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E3NW-ECT EtherCAT Digital Sensor Communication Unit

1. fll 5 a pales Q Name Specification termina Mounting V 24 VDC D terminal IO SGrEWS D terminal HO V 0 VDC 5 D Communications data signal C J D Communications data signal e Connector type Spring cage connector with mounting screws 4 positions e Applicable ferrule diameters 0 25 to 0 5 mm AWG24 to AWG20 for ferrules with insulating sleeves Refer to Unit Power Supply Connections in page A 49 for the recommended ferrules spun Josuag peynquysiq Buisn Z Y gt yun JOsUas peynquysiq 9U Jo suoneoyioeds asempseH 9 Z Y E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 53 A Appendices A 2 7 External Dimensions for the Distributed Sensor Unit E3NW DS Connector provided FK MCP 1 5 4 STF 3 5 AU Cap and connector 30 4 h 44 5 PFP ON DIN Track sold separately E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 B 1 Terminology Use the following list of EtherCAT terms for reference ABojourwusa g Term Apbroviaz Description tion AL status application layer st
2. H Precautions for Correct Use e You can connect a maximum of eight Distributed Sensor Units to the Sensor Communication Unit e Do not exceed a total length L1 L2 Ln of 30 m for the DS Bus cable e Turn ON the DS Bus termination switch only on the last Distributed Sensor Unit on the DS Bus network Turn it OFF on all other Distributed Sensor Units 4 8 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 4 Installation and Wiring 4 3 Connecting to Unit Power Supply and I O Power Supply The following power supplies are required to operate the EtherCAT network e Unit power supply For communication and internal operation of Slave Units e I O power supply For input output operation of external I O devices of each Slave Unit E3NW ECT doesn t need I O power supply This section explains how to supply the unit power supply and I O power supply 4 3 1 Precautions at Supplying Unit Power and I O Power Ajddng 1amog O I pue Ajddng 14amMog uN 0 HuyjsauUOD y When supplying the unit power supply and I O power supply take the followings into consideration for allowable current of cables and connectors voltage drop and layout of power supplies Consideration to cable voltage drop The power supply voltage of a Slave Unit farthest to the power supply must be within the allowable variation range Supplying
3. 3004 hex No 1 Dummy Sensors Setting U32 RW No 2 Dummy Sensors Information U32 RO No 3 Dummy Sensors Response Setting U8 RW 3005 hex No 1 Input Delay Time Status U8 RO 300A hex No 1 Sensor Communication Status U8 RO 300B hex No 1 Sensor Warning Status U32 RO 300C hex No 1 TxPDO Mapping Mode Setting U8 RW No 2 TxPDO Mapping Mode Information U8 RO 300D hex No 1 Sensor Warning Status 1 to 16 U16 RO 3020 hex No 1 to 60 Read input bits 00 to 59 BOOL RO 4000 N 1 x 80 hex No 1 Type of Sensor U16 RO Yes Yes Yes Yes 4001 N 1 x 80 hex No 1or2 Detection Level INT16 RO Yes Yes Yes No 4002 N 1 x 80 hex No 1 or 2 Peak Detection Level INT32 RO Yes Yes Yes No 4003 N 1 x 80 hex No 1 or 2 Bottom Detection Level INT32 RO Yes Yes Yes No 4004 N 1 x 80 hex 4F04 hex 1or2 Threshold 1 Settings INT32 RW Yes Yes Yes Yes 4005 N 1 x 80 hex 4F05 hex 1 Threshold 2 Settings INT32 RW Yes Yes Yes Yes 4006 N 1 x 80 hex No 1 Sensor Status U16 RO Yes Yes Yes Yes 4007 N 1 x 80 hex No 1 or 2 Zero Reset Level INT32 RO Yes Yes Yes No 4008 N 1 x 80 hex 4F08 hex 1or2 Output Mode Setting U16 RW Yes Yes Yes Yes 4009 N 1 x 80 hex No 1 Detection Level 4 bytes INT32 RO No No No Yes 40
4. Attach ferrules to the Unit power supply cable wires and connect them securely so that they do not come loose Recommended Parts We recommend the following ferrules for the Unit power supply cable Applicable wire size Crimping tool CRIMPFOX UD6 product number 0 5 mm2 AWG20 1204436 or CRIMPFOX ZA3 Series PZ1 5 Crimper product number 900599 Manufacturer Model number AI0 5 10WH Phoenix Contact H0 5 16 orange 0 5 mm2 AWG20 Weidmiuller We recommend the following screwdriver to remove ferrules Model number Manufacturer XW4Z 00C OMRON Corporation A 2 5 General Specifications of the Distributed Sensor Unit spun Josuag peynquysiq Buisn Z Y Item Specification A Unit power supply voltage 24 VDC 20 4 to 26 4 VDC Power and current 2 W max Not including power supplied to Sensors 80 mA max Not including consumption current supplied to Sensors o gt Noise immunity Conforms to IEC 61000 4 4 1 k power line ao Vibration resistance 10 to 60 Hz with an amplitude of 0 7 mm 60 to 150 Hz 50 m s 1 5 hours each in T9 X Y and Z directions TE E E 150 m s with amplitude of 0 7 mm 30 3 times each in 6 directions on 3 axes co Dielectric strength 500 VAC 50 and 60 Hz 1 min 3 Insulation resistance 20 MQ or more at 500 VDC 9 e z E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 49 A Appendices Item
5. E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 7 A WARNING Do not attempt to take any Unit apart and do not touch the interior of any Unit while the power is being supplied Also do not turn ON the power supply while the cover is open Doing any of these may result in electric shock Do not attempt to disassemble repair or modify any Units Doing any of these may result in electric shock Do not input voltages or currents exceeding the rated range to the Unit Using voltages or currents exceeding the rated range may cause Unit failure or fire Provide safety measures in external circuits i e not in the Units including the following items to ensure safety in the system if an abnormality occurs due to malfunction of the PLC or another external factor affecting the PLC operation PLC includes CPU Units other Units mounted in the PLC and Remote I O Terminals Not doing so may result in serious accidents a Emergency stop circuits interlock circuits limit circuits and similar safety measures must be provided in external control circuits not in the Units The PLC will turn OFF all outputs when its self diagnosis function detects any error or when a severe failure alarm FALS instruction is executed As a countermeasure for such problems external safety measures must be provided to ensure safety in the system The Slave Unit outputs m
6. Do not lay down EtherCAT network devices near any devices generating noise If there is no choice but to lay them down in a noisy environment make sure to take noise measures such as housing each device in metal cases fi Precautions at laying down communications cables e Check the following items for communications cables to be used e Are there any disconnected cables e Are any cables short circuited e Are there any problems in connector connections e To connect a cable to communications connector of each device insert it securely until the connector of the communications cable is locked e Lay down and wire the communications cables separately from high voltage electrical power lines e Do not lay down the cables near devices generating noise e Do not lay down the cables in high temperature and high humidity environment e Use the cables in locations without powder dust and oil mist e There is a limit to the bending radius of communications cables Check the specification of communications cables to be used for the information on bending radius 4 4 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 4 Installation and Wiring 4 2 2 Preparation for Connecting Network Prepare the following devices Product name Comment Twisted pair cable 100BASE TX Category 5 or higher Cables with connectors below are also allowed Double shield aluminum tape braided shielding Category 5 or higher
7. hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Alarm Output Level Setting Range 0000 to 0064 hex Unit Default 0032 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the alarm output level of the Sensor with the unit number that is specified by the index 4030 N 1 x 80 No_01 30 Maximum Sensitivity Tuning hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 1 No_01 30 IN2 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object executes the maximum sensitivity tuning for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to write data It is always set to 0000 hex when reading data e Allow at least 3 seconds for processing to be completed after executing full auto tuning setup 4031 N 1 x 80 No_01 30 Zero Reset hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map
8. Y Not Unit Data used 0 number to write selections Example Case 1 This example sets the Threshold 1 Input 1 object for unit numbers 1 10 and 30 to 1000 decimal Write the following data for an index of 0x4F04 and subindex of 0x01 gt 0x20000201000003E8 gt Case 2 This example sets the display mode for all unit numbers from 1 to 30 to blinking g Write the following data for an index of 0x4F 17 and a sublndex of 0x01 g 0x0000000000000001 or 0x3FFFFFFF00000001 a 3 2 A fe 9 ojoeds seunjoejnueyy z Y E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 41 A Appendices A 2 Using Distributed Sensor Units A 2 1 Models of Sensor Amplifiers That Can Be Connected to Distributed Sensor Units This section lists the models of Sensor Amplifiers that you can connect to the ESNW DS Name Model Features Smart Fiber Amplifiers E3NX FAO These standard fiber amplifiers are easy to use and set up These laser sensors use a minute spot and yet they provide stable detection Smart Laser Amplifier Unit E3NC LAO Smart Laser Amplifier Unit E3NC SA0 These laser sensors use a CMOS device that allows CMOS Type reliable detection of stepped surfaces Contact type Smart Sensors E9NC TAO These contact type sensors are durable A 42 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices A 2 2 Mounting and Removing Distributed Sensor Units
9. 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 08000023 hex Object dictionary dynamic generation fails or no object dictionary is present The following table gives the abort codes for when sending commands to a Sensor Amplifier Unit fails Value 08000021 hex Meaning An unsupported command was sent or the Sensor Amplifier Unit is in a condition under which the command cannot be accepted Check the command 06090030 hex A parameter value is out of range Check the setting range of the parameter 08000020 hex A communications error or other error occurred Implement retry processing E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 EtherCAT Communications 5 6 EtherCAT Master Unit Slave Unit Communications This section explains the communication modes between the Master Unit and E3NW ECT EtherCAT Slave Unit 5 6 1 FREE RUN Mode In the FREE RUN mode a Slave Unit operates asynchronously with the EtherCAT Master Unit To calculate the input and output response time of the entire system refer to the relevant values in the manual of the host system EtherCAT Master or CPU Unit to be used This is the time which takes for an input signal from an Input Slave Unit to be processed by the PLC of the Master Uni
10. Default hex Attribute 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RO PDO map Not possible Subindex 2 No_01 30 IN2 Range 2 147 483 648 to Unit Default hex Attribute A 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible e This object reads the bottom detection level amount of incident light for the Sensor Amplifier with the unit number that is specified by the index e To read the peak detection level you must set Display Mode to the smallest peak value of incident light and the largest bottom value of interrupted light P b e The setting range of the FAO LAO or SAO is 1 999 to 9 999 FFFF F831 to 0000270F hex Items with asterisks are supported from E3NW ECT version 1 03 4004 N 1 x 80 No_01 30 Threshold 1 Settings hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 2 147 483 648 to Unit Default hex Attribute A 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible Subindex 2 No_01 30 IN2 Range 2 147 483 648 to Unit Default hex Attribute A 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible e This object se
11. po9 Joy Aouabiowy S 1 g 8 Troubleshooting and Maintenance 8 1 6 Application Layer Status Codes The AL status codes that are used by the E3NW ECT EtherCAT Sensor Communication Units are described in the following table AL status codes of E3NW ECT EtherCAT Sensor Communication Units z Notification ae FA Name of error Contents Bil to EtherCAT Measures coce ry Master Unit Non volatile An error was detected in Can be SAN iA 0001 hex Memory Control non volatile memory data Saved ae y Data Error in the Slave Unit hotties parameter seanginen i restart the Slave Unit Illegal State 0011 hex Transition An illegal state transition Not Can be None Request request was received saved notified Received Error State A transition request to an y Not Can be 0012 hex Transition unknown state was pa None i saved notified Received received A verification error If cycling the power s occurred in the slave slave unit information stored in the Can be SUPPIy doesNot solve 0014 hex Verification Saved Ta the problem the Slave Slave Units when the notified Error we snay wate Unit has failed Replace p PPY the Slave Unit ON An incorrect setting was Check the mailbox 0016 hex Mailbox Setting detected in the mailbox of Nor Garne settings in the Master Error saved notified the Sync Manager Unit 001B hex Process Data ee he detected Not Can be Check the WDT settings WDT Error an saved notified i
12. 32 1 Optical communications 49 5 39 5 H 102 4 PFP ON DIN Track sold separately E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 7 9 7 Function Specifications E3NC SAO OUT selection indicator L D indicator ZERO indicator ST indicator OUT2 indicator Measurement value white digital Threshold level k green digital aq Mounted to DIN Track A 26 159 7 max value with cover open ry E 152 max value with cover open n 114 Mon max value with cover open Optical communications 39 5 gt PFP ON DIN Track sold separately EQNC TAO indi NO NC indicator PRST indicator HIGH indicator ST indicator GO indicator LOW indicator 13 8 Measurement data display white digital 11 5 A 10 C x Mounted to DIN Track CN i ld 2 6 159 7 max value with cover open ws P mo m 152 max value with co 114 mo m max value with cover open communications lt 49 5 39 3 le 102 4 PFP ON DIN Track sold separately E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 T
13. Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the blinking setting of the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to write data It is always set to 0000 hex when reading data 4020 N 1 x 80 No_01 30 Hysteresis Width Setting hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Hysteresis Width Setting Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 2 147 483 648 to Unit Default hex Attribute A 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible e This object sets the hysteresis width setting of the Sensor with the unit number that is specified by the index Items with asterisks are supported from E3NW ECT version 1 03 Data Setting 0000 hex Standard 0001 hex User setting 0002 to FFFF hex Not used E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 31 Aseuoljs1q paldo L V gt sy fqo ojoeds seunjoejnueyy z Y A Appendices 4021 N 1 x 80 hex Subindex 0 Number of Entries No_01 30 Hysteresis Width 1 Range 02 he
14. e Indicates the version of the Slave Unit hardware 100A hex Manufacturer Software Version Range Unit Default Differ by Slave Unit types Attribute Size 20 bytes VS Access RO PDO map Not possible e Indicates the version of the Slave Unit software A 4 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 1011 hex Restore Default Parameters Sub index 0 Number of entries Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Restore Default Parameters Range Unit Default 00000001 hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible e Resets the parameters to their default values e The parameter is reset only when a specific value is written to Sub index 1 This prevents parameter values from being accidentally overwritten e The specific value is load MSB LSB d a o l 64 hex 61 hex 6F hex 6C hex e The ABORT code is displayed if a value other than the specific is written e A value 00000001 hex command valid is indicated when reading 1018 hex Identity Object Sub index 0 Number of entries Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Vendor ID Range Unit Default 00000083 hex Attribute
15. A Appendices A 1 3 Object Description Format In this manual objects are described in the following format i Object description format lt Object name gt lt Index gt Range lt Setting Range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt i Object description format with Sub indexes lt Index gt lt Object name gt Sub index 0 Range lt Setting Range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt Sub index N Range lt Setting Range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt The following values are indicated within the pointed brackets lt gt Indexes An object index given by a four digit hexadecimal number Object name The object name Range The possible Range of settings Unit Physical unit Default Default value set before product shipment Attribute The timing when a change is updated in a writable object A Always enabled gt B Timing of count stop operation Encoder Input Slave Unit only C Timing of pre operational state safe operational state H D Timing of pre operatio
16. EtherCAT networks allow free wiring in any connection forms Connection before and after the E3NW ECT EtherCAT Sensor Communication Units shall be made in daisy chain connection Connect the communications cable from the EtherCAT Master Unit to the CN IN connector of the Slave Units Connect another the communications cable from the CN OUT connector of the first Slave Unit to the CN IN connector of the next Slave Unit Note that nothing should be connected to the CN OUT connector of the Slave Unit at the terminal end of the network EtherCAT master D Ba Do not connect anything Communications cable CN IN connector CN OUT connector dda ce Last slave H Precautions for Correct Use e The cable length between each Slave Unit L1 L2 Ln must be within 100 m e Connect cables securely until communications cable connectors click and are fixed in place e When you wire the c
17. e Changing the operating mode of the PLC e Setting resetting any bit in memory e Changing the present value of any word or any set value in memory Do not use thinner when cleaning Use commercially available alcohol External Circuits e Install external breakers and take other safety measures against short circuiting in external wiring E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 11 Precautions for Correct Use e Wire all connections correctly according to instructions in this manual Failure to install them may result in serious accidents e Do not operate the control system in the following locations e Location subject to direct sunlight e Locations subject to temperatures or humidity outside the range specified in the specifications e Locations subject to condensation as the result of severe changes in temperature e Location subject to corrosive or flammable gases e Location subject to dust especially iron dust or salts e Location subject to exposure to water acid oil chemicals etc e Locations subject to shock or vibration e Always use the DIN Track End Plates that are provided and make sure that the Unit is mounted securely to the DIN Track e Confirm voltage specifications when wiring communications the power supply and I O crossovers Incorrect wire may result in malfunction e Wire all connections correctly according to instructions in this manual e Use the correct wiring mate
18. 0 000 ccc eee 7 5 7 2 3 Mode Setting Functions for PDO Communications 7 5 7 2 4 Automatic Detection of Connected Sensor Amplifiers 7 7 7 3 Mounting Dimensions 0 0 c eens 7 8 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 7 1 7 Function Specifications 7 41 I O Data Allocation PDO Mapping I O data of Digital I O Slave Units are allocated to the input output areas of the I O memory of the EtherCAT Master Unit respectively For the detailed explanation of allocation method refer to the manual of EtherCAT Master Unit to be connected 7 1 1 Input Data Allocation SS a moe HHT ATPEREIY Sensor Communication Unit DIN Track Pee TR Pah Pe te pF Or NMONTNO H NOMOTMNONMDOFTE TF e ee Connectors BEN eT PR a tt ccc ec cece cece eccec ec ec e 33353553553553535555535 Distributed Unit numbers are assigned in order Sensor Unit 1 from 1 going from left to right Unit 17 gt Unit 18 gt Distributed Sensor Unit 2 t f ora AAA esc gt e 2 The Sensor Communication Unit identifies each connected Sensor Amplifier by its unit number The unit numbers for the Sensors are numbered in order starting from 1 Each Sensor Amplifier that is assigned a unit number has an input 1 Sensor output 1 and input 2 Sensor output 2 The unit numbers of the Sensor Amplifiers that are connected to a Distributed Sensor Unit are
19. 16 outputs Set the node address to 2 Analog Input Slave 4 inputs GX AD0471 Set the node address to 5 Sensor Communication Unit E3NW ECT Set the node address to 6 Although it is not shown in the figure above supply the unit power and the I O power separately EN Reference The setting example explained here is the basic setting of E3NW ECT EtherCAT Sensor Communication Units If more detailed settings are required in actual operation refer to the manual of the EtherCAT Master Unit Moreover if your system configuration includes Slave Units other than our products make the setting upon referring to the manual of the relevant Slave Units 3 2 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 3 Basic Usage Procedures 3 1 2 Basic Procedure This is the flow of the procedures explained in the following sections Mounting and Setting EtherCAT Master Unit Section 3 2 1 ainpasoig 1seg pue sajdwexy dnjes A Mounting and Setting Slave Units Section 3 2 2 S Z T If the DS Bus network is used between Units Section
20. Appendices A 1 Object Dictionary 00 00 ce eee eee A 2 A 1 1 Object Dictionary Area 0 000 cee A 2 Am1 2 Data TYPES a errre ere eae en de Gok yo Sok I ay ee ee et ee A 2 A 1 3 Object Description Format 0 0 0 cece nee A 3 A 1 4 Communication Objects 0 0 A 4 A 1 5 PDO Mapping Object 0 eects A 7 A 1 6 Sync Manager Communication Object 0 00 eee eee A 12 A 1 7 Manufacturer Specific Objects 0 0000 eee A 15 A 2 Using Distributed Sensor Units 0 000 cece eee A 42 A 2 1 Models of Sensor Amplifiers That Can Be Connected to Distributed Sensor Units ses ele ae EA a ha ia eee ee A 42 A 2 2 Mounting and Removing Distributed Sensor Units A 43 A 2 3 DS Bus Network Wiring 0 0 000 cee eee A 45 A 2 4 Power Supply Specifications and Connections of the Distributed Sensor Unit eeri Se eee Meee hee eae A Pate ek eek hg A 48 A 2 5 General Specifications of the Distributed Sensor Unit A 49 A 2 6 Hardware Specifications of the Distributed Sensor Unit A 50 A 2 7 External Dimensions for the Distributed Sensor Unit A 54 B 14 Terminology ease oe betes eres eee ele Pee ee eee ee te ee eee B 1 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 1 A Appendices A 1 Object Dictionary A 1 1 Object Dictionary Area The CAN application protocol over Et
21. Communication Units and corresponding error contents Error codes common to E3NW ECT EtherCAT Sensor Communication Units Error Diagnosis Notification to sae Name of error Contents history EtherCAT Measures Master Unit A timeout was J detected when writing Non volaule data to non volatile Not 5530 hex Memory Can be notified Write the data again Hardware Eitor memory during saved EtherCAT communications At turning ON the If the error occurs Slave Unit power supply a even after restarting cele verification error Cannot be the power supply the 6140 hex Verification Saved f a Error occurred on the Slave notified Slave Unit is Unit information stored damaged Replace the in the Slave Unit Slave Unit A non volatile memory data error occurred Initialize non volatile memory from a Non volatile l Configuration Tool or Memory An error occurred in with SDO l 6330 hex Chacksuii non volatile memory Saved Can be notified communications and data in the Slave Unit then restart the Slave Error Unit Target indexes 1011 hex Restore default parameters parameter restore If the error occurs A hardware error even after restarting Slave occurred in the Cannot be the power supply the PSOne Hardware Error EtherCAT Saved notified Slave Units is E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 communications area damaged Replace the Slave Units Bunooysajqnol 1 8
22. Communications cable Unit power supply ane Uo D O Analog I O Slave Unit Digital I O Slave Unit Sensor Communication Unit Servo Drive Inverter 1 6 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 1 EtherCAT Network 1 2 2 Overview of Configuration Devices The overview of each configuration device is as follows j EtherCAT Master Unit Administers the EtherCAT network monitors the state of Slave Units exchanges I O data with Slave Units i EtherCAT Slave Unit Outputs data received from the EtherCAT Master Unit through the EtherCAT network or sends input data to the EtherCAT Slave Unit through the EtherCAT network There are Digital I O Slave Unit and Analog I O Slave Unit i Configuration Tool Itis a PC software for making setting of the EtherCAT network and each Slave Unit It can be used either by connecting to the EtherCAT Master Unit or as a substitute of the EtherCAT Master Unit i Communications cable Uses cables of Ethernet category 5 100BASE TX or higher with double shield aluminum tape and braided shielding which are connected straight jo s u w jg uoNeInByUuoD Z WOMAN LY919473 SODIAOQ UONEINBYUOD JO MEIAIBAQ Z Z 4 i ESI EtherCAT Slave Information file Describes information specific to EtherCAT Sensor Communication Units in XML format You can load an ESI file into the C
