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GX-series EtherCAT Slave Units User's Manual

1. Terminal CH block Terminal name Contents number 1 RSV 2 RSV 3 vi Encoder power supply input power supply input at twisted pair wiring 4 vi Encoder power supply input power supply input at twisted pair wiring 5 vi Encoder power supply input power supply input at twisted pair wiring 6 RSV 7 LA1 LA2 Latch A input 8 LB1 LB2 Latch B input 9 RST1 RST2 Reset input 10 V1 Encoder power supply input 11 V1 Encoder power supply output CH1 12 A24 Phase A input 24 V CH2 13 B24 Phase B input 24 V 14 Z24 Phase Z input 24 V 15 V2 Sensor power supply input 16 V2 Sensor power supply output 17 V2 Sensor power supply output 18 V2 Sensor power supply output 19 G1 Encoder power supply input 20 G1 Encoder power supply output 21 A5 Phase A input 5 V 22 B5 Phase B input 5 V 23 Z5 Phase Z input 5 V 24 G2 Sensor power supply input 25 G2 Sensor power supply output 26 G2 Sensor power supply output 27 G2 Sensor power supply output GX series EtherCAT Slave Unit User s Manual 5 uoe3 10 6 LL2003 X9 29 00 7 6 9 Encoder Input Slave Unit Internal circuits diagram CN IN TX TX RX O 34 L 4 o Physical layer CN OU DC DC converter No isolation type Internal circui
2. OUT OUT OUT OUT OUT 10 11 12 13 14 15 2 power supply 24 D 5 Solenoid valve etc NPN input 3 wire external device d Emitter of photoelectric sensor 5 o m GX OD1628 PNP S i NC NC NC NC NC NC NC NC OUT OUT OUT OUT OUT OUT OUT 1 2 3 4 5 6 NC NC NC NC NC NC NC OUT OUT OUT OUT OUT OUT 9 10 11 12 13 14 15 I O power supply 24 VDC Solenoid valve etc PNP input 3 wire external device Emitter of photoelectric sensor 829100 81 9 00 HUN e e s 1ndino 1urod 9 ed 10 158uu02 6 t 7 GX series EtherCAT Slave Unit User s Manual 7 51 7 Digital Slave Unit M Precautions for Correct Use The I O power supply connectors are equipped with two sets of V and G terminals One set of terminals is used for the I O power supply for the unit and the other set is used for the I O power supply to the next unit Use a maximum current of 4 A per terminal When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in Page A 50 ES Reference
3. 11 13 11 1 4 Sysmac Error Status Codes sse eene nennen nens 11 14 11 1 5 Emergency Error Code sss entretenir nensi 11 19 11 1 6 Application Layer Status Codes 11 21 11 2 Equipment Maintenance nne enne nans nnnm nasse nnn nass nennt 11 23 11 2 1 Cleaning entr ez deret ee eee 11 23 MSPOCtOMS x M 11 23 11 2 3 Handling when Replacing Units sseeeeee nennen 11 24 Chapter A asas sesak ana Kanada aana ngan pak a angan CER CE aa a UN gen 1 1 Object Dictionary 211r eee inane A 2 A 1 1 Object Dictionary Area A 2 A T 2 Data Typas de eec eines tee ite tt M RE PRISE A 2 A 1 3 Object Description Format sssssssssssssssssesee eene enne enne nnne renes nens A 3 A 1 4 Communication Objects sssssssssssssesseseeeneee nennen nennen 4 1 5 PDO Mapping Object aa anaa awa tede Reip ente A 8 A 1 6 Sync Manager Communication A 21 A 1 7 Manufacturer Specific Objects sssssss
4. power supply 24 VDC PNP output 3 wire 2 wire sensor sensor Limit switch etc Photoelectric sensor proximity sensor EN Reference Wire colors have been changed according to revisions in the JIS standards photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions GX series EtherCAT Slave Unit User s Manual 10 13 uoisuedx3 jo suoneoyioeds z 0L L 9LGI 9 LGI LMX yun uoisuedx3 ynduj 1 9 2 2 01 10 Expansion Unit 10 2 4 16 point Output Expansion Unit XWT OD16 OD16 1 Specification Item Specification XWT OD16 XWT OD16 1 Internal common NPN PNP I O capacity 16 outputs Rated output current 0 5 A output 4 0 A common 1 2 V max 1 2 V max Residual voltage 0 5 ADC between each output terminal 0 5 ADC between each output terminal and the G terminal and the V terminal Leakage current 0 1 mA max ON delay time 0 5 ms max OFF delay time 1 5 ms max Number of circuits per 16 inputs common common Isolation method Photocoupler isolation Output indicators LED display yellow Error Mode Output Select either hold or clear Weight 120g max Names and functions 01234567 8 9 101112131415 ee OMRON XWT OD16 REMOTE TERMINAL 4 3 Terminal arrangement diagram 10 14 GX series EtherCAT Slave
5. 5 6 Sysmac Device Functions 5 13 Sysmac error status 5 13 T Terminal block eese 4 12 Tightening torque e rette 4 12 Twisted pair cable eese 4 5 TXxPDOS es aiozt itio ros cocos a ictus dde 5 5 U iere dete 3 4 Unit power supply 1 7 8 4 4 8 4 9 6 7 Unit power supply cable 4 9 Unit power supply connector 4 9 4 13 Wiring standards 4 6 GX series EtherCAT Slave Unit User s Manual Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No W488 E 1 04 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revisioncode Date Revised content August 2010 Original production September 2010 Encoder Input Slave Units GX EC02xx 03 July 2011 Added functions for change to unit version 1 1 and corrected errors 04 November 2013 Added descriptions and corrected mistakes GX series EtherCAT Slave Unit User s Manual Revision 1 Revision 2 GX series EtherCAT Slave Unit User s Manual Authorized Distributor
6. For types of recommended pin terminals refer to 4 3 4 Connecting the Power Supply in page 4 10 6 8 GX series EtherCAT Slave Unit User s Manual Digital Slave Unit This chapter explains the overview of the Digital I O Slave Unit 7 1 Digital I O Slave Unit 7 2 7 2 I O Data Allocation PDO Mapping 7 8 7 2 1 Input Data 7 3 7 2 2 Output Data Allocation 7 5 7 8 Functions of Digital I O Slave Units 7 7 123 1 dnp t Filter ore tot Re Eger IRE GR Maes 7 7 7 3 2 Error Mode Output 7 8 7 4 Specifications for Each Slave 7 9 7 4 1 2 tier Terminal Block Type 16 point Input Slave Unit GX ID1611 ID1621 7 10 7 4 2 2 tier Terminal Block Type 16 point Output Slave Unit GX OD1611 0D1621 7 14 7 4 3 2 tier Terminal Block Relay Type 16 point Output Slave Unit GX OC1601 7 18 7 4 4 2 tier Terminal Block Type 8 point Input and 8 point Output Slave Unit GX MD1611 MD1621 7 22 7 4 5 S tier Terminal Block Type 16 point Input Slave Unit GX ID1612 ID1622 7 28 7 4 6 3 tier Terminal Block Type 16 point Output Slave Unit GX OD1612 0OD1622 7 33 7 4 7 8 tier T
7. com KP aa 4 IT L NG CCE poo L 1 E II Jm jo ooo OL gana 2 9 8 7 Terminal arrangement diagram Left side input Right side output 7 wo 0 1 2 G7 104 v m 15 82c QdW 8 Lee QqmW xo yun 1ndino 1urod 9 pue 1nduj jurod 9 ed 1 v No Name Function Communications connectors 1 2 Unit t 2 i power Refer 6 3 Specifications of Common Areas in Page 6 4 3 Status indicators 4 Node Address setting Switches Indicates the state of an input contact ON OFF 5 Input indicators 0 to 15 Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state Indicates the state of an output contact ON OFF 6 Output indicators 0 to 15 Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state Connects an external device Left side gt 7 I O connectors 1 to 16 x 2 For input device Right side For output device 8 power supply connector Supplies the I O power For output device 9 DIN track mounting hook
8. 9 8 9 3 3 Input Signal 9 9 9 8 4 Encoder Direction Setting 9 11 9 3 5 Counter Reset ein eae net Silas ind REIR xs 9 12 9 3 6 Counter Preset 9 13 9 3 7 9 13 9 4 Specifications for Each Slave Unit 9 14 9 4 1 Open collector input type GX EC0211 9 15 9 4 2 Line Driver Input Type GX ECO241 9 23 9 5 Mounting Dimensions 9 30 GX series EtherCAT Slave Unit User s Manual 9 1 9 Encoder Input Slave Unit 9 1 Encoder Input Slave Unit An Encoder Input Slave Unit has 5 V and 24 V open collector input function or line driver input function The open collector input can be measured up to 500 kHz and the line driver input up to 4 MHz 9 2 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit 9 2 I O Data Allocation data of Encoder Input Slave Units are allocated to the input output areas of the I O memory of the EtherCAT Master Unit respectively Also the Sysmac error status is allocated to the IN area of I O memory of the EtherCAT Master Unit The ESI file are used to allocate I O data For the detailed explanation of allocati
9. I O power supply 24 VDC Solenoid valve etc Solenoid valve etc H Precautions for Correct Use When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in page A 50 10 10 GX series EtherCAT Slave Unit User s Manual 10 2 3 16 point ut Expansion Unit XWT ID16 ID16 1 Specification Item 10 Expansion Unit Specification XWT ID16 XWT ID16 1 Internal common NPN PNP capacity 16 inputs ON voltage 15 VDC min between each input 15 VDC min between each input terminal and the V terminal terminal and the G terminal OFF voltage 5 VDC max between each input 5 VDC max between each input terminal and the V terminal terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA at 24 VDC 3 0 mA at 17 VDC ON delay time 1 5 ms max OFF delay time 1 5 ms max Number of circuits per 16 inputs common common Isolation method Photocoupler isolation Input indicators LED display yellow Weight 120g max Names and functions 01234567 LN 8 9 10 11 12 13 14 15 OMRON XWT ID16 REMOTE TEI IRMINAL 4 3 Terminal arrangement diagram 10 to 18 1to9 525011
10. a I lt CN IN connector L1 CN OUT connector Slave Unit Se qe2 7 2 Ln Do not connect anything Terminal Slave Unit MH Precautions for Correct Use The cable length between each Slave Unit L1 L2 Ln must be within 100 m Connect cables securely until communications cable connectors click and are fixed in place When you wire the communications cables observe their specifications bending radius and So on defined by the cable manufacturer GX series EtherCAT Slave Unit User s Manual 4 7 4 Installation and Wiring 4 3 Connecting to Unit Power Supply and Power Supply 4 3 1 The following power supplies are required to operate the EtherCAT network Unit power supply For communication and internal operation of Slave Units O power supply For input output operation of external I O devices of each Slave Unit This section explains how to supply the unit power supply and I O power supply Precautions at Supplying Unit Power and I O Power When supplying the unit power supply I O power supply take the followings into consideration for allowable current of cables and connectors voltage drop and layout of power supplies Considerat
11. A 2 A 1 2 Data Types a pre a Aah UR Reto e eb reor erm err ets A 2 A 1 3 Object Description Format A 3 A 1 4 Communication Objects A 4 A 1 5 PDO Mapping Object A 8 A 1 6 Sync Manager Communication Object A 21 A 1 7 Manufacturer Specific Objects A 25 Current Consumption Summary A 46 A 2 1 Digital Slave A 46 A 2 2 Analog I O A 46 A 2 3 Encoder Input Slave Unit A 46 A 274 Expansion Unit iusso t Rr eese te rerit mE A 47 Precautions with Connecting Two wire DC Sensors A 48 A 3 1 Relation between ON Voltage of a Unit with DC Inputs and Sensor Residual Voltage cus seme ERREUR ut Ed ee dere ned pud A 48 A 3 2 Relation between ON Current of a Unit with DC Inputs and Sensor Control Output A 48 A 3 3 Relation between OFF Current of a Unit with DC Inputs and Sensor Leakage GUID t ete eos Cp hiss A 49 Wiring External Output Signal Lines A 50 Power Supply Current A 51 Glossary on
12. eese 5 Read and understand this Manual seen enne 5 Warranty Limitations of Liability sssseeeenen nmn 5 Application Considerations essere 6 Safety Precautions 5 aaa an aan aaa eicere rene eate 7 Labels and Meanings to Ensure Safe 7 uec ned oh 7 Precautions for Safe 10 Precautions for Correct 12 Conformance to EC Directives saaewsaawwna awana nana nnn 13 Applicable Directives aaa aaa AN NGA AA EN AAN NRG KAADAKANG GEN KAKEN DAD EE KAEN a a 13 CONCEPTS DEREN 13 Conformance to EC Directives nennen nnne nnns 13 Related Manuals Diu ILLE 14 Version Upgrade Information essen eene nega nane nnne nnne n nnne nin n 15 EtherCAT NetwWork 5 uu ccce oii iarais eae inane ana nn mnnn 1 1 Overview of EtherCAT 1 2 tit Feat res of EtherGAT uui desc EA 1 2 151 2 Structure of Ebar CAT cal aae e daa e re as epe a ana a eva vad
13. anana nana naa naa aane 4 12 4 4 2 Connecting to e CON Connector 4 13 Chapter 5 EtherCAT 5 1 5 1 Structure of CAN application protocol over EtherCAT 5 2 5 2 EtherCAT Slave Information File ESI File 5 3 5 3 Communications State Transitions eese ne wanen eene nnne 5 4 5 4 Process Data Objects PDO awanane 5 5 5 4 1 OVetVigW i i nce etes dent ashen ete pop de dad aaa an 5 5 5 4 2 PDO Mapping 5 5 5 4 3 Sync Manager PDO Assignment Settings 5 6 5 4 4 Fixed PDO 5 7 5 5 Service Data Object SDO eleee einen nennen tnmen nnn nnne 5 9 525 1 gt ERE 5 9 55 2 Abort CodeS 5 9 5 6 EtherCAT Master Unit Slave Unit Communications eene 5 10 5 6 1 FREE RUN Mode a BA a enar n nnne rennes 5 10 5 6 2 DCG MOGde est e ie led iere rep eiat haee te gets 5 10 GX series EtherCAT Slave Unit User s Ma
14. Operational SDO PDO PDO State communi transmiss Contents 5 reception cations ion Not Not Not Communications are being initialized Initialization Init ae possible possible possible Communications are not possible SDO message communications are Pre Operational Not Not ins slate Tiu Pre Op Possible possible possible This state is entered after initialization has 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 GX series EtherCAT Slave Unit User s Manual 5 4 5 EtherCAT Communications Process Data Objects PDO 5 4 1 Overview The process data objects PDO are used for real time data transfer via cyclic communications There are two types in PDO RxPDO that receives data from the EtherCAT Master Unit and TxPDO that sends the present value from a EtherCAT Slave Unit to the EtherCAT Master Unit RxPDO EtherCAT output data operation command and so on EtherCAT Master Slave SN TxPDO Vni input data status and so on It is possible to hol
15. Be 2 e Terminal input display LED layout diagram 5 uoe3 10 t 6 CH1 CH2 CH1 B1 LA1 LB1 RSTI LA2 LB2 RST2 D AT Bi e efod pa a foe or pi E wors a npo nv ve mar safe Function Communications connectors Unit power supply connector Status indicators Node address switches fen ve fv ve fo os Refer to 6 3 Specifications of Common Areas 6 4 The indicators show the status of the inputs of each channel For details refer to the next section Input indicators Connects external devices and the I O power supply For details refer to the next section Terminal block 7 DIN track mounting hook Fixes a Slave Unit to a DIN track 5 Input indicators LL2003 X9 1ndui 129 00 1 p 6 6 Terminal block GX series EtherCAT Slave Unit User s Manual 9 17 9 Encoder Input Slave Unit Input indicators CH1 CH2 Name State Contents Name State Contents Lit green Counter operating CH2 Lit green Counter operating OFF Counter stopped OFF Counter stopped Lit Input A phase A signal count Lit Input A phase A signal count pulse signal incremental count pulse signal incremental count
16. Jo 1 5 le 7 NC 0 7 V1 v2 V2 v2 G1 G2 52 G2 I O power supply power 24 VDC supply 24 VDC 2 wire sensor NPN output 3 wire Solenoid valve etc NPN input 3 wire Limit switch etc sensor external device Photoelectric sensor Emitter of proximity sensor photoelectric sensor e GX MD1622 PNP nc 4 2 6 7 jo 1 2 3 4 5 7 V1 v2 y2 v2 va 2 va v2 2 v2 G1 G2 162 62 22 162 a2 62 62 2 I O power supply MO power S 24 VDC supply 24 VDC 9 m m amp 2 wire sensor PNP output 3 wire Solenoid valve etc PNP input 3 wire Limit switch etc sensor external device Photoelectric sensor Emitter of proximity sensor photoelectric sensor GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit H Precautions for Correct Use The V1 and V2 terminals as well as the G1 and G2 terminals of the I O power supply are not connected internally Supply power separately for V1 G1 and V2 G2 Use a maximum current of 500 mA for each V1 V2 G1 and G2 terminals aside from the I O power supply terminals When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in Page A 50 Do not wire NC terminals ES Reference Wire colors have been changed according to rev
17. 5 o GX OD1622 PNP s 5 V1 24VDC TX TX I 1 9 G1 7 RX EXC I 9 VI Output 0 to 7 G1 TKA Internal Lun circuits Photocoupler E V2 24VDC G2 V2 UNIT PS DC DC V O converter 3 Output 8 to 15 o No isolation 4j G2 type Photocoupler 229LOO 2L9LOO X9 ALS 1ndino 1urod 9 ed jeuiuue Jen e 9 p GX series EtherCAT Slave Unit User s Manual 7 35 7 Digital Slave Unit Wiring diagram e GX OD1612 NPN NC 1 2 3 4 5 6 7 9 ho hi h2 4 15 V1 v2 v2 v2 v2 va va v2 2 2 G1 G2 02 62 22 c2 G2 c2 62 G2 I O power supply 24 VDC Solenoid valve etc NPN input 3 wire external device Emitter of photoelectric sensor e GX OD1622 PNP O O 1 2 3 4 j 8 ho hi 12 ha 14 5 va Mij Vi v vi v v2 v2 v2 v2 va va v2 2 v2 e1 le1 G1 G1 G1 1 1 G2 02 62 02 c2 62 02 c2 G2 I O power supply 24 VDO s E 5 f m amp Solenoid valve etc PNP input 3 wire external device Emitter of photoelectric sensor GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit H Precautions for Correct Use The V1 and V2 terminals a
18. ss 9 3 External reset generation flag 9 6 F Fixed PDO mapping eeeeee 5 7 l power supply 1 7 3 4 4 8 4 10 power supply connector 4 10 power supply terminal 4 10 Incremental decremental pulse input 9 10 Initialization eee ce cte e etd 5 4 Inp t range o tette dtd te deeper 8 3 Input range switch 8 5 8 21 L WA IN Indicator us octies 6 4 OUT Indicator eec redeat 6 4 M Mapping table tn tec 5 5 Maximum Circular Counter value 9 8 N Node address esee 3 4 6 6 O Object dictionary seen 5 2 5 5 ON delay time sesssssssseeeeeeeeeeeennennenenennen 7 8 Operational ende ODER 5 4 Operational state 3 5 Output range E RR dE 8 12 Output range setting switch 8 14 Output range switch esssssssseeeeeeee 8 24 P suuni eis 5 2 5 5 PDO communications essen 3 5 PDO mapping 3 5 5 2 5 5 5 6 PDO mapping object
19. v8 v9 V10 V12 V13 V14 V15 v9 V10 V11 V12 13 V14 V15 NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC IN8 INQ IN10 INT1 IN12 IN13 IN14 IN15 INQ IN1O INT1 IN12 IN13 IN14 JIN15 2 wire sensor PNP output 3 wire sensor Limit switch etc Photoelectric sensor proximity sensor ES Reference Wire colors have been changed according to revisions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions 8ZZEAI SLZECI XD 1ndu jurod zg ed 10 99UU0D LL Z GX series EtherCAT Slave Unit User s Manual 7 63 7 Digital WO Slave Unit 7 4 12 e CON Connector Type 32 point Output Slave Unit GX 0D3218 0D3228 Specification Specification rom GX OD3218 GX 0D3228 Output capacity 32 points sted current ON 0 5 A output 4 0 A common current Internal common NPN PNP 1 2 V max 1 2 V max Residual voltage 0 5 ADC between each output terminal 0 5 ADC between each output terminal and the G terminal and the V terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1 5 ms max Number of circuits per 16 points common common Output indicators LED display yellow Isolation method Photo
20. mm GX series EtherCAT Slave Unit User s Manual 7 77 7 Digital Slave Unit GX ID3218 ID3228 52 43 85 fica 180 52 49 8 7 78 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit GX MD3218 MD3228 180 mm ed NO2 9 S Z suoisuawig GX series EtherCAT Slave Unit User s Manual 7 79 7 Digital l O Slave Unit GX series EtherCAT Slave Unit User s Manual Analog 1 0 Slave Unit This chapter explains the overview of the Analog I O Slave Unit 8 1 Analog I O Slave 8 2 8 2 Overview of the Analog Input Slave 8 3 8 2 1 Input Range and Converted Data 8 3 8 2 2 Data Allocation PDO Mapping 8 6 8 3 Function of the Analog Input
21. 9 1 9 1 Encoder Input Slave aaaea aA aaar Ead genea ba assa natn nnn 9 2 9 2 Data e eec tata cte Nana ngae aan gan ek 9 3 9 2 1 Input Data Allocation 9 3 9 2 2 Output Data Allocation ede eerte igap sd daana esa Fior ute ADE 9 6 9 3 Function of the Encoder Input Slave nnn 9 8 9 3 1 Count Modes e esee estere ien pie tei 9 8 9 3 2 Circular CoUntet a ee o eno RO tete genet 9 8 9 9 9 Input Signal Types iui nete Ee ti e Pero etre ta pedet ee eee 9 9 9 3 4 Encoder Direction Setting sasae eaaa aaa anana eee nennen 9 11 9 9 5 Counter Reset rupe emet e tme PR 9 12 9 3 6 Counter eaaa anana 9 13 9 3 7 Counter Value latch e rti a Pte d i ir p cce t eria Ea 9 13 9 4 Specifications for Each Slave Unit wane wanan anane ana nanang enne nnne annnm nnn nnns 9 14 9 4 1 Open collector input type 211 sse 9 15 9 4 2 Line Driver Input Type 0241 ener ener 9 23 9 5 Mounting 9 30 Chapter 10 Expansion Unit
22. 1 D SS E LL za Gees a ox IT I IT I 65059 gens gt g poog E N T 15 iS a paan Essa G t 9 D 9 E t O poog eses o E e TE 5 2 ot Ir 8 pana paca 522 5 2g 280 ja 5 g pss Go Ole o m IT 1 1 o lx o2 E ooa Peso pe ot z x 2 i gt Gaag eses O 3 amp o g i i s 00 Peco E em D 5 poo ED g 2 gt 5 cialo mel mm 1 i 5 aaa ses am o I D eo II I IT 1 E e gt 05 5 EL o E 2 ds D ss NJS ojo ex 5 c 0 gt E 5 QN 7 r x o 5 olco lollid 2 gt E 2 51 Lilgs GBlajsin 2 gt 2 5 8 5 9 s 75 ___ gas E 285 e 510210 ew e 5 562 S ln 2 G 5 2 528 22 255 5 6 t 2195 5 BER 5 ZE 51515 z lt 2 5 25 9 85 512 995 5 A 51 11 NG er e 7 65 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Internal
23. OUT JOUT OUT OUT OUT OUT JOUT OUT OUT OUT 2 3 4 5 6 7 2 3 4 5 6 7 vi jv fv jv dvd fy vi NC Inc NC NC Nc NC NC Nc NC e OUT OUT JOUT OUT OUT OUT OUT OUT JOUT OUT OUT OUT 10 11 12 13 14 15 10 11 12 13 14 15 power supply 24 VDC Solenoid valve etc NPN input 3 wire external device Emitter of photoelectric sensor vv fy fy jv NC Inc Nc Nc NC NC Inc NC 7 OUT OUT JOUT OUT OUT OUT T OUT OUT JOUT OUT OUT OUT 2 3 4 5 6 if V 0 2 3 4 5 6 7 jv dvd fy G v iv NC Inc NC NC NC NC NC G OUT OUT JOUT OUT OUT OUT OU T OUT OUT JOUT OUT OUT OUT 10 11 12 13 14 15 8 10 11 12 13 14 15 power supply 585 24 VDC e 5 m Solenoid valve etc GX series EtherCAT Slave Unit User s Manual PNP input 3 wire external device Emitter of photoelectric sensor uoe3 104 v i 82ZEAO BLZEGO XD HUN 1ndino 1urod zg ed 10 99ULOD NOO2 8 21 74 7 Digital WO Slave Unit H Precauti
24. SIND Gam aa T a oom max Ts Ai VbO GXMDI618 i atza vDo 901028 120 mA max at 20 4 VDC gi Nai aay ape 100 mA ma at 20 4 VOC 140 24 GX 22 140 mA max at 24 VDC 150 mA max at 20 4 VDC A 2 2 Analog I O Slave Unit Model GX AD0471 A 2 3 Encoder Input Slave Unit Model GX EC0211 Unit power supply current consumption 110 mA max at 24 VDC 120 mA max at 20 4 VDC GX DA0271 Unit power supply current consumption 100 mA max at 24 VDC 130 mA max at 20 4 VDC GX EC0241 GX series EtherCAT Slave Unit User s Manual 150 mA max at 20 4 VDC Unit power supply current consumption 140 mA max at 24 VDC 150 mA max at 20 4 VDC Unit power supply current consumption 90 mA max at 24 VDC 100 mA max at 20 4 VDC A 2 4 Expansion Unit Unit power supply current A Appendix Unit power supply current Model Model consumption consumption XWT IDO8 5 mA max XWT IDO8 1 5 mA max XWT OD08 5 mA max XWT OD08 1 5 mA max XWT ID16 10 mA max XWT ID16 1 10 mA max XWT OD16 10 mA max XWT OD16 1 10 mA max GX series EtherCAT Slave Unit User s Manual Aewwng uana uosuedxg 2 A Appendix A 3 Precautions w
25. Sync manager 2 PDO Sync manager 3 PDO Model A assignment Number of Number of Slave Unit Expansion Unit assigned assigned jede RxPDOs TxPDOs 00 hex 01 hex 1801 hex XWT IDO8 1 00 hex lt 01 hek 1801 hek GX ID1611 ID1621 XWT ID16 1 00 hex 01 hex 1801 hex XWT OD08 1 01 hex 1701 hex 01 hex 1801 hex XWT OD16 1 01 hex 1701 hex 01 hex 1801 hex E 01 hex 1701 hex 00 hex XWT IDO8 1 01 hex 1701 hex 01 hex 1B01 hex GX OD1611 0D1621 XWT ID16 1 01 hex 1701 hex 01 hex 1801 hex XWT OD08 1 01 hex 1701 hex 00 hex XWT OD16 1 01 hex 1701 hex 00 hex 01 hex 1701 hex 00 hex XWT IDO8 1 01 hex 1701 hex 01 hex 1801 hex GX OC1601 XWT ID16 1 01 hex 1701 hex 01 hex 1801 hex XWT OD08 1 01 hex 1701 hex 00 hex XWT OD16 1 01 hex 1701 hex 00 hex GX MD1611 MD1621 01 hex 1701 hex 01 hex 1B01 hex GX ID1612 101622 B 00 hex 01 1801 GX OD1612 10D1622 01 hex 1701 hex 00 hex GX MD1612 MD1622 01 hex 1701 hex 01 hex 1B01 hex GX ID1618 101628 00 01 hex 1B01 hex GX OD1618 OD1628 01 hex 1701 hex 00 hex GX MD1618 MD1628 01 hex 1701 hex 01 hex 1B01 hex GX ID3218 103228 00 hex 01 hex 1B01 hex GX OD3218 OD3228 01 hex 1701 hex 00 hex GX MD3218 MD3228 01 hex 1701 hex 01 hex 1801 hex Analog I O Slave Unit Sync manager 2 PDO Sync manager 3 PDO assignment assignment Model DUE Number Y Assigned Number Assigned assi
26. Default 0000 hex Attribute Size 2 byte INT16 Access RO PDO map Not possible Stores the upper limit of user adjustment The user upper adjustment value is stored 3212 hex Analogue Output Adjustment High Execute Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO Sub indexes 1 to 2 CH1 2 Adjustment High Execute PDO map Not possible Range Unit Default 00000000 hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible This object executes user adjustment It writes upper adjustment value Execute the command when a count value which makes the actual output voltage 100 is written by the EtherCAT Master Unit to the data area of the point to adjust Adjustment at 100 is highly recommended but a lower value is acceptable f you reset it returns to the default setting The values is adjusted or reset only when the specific value is written to sub indexes 1 to 2 This prevents erroneous execution and resetting The specific values are save for execution rset for resetting MSB LSB e V a S 65 hex 76 hex 61 hex 73 hex t e S r 74 hex 65 hex 73 hex 72 hex Writing values other than the above is invalid A value of 0000 0000 hex is indicated when reading Notes Always adjust the lower limit first I
27. 4er nnns 8 7 8 3 1 AD Conversion Available Point Setting sssseeeeeeee 8 7 8 3 2 Moving eei per he eI Ee E RUD RE FERE ERE TEKA 8 8 8 3 3 Disconnected Line 1 iernii raini 8 10 8 3 4 Usor adjustment aa sana e e be ipee e ER E RUNE 8 10 8 4 Overview of the Analog Output Slave Unit eene nnns 8 12 8 4 1 Output Range and Converted 8 12 8 4 2 I O Data Allocation PDO Mapping nnn 8 14 8 5 Function of the Analog Output Slave Unit ssec 8 15 8 5 1 DA Conversion Available Point Setting ssssseenennes 8 15 8 5 2 Analog Output Fault Action saene e eea eaaa anaa anaa anaa aa naa anana aana anana anaa 8 16 8 5 3 User asa teet ep Da a alice ae tie 8 17 8 6 Overview of Each Slave Unit 8 18 8 6 1 4 point Input Slave Unit GX ADO0471 sse 8 19 8 6 2 2 point Output Slave Unit 0271 8 23 8 7 Mounting Dimensions eeeeeeeeeeeeeeeneee nennen nennen nnnm ran nnn rsen annnm nnns nnn nnns 8 27 Chapter 9 Encoder Input Slave Unit
28. 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 includes CPU Units other Units mounted in the PLC and Remote I O Terminals Not doing so may result in serious accidents 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 may 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 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 malfuncti
29. Unit Default 0000 hex Attribute Size 2 bytes INT16 Stores the lower limit of user adjustment Access RO PDO map Not possible GX series EtherCAT Slave Unit User s Manual A Appendix 3115 hex Analogue Input Adjustment Low Execute Sub index 0 Number of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 4 Adjustment Low Execute Range Unit Default 00000000 hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible This object executes user adjustment It writes lower adjustment value To adjust enter a voltage or current equivalent to 096 from a connected device to the terminal of the input point you want to adjust Set the input range in advance f you reset it returns to the default setting The value is adjusted or reset only when the specific value is written to sub indexes 1 to 4 This prevents erroneous execution and resetting The specific values are save for execution rset for resetting MSB LSB e V a S 65 hex 76 hex 61 hex 73 hex t e S r 74 hex 65 hex 73 hex 72 hex Writing values other than the above is invalid A value 0000 0000 hex is indicated when reading 3132 hex Analogue Input Moving Average Sub index 0 Number of channel Range Unit Default 04 hex
30. e 4 1 4 1 Mounting Slave Units essaesnan nan ea nan 4 2 4 1 1 Mo nting Preparatlon ne dine dete eee i teneat pnt ete a ine pde he 4 2 4 1 2 Mounting Direction iinet irii a i ia 4 2 421 3 Mounting Methodi i e tp ee tapete Perimeter re n bo E et rei ee 4 2 4 1 4 Removal Method e nnne nennen enn 4 3 4 2 Connecting to EtherCAT 4 4 4 2 1 Precautions for Network Connection eene 4 4 4 2 2 Preparation for Connecting Network 4 5 4 2 3 Connecting Communications Cables and 4 6 4 2 4 Connecting to Communications Cables sse 4 7 4 3 Connecting to Unit Power Supply and I O Power 4 8 4 3 1 Precautions at Supplying Unit Power and I O 4 8 4 3 2 Unit Power Supply Specifications sasana eaaa anaa aana aana aana aana eene 4 9 4 3 3 Connecting the Unit Power Supply eere 4 9 4 3 4 Connecting the I O Power 4 10 4 4 Connecting an External 4 12 4 4 1 Connecting to a Screw Terminal
31. and other countries for OMRON factory automation products Other company names and product names that appear in this manual are the trademarks or registered trade marks of the relevant companies GX series EtherCAT Slave Units User s Manual Revised November 2013 Introduction Thank you for purchasing a GX series EtherCAT Slave Unit This manual contains information you need to know to use the EtherCAT Slave Unit 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 Introducing FA equipment Designing FA systems Managing FA sites GX series EtherCAT Slave Unit User s Manual 1 How to Read the Manual Page Structure This manual s page structure consists of the following Chapter title t 4 instalation and Wiring Clause title 5 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 con
32. Encoder or other Input A pulse generators Incremental pulse O Input B Encoder or other Input Z pulse generators Decremental ix pulse Precautions for Safe Use f the input method is changed while the counter is stopped or operating restart stop operate the counter in order to reflect the change to the count operation f the set value is read without restarting the set value after change can be read but the actual count operation is performed with the set value before change 9 3 4 Encoder Direction Setting There are two following types for the encoder directions of an Encoder Input Slave Unit Forward direction at CW clockwise rotation seen from the shaft of the connected encoder Forward direction at CCW counterclockwise rotation seen from the shaft of the connected encoder CW CCW Note that SDO communications are used to set encoder direction Default setting Forward direction at CW The target index is 4001 hex For the set values refer to the information in the corresponding index of Appendix A 1 Object Dictionary in Page A 41 Precautions for Safe Use f you change the encoder direction setting when the counter is stopped or operating restart the counter to enable using the new encoder direction setting in counter operation f the set value is read without restarting the set value after change can be read but the actual count operation is performed with the set val
33. EtherCAT Master Unit GG E h Digital I O Slave Unit GX ID1611 16 inputs Expansion Unit XWT ID16 16 inputs Set the node address to 1 Digital I O Slave Unit GX OD1611 16 outputs Expansion Unit XWT OD16 16 outputs Set the node address to 2 Analog I O Slave Unit GX AD0471 4 inputs Set the node address to 5 Although it is not shown in the figure above supply the unit power and the I O power separately ES Reference The setting example explained here is the basic setting of GX series EtherCAT Slave Units If more detailed settings are required in actual operation refer to the manual of the EtherCAT Master Unit or pages on this manual explaining the detail for each Slave Unit Chapter 7 to Chapter 10 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 GX series EtherCAT Slave Unit User s Manual 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 m Section 3 2 1 21 pue dnies Mounting and Setting Slave Units m Section 3 2 2 Wiring Communications Cable
34. The digital input values are stored in 1 bit units Unit version 1 1 or later is required to set this object GX series EtherCAT Slave Unit User s Manual A Appendix 3220 hex Read output bits Sub index 0 Number of output bits Range 00 hex to 32 hex Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Output Bit00 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 2 Output BitO1 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 3 Output Bit02 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 4 Output Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 5 Output Bit04 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 6 Output Bit05 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 7 Output Bit06 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access R
35. in advance Pin No Setting Specification 2 Setting of output CH1 range 3 Set by combination of DIP switches see the 4 next table 5 Setting of output CH2 range 6 Make sure to keep it OFF 7 Always OFF The operation cannot be guaranteed when it is set to ON OFF Setting by SDO communications 8 pipot range sening me med ON Setting by these switches Pin1 to Pin6 la Precautions for Correct Use Pin7 must be used in the OFF state To set a range using these switches make sure to turn Pin8 ON If it is turned OFF the DIP Switch settings will not be reflected The settings of this switch are read only once when the power is turned ON GX series EtherCAT Slave Unit User s Manual Setting of output CH1 range Pin1 to Ping 8 Analog I O Slave Unit 2 00 1 WT Analog GND GX series EtherCAT Slave Unit User s Manual Negative terminals of output CH1 and output CH2 are internally connected Output range Pini Pin2 Pin3 0to5V OFF OFF OFF 1to5V ON OFF OFF Oto 10 V OFF ON OFF 10 to 10 V ON ON OFF 4 to 20 mA OFF OFF ON Setting of output CH2 range Pin4 to Pin6 Output range Pin4 Pin5 Pin6 0t05V OFF OFF OFF 1to5V ON OFF OFF Oto 10 V OFF ON OFF 10 to 10 V ON ON OFF 4to 20 mA OFF OFF ON Internal circuits diagram ed ARIS uoe3 JO MalAJ9AQ 9 8 LL20VQ X9 HUN 5 1ndino 1urod
36. Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Range Unit Default 40100120 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Input Object to be mapped Range Unit Default 40100220 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible The mapping 15 for reading counter present values GX series EtherCAT Slave Unit User s Manual A Appendix 1B01 hex 258th transmit PDO Mapping Sub index 0 Number of objects Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Range Unit Default 40120120 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Input Object to be mapped Range Unit Default 40120220 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Mapping for preset command value setting 1B02 hex 259th transmit PDO Mapping Sub index 0 Number of objects Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Range Unit Default 40130120 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index
37. Sysmac error status Offset byte 7 bit 0 bit 0 Sysmac error status 7 to 0 bit 7 2 2 Output Data Allocation Output data of Digital I O Slave Units consists of 2 types Output data of the Slave Unit and output data of Expansion Unit if mounted The data is allocated in this order in units of bytes Output data allocation example 8 point Output Slave Unit Offset byte 7 bit 0 bit 0 Output data of the Slave Unit 7 to O bit 41 Reserved 16 point Output Slave Unit Offset byte 7 bit 0 bit 0 Output data of the Slave Unit 7 to O bit H1 Output data of the Slave Unit 15 to 8 bit 32 point Output Slave Unit Offset byte 7 bit 0 bit 0 Output data of the Slave Unit 7 to O bit H1 Output data of the Slave Unit 15 to 8 bit 2 Output data of the Slave Unit 23 to 16 bit 3 Output data of the Slave Unit 31 to 24 bit 8 point Expansion Unit Offset byte 7 bit 0 bit 0 Output data of the Expansion Unit 7 to O bit 1 Reserved GX series EtherCAT Slave Unit User s Manual 7 5 Buiddew Odd eieg 2 2 ereq z z Z 7 Digital Slave Unit 16 point Expansion Unit Offset byte 7 bit 0 bit 0 Output data of the Expansion Unit 7 to O bit H1 Output data of the Expansion Unit 15 to 8 bit 16 point Output Slave Unit and 8 point Expansi
38. e GX series EtherCAT Slave Unit User s Manual 7 60 7 Digital I O Slave Unit No Name Function 1 Communications connectors 2 ent power SUPPI CONERO Refer to 6 3 Specifications of Common Areas in Page 6 4 3 Status indicators 4 Node Address setting Switches input indicators Indicates the state of an input contact ON OFF 5 IN1 0 to 15 IN2 010 15 Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state 6 I O connectors 0 to 15 x 2 Connects an external device 7 DIN track mounting hook Fixes a Slave Unit to a DIN track 5 uoe3 104 v 8ZZ d1 8LZEdI X9 1ndu jurod zg ed LL Z GX series EtherCAT Slave Unit User s Manual 7 61 7 Digital Slave Unit Internal circuits diagram GX ID3218 NPN CN IN TX 3 TX 91 RX 7 RX Photocoupler 4 Oj v o 5 Short circuit bis Ez ort circui 5 protection element GO CN OUT SS g INO Te 9 34 8 LJ TX 901 4 5 RX O 3 RX 07 2 V Jupe el ne 5 Short circuit Gt 5 protection elem
39. ener 10 1 10 1 Overview of the Expansion nawa enne nnne nnn ennnen 10 2 10 1 1 Connecting Expansion Units sessseenennenee enne 10 2 10 1 2 Power S pply certo ei rer edes Yat adipe ee reb Ka E eoe deir p ep 10 3 10 2 Specifications of Expansion Uhnit eeeeseeeeeeeeeeessseee eee en nennen awane Nan nnne 10 4 10 2 1 8 point Input Expansion Unit 1008 0085 1 10 5 10 2 2 8 point Output Expansion Unit XWT OD08 OD08 1 10 8 10 2 3 16 point Input Expansion Unit 1016 1016 1 10 11 10 2 4 16 point Output Expansion Unit XWT OD196 OD196 1 10 14 10 3 Mounting enne nnne nnnm ann inttr aerae nnn eee Nn nnns 10 17 GX series EtherCAT Slave Unit User s Manual 19 Chapter 11 Troubleshooting and 11 1 TAA Troubleshooting aan Ken 11 2 11 1 1 Errors that Can be Checked with Status Indicator and Actions to Take 11 2 11 1 2 Errors Unique to Each Slave Unit sssssssssssseeeeeeeeee enne 11 7 11 1 3 Error Notification Methods and
40. 3 2 2 No No XWT IDO8 1 17 17 3 2 No 3 2 2 No No T 16 inputs and x GX OD1611 XWT ID16 1 16 outputs 17 17 3 2 No 3 2 2 No No terminal 1201821 16 outputs No 17 No No No 3 2 2 No No block XWT OD08 1 24 outputs No 33 No No No 5 No No 2 2 XWT OD16 1 32 outputs No 33 No No No 5 No No 2 2 XWT IDO8 1 DNUS 17 17 3 2 No 3 2 2 No No T 16 inputs and XWT ID16 1 17 17 3 2 No 3 2 2 No No GX OC1611 16 outputs 16 outputs No 17 No No No 3 2 2 No No XWT OD08 1 24 outputs No 33 No No No 5 No No 2 2 XWT OD16 1 32 outputs No 33 No No No 5 No No 2 2 z 8 inputs and a Bo 17 17 3 2 No 3 2 2 Pad dE 16 inputs 17 No 3 2 2 No No No No No 3 tier terminal rela 2 16 outputs No 17 No No No 3 2 2 No No block eu 17 3 2 No 3 2 2 No No 16 inputs 17 No 3 2 2 No No No No No 16 outputs 17 No No No 3 2 2 No No GX MD1618 8 inputs and IMET82S put 17 17 3 2 No 3 2 2 No No Connectors z pu ad 32 inputs 33 No 5 No 2 No No No No No ES 8 32 outputs No 33 No No No 5 No No 2 2 GX MD3218 16 inputs and M3228 18 17 17 3 2 No 3 2 2 No No 34 GX series EtherCAT Slave Unit User s Manual A Appendix Analog Input Slave Unit e Manufacturer Specific area 2 3100 hex Analogue Input Available Channel Choice Range 0000 hex to 000F hex Unit Default 000F hex Attribute R Size 2 byt
41. 5 5 Phase phase difference pulse input 9 9 Pir terminal ie edere 4 9 Pre operational eese 5 4 Pre operational state 3 5 Present value external reset enabled 9 7 Present value internal reset execution 9 7 Present value internal reset execution completed 9 6 Present value preset execution 9 7 Present value preset execution completed 9 6 Present value preset set value error 9 6 Preset command value 9 6 9 13 PWRUEED epe ERUPTIONE 6 4 R 45 artc dotes 4 5 RUN Indicator eee 6 5 RXPDO etis malae otii atate tei 5 5 S Safe operational state 5 4 SDO E 5 2 SDO communications 3 5 3 6 5 9 Sheath diameter sse 4 13 Soft switch tete eie v aee 9 6 St t s indicator 2 25 3 np e Het db e eet 11 2 Sync manager channel 5 6 Sync manager PDO assignment object 5 5 5 6 Sync manager PDO assignment table 5 6 Sync manager PDO Mapping
42. Input filter value Without filter 0 5 ms 1 ms 2 ms 4 ms 8 ms 16 ms 32 ms Default setting 1 ms Number of circuits per common 8 points common Isolation method No isolation power supply method Supplied from unit power supply Input device supply current 100 mA point power supply current consumption 10 mA max for 20 4 to 26 4 VDC power supply voltage GX series EtherCAT Slave Unit User s Manual e e s 1urod g pue 1nduj 1urod g ed NO2 Ol v Z 7 Digital I O Slave Unit Output section Item Specification GX MD1618 GX MD1628 Output capacity 8 points Rated output current 0 5 A output 2 0 A common 1 2 V max 1 2 V max Residual voltage 0 5 ADC between each output terminal 0 5 ADC between each output terminal and the G terminal and the V terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1 5 ms max eae SURHIES per 8 points common Isolation method Photocoupler isolation power supply method Supply by I O power supply Output device supply 100 mA point current Pawel Suppiy current 10 mA max for 20 4 to 26 4 VDC power supply voltage consumption Error Mode Output Select either hold or clear Notes For the I O power supply current value to V and G terminals refer to A 5 I O Power Supply Current in Page A 51 7 54 GX series EtherCAT Slave Uni
