3 1 4 EtherCAT Communications Connectors The following standards and specifications apply to the connectors for the Ethernet twisted pair cable Connect EtherCAT network communications cables to the communications connectors There are two connectors one for the IN input port and one for the OUT output port The specifications of the EtherCAT connectors are as follows Electrical specifications Conforming to IEEE 802 3 standards Connector structure RJ45 8 pin Modular Connector conforming to ISO 8877 For detailed wiring methods refer to 4 2 EtherCAT Network Wiring on page 4 3 EJ1 EtherCAT Slave Unit User s Manual H192 3 Part Names and EtherCAT Communications Overview 3 2 EtherCAT Communications Overview This section provides an overview of EtherCAT communications 3 2 1 Structure of CAN Application Protocol over EtherCAT CoE EtherCAT allows the use of multiple protocols for communications However the EtherCAT Slave Unit uses the CAN application protocol over EtherCAT CoE as the device profile for the CAN application protocol The CoE is a communications interfa
97. deed 7 7 Final Data Reception Flag 5 12 5 13 final send data 5 9 G GB ZA m 1 4 1 2 Init Swaine ae Re ee Se Et 3 7 inp t data ciA atit gere ete 5 11 input data length 5 11 input data type 5 11 5 13 input notification data 5 7 5 10 input SID lee ees 5 10 input SID response esee 5 8 input sub info rerit ree 5 11 Intermediate Data Reception Flag 5 13 Intermediate send data 5 9 N node address setting 3 4 OP gt 3 7 Operational 3 7 output data 21 4 2 1 2 5 9 output data and input data contents 5 25 Output data type 5 8 5 9 output notification data 5 7 5 8 output SID ania En et dde 5 8 output SID response see 5 11 P 5e pte teta iecit esie ines 3 8 PDO COMMUNICATIONS
98. e and inspection Use this manual together with the NJ NX series CPU Unit Software User s Manual Cat No W501 W501 NX701 NJ NX series CPU Learning how to program and The following information is provided on NJ501 Unit Software set up an NJ NX series CPU an NJ NX series CPU Unit NJ301 User s Manual Unit CPU Unit operation Mainly software information is gt CPU Unit features NJ101 provided Initial settings Use this manual together with IEC 61131 3 based programming language specifications and the NJ series CPU Unit Hardware User s Manual Cat No W500 W502 NX701 NJ NX series Learning detailed specifica The instructions in the instruction set IEC NJ501 Instructions Refer tions on the basic instructions 61131 3 specifications are described NJ301 ence Manual of an NJ NX series CPU Unit When programming use this manual NJ101 together with the NJ series CPU Unit x Hardware User s Manual Cat No W500 and NJ NX series CPU Unit Software User s Manual Cat No W501 W504 SYSMAC SE2 Sysmac Studio Ver Learning about the operating Describes the operating procedures of sion 1 Operation Manual procedures and functions of the Sysmac Studio G3ZA Multi channel Power Controllers Cat No Z200 Model number G3ZA 4H203 FLK UTU G3ZA 4H403 FLK UTU G3ZA 8A203 FLK UTU G3ZA 8A403 FLK UTU Manual name G3ZA Multi chan nel Power Control ler User s Manual Application PLC
99. es used by the EJ1 EtherCAT Slave Unit E ee RE Error name Meaning Possible correction FF01 hex EJ1 Bus Communica An EJ1 bus communications error If this error occurs irregu tions Error occurred due to noise or other cause larly implement noise countermeasures FF02 hex BCC Error The BCC check on the response If this error occurs irregu received from the Basic Units failed larly implement noise The data received from the Basic countermeasures Units will be discarded If the error still occurs replace the Basic Unit Emergency error codes allow you to isolate the causes of errors Emergency messages cannot be sent while there is an EtherCAT communications error Refer to Event Code List on page 7 7 for details on event codes 7 8 EJ1 EtherCAT Slave Unit User s Manual H192 7 Troubleshooting 7 5 Error Notifications Based on the AL Status This section describes how the communications master is notified of the AL status an error status related to EtherCAT communications When an error related to EtherCAT communications occurs the AL status code is written to the AL sta tus register in the EJ1 EtherCAT Slave Unit This allows the communications master to detect errors related to EtherCAT communications with the EJ1 EtherCAT Slave Unit If an AL status error occurs in the EJ1 EtherCAT Slave Unit it is detected as a Slave Application Error event code 8428 0000 hex in an NJ NX series CPU Unit When th
100. f Output Data in the Out Size of Input Data in the Input put Notification Data Notification Data Case 1 Giving priority to Compo The Output Data size must be The Input Data size must be larger Way F communications larger than the maximum size of than the maximum size of the data As a result the PDO the data from the communications from the communications unit num T mapping sizes will be unit number to the FINS mini ber to the FINS mini response text Fe larger and the process command text in any Compo in any CompoWay F response that 5 data cycle will be longer Way F command that is used is used in Case 2 Giving priority to commu The Output Data size must be The Input Data size must be larger nications for frequently larger than the maximum size of than the maximum size of the data 3 used CompoWay F com the data from the communications from the communications unit num mands unit number to the FINS mini ber to the FINS mini response text It must be acceptable that command text in frequently used in frequently used CompoWay F less frequently used CompoWay F commands responses 3 CompoWay F commands CompoWay F commands or CompoWay F responses that do not meet 9 are slower the above conditions must be divided into parts to be sent and received with user programming Case 3 Giving priority to the First determine the PDO mapping sizes to obtain a satisfactory target cess data cycle process data cycle
101. her manufacturer The node address set with the configura tion tool is used The address set on the switches is 00 is used Default setting 0 Setting range 1 to 65 535 01 to 99 Address set on node address switches is used EJ1 EtherCAT Slave Unit User s Manual H192 ignored suonouny pue Hed L E sBulueey Z L 3 Part Names and EtherCAT Communications Overview H Precautions for Correct Use The setting on the node address switches is read only once when the power supply 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 the power supply is turned ON When an NJ NX series CPU Unit is used an error will occur and operation will stop if the same node address is set for more than one slave When an NJ NX series CPU Unit is used and you set the node address switches to 00 the EJ1 EtherCAT Slave Unit will not operate if the node address setting from the configuration tool is not changed from 0 Be sure to use the configuration tool to change the node address to a value between 1 and 65 535 Setting the EtherCAT Node Address Use the two hexadecimal rotary switches to set the first digit x169 and second digit x16 of the EtherCAT node address for the EJ1 EtherCAT Slave Unit You can set the address to any value between 00 and FF hex 0 to 255 decimal Note The default a
102. ication Data is not received When the Input Notification Data is received the Input SID Response the Output Notification Data is set to the value of the Input SID incremented previous value 1 in step 1 4 If the Input SID Response is 00 hex and Restart Port is executed a Restart Port control command response is returned immediately so the input SID will be 01 hex 5 How to Use Output SID Responses in User Programming Perform the following processing in user programming If the received Output SID Response matches the previously incremented Output SID it means that the EJ1 EtherCAT Slave Unit received the sent data EJ1 EtherCAT Slave Unit User s Manual H192 spie3eg Buiddew Odd S Uasen 0 1v24eui3 1 uoneoynoN ndul Z p S 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Port Status The port status provides information on the communications state as given in the following table Bit posi tion 00 I O port name Send Data Exist Parameter name Send Data Exists Flag Function Indicates whether Com poWay F command data exists in the EJ1 EtherCAT Slave Unit send buffer After all of the Compo Way F command is sent to the Basic Unit the value changes to 0 OFF Value 0 There is no data in the send buffer 1 There is data in the send buffer 0 Default 01 Send Completed Toggle Bit Send