23. E429 7 Function Specifications 7 2 4 Automatic Detection of Connected Sensor Amplifiers i Outline of Operation Application The Sensor Communication Unit and the Distributed Sensor Unit have a feature that automatically registers the number of connected Sensor Amplifiers It is not necessary to register the number of Sensor Amplifiers with the Configuration Tool or through SDO communications in advance You can also manually register the number of Sensor Amplifiers with the Configuration Tool or through SDO communications Details of Functions The Sensor Communication Unit and Distributed Sensor Unit detect the number of Sensor Amplifiers that are connected to them when the power supply is turned ON This number is registered as the number of Sensor Amplifiers It does not matter whether you turn ON the power supply to the Sensor Communication Unit or to the Distributed Sensor Units first If the number of Sensor Amplifiers that are connected to the Sensor Communication Unit and Distributed Sensor Units changes after the power supply is turned ON i e if the registered number disagrees with the connected number an error occurs Refer to Chapter 8 Troubleshooting and Maintenance for details l Precautions for Correct Use If you need to add Sensor Amplifiers to the Sensor Communication Unit or to a Distributed Sensor Unit after the system begins operation make sure to turn OFF the power supply to the Sensor Communication Unit
24. Encoder Input Slave in Operational state Units only i Check the 002D hex SYNC Signal DESE a as Not Can be synchronization settings Not Received saved notified Encoder Input Slave entering DC mode E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Units only Bunooysajqnol 1 8 SEpoOD snjejs e uoHeo ddy 9 1 8 8 Troubleshooting and Maintenance 8 2 Equipment Maintenance This section describes routine equipment maintenance in particular cleaning methods inspection methods and handling methods when replacing Slave Units 8 2 1 Cleaning Perform the following cleaning regularly to ensure the equipment is kept in the best condition possible e Wipe the equipment over with a soft dry cloth when doing daily cleaning e 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 2 and wrung dry e Units will become stained if items such as rubber or vinyl products or adhesive tape are left on the Unit for a long period Remove such items during regular cleaning l Precautions for Correct Use Never use benzene thinners or other volatile solvents or chemical cloths The unit coating may change if these products are used 8 2 2 Inspections Always perform periodic inspections to ensure the equipment is kept in the best possible condition Periodic inspections should occur every 6 months to
25. Not possible Subindex 1 No_01 30 Zero Reset Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 2 147 483 648 to Unit Default hex Attribute A 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible e This object executes the zero reset for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to execute and 0000 hex to reset Items with asterisks are supported from E3NW ECT version 1 03 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 33 Aseuoljs1q paldo L V gt sy fqo 240 d seunjoejnueyy J V A Appendices 4032 N 1 x 80 No_01 30 Projection Lighting OFF hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Projection Lighting OFF Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 2 147 483 648 to Unit Default hex Attribute A 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible e This object turns OFF the emitted light for the Sensor with the unit number that is
26. Note Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnetic Susceptibility EN 61131 2 and EN 61000 6 2 EMI Electromagnetic Interference EN 61131 2 and EN61000 6 4 Radiated emission 10 m regulations Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 VAC and 75 to 1 500 VDC meet the required safety standards Applicable standard EN 61131 2 Conformance to EC Directives The OMRON products described in this manual comply with the related EMC Directives To ensure that the machine or device in which the products are used complies with EC Directives the products must be installed as follows e The products must be installed within a control panel e A DC power supply with reinforced insulation or double insulation that can maintain a stable output even if the input is interrupted for 10 ms must be used for communications power internal power and I O power The OMRON S8JxX series Power Supply is recommended See note e Products complying with EC Directives also conform to the Emission Standards EN 61131 2 and EN 61000 6 4 Radiated emission characteristics 10 m regulations may vary depending on the configuration of the control panel used other devices connected to the control panel wiring and other conditions You must therefore confirm that the overall machine or equipment complies with EC Directives e Conformance with the EC Directives was confirmed
27. Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Product Code Range Unit Default 0000 00F9 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 Revision Number Range Unit Default Differ by Slave Unit types Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 Serial Number Range Unit Default Differ by Slave Unit types Attribute Size 4 bytes U32 Access RO PDO map Not possible e Indicates the device information e Sub index 1 Vendor ID gives the manufacturer identifier e Sub index 2 Product Code gives the value assigned to each Slave Unit type e Sub index 3 Revision Number gives the Unit revision number Bits 0 to 15 Minor revision number of the device Bits 16 to 31 Major revision number of the device E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Aseuoljsiq Poldo 1 V gt sjoalqo uoleolunWwWwOD 4 1 7 A Appendices 10F3 hex Diagnosis History Sub index 0 Number of entries Range Unit Default OD hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Maximum Messages Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 2 Newest Message Range Unit Default Attribute Size 1 byte U8 Access RO PDO map Not
28. Subindex 1 No_01 30 Direction Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the direction of the Sensor with the unit number that is specified by the index Items with asterisks are supported from E3NW ECT version 1 03 Data Setting 0000 hex Normal 0001 hex Reversed 4072 N 1 x 80 No_01 30 Output Mode Selection hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Output Mode Selection Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the output mode selection of the Sensor with the unit number that is specified by the index Items with asterisks are supported from E3NW ECT version 1 03 Data Setting 0000 hex Normal 0001 hex Hybrid 4075 N 1 x 80 No_01 30 Preset hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Preset Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the preset of the Sensor with the unit number that is specified by the index A 40 E3NW
29. This section describes how to mount and remove the E3NW DS and individual Amplifiers to the DIN Track i Mounting Method Use the following procedure to mount the Units 1 Hook the upper portion of the Unit on the DIN Track 4 Push into place 3 Remove the protective cap from the right side of the Distributed Sensor Unit Then slide the Sensor Amplifier Units against the Distributed Sensor Unit with the tabs aligned with the notches in the connector area Press them together until they click into place 4 Use the DIN Track End Plates PFP M that are provided to remove any gaps between the Units and secure them in place Replace the protective cap that you removed in step 3 to the Sensor Amplifier on the right end DIN Track SS End Plates E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 43 spun J0suag peynquysiq Buisn Z Y A spun Josuag paynquysiq Bulaowey pue Bujunoy z z Y A Appendices wll E A Do not perform steps 1 and 2 in the reverse order This may reduce the mounting strength CHECK Do not perform step 2 before step 1 p and then step 2 After you finish these steps make sure the E3NW DS is securely in place il Removing Units Use the following procedure to remove the Units 1 Slide the Sensor Amplifier Units away and remove the Distributed Sensor Unit first off A 44 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation
30. oijoeds seunjoejnueyy J V E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 29 A Appendices 4013 N 1 x80 No_01 30 Inverted Display hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Display Direction Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the Amplifier display direction of the Sensor with the unit number that is specified by the index Data Setting 0000 hex Inverted display OFF 0001 hex Inverted display ON 0002 to FFFF hex Not used 4014 N 1 x 80 No_01 30 Channel Display hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Channel Display Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the channel display of the Sensor with the unit number that is specified by the index Data Setting 0000 hex Channel display OFF 0001 hex Channel display ON e A value of 0000 hex is always read for this object 4015 N 1 x 80 No_01 30 Eco Function hex Subindex 0 Number of En
31. 1 n EtherCAT telegram EtherCAT frame header 1stEtherCAT 2ndEtherCAT nth EtherCAT telegram telegram telegram Telegram eener Data WKC WKC Working counter E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 1 3 1 EtherCAT Network 1 1 3 Communications types of EtherCAT EtherCAT provides the following two types of communication functions PDO communications are always updating data per communication cycle on EtherCAT while SDO communications are processed in between those updates fi Process data communications functions PDO communications This communication function is used to transfer process data in real time in a fixed cycle By mapping logical process data space to each node by the EtherCAT Master Unit it achieves fixed cycle communications among the EtherCAT Master Unit and Slave Units EtherCAT Master Unit Slave Unit Slave Unit Slave Unit Slave Unit Ethernet frame 1st EtherCAT telegram EtherCAT header Ethernet header CRC 2nd EtherCAT 3rd EtherCAT telegram telegram Logic process data Dataa Datab Datac i Mailbox communications functions SDO communications It refers to message communications At any timing the EtherCAT Master Unit transmits commands to Slave Units and the Slave Units return responses to the EtherCAT Master Unit It performs the follow
32. Code 05030000 hex Meaning Toggle bit not changed 05040000 hex SDO protocol timeout 05040001 hex Client Server command specifier not valid or unknown 05040005 hex Out of memory 06010000 hex Unsupported access to an object 06010001 hex Attempt to read a write only object 06010002 hex Attempt to write to a read only object 06020000 hex The object does not exist in the object directory 06040041 hex The object cannot be mapped into the PDO 06040042 hex The number and length of the objects to be mapped would exceed the PDO length 06040043 hex General parameter incompatibility reason 06040047 hex General internal incompatibility in the device 06060000 hex Access failed due to a hardware error 06070010 hex Data type does not match length of service parameter does not match 06070012 hex Data type does not match length of service parameter too high 06070013 hex Data type does not match length of service parameter too low 06090011 hex Sub index does not exist 06090030 hex Value range of parameter exceeded only for write access 06090031 hex Value of parameter written too high 06090032 hex Value of parameter written too low 06090036 hex Maximum value is less than minimum value 08000000 hex General error 08000020 hex Data cannot be transferred or stored to the application
33. ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Aseuoljsiq paldo 1 V gt yalqo Buiddew Odd S l V A Appendices 1B0A hex 267th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 02 hex Attribute Size 1byte U8 Access RO PDO Map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 30010108 hex Attribute Size 4byte U32 Access RO PDO Map Possible Sub index2 2nd Input Object to be mapped Range Unit Default 30010208 hex Attribute Size 4byte U32 Access RO PDO Map Possible 1BOB hex 268th Transmit PDO Mapping Subindex 0 Number of Objects Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 1st Input Object to Be Mapped Range Unit Default 300B0120 hex Attribute Size 4 bytes U32 Access RO PDO map Possible 1BOD hex 270th Transmit PDO Mapping 1B0D hex Subindex 0 Number of Objects Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 1st Input Object to Be Mapped Range Unit Default 300D0110 hex Attribute Size 4 bytes U32 Access RO PDO map Possible 1B10 hex 1B11 hex 1B12 hex 273th to 332nd transmit PDO Mapping to 1B4B hex Sub index0 Num
34. Initialization Init F rae possible possible possible Communications are not possible SDO message communications are Pre Operational Not Not possible a ils Siete OaE eae Pre Op Possible ossible ssibi This state is entered after initialization has P P AR been completed It is used to initialize network settings In this state PDO transmissions are possible in addition to SDO message Safe Operational Possible Possible Not communications Safe Op possible PDO sendings can be used to send information such as status from the Slave Unit Normal communication state Operational Op Possible Possible Possible PDO communications can be used to control the I O data E3NW ECT can t trance the state of Operational when amplifier does not exist E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 EtherCAT Communications 5 4 Process Data Objects PDO 5 4 1 Overview The process data objects PDO are used for real time data transfer via cyclic communications PDOs include RxPDOs which are used by the slaves to receive data from the EtherCAT master and TxPDOs which are used by the slaves to send data to the EtherCAT master RxPDO output data operation command and so on EtherCAT EtherCAT Master Unit Slave TxPDO Writ input data status and so on Odd s 99fqo Lq Ss 201d Y It is possible to hold multiple objects in the EtherCAT app
35. Input 1 to 60 e The order of the assignments is given below Input Bit 0 No 1 sensor input 1 Input Bit 1 No 1 sensor input 2 Input Bit 2 No 2 sensor input 1 Input Bit 3 No 2 sensor input 2 Input Bit 56 No 29 sensor input 1 Input Bit 57 No 29 sensor input 2 Input Bit 58 No 30 sensor input 1 Input Bit 59 No 30 sensor input 2 Input Bit 60 Cannot be used Input Bit 61 Cannot be used Input Bit 62 Cannot be used Input Bit 63 Cannot be used A 20 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices The address connection with sensor amplifier These object to communication sensor amplifiers Each object exist 1 to 30 objects by number of sensors The object is offset 80Hex Show below number of sensors and index address relation Unit number Index 1 4000 to 407F 2 4080 to 40FF 3 4100 to 417F 4 4180 to 41FF 5 4200 to 427F 6 4280 to 42FF 7 4300 to 437F 8 4380 to 43FF 9 4400 to 447F 10 4480 to 44FF 11 4500 to 457F 12 4580 to 45FF 13 4600 to 467F 14 4680 to 46FF 15 4700 to 477F 16 4880 to 48FF 17 4800 to 487F 18 4980 to 49FF 19 4900 to 497F 20 4A80 to 4AFF 21 4A00 to 4A7F 22 4A80 to 4AFF 23 4B00 to 4B7F 24 4B80 to 4BFF 25 4C00 to 4C7F 26 4C80 to 4CFF 27 4D00 to 4D7F 28 4D80 to 4DFF 29 4E00 to 4E7F 30 4E80 to 4EFF a g Writing must be performed one object at a time There is
36. Messages E3NW ECT EtherCAT Sensor Communication Units are able to notify emergency messages to the EtherCAT Master Unit by using the SDO communications if they detect errors 5 7 1 Emergency Message Notification It is possible to set whether or not to notify emergency messages via the SDO communications Target indexes are sub index 05 hex Flags in 10F3 hex Diagnostic History The setting values are shown in the table below Set value Emergency message notification 0000 hex Not notify 0001 hex Notify When the power to it is turned on a Slave Unit always starts up in the Not notify setting If you want to use a Slave Unit in the Notify setting set it to Notify each time you turn on the power Note that an emergency message cannot be sent during an EtherCAT communications errors are occurring An emergency message is composed of 8 byte data as shown below Emergency Error register For contents of emergency message refer to 8 1 5 Emergency Error Code in page 8 15 For contents of Sysmac error status codes refer to 8 1 4 Sysmac Error Status Codes in page 8 8 Contents Sysmac error status code 5 7 2 Diagnosis History A E3NW ECT EtherCAT Slave Unit can save up to eight emergency messages in non volatile memory inside the Slave Unit The saved messages can be read with SDO communications Indexes to be read are sub indexes 06 hex to OD hex Diagnosis messages 1 to 8 among 10F3 hex Diagnosis Hist
37. No_01 30 Detection Level 4 Bytes hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Detection Level 4 Bytes Range 2 147 483 648 to Unit Default 00000000 hex Attribute 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RO PDO map Possible e This object reads four bytes of the detection level amount of incident light for the Sensor Amplifier with the unit number that is specified by the index e The FAO LAO and SAO do not use this object 400A N 1 x 80 No_01 30 Operating Mode hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible R e This object sets the operating mode of the Sensor with the unit number that is specified by the index Q Data Setting A 0000 hex Light ON 2 0001 hex Dark ON 0002 to FFFF hex Not used 400B N 1 x 80 No_01 30 Detection Function A hex Subindex
38. Node address setting method Set with decimal rotary switches or software al Node address range 000 to 192 2 PWR x 1 L A IN Link Activity IN x 1 Indicator L A OUT Link Activity OUT x 1 RUN x 1 ERR x 1 Process data PDO mapping PDO size node 350 byte max Mailbox Emergency messages and SDO requests SYNCHRONIZATION mode Free Run mode asynchronous and DC mode 1 1 The software setting is used when the node address setting switches are set to 0 2 The range depends on the EtherCAT master that is used Refer to 6 3 2 Node Address Setting Switches in page 6 6 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 6 Hardware Specifications of ESNW ECT 6 2 General Specifications This section explains the general specifications of the E3NW ECT EtherCAT Slave Unit Item Specification Unit power supply voltage 24 VDC 20 4 to 26 4 VDC Power and current 2 4 W max Not including the power supplied to Sensors 100 mA max Not consumption including current supplied to Sensors Noise immunity Conforms to IEC 61000 4 4 1 k power line 10 to 60 Hz with an amplitude of 0 7 mm 60 to 150 Hz 50 m s2 1 5 hours each in X Y and Z directions 150 m s with amplitude of 0 7 mm 3 times each in 6 directions on 3 axes Vibration resistance Shock resistance Dielectric strength 500 VAC 50 and 60 Hz 1 min is Insulatio
39. Object to be mapped PDO Map Not possible Default 30202101 hex 30202201 hex 30202301 hex Range Unit 30202F01 hex 30203001 hex Attribute Size 4 bytes U32 Access RO PDO map Possible 1B07 hex 264th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 10 hex Attribute Size 1byte U8 Access RO Sub index1 to 16 1st to 16th Input Object to be mapped PDO Map Possible Default 30203101 hex 30203201 hex 30203301 hex Range Unit 30203F01 hex 30204001 hex Attribute Size 4 bytes U32 Access RO PDO map Possible 1B08 hex 265th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01 hex Attribute Size 1byte U8 Access RO PDO Map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 300A0108 hex Attribute Size 4byte U32 Access RO PDO Map Possible 1B09 hex 266th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 02 hex Attribute Size 1byte U8 Access RO PDO Map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 30000101 hex Attribute Size 4byte U32 Access RO PDO Map Possible Sub index2 2nd Input Object to be mapped Range Unit Default 30000201 hex Attribute Size 4byte U32 Access RO PDO Map Possible E3NW
40. PDOs of Assigned of assigned PDOs assigned 1 5 RxPDOs TxPDOs E3NW ECT 05 hex 1B00 hex 1B01 hex 1B08 hex 1BOA hex 1B0D hex If you are using the CX Programmer you cannot change the PDO assignments that are given above Default Settings for Software from Another Manufacturer BBO asslgnments for PDO assignments for Sync Manager 3 Sync Manager 2 Model Number l Number Assigned PDOs of Assigned of assigned PDOs assigned 1 2 3 4 5 RxPDOs TxPDOs E3NW ECT 00 hex OD hex 1B04 hex 1B05 hex 1B09 hex 1B0A hex 1BOB hex 6 7 8 9 10 1B10 hex 1B12 hex 1B14 hex 1B16 hex 1B18 hex 11 12 13 14 1B1A hex 1B1C hex 1B1E hex H Precautions for Correct Use You can assign a maximum of 350 bytes of PDOs for the E3NW ECT Do not assign more than 350 bytes of PDOs A 14 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices A 1 7 Manufacturer Specific Objects This section describes the CiA401 generic I O module device profile that is implemented in the E3NW ECT Sensor Communication Unit and the objects that are uniquely implemented in the E3NW ECT Sensor Communication Unit as an EtherCAT slave Manufacturer specific Area 2100 hex Error History Clear Range Unit Default 00000000 hex Attribute A Size 4byte U32 Access RW PDO map Not possible e This object clears diagnosis history of 10F3 hex Diagnosis History
41. RW Yes Yes No No 4030 N 1 x 80 hex 4F30 hex 1or2 Maximum Sensitivity Tuning U16 RW Yes Yes No No 4031 N 1 x 80 hex 4F31 hex 1 or 2 Zero Reset U16 RW Yes Yes Yes No 4032 N 1 x 80 hex 4F32 hex 1 or 2 Projection Lighting OFF U16 RW Yes Yes Yes No 4033 N 1 x 80 hex 4F33 hex 1or2 2 point Tuning 1st point U16 RW Yes Yes Yes Yes 4034 N 1 x 80 hex 4F34 hex 1or2 2 point Tuning 2nd point U16 RW Yes Yes Yes Yes 4035 N 1 x 80 hex 4F35 hex 1or2 Position Tuning U16 RW Yes Yes No No Items with asterisks are supported from E3NW ECT version 1 03 A 22 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices Index for unit Index for Applicable Sensor numbers 1 to 30 multiple Subindex Name Size Access Amplifier Units objects FAO LAO SAO TA0 4036 N 1 x 80 hex 4F36 hex 1or2 Full auto Tuning Setup U16 RW Yes Yes Yes Yes 4037 N 1 x 80 hex 4F37 hex 1or2 Full auto Tuning Execution U16 RW Yes Yes Yes No 4038 N 1 x 80 hex 4F38 hex 1 or 2 Percentage Tuning Setting U16 RW Yes Yes No No Origin Point Use Setting U16 RW No No No Yes 4039 N 1 x 80 hex 4F39 hex 1 or 2 Percentage Tuning Level INT32 RW Yes Yes No No Preset Value INT32 RW No No No Yes 403A N 1 x 80 hex 4F3A hex 10r2 Percentage Tuning
42. Response Setting e This object set the response setting when sending command to dummy sensor 0 Dummy sensor reply normal response The read data is always 0 1 Dummy sensor reply error response A 18 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 3005 hex Input Delay Time Status Subindex 0 Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 Input Delay Time Status Range 00 to 03 hex Unit Default 00 hex Attribute A Size 1 byte U8 Access RO PDO map Possible e Subindex 1 Input Delay Time Status e This object reads the input delay time status in Free Run Mode 0 Undefined Pre Operational state 1 Standard 125 us 2 High speed 100 us 3 Low speed 1 150 us 4 Low speed 2 175 us 5 TXPDO Normal Mode Type 200 us The response time is the refresh cycle that is given in 7 2 3 Mode Setting Functions for PDO Communications in page 7 5 300A hex Sensor Communication Status 8bit Sub index0 Range 01 hex Unit Default 01 hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Sensor Communication Status Range 00 hex 02 hex Unit Default 00 hex Attribute A Size 1byte U8 Access RO PDO map possible e This object detect communication status with E3NW ECT and sensor amplifiers e When bit 0 is ON co
43. Sensor Communication Unit Operation Manual E429 Sub address of an object within the object dictionary sync manager Term Abbrevia Hee Description tion SM Collection of control elements to coordinate access to concurrently used objects Transmit PDO TxPDO A process data object sent from an EtherCAT Slave Unit E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No E429 E1 02 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content 01 March 2013 Original production 02 July 2014 Added registered trademark symbol to EtherCAT Pages 5 to 7 Updated Read and Understand the Manual information Pages 2 2 2 3 7 3 7 10 A 21 to A 27 A 29 A 31 to A 34 and A 36 to A 40 Added updated information for E9NC TAO E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Revision 1 Revision 2 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Authorized Distributor
44. Specification Ambient operating ont temperature 0 to 55 C Ambient operating iis nae 25 to 85 with no condensation or icing humidity Ambient operating No corrosive gases atmosphere Storage temperature 30 to 70 C with no condensation or icing Storage humidity 25 to 85 with no condensation or icing Installation method 35 mm DIN track mounting The temperature is limited by the number of Amplifiers that are connected For 1 to 2 Amplifiers 0 to 55 C 3 to 10 Amplifiers 0 to 50 C 11 to 16 Amplifiers 0 to 45 C 17 to 30 Amplifiers 0 to 40 C A 2 6 Hardware Specifications of the Distributed Sensor Unit i Status Indicators The status indicators give the current status of the E3NW DS E3NW DS AUN C TERMINATION OFF fal RUN Indicator This indicator gives the operating status Color Status Meaning Power OFF or one of the following errors has occurred Rotary switch setting Not lit G error watchdog timer timeout error hardware error RAM check error EE Flashing rapidly No access for three or more seconds from the Sensor Communication Unit Lit Normal status or Sensor not connected error SS Indicator This indicator gives the connection status of the Sensor or whether there are any other errors Color Status Meaning Initial diagnosis in progress or one of the following errors occurred after the Not lit power was cycled Hardware erro
45. 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 intellectual property right 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 warran
46. These standard fiber amplifiers are easy to use and set up Smart Laser Amplifier Unit E3NC LAO These laser sensors use a minute spot and yet they provide stable detection Smart Laser Amplifier Unit E3NC SA0 These laser sensors use a CMOS device that allows reliable CMOS Type detection of stepped surfaces Contact type Smart Sensors EQNC TAO These contact type sensors are durable The EQ9NC TAO is supported from E3NW ECT version 1 03 2 2 2 Number of Connected Sensor Amplifiers This Sensor Communication Unit allows you to connect up to 30 Sensor Amplifiers including those that are connected to the Distributed Sensor Units You can connect up to 10 Sensors to a Distributed Sensor Unit SJaljl duy JOSU JO S 7 Z Z E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 2 3 2 EtherCAT Sensor Communication Unit 2 4 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Basic Usage Procedures This chapter explains the procedure of using EtherCAT Sensor Communication Units based on specific setting examples 3 1 3 2 3 4 Setup Examples and Basic Procedure 200eee ee eeeee 3 2 3 1 1 System Setting Examples 0 0000 eee 3 2 3 1 2 Basic Procedure scera ee eo din a ets el ee a 3 3 Setting and Wiring Hardware 0 cece eee eee eee eee 3 4 3 2 1 Mounting and Setting EtherCAT Master Unit 4 3 4 3 2 2 Moun