43. Non volatile memory is faulty 11 19 non volatile Hardware memory Error 11 14 GX series EtherCAT Slave Unit User s Manual 11 Troubleshooting and Maintenance Error Descriptions 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 code Gives the code of the error Meaning Gives a short description of the error Source Gives the source of the error Source details Gives details on Detection timing Tells when the the source of the error error is detected Error attributes Level Tells the level of Recovery Gives the Log category Tells which log influence on recovery the error is saved control 1 method 2 in 3 Effects User program Tells what will Operation Provides special information on the operation that results happen to from the error 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 name Data type Meaning variables Lists the variable names data types and meanings for system defined variables th
44. Size 1 byte BOOL Access RO PDO map Possible Sub index 14 Input Bit13 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 15 Input Bit14 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 16 Input Bit15 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 17 Input Bit16 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 18 Input Bit17 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible GX series EtherCAT Slave Unit User s Manual A 27 sioe qo 2 4 yelqo 1 V A Appendix Sub index 19 Input Bit18 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 20 Input Bit19 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 21 Input Bit20 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 22 Input Bit21 Range 00 h
45. Using Tyco Electronics Sumitomo 3M or Panasonic Electric Works connectors 1 Insert the wire all the way to the wire insertion opening on the cover of the cable connector 2 Use a pliers or equivalent to press the cover into the body At this point press the cover straight in such that the cover is horizontal to the body Using OMRON connectors 1 Use a flat blade screwdriver to push the operation lever inside the connector s operation opening until it locks as shown in the following diagram 0 2 Flat blade Screwdriver Operation opening GX series EtherCAT Slave Unit User s Manual 4 15 4 Installation and Wiring 2 Insert the wire all the way to the back of the wire insertion opening Check that the sheath of the wire is inserted into the wire insertion opening and that the end of the conductor has passed through the connection part Connection part Wire sheath part Wire insertion opening 3 Insert a screwdriver into the reset opening and pull back the operation lever lightly A click will be heard and the operation lever will return to its normal position Operation lever white Reset opening 4 Lightly pull the wire to confirm that it is connected properly Precautions for Correct Use To remove a wire push in the operation lever check that the operation lever has locked and then pull out the wire Also aft
46. i JAYA Internal circuits 10 6 0 GX series EtherCAT Slave Unit User s Manual 10 Expansion Unit Wiring diagram e 1008 NPN I O power supply 24 VDC NPN output 3 wire 2 wire sensor sensor Limit switch etc Photoelectric sensor proximity sensor e XWT ID08 1 PNP uoisuedx3 jo suoneoyioeds 2 01 Photoelectric sensor proximity sensor power supply x PNP output 3 wire 2 wire sensor Limit switch etc e ES Reference Wire colors have been changed according to revisions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions yun uorsuedx3 ndu Julod g 1 2 01 GX series EtherCAT Slave Unit User s Manual 10 7 10 Expansion Unit 10 2 2 8 point Output Expansion Unit XWT OD08 OD08 1 Specification Item Specification XWT ODO08 0008 1 Internal common NPN PNP I O capacity 8 outputs Rated output current 0 5 A output 2 0 A common 1 2 V max 1 2 V max Residual voltage 0 5 ADC between each output terminal 0 5 ADC between each output terminal and the G terminal and the V terminal Leakage current 0 1 mA max ON delay time 0 5 ms max OFF delay time 1 5 ms max aa Circuits per
47. 1 p 6 9 Encoder Input Slave Unit Pulse input timing specifications Counter input phase A B Input pulse duty 5096 Counter input phase Z Terminal input OFF voltage 7 voltage Terminal input OFF voltage Ls E Lo _ voltage Phase OFF voltage l Terminal Fo Fo F input S En E ON NG voltage Phase B 2 s voltage _ Timing condition A B C D E F G gt 4 us 14 Precautions for Correct Use In order to satisfy the counter input specifications it is necessary to pay attention to the type of output driver of the encoder to be used the length of encoder cable and frequency of count pulse GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit Latch reset input specifications ftem Specification Latch input A B Reset input Internal common NPN Input voltage 20 4 to 26 4 VDC 24 VDC 15 to 10 20 4 to 26 4 VDC 24 VDC 15 to 10 Input impedance 4 0 kQ 3 3 Input current 5 5 mA at 24 VDC 7 mA at 24 VDC ON voltage ON current 17 4 VDC min 3 mA min 14 4 VDC min 3 mA min OFF voltage OFF current 5 VDC max 1 mA max 5 VDC max 1 mA max ON response time 3 us max 15 us max OFF response time 3 us max 90 us max Names and functions 3 4 5
48. 5 10 6 9 Encoder Input Slave Unit 9 5 Mounting Dimensions The mounting dimensions of an Encoder Input Slave Unit are shown below mm 9 30 GX series EtherCAT Slave Unit User s Manual Expansion Unit XE This chapter overviews the Expansion Unit 10 1 Overview of the Expansion Unit 10 2 10 1 1 Connecting Expansion 10 2 10 1727 l O Power Supply 3 Lx ER ERE ALIS 10 3 10 2 Specifications of Expansion Unit 10 4 10 2 1 8 point Input Expansion Unit XWT IDO8 IDO8 1 10 5 10 2 2 8 point Output Expansion Unit 08 0 08 1 10 8 10 2 3 16 point Input Expansion Unit XWT ID16 ID16 1 10 11 10 2 4 16 point Output Expansion Unit 016 0016 1 10 14 10 3 Mounting Dimensions 10 17 GX series EtherCAT Slave Unit User s Manual 10 1 10 Expansion Unit 10 1 Overview of the Expansion Unit One Expansion Unit can be added to a Digital I O Slave Unit GX ID 1611 ID1621 OD1611 OD1621 0C1601 2 tier terminal block type16 poin
49. GX series EtherCAT Slave Unit User s Manual 8 5 Hoyeuy JO MelAJ9AQ 2 8 ejeg peueAuo pue 1ndu 2 8 8 Analog I O Slave Unit 8 2 2 I O Data Allocation PDO Mapping An Analog Input Slave Unit has input data for four channels and Sysmac error status It is allocated to the IN area of I O memory of the EtherCAT Master Unit Refer to the manual of the EtherCAT Master Unit for allocation methods 1 Unit version 1 1 or later only Input data allocation Analog input data for 4 channels Offset byte 7 bit 0 bit 0 Analog input data for CH1 1 2 Analog input data for CH2 3 4 Analog input data for CH3 5 6 7 Analog input data for CH4 Analog input data for 4 channels and Sysmac error status Offset byte 7 bit 0 bit 0 Analog input data for CH1 1 2 Analog input data for CH2 3 4 Analog input data for CH3 5 6 Analog input data for CH4 7 8 Sysmac error status 8 6 GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit 8 3 Function of the Analog Input Slave Unit An Analog Input Slave Units has the following convenient functions in addition to the I O signal processing 8 3 1 AD Conversion Available Point Setting n Overview of functions Purpose This function sets to skip processing unused points and enh
50. L A IN L A OUT RUN ERR PWR indicator Indicates the unit power supply state Se Contents Greet OFF Unit power OFF state ON The unit power 24 VDC is supplied to the Slave Unit L A IN indicator Indicates the communication state input side Color State Contents OFF Link not established in physical layer Green Flickering In operation after establishing link ON Link established in physical layer L A OUT 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 GX series EtherCAT Slave Unit User s Manual 6 Basic Specifications of Slave Units RUN indicator It indicates the operation state Contents Init state Pre Operational state Safe Operational state Color State OFF Blinking eigen Single flash ON Operational state For details on each state refer to 5 3 Communications State Transitions in page 5 4 ERR indicator It indicates the information of an error Color State Red ER OFF Contents No error Blinking Communications setting error Single flash Synchronization error or communications data error Double flash Application WDT timeout
51. L LL 11 Troubleshooting and Maintenance 11 12 Slave Unit type Encoder Input Slave Unit Symptom Some functions are not reflected even after parameters have been set Cause Parameters that are enabled at the timing that the count status changes from disabled to enabled were changed Measures When the count is enabled execute the count enable command after the count disable command When the count is disabled execute the count enable command At preset execution present value preset execution completion is not turned ON but present value preset set value error is turned ON It is attempted to preset with a counter value greater than the maximum Circular Counter value Reset the preset command value to equal to or less than the maximum Circular Counter value and execute the preset again Moreover present value preset set value error is turned OFF when the present value internal reset is executed or external reset is generated GX series EtherCAT Slave Unit User s Manual 11 Troubleshooting and Maintenance 11 1 3 Error Notification Methods and Types This section describes the notification methods for errors that occur in the Slave Units EtherCAT Master Unit Master notified F Sysmac error status EtherCAT Slave Unit Error occurs Do eer i 1 Diagno
52. Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Range Unit Default Differ by Slave Unit types Attribute Size 4 bytes U32 Access RO PDO map Not possible This object gives the mapping for an application that uses digital input functions GX series EtherCAT Slave Unit User s Manual A Appendix The default settings of the 257th transmit PDO Mapping and the 257th receive PDO Mapping are given below Model 257th Receive PDO Mapping 257th Transmit PDO Mapping Type Slave Unit Expansion Unit puta 1st object 1st object 01 hex 61000110 hex XWT IDO8 1 01 hex 61200120 hex GX ID1611 1D1621 XWT ID16 1 01 hex 61200120 hex XWT OD08 1 01 hex 63000110 hex 01 hex 61000110 hex XWT OD16 1 01 hex 63000110 hex 01 hex 61000110 hex 01 hex 63000110 hex XWT IDO8 1 01 hex 63000110 hex 01 hex 61000110 hex 2 tierterminal GX OD1611 0D1621 XWT ID16 1 01 hex 63000110 hex 01 hex 61000110 hex block XWT ODO8 1 01 hex 63200120 hex XWT OD16 1 01 hex 63200120 hex 01 hex 63000110 hex XWT IDO8 1 01 hex 63000110 hex 01 hex 61000110 hex GX OC1601 XWT ID16 1 01 hex 63000110 hex 01 hex 61000110 hex XWT ODO8 1 01 hex 63200120 hex XWT OD16 1 01 hex 63200120 hex GX MD1611 MD1621 01 hex 63000110 hex 01 hex 61000110 hex
53. ES Reference Wire colors have been changed according to revisions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions 7 58 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit 7 4 11 e CON Connector Type 32 point Input Slave Unit GX ID3218 ID3228 Specification Item Input capacity Specification GX ID3218 32 points GX ID3228 Internal I O common NPN PNP ON voltage 15 VDC min between each input terminal and the V terminal 15 VDC min between each input terminal and the G terminal OFF voltage 5 VDC max between each input terminal and the V terminal 5 VDC max between each input terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay 0 1 ms max OFF delay 0 2 ms max Input filter value Without filter 0 5 ms 1 ms 2 ms 4 ms 8 ms 16 ms 32 ms Default setting 1 ms Number of circuits per common 32 points common Input indicators LED display yellow Isolation method No isolation power supply method Supplied from unit power supply Input device supply 100 mA point current ae oe NADA 230 mA max for 20 4 to 26 4 VDC power supply voltage consumption e CON connector m 50 times insertion d
54. GX ID1612 1D1622 01 hex 61000110 hex ede termina Gx 0D1612 0D1622 01 hex 63000110 hex E GX MD1612 MD1622 01 hex 63000110 hex 01 hex 61000110 hex GX ID1618 ID1628 01 hex 61000110 hex GX OD1618 OD1628 01 hex 63000110 hex e CON GX MD1618 MD1628 01 hex 63000110 hex 01 hex 61000110 hex Connectors GX ID3218 ID3228 01 hex 61200120 hex GX 0D3218 0D3228 01 63200120 GX MD3218 MD3228 01 hex 63000110 hex 01 hex 61000110 hex GX series EtherCAT Slave Unit User s Manual Aseuonsiq 19e qO 1 V 1 efqo Buiddew Odd 9 1 A Appendix 1B01 hex 258th transmit PDO Mapping Sub index 0 Number of objects Range Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Range Unit Default 30200101 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 2 2nd Input Object to be mapped Range Unit Default 30200201 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 3 3rd Input Object to be mapped Range Unit Default 30200301 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 4 4th Input Object to be mapped
55. GX series EtherCAT Slave Unit User s Manual 5 1 5 EtherCAT Communications 5 1 Structure of CAN application protocol over EtherCAT CoE Normally multiple protocols can be transferred by EtherCAT But GX series EtherCAT Slave 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 GX series EtherCAT Slave Units GX series EtherCAT Slave Units Application layer Slave application Object dictionary PDO mappin soo aroo mare status transitions PDO cyclic PDO cyclic SyncManager FMMU 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 GX series EtherCAT Slave Unit User s Manual 5 EtherCAT
56. H0 5 16 orange 0 5 mm AWG20 Product No 900599 Weidmueller Japan Co Ltd Also the following screwdriver is recommended for removing pin terminals Model Manufacturer XW4Z 00C OMRON Connecting the I O Power Supply Units with screw terminal blocks It supplies the 24 VDC I O power to the I O power supply terminal on each Slave Unit For the locations of I O power supply terminals see the terminal layout diagrams for each Slave Unit or wiring diagrams in Chapter 7 to Chapter 10 Moreover for how to connect power supplies to terminals refer to 4 4 1 Connecting to a Screw Terminal Block in Page 4 12 Units with e CON connectors The following e CON connector type Slave Units Output Slave Units and output sections of Input Output Slave Units are equipped with I O power supply connectors to supply I O power to external devices GX 0D1618 0D1628 MD1618 output section only MD1628 output section only GX OD3218 0D3228 MD3218 output section only MD3228 output section only To connect external devices to these Slave Units supply the 24 VDC I O power to the I O power supply connector _ N a 1 E 24 VDC terminal tL power supply UU G terminal UNITPS t Mount a pin terminal or equivalent to the power supply cable so that it will not be displaced GX series EtherCAT Slave Unit
57. 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 rewritten value is read Digital I O Slave Unit e Manufacturer Specific area 2 3000 hex Input Time Constant Sub index 0 Filter Constant Range 00 hex to 07 hex Unit Default 02 hex Attribute D Size 1 byte U8 Access RW PDO map Not possible Sets the input filter t is implemented in all Slave Units with input points including Expansion Units if they connected sai Filter set value ms value 00 hex 01 hex 0 5 02 hex 1 03 hex 2 04 hex 05 hex 8 06 hex 16 07 hex 32 26 GX series EtherCAT Slave Unit User s Manual A Appendix 3020 hex Read input bits Sub index 0 Number of input bits Range 00 hex to 32 hex Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Input Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 2 Input BitO1 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 3 Input Bit02
58. Short circuit the V positive terminal and I positive terminal at current input Use the attached short circuit metal fixture to short circuit these terminals 14 Precautions for Correct Use Do not wire NC terminals 8 22 GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit 8 6 2 2 point Output Slave Unit GX DA0271 Specification Specification Item p Voltage output Current output Output capacity 2 points possible to set number of enabled points Oto5V 1to5V Output range 01010 V 4 to 20 mA 10 to 10 V Output range setting Output range switch SDO communications method Possible to set outputs CH1 and CH2 separately External output allowable 5 kQ min 600 Q max load resistance Resolution 1 8000 full scale Overall 25 C 0 4 FS accuracy 10 to 55 C 0 8 FS 500 us input Analog conversion cycle 9 When 2 points are used 1 ms max Other than 10 V 0000 to 1F40 hex full scale 0 to 8000 DA converted data 10 V F060 to hex full scale 4000 to 4000 DA conversion range 5 FS of the above data ranges Photocoupler isolation between output and communications lines No isolation between output signal wires Isolation method Unit power supply current consumption Weight 190 g max Names and functions 150 mA max for 20 4 to 26 4 VDC power supply voltage ed eAe S uoe3 JO MalAJ9AQ 9 8 3
59. power The OMRON S8JX series Power Supply is recommended See note 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 Conformance with the EC Directives was confirmed 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 GX series EtherCAT Slave Unit User s Manual 13 Related Manuals The following manuals also deal with EtherCAT Refer to them for details Man No W487 Name of manuals CJ Series Position Control Units Operation Manual 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 Features and system configuration Overview Part names and functions General specifications Installation and wi
60. v Refer to 6 3 Specifications of Common Areas in Page 6 4 Status indicators Node Address setting Switches Indicates the state of an input contact ON OFF 5 Input indicators 0 to 15 Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state Connects external devices and the I O power supply Left side gt V1 G1 I O power supply terminals 6 Terminal block 010 7 Input terminals Right side gt V2 G2 power supply terminals 8 to 15 Input terminals 7 DIN track mounting hook Fixes a Slave Unit to a DIN track 2e9Lal z L9 LGI XO NUN 1ndu jurod 9 ed Jen e G p 7 GX series EtherCAT Slave Unit User s Manual 7 29 7 Digital Slave Unit Internal circuits diagram e GX ID1612 NPN TX V1 24VDC TX G1 RX RX Z Y Photocoupler 5 pel 3 VI 5 x a 0107 G1 TA Internal TX circuits V2 24 VDC RX RX G2 3 v2 2 81015 UNIT PS DC DC G2 V converter v lO No isolation type CN IN TX O G1 a xX lo V1 24VDC RX 5 64 a Physical 1 2 layer 0107 CN OUT Internal V1 TX JO circuits TX G2 RX RX V2 24 VDC G2 66 5 2 8 to 15 UNIT PS V converter No isolation type 7 30 GX series EtherCAT Slave
61. 4 DC DC RX O converter v1 RX No isolation G1 Line type receiver Physical layer B B DC DC 2 converter No isolation 8 type 5 Z E Photocoupler B g G1 Bg ES LA LB V1 2 G1 253 To RST V1 9 28 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit Wiring diagram Internal circuit sensor power supply 24 VDC RSV LA1 LB1 RST1 RSV RSV RSV RSV RSV RSV LA2 LB2 RST2 V1 1 2 G1 61 Brown Vcc 2 2 Black Phase Black Red Phase A a 2 Reset Latch White Phase White Red Phase B Orange Phase 2 Orange Red Phase Z Encoder Line driver Output NPN output output type 2 wire sensor 3 wire sensor Encoder power supply Encoder Line driver output type H Precautions for Correct Use Use shielded cable and ground the shield to 100 or less when wiring pulse input A B Z with external control inputs Wiring of pulse input A B Z shall be as short as possible and separated from wiring with many noises such as power lines Use stabilizing power supply separate from other inputs outputs for Encoder Input Slave Units as much as possible Do not wire anything to RSV terminals GX series EtherCAT Slave Unit User s Manual 9 29
62. 512th transmit PDO Mapping 1BFF hex ES Reference Sysmac errors Sysmac Error 2002 hex You cannot assign 1700 hex and 1701 hex or 1800 hex and 1801 hex at the same time 257th receive PDO Mapping 1700 hex Analog I O Slave Unit PDO Mappings Write analog output 16 bit 6411 hex 1 257th transmit PDO Mapping 1800 hex Read analog input 16 bit 6401 hex 2 512th transmit PDO Mapping 1BFF hex 257th receive PDO Mapping 1700 hex Sysmac Error 2002 hex 1 Analog Output Slave Unit only 2 Analog Input Slave Unit only Instruction Bits 4020 hex Encoder Input Slave Unit PDO Mappings 258th receive PDO Mapping 1701 hex Preset Value 4011 hex 259th receive PDO Mapping 1702 hex Instruction Flag 4021 hex 257th transmit PDO Mapping 1B00 hex Position Value 4010 hex 258th transmit PDO Mapping 1B01 hex Latch Value A 4012 hex 259th transmit PDO Mapping 1B02 hex Latch Value B 4013 hex 260th transmit PDO Mapping 1B03 hex Status Bits 4030 hex 261th transmit PDO Mapping 1B04 hex Status Flag 4031 hex 512th transmit PDO Mapping 1BFF hex EN Reference Sysmac Error 2002 hex You cannot assign 1700 hex and 1702 hex or 1B03 hex and 1B04 hex at the same time GX series EtherCAT Slave Unit User s Manual Overview 5 EtherCAT Communications 5 5 Service Data Object 500 GX se
63. Blue black Black white Blue black Brown white Brown red PNP output 3 wire sensor 2 wire sensor Photoelectric sensor Limit switch etc proximity sensor EN Reference Wire colors have been changed according to revisions in the JIS standards photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions LZOLGI LESEGI XD HUN Indu jurod 9 ed euw 4en z GX series EtherCAT Slave Unit User s Manual 7 13 7 Digital l O Slave Unit 7 4 2 2 tier Terminal Block Type 16 point Output Slave Unit GX 0D1611 0D1621 Specification Specification tom GX OD1611 GX OD1621 Output capacity 16 points Rated current ON current 0 5 A output 4 0 A common Internal I O common NPN PNP Residual voltage 1 2 V max 0 5 ADC between each output terminal and the V terminal 1 2 V max 0 5 ADC between each output terminal and the G terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1 5 ms max Number of circuits per common 16 points common Output indicators LED display yellow Isolation method Photocoupler isolation I O power supply method Supply by I O power supply Unit power supply current consumption 90 mA max for 20 4 to 26 4 VDC power supply voltage I O power supply current 10 mA max for 20 4 to 26 4 VDC power
64. OFF delay 1 5 ms max Number of circuits per common 16 points common Output indicators LED display yellow Isolation method Photocoupler isolation I O power supply method Supply by I O power supply Output device supply current 100 mA point Unit power supply current consumption 80 mA max for 20 4 to 26 4 VDC power supply voltage Current consumption from power supply 10 mA max for power supply voltage of 20 4 to 26 4 VDC e CON connector insertion durability Puls Weight 130 g max Expansion functions No Error Mode Output Select either hold or clear Short circuit protection function Notes Page A 51 No For the I O power supply current value to V and G terminals refer to A 5 I O Power Supply Current in GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Names and functions 3 e i 2 98 g GA poog IT II nong 2 E 38E EE o Le E nang oo ca e lr FELIS i e od uoe3 104 v i No Name Function 1 Communic
65. Range Unit Default 30200401 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 5 5th Input Object to be mapped Range Unit Default 30200501 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 6 6th Input Object to be mapped Range Unit Default 30200601 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 7 7th Input Object to be mapped Range Unit Default 30200701 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 8 8th Input Object to be mapped Range Unit Default 30200801 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 9 9th Input Object to be mapped Range Unit Default 30200901 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 10 10th Input Object to be mapped Range Unit Default 30200A01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 11 11th Input Object to be mapped Range Unit Default 30200B01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 12 12th Input Object to be mapped Range Unit Default 30200C01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 13 13th Input Object to be mapped Range Unit Default 30200D01 hex Attribute Size 1 byte BOOL Access
66. Unit Default 40210701 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 8 8th Output Object to be mapped Range Unit Default 40210801 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 9 9th Output Object to be mapped Range Unit Default 40210901 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 10 10th Output Object to be mapped Range Unit Default 40210A01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 11 11th Output Object to be mapped Range Unit Default 40210B01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 12 12th Output Object to be mapped Range Unit Default 40210C01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 13 13th Output Object to be mapped Range Unit Default 40210D01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 14 14th Output Object to be mapped Range Unit Default 40210E01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 15 15th Output Object to be mapped Range Unit Default 40210F01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 16 16th Output Object to be mapped Range Unit Default 40211001 hex Attribute Size 1 by
67. While the counter function is stopped external reset is disabled For this reason if the reset function is to be used while the counter function is stopped use the present value internal reset execution soft switch GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit 9 3 6 Counter Preset It is possible to preset counter value for each channel using the elements shown below Counter preset bit The counter present value is overwritten by preset command value by changing soft switch present value preset execution allocated to each channel from 0 to 1 in the output data Slave Unit EtherCAT Master Unit area Preset command value Set preset command value allocated to each channel in output data Slave Unit 2 EtherCAT Master Unit area or SDO communications Default setting 0 When SDO communications are used the target index is 4011 hex For the details refer to the information in the corresponding index of Appendix A 1 Object Dictionary in Page A 42 9 3 7 Counter value latch The counter value is latched for each channel using the elements shown below It is possible to latch two values at the same time External control input latch A The present counter value is acquired stored at the rise of latch A of external control input However it is necessary to set the soft switch external latch A enabled to enabled External control input latch B The present counter
68. 0 4 DC resistance load 0 3 7 30 VDC t 40ms 0 2 100 to 200 VDC t 7 to 40ms 0 1 10 20 30 50 100 200 300 500 1000 0 1 02 0 3 0 5 1 3 4 5 Contact voltage V Contact current A GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Internal circuits diagram NY 5W K IE Photocoupler 5 VDC CN IN t 0 e2 FE SN 91 H K QTL 91 RX 7 i ied RX 8l diese 1 NE S Physical Tie el layer 2 Enotocoupler O 5 o 2 EE O COMO E NY 5W K IE Photocoupler 5 VDC pp K UNIT PS TLl 2 v O 8 converter DENS t 09 No isolation x PW Q ES ot D type 2 Y C9 ol Photocoupler 2 5 m 9 O COMI o DC DC converter for relay drive c No isolation type Wiring diagram _ 1 3 5 7 8 10 12 414 COM Load Load Load Load Load Load Load Loa
69. 10 V 11V 11V tiom on dod OV 4 to 20 mA opa avale Dy o eon from 3 2 to 20 8 mA Setting method Set by SDO communications The target index is 3240 hex For the set values refer to the information in the corresponding index of Appendix A 1 Object Dictionary in Page A 40 8 16 GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit 8 5 3 User Adjustment Overview of functions Purpose If final output voltage and current deviates due to characteristics of output devices and methods of connection correct the deviation and adjust outputs Details of functions This function corrects conversion values of output voltages and currents at 2 points 0 and 10095 as shown in the figure below Converted data After correction Before correction 0 100 Voltage current The correctable range is from 5 to 5 each of the minimum and maximum values of outputs The correctable range for each output range is as follows Output range Low limit High limit 0to5V 0 25 to 0 25 V 4 75 to 5 25 V 1t05V 0 8 to 1 2 V 4 8 to 5 2 V Oto 10 V 0 5 to 0 5 V 9 5 to 10 5 V 10 to 10 V 11 to 9 0 V 9 0 to 11 V 4 to 20 mA 3 2 to 4 8 mA 19 2 to 20 8 mA Setting method Set by SDO communications The target indexes are as follows Upper limit correction 3212 hex Analogue Output Adjustment High Execute user adjustment execu
70. 11 2 Equipment Maintenance 11 23 12 Cleaning aeie a ag a Tc 11 23 11 2 2 lrispectioris i ose oet ete pes deas enn AA 11 23 11 2 3 Handling when Replacing Units 11 24 GX series EtherCAT Slave Unit User s Manual 11 1 11 Troubleshooting and Maintenance 11 1 Troubleshooting 11 1 1 Errors that Can be Checked with Status Indicator and Actions to Take Errors can be notified by status indicators on Slave Units 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 flashing SF Single flash ON 200 ms OFF 1000 ms flashing DF Double flash ON 200 ms OFF 200 ms 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 L A OUT L A IN RUN LED indicator ERR indicator Off Description EtherCAT communication is in progress Cause EtherCAT communication is being executed Actions PDO communications or both PDO and SDO communications are being executed State is normal Off 11 2 Off Off Off Power supply error The power is not properly supplied to th
71. Disabled my EXLAEn External latch A enabled 1 Enabled Level 0 Disabled EXLBEn External latch B enabled 1 Enabled Level 0 Disabled Clear present value EXRESOCn external reset generation 0 1 Clear flag Edge flag ea extemal ateh 01 Clear flag Edge generation flag BXUBOR 0 1 Clear flag Edge generation flag GX series EtherCAT Slave Unit User s Manual 8ed 2 6 ereq 2 2 6 9 Encoder Input Slave Unit 9 3 Function of the Encoder Input Slave Units 9 3 1 This section explains the function of Encoder Input Slave Units Count Mode The Count Mode is run by the Circular Counter 9 3 2 Circular Counter Set the maximum Circular Counter value and perform incremental decremental count in the range from 0 to the maximum value or from the maximum value to 0 The maximum value can be set in the range from 1 to 4 294 967 295 FFFFFFFF hex Note that if 0 is set the maximum value becomes FFFFFFFF hex 1 maximum value lt 4 294 967 295 0 00000001 hex x maximum value lt OXFFFFFFFF hex 00000000 hex Count continuously Incremental count Decremental count If the counter value exceeds the maximum value the counter value returns to 0 to continue count operation If the counter value becomes less than 0 the counter value returns to the maximum value to continue count operation Setting method The setti
72. GX OD3218 0D3228 20 hex GX MD3218 MD3228 10 hex 10 hex GX series EtherCAT Slave Unit User s Manual A Appendix Analog I O Slave Unit 1700 hex 257th receive PDO Mapping Sub index 0 Number of objects Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Output Object to be mapped Range Unit Default 64110110 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Output Object to be mapped Range Unit Default 64110210 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This object gives the mapping for an analog output application It is mapped only to Analog Output Slave Units 1B00 hex 257th transmit PDO Mapping Sub index 0 Number of objects Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Range Unit Default 64010110 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Input Object to be mapped Range Unit Default 64010210 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 3rd Input Object to be mapped Range Unit Default 64010310 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible S
73. IN13 IN14 IN15 2 wire sensor NPN output 3 wire sensor Limit switch etc Photoelectric sensor proximity sensor e GX ID1628 PNP V1 2 V3 V4 V5 V6 V7 NC NC NC NC NC NC NC IN1 IN2 IN3 IN4 IN5 IN6 IN7 V9 10 v12 V13 14 V15 NC NC NC NC NC NC NC IN9 IN10 IN11 IN12 IN13 IN14 IN15 2 wire sensor PNP output 3 wire sensor Limit switch etc Photoelectric sensor proximity sensor EN Reference Wire colors have been changed according to revisions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions GX series EtherCAT Slave Unit User s Manual 7 47 uoe3 104 v i 829LQI 8L9LGI XO HUN 1ndu jurod 9 ed 10 99UU0D NOO 9 8 7 Digital WO Slave Unit e CON Connector Type 16 point Output Slave Unit GX 0D1618 0D1628 Specification Specification tem GX OD1618 GX OD1628 Output capacity 16 points R N 0 5 A output 4 0 A common current Internal common NPN PNP 1 2 V max 1 2 V max Residual voltage 0 5 ADC between each output terminal and the V terminal 0 5 ADC between each output terminal and the G terminal Leakage current 0 1 mA max ON delay 0 5 ms max
74. PDO communications remote I O communications Allocate I O data of Slave Units to the EtherCAT Master Unit PDO mapping and perform PDO 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 to Chapter 9 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 uejs s e Dunieis 2 e 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 GX series EtherCAT Slave 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 to the operational state refer to the manual of the EtherCAT Master Unit to be used GX series EtherCAT Slave Unit User s Manual 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 data is correctly read and written Moreover make parameter settings for Slave Units as required 3 4 1 Checkin
75. U32 Access RW PDO map Not possible This object is used to specify the maximum value of the counter It operates as FFFFFFFF hex if 0 is set Unit Default 00000000 hex Attribute B 4010 hex Position Value Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Position Value Range 00000000 hex to FFFFFFFF hex Size 4 byte U32 Access RO PDO map Possible The present counter value is stored Unit Default 00000000 hex Attribute 4011 hex Preset Value Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Preset Value Unit Default 00000000 hex Attribute A Size 4 byte U32 Access RW PDO map Possible This object is used to specify the preset command value A 42 GX series EtherCAT Slave Unit User s Manual A Appendix Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Latch Value A Range 00000000 hex to FFFFFFFF hex Size 4 byte U32 Access RO PDO map Possible The value of latch A is stored Unit Default 00000000 hex Attribute Sub index 0 Number of chann
76. power supply method Supply by I O power supply Output device supply 100 mA point current Wo power supply curent 10 mA max for 20 4 to 26 4 VDC power supply voltage consumption Error Mode Output Select either hold or clear Notes For the I O power supply current value to V and G terminals refer to A 5 I O Power Supply Current in Page A 51 5 104 v ec9Law e 9raW xo LY e e s julod g pue juiod g dA jeuiuue 2 GX series EtherCAT Slave Unit User s Manual 7 39 7 Digital Slave Unit Names and functions 3 4 5508 8 7 Terminal arrangement diagram ws PEEP Communications connectors Function Refer to 6 3 Specifications of Common Areas in Page 6 4 1 2 Unit power supply connector 3 Status indicators 4 Node Address setting Switches 5 Input indicators 0 to 7 Indicates the state of an input contact ON OFF Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state 6 Output indicators 0 to 7 Indicates the state of an output contact ON OFF Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 7 Terminal block Connects external devices and the I O power supp
77. refer to 4 2 Connecting to EtherCAT Network in page 4 4 3 2 4 Connecting Power Supplies Connect the unit power supply to the EtherCAT Master Unit and Slave 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 8 or the wiring diagram of each Slave Unit in pages explaining the details 3 2 5 Wiring I O Devices Connect input and output devices to each Slave Unit as required For the connection method refer to 4 4 Connecting an External Device in page 4 12 or the wiring diagram of each Slave Unit in pages explaining the details 3 4 GX series EtherCAT Slave Unit User s Manual 3 Basic Usage Procedures 3 3 Starting Communications IX Start the system allocate I O data of Slave Units and then start the EtherCAT communications For operational state and details of it refer to 5 3 Communications State Transitions in page 5 4 3 3 1 Starting a System Turn ON the power supply to each Unit 1 Unit power supply of EtherCAT Master Units 2 Unit power supply of Slave Units When the power is supplied Slave Unit s PWR indicator is lit 3 I O power supply of Slave Units suonesiunwwog Hues Note that there are no restrictions on the order of turning ON the power supplies 3 3 2 Setting EtherCAT Communications The following communications are performed in EtherCAT
78. specification is used Use the communications cable of the recommended specification Link in physical later OFF Communications cable disconnection occurred Check to see if the cable is disconnected or loose in the part that connects to the connector 11 5 L LL 0 suonoy pue SNES YIM pexoeuo eq ued Jeu sog 1 1 11 Troubleshooting and Maintenance L A IN R L A OUT RUN Description Cause indicator indicator indicator LED It is commanded Safe from the EtherCAT On _ SF _ Operational Master Unit to shift state 10 018 Safe Operational state It is commanded Pre from the EtherCAT On _ B _ Operational Master Unit to shift state Pre Operational state It is commanded from the EtherCAT On i en Estate Master Unit to shift to the Init state Actions If the trouble occurred during operating the System check the state of the connected EtherCAT Master Unit Due to the EtherCAT specification a communication timeout does not occur with those Slave Units that only handle input data The GX series Slaves that have only input data are listed below GX AD0471 GX ID1611 GX ID1611 XWT ID08 GX ID1611 XWT ID16 GX ID1611 XWT IDO8 1 GX ID1611 XWT ID16 1 GX ID1621 GX ID1621 XWT ID08 GX ID1621 XWT ID16 GX ID1621 XWT IDO8 1 GX ID1621 XWT ID16 1 GX ID1612 GX ID1622 GX ID1618 G
79. 0 bit 0 Analog output data for CH1 1 2 Analog output data for CH2 3 Input data allocation Sysmac error status Offset byte 7 bit 0 bit 0 Sysmac error status GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit 8 5 Function of the Analog Output Slave Unit An Analog Output Slave Unit has the following convenient functions in addition to the output signal processing 8 5 1 DA Conversion Available Point Setting Overview of functions Purpose This function sets to skip processing unused points and enhances the speed of refresh cycles of analog output Details of functions Normally in this Unit the values for two input points are converted in sequence The setting can be changed so that unused points are not converted By reducing the number of conversion points the conversion cycle speed is increased Whether DA conversion is enabled or disabled is settable for each point Default setting Enable all channels Notes Regardless of this setting an Analog Output Slave Unit uses two points of data allocation area Setting method Set by SDO communications The target index is 3200 hex For the set values refer to the information in the corresponding index of Appendix A 1 Object Dictionary in Page A 38 5 1ndino Bojeuy eui jo uoroun 9 8 The table below shows the analog conversion time by the number of
80. 00010191 hex GX ID1621 1D16 1 space 20 hex of space 20 hex HEBES GXiDi6110DO8C1 20 118999 of 15 characters E XWT OD08 1 00030191 hex GX ID1621 0D08 1 GX ID1611 OD16 1 XWT OD16 1 00030191 hex GX ID1621 OD16 1 A 4 GX series EtherCAT Slave Unit User s Manual Model Slave Unit GX OD1611 OD1621 Expansion Unit DeviceType 00020191 hex Manufacturer device name GX OD1611 GX OD1621 XWT IDO8 1 00030191 hex XWT ID16 1 00030191 hex GX 0D1611 ID16 GX 0D1621 1D16 XWT OD08 1 00020191 hex XWT OD16 1 00020191 hex GX OC1601 00020191 hex GX OC1601 XWT IDO8 1 00030191 hex GX 0C01601 ID08 1 XWT ID16 1 00030191 hex GX 0C1601 ID16 1 XWT OD08 1 00020191 hex GX 0C1601 0D08 1 1 XWT OD16 1 00020191 hex GX OC1601 0D16 1 GX MD1611 MD1621 00030191 hex GX MD1611 ii GX MD1621 5 20 11 characters GX ID1612 101622 00010191 GX ID1612 GX 1D1622 space 20 hex of 11 characters GX OD1612 OD1622 00020191 hex GX OD1612 5 GX OD1622 x space 20 hex of 11 characters GX MD1612 MD1622 00030191 hex GX MD1612 GX MD1622 i space 20 hex of 11 characters GX ID1618 101628 00010191 101618 l GX ID1628 5 space 20 hex of 11 characters GX OD1618 OD16
81. 1 ms 2 ms 4 ms 8 ms 16 ms 32 ms Default setting 1 ms Number of circuits per common 8 points common Isolation method Photocoupler isolation power supply method Supply by I O power supply power supply current consumption 10 mA max for 20 4 to 26 4 VDC power supply voltage GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Output section fant Specification GX MD1611 GX MD1621 Output capacity 8 points Rated output current 0 5 A output 2 0 A common 1 2 V max 1 2 V max Residual voltage 0 5 ADC between each output terminal 0 5 ADC between each output terminal and the G terminal and the V terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1 5 ms max E circuits per 8 points common Isolation method Photocoupler isolation power supply method Supply by I O power supply dn power supply current 10 mA max for 20 4 to 26 4 VDC power supply voltage consumption Error Mode Output Select either hold or clear Notes For the I O power supply current value to V and G terminals refer to A 5 I O Power Supply Current in Page A 51 5 104 v Le9 LIW LE9EQIA XO vv e e s 1 pue juiod g ed jeuiuue Jen z GX series EtherCAT Slave Unit User s Manual 7 23 7 Digital Slave Unit Nam