103. int thinner or benzene or chemical wipes to clean the Unit These substances may deteriorate the surface coating of the EJ1 EtherCAT Slave Unit 8 1 2 Inspection Methods Perform regular inspections to maintain optimal operating conditions In general inspect the system once every 6 to 12 months but inspect more frequently if the system is used in hot humid or dusty conditions Equipment Required for Inspection Prepare the following equipment for inspection Regularly Required Items Flat blade and Phillips screwdrivers A screwdriver for connecting communications connectors A voltage tester or digital voltmeter Industrial alcohol and pure cotton cloth Equipment Required Occasionally Synchroscope Pen writing oscilloscope Thermometer and hygrometer humidity meter 8 2 EJ1 EtherCAT Slave Unit User s Manual H192 8 Maintenance and Inspection 8 1 3 Inspection Items Check the items in the following table for any condition that does not meet the criteria Adjust the EJ1 EtherCAT Slave Unit or improve the operating environment to correct the situation if any of the following criteria is not met Inspection Item Inspection details Criteria Inspection method Environmental Are the ambient and cabinet tempera 10 to 55 C Thermometer conditions tures correct Are the ambient and cabinet humidities 25 to 85 Hygrometer correct Has dust or dirt accumulated No dust or dirt
104. ion and Definitions for Precautionary Information snl rtc E amp 5 tenen Precautions for Safe Use eese Precautions for Correct Use eese Preparations for Use eueeeeeeeeeciiesseseeeseeeeeenn nennen nnn Regulations and Standards Conformance to EU Directives NJ NX series Master Units enne nnn nnn nnn nnns G3ZA Multi channel Power Controllers cccccccccceceeececeessesseceeeeceeeeseaaueeaeeeeeeeeeenaeeas G3PW Power Controllers cccccccccccccessseseecececceceeeecueausesececeeceeeeaeauseaseeeseeeeeeeseeaeanengss Meanings of Abbreviations and Sections in this Manual CONTENTS a Section 1 Features and System Configuration 1 1 Overview and Features 151 1 OVervie Ws iusso oppo 121 2 ne Eee ea e o ee eene e e vendes 1 2 System Configuration cccccccceeeeeceeeeeeceeseeeeseeeeeeeeeseeeeeseeesseeeseeeesseeeseeneesenees 1 3 Unit Models and
105. is event code error is detected place the Sysmac Studio online with the NJ NX series CPU Unit The following AL status codes are stored in Sub Info 1 under Slave Application Error in the event log AL status codes allow you to isolate the causes of errors AL Status Code List The following table provides details on and corrections for the AL status error codes used by the EJ1 EtherCAT Slave Unit snjejs TV uo peseg 10113 G Z BE SEIS Name Cause Possible correction code 0011 hex Illegal State An incorrect state transition request Change the state correctly Transition was received Request Received 7 0012 hex Error State An unclear state transition request Change the state correctly Transition was received Received 0014 hex Slave Unit Ver The non volatile memory for SII back Cycle the power supply If the error still ification Error ups does not match the information in occurs replace the Unit the SII VendorlD ProductCode Revi sionNo and Serial No 0016 hex Mailbox Set An incorrect mailbox setting was Correct the settings and then down ting Error detected for the Sync Manager load the settings to the communications master again 001B hex Process Data A timeout was detected for an I O Review the following items and restart WDT Error data send frame the slave based on the specifications of the connected communications master Wire the EtherCAT communications cable c
106. lave Unit with PDO Communi cations EJ1 PDO Communications Overview 5 2 How Data Is Sent and Received with PDO Communications 5 3 5 2 1 CompoWay F Commands and Responses sss eene nne 5 3 5 2 2 Control Commands and 2 2 22 5 5 PDO Mapping Data Overview 5 6 5 3 1 Types of PDO Mapping Data n rre 5 6 5 3 2 PDO Mapping Data List ces rie eee ten ei eer rue EU ree ETE dece TR ee pede ede 5 7 PDO Mapping Data Details 5 fein enun 5 8 5 4 1 Output Notification Data Communications Master to EJ1 EtherCAT Slave Unit 5 8 5 4 2 Input Notification Data EJ1 EtherCAT Slave Unit to Communications Master 5 10 5 4 3 Sysmac Error Status perite ine en eco du cba Reed esce oc 5 14 Writing User Programming nire rrt tere enn nennen 5 15 5 5 1 Handshaking with the EJ1 EtherCAT Slave Unit with User 5 15 5 5 2 Handshaking with the EJ1 EtherCAT Slave Unit with User 5 16 5 5 3 Procedures for Sending Control Commands and Receivi
107. lculation range EJ1 EtherCAT Slave Unit User s Manual H192 5 25 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Frame element STX Not included in the Output Data or the Input Data Command Response This code designates the beginning of the communications frame The EJ1 EtherCAT Slave Unit The response data is returned adds the STX automatically with the STX automatically With the EJ1 EtherCAT Slave removed Unit you do not need to send the STX from the communi cations master Text Included in the Output Data or the Input Data Communications unit number Set the communications unit number that is set on switches SW1 and SW2 on the Basic Unit Specify XX as the communications unit number for broadcasting No response is returned for broadcasting No response is returned for any communications unit number other than the above one Sub address The sub address is not used with the EJ1 EtherCAT Slave Unit Always set it to 3030 hex The SID is not used with the SID EJ1 EtherCAT Slave Unit Always set it to 30 hex End code The code is stored FINS mini command text This is the command FINS mini response text This is the response ETX Not included in the Output Data or the Input Data This code designates the end of the communications frame The EJ1 EtherCAT Slave Unit The response data is returned adds the ETX a
108. lete con response Sysmac nection 7 received from Error Sta between the thie tus EJ1 EtherCAT Units failed PAS Observa Slave Unit and The data A a the Basic Units erate received from Correction the Basic Units will be Install the Units discarded properly 1 This error is detected as a Slave Initialization Error event code 84230000 hex or a Process Data Communications Error event code 842C 0000 hex in an NJ NX series CPU Unit 2 If this type of error occurs the user is unable to determine the type of error because EtherCAT communications will be unusable 3 In an NJ NX series CPU Unit this error is detected as a Sysmac Error Status Note The meanings for the symbols in the Detection state column above are as follows I Init state P During transition from Init state to Pre Op state P Pre Op state P S During transition from Pre Op state to Safe Op state S Safe Op state S During transition from Safe Op to Op state Op state and Undefined SseooJgd eJe gos e sJ0J3 Z Z EJ1 EtherCAT Slave Unit User s Manual H192 7 5 7 Troubleshooting 7 3 Error Notifications Based on the Sys mac Error Status 7 3 1 This section describes how the communications master is notified of a Sysmac Error Status Sysmac Error Status The Sysmac Error Status is assigned to a TxPDO to provide cyclic notifications of the level of cu
109. ly status m Not lit No power is supplied to the Unit RUN Operating Green Lit Operational state status Single flash Safe Operational state Flashing Pre Operational state Not lit Init state ERR Error status Red Lit Error detected during boot process Error detected during Unit process Double flash A process data WDT error occurred Flashing An EtherCAT communications error other than a pro cess data WDT error occurred Not lit No error L A IN EtherCAT IN Green Lit A link was established in the physical layer port Flickering A link was established and output communications are in operation Not lit A link was not established in the physical layer L A OUT EtherCAT Green Lit A link was established in the physical layer OUT port Flickering A link was established and output communications are in operation Not lit A link was not established in the physical layer 1 It will take a few moments until the indicators light after the power supply to the Unit is turned ON 3 1 3 Node Address Setting Switches The front panel rotary switches are used to set the node address of the EJ1 EtherCAT Slave Unit There is a difference in setting the node addresses between an OMRON EtherCAT master and one made by another manufacturer Setting on node address switches Node address OMRON NJ501 1 100 or CJ1W NCT 182 EtherCAT Master Unit The node address set with the configuration tool EtherCAT master from anot
