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GX-series ErtherCAT Slave Units USER'S MANUAL

1. N N G 4 5 o O E Fn GX UE 1 M uen d RUN D 1 m mcm c on ga iw UNIT PS 9 2 S GX series EtherCAT Slave Unit User s Manual 8 23 8 Analog I O Slave Unit Terminal arrangement diagram Name Communications connectors Unit power supply connector V1 I1 V2 12 Pelee ne 3603512999695 Status indicators Node Address setting Switches Function 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 6 Terminal block Terminal block for analog output signals V1 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 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 Fixes a Slave Unit to a DIN track in advance Pin No Setting Specification 1 2 Setting of output CH1 range
2. 1 poog 2 7 dE SE 4 iD e ado ooog ais 7 8 6 Terminal arrangement diagram N AR e e s 10 suoneoyioeds m Function 1 Communications connectors 2 7 ee 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 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 87Z91 00 8191G0 X9 HUN e e s 1ndino julod g ed 10 99UU0D 6 GX series EtherCAT Slave Unit User s Manual 7 49 7 Digital I O Slave Unit i Internal circuits diagram GX OD1618 NPN TX TX RX RX converter v No isolation type GX 0D1628 PNP CN IN TX RX 9 Physical layer TX TX RX RX UNIT PS uM converter
3. 3 5 Checking Operations 3 czevesstecenesnataedesrevsctueceseeescteseevesstenesesdestedeerevercs 3 6 3 4 1 Checking Unit eerte A 3 6 3 4 2 Confirming Data Read and 3 6 3 4 3 Setting Slave Unit 3 6 Installation and 9 4 1 Mounting Slave Units 2 IDEE PIPER 4 2 4 1 1 Mounting 4 2 4 122 Mounting Direction oon e etn E te 4 2 4 1 3 Mounting Metliodg eroe rr OR ae d RR eim 4 2 4 124 Removal Method 2 2 ttai edge erae ca idi a eig Md ele 4 3 Connecting to EtherCAT Network eese nennen nnnm nnne nnn nnne nennen 4 4 4 2 1 Precautions for Network 4 4 4 2 2 Preparation for Connecting 4 5 4 2 3 Connecting Communications Cables and 4 6 4 2 4 Connecting to Communications Cables sss 4 7 Connecting to Unit Power Supply and I O Power 4 8 4 3 1 Precautions at Supplying Unit Power and
4. Y 10 1 mm GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit 7 5 3 e CON Connector GX ID1618 1D1628 ed NO2 9 6 E S Z mm GX series EtherCAT Slave Unit User s Manual 7 77 7 Digital I O Slave Unit GX ID3218 1D3228 43 85 U n 0 El m E fca nm 180 52 49 8 7 78 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit GX MD3218 MD3228 180 52
5. 103228 PNP TX RX RX TX RX DC DC converter No isolation type Internal circuits E v 8 Short circuit bed o ort circui f protection element 60 a INO E V 2 8 NC Short circuit G1 5 protection element E IN1 Short circuit protection element Q vo NC G 5 _Photocoupler INO 3 2 5 T Short circuit protection element v1 IN1 Input circuit GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit i 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 2 IN3 IN4 5 IN6 IN7 IN1 2 IN3 IN4 IN5 IN6 IN7 NC NC NC NC NC NC NC NC NC NC NC NC NC NC G9 G10 611 G12 G13 G14 615 G9 G10 611 G12 G13 G14 615 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 e e s 10 suoneoyioeds e GX ID3228 PNP
6. 3 5 Present value external reset enabled 9 6 Present value internal reset execution 9 6 Present value internal reset execution completed 9 5 Present value preset execution 9 6 Present value preset execution completed 9 5 Present value preset set value error 9 5 Preset command value 9 5 9 12 PWR E ettet text ete reines 6 4 R RJ45 connector ie 4 5 RUN Indicator 2 x Eden 6 5 RXPDO 5 5 S Safe operational state 5 4 5 2 SDO communications 3 5 3 6 5 9 Sheath diameter 4 13 SOMSWIUCH iiie cee a bete trees 9 5 Status indicator 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 5 6 T Terminal block ceret tei te end 4 12 Tightening torque 4 12 Twisted pair cable 211022221 4 5
7. Terminal block Terminal name Contents number 1 RSV 2 RSV 3 v1 Encoder power supply input power supply input at twisted pair wiring 4 v1 Encoder power supply input power supply input at twisted pair wiring 5 v1 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 12 A24 Phase A input 24 V 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 9 Encoder Input Slave Unit Internal circuits diagram TX V1 TX RX G1 RX Photocoupler IF 28 v Physical En 83 layer 1_ S c A24 1 5 AS RX 4300 RX G1 Photocoupler 42 v1 l
8. 1 5 _ ON voltage Phase A OFF Xl e voltage o o Terminal 2 input m En e al 1 1 lt gt m 1 1 D S 4 o ON 5 07 voltage m Phase B 8 Nee voltage 5 L c Timing condition A G B D E F CER gt 4 12 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 LLZ003 X9 ed A 1ndui J0 98 09 U dO 6 GX series EtherCAT Slave Unit User s Manual 9 15 9 Encoder Input Slave Unit Latch reset input specifications Item Specification Internal I O common NPN Latch input A B Reset input 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 max 15 OFF response time 3 us max 90 us max i Names and functions 3 5 LA2 LB2 RST2
9. 1 a IL LL 6595 ees gt lt 8 ip cao ooo oj E c Tp o sil 5 c 5 5 2 OD oe Oo o E D Cue 12121 7 3 S EET d uc tas o a5 E poog Bess o 5 8 2 oo 5 2 8 c amp 9 8 n E 9 Gy S 9 g c S64 5 o o to 5 Olg I IT 1 Q 2 13515 Esseg lo x a e gt poo Esco 0 T o i Nas gt o Peco 2 E c 9 5 o E oO 5 g a o 1215157 5 clala 2 5 FEE c E 59 amp Peco S N mR II IT ooo Peco o o 5 5 io o E alo 9 55 MIS Ojo bond 5 oic N o i19 cic gt a eleje 53 c Lr 5 gt Q 2 8 2 JERNE 2 gS 7 Sio E 5 25 S 28 86 58 2 8 9 510 2 E 5 5 79 3 9 gt G cix ico 1 89 1 Eoo SE bs il 3 Eas 882 zuo D z LENS E o ciSio 5 c OF gt
10. 7 2 7 2 Data Allocation PDO Mapping 7 3 7 2 1 Input Data Allocation 7 3 7 2 2 Output Data Allocation 7 5 7 3 Functions of Digital I O Slave Units 7 7 12321 eei ciet gutem esser don Rs 7 7 7 3 2 Error Mode Output 2 7 8 7 4 Specifications for Each Slave Unit 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 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 sere lk eee 7 22 7 4 5 3 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 0D1622 7 33 7 4 7 3 tier Terminal Block 8 point Input and 8 point Output Slave Unit GX MD1612 MD1622 1 0 7 38 7 4 8 Connector Type 16 point Input Slave Unit GX ID1618 ID1628 7 44 7 4 9 e CON Connector Type 16 point Output Slave Unit GX OD1618 0D1628 7 48 7 4 10 e CON Connector Type 8 point Input and 8 point
11. vijvi 7 nc Inc NC NC NC Nc NC NC NC NC NC NC 62 G3 G4 G5 66 G7 OUT OUT OUT OUT OUT OUT OUT IN2 IN3 IN5 ING IN7 b Mr 6 Nc NC NC NC NC NC nc NC NC 9 Gio 1 612 013 614 615 66 into finti 12 finia finta finis EUT N N 1 2 power supply 24 VDC a PNP input 3 wire Solenoid valve etc external device Emitter of photoelectric sensor 2 wire sensor PNP output 3 wire Limit switch etc sensor Photoelectric sensor proximity sensor jurod 9 pue 1urod 9 ed J0 D8UU0D NO2 9 1 7 1 GX series EtherCAT Slave Unit User s Manual 7 73 7 Digital I O Slave Unit Precautions for Correct Use The I O power supply connectors are equipped with two sets of V and 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 ext
12. Function Communications connectors e e s 10 suoneoyioeds 2 Unit t 2 Refer to 6 3 Specifications of Common Areas 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 inputON state Connects external devices and the I O power supply lt Left side gt V1 G1 power supply terminals 6 Terminal block 0 to 7 Input terminals lt Right side gt V2 G2 I O power supply terminals 8 to 15 Input terminals 7 DIN track mounting hook Fixes a Slave Unit to a DIN track ZZ9LAI ZL9LAI X9 HUN SALIS Indu jurod 9 ed JON E 6 GX series EtherCAT Slave Unit User s Manual 7 29 7 Digital I O Slave Unit Internal circuits diagram GX ID1612 NPN TX V1 24VDC TX G1 RX RX Y Photocoupler 5 Sic 3 vi 9 ree 0to7 G1 aie Internal circuits V2 24VDC RX RX G2 8 v2 5 8to15 UNIT PS DC DC 9 converter v lO No isolation type CN IN De G1 X lo V1 24VDC 4 5 5 5 a Physical _f 2 5 layer Oto7 CN OUT Internal V1 TX circuits
13. 4 10 power supply terminal 4 10 Incremental decremental pulse input 9 9 M 5 4 Input range eoe be eere rede 8 3 Input range switch 8 5 8 21 L IN Indicator sees 6 4 LIA OUT Indicator m 6 4 M Mapping table eene 5 5 Maximum Circular Counter value 9 7 N Node address 3 4 6 6 Object dictionary e eee dieses 5 2 5 5 ON delay time Freenet 7 8 Operational eniin grecia 5 4 Operational state 3 5 Outp t range eerte 8 12 Output range setting switch 8 14 Output range switch essen 8 24 P PDO nn xen atitem eins 5 2 5 5 PDO communications 48 3 5 PDO mapping 3 5 5 2 5 5 5 6 PDO mapping 5 5 Phase phase difference pulse input 9 8 Pin terminal t inerte ed perde 4 9 Pre operational 5 4 Pre operational state
14. Terminal input display LED layout diagram CH2 LA1 LA2 LB2 RST2 CH2 A2 B2 LB1 RST1 EE CH1 CH1 B1 21 1to9 10 to 18 19 to 27 No Name 1 Communications connectors rope ve PET Fai dede nee epe perpe p fv ve Jv Function Unit power supply connector Status indicators Refer to 6 3 Specifications of Common Areas Page 6 4 Node address switches Input indicators The indicators show the status of the inputs of each channel For details refer to the next section Input indicators Terminal block Connects external devices and the I O power supply For details refer to the next section Terminal block DIN track mounting hook Fixes a Slave Unit to a DIN track GX series EtherCAT Slave Unit User s Manual e Input indicators 9 Encoder Input Slave Unit CH1 CH2 Name State Contents Name State Contents CH1 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 A1 signal available A2 signal available Input A phase A signal count Input A phase A signal count OFF pulse signal incremen
15. 4 8 4 3 2 Unit Power Supply 4 9 4 3 3 Connecting the Unit Power 4 9 4 3 4 Connecting the I O Power 4 10 Connecting an External nnne 4 12 4 4 1 Connecting to a Screw Terminal em 4 12 4 4 2 Connecting to e CON Connector Terminals sese 4 13 EtherCAT Communications eese 5 1 Structure of CAN application protocol over EtherCAT 5 2 EtherCAT Slave Information File ESI File 5 3 Communications State 1 nennen nnne nnne 5 4 Process Data Objects PDO 5 eene aereis 5 5 E MEO Nd EI 5 5 5 4 2 Mapping 5 8 0 004444 eet tnnee 5 5 5 4 3 Sync Manager PDO Assignment 068 5 6 5 4 4 Fixed PDO MAapplhg iter ri heated dec a o eb 5 7 Service Data Object 5 11111111 nennen nnne nnne nnns 5 9 5 5 7 5 9 5 5 2 Abort Godes rede tr