82. 2 2nd Input Object to be mapped Range Unit Default 40130220 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Mapping for latch value A B reading 1B03 hex 260th transmit PDO Mapping Sub index 0 Number of objects Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Range Unit Default 40300108 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Input Object to be mapped Range Unit Default 40300208 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Mapping for status notification from a Slave Unit to the EtherCAT Master Unit GX series EtherCAT Slave Unit User s Manual yelqo 1 V 1 efqo Buiddew Odd 9 1 A Appendix 1B04 hex 261th transmit PDO Mapping Sub index 0 Number of objects Range Unit Default 10 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Range Unit Default 40310101 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 2 2nd Input Object to be mapped Range Unit Default 40310201 hex Attribute Size 1
83. 24VDC RX 0 RX 1 g TKA 3 e G1 RX RX E V2 24 VDC 2 0 1 A UNIT PS g DC DC 2 converter _ ___ S type S o Sg G2 z m o e GX MD1621 PNP y 6 z V1 24VDC TX Photocoupler TX WR 0 7 RX ald 1 RX x Photocoupler oh KA A RES gt TX 8 gt TX 5 RX 5 V2 24VDC RX E 0 1 g UNIT PS DC DC v converter 3 v 1 No isolation 4 AA Eo na type 38 e G2 4 gt HUN e e s 1urod g pue juiod g ed xoo g jeuiuue 2 GX series EtherCAT Slave Unit User s Manual 7 25 7 Digital Slave Unit Wiring diagram e GX MD1611 NPN I O power suppl 24 VDC dud 24 VDC S 2 v P m a NPN output 3 wire sensor 2 wire sensor Solenoid valve etc Solenoid valve etc Photoelectric sensor Limit switch etc proximity sensor GX MD1621 PNP i power supply I O power suppl 24 VDC TT 24 VDC Solenoid valve etc Solenoid valve etc PNP output 3 wire sensor 2 wire sensor Photoelectric sensor Limit
84. 33 7 Digital Slave Unit Names and functions 3 4 EtherCAT ADR E Da 1 ou 7 6 Terminal arrangement diagram PP ss No Name Communications connectors Unit power supply connector Status indicators No JL Node Address setting Switches Function Refer 10 6 3 Specifications of Areas in 6 4 5 Output indicators 0 to 15 Indicates the state of an output contact ON OFF Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 6 Terminal block Connects external devices and the I O power supply Left side gt V1 G1 I O power supply terminals 0 to 7 Output terminals Right side gt V2 G2 I O power supply terminals 8 to 15 Output terminals 7 DIN track mounting hook Fixes a Slave Unit to a DIN track GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Internal circuits diagram e GX OD1612 NPN V1 24 VDC TX TX G1 RX RX m TTL Output 0 to 7 TX Internal TX circuits G1 RX T Eg V2 24 VDC G2 A V2 e UNIT PS DCDC 5 V M a 9 Output 8 to 15 5 v O No isolation 8 Photocoupler type 5 9 G2 o
85. 9 Input voltage EIA standard RS 422 A line driver level v Input impedance 120 5 2 gH level input voltage 0 1 V gL level input voltage 0 1 V o Hysteresis voltage 60 mV lt Maximum response Single phase 4 MHz phase difference 1 MHz frequency Multiplication x 4 1 MHz T Filter switching NA 172003 ed ndu eur z v 6 GX series EtherCAT Slave Unit User s Manual 9 23 9 Encoder Input Slave Unit Pulse input timing specifications Counter input phase A B Input pulse duty 50 Counter input phase Z ON ON voltage Terminal OFF A Terminal input ON input AB OFF L OFF voltage A ON OFF Phase A ON OFF Terminal input B Phase B N gt OFF Timing condition voltage ON voltage A B 25 ns gt 250 14 Precautions for Correct Use ns ass E gt 0 25 5 _ gt 0 5 5 In order to the counter input specifications it is necessary to pay attention to the type of output driver of the encoder to be used the length of encoder cable and frequency of count pulse GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit Latch reset input specifications ftem Specification Latch input A B Reset input Internal common PNP Input voltage 20 4 to 26 4 VDC 24 VDC 1
86. A Appendix 6200 hex Write output 8bit Sub index 0 Number of outputs 8bit Range 00 hex to 04 hex Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Write output 1st byte Range 00 hex to FF hex Unit Default Attribute A Size 1 byte U8 Access RW PDO map Not possible Sub index 2 Write output 2nd byte Range 00 hex to FF hex Unit Default Attribute A Size 1 byte U8 Access RW PDO map Not possible Sub index 3 Write output 3rd byte Range 00 hex to FF hex Unit Default Attribute A Size 1 byte U8 Access RW PDO map Not possible Sub index 4 Write output 4th byte Range 00 hex to FF hex Unit Default Attribute A Size 1 byte U8 Access RW PDO map Not possible Digital output values are controlled in units of 1 byte 8 bits t is implemented in all Slave Units with output points including Expansion Units if they are connected 6300 hex Write output 16bit Sub index 0 Number of outputs 16bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Write output 1st word Range 0000 hex to FFFF hex Unit Default Attribute A Size 2 bytes U16 Access RW PDO map Possible Digital output values are controlled in units of 2 byte 16 bits
87. Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 4 Moving Average Range 0000 hex to FAOO hex Unit us Default 0000 hex Attribute R Size 2 bytes U16 Access RW PDO map Not possible This object sets moving average setting value of each point gt 3136 Analogue Input Disconnection Status 5 Sub index 0 Number of channel Range Unit Default 01 hex Attribute g Size 1 byte U8 Access RO PDO map Not possible 2 Sub index 1 Disconnection Status Range 0000 hex to hex Unit Default 0000 hex Attribute 5 Size 2 bytes INT16 Access RO PDO map Not possible This object detects disconnection on each point Bits State 0 1 CH1 disconnected 0 CH1 normal o 1 1 CH2 disconnected 0 CH2 normal 9 2 1 CH3 disconnected 0 CH3 normal Be 3 1 CH4 disconnected 0 CH4 normal 2 41015 Reserved 0 D GX series EtherCAT Slave Unit User s Manual 37 A Appendix Device Profile area 6401 hex Read Analogue Input 16bit Sub index 0 Number of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 4 Input 16bit Range Unit Default 0000 hex Attribute Size 2 bytes INT16 Access RO PDO map Possible This is equal to the set input rang
88. 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 communications 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 Network m configuration information ESI iles y EtherCAT Master Unit 153 91134 ARIS IYDI Z S EtherCAT Slave Units m a Communications are started according to the communications settings and the network configuration in the ESI files that are installed GX series EtherCAT Slave Unit User s Manual 5 3 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 c Power ON e Initialization Pre Operational Safe Operational
89. Counter reset DIE atre dn 9 12 Counter status s 9 3 Crimp termihal itin ade bes 4 12 D Daisy chain connection 4 7 Diagnosis hlstOry eerie etre 5 12 Digital een 2 2 DIN track 3 22 eoo eth Achat oid 4 2 DIN track mounting 4 2 Disconnected line detection 8 4 8 5 Disconnected line detection flag 8 10 E 4 13 Encoder Input Slave Unit 2 2 End plate eee 4 2 ERR RED uini mh ERREUR 6 5 ESI Tie ian ttt cet ea ie 1 7 3 5 ipee ene ueni t 5 4 EtherCAT Master e eee gerens 1 7 EtherCAT Master Unit essen 3 4 EtherCAT slave to e i Sede ie 1 7 EtherCAT telegram 1 3 Expansion Unit ARIES 2 2 External control input 9 12 9 13 External latch A enabled 9 7 External latch A generation flag 9 6 GX series EtherCAT Slave Unit User s Manual External latch B enabled 9 7 External latch B generation flag 9 6 External latch value A
90. Error History Clear MSB LSB C 6C hex 63 hex 6C hex 65 hex Writing values other than this is invalid 2002 hex Sysmac Error Sub index 0 Number of entries Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Sysmac Error Status Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Possible Sub index 2 Sysmac Error Status Clear Range Unit Default 00 hex Attribute A Size 1 byte U8 Access RW PDO map Not possible The mapping is used for Sysmac error status notification and to clear Sysmac error status Sub index 1 Sysmac Error Status This object is for notification of errors that are detected in the Slave Unit When connected to an NJ series Machine Automation Controller 3501 1000 map this object to a PDO Sub index 2 Sysmac Error Status Clear This object is used by the Controller a Sysmac device to reset errors that occur in Slave Units Unit version 1 1 or later is required to set this object ES Reference In the default Sysmac Studio setttings sub index 1 Sysmac Error Status is automatically mapped to a PDO because 1BFF hex 512th transmit PDO Mapping is assigned GX series EtherCAT Slave Unit User s Manual A 25 Aseuonsiq yelqo y sioe qo 7 1 v A Appendi
91. For contents of Sysmac error status codes refer to 11 1 4 Sysmac Error Status Codes in page 11 14 Contents Sysmac error status code 5 7 2 Diagnosis History A GX series 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 sub indexes 06 hex to 00 hex Diagnosis messages 1 to 8 among 10F3 hex Diagnosis History 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 GX series EtherCAT Slave Unit User s Manual 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 Starting with unit version 1 1 the GX
92. NC G2 G3 G4 G5 Ge G7 la le OUT OUT OUT OUT IN2 IN3 INA INS IN6 IN7 7 b E b i 5 5 dv fy NC NC NC Nc NC NC NC Nc NC NG NC G10 911 G12 G13 Gi4 615 OUT OUT OUT OUT OUT OUT INT2 inta IN15 H S Se ae ni gt A power supply 24 VDC 3 A o NPN input 3 wire Solenoid valve etc 2 wire sensor NPN output 3 wire external device Limit switch etc sensor o d Emitter of photoelectric sensor 3 Photoelectric sensor o proximity sensor e 5 e GX MD3228 PNP o lt fv dy Jv dvd fv 7 Nc Nc NC Nc NC NC NC NC Nc NC NC G2 G3 G4 G5 Ge G7 J la le OUT OUT OUT OUT OUT OUT OUT IN2 IN3 INA INS IN6 IN7 V D E b E yi lv viv vijvi jv fyi dy Nc NC NC Nc NC NC NC NC NC Nc NC g G10 911 G12 G13 Gi4 615 N OUT OUT OUT OUT OUT OUT OUT inda INT2 inaa 15 FH rH g 9 1 power supply 24 VDC PNP input 3 wire
93. O Input B Input Z 2 Reset Input Code pulse input Input A is count pulse signal and input B is count direction control signal The count is incremented at rise of phase A when input B is ON and decremented at rise of phase A when input B is OFF Incremental count Decremental count cemere Count direction control signal Input B Counter value 2 4 5 7 8 7 5 2 2 1 When code and pulses input the connection with external input devices becomes as follows Encoder Input Slave Unit Encoder or other o Input A pulse generators Count pulse O Input B Sensor or Input Z switch Count direction control Incremental decremental pulse input The count is incremented at rise of input A pulse and decremented at rise of input B pulse Incremental count Decremental count LES s Input B PLU Lu Countervatue 3 2 4 5 6 5 8 7 5 4 2 1 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit When incremental decremental pulses are input the connection with external input devices becomes as follows Encoder Input Slave Unit
94. Object to be mapped Range Unit Default 30201601 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 23 23th Input Object to be mapped Range Unit Default 30201701 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 24 24th Input Object to be mapped Range Unit Default 30201801 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 25 25th Input Object to be mapped Range Unit Default 30201901 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 26 26th Input Object to be mapped Range Unit Default 30201A01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 27 27th Input Object to be mapped Range Unit Default 30201B01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 28 28th Input Object to be mapped Range Unit Default 30201C01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 29 29th Input Object to be mapped Range Unit Default 30201D01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 30 30th Input Object to be mapped Range Unit Default 30201E01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 31 31th Input Object to be mapped Range Unit Default 30201F01 hex Attr
95. PDO map Not possible Sub index 3 Read input 3rd byte Range 00 hex to FF hex Unit Default Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 4 Read input 4th byte Range 00 hex to FF hex Unit Default Attribute Size 1 byte U8 Access RO PDO map Not possible Digital input values are stored in units of 1 byte 8 bits t is implemented in all Slave Units with input points including Expansion Units if they are connected 6100 hex Read input 16bit Sub index 0 Number of inputs 16bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Read input 1st word Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes U16 Access RO PDO map Possible Digital input values are stored in units of 2 byte 16 bits 6120 hex Read input 32bit Sub index 0 Number of inputs 32bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Read input 1st double word Range 00000000 hex to FFFFFFFF hex Unit Default Attribute Size 4 bytes U32 Access RO PDO map Possible Digital input values are stored in units of 4 byte 32 bits GX series EtherCAT Slave Unit User s Manual 31 Aseuonsiq 12e qO 1 V sioe qo ouoedg
96. Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 4 Input Bit03 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 5 Input Bit04 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 6 Input Bit05 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 7 Input Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 8 Input 7 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 9 Input Bit08 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 10 Input Bit09 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 11 Input Bit10 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 12 Input Bit11 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 13 Input Bit12 Range 00 hex to 01 hex Unit Default 00 hex Attribute
97. Slave Unit 8 7 8 3 1 AD Conversion Available Point Setting 8 7 8 3 2 Moving Average 8 8 8 3 3 Disconnected Line Detection 8 10 8 3 4 User adjustment 8 10 8 4 Overview of the Analog Output Slave Unit 8 12 8 4 1 Output Range and Converted Data 8 12 8 4 2 Data Allocation PDO Mapping 8 14 8 5 Function of the Analog Output Slave 8 15 8 5 1 DA Conversion Available Point 8 15 8 5 2 Analog Output Fault 8 16 8 5 3 User Adjusiment ence ERE Aaa eee xS 8 17 8 6 Overview of Each Slave Unit Type 8 18 8 6 1 4 Input Slave Unit GX AD0471 8 19 8 6 2 2 point Output Slave Unit GX DA0271 8 23 8 7 Mounting Dimensions 8 27 GX series EtherCAT Slave Unit User s Manual 8 1 8 Analog I O Slave Unit 8 1 Analog I O Slave Unit Analog I O Slave Units refer to slaves with processing functions for analog I O data voltage value current value Other functions of the Slave Unit includ
98. So a oZ 0 2 ei 7 45 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Internal circuits diagram e GX ID1618 NPN CN IN TX TX RX O RX af Photocoupler 8 NC 5 Short circuit CO o 5 protection element ING CN OUT g g na 6 TX 5 RX QO RX L 20 l e v 5 Short circuit e 5 protection element nu o c UNIT PS DC DC v 1 converter IO No isolation type e GX ID1628 PNP Short circuit n rotection element NC poe Photocoupler e gt INO 2 2 2 _ 2 Short circuit v1 TX protection element RX E MM NC id G IN1 Input circuit UNIT PS DC DC V converter lO No isolation _ type 7 46 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Wiring diagram e GX ID1618 NPN NC NC NC NC NC NC NC NC G1 G2 G3 G4 G5 G6 G7 IN1 IN2 IN3 IN4 IN5 JING IN7 NC NC NC NC NC NC NC G9 G10 G11 612 G13 G14 615 INQ INTO IN11 IN12
99. The emergency error code is 5020 hex Remarks Event name Slave Hardware Error Event code 04A20000 hex Meaning A hardware error occurred in the EtherCAT communications section Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category System cycling Slave Unit power Effects User program Continues Operation The Slave Unit where the error occurred performs the error output operation fail safe LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None m Cause and Assumed cause Correction Prevention correcion The Slave Unit is faulty If cycling the power supply does not None correct the problem replace the Slave Unit Attached None information Precautions The emergency error codes are 7030 hex and 7100 hex Remarks 11 16 GX series EtherCAT Slave Unit User s Manual 11 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 timing establishing communications after turning ON power to the Slave Unit Error attributes Level Minor fault Recovery Error reset after Log category System cycling Slave Unit power Effects
100. Unit Servo Drive Inverter 1 6 GX series EtherCAT Slave Unit User s Manual 1 EtherCAT Network 1 2 2 Overview of Configuration Devices The overview of each configuration device is as follows EtherCAT Master Unit Administers the EtherCAT network monitors the state of Slave Units exchanges l O data with Slave Units 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 Slave Unit Communications Unit By mounting to an inverter and other devices it is possible to serve as a Slave Unit in the EtherCAT network Configuration Tool It is 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 Jo sjueuio 3 z L OMAN 1V249U13 JO 2 2 1 Communications cable Uses cables of Ethernet category 5 100BASE TX or higher with double shield aluminum tape and braided shielding which are connected straight ESI EtherCAT Slave Information file Describes information specific to EtherCAT Slave Units in XML format By reading this file into the Configuration Tool it is possible to perform various settings such as mapping of Slave Unit
101. Unit User s Manual 10 Expansion Unit No Name Function Indicates the state of each output contact ON OFF 1 Output indicators 0 to 15 Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 2 Slave connector Connects the connector on the right side of the Slave Unit Connects external devices and the I O power supply 3 Terminal block V G I O power supply terminals 0 to 15 Output terminals 4 DIN track mounting hook Fixes a Slave Unit to a DIN track Internal circuits diagram e XWT OD16 NPN Photocoupler T ai V 24VDC k ST p L Pars Internal circuits uoisuedx3 jo suoneoyioeds 2 01 V 24VDC Internal circuits Photocoupler 1 k 8 EM G L 9LGO 9 LQO LMX yun uorsuedxa3 1ndino 1ut6d 9L 7 2 01 GX series EtherCAT Slave Unit User s Manual 10 15 10 Expansion Unit Wiring diagram e XWT OD16 NPN power supply 24 VDC Solenoid valve etc Solenoid valve etc XWT OD16 1 PNP power supply 24 VDC Solenoid valve etc Solenoid valve etc 14 Precautions for Correct Use When using an inductive load such as a solenoid valv
102. Unit User s Manual 7 Digital I O Slave Unit Wiring diagram e GX ID1612 NPN NC 0 1 2 3 4 5 6 7 NC 8 9 10 11 2 13 14 15 V1 2 V2 v2 V2 V2 V2 V2 V2 V2 G1 G2 G2 62 G2 G2 62 62 62 G2 I O power supply 24 VDC 2 wire sensor NPN output 3 wire sensor Limit switch etc Photoelectric sensor proximity sensor uoe3 104 v GX ID1622 PNP i NC 0 1 2 3 4 5 6 7 NC 8 9 10 11 12 13 14 15 V1 2 V2 V2 V2 V2 V2 V2 V2 V2 G1 G2 G2 G2 G2 G2 G2 G2 G2 G2 I O power supply 24 VDC 2 wire sensor PNP output 3 wire sensor Limit switch etc Photoelectric sensor proximity sensor 2e9Lal z L9 LGI XO NUN 1ndu jurod 9 ed 1914 E G p 7 GX series EtherCAT Slave Unit User s Manual 7 31 7 Digital WO Slave Unit Precautions for Correct Use The V1 and V2 terminals as well as the G1 and G2 terminals of the I O power supply not connected internally Supply power separately for V1 G1 and V2 G2 Do not wire NC terminals ES Reference Wire colors have been changed according to revisions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to
103. User program Continues Operation The Slave Unit s I O communications stop and the outputs turn OFF LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT Flashes at 1 s intervals System defined Variable Data type Name variables None E Cause and Assumed cause Correction Prevention Suus cut Noise Return the control parameters to their Implement noise countermeasures default settings using restore parameters 1011 hex of the EtherCAT Slave Unit Attached None information Precautions The emergency error code is 6330 hex Remarks Event name Switch Setting Error Event code 24610000 hex Meaning The setting switch is set out of range Source EtherCAT Master Function Module Source details Slave Detection When timing establishing communications after turning ON power to the Slave Unit Error attributes Level Minor fault Recovery Error reset after Log category System cycling Slave Unit power Effects User program Continues Operation The Slave Unit s I O communications stop and the outputs turn OFF LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT OFF Flashes at 1 s intervals System defined Variable Data type Name variables None Assumed cause Correction Prevention Seis The analog range that is set on the Make sure that switch settings are Make sure that switch settings are Switch is outside the setting range within the specified range correct Atta
104. User s Manual Features of EtherCAT Structure of EtherCAT Communications types of EtherCAT Configuration Devices of EtherCAT Network 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 EtherC
105. User s Manual e Recommended product 4 Installation and Wiring The following pin terminals are recommended for the unit power supply cables Applicable wire Model ES Crimping tool Manufacturer CRIMPFOX UD6 Product No 1204436 Phoenix Contact AI0 5 10WH 0 5 mm AWG20 or CRIMPFOX ZA3 Co Ltd series H0 5 16 orange 0 5 mm AWG20 Weidmueller Japan Co Ltd Product No 900599 Also the following screwdriver is recommended for removing pin terminals Model XW4Z 00C Manufacturer OMRON GX series EtherCAT Slave Unit User s Manual Ajddng 1amod pue Ajddng e p A ddns eui Bunoeuuo2 2 4 Installation and Wiring 4 4 Connecting an External Device Connect an external device to the I O terminal of a Slave Unit 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 terminal to the cable of the external device to be connected connect it to the terminal block 1 Mount the following crimp terminal to the signal line of the cable 3 2 mm min 3 2 mm min 6 0 mm max 1 54 6 0 mm 2 Connect the signal to the terminal block Tighten the terminal block screws to the appropriate tightening torque of 0 5 The terminal block is removable remove the left and right screws if it is necessar
106. Wire colors have been changed according to revisions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions 7 52 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit 7 4 10 e CON Connector Type 8 point Input and 8 point Output Slave Unit GX MD1618 MD1628 Specification Common to input section and output section Specification Item Internal common GX MD1618 NPN GX MD1628 PNP I O indicators LED display yellow Unit power supply current consumption 120 mA max for 20 4 to 26 4 VDC power supply voltage e CON connector insertion durability 50 times Weight 140 g max Expansion functions No Short circuit protection function Input section Item Available at input section only Operates at 50 mA point min Specification GX MD1618 GX MD1628 104 v Input capacity 8 points 15 VDC min between each input 15 VDC min between each input ON voltage 7 terminal and the V terminal terminal and the G terminal OFF voltage 5 VDC max between each input 5 VDC max between each input terminal and the V terminal terminal and the G terminal o OFF current 1 0 mA max Z Input current 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay 0 1 ms max OFF delay 0 2 ms max
107. connectors Function Unit power supply connector Refer to Specifications of Common Areas in Page 6 4 Node Address setting Switches 1 2 3 Status indicators 4 5 Input range setting Switches DIP switches for setting input range Refer to the following section 6 Terminal block Terminal block for analog input signals V1 to V4 Voltage input terminals 11 to 14 Current input terminals AG Analog GND NC Not used 7 DIN track mounting hook Fixes a Slave Unit to a DIN track GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit Input range setting switches Set input range by combination of individual DIP switches To enable settings of these switches it is necessary to turn Pin8 input range setting method ON in advance Pin No Setting Specification 1 2 Setting of input CH1 CH2 range common 3 Set by combination of DIP switches see the 4 next table 5 Setting of input CH3 CH4 range common 6 Make sure to keep it OFF 7 Always OFF The operation cannot be guaranteed when it is set to ON OFF Setting by SDO communications Sening bye switches Pin1 to Pin6 14 Precautions for Correct Use When setting a range with these switches the same input ranges are set for inputs CH1 and CH2 as well as inputs CH3 and respectively To set a different range for inputs CH1 to use the SDO commu
108. connectors Model Housing color Applicable wire range AWG22 0 3mm to AWG20 0 5mm Ane pe Sheath diameter 1 2 to 20 mm AWG2B 0 08mm to AWG24 0 2mm Sheath diameter 07 to 1 2 mm AXF12146 Yellow OMRON connectors Model Specification Applicable wire range Spring AWG28 0 08mm to AWG20 0 5mm clamp type Sheath diameter 1 5 mm max N ame of manua S gt etrrcar stave Unit User s Manual amo 2 GX series EtherCAT Slave Unit User s Manual 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 Fi 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 GX series EtherCAT Slave Unit User s Manual Structure of This Manual This manual consists of the following chapters Chapter 1 Chapters EtherCAT Network Contents Explains about the EtherCAT features and the network configuration Chapter 2 EtherCAT Slave Unit Overviews the GX series EtherCAT Slave Unit and its various types Chapter 3 Basic Usage Procedures Explains the setup method and usage procedures by using simple system setup examples Chapter 4 Ins
109. deer regente eui eu ure ce ee a A 53 GX series EtherCAT Slave Unit User s Manual A 1 A Appendix A 1 Object Dictionary A 1 1 Object Dictionary Area The CAN application protocol over EtherCAT 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 0000 hex OFFF hex Area Data Type area Contents Definitions of data types 1000 hex 1FFF hex CoE Communications area 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 3000 hex 5FFF hex Manufacturer Specific area 2 Variables defined for GX series EtherCAT Slave Units 6000 hex 9FFF hex Device Profile area 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 A 1 2 Data Types This profile uses the following data types Reserved area Area reserved for future use 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 Integer8 INT8 1 byte 128 to 127 Integer16 INT16 2 bytes 32
110. error and 1 The error is occurring Error Register Bits Name Communications error Device profile specific error Reserved Manufacturer specific error Bits Name Generic error Current error Voltage error Temperature error GX series Units do not use bits 1 to 7 1008 hex Manufacturer Device Name Range Unit Default Differ by Slave Unit types Attribute Size 20 bytes VS Access RO PDO map Not possible Indicates the Slave Unit model number 1009 hex Manufacturer Hardware Version Range Unit Default Differ by Slave Unit types Attribute Size 20 bytes VS Access RO PDO map Not possible 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 Indicates the version of the Slave Unit software The default settings of device type device name hardware version and software version vary by the Slave Unit Types Model Manufacturer Manufacturer Manufacturer device DeviceType and hardware software Slave Unit Expansion Unit Version version 00010191 hex GX ID1611 GX ID1621 GX ID1611 ID08 1 XWT IDO8 1 00010191 hex GX ID1621 ID08 1 9 101611 1016 1 V1 00 GX ID1611 XWT ID16 1
111. hex 1 Node address switches Joe seed tame a ceases ges EtherCAT Slave Unit 5 14 GX series EtherCAT Slave Unit User s Manual 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 network 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 ES 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 suonounJ 2euis S 8 51 data checking The SII slave information interface contains specific configuration information on the EtherCAT slave that is written in non volatile memory in the Et
112. hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 28 Output Bit27 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 29 Output Bit28 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 30 Output Bit29 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 31 Output Bit30 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 32 Output Bit31 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible The digital output values are stored in 1 bit units Unit version 1 1 or later is required to set this object GX series EtherCAT Slave Unit User s Manual A Appendix Device Profile area 6000 hex Read input 8bit Sub index 0 Number of inputs 8bit Range 00 hex to 04 hex Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Read input 1st byte Range 00 hex to FF hex Unit Default Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 2 Read input 2nd byte Range 00h to FFh Unit Default Attribute Size 1 byte U8 Access RO
113. hex stopped during operation i Error saved notified Encoder Input Slave in Operational state Units only Check the SYNC Signal NO SYNGD signe s nave Not Can be synchronization settings 002D hex been received since E Not Received notified Encoder Input Slave entering DC mode Units only 11 22 GX series EtherCAT Slave Unit User s Manual 11 Troubleshooting and Maintenance 11 2 Equipment Maintenance This section describes routine equipment maintenance in particular cleaning methods inspection methods and handling methods when replacing Slave Units 11 2 1 Cleaning Perform the following cleaning regularly to ensure the equipment is kept in the best condition possible Wipe the equipment over with a soft dry cloth when doing daily cleaning If dirt remains even after wiping with a soft dry cloth wipe over with a cloth that has been wet with a sufficiently diluted detergent 296 and wrung dry 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 V 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 11 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
114. or removed online Turn OFF the power supply before mounting or removing Expansion Units Slave Units with digital inputs 11 8 Although a connected device is ON nothing is input and Slave Unit s input indicator does not turn ON either The I O power is not supplied Check that the I O power is supplied power supply voltage is outside the rated range Set the I O power supply voltage within the rated voltage Wiring with the connected device is incorrect Check the wiring with the connected device Terminal block screws are loosened Terminal block type only Check if terminal block screws are loosened A connected device is disconnected Check the wiring with the connected device A connected device is defective Replace the connected device A connected device is ON and Slave Unit s input indicator is turned ON but nothing is input A communications error occurred Check if a communications error occurred There is a delay with the ON and OFF timing for input values An input filter may be set Set the input filter value to 0 Alternatively change the input filter to an appropriate value GX series EtherCAT Slave Unit User s Manual Slave Unit type Slave Units with digital outputs Symptom When the output is ON nothing is output although the output indicator is turned ON 11 Troubleshooting and Maintenance C
115. 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 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 Precautions laying down communications cables Check the following items for communications cables to be used Are there any disconnected cables Are any cables short circuited Are there any problems in connector connections To connect a cable to communications connector of each device insert it securely until the connector of the communications cable is locked Lay down and wire the communications cables separately from high voltage electrical power lines Do not lay down the cables near devices generating noise Do not lay down the cables in high temperature and high humidity environment Use the cables in locations without powder dust and oil mist 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 GX series EtherCAT Slave Unit User s Manual 4 Installation and Wiring 4 2 2 Preparation for Connecting Network Prepare the following devices Product name Comment Twisted pair cable 100BAS
116. series EtherCAT Slave Units are Sysmac devices and support Sysmac device functions 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 Studio 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 ES Reference Refer to A 1 7 Manufacturer Specific Objects in page A 25 for information on 2002 hex 01 hex Sysmac Error Status Refer to 11 1 4 Sysmac Error Status Codes in page 11 14 for errors that are displayed on the Sysmac Studio suonounJ 2 5 9 c sisoubeiq 2 8 GX series EtherCAT Slave Unit User s Manual 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 memo
117. switch etc proximity sensor 7 26 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit 14 Precautions for Correct Use The V1 and V2 terminals as well as the G1 and G2 terminals of the I O power supply are not connected internally Supply power separately for V1 G1 and V2 G2 When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in Page A 50 Do not wire NC terminals ES Reference Wire colors have been changed according to revisions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions 5 uoe3 104 v m vu vv 1291 1918 HUN e e s 1urod g pue 1nduj juiod g ed xoojg jeuiuue 2 GX series EtherCAT Slave Unit User s Manual 7 27 7 Digital WO Slave Unit 7 4 5 3 tier Terminal Block Type 16 point Input Slave Unit GX ID1612 ID1622 Specification Specification nem GX ID1612 GX ID1622 Input capacity 16 points Internal common NPN PNP 15 VDC min between each input 15 VDC min between each input terminal and the V terminal terminal and the G terminal OFF voltage 5 VDC max between each input 5 VDC max between each input terminal and the V termin
118. terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1 5 ms max Number of circuits per common 16 points common Isolation method Photocoupler isolation power supply method Supply by I O power supply Output device supply current 100 mA point power supply current consumption 10 mA max for 20 4 to 26 4 VDC power supply voltage Error Mode Output Page A 51 Select either hold or clear Notes For the I O power supply current value to V and terminals refer to A 5 I O Power Supply Current in GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Names and functions T 1 1 T x EthercaT A E n 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7 o 1 m mJ M 5 8 9 10 MN 2 wg M 15 IN N VA a our B H RUN n D n o o 0 0 o n D n n n n n n n n n n n n n n n n 1 ER aJ a E ol ol la E oli f n nj n n n n 0 n n n n 0 n n n El ue ________ E 3
119. the I O power supply 7 Terminal block COMO COM1 Common terminals 0 to 15 Output terminals 8 DIN track mounting hook Fixes a Slave Unit to a DIN track LO9LOO XD HUN 1ndino 1 100 9 adA jeuruue v 7 GX series EtherCAT Slave Unit User s Manual 7 19 7 Digital Slave Unit ES Reference Replacing relays To replace output section relays first remove the cover using the following procedure 1 HE HH 3 1 Grab the handle with finger and bend it upward 2 The side deflects in the direction of the arrow and the hook is removed 3 Press down the relay socket lever in the arrow direction using a driver and so on The relay pops up from the socket and can be removed ES Reference Relay actual measurement data The graphs below show the actual measurement values of relay characteristics sampled from the production lines There is some variation in relay characteristics so use this data for reference only e Maximum switching capacity e Durability curve 9 500 E 120 VAC resistance load 5 E gt 200 30 VDC t 7ms E 240 VAC COS 0 4 3 100 vh 120 VAC COS 0 4 5 Ms 30 VDC 240 5 5 7 Resistance load 1 AC resistance load 5 30 5 20 0 5 HHH 3 3 z
120. the data again Eire memory during saved EtherCAT communications At turning ON the If the error occurs Slave Unit power supply a even after restarting NE verification error Cannot be the power supply the 6140 hex Verification Saved v i E occurred on the Slave notified Slave Unit is Unit information stored damaged Replace the in the Slave Unit Slave Unit GX series EtherCAT Slave Unit User s Manual 11 19 L LL 1 11 11 Troubleshooting and Maintenance Error code 6330 hex Name of error Non volatile Memory Checksum Error Contents An error occurred in non volatile memory data in the Slave Unit Diagnosis history Saved Notification to EtherCAT Master Unit Can be notified Measures A non volatile memory data error occurred Initialize non volatile memory from a Configuration Tool or with SDO communications and then restart the Slave Unit Target indexes 1011 hex Restore default parameters parameter restore 7030 hex Slave Hardware Error A hardware error occurred in the EtherCAT communications area Saved Cannot be notified If the error occurs even after restarting the power supply the Slave Units is damaged Replace the Slave Units Error codes unique to Digital I O Slave Unit Error code 5020 hex Name of error Expansion Un
121. to 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 Materials required for inspections The following materials are required to perform periodic inspections e Materials used regularly Phillips screwdrivers and flat blade screwdrivers Screwdrivers for communications connectors Testers or digital voltmeters Industrial alcohol and pure cotton cloth eoueuejurejy 1ueuidinb3 Z LL e Materials sometimes required Synchroscope Pen oscilloscope Thermometer and hygrometer Buuee L 2 LL GX series EtherCAT Slave Unit User s Manual 11 23 11 Troubleshooting and Maintenance 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 Inspection item Environment Inspection details Criteria method Are the ambient and in panel 10 to 55 Thermometer temperatures appropriate Is the ambient and in panel humidity 25 to 85 with no Hygrometer appropriate condensation Has dust collected No dust Visual inspection Installation Has the Slave Unit been secured No looseness Phillips screwdriver Are the communications cable connectors inserted properly No looseness Visual inspect
122. 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 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 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 application object being mapped 31 16 15 8 7 0 Sub Indexes Indexes Bit length MSB LSB Bits 0 to 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bits 8to 15 Sub index of the mapped object 16 31 Index of the mapped object The following indexes describes the specific objects by Slave Unit types Digital I O Slave Unit 1700 hex 257th receive PDO Mapping Sub index 0 Number of objects Range Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Output Object to be mapped Range Unit Default Differ by Slave Unit types Attribute Size 4 bytes U32 Access RO PDO map Not possible This object gives the mapping for an appl
123. voltage consumption e CON connector insertion durability 50 times Weight 140 g max Expansion functions No Short circuit protection function Notes Page A 51 Available Operates at 50 mA point min For the I O power supply current value to V and G terminals refer to 5 I O Power Supply Current in GX series EtherCAT Slave Unit User s Manual 7 Digital WO Slave Unit Names and functions ox II 2 10 HH d anan I 7 4 Specifications for Each Slave Unit m 7 4 8 e CON Connector Type 16 point Input Slave Unit GX ID1618 1D1628 6 7 Terminal arrangement diagram GX ID1628 GX ID1618 Function Refer to 6 3 Specifications of Common Areas in Page 6 4 Indicates the state of an input contact ON OFF Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state Connects an external device Fixes a Slave Unit to a DIN track o 2 il 216 o 95 o0 P oc 0 ite 9 5 8 Jolo 522 5 9 21525121 2 5 5298 5 5 8 ols 1 0 SIE 2 5 2 65 2 2 lt SIS El2zz3 s 8 5 oc
124. 00001B 00010000 XWT OD16 1 00000016 00010000 XWT OD16 1 0000001F 00010000 00000020 00010000 00000029 00010000 XWT IDO8 00000021 00010000 XWT IDO8 0000002A 00010000 XWT IDO8 1 00000025 00010000 XWT IDO8 1 0000002E 00010000 XWT ID16 00000022 00010000 XWT ID16 0000002B 00010000 2 tier terminal GX OD1611 XWT ID16 1 00000026 00010000 GX OD1621 XWT ID16 1 0000002F 00010000 block XWT OD08 00000023 00010000 XWT OD08 0000002C 00010000 XWT OD08 1 00000027 00010000 XWT OD08 1 00000030 00010000 XWT OD16 00000024 00010000 XWT OD16 0000002D 00010000 XWT OD16 1 00000028 00010000 XWT OD16 1 00000031 00010000 00000046 00010000 XWT ID08 00000047 00010000 XWT ID08 1 0000004B 00010000 XWT ID16 00000048 00010000 GX OC1601 XWT ID16 1 0000004C 00010000 XWT OD08 00000049 00010000 XWT OD08 1 0000004D 00010000 XWT OD16 0000004A 00010000 XWT OD16 1 0000004E 00010000 GX MD1611 00000032 00010000 GX MD1621 00000033 00010000 GX ID1612 00000034 00010000 GX ID1622 00000035 00010000 terminal ax Op1612 E 00000036 00010000 GX OD1622 E 00000037 00010000 GX MD1612 00000038 00010000 GX MD1622 00000039 00010000 GX ID1618 0000003A 00010000 GX ID1628 0000003B 00010000 GX OD1618 0000003C 00010000 GX OD1628 0000003D 00010000 e CON GX MD1618 0000003E 00010000 GX MD1628 0000003F 00010000 Connectors GX ID3218 00000040 00010000 GX ID3228 00000041 00010000 GX OD3218 00000042 00010000 GX OD3228 00000043 00010000 GX MD3218 00000044 00010000