110. nd network con nection information of the connected EJ1 EtherCAT Slave Units The following figure shows the communications state transitions from when the power supply is turned ON Power supply ON Initialization Pre Operational Safe Operational Operational M9IAJ9AQ SUOHEIUNWIWOD 1v23Jeuj3 z e v249u13 10 suonisueJ ejelS z e SDO E 5 State communi Sending Description PDOs ing PDOs cations Initialization Init Not possi Not possi Not possi Communications are being initialized Communica ble ble ble tions are not possible Pre Operational Possible Not possi Not possi Only SDO communications message communica Pre Op ble ble tions are possible in this state This state is entered after initialization is completed It is used to initialize network settings Safe Operational Possible Possible Not possi In this state you can use both SDO communica Safe Op ble tions message communications and send PDOs from the Slave Unit You can send PDOs to send status and other infor mation from the EJ1 EtherCAT Slave Unit Operational Op Possible Possible Possible This is the normal state for communications PDO communications are used to control the I O data EJ1 EtherCAT Slave Unit User s Manual H192 3 7 3 Part Names and EtherCAT Communications Overview 3 2 4 Process Data Objects PDOs
111. nfiguration Installation and wiring Troubleshooting H142 EJ1N TC2 EJ1 Modular Tem Learning the basic specifica The following information is provided on EJ1N TC4 perature Control tions of the EJ1 Temperature the EJ1 Temperature Controllers EJ1C EDU lers User s Manual Controllers including intro Overview and features ductory information design p System configuration ing installation and 2 maintenance Mounting and wiring Troubleshooting EST2 2C MV4 CX Thermo Ver Learning the operating proce Describes how to set parameters and Online Help 4 0 online help dures of the CX Thermo adjust devices i e components such as NJ NX series Master Units Temperature Controllers using the CX Thermo Cat No Model number Manual name Application Description W505 NX701 NJ NX series CPU Using the built in EtherCAT Information on the built in EtherCAT port NJ501 Unit Built in Ether port on an NJ NX series CPU is provided NJ301 CAT Port Users Unit This manual provides an introduction and Manual information on the configuration features NJ101 and setup Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and NJ NX series CPU Unit Software User s Manual Cat No W501 W500 NJ501 NJ series CPU Unit Learning the basic
112. ng Responses 5 17 Example Procedures for Sending CompoWay F Commands and Receiving 5 18 5 6 1 Example of Sending and Receiving Data without Dividing into 5 18 5 6 2 Example of Sending and Receiving Data in 5 21 Setting CompoWay F nn nent nn nien n nnn n nnne nn 5 25 5 7 1 Output Data and Input Data Contents ssssssssseeene eene nennen 5 25 5 7 2 Storing Output Data and Input Data in Array Variables 5 27 5 7 3 Setting the PDO Mappings for I O Data eme emen 5 28 Assigning Device Variables 5 5 rape dte 5 32 EJ1 EtherCAT Slave Unit User s Manual H192 19 CONTENTS Section 6 Using the EJ1 EtherCAT Slave Unit with SDO Communi cations NE OTI EE 6 2 6 2 Abort Codes iei eT ree EL ID Hee 6 3 Section 7 Troubleshooting 7 1 Error Notification Methods esee 7 2 re uode E A E A 7 3 7 2 1 Errors Detected during Boot Process sssssssssssssssssseeeeee eene nennen nnne nennen 7 3 7 2 2 EtherCAT Communications Errors ssesessseeee eee nnne errem 7 4 7 2 3 Errors Detected during
113. nit that the Output Notification Data was updated If the received Output SID Response matches the value of the Output SID sent in step 2 above it means that the EJ1 EtherCAT Slave Unit received the sent data If the Send Completed Toggle Bit in the Port Status was changed it means that the Compo Way F command was successfully sent to the Basic Unit Check the value of the Input SID If the Input SID was incremented 1 from its previous value it has an initial value of 00 hex check the Input Data Type If the Receive Data Error Flag is ON a BCC error or EJ1 bus communications error occurred Check the Port Status for error details If the Intermediate Data Reception Flag or Final Data Reception Flag is ON it means that the Input Notification Data was updated and the Input Data is read If the Input Data Type is 2000 hex the data received from the Basic Unit is the final data If the Input Data Type is 1000 hex the data received from the Basic Unit is not the final data and is considered to be intermediate data i e there is still more data to receive Repeat steps 5 and 6 for the next data reception Set the Input SID Response to the Input SID from step 5 above to notify the EJ1 EtherCAT Slave Unit that the Input Notification Data was received If the Receive Data Exists Flag in the Port Status is 0 OFF the data was received EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with P
114. nnection 4 3 Wiring the Temperature Controllers Refer to the EJ1 Modular Temperature Controllers User s Manual Cat No H142 for information on wiring the Temperature Controllers Complying with Safety Standards The power supply terminals must be supplied from a SELV limited current source A SELV sepa rated extra low voltage source is a power supply having double or reinforced insulation between the primary and the secondary circuits and having an output voltage of 30 V r m s max and 42 4 V peak max or 60 VDC max Recommended power supply S8VM Series or S8VS Series both manufactured by OMRON Select a Power Supply with a capacity that is suitable for the application conditions To comply with the EN 61326 Class A noise terminal voltage standard insert a noise filter TDK s RSMN2006 or the equivalent on the DC line as close as possible to Temperature Controller SJ9 0 3u02 ainyesodwiay eu p EJ1 EtherCAT Slave Unit User s Manual H192 4 5 4 Installation and Connection EJ1 EtherCAT Slave Unit User s Manual H192 Using the EJ1 EtherCAT Slave Unit with PDO Communications This section describes how to send data to and receive data from the EJ1 EtherCAT Slave Unit by using PDO communications from the communications master 5 1 5 2 5 3 5 6 5 7 5 8 EJ1 PDO Communications 5 2 How Data Is Sent and Received with PDO Communicatio
115. no control command response 0 c Flag mand 1 There is a control command response 2 Response z Flag 10 to 11 Reserved Reserved area Always 0 0 12 Receive Data Flag Intermediate 1 There is Intermediate When both bits are 0 3 Data Recep Receive Data from the O OFF There is no tion Flag 1 Basic Unit received data from o 13 Receive Last Data Final Data 1 There is Final the Basic Unit 0 S Flag Reception Receive Data fromthe Note Both of 5 Flag Basic Unit these bits cannot be 1 ON at the same time 14 Reserved Reserved area Always 0 0 EJ1 EtherCAT Slave Unit User s Manual H192 5 13 ejeg Buiddew Odd 9 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Bi i P it I O port name arameter Value Default tion name 15 Receive Data Error Receive Data 0 No error 0 Flag ErrorFlag 1 There is an error This flag resets to O no errors when a correct response is received 1 The Final Data Reception Flag changes to 1 ON when the response to the received CompoWay F command is the final data The Final Data Reception Flag will always be 1 ON for responses that do not require division into smaller parts If a response must be divided into smaller parts the Intermediate Data Reception Flag changes to 1 ON for intermediate data and the Final Data Reception Flag changes to 1 ON for the final data 2 If an error occurs during the
116. ns 5 3 5 2 1 CompoWay F Commands and 5 3 5 2 2 Control Commands and Responses 5 5 PDO Mapping Data Overview 5 6 5 3 1 Types of PDO Mapping Data 5 6 5 3 2 PDO Mapping Data List 0 5 7 PDO Mapping Data Details 5 8 5 4 1 Output Notification Data Communications Master to EJ1 EtherCAT Slave Unit 5 8 5 4 2 Input Notification Data EJ1 EtherCAT Slave Unit to Communications Master 5 10 5 4 3 Sysmac Error Status 00 0000 tee 5 14 Writing User Programming 5 15 5 5 1 Handshaking with the EJ1 EtherCAT Slave Unit with User Programming 5 15 5 5 2 with the EJ1 EtherCAT Slave Unit with User Programming 5 16 5 5 3 Procedures for Sending Control Commands and Receiving Responses 5 17 Example Procedures for Sending CompoWay F Commands and Receiving RESPONSES i DUM 5 18 5 6 1 Example of Sending and Receiving Data without Dividing into Parts 5 18 5 6 2 Example of Sending and Receiving Data in Parts 5 21 Setting CompoWay F Frames 5 25 5 7 1 Output Data and Input Data Contents 5 25 5 7 2 Storing Output Data and Input Data in Arr