16. a 5 5 U Uso 3 4 Unit power supply 1 7 3 4 4 8 4 9 6 7 Unit power supply cable 4 9 Unit power supply connector 4 9 Wire SiZe o eeu deve 4 13 Wiring standards 00100001 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 E1 02 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Revised content 01 August 2010 Original production 02 September 2010 Added Encoder Input Slave Units GX ECO2xx GX series EtherCAT Slave Unit User s Manual Revision 1 Revision 2 GX series EtherCAT Slave Unit User s Manual Authorized Distributor
17. 49 8 f icon mm ed 9 6 E S Z GX series EtherCAT Slave Unit User s Manual 7 79 7 Digital I O Slave Unit GX series EtherCAT Slave Unit User s Manual Analog I O 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 Slave Unit 8 7 8 3 1 Conversion Available Point 0 8 7 8 3 2 Moving Average weir ee eee bee eee 8 8 8 3 3 Disconnected Line Detection 8 10 8 3 4 Useradjustment Be Eh Bee ed ee ee Ae ead hee 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 Setting 8 15 8 5 2 Analog Output
18. 9 3 9 2 1 Input Dat Allocation ian o e INR eda 9 3 9 2 2 Output Data Allocation 9 5 9 3 Function of the Encoder Input Slave 1111 9 7 928 15 Gount MOde 9 7 9 8 2 Circular dudes 9 7 9 3 3 Input Signal rere ee otto Cerne d ete ERE ce ERE e 9 8 9 3 4 Encoder Direction 9 10 9 3 5 Counter Reset pee EUR e OE e I dep ru 9 11 9 3 6 Counter Preset eed eee ee puits ee PE La 9 12 9 3 7 Gounter value later init mme iti ie Goeth 9 12 9 4 Specifications for Each Slave Unit 424 2 2 9 13 9 4 1 Open collector input type GX ECO211 9 14 9 4 2 Line Driver Input Type 0241 9 22 9 5 Mounting DIMENSIONS aiac ccccecceecsccesscceecesceveczeteeducccerecceseteedeseedecuetiegesectreeeeseteeiezcavedzercecdvecers 9 29 Chapter 10 Expansion 10 1 10 1 Overview of the Expansion Uhnit eeeeeeeeeeeeeeeenennennnnennnn enne nnn nnne nnn nnns 10 2 10 1 1 Connecting Expansion 10 2 10 1 2 Power 10 3 10 2 Specifications of Expansion
19. No Not supported Indexes 6000 hex 6100 hex 6120 hex 6200 hex 6300 hex 6306 hex 6320 hex 6326 hex Type 5 Slave Unit Expansion Unit Read Read Read Write Write d Write FOD VO units input input output output Ot output IN capacity 8 bit 16 bit 32 bit 8 bit 16 bit 16 bit 32 bit 32 bit 16 inputs 3 2 XWT ID08 1 24 inputs 5 No 2 No No No No No GX ID1611 XWT ID16 1 32 inputs 5 No 2 No No No No No eee XWT ODOB 1 3 2 No 3 2 2 No No XWT OD16 1 16 inputs and 3 2 No 3 2 2 No No XWT IDO8 1 64 and 3 2 No 3 2 2 No No 16 inputs and GX OD1614 XWT ID16 1 46 outputs 3 2 No 3 2 2 No No E 0D1621 16 outputs No No No 3 2 2 No No block XWT OD08 1 24 outputs No No No 5 No No 2 XWT OD16 1 32 outputs No No No 5 No No 2 2 XWT IDO8 1 Sinpuls and 3 2 No 3 2 2 No No XWT4D16 1 16 inputs and 3 2 No 3 2 2 No No GX OC1611 16 outputs No No No 3 2 2 No No XWT OD08 1 24 outputs No No No 5 No No 2 XWT OD16 1 32 outputs No No No 5 No No 2 2 GX MD1611 8 inputs and IMD1621 8 outputs 3 2 No 3 2 2 No No oie 16 inputs 3 2 2 No No No No No 3 tier terminal 16 outputs No No No 3 2 2 No No block GX MD1612 8 inputs and IMD1622 8 outputs 3 2 No 3 2 2 No No 16 inputs 3 2 2 No No No No No TUER 8 16 outputs No No No 3 2 2 No No GX MD1618 8 inputs and gt ages IMD1628 8 outputs 3 2 No 3 2 2 No No
20. 3 2 3 1 2 Basic Procedure EE Im ER ees is 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 3 4 3 2 5 Wiring Devices RR Rhen exe 3 4 3 3 Starting Communications 3 5 3 3 1 Starting a System oe bee dike eis 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 Displays 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 Setup Examples and Basic Procedure This section explains the setup method by using simple system setting examples 3 1 1 System Setting Examples Connect each of the following Slave Units to the EtherCAT Master Unit and make the settings Ethe
21. INO 5 aoe V 2 V G G V DC DC NC Right side converter G No isolation 4 OUTO type GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Wiring diagram e GX MD3218 NPN 7 vidvi flv iv dvd dvd fv fv ne NC NC NC NC NC Inc nce NC NC nc nc NC NC G2 G4 05 Ge tel h OUT OUT OUT OUT OUT OUT OUT IN2 Jina ina INS fine 7 UT JOUT 007 our jour jou S NC NC NC NC nc NC NC NC nc nc NC cto Jen Gt2 c13 Gt4 645 OUT OUT OUT OUT OUT OUT OUT into fina fina fants finta 5 UT OUT jour OUT jour power supply 24 VDC a NPN input 3 wire Solenoid valve etc external device Emitter of photoelectric sensor 2 wire sensor NPN output 3 wire Limit switch etc sensor Photoelectric sensor proximity sensor GX MD3228 PNP yun 6 u e3 104 4
22. O1 09 pt 590 5 o o 8 395 2 88985 SOF m S Du 9c to 555 lt c iL amp 5 5 53 8 olo c oc o e io 2 o clo 2 5 22 gt 945 o c 9 e c QS oc 9 olo S 9 5 5 2 c 2z c o 5 c 5 o lt cc 5 3 12 c a Q 0 2 E 1 9 Ales gt el e 7 45 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit i Internal circuits diagram GX ID1618 NPN CN IN TX TX 01 44 RX CN OUT g TX 8 TX o RX RX 9 UNIT PS DC DC v converter v IO No isolation type Photocoupler Ei V Short circuit his 8 ort circui protection element GO a INO E V 3 a NC Short circuit Gt 5 protection element e IN1 GX ID1628 PNP TX RX RX TX RX UNIT PS DC DC V converter _ v No isolation type Internal circuits Short circuit rot
23. 1011 hex Restore default parameters o parameter restore GX series EtherCAT Slave Unit User s Manual 11 11 11 Troubleshooting and Maintenance Error code 7030 hex Name of error Communicatio ns area hardware error Contents A hardware error occurred in the EtherCAT communications area Diagnosis history Saved Notification to EtherCAT Master Unit Cannot be notified Measures 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 Unit hardware error Only for Slave Units that can connect Expansion Units 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 i Error codes unique to Analog I O Slave Unit Notification to E 2 ae Name of error Contents ide EtherCAT Measures SOSE y Master Unit Set the range setting 5600 hex Es 2 switch Saved Can be notified switch correctly and 9 9 restart the Slave Unit If the error is still Analo Hardware error Inde 22 7010 hex 9 analog conv
24. 4 4 4 2 2 Preparation for Connecting Network 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 I O 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
25. 1012 hex Sync manager 2 PDO assignment Sub index 0 Number of assigned RxPDOs 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 Assigned PDO 1 to 8 Receive PDO mapping setting 1 to 8 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 It indicates the RxPDOs used by this sync manager 1013 hex Sync manager 3 PDO assignment Sub index 0 Number of assigned TxPDOs 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 Assigned PDO 1 to 8 Transmit PDO mapping setting 1 to 8 Range 1A00 hex to 1BFF 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 TxPDO It indicates the TXPDOs used by this sync manager The default settings of Sync manager 2 PDO assignment and Sync manager 3 PDO assignment are as follows e Digital I O Slave Unit Sync manager 2 PDO Sync manager 3 PDO Model 3 assignment assignment Number of gt Number of A A 5 Assigned 2 Assigned Slave Un
26. A 2 1 2 Data Types iuit recited egeret eec eiit Lee edet ect eva cae e e e poe ee A 2 A 1 3 Object Description 3 1 4 Communication 4 1 5 PDO Mapping 8 1 6 Sync Manager Communication A 12 A 1 7 Manufacturer Specific em emm eene A 14 Current Consumption Summary enne eene nennen nenne nent nnn A 29 A 2 1 Digital VO Slave Unit 12 niue ete Re pet equ e edite ndo A 29 A 2 2 Analog Slave Unit ie ee ree ueterem n iE A 29 A 2 3 Encoder nput Slave Unit uio e e A 29 A 2 4 Expansion Unit e ter ERRARE tha sarees YOUR DERE RE Ote be A 30 Precautions with Connecting Two wire DC Sensors eene A 31 A 3 1 Relation between ON Voltage of a Unit with DC Inputs and Sensor Residual Voltage M I A 31 A 3 2 Relation between ON Current of a Unit with DC Inputs and Sensor Control Output A 31 A 3 3 Relation between OFF Current of a Unit with DC Inputs and Sensor Leakage Current X Pr A 32 Power Supply nnn hann nn nnn tnnt nnn
27. 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 Conversion Available Point Setting Overview of functions e Purpose This function sets to skip processing unused points and enhances 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 20 yun y jo 4 8 The table below shows the analog conversion time by the number of AD conversion available points Enabled Conversion time us channel 1 point 500 2 points 1000 3 points 1500 4 points 2000 BUNS 1utog L
28. L 9LQl 9LGI LMX yun uorsuedx3 yndu julod g Z OL 10 to 18 1to9 GX series EtherCAT Slave Unit User s Manual 10 11 10 Expansion Unit No 1 Name 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 inputON 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 I O power supply terminals 0 to 15 Input terminals 4 DIN track mounting hook Fixes a Slave Unit to a DIN track Internal circuits diagram e XWT ID16 NPN Internal circuits NS Photocoupler NPhotocoupler gt G XWT ID16 1 PNP V 24VDC N Photocoupler i RRepo e9 10 12 Internal circuits I GX series EtherCAT Slave Unit User s Manual 10 Expansion Unit Wiring diagram e XWT ID16 NPN 10 12 14 power supply 24 VDC 5 a o 8 S 3 em m NPN output 3 wire sensor 2 wire sensor Photoelectric sensor Limit switch etc proximity sensor e XWT ID16 1 PNP y