125. 1700 hex 01 hex 1B00 hex GX OC1601 XWT ID16 1 01 hex 1700 hex 01 hex 1B00 hex XWT ODOS8 1 01 hex 1700 hex 00 hex XWT OD16 1 01 hex 1700 hex 00 hex GX MD1611 MD1621 01 hex 1700 hex 01 hex 1B00 hex GX ID1612 ID1622 00 hex 01 hex 1B00 hex GX OD1612 OD1622 01 hex 1700 hex 00 hex GX MD1612 MD1622 01 hex 1700 hex 01 hex 1B00 hex GX ID1618 ID1628 00 hex 01 hex 1B00 hex GX OD1618 OD1628 01 hex 1700 hex 00 hex GX MD1618 MD1628 01 hex 1700 hex 01 hex 1B00 hex GX ID3218 ID3228 00 hex 01 hex 1B00 hex GX OD3218 OD3228 01 hex 1700 hex 00 hex GX MD3218 MD3228 01 hex 1700 hex 01 hex 1B00 hex 4 g Analog I O Slave Unit Sync manager 2 PDO Sync manager 3 PDO 5 assignment assignment lt 59 PU E Assigned Assigned assigned PDO 1 assigned PDO 1 RxPDOs TxPDOs GX AD0471 00 hex 01 hex 1B00 hex GX DA0271 01 hex 1700 hex 00 hex Encoder Input Slave Unit Model GX ECO211 241 Sync manager 3 assignment Sync manager 2 PDO assignment Number Assigned PDO Number of of assigned 1 2 assigned RxPDOs TxPDOs 02 hex 1700 hex 1701 hex GX series EtherCAT Slave Unit User s Manual Assigned PDO joefqo uoneoiunuiu02 JeDeue N 9u S 9 L V A Appendix Default Settings for Software from Other Companies e Digital I O Slave Unit
126. 2 Proced re RR id and Wet pone eS 3 3 3 2 Setting and Wiring Hardware 3 4 3 2 1 Mounting and Setting EtherCAT Master Unit 3 4 3 2 2 Mounting and Setting Slave 3 4 3 2 3 Wiring Communications Cables 3 4 3 2 4 Connecting Power Supplies 3 4 3 2 5 Wiring O Devices 3 4 3 3 Starting Communications 3 5 33 1 Paes ane Gb deed Goes 3 5 3 3 2 Setting EtherCAT Communications 3 5 3 3 3 Starting EtherCAT Communications 3 5 3 4 Checking Operations 3 6 3 4 1 Checking Unit 3 6 3 4 2 Confirming Data Read and Write 3 6 3 4 3 Setting Slave Unit Parameter 3 6 GX series EtherCAT Slave Unit User s Manual 3 1 3 Basic Usage Procedures 3 1 Procedure Setup Examples and Basic 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
127. 2 GX MD1622 Input capacity 8 points 15 VDC min between each input 15 VDC min between each input ON voltage terminal and the V terminal terminal and the G terminal OFF voltage 5 VDC max between each input 5 VDC max between each input terminal and the V terminal terminal and the G terminal OFF current 1 0 mA max input Input current 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay 0 1 ms max OFF delay 0 2 ms max Input filter value Without filter 0 5 ms 1 ms 2 ms 4 ms 8 ms 16 ms 32 ms Default setting 1 ms Number of circuits per common 8 points common Isolation method Photocoupler isolation power supply method Supply by I O power supply Input device supply 100 mA point current power supply current 10 mA max for 20 4 to 26 4 VDC power supply voltage consumption GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Output section fant Specification GX MD1612 GX MD1622 Output capacity 8 points Rated output current 0 5 A output 2 0 A common 1 2 V max 1 2 V max Residual voltage 0 5 ADC between each output terminal 0 5 ADC between each output terminal and the G terminal and the V terminal Leakage current 0 1 mA max ON delay 0 5 ms max OFF delay 1 5 ms max E peus per 8 points common Isolation method Photocoupler isolation
128. 28 00020191 hex GX OD1618 GX 0D1628 space 20 hex of 11 characters GX MD1618 MD1628 00030191 hex GX MD1618 GX MD1628 T space 20 hex of 11 characters GX ID3218 103228 00010191 GX ID3218 GX 1D3228 space 20 hex of 11 characters GX OD3218 OD3228 00020191 hex GX OD3218 003228 space 20 hex of 11 characters GX MD3218 MD3228 00030191 hex GX MD3218 2 GX MD3228 space 20 hex of 11 characters GX AD0471 00040191 hex GX AD0471 space 20 hex of 11 characters GX DA0271 00080191 hex GX DA0271 space 20 hex of 11 characters GX series EtherCAT Slave Unit User s Manual Manufacturer hardware version space 20 hex of 20 characters A Appendix Manufacturer software version V1 00 space 20 hex of 15 characters Aseuonsiq paldo 1 V Sjoefqo v L Vv A Appendix Model Slave Unit GX EC0211 Expansion Unit DeviceType 00010000 hex Manufacturer device name GX EC0211 space 20 hex of 11 characters GX EC0241 00010000 hex GX EC0241 space 20 hex of 11 Manufacturer hardware version space 20 hex of 20 characters Manufacturer software version V1 00 i space 20 hex of 15 characters characters 1011 hex Restore Default Parameters Sub inde
129. 4 GX series EtherCAT Slave Unit User s Manual A 35 A Appendix 3112 hex Analogue Input Adjustment High Execute Sub index 0 Number of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO Sub indexes 1 to 4 CH1 4 Adjustment High Execute PDO map Not possible Range Unit Default 00000000 hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible This object executes user adjustment It writes upper adjustment value To adjust enter a voltage or current equivalent to 10096 from a connected device to the terminal of input point you want to adjust Set the input range in advance f you reset it returns to the default setting The value is adjusted or reset only when the specific value is written to sub indexes 1 to 4 This prevents erroneous execution and resetting The specific values are save for execution rset for resetting MSB LSB e V a S 65 hex 76 hex 61 hex 73 hex t e S r 74 hex 65 hex 73 hex 72 hex Writing values other than the above is invalid A value 0000 0000 hex is indicated when reading 3113 hex Analogue Input Adjustment Low Value Sub index 0 Number of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Sub indexes 1 to 4 CH1 4 Adjustment Low Value Access RO PDO map Not possible Range
130. 4 5 Qo 92 9 5 m 2 H org xg GX D A E n M B CHI 12345678 di S Us fey sanee 0 mm m RUN 8 lt 1 4 2 Ee UNTPS 2 2 La Dewy S M GX series EtherCAT Slave Unit User s Manual 8 23 8 Analog I O Slave Unit Terminal arrangement diagram Name V1 I1 V2 12 ne Too Function Communications connectors Unit power supply connector Status indicators Node Address setting Switches Refer to Specifications of Common Areas in Page 6 4 Output range setting Switches DIP switches for setting output range Refer to the following section Terminal block Terminal block for analog output signals 1 V2 Voltage output positive terminals 11 12 Current output positive terminals 1 2 Voltage current output negative terminals NC Not used 7 DIN track mounting hook Fixes a Slave Unit to a DIN track Output range setting switches Set output range by combination of individual DIP switches To enable settings of these switches it is necessary to turn Pin8 output range setting method ON
131. 4 G1 61 A5 B5 V5 G1 A5 Wi lt gt lt gt lt lt gt gt gt Black White Phase B Orange Phase Z Brown Vcc Encoder NPN open collector output type NPN output Encoder power supply 3 wire sensor 24 VDC or 5 VDC Encoder NPN open collector output type H Precautions for Correct Use Use shielded cable and ground the shield to 100 or less when wiring pulse input A B Z with external control inputs Wiring of pulse input A B Z shall be as short as possible and separated from wiring with many noises such as power lines Use stabilizing power supply separate from other inputs outputs for Encoder Input Slave Units as much as possible Do not wire anything to RSV terminals 9 22 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit 9 4 2 Line Driver Input Type GX EC0241 Specification Slave Unit specifications Item Specification Counter point 2 points Counter phase A Counter phase B Input signal Counter phase Z Latch input A B Counter reset input Counter enabled status LED display green display Input indicators LED display yellow eni power SUBEN current 100 mA max for 20 4 to 26 4 VDC power supply voltage consumption Weight 390 g max Pulse input specifications B 8 Specification o Item E Counter phase A B Counter phase Z
132. 5 GAN NB ana AG SEN nennen ennt nnns 7 3 7 2 2 Qutput Data Allocation utro Breiten one ente iii Pepe d rtg 7 5 7 8 Functions of Digital I O Slave Units csccscceeeeeeeeceeeeeeeneeeeeseaeeneeeeeseaeeseseeeeeseeeseseaeeeeeees 7 7 4 3 1 Input Filter ean aeu eei P period D 7 7 7 3 2 Error Mode OUIpUt dasa en oed Pl eiit Reseau uad 7 8 7 4 Specifications for Each Slave Unit casaaesan aswa neran nenen ewan anane anane wane awane ranne nnn nn nnns 7 9 7 4 1 2 tier Terminal Block Type 16 point Input Slave Unit GX ID1611 1D1621 7 10 7 4 2 2 tier Terminal Block Type 16 point Output Slave Unit GX OD1611 OD19621 7 14 7 4 3 2 tier Terminal Block Relay Type 16 point Output Slave Unit GX OC10601 7 18 7 4 4 2 tier Terminal Block Type 8 point Input and 8 point Output Slave Unit 01611 01621 T anas sag Sa aaa ek aa AG TE a a aa GA DG baan a ga E ga ah mb Aa a aka 7 22 7 4 5 3 tier Terminal Block Type 16 point Input Slave Unit GX ID1612 1D1622 7 28 7 4 6 3 tier Terminal Block Type 16 point Output Slave Unit GX OD1612 OD10622 7 33 7 4 7 3 Terminal Block Type 8 point Input and 8 point Output Slave Unit GX MD10612 MD19622 sess nennen 7 38 7 4 8 e CON Connector Type 16 point Input Slave Unit GX ID1618 ID1628 7 44 7 4 9 e CON Connector
133. 5 VDC max between each input terminal and the V terminal terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA at 24 VDC 3 0 mA at 17 VDC ON delay time 1 5 ms max OFF delay time 1 5 ms max Number of circuits per 8 inputs common common Isolation method Photocoupler isolation Input indicators LED display yellow Weight 80g max Names and functions 1 01234567 j 2 LI o 4 3 GX series EtherCAT Slave Unit User s Manual 10 5 uoisuedx3 jo suoneoyioeds 2 01 L 80dl 80Gl LMX yun uorsuedx3 Indu Julod g 1 2 01 10 Expansion Unit No Name 1 Input indicators 0 to 7 Function Indicates the state of each input contact ON OFF Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state 2 Slave connector Connects the connector on the right side of the Slave Unit 3 Terminal block Connects external devices and the I O power supply V G I O power supply terminals 0 to 7 Input terminals 4 DIN track mounting hook Fixes a Slave Unit to a DIN track Internal circuits diagram e XWT IDO8 NPN Photocoupler Internal circuits e XWT ID08 1 PNP V 24VDC Photocoupler ae NANA Photocoupler gt t
134. 5 to 10 20 4 to 26 4 VDC 24 VDC 15 to 10 Input impedance 4 0 kQ 3 3 Input current 5 5 mA at 24 VDC 7 mA at 24 VDC ON voltage ON current 17 4 VDC min 3 mA min 14 4 VDC min 3 mA min OFF voltage OFF current 5 VDC max 1 mA max 5 VDC max 1 mA max ON response time 3 us max 15 us max OFF response time 3 us max 90 us max Names and Functions EtherCA E LE QIO ae 72 LA2 182 8572 Ur 7 0o m CL L RUN p pe UNITPS DC24V INPUT E 2 7 5 uoe3 10 t 6 CH1 CH2 CH1 A1 B1 LB1 RST1 CH2 2 LA2 LB2 RST2 HE Em me EISE sen EICIESESESCICICICI No Name Function Communications connectors 1 2 Unit t i Refer to 6 3 Specifications of Common Areas Page 6 4 3 Status indicators 4 Node address switches The indicators show the status of the inputs of each channel For details refer to the next section Input indicators Connects external devices and the I O power supply For details refer to the next section Terminal block 7 DIN track mounting hook Fixes a Slave Unit to a DIN track 5 Input indicators 172003 ed ndu z v 6 6 Terminal block GX series EtherCAT Slave Unit User s Manua
135. 6306 hex Error mode output 16bit Sub index 0 Number of outputs 16bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Error mode output 1st word Range 0000 hex to FFFF hex Unit Default 0000 hex Attribute A Size 2 bytes U16 Access RW PDO map Not possible Sets whether the data is cleared to 0 or retained at an error occurrence or at a node stop in units of 2 bytes 16 bits Bits Contents OUT15 OUT14 OUT1 OUTO setting setting setting setting Setting 0 Clear to 0 1 Retain the value at error occurrence 6320 hex Write output 32bit Sub index 0 Number of outputs 32bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Write output 1st double word Range 00000000 hex to FFFFFFFF hex Size 4 bytes U32 Access RW PDO map Not possible Unit Default Attribute A Digital output values are stored in units of 4 bytes 32 bits A 32 GX series EtherCAT Slave Unit User s Manual A Appendix 6326 hex Error mode output 32bit Sub index 0 Number of outputs 32bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Error mode output 1st double word Range suu ial x Unit Default 00000000 hex Attribute A Size 4 bytes U32 Access RW PDO map Possible Se
136. 7515 GX series EtherCAT Slave Unit User s Manual 10 11 uoisuedx3 jo suoneoyioeds z 0L L 9LGI 9 LGI LMX uorsuedx3 1nduj ujod 9 2 2 01 10 Expansion Unit No Name 1 Input indicators 0 to 15 Function Indicates the state of each input contact ON OFF Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state 2 Slave connector Connects the connector on the right side of the Slave Unit 3 Terminal block Connects external devices and the I O power supply V G I O power supply terminals 010 15 Input terminals 4 DIN track mounting hook Fixes a Slave Unit to a DIN track Internal circuits diagram e XWT ID16 NPN NS Photocoupler NPhotocoupler gt Internal circuits e XWT ID16 1 PNP V 24VDC _ Photocoupler Internal circuits 10 12 GX series EtherCAT Slave Unit User s Manual 10 Expansion Unit Wiring diagram e XWT ID16 NPN 10 12 14 I O power supply 24 VDC vo oO S QA B m NPN output 3 wire sensor 2 wire sensor Photoelectric sensor Limit switch etc proximity sensor e XWT ID16 1 PNP
137. 768 to 32767 Integer32 INT32 4 bytes 2147483648 to 2147483647 Visible string VS GX series EtherCAT Slave Unit User s Manual A Appendix A 1 3 Object Description Format In this manual objects are described in the following format Object description format Index Object name gt Range Setting range Unit Unit Default Default setting Attribute Data attribute Size Size Access Access map Possible Not possible Object description format with sub indexes Index Object name gt Sub index 0 Range Setting range Unit Unit Default Default setting Attribute Data attribute Size Size Access Access PDO map Possible Not possible Sub index N Range Setting range Unit Unit Default Default setting Attribute Data attribute Size Size Access Access PDO map Possible Not possible 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 data attribute of a writable object The data attribute is given in the following format L1 0 Indicates the timing when a change is applied Indicates whether the data is saved to non vola
138. 7th Output Object to be mapped Range Unit Default 32201101 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 18 18th Output Object to be mapped Range Unit Default 32201201 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible GX series EtherCAT Slave Unit User s Manual A 9 yelqo 1 V 1 efqo Buidde Odd 9 1 A Appendix Sub index 19 19th Output Object to be mapped Range Unit Default 32201301 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 20 20th Output Object to be mapped Range Unit Default 32201401 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 21 21th Output Object to be mapped Range Unit Default 32201501 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 22 22th Output Object to be mapped Range Unit Default 32201601 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 23 23th Output Object to be mapped Range Unit Default 32201701 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 24 24th Output Object to be mapped Range Unit Default 32201801 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 25 25th Output
139. 8 inputs common Isolation method Photocoupler isolation Output indicators LED display yellow Error Mode Output Select either hold or clear Weight 80g max Names and functions omnon XWT OD08 2 REMOTE TERMINAL 10 8 GX series EtherCAT Slave Unit User s Manual 10 Expansion Unit No Name Function Indicates the state of each output contact ON OFF 1 Output indicators 0 to 7 Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 2 Slave connector Connects the connector on the right side of the Slave Unit Connects external devices and the I O power supply 3 Terminal block V I O power supply terminals 0 to 7 Output terminals 4 DIN track mounting hook Fixes a Slave Unit to a DIN track Internal circuits diagram e XWT ODO08 NPN Internal circuits e XWT OD08 1 PNP uoisuedx3 jo suoneoyioeds 2 01 Photocoupler 90 fk Internal circuits Photocoupler L 8000 8000 LMX yun uorsuedx3 ndino 1utod 8 z z 01 Voltage drop 0 GX series EtherCAT Slave Unit User s Manual 10 9 10 Expansion Unit Wiring diagram e XWT ODO08 NPN power supply 24 VDC Solenoid valve etc Solenoid valve etc e XWT OD08 1 PNP
140. 9 50 3 3 ed xoo g Jen z S Z EE suoisuawig S Z 57 6 GX series EtherCAT Slave Unit User s Manual 7 75 7 Digital Slave Unit GX MD1611 MD1621 52 57 1 7 5 2 3 tier Terminal Block Type 68 9 GX series EtherCAT Slave Unit User s Manual 7 76 7 Digital I O Slave Unit 7 5 3 e CON Connector Type GX ID1618 1D1628 mm ed NO2 9 S Z EE suoisuawig S Z
141. AT 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 it passes Ethernet frames through all of the slave nodes When frame passes through a slave node the slave node reads and writes data in the areas allocated to it in the frames in a few nanoseconds Ethernet frames sent from the EtherCAT Master Unit go through all the EtherCAT Slave 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 Data Reading output data addressed to the local Slave Units Writing input data Ethernet frame 1 2 GX series EtherCAT Slave Unit User s Manual 1 EtherCAT Network It is the EtherCAT datagram stored directly in an Ethernet frame that exchanges data regularly 2 between the EtherCAT Master Unit and Slave Units Each EtherCAT datagram is configured with header data length including address of or more Slave Units etc data working counter check bit zm When an Ethernet frame is compared to a train an EtherCAT datagram can be con
142. CH1 Present value data 44 HL 45 HH 6 LL 47 LH CH2 Present value data xh HL 49 HH 10 LL 11 LH CH1 Latch A data 12 HL m HH 14 LL 15 LH CH2 Latch A data 16 HL 17 18 LL 19 LH CH1 Latch B data 20 HL 421 HH 22 LL 23 LH CH2 Latch B data 24 HL 25 0 to 1 Counter status 9 4 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit Counter status counter present value data external latch A data external latch B data Sysmac error status size 27 bytes Offset byte D07 D06 D05 D04 D03 D02 D01 D00 0 CRUN1 CERR1 Reserved EXLB1 EXLA1 EXRES1 RACK1 PACK1 1 CRUN2 CERR2 Reserved EXLB2 EXLA2 EXRES2 RACK2 PACK2 42 LL 48 LH CH1 Present value data 44 HL 45 HH 46 LL 47 LH CH2 Present value data 8 HL HH 10 LL 11 LH Latch A data H2 HL 43 HH H4 LL H5 LH CH2 Latch A data 16 HL H7 HH s LL E 19 LH CH1 Latch B data 20 HL m 21 HH gt 8 22 LL m 23 LH 5 CH2 Latch B data 24 HL 25 HH 26 error status 0 to 1 Counter status 5 c m gt 2 2 GX series EtherCAT Slave Unit User s Manual 9 5 9 Encoder Input Slave Unit Abbreviations used for the counter status information description have the following meanings Abbreviation Status name Presen
143. DA conversion available points Enabled channel 1 point 500 2 points 1000 Conversion time us 14 Precautions for Correct Use 1 uoisieAuo 1 9 8 Do not disable all of the channels GX series EtherCAT Slave Unit User s Manual 8 15 8 Analog I O Slave Unit 8 5 2 Analog Output Fault Action Overview of functions e Purpose This function outputs set values if a communications error occurs Details of functions It is possible to set a value to be output when a communications error occurs for each point Select an output value from the following 5 patterns Output pattern Contents Hold Last State Holds and outputs the value immediately before the error occurred Low Limit Outputs the values in the following table according to the output range High Limit Outputs the values in the following table according to the output range User Count Outputs the value specified by users Zero Count Default setting Outputs the 0000 hex values of each output range Output value corresponding to the output range and output pattern Hold Last Low High Zero Suput range State Limit Limit Count Specified value by a user 0to5V 0 25 V 5 25 V from 0 25 to 5 25 V OV Specified value by a user 1to5V 0 8 V 5 2V from 0 8 to 5 2 V 1V 10 V Hold sw yae Dua Loss from 0 5 to 10 5 V Specified value by a user 10 to
144. E TX Category 5 or higher Cables with connectors er Double shield aluminum tape braided shielding below are also allowed RJ45 Category 5 or higher connector Shielded M Precautions for Correct Use 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 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 WOMION 1V219U13 2 ES Reference We recommend cables with double aluminum tape and braded shielding taking noise resistance into consideration yonmay 10 2 2 GX series EtherCAT Slave Unit User s Manual 4 5 4 Installatio n and Wiring 4 2 3 Connecting Communications Cables and Connectors Conne Pin No Wire color Wire color Pin No ct a communications cable and a connector by wiring them straight as shown below d 1 White Green A white Green 1 2 Green Green 2 3 White Orange EL Ir LLL White Orange 3 4 Blue Blue 4 5 Whit
145. Fixes a Slave Unit to a DIN track GX series EtherCAT Slave Unit User s Manual 7 71 7 Digital Slave Unit Internal circuits diagram e GX MD3218 NPN TX OA RX UNIT PS Physical layer DC DC v v converter No isolation type e GX MD3228 PNP TX TX RX RX Internal circuits Photocoupler Input circuit Left side NC GO INO Short circuit protection element V NC G OOOO OUTO Right side Qa lt lt Physical layer DC DC converter No isolation type Internal circuits A Photocoupler m 5 o 5 Left side ort circuit protection element O NC Right side GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Wiring diagram e GX MD3218 NPN 3 v NC NC NC Nc NC NC NC NC Inc Nc Nc
146. Flickering ON Reference Boot error PDI WDT timeout The timing of each flashing state of indicator is as follows 1000 ms 200 ms 200 ms 1000 ms 200 ms 200 ms 200 ms 50 ms on Flickering off Blinking off on Single flash off on Double flash off GX series EtherCAT Slave Unit User s Manual Sealy Jo c 9 SJOjeoipu SNIS 2 9 6 Basic Specifications of Slave Units 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 tens digit of the node address on the left switch and the ones digit on the right switch Setting range is 00 to 99 Default setting 00 m _ Setting the node address x 1 E Setting the node address x 10 1 am INPUT Note that the node address set values vary as shown below when the EtherCAT Master Unit is made by OMRON or by other manufacturers Set value for node address Node address switch setting OMRON EtherCAT Master Unit EtherCAT Master Unit from another NJ501 1 100 or 182 manufacturer 00 Set value according to Configuration Tool Set value according to Configuration Default setting 0 Setting range 1 to 65 535 Tool settings by these switches are 01 to 99 Setting on node address switch
147. GX MD3218 GX MD3228 104 v Input capacity 16 points 15 VDC min between each input 15 VDC min between each input ON voltage 7 terminal and the V terminal terminal and the G terminal OFF voltage 5 VDC max between each input 5 VDC max between each input terminal and the V terminal terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC 3 0 mA at 17 VDC ON delay 0 1 ms max z OFF delay 0 2 ms max S Input filter value Without filter 0 5 ms 1 ms 2 ms 4 ms 8 ms 16 ms 32 ms Default setting 1 ms Number of circuits per common 16 points common Isolation method No isolation power supply method Supplied from unit power supply Input device supply current 100 mA point power supply current consumption 10 mA max for 20 4 to 26 4 VDC power supply voltage GX series EtherCAT Slave Unit User s Manual 5 1ndino 1urod 9 pue jnduj julod g ed 10 0euu0 NOO 8 21 7 7 Digital I O Slave Unit Output section Specification GX MD3218 GX MD3228 Output capacity 16 points Rated output current 0 5 A output 2 0 A common 1 2 V max 1 2 V max Residual voltage 0 5 ADC between each output terminal 0 5 ADC between each output terminal and the G terminal and the V
148. GX MD3228 00000045 00010000 Analog VO GX ADOZ71 0000004F 00010000 GX DA0271 00000050 00010000 gt oa GX EC0211 00000051 00010000 GX ECO241 00000052 00010000 g 10F3 hex Diagnosis History Sub index 0 Number of entries lt Range Unit Default 00 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 gt Sub index 2 Newest Message Range Unit Default Attribute Size 1 byte 08 Access RO PDO map Not possible 3 3 Sub index 5 Flags 0000 0001 Unit Default 0000 hex Attribute S Size 2 bytes U16 Access RW PDO map Not possible 5 Sub index 6 to 13 Diagnosis Message 1 8 9 Range Unit Default Attribute T Size 23 bytes VS Access RO PDO map Not possible 8 GX series EtherCAT Slave Unit User s Manual 7 A Appendix This object indicates up to 8 diagnosis histories It also sets whether to notify emergency messages or not Sub index 1 Maximum Messages gives the number of error messages Sub index 2 Newest Messages gives the sub index number the latest message in the diagnosis history 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
149. GX OD1612 GX OD1622 GX MD1612 GX MD1622 GX ID1618 GX ID1628 GX OD1618 GX OD1628 e CON connectors GX MD1618 GX MD1628 GX ID3218 GX ID3228 GX OD3218 GX OD3228 Power for external I O sensors and actuators is also supplied from the unit power supply GX MD3218 GX MD3228 Slave Unit installation method DIN track yo connection method screw terminal block e CON Connectors Internal power supply Shared with unit power supply External power supply power supply must be supplied externally for connected devices Shared with unit power supply power supply must be supplied externally for connected devices Only inputs are shared with unit power Shared with unit power power supply must be supplied externally for connected devices Only inputs are shared with unit power supply For this reason make sure to add current consumption of external I O when examining output current of the unit power supply Analog I O Slave Unit Type Models with screw Model GX AD0471 terminal blocks GX DA0271 Slave Unit installation method DIN track 1 0 connection method M3 screw terminal block Internal power supply Shared with unit power supply External power supply Not necessary GX series EtherCAT Slave Unit User s Ma
150. L Access RO PDO map Not possible Sub index 25 25th Output Object to be mapped Range Unit Default 40211901 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 26 26th Output Object to be mapped Range Unit Default 40211A01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 27 27th Output Object to be mapped Range Unit Default 40211B01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 28 28th Output Object to be mapped Range Unit Default 40211C01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 29 29th Output Object to be mapped Range Unit Default 40211D01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 30 30th Output Object to be mapped Range Unit Default 40211E01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 31 31th Output Object to be mapped Range Unit Default 40211F01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 32 32th Output Object to be mapped Range Unit Default 40212001 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible This mapping is for soft switch commands from the EtherCAT Master Unit to Slave Units 1800 hex 257th transmit PDO Mapping Sub index 0 Number of objects
151. MQ min Approx 250 Q Resolution 1 8000 full scale Overall 25 C 0 3 FS 0 4 FS accuracy 10 to 55 C 0 6 FS 0 8 FS 500 us input Analog conversion cycle 9 y When 4 points are used 2 ms max Other than 10 V 0000 to 1F40 hex full scale 0 to 8000 AD converted data 10 V F060 to OFAO Hex full scale 4000 to 4000 AD conversion range 5 FS of the above data ranges Photocoupler isolation between input and communications lines No isolation between input signal wires Isolation method Uni power supply curteni 120 mA max for 20 4 to 26 4 VDC power supply voltage uoe3 JO MalAJ9AQ 9 8 consumption Weight 180 g max Accessories Four short circuit metal fixtures for current input Short circuit metal fixtures are used for current input only but store in a safe place when using for voltage inputs as well HUN e e s Indu 9 8 GX series EtherCAT Slave Unit User s Manual 8 19 8 Analog I O Slave Unit Names and functions i 4 gt gs xus Saron Gx D m A J p E zig T ER E 1 un 7 i UNTPS e Cajon 7 6 Terminal arrangement diagram No Name Communications
152. OMRON EtherCAT Remote I O Terminal GX series EtherCAT Slave Units User s Manual GX IDI JE T JE GX OD JL JT GX OC GX MD GX AD IL JEJE GX DA IL TL GX EC J J 1 J XWT IDLIL XWT OD Digital l O Units Analog I O Units Encoder Input Units always in control W488 E1 04 OMRON 2010 rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form 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 EtherCATe is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany ODVA CIP CompoNet DeviceNet and EtherNet IP are trademarks of ODVA Windows is a registered trademark of Microsoft Corporation in the USA Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in J
153. Object to be mapped Range Unit Default 32201901 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 26 26th Output Object to be mapped Range Unit Default 32201A01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 27 27th Output Object to be mapped Range Unit Default 32201B01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 28 28th Output Object to be mapped Range Unit Default 32201C01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 29 29th Output Object to be mapped Range Unit Default 32201D01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 30 30th Output Object to be mapped Range Unit Default 32201E01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 31 31th Output Object to be mapped Range Unit Default 32201F01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 32 32th Output Object to be mapped Range Unit Default 32202001 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible This object gives the mapping for an application that uses digital output functions 1800 hex 257th transmit PDO Mapping Sub index 0 Number of objects Range Unit Default Differ by Slave Unit types Attribute
154. PEN A0V c Se ba sab 11V Output range 4 to 20 mA Data from 0000 to 1F40 hex 0 to 8000 is converted to voltage from 4 to 20 mA and output The output data range for which conversion is possible is FE70 to 2000 hex 400 to 8400 and here the output data is 3 2 to 20 8 mA Current A Fe ro ete kaa a ma ala aga 20 4 ejeq peueAuo pue 1ndinQ 8 Converted data 8000 FE70 0000 0 1240 2000 m Hexadecimal decimal 400 8000 8400 GX series EtherCAT Slave Unit User s Manual 8 13 8 Analog I O Slave Unit Output range setting The output range is set using the output range setting switch DIP switch of a Slave Unit or by SDO communications When SDO communication is used for the setting the target index is 3201 hex For the set value refer to the corresponding index of Appendix A 1 Object Dictionary in Page A 38 For how to set with the output range switch refer to Names and functions in Page 8 23 8 4 2 Data Allocation PDO Mapping An Analog Output Slave Unit has output data and it is allocated to the OUT area of l O memory of the EtherCAT Master Unit Also the Sysmac error status is allocated to the IN area of I O memory of the EtherCAT Master Unit 4 Refer the manual of the EtherCAT Master Unit for allocation methods 1 Unit version 1 1 or later only Output data allocation Analog output data for 2 channels Offset byte 7 bit
155. Process data input EtherCAT Slave Unit to Master Unit yelqo y 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 It indicates the number of PDO mappings used by this sync manager Mailbox reception sync manager does not have PDOs joefqo JeDeue N 9u S 9 L V GX series EtherCAT Slave Unit User s Manual A 21 A Appendix 1C11 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 t indicates the number of PDO mappings used by this sync manager Mailbox transmit sync manager does not have PDOs 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 8 158 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 t indicates the RxPDOs used by this sync manager 1013 hex Sync Manager 3 PDO Assignment Sub index 0 Number of assigned PDOs Range 00 hex to 08 hex Defa
156. RO PDO map Not possible Sub index 14 14th Input Object to be mapped Range Unit Default 30200E01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 15 15th Input Object to be mapped Range Unit Default 30200F01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 16 16th Input Object to be mapped Range Unit Default 30201001 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 17 17th Input Object to be mapped Range Unit Default 30201101 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 18 18th Input Object to be mapped Range Unit Default 30201201 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible A 12 GX series EtherCAT Slave Unit User s Manual A Appendix Sub index 19 19th Input Object to be mapped Range Unit Default 30201301 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 20 20th Input Object to be mapped Range Unit Default 30201401 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 21 21th Input Object to be mapped Range Unit Default 30201501 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 22 22th Input
157. Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 10 CH1 Ext Latch A Enabled Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 11 CH1 Ext Latch B Enabled Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 13 CH1 Clear Present Value Ext Reset Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 14 CH1 Clear Ext Latch A Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible GX series EtherCAT Slave Unit User s Manual 43 1euonoig yelqo 1 V sioe qo 2 4 A Appendix Sub index 15 CH1 Clear Ext Latch B Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 17 CH2 Count Possible Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 18 CH2 Present Value Preset Execution Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 19 CH2 Present Value Reset Execution Range 00 he
158. Slave Unit 7 2 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 2 1 Input Data Allocation The input data for a Digital I O Slave Unit consists of the input data for the Slave Unit and the input data for the Expansion Unit when one is mounted You can also assign the Sysmac error status 1 The input data is assigned in this order in byte increments 1 Unit version 1 1 or later only Input data allocation example 8 point Input Slave Unit Offset byte 7 bit 0 bit 0 Input data of the Slave Unit 7 to O bit 1 Reserved 16 point Input Slave Unit Offset byte 7 bit 0 bit 0 Input data of the Slave Unit 7 to O bit 1 Input data of the Slave Unit 15 to 8 bit 6 32 point Input Slave Unit Offset byte 7 bit 0 bit 0 Input data of the Slave Unit 7 to O bit 1 Input data of the Slave Unit 15 to 8 bit 2 Input data of the Slave Unit 23 to 16 bit 3 Input data of the Slave Unit 31 to 24 bit 8 point Expansion Unit Offset byte 7 bit 0 bit 0 Input data of the Expansion Unit 7 to O bit 41 Reserved GX series EtherCAT Slave Unit User s Manual 7 3 Buiddew Odd eieg 2 2 i uogeo
159. Solenoid valve etc external device Emitter of photoelectric sensor 2 wire sensor PNP output 3 wire Limit switch etc sensor Photoelectric sensor proximity sensor yun 1ndino 1urod 9 pue 1nduj jurod 9 ed 101580000 1 v GX series EtherCAT Slave Unit User s Manual 7 73 7 Digital WO Slave Unit H Precautions for Correct Use The I O power supply connectors are equipped with two sets of V G terminals One set of terminals is used for the I O power supply for the unit and the other set is used for the I O power supply to the next unit Use a maximum current of 4 A per terminal When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in Page A 50 ES Reference Wire colors have been changed according to revisions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions 7 74 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit 7 5 Mounting Dimensions The mounting dimensions of a Digital I O Slave Unit are shown below 7 5 1 2 tier Terminal Block Type e GX ID1611 ID1621 0D1611 0D1621 135 T VF ae LLL ES 73
160. Type 16 point Output Slave Unit GX OD1618 0D1628 7 48 7 4 10 e CON Connector Type 8 point Input and 8 point Output Slave Unit 1618 01628 aan ne aa aaa gaen ma aa eene nnne nennen entree nnns 7 53 7 4 11 e CON Connector Type 32 point Input Slave Unit GX ID3218 ID3228 7 59 7 4 12 e CON Connector Type 32 point Output Slave Unit GX OD3218 0D3228 7 64 7 4 13 e CON Connector Type 16 point Input and 16 point Output Slave Unit GX MD8218 MD38228 a ak en nennen nnns nnns 7 69 7 5 Mounting 7 75 7 541 2 tier Terminal Block ien te DANANG 7 75 7 5 2 3 tier Terminal Block Typa sa Ng anaa Na NGA AREN ennt nnne nennen nennen 7 76 7 5 3 e CON Connector Type a ens instet nnns 7 77 Chapter 8 Analog I O Slave Unit 8 1 8 1 Analog l O Slave Unit cerent rtr eden ane edescteneestadeestiastanetermetee 8 2 18 GX series EtherCAT Slave Unit User s Manual 8 2 Overview of the Analog Input Slave 8 3 8 2 1 Input Range and Converted Data eene nennen 8 3 8 2 2 IJO Data Allocation PDO Mapping essent 8 6 8 3 Function of the Analog Input Slave Unit
161. V Data from 0000 to 1F40 hex 0 to 8000 is converted to voltage from 1 to 5 V and output The output data range for which conversion is possible is FE70 to 2000 hex 400 to 8400 and here the output data is 0 8 to 5 2 V Voltage 52V 5V E 0 8 V Tov Converted data 8000 FE70 0000 0 1F40 2000 7FFF Hexadecimal decimal 400 8000 8400 GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit Output range 0 to 10 V Data from 0000 to 1F40 hex 0 to 8000 is converted to voltage from 0 to 10 V and output The output data range for which conversion is possible is FE70 to 2000 hex 400 to 8400 and here the output data is 0 5 to 10 5 V Voltage 10 5V TOV pO a ae OV FE70 8000 400 NM 0 5V 0000 0 Converted data 1F40 2000 ppp Hexadecimal decimal 8000 8400 Output range 10 to 10 V Data from F060 to hex 4000 to 4000 is converted to voltage from 10 to 10 V and output The output data range for which conversion is possible is EEDO to 1130 hex 4400 to 4400 and here the output data is 11 to 11 V Negative voltages are specified as two s complements hexadecimal Voltage 11V EEDO F060 4400 4000 Converted data Hexadecimal decimal 8000 0000 0 yun 1ndino Bojeuy eui JO MalAJ9AQ 8 OV 1130 4000 4400
162. W PDO map Possible Sub index 8 Output Bit07 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 9 Output Bit08 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 10 Output Bit09 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 11 Output Bit10 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 12 Output Bit11 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 13 Output Bit12 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 14 Output Bit13 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 15 Output Bit14 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 16 Output Bit15 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 17 Output Bit16 Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 18 Output Bit17 Range 00 hex to 01 he
163. X ID1628 GX ID3218 GX ID3228 Errors of Encoder Input Slave Unit 11 6 PWR ENT RUN indicator IB DUI indicator LED On B ERR indicator Description Synchronization frequency SyncO frequency setting error Actions After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit Set the correct synchronization frequency GX series EtherCAT Slave Unit User s Manual L A IN L A OUT LED PWR indicator 11 Troubleshooting and Maintenance RUN indicator ERR Actions indicator Description After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit s the communications cable wired correctly s the communications cable exposed to excessive noise Review set time of Sync Not Received Timeout Setting synchronization error setting Synchronization error at synchronization start After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit s the communications cable wired correctly s the communications cable exposed to excessive noise Review set time of Communication Error Setting Communications SF RE synchronization error SF After checking the following items restart the Slave Unit according to the specificati
164. Z9LGO LLOLGO XD HUN ALIS 1ndino 1urod 91 ed oojg peua 194 Z Z v GX series EtherCAT Slave Unit User s Manual 7 15 7 Digital Slave Unit Internal circuits diagram GX OD1611 NPN CN IN TX Photocoupler V 24VDC 0 0 o RX O RX _O Voltage d Top Physical layer Photocoupler 2 S Internal circuits UNIT PS DC DC WO converter v O No isolation type e GX OD1621 PNP t V 24VDC 0 e e E gt EET 9 1 Internal circuits DC DC converter No isolation type 7 16 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Wiring diagram e GX OD1611 NPN _ power supply 24 VDC Solenoid valve etc Solenoid valve etc e GX OD1621 PNP uoe3 104 v i power supply 24 VDC Solenoid valve etc Solenoid valve etc H Precautions for Correct Use When using an inductive load such as a solenoid valve either use a built in diode