117. ns for Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of the EJ1 EtherCAT Slave Unit The safety precautions that are provided here are extremely important to safety Always read and heed information provided in all safety precautions The following notation is used Definitions of Warning and Caution Indicates a potentially hazardous situation which if not avoided is likely to result in slight or moderate injury or WAR N N G occasionally death or serious injury And serious prop erty damage may occur as well Indicates a potentially hazardous situation which if not CA U T N avoided is likely to result in minor or moderate injury or property damage Symbols Symbol Meaning General Caution Indicates non specific general cautions warnings and dangers Cauti did Electrical Shock Caution Indicates possibility of electric shock under specific conditions General Prohibition Indicates non specific general prohibitions Prohibition ra Disassembly Prohibition NY Indicates prohibitions when there is a possibility of injury such as CK from electric shock as the result of disassembly General Caution Mandatory o Indicates non specific general cautions warnings and dangers Caution 4 EJ1 EtherCAT Slave Unit User s Manual H192 Safety Precautions Warnings and Cautions AN WARNING
118. ntroller Event Log Tab Page Refer to Event Code List on page 7 7 for details on event codes For non OMRON masters you can check the current error details by reading data from the objects at indexes 2003 hex and 2004 hex For details refer to A 3 6 Manufacturer specific Object 1 on page A 15 under A 3 CoE Objects on page A 9 Event Code List The events that occur in the EJ1 EtherCAT Slave Unit are listed below The following abbreviations are used in the Level column Abbreviation Name Maj Major fault level Prt Partial fault level Min Minor fault level Obs Observation Info Information Symbol Name Y Event levels that are defined by the system Event Assumed Level Event code Dae Meaning MA Correction Maj Pt Min Obs Info 08300000 hex EJ1Bus An EJ1 bus com A problem such If this error Y Commu munications error as noise occurs nications occurred due to caused one of irregularly Error noise or other the following implement cause communica noise tions errors on counter the EJ1 bus measures Parity Error Framing Error Overrun Error or Noise Error 08310000 hex BCC The BCC check An error If this error Y Error failed on the Com occurred in the occurs poWay F response CompoWay F irregularly received from the due to a implement Basic Units Basic Unit error noise The data received Or some other counter from the Basic problem such measu
119. o to step If the received data is not the final data go to step Processing after error Processing after normal end ejdues z v gt sesuodsey pue 4 Aejjodwoy zZ z v Appendices A 2 3 Restart Port This programming sample restarts a port Restarting a port is used to clear the send and receive buffers and the Input SID of EJ1 EtherCAT Slave Unit when resuming operation of the EtherCAT master controller after it has been paused during a CompoWay F command send or receive operation 7 2 3 4 5 6 7 8 CASE state OF 0 Initialization state 10 10 Request control command execution outSid nextSid E001_Output_SID_Response E001 Output SID outSid E001 Output Data Type 21620101 PORT RESTART E001 Output Data Length 0 state 20 20 Confirm that the control command execution request was sent IF E001 Output SID Response outSid THEN state 30 END_IF 30 Confirm that the the port was restarted IF E001_Input_SID 0 AND E001_Input_SID_Response lt gt 0 THEN E001_Input_SID_Response 0 state 40 END_IF IF E001_Input_SID 1 AND E001_Input_SID_Response 0 THEN state 40 END_IF 40 Receive the control command response IF E001_Input_SID 1 AND E001_Input_Data_Type 16 0201 THEN E001_Input_SID_Response 1 state 50 END_IF 50 Normal end END_CASE Olnitial processing Request execution
120. objects that munications cannot be assigned to PDO mappings Modulation Baseband Baud rate 100 Mbps Physical layer 100BASE TX Topology Daisy chain T junction Communications media STP category 5 or higher Communications distance Distance between nodes 100 m or less Noise immunity Conforms to IEC 61000 4 4 1 kV or higher PDO size The following process data can be allocated as required Input received by commu nications master Input Notification 10 4 x n bytes n 1 2 3 20 Data where n is the number of input data items default 5 The input data size is between 4 and 80 bytes default 20 bytes The input data size can be changed by editing the PDO mappings Sysmac Error Status 1 byte Output sent by communi cations master Output Notifica 8 4 x m bytes m 7 1 2 3 20 tion Data where m is the number of output data items default 5 The output data size is between 4 and 80 bytes default 20 bytes The output data size can be changed by editing the PDO mappings Address range 0 to 255 Based on the two rotary switches on the front panel 0 to 65 535 Based on software settings 1 2 1 The addresses that you can set in the software settings depend on the EtherCAT master that you use For example 1 to 192 for an NJ series CPU Unit or 1 to 512 for an NX series CPU Unit 2 Use the EtherCAT master s configuration tool to configure the s
121. of the control command Calculate next Output SID Set the Output SID Set the Restart Port command Set Output Data Length Go to step G Confirm that the control command execution request was sent If the Output SID Response is updated go to step Confirm that the Restart Port command was executed If the Input SID is 0 when the Input SID Response is not 0 update the Input SID Response Go to step If the Input SID is 1 when the Input SID Response is 0 go to step GReceive the Control Command Response When the Control Command Response is received update the Input SID Response go to step Processing after normal end EJ1 EtherCAT Slave Unit User s Manual H192 A 3 CoE Objects Appendices This section describes the CoE objects that are implemented by the EJ1 EtherCAT Slave Unit A 3 1 Object Dictionary Area CAN application protocol over EtherCAT CoE is based on the object dictionary for the CAN applica tion protocol All objects are assigned 4 digit hexadecimal indexes The objects are structured in the fol lowing areas Index Area Description 0000 hex to OFFF hex Data Type Area This area contains the data type definitions 1000 hex to 1FFF hex CoE Communications Area The objects in this area are defined for use by all servers that perform specialized communica tions PDO mapping objects 2000 hex to 2FFF hex Manufacturer specific Area 1 The objec
122. oftware set tings For example use the Sysmac Studio if using an NJ series CPU Unit or NX series CPU Unit Address setting method Set on the hexadecimal rotary switches or in the software settings Indicators L A RUN and ERR Cycle Time FreeRun Message protocol EJ1 EtherCAT Slave Unit User s Manual H192 CoE suoneoyioeds suoneoiioeds suoneoiunuiuo e e S 1v2Jeul3 L z 2 Specifications and Procedures 2 2 Application Procedures 2 2 1 Step This section provides the procedures to use the EJ1 EtherCAT Slave Unit The hardware and setup procedures are given separately Item Connect the EJ1 Eth erCAT Slave Unit and the Basic Units Hardware Setup Procedure Description Place the EJ1 EtherCAT Slave Unit on the far left connect up to 15 Basic Units on the right of it and connect an End Unit on the far right Reference Section 1 Features and System Configu ration Section 4 Installation and Connection 2 Mount the con Mount the connected Units to a DIN Rail To ensure secure mount Section 4 Installation nected Units to a DIN ing always attach an End Plate to each end and Connection Rail 3 If you use distributed If you use a multiblock configuration for the Basic Units con EJ1 Modular Tempera placement or connect nected to the EJ1 EtherCAT Slave Unit connect an RS 485 com ture Controllers User s to multiple