29. 2 8 7 Digital I O Slave Unit 7 4 9 e CON Connector Type 16 point Output Slave Unit GX OD1618 0D1628 Specification ltem Specification GX OD1618 GX OD1628 Output capacity 16 points Pate CUMENE ON 0 5 A output 4 0 A common current Internal I O 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 Photocoupler isolation power supply method Supply by power supply Output device supply 100 mA point current nn oid SUPE curteni 80 mA max for 20 4 to 26 4 VDC power supply voltage consumption Weight 130 g max Expansion functions No Error Mode Output Select either hold or clear Short circuit protection function Ne Notes For the I O power supply current value to V and terminals refer to A 4 Power Supply Current in Page A 33 7 48 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Names and functions gt 5595 Boag a 5595 poo 1 ER
30. 4 13 Conformance to EC 0 14 Applicable Directives vitinn ances 14 ConcepIs we dot ione eie det 14 Conformance to EC 14 CMNIEINECE 15 Related Man als 5 nior EE SR po aU 16 EtherCAT 2 1 1 Overview of EtherCAT 1 2 1 121 Features of EtherGAT teer cae ee 1 2 1 1 2 Structure of EtherCAT een tee ees hee dd qas d 1 2 1 1 3 Communications types of eee 1 4 1 1 4 Connection Examples of nennen 1 5 Configuration Elements of EtherCAT Network 1 6 1 2 1 Configuration Devices of EtherCAT Network seem 1 6 1 2 2 Overview of Configuration Devices emen 1 7 EtherCAT Slave 2 1 Overview of EtherCAT Slave 2 2 2 1 1 Slave Units Usage eene eene nre eta se diete e Ere tu ER eere Fea 2 2 Types of EtherCAT Slave Units
31. 52 50 oF Te 68 9 101 mm Pununoj 6 6 GX series EtherCAT Slave Unit User s Manual 9 29 9 Encoder Input Slave Unit GX series EtherCAT Slave Unit User s Manual Expansion Unit Ses This chapter overviews the Expansion Unit 10 1 Overview of the Expansion Unit 10 2 10 1 1 Connecting Expansion Units 10 2 10 1 2 Power Supply n sare eee bee de tk re 10 3 10 2 Specifications of Expansion Unit 10 4 10 2 1 8 Input Expansion Unit 08 008 1 10 5 10 2 2 8 point Output Expansion Unit XWT OD08 ODO8 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 OD16 OD16 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 1D1621 0D1611 0D1621 0C 1601 2 tier terminal block type16 point Slave U
32. Sets the output for each point i Encoder Input Slave Unit e Manufacturer Specific area 2 4000 hex Count Mode Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Count Mode Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible e t stores the Count Mode The Count Mode is fixed to 00 hex Circular Counter 4001 hex Encoder Direction Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Pulse Direction Range 0 false 1 true Unit Default 0 false Attribute B Size 1 bit BOOL Access RW PDO map Not possible Setthe count direction Set value Count direction 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 4002 hex Encoder Input Setting Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Pulse Input Setting Range 00 h
33. 1 2 3 2 271 Slav Units EIS n re otn ite dene ni la dtc eo 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 3 2 3 1 1 System Setting 3 2 23 122 ient tea tentia tede dade 3 3 Setting and Wiring Hardware nennen nennen nennen nenne nennen 3 4 3 2 1 Mounting and Setting EtherCAT Master 3 4 3 2 2 Mounting and Setting Slave Units ssssssee emen 3 4 3 2 3 Wiring Communications nennen enne 3 4 3 2 4 Connecting Power Supplys 3 4 3 2 5 Wiring eee eene addu e rane nde 3 4 GX series EtherCAT Slave Unit User s Manual 3 3 Chapter 4 4 1 4 3 Chapter 5 5 1 5 2 5 3 5 4 5 5 5 6 5 7 Starting enne nnne nnne teneri inni nnne nnn 3 5 3 3 1 Starting System eren een nene ra ER ene E nene dl 3 5 3 3 2 Setting EtherCAT 3 5 3 3 3 Starting EtherCAT
34. ette 2 2 DIN arre deep 4 2 DIN track mounting hook seee 4 2 Disconnected line detection 8 4 8 5 Disconnected line detection flag 8 10 E CON Connectors eee pesce 4 13 Encoder Input Slave Unit 2 2 eee 4 2 ERR LED tto ture ir de 6 5 INI SD 1 7 3 5 REPRE 5 4 Ethernet frame aucun sete bier 1 2 EtherCAT Master xen 1 7 EtherCAT Master Unit 3 4 EtherCAT 5 emen 1 7 EtherCAT telegram 1 3 Expansion UNT 2 2 External control input 9 11 9 12 External latch A enabled 9 6 GX series EtherCAT Slave Unit User s Manual External latch A generation flag 9 5 External latch B enabled 9 6 External latch B generation flag 9 5 External latch value A 9 3 External reset generation flag 9 5 F Fixed PDO mapping eem 5 7 power supply 1 7 3 4 4 8 4 10 power supply connector
35. 1 2 10 4 10 2 1 8 point Input Expansion Unit 08 008 1 10 5 10 2 2 8 point Output Expansion Unit XWT OD08 OD0O68 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 OD16 OD16 1 10 14 10 3 Mounting Dimensions essent nn nnn in nan nnns an nan nnne nennen nennen 10 17 Chapter 11 Troubleshooting and Maintenance 11 1 11 1 Troubleshooting ccce ecce er eene trn ennt emer nnne rarae 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 Emergency Error C d arrer iane 11 11 1122 Equipment Maintenance err 11 13 11 2 1 11 13 1 12222 InsSpectlons s io E eerte iem o tmd UIN aia 11 13 GX series EtherCAT Slave Unit User s Manual 21 22 4 5 11 2 3 Handling when Replacing 11 14 PY quem E A 1 Object Dictionary e A 2 A 1 1 Object Dictionary
36. gt 6 value 5 00 hex Hold Last State Hold and output 5 01 Low Limit Output the lower limit g 02 hex High Limit Output the upper limit 03 User Count Output a user specified value 04 hex Zero Count Output a value of 0000 hex the setting range lt gt siefqo 1e1moejnue N 7 L V GX series EtherCAT Slave Unit User s Manual 25 3241 hex Analogue output Fault Value Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Error Mode Range Unit Default 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 16 bit Sub index 0 Num of channel Range Unit Default 05 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Input 16 bit Range Unit Default 0000 hex Attribute A Size 2 bytes INT16 Access RW PDO map Possible This is equal to the set output range
37. m V1 2 4 V5 V6 V7 V1 2 V4 V5 V6 V7 NC NC NC NC NC NC NC NC NC NC NC NC NC NC IN1 IN2 IN3 4 5 IN6 IN7 IN1 IN2 IN3 IN4 IN5 IN6 IN7 V9 V10 V11 V12 13 V14 V15 v9 V10 V11 V12 13 V14 V15 NC NC NC NC NC NC NC NC NC NC NC NC NC NC INQ IN10 IN11 IN12 IN13 IN14 IN15 INQ IN10 IN11 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 8eczeal ereeaixo HUN LIS jurod ze ed NOO 2 LL r 4 GX series EtherCAT Slave Unit User s Manual 7 63 7 Digital I O Slave Unit 7 4 12 e CON Connector Type 32 point Output Slave Unit GX OD3218 0D3228 Specification ltem Specification GX OD3218 GX OD3228 Output capacity 32 points Pate CUMENE ON 0 5 A output 4 0 A common current Internal I O 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 termina
38. OUT JOUT JOUT OUT OUT 2 3 4 5 6 7 2 3 4 5 6 7 jv fv fy fv jv fy Inc NC NC NC NC NC Inc NC NC 6 Glo ellc lelle OUT 00 OUT OUT OUT OUT OUT OUT 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 GX 0D3228 PNP vilvilviivilivi fwd vijvil ivi pwd NC NC NC NC NC NC NC NC NC NC NC NC NC ello OUT OUT JOUT OUT T OUT OUT JOUT OUT OUT OUT 2 3 4 5 6 7 V 0 2 3 4 5 6 z fy 6 v viilviiviivilvilv Inc NC NC NC nel NC NC Inc NC NC NC eelle leel G ellc OUT OUT OUT OUT OUT OUT OU T OUT OUT OUT OUT OUT 10 11 12 43 14 15 8 10 11 12 13 14 15 I O power supply 589 24 8 x o 3 a a a Solenoid valve etc GX series EtherCAT Slave Unit User s Manual PNP input 3 wire external device Emitter of photoelectric sensor MUN u ea 10 suoneoyioeds 8ZZEAO BLZEAO XD HUN julod ZE ed 10 2 21 77 7 Digital I O Slave Unit Precautions for Correct Use The I O power supply connectors on the left and right are equipped wi
39. T ithe me gt Moving average value D1 02 D3 D4 4 Moving average 5 time 2nd time 3rd time 4th time M calculation 5th data data dala Moving average value D2 D3 D4 D5 4 _ Internal buffer Settings are made by the moving average processing time The moving average processing time is calculated as number of sampling data items required for single processing multiplied by analog conversion time number of A D conversion enabled channels x 500 us Note that if 0 is set the processing is not performed Default setting 0 yun y jo 4 8 Setting example of moving average processing time When the number of A D conversion enabled channels is to be set to 4 and the number of sampling data items to 4 Moving average processing time 4 x 4 x 500 us 8 000 us Set value 1F40 hex 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 22 BUON 5 8 GX series EtherCAT Slave Unit User s Manual 8 9 8 Analog I O Slave Unit 8 3 3 Disconnected Line Detection i 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
40. O No isolation type Internal circuits Internal circuits drop OUT1 0000 YT OOOO z OUT1 GX series EtherCAT Slave Unit User s Manual 7 Digital 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 OUT OUT OUT OUT OUT OUT 10 11 12 13 14 15 power supply 24 VDC Solenoid valve etc NPN input 3 wire external device Emitter of photoelectric sensor e e s 10 suoneoyioeds GX OD1628 PNP m NC NC NC NC NC NC NC NC 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 OUT 9 10 11 12 13 14 15 power supply 24 VDC Solenoid valve etc PNP input 3 wire external device Emitter of photoelectric sensor 8 91 0 8191 0 HUN 5 1ndino 3109 91 ed 10 2euu0 6 GX series EtherCAT Slave Unit User s Manual 7 51 7 Digital I O Slave Unit Precautions for Correct Use The I O power supply connectors are equipped with two sets of V an
41. fg o a a Qa PNP input 3 wire external device Emitter of photoelectric sensor GX series EtherCAT Slave Unit User s Manual 7 Digital 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 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 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 e e s 10 suoneoyioeds m ZZ9LGO ZL9LGO XD 3109 91 ed oojg jeuruue Jen e 9 p GX series EtherCAT Slave Unit User s Manual 7 37 7 Digital I O 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 indicators LED display yellow Unit power supply current 90 mA max for 20 4 to 26 4 VDC pow