165. al terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay 0 1 ms max OFF delay 0 2 ms max Input filter value Without filter 0 5 ms 1 ms 2 ms 4 ms 8 ms 16 ms 32 ms Default setting 1 ms Number of circuits per common 8 points common Input indicators LED display yellow Isolation method Photocoupler isolation power supply method Supply by I O power supply Input device supply 100 mA point current a Qu Supp 90 mA max for 20 4 to 26 4 VDC power supply voltage consumption ds power supply current 10 mA max for 20 4 to 26 4 VDC power supply voltage consumption Weight 370 g max Expansion functions No Short circuit protection No function Notes Page A 51 For the I O power supply current value to V G terminals refer to A 5 I O Power Supply Current in GX series EtherCAT Slave Unit User s Manual 7 Digital WO Slave Unit Names and functions EtherCAE 1 es 7 6 Terminal arrangement diagram 1109 Function 1 Communications connectors 2 Unit power supply connector 3 4 5 3 104
166. alogue Input Adjustment High Execute user adjustment execution upper limit Lower limit correction 3115 hex Analogue Input Adjustment Low Execute user adjustment execution lower limit For the correction procedure refer to the information in the corresponding index of Appendix A 1 Object Dictionary in Page A 36 jueunsn pe 1SN v 8 GX series EtherCAT Slave Unit User s Manual 8 11 8 Analog I O Slave Unit 8 4 Overview of the Analog Output Slave Unit An Analog Output Slave Unit converts DA conversion digital data binary value stored in the EtherCAT Master Unit to analog signals such as 1 to 5 V and 4 to 20 mA and output them 8 4 1 Output Range and Converted Data Digital data that is output is converted to analog data using a set output range as shown below If the output data exceeds the data range for which conversion is possible the converted data is fixed at the maximum or minimum value of the range i Output Range and Converted Data Output range 0 to 5 V Data from 0000 to 1F40 hex 0 to 8000 is converted to voltage from 0 to 5 V and output The output data range for which conversion is possible is FE70 to 2000 hex 400 to 8400 and here the output data is 0 25 to 5 25 V Voltage A 529V se eo ak dame Secs SV 0v 8000 FED HAV Converted data 1F40 2000 Hexadecimal decimal TN 0 25V 0000 0 8000 8400 Output range 1 to 5
167. ances the speed of refresh cycles of analog input Details of functions Normally in this Unit the values for the four input points are converted in sequence The setting can be changed so that unused points are not converted By reducing the number of conversion points the conversion cycle speed is increased Whether AD conversion is enabled or disabled is settable for each point Default setting Enable for all channels Notes Regardless of this setting an Analog Input Slave Unit uses four points of data allocation area Setting method Set by SDO communications The target index is 3100 hex For the set values refer to the information in the corresponding index of Appendix A 1 Object Dictionary in Page A 35 yun Bojeuy aul jo uonounj g The table below shows the analog conversion time by the number of AD conversion available points 1 uoisieAuo AY 1 8 Pnabied Conversion time us channel 1 point 500 2 points 1000 3 points 1500 4 points 2000 GX series EtherCAT Slave Unit User s Manual 8 7 8 Analog I O Slave Unit 8 3 2 Moving Average Overview of functions Purpose The function averages the inputs if they fluctuates minutely due to noise and so on as shown in the figure below and obtains smooth input values Analog input value Actual input Input after averaging processing Time Details of fu
168. ange Unit Default 40310C01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 13 13th Input Object to be mapped Range Unit Default 40310001 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 14 14th Input Object to be mapped Range Unit Default 40310E01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 15 15th Input Object to be mapped Range Unit Default 40310F01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 16 16th Input Object to be mapped Range Unit Default 40311001 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible This mapping is for status notification from a Slave Unit to the EtherCAT Master Unit GX series EtherCAT Slave Unit User s Manual A Appendix Slave Units 1BFF hex 512th transmit PDO Mapping Sub index 0 Number of objects in this PDO Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Input Object to be mapped Range Unit Default 20020108 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This object gives the mapping for notification of errors that are detected in the Slave Unit The mapping includes 2002 hex 01 hex Sysmac Error Status When connected to an NJ seri
169. 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 following data communications Read and write process data Make Slave Unit setting Monitor Slave Unit state GX series EtherCAT Slave Unit User s Manual 1 EtherCAT Network lt 1 1 4 Connection Examples of EtherCAT 2 This section explains the connection examples of EtherCAT network 55 z2 EtherCAT Master Unit 3 Jo v Servo Drive Servomotor Inverter GX series EtherCAT Slave Unit User s Manual 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 E a Fin Configuration Tool RS 232C port connection Peripheral port connection power supply Communications cable Unit power supply i missum C Analog I O Slave Unit Digital I O Slave Unit Communications
170. at provide direct error notification that are directly affected by the error or that contain settings that cause the error Cause and Assumed cause Correction Prevention correction Lists the possible causes corrections and preventive measures for the error Attached This is the attached information that is displayed by the Sysmac Studio or an NS series PT information Precautions Rem Provides precautions restrictions and supplemental information arks 1 One of the following Major fault Major fault level Partial fault Partial fault level Minor fault Minor fault level Observation Information 2 One ofthe 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 8 One of the following System System event log Access Access event log 4 One of the following Continues Execution of the user program will continue Stops Execution of the user program stops Starts Execution of the user program starts GX series EtherCAT Slav
171. ate 100 Mbps Physical layer 100BASE TX IEEE802 3 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 Slave Units 100 m max Noise immunity Conforms to IEC 61000 4 4 1 kV or higher Node address setting method Set on decimal node address switches or with a Configuration Tool Node address range 1 to 99 Node address switch setting 1 to 65535 Set with Configuration Tool Indicator PWR x 1 L A IN Link Activity IN x 1 L A OUT Link Activity OUT x 1 RUN x 1 ERR x 1 Process data Fixed PDO mapping PDO size node 2 bit to 256 byte Mailbox Emergency messages SDO requests SDO responses and SDO information SYNCHRONIZATION mode Digital Slave Unit and Analog I O Slave Unit Free Run mode asynchronous Encoder Input Slave Unit DC mode 1 GX series EtherCAT Slave Unit User s Manual 6 Basic Specifications of Slave Units 6 2 General Specifications This section explains the general specifications of the GX series EtherCAT Slave Unit Item Unit power supply voltage Specification 20 4 to 26 4 VDC 24 VDC 15 to 10 power supply voltage 20 4 to 26 4 VDC 24 VDC 15 to 10 Noise immunity Conforms t
172. ation of individual relay refer to the data sheet disclosed by manufacturers 14 Precautions for Correct Use With a current of between 2 and 3 A 8 to 10 A per common either ensure that the number of points per common that simultaneously turn ON does not exceed 4 or ensure that the ambient temperature does not exceed 45 C There are no restrictions if the current does not exceed 2 A 8 A per common The rated current is the value for assuring normal operation but not for assuring durability of the relays The relay service life depends greatly on factors such as the operating temperature the type of load and switching conditions The actual relay must be checked under actual operating conditions GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Names and functions 8 7 6 Terminal arrangement diagram nels uoe3 104 v No Name Function 1 Communications connectors 2 Unit power supply connector TEN 7 Refer to 6 3 Specifications of Common Areas in Page 6 4 3 Status indicators 4 Node Address setting Switches Indicates the state of an output contact ON OFF 5 Output indicators 0 to 15 Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 6 Output relay Switches a contact Connects external devices and
173. ations connectors 2 Unit power supply connector 3 Status indicators 4 Refer to 6 3 Specifications of Common Areas in Page 6 4 4 Node Address setting Switches Indicates the state of an output contact ON OFF 5 Output indicators 0 to 15 Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 6 I O connectors 0 to 15 Connects an external device 7 power supply connector Supplies the I O power 8 DIN track mounting hook Fixes a Slave Unit to a DIN track 829100 81 91 00 HUN e e s 1ndino 1urod 9 ed 10 158uu02 6 t 7 GX series EtherCAT Slave Unit User s Manual 7 49 7 Digital Slave Unit Internal circuits diagram GX OD1618 NPN TX TX RX RX converter v No isolation type e GX OD1628 PNP CN IN RX layer TX TX RX RX UNIT PS V converter v No isolation type Internal circuits Internal circuits Voltage drop OUT1 90000 TT OOOO 2 O OUT1 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Wiring diagram e GX OD1618 NPN NC NC NC NC NC NC OUT OUT OUT OUT OUT 2 3 4 5 6 NC NC NC NC NC NC
174. ause The I O power is not supplied Measures Check that the I O power is supplied power supply voltage is outside the rated range Set the I O power supply voltage within the rated voltage Wiring with the connected device is incorrect Check the wiring with the connected device Terminal block screws are loosened Terminal block type only Check if terminal block screws are loosened A connected device is disconnected Check the wiring with the connected device A connected device is defective Replace the connected device Although the output is ON nothing is output and Slave Unit s output indicator does not turn ON either A communications error occurred Check if a communications error occurred Cannot hold outputs when communications errors occur The Unit is set to clear outputs at communications errors Change the setting to hold outputs at communications errors Cannot clear outputs when communications errors occur The Unit is set to hold outputs at communications errors Change the setting to clear outputs at communications errors Analog I O Slave Units The analog data values are different from expected or the analog data error is too large The user adjustment error is too large Execute user adjustment again Even if the I O range setting is changed expected analog input value is not set Alternatively ex
175. byte BOOL Access RO PDO map Not possible Sub index 3 3rd Input Object to be mapped Range Unit Default 40310301 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 4 4th Input Object to be mapped Range Unit Default 40310401 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 5 5 Input Object to be mapped Range Unit Default 40310501 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 6 6th Input Object to be mapped Range Unit Default 40310601 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 7 7th Input Object to be mapped Range Unit Default 40310701 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 8 8th Input Object to be mapped Range Unit Default 40310801 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 9 9th Input Object to be mapped Range Unit Default 40310901 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 10 10th Input Object to be mapped Range Unit Default 40310A01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 11 11th Input Object to be mapped Range Unit Default 40310B01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 12 12th Input Object to be mapped R
176. byte BOOL Access RO PDO map Not possible Sub index 8 8th Output Object to be mapped Range Unit Default 32200801 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 9 9th Output Object to be mapped Range Unit Default 32200901 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 10 10th Output Object to be mapped Range Unit Default 32200A01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 11 11th Output Object to be mapped Range Unit Default 32200B01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 12 12th Output Object to be mapped Range Unit Default 32200C01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 13 13th Output Object to be mapped Range Unit Default 32200D01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 14 14th Output Object to be mapped Range Unit Default 32200E01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 15 15th Output Object to be mapped Range Unit Default 32200F01 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 16 16th Output Object to be mapped Range Unit Default 32201001 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 17 1
177. ccess RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Pulse Direction Range 0 false 1 true Unit Default 0 false Attribute B 1 Size 1 bit BOOL Access RW PDO map Not possible B Set the count direction 2 Set value Count direction g 0 false Forward direction at CW clockwise rotation seen from the shaft of the connected encoder 1 true Forward direction at CCW counterclockwise rotation seen from the shaft of the connected encoder GX series EtherCAT Slave Unit User s Manual 41 A Appendix 4002 hex Encoder Input Setting Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Pulse Input Setting Range 00 hex to 04 hex Unit Default 02 hex Attribute B Size 1 byte U8 Access RW PDO map Not possible Set the input method Set value Range 00 hex Phase A B pulse Multiplication x 1 cycle 01 hex Phase A B pulse Multiplication x 2 cycle 02 hex Phase A B pulse Multiplication x 4 cycle 03 hex Code pulse Multiplication x 1 cycle 04 hex Incremental decremental pulse 4003 hex Max Count Setting Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Max Count Setting Range 00000000 hex to FFFFFFFF hex Size 4 byte
178. ce points Model 4 inputs GX AD0471 2 outputs GX DA0271 points Model 2 inputs 5 V and 24 V GX EC0211 voltage input 2 inputs Line driver input GX EC0241 Features Equipped with a removable screw terminal block Possible to switch input and output range voltage and current Features Equipped with a removable screw terminal block With 2 latch inputs 1 reset input GX series EtherCAT Slave Unit User s Manual 2 EtherCAT Slave Unit Expansion Unit Type Models with 2 tier terminal block Appearance points Model 8 inputs NPN XWT IDO8 8 inputs PNP XWT ID08 1 8 outputs NPN XWT ODO08 8 outputs PNP XWT OD08 1 16 inputs NPN XWT ID16 16 inputs PNP XWT ID16 1 16 outputs NPN XWT OD16 16 outputs PNP XWT OD16 1 GX series EtherCAT Slave Unit User s Manual Features Can be connected to the following Digital I O Slave Unit GX ID1611 1D1621 O D1611 OD1621 OC16 01 Can connect only 1 Expansion Unit per Slave Unit SHUN 1v24eui3 JO sed Z Z ISI SHUN ALIS 1 2 2 2 EtherCAT Slave Unit 2 2 2 Installation Connection and Power Supply Methods for Each Slave Unit Digital vO Slave Unit Type Models with 2 tier terminal block Model GX ID1611 GX ID1621 GX OD1611 GX OD1621 GX OC1601 GX MD1611 GX MD1621 Models with 3 tier terminal block GX ID1612 GX ID1622
179. ch present value internal reset execution Although the soft switch present value external reset enabled is enabled the counter value cannot be reset even if signals are input After resetting the counter value externally the external reset generation flag changes from 0 to 1 After that external reset cannot be performed until the flag is cleared Change the soft switch clear present value external reset generation flag from 0 to 1 At the rise from 0 to 1 the external reset generation flag changes from 1 to 0 and external reset is enabled The counter value cannot be latched even if external control input latch A B signals are input The soft switch external latch A B enabled is set to 0 disabled Set the soft switch external latch A B enabled to 1 enabled Although the soft switch external latch A B enabled is enabled the counter value cannot be latched even if signals are input GX series EtherCAT Slave Unit User s Manual After latching the counter value the external latch A B generation flag changes from 0 to 1 After that it is not possible to latch until the flag is cleared Change the soft switch clear external latch A B generation flag from 0 to 1 At the rise from 0 to 1 the external latch A B generation flag changes from 1 to 0 and latch is enabled 11 11 yJ 51043 2 1 1
180. ched None information Precautions The emergency error code is 5600 hex Remarks GX series EtherCAT Slave Unit User s Manual 11 17 L LL Sopo snjelg 10113 oeuis gS D L LL 11 Troubleshooting and Maintenance Disconnection Detected Slave An signal line is disconnected EtherCAT Master Function Module Continuously after communications are established Minor fault Error reset after resetting Slave Unit errors System The relevant I O will not operate Flashes at 1 s intervals None VO signal wiring is disconnected or Connect the I O signal wiring Connect the I O signal wiring has a faulty connection securely securely Check for vibration and shock An I O signal line is disconnected Replace the I O signal line None Attached information 1 Detected channel for Analog I O Unit The emergency error code is 2130 hex Slave Unit Verification Error Slave A verification error occurred for the 51 EtherCAT Master Function Module When establishing communications after turning ON power to the Slave Unit System Minor fault Continues Error reset after cycling Slave Unit power The Slave Unit where the error occurred does not go to Pre operational state None An error occurred in the control If cycling the power supply do
181. circuits diagram GX OD3218 NPN TX O TX 0 4 RX O RX _O Left side TX RX 0 O RX Internal circuits lt lt UNIT PS DC DC V converter lO No isolation type lt NC Right side G OUTO GX OD3228 PNP TX O TX 0 4 RX O RX _O Left side QZ lt lt lt A Q 34 TX OKT RX Q 91 RX Internal circuits UNIT PS DC DC v converter v 1 No isolation type Right side QZ lt lt lt c Q c 7 66 GX series EtherCAT Slave Unit User s Manual Wiring diagram e GX OD3218 NPN 7 Digital I O Slave Unit D V jv Nc NC NC NC NC NC Nc NC G lt 6
182. coupler isolation power supply method Supply by I O power supply Output device supply 100 mA point current enit Power 100 mA max for 20 4 to 26 4 VDC power supply voltage consumption Current consumption from lO Bower Supply 10 mA max for power supply voltage of 20 4 to 26 4 VDC e CON connector 50 times insertion durability Weight 210 g max Expansion functions No Error Mode Output Select either hold or clear Short circuit protection function Notes For the I O power supply current value to V and G terminals refer to A 5 I O Power Supply Current in Page A 51 7 64 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Names and functions 7 4 Specifications for Each Slave Unit m 7 4 12 e CON Connector Type 32 point Output Slave Unit GX OD3218 0D3228
183. ct 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 combination with any electrical or electronic components circuits system assemblies or any other materials or substances or environments Any advice recommendations or information given orally or in writing are not to be construed as an amendment or addition to the above warranty See http Awww omron com global or contact your Omron representative for published information Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL 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 GX series EtherCAT Slave Unit User s Manual 5 Further in no event shall liability of Omron Companies exceed the indivi
184. currents supplied to these points are calculated in block units For example in a GX ID1612 Unit the points are divided into two blocks One includes 8 points on the left Inputs 0 to 7 The other contains 8 points on the right Inputs 8 to 15 Currents are calculated for each block Input Slave Unit power supply current supplied to V and G terminals Current consumption of Input Slave Unit from I O power supply Input current of Input Slave Unit x Number of inputs used Total current consumption of connected input devices This value does not apply when two wire input devices are connected Use the following formula when two wire input devices are connected power supply current supplied to V and terminals Current consumption of Input Slave Unit from I O power supply Input current of Input Slave Unit x Number of inputs used Example The following example is for when seven three wire sensors with a current consumption of 30 mA each are connected to the GX ID1612 The GX ID1612 specifications are Input current of 6 0 mA max point at 24 VDC O power supply current consumption of 10 mA max at 20 4 to 26 4 VDC Therefore power supply current supplied V and G terminals 210 mA 6 mA x 7 points 30 mA x 7 points 262 mA Output Slave Unit I O power supply current supplied to V and G terminals Current consumption of Output Slave Unit from I O power supply Total load current
185. d Load Load Load Load Load Load Load Load AC power supply DC power supply is also allowed L09100 X9 HUN 1ndino 1 100 9 194 Z v 7 GX series EtherCAT Slave Unit User s Manual 7 21 7 Digital Slave Unit 7 4 4 2 tier Terminal Block Type 8 point Input and 8 point Output Slave Unit GX MD1611 MD1621 Specification Common to input section and output section Item Internal I O common Specification GX MD1611 NPN GX MD1621 PNP I O indicators LED display yellow Unit power supply current 80 mA max for 20 4 to 26 4 VDC power supply voltage consumption Weight 190 g max Expansion functions No Short circuit protection No function Input section Specification Item GX MD1611 GX MD1621 Input capacity 8 points 15 VDC min between each input 15 VDC min between each input ON voltage terminal and the V terminal terminal and the G terminal OFF voltage 5 VDC max between each input 5 VDC max between each input terminal and the V terminal terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay 0 1 ms max OFF delay 0 2 ms max Input filter value Without filter 0 5 ms
186. d multiple objects in the EtherCAT application layer so that various process data of EtherCAT Slave Units can be transferred The details of process data are described in PDO Mapping Objects and Sync Manager PDO Assignment Objects GX series EtherCAT Slave Units support PDO mapping for I O control 5 4 2 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 GX series EtherCAT Slave Unit User s Manual 5 5 Odd si e qo eleg sse2o4d p c MSIAIGAQ 6 5 EtherCAT Communications 5 4 3 The figure below shows an example of PDO mapping Object dictionary Index Sub Object contents 1222 01 hex 6TTT hex hex 8 1222 hex 02 hex 6UUU hex UU hex 8 1222 hex 03 hex Mapping objects 6YYY hex YY hex 16 PDO Length 32 Bit iPDO 1 Object A Object B Object D 6TTT hex TT hex Object A E 6UUU hex UU hex Object B 6VVV hex VV hex Object C 5 6YYY hex YY hex Object D 8 6277 hex 22 hex Object E Q amp Sync Manager Assignment Settings A sync manager channel consists of several PDOs The sync manager PDO assignment objects de
187. ddress of an object within the object dictionary GX series EtherCAT Slave Unit User s Manual A Appendix Term sync manager Abbrevia tion SM Description Collection of control elements to coordinate access to concurrently used objects Transmit PDO TxPDO A process data object sent from an EtherCAT Slave Unit GX series EtherCAT Slave Unit User s Manual INDEX Abort codes 3 mee d eee de 5 9 Analog I O slave essen 2 2 Application object seen me 5 5 C CAN application protocol 5 2 Clear external latch A generation flag 9 7 Clear external latch B generation flag 9 7 Clear present value external reset generation flag 9 7 seiten repeteret des 4 7 Code pulse input 9 10 a 5 2 Communications cable 1 7 3 4 4 4 4 6 4 7 6 7 Communications error eseeeenene 8 16 Communications Unit seen 1 7 Configuration 1 7 3 6 6 6 Correctable range 8 11 8 17 Count possible not possible 9 7 Counter operation state 9 6 Counter present value 9 3 Counter preset bit 9 13
188. dual price of the Product on which liability is asserted Application Considerations 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 complete determination of the suitability of the Product in combination with the end product machine system 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 application responsibility in all cases NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCT S IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM Programmable Products Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Disclaimers Performance Data Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitability and d
189. e This object indicates input of each point Analog Output Slave Unit e Manufacturer Specific area 2 3200 hex Analogue Output Available Channel Choice Range 0001 hex to 0003 hex Unit Default 0003 hex Attribute R Size 2 bytes U16 Access RW PDO map Not possible Sets whether to have DA conversion for each point Do not disable all channels Bits D A conversion enabled channel 0 1 CH1 enabled 0 CH1 disabled 1 1 CH2 enabled 0 CH2 disabled 210 15 Reserved 3201 hex Analogue Output Range Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Output Range Range 00 hex 01 hex 03 hex 04 hex 06 hex Size 1 byte U8 Access RW PDO map Not possible Sets the output range for each point The settable values are as follows No other values can be set Unit Default 04 hex Attribute R Set value 00 hex 410 20 mA 01 hex Oto 10V 03 hex 10 to 10 V 04 hex 0to05V 06 hex 1to5V Range A 38 GX series EtherCAT Slave Unit User s Manual A Appendix 3210 hex Analogue Output Adjustment High Value Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO Sub indexes 1 to 2 CH1 2 Adjustment High Value PDO map Not possible Range Unit
190. e either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in page A 50 10 16 GX series EtherCAT Slave Unit User s Manual 10 Expansion Unit 10 3 Mounting Dimensions The mounting dimensions of the Expansion Unit are shown below e XWT ID08 ID08 1 OD08 OD08 1 12 94 43 9 c 01234567 89 101112131415 H Cot 50 ES suoisueuig Bununojy 0L GX series EtherCAT Slave Unit User s Manual 10 17 10 Expansion Unit 10 18 GX series EtherCAT Slave Unit User s Manual 11 Troubleshooting and Maintenance This chapter explains actions to be taken at errors troubleshooting and equipment maintenance 11 1 Troubleshooting eeeeeeeeeee III 11 2 11 1 1 Errors that Can be Checked with Status Indicator and Actions to Take 11 2 11 1 2 Errors Unique to Each Slave 11 7 11 1 3 Error Notification Methods and Types 11 13 11 1 4 Sysmac Error Status Codes 11 14 11 1 5 Emergency Error Code 11 19 11 1 6 Application Layer Status Codes 11 21
191. e Blue b White Blue 5 6 Orange I P Orange 6 7 White Brown white Brown 7 8 Brown 3 Brown 8 Connector Shielded cable Shielded cable Conn E ect both ends of cable shielded wires to the connector hoods 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 GX series EtherCAT Slave Unit User s Manual 4 Installation and Wiring 4 2 4 Connecting to Communications Cables EtherCAT networks allow free wiring in any connection forms Connection before and after the GX series EtherCAT Slave 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 Unit iv 21 BES M Communications cable 7 7 ww ws WOMION 1V219U13 01 2
192. e Slave Unit After removing the following factors of power supply shutdown restart the Slave Unit according to the specification of connected EtherCAT Master Unit Are the power supply cables wired correctly Are the power supply cables disconnected Is the power supply voltage within the specification range Is the power supply capacity sufficient Is the power supply malfunctioning GX series EtherCAT Slave Unit User s Manual 11 Troubleshooting and Maintenance L A IN R L A OUT RUNI Description Cause Actions indicator LED indicator indicator On If the error does not clear even after the A hardware failure power is turned ON F occurred again the Slave Unit On Off Hardware error hardware is damaged Replace the Slave Unit Te Expansion Check the Expansion B Unit is 1 Unit connection disconnected Check the switch A range setting settings then restart the Illegal switch switch or other Slave Unit according to setting switch setting is the specification of illegal connected EtherCAT Master Unit Use the Configuration Tool or SDO communications to Non volatile A non volatile restore the default data memory data memory data error and restart the Slave error occurred Unit according to the On B specification of connected EtherCAT Master Unit Sync manager The sync manager Change to the correct setting error setting is illegal settings I
193. e Unit User s Manual 11 15 L LL Sopo snjelg 10113 oeuis S D L LL 11 Troubleshooting and Maintenance Error Descriptions Event name Expansion Unit Hardware Error Event code 04A00000 hex Meaning An Expansion Unit was disconnected during operation or a signal between the Slave Unit and Expansion Unit was broken Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category System cycling Slave Unit power Effects User program Continues Operation The Slave Unit where the error occurred performs the error output operation fail safe LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None E hes Cause and Assumed cause Correction Prevention corecion The Expansion Unit was Turn OFF the power supply mount Do not allow the Expansion Unit to be disconnected during operation the Expansion Unit and turn the disconnected during operation power supply back ON A signal between the Slave Unitand Turn OFF the power supply mount None Expansion Unit was broken the Expansion Unit and turn the power supply back ON If cycling the power supply does not correct the problem replace the Expansion Unit Attached None information Precautions
194. e eer agas 1 2 1 1 3 Communications types of EtherCAT 1 4 1 1 4 Connection Examples of EtherCAT sssssssssssssseseeee eene 1 5 Configuration Elements of EtherCAT Network sanesa anan ena nawan anana 1 6 1 2 1 Configuration Devices of EtherCAT Network 1 6 1 2 2 Overview of Configuration Devices nana nana anana anana anana 1 7 EtherCAT Slave Unit eese 2 1 Overview of EtherCAT Slave 2 2 271 1 Slave Units Dsage ies tede Be Ee Uc te oor pee vi t tare 2 2 2 1 2 Features of GX series EtherCAT Slave Units eee 2 2 Types of EtherCAT Slave Units csnanennan ena ewan ae wa ne ena nawan awana nawan awanane naen anana nhan nn nennt ana 2 3 22227 Slave nits EISE e E resti re nire ad apa bee ed NABA AA A BAGAN A TAA 2 3 2 2 2 Installation Connection and Power Supply Methods for Each Slave Unit 2 6 Basic Usage Procedures 3 1 Setup Examples and Basic Procedure esee 3 2 3 1 1 System Setting Examples sse nennen 3 2 3 1 2 Basic Procedur arean adaa a NATA E aa ag apa aka KA naa gga a da ainen aa daadaa 3 3 GX series EtherCAT Slave Unit Use
195. e is adjusted or reset only when the specific value is written to sub indexes 1 to 2 This prevents erroneous execution and resetting The specific values are save for execution rset for resetting MSB LSB e V a S 65 hex 76 hex 61 hex 73 hex t e S r 74 hex 65 hex 73 hex 72 hex Writing values other than the above is invalid A value of 0000 0000 hex is indicated when reading 3240 hex Analogue Output Fault Action Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Error Mode Range 8 GT ex 02 hex Default 04 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Selects a value to output at a communications error for each point Set value 00 hex Hold Last State Hold and output Range 01 hex Low Limit Output the lower limit 02 hex High Limit Output the upper limit 03 hex User Count Output a user specified value 04 hex Zero Count Output a value of 0000 hex in the setting range GX series EtherCAT Slave Unit User s Manual A Appendix 3241 hex Analogue Output Fault Value Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Error Mode Range Unit D
196. e the Moving Average and User Adjustment 8 2 GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit 8 2 Overview of the Analog Input Slave Unit Analog Input Slave Unit convert AD conversion analog input signals such as 1 to 5 V and 4 to 20 mA to digital data binary values and store them in the EtherCAT Master Unit 8 2 1 Input Range and Converted Data Input analog signals are converted to digital data in the following manner using a set input range If the input data exceeds the data range for which conversion is possible the converted data is fixed to the maximum or minimum value of the range Input Range and Converted Data Input range 0 to 5 V Voltage of 0 to 5 V is converted to data from 0000 to 1F40 hex 0 to 8000 The input data range for which conversion is possible is 0 25 to 5 25 V and here the output data is FE70 to 2000 hex 400 to 8400 When input data is a negative voltage it is expressed as the two s complement hexadecimal and the output data for a disconnected line is the same as for an input of 0 V 0000 hex Converted data Hexadecimal decimal 20 0 8400 E P b 0000 0 b 70 400 Voltage Sov 5V 5 25V GX series EtherCAT Slave Unit User s Manual 8 3 Indu Hoyeuy Jo MelAJ9AQ 2 8 ejeg peueAuo pue 1ndu 2 8 8 Analog I O Slave Unit e Input range 1 to 5 V Voltage of 1 to 5 V is co
197. e the number of points if some inputs are unnecessary and execute conversion again User adjustment is not accepted Attempted to make adjustment with inputs outside the compensation range Enter a voltage current within the compensation range with the input device and make adjustment again If a voltage current within the compensation range cannot be entered check the method being used to connect the input device Analog output Slave Unit Cannot hold expected outputs when communications errors occur The output value that is set for communications errors is incorrect Change the setting to hold outputs for communications errors The conversion cycle is too long The number of DA conversion points is set to maximum 2 points Reduce the number of points if some outputs are unnecessary and execute conversion again User adjustment is not accepted Attempted to make adjustment with values outside the compensation range Use a voltage current within the setting range to make adjustment again If the final output cannot be adjusted within the correctable range check the method being used to connect to the output device GX series EtherCAT Slave Unit User s Manual Slave Unit type Encoder Input Slave Unit Symptom The count pulse cannot be detected 11 Troubleshooting and Maintenance Cause Input wiring is wrong Measures Check wiring of inpu
198. e the output data is EEDO to 1130 hex 4400 to 4400 When input data is a negative voltage it is expressed as the two s complement hexadecimal and the output data for a disconnected line is the same as for an input of 0 V 0000 hex Converted data Hexadecimal decimal 1130 4400 4000 7777777777772 11V 10V 0000 0 OV 10V 11V ag F060 4000 sees D EEDO 4400 Input range 4 to 20mA Current of 4 to 20 mA is converted to data from 0000 to 1F40 hex 0 to 8000 The input data range for which conversion is possible is 3 2 to 20 8 mA and here the output data is FE70 to 2000 hex 400 to 8400 If the input current drops below the input range to lower than 1 2 mA due to disconnection and so on the disconnected line detection is activated and the data is set to 7FFF hex Converted data Hexadecimal decimal 1F40 8000 2 20D0 8400 4 0000 0 L Current 70 400 20 mA 20 8 mA 1 2mA Disconnection in case it is less than 1 2 mA Input range settings The input range is set using the input range switch DIP switch of a Slave Unit or by SDO communications When SDO communication is used for the setting the target index is 3101 hex For the set value refer to the corresponding index of Appendix A 1 Object Dictionary in Page A 35 For how to set with the input range switch refer to Names and functions in Page 8 20
199. ectric Works connectors AXF12142 Housing color Red Applicable wire range AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 2 to 2 0 mm AXF12146 Yellow OMRON connectors AWG28 0 08mm to AWG24 0 2mm Sheath diameter 0 7 to 1 2 mm Model Specification Applicable wire range XN2A 1470 Spring AWG28 0 08mm to AWG20 0 5mm clamp type Sheath diameter 1 5 mm max GX series EtherCAT Slave Unit User s Manual ue Sumitomo 3M connectors t Model Housing color Applicable wire range 2 2 o 37104 3101 000FL Red AWG26 0 14mm to AWG24 0 2mm 8 Sheath diameter 0 8 to 1 0 mm 8 2 2 37104 3122 000FL Yellow AWG26 0 14mm to AWG24 0 2mm Sheath diameter 1 0 to 1 2 mm 2 2 Q 37104 3163 000FL Orange AWG26 0 14mm to AWG24 0 2mm 9 Sheath diameter 1 2 to 1 6 mm e 2 2 S 37104 2124 000FL Green AWG22 0 3mm to AWG20 0 5mm 3 Sheath diameter 1 0 to 1 2 mm 2 2 2 37104 2165 000FL Blue AWG22 0 3mm to AWG20 0 5mm g Sheath diameter 1 2 to 1 6 mm i 2 2 2 D 37104 2206 000FL Gray AWG22 0 3mm to AWG20 0 5mm E Sheath diameter 1 6 to 2 0 mm 4 Installation and Wiring Processing external devices cables Using Tyco Electronics Sumitomo 3M or Panasonic Electric Works connectors Cables of connected devices are normally cut in semi strip or strip specification as shown in the ne
200. efault 0000 hex Attribute R Size 1 byte INT16 Access RW PDO map Not possible This is equal to the set output range Sets an analog value to output at a communications error The setting is enabled only when User Count Output a user specified value is selected in the 3240 hex Analogue Output Fault Action analog output mode at errors Device Profile area 6411 hex Write Analogue Output 16bit Sub index 0 Number of channel Range Unit Default 05 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Input 16bit Range Unit Default 0000 hex Attribute A Size 2 bytes INT16 Access RW PDO map Possible This is equal to the set output range Sets the output for each point Encoder Input Slave Unit e Manufacturer Specific area 2 4000 hex Count Mode Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Count Mode gt Range Unit Default 00 hex Attribute 2 Size 1 byte 08 Access RO PDO map Not possible 5 It stores the Count Mode The Count Mode is fixed to 00 hex Circular Counter 8 lt 4001 hex Encoder Direction Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 A
201. el Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Latch Value B Range 00000000 hex to FFFFFFFF hex Size 4 byte U32 Access RO PDO map Possible Unit Default 00000000 hex Attribute The value of latch B is stored 4020 hex Instruction Bits Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Instruction Bits Range Unit Default 0000 hex Attribute A Size 2 byte U16 Access RW PDO map Possible The soft switch setting is specified 4021 hex Instruction Flag Sub index 0 Number of channel Range 00 hex to 32 hex Unit Default 32 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 CH1 Count Possible Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 2 CH1 Present Value Preset Execution Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 3 CH1 Present Value Reset Execution Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 9 CH1 Present Value Ext Reset Enabled
202. ent UNIT PS ING DC DC UOS 1 converter gt No isolation type e GX ID3228 PNP Short circuit protection element Q vo NC Photocoupler gt Q INO 23 2 5 2 TAH E Short circuit TX protection element V1 RX gt NC RX g G o IN1 2 UNIT PS DC DC v converter v O No isolation type 7 62 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Wiring diagram e GX ID3218 NPN NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC G1 G2 G3 G4 G5 G6 G7 G1 G2 G3 G4 G5 G6 G7 IN1 IN2 IN3 IN4 IN5 JING IN7 INA IN2 IN3 IN4 IN5 IN6 IN7 NC NC NC NC NC NC NC NC NC NC NC NC NC NC G9 G10 G11 612 G13 G14 615 G9 G10 G11 G12 G13 G14 G15 INQ INTO IN11 IN12 IN13 IN14 IN15 INQ IN10 INT1 IN12 IN13 IN14 IN15 2 wire sensor NPN output 3 wire sensor Limit switch etc Photoelectric sensor proximity sensor uoe3 104 v e GX ID3228 PNP V1 2 V3 V4 V5 V6 VT V1 2 V3 V4 V5 V6 V7 NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC INO INA IN2 IN3 JIN4 IN5 ING IN7 IN1 IN2 IN3 IN4 IN5 JING IN7
203. er 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 GX series EtherCAT Slave Unit User s Manual IN dca MA OUTI LED On RUN indicator GX series EtherCAT Slave Unit User s Manual ERR indicator DF 11 Description Process data communica tions timeout Troubleshooting and Maintenance Cause A communications error occurred Actions After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit Item about communication cable s the communications cable wired correctly Are any cables disconnected or loose in the part that connects to the connector Is the cable length appropriate s the communications cable of the recommended specification Item about power supply s the power supply voltage within the specification range s the power supply capacity sufficient Malfunction due to noise If there are devices in the vicinity that generate noise take necessary measures against the noise to protect the EtherCAT Master Unit and Slave Units and the communications cable The noise resistance deteriorates if a cable other than those of the recommended