123. on and Connection 4 1 Installing the EJ1 EtherCAT Slave Unit This section describes how to connect the EJ1 EtherCAT Slave Unit to an EJ1 system Connect the Basic Units on the right side of the EJ1 EtherCAT Slave Unit Connect the End Unit to the right end 1 Align the connectors and connect the Units to each other 2 The yellow sliders at the top and bottom of each Unit lock the Units together Move the sliders until they click into place 3 Mount the EJ1 EtherCAT Slave Unit and Basic Units to a DIN Rail Use screws to attach the DIN Rail to the control panel in at least three places H Precautions for Correct Use If you use distributed placement connect the End Units of all of the blocks to each other with RS 485 communications cables If you use distributed placement connect ports B on all of the End Units to each other If you connect to anything other than ports B on the End Units the EJ1 EtherCAT Slave Unit may not operate correctly Refer to the EJ1 Modular Temperature Controllers User s Manual Cat No H142 for information on how to mount Units to a DIN Rail EJ1 EtherCAT Slave Unit User s Manual H192 4 Installation and Connection 4 2 EtherCAT Network Wiring This section describes how to install an EtherCAT network 4 2 1 Installation Precautions Basic precautions for the installation of EtherCAT networks are provided below Precautions when Installing a Network When you install an EtherCAT net
124. or Notifications Pro messages application level errors EJ1 EtherCAT Slave Unit vided with Emergency Mes The error code contains the notifies the communica sages on page 7 8 CiA defined error code as well as an tions master additional error code in the ven dor specific area AL status This status reports errors related to When an error occurs the 7 5 Error Notifications EtherCAT communications The error is written to the AL Based on the AL Status on ETG defined method is used for the status register to notify the page 7 9 error detection and error code communications master Precautions for Correct Use Refer to the EJ1 Modular Temperature Controllers User s Manual Cat No H142 for informa tion on errors that occur in the Basic Units EJ1 EtherCAT Slave Unit User s Manual H192 7 2 Error List 7 Troubleshooting This section provides a list of errors that can occur in the EJ1 EtherCAT Slave Unit 7 2 1 Errors Detected during Boot Process Indicators Operation Master notified Error name Description tion EUM pup AL status EISE Event Possible SE state RUN ERR Susan 12045 code gency NAR rection tion tion code ESC Error An error Lit Stops in Init Init No No No If this error is 1 2 occurred lit state not cleared the EtherCAT when the power slave commu supply to the nications con Unit is cycled troller there is a Unit hardware fail ure Replace the Unit
125. orrectly Check to see if the EtherCAT com munications cable is exposed to excessive noise 001D hex RxPDO Set An error was detected in the RXPDO Correct the settings and then down ting Error settings load the settings to the communications master again 001E hex TxPDO Set An error was detected in the TxPDO Correct the settings and then down ting Error settings load the settings to the communications master again EJ1 EtherCAT Slave Unit User s Manual H192 7 9 7 Troubleshooting Bias Name Cause Possible correction code 001F hex PDO WDT An incorrect PDO WDT setting was Correct the settings and then down Setting Error detected load the settings to the communications master again 0021 hex Init State Tran The slave sent a request to the Ether Set the Slave Unit to Init state and then sition Request CAT master to change to the Init state resume communications 0024 hex TxPDO Map An illegal TxPDO was set Correct the settings and then down ping Error An incorrect TXPDO was set e g load the settings to the communications the index subindex or size was master again outside of the allowable range 0025 hex RxPDO Map An illegal RXPDO was set Correct the settings and then down ping Error An incorrect RxPDO was set e g loadthe settings to the communications the index subindex or size was master again outside of the allowable range EJ1 EtherCAT Slave Unit
126. otect the product EJ1 EtherCAT Slave Unit User s Manual H192 Regulations and Standards Regulations and Standards Conformance to EU Directives Applicable Directives EMC Directives Concepts EMC Directives OMRON devices that comply with EU 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 stan dards in the system used by the customer however must be checked by the customer EMC related performance of the OMRON devices that comply with EU 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 Conformance to EU Directives To ensure that the machine or device in which the EJ series Unit is used complies with EU Direc tives the Unit must be installed as follows The EJ1 EtherCAT Slave Unit must be installed within a control panel You must use reinforced insulation or double insulation for the DC power supplies used for the communications power supply internal power supply and I O power supplies EJ series Units that comply with EU Directives also conform to the Common Emission Standard E
127. products in only a specified configuration Mount the product to a DIN Rail mounted vertically to the ground Make sure that the data transfer distance for EtherCAT is within the specified range and use the specified cables only Do not bend a communications cable past its natural bending radius or pull in it with excessive force Also do not place heavy objects on top of the cables or other wiring lines Doing so may break the cable When transporting any Unit use the special packing box for it Also do not subject the Unit to exces sive vibration or shock during transportation Do not drop any Unit or subject it to abnormal vibration or shock Doing so may result in Unit malfunc tion or burning Be sure that connectors with locking devices are properly locked into place When wiring or installing the Units do not allow metal fragments to enter the Units Double check all switches and other settings and double check all wiring to make sure that they are correct before turning ON the power supply Use the correct wiring parts and tools when you wire the system Always turn OFF the external power supply to the Units before attempting any of the following Mounting removing or replacing the Unit Setting the rotary switches EJ1 EtherCAT Slave Unit User s Manual H192 Precautions for Safe Use Connecting cables wiring or changing the configuration If you change the fail soft operation setting the output status when the
128. quential data set 5 5 1 Handshaking with the EJ1 EtherCAT Slave Unit with User Pro gramming G G Create user programming based following procedure 1 Increment the Output SID to notify the EJ1 EtherCAT Slave Unit that the Output Notification Data was updated Check whether the Output SID Response matches the above Output SID to confirm that the EJ1 EtherCAT Slave Unit received the Output Notification Data successfully 3 See if the Input SID was incremented to confirm when the Input Notification Data is updated Set the Input SID Response to the above Input SID to notify the EJ1 EtherCAT Slave Unit that the Input Notification Data was received BuwesBolg YPM PUN 1v249U13 1 eui ym 6 6 EJ1 EtherCAT Slave Unit User s Manual H192 5 15 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 5 2 Handshaking with the EJ1 EtherCAT Slave Unit with User Pro gramming Create user programming based on the following procedure when you send a CompoWay F command receive a CompoWay F response and perform handshaking as discussed previously 1 Q A N Set the Output Data Type to 1000 hex intermediate send data or 2000 hex final send data At the same time set the CompoWay F command in the Output Data Increment the Output SID from the previous value 1 This allows the communications master to notify the EJ1 EtherCAT Slave U