42. power supply terminals 0 to 15 Output terminals 7 DIN track mounting hook Fixes a Slave Unit to a DIN track LZ9LGO LL9LGO XD HUN MALIS 1ndino julod g d L jeuruje Jen z amp GX series EtherCAT Slave Unit User s Manual 7 15 7 Digital I O Slave Unit i Internal circuits diagram GX OD1611 NPN CN IN c NN Photocoupler sg tek T 55 V 24VDC RX 0 i Physical 1 layer CN OUT g TX 3 TX Photocoupler RX a 5 RX S 5 UNIT PS DC DG 0 converter G v No isolation type GX OD1621 PNP CN IN TX TX 9 RX 19 t V 24VDC RX 0 m 1 T DC DC converter No isolation type Internal circuits GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Wiring diagram GX OD1611 NPN _ power supply 24 VDC Solenoid valve etc Solenoid valve etc e GX OD1621 PNP e e s 10 suoneoyioeds m power supply 24 VDC
43. 24 VDC Solenoid valve etc Solenoid valve etc PNP output 3 wire sensor 2 wire sensor Photoelectric sensor Limit switch etc proximity sensor 7 26 GX series EtherCAT Slave Unit User s Manual 7 Digital 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 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 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 e e s 10 suoneoyioeds m LC9LOW LL 9LOW XO 1ndino 1uiod g pue nduj juiod g ed xoojg 4en z p p Z GX series EtherCAT Slave Unit User s Manual 7 27 7 Digital I O Slave Unit 7 4 5 3 tier Terminal Block Type 16 point Input Slave Unit GX ID1612 ID1622 Specification Specification ro GX ID1612 GX ID1622 Input capacity 16 points 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 be
44. Filter switching NA GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit Pulse input timing specifications Counter input phase A B Input pulse duty 5096 Counter input phase Z voltage voltage 2 Terminal OFF 7 57 voltage Terminal OFF input ON f input ON S E EE M ee o ons OFF L OFF voltage e A A A E 2 ON ON PO FN dM voltage OFF A OFF voltage d Phase A N b 9 n o EEEE 2 5 Terminal 3 a input 5 m ON ON 5 voltage 5 B c 3 Phase B OFF Timing condition A B D E F G lt 25 ns 5025 5 205 12 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 LvZ0O3 X9 ed Indu JeAuq z r 6 9 Encoder Input Slave Unit Latch reset input specifications Specification Latch input Reset input Internal I O common PNP 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 KQ Input current 5 5 mA at 24 VDC 7 mA at
45. 8 7 8 3 2 Moving Average 244400 0 160 tese noa 8 8 8 3 3 Disconnected Line nnne 8 10 8 3 4 User adjustment eo te Lene eee ten reditu Eden 8 10 20 GX series EtherCAT Slave Unit User s Manual 8 4 Overview of the Analog Output Slave Unit eese nnn 8 12 8 4 1 Output Range and Converted 8 12 8 4 2 Data Allocation PDO Mapping eene 8 14 8 5 Function of the Analog Output Slave 8 15 8 5 1 Conversion Available Point 8 15 8 5 2 Analog Output Fault Action eee 8 16 9 5 3 User Adjustmerit ibo iim c e deed o datio tp erm 8 17 8 6 Overview of Each Slave Unit nennen nnn rnnt 8 18 8 6 1 4 Input Slave Unit 0471 eene 8 19 8 6 2 2 point Output Slave Unit 0271 8 23 8 7 Mounting 8 27 Chapter 9 Encoder Input Slave 9 1 9 1 Encoder Input Slave Unit eese nennen nennen nenne nnn nn nnn nnn nenne nennen 9 2 9 2 UO Data Allocatlon erc trente retener
46. PUN SARIS PUN 49 SeW 1V2Jeuj3 9 6 epo Od 2 94 GX series EtherCAT Slave Unit User s Manual 5 11 5 EtherCAT Communications 5 Emergency Messages 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 5 7 1 Emergency Message Notification It is possible to set whether or not to notify emergency messages via the SDO communications Target indexes are sub index 05 hex Flags in 10F3 hex Diagnostic History The setting values are shown in the table below Set value Emergency message notification 0000 hex Not notify 0001 hex Notify When the power to it is turned on a Slave Unit always starts up in the Notify setting If you want to use a Slave Unit in the Not notify setting set it to Not notify each time you turn on the power Note that an emergency message cannot be sent during an EtherCAT communications errors are occurring An emergency message is composed of 8 byte data as shown below Emergency Error register error code Object 1001 hex Error codes common to EtherCAT are used Contents Reserved For contents of emergency message refer to 11 1 3 Emergency Error Code in page 11 11 5 7 2 Diagnosis History EtherCAT Slave Units are able to store up to 8 emergency messages in EEPROM within the Slave Units and read the saved messages via the SDO communications Indexes t
47. alala er Fr L 7 65 GX series EtherCAT Slave Unit User s Manual 7 Digital I O Slave Unit i Internal circuits diagram GX OD3218 NPN TX TX RX Left side Internal circuits lt lt UNIT PS DC DC V converter v lO No isolation type lt NC Right side G OUTO GX OD3228 PNP TX TX RX Left side QZ lt lt lt C Q o Internal circuits UNIT PS DC DC v converter 0 No isolation type Right side QZ lt lt lt C OO 7 66 GX series EtherCAT Slave Unit User s Manual Wiring diagram e GX OD3218 NPN 7 Digital Slave Unit vilviivivilviilv vilviivivil viiv nc NC NC Nc nc NC NC NC ellc Gc OUT OUT OUT OUT OUT
48. 8 GX series EtherCAT Slave Unit User s Manual 8 7 8 Analog I O Slave Unit 8 3 2 Moving Average B Overview of functions e 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 functions 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 processing contents in the unit when the sampling count is set to 4 are as follows 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 2 xd Time ms t WOON ui Moving average Initial Initial Initial calculation Initial data dafa dat amp data Moving average value D1 4 4 Moving average Initial 2nd time Jnitial Initial gt E calculation 2nd data data data Moving average value D1 x 3 D2 4 Moving average Initial 2nd time 3rd time Initial Moving average value D1 2 D2 03 4 calculation 3rd data data data data 7 1 Y 0 du
49. 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 12 A 1 7 Manufacturer Specific Objects A 14 A 2 Current Consumption A 29 A 2 1 Digital O Slave A 29 A 2 2 Analog I O Slave Unit tee A 29 A 2 3 Encoder Input Slave Unit A 29 A 2 4 Expansion Unit 222 eroe e eek Seep dua Seana tae da ah A 30 A 3 Precautions with Connecting Two wire DC Sensors A 31 A 3 1 Relation between ON Voltage of a Unit with DC Inputs and Sensor Residual Voltage PY E Ea een ea A 31 A 3 2 Relation between ON Current of a Unit with DC Inputs and Sensor Control Output A 31 A 3 3 Relation between OFF Current of a Unit with DC Inputs and Sensor Leakage mus torti eh EIE EE ta EE redeat o cse rot hs A 32 4 Power Supply Current A 33 5 EtherCAT 34 GX series EtherCAT Slave Unit User s Manual A 1 1 Object Dictionary A 1 1 Object Dictionary Area The CAN application protocol over EtherCAT CoE
50. D A NC NC 2 NC NC Output 1 At volt tput voltage outpu Output 2 At current output External device External device 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 50 Y SZ 1 ry 57 1 ES Bununoy 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 This chapter explains the overview of Encoder Input Slave Unit 9 1 Encoder Input Slave 9 2 9 2 I O Data Allocation 9 3 9 2 1 Input Data Allocation 9 3 9 2 2 Output Data Allocation 9 5 9 3 Function of the Encoder Input Slave Units 9 7 9 3 1 Gount Mode uai epo ot Ero OS hes Lede dura Rus dis 9 7 9 3 2 Circular Counter 222 2252 sus cR IRR DR TER
51. 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 vari ous types Chapter 3 Basic Usage Procedures Explains the setup method and usage procedures by using simple system setup examples Chapter 4 Installation 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 Slave Unit Gives an overview about the Digital 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 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 In
52. GX series EtherCAT Slave Units USER S MANUAL OMRON OMRON 2010 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is con stantly 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 GX series EtherCAT Slave Units User s Manual Revised September 2010 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
53. HUN 10 suoneoyioeds 6 LvZ0O3 X9 ed ndu eur z r 6 9 Encoder Input Slave Unit Terminal block CH CH1 CH2 Terminal 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 Phase input 13 Phase input 14 7 Phase Z 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 2 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 9 Encoder Input Slave Unit Internal circuits diagram TX De DC DC m converter i pe No isolation G1 Line type receiver Physical n Ac RX RX B UN DC DC 2 V converter No isolation type Photocoupler rd G1 gt 3 5 Y 2 H Y 5 LA LB o V1 5 2 hotocouple o s g
54. Lit in yellow Contact ON output ON state 6 Output relay Switches a contact Connects external devices and 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 109120 X9 1ndino juiod 9 ed Aejey xoojg jeuruue Jen z GX series EtherCAT Slave Unit User s Manual 7 19 7 Digital I O Slave Unit ES Reference Replacing relays To replace output section relays first remove the cover using the following procedure 1 Ou HERBRRBRERRHA 3 1 Grab the handle with a 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 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 lt 5 500 t E 30k 120 VAC resistance load 5 4 200 30 VDC t 7ms 5 x 240 VAC COS 0 4 8 2 100 444 120 VAC 0 4 8 lt 30 VDC 24
55. fom 025 V fa o 10 to 410 V _11 1v MM a ov TCI sama mac ertet 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 25 GX series EtherCAT Slave Unit User s Manual 8 Analog I O Slave Unit 8 5 3 User Adjustment i Overview of functions e 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 100 as shown in the figure below Converted data After correction Before correction 0 100 Voltage current The correctable range is from 596 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 1to5V 0 8 to 1 2 V 4 8 to 5 2 V 0 to 10V 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 input Adjustment High Execute user adjustment