204. er removing the wire always return the operation lever to its normal position GX series EtherCAT Slave Unit User s Manual EtherCAT Communications zu This chapter explains the overview of EtherCAT communications 5 1 Structure of CAN application protocol over EtherCAT CoE 5 2 5 2 EtherCAT Slave Information File ESI File 5 3 5 3 Communications State Transitions 5 4 5 4 Process Data Objects PDO 5 5 5 4 SOVEMVIEW ss ee dha oie Rice E NR audet o Ner ade Flats 5 5 5 4 2 PDO Mapping 5 5 5 4 3 Sync Manager PDO Assignment Settings 5 6 5 4 4 Fixed Mapping 5 7 5 5 Service Data Object SDO 5 9 Babal OVerVIew 6o e trs pete a iltud nosh Sting at de M 5 9 5 522 Abort Codes ee Rx e Eee en antera eeu eee 5 9 5 6 EtherCAT Master Unit Slave Unit Communications 5 10 5 6 1 FREERUN Mode deiade beg nul Rec 5 10 5 7 Emergency Messages 5 12 5 7 1 Emergency Message Notification 5 12 5 7 2 Diagnosis History ue See V 5 12 5 8 Sysmac Device Functions 5 13
205. erminal Block Type 8 point Input and 8 point Output Slave Unit GX MD1612 MD1622 7 38 7 4 8 Connector Type 16 point Input Slave Unit GX ID1618 ID1628 7 44 7 4 9 Connector Type 16 point Output Slave Unit GX OD1618 OD1628 7 48 7 4 10 e CON Connector Type 8 point Input and 8 point Output Slave Unit GX MD1618 MD1628 7 53 7 4 11 e CON Connector Type 32 point Input Slave Unit GX ID3218 1D3228 7 59 7 4 12 e CON Connector Type 32 point Output Slave Unit GX OD3218 OD3228 7 64 7 4 13 e CON Connector Type 16 point Input and 16 point Output Slave Unit GX MD3218 MD3228 7 69 7 5 Mounting Dimensions 7 75 7 5 1 2 tier Terminal Block 7 75 7 5 2 8S ier Terminal Block Type 7 76 7 5 3 Connector 7 77 GX series EtherCAT Slave Unit User s Manual 7 1 7 Digital I O Slave Unit 7 1 Digital I O Slave Unit Digital I O Slave Units refer to slaves with processing functions for digital 1 data ON OFF signals Moreover this Slave Unit has the input filter function input only and the output setting function at communications error output only 7 2 GX series EtherCAT Slave Unit User s Manual 7 Digital I O
206. es 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 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 The products must be installed within a control panel 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
207. es U16 Access RW PDO map Not possible Sets whether to have AD conversion for each point Bits Setting description 0 1 CH1 enabled 0 CH1 disabled 1 1 CH2 enabled 0 CH2 disabled 2 1 CH3 enabled 0 CH3 disabled 3 4 1 CH4 enabled 0 CH4 disabled to 15 Reserved Bits 4 to 15 are set to 0 and these values cannot be changed 3101 hex Analogue Input Range Sub index 0 Number of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 4 Input Range ds Q1 hek ge hex 03 hex Default 01 hex Attribute R Size 1 byte U8 Access RW PDO map Not possible Sets the input range for each point The settable values are as follows No other values can be set Set value 00 hex 10 to 10 V 01 hex 0to5V 02 hex Oto 10 V Range 03 hex 4 to 20 mA gt 07 1t05V S 3110 Analogue Input Adjustment High Value Sub index 0 Number of channel Range Unit Default 04 hex Attribute B Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 4 Adjustment High Value Range Unit Default 0000 hex Attribute Size 2 bytes INT16 Access RO PDO map Not possible Stores the upper limit of user adjustment sioe qo 2
208. es Machine Automation Controller NJ501 10100 1213 hex Sync manager 3 PDO assignment is assigned to this object This object is automatically assigned in the default settings of the Sysmac Studio Unit version 1 1 or later is required to set this object A 1 6 Sync Manager Communication Object The communication memory of EtherCAT is set by the objects from 1C00 hex to 1C13 hex 1C00 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 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 EtherCAT Master Unit to Slave Unit e SM3
209. es and functions 3 4 r 1 ADR WAU moni N our 01234587 01234567 N us Ss 77 8 7 Terminal arrangement diagram Left side input 12 to 22 1 to 11 No Name Communications connectors Right side output Function Refer to 6 3 Specifications of Common Areas in Page 6 4 1 2 Unit power supply connector 3 Status indicators 4 Node Address setting Switches 5 Input indicators 0 to 7 Indicates the state of an input contact ON OFF Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state 6 Output indicators 0 to 7 Indicates the state of an output contact ON OFF Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state 7 Terminal block Connects external devices and the I O power supply Left side gt V1 G1 Input side I O power supply terminals 0 to 7 Input terminals Right side V2 G2 Output side I O power supply terminals 0 to 7 Output terminals 8 DIN track mounting hook 7 24 Fixes a Slave Unit to a DIN track GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Internal circuits diagram e GX MD1611 NPN TX Lo 6 V1
210. es irrelevant M Precautions for Correct Use 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 If node addresses overlap an error occurs and the operation stops If you set the node address switches to 00 the Slave Unit will not operate if the node address setting made from the Configuration Tool is not changed from 0 to another value If the node address switches are set to 00 always use the Configuration Tool to change the node address to a value between 1 and 65 535 GX series EtherCAT Slave Unit User s Manual 6 3 3 Communications Connectors 6 3 4 6 Basic Specifications of Slave Units The Connectors are used to connect the communications cables CN1 CN2 e DA The specifications are shown below Electrical characteristics Conforms to the IEEE 802 3 standard Connector structure RJ45 8 pin modular connector conforms to ISO 8877 Terminal arrangement 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 Unit Power Supply Connector T
211. es not None board correct the problem replace the Slave Unit None The emergency error code is 6140 hex 11 18 GX series EtherCAT Slave Unit User s Manual 11 Troubleshooting and Maintenance Event name Non volatile Memory Hardware Error Event code 04A10000 hex Meaning An error occurred in non volatile memory Source EtherCAT Master Function Module Source details Slave Detection When timing establishing communications after turning ON power to the Slave Unit Error attributes Level Observation Recovery Log category System Effects User program Continues Operation Writing to non volatile memory is not possible LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None Cause and Assumed cause Correction Prevention correction Non volatile memory failure Replace the Ethernet Slave Unit None Attached None information Precautions The emergency error code is 5530 hex Remarks 11 1 5 Emergency Error Code The table below shows types of emergency error codes used in GX series EtherCAT Slave Units and corresponding error contents Error codes common to GX series EtherCAT Slave Units Error Notification to d Name of error Contents and EtherCAT Measures coce y Master Unit A timeout was detected when writing Non olane data to non volatile Not 5530 hek Memory Can be notified Write
212. ex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 23 Input Bit22 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 24 Input Bit23 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 25 Input Bit24 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 26 Input Bit25 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 27 Input Bit26 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 28 Input Bit27 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 29 Input Bit28 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 30 Input Bit29 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 31 Input Bit30 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible Sub index 32 Input Bit31 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RO PDO map Possible
213. 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 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 1 In this status the Slave Unit operates locally and the EtherCAT Master Unit is unable to control it GX series EtherCAT Slave Unit User s Manual 5 9 oas 1 eea S S 1 9 9 5 EtherCAT Communications 5 6 EtherCAT Master Unit Slave Unit Communications This section explains the communication modes between the Master Unit and GX series EtherCAT Slave Unit 5 6 1 FREE RUN Mode In the FREE RUN mode a Slave Unit operates asynchronously with the EtherCAT Master Unit The Digital I O Slave Units and Analog I O Slave Units operate in the FREE RUN mode Note that Slave Unit s internal processing time varies by the Slave Unit type refer to the explanation on each Slave Unit in Chapter 7 to Chapter 8 Digital WO Slave Units ON delay OFF delay Analog I O Slave Uni
214. f the lower limit is adjusted without adjusting the upper limit 10096 the lower limit adjustment may have an error 3213 hex Analogue Output Adjustment Low Value Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Sub indexes 1 to 2 CH1 2 Adjustment Low Value Access RO PDO map Not possible Range Unit Default 0000 hex Attribute Size 2 byte INT16 Stores the lower limit of user adjustment Access RO GX series EtherCAT Slave Unit User s Manual PDO map Not possible yelqo y sioe qo 7 1 v A Appendix 3215 hex Analogue Output Adjustment Low Execute Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO Sub indexes 1 to 2 CH1 2 Adjustment Low Execute PDO map Not possible Range Unit Default 00000000 hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible This object executes user adjustment It writes lower adjustment value Be sure to execute the command only when a count value which makes the actual output voltage 096 is written by the EtherCAT Master Unit to the data area of the point to adjust Always adjust at 096 f you reset it returns to the default setting The valu
215. f the problem is not resolved even after the measures described A hardware failure above are taken the Hardware error occurred Slave Unit hardware may be damaged Replace the applicable Slave Unit GX series EtherCAT Slave Unit User s Manual 11 3 L LL 0 suonoy pue SNES YM pexoeuo eq ued yey sog 11 Troubleshooting and Maintenance Errors of EtherCAT Network PWR indicator On L A OUT On L A IN LED RUN indicator ERR indicator Description Link established in physical layer Cause Operation standby status after establishing link in physical layer Actions On 11 4 Off Link not established in physical layer A link in physical layer has not been established After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit Is the communications cable wired correctly Are any cables disconnected or loose in the part that connects to the connector Is the cable length appropriate s 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 anoth
216. for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in Page A 50 LZ9LGO LLOLGO XD HUN 1ndino 1urod 91 ed jeuiuue 194 Z z v GX series EtherCAT Slave Unit User s Manual 7 17 7 Digital Slave Unit GX OC1601 7 4 3 2 tier Terminal Block Relay Type 16 point Output Slave Unit Specification Item Output capacity Specification 16 points Mounted relays NY 5W K IE Fujitsu Component Resistance load Rated load 250 VAC 2 A output common 8 A 30 VDC 2 A output common 8 A Rated ON current 3 A output Maximum contact voltage 250 VAC 125 VDC Maximum contact current A output Maximum switching capacity 750 VAAC 90 WDC Minimum applicable load reference value 5 VDC 1mA Mechanical service life 20 000 000 operations min Electrical service life 100 000 operations min Number of circuits per common 8 points common Output indicators LED display yellow Isolation method Relay isolation power supply method The relay drive power is supplied from the unit power supply Unit power supply current 210 mA max for 20 4 to 26 4 VDC power supply consumption voltage Weight 290 g max Expansion functions Enabled Error Mode Output Select either hold or clear Short circuit protection function No For the specific
217. g Unit Displays EtherCAT Master Unit Refer to the manual of the EtherCAT Master Unit to be used EtherCAT Slave Units Check that the status indicator of each Slave Unit is as follows LED State PWR ON L A IN Flickering L A OUT Flickering turned OFF for the terminal Slave Unit only RUN ON ERR OFF 3 4 2 Confirming Data Read and Write Use the Configuration Tool to read IN data and OUT data of the EtherCAT Master Unit in order to check that the I O data is correctly read and written 3 4 3 Setting Slave Unit Parameter Make parameter settings for each Slave Unit as required via the SDO communications For the details of parameters that can be set refer to the pages explaining details of each Slave Unit in Chapter 7 to Chapter 9 GX series EtherCAT Slave Unit User s Manual Installation and Wiring zum This chapter explains the mounting and wiring methods of the EtherCAT Slave Unit 4 4 Mounting Slave lt 4 2 4 1 1 Mounting Preparation ENG 4 2 44 2 Mounting Direction Ded eR ey ere RR XE een 4 2 4 1 3 Mounting Method 4 2 4 1 4 Removal 4 3 4 2 Connecting to EtherCAT Network 4 4 4 2 1 Precautions for Network Connection 4 4 4 2 2 Prepara
218. ge Initial 2nd time 3rd 4th time ath data data a teme gt Moving average value D1 D2 D3 D4 4 la Moving average 5th time 2nd time 3rd time 4th time calculation 5th data ate dli p Moving average value D2 D3 D4 D5 4 ee Internal buffer Setting method Set by SDO communication The target index is 3132 hex For the details refer to the information in the corresponding index of Appendix A 1 Object Dictionary in Page A 37 Indu Bojeuy jo uonounj g Bulaoy 2 2 8 GX series EtherCAT Slave Unit User s Manual 8 9 8 Analog I O Slave Unit 8 3 3 Disconnected Line Detection Overview of functions Purpose The function detects a disconnection of analog input signal line Note that this function is valid only when the input range is 1 to 5 V or 4 to 20 mA Details of functions If any analog input signal line voltage current inputs of the points that are enabled by the AD Conversion Available Point Setting is disconnected the disconnected line detection flag of that point target index 3136 hex is turned ON If the moving average is enabled the function works to detect a disconnected line in moving average processing results The AD converted data at disconnected line detection is 7FFF hex If the input returns to the convertible range again this function
219. gned PDO 1 assigned PDO 1 RxPDOs TxPDOs GX AD0471 00 hex 01 1800 GX DA0271 01 hex 1700 hex 00 hex Encoder Input Slave Unit Sync manager 2 PDO assignment Sync manager 3 PDO assignment Number Assigned PDO Number Assigned PDO Model of of assigned 1 2 assigned 1 2 3 4 RxPDOs TxPDOs 02 hex 1702 hex 1701 hex 1B04 hex 1B02 hex GX series EtherCAT Slave Unit User s Manual A Appendix 141 Precautions for Correct Use You cannot assign 1700 hex and 1701 hex or 1800 hex and 1801 hex for Digital I O Slave Units at the same time You cannot assign 1700 hex and 1702 hex or 1803 hex and 1804 hex for Encoder Input Slave Units at the same time When using the OMRON Support Software only 1700 hex and 1800 hex can be set for Digital I O Slave Units and only 1700 hex 1803 hex can be set for Encoder Input Slave Units A 1 7 Manufacturer Specific Objects This section explains the CiA401 generic module device profile implemented in GX series EtherCAT Slave Units and the objects specially mounted in GX series EtherCAT Slave Units Slave Units e Manufacturer Specific area 1 2100 hex Range Unit Default 00000000 hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible This object clears diagnosis history of 10F3 hex Diagnosis History t clears the history only when specific values are written The specific value is
220. he Connector is used to connect the unit power supply 24 VDC Fixing screw Name Specification aV EV V 24 VDC terminal terminal V 0 VDC lt J Connector type Spring connection connector with fixing screw 2 pin 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 9 GX series EtherCAT Slave Unit User s Manual Sealy UOWILUOD Jo c 9 SJOJOBUUOND 9 6 Basic Specifications of Slave Units 6 3 5 I O Power Supply Connector Connect I O power supply for external device operation 24 VDC It is mounted in the following e CON connector type Slave Units with output contacts GX OD1618 OD1628 MD1618 MD1628 0D3218 0D3228 MD3218 MD3228 Etherco E 4 Uf p Y V terminal y D p Name Specification 3 G terminal V 24 VDC UNITPS Los a G 0 VDC 5 zi m Connector type Spring connection connector with fixing screw 4 pin e Supported pin terminal diameter 0 25 mm to 0 5 mm AWG24 to AWG20 Pin terminal with isolation sleeve used i
221. he error is still displayed after restarting the power supply the Slave Unit is damaged Replace the Slave Unit t 3 Notification be SY Name of error Contents Ties to EtherCAT Measures coce y Master Unit 7 1 Non volatile An error was detected in nonvolatile Can be memory execute restore 0001 hex Memory Control non volatile memory data Saved M notified parameter and then Data Error in the Slave Unit restart the Slave Unit Illegal State 0011 hex Transition An illegal state transition Not Can be Request request was received saved notified Received Error State A transition request to an Not Ganbe 0012 hex Transition unknown state was 2e None saved notified Received received A verification error If cycling the power 1 occurred in the slave Slave Unit supply does not solve VD information stored in the Can be 0014 hex Verification the problem the Slave Slave Units when the notified Error Waren tured Unit has failed Replace P the Slave Unit ON An incorrect setting was Check the mailbox 0016 hex detected in the mailbox of POL cate settings in the Master Error saved notified the Sync Manager Unit 001B hex Process Data Sus in deleclea Not Can be Check the WDT settings WDT Error db saved notified in the Master Unit transmission frame An error was detected in heck th RxPDO Setting
222. herCAT Slave Unit EtherCAT Slave Units that are Sysmac devices check the information in the SII at the Slave Units Vi Precautions for Correct Use Do not change the SII information with setting software that is produced by other companies sisoubeiq 2 8 GX series EtherCAT Slave Unit User s Manual 5 15 5 EtherCAT Communications GX series EtherCAT Slave Unit User s Manual Basic Specifications of Slave Units EH This chapter explains EtherCAT communication specifications Slave Units performance specifications and the specifications of common areas 6 1 EtherCAT Communications Specifications 6 2 6 2 General Specifications 6 3 6 3 Specifications of Common Areas 6 4 6 3 1 Status Indicators zo oni RR le UR Ree IAE xe 6 4 6 3 2 Node Address Setting Switches 6 6 6 3 3 Communications Connectors 6 7 6 3 4 Unit Power Supply 6 7 GX series EtherCAT Slave Unit User s Manual 6 1 6 Basic Specifications of Slave Units 6 1 EtherCAT Communications Specifications This section explains the communications specifications of the GX series EtherCAT Slave Unit Item Communication protocol Specification Dedicated protocol for EtherCAT Modulation Base band Baud r
223. ibute gt Size 1 byte BOOL Access RO PDO map Not possible Sub index 32 32th Input Object to be mapped Range Unit Default 30202001 hex Attribute 5 Size 1 byte BOOL Access RO PDO map Not possible g This object gives the mapping for an application that uses digital input functions 5 gt lt 1 efqo Buidde Odd 9 1 GX series EtherCAT Slave Unit User s Manual A 13 A Appendix The default settings Number of objects of the 258th transmit PDO Mapping and the 258th receive PDO Mapping are given below Model 258th Receive PDO 258th Transmit PDO Type Mapping Mapping Slave Unit Expansion Unit Number of objects Number of objects 10 hex XWT IDO8 1 20 hex GX ID1611 1D1621 XWT ID16 1 20 hex XWT ODO68 1 10 hex 10 hex XWT OD16 1 10 hex 10 hex 10 hex XWT IDO8 1 10 hex 10 hex GX OD1611 OD1621 XWT ID16 1 10 hex 10 hex 2 tier terminal block XWT ODO68 1 20 hex XWT OD16 1 20 hex 10 hex XWT IDO8 1 10 hex 10 hex GX OC1601 XWT ID16 1 10 hex 10 hex XWT ODO68 1 20 hex XWT OD16 1 20 hex GX MD1611 MD1621 10 hex 10 hex GX ID1612 1D1622 10 hex 3 tier terminal block GX 0D1612 0D1622 10 hex GX MD1612 MD1622 10 hex 10 hex GX ID1618 ID1628 10 hex GX 0D1618 0D1628 10 hex e CON GX MD1618 MD1628 10 hex 10 hex Connectors GX ID3218 1D3228 20 hex
224. ication circuits functions diagram diagram GX ID1611 GX ID1621 7 10 7 11 7 12 7 13 GX OD1611 ed m GX OD1621 7 14 7 15 7 16 7 17 T GX OC1601 7 18 7 19 7 21 7 21 GX MD1611 o GX MD1621 7 22 7 24 7 25 7 26 3 GX ID1612 CX ID1622 7 28 7 29 7 30 7 31 3 tier terminal GX OD1612 a block iype GX OD1622 T33 6 9 GX MD1612 s GX MD1622 7 38 7 40 7 41 7 42 3 GX ID1618 2 E 7 44 7 45 7 46 7 47 5 GX OD1618 3 GX OD1628 7 48 7 49 7 50 7 51 GX MD1618 7 e CON connector GX MD1628 E33 1599 56 87 GX ID3218 GX ID3228 7 59 7 60 7 62 7 63 GX OD3218 7 64 7 65 7 66 7 67 GX MD3218 GX MD3228 7 69 7 71 7 72 7 73 GX series EtherCAT Slave Unit User s Manual 7 9 7 Digital Slave Unit 7 4 1 GX ID1611 1D1621 Specification 2 tier Terminal Block Type 16 point Input Slave Unit Specification nem GX ID1611 GX ID1621 Input capacity 16 points Internal common NPN PNP 15 VDC min between each input 15 VDC min between each input terminal and the V terminal terminal and the G terminal OFF voltage 5 VDC max between each input 5 VDC max between each input terminal and the V terminal terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay 0 1 ms max OFF delay 0 2 ms max Input filter value Without filter 0 5 ms 1 ms 2 m
225. ication objects A state in EtherCAT communications where SDO communications operational and I O are possible PDO communications An acronym for process data communications _ A state in EtherCAT communications where only SDO PESE communications are possible without being able to perform I O gt Collection of application objects designated to be downloaded Z Process data o cyclically or acyclically for the purpose of measurement and control o One type of EtherCAT communications that uses process data 5 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 TN One type of EtherCAT communications that uses service data SDO communications AD TM y A objects 5005 for communicating information when required CoE asynchronous mailbox communications where all objects in the service data object SDO A object dictionary can be read and written Slave Information Interface SII Slave information that is stored in non volatile memory in the slave subindex Sub a
226. ication that uses digital output functions A 8 GX series EtherCAT Slave Unit User s Manual A Appendix 1701 hex 258th receive PDO Mapping Sub index 0 Number of objects Range Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Output Object to be mapped Range Unit Default 32200101 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 2 2nd Output Object to be mapped Range Unit Default 32200201 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 3 3rd Output Object to be mapped Range Unit Default 32200301 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 4 4th Output Object to be mapped Range Unit Default 32200401 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 5 5th Output Object to be mapped Range Unit Default 32200501 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 6 6th Output Object to be mapped Range Unit Default 32200601 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 7 7th Output Object to be mapped Range Unit Default 32200701 hex Attribute Size 1
227. in total Write output 32 bit 6320 hex 258th receive PDO Mapping 1701 hex 8 outputs of Slave Unit 8 outputs of Expansion Unit only 16 outputs of Slave Unit only 16 outputs of Expansion Unit only 16 outputs of Slave Unit and 8 outputs of Expansion Unit 24 inputs in total 32 outputs of Slave Unit only 16 outputs of Slave Unit and 16 outputs of Expansion Unit 32 inputs in total Write output bits 3220 hex 257th transmit PDO Mapping 1B00 hex 8 inputs of Slave Unit 8 inputs of Expansion Unit only 16 inputs of Slave Unit only 16 inputs of Expansion Unit only Write output 16 bit 6100 hex 16 inputs of Slave Unit and 8 inputs of Expansion Unit 24 inputs in total 32 inputs of Slave Unit only 16 inputs of Slave Unit and 16 inputs of Expansion Unit 32 inputs in total Write output 32 bit 6120 hex 258th transmit PDO Mapping 1B01 hex 8 inputs of Slave Unit 8 inputs of Expansion Unit only 16 inputs of Slave Unit only 16 inputs of Expansion Unit only 16 inputs of Slave Unit and 8 inputs of Expansion Unit 24 inputs in total 32 inputs of Slave Unit only 16 inputs of Slave Unit and 16 inputs of Expansion Unit 32 inputs in total GX series EtherCAT Slave Unit User s Manual Read input bits 3020 hex sp lqo sseoo4q Buiddew Odd 4 8 5 EtherCAT Communications
228. ion Are the external wiring screws loose No looseness Phillips screwdriver Are the connection cables damaged 11 2 3 Handling when Replacing Units Networks are constructed from an EtherCAT Master Unit and Slave Units No visible damage Visual inspection 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 Check that the new Unit does not have errors after replacement f 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 f contacts are defective wipe them with a clean pure cotton cloth that has been soaked in industrial alcohol Settings after Unit replacement After replacing a Unit make the switch and other settings the same as before the Unit was replaced 11 24 GX series EtherCAT Slave Unit User s Manual Appendix A 1 A 2 A 3 4 5 6 Object Dictionary REI x rM A 2 A 1 1 Object Dictionary Area
229. ion 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 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 e 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 GX series EtherCAT Slave Unit User s Manual 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 1096 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 chassis ground Output current Isolation We recommend S8JX series power supplies made by OMRON for the unit power su
230. is automatically cancelled and normal conversion data is input The table below shows details of the disconnected line detection flag Bits State 1 CH1 disconnected 0 CH1 normal 1 CH2 disconnected 0 CH2 normal 1 CH3 disconnected 0 CH3 normal 1 disconnected 0 normal AB jo m o 8 3 4 to 15 Reserved User adjustment Overview of functions Purpose If final input voltage and current deviates due to characteristics of input devices and methods of connection correct the deviation and adjust inputs Details of functions This function corrects conversion values of input voltages and currents at 2 points 0 and 100 as shown in the figure below GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit Converted data A After correction Before correction 0 100 Voltage current The correctable range is from 5 to 5 each of the minimum and maximum input values The correctable range for each input range is as follows Input range Low limit High limit 0105 0 25 to 0 25 V 4 75 to 5 25 V 1to5V 0 8 to 1 2 V 4 8 to 5 2 V Oto 10 V 0 5 to 40 5 V 9 5 to 10 5 V 10 to 10 V 11 to 9 0 V 9 0 to 11 V 4 to 20 mA 3 2 to 4 8 mA 19 2 to 20 8 mA Setting method Set by SDO communication The target indexes are as follows yun Bojeuy aui jo uonounj g Upper limit correction 3112 hex An
231. is used to heighten resolution of encoder input compared to Multiplication x 1 The counter operation is performed at rise and fall of phase A signals The count is incremented if phase A is advanced from phase B and decremented if phase A is delayed from phase B 3 Multiplication x 4 It is used to further heighten resolution of encoder input from Multiplication x 2 The counter operation is performed at rise and fall of phase A B signals The count is incremented if phase is advanced from phase B and decremented if phase is delayed from phase B Indu jepo2u3 eui 2 6 Incremental count Decremental count DLL A i i H i o 7 e Phase B i A EO Y i Y NG 5 oi Pod q jm Spr ENS soe om S EE S Multiplication x 1 0 1 2 Pap 3 MEM 2 1 B EE NE mold 9 Counter value Multiplicationx2 O 1 2 3 4 5 6 51413 2 1 Multiplicationx4 0 1123 415 67 8 9 10 11 12 1110918171654 32 1 GX series EtherCAT Slave Unit User s Manual 9 9 9 Encoder Input Slave Unit When phase A B phase difference pulse is input the connection with external input devices becomes as follows Encoder Input Slave Unit Input A A Encoder B
232. isions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions uoe3 104 v m v LY ec9Law ergra e e s 1ndino 1urod g pue ed xoojg jJeuruue 1en g GX series EtherCAT Slave Unit User s Manual 7 43 7 Digital l O Slave Unit 7 4 8 e CON Connector Type 16 point Input Slave Unit GX ID1618 ID1628 Specification Specification I Um GX ID1618 GX ID1628 Input capacity 16 points Internal I O common NPN PNP 15 VDC min between each input 15 VDC min between each input terminal and the V terminal terminal and the G terminal OFF voltage 5 VDC max between each input 5 VDC max between each input terminal and the V terminal terminal and the G terminal OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay 0 1 ms max OFF delay 0 2 ms max Input filter value Without filter 0 5 ms 1 ms 2 ms 4 ms 8 ms 16 ms 32 ms Default setting 1 ms Number of circuits per common 16 points common Input indicators LED display yellow Isolation method No isolation power supply method Supplied from unit power supply Input device supply 100 mA point current E Poe 150 mA max for 20 4 to 26 4 VDC power supply
233. it Hardware Error Contents Expansion Unit hardware errors Diagnosis history Saved Notification to EtherCAT Master Unit Cannot be notified Measures The Expansion Unit is disconnected Check the Expansion Unit connection If the error is displayed again the Expansion Unit is damaged Replace the Expansion Unit Error codes unique to Analog Slave Unit Notification to Error Diagnosis d Name of error Contents histor EtherCAT Measures coce y Master Unit Check the slave VO A broken analog input Not voltage or current input 2130 hex Disconnection g mp Can be notified 9 line was detected saved line to see if it is Detected broken A 6 Set range setting 5600 hex SIRO range ys o Can be notified switch correctly and Error setting is illegal saved restart the Slave Unit 11 20 GX series EtherCAT Slave Unit User s Manual Error code 7100 hex Name of error Slave Hardware Error analog hardware error 11 Troubleshooting and Maintenance Diagnosis Contents history Hardware error in the analog conversion Saved area 11 1 6 Application Layer Status Codes The AL status codes that are used by the GX series EtherCAT Slave Units are described in the following table AL status codes of GX series EtherCAT Slave Units Notification to EtherCAT Master Unit Cannot be notified Measures If t
234. ith Connecting Two wire DC Sensors When using a two wire DC sensor with a DC input type Slave Unit check that the following conditions have been met Failure to meet these conditions may result in operating errors A 3 1 Relation between ON Voltage of a Unit with DC Inputs and Sensor Residual Voltage Von lt Vcc VR Vcc I O power supply voltage The allowable power supply voltage range is 20 4 to 26 4 V so 20 4 V will be used here to allow for the worst possible conditions Von ON voltage for a Unit with DC inputs Vr Sensor s output residual voltage It is sometimes possible to satisfy the above equation by adjusting the I O power supply voltage Vcc to 26 4 V A 3 2 Relation between ON Current of a Unit with DC Inputs and Sensor Control Output lout min lt lon lt lout max lout Sensor control output load current lon ON current of a Unit with DC inputs lon is calculated as follows Ion Vcc VR RIN Ve Internal residual voltage of a Unit with DC inputs Rin Input impedance of a Unit with DC inputs When lon is smaller than lout min connect a bleeder resistor R The bleeder resistor constant can be calculated using the following equation lt Vcc Vr lout min lon Power W gt Vcc Vr 2 R x 4 allowable margin 2 wire i DC input sensor Me R Rin type slave 48 GX series EtherCAT Slave Unit User s Manual A Appendix A 3 3 Rela
235. l 9 25 9 Encoder Input Slave Unit Input indicators CH1 CH2 Name State Contents Name State Contents Lit green Counter operating CH2 Lit green Counter operating OFF Counter stopped OFF Counter stopped Lit Input A phase A signal count Lit Input A phase A signal count pulse signal incremental count pulse signal incremental count yellow yellow n signal available A2 signal available Input A phase A signal count Input A phase A signal count OFF pulse signal incremental count OFF pulse signal incremental count signal not available signal not available Input B phase B signal count Input B phase B signal count Lit direction control Lit direction control yellow signal decremental count signal yellow signal decremental count signal B1 available B2 available Input B phase B signal count Input B phase B signal count OFF direction control direction control signal decremental count signal signal decremental count signal not available not available Phase 2 input available pi Phase Z input available Z1 yellow Z2 yellow OFF Phase Z input not available OFF Phase Z input not available zt External latch input A available E External latch input A available yellow yellow LA1 LA2 5 External latch input A not External latch input A not OFF OFF available available E External latch input B available ct External latch input B available
236. llowing 6 orientations Er EE Vertical direction IM 4 1 3 Mounting Method 1 Hook the top side of groove on backside of the Slave Unit to the top side of the DIN track lower the DIN track mounting hook engage the Slave Unit to the track and press up the mounting hook to fix it DIN track DIN track mounting hook 4 2 GX series EtherCAT Slave Unit User s Manual 4 Installation and Wiring 2 Hook the bottom side of the end plate to the bottom side of the DIN track and then hook the top side Attach an end plate on each side of the Unit End plate Precautions for Safe Use After the operation make sure to check that the Slave Unit is securely mounted poy rp L v 4 1 4 Removal Method Loosen the screws on the end plate and remove the end plate from the DIN track Then pull down the DIN track mounting hook to release the lock Pull out the Slave Unit straight toward you GX series EtherCAT Slave Unit User s Manual 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 i Precautions at laying down network When laying down an EtherCAT network take sufficient
237. lue Preset Execution Completed Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 10 CH2 Present Value Reset Execution Completed Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 11 CH2 Ext Reset Flag Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 12 CH2 Ext Latch A Flag Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 13 CH2 Ext Latch B Flag Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 15 CH2 Present Value Preset Set Value Error Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 16 CH2 Counter Operation State Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible The status bits are stored Unit version 1 1 or later is required to set this object GX series EtherCAT Slave Unit User s Manual sioe qo 2 4 yelqo y A Appendix A 2 Current Consumption Summary A 2 1 Digital I O Slave Unit WE CU EM dune eee ee Cee ae
238. ly Left side V1 G1 Input side I O power supply terminals 0 to 7 Input terminals Right side gt V2 G2 Output side I O power supply terminals 0 to 7 Output terminals 8 DIN track mounting hook Fixes a Slave Unit to a DIN track GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Internal circuits diagram e GX MD1612 NPN TX TX RX RX TX TX RX RX UNIT PS V DC DC converter v O No isolation type Internal circuits Photocoupler e GX MD1622 PNP TX TX RX RX Physical DC DC converter No isolation type Internal circuits GX series EtherCAT Slave Unit User s Manual Photo Photocoupler Input circuit coupler Input circuit V1 24 VDC G1 V1 0to7 G1 V2 24 VDC G2 V2 0to7 G2 V1 24 VDC G1 V1 0to 7 G1 V2 24 VDC G2 V2 0 to 7 G2 eres uoe3 104 v m W X9 LY ec9Law ergra HUN e e s 1ndino 1urod g pue juiod g ed xoojg jJeuruue 1en g 7 Digital Slave Unit Wiring diagram e GX MD1612 NPN
239. m the EtherCAT Master Unit cannot be received any longer due to communications errors Applicable Slave Unit Slave Units with digital outputs and Expansion Units GX ODxxxx GX OC1601 output section of GX MDxxxx XWT ODxx 1 Details of functions Sets whether to hold or clear the output at communications errors It is possible to make setting for each contact Default setting Clear all outputs Setting method The settings are made using the SDO communication The target index is set as follows according to the number of outputs of a single Slave Unit including Expansion Units mounted Total 3 pus Applicable index capacity paciy SPANS Spons 8 oints 6306 16 points _ X 16 points 24 points 16 points 8 points 1 i 1 i 26h 32 points 6 points 6 points 6326 hex 32 points For the set value refer to the information of the corresponding index of Appendix 1 Object Dictionary in Page A 32 7 8 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit 7 4 Specifications for Each Slave Unit This section shows the specification of Digital I O Slave Units names and functions of each part internal circuit diagram and wiring diagram Refer to the following corresponding page to each model Reference page Type Model TEMAS Names and Specif
240. nces 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 e 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 Separate the communications cables from the power lines or high tension lines Do not bend the communications cables past their natural bending radius Do not pull on the communications cables Do not place heavy objects on top of the communications cables 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 GX series EtherCAT Slave Unit User s Manual 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 e Handling When transporting the product use special packing boxes and protect it from being exposed to excessive vibration or impact during transp
241. nctions This function is used to calculate the average value of analog inputs during a period of up to 64 ms and generate it as converted data The setting is made with the Analogue Input Moving Average object You can use the following formula to calculate the sampling count from the setting of the Analogue Input Moving Average object and the number of AD conversion available points Digits below the decimal point are rounded up Sampling count Setting of the Analogue Input Moving Average us Number of AD conversion available points x 500 us The processing that is performed inside the Unit is shown below for when the sampling count is 4 At the initial calculation the initial data is stored in all processing buffers to perform the moving average processing 8 8 GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit Analog conversion time number of AD conversion available points x 500 us Actual analog conversion data Time ms t u w Moving average Initial Initial Initial Initidl calculation Initial data dafa dat amp data umb Moving average value D1 x 4 M 1 Moving average Initial 2nd time Jnitial Initial calculation 2nd data data data m Moving average value D1 x 3 D2 4 Moving average Initial 2 3rd time Initial _ Moving average value 01 x 2 D2 D3 4 calculation 3rd data data data data 7 1 Y Moving avera
242. ndle abnormalities and conduct regular inspections Appendix Appendix Contains the object overview and explains the precautions GX series EtherCAT Slave Unit User s Manual Terms and Conditions Agreement Read and understand this Manual Please read and understand this catalog before purchasing the products Please consult your OMRON representative if you have any questions or comments Warranty Limitations of Liability Warranties Exclusive Warranty Omron s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron or such other period expressed in writing by Omron Omron disclaims all other warranties express or implied Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED ABOUT NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right e Buyer Remedy Omron s sole obligation hereunder shall be at Omron s election to i replace in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof the non complying Produ
243. nectors 4 4 1 Connecting to a Screw Terminal Block After mounting crimp terminal to the cable of the external 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 432 mm min FSO 3 Operation gt 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 Ind icates operation proced ure the terminal block to connect the signal line Icon gt Precautions for Correct Use remove the terminal block from the Slave Unit loosen the left and right mounting screws Refe r to the followin g section alternately When mounting the terminal block as well tighten the left and right screws alternately If you tighten or loosen only one of the screws all the way without tightening or loosening the other screw using an electric screwdriver the terminal block will be distorted and cracked 4 10 GX serles EtherCAT 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 co