129. res Units will be dis 8 noise carded EJ1 EtherCAT Slave Unit User s Manual H192 7 7 snjejs 10113 2euis S uo peseg 1043 ix 1ue 3 oj Buipuodses pue Bulyoeuy z e 7 Troubleshooting 7 4 Error Notifications Provided with Emergency Messages This section describes how the communications master is notified with emergency messages 7 4 1 Emergency Messages The EJ1 EtherCAT Slave Unit reports emergency messages to the communications master by using SDO communications if it detects an error at the application level When the power supply to the EJ1 EtherCAT Slave Unit is turned ON the EJ1 EtherCAT Slave Unit will always start with emergency message notifications enabled With an NJ NX series CPU Unit an Emergency Message Detected event event code 64200000 hex occurs when the EJ1 EtherCAT Slave Unit sends an emergency message When this event code error is detected place the Sysmac Studio online with the NJ NX series CPU Unit Details on the emergency message including the emergency error code are stored in Sub Info 1 to Sub Info 3 under Emergency Message Detected on the Controller Event Log Tab Page An emergency message consists of 8 bytes of data as shown below Emergency error code Reserved Event code Sub Info 3 Sub Info 1 Emergency Error Code List Byte Meaning The following table provides details on and corrections for the emergency error cod
130. rmation for an EtherCAT slave is provided in an ESI file EtherCAT slave information The EtherCAT communications settings are defined based on the ESI files of the connected slaves and the network connection information You can create the network configuration information by installing ESI files into the network configura tion software You can download the network configuration information to the EtherCAT master to configure the Ether CAT network EtherCAT master Configuration software Newark configuration information ESI files L y EtherCAT communications AB EJ1 EtherCAT Slave Unit Communications are started according to the communications settings and the network configuration in the ESI files that are installed ESI files are required to connect OMRON EtherCAT slaves to controllers from other companies To connect an EJ1 EtherCAT Slave Unit to a controller from another company install the ESI file for the EJ1 EtherCAT Slave Unit in the configuration software that you are using 3 6 EJ1 EtherCAT Slave Unit User s Manual H192 3 Part Names and EtherCAT Communications Overview 3 2 3 State Transitions for EtherCAT Communications The state machine that is used to control communications for the EJ1 EtherCAT Slave Unit is controlled by the EtherCAT master The state machine is based on the ESI definition information a
131. roduct within the rated temperature and humidity ranges Provide forced cooling if required To allow heat to escape do not block the area around the temperature controller Also do not block its ventilation holes Be sure to wire properly with correct polarity of terminals Do not wire terminals that do not have an identified use Secure as much space as possible between the product and devices that generates a strong high frequency or surge Separate the high voltage or large current power lines from other lines and avoid parallel or common wiring with the power lines when you are wiring to the terminals Use the product within the rated load and power supply voltage Make sure that the rated voltage is attained within two seconds of turning ON the power The switch or circuit breaker must be located within an easy reach of the operator and must be marked as a disconnecting means for this unit Do not use paint thinner or similar chemical to clean with Use standard grade alcohol Never touch the electric components connectors or patterns in the product with bare hands Always hold the product by its enclosure Inappropriate handling of the product may occasionally damage internal components due to static electricity Use a switch relay or other device for turning OFF the power supply quickly Gradually lowering the voltage of the power supply may result in incorrect outputs or memory errors Connect only the specified number of
132. rrent errors in the EJ1 EtherCAT Slave Unit to the communications master This allows you to use the same operation to check errors and corrections with an NJ NX series CPU Unit and the Sysmac Studio With an NJ NX series CPU Unit you can use the _EC_S avErr system defined variable or a device variable for the EJ1 EtherCAT Slave Unit Sysmac Error Status to detect errors that are shown in the Sysmac Error Status Errors shown in the Sysmac Error Status are retained even if the cause of the error is removed You can write 1 for the Sysmac Error Status Clear object index 2002 hex subindex 02 hex to clear the error status detected by the EJ1 EtherCAT Slave Unit With an NJ NX series CPU Unit you can use an instruction to clear the error status detected by the EJ1 EtherCAT Slave Unit You can also clear this error status from the Sysmac Studio with the Reset All Button in the Troubleshooter EJ1 EtherCAT Slave Unit User s Manual H192 7 Troubleshooting 7 3 2 Checking and Responding to Event Codes When an error occurs you can view all current errors according to their Sysmac Error Status level through the communications master You can check the errors that are managed by the EJ1 EtherCAT Slave Unit through the Sysmac Error Status You can connect the NJ NX series CPU Unit and the Sysmac Studio to check an error detected by the EJ1 EtherCAT Slave Unit with the event code given in Sub Info 3 under Emergency Message Detected on the Co
133. rror event code 84280000 hex EJ1 EtherCAT Slave Unit User s Manual H192 7 Troubleshooting Note The meanings for the symbols in the Detection state column above are as follows I Init state P During transition from Init state to Pre Op state P Pre Op state P S During transition from Pre Op state to Safe Op state S Safe Op state S O During transition from Safe Op to Op state O Op state and Undefined 7 2 3 Errors Detected during a Software Process Dates Indicators Operation Master notified Error name Description tion LESS Ut eth State AL status ESL Event state RUN ERR CAT state restric Code gency Bode rection transition tion code Unit Process A fatal error Not lit Lit Changed Init No No No If this error is ing Error was detected to Init not cleared in the EJ1 state when the power EtherCAT supply to the Slave Unit Unit is cycled E there is a Unit hardware fail ure Replace the Unit EJ1 Bus An EJ1 bus Unde Unde Current No No FF01 08300000 Cause ers EN fined fined d hex hex Noise influence tions Error ions error ysmac nas occurred due Error Sta Correction to noise or tus Implement T N other cause Observa noise counter m tion gen measures if 3 erated there is exces S sive noise BCC Error The BCC Unde Unde Current No No FF02 08310000 Cause il check on the fined fined state hex hex Incomp
134. s max 3 times each in 3 axes 6 directions Dielectric strength 600 VAC 50 or 60 Hz for 1 min Insulation resistance 20 MQ min at 500 VDC Enclosure rating IP20 Memory protection EEPROM 100 000 write operations EJ1 internal bus communica tions conditions Communications protocol CompoWay F Baud rate 115 200 bps Data length 7 bits Stop bit 2 bits Communications parity Even Weight 100 g max 2 1 2 Function Specifications The following table gives the function specifications of the EJ1 EtherCAT Slave Unit Item Maximum number of Basic Units that can be connected Specification 32 Units You can connect up to 16 Units for one End Unit However you can connect only one Advanced Unit EJ1 EtherCAT Slave Unit User s Manual H192 2 Specifications and Procedures 2 1 3 EtherCAT Slave Communications Specifications This section provides the EtherCAT slave communications specifications for the EJ1 EtherCAT Slave Unit Item Communications protocol Specification EtherCAT protocol Communica PDO com Cyclic I O is supported between the communications master and the following tions munications PDO mappable objects in an EJ1 EtherCAT Slave Unit Input Notification Data Port Status Input SID Input Data etc Output Notification Data Output SID Output Data etc SDO com SDO communications is supported only when it is required to access
135. se 02 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None 6 Sending the send The EJ1 EtherCAT Slave Unit sends the data E data to the Basic Unit 5 22 EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications m Communications master processing muni PARERE essing Step Process NET cations EJ1 EtherCAT Slave Unit firmware pro processing in user programming TERT s cessing 7 Checkingsending 1 The communications master receives lt 1 1 EtherCAT Slave Unit inputs of the final send the Input Notification Data given on the the following Input Notification Data to tell data right the communications master that the final 2 The Send Completed Toggle Bit in the send data was sent to the Basic Unit Port Status in the Input Notification Data 2 The EJ1 EtherCAT Slave Unit sets the changed so the communications master Send Data Exists Flag bit 00 in the Port knows that the EJ1 EtherCAT Slave Unit Status to 0 OFF to indicate that the Com sent the final send data to the Basic Unit poWay F command was sent to the Basic Unit 3 The EJ1 EtherCAT Slave Unit changes the Send Completed Toggle Bit in the Port Status Port Status 0002 hex Input SID 00 hex Output SID Response 02 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None 8 Receiving