47. Unit from another manufacturer Setting with the Configuration Tool The switch setting has no effect Notes The system will not operate correctly if the node address switches are set to 998 or 999 l Precaution s for Correct Use e The setting on the node address switches is read only once when the power is turned ON Even if the settings are changed after turning the power supply ON they are not reflected in the control They become effective when the power supply is turned ON the next time e f node addresses overlap an error occurs and the operation stops E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 6 Hardware Specifications of ESNW ECT 6 3 3 Communications Connectors The Connectors are used to connect the communications cables OMRON ESNW ECT SENSOR COMMUNICATION UNIT The specifications are shown below e Electrical characteristics Conforms to the IEEE 802 3u standard e Connector structure RJ45 8 pin modular connector conforms to ISO 8877 e Terminal arrangement suoljeoyioads asempiepy 9 Pin No Signal name Abbreviation 1 Send data TD 2 Send data TD 3 Receive data RD 4 Not used 5 Not used 6 Receive data RD 7 Not used 8 Not used Hood Frame ground FG 6 3 4 Unit Power Su
48. a year Periodic inspections should occur more frequently however for Units that are used in environments subject to high temperatures high humidity or a lot of dust i Materials required for inspections The following materials are required to perform periodic inspections Materials used regularly e Phillips screwdrivers and flat blade screwdrivers e Screwdrivers for communications connectors e Testers or digital voltmeters e Industrial alcohol and pure cotton cloth Materials sometimes required e Synchroscope e Pen oscilloscope e Thermometer and hygrometer 8 18 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 Troubleshooting and Maintenance i Inspection item Periodically inspect the following items to ensure that they do not deviate from the criteria If the items deviate from the criteria adjust the environment so the criteria are met or adjust the Unit itself l i z nspecton Inspection details Criteria Inepecton item method Are the ambient and in panel 0 to 55 C eae Re temperatures appropriate Environment Is the ambient and in panel humidity 25 to 85 with no r Hygrometer appropriate condensation or icing Has dust collected No dust Visual inspection Has the Slave Unit been secured No looseness Phillips screwdriver Are the communications cable j No looseness Visual inspection Installation connectors inserted properly Are the external wir
49. by using simple system setup examples ia Explains how to install Slave Units and how to connect and Chapter 4 Installation and Wiring PAA the EtherCAT network and power supply Chapter 5 EtherCAT Communications Explains the details of EtherCAT communications Chapter 6 E3NW ECT Hardware specifications Explains the E3NW ECT Hardware specifications Chapter 7 E3NW ECT Functional specifications Explains the E3NW ECT Functional specifications This contains troubleshooting and inspection methods Chapter 8 Troubleshooting and Maintenance intended for individuals to handle abnormalities and conduct regular inspections The appendices give an overview of the objects and Appendices Appendices precautions on their use and describes the specifications of the E3NW DS Distributed Sensor Unit E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Terms and Conditions Agreement Warranty Limitations of Liability i 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
50. bytes U16 Access RW PDO map Not possible e This object executes the second point of two point tuning for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to write data It is always set to 0000 hex when reading data e Execute the first point of 2 point tuning first A 34 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 4035 N 1 x 80 hex Subindex 0 Number of Entries No_01 30 Position Tuning A Appendices Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object executes the position tuning command for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to write data It is always set to 0000 hex when reading data e Execute the first point of 2 point tuning with workpiece absent first 4036 N 1 x 80 hex Subindex 0 Number of Entries No_01 30 Full auto Tuning Setup Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subi
51. communications cables e Do not place heavy objects on top of the communications cables e Always lay communications cable inside ducts Turn OFF the power of PLC and all the Slave Units before wiring the communication cables Do not apply voltages to the Input Slave Units in excess of the rated input voltage Excess voltage or loads may result in burning E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 e Do not apply voltages or connect loads to the Outputs Slave Units in excess of the maximum switching capacity Excess voltage or loads may result in burning Handling e When transporting the product use special packing boxes and protect it from being exposed to excessive vibration or impact during transportation e Do not bend cables past their natural bending radius or pull on cables e After replacing Units resume operation only after transferring to the new CPU Unit and or Special I O Units the contents of the DM Area HR Area and other data required for resuming operation Not doing so may result in unexpected operation e Check the user program for proper execution before actually running it on the Unit Not checking the program may result in unexpected operation e When replacing relays or other parts be sure to confirm that the ratings of the new part are correct Not doing so may result in malfunction or burning Confirm that no adverse effect will occur in the system before attempting any of the following
52. dirt or dust or where there is oil mist e The bending radius of the communications cables is restricted Refer to the specifications of the communications cable that you will use for the minimum bending radius e You can connect a maximum of eight Distributed Sensor Units to the Sensor Communication Unit e Do not exceed a total length L1 L2 Ln of 30 m for the DS Bus cable e Turn ON the DS Bus termination switch only on the last Distributed Sensor Unit on the DS Bus network Turn it OFF on all other Distributed Sensor Units i Preparations for Installation Prepare the following items Item Remarks DS Bus communications cables Use the recommended product given below DS Bus communications connector Included with the E3NW series Sensor Communication for Sensor Communication Unit Unit DS Bus communications HE Included with the E3NW DS Sensor Distributed Sensor connectors for Distributed Sensor Units Units Two are used Ferrite cores Included with the E3NW DS Sensor Distributed Sensor Units E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 45 spun Josuag peynquysiq Buisn Z Y gt BUI IOMON SNG SQ 2 V A Appendices Recommended Parts Part Contact information Communications Bando Densen Co Ltd ESVC 0 5X2C black Kanetsu overseas sales Cable department il Connecting Communications Cables and Connectors E3NW series Sensor Communication Unit Con
53. e It clears the history only when specific values are written The specific value is elcl MSB LSB l c l e 6C hex 63 hex 6C hex 65 hex Writing values other than this is invalid 2002h Sysmac Error Sub index0 Number of entries Range Unit Default 02 hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Sysmac Error Status Range Unit Default 00 hex Attribute Size 1byte U8 Access RO PDO map possible Sub index2 Sysmac Error Status Clear Range Unit Default 00 hex Attribute A Size 1byte U8 Access RW PDO map Not possible e The mapping is used for Sysmac error status notification and to clear Sysmac error status e Sub index 1 Sysmac Error Status e This object is for notification of errors that are detected in the Slave Unit e When connected to an NJ series Machine Automation Controller NJ001 1000 map this object to a PDO e Sub index 2 Sysmac Error Status Clear e This object is used by the Controller a Sysmac device to reset errors that occur in Slave Units EN Reference In the default Sysmac Studio settings sub index 1 Sysmac Error Status is automatically mapped to a PDO because 1BFF hex 512th transmit PDO Mapping is assigned E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 15 Aeuonoa paldo Y gt sy fqo ojoeds seunjoejnueyy z 4 Y A Appendices 2200 he
54. e This object executes the percent tuning command for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to write data It is always set to 0000 hex when reading data 403B N 1 x 80 No_01 30 Power Tuning Setting and Tolerance Setting High hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Power Tuning Setting and Tolerance Setting High Range 1 999 999 to 9 999 999 Unit Defaults Attribute A FFE17B81 hex to 0098967F hex Power Tuning Setting 00000000 hex Tolerance Setting High 000003E8 hex Size 4 bytes INT32 Access RW PDO map Not possible Subindex 2 No_01 30 Power Tuning Setting Range 1 999 999 to 9 999 999 Unit Default 00000000 hex Attribute A FFE17B81 hex to 0098967F hex Size 4 bytes INT32 Access RW PDO map Not possible e This object sets the power tuning setting and tolerance setting high setting of the Sensor with the unit number that is specified by the index e The setting range for the tolerance setting high setting is 1 999 999 to 9 999 999 FFE17B81 hex to 0098967F hex Items with asterisks are supported from E3NW ECT version 1 03 Percentage Tuning Setting Data Setting 00000000 hex Power Tuning Setting ON 00000001 hex Power Tuning Setting OFF 00000002 to FFFFFFFF he
55. hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Display Mode Range 00000000 to 0001 FFFF hex Unit Default 00000000 hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible e This object sets the Amplifier display of the Sensor with the unit number that is specified by the index gt A Tar nsor oa Setting wets g Y 0 Y 1 FAO LAO SAO A 000Y 0000 hex Threshold level detection level Std Solution Viewer Yes Yes 2 000Y 0001 hex Margin in detection level with respect to the Yes Yes s threshold level PEr 3 000Y 0002 hex The smallest peak value of incident light and the Yes Yes lt largest bottom value of interrupted light P b 000Y 0003 hex Bar graph display bAr Yes Yes A 000Y 0004 hex Detection level at peak PEAK Yes Yes 000Y 0005 hex Channel number and detection level ch Yes Yes 000Y 0007 hex Change finder CFdr Yes No o Other values Not used T a The detection level in the above table is the amount of incident light or the amount of change at the Sensor Amplifier If you operate the Amplifier after you set the Solution Viewer the display changes to the display for the rightmost digit Example 00010000 hex gt Display mode changes to Solution Viewer gt Amplifier Unit operation gt Display mode changes to threshold detection level Std The SAO does not support the Solution Viewer
56. index1 Number of Sensors Setting Range 00 hex 1E hex Unit Default 00 hex Attribute A Size 1byte U8 Access RW PDO map possible Sub index2 Number of Sensors with Dummy Range 00 hex 01 hex Unit Default 00 hex Attribute A Size 1byte U8 Access RO PDO map possible Sub index3 Number of Connected Sensors Range 00 hex 01 hex Unit Default 00 hex Attribute A Size 1byte U8 Access RO PDO map Not possible e Sub index1 Number of Sensors Setting e This object use to set sensor number include dummy sensors Set the number of Sensors to register to the number of Sensors that are actually connected plus the number of Dummy Sensors e Sub index2 Number of Sensors with Dummy e This object detect number of sensors recognized by E3NW ECT with dummy sensors e Sub index3 Number of Connected Sensors e This object detect number of sensors recognized by E3NW ECT without dummy sensors E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 17 Aseuoljs1q Poldo L Y gt sy fqo ojoeds seunjoejnueyy J V A Appendices 3002 hex Input Filter for Free Run Mode Sub index0 Range 02 hex Unit Default 02 hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Input Filter Setting Range 00 hex 01 hex Unit Default 00 hex Attribute R Size 1 bit BOOL Access RW PDO map Not possible Sub index2 Input Filter Information R
57. possible Sub index 5 Flags Range 0000 hex 0001 hex Unit Default 0000 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible Sub index 6 to 13 Diagnosis Message 1 8 Range Unit Default Attribute Size 23 bytes VS Access RO PDO map Not possible e This object indicates up to 8 diagnosis histories It also sets whether to notify emergency messages or not e Sub index 1 Maximum Messages gives the number of error messages e Sub index 2 Newest Messages gives the Sub index number the latest message in the diagnosis history e Sub index 5 Flags is the control flag of diagnosis history It specifies whether or not to notify error messages via emergency messages Setting 0001 hex means to notify It is set to 0001 hex Emergency notify when power is turned ON At startup the setting is 0000 hex no emergency notification e Sub indexes 6 to 13 Diagnosis messages 1 to 8 indicate the diagnosis history From Sub index 6 Diagnosis message 1 to Sub index 13 Diagnosis message 8 are stored 8 errors The 9th error and onward are stored from the Sub index 6 Diagnosis message 1 again A 6 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices A 1 5 PDO Mapping Object Indexes 1600 hex to 17FF hex are used for Receive PDO mapping and indexes 1A00 hex to 1BFF hex are used for Transmit PDO mapping Sub indexes after Sub index 1 provide information about the applica
58. protocol over EtherCAT CoE 5 2 5 2 EtherCAT Slave Information File ESI File 200 e eee eee eee 5 3 5 3 Communications State Transitions 00 cee eee 5 4 5 4 Process Data Objects PDO 00 cece eee eee eee 5 5 5 4 1 V OVEIVIEW sc Mave h a ack e ch cle stella de a e ue Seat hye a cae Seo etic Sethe 5 5 5 4 2 PDO Mapping Settings 0 0 2 cee 5 5 5 4 3 Sync Manager PDO Assignment Settings 0 0 eee eee eee 5 6 5 4 4 PDOMapping 000 cc tetas 5 7 5 5 Service Data Object SDO 0 cece cee 5 10 5 5 1 OVEMNIEW ioe beh hale beta ce be eb eee ee oe Pe tees 5 10 9 0 2 Abort Codes zen ee E sedis E EDO ERE VAL eens datos fa ea 5 10 5 6 EtherCAT Master Unit Slave Unit Communications 5 11 9 6 1 EREE RUN Mode windiest Ye 2 ned ance te oe berate ee ete ee RS 5 11 5 6 2 DC Mode 4 34 40tsc40 Bee en dicate Hien A n bade e be sass 5 11 5 7 Emergency Messages 00 eee eee e eee eee eee e eee eee 5 12 5 7 1 Emergency Message Notification 00 0000 eee eee 5 12 9 f 2 Diagnosis HIStory a cee erick ext oie eect ey age Reve Sty eit ee EY ee 5 12 5 8 Sysmac Device Functions 0 cee eee eee 5 13 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 1 5 EtherCAT Communications 5 1 Structure of CAN application protocol over EtherCAT CoE Normally multiple protocols can be
59. setting A range setting switch or other switch setting is illegal Check the switch settings then restart the Slave Unit according to the specification of connected EtherCAT Master Unit Non volatile memory data error Sync manager setting error A non volatile memory data error occurred The sync manager setting is illegal Use the Configuration Tool or SDO communications to restore the default data and restart the Slave Unit according to the specification of connected EtherCAT Master Unit Change to the correct settings Hardware error A hardware failure occurred E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 If the problem is not resolved even after the measures described above are taken the Slave Unit hardware may be damaged Replace the applicable Slave Unit aye 0 suonoy pue 10 e91pU SNyeIS UYM payxdeyD aq UeD Jey SION 1 1 8 Bulooysajqnol 1 8 8 Troubleshooting and Maintenance Errors of EtherCAT Network PWR indicator On L A OUT On L A IN LED RUN indicator ERR Ferd Beers Description Link established in physical layer Cause Operation standby status after establishing link in physical layer Actions On Off Link not established in physical layer A link in physical layer has not been established After checking the following items restart the Slave Un
60. the Distributed Sensor Units a as well 2 Unit power supply of EtherCAT Master Units 3 ios 3 3 2 Setting EtherCAT Communications The following communications are performed in EtherCAT S 3 PDO communications remote I O communications o Allocate I O data of Slave Units to the EtherCAT Master Unit PDO mapping and perform PDO a 3 communication remote I O communications For the detailed explanation of I O data of each Slave Unit refer to I O Data Allocation PDO Mapping in Chapter 7 Note that the ESI file are used to allocate I O data For the detailed explanation of the procedure refer to the manual of the EtherCAT Master Unit to be used and the manual of the Configuration Tool The maximum assignable PDO size for the E3NW ECT is 350 bytes Refer to 7 2 3 Mode Setting Functions for PDO Communications in page 7 5 for details Do not assign PDOs that exceed the maximum assignable PDO size SDO communications message communications For the method of using refer to the manual of the EtherCAT Master Unit to be used Refer to Appendix A 1 Object Dictionary for the detailed explanation of objects implemented on E3NW ECT EtherCAT Sensor Communication Units Note that the SDO communications can be used in the pre operational state or more 3 3 3 Starting EtherCAT Communications Shift to the operational state EtherCAT communications possible to start the EtherCAT communications For how to shift t
61. transferred by EtherCAT But E3NW ECT EtherCAT Sensor Communication Units use CAN application protocol over EtherCAT CoE a communication interface to be applied for EtherCAT devices as the device profile of the open network standard CAN application protocol The figure below shows the structure of CoE in ESNW ECT EtherCAT Sensor Communication Units E3NW ECT EtherCAT Slave Units Application layer Slave application Object dictionary Communications PDO SDO mailbox SyncManager il FMMU ll EtherCAT data link layer EtherCAT physical layer CAN application protocol has two types of object dictionaries PDO Process Data Object and SDO Service Data Object PDO is composed of object dictionaries that can be mapped The process data is defined by PDO mapping PDO is primarily used in PDO communications for regularly exchanging process data Moreover SDO is able to read and write all object dictionaries and is used in non fixed cycle type SDO event type messages communications By using the CoE interface to set object SDO and PDO dictionaries EtherCAT can provide EtherCAT devices with the same device profile as CAN application protocol 5 2 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 EtherCAT Communications 5 2 EtherCAT Slave Information File ESI File An EtherCAT Slave Information ESI file contains the setting information of an EtherCAT Slave Unit Various EtherCAT co
62. tributed Sensor Unit disconnected Sensor Unit that is checked at Verify Error power up is decreased 247B0000hex Number of Too many Sensors More than the maximum num V 8 12 Sensors are connected ber of Sensors are connected Over Limit 247C 0000 hex Number of The number of Sen e The set value does not match y 8 12 Sensors Ver sors that is con the number of Sensors that are ify Error nected does not actually connected agree with the set tings 247D0000hex Number of Too many Sensors More than the maximum num V 8 13 Sensors are connected at ber of Sensors are connected Over at Dis Distributed Sensor at Distributed Sensor Unit tributed Sen Unit sor Unit 34F80000 hex Dummy Sen Too many Dummy There are too many Dummy V 8 13 sors Setting Units are set Units set so some Sensors are Error not assigned logical unit num bers 04A10000 hex Non volatile An error occurredin Non volatile memory failure V 8 14 Memory non volatile mem Hardware ory Error E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 Troubleshooting and Maintenance i Error Description This section describes the information that is given for individual errors Controller Error Descriptions The items that are used to describe individual errors events are described in the following copy of an error table Event name Gives the name of the error event Event code Gives
63. with a system configuration using I O wiring lengths of less than 30 m Note Conformance with the EMC Directive was confirmed when using the recommended power supply E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 13 Related Manuals The following manuals also deal with EtherCAT Man No W487 Name of manuals CJ Series Position Control Units Operation Manual Refer to them for details Contents Explains the setup and operation procedures of the EtherCAT Position Control Units CJ1W NCx81 x82 which functions as a master W446 CX Programmer Operation Manual Explains the operations method of the Windows based programming tool CX Programmer W500 NJ series CPU Unit Hardware User s Manual Explains the overall NJ series System and the following items for the NJ501 CPU Units e Features and system configuration e Overview e Part names and functions e General specifications e Installation and wiring e Maintenance and inspection Use this manual together with the NJ series CPU Unit Software User s Manual Cat No W501 W501 NJ series CPU Unit Software User s Manual Explains the following items for NJ series CPU Units e CPU Unit operation e CPU Unit functions e Initial settings e Languages and programming based on IEC 61131 3 Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 W505 NJ series CP
64. 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Q P Size 1 byte U8 Access RO PDO map Not possible Oy Subindex 1 No_01 30 Detection Function g Range 0000 to FFFF hex Unit Default 0001 hex Attribute A Z Size 2 bytes U16 Access RW PDO map Not possible 3 Subindex 2 No_01 30 IN2 5 Range 2 147 483 648 to Unit Default hex Attribute A o 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 27 A Appendices e This object sets the operating mode of the Sensor with the unit number that is specified by the index Items with asterisks are supported from E3NW ECT version 1 03 Data Setting 0000 hex SHS super high speed 0001 hex HS high speed 0002 hex STND standard 0003 hex GIGA high resolution 0004 to FFFF hex Not used 400E N 1 x 80 No_01 30 Timer Function hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible
65. 0001 hex to execute It is always set to 0000 hex when reading the data e If no sensing object is detected it is necessary to wait at least 3 seconds after executing Full auto Tuning Setup Items with asterisks are supported from E3NW ECT version 1 03 4041 N 1 x80 No_01 30 Flashing hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Flashing Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 2 147 483 648 to Unit Default hex Attribute A 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible e This object executes the flashing command for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to write data It is always set to 0000 hex when reading data Items with asterisks are supported from E3NW ECT version 1 03 A 38 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 4042 N 1 x80 No_01 30 Sensor Initialization hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Sensor Initialization Range 0000 t
66. 0A N 1 x 80 hex 4FOA hex 1or2 Operating Mode U16 RW Yes Yes Yes Yes 400B N 1 x 80 hex 4FOB hex 1 or 2 Detection Function U16 RW Yes Yes Yes Yes 400E N 1 x 80 hex 4FOE hex 1or2 Timer Function U16 RW Yes Yes Yes No 400F N 1 x 80 hex 4FOF hex 1or2 Timer Value 1 U16 RW Yes Yes Yes No 4010 N 1 x 80 hex 4F10 hex 1or2 Timer Value 2 U16 RW Yes Yes Yes No 4011 N 1 x 80 hex 4F11 hex 1 or 2 DPC Setting U16 RW Yes Yes No No Display Digits U16 RW No No No Yes 4012 N 1 x 80 hex 4F12 hex 1 Display Mode U32 RW Yes Yes Yes No 4013 N 1 x 80 hex 4F13 hex 1 Inverted Display U16 RW Yes Yes Yes No 4014 N 1 x 80 hex 4F14 hex 1 Channel Display U16 RW Yes Yes Yes No 4015 N 1 x 80 hex 4F15 hex 1 Eco Function Setting U16 RW Yes Yes Yes Yes 4016 N 1 x 80 hex 4F16 hex 1 Key Lock Setting U16 RW Yes Yes Yes Yes 4017 N 1 x 80 hex 4F17 hex 1 Display Blinking U16 RW Yes Yes Yes Yes 4020 N 1 x 80 hex 4F20 hex 1 or 2 Hysteresis Width Setting U16 RW Yes Yes Yes Yes 4021 N 1 x 80 hex 4F21 hex 1or2 Hysteresis Width 1 U32 RW Yes Yes Yes No 4022 N 1 x 80 hex 4F22 hex 1 Hysteresis Width 2 U32 RW Yes Yes Yes Yes 4023 N 1 x 80 hex 4F23 hex 1 Keep Setting U16 RW No No Yes No 4024 N 1 x 80 hex 4F24 hex 1 Hold Mode Setting U16 RW No No Yes No 4025 N 1 x 80 hex 4F25 hex 1 Alarm Output Level Setting U16
67. 10 Kuramo Electric Co Ltd Kuramo Electric Co Ltd KETH PSB OMR TEL 03 5644 7601 TEL 06 6231 8151 OMRON Customer Connectors OMRON Corporation XS6G T421 1 Service CenterTEL 0120 919 066 Part Manufacturer Model Communications Cables Notes We recommend that you use combinations of the above Cables and Connectors E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 4 5 4 Installation and Wiring 4 2 3 Connecting Communications Cables and Connectors Connect a communications cable and a connector by wiring them straight as shown below Qe Pin No Wire color Wire color Pin No 1 White Green m White Green 1 2 Green Green 2 3 White Orange a White Orange 3 4 Blue Blue 4 5 White Blue White Blue 5 6 Orange Orange 6 7 White Brown a is White Brown 7 8 Brown a Brown 8 Connector Shielded cable e Shielded cable oa Connect both ends of cable shielded wires to the connector hoods EN Reference There are 2 types of wiring standards for Ethernet cables T568A and T568B The figure above shows a wiring method conforming to the standard T568A The wiring method conforming to the standard T568B can also be used 4 6 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 4 Installation and Wiring 4 2 4 Connecting to Communications Cables