56. 25 0 to 1 Counter status 9 4 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit Abbreviations used for the counter status information description have the following meanings Abbreviation Status name Operation Soft switch Present value preset execution completion flag Present value preset PACKn execution completed 0 1 Preset execution completed 1 0 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 0 1 Reset execution completed 10 Soft switch Pesent value reset execution is set to 0 External reset generation 1 Turned ON at reset generation by external input phase Z EXRESn 0 Soft switch present value external reset generation flag flag clear is changed from 0 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 Turned ON with external latch B event generation External latch B EXLBn 3 0 Soft switch external latch B generation flag clear is generation flag changed from 0 to 1 CERRn Present value preset set 0 No setting error value error 1 Setting error generation CRUNn Counter operation state Soppa 1 Counter operating 9 2 2 Output Data Allocation Encoder Input Slave Unit stores th
57. 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 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 CH4 disconnected 0 CH4 normal 8 3 4 to 15 Reserved User adjustment Overview of functions e 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
58. Access RO PDO map Possible Digital input values are stored in units of 4 byte 32 bits Unit Default Attribute 16 GX series EtherCAT Slave Unit User s Manual 6200 hex Write output 8 bit Digital output 8 bit Sub index 0 Number of outputs 8 bit 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 01 hex to 08 hex Output Och to 7ch 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 09 hex to 10 hex Outputs 8ch to 15ch 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 11 hex to 18 hex Outputs 16ch to 23ch 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 19 hex to 20 hex Outputs 24ch to 31ch 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 16 bit Digital output 16 bit Sub index 0 Number of ou
59. Input data of Digital Slave Units consists of 2 types Input data of the Slave Unit and input data of Expansion Unit if mounted The data is allocated in this order in units of bytes 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 Buiddew 2 2 16 point Input Slave Unit Offset byte 7 bit 0 bit 0 Input data of the Slave Unit 7 to O bit D 1 Input data of the Slave Unit 15 to 8 bit 8 amp 32 point Input Slave Unit 8 gt Offset byte 7 bit 0 bit 3 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 1 Reserved GX series EtherCAT Slave Unit User s Manual 7 3 7 Digital I O Slave Unit 16 point Expansion Unit Offset byte 7 bit 0 bit 0 Input data of the Expansion Unit 7 to O bit 1 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 Inpu
60. 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 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 is Rower supply current 5 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 33 For the I O power supply current value to V and G terminals refer to A 4 I O Power Supply Current in GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Names and functions EtherCAT ADR omron GX IN 7 x 01234567 89101012131415 IN UNIT PS 7 6 Terminal arrangement diagram v PEP EP PE P we SPEREHETSSTST 6 10 suon
61. Photocoupler COM1 DC DC converter for relay drive No isolation type Wiring diagram 0 2 4 ow 2 4 6 eov 13 H5 Load Load Load Load Load Load Load Load AC power supply Load Load Load Load Load Load Load Load DC power supply is also allowed bd bd bd GX series EtherCAT Slave Unit User s Manual e e s 10 suoneoyioeds LO9LD0 XD juiod 9 ed Kejes xoojg jeuruue Jen z 7 Digital I O 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 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 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
62. RO PDO map Not possible Sub index 2 2nd object Input object 2 A Range Unit Default 40130220 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Mapping for latch value A B reading jefqo L v GX series EtherCAT Slave Unit User s Manual 11 1B03 hex 4th TxPDO mapping parameter Transmit PDO 4th 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 object Input object 1 Range Unit Default 40300108 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Input object 2 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 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 sync manager channels Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Communication type SMO Range Unit Default 01 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible
63. Specification 20 4 to 26 4 VDC 24 VDC 15 to 1096 power supply voltage 20 4 to 26 4 VDC 24 VDC 15 to 1096 Noise immunity Conforms to 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 3 times each in 6 directions on 3 axes Dielectric strength 600 VAC between isolated circuits 9 Insulation resistance 20 MQ or more between isolated circuits 5 F Ambient operating 10 to 55 C temperature 9 Ambient operating 1 4 Lu 25 to 85 with no condensation S humidity o Ambient operating a No corrosive gases atmosphere Storage temperature 25 to 65 Storage humidity 25 to 85 with no condensation Terminal block screws tightening torque wiring screws 0 5 N m M3 terminal block mounting screws 0 5 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
64. Sync Manager PDO Assignment Settings A sync manager channel consists of several PDOs The sync manager PDO assignment objects describe how these PDOs are related to the Sync Manager The number of PDOs is given in sub index 0 of the sync manager PDO assignment table In this table index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs The figure below shows an example of sync manager PDO mapping Sync manager entity Z a 9 Index Sub Object contents Q 52 1C1Zhex 1 1A00 hex gt AMEN 2 S 1 12 hex 1A01 hex o 9 1 17 hex 1A03 hex 20 2 c 1A00 hex PDOA 2 1A01 hex PDOB 1A02 hex PDOC 1A03 hex PDO D 8 1 04 PDOE 2 1 05 hex PDO F 1A06 hex PDOG GX series EtherCAT Slave Unit User s Manual 5 EtherCAT Communications 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 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 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 outputs in total 32 outputs of Slave Unit only Write output 32
65. a tol FES E 88 NOT Db es en Communications cable a Wy 5 7 i CN IN connector CN OUT connector L1 L2 Cas fee mgs l r3 1 Slave Unit Ln Do not connect anything Terminal Slave Unit 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 YOMJON 149433 Bun2euuo z y suoneoiunuiuio2 p z r 4 4 Installation and Wiring 3 Connecting to Unit Power Supply and Power Supply 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 4 3 1 Precautions at Supplying Unit Power and I O Power When supplying the unit power supply and power supply take the followings into consideration for
66. 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 L A IN L A OUT RUN ERR PWR indicator Indicates the unit power supply state Color Ste Contents T OFF Unit power OFF state ON The unit power 24 VDC is supplied to the Slave Unit i L A IN indicator Indicates the communication state input side Color State Contents OFF Link not established in physical layer Green Flickering In operation after establishing link ON Link established in physical layer E 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 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 Blinki
67. 0 25 mm to 0 5 mm2 AWG24 to AWG20 Pin terminal with isolation sleeve used Fixing screw Specification 4V V 24 VDC terminal terminal V 0 VDC For types of recommended pin terminals refer to 4 3 3 Connecting the Unit Power Supply page 4 9 GX series EtherCAT Slave Unit User s Manual 6 7 6 Basic Specifications of Slave Units 6 3 5 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 0D1618 0D1628 MD1618 MD1628 0D3218 0D3228 MD3218 MD3228 ADR 0 GX X19 im N VA V terminal G terminal Name Specification V 24 VDC G 0 VDC Connector type Spring connection connector with fixing screw 4 pin Supported pin terminal diameter 0 25 mm to 0 5 mm2 AWG24 to AWG20 Pin terminal with isolation sleeve used For types of recommended pin terminals refer to 4 3 4 Connecting the Power Supply in page 4 10 GX series EtherCAT Slave Unit User s Manual Digital I O Slave Unit tet This chapter explains the overview of the Digital I O Slave Unit 7 1 Digital Slave Unit
68. 0 5 The terminal block is removable remove the left and right screws if it is necessary to remove the terminal block to connect the signal line Vi 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 0 5 2 2 1473562 4 Blue Sheath diameter 1 15 to 1 35 mm T 4 1
69. 0 to 7 TX Internal TX circuits a RX V2 24VDC G2 A v2 oL DC DC 2 V M 4 sj converter i Output 8 to 15 8 v o No isolation 5 Photocoupler o type La G2 2 9 t o GX OD1622 PNP c z V1 24VDC TX ne G1 7 RX E V1 Output 0 to 7 G1 TX Internal TX circuits E V2 24 VDC G2 V2 UNIT PS DC DC V converter 3 Output 8 to 15 v No isolation 4j G2 type Photocoupler ZZ9LGO ZL9LGO XD 3109 91 ed oojg jeuruue Jen e 9 p GX series EtherCAT Slave Unit User s Manual 7 35 7 Digital I O Slave Unit Wiring diagram GX OD1612 NPN power supply 24 VDC GX OD1622 PNP O O 0 h 2 4 67 9 ho hi h2 13 4 15 1 v2 v2 v2 v2 v2 v2 2 2 2 G1 G2 62 G2 62 62 G2 62 62 G2 Solenoid valve etc NPN input 3 wire external device Emitter of photoelectric sensor O 1 2 3 4 6 8 9 11 h2 13 14 15 vj v vi v2 2 v2 v2 v2 v2 2 2 v2 G1 G1 G1 G1 61 61 61 G2 02 62 02 62 62 62 62 G2 power supply 24 VDC Solenoid valve etc eo s
70. 1 Checking 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 3 6 GX series EtherCAT Slave Unit User s Manual Installation and Wiring ees This chapter explains the mounting and wiring methods of the EtherCAT Slave Unit 4 1 Mounting Slave 4 2 4 1 1 Mounting Preparation 4 2 4 1 2 Mounting Direction 4 2 4 1 3 Mounting Method 4 2 4 1 4 Removal 2 4 3 4 2 Connecting to EtherCAT Network 4 4 4 2 1 Precautions for Network Connection