136. t Data WORD 2 bytes R W This entries specifies Refer to the Output 0000 hex Type the control command Data Type on page relationship and the 5 9 for details send data status Output Sub Info Output Sub WORD 2 bytes R W Reserved area 0000 hex Info Output Data Output Data UINT 2 bytes R W This entry gives the 0 to 80 0000 hex Length Length byte size of data sent as Output Data 5 8 EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications PDO entry name I O port Objectname Type Size R W name Output Data 01 Output Data 1 ARRAY 0 3 4 bytes R W OF BYTE Output Data m Output Data ARRAY 0 3 Same as Same m 2 to 20 OF BYTE above as Default m above 5 Function This data is sent from the EJ1 EtherCAT Slave Unit to the Basic Unit The text portion of the Compo Way F command frame is written here For details refer to the 5 7 1 Output Data and Input Data Con tents on page 5 25 Value Binary data of 0 to 80 decimal 00 hex to 50 hex bytes You can edit the PDO map settings on the Sysmac Studio to add PDO entries to increase or decrease the maximum output data size to 4 x m 2 4 where 1 to 20 bytes WORD data is displayed as UINT data except on the Sysmac Studio Default 00000000 hex 00000000 hex On the Sysmac Studio each bit of WORD data can be accessed as BOOL data
137. te size of valid data hex to 50 hex bytes in the Input Data Input Data 01 Input Data 1 ARRAY 0 3 4 bytes RO The data received by Binary data of 0 to 80 00000000 hex OF BYTE the EJ1 EtherCAT decimal 00 hex to 50 E Slave Unit from the hex bytes Input Data n Input Data n ARRAY 0 3 Sameas RO Basic Unit You can edit the 00000000 hex where n 2to BYTE above The text portion of the PDO map settings on 20 CompoWay F the Sysmac Studio to Default n 5 response frame is writ ten to this data For details refer to the 5 7 1 Output Data and Input Data Contents on page 5 25 later in this manual 1 WORD data is displayed as UINT data except on the Sysmac Studio On the Sysmac Studio each bit of WORD data can be accessed as BOOL data You cannot use these bits as BOOL data except on the Sysmac Studio 2 BYTE data is displayed as USINT data except on the Sysmac Studio On the Sysmac Studio each bit of BYTE data can be accessed as BOOL data You cannot access these bits as BOOL data except from the Sysmac Studio 3 How to Use Input SIDs in User Programming Perform the following processing in user programming add PDO entries to increase or decrease the maximum input data size to 4 x n 1 to 20 bytes When the value of this Input SID is equal to the previous value 1 the Input Notification Data is received If the Input SID value is not changed the Input Notif
138. the Unit 3 Settings after Unit replacement After replacing a Unit set the new Unit s EtherCAT node address rotary switches to the same address setting as on the old Unit f you use a software setting for the EtherCAT node address use the Sysmac Studio or other EtherCAT master support software to set the EtherCAT node address If you use the Sysmac Studio s backup function you can restore the settings from a backup to recover the EtherCAT node address software settings Connect the same model of EJ1 EtherCAT Slave Unit to the Basic Units as the previous EJ1 EtherCAT Slave Unit Note If you do not use a software setting for the EtherCAT node address you do not need to perform backup and restore operations before and after you replace the Unit 8 4 EJ1 EtherCAT Slave Unit User s Manual H192 Appendices The appendices provide additional information for the EJ1 EtherCAT Slave Unit such as dimensions and object lists A 1 A 2 A 3 Dimensions 9 I Xr 3x ook Pvt ER tae eee eS A 2 A 1 1 EJTN HEUGC EGT vss stots eve tees dens A 2 Sample Programming A 3 A 2 1 Items Common to All Programming Samples A 3 A 2 2 Sending CompoWay F Commands and Receiving Responses A 6 At2 3 Restart Port zi usus pu Share eL V Fata Ae ee eee Ex RE A 8 CoE Objects sol Re XE R4 ee REPS en ees A 9 A 3
139. ts Object dictionary Object Contents Tene nox HOT ek TENE ex suut exuti rex 3 nc Eum M9IAJ9AQ SUOHEIUNWIWOD 1v23Jeuj3 z e Mapping object D prp Application object si efqo SS 901d p z EJ1 EtherCAT Slave Unit User s Manual H192 3 9 3 Part Names and EtherCAT Communications Overview 3 2 5 Service Data Objects SDOs The EJ1 EtherCAT Slave Unit also supports SDO communications Use SDO communications to moni tor object settings and the status of the EJ1 EtherCAT Slave Unit The communications master can read and write data in entries in the object dictionary to make parameter settings and monitor status 3 10 EJ1 EtherCAT Slave Unit User s Manual H192 Installation and Connection IEEE This section describes how to install the EJ1 EtherCAT Slave Unit and wire communi cations 4 1 Installing the EJ1 EtherCAT Slave Unit 4 2 4 2 EtherCAT Network Wiring 4 3 4 2 1 Installation lt 5 4 3 4 2 2 Preparations for Installation 4 3 4 2 3 Recommended EtherCAT Cables 4 4 4 3 Wiring the Temperature Controllers 4 5 EJ1 EtherCAT Slave Unit User s Manual H192 4 1 4 Installati
140. ts in this area are defined for all OMRON products 3000 hex to 5FFF hex Manufacturer specific Area 2 The objects in this area are defined for the EJ1 EtherCAT Slave Unit 6000 hex to 9FFF hex Device Profile Area The objects in this area are defined by the CiA401 Generic I O Module Device Profile a profile that specifies the CAN application proto col interface for devices with digital I O and ana log I O A000 hex to FFFF hex A 3 2 Datatype Reserved area The following data types are used in this profile This area is reserved for future use Data type Size Range of values Unsigned8 1 byte 0 to 255 Unsigned16 2 bytes 0 to 65 535 Unsigned32 4 bytes 0 to 4 294 967 295 Visible String EJ1 EtherCAT Slave Unit User s Manual H192 sjoefqo 302 v gt ee1y Areuonsiq 199 90 L v Appendices A 3 3 Communications Objects The following table lists the communications objects for the EJ1 EtherCAT Slave Unit PDO mapping Access N A Not map index Sub RO pable Com index Objectname Read only Data Type Data range Initial value R RxPDO plete hex hex RW mappable access Read write T TxPDO map pable 1000 hex Device Type RO UNSIGNED32 00000000 hex N A N A 1008 hex Device name RO VISIBLE EJ1N HFU N A N A STRING CECT padded a with 7 spaces character 20 hex 1009 hex Hardware RO VISIBLE 20 spaces
141. tware to the controller program 9 Execute the user pro Execute the user program and confirm that communications gram and check operation between the communications master and the Basic Units are work ing H Precautions for Correct Use Do not send any CompoWay F commands from the EtherCAT master to the EJ1 EtherCAT Slave Unit while you are changing EJ1 EtherCAT Slave Unit settings or Basic Unit settings from the CX Thermo EJ1 EtherCAT Slave Unit User s Manual H192 Section 5 Using the EJ1 EtherCAT Slave Unit with PDO Com munications uoneoiddy 2 2 dnjes eje Mos z z z 2 Specifications and Procedures EJ1 EtherCAT Slave Unit User s Manual H192 Part Names and EtherCAT Com munications Overview This section gives the names of the parts of the EJ1 EtherCAT Slave Unit describes the functions of the parts and provides an overview of EtherCAT communications 3 1 Part Names and Functions 3 2 3 1 1 Appearance and Names of Parts on the Front Panel 3 2 3 1 2 Meanings of Indicators liliis 3 3 3 1 3 Node Address Setting Switches 3 3 3 1 4 EtherCAT Communications Connectors 3 4 3 2 EtherCAT Communications Overview 3 5 3 2 1 Structure of CAN Application Protocol over Ether