244. ngs are made using the SDO communications The target index is 4003 hex For the details refer to the information in the corresponding index of Appendix A 1 Object Dictionary in Page A 42 There are the following two methods to restart the counter Cycle the power supply Change the CENBn software switch Count Possible Not Possible from 0 to 1 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit Precautions for Safe Use f you change the maximum Circular Counter value when the counter is stopped or operating restart the counter to enable using the new maximum value in counter operation f the set value is read without restarting the set value after change can be read but the actual count operation is performed with the set value before change 9 3 3 Input Signal Types The input method of Encoder Input Slave Units is explained below Note that SDO communications are used for setting an input method Default setting Phase A B phase difference pulse input Multiplication x 4 The target index is 4002 hex For the set values refer to the information in the corresponding index of Appendix A 1 Object Dictionary in Page A 42 Phase A B phase difference pulse input Multiplication x 1 2 4 1 Multiplication x 1 Count at signal change of phase A when phase B signal is turned OFF The count is incremented at rise of phase A and decremented at fall of phase A 2 Multiplication x 2 It
245. nications to make the settings Pin7 must be used in the OFF state To set a range using these switches make sure to turn Pin8 ON If it is turned OFF the DIP Switch settings will not be reflected The settings of this switch are read only once when the power is turned ON ed eAe S uoe3 JO MalAJ9AQ 9 8 Setting of input CH1 CH2 range Pint to Ping Input range Pin1 Pin2 Pin3 0to5V OFF OFF OFF 1to5V ON OFF OFF 0to10V OFF ON OFF 10 to 10 V ON ON OFF 4 to 20 mA OFF OFF ON Setting of input CH3 CH4 range Pin4 to Pin6 HUN Indu jurod p 9 8 Input range Pin4 Pin5 Pin6 0to5V OFF OFF OFF 1to5V ON OFF OFF Oto 10 V OFF ON OFF 10 to 10 V ON ON OFF 4 to 20 mA OFF OFF ON 14 Precautions for Correct Use Do not set the DIP switches or Pins other than as specified in the tables above GX series EtherCAT Slave Unit User s Manual 8 21 8 Analog I O Slave Unit Internal circuits diagram 0 V 510 r 250 Q 4 510 AG Analog GND Wiring diagram 000000000 Short circuit 1 1 2 V3 I3 V4 4 INC AG 1 JAG V2 JAG V3 AG V4 INC Voltage input OV OV Current input
246. nnector and cable wire size i The wire size and sheath diameter of applicable cables vary by type of e CON connector 3 Use the next table to check that the e CON connectors to be used conform to the wiresizeandsheath 8 diameter of the cables of the connected device EIE C ause ti tle Tyco Electronics connectors 5 Indicates the chapter title Mods LITT AS TEE i 314735624 Orange Sheath diameter 0 6 to 0 9 Fi of the current page 11 5824 Red 13735624 Yalow Sheath diameter iR 18 09090 212786624 Bue Sheath diameter 11510 135 mm Ie Ture ors San dames 5p TT a Indexes Sumitomo 3M connectors Indicates the chapter number Mods Housing edior Applicsble wire range of the current page 71009 61 000e Red AWG26 0 14mm to AWG24 0 2mm pag Sheath diameter 0 8 to 10 mm 31294 fellow AWG26 0 14mm to AWG24 0 2mm x H icm Shoah 1019 12mm Section title AWG26 014mm to AWG24 0 2mm 37104 3163 000FL Orange Sheath diameter 1 2 to 1 6 mm Indicates the section title of the current page 2 5 MOLATA Gran AWG22 0 3mm to AWG20 05mm Sheath diameter 1 0 to 1 2 mm m AWG22 0 3mm to AWG20 0 5mm adara Sheath diameter 1 210 1 6 mm AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 6 to 20 mm sas0UU09 NOJS 0 furpetuo zr 37104 2206 000FL Gray Panasonic Electric Works
247. nual 2 EtherCAT Slave Unit Encoder Input Slave Unit Type Models with screw terminal blocks Model GX EC0211 GX EC0241 Slave Unit installation method DIN track connection method screw terminal block Internal power supply Shared with unit power supply External power supply power supply must be supplied externally for connected devices Expansion Unit Type Models with 2 tier terminal block Model XWT IDO8 1 XWT OD08 1 XWT ID16 1 XWT OD16 1 GX series EtherCAT Slave Unit User s Manual Slave Unit installation method DIN track yo connection method screw terminal block Internal power supply Shared with unit power supply External power supply Varies depending on the type of mounted Digital I O Slave Unit Refer to 10 1 2 Power Supply in Page 10 3 sun e e S 1v249u13 10 S d L Z Z e e S uoe3 10 A ddng pue 0 1 2 2 2 2 EtherCAT Slave Unit GX series EtherCAT Slave Unit User s Manual Basic Usage Procedures m9 This chapter explains the procedure of using EtherCAT Slave Units based on specific setting examples 3 1 Setup Examples and Basic Procedure 3 2 3 1 1 System Setting 3 2 3 1
248. nual 17 5 7 Emergency Messages s eccccceseeeeeeeeeesneeeeeeessneeeeeeessneeeeeeeseeeeseeessneeeseesssneeesesessneaeeesesseees 5 12 5 7 1 Emergency Message Notification 5 12 5 7 2 Diagnosis HISTOTy zeige Pd n ec re Supa ena IRA ERR inn 5 12 5 8 Sysmac Device Functions 5 13 Chapter 6 Basic Specifications of Slave Units 6 1 6 1 EtherCAT Communications Specifications eese enne 6 2 6 2 General 6 3 6 3 Specifications of Common Areas esses nean nawan nawan awanan anana waana wane nanne nnn 6 4 6 3 1 Status Indicators ner d e Doe te eet ibat anaa 6 4 6 3 2 Node Address Setting Switches ssssssssssssssseeeneneee enne 6 6 6 3 3 Communications Connectors sss enne 6 7 6 3 4 Unit Power Supply Connector sessi nne enne 6 7 6 3 5 I O Power Supply Connector sasa aaa eaaa anaa 6 8 Chapter 7 Digital Slave Unit 7 1 7 1 Digital l O Slave Unit 1 nen neng sada inicie dic caedacecedeeccesuatecectteevestdeiscteeee 7 2 7 2 W O Data Allocation PDO nnne ennt nnne nnne nnne nnn 7 3 7 2 1 Input Data Allocation 5
249. nverted to data from 0000 to 1F40 hex 0 to 8000 The input data range for which conversion is possible is 0 8 to 5 2 V and here the output data is FE70 to 2000 hex 400 to 8400 If the input voltage drops below the input range to lower than 0 3 V due to disconnection and so on the disconnected line detection is activated and the data is set to 7FFF hex Converted data Hexadecimal decimal A MR ee emo eer 0000 0 FE70 400 gt Voltage 2V 0 3 V Disconnection in case it is less than 0 3 V Input range 0 to 10 V Voltage of 0 to 10 V is converted to data from 0000 to 1F40 hex 0 to 8000 The input data range for which conversion is possible is 0 5 to 10 5 V and here the output data is FE70 to 2000 hex 400 to 8400 When input data is a negative voltage it is expressed as the two s complement hexadecimal and the output data for a disconnected line is the same as for an input of 0 V 0000 hex Converted data Hexadecimal decimal 2000 8400 cue taies kala pah 8000 eee dg esten a 0000 0 M Voltage 10 V 10 5 V FE70 400 OV 8 4 GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit Input range 10 to 10 V Voltage of 10 to 10 V is converted to data from F060 to OF40 hex 4000 to 4000 The input data range for which conversion is possible is 11 to 11 V and her
250. o v indu 4 2 2 7 Digital Slave Unit 16 point Expansion Unit Offset byte 7 bit 0 bit 0 Input data of the Expansion Unit 7 to 0 bit H1 Input data of the Expansion Unit 15 to 8 bit 16 point Input Slave Unit and 8 point Expansion Unit Offset byte 7 bit 0 bit 0 Input data of the Slave Unit 7 to O bit 1 Input data of the Slave Unit 15 to 8 bit 2 Input data of the Expansion Unit 7 to 0 bit 43 Reserved 16 point Input Slave Unit and 16 point Expansion Unit Offset byte 7 bit 0 bit 0 Input data of the Slave Unit 7 to O bit H1 Input data of the Slave Unit 15 to 8 bit 2 Input data of the Expansion Unit 7 to 0 bit 3 Input data of the Expansion Unit 15 to 8 bit 16 point Input Slave Unit and Sysmac error status Offset byte 7 bit 0 bit 0 Input data of the Slave Unit 7 to O bit 1 Input data of the Slave Unit 15 to 8 bit 2 Sysmac error status 23 to 16 bit 16 point Input Slave Unit 16 point Expansion Unit and Sysmac error status Offset byte 7 bit 0 bit 0 Input data of the Slave Unit 7 to O bit 1 Input data of the Slave Unit 15 to 8 bit 2 Input data of the Expansion Unit 23 to 16 bit 3 Input data of the Expansion Unit 31 to 24 bit Sysmac error status 39 to 32 bit GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit
251. o 15 For input device Bottom side For output device 8 power supply connector Supplies the I O power For output device 9 DIN track mounting hook Fixes a Slave Unit to a DIN track GX series EtherCAT Slave Unit User s Manual 7 55 7 Digital Slave Unit Internal circuits diagram e GX MD1618 NPN TX TX RX TX TX RX RX DC DC converter No isolation type GX MD1628 PNP TX TX RX RX TX TX RX RX Intemal circuits ji P hotocoupler Input circuit Photocoupler Short circuit protection element pO Physical layer DC DC converter No isolation type Intemal circuits pe aman hotocoupler Ph Input circuit otocoupler 900 lt lt GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Wiring diagram e GX MD1618 NPN V1 V1 V1 V1 V1 V1 V1 NC NC NC NC NC NC NC 60 G1 G2 G3 G4 G5 G6 INO IN1 IN2 IN4 IN5 JING power supply 24 VDC NC NC NC NC NC NC NC OUT OUT OUT OUT OUT OUT OUT 0 1 2 3 4 5 6 2 wire sensor Solenoid valve etc NPN in
252. o IEC 61000 4 4 2 kV power line Vibration resistance Malfunction 10 to 60 Hz with amplitude of 0 7 mm 60 to 150Hz and 50 m s in each of X Y and Z directions for 80 minutes GX OC1601 Relay Output Unit only 10 to 55 Hz with double amplitude of 0 7 mm Shock resistance 150 m s with amplitude of 0 7 mm GX OC1601 Relay Output Unit only o 100 m s 8 times each in 6 directions on 3 axes 5 Dielectric strength 600 VAC between isolated circuits Insulation resistance 20 MQ or more between isolated circuits 5 Ambi i mbient operating 10 to 55 9 temperature operating 25 to 85 with no condensation 8 humidity 5 Ambient operating No corrosive gases atmosphere Storage temperature 25 to 65 C Storage humidity 25 to 85 with no condensation Terminal block screws tightening torque wiring screws 0 5 terminal block mounting screws 0 5 N m Mounting method 35 mm DIN track mounting Applicable only to 2 tier terminal block and 3 tier terminal block type Slave Units GX series EtherCAT Slave Unit User s Manual 6 Basic Specifications of Slave Units 6 3 Specifications of Common Areas This section explains the specifications of indicator switches and connectors commonly mounted in each Slave Unit 6 3 1 Status Indicators It indicates the current state of an EtherCAT Slave Unit PWR
253. oes 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 performance is subject to the Omron s Warranty and Limitations of Liability Change in Specifications Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change part numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the Product may be changed without any notice When in doubt special part numbers may be assigned to fix or establish key specifications for your application Please consult with your Omron s representative at any time to confirm actual specifications of purchased Product Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions GX series EtherCAT Slave Unit User s Manual 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 situati
254. of the connected loads Total current consumption of connected output devices 1 This value does not apply when two wire output devices are connected Use the following formula when two wire output devices are connected I O power supply current supplied to V and G terminals Current consumption of Output Slave Unit from power supply Total load current of the connected loads 2 Compare the value from the above formula to the rated current common of the Output Slave Unit and use the smaller value Example The following example is for when five relays with a load current of 20 mA each are connected to the GX OD1612 The GX OD1612 specifications are GX series EtherCAT Slave Unit User s Manual 51 luang 0 1 S V A Appendix Rated output current of 4 0 mA common power supply current consumption of 10 mA max at 20 4 to 26 4 Also relays are two wire output devices so there is no output device current consumption Therefore power supply current supplied to V and G terminals 210 mA 20 mA x 5 points 110 mA 4 0 A common 52 GX series EtherCAT Slave Unit User s Manual A Appendix A 6 Glossary Use the following list of EtherCAT terms for reference Term Description tion x for indicating inf ti rrors that occur in an application AL status application layer stat
255. olgeter GX EC0211 9 15 9 17 9 20 9 21 input type pees GX EC0241 9 23 9 25 9 28 9 29 Input type 9 14 GX series EtherCAT Slave Unit User s Manual 9 4 1 Open collector input type GX EC0211 9 Encoder Input Slave Unit Specification Slave Unit specifications Item Counter point 2 points Specification Input signal Counter phase A Counter phase B Counter phase Z Latch input A B Counter reset input Counter enabled status display LED display green Input indicators LED display yellow Unit power supply current consumption 130 mA max for 20 4 to 26 4 VDC power supply voltage Weight 390 g max Pulse input specifications Item Specification Counter phase A B Counter phase Z 20 4 to 26 4 VDC 20 4 to 26 4 VDC Input voltage 4VDO iBto 9 VDO eavpc isto 2 1639 VDO 10 5 5 10 5 VDC 5 8 4 mA 8 6 mA 8 4 mA 8 6 mA at 24 VDC at 5 VDC at 24 VDC at 5 VDC ON voltage 19 6 V min 4 5 V min 18 6 V min 4 5 V min OFF voltage 4 V max 1 5 V max 4 V max 1 5 V max Input restriction resistance 2 7 430 Q 2 7 KQ 430 Q Maximum response Single phase 500 kHz phase difference 125 kHz frequency Multiplication x 4 125 kHz Filter switching NA NA GX series EtherCAT Slave Unit User s Manual eres uoe3 0 6 LL2003 X9 1ndui 10128 o9
256. on Unit Offset byte 7 bit 0 bit 0 Output data of the Slave Unit 7 to O bit 1 Output data of the Slave Unit 15 to 8 bit 2 Output data of the Expansion Unit 7 to 0 bit 43 Reserved 16 point Output Slave Unit and 16 point Expansion Unit Offset byte 7 bit 0 bit 0 Output data of the Slave Unit 7 to 0 bit 1 Output data of the Slave Unit 15 to 8 bit 2 Output data of the Expansion Unit 7 to 0 bit 3 Output data of the Expansion Unit 15 to 8 bit 7 6 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit 7 3 Functions of Digital I O Slave Units Digital I O Slave Units have the following convenient functions in addition to the I O signal processing 7 3 1 Input Filter 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 Applicable Slave Unit Slave Units with digital inputs and Expansion Units GX IDxxxx input section of GX MDxxxx XWT IDxx 1 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 5 jo suonoung When the input shifts from OFF to ON
257. on method refer to the manual of EtherCAT Master Unit to be connected 1 Unit version 1 1 or later only 1 9 2 1 Input Data Allocation Encoder Input Slave Unit stores the counter present value external latch value A external latch value B and the counter status as input data and can allocate required data to Input area The details of each data type are as follows Data Size Detail Counter present value 8bytes Used to monitor counter data External latch value A 8 bytes Stores the counter value latch value A latched by external latch A External latch value B 8 bytes Stores the counter value latch value B latched by external latch B Counter status 2 bytes Status flag to check the counter status Sysmac error status 4 1 byte Status flags that show Slave Unit errors and connection confirmation 1 Unit version 1 1 or later only 2 6 1 1 2 6 GX series EtherCAT Slave Unit User s Manual 9 3 9 Encoder Input Slave Unit The data allocation is as follows when using the default settings Counter status counter present value data external latch A data external latch B data size 26 bytes Offset byte 007 006 005 004 002 D01 0 Reserved EXLB1 EXLA1 EXRES1 RACK1 PACK1 1 CRUN2 CERR2 Reserved EXLB2 EXLA2 EXRES2 RACK2 PACK2 42 LL 3 LH
258. on occurs during remote I O communication GX series EtherCAT Slave Unit User s Manual 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 Units CPU Bus Units may result in unexpected operation of the loads connected to the Unit Transferring I O memory data to the CPU Unit with a Programming Device PC tool Changing present values in memory with a Programming Device Force setting resetting bits with a Programming Device Transferring I O memory files from a memory card or EM file memory to the CPU Unit 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 GX series EtherCAT Slave Unit User s Manual 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 s
259. on of connected EtherCAT Master Unit s the communications cable wired correctly s the communications cable exposed to excessive noise Review set time of Communication Error Setting If this does not improve the Slave Unit hardware may be damaged Replace the applicable Slave Unit Synchronization error in SF operation SF 11 1 2 Errors Unique to Each Slave Unit Slave Unit type All models other than Encoder Input Slave Units GX series EtherCAT Slave Unit User s Manual Symptom Cause Measures Some functions are not reflected even after parameters have been set Turn ON Slave Unit power supply again after changing the setting The functions enabled by recycling the power were changed 11 7 uu eA e S yJ S043 2 1 L LL 11 Troubleshooting and Maintenance Slave Unit type Slave Units to which Expansion Units can be mounted Symptom I O communications stopped after mounting or removing an Expansion Unit and turning ON the power Cause The number of I O points increase or decrease when Expansion Units are mounted or removed The number of I O points may not conform to the I O data assigned to the EtherCAT Master Unit Measures Allocate data again to the EtherCAT Master Unit The PWR indicator lights red after mounting or removing an Expansion Unit online Expansion Units cannot be mounted
260. on 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 Symbols GX series EtherCAT Slave Unit User s Manual property damage This symbol indicates prohibited item an you must do The specific instruction is indicated using text inside the S 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 an item that must be done The specific instruction is indicated using text inside the e The symbol shown to the left indicates typical compulsory items 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
261. ons for Correct Use The I O power supply connectors on the left and right are equipped with two sets of V G terminals One set of terminals is used for the I O power supply for the unit and the other set is used for the I O power supply to the next unit Use a maximum current of 4 A per terminal When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in Page A 50 ES Reference Wire colors have been changed according to revisions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions 7 68 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit 7 4 13 e CON Connector Type 16 point Input and 16 point Output Slave Unit GX MD3218 MD3228 Specification Common to input section and output section Specification Item Internal common GX MD3218 NPN GX MD3228 PNP I O indicators LED display yellow Unit power supply current consumption 150 mA max for 20 4 to 26 4 VDC power supply voltage e CON connector insertion durability 50 times Weight 220 g max Expansion functions No Short circuit protection function Input section Item Available at input section only Operates at 50 mA point min Specification
262. 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 ON ON vt from 5 OFF OFF ON ON ON ON ON Input data is OFF because all data Input data is ON because all data E is not ON during 4 readings is ON during 4 readings Data set to be input Data set to be input ON ON OFF i ON delay time The settable time of reading is 0 ms 0 5 ms 1 ms default set value 2 ms 4 ms 8 ms 16 ms or 32 ms GX series EtherCAT Slave Unit User s Manual 7 7 7 Digital I O Slave Unit Note that when this function is used the timing when the contact actually turns ON or OFF is delayed for the set time ON delay time The ON delay time is expressed by input delay time time required to read input input filter time Moreover if the input filter is used for the Expansion Units as well the ON delay time becomes longer because the input delay time is longer than when only Slave Unit is used Setting method The settings are made using the SDO communication The target index is 3000 hex For the set values refer to the information in the corresponding index of Appendix A 1 Object Dictionary in Page A 26 7 3 2 Error Mode Output Overview of functions e Purpose This function provides selection whether to hold or clear the outputs if signals fro
263. ortation Do not bend cables past their natural bending radius or pull on cables 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 Check the user program for proper execution before actually running it on the Unit Not checking the program may result in unexpected operation 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 Changing the operating mode of the PLC Setting resetting any bit in memory 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 Install external breakers and take other safety measures against short circuiting in external wiring GX series EtherCAT Slave Unit User s Manual 11 Precautions for Correct Use 12 Wire all connections correctly according to instructions in this manual Failure to install them may result in serious accidents Do not operate the control system in the following locations Location subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the
264. pecified 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 Assembling any Units Expansion Units Removing or attaching the terminal blocks or connectors to Slave Unit Replacing parts e g relays Setting the DIP switch or the node address switches Connecting cables or wiring the system e Installation Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static build 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 dista
265. pected analog value is not output Setting changes are not reflected unless the unit power supply is turned ON again after making changes Turn ON the unit power supply again after changing the setting The I O range cannot be set with the range setting switch GX series EtherCAT Slave Unit User s Manual The Pin8 is turned OFF to allow the setting via SDO communications This is the default setting Turn Pin8 ON to allow the setting via range setting Switch 11 9 yJ Ol enbiup 51003 2 1 1 L LL 11 Troubleshooting and Maintenance 11 10 Slave Unit type Analog input Slave Unit Symptom The disconnection indication does not clear Cause The sensor is disconnected Measures Restore the sensor connection Check the connected sensor and input type Disconnection is not detected Disconnection can not be detected for ranges other than 1 to 5 V and 4 to 20 mA Check that the input range is correct A disconnection is detected even though it is not disconnected The connected sensor does not conform to the input range set on the Unit Check the type of connected sensor and the range setting on the Slave Unit again The user adjustment error is too large Execute user adjustment again The conversion cycle is too long The number of AD conversion points is set to maximum 4 points Reduc
266. pply for Slave Units H Precautions for Correct Use The I O power supply for the input section of the e CON connector type Slave Units is shared with the unit power supply To calculate the output current of the unit power supply be sure to use unit power supply current consumption to which input current and input connection device supply current have been added Use a power supply with sufficient capacity considering the inrush current at startup 4 3 3 Connecting the Unit Power Supply 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 To 24 VDC unit power supply Unit power supply cable Pin terminal V OO V terminal terminal Mount a pin terminal or equivalent to the unit power supply cable so that it will not be displaced GX series EtherCAT Slave Unit User s Manual 4 9 Aiddng 1amod pue Ajddng 01 Huljoauu0g p Ajddng HUN z e v 4 3 4 Installation and Wiring e Recommended product The following pin terminals are recommended for the unit power supply cables Model apenas wre Crimping tool Manufacturer CRIMPFOX UD6 Product No 1204436 Phoenix Contact Al0 5 10WH 0 5 mm AWG20 or CRIMPFOX ZA3 Co Ltd series Crimper PZ1 5
267. put 3 wire NPN output 3 wire Limit switch etc external device sensor Emitter of Photoelectric sensor photoelectric sensor proximity sensor 5 uoe3 104 v e GX MD1628 PNP m V1 V2 v3 V4 v5 V6 NC NC NC NC NC NC NC G1 G1 G1 G1 G1 G1 G1 INO IN1 IN2 IN3 IN4 IN5 JING 829LOIW 8L9LQIW XO HUN BAIS 1ndino 1urod g pue 1nduj julod g ed NO2 9 OL v I O power supply 24 VDC NC NG NC NC NC NC NC OUT OUT OUT OUT OUT OUT OUT 0 1 2 3 4 5 6 2 wire sensor Solenoid valve etc PNP input 3 wire PNP output 3 wire Limit switch etc external device sensor Emitter of Photoelectric sensor photoelectric sensor proximity sensor GX series EtherCAT Slave Unit User s Manual 7 57 7 Digital WO Slave Unit H Precautions for Correct Use The I O power supply connectors are equipped with two sets of V G terminals One set of terminals is used for the I O power supply for the unit and the other set is used for the I O power supply to the next unit Use a maximum current of 4 A per terminal When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in Page A 50
268. r s Manual 3 2 Setting and Wiring Hardware 3 4 3 2 1 Mounting and Setting EtherCAT Master anana 3 4 3 2 2 Mounting and Setting Slave Units seen 3 4 3 2 3 Wiring Communications Cables ssssssssssssseseeeeee eene nnne 3 4 3 2 4 Connecting Power Supplies sese enne 3 4 3 2 5 Wiring 1 3 eter eer e ajag aaa ani eU ae aa 3 4 3 3 Starting Communications eese ienen nuni eune eaii aeniea nnn inna nan nnns sss sane nnn nnn 3 5 3 3 1 street nnns 3 5 3 3 2 Setting EtherCAT Communications 3 5 3 3 3 Starting EtherCAT Communications ase eeee eaaa a aana 3 5 3 4 Checking Operations 3 6 3 4 1 Checking Unit Displays ssssssssssesseeeesesennene enemies en trennen 3 6 3 4 2 Confirming Data Read and Write nennen 3 6 3 4 3 Setting Slave Unit Parameter ssssssssssssseseseneeeenee neret 3 6 Chapter4 Installation and Wiring
269. ries EtherCAT Slave 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 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
270. ring 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 CPU Unit operation CPU Unit functions Initial settings 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 CPU Unit Built in EtherCATe 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 GX series EtherCAT Slave Unit User s Manual Version Upgrade Information The following changes have been made in the upgrade from unit version 1 0 to 1 1 of the GX series EtherCAT Slave Units Item Emergency mes
271. rminal inputs t terminal block block 16 outputs NPN GX OD1611 Possible to mount an Expansion Unit 16 outputs PNP GX OD1621 Relay 16 outputs GX OC1601 8 inputs and 8 outputs GX MD1611 Equipped with a NPN removable screw terminal block 8 inputs and 8 outputs GX MD1621 Expansion Unit cannot PNP be mounted Models with 16 inputs NPN GX ID1612 3 tier 16 inputs PNP GX ID1622 terminal 16 outputs NPN GX OD1612 block 16 outputs PNP GX OD1622 8 inputs and 8 outputs NPN GX MD1612 8 inputs and 8 outputs GX MD1622 GX series EtherCAT Slave Unit User s Manual PNP SHUN e e S 1V249u13 10 S d L Z Z ISr SHUN SALIS 2 EtherCAT Slave Unit Type e CON Connectors Appearance points Model 16 inputs NPN GX ID1618 16 inputs PNP GX ID1628 16 outputs NPN GX OD1618 16 outputs PNP GX OD1628 8 inputs and 8 outputs GX MD1618 NPN 8 inputs and 8 outputs GX MD1628 PNP 32 inputs NPN GX ID3218 32 inputs PNP GX ID3228 32 outputs NPN GX OD3218 32 outputs PNP GX OD3228 16 inputs and 16 outputs GX MD3218 NPN 16 inputs and 16 outputs GX MD3228 PNP Features Equipped with an e CON connector Expansion Unit cannot be mounted Analog I O Slave Unit Type Models with screw terminal blocks Appearance Encoder Input Slave Unit Type Models with screw terminal blocks Appearan
272. ry in the Slave Unit 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 1 When power supply is OFF 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 Non volatile memory SII oer 88 gt Register 0010 hex turned ON the software writes the node Register 0012 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 n EtherCAT Slave Unit 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 setthe node address switches 2 When the power supply to the Slave Unit is turned ON the value thatis seton 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 mesedea Register 0010
273. s 4 ms 8 ms 16 ms 32 ms Default setting 1 ms Number of circuits per common 16 inputs common Input indicators LED display yellow Isolation method Photocoupler isolation power supply method Supply by I O power supply Unit power supply current 90 mA max for 20 4 to 26 4 VDC power supply voltage consumption ie power supp current 10 mA max for 20 4 to 26 4 VDC power supply voltage consumption Weight 180 g max Expansion functions Enabled Short circuit protection No function Notes Page A 51 For the I O power supply current value to V G terminals refer to 5 I O Power Supply Current in GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Names and functions T T i Etherca tS ___ ADR omron GX IN F N PR 012345608 7 8 9 10 11 12 13 14 15 Bag IN 7 6 Terminal arrangement diagram ss Function Communications connectors 10 to 18 1to9 nels uoe3 104 v 1 2 Unit t e ni Refer 6 3 Specifications of Common Areas in 6 4 7 3 Status indicators 4 Node Address setting Switches Indicates the state of an input contact ON OFF 5 Input indicators 0 to 15 No
274. s 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 suoneoiunuiuio ALIS 1v249u13 9 6 epowN Od 2 9 9 GX series EtherCAT Slave Unit User s Manual 5 11 5 EtherCAT Communications 5 7 Emergency Messages 5 7 1 GX series EtherCAT Slave Units are able to notify emergency messages to the EtherCAT Master Unit by using the SDO communications if they detect errors Emergency Message Notification It is possible to set whether or not to notify emergency messages via SDO communications Target indexes are sub index 05 hex Flags in 1023 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 V Precautions for Correct Use Emergency message notification is enabled at startup for unit version 1 0 An emergency message is composed of 8 byte data as shown below Emergency Error register For contents of emergency message refer to 11 1 5 Emergenoy Error Code in page 11 19
275. s U32 Access RO PDO map Not possible Indicates the device information Sub index 1 Vendor ID gives the manufacturer identifier Sub index 2 Product Code gives the value assigned to each Slave Unit type 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 Sub index 4 Serial Number gives a serial number for each product For unit version 1 0 the serial number is always shown as 00000000 hex GX series EtherCAT Slave Unit User s Manual A Appendix The table below shows the identity object values by Slave Unit types Model Revision Model Revision MM Slave Unit Expansion Unit Code hex boss Slave Unit Expansion Unit Code hex am 0000000 00010000 00000017 00010000 XWT IDO8 0000000F 00010000 XWT IDO8 00000018 00010000 XWT IDO8 1 00000013 00010000 XWT IDO8 1 0000001C 00010000 XWT ID16 00000010 00010000 XWT ID16 00000019 00010000 GX ID1611 XWT ID16 1 00000014 00010000 GX ID1621 XWT ID16 1 0000001D 00010000 XWT OD08 00000011 00010000 XWT OD08 0000001A 00010000 XWT OD08 1 00000015 00010000 XWT OD08 1 0000001E 00010000 XWT OD16 00000012 00010000 XWT OD16 00
276. s mb Section 3 2 3 Connecting Power Supplies mb Section 3 2 4 gt I c 0 Wiring I O Devices mp Section 3 2 5 ejnpeooJg 2 1 2 Starting a System mb Section 3 3 1 Setting an EtherCAT Communications mb Section 3 3 2 Starting EtherCAT Communications mp Section 3 3 3 Starting Communications Checking Unit Displays mp Section 3 4 1 Confirming Data Read and Write mb Section 3 4 2 Checking Operations Setting Slave Unit Parameter mb Section 3 4 3 GX series EtherCAT Slave Unit User s Manual 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 Unit at the prescribed location and make settings of node address and so on For details refer to each item below e Mounting 4 1 Mounting Slave Units in page 4 2 Setting Pages in Chapter 6 to Chapter 10 which explain the general specification and details of each type of Slave Units 3 2 3 Wiring Communications Cables Wire communications cables to the EtherCAT Master Unit and each Slave Unit For wiring method
277. s to I O memory easily 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 O power supply Provides power for input output operations of external devices connected to Slave Units Separate from Unit power supply when wiring GX series EtherCAT Slave Unit User s Manual 1 7 1 EtherCAT Network GX series EtherCAT Slave Unit User s Manual EtherCAT Slave Unit This chapter explains the overview of EtherCAT Slave Unit 2 1 Overview of EtherCAT Slave 2 2 2 1 1 Slave Units Usage 2 2 2 1 2 Features of GX series EtherCAT Slave 2 2 2 2 Types of EtherCAT Slave Units 2 3 2 244 Slave Units List oc cs ob leer enti ER 2 3 2 2 2 Installation I O Connection and Power Supply Methods for Each Slave Unit 2 6 GX series EtherCAT Slave Unit User s Manual 2 1 2 EtherCAT Slave Unit 2 1 Overview of EtherCAT Slave Unit This section explains the overview of EtherCAT Slave Unit 2 1 1 Slave Units Usage Slave Units supported by this manual are largely classified into the following types by the their intended purposes Digital I O Slave Unit Inputs and outputs digital ON OFF signals Analog I O Slave Unit Performs AD or DA conversion for analog
278. s well as the G1 and G2 terminals of the I O power supply are not connected internally Supply power separately for V1 G1 and V2 G2 Use a maximum current of 500 mA for each V1 V2 G1 and G2 terminals aside from the I O power supply terminals When using an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode Refer to A 4 Wiring External Output Signal Lines in Page A 50 Do not wire NC terminals ES Reference Wire colors have been changed according to revisions in the JIS standards for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions uoe3 104 v i 229LOO 2L9LOO X9 HUN 1ndino 1urod 9 ed jeuiuue Jen e 9 p GX series EtherCAT Slave Unit User s Manual 7 37 7 Digital Slave Unit 7 4 7 3 tier Terminal Block Type 8 point Input and 8 point Output Slave Unit GX MD1612 MD1622 Specification Common to input section and output section Item Internal I O common Specification GX MD1612 NPN GX MD1622 PNP I O indicators LED display yellow Unit power supply current 90 mA max for 20 4 to 26 4 VDC power supply voltage consumption Weight 370 g max Expansion functions No Short circuit protection No function Input section Specification Item GX MD161
279. sage setting when the Slave Unit s power supply is turned ON Unit version 1 0 Emergency message notification is enabled at Unit version 1 1 Emergency message notification is not enabled startup at startup Sysmac error status Not supported Supported Saving node address settings Not supported Supported Sysmac device Displaying the serial number Not supported Supported functions Conformance to ESI specifications ETG 2000 S R Supported Supported V1 0 1 SII data checking Not supported Supported Data attribute for Input Time Constant 3000 hex for Digital Slave pe Attribute R Attribute D Bit objects Digital I O bit objects for Digital Slave Units 3020 hex and 3220 hex Not supported Supported Soft switches bits and status bits objects for Encoder Input Slave Units 4021 hex and 4031 hex GX series EtherCAT Slave Unit User s Manual 15 Contents Chapter 1 1 1 1 2 Chapter 2 2 1 2 2 Chapter 3 3 1 16 niger e 1 Intended Fl aders faena atr ag aapa 1 How to Read the 2 Page edat a e 2 eof eee LM MEME TEE EPUM 3 Structure of This Manual 2 1n adas bage ban iere iie 4 Terms and Conditions Agreement
280. scribe 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 Sync manager entity Z ag a Index Sub Object contents 55 1212 1 1A00 hex 5 1212 hex 01 5 1212 hex 1A03 hex 2 8 1A00 hex PDOA g 1A01 hex PDO B 1A02 hex PDOC 1A03 hex PDO D E __ 04 hex 1405 hex PDOF 1A06 hex PDO G GX series EtherCAT Slave Unit User s Manual 5 4 4 Fixed PDO Mapping The tables below show the details of fixed PDO mapping for GX series EtherCAT Slave Units Note that it is not possible to change fixed PDO details 5 EtherCAT Communications e PDO mapping for Digital I O Slave Unit Fixed PDO mapping of a Digital I O Slave Unit is determined by the number of inputs and or outputs per Unit and whether or not Expansion Units are connected 257th receive PDO Mapping 1700 hex 8 outputs of Slave Unit 8 outputs of Expansion Unit only 16 outputs of Slave Unit only 16 outputs of Expansion Unit only Write output 16 bit 6300 hex 16 outputs of Slave Unit and 8 outputs of Expansion Unit 24 outputs in total 32 outputs of Slave Unit only 16 outputs of Slave Unit and 16 outputs of Expansion Unit 32 outputs
281. sidered as railway EE 8A Ethernet frame Ethernet i b Reader Ethernet data Maximum 1498 bytes CRC S S V v 2 EtherCAT Wd 1 n EtherCAT datagram EtherCAT frame Q header 1st EtherCAT 2nd EtherCAT ____ n th EtherCAT datagram datagram datagram Header Data WKC WKC Working counter GX series EtherCAT Slave Unit User s Manual 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 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 tt LLL Ethernet frame Ethernet header EtherCAT header 1st EtherCAT 2nd EtherCAT 3rd EtherCAT CRC datagram datagram datagram Logic process data Data Data b Datac Mailbox communications functions SDO communications It refers to message communications At
282. signals of 0 to 5 V 4 to 20 mA and so on and inputs or outputs them Encoder Input Slave Unit Performs conversion for pulse input signals from an encoder Expansion Unit Mounted on a Digital I O Slave Unit in order to expand the number of I O points Note however Expansion Units can only be mounted on Digital I O Slave Units with 2 tier terminal block and 16 points 2 1 2 Features of GX series EtherCAT Slave Units The GX series EtherCAT Slave Units have the following features Optimum Functionality and Ease of Operation Based on Unified Specifications The GX series EtherCAT Slave 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 Slave Units and other OMRON control components that were designed with the same communications and user interface specifications 2 2 GX series EtherCAT Slave Unit User s Manual 2 EtherCAT Slave Unit 2 2 Types of EtherCAT Slave Units This section explains the types of EtherCAT Slave Units and mounting connection and power supply methods 2 2 1 Slave Units List Digital I O Slave Unit Type Appearance points Model Features Models with 16 inputs NPN GX ID1611 Equipped with 2 tier 161 PNP GX ID1621 removable screw te
283. sis Emergency message history ________ Application layer status 1 1 1 1 Error notification T 2 s Description Notification method Page Notification is provided when an error is M Error status is received by the Sysmac error detected in the application These errors m TxPDO and master is notified 11 14 status are displayed only on the OMRON Sysmac oferrors Studio Support Software y cyce Notification is provided of application level Emergency errors Either CiA defined error codes are The slave notifies the master 11 19 messages used or error codes are added to when an error occurs vendor specific areas Notification is provided of errors in The master is notified by writing Application layer EtherCAT communications The error MAS SIRE to the application layer status 11 21 status notification method and error codes that are r dister when anierr r occurs defined by ETG are used 9 L LL sed pue spoujejy uogeoynoN 4043 6 1 1 GX series EtherCAT Slave Unit User s Manual 11 13 11 Troubleshooting and Maintenance 11 1 4 Sysmac Error Status Codes A table that describes the error event codes that are displayed on the Sysmac Studio is given below Unit version 1 1 or later is required Error List The errors i e events that can occur in the GX series EtherCAT Slave Unit are given on the following pages Even
284. specifications Locations subject to condensation as the result of severe changes in temperature Location subject to corrosive or flammable gases Location subject to dust especially iron dust or salts Location subject to exposure to water acid oil chemicals etc Locations subject to shock or vibration Confirm voltage specifications when wiring communications the power supply and I O crossovers Incorrect wire may result in malfunction Wire all connections correctly according to instructions in this manual Use the correct wiring materials to wire the Unit Take appropriate and sufficient countermeasures when installing systems in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies Do not drop any Unit or subject any Unit to excessive shock or vibration Otherwise Unit failure or malfunction may occur GX series EtherCAT Slave Unit User s Manual Conformance to EC Directives Applicable Directives EMC Directives Low Voltage Directive Concepts 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 Directiv