71. 1B00 hex GX OD3218 1003228 01 hex 1700 hex 00 hex GX MD3218 MD3228 01 1700 01 1 00 Analog I O Slave Unit Sync manager 2 PDO Sync manager 3 PDO assignment assignment Model Number Assigned Number or 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 EC0211 EC0241 Sync manager 2 PDO assignment Sync manager 3 PDO assignment Number Assigned PDO of assigned RxPDOs 02 hex 1700 hex 1701 hex A 1 7 Manufacturer Specific Objects Number Assigned PDO of assigned TxPDOs 1B00 hex 1B01 hex 1B02 hex 1B03 hex This section explains the CiA401 generic I O module device profile implemented GX series EtherCAT Slave Units and the objects specially mounted in GX series EtherCAT Slave Units All Slave Units e Manufacturer Specific area 1 2100 hex Range Error History Clear 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 elcl MSB LSB 6 63 6Ch ex 65 hex Writing values other than this is invalid GX
72. 2 G1 9 7Y 28 4 E 5 RST 1 o 1 lt 5 L7Z003 X9 ed 1ndu eur zZ v 6 GX series EtherCAT Slave Unit User s Manual 9 27 9 Encoder Input Slave Unit Wiring diagram Internal circuit sensor power supply 24 VDC RSV LA1 LB1 RSV RSV RSV RSV RSV RSV LA2 LB2 RST2 V1 V1 2 G1 1 Brown Vcc E g Black Phase A Black Red Phase e e Reset White Phase B White Red Phase B Orange Phase 7 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 Q 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 28 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit 9 5 Mounting Dimensions The mounting dimensions of an Encoder Input Slave Unit are shown below 215 J
73. 2 tier 16i PNP GX ID1621 removable screw terminal inputs terminal block block 16 outputs NPN GX 0D1611 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 o e S 1949433 SEdAL Z Z 1811 SHUN 2 EtherCAT Slave Unit Type e CON Connectors Appearance I O 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 Slave Unit Type Models with screw terminal blocks Appearance Encoder Input Slave Unit Type Model
74. 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 8 Duiputrange siiig method OFF Setting by SDO communications ON Setting by these switches Pin1 to Pin6 14 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 8 Analog I O Slave Unit Setting of output CH1 range Pin1 to Pin3 Output range Pin1 Pin2 Pin3 0to5V OFF OFF OFF 1to5V ON OFF OFF 0to 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 0to5V OFF OFF OFF 1to5V ON OFF OFF 0 to 10 V OFF ON OFF 10 to 10 V ON ON OFF 4 to 20 mA OFF OFF ON Internal circuits diagram gt D mov A lt 9 8 Analog GND Negative terminals of output CH1 and output CH2 are internally connected LZZOVG X9 ALIS 1ndino julod Z 2 9 8 GX series EtherCAT Slave Unit User s Manual 8 25 8 Analog Slave Unit Wiring diagram _
75. I O Slave Unit 1700 hex 1st RxPDO mapping parameter Receive PDO 1st 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 object Output object 1 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 output functions A 8 GX series EtherCAT Slave Unit User s Manual 1800 hex 1st TxPDO mapping parameter Transmit PDO 1st mapping Sub index 0 Number of objects Appendix Range Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st object Input object 1 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 The default settings of 1st RxPDO mapping parameter and 1st TxPDO mapping parameter are as follows Model 1st mapping parameter 1st TxPDO mapping parameter Slave Unit Expansion Unit 1st object Bees 1st object 01 hex 61000110 hex XWT IDO8 1 01 hex 61200120
76. Output Slave Unit GX MD1618 MD1628 7 53 7 4 11 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 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 3 Terminal Block 7 76 7 5 3 e CON Connector Type 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 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 Slave Unit 7 2 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
77. 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 e 6 jo 9 8 Setting of input CH1 CH2 range Pin1 to Pin3 Input range Pin1 Pin2 Pin3 0to5V OFF OFF OFF 1to5V ON OFF OFF 0 to 10V OFF ON OFF 10 to 10 V ON ON OFF 4 to 20 mA OFF OFF ON Setting of input range Pin4 to Pin6 LLF0QV X9 HUN LIS 1ndu 9 8 Input range Pin4 Pin5 Pin6 0to5V OFF OFF OFF 1to5V ON OFF OFF 10V OFF ON OFF 10 to 10 V ON ON OFF 4 to 20 mA OFF OFF ON 12 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 Slave Unit i Internal circuits diagram 9 V 510 kQ r 250 Q 4 y 510 AG Y Analog GND Wiring diagram N 00000000 Short circuit 1 14 Vet 2 V3 13 V4 INC 1 AG V2 JAG V3 AG V4 Voltage input gt OV OV Current input Short circuit
78. Power ON pe Initialization Pre Operational Safe Operational 11 Operational 00 DES PDO State communi transmiss Contents f reception cations ion Not Not Not Communications are being initialized Initialization Init f MOM possible possible possible Communications are not possible SDO message communications are Pre Operational Not Not posee 5588 Possible This state is entered after initialization has Pm 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 EtherCAT Communications 5 4 Process Data Objects PDO 5 4 1 Overview The process data objects PDO are used for real time data transfer via cyclic communications 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 comm
79. RU NER MID S 11 13 11 2 3 Handling when Replacing Units 11 14 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 Erros 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 On L A OUT L A IN LED RUN 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 the Slave Unit After removing the following factors of power supply shutdown restart the Slave Unit according to the specification of conne
80. RW PDO map Not possible Digital output values are stored in units of 4 bytes 32 bits GX series EtherCAT Slave Unit User s Manual A 17 paldo 1 gt 302970 7 L V 6326 hex Error mode output 32 bit Sub index 0 Number of outputs 32 bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Error mode output 01 hex to 20 hex Outputs Och to 31ch Error mode output Range pene aia Unit Default 00000000 hex Attribute A Size 4 bytes U32 Access RW PDO map Possible Sets 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 A 18 GX series EtherCAT Slave Unit User s Manual Objects of Device Profile areas that are implemented in 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
81. Read input 09 hex to 10 hex Inputs 8ch to 15ch Range 00h to FFh Unit Default Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 3 Read input 11 hex to 18 hex inputs 16ch to 23ch Range 00 hex to FF hex Unit Default Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 4 Read input 19 hex to 20 hex Inputs 24ch to 31ch 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 connected 6100 hex Read input 16 bit Digital input 16 bit Sub index 0 Number of inputs 16 bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Read input 01 hex to 10 hex Inputs Och to 15ch 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 32 bit Digital input 32 bit Sub index 0 Number of inputs 16 bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Read input 01 hex to 20 hex Inputs Och to 31ch Range 00000000 hex to FFFFFFFF hex Size 4 bytes U32
82. Size 1 byte U8 Access RW PDO map Not possible T Sets the output range for each point g The settable values as follows No other values be set 5 8 lt Set value Range gt 00 hex 4 to 20 mA 01 hex Oto 10 V 03 hex 10 to 10 V 04 hex 0to5V 06 hex 1to5V siefqo 1e1moejnue N 7 L V GX series EtherCAT Slave Unit User s Manual 23 3210 Analogue output Adjustment High Value User adjustment compensation value maximum Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Adj High Value Range Unit 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 User adjustment execution maximum Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Adj High Range Unit Default 00000000 hex Attribute R Size 4 bytes U32 Access RW PDO map Not possible This object executes user adjustment It writes upper adjustment value Excute the command when a count value which makes the a
83. Solenoid valve etc Solenoid valve etc 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 LZ9LGO LL9LGO XD HUN MALIS julod g ed jeuruje Jen z Z p L GX series EtherCAT Slave Unit User s Manual 7 17 7 Digital I O 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 Rated load Resistance load 250 VAC 2 A output common 8 30 VDC 2 A output common 8 A Rated ON current 3 A output Maximum contact voltage 250 VAC 125 VDC Maximum contact current 3 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 S
84. Supply Current in Page A 33 ZZ9LGO ZL9LGO XD ALIS 1ndino 3109 91 ed oojg jeuruue Jen e 9 p GX series EtherCAT Slave Unit User s Manual 7 33 7 Digital I O Slave Unit Names and functions 1 2 3 4 EtherCAT ADR alr Ta 7 6 Terminal arrangement diagram fu va ro pa Function Refer to 6 3 Specifications of Common Areas in Page 6 4 1to9 10 to 18 19 to 27 No Name 1 Communications connectors 2 Unit power supply connector 3 Status indicators 4 Node Address setting Switches 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 lt Left side gt V1 G1 power supply terminals 0 to 7 Output terminals lt Right side gt V2 G2 1 0 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 Slave Unit Internal circuits diagram e GX OD1612 NPN V1 24 VDC TX TX G1 RX RX E x V1 ES t Output
85. TX G2 RX RX V2 24VDC G2 5 a 8 to 15 UNITPS Dope V converter No isolation type 7 30 GX series EtherCAT Slave Unit User s Manual Wiring diagram e GX ID1612 NPN 7 Digital Slave Unit O O Jo h 4 5 6 m 8 9 ho 11 2 13 4 15 1 v2 2 v2 v2 v2 2 2 2 2 G1 G2 62 62 62 62 62 62 62 62 O power supply 24 VDC 2 wire sensor NPN output 3 wire sensor Limit switch etc Photoelectric sensor proximity sensor GX ID1622 PNP O O jo 41 2 B 4 5 7 NC l8 9 ho 11 12 ha 4 5 1 v2 v2 v2 v2 v2 v2 2 2 v2 G1 G2 02 62 02 62 G2 62 62 G2 O power supply 24 VDC 2 wire sensor output 3 wire sensor Limit switch etc Photoelectric sensor proximity sensor GX series EtherCAT Slave Unit User s Manual e e s 10 suoneoyioeds ZZ9LAI ZL9LAI X9 HUN SALIS Indu ed peua JON E 6 7 Digital I O 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 are not connected internally Supply power separately for V1 G1 and V2 G2 Do not wire NC terminals ES Reference Wire co