142. ual property right e Buyer Remedy Omron s sole obligation hereunder shall be at Omron s election to i replace in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof the non com plying Product ii repair the non complying Product or iii repay or credit Buyer an amount equal to the purchase price of the non complying Product provided that in no event shall Omron be responsible for warranty repair indemnity or any other claims or expenses 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 Return of any Products by Buyer must be approved in writing by Omron before shipment Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combi nation with any electrical or electronic components circuits system assemblies or any other materi als or substances or environments Any advice recommendations or information given orally or in writing are not to be construed as an amendment or addition to the above warranty See http www omron com global or contact your Omron representative for published information Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CON SEQUENTIAL DAMAGES LOSS OF PROFITS OR PRODUCTION OR COMM
143. ucts Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Disclaimers i Performance Data Data presented in Omron Company websites catalogs and other materials 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 user must correlate it to actual application requirements Actual perfor mance is subject to the Omron s Warranty and Limitations of Liability 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 part numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the Product may be changed without any notice When in doubt special part numbers may be assigned to fix or establish key specifications for your application Please consult with your Omron s representative at any time to confirm actual specifications of purchased Product i Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate how ever no responsibility is assumed for clerical typographical or proofreading errors or omissions EJ1 EtherCAT Slave Unit User s Manual H192 3 Safety Precautions Safety Precautions Notation and Definitio
144. us RO UNSIGNED16 0000 hex T 02 Input SID RO UNSIGNED8 00 hex T 03 Output SID RO UNSIGNED8 00 hex T Response 04 Input Data Type RO UNSIGNED16 0000 hex T 05 Input Sub Info RO UNSIGNED16 0000 hex T 06 Input Data RO UNSIGNED16 0000 hex T Length bytes 07 1 Input Data 01to RO ARRAY 0 3 00000000 hex T 20 OF BYTE PDO mapping Access N A Not map index Subin RO pable Com dex Object name Read only Data Type Data range Initial value R RxPDO plete hex hex RW mappable access Read write T TxPDO map pable 7000 hex Output Data Possi TS 51 um s DB um ble 00 Number of RO UNSIGNED8 19 hex 19 hex N A Entries lt 01 Output SID RW UNSIGNED8 00 hex R 02 Input SID RW UNSIGNED8 00 hex R Response 03 Output Data RW UNSIGNED16 0000 hex R Type 04 Output Sub Info RW UNSIGNED16 dl 0000 hex R 05 Output Data RW UNSIGNED16 0000 hex R Length bytes ee 06 to 19 Output Data 01 RW ARRAY 0 3 00000000 hex R to 20 OF BYTE EE EJ1 EtherCAT Slave Unit User s Manual H192 A 17 syoefqo 302 v gt e jolg v Appendices EJ1 EtherCAT Slave Unit User s Manual H192 Index EJ1 EtherCAT Slave Unit User s Manual H192 1 1 Index Index A AL Status ence e e es 7 9 Assigning device variables 5 32 B Basic Unit baud rate setting 2 4 Basic Units 2t eS
145. utomatically with the ETX automatically With the EJ1 EtherCAT Slave removed Unit you do not need to send the ETX from the communi cations master BCC Not included in the Output Data or the Input Data poWay F commands and responses This is the BCC calculation result from the communications unit number to the ETX The EJ1 EtherCAT Slave Unit The response data is returned adds the BCC automatically with the BCC automatically With the EJ1 EtherCAT Slave removed Unit you do not need to send the BCC from the communi cations master Refer to the EJ1 Modular Temperature Controllers User s Manual Cat No H142 for details on Com EJ1 EtherCAT Slave Unit User s Manual H192 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5 7 2 Storing Output Data and Input Data in Array Variables If the communications master is an NJ NX series CPU Unit the Output Data and Input Data are set in array variables of four bytes each Specifically the data in the frame is stored in bytes in ascending order of the array element numbers starting from the communications unit number This is shown in the following table Storing the Output Data for a CompoWay F Command in Array Variables Element No One byte Output Data 1 0 1 2 3 Output Data 2 0 1 2 3 Output Data 3 0 1 2 3 Output Data m m 20 max 0 1 2 3 4 J eModuio Bunjes FIN
146. ved Com Communications master processing munis NeR DECAT SIAVE It processing Step Process OR cations 1 EtherCAT Slave Unit firmware processing in user programming dioc cessing 1 No datareception 1 The communications master receives lt 1 EJ1 EtherCAT Slave Unit inputs the Input Notification Data given on the the following Input Notification Data right 2 The EJ1 EtherCAT Slave Unit sets the 2 The Input SID is 00 hex so the master Input SID to 00 hex to notify the communi knows that the received Input Notification cations master that the Input Notification Data was not updated Data was not updated Port Status 0000 hex Input SID 00 hex Output SID Response 00 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None 2 Input response 1 The communications master outputs the gt The EJ1 EtherCAT Slave Unit receives the for no Input Data output of non final send data following Output Notification Data 2 The communications master has not yet received input data so the Input SID Response remains at 00 hex 3 The communications master sets the Output Data Type to 1000 hex to indicate that the Output Data is not the final data 4 The communications master increments the Output SID by 1 then passes the Out put Data Length and send data not the final data to the EJ1 EtherCAT Slave Unit Output S
147. work take sufficient safety precautions and perform the installa tion according to standards and specifications Refer to JIS X5252 or to electrical facility technical references An expert well versed in safety measures and the standards and specifications should be asked to perform the installation Do not install EtherCAT network equipment near sources of noise fthe network must be installed in an area with noise take steps to address the noise such as placing equipment in metal cases Precautions when Installing Communications Cables Check the following items on the communications cables that are used in the network Are there any breaks Are there any shorts Are there any connector problems When you connect the cable to the communications connectors on devices firmly insert the com munications cable connector until it locks in place Do not lay the communications cables together with high voltage lines Do not lay the communications cable near devices that generate noise Do not lay the communications cables in locations subject to high temperatures or high humidity Do not lay the communications cables in locations subject to excessive dirt and dust or to oil mist or other contaminants There are limitations on the bending radius of communications cables Check the specifications of the communications cable for the bending radius 4 2 2 Preparations for Installation Prepare the following devices
148. you disable the revision check in the network settings check the slave revision settings in the master and the actual slave revisions and then make sure that functionality is compat ible in the manuals or other references You can check the slave versions in the settings from the Sysmac Studio and you can check the actual slave revisions from the Sysmac Studio or on slave nameplates After you transfer the user program the CPU Unit is restarted and communications with the Ether CAT slaves are cut off During that period the slave outputs behave according to the slave settings The time that communications are cut off depends on the EtherCAT network configuration Before you transfer the user program confirm that the system will not be adversely affected EtherCAT communications are not always established immediately after the power supply is turned ON Use the system defined variables in the user program to confirm that communications are estab lished before attempting control operations If frames sent to EtherCAT slaves are lost due to noise or other causes slave I O data is not commu nicated and the intended operation is sometimes not achieved Perform the following processing if noise countermeasures are necessary Program the EC nDatalnvalid Input Data Invalid EC InDatatlInvalid Input Data 1 Invalid and EC InData2Invalid Input Data 2 Invalid system defined variables as interlock conditions in the user program Set the

EJ1N-HFUC-ECT EJ1 EtherCAT Slave Unit User`s Manual

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