68. 3 2 2 3 gt Mounting and Setting Distributed Sensor Units g Z T 5 Connecting Power Supplies Section 3 2 3 N D ies o 5 Wiring Communications Cables m Section 3 2 4 3 3 3 Connecting fiber or sensor head Section 3 2 5 Starting a System gt Section 3 3 1 Setting an EtherCAT Communications Section 3 3 2 Starting EtherCAT Communications m Section 3 3 3 n xe w 2 Z 5 E je O D T N Checking Unit Displays Section 3 4 1 Confirming Data Read and Write m Section 3 4 2 no m 2 5 g D a O D x lt O D x O Setting Slave Unit Parameter Section 3 4 3 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 3 3 3 Basic Usage Procedures 3 2 Setting and Wiring Hardware Make settings and wiring of the EtherCAT Master Unit and Slave Units and power supply 3 2 1 Mounting and Setting EtherCAT Master Unit Mount the EtherCAT Master Unit at the prescribed location and make settings of Unit No and so on For the detailed explanation refer to the manual of the EtherCAT Master Unit to be used 3 2 2 Mounting and Setting Slave Units Mount each slave and Distributed Sensor Unit in their designated locations and then set the node addresses and other settings For details refer to each item below Mounting 4 1 Mounting ESNW ECT and Sensor Amplifiers in page 4 2 Setting Pages in Chapter 6 to Chapter 7 which explain th
69. AT Master Unit to Slave Unit e SM3 __ Process data input EtherCAT Slave Unit to Master Unit 1010 hex Sync Manager 0 PDO Assignment Sub index 0 Number of assigned PDOs Range 00 hex Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible e It indicates the number of PDO mappings used by this sync manager e Mailbox reception sync manager does not have PDOs A 12 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 1011 hex Sync Manager 1 PDO Assignment Sub index 0 Number of assigned PDOs Range 00 hex Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible e It indicates the number of PDO mappings used by this sync manager e Mailbox transmit sync manager does not have PDOs 1012 hex Sync Manager 2 PDO Assignment Sub index 0 Number of assigned PDOs Range 00 hex to 08 hex Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 to 8 1st 8th PDO Mapping Object Index of assigned PDO Range 1600 hex to 17FF hex Unit Default Differ by Slave Unit types Attribute Size 2 bytes U16 Access RW PDO map Not possible RO is set if there is no RxPDO e It indicates the RxPDOs used by this sync manager 1013 hex Sync Manager 3 PDO Assignment Sub index 0 Number of assigned P
70. Attribute A 2 147 483 647 80000000 to 7FFF FFFF hex Size 4 bytes INT32 Access RW PDO map Possible e This object reads the zero reset level for the Sensor Amplifier with the unit number that is specified by the index Items with asterisks are supported from E3NW ECT version 1 03 4008 N 1 x 80 No_01 30 Output Mode Setting hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible A 26 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices e This object sets the output mode for the Sensor Amplifier with the unit number that is specified by the index Data Setting Output 1 subindex 1 Output 2 subindex 2 0000 hex Normal Detection Mode Normal Detection Mode 0001 hex Area Detection Mode Alarm Output Mode FA0 LAO 0002 hex Not used Error Output Mode 0003 hex Hold Mode SAO only Not used 0004 to FFFF hex Not used Not used e The previous value is retained if a measurement error occurs in Hold Mode e The TAO does not have output 2 4009 N 1 x 80
71. DIN Track sold separately o PFP ON DIN Track sold separately 7 8 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 7 Function Specifications E3NX FAO OUT2 selection indicator L D indicator DCP indicator OUT2 indicator ST indicator L essee M OUT1 indicator OUT1 selection indicator Threshold level green digital Incident level white digital 13 8 15 Mounted to DIN Track 10 5 Ga 140 max value with cover open 3 j 2 Lla 104 8 ll I m max value with p cover open Two 2 4 dia 45 A holes 33 5 37 t 3 4 E UNA 5 7 With Fiber Attachment 20 5 1 Optical communications E39 F9 attached m 37 9 39 5 le 90 8 PFP ON DIN Track sold separately E3NC LAO L D indicator DCP indicator OUT2 selection indicator OUT2 indicator suoisuewig Buunow Z OUT1 indicator OUT1 selection indicator Threshold level green digital Incident level white digital bas 13 11 5 Goi Mounted to DIN Track aN 26 159 7 max value with cover open 152 max value with cover open TT l 114 max value with cover open mi 29 9 33 5 37 e
72. DOs Range 00 hex to 08 hex Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 to 8 1st 8th PDO Mapping Object Index of assigned PDO Range 1A00 hex to 1BFF hex Unit Default Differ by Slave Unit types Attribute Size 2 bytes U16 PDO map Nat possible RO is set if there is no TxPDO e It indicates the TxPDOs used by this sync manager The default settings for Sync Manager 2 PDO Assignment and Sync Manager 3 PDO Assignment are different for OMRON software and software from other companies The default settings are given in the following table Aseuoljs1q Poldo Y gt yelqo uonedunuwoD seBeuey ouAS 9 1 V E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 13 A Appendices Default Settings for OMRON Software When Using the Sysmac Studio E eee PDO assignments for Sync Manager 3 Model Number i Number Assigned PDOs of Assigned of assigned PDOs assigned 1 2 3 4 5 RxPDOs TxPDOs E3NW ECT 00 hex OE hex 1B00 hex 1B01 hex 1B08 hex 1BOAhex 1BOB hex 6 7 8 9 10 1B10 hex 1B12hex 1B14hex 1B16 hex 1B18 hex 11 12 13 14 1B1A hex 1B1C hex 1B1E hex 1BFF hex Default Settings for OMRON Software When Using the CX Programmer PDO assignments for Sync Manager 2 PDO assignments for Sync Manager 3 Model Number l Number Assigned
73. DS Bus Network Termination Switch This switch turns ON and OFF the communications terminating resistance on the Inter Unit DS Bus network ESNW DS AUN _ ss J TERMINATION OFF Termination switch 0 0 ON As shown in the following diagram turn ON the DS Bus termination switch only on the last Distributed Sensor Unit on the DS Bus network Turn it OFF on all other Distributed Sensor Units Sensor Communication Unit L1 Qi Distributed Sensor Unit 1 or ezea Termination switch OFF DS Bus communications cable L2 A AN DE i Sy Distributed Sensor Unit 2 d e Termination switch OFF Ln Distributed Sensor Unit n e n 8 max e Termination switch ON A 52 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices Communications and Power Supply Connectors Connect the power supply cable from the Unit power supply and the DS Bus communications cable to this connector
74. ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices Items with asterisks are supported from E3NW ECT version 1 03 Data Setting 0000 hex Cleared 0001 hex Executed 4F00 to 4F7F hex Object for Selection of Multiple Units Subindex 0 Number of Entries Range 1 Unit Default 1 Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 Multi 2 Range 0000000000000000 to Unit Default 0000000000000000 hex Attribute A FFFFFFFFFFFFFFFF hex Size 8 bytes U64 Access RW PDO map Not possible Subindex 2 Multi 2 Range 0000000000000000 to Unit Default 0000000000000000 hex Attribute A FFFFFFFFFFFFFFFF hex Size 8 bytes U64 Access RW PDO map Not possible 1 The setting range and default settings are the same as the values for the objects that are used from unit numbers 1 to 30 2 This is the same as the name of the objects that are used from unit numbers 1 to 30 e Bit 0 to 31 set values There is a different set value for each object Set the values to write e Bit 32 to 61set values These bits are used to specify the unit numbers of the Sensors to which to write object data Turn ON the bits that correspond to the target unit numbers To write to all Sensors from unit numbers 1 to 30 you can turn OFF all bits 32 to 61 e Bit 62 and 63 set values 0 not used Setdata 63 62 61 32 31 O bit L J L Y
75. Functions of ESNW ECT 7 2 1 Digital I O Slave Units have the following convenient functions in addition to the I O signal processing Input Filter i Overview of functions Purpose This function prevents data changes and unstable data which may be caused by fluctuation of input data and unstable contact state due to chattering and noise This function is available in Free Run Mode Details of functions This function reads inputs ON OFF within a certain set time and turn ON the inputs if they are all same all ON or all OFF and turn them OFF if not Note that this function works for all inputs of Slave Units and Expansion Units at the same time When the input shifts from OFF to ON or ON to OFF it is read 4 times from that point at an interval of 1 4 of the set time When all read results are ON or OFF the input is turned ON or OFF 12 3 4 ON ON OFF OFF y 7 9 YYYY ON OFF OFF ON ON ON ON ON Input data is OFF because all data Input data is ON because all data is not ON during 4 readings is ON during 4 readings Data set to be input Data set to be input ON ON OFF OFF H J ON delay time i Setting method The input filter is set through SDO communications The applicable index is 3002 hex Refer to the applicable index Input Filter in Free Run Mode in A 1 Object Dictionary in Page A 2 for the set values E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 7 F
76. Manual E429 A Appendices A 2 3 DS Bus Network Wiring This section describes how to install the DS Bus network i Installation Precautions This section give basic precautions for installing a DS Bus network Network Installation Precautions e When installing the DS Bus network implement sufficient safety measures and install according to all applicable standards Refer to JIS X5252 or Electric Installation Technical Standards We recommend that you request installation from a specialist who is qualified in safety measures and standards e Do not install DS Bus network devices near sources of noise If installation in a noisy environment in unavoidable implement suitable noise countermeasures such as installing devices in metal cases Communications Cable Installation Precautions e Check the communications cables that you use for the following e Make sure there are no broken wires e Make sure there are no short circuits e Make sure that the connectors are connected properly e When you connect the communications connectors to the devices press the connectors on the communications cables all the way in until they lock into place e Route and wire the communications cables separately from high voltage cables e Do not install communications cables near sources of noise Do not install communications cables in an environment with high temperatures or high humidity e Do not use communications cables where there is excessive
77. OMRON E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual always in control E429 E1 02 OMRON 2013 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Trademarks e EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany ODVA CIP CompoNet DeviceNet and EtherNet IP are trademarks of ODVA e Windows Windows 98 Windows XP Windows Vista and Windows 7 are registered trademarks of Microsoft Corporation in the USA and other countries e Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Other company names and product names in this document are the tra
78. RJ45 connector Shielded l Precautions for Correct Use e The maximum cable length between connected nodes is 100 m Note that some cables do not guarantee 100 m In general if the conductors are strand wire the transmission performance will be lower than solid wire and the operation at 100 m distance cannot be guaranteed Confirm details with the cable manufacturer e When selecting connectors check that the cables to be used conform to connectors Items to be checked include conductor size conductor wire type solid wire twisted wire 2 4 pairs and outer diameter YOMJON LYD4043g 0 BuND UUOD Z y EN Reference We recommend cables with double aluminum tape and braided shielding taking noise resistance into consideration Recommended Parts The recommended products for the parts described above are listed below e Sizes and Conductor Pairs AWG 24 x 4 Pairs YIOMION BuNdeUUOd 104 uoesedald Z Z Contact information As of June 2010 Planning Department Part Manufacturer Model NETSTAR C5E SAB Tonichi Kyosan Cable Ltd 0 5x4P Kanetsu Co Ltd i TEL 075 662 0996 Communications Kuramo Electric Co Ltd Cables Kuramo Electric Co Ltd KETH SB TEL 03 5644 7601 SWCC Showa Cable SWCC Showa Cable FAE 5004 Systems Co Ltd systems Co Ltd TEL 03 3597 7117 Connectors Panduit Corporation MPS588 Panduit Corporation e Sizes and Conductor Pairs AWG 22 x 2 Pairs Contact information As of June 20
79. RO PDO map Not possible Subindex 1 TxPDO Mapping Mode Setting Range 00 to 01 hex Unit Default 00 hex Attribute A Size 1 byte U8 Access RW PDO map Not possible Subindex 2 TxPDO Mapping Mode Information Range 00 to 01 hex Unit Default 00 hex Attribute A Size 1 byte U8 Access RO PDO map Not possible e Subindex 1 You can change the TxPDO mapping mode setting To enable the new settings restart the Unit 0 Normal Mode Processing of PDO communications is divided over more than one cycle The maximum assignable size is 350 bytes 1 Detection Level Speed Priority Mode The detection level is refreshed every cycle between the Sensor Amplifiers and Sensor Communication Unit The maximum assignable size is 108 bytes e Subindex 2 This subindex gives the current setting 0 Normal Mode Processing of PDO communications is divided over more than one cycle The maximum assignable size is 350 bytes 1 Detection Level Speed Priority Mode The detection level is refreshed every cycle between the Sensor Amplifiers and Sensor Communication Unit The maximum assignable size is 108 bytes 3020 hex Read input bits Sub index0 Range 40 hex Unit Default 40 hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 to 60 Read input bits 0 to 59 Range 00 hex 01 hex Unit Default 00 hex Attribute A Size 1 bit BOOL Access RO PDO map Possible e This object is Sensor
80. RR EtherCAT LINK ACT Flashes at 1 s intervals System defined Variable Data type Name variables None Cause and Assumed cause Correction Prevention een Noise Return the control parameters to their Implement noise countermeasures default settings using restore parame ters 1011 hex of the EtherCAT Slave Attached None information Precautions None Remarks Event name Number of Distributed Sensor Unit Verify Error Event code 247A0000 hex Meaning The number of Distributed Sensor Unit that is checked at power up is decreased Source EtherCAT Master Function Module Source details Slave Detection When establish timing ing communica tions Error attributes Level Minor fault Recovery Error reset after Log category System automatic slave recovery Effects User program Continues Operation Operation continues with the Distributed Sensor Units that are actually connected Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None a m Cause and Assumed cause Correction Prevention corecion The Distributed Sensor Unit is discon Connect the Sensor securely Connect the Sensor securely nected Attached None information Precautions The case that the number of Distributed Sensor Unit is increased is not applicable Remarks E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Bunooysajqnol 8 s po9 Snes 1019 oewsAS y 8 8 Troubleshooti
81. T indicator Indicates the communication state output side Color State Contents OFF Link not established in physical layer Green Flickering In operation after establishing link ON Link established in physical layer 6 4 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 6 Hardware Specifications of ES3NW ECT i RUN indicator It indicates the operation state Color Green State Contents OFF Init state Blinking Pre Operational state Single flash Safe Operational state ON Operational state For details on each state refer to 5 3 Communications State Transitions in page 5 4 i ERR indicator It indicates the information of an error Color State Contents OFF No error Blinking Communications setting error Red Single flash Synchronization error or communications data error Flickering Boot error ON PDI WDT timeout i SS indicator It indicates the information of an Sensor Status suoljeoyioads asempiepy 9 Color State Contents OFF Power OFF or Initial status of sensor connection Green ON Normal Red ON Sensor Error Connecting Sensors is different form setting p P EN Reference im mob R 3 3 The timing of each flashing state of indicator is as follows a 8 50 ms g n on Flickering off ae ae Blinking 200 ms off on 1000 ms Single flash 200 ms 200 ms off E3NW ECT EtherCAT Digital Sens
82. U Unit Built in EtherCAT Port User s Manual Explains the built in EtherCAT port An overview is provided and the configuration functions and setup are described Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and the NJ series CPU Unit Software User s Manual Cat No W501 W503 NJ series Troubleshooting Manual Explains error management concepts and the individual errors that are detected by the NJ series System Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and the NJ series CPU Unit Software User s Manual Cat No W501 W504 14 Sysmac Studio Version 1 Operation Manual Explains the operating procedures of the Sysmac Studio E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 EtherCAT Network This chapter explains the overview of EtherCAT network 1 1 Overview of EtherCAT Networks 2 02000 0000 1 1 1 Features of EtherCAT 00 000 cece eae 2 Structure of EtherCAT 0 000 e oO ei e 3 Communications types of EtherCAT 0 4 Connection Examples of EtherCAT 1 2 Configuration Elements of EtherCAT Network 1 2 1 Configuration Devices of EtherCAT Network 1 2 2 Overview of Configuration Devices 1 1 1 1 1 1 E3NW ECT EtherCAT Digital Sensor C
83. U16 RW Yes Yes No No 403B N 1 x 80 hex 4F3B hex 1 or 2 Power Tuning Setting INT32 RW Yes Yes No No Tolerance Setting High INT32 RW No No No Yes 403C N 1 x 80 hex 4F3C hex 1 or 2 Power Tuning Level INT32 RW Yes Yes No No Tolerance Setting Low INT32 RW No No No Yes 403D N 1 x 80 hex 4F3D hex 1 or 2 Power Tuning U16 RW Yes Yes No No 403E N 1 x 80 hex 4F3E hex 1 or 2 1 point Tuning U16 RW No No Yes No Tolerance Tuning U16 RW No No No Yes 4041 N 1 x 80 hex 4F41 hex 1 or 2 Flashing U16 RW Yes Yes Yes No 4042 N 1 x 80 hex 4F42 hex 1 Sensor Initialization U16 RW Yes Yes Yes Yes 4050 N 1 x 80 hex 4F50 hex 1 Self Trigger Level U16 RW No No Yes No 4051 N 1 x 80 hex 4F51 hex 1or2 Tuning with workpiece absent U16 RW No No Yes No 4052 N 1 x 80 hex 4F52 hex 1 Background Removal U16 RW No No Yes No 4071 N 1 x 80 hex 4F71 hex 1 Direction U16 RW No No No Yes 4072 N 1 x 80 hex 4F72 hex 1 Output Mode Selection U16 RW No No No Yes 4075 N 1 x 80 hex 4F75 hex 1 Preset U16 RW No No No Yes The TAO does not use subindex 2 Items with asterisks are supported from E3NW ECT version 1 03 l Precautions for Correct Use The Sensor Amplifier Unit bank cannot be changed when using the E3NW ECT Leave the Sensor Amplifier Unit in bank 1 default E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 23 Aseuoljs1q paldo
84. V gt sy fqo ojoeds seunjoejnuey y z Y A Appendices 4038 N 1 x 80 hex Subindex 0 Number of Entries No_01 30 Percentage Tuning Setting and Origin Point Use Setting Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Percentage Tuning Setting and Origin Point Use Setting Range 0000 hex to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 Percentage Tuning Setting Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the percentage tuning setting and origin point use setting of the Sensor with the unit number that is specified by the index Items with asterisks are supported from E3NW ECT version 1 03 Percentage Tuning Setting Data Setting 0000 hex Percentage tuning used 0001 hex Percentage tuning not used 0002 to FFFF hex Not used Origin Point Use Setting Data Setting 0000 hex Origin point setting used 0001 hex Origin point setting not used 0002 to FFFF hex Not used 4039 N 1 x 80 No_01 30 Percentage Tuning Level and Preset Value hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possib
85. VOLVING 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 Products 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 fi 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 h
86. Y gt sy fqo ojoeds seunjoejnueyy z Y A Appendices 4000 N 1 x 80 No_01 30 Type of Sensor hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Type of Sensor Range 0000 to FFFF hex Unit Default hex Attribute Size 2 bytes U16 Access RO PDO map Not possible e This object reads the model number of the Sensor with the unit number that is specified by the index Data Model oo 0160 hex E3NW FAO 0260 hex E3NC LAO 0360 hex E3NC SAO 0460 hex EQNC TAO Items with asterisks are supported from E3NW ECT version 1 03 4001 N 1 x 80 No_01 30 Detection Level hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 1 999 to 9 999 Unit Default hex Attribute F831 to 270F hex Size 2 bytes INT16 Access RO PDO map Possible Subindex 1 No_01 30 IN2 Range 1 999 to 9 999 Unit Default hex Attribute F831 to 270F hex Size 2 bytes INT16 Access RO PDO map Possible e This object reads the detection level amount of incident light for the Sensor Amplifier with the unit number that is specified by the index 4002 N 1 x 80 No_01 30 Peak De
87. ad input bits Bits 00 to 15 U16 Yes Yes Yes Yes 3 1B05 hex 262nd Read input bits Bits 16 to 31 U16 Yes Yes Yes Yes ia 1B06 hex 263rd Read input bits Bits 32 to 47 U16 Yes Yes Yes Yes a 1B07 hex 264th Read input bits Bits 48 to 59 U16 Yes Yes Yes Yes 1B08 hex 265th Sensor Communications Status U8 Yes Yes Yes Yes 7 1B09 hex 266th 8 bit Sensor Communications Status U8 Yes Yes Yes Yes 1BOA hex 267th Number of Sensors Setting U16 Yes Yes Yes Yes Number of Sensors with Dummy 1B0B hex 268th Sensor Warning Status U32 Yes Yes Yes Yes 1BOD hex 270th Sensor Warning Status 1 to 16 U16 Yes Yes Yes Yes g 1B10 hex 273rd Unit 01 Detection Level of Input 1 INT16 Yes Yes Yes No T 1B12 hex 274th Unit 01 Detection Level of Input 2 gt e e e 1B4B hex 332nd Unit 30 Detection Level of Input 2 b 1B4C hex 333rd Unit 01 Threshold 1 Settings of Input 1 INT32 Yes Yes Yes Yes 1B4D hex 334th Unit 01 Threshold 2 Settings of Input 1 1B4E hex 335th Unit 01 Threshold 1 Settings of Input 2 1BA5 hex 422nd Unit 30 Threshold 1 Settings of Input 2 1BA6 hex 423rd Unit 01 Detection Levels 4 bytes INT32 No No No Yes 1BA7 hex 424th Unit 02 Detection Levels 4 bytes 1BC3 hex 452nd Unit 30 Detection Levels 4 bytes 1BFF hex 512nd Sysmac Error Status U8 Yes Yes Yes Yes The E9NC TAO is supported from E3NW ECT version 1 03 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 7 3 7 Function Specifications 7 2
88. amaged Replace the applicable amplifier There is an error in the connections to the Distributed Sensor Unit Check the installation procedure for the Distributed Sensor Unit 8 Troubleshooting and Maintenance 8 1 3 Error Notification Methods and Types This section describes the notification methods for errors that occur in the Slave Units lt EtherCAT Master Unit E H Sysmac error status 1 1 i EtherCAT Slave Unit Error occurs H E Diagnosis mergency message i gency g history L 1 1 Application layer status i i J 1 1 1 Same Se a ee Sere eer Error notification pe Description Notification method Page Notification is provided when an error is i as Error status is received by the Sysmac error detected in the application These errors 3 f TxPDO and the master is notified 8 8 9 status are displayed only on the OMRON Sysmac of errors Sven oyda S Studio Support Software ce ali p Notification is provided of application level 3 Emergency errors Either CiA defined error codes are The slave notifies the master 8 15 messages used or error codes are added to when an error occurs i vendor specific areas Notification is provided of errors in Application layer EtherCAT communications The error status notification method and error codes that are defined by ETG are used The mas
89. an object for selection of multiple Sensor 2 Amplifier Unit numbers between 1 and 30 2 The indexes for the objects are from 4F00 to 4F7F hex S 3 The following abbreviations are used for the applicable Sensor Amplifier Units e FAO E3NX FAO A e LAO E3NC LAO e SA0 E3NC SA0O e TAO E9NC TAO o 3 n ojoeds seunjoejnueyy J W E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 21 A Appendices Index for unit Index for Applicable Sensor numbers 1 to 20 multiple Subindex Name Size Access Amplifier Units objects FAO LAO SAO TAO 2100 hex No 1 Error History Clear U32 RW 2002 hex No 1 Sysmac Error Status U8 RO No 2 Sysmac Error Status Clear U8 RW 2200 hex No 1 Communications Error Setting U8 RW 2201 hex No 1 Sync Not Received Timeout Setting U16 RW 3000 hex No 1 Communications Busy BOOL RO No 2 Communications Error BOOL RO 3001 hex No 1 Number of Sensors Setting U8 RW No 2 Number of Sensors with Dummy U8 RO No 3 Number of Connected Sensors U8 RO 3002 hex No 1 Input Filter Setting BOOL RW No 2 Input Filter Information BOOL RO
90. and all Distributed Sensor Units J Setting Methods To manually register the number of Sensor Amplifiers use SDO communications The applicable index is 3001 hex Refer to the applicable index in Appendix A 1 Object Dictionary for the set values LOA MNEF JO SuoHouny Z Z s4 dwy JOSUBS p p uuoy JO UONOSIEq ONewWoINy p Z Z E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 7 7 7 Function Specifications 7 3 Mounting Dimensions The mounting dimensions are shown below Input communications Output communications E3NW ECT connector connectors 41 18 y R L F UN OUT Ar mh ae l IIL a 60 9 oO 86 6 O area 102 5 S 105 1 D HOt Piria i 10 LOH i i f 10 Y a Ole Communications Connector provided m l FK MCP 1 5 2 STF 3 5 AU l 1 e v y Power Supply Connector provided 13 5 9 5 Cap and connector FK MCP 1 5 2 STF 3 5 AU E3NW DS Connector provided FK MCP 1 5 4 STF 3 5 AU Cap and connector 36 7 l 32 2 k i 49 8 ll i i jt E m 32 5 PFP ON
91. ange 00 hex 01 hex Unit Default 00 hex Attribute A Size 1 bit BOOL Access RO PDO map Not possible e Sub index1 Input Filter Setting e This object set Input Filter for free run mode 0 disable 1 enable To enable the new settings restart the Unit e Sub index2 Input Filter Information e This object detect Input Filter Setting for free run mode 0 disable 1 enable 3004 hex Dummy Setting Sub index0 Range 03 hex Unit Default 03 hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Dummy Sensors Setting Range 00000000 hex 3FFFFFFF hex Unit Default 00000000 hex Attribute R Size 4byte U32 Access RW PDO map Not possible Sub index2 Dummy Sensors Information Range 00000000 hex 3FFFFFFF hex Unit Default 00000000 hex Attribute A Size 4byte U32 Access RO PDO map Not possible Sub index3 Dummy Sensors Response Setting Range 00 hex 01 hex Unit Default 00 hex Attribute A Size 1byte U8 Access RW PDO map Not possible e Sub index1 Dummy Sensors Setting e Turn ON the bit that corresponds to the unit number to set as a Dummy Sensor Turn ON bit 0 of the 32 bits to set unit number 1 as a Dummy Sensor and the turn ON bit 1 to set unit number 2 as a Dummy Sensor To enable the new settings restart the Unit e Sub index2 Dummy Sensors Information e This object detect dummy sensor setting e Sub index3 Dummy Sensors