86. Unit Power Supply Always use the power supply voltage specified in this manual An incorrect voltage may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Always turn OFF the power supply to the PLC Slave Units and other Units before attempting any of the following Not turning OFF the power supply may result in malfunction or electric shock Assembling any Units Expansion Units Removing or attaching the terminal blocks or connectors to Slave Unit Replacing parts e g relays Setting the DIP switches and rotary switches Connecting cables or wiring the system Installation Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static 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 specif
87. bit 6320 hex 16 outputs of Slave Unit and 16 outputs of Expansion Unit 32 outputs in total 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 Read input 32 bit 6120 hex 16 inputs of Slave Unit and 16 inputs of Expansion Unit 32 inputs in total Write output 16 bit 6300 hex 1st RxPDO 1700 hex s 99fqo Lq sse oud 6 Read input 16 bit 6100 hex 1st TxPDO 1B00 hex 4 6 PDO mapping for Analog I O Slave Unit 1st RxPDO 1700 Write analogue output 16 bit 6411 hex 1 1st TxPDO 1800 hex Read analogue input 16 bit 6401 hex 2 1 Analog Output Slave Unit only 2 Analog Input Slave Unit only GX series EtherCAT Slave Unit User s Manual 5 7 5 EtherCAT Communications PDO mapping for Encoder Input Slave Unit EUREN Instruction Bits 4020 hex E ud Preset Value 4011 hex WES Position Value 4010 hex dE Latch Value A 4012 hex s Latch Value 4013 Status Bits 4030 hex GX series EtherCAT Slave Unit User s Manual Overview 5 EtherCAT Communications 5 5 Service Data Object SDO GX series EtherCAT Slave Units support the SDO communications The EtherCAT Master Uni
88. both the SI Unit P i lied to both the SI Unit Output GX OD1621 ower is supplie to Slave Uni ower is supplie to Slave Uni and Expansion Unit and Expansion Unit GX OC1601 GX series EtherCAT Slave Unit User s Manual 10 3 yun uoisuedx3 au jo 1 0 E A ddng 2 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 Pape Names and Wiring Specification circuits functions diagram diagram XWT IDO8 XWT ID08 1 10 5 10 5 10 6 10 7 XWT OD08 XWT ODO8 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 ID08 ID08 1 Specification 10 Expansion Unit Specification em XWT ID08 XWT ID08 1 Internal I O 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 5 VDC max between each input terminal and the V terminal terminal and the G terminal OFF current 1 0 mA max Input curr
89. 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 power supply current consumption 5 mA max for 20 4 to 26 4 VDC power supply voltage GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Output section en 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 Number of circuits per HOA 8 points common Isolation method Photocoupler isolation power supply method Supply by I O power supply 5 power supply current 5 mA max for 20 4 to 26 4 VDC power supply voltage consumption Error Mode Output Select either hold or clear Notes For the power supply current value to V and G terminals refer to A 4 Power Supply Current in Page A 33 e e s 10 suoneoyioeds ix W X9 rvL LZOL
90. eee occurrence rien 7 2 7 2 Data Allocation PDO Mapping eene nnne nennen 7 3 7 2 1 Input Data Allocation 7 7 3 7 222 Output Data Allocation tae aee eet etel ti reddent des 7 5 7 3 Functions of Digital Slave Units eene nnne nnns 7 7 7 3 1 Input 7 7 1 3 2 Etror Mode OUtpUut 2 dide rete i ees eb teen eee 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 1D1621 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 MD 1621 er ee ceret ets 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 16 point Output Slave Unit GX OD1612 O0D1622 7 33 7 A 7 8 tier Terminal Block Type 8 point Input and 8 point Output Slave Unit 3X MD1612 MD 1622 4 tice tentent eode 7 38 7 4 8 e CON Connector Type 16 point Input Slave Unit GX
91. 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 tm 4 installation and wiring Clause title gt 4 4 Connecting an External Device Indicates the clause title Connect an external device to the I O terminal of a Slave Unit of the current page The method of connection differs between Units with screw terminal blocks and Units with e CON connectors 4 4 1 Connecting to a Screw Terminal Block After mounting a crimp terminal to the cable of the external device to be connected connect it to the terminal block Section title 1 Mount the following crimp terminal to the signal line of the cable 32mm min 932 mm min SO 3 Operation Tq 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 BF Prcaitions To remove the terminal block from the Slave Unit loosen the left and right mounting screws to the followin g sect
92. erede tee teet 5 9 EtherCAT Master Unit Slave Unit 5 10 9 621 EREE RUN MOd6 ue ene ud eue 5 10 5 6 2 DO MOde6 de edet eed deed e pet oe 5 10 Emergency Messages eee eren erri r pie Pt ennt a eprr ERR nane DEP Papi iw rd 5 12 5 7 1 Emergency Message 5 12 9 7 2 Diagnosis onde wien en neh eta nected eee 5 12 GX series EtherCAT Slave Unit User s Manual 19 Chapter 6 Basic Specifications of Slave Units 6 1 6 1 EtherCAT Communications 6 2 6 2 General Specifications ssnin a aaa ra Oaa aa a SKON ai 6 3 6 3 Specifications of Common Areas 6 4 0 3 1 Status Indicatorss 4 8 asi enne 6 4 6 3 2 Node Address Setting 6 6 6 3 3 Communications 6 7 6 3 4 Unit Power Supply Connector 6 7 6 3 5 I O Power Supply 6 8 Chapter 7 Digital Slave 7 1 7 1 Digital V O Slave Unit
93. 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 After latching the counter value the external latch 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 O to 1 the external latch A B generation flag changes from 1 to 0 and latch is enabled GX series EtherCAT Slave Unit User s Manual Slave Unit type Symptom Some functions are not reflected even after parameters have been set 11 Troubleshooting and Maintenance 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 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 turne
94. hex GX ID1611 1D1621 XWT ID16 1 E 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 01 hex 61000110 hex 2 tierterminal GX OD1611 0D1621 XWT ID16 1 01 hex 63000110 hex 01 hex 61000110 hex block XWT OD08 1 01 hex 63200120 hex es XWT OD16 1 01 hex 63200120 hex 01 hex 63000110 hex u 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 GX ID1612 ID1622 a 01 hex 61000110 GX 0D1612 0D1622 01 hex 63000110 hex GX MD1612 MD1622 01 hex 63000110 hex 01 hex 61000110 hex GX ID1618 ID1628 01 hex 61000110 hex GX 0D1618 0D1628 01 hex 63000110 hex e CON GX MD1618 MD1628 01 hex 63000110 hex 01 hex 61000110 hex Connectors GX ID3218 1D3228 01 hex 61200120 hex GX OD3218 0D3228 01 hex 63200120 hex m GX MD3218 MD3228 01 hex 63000110 hex 01 hex 61000110 hex GX series EtherCAT Slave Unit User s Manual Poldo 1 gt jefqo L v i Analog I O Slave Unit 1700 hex 1st RxPDO mapping parameter Receive PDO 1st mapping Sub index 0 Nu
95. 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 and analog I Os A000 hex FFFF hex 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 32768 to 32767 Integer32 INT32 4 bytes 2147483648 to 2147483647 Visible string VS GX series EtherCAT Slave Unit User s Manual A 1 3 Object Description Format In this manual obj
96. series EtherCAT Slave Unit User s Manual 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 5 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 f 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 60
97. 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 Measures Turn ON Slave Unit power supply again after changing the setting Slave Units to which Expansion Units can be mounted communications stopped after mounting or removing an Expansion Unit and turning ON the power 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 Allocate I O data again to the EtherCAT Master Unit The PWR indicator lights red after mounting or removing an Expansion Unit online GX series EtherCAT Slave Unit User s Manual Expansion Units cannot be mounted or removed online Turn OFF the power supply before mounting or removing Expansion Units 11 7 10 43 Z L LL BunoousejqnoJ 1 11 Troubleshooting and Maintenance Slave Unit type Slave Units with digital inputs Symptom Although a connected device is ON nothing is input and Slave Unit s input indicator does not turn ON either Cause 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 s
98. 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 PWR EAIN RUN indicator indicator LED On GX series EtherCAT Slave Unit User s Manual ERR indicator DF 11 Troubleshooting and Maintenance Description Process data communica tions timeout 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 s 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 f 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 specification is used Use the communications cable of the recommended specification Link in p
99. use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof 6 GX series EtherCAT Slave Unit User s Manual Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is ou
100. when input B is ON and decremented at rise of phase when input B is OFF Incremental count Decremental count UI Count direction control signal Input B Counter value 41516 7 8 7 6 5 4 2 1 When code and pulses are input the connection with external input devices becomes as follows Encoder Input Slave Unit SHUN lt 3ndu Jepoou3 au Jo UOFNOUNY 6 Encoder other O Input A pulse generators Count pulse O Input B Sensor or o 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 sed jeubis 1ndu 6 Incremental count Decremental count met TETLTLELT LFLT LI Input B PFU LEUTE EF LT LI Counter value 1234567 8 6 5 4 2 1 GX series EtherCAT Slave Unit User s Manual 9 9 9 Encoder Input Slave Unit When incremental decremental pulses are input the connection with external input devices becomes as follows Encoder Input Slave Unit Encoder or other InputA pulse generators Incremental pulse Input Encoder other Inpu