285. sssssssseeee eene A 25 2 Current Consumption ewa nawan anan aee nnnm nnne tnn assa nsn ne nana A 46 A 2 1 Digital WO Slave A 46 A 2 2 Analog I O Slave Sa 46 A 2 3 Encoder Input Slave A 46 2224 Expansion Uniti tee RE ce deine timere A 47 A 3 Precautions with Connecting Two wire DC Sensors eene A 48 A 3 1 Relation between ON Voltage of a Unit with DC Inputs and Sensor Residual Voltage A 48 20 4 A 5 A 6 A 3 2 Relation between ON Current of a Unit with DC Inputs and Sensor Control Output A 48 A 3 3 Relation between OFF Current of a Unit with DC Inputs and Sensor Leakage Current ii sasanga tnnt nnns A 49 Wiring External Output Signal Lines 50 VO Power Supply A 51 GOSS ary PR LR A 53 GX series EtherCAT Slave Unit User s Manual EtherCAT Network This chapter explains the overview of EtherCAT network 1 1 Overview of EtherCAT Networks 1 1 1 1 1 1 1 1 1 2 Configuration Elements of EtherCAT Network 1 2 3 4 Connection Examples of EtherCAT 1 2 1 2 1 2 Overview of Configuration Devices GX series EtherCAT Slave Unit
286. stored GX series EtherCAT Slave Unit User s Manual A Appendix 4031 hex Status Flag Sub index 0 Number of channel Range 00 hex to 16 hex Unit Default 16 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 CH1 Present Value Preset Execution Completed Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 2 CH1 Present Value Reset Execution Completed Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 3 CH1 Ext Reset Flag Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 4 CH1 Ext Latch A Flag Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 5 CH1 Ext Latch B Flag Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 7 CH1 Present Value Preset Set Value Error Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 8 CH1 Counter Operation State Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 9 CH2 Present Va
287. supply voltage consumption Weight 180 g max Expansion functions Enabled Error Mode Output Select either hold or clear Short circuit protection function Notes Page A 51 No For the I O power supply current value V and G terminals refer to 5 I O Power Supply Current in GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Names and functions EthercaT ADR omron GX our 1 OUT 0123456 7 8 9 10 11 12 13 14 15 p IN IN UA OUT RUN 1 UNITPS 2 INPUT 7 6 Terminal arrangement diagram ss Function 1 Communications connectors 2 Unit power supply connector 3 Status indicators 4 Node Address setting Switches 10 to 18 1to9 nels uoe3 104 v Refer to 6 3 Specifications of Common Areas in Page 6 4 Indicates the state of an output contact ON OFF 5 Output indicators 0 to 15 Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state Connects external devices and the I O power supply 6 Terminal block V G I O power supply terminals 010 15 Output terminals 7 DIN track mounting hook Fixes a Slave Unit to a DIN track L
288. t A and input B The I O power is not supplied Check that the I O power is supplied power supply voltage is outside the rated range Set the I O power supply voltage within the rated voltage A connected device is disconnected Check the wiring with the connected device A connected device is defective Replace the connected device The setting of counter input method is wrong Set the correct counter input method and restart the Slave Unit The pulse is not counted accurately The pulse frequency exceeds the maximum frequency of the Slave Unit specification Or the frequency exceeds the maximum value of set mode Set the pulse frequency within the Slave Unit specification or the mode maximum value The setting of counter input method is wrong Set the correct counter input method and restart the Slave Unit The counter value is not reset even the present value external reset signal or phase Z pulse are input Input wiring is wrong Check input wiring The soft switch present value external reset enabled is set to 0 disabled Set the soft switch present value external reset enabled to 1 enabled Counting is not possible The count value cannot be reset with external input when counting is not possible Change to count possible status If it is necessary to reset because counting is not possible reset with the soft swit
289. t Slave Unit The use of Expansion Units enables flexible I O capacity expansion This section explains how to connect the Expansion Unit and supply the unit power The Expansion Unit provides the same functions available through the Digital I O Slave Unit For details refer to 7 3 Functions of Digital Slave Units in page 7 7 10 1 1 Connecting Expansion Units 1 Remove the cover from the right side of the Digital I O Slave Unit 1 Depress the catch and remove one side of the cover 2 Pull out the cover to remove it entirely 2 Connect the Expansion Unit to the Slave Unit Press the Expansion Unit and Digital Slave Unit together until they click into place with the connectors properly mated 14 Precautions for Correct Use Always turn the main power OFF when connecting the Expansion Unit 10 2 GX series EtherCAT Slave Unit User s Manual 10 1 2 I O Power Supply The I O power supply method when an Expansion Unit is connected differs in cases In some cases power can be supplied only to Slave Unit In the other cases it must be supplied to both the Slave Unit and the Expansion Unit These differences depend on the combination Refer to the following table for the correct supply Slave Unit Expansion Unit GX ID1611 10 Expansion Unit XWT IDO8 1 XWT ID16 1 Power is supplied only to the Slave Unit XWT OD08 1 XWT OD16 1 Power is supplied to both
290. t User s Manual 7 Digital I O Slave Unit Names and functions 3 4 Du x33 5 PWR 1 2 3 4 5 6 T oo 6 i 1 Terminal arrangement diagram GX MD1618 GX MD1628 Top side input Bottom side output Top side input Bottom side output 2 0 6 lt uoe3 104 v 0 TEH we S E 829LOW 8L9LQW XO HUN BAIS 1ndino 1urod g pue 1nduj juiod g ed NO2 9 OL v No Name Function Communications connectors Unit power supply connector Status indicators Node Address setting Switches Refer to 6 3 Specifications of Common Areas in Page 6 4 Indicates the state of an input contact ON OFF 5 Input indicators 0 to 7 Not lit Contact OFF input OFF state Lit in yellow Contact ON input ON state Indicates the state of an output contact ON OFF 6 Output indicators 0 to 7 Not lit Contact OFF output OFF state Lit in yellow Contact ON output ON state Connects an external device Top side 7 connectors 0 t
291. t 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 Reference Prt Min Obs Info 04A00000 hex Expansion An Expansion Unit The Expansion Unit is 11 16 Unit Hardware was disconnected disconnected Error during operation The Expansion Unit is faulty a signal between the Slave Unit and Expansion Unit was broken 04A20000 hex Slave A hardware error The Slave Unit is faulty 11 16 Hardware occurred in the Error Slave Unit 14A00000 hex Non volatile An error occurredin Noise 11 17 the control Checksum parameters Error 24610000 hex Switch Setting The setting switch The analog range that is set on 11 17 Error is set out of range the switch is outside the setting range 64CC0000 hex I O An I O signal line is e I O signal wiring is 11 18 Disconnection disconnected disconnected or has a faulty Detected connection An I O signal line is disconnected 84A00000 hex Slave Unit A verification error Anerror occurred in the control 11 18 Verification occurred for the SII board Error 04A10000 hex Non volatile An error occurredin
292. t lit Contact OFF input OFF state Lit in yellow Contact ON input ON state Connects external devices and the I O power supply 6 Terminal block V I O power supply terminals 0 to 15 Input terminals 7 DIN track mounting hook Fixes a Slave Unit to a DIN track LZ9LOl LL9EGI XO HUN Indu jurod 9 ed 2 GX series EtherCAT Slave Unit User s Manual 7 11 7 Digital Slave Unit Internal circuits diagram e GX ID1611 NPN TX TX RX RX w Photocoupler Physical layer Internal circuits UNIT PS DC DC V converter v lO No isolation type e GX ID1621 PNP CN IN TX V 24VDC TX O a 0 CN OUT 2 xPhotocoupler TX 8 b uc TX 5 EZ RX T MU 4 ar ius 5 G 7 12 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit Wiring diagram GX ID1611 NPN i m I O power supply 24 VDC NPN output 3 wire sensor 2 wire sensor Photoelectric sensor Limit switch etc proximity sensor GX ID1621 PNP uoe3 104 v power supply 24 VDC
293. t value preset Operation Soft switch Present value preset execution completion flag PACKn section completed 0 1 Preset execution completed 10 Soft switch Present value preset execution is set to 0 Soft switch Present value internal reset execution completion RACKn Present value internal flag reset execution completed 01 Reset execution completed 1 0 Soft switch Present value reset execution is set to 0 External treset 1 Turned ON at reset generation by external input phase Z EXRESn fla 9 0 Soft switch present value external reset generation flag 9 clear is changed from O to 1 External latch A 1 Turned ON with external latch A event generation EXLAn 0 Soft switch external latch A generation flag clear is generation flag changed from 0 to 1 External latch B 1 Turned ON with external latch B event generation EXLBn 0 Soft switch external latch B generation flag clear is generation flag changed from 0 to 1 Present value preset set 0 No setting error CERRn 5 value error 1 Setting error generation CRUNn Counter operation state 0 stopped 1 Counter operating 9 2 2 Output Data Allocation Encoder Input Slave Unit stores the soft switch and the preset command value as output data and can allocate required data to Output area The details of each data type are as follows Data Size Detail Soft switch 4 bytes Used to control the Encoder Input Sla
294. tallation and Wiring Explains how to install Slave Units and how to connect and wire the EtherCAT network and power supply Chapter 5 EtherCAT Communications Explains the details of EtherCAT communications Chapter 6 Basic Specifications of Slave Units Explains the common specifications for all Slave Units Chapter 7 Digital I O Slave Unit Gives an overview about the Digital I O Slave Unit and explains names and functions of components consisting the Slave Unit It also contains internal circuit diagrams wiring diagrams and mounting dimensions Chapter 8 Analog I O Slave Unit Gives an overview about the Analog I O Slave Unit and explains names and functions of components consisting the Slave Unit It also contains internal circuit diagrams wiring diagrams and mounting dimensions Chapter 9 Encoder Input Slave Unit Gives an overview about the Encoder Input Slave Unit and explains names and functions of components consisting the Slave Unit It also contains internal circuit diagrams wiring diagrams and mounting dimensions Chapter 10 Expansion Unit Gives an overview about the Expansion Unit and explains names and functions of components consisting the Expansion Unit It also contains internal circuit diagrams wiring diagrams and mounting dimensions Chapter 11 Troubleshooting and Maintenance This contains troubleshooting and inspection methods intended for individuals to ha
295. te BOOL Access RO PDO map Not possible Sub index 17 17th Output Object to be mapped Range Unit Default 40211101 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 18 18th Output Object to be mapped Range Unit Default 40211201 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible GX series EtherCAT Slave Unit User s Manual 17 yelqo 1 V 1 efqo Buidde Odd 9 1 A Appendix Sub index 19 19th Output Object to be mapped Range Unit Default 40211301 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 20 20th Output Object to be mapped Range Unit Default 40211401 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 21 21th Output Object to be mapped Range Unit Default 40211501 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 22 22th Output Object to be mapped Range Unit Default 40211601 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 23 23th Output Object to be mapped Range Unit Default 40211701 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 24 24th Output Object to be mapped Range Unit Default 40211801 hex Attribute Size 1 byte BOO
296. the RxPDO settings e g Not Can be Syne 001D hex is Manager settings in the Error a logic setting error in the saved notified Master Unit Sync Manager An error was detected in heck th TxPDO Setting the TxPDO settings e g Not Can be ove 001E hex s E Manager settings in the Error a logic setting error in the saved notified 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 TxPDO setting was made e g an Check the i Not Can be 4 0024 hex Assignment index subindex or size is assignment settings in notified Error that is out of range was the Master Unit registered GX series EtherCAT Slave Unit User s Manual 11 21 snes 9 1 1 L LL 11 Troubleshooting and Maintenance Notification e ad Name of error Contents to EtherCAT Measures ee ry Master Unit An incorrect RxPDO RxPDO setting was made e g an Check the RxPDO Not Can be 0025 Assignment index subindex or size d assignment settings in saved notified Error that is out of range was the Master Unit registered heck th The SYNCO interrupt check i Synchronization 3 Not Can be synchronization settings 002C
297. the Slave Unit ate nput GX ID1621 Power supply to the Expansion Unit is not and Exodnaioh Unit required i lied to both the SI Unit P i lied to both the SI Unit Output GX ODI621 ower is supplied to bo e Slave Uni ower is supplied to bo e Slave Uni GX OC1601 and Expansion Unit GX series EtherCAT Slave Unit User s Manual and Expansion Unit 10 3 yun uoisuedx3 aul jo 1 01 jddng O I amp 1 0 10 Expansion Unit 10 2 Specifications of Expansion Unit 10 4 The chart below shows the Expansion Unit specifications component names and functions internal circuits and wiring diagram Refer to the following corresponding page to each model Reference page Model UR Names and Wiring Specification R circuits functions diagram diagram XWT ID08 XWT IDO8 1 10 5 10 5 10 6 10 7 XWT OD08 XWT OD08 1 10 8 10 8 10 9 10 10 XWT ID16 XWT ID16 1 10 11 10 11 10 12 10 13 XWT OD16 XWT OD16 1 10 14 10 14 10 15 10 16 GX series EtherCAT Slave Unit User s Manual 10 2 1 8 point Input Expansion Unit XWT 1D08 IDO8 1 Specification Item 10 Expansion Unit Specification XWT IDO8 XWT IDO8 1 Internal common NPN PNP capacity 8 inputs ON voltage 15 VDC min between each input 15 VDC min between each input terminal and the V terminal terminal and the G terminal OFF voltage 5 VDC max between each input
298. the revisions GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit 7 4 6 3 tier Terminal Block Type 16 point Output Slave Unit GX 0D1612 0D1622 Specification Specification hem GX OD1612 GX OD1622 Output capacity 16 points pated current ON 0 5 A output 4 0 A common current Internal common NPN PNP 1 2 V max 1 2 V max Residual voltage 0 5 ADC between each output terminal 0 5 ADC between each output terminal and the G terminal and the V terminal i Leakage current 0 1 mA max Y ON delay 0 5 ms max OFF delay 1 5 ms max 8 Number of circuits per 8 points common S common we Output indicators LED display yellow m Isolation method Photocoupler isolation power supply method Supply by I O power supply 2 lt Output device supply 100 mA point 5 current S ent pawar suppiy current 90 mA max for 20 4 to 26 4 VDC power supply voltage consumption O power supply current 10 mA max for 20 4 to 26 4 VDC power supply voltage 7 consumption Weight 370 g max Expansion functions No Error Mode Output Select either hold or clear Short circuit protection function Notes For the I O power supply current value to V and terminals refer to A 5 I O Power Supply Current in Page A 51 229LOO 219LOO XO HUN 1ndino 1 9 ed jeuiuue Jen e 9 p GX series EtherCAT Slave Unit User s Manual 7
299. tile memory Timing When a Change Is Applied A Enabled at any time B Enabled when moving from count stop status to operation status Encoder Input Slave Units only C Enabled when moving from Pre Operational state to Safe Operational state D Enabled when moving from Pre Operational state to Init state R Enabled when power is reset Read only Aseuonsiq 12e qO 1 V Saving to Non volatile Memory With asterisk Saved to non volatile memory Without asterisk Not saved to non volatile memory jeuuo uonduoseq 10 90 1 v Size The object size is given in bytes Access Indicates whether the object is read only or read and write RO Read only RW Read and write PDO map Indicates the PDO mapping possibility GX series EtherCAT Slave Unit User s Manual A 3 A Appendix A 1 4 Communication Objects 1000 hex Range Unit Default 00 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Indicates the CoE device profile number Device Type Bits Name Contents 0 15 Device profile number Differ by Slave Unit types 16 23 Type Differ by Slave Unit types 25 31 Mode 0 Manufacturer specific 1001 hex Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Indicates the error type that occurs in a Slave Unit The error kind is allocated in each bit as follows It becomes O There is no
300. tion upper limit Lower limit correction 3215 hex Analogue Output Adjustment Low Execute user adjustment execution lower limit For the correction procedure refer to the information in the corresponding index of Appendix A 1 Object Dictionary in page A 39 GX series EtherCAT Slave Unit User s Manual 8 17 uun 5 1ndino Bojeuy eui jo uoroun 9 8 jueujjsn py 2SN c g 8 Analog I O Slave Unit 8 6 Overview of Each Slave Unit Type This section shows the specification of Analog I O Slave Units names and functions of each part internal circuit diagram and wiring diagram Refer to the following corresponding page to each model Reference page Type Model PUT Names and Wiring Specification circuits functions diagram diagram Slave Gx ap0471 8 19 8 20 8 22 8 22 Output GX DAO271 8 23 8 23 8 25 8 26 Slave Unit GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit 8 6 1 4 point Input Slave Unit GX AD0471 Specification Specification iem Voltage input Current input Input capacity 4 points possible to set number of enabled points 0to05 V 1to5V Input range Oto 10 V 4 to 20 mA 10 to 10 V Input range setting Input range switch Common to input CH1 CH2 common to input CH3 CH4 method SDO communications Possible to set input to separately Maximum signal input 15 V 30 mA Input impedance 1
301. tion between OFF Current of a Unit with DC Inputs and Sensor Leakage Current gt lieak lorr OFF current of a Unit with DC inputs lieak Sensor s leakage current Connect a bleeder resistor if the sensor s leakage current is greater than the OFF current of a Unit with DC inputs The bleeder resistor constant can be calculated using the following equation lt x Rin leak Power W gt Vcc Vr 2 R x 4 allowable margin DBurjeuuo2 2 3g pue sindu ui pun e jo jueun2 340 ueewjeq e v GX series EtherCAT Slave Unit User s Manual 49 A Appendix A 4 Wiring External Output Signal Lines Observe the following points when wiring external output signal lines To absorb reverse electromotive force when an inductive load is connected to an output signal connect a diode near the inductive load Output transistor Output Unit with output transistor Inductive load Diode Connect a diode in a DC circuit Output Signal Noise Countermeasure 50 GX series EtherCAT Slave Unit User s Manual A Appendix 5 I O Power Supply Current The I O power supply current to be supplied to the V and G terminals of each Digital I O Slave Unit is provided by the following equation The points to which I O power must be supplied are divided into small blocks The I O power supply
302. tion for Connecting 4 5 4 2 3 Connecting Communications Cables and Connectors 4 6 4 2 4 Connecting to Communications Cables 4 7 4 3 Connecting to Unit Power Supply and Power Supply 4 8 4 3 1 Precautions at Supplying Unit Power and I O Power 4 8 4 3 2 Unit Power Supply Specifications 4 9 4 3 3 Connecting the Unit Power Supply 4 9 4 3 4 Connecting the I O Power 4 10 4 4 Connecting an External Device 4 12 4 4 1 Connecting to a Screw Terminal Block 4 12 4 4 2 Connecting to e CON Connector Terminals 4 13 GX series EtherCAT Slave Unit User s Manual 4 1 4 Installation and Wiring 4 1 Mounting Slave Units This section explains the mounting methods of Slave Units to the DIN track 4 1 1 Mounting Preparation Prepare the following devices Product name Model Comment PFP 50N Length 50 cm 35 mm DIN track PFP 100N Length 100 cm PFP 100N2 Length 100 cm End plate PFP M 2 end plates are required for each Slave Unit 4 1 2 Mounting Direction There are no restrictions in the orientation unless otherwise specified in the instruction pages for the Slave Unit Mounting is possible in any of the fo
303. tribute Size 4 bytes U32 Access RO PDO map Not possible Mapping for preset command value setting A 16 GX series EtherCAT Slave Unit User s Manual A Appendix 1702 hex 259th receive PDO Mapping Sub index 0 Number of objects Range Unit Default 20 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Output Object to be mapped Range Unit Default 40210101 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 2 2nd Output Object to be mapped Range Unit Default 40210201 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 3 3rd Output Object to be mapped Range Unit Default 40210301 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 4 4th Output Object to be mapped Range Unit Default 40210401 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 5 5th Output Object to be mapped Range Unit Default 40210501 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 6 6th Output Object to be mapped Range Unit Default 40210601 hex Attribute Size 1 byte BOOL Access RO PDO map Not possible Sub index 7 7th Output Object to be mapped Range
304. ts L G9 VI G1 Photocoupler 4 9 VI 1 gt ng Lips sire TO 1 24 2 1 5 L1 A5 4300 G1 Photocoupler Tr 5 0 VI JE mies MB Ere O B24 E 1 5 L1 B5 4300 Photocoupler E 2 VI 88 Seo SN e 1 41 224 E 1 5 1 25 4300 0 v2 G2 Photocoupler 22 4 9 v2 zy amp g L 9 LA LB E Lj 2kQ 2 0 0 G2 Photocoupler NALE S a v2 23 MN m m 6 E RST 3 3 G G2 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit Wiring diagram Sensor power supply 24 VDC RSV Encoder power supply 24 VDC or 5 VDC Encoder Encoder NPN open collector NPN open collector output type Output output type NPN output 2 wire sensor 3 wire sensor nels uoe3 10 t 6 LL20O3 X9 29 00 7 6 GX series EtherCAT Slave Unit User s Manual 9 21 9 Encoder Input Slave Unit Sensor power supply 24 VDC RSV RSV V1 V1 V1 RSV V1 V1 V1 24 24 724 V1 2
305. ts Cycle time 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 Unit and output to an Output Slave Unit 5 6 2 DC Mode 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 Encoder Input Slave Units is DC mode 1 Set common clock information among the EtherCAT Master Unit and Slave Units to match the time mutually EIC EtherCAT Master Unit 5 10 GX series EtherCAT Slave Unit User s Manual 5 EtherCAT Communications Communications cycle The communications cycle is determined by setting output frequency of signal interrupt signal in DC mode 1 125 us 250 u
306. ts whether the data is cleared to 0 or retained at an error occurrence or at a node stop in units of 4 bytes 32 bits Bits Contents OUT31 OUT30 OUT1 OUTO setting setting setting setting Setting 0 Clear to 0 1 Retain the value at error occurrence yelqo y sioelqo GX series EtherCAT Slave Unit User s Manual A 33 A Appendix Objects of Device Profile areas that are implemented in a Digital I O Slave Unit is determined by the number of inputs and or outputs per Slave Unit and whether or not Expansion Units are connected The following table shows the objects of Device Profile area that are implemented in Digital I O Slave Unit and the number of sub indexes Number of supported sub indexes Model No Not supported Indexes 3020 3220 6000 6100 6120 6200 6300 6306 6320 6326 Type hex hex hex hex hex hex hex hex hex hex Slave Unit Expansion Unit hee Read Write Read Read Read Write Write one Write VO units input output input input input output output ert output Nd ui capacity bits bits 8 bit 16 bit 32 bit 8 bit 16 bit 32 bit Eee 16 inputs 17 No 3 2 No No No No No No XWT ID08 1 24 inputs 33 No 5 No 2 No No No No No GX ID1611 XWT ID16 1 32 inputs 33 No 5 No 2 XWT OD08 1 SONO andi 17 3 2 No 3 2 2 No No XWT ODt6 1 16 17 17 3 2
307. ub index 4 4th Input Object to be mapped Range Unit Default 64010410 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This object gives the mapping for an analog input application It is mapped only to Analog Input Slave Units GX series EtherCAT Slave Unit User s Manual yelqo y 1 efqo Buiddew Odd 9 1 A Appendix Encoder Input Slave Unit 1700 hex 257th receive PDO Mapping Sub index 0 Number of objects Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Output Object to be mapped Range Unit Default 40200110 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Output Object to be mapped Range Unit Default 40200210 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Mapping for soft switch command from the EtherCAT Master Unit to Slave Units 1701 hex 258th receive PDO Mapping Sub index 0 Number of objects Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st Output Object to be mapped Range Unit Default 40110120 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd Output Object to be mapped Range Unit Default 40110220 hex At
308. ue before change GX series EtherCAT Slave Unit User s Manual 9 11 Indu jepo2u3 eui 2 6 Jepoou3 7 2 6 9 Encoder Input Slave Unit 9 3 5 Counter Reset It is possible to reset counter value for each channel using the elements shown below Counter reset bit The counter of each channel is reset to 0 by changing soft switch present value internal reset execution allocated to each channel from 0 to 1 in the output data Slave Unit EtherCAT Master Unit area External control input The counter is reset to 0 at rise of the present value external reset input signal or phase Z input signal However it is necessary to set the soft switch present value external reset enabled to 1 If the counter value is reset via input of the present value external reset or phase Z the external reset generation flag is turned By changing clear present value external reset generation from 0 to 1 external reset generation flag is cleared enabling the next reset reception The counter reset conditions are shown in the figure below Preset value internal reset execution soft switch Present value Reset external reset input signal input execution Phase Z signal signal input Present value external reset enabled soft switch Present value external reset generation flag soft switch Precautions for Safe Use
309. ult Differ by Slave Unit types Size 1 byte 08 Sub index 1 to 8 158 PDO Mapping Object Index of assigned PDO Range 1A00 hex to 1BFF hex Default Differ by Slave Unit types Attribute Size 2 bytes U16 Access RW PDO map Not possible RO is set if there is TxPDO t indicates the TxPDOs used by this sync manager Attribute 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 A 22 GX series EtherCAT Slave Unit User s Manual Default Settings for OMRON Software Digital I O Slave Unit A Appendix Sync manager 2 PDO Sync manager 3 PDO Model 3 assignment assignment Number of Number of Slave Unit Expansion Unit assigned assigned RxPDOs TxPDOs 00 hex 01 hex 1B00 hex XWT IDO8 1 00 hex 01 hex 1B00 hex GX ID1611 1D1621 XWT ID16 1 00 hex 01 hex 1B00 hex XWT ODOS8 1 01 hex 1700 hex 01 hex 1B00 hex XWT OD16 1 01 hex 1700 hex 01 hex 1B00 hex 01 hex 1700 hex 00 hex XWT IDO8 1 01 hex 1700 hex 01 hex 1B00 hex GX OD1611 0D1621 XWT ID16 1 01 hex 1700 hex 01 hex 1B00 hex XWT ODOS8 1 01 hex 1700 hex 00 hex XWT OD16 1 01 hex 1700 hex 00 hex 01 hex 1700 hex 00 hex XWT IDO8 1 01 hex
310. urability Weight 220 g max Expansion functions No Short circuit protection function Available Operates at 50 mA point min Notes For the I O power supply current value to V and terminals refer to A 5 I O Power Supply Current in Page A 51 GX series EtherCAT Slave Unit User s Manual 5 104 i Lee dI X9 1ndu jurod zg ed LL Z Ea Esss Peso oo ca Essa sss in ada ponoj mm 1 peas peo IT IT I I eses peo i TE 7 sees 75 sees ID peas D sees FELIS ions IN1 our RUN BR UNIT PS DC24V INPUT EJ en arrangement diagram Names and funct 7 Digital Slave Unit Jr z 5 SA 1 E x x d L O D A Ee N oO N N
311. us Status for indicating information on e pp on a slave CAN application protocol over Jm ids P CoE A CAN application protocol service implemented on EtherCAT EtherCAT iA i i i f h Automation 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 Clock distribution mechanism used to synchronize EtherCAT Slave Units and the EtherCAT Master Units EtherCAT slave controller ESC A controller for EtherCAT slave communication EtherCAT slave information ESI ar 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 The EtherCAT network configuration information held by the network configuration information EtherCAT master Abstract representation of a particular component within a device object s 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 communication objects and appl
312. value is acquired stored at the rise of latch B of external control input However it is necessary to set the soft switch external latch B enabled to enabled For both latch A and B inputs when latch is generated via latch input the external latch generation flag changes from 0 to 1 and the counter value is stored in objects latch value A latch value B as latch A latch B data By changing clear external latch generation flag from 0 to 1 it is possible to clear the external latch generation flag When the external latch generation flag is cleared the next latch input becomes enabled If itis desired to use latched counter values latch values in a ladder program select PDO mapping to which latch data is allocated To use SDO communications acquire store the present counter value at the rise of latch A B of external control input regardless of the status of the soft switch external latch A B enabled GX series EtherCAT Slave Unit User s Manual 9 13 Indu eui jo 2 6 9 Encoder Input Slave Unit 9 4 Specifications for Each Slave Unit This section shows the specification of Encoder Input Slave Units names and functions of each part internal circuit diagram and wiring diagram Refer to the following corresponding page to each model Reference page Type Model Wiring Specification 2 circuits functions diagram diagram Open g
313. ve Unit Specifies the value to be written over the counter present value data Preset command value 8 bytes at preset execution GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit The data allocation is as follows when using the default settings Soft switch preset command value size 12 bytes Offset byte D07 D06 D05 D04 D03 D02 D01 DOO 0 Reserved Reserved Reserved Reserved Reserved INPRES1 PSET1 CENB1 1 Reserved EXLBC1 EXLAC1 EXRESC1 Reserved EXLBE1 EXLAE1 EXRESE1 2 Reserved Reserved Reserved Reserved Reserved INPRES2 PSET2 CENB2 3 Reserved EXLBC2 EXLAC2 EXRESC2 Reserved EXLBE2 EXLAE2 EXRESE2 4 LL 5 CH1 Preset command value LH 6 HL 7 HH 48 LL 9 CH2 Preset command value LH 10 HL 11 HH 0 to 3 Soft switch Abbreviations used in soft switch description have the following meanings Abbreviati 5 Po at Status name Operation Detection CENBn Count possible not 1 Count possible command Laval possible 0 Count not possible command 0 1 Start preset of present value Present value preset PSETn 10 Clear present value preset execution completion Edge execution flag Predent 0 1 Start resetting present value INPRESn 1 0 Clear present value internal reset execution Edge reset execution completion flag Present value external 1 Enabled EXRESE Level ay reset enabled 0
314. x 2200 hex Communication Error Setting Unit number of sequences Size 1 byte U8 Access RW PDO map Not possible Object mounted only on Slave Units operating 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 rewritten value is read Range 00 hex to OF hex Default 01 hex Attribute C Note With the default setting of 01 hex an error is detected if communications errors occur twice in a row 2201 hex Sync Not Received Timeout Setting Range 0000 hex to 0258 hex Unit s Default 0000 hex Attribute C Size 2 bytes U16 Access RW PDO map Not possible Object mounted only on Slave Units operating 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 0000 hex is set
315. x 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 Resets the parameters to their default values The parameter is reset only when a specific value is written to sub index 1 This prevents parameter values from being accidentally overwritten The specific value is load MSB LSB d 64 hex a 61 hex 6C hex The ABORT code is displayed if a value other than the specific is written A value 0000 0001 hex command valid is indicated when reading 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 Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Product Code Range Unit Default Differ by Slave Unit types 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 Each Unit Attribute Size 4 byte
316. x Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible GX series EtherCAT Slave Unit User s Manual 29 elqo y A Appendix Sub index 19 Output Bit18 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 20 Output Bit19 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 21 Output Bit20 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 22 Output Bit21 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 23 Output Bit22 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 24 Output Bit23 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 25 Output Bit24 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 26 Output Bit25 Range 00 hex to 01 hex Unit Default 00 hex Attribute Size 1 byte BOOL Access RW PDO map Possible Sub index 27 Output Bit26 Range 00 hex to 01 hex Unit Default 00
317. x to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 25 CH2 Present Value Ext Reset Enabled Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 26 CH2 Ext Latch A Enabled Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 27 CH2 Ext Latch B Enabled Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 29 CH2 Clear Present Value Ext Reset Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 30 CH2 Clear Ext Latch A Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible Sub index 31 CH2 Clear Ext Latch B Range 00 hex to 01 hex Unit Default 00 hex Attribute A Size 1 byte BOOL Access RW PDO map Possible The soft switch settings are specified Unit version 1 1 or later is required to set this object 4030 hex Status Bits Sub index 0 Number of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 2 Status Bits Range Unit Default 0000 hex Attribute Size 1 byte U8 Access RO PDO map Possible Status bit is
318. xt figures Semi strip specification Strip specification SS _ When the cables are prepared this way e CON connector cannot be attached First cut the end and remove the cable sheath as shown in the following diagram Do not strip the sheaths of the core wires 20 mm min O X Core wires Strip sheaths of core wires Using OMRON connectors Align the cable with the STRIP GAUGE described on the side of the connector Remove 7 to 8 mm of the wiring sheath and twist the exposed wires several times STRIP GAUGE 7 to 8 mm 4 14 GX series EtherCAT Slave Unit User s Manual 4 Installation and Wiring Inserting wires into the cable connector Insert the cable wire of the extend device to the cable connector Make sure that the terminal numbers printed on the connector cover matches the colors of wires as shown in the next table Terminal NPN Slave Unit PNP Slave Unit number 3 wire sensor 2 wire sensor 3 wire sensor 2 wire sensor 1 Brown red Brown red Brown white 2 E 3 Blue black Blue black Blue black 4 Black white Brown white Black white Blue black Notes Wire colors have been changed according to revisions in the JIS standards for photoelectric sensors and proximity sensors The colors in parentheses are the wire colors prior to the revisions ue
319. y to remove the terminal block to connect the signal line l Precautions for Correct Use To remove the terminal block from the Slave Unit loosen the left and right mounting screws alternately When mounting the terminal block as well tighten the left and right screws alternately If you tighten or loosen only one of the screws all the way without tightening or loosening the other screw using an electric screwdriver the terminal block will be distorted and cracked GX series EtherCAT 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 Checking the connector and cable wire size The wire size and sheath diameter of applicable cables vary by the type of e CON connector Use the next table to check that the e CON connectors to be used conform to the wire size and sheath diameter of the cables of the connected device Tyco Electronics connectors Model Housing color Applicable wire range 3 1473562 4 Orange Sheath diameter 0 6 to 0 9 mm 1 1473562 4 Red Sheath diameter 0 9 to 1 0 mm Cross sectional area 0 08 to 1473562 4 Yellow Sheath diameter 1 0 to 1 15 mm 05 2 2 1473562 4 Blue Sheath diameter 1 15 to 1 35 mm NE 4 1473562 4 Green Sheath diameter 1 35 to 1 60 mm e Panasonic El
320. yellow yellow n signal available A2 signal available Input A phase A signal count Input A phase A signal count OFF pulse signal incremental count OFF pulse signal incremental count signal not available signal not available Input B phase B signal count Input B phase B signal count Lit direction control Lit direction control yellow signal decremental count signal yellow signal decremental count signal B1 available B2 available Input B phase B signal count Input B phase B signal count OFF direction control direction control signal decremental count signal signal decremental count signal not available not available Phase 2 input available pi Phase Z input available Z1 yellow Z2 yellow OFF Phase Z input not available OFF Phase Z input not available zt External latch input A available E External latch input A available yellow yellow LA1 LA2 5 External latch input A not External latch input A not OFF OFF available available E External latch input B available ct External latch input B available yellow yellow LB1 LB2 f External latch input B not External latch input B not OFF OFF available available Et External reset input available a External reset input available 2571 yellow E RST2 yellow P OFF External reset input not available OFF External reset input not available GX series EtherCAT Slave Unit User s Manual Terminal block 9 Encoder Input Slave Unit
321. yellow yellow LB1 LB2 f External latch input B not External latch input B not OFF OFF available available Et External reset input available a External reset input available 2571 yellow E RST2 yellow P OFF External reset input not available OFF External reset input not available GX series EtherCAT Slave Unit User s Manual Terminal block 9 Encoder Input Slave Unit Terminal CH block Terminal name Contents number 1 RSV 2 RSV 3 RSV 4 RSV 5 RSV 6 RSV 7 LA1 LA2 Latch A input 8 LB1 LB2 Latch B input 9 RST1 RST2 Reset input 10 V1 Internal circuit sensor power supply input 11 V1 Spare 12 A Phase A input 13 B Phase B input cu 14 2 Phase 2 input 15 V1 Spare 16 V1 Sensor power supply output 17 V1 Sensor power supply output 18 V1 Sensor power supply output 19 G1 Internal circuit sensor power supply input 20 G1 Spare 21 A Phase A input 22 B Phase B input 23 Z Phase Z input 24 G1 Spare 25 G1 Sensor power supply output 26 G1 Sensor power supply output 27 G1 Sensor power supply output GX series EtherCAT Slave Unit User s Manual 5 uoe3 10 6 172003 ed indu eur z v 6 9 Encoder Input Slave Unit Internal circuits diagram CN IN TX O L
322. z 2 9 8 8 Analog I O Slave Unit Wiring diagram D A NC 2 NC NC Output 1 At voltage output External device External device Output 2 At current output H Precautions for Correct Use Do not wire NC terminals GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit 8 7 Mounting Dimensions The mounting dimensions of an Analog I O Slave Unit are shown below 135 52 C3 50 57 1 ES suoisueuig 7 8 GX series EtherCAT Slave Unit User s Manual 8 27 8 Analog I O Slave Unit GX series EtherCAT Slave Unit User s Manual Encoder Input Slave Unit PN This chapter explains the overview of Encoder Input Slave Unit 9 1 Encoder Input Slave 9 2 9 2 I O Data Allocation 2 a 9 3 9 2 1 Input Data 9 3 9 2 2 Output Data Allocation 9 6 9 3 Function of the Encoder Input Slave Units 9 8 9 3 1 Count Mode wis is exe be RH S4 Ved Rech 9 8 9 3 2 Circular Counter

GX-series EtherCAT Slave Units User's Manual

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