92. as been checked and is believed to be accurate how ever no responsibility is assumed for clerical typographical or proofreading errors or omissions E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Safety Precautions Labels and Meanings to Ensure Safe Usage To ensure safe usage of the EtherCAT Slave Unit the precautions in this manual are displayed with the following labels and symbols The precautions explained in this section describe important information regarding safety These precautions must be followed without fail Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Symbols This symbol indicates a prohibited item an item you must not do The specific instruction is indicated using text inside the The symbol shown to the left indicates disassembly prohibited A This symbol indicates caution warnings included The specific instruction is indicated using text inside the A The symbol shown to the left indicates typical cautions This symbol means it is a compulsory item an item that must be done The specific instruction is indicated using text inside the a The symbol shown to the left indicates typical compulsory items
93. ations To Communications cable Unit or Distributed Sensor Unit Communications To Distributed cable Sensor Unit spun JOsuag peynquysiq Buisn Z Y gt BUI IOMON SNG SQ 7 V E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 47 A Appendices A 2 4 Power Supply Specifications and Connections of the Distributed Sensor Unit i Precautions for Unit Power Supply Observe the following precautions for the allowable current for cables and connectors for voltage drop and for power supply layout Precaution for Cable Voltage Drop Make sure that the power supply to the Distributed Sensor Unit that is farthest from the power source is within the allowable fluctuation range Supplying Power from Multiple Power Sources If you supply the Unit power from more than one power source you can reduce the line current the voltage drop and the cable size This can also be used to help ensure system safety against power supply problems Power Supply Problems You must determine the power supply layout and groupings according to whether the entire system is to be stopped or whether stopping the entire system is to be avoided when problems occur in the power supply To avoid stopping the entire system we recommend that you supply power from more than one power source and supply power to separate groups of Distributed Sensor Units fr
94. atus B Status for indicating information on errors that occur in an application on a slave GAN application protocol over CoE A CAN application protocol service implemented on EtherCAT EtherCAT CAN in Automation CIA CiA is the international users and manufacturers group that develops and supports higher layer protocols Collection of device dependent information and functionality device profile providing consistency between similar devices of the same device type distributed clocks DC Clock distribution mechanism used to synchronize EtherCAT Sensor Communication Units and the EtherCAT Master Units EtherCAT slave controller ESC A controller for EtherCAT slave communication EtherCAT slave information ESI OUE file that contains setting information for an EtherCAT Slave EtherCAT state machine ESM An EtherCAT communication state machine The ETG is a global organization in which OEM End Users and EtherCAT Technology Group ETG Technology Providers join forces to support and promote the further technology development index Address of an object within an application process nate The EtherCAT network configuration information held by the network configuration information EtherCAT master Abstract representation of a particular component within a device object i which consists of data parameters and methods Data structure addressed by Index and Sub index that contains object dictionary OD description of data type objects communicatio
95. ay remain ON or OFF due to deposits on or burning of the output relays or destruction of the output transistors As a countermeasure for such problems external safety measures must be provided to ensure safety in the system When the 24 VDC output service power supply to the PLC is overloaded or short circuited the voltage may drop and result in the outputs being turned OFF As a countermeasure for such problems external safety measures must be provided to ensure safety in the system Implement proper measures as part of your communications system or in your program to ensure safety in the system even when a communications error or malfunction occurs during remote I O communication E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 The CPU Unit refreshes I O even when the program is stopped i e even in PROGRAM mode Confirm safety thoroughly in advance before changing the status of any part of memory allocated to I O Units Special I O Units or CPU Bus Units Any changes to the data allocated to any Unit specifically the Special I O Units CPU Bus Units may result in unexpected operation of the loads connected to the Unit e Transferring I O memory data to the CPU Unit with a Programming Device PC tool e Changing present values in memory with a Programming Device e Force setting resetting bits with a Programming Device e Transferring I O memory files from a memory card or EM file memory to
96. ber of objects Range Unit Default 01 hex Attribute Size 1byte U8 Access RO PDO Map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 40010110 hex Attribute 40010210 hex 41810110 hex 41810210 hex 4E810110 hex 4E810210 hex Size 4byte U32 Access RO PDO Map Possible E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 1B4C hex 1B4D hex 1B4E hex to 1BA5 hex Subindex 0 Number of Objects Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 1st Input Object to Be Mapped Range Unit Default 40040120 hex Attribute 40050120 hex 40040220 hex 333rd to 422nd Transmit PDO Mappings 4E840220 hex Size 4 bytes U32 Access RO PDO map Possible 1BA6 hex 1BA7 hex 1BA8 hex to 1BC3 hex Subindex 0 Number of Objects Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 1st Input Object to Be Mapped Range Unit Default 40090120 hex Attribute 40890120 hex 41090120 hex 433rd to 452nd Transmit PDO Mappings 4E890120 hex Size 4 bytes U32 Access RO PDO map Possible 1BFF hex 512ndth transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01 hex Attribute Size 1byte U8 Access RO PDO Map Not possi
97. ble Sub index1 1st Input Object to be mapped Range Unit Default 20020108 hex Attribute Size 4byte U32 Access RO PDO Map Possible E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 11 Aseuoljs1q paldo L V gt yalqo Budde Odd S l V A Appendices A 1 6 Sync Manager Communication Object The communication memory of EtherCAT is set by the objects from 1C00 hex to 1013 hex 1000 hex Sync Manager Communication Type Sub index 0 Number of used SM channels Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Communication Type Sync Manager 0 Range Unit Default 01 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 2 Communication Type Sync Manager 1 Range Unit Default 02 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 3 Communication Type Sync Manager 2 Range Unit Default 03 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 4 Communication Type Sync Manager 3 Range Unit Default 04 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible e The sync manager has the following settings e SMO Mailbox receive EtherCAT Master Unit to Slave Unit e SM1 Mailbox transmit EtherCAT Slave Unit to Master Unit e SM2 Process data output EtherC
98. bute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the timer value 2 of the Sensor with the unit number that is specified by the index e Timer value 2 is used for the OFF delay E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 4011 N 1 x 80 No_01 30 DPC Setting and Display Digits hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 DPC Setting and Display Digits Range 0000 hex to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 DPC Setting Range 0000 hex to FFFF hex Unit Default hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the DPC setting and number of display digits of the Sensor with the unit number that is specified by the index Items with asterisks are supported from E3NW ECT version 1 03 DPC Setting Data Setting 0000 hex DPC OFF 0001 hex DPC ON 0002 to FFFF hex Not used Display Digits Setting Data Setting 0000 hex 4 digits 0001 hex 3 digits 0002 hex 2 digits 0003 hex 1 digit 0004 to FFFF hex Not used 4012 N 1 x80 No_01 30 Display Mode
99. d up Not doing so may result in malfunction or damage Make sure that the terminal blocks communications cables and other items with locking devices are properly locked into place Improver locking may result in malfunction Mount the Units securely using DIN track Make sure that all Slave Unit mounting screws and cable connector screws are tightened to the torque specified in this manual Incorrect tightening torque may result in malfunction Make sure that all terminal block screws are tightened to the torque specified in this manuals Incorrect tightening torque may result in fire malfunction or failure Always use the specified communications cables and connectors Do not extend connection distances or the number of connected nodes beyond the ranges given in the specifications When there are multiple systems keep the cables unbundled and separated by at least 5 mm to prevent unstable operation due to interference Wiring Turn the power on after checking that the wiring and switch settings are correct Use the correct wire tools to wire the Unit Confirm the polarity of all terminals before wiring them Do not allow foreign matter to enter the Units when wiring and installing the Units Observe the following precautions when wiring the communications cable e Separate the communications cables from the power lines or high tension lines e Do not bend the communications cables past their natural bending radius e Do not pull on the
100. demarks or registered trademarks of their respective companies E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual Revised July 2014 Introduction Thank you for purchasing a E3NW ECT EtherCAT Digital Sensor Communication Unit This manual contains information you need to know to use the E3NW ECT Before use please make sure that you thoroughly read the manual and have a full understanding of the products functions and performance After you finished reading this manual please keep it in a convenient place Intended Readers This manual is intended for the following individuals Those having electrical knowledge certified electricians or individuals having equivalent knowledge and also being qualified for one of the following e Introducing FA equipment e Designing FA systems e Managing FA sites E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 1 How to Read the Manual Page Structure This manual s page structure consists of the following Chapter title m4 installation and Wiring Clause title gt 4 4 Connecting an External Device Indicates the clause title Connect an external device to the I O terminal of a Slave Unit of the current page The method of connection differs between Units with screw terminal blocks and Units with e CON connectors 4 4 1 Connecting to a Screw Terminal Block After mounting a crimp ter
101. e This object sets the ti Data Setting 0000 hex Timer function OFF 0001 hex OFFD OFF delay 0002 hex ON D ON delay 0003 hex SHOT one shot 0004 hex ONOF ON delay and OFF delay 0005 to OOFF hex 400F N 1 x 80 hex Subindex 0 Number of Entries Not used No_01 30 Timer Value 1 mer function of the Sensor with the unit number that is specified by the index Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0001 to 270F hex Unit Default 000A hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0001 to 270F hex Unit Default 000A hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the timer value 1 of the Sensor with the unit number that is specified by the index e Timer value 1 is used for the ON delay or the one shot timer 4010 N 1 x 80 hex No_01 30 Timer Value 2 Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0001 to 270F hex Unit Default 000A hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0001 to 270F hex Unit Default 000A hex Attri
102. e cables vary by the type of e CON connector 3 Use the next table to check that the e CON connectors to be used conform to the wire size and sheath amp 3 diameter of the cables of the connected device Clause title 8 i p i B Tyco Electronics connectors F Indicates the chapter title Modai Housing color Applicable wire range i 214735624 Orange Sheath diameter 0 6 to 0 9 mm 2 of the current page 114735674 Red Sheath damer 0S0 10mm cross sectional area 0 081 14735624 Yelow Sheath dameter 1010 115mm gt 214735624 Bue Sheath diameter 1 15 t 135 mm w ures eer Sah Tamer TIE TET g Indexes Indicates the chapter number of the current page Sumitomo 3M connectors Model Housing color Applicable wire range AWG26 0 4mm to AWG24 0 2mm Sheath diameter 0 8 to 1 0 mm AWG26 0 14mm to AWG24 0 2mm Sheath diameter 1 0 to 1 2mm AWG26 0 14mm to AWG24 0 2mm Sheath diameter 1 2 to 1 6mm AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 0 to 1 2mm AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 2 to 1 8 mm AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 6 to 2 0 mm 37104 3101 000FL Red 37104 3122 000FL Yellow A Section title Indicates the section title of the current page 37104 3163 000FL Orange 37104 2124 000FL Green 37104 2165 000FL Blue sreuw 1g20uu09 NOJO 0 BuNPOWOD Z 37104 2206 000FL Gray Panasonic Electric Works co
103. e general specification and details of each type of Slave Units 3 2 3 Wiring Communications Cables Connect communications cables to the EtherCAT master slaves and the Distributed Sensor Units Refer to 4 2 Connecting to EtherCAT Network in page 4 4 for wiring procedures 3 2 4 Connecting Power Supplies Connect the Unit power supply to the EtherCAT master slaves and the Distributed Sensor Units In addition connect the I O power supply to each Slave Unit as required For the connection method refer to 4 3 Connecting to Unit Power Supply and I O Power Supply in page 4 9 or the wiring diagram of each Slave Unit in pages explaining the details 3 2 5 Connecting fiber or Sensors head Connect fiber or sensor head to sensor amplifier For the connection method refer each sensor amplifier manual 3 4 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 3 Basic Usage Procedures 3 3 Starting Communications Start the system allocate I O data of Slave Units and then start the EtherCAT communications ow For operational state and details of it refer to 5 3 Communications State Transitions in page 5 4 amp S a gt 3 3 1 Starting a System a o 3 Turn ON the power supply to the Units in order 3 Ss 2 1 Unit power supply of Slave Units When the power is supplied Slave Unit s PWR indicator is lit 2 e If you are using Distributed Sensor Units turn ON the power supply to
104. e protective cap that you removed in step 3 to the Sensor Amplifier on the right end E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 4 Installation and Wiring will a Do not perform steps 1 and 2 in the reverse order This may reduce the mounting strength CHECK Perform step 1and Do not perform step then step 2 2 before step 1 After you finish these steps make sure the E3NW ECT is securely in place siayijduiy Josueg pue L9J MNEI Bununow y 4 1 2 Removal Method Use the following procedure to remove the Units 1 Slide the Sensor Amplifier Units away and remove the Sensor Communication Unit first EE Ay BSS poyan erow y Z L 7 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 4 3 4 Installation and Wiring 4 2 Connecting to EtherCAT Network This section explains how to lay down EtherCAT network 4 2 1 Precautions for Network Connection Observe the precautions below when laying down the EtherCAT network il Precautions at laying down network e When laying down an EtherCAT network take sufficient safety measures and construct the network according to the standards We recommend to request specialized constructors familiar with the safety measures and standards to perform the laying operation
105. emory SII Register 0010 hex turned ON the software writes the node E E O ae Register 0012 hex 7 address setting to register address 0012 hex 4 The EtherCAT Master Unit reads the setting in register address 0012 hex 5 The EtherCAT Master Unit writes the value of address 0012 hex to address 0010 hex EtherCAT PEE EEO a EtherCAT Slave Unit e Node address switch setting The value that is set on the node address switches on the Slave Unit is used as the node address EtherCAT Master Unit 1 When the power supply is OFF set the node address switches 2 When the power supply to the Slave Unit is turned ON the value that is set on the node address switches is saved in register address 0012 hex 3 The EtherCAT Master Unit reads the setting in register address 0012 hex 4 The EtherCAT Master Unit writes the value of address 0012 hex to address 0010 hex EtherCAT slave controller eee ee Register 0010 hex E E Register 0012 hex lt 3 4 1 Node address switches EtherCAT Slave Unit 5 14 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 EtherCAT Communications Displaying serial numbers The serial number that is stored in non volatile memory in the Slave Unit is given in 1018 hex 04 hex Serial number Controllers that support Sysmac device functions can use serial numbers to verify the ne
106. ensor Units 220020000055 4 8 4 3 Connecting to Unit Power Supply and I O Power Supply 4 9 4 3 1 Precautions at Supplying Unit Power and I O Power 4 9 4 3 2 Unit Power Supply Specifications 0000000 e eee 4 10 4 3 3 Connecting the Unit Power Supply 2002000 cee eeeeee 4 10 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 4 1 4 Installation and Wiring 4 1 Mounting E3NW ECT and Sensor Amplifiers This section describes how to mount and remove the E3NW ECT and individual Amplifiers to the DIN Track 4 1 1 Mounting Method Use the following procedure to mount the Units 1 Hook the upper portion of the Unit on the DIN Track Sensor Communication Unit y Push into place 3 Remove the protective cap from the right side of the Sensor Communication Unit Then slide the Sensor Amplifier Units against the Sensor Communication Unit with the tabs aligned with the notches in the connector area Press them together until they click into place fen final Mr Sensor Amplifier Units ae Bo 5 ere TS v E Cat 25 co i a 4 Use the DIN Track End Plates PFP M that are provided to remove any gaps between the Units and secure them in place Replace th
107. following Major fault Major fault level Partial fault Partial fault level Minor fault Minor fault level Observation Information 2 One of the following Automatic recovery Normal status is restored automatically when the cause of the error is removed Error reset Normal status is restored when the error is reset after the cause of the error is removed Cycle the power supply Normal status is restored when the power supply to the Controller is turned OFF and then back ON after the cause of the error is removed Controller reset Normal status is restored when the Controller is reset after the cause of the error is removed Depends on cause The recovery method depends on the cause of the error 3 One of the following System System event log Access Access event log s po9 Snes Jouy oewshS y 8 4 One ofthe following Continues Execution of the user program will continue Stops Execution of the user program stops Starts Execution of the user program starts E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 9 8 Troubleshooting and Maintenance Error Descriptions Sensor Communications Error Slave Error reset after cycling the power An error occurred in a Sensor connection EtherCAT Master Function Module Continuously Minor fault Continues System Input is not possible from the Sensor The input data will be 0 No
108. ge the PDO mappings listed above from their default settings The input data assignments are given below Assigned bits Offset bytes 7 6 5 4 3 2 1 0 0 Sensor 4 Sensor 4 Sensor 3 Sensor 3 Sensor 2 Sensor 2 Sensor 1 Sensor 1 IN2 N1 IN2 IN1 IN2 IN1 IN2 N1 1 Sensor 8 Sensor 8 Sensor 7 Sensor 7 Sensor 6 Sensor 6 Sensor 5 Sensor 5 IN2 N1 IN2 IN1 IN2 IN1 IN2 N1 2 Sensor 12 Sensor 12 Sensor 11 Sensor 11 Sensor 10 Sensor 10 Sensor 9 Sensor 9 IN2 N1 IN2 IN1 IN2 IN1 IN2 N1 3 Sensor 16 Sensor 16 Sensor 15 Sensor 15 Sensor 14 Sensor 14 Sensor 13 Sensor 13 IN2 N1 IN2 IN1 IN2 IN1 IN2 N1 4 Always 0 Always 0 Always 0 Always 0 Always 0 Always 0 S_ERR BUSY 5 Number of Sensors Setting 6 Number of Sensors Setting with Dummy 7 Sensor 8 Sensor 7 Sensor 6 Sensor 5 Sensor 4 Sensor 3 Sensor 2 Sensor 1 Warning Warning Warning Warning Warning Warning Warning Warning Status Status Status Status Status Status Status Status 8 Sensor 16 Sensor 15 Sensor 14 Sensor 13 Sensor 12 Sensor 11 Sensor 10 Sensor 9 Warning Warning Warning Warning Warning Warning Warning Warning Status Status Status Status Status Status Status Status 5 8 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 261th Transmit PDO Mapping 1B04 hex No 1 Sensor Input 1 No 1 Sensor Input 2 No 8 Sensor Input 1 No 8 Sensor Input 2 5 EtherCAT Communications Default PDO map
109. h Transmit PDO Mapping Sensor Warning Status Sensor Status 300B hex 1BOB hex 273rd Transmit PDO Mapping No 1 Sensor Detection Level Input 1 Detection Level 4001 hex 1B10 hex 275th Transmit PDO Mapping No 2 Sensor Detection Level Input 1 Detection Level 4081 hex 1B12 hex 287th Transmit PDO Mapping No 8 Sensor Detection Level Input 1 Detection Level 4381 hex 1B1E hex 512th Transmit PDO Mapping Sysmac Error Status Sysmac Error 2002 hex 1BFF hex Default PDO 257th Transmit PDO Mapping 1B00 hex mapping with OMRON CX Programmer No 1 Sensor Input 1 No 1 Sensor Input 2 No 8 Sensor Input 1 No 8 Sensor Input 2 Read Input 1st word 6100 hex 258th Transmit PDO Mapping 1B01 hex No 9 Sensor Input 1 No 9 Sensor Input 2 No 16 Sensor Input 1 No 16 Sensor Input 2 Read Input 2nd word 6100 hex 266th Transmit PDO Mapping Sensor Communication Status Sensor Communication Status 3000 hex 1B09 hex 267th Transmit Number of Sensors Setting PDO Mapping Number of Sensors Setting with Number of Sensors 3001 hex 1BOA hex Dummy E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Odd S fqO Lq SseD01d Y BuiddeW Odd r S 5 EtherCAT Communications 270th Transmit PDO Mapping Sensor Warning Status 1 to 16 Sensor Status 16 bit 300D hex 1BOD hex If you are using the CX Programmer you cannot chan
110. hen shifting from the pre operational state to safe operational state Note that at this point the rewritten value is read E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 3000 hex Sensor Communication Status Sub index0 Range 08 hex Unit Default 08 hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Communication Busy Range 00 hex 01 hex Unit Default 00 hex Attribute A Size 1 bit BOOL Access RO PDO map possible Sub index2 Communication Error Range 00 hex 01 hex Unit Default 00 hex Attribute A Size 1 bit BOOL Access RO PDO map possible e This object detect communication status with E3NW ECT and sensor amplifiers e When the Communication Busy bit is ON communications are in progress between the Sensor Communication Unit and the Sensor Amplifiers In this case do not send new SDOs to the Sensor Amplifiers If the Communications Error bit turns ON the set value for the number of Sensors does not agree with the number of Sensors that are actually connected Check the set value and the connected Sensors If you are using Dummy Sensors set the number of Sensors to the total of the actual number of Sensors and Dummy Sensors 3001 hex Number of Sensors Sub index0 Range 03 hex Unit Default 03 hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub
111. herCAT CoE protocol uses the object dictionary of CAN application protocol as its base Each object is assigned with an index of four digit hexadecimal value The indexes are configured in the areas below Indexes Area Contents 0000 hex OFFF hex Data Type area Definitions of data types Definitions of variables that can be used by all servers for designated communications 2000 hex 2FFF hex Manufacturer Specific area 1 Variables defined for all OMRON products Variables defined for E3NW ECT EtherCAT Sensor Communication Units Variables defined for CiA401 generic I O module device profiles profile specifying the CAN application protocol interface for devices with digital I Os and analog I Os A000 hex FFFF hex Reserved area Area reserved for future use 1000 hex 1FFF hex CoE Communications area 3000 hex 5FFF hex Manufacturer Specific area 2 6000 hex 9FFF hex Device Profile area A 1 2 Data Types This profile uses the following data types Data Types Code Size Range Boolean BOOL 1 bit true 1 false 0 Unsigned8 U8 1 byte 0 to 255 Unsigned16 U16 2 bytes 0 to 65535 Unsigned32 U32 4 bytes 0 to 4294967295 Unsigned64 U64 8 bytes 0 to 18446744073709551615 Integer8 INT8 1 byte 128 to 127 Integer16 INT16 2 bytes 32768 to 32767 Integer32 INT32 4 bytes 2147483648 to 2147483647 Visible string VS A 2 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429
112. hing SF Single flash ON 200 ms OFF 1000 ms flashing Unknown For details on definition of each state refer to 6 3 1 Status Indicators in page 6 4 Errors of Slave Unit PWR indicator On L A OUT LIA IN LED RUN indicator ERR indicator Off Description EtherCAT communication is in progress Cause Actions PDO communications or both PDO and SDO communications are being executed State is normal Off Off Off Off Power supply error The power is not properly supplied to the Slave Unit After removing the following factors of power supply shutdown restart the Slave Unit according to the specification of connected EtherCAT Master Unit e Are the power supply cables wired correctly e Are the power supply cables disconnected e Is the power supply voltage within the specification range e Is the power supply capacity sufficient e Is the power supply malfunctioning E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 LIA IN L A OUT LED PWR indicator RUN indicator Off ERR indicator On 8 Troubleshooting and Maintenance Description Hardware error Cause A hardware failure occurred Actions If the error does not clear even after the power is turned ON again the Slave Unit hardware is damaged Replace the Slave Unit Illegal switch
113. ies Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Power Tuning Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 2 147 483 648 to Unit Default hex Attribute A 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible e This object executes power tuning for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to write data It is always set to 0000 hex when reading data Items with asterisks are supported from E3NW ECT version 1 03 403E N 1 x 80 No_01 30 1 point Tuning and Tolerance Tuning hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 1 point Tuning and Tolerance Tuning Range 0000 hex to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 1 point Tuning Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets 1 point tuning and tolerance tuning of the Sensor with the unit number that is specified by the index e Set this object to
114. ing data communications e Read and write process data e Make Slave Unit setting e Monitor Slave Unit state E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 1 EtherCAT Network 1 1 4 Connection Examples of EtherCAT This section explains the connection examples of EtherCAT network EtherCAT Master Unit LV9494 F JO MAIAIBAQ k k SYJOMION Digital I O Slave Unit 1Y9194 3 JO s jdwexg uondeuu0D y 4 Servo Drive Servomotor Inverter Sensor Communication Unit E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 1 5 1 EtherCAT Network 1 2 Configuration Elements of EtherCAT Network This section explains the configuration devices and usages of EtherCAT network 1 2 1 Configuration Devices of EtherCAT Network The devices composing an EtherCAT network are shown in the figure below EtherCAT Master Unit PC Configuration Tool Paso TT na femo RS 232C port connection Peripheral port connection ESI file I O power supply
115. ing screws loose No looseness Phillips screwdriver Are the connection cables damaged No visible damage Visual inspection 8 2 3 Handling when Replacing Units Networks are constructed from an EtherCAT Master Unit and Slave Units If a Unit is malfunctioning the entire network will be affected The malfunctioning Unit must be replaced quickly To restore network functions as quickly as possible it is recommended that spare Units are kept on hand ready to replace malfunctioning Units immediately i Precautions when replacing Units Heed the following precautions when replacing nodes after a periodic inspection has revealed a problem e Check that the new Unit does not have errors after replacement e 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 contacts are defective wipe them with a clean pure cotton cloth that has been soaked in industrial alcohol i Settings after Unit replacement After replacing a Unit make the switch and other settings the same as before the Unit was replaced vueu zuieN zu wd nbg Z 8 spun Buloejdey uaym Buljpuey Z 8 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 19 8 Troubleshooting and Maintenance 8 20 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429
116. it according to the specification of connected EtherCAT Master Unit e Is the communications cable wired correctly e Are any cables disconnected or loose in the part that connects to the connector e Is the cable length appropriate e Is the communications cable of the recommended specification The host master has not been started Check that EtherCAT Master Unit is operating correctly If using an OMRON EtherCAT Master Unit check the EtherCAT Master Unit mode and Slave Unit node addresses If using EtherCAT Master Unit from another manufacturer refer to the user s manual for that Master Unit A hardware failure occurred If the problem is not resolved even after the measures described above are taken the Slave Unit hardware may be damaged Replace the applicable Slave Unit E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 Troubleshooting and Maintenance L A IN PWR RUN ERR il L A OUT z 1 Description Cause Actions indicator indicator indicator LED It is commanded Safe from the EtherCAT On SF 7 Operational Master Unit to shift state fae Safe Operational state 7 If the trouble occurred iPS commanded during operating the from the EtherCAT Oho ae Pre i system check the state Master Unit to shift On B Operational tothe of the connected state EtherCAT Master Unit Pre Operational state It is commanded fro
117. le Subindex 1 No_01 30 Percentage Tuning Level and Preset Value Range 19 999 999 to 99 999 999 Unit Default hex Attribute A FECED301 hex to 05F5E0FF hex Size 4 bytes INT32 Access RW PDO map Not possible Subindex 2 No_01 30 Percentage Tuning Level Range 19 999 999 to 99 999 999 Unit Default hex Attribute A FECED301 hex to 05F5E0FF hex Size 4 bytes INT32 Access RW PDO map Not possible e This object sets the percentage tuning level or preset value of the Sensor with the unit number that is specified by the index e The setting range for the percentage tuning level is 99 to 99 OOOOFF9D hex to 00000063 hex e The setting range for the preset value is 19 999 999 to 99 999 999 FECED301 hex to 05F5E0FF hex Items with asterisks are supported from E3NW ECT version 1 03 403A N 1 x 80 No_01 30 Percentage Tuning hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible A 36 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices
118. lication layer so that various process data of EtherCAT Sensor Communication Units can be transferred The details of process data are described in PDO Mapping Objects and Sync Manager PDO Assignment Objects E3NW ECT EtherCAT Sensor Communication Units support PDO mapping for I O control 5 4 2 PDO Mapping Settings The PDO mapping indicates the mapping for application objects realtime process data between the object dictionary and PDO The number of mapped objects is described in sub index 0 of the mapping table In this mapping table indexes 1600 hex to 17FF hex are used for RxPDO and 1A00 hex to 1BFF hex are used for TxPDO M Q L Y G E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 5 5 EtherCAT Communications The figure below shows an example of PDO mapping Object dictionary Index Sub Object contents 1ZZZ hex 01 hex 6TTT hex TT hex 1ZZZ hex 02 hex 6UUU hex UU hex 1ZZZ hex 03 hex 6YYY hex YY hex 16 Mapping objects PDO Length 32Bit pm i PDO_1 Object A Object B Object D 6TTT hex TT hex Object A 3 6UUU hex UU hex Object B BVVV hex VV hex Object C amp 6YYY hex YY hex Object D S 6ZZZ hex ZZ hex Object E amp x 5 4 3 Sync Manager PDO Assignment Settings A sync manager channel consists of several PDOs The sync manager PDO assignment object
119. m the EtherCAT oP on E init state Master Unit to shift to the Init state Due to the EtherCAT specification a communication timeout does not occur with those Slave Units that only handle input data Synchronization Errors PWR e H RUN ERR X et L A OUT eis REF Description Actions 4 indicator indicator indicator LED E After checking the following items F PAN restart the Slave Unit according to 7 Synchronization a 8 On s B B frequency Sync0 the specification of connected oy Sana error EtherCAT Master Unit q y 9 e Set the correct synchronization frequency After checking the following items restart the Slave Unit according to the specification of connected be EtherCAT Master Unit St SD Peer e Is the communications cable m Synchronization error at i oa On B SF Sei wired correctly 8 synchronization start yee oe e Is the communications cable 3 E exposed to excessive noise 5 e Review set time of Sync Not S Received Timeout Setting i synchronization error setting g After checking the following items A restart the Slave Unit according to z the specification of connected EtherCAT Master Unit 2 r c On B SF SF Communications Is the communications cable g synchronization error wired correctly 2 e Is the communications cable 3 exposed to excessive noise F e Review set time of a Communication Error Setting E3NW ECT EtherCAT Digital Sensor Commu
120. map Not possible Sub index 2 No_01 30 IN2 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object executes the Tuning with workpiece absent command for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to write data It is always set to 0000 hex when reading data e Execute the first point of 2 point tuning with workpiece absent first E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 39 Aseuoljs1q Poldo L Y gt sy fqo ojoeds seunjoejnueyy z 4 Y A Appendices 4052 N 1 x 80 No_01 30 Background Removal hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Background Removal Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the background suppression of the Sensor with the unit number that is specified by the index Data Setting 0000 hex Background removal OFF 0001 hex Background removal ON 0002 to FFFF hex Not used 4071 N 1 x 80 No_01 30 Direction hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible
121. minal to the cable of the extemal device to be connected connect it to the terminal block Section title T Mount the following crimp terminal to the signal line of the cable 32mm min 42 2mm min 6 0 mm max 6 0 mm max Operation 7 2 connect the signal line to the terminal block p roced ure num be r Tighten the terminal block screws to the appropriate tightening torque of 0 5 N m The terminal block is removable remove the left and right screws if it is necessary to remove Indicates operation procedure the terminal block to connect the signal ine Icon gt P Precautions for Correct Use 7 To remove the terminal block from the Slave Unit loosen the left and right mounting screws Refer to the followin g section alterately When mounting the terminal block as well tighten the left and right screws alternately Ifyou tighten or loosen only one of the screws all the way without tightening or loosening the other screw using an electric screwdriver the terminal black will be distorted and cracked 4 10 GX series EthorCAT Slave Unit User s Manual 4 Installation and Wiring 4 4 2 Connecting to e CON Connector Terminals Connect the dedicated e CON connector to the cables of the external device to be connected and then connect it to the connector terminal I Checking the e CON connector and cable wire size i o The wire size and sheath diameter of applicabl
122. mmunications are in progress between the Sensor Communication Unit and the Sensor Amplifiers In this case do not send new SDOs to the Sensor Amplifiers e If bit 1 turns ON the set value for the number of Sensors does not agree with the number of Sensors that are actually connected Check the set value and the connected Sensors If you are using Dummy Sensors set the number of Sensors to the total of the actual number of Sensors and Dummy Sensors 300B hex Sensor Status Subindex 0 Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 Sensor Warning Status Range 00000000 to 3FFF FFFF hex Unit Default 00000000 hex Attribute A Size 4 bytes U32 Access RO PDO map Possible e Subindex 1 Sensor Warning Status e This object reads the current Sensor warning status for the Sensors e The bit will be 1 when a warning exists for the corresponding Unit The Unit is normal when the corresponding bit is 0 e A Sensor Warning Status will exist whenever any bit of bits 08 to 15 for the Units in the Sensor Status is ON E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 19 Aseuoljsiq Poldo L Y gt sy fqo oijoeds seunjoejnueyy z Y A Appendices 300C hex TxPDO Mapping Mode Subindex 0 Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access
123. mmunications setting can be defined from the ESI files of connected Slave Units and the network connection information ESI files are installed in the configuration tool to create network configuration information You can download the network configuration information to the EtherCAT Master Unit to configure the EtherCAT network Configuration tool gt gt files Network configuration information EtherCAT Master Unit EtherCAT Slave Units T ee T a Communications are started according to the communications settings and the network configuration in the ESI files that are installed E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 3 114 ISA O14 UOHeWOJU BARIS LWO419U Z S 5 EtherCAT Communications 5 3 Communications State Transitions The EtherCAT State Machine ESM indicates the state transition model of EtherCAT Slave Unit communications control It is controlled by EtherCAT Master Unit The following figure shows the communications state transitions from power ON lt a Power ON a Initialization Pre Operational t Safe Operational t Operational SDO l 228 PDO State communi transmiss Contents F p reception cations ion ee Not Not Not Communications are being initialized
124. n objects and application objects A state in EtherCAT communications where SDO communications operational f and I O are possible PDO communications An acronym for process data communications een kee 5 A state in EtherCAT communications where only SDO Oyo communications are possible without being able to perform I O Collection of application objects designated to be downloaded Process data cyclically or acyclically for the purpose of measurement and control One type of EtherCAT communications that uses process data process data communications objects PDOs to exchange information in realtime with a fixed cycle This is also called PDO communications Process data object PDO Structure described by mapping parameters containing one or several process data entities Receive PDO RxPDO A process data object received by an EtherCAT Slave Unit A state in EtherCAT communications where only SDO safe operational communications and reading input data from slaves are possible Outputs from slaves are not performed ery One type of EtherCAT communications that uses service data SDO communications i Ee objects SDOs for communicating information when required service data object spo CoE asynchronous mailbox communications where all objects in the object dictionary can be read and written Slave Information Interface SII Slave information that is stored in non volatile memory in the slave subindex E3NW ECT EtherCAT Digital
125. n resistance 20 MQ or more at 500 VDC Ambient operating on temperature 0 to 55 C S Proin operaing 25 to 85 with no condensation or icing humidity 2 Amhientoperating No corrosive gases S atmosphere gt Storage temperature 30 to 70 C with no condensation or icing a Storage humidity 25 to 85 with no condensation or icing Installation method 35 mm DIN track mounting The temperature is limited by the number of Amplifiers that are connected For 1 to 2 Amplifiers 0 to 55 C 3 to 10 Amplifiers 0 to 50 C 11 to 16 Amplifiers 0 to 45 C 17 to 30 Amplifiers 0 to 40 C E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 6 3 6 Hardware Specifications of ESNW ECT 6 3 Hardware Specifications 6 3 1 Status Indicators It indicates the current state of an EtherCAT Slave Unit L A IN L A OUT VAIN ESNW ECT PWR GOMMUNICATION LA OUT RUN mee EthercAn SS Tl Ps I Aa i PWR indicator Indicates the unit power supply state caor swe Contents OFF Unit power OFF state ON The unit power 24 VDC is supplied to the Slave Unit i L A IN indicator Indicates the communication state input side Green Color State Contents OFF Link not established in physical layer Green Flickering In operation after establishing link ON Link established in physical layer i L A OU
126. n the Master Unit transmission frame An error was detected in RxPDO Setting the RxPDO settings e g Not Can be norena Ryno 001D hex P os Manager settings in the Error a logic setting error in the saved notified Master Unit Sync Manager An error was detected in TxPDO Setting the TxPDO settings e g Not Can be Cheese 001E hex F Manager settings in the Error a logic setting error inthe saved notified P Master Unit Sync Manager 001F hex PDO WDT An incorrect PDO WDT Not Can be Check the WDT settings Setting Error setting was detected saved notified in the Master Unit An incorrect TXxPDO TxPDO setting was made e g an Check the TxPDO A Not Can be j 0024 hex Assignment index subindex or size Seven notified assignment settings in Error that is out of range was the Master Unit registered An incorrect RxPDO RxPDO setting was made e g an Check the RxPDO Not Can be 0025 hex Assignment index subindex or size sayad notified assignment settings in Error that is out of range was the Master Unit registered E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 Troubleshooting and Maintenance Notification Ar sea Name of error Contents ee to EtherCAT Measures coce y Master Unit _____ The SYNCO interrupt Chee Synchronization S Not Can be synchronization settings 002C hex stopped during operation f Error A saved notified
127. nal state init state 0 R Updated after the power supply is reset g Read only Size The object size is given in bytes Access Indicates whether the object is read only or read and write RO Read only A RW Read and write PDO map Indicates the PDO mapping possibility yewo uondiuoseq alqo 1 V E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 3 A Appendices A 1 4 Communication Objects 1000 hex Range Unit Default 00010191 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible e Indicates the CoE device profile number Device Type 1001 hex Error Register Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible e Indicates the error type that occurs in a Slave Unit Bits Name Bits Name Communications error Device profile specific error Reserved Manufacturer specific error Generic error 0 1 Current error 2 Voltage error 3 Temperature error 1008 hex Manufacturer Device Name Range Unit Default Differ by Slave Unit types Attribute Size 20 bytes VS Access RO PDO map Not possible e Indicates the Slave Unit model number E3NW ECT padded with 12 spaces 1009 hex Manufacturer Hardware Version Range Unit Default Differ by Slave Unit types Attribute Size 20 bytes VS Access RO PDO map Not possible
128. ndex 1 No_01 30 IN1 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object executes the Full auto tuning setup command for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to execute and 0000 hex to reset e It is always set to 0000 hex when reading data 4037 N 1 x 80 hex Subindex 0 Number of Entries No_01 30 Full auto Tuning Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object executes the full auto tuning for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to write data It is always set to 0000 hex when reading data e Allow at least 3 seconds for processing to be completed after executing full auto tuning setup E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Aseuoljs1q paldo L
129. ne The Sensor is disconnected Connect the Sensor again and cycle the power supply Connect the Sensor securely None None Sensor Communications Has Not Been Established Communications has not been established with the Sensor EtherCAT Master Function Module When establish ing communica tions after turning ON power to the slave Minor fault Continues Error reset after automatic slave recovery The input data will be 0 Safe operational state and Oper ational state cannot be entered Connect at least one Sensor A sensor is not connected Connect at least one Sensor None None 8 10 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 Troubleshooting and Maintenance Event name Non volatile Memory Checksum Error Event code 14A00000 hex Meaning An error occurred in the control parameters Source EtherCAT Master Function Module Source details Slave Detection When establish timing ing communica tions after turning ON power to the slave Error attributes Level Minor fault Recovery Error reset after Log category System cycling slave power Effects User program Continues Operation The slave s I O communications stop and the outputs turn OFF Indicators EtherCAT NET RUN EtherCAT NET E
130. nect a communications cable to the DS Bus communications connector on the Sensor Communication Unit Also clamp on a ferrite core enclosed on the communications cable DS Bus D Ferrite core D f D terminal 2 l O i O ARE Ka D terminal gt a Communications To Distributed Ai Cable Sensor Unit When you prepare a new DS Bus connector cut off the protrusion on one side of the connector as shown in the following figure The enclosed connector already has this protrusion removed ojo E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices E3NW DS Sensor Distributed Sensor Units Connect the D and D lines and the shield wire in the communications cable to the power supply communications connector on the Distributed Sensor Unit Also clamp on a ferrite core enclosed on the communications cable In connections between Distributed Sensor Units connect the shield wire in the communications cable to the V terminal on only one of the Distributed Sensor Units Do not connect the shield wire to both Units Shield wire in communications cable Ferrite core V terminal D terminal D terminal p Communic
131. ng and Maintenance Event name Number of Sensors Over Limit Event code 247B 0000 hex Meaning Too many Sensors are connected Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category System automatic slave recovery Effects User program Continues Operation The relevant slave will go to the Init state I O communica tions and message communications are not possible for the relevant slave Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None ae aes Cause and Assumed cause Correction Prevention conector More than the maximum number of This event occurs when the cause of Do not connect more than the maxi Sensors are connected the error is removed and communica mum number of Sensors tions for the relevant slave recover Simply reset the error in the Control ler Attached None information Precautions None Remarks Event name Number of Sensors Verify Error Event code 247C 0000 hex Meaning The number of Sensors that is connected does not agree with the settings Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category System c
132. nication Unit Operation Manual E429 Hardware Specifications of E3NW ECT This chapter explains EtherCAT communication specifications and Hardware specifications 6 1 EtherCAT Communications Specifications 000005 6 2 6 2 General Specifications ce es 6 3 6 3 Hardware Specifications 0 es 6 4 623 1 Status Indicators 2 fects pee eal tee eee eh Gis RE ee rede hetetee one 6 4 6 3 2 Node Address Setting Switches 00 00002 e eee eee 6 6 6 3 3 Communications Connectors 0000 eee eee 6 7 6 3 4 Unit Power Supply Connector 000 cee eee 6 7 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 6 1 6 Hardware Specifications of E3NW ECT 6 1 EtherCAT Communications Specifications This section explains the communications specifications of the E3NW ECT EtherCAT Slave Unit Item Communication protocol Specification Dedicated protocol for EtherCAT Modulation Base band Baud rate 100 Mbps Physical layer 100BASE TX IEEE802 3u RJ45 x 2 Shielded Connectors CN IN EtherCAT input CN OUT EtherCAT output Topology Daisy chain Communications media Category 5 or higher cable with double aluminum tape and braided shielding is recommended Communications distance Distance between nodes 100 m max Noise immunity Conforms to IEC 61000 4 4 1 kV or higher
133. nication Unit Operation Manual E429 8 Troubleshooting and Maintenance ae e eee LED On SF ERR ae ndc Description SF Synchronization error in operation 8 1 2 Errors Unique to E3NW ECT Symptom Some functions are not reflected even after parameters have been set Cause The functions enabled by recycling the power were changed L A IN Actions After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit e Is the communications cable wired correctly e Is the communications cable exposed to excessive noise If this does not improve the Slave Unit hardware may be damaged Replace the applicable Slave Unit Measures Turn ON Slave Unit power supply again after changing the setting The Sensor Amplifier is turned ON but there is no input There is a communications error Check for communications errors The SS indicator is lit red See below SS LED lights red E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Number of sensors setting is different from Number of connecting sensors Set correct number of sensors setting When use dummy sensor setting Set number of sensors setting as include dummy sensors Amplifier connecting is wrong Check the connecting of E3NW ECT and amplifiers If this does not improve the amplifier hardware may be d
134. nication Unit Operation Manual E429 7 5 7 Function Specifications Details of Functions e Normal Mode This mode allows you to assign up to 350 bytes of input data The assigned input data except for I O data are divided and refreshed in order across more than one cycle Detection Level Speed Priority Mode This mode allows you to assign up to 108 bytes of input data All assigned input data are refreshed every cycle The refresh cycle depends on the number of Sensors amount of assigned data and whether input filters and Dummy Sensors are used The refresh cycle for data in the Sensor Communications Unit for each mode is given in the following table e Free Run Mode Mode Normal Mode Detection Level Speed Priority Mode Number of Sensors 30 max 16 max 30 max 30 max 30 max Assign dala size 350 16 max 36 max 37 to 76 77 to 108 bytes With or With or With or Input filter With or without None without without without 3 With or With or With or Dummy Sensors With or without None without without without Refresh cycle us 200 100 125 150 175 e DC Mode The refresh cycle is the same as the output cycle of the SyncO signal i Setting Methods The PDO communications mode is set through SDO communications The applicable index is 300C hex Refer to the applicable index in A 1 Object Dictionary in Page A 2 for the set values 7 6 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual
135. nnectors Modei Housing color Applicable wire range AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 2 to 2 0 mm AWG28 0 08mm to AWG24 0 2mm Sheath diameter 0 7 to 1 2mm AXF 12142 Red AXF12148 Yellow OMRON connectors Modal Specification Tpplicable wire range PoE Spring AWG28 0 08mm2 to AWG20 0 5mm clamp type Sheath diameter 1 6 mm max Name of manuals gt ese stmcarsve ut verso a 2 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Icon The meanings of the icons used in this manual are as follows Precautions for Safe Use Indicates precautions on what to do and what not to do to ensure using the product safely H Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance EN Reference This explains useful tips and reference information when using the product E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Structure of This Manual This manual consists of the following chapters Chapters Contents Chapter 1 EtherCAT Network Explains about the EtherCAT features and the network configuration EtherCAT Sensor Communication Overviews the E3NW ECT EtherCAT Sensor Chapter 2 Unit Communication Unit and its various types Chapter 3 Basic Usage Procedures Explains the setup method and usage procedures
136. nsmit PDO Mapping Sub index0 Number of objects Range Unit Default 01 hex Attribute Size 1byte U8 Access RO PDO Map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 61000410 hex Attribute Size 4byte U32 Access RO PDO Map Possible 1B04 hex 261st transmit PDO Mapping Sub index0 Number of objects Unit Range Default 10 hex Attribute Size 1byte U8 Access RO Sub index1 to 16 1st to 16th Input Object to be mapped PDO Map Not possible Range Unit Default 30200101 hex 30200201 hex 30200301 hex 30200F01 hex 30201001 hex Attribute Size 4byte U32 Access RO PDO Map Possible E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 1B05 hex 262nd transmit PDO Mapping Sub index0 Number of objects Range Unit Default 10 hex Attribute Size 1byte U8 Access RO Sub index1 to 16 1st to 16th Input Object to be mapped PDO Map Not possible Default 30201101 hex 30201201 hex 30201301 hex Range Unit 30201F01 hex 30202001 hex Attribute Size 4byte U32 Access RO PDO Map Possible 1B06 hex 263rd transmit PDO Mapping Sub index0 Number of objects Range Unit Default 10 hex Attribute Size 1byte U8 Access RO Sub index1 to 16 1st to 16th Input
137. nsor Status hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Sensor Status Range 0000 to FFFF hex Unit Default 0000 hex Attribute Size 2 bytes U16 Access RO PDO map Not possible e This object reads the status of the Sensor with the unit number that is specified by the index Data Sensor Status Bit 00 Normal operation This bit is normally set to 1 and changes to 0 if the bits 08 on change to 1 Bit 01 DPC status This bit is set to 1 when the DPC is ON and 0 when the DPC is OFF Bit 02 Smart Tuning Status This bit is set to 1 when ST is ON and 0 when ST is OFF Bits 03 to 07 Not used Bit 08 DPC error FAO or LAO Bit 09 EEPROM error all models Bit 10 Load short circuit error all models Bit 11 Head related error SAO TAO Bits 12 to 15 Not used 4007 N 1 x 80 No_01 30 Zero Reset Level hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Zero Reset Level Range 99 999 999 to 99 999 999 Unit Default 00000000 hex Attribute FAOF 1F01 to 05F5E0FF hex Size 4 bytes INT32 Access RO PDO map Not possible Subindex 2 No_01 30 IN2 Range 2 147 483 648 to Unit Default hex
138. numbered sequentially in the order shown below following the unit numbers of the Sensor Amplifiers that are connected to the Sensor Communication Unit 7 2 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 7 Function Specifications Sensor Communication Unit gt Distributed Sensor Unit 1 gt Distributed Sensor Unit 2 gt gt Distributed Sensor Unit 8 You can connect a maximum of 30 Sensor Amplifiers Refer to 2 2 2 Number of Connected Sensor Amplifiers You can connect a maximum of eight Distributed Sensor Units to the E3NW ECT i Input data allocation example The following table lists the items that you can assign to the E3NW ECT You can assign a maximum of 350 bytes of PDOs Refer to 7 2 3 Mode Setting Functions for PDO Communications in Page 7 5 Refer to A 1 5 PDO Mapping Object in Page A 7 for detailed object specifications Refer to the specific manual for your master for information on changing the PDO mappings D Transmit Applicable ae Amplifier 5 Index eit Name Size ESNX ESNC ESNC EONC gt FAO LAO SA0 TAO 9 1B00 hex 257th Read input 1st Word Bits 00 to 15 U16 Yes Yes Yes Yes 1B01 hex 258th Read input 2nd Word Bits 16 to 31 U16 Yes Yes Yes Yes pd 1B02 hex 259th Read input 3rd Word Bits 32 to 47 U16 Yes Yes Yes Yes 0 1B03 hex 260th Read input 4th Word Bits 48 to 59 U16 Yes Yes Yes Yes 1B04 hex 261st Re
139. o 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object executes the Sensor initialization command for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to write data It is always set to 0000 hex when reading data e To initialize the Sensor during operation use this command to initialize the Sensor Do not use the buttons on the Sensor e The channel display display blinking emission OFF and flashing settings are not initialized when the Sensor is initialized 4050 N 1 x 80 No_01 30 Self Trigger Level hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Self Trigger Level Range 1 999 to 9 999 Unit Default 0000 hex Attribute A F831 to 270F hex Size 2 bytes INT16 Access RW PDO map Not possible e This object sets the self trigger level of the Sensor with the unit number that is specified by the index 4051 N 1 x 80 No_01 30 Tuning with workpiece absent hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO
140. o the operational state refer to the manual of the EtherCAT Master Unit to be used E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 3 5 3 Basic Usage Procedures 3 4 Checking Operations Confirm that the LED indicators of the EtherCAT Master Unit and Slave Units are normal status and that I O data is correctly read and written Moreover make parameter settings for Slave Units as required 3 4 1 Checking Unit Displays EtherCAT Master Unit Refer to the manual of the EtherCAT Master Unit to be used EtherCAT Sensor Communication Units Check that the status indicator of each Slave Unit is as follows Indicator State PWR ON L A IN Flickering L A OUT Flickering turned OFF for the terminal Slave Unit only RUN ON ERR OFF Lit red The number of actual connections does not agree with the number of connections that were detected when the Unit was started Lit green The number of actual connections agrees with the number of connections that were detected when the Unit was started SS Distributed Sensor Unit Make sure the status indicators on each slave are as described in the following table Indicator State RUN Lit Lit red The number of actual connections does not agree with the number of connections that were detected when the Unit was started Lit green The number of actual connections agrees with the number of connections that were detected when the Unit was sta
141. om each This will also reduce the voltage drop and allow you to use smaller cables i Unit Power Supply Specifications Use a standard power supply that meets the following specifications Item Specification Output voltage 24 VDC 10 Output ripple 600 mVp p The supply capacity of the power supply must be equal to or greater than the total current consumption of all slaves Between output and AC power supply and between output and frame ground Output current Isolation We recommend using an OMRON S8JX Power Supply to supply Unit power H Precautions for Correct Use To calculate the output current of the Unit power supply the current consumption of the Unit power supply must include the total current consumption of the E3NW DS and the current consumptions of the Sensor Amplifier Units that are used e Select a power supply that has sufficient capacity allowing for the inrush current at system startup E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices i Unit Power Supply Connections Connect a cable from the Unit power supply 24 VDC to the power supply connector on each Distributed Sensor Unit to supply power separately to each Unit UNIT ADDRESS 23 1 4 O 2578 pe lol V terminal 1Q V terminal lt gt D Ferrule Unit power To 24 VDC Unit supply cable power supply
142. ommunication Unit Operation Manual E429 1 EtherCAT Network 1 1 Overview of EtherCAT Networks EtherCAT Ethernet Control Automation Technology is a high performance industrial network system based on Ethernet system and can realize faster and more efficient communications Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed Furthermore even though EtherCAT is a unique protocol it offers excellent general purpose applicability For example you can use Ethernet cables because EtherCAT utilizes standard Ethernet technology for the physical layer And the effectiveness of EtherCAT can be fully utilized not only in large control systems that require high processing speeds and system integrity but also in small and medium control systems 1 1 1 Features of EtherCAT EtherCAT has the following features Extremely high speed communications with speed of 100 Mbps It dramatically shortens the I O response time from generation of input signals to transmission of output signals By fully utilizing the optimized Ethernet frame bandwidth to transfer data using a high speed repeat method it is possible to efficiently transmit a wide variety of data Extremely High Compatibility with Ethernet EtherCAT is an open network with extremely high compatibility with conventional Ethernet systems 1 1 2 Structure of EtherCAT EtherCAT does not send data to individual slave nodes on the network instead i
143. ommunications cables observe their specifications bending radius and so on defined by the cable manufacturer E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 4 7 YAOMJON LWD4043g 0 Bupo uuoy Z y s jqe9 suojeoiunwwoy 0 Buls8uu0D 4 2 7 4 Installation and Wiring 4 2 5 Connecting to Distributed Sensor Units The Sensor Communication Unit and Distributed Sensor Units are connected by a DS Bus network Connect the DS Bus connector D and D on the Sensor Communication Unit to the D and D terminals on the power supply communications connector on the first Distributed Sensor Unit Connect the Distributed Sensor Units with multidrop connections i e connect the D and D terminals between consecutive Units Supply power to the Distributed Sensor Units from a Unit power supply 24 VDC Sensor Communication Unit acho L1 AA Distributed Sensor Unit 1 Soj e Termination switch OFF DS Bus communications cable L2 Distributed Sensor Unit 2 er NM e Termination switch OFF Ln Distributed Sensor Unit n e n 8 max pt e Termination switch ON
144. on Prevention corrections There are too many Dummy Units Reduce the number of Dummy Units Set Dummy Units so that logical unit set So some Sensors are not that is set in the dummy function set numbers can be assigned to all Sen assigned logical unit numbers tings so that logical unit numbers can sor Amplifiers that are connected be assigned to all connected Sen sors and then change the Sensors from the Init state to Pre operational state or restart the Sensors Attached None information Precautions None Remarks E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Bunooysajqnol 1 8 s po9 snjels Jou oewshS y 8 8 Troubleshooting and Maintenance Non volatile Memory Hardware Error Event code 04A10000 hex An error occurred in non volatile memory EtherCAT Master Function Module When establish ing communica tions after turning ON power to the slave Slave System Non volatile memory cannot be written None Non volatile memory failure Replace the EtherCAT Communica None tions Unit or the EtherCAT slave None This error is not recorded in the error log of the slave 8 14 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 1 5 Emergency Error Code 8 Troubleshooting and Maintenance The table below shows types of emergency error codes used in ESNW ECT EtherCAT Sensor
145. onfiguration Tool to easily allocate slave process data and make other settings i Unit power supply Provides power for communications of each Slave Unit and internal operations Separate them from the I O power supply when wiring i I O power supply Provides power for input output operations of external devices connected to Slave Units Separate from Unit power supply when wiring The E3NW ECT does not require an I O power supply E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 1 7 1 EtherCAT Network E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 EtherCAT Sensor Communication Unit E This chapter explains the overview of EtherCAT Slave Unit 2 1 Overview of E3NW ECT 2 200 es 2 2 2 1 1 Features of E3NW ECT EtherCAT Sensor Communication Units 2 2 2 2 Connectable Sensor Amplifiers 00 00 eee eee eee 2 3 2 2 1 List of Sensor Amplifiers n a 0 0 eee eens 2 3 2 2 2 Number of Connected Sensor Amplifiers 00002000 e 2 3 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 2 1 2 EtherCAT Sensor Communication Unit 2 1 Overview of E3NW ECT This section explains the overview of ES3NW ECT 2 1 1 Features of E3NW ECT EtherCAT Sensor Communication Units This Sensor Communication Unit is a communications slave that processes EtherCAT communications between Digital Sensors and a PLC to monit
146. or Communication Unit Operation Manual E429 6 5 6 Hardware Specifica tions of ESNW ECT 6 3 2 Node Address Setting Switches These switches are used to set node addresses of Slave Units in the EtherCAT network decimal Set the node address switches as follows Top switch for the 100s digit middle switch for the 10s digit and the bottom sw itch for the 1s digit Setting range is 000 to 997 Default setting 000 A 2 Da aus o 5 OU p RE S4100 ia je o 5 2375410 2avoc 1 lt 23 alae g 937 8x4 a Ea NODE ADDRESS i T l So eS ee Setting the node address x100 Setting the node address x10 Setting the node address x1 Note that the node address set values vary as shown below when the EtherCAT Master Unit is made by OMRON or by oth Node address switch setting er manufacturers Set value for node address OMRON EtherCAT Master Unit NJO01 10100 or CJ1W NCO82 The node address can be set within the following range with the Configuration 000 Tool NJO101 1000 001 to 192 CJ1W NED82 001 to 077 The value that is set on the node address switches is used as the node 001 to 997 address The valid setting ranges are as follows NJO01 1000 001 to 192 CJ1W NED82 001 to 077 EtherCAT Master
147. or the ON OFF output status and detection levels write parameters and operate the Sensors Applicable Sensors E3NX FAO Smart Fiber Amplifiers E3NC LAO Smart Laser Amplifier Unit E3NC SAO Smart Laser Amplifier Unit CMOS Type EQNC TAO Contact type Smart Sensors The EQ9NC TAO is supported from E3NW ECT version 1 03 The PDOs in EtherCAT communications allow you to monitor the ON OFF status of the outputs or the detection levels without any programming The SDOs give you the ability to read and write to any specified parameter Optimum Functionality and Ease of Operation Based on Unified Specifications The E3NW ECT EtherCAT Sensor Communication Units are Sysmac devices You can use them together with NJ series Controller other Machine Automation Controllers and the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation Sysmac devices is a generic name for EtherCAT Sensor Communication Units and other OMRON control components that were designed with the same communications and user interface specifications E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 2 EtherCAT Sensor Communication Unit 2 2 Connectable Sensor Amplifiers This section explains the types of connectable sensor amplifiers with EtherCAT Sensor Communication Units 2 2 1 List of Sensor Amplifiers Sialjdwy 10suas ajqeyoaUUOD Z Z Name Model Features Smart Fiber Amplifiers E3NX FAO
148. ory Diagnosis history is stored from Diagnosis message 1 If 8 errors are stored in order up to Diagnosis message 8 the 9th error onward are saved from Diagnosis message 1 again History is saved even if emergency messages cannot be sent to the EtherCAT Master Unit due to EtherCAT communications errors or emergency messages are set to Not notify Errors that occur for non volatile memory are not saved in the diagnosis history 5 12 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 EtherCAT Communications 5 8 Sysmac Device Functions Sysmac devices is the generic name of control component products that were designed with communications and user interface specifications that are unified for OMRON control components This functions of these procedures are called Sysmac device functions The section explains the functions of Sysmac devices when they are used together with NJ series Controller or other Machine Automation Controllers and Automation Software The E3NW ECT is a Sysmac device that supports Sysmac device functionality Sysmac error status Slaves Units that are Sysmac devices systematically handle errors that occur in the Slave Unit You can therefore use the Sysmac Studio to check errors and confirm corrections by using the same procedures for all Sysmac devices Errors are reported in 2002 hex 01 hex Sysmac Error Status To display errors that are detected by a Slave Unit on the Sysmac St
149. ping with Other Company Tool Read Input bits 3020 hex 262th Transmit PDO Mapping 1B05 hex No 9 Sensor Input 1 No 9 Sensor Input 2 No 16 Sensor Input 1 No 16 Sensor Input 2 Read Input bits 3020 hex 266th Transmit PDO Mapping Sensor Communication Status Sensor Communication Status 3000 hex 1B09 hex 267th Transmit Number of Sensors Setting PDO Mapping Number of Sensors Setting with Number of Sensors 3001 hex 1BOA hex Dummy 268th Transmit PDO Mapping Sensor Warning Status Sensor Status 300B hex 1BOB hex 273rd Transmit PDO Mapping No 1 Sensor Detection Level Input 1 Detection Level 4001 hex 1B10 hex 275th Transmit PDO Mapping No 2 Sensor Detection Level Input 1 Detection Level 4081 hex 1B12 hex 287th Transmit PDO Mapping 1B1E hex No 8 Sensor Detection Level Input 1 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Detection Level 4381 hex Odd S fqO Lq SseD01d Y BuiddeW Odd r S 5 EtherCAT Communications 5 5 Service Data Object SDO 5 5 1 Overview E3NW ECT EtherCAT Sensor Communication Units support the SDO communications The EtherCAT Master Unit is able to make parameter settings and monitor status by reading and writing data from and to entries in object dictionaries via the SDO communications 5 5 2 Abort Codes The table below shows abort codes of SDO communications errors
150. ply Connect a cable from the 24 VDC unit power supply to the unit power supply connector on each Slave Unit and supply power to individual Slave Units J fo D 0 5 837410 24VDC 23 l D d A l V Terminal D 237941 O NODE ADDRESS O I V Terminal Unit Power l Supply Cable To Unit DC24V a H Pin Terminal Power Supply Mount a pin terminal or equivalent to the unit power supply cable so that it will not be displaced Do not wire a power supply to the communications path of the Distributed Sensor Units The Units may be damaged Recommended product The following pin terminals are recommended for the unit power supply cables Model Applicable wire size Crimping tool Manufacturer CRIMPFOX UD6 Product No 1204436 Phoenix Contact z 2 noe 0 5 mm AWG20 or CRIMPFOX ZA3 Co Ltd series H0 5 16 orange 0 5 mm2 AWG20 Crimper E28 Weidmueller Japan Co Ltd Product No 900599 Also the following screwdriver is recommended for removing pin terminals Model Manufacturer XW4Z 00C OMRON 4 10 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 EtherCAT Communications ee This chapter explains the overview of EtherCAT communications 5 1 Structure of CAN application
151. pply Connector The Connector is used to connect the unit power supply 24 VDC 1OJOOUUOD suoeoiunwwon 9 1 eer k B l D gt o _ 5 l 8578410 i 2avoc j i 4233 l All 1 Vterminal o LJ 87x1 oe H NODE ADDRESS Name Specification at V 24 VDC i A Vterminal i V 0 VDC KK J Ne 2 e Connector type Spring connection connector with fixing screw 2 pin e Supported pin terminal diameter 0 25 mm to 0 5 mm AWG24 to AWG20 Pin terminal with isolation sleeve used For types of recommended pin terminals refer to 4 3 3 Connecting the Unit Power Supply in page 4 10 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 6 7 6 Hardware Specifications of E3NW ECT 6 8 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Function Specifications es This chapter explains the function specifications of E3NW ECT 7 1 W O Data Allocation PDO Mapping cece eee eee eee eee 7 2 7 1 1 Input Data Allocation 0 0 eee teens 7 2 7 2 Functions of ESNW ECT 0 cece eee eee 7 4 7 221 Input Fiter ss cercu S ees ps ts SEA Pd bee SE ade oe a ees 7 4 7 2 2 Dummy Sensor Setting
152. r or Sensor not connected error A mismatch error between the number of connected Sensors setting and the number of actually connected Sensors or a RAM check error occurred Number of connected Sensors comparison error too many Sensors connected error RAM check error or rotary switch setting error Green Lit Red Lit A 50 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices i Unit Address Setting Switch This switch sets the node address that the E3NW DS will use on the DS Bus network between Units The setting range is from 1 to 8 Default setting 1 If you are going to connect more than one Distributed Sensor Unit to the Sensor Communication Unit set the node address for each Distributed Sensor Unit to consecutive numbers starting from 1 UNIT ADDRESS Unit address setting l Precautions for Correct Use e The unit address switch setting is read only once when the power supply is turned ON Any change that is made after the power supply is turned ON will not take effect until the power supply is turned ON again e The Distributed Sensor Units will not operate properly if the same unit address is set more than once spun Josuag peynquysiq Buisn Z Y gt yun JOsUas peynquysiq 9U Jo suoneoyioeds asempseH 9 Z Y E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 51 A Appendices i
153. rials to wire the Unit e Take appropriate and sufficient countermeasures when installing systems in the following locations e Locations subject to static electricity or other forms of noise e Locations subject to strong electromagnetic fields e Locations subject to possible exposure to radioactivity e Locations close to power supplies e Do not drop any Unit or subject any Unit to excessive shock or vibration Otherwise Unit failure or malfunction may occur 12 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Conformance to EC Directives Applicable Directives e EMC Directives e Low Voltage Directive Concepts EMC Directives The OMRON products described in this manual are designed so that they individually comply with the related EMC Directives 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 Directives See note Whether the products conform to the standards in the system used by the customer however cannot be checked by OMRON and must be checked by the customer EMC related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel on which the OMRON devices are installed The customer must therefore perform the final check to confirm that devices and the overall machine conform to EMC standards
154. roubleshooting and Maintenance SSS This chapter explains actions to be taken at errors troubleshooting and equipment maintenance 8 1 Troubleshooting 2 22020 e eee ee ee ee ee eee ee 8 2 8 1 1 Errors that Can be Checked with Status Indicator and Actions to Take 8 2 8 1 2 Errors Unique to ESNW ECT 1 ee eee 8 6 8 1 3 Error Notification Methods and Types 0200 002 eee eee 8 7 8 1 4 Sysmac Error Status Codes 0 0000 eee 8 8 8 1 5 Emergency Error Code 00 02 eee 8 15 8 1 6 Application Layer Status Codes 0 00 cece eee 8 16 8 2 Equipment Maintenance 20 20 e eee ee 8 18 B 221 Cleaning a oa am le as le ot dels Sie abe ni le cial le E as dt ede al Cee cegi ak cue bd Res 8 18 8 2 2 INSPECIIONS ic tesine caiap act oh wha Mele akieas ehedae bea satened a 8 18 8 2 3 Handling when Replacing Units 00 020000 eee eee 8 19 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 1 8 Troubleshooting and Maintenance 8 1 8 1 1 Take Troubleshooting Errors can be notified by status indicators on Slave Units Errors that Can be Checked with Status Indicator and Actions to In this section the states of status indicator are indicated using the following abbreviations Abbreviation Definition On ON Off OFF F Flickering ON 50 ms OFF 50 ms flashing B Blinking ON 200 ms OFF 200 ms flas
155. rted SS 3 4 2 Confirming Data Read and Write Use a Configuration Tool such as the Sysmac Studio to read input and output data from the EtherCAT master to make sure the I O data is being read and written correctly 3 4 3 Setting Slave Unit Parameter Make parameter settings for each Slave Unit as required via the SDO communications Refer to Chapter 7 Function Specifications and the pages that provide details in the Appendix for further information on the parameters that can be set Always set the following objects in your initial settings for the E3NW ECT e If you intend to use a Dummy Sensor make sure to register the Dummy Sensor 3 6 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Installation and Wiring SSSI This chapter explains the mounting and wiring methods of the EtherCAT Slave Unit 4 1 Mounting E3NW ECT and Sensor Amplifiers 000 cece ences 4 2 4 1 1 Mounting Method 000 00 tee 4 2 4 1 2 Removal Methodi erriei eet aoe ek et aes He EE ee ee 4 3 4 2 Connecting to EtherCAT Network 200 e ee eee eee eee eee 4 4 4 2 1 Precautions for Network Connection 0 0 00 cece eee 4 4 4 2 2 Preparation for Connecting Network 000 0c eee eee eee 4 5 4 2 3 Connecting Communications Cables and Connectors 4 6 4 2 4 Connecting to Communications Cables 20200000 00 eee 4 7 4 2 5 Connecting to Distributed S
156. s describe how these PDOs are related to the Sync Manager The number of PDOs is given in sub index 0 of the sync manager PDO assignment table In this table index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs The figure below shows an example of sync manager PDO mapping ag a o Index Sub Object contents 5 2 1C1Zhex 1 1A00 hex S 1C1Zhex 2 1A01 hex g S 1C1Zhex 3 1A03 hex DS Sync manager entity Z 1A00 hex PDOA 2 1A01 hex PDO B S 1A02 hex PDO C gt 1A03 hex PDO D E 1404 hex PDO E 1A05 hex PDO F 1A06 hex PDO G 5 6 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 4 4 PDO Mapping The tables below show the details of PDO mapping for E3NW ECT EtherCAT Sensor Communication Units 5 EtherCAT Communications Default PDO mapping with OMRON Sysmac Studio 257th Transmit PDO Mapping 1B00 hex No 1 Sensor Input 1 No 1 Sensor Input 2 No 8 Sensor Input 1 No 8 Sensor Input 2 Read Input 1st word 6100 hex 258th Transmit PDO Mapping 1B01 hex No 9 Sensor Input 1 No 9 Sensor Input 2 No 16 Sensor Input 1 No 16 Sensor Input 2 Read Input 2nd word 6100 hex 265th Transmit PDO Mapping Sensor Communication Status Sensor Communication Status 3001 hex 1B08 hex 267th Transmit Number of Sensors Setting PDO Mapping Number of Sensors Setting with Number of Sensors 3001 hex 1BOA hex Dummy 268t
157. specified by the index e It is always set to 0000 hex when reading data Items with asterisks are supported from E3NW ECT version 1 03 Data Setting 0000 hex Light emission ON 0001 hex Light emission OFF 4033 N 1 x 80 No_01 30 2 point Tuning 1st point hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object executes the first point of two point tuning for the Sensor with the unit number that is specified by the index e Set this object to 0001 hex to execute and 0000 hex to reset e A value of 0000 hex is always read for this object 4034 N 1 x 80 No_01 30 2 point Tuning 2nd point hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 0000 to 0001 hex Unit Default 0000 hex Attribute A Size 2
158. t and output to an Output Slave Unit 5 6 2 DC Mode SUO JESIUNWIWOD PUN SARIS PUN 19 SeW LWD194 5 9 S In the DC mode a Slave Unit operates synchronously with the EtherCAT Master Unit A mechanism called distributed clock DC where the EtherCAT Master Unit and Slave Units share the same clock is used for synchronization Each of DC mode ready Slave Units connected to EtherCAT shares the clock information By generating interrupt signals and executing input output processing inside each Slave Unit according to the clock it becomes possible to synchronize the input output timing with other Slave Units The DC mode supported by E3NW ECT Units is DC mode 1 spoW NNY 3JH4 4 9 9 Set common clock information among the EtherCAT Master Unit and Slave Units to match the time mutually CEEE S Paseaaaey en Slave Unit EtherCAT Master Unit Communications cycle The communications cycle is determined by setting output frequency of SyncO signal interrupt signal in DC mode 1 500 us 1 ms 2 ms 4 ms The settings are performed on the EtherCAT Master Unit side For the setting method refer to the manual of the EtherCAT Master Unit to be used E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 11 5 EtherCAT Communications 5 Emergency
159. t passes Ethernet frames through all of the slave nodes When frame passes through a slave node the slave node reads and writes data in the areas allocated to it in the frames in a few nanoseconds Ethernet frames sent from the EtherCAT Master Unit go through all the EtherCAT Sensor Communication Units without stopping on the way Once they reach the final Slave Unit they are sent back from the final Slave Unit pass through all Slave Units again and return to the EtherCAT Master Unit With this structure EtherCAT secures high speed and real time data transmission EtherCAT Slave Unit Slave Unit Slave Unit Master Unit e Reading output data addressed to the local Slave Units e Writing input data Ethernet frame 1 2 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 1 EtherCAT Network It is the EtherCAT telegram stored directly in an Ethernet frame that exchanges data regularly 2 between the EtherCAT Master Unit and Slave Units Each EtherCAT telegram is configured with telegram header data length including address of one or gt more Slave Units etc data working counter check bit zm When an Ethernet frame is compared to a train an EtherCAT telegram can be considered as railway H O car PEA Ethernet frame Ethernet i EEIE Ethernet data Maximum 1498 bytes CRC Y a Cc N y J Q m 2 EtherCAT
160. tection Level hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Peak Detection Level Range 2 147 483 648 to Unit Default hex Attribute 2 147 483 647 80000000 to 7FFF FFFF hex Size 4 bytes INT32 Access RO PDO map Not possible Subindex 2 No_01 30 IN2 Range 2 147 483 648 to Unit Default hex Attribute A 2 147 483 647 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible e This object reads the peak detection level amount of incident light for the Sensor Amplifier with the unit number that is specified by the index e To read the peak detection level you must set Display Mode to the smallest peak value of incident light and the largest bottom value of interrupted light P b e The setting range of the FAO LAO or SAO is 1 999 to 9 999 FFFF F831 to 0000270F hex Items with asterisks are supported from E3NW ECT version 1 03 A 24 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 4003 N 1 x 80 No_01 30 Bottom Detection Level hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Bottom Detection Level Range 2 147 483 648 to Unit
161. ted at Distributed Sensor Unit Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category System automatic slave recovery Effects User program Continues Operation I O communications and message communications are not possible for the Sensors with relevant Distributed Sen sor Unit Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None Cause and Assumed cause Correction Prevention gorecuon More than the maximum number of Reduce the number of Sensors at rel Do not connect more than the maxi Sensors are connected at Distributed evant Distributed Sensor Unit to less mum number of Sensors at Distrib Sensor Unit than the maximum number of Sen uted Sensor Unit sors at Distributed Sensor Unit Attached None information Precautions None Remarks Event name Dummy Sensors Setting Error Event code 34F8 0000 hex Meaning Too many Dummy Units are set Source EtherCAT Master Function Module Source details Slave Detection When establish timing ing communica tions Error attributes Level Minor fault Recovery Errors reset Log category System Effects User program Continues Operation Not affected Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None ae Cause and Assumed cause Correcti
162. ter is notified by writing to the application layer status 8 16 register when an error occurs sodk pue spouse UONEOUNON JOU 8 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 7 8 Troubleshooting and Maintenance 8 1 4 Sysmac Error Status Codes A table that describes the error event codes that are displayed on the Sysmac Studio is given below i Error List The errors i e events that can occur in the E3NW ECT EtherCAT Slave Unit are given on the following pages Event levels are given as following in the tables Maj Major fault level Prt Partial fault level Min Minor fault level Obs Observation Info Information Refer to the NJ series Troubleshooting Manual Cat No W503 for all of the event codes that may occur in an NJ series Controller Event code Event name Meaning Assumed cause mine Reference Maj Prt Min Obs Info 04C40000 hex Sensor Com An error occurredin The Sensor is disconnected y 8 10 munications a Sensor connec Error tion 04C50000 hex Sensor Com Communications e A sensor is not connected V 8 10 munications has not been estab Has Not lished with the Sen Been Estab sor lished 14A00000 hex Non volatile An error occurred in Noise y 8 11 Memory the control parame Checksum ters Error 247A0000hex Number of The number of Dis e The Distributed Sensor Unit is y 8 11 Distributed
163. the CPU Unit e Transferring I O memory from a host computer or from another PLC on a network Fail safe measures must be taken by the customer to ensure safety in the event of incorrect missing or abnormal signals caused by broken signal lines momentary power interruptions or other causes Not doing so may result in serious accidents E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 Precautions for Safe Use 10 Observe the following precautions when using the Unit Power Supply Always use the power supply voltage specified in this manual An incorrect voltage may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Always turn OFF the power supply to the PLC Slave Units and other Units before attempting any of the following Not turning OFF the power supply may result in malfunction or electric shock e Assembling any Units Expansion Units e Removing or attaching the terminal blocks or connectors to Slave Unit e Replacing parts e g relays e Setting the DIP switch or the node address switches e Connecting cables or wiring the system Installation Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static buil
164. the TAO is 00000000 hex to 05F5E0FF hex Items with asterisks are supported from E3NW ECT version 1 03 4023 N 1 x 80 hex Subindex 0 Number of Entries No_01 30 Keep Setting Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Keep Setting Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the k eep setting of the Sensor with the unit number that is specified by the index Data Setting 0000 hex Keep OFF 0001 hex Keep ON 0002 to FFFF hex Not used E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 4024 N 1 x 80 No_01 30 Hold Mode Setting hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Hold Mode Setting Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the keep setting of the Sensor with the unit number that is specified by the index Data Setting 0000 hex Peak 0001 hex Bottom 0002 to FFFF hex Not used e This object is enabled only when output 1 mode 4025 N 1 x 80 No_01 30 Alarm Output Level Setting
165. the code of the error event Meaning Gives a short description of the error event Source Gives the source of the error event Source details Gives details on Detection Tells when the the source of the timing error is detected error Error attributes Level Tells the Recovery Gives the Log category Tells which log influence on recovery the error is saved control method 2 in 3 Effects User program Tells what will Operation Provides special information on the operation that results happen to from the error event execution of the user program 4 Indicators Gives the status of the built in EtherNet IP port and built in EtherCAT port indicators Indicator status is given only for errors in the EtherCAT Master Function Module and the EtherNet IP Function Module System defined Variable Data type Name variables Lists the variable names data types and meanings for system defined variables that provide direct error notification that are directly affected by the error or that contain settings that cause the error Cause and Assumed cause Remedy Prevention correction 7 z Lists the possible causes remedies and preventive measures for the error event 4 Attached Provides the additional information that is displayed by the Sysmac Studio or an NS series PT x information E Precautions Provides precautions restrictions and supplemental information 2 Remarks 5 2 e 1 One of the
166. ting and Setting Slave Units 0 000000 ee 3 4 3 2 3 Wiring Communications Cables 0 0 eee ee 3 4 3 2 4 Connecting Power Supplies 0 00000 c eee eee 3 4 3 2 5 Connecting fiber or Sensors head 0000 0c eee 3 4 Starting Communications 00 cece eee 3 5 3 321 Starting System lt areira ar abe 2 oe Se eee bat ete tet ghee 3 5 3 3 2 Setting EtherCAT Communications 0 0 c cece eee 3 5 3 3 3 Starting EtherCAT Communications 0 0 c eee eee 3 5 Checking Operations 0 0 00 cece ete eee 3 6 3 4 1 Checking Unit Displays 0 0000 c eee 3 6 3 4 2 Confirming Data Read and Write 0 eee ee 3 6 3 4 3 Setting Slave Unit Parameter 1 0 0 0 ee 3 6 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 3 1 3 Basic Usage Procedures 3 1 Setup Examples and Basic Procedure This section explains the setup method by using simple system setting examples 3 1 1 System Setting Examples Connect each of the following Slave Units to the EtherCAT Master Unit and make the settings EtherCAT Master Unit Digital I O Slave Unit GX ID1611 16 inputs Expansion Unit XWT ID16 16 inputs i c eSa ii 0 H Set the node address to 1 Digital I O Slave Unit GX 0D1611 16 outputs I Expansion Unit f XWT OD16
167. tion object being mapped 31 16 15 8 7 0 Indexes sue Bit length Indexes MSB LSB Bits 0 to 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bits 8to15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Aseuoljs1q Poldo Y gt yalqo Budde Odd S l V E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 7 A Appendices 1B00 hex 257th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01 hex Attribute Size 1byte U8 Access RO PDO Map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 61000110 hex Attribute Size 4byte U32 Access RO PDO Map Possible 1B01 hex 258th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01 hex Attribute Size 1byte U8 Access RO PDO Map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 61000210 hex Attribute Size 4byte U32 Access RO PDO Map Possible 1B02 hex 259th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01 hex Attribute Size 1byte U8 Access RO PDO Map Not possible Sub index1 1st Input Object to be mapped Range Unit Default 61000310 hex Attribute Size 4byte U32 Access RO PDO Map Possible 1B03 hex 260th tra
168. tries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Eco Function Setting Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the eco mode of the Sensor with the unit number that is specified by the index Data Setting 0000 hex Eco function OFF 0001 hex Eco function ON 0002 hex Eco function LO 0003 to FFFF hex Not used A 30 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A Appendices 4016 N 1 x 80 No_01 30 Key Lock Setting hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Key Lock Setting Range 0000 to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible e This object sets the key lock setting of the Sensor with the unit number that is specified by the index Data Setting 0000 hex Key Lock OFF 0001 hex Key Lock ON 0002 to FFFF hex Not used 4017 N 1 x80 No_01 30 Display Blinking hex Subindex 0 Number of Entries Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Display Blinking Range 0000 to 0001 hex Unit
169. ts the threshold 1 setting for the Sensor Amplifier with the unit number that is specified by the index 4 e Threshold 1 is used in Normal Detection Mode or as the low threshold in Area Detection Mode Q e The setting range of the FAO LAO or SAO is 1 999 to 9 999 FFFFF831 to 0000270F hex T e The setting range for the TAO is 19 999 999 to 99 999 999 FECED301 to 05F5E0FF hex as Items with asterisks are supported from E3NW ECT version 1 03 al z 4005 N 1 x 80 No_01 30 Threshold 2 Settings hex Subindex 0 Number of Entries A Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible o gt Subindex 1 No_01 30 Threshold 2 Setting z gt Range 2 147 483 648 to Unit Default hex Attribute A ki 2 2 147 483 647 D 80000000 to 7FFFFFFF hex Size 4 bytes INT32 Access RW PDO map Possible e This object sets the threshold 2 setting for the Sensor Amplifier with the unit number that is specified g by the index F e Threshold 2 is used as the high threshold in Area Detection Mode e The setting range of the FAO LAO or SAO is 1 999 to 9 999 FFFF F831 to 0000270F hex E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 25 A Appendices e The setting range for the TAO is 19 999 999 to 99 999 999 FECED301 to O5F5E0FF hex Items with asterisks are supported from E3NW ECT version 1 03 4006 N 1 x 80 No_01 30 Se
170. twork configuration To verify the configuration set the Serial Number Check Method parameter to Setting Actual device on the Edit Network Configuration Tab Page for EtherCAT on the Sysmac Studio A Network Configuration Verification Error will occur if verification fails for the specified method EN Reference This helps prevent forgetting to set the parameters because a slave device that was replaced is detected Conformance to ESI specifications ETG 2000 S R V1 0 1 The ESI specifications define the contents of the EtherCAT slave information ESI files Controllers that support Sysmac device functions can use an optional function that is defined in the ESI specifications to specify backup parameters in the Slave Units You can back up and restore the backup parameters that are defined in the Slave Units from the Sysmac Studio suoljouny ad1Aeq 2ewshg 9 sG Sil data checking The SII slave information interface contains specific configuration information on the EtherCAT slave that is written in non volatile memory in the EtherCAT Slave Unit EtherCAT Sensor Communication Units that are Sysmac devices check the information in the SII at the Slave Units H Precautions for Correct Use Do not change the SII information with setting software that is produced by other companies E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 15 5 EtherCAT Communications E3NW ECT EtherCAT Digital Sensor Commu
171. ty See http www omron com global or contact your Omron representative for published information i Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CON SEQUENTIAL DAMAGES LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED IN CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY Further in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 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 IN
172. udio you must map 2002 hex 01 hex Sysmac Error Status to a PDO In the Sysmac Studio default settings 2002 hex 01 hex Sysmac Error Status is automatically mapped to a PDO in the 512th Transmit PDO Mapping 1BFF hex assignments EN Reference e Refer to A 1 7 Manufacturer Specific Objects in page A 15 for information on 2002 hex 01 hex Sysmac Error Status e Refer to 8 1 4 Sysmac Error Status Codes in page 8 8 for errors that are displayed on the Sysmac Studio suoljouny ad1Aeq IBWS S 8 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 5 13 5 EtherCAT Communications Saving node address settings If the node address switches are set to 00 the software setting is enabled and the node address that is set on the Sysmac Studio is used To use the software setting execute the Write Slave Node Address menu command on the Edit Network Configuration Tab Page for EtherCAT The software setting will be saved in non volatile memory in the Slave Unit e Software setting The software setting that is set in the SII slave information interface in non volatile memory in the Slave Unit is used as the node address EtherCAT Master Unit E e E 1 When the power supply is OFF set the node address switches to 00 slave controller 2 From the master write the node address to the SII in the Slave Unit 3 When the power supply to the Slave Unit is 2 p Non volatile m
173. unction Specifications 7 2 2 Dummy Sensor Setting i Overview of functions Purpose This function provides keeping I O map when number of sensor change by customer option sensing point degrees and so on Details of functions E3NW ECT can be set dummy sensor so I O map keep by using dummy sensor setting i Setting method The settings are made using the SDO communication The target index is 3004 hex For the set values refer to the information in the corresponding index of Appendix A 1 Object Dictionary in A 1 7 7 2 3 Mode Setting Functions for PDO Communications g Outline of Operation Application There are two modes for data refreshing with PDO communications Select the mode based on the number of input data to assign for PDO communications and the refresh cycle In this section the refresh cycle applies to data in the Sensor Communication Unit This is not the refresh cycle for data between the Sensor Communication Unit and the master LOA MNEq JO SuoHouny Z Z a e Normal Mode In Normal Mode the assigned inputs may not be refreshed every cycle but you can assign a large amount of input data e Detection Level Speed Priority Mode With this mode you can assign less input data than with Normal Mode but the assigned data such as the detection levels are refreshed every cycle In either mode I O data are refreshed every cycle Bunjes uosuag Awwing z z 2 E3NW ECT EtherCAT Digital Sensor Commu
174. unit power supply and I O power supply from multiple sources When the unit power and I O power are supplied from multiple power supplies instead of from one power supply the line current voltage drop and cable size can be reduced Moreover it is effective to secure safety of the system at power supply errors If power supply errors occur Consideration on layout and grouping of power supplies differ by whether you want to stop the entire system or not when a power supply error occurs If you want to avoid stopping the entire system we recommend to set power supplies at several locations and supply power to groups of Slave Units or take similar measures This has also the effects of reducing voltage drop and cable size and so on J MOd C pue JAMO PUN Buldjddns e suoynedelg 7 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 4 9 4 Installation and Wiring 4 3 2 Unit Power Supply Specifications Use a general purpose power supply that satisfies the following specifications Item Specification Output voltage 24 VDC 10 Output ripple 600 mVp p Has the capacity to supply power more than the total current consumption of each Slave Unit Between output and AC power supply as well as between output and Isolation chassis ground Output current We recommend S8JX series power supplies made by OMRON for the unit power supply for Slave Units 4 3 3 Connecting the Unit Power Sup
175. x Unit s Communication Error Setting Range 00 hex OF hex Default 01 hex Attribute C Size byte U8 Object mounted only in the DC mode The number of sequences for detecting communications errors is set with this object The setting range is from 00 to OF hex and the number of detections is the set number of times 1 Rewriting value is possible at operation in the DC mode but the operation is performed with the value set when shifting from the pre operational state to safe operational state Note that at this point the 2201 hex rewritten value is read Access RW PDO map Not possible Note With the default setting of 01 hex an error is detected if communications errors occur twice in a row Unit s Sync Not Received Timeout Setting Range 0000 hex 0258 hex Default 0000 hex Attribute C Size 2byte U16 Access RW PDO map Not possible Object mounted only in the DC mode This object is used to set the standby time until the first synchronization interrupt signal SYNCO is input after shifting to the safe operational state state where a DC mode is confirmed If the first interrupt signal SYNCO is not input at all within this setting time a synchronization error occurs The setting range is from 0000 hex to 0258 hex 600s and operation is performed at 120s when Rewriting value is possible at operation in the DC mode but the operation is performed with the value set w
176. x Not used 403C N 1 x 80 No_01 0 Power Tuning Level and Tolerance Setting Low hex Subindex 0 Number of Entries Range 02 hex Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Power Tuning Level and Tolerance Setting Low Range 1 999 999 to 9 999 999 Unit Defaults Attribute A R FFE17B81 hex to 0098967F hex Power Tuning Level 0000270F hex Tolerance Setting Low FFFFFC18 hex g Size 4 bytes INT32 Access RW PDO map Not possible A Subindex 2 No_01 30 Power Tuning Level g Range 1 999 999 to 9 999 999 Unit Default 0000270F hex Attribute A g FFE17B81 hex to 0098967F z hex lt Size 4 bytes INT32 Access RW PDO map Not possible e This object sets the power tuning level and tolerance setting low setting of the Sensor with the unit number that is specified by the index e The setting range is for the power tuning level is 100 to 9999 00000064 hex to 0000270F hex e The setting range for the tolerance setting low setting is 1 999 999 to 9 999 999 FFE17B81 hex to 0098967F hex ltems with asterisks are supported from E3NW ECT version 1 03 gt sje qo ojoeds seunjoejnuey y J V E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 A 37 A Appendices 403D N 1 x80 No_01 30 Power Tuning hex Subindex 0 Number of Entr
177. x Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 IN1 Range 00000000 to O5F5E0OFF hex Unit Default hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible Subindex 2 No_01 30 IN2 Range 00000000 to O5F5EOFF hex Unit Default hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible e This object sets the Hysteresis Width 1 setting of the Sensor with the unit number that is specified by the index e Subindex 1 is not used for Hysteresis Width 1 e Subindex 2 of Hysteresis Width 1 is used for IN2 in Normal Detection Mode e The setting range for FAO LAO or SAO is 00000000 to 0000270F hex 4022 N 1 x 80 hex Subindex 0 Number of Entries No_01 30 Hysteresis Width 2 Range 01 hex Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Subindex 1 No_01 30 Hysteresis Width 2 Range 00000000 to O5F5EOFF hex Unit Default hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible e This object sets the Hysteresis Width 2 high setting of the Sensor with the unit number that is specified by the index e Subindex 1 of Hysteresis Width 2 is used for IN1 in Normal Detection Mode and for the high and low hysteresis in Area Detection Mode e The setting range for FAO LAO or SAO is 00000000 to 0000270F hex e The setting range for
178. ycling the power Effects User program Continues Operation Operation continues with the Sensors that are actually connected Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None e Pe Cause and Assumed cause Correction Prevention corecuon The set value does not match the If the setting of the number of con Make sure that the setting of the num number of Sensors that are actually nected Sensors is incorrect correct ber of connected Sensors agrees with connected the set value If the number of Sen the number of Sensors that are actu sors that are connected is incorrect ally connected correct the Sensor connections and cycle the power supply If the number of Sensors are decreased in discon necting Distributed Sensor Unit re connect the Distributed Sensor Unit Attached None information Precautions The case that the number of Sensors is decreased in disconnecting Distributed Sensor Unit is applicable The case Remarks that the number of Sensors is increased in connecting Distributed Sensor Unit is not applicable 8 12 E3NW ECT EtherCAT Digital Sensor Communication Unit Operation Manual E429 8 Troubleshooting and Maintenance Event name Number of Sensors Over at Distributed Sensor Unit Event code 247D0000 hex Meaning Too many Sensors are connec

E3NW-ECT EtherCAT Digital Sensor Communication Unit

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