101. 0 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 O V 0000 hex Converted data Hexadecimal decimal dde 1 40 8000 an 0000 0 0 25 V Voltage FE70 400 Nov 5V 5 25V GX series EtherCAT Slave Unit User s Manual 8 3 yun Bojeuy au 2 9 peueAuo pue 1ndu 1 7 8 8 Analog Slave Unit Input range 1 to 5V Voltage of 1 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 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 e 7FFF 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 whi
102. 0 VAC 5 50 Resistance load 1 AC resistance load 5 30 o 5 20 0 5 8 3 2 0 4 DC resistance load 0 3 7 30 VDC t 40ms 0 2 100 to 200 VDC t 7 40 5 0 1 10 20 30 50 100 200 300 500 1000 0 1 0 2 0 3 0 5 1 4 5 Contact voltage V Contact current A GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Internal circuits diagram NY 5W K IE Photocoupler 5 VDC CN IN O 0 fo F PET TX 91 K 9 91 RX 9 pee RX 1222 1 as 69 Physical layer 4 ENOT 2 khotocoupler O x om lt O COMO RX NY 5W K IE Photocoupler 5 VDC 8 iw FL n UNIT PS E Er 69 91 DC DC l LINTE wv converter Josi 9 No isolation 3 type CUT XM oll
103. 010000 XWT IDO8 00000018 00010000 XWT IDO08 1 00000013 00010000 XWT IDO08 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 OD068 1 00000015 00010000 XWT OD068 1 0000001E 00010000 XWT OD16 00000012 00010000 XWT OD16 0000001B 00010000 XWT OD16 1 00000016 00010000 XWT OD16 1 0000001F 00010000 00000020 00010000 00000029 00010000 08 00000021 00010000 08 0000002 00010000 XWT IDO08 1 00000025 00010000 XWT IDO08 1 0000002 00010000 XWT ID16 00000022 00010000 XWT ID16 0000002B 00010000 2 tier terminal GX OD1611 XWT ID16 1 00000026 00010000 Gx 0D1621 XWT ID16 1 0000002F 00010000 block XWT OD08 00000023 00010000 XWT OD08 0000002C 00010000 XWT OD068 1 00000027 00010000 XWT OD068 1 00000030 00010000 XWT OD16 00000024 00010000 XWT OD16 0000002D 00010000 XWT OD16 1 00000028 00010000 XWT OD16 1 00000031 00010000 00000046 00010000 XWT IDO8 00000047 00010000 XWT IDO08 1 0000004B 00010000 XWT ID16 00000048 00010000 GX OC1601 XWT ID16 1 0000004C 00010000 XWT OD08 00000049 00010000 XWT OD068 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 s terminal x Op1612 00000036 00010000 Gx 0D1622 00000037 00010000 GX MD1
104. 0s and operation is performed at 120s when 0000 hex is set 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 i Digital I O Slave Unit e Manufacturer Specific area 2 3000 hex Input_Time_Constant All Inputs Input filter gt Sub index 0 Filter Constant Range 00 hex to 07 hex Unit Default 02 hex Attribute R 5 Size 1 byte U8 Access RW PDO map Not possible S Sets the input filter 15 implemented all Slave Units with input points including Expansion Units if they 8 connected She Filter set value ms value 00 hex 0 o 01 hex 0 5 a gt O2hex 1 03 2 D 04 hex 4 5 Q O5hex 8 O6hex 16 S n 07 hex 32 g o GX series EtherCAT Slave Unit User s Manual A 15 Device Profile area 6000 hex Read input 8 bit Digital input 8 bit Sub index 0 Number of inputs 8 bit 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 01 hex to 08 hex Inputs Och to 7ch Range 00 hex to FF hex Unit Default Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 2
105. 10 10 mm AWG26 0 14mm to AWG2 mm X tf Yee Shoah amelen 1012mm Section title 201626 014mm to AWG24 0 2mm Sheath diameter 1 2 to 1 6 mm AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 0 to 1 2 mm AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 2 to 1 6 mm AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 6 to 20 mm 37104 3163 000FL Orange Indicates the section title of the current page 37104 2124 000FL Green 37104 2165 000FL Blue sqs0UU09 NOJS 0 zr 37104 2206 000FL Gray Panasonic Electric Works connectors Housing color Applicable wire range AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 21020 mm AWG2B 0 08mm to AWG24 0 2mm Sheath diameter 07 to 1 2 mm 12142 Red AXF12146 Yellow OMRON connectors Specification Applicable wire range Spring AWG28 0 08mm to AWG20 0 5mm clamp type Sheath diameter 1 5 mm max Name of manuals gt nie dan wo 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 Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance
106. 21 Models with 3 tier terminal block GX ID1612 GX ID1622 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 103228 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 y o connection method M3 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 supply Shared with unit power supply 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 Slave Unit Type Models with screw Model GX AD0471 terminal blocks GX DAO271 Slave Unit installation method DIN track connection method M3 screw terminal block Internal power supply Shared with unit power supply External power supply
107. 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 i Names and Functions CH2 LB1 RST1 CH2 A2 LA2 LB2 RST2 22222202 CH1 CH1 A1 B1 E 1109 10 to 18 19 to 27 No Name off fae os Po ff CICIESESPSCICICICI ED D 222222202 vf ff fe for nfo EE E d d Function Communications connectors Refer to 6 3 Specifications of Common Areas Page 6 4 2 Unit power supply connector 3 Status indicators 4 Node address switches Input indicators The indicators show the status of the inputs of each channel For details refer to the next section Input indicators Terminal block Connects external devices and the I O power supply For details refer to the next section Terminal block DIN track mounting hook i Fixes a Slave Unit to a DIN track GX series EtherCAT Slave Unit User s Manual e Input indicators 9 Encoder Input Slave Unit CH1 CH2 Name State Contents Name State Contents CH1 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 i
108. 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 gt 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 ON By changing clear present value external reset generation flag 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 SHUN lt 3ndu Jepoou3 au jo uonounJ 6 Present value external reset generation flag soft switch Precautions for Safe Use While the counter function is stopped external reset is disabled For this reason if the reset function is to be used while the counter functio
109. 473562 4 Green Sheath diameter 1 35 to 1 60 mm e Panasonic Electric Works connectors AXF 12142 Housing color Red Applicable wire range AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 2 to 2 0 mm AXF 12146 Yellow OMRON connectors AWG28 0 08mm to AWG24 0 2mm Sheath diameter 0 7 to 1 2 mm Model Specification Applicable wire range XN2A 1430 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 i Model Housing color Applicable wire range E 2 2 o 37104 3101 000FL Red AWG26 0 14mm to AWG24 0 2mm 5 Sheath diameter 0 8 to 1 0 5 2 2 5 37104 3122 000FL Yellow AWG26 0 14mm to AWG24 0 2mm S Sheath diameter 1 0 to 1 2 mm D 2 2 Q 37104 3163 000FL Orange AWG26 0 14mm to AWG24 0 2mm Sheath diameter 1 2 to 1 6 Oo 2 2 S 37104 2124 000FL Green AWG22 0 3mm to AWG20 0 5mm 3 Sheath diameter 1 0 to 1 2 mm d 2 2 7 37104 2165 000FL Blue AWG22 0 3mm to AWG20 0 5mm a Sheath diameter 1 2 to 1 6 mm 3 2 2 2 D 37104 2206 000FL Gray AWG22 0 3mm to AWG20 0 5mm 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 Cab
110. 612 00000038 00010000 GX MD1622 00000039 00010000 GX ID1618 0000003A 00010000 GX ID1628 0000003 00010000 GX OD1618 0000003C 00010000 GX OD1628 00000030 00010000 GX MD1618 0000003E 00010000 GX MD1628 0000003 00010000 Connectors GX ID3218 00000040 00010000 103228 00000041 00010000 GX OD3218 00000042 00010000 GX OD3228 00000043 00010000 GX MD3218 00000044 00010000 GX MD3228 00000045 00010000 GX AD0471 0000004F 00010000 GX DA0271 00000050 00010000 gt h Soron ornp GX EC0211 00000051 00010000 GX ECO241 z 00000051 00010000 5 et g 8 o 10F3 hex Diagnosis history 5 Sub index 0 Number of entries lt Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible A Sub index 1 Maximum messages Maximum Number of 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 U8 Access RO PDO map Not possible 3 Sub index 5 Flags Range 0000 0001 hex Unit Default 0001 hex Attribute 5 Size 2 bytes 016 Access RW PDO map Not possible 5 Sub index 6 to 13 Diagnosis message 1 to 8 9 Range Unit Default Attribute T Size 23 bytes VS Access RO PDO map Not possible GX series EtherCAT Slave Unit User s Manual A 7 This object
111. ADR eee 9 7 9 3 3 Input Signal Types 9 8 9 3 4 Encoder Direction Setting 9 10 9 3 5 Counter Reset oo te ee REGAT ee a 9 11 9 3 6 Counter Preset useless luce eds Se ee Pe ee bee ed 9 12 9 3 7 Counter 9 12 9 4 Specifications for Each Slave Unit 9 13 9 4 1 Open collector input type GX ECO211 9 14 9 4 2 Line Driver Input Type GX ECO241 9 22 9 5 Mounting Dimensions 9 29 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 Data Allocation data of Encoder Input Slave Units are allocated to the input output areas of the memory of the EtherCAT Master Unit respectively The ESI file are used to allocate data For the detailed explanation of allocation method refer to the manual of EtherCAT Master Unit to be connected 9 2 1 Input Data Allocation Encoder Input Slave Unit st
112. CAT Slave Unit User s Manual INDEX A Abort COd6S Dm 5 9 Analog assein rre tio tat teer ite trece eigen 2 2 Application 5 5 C CAN application protocol 5 2 Clear external latch A generation flag 9 6 Clear external latch B generation flag 9 6 Clear present value external reset generation flag 9 6 CN IN CONNECCION is 4 7 Code pulse input 9 9 COE trei M ES eee inet 5 2 Communications cable 1 7 3 4 4 4 4 6 4 7 6 7 Communications 8 16 Communications Unit eee 1 7 Configuration 1 7 3 6 6 6 Correctable range 8 11 8 17 Count possible not possible 9 6 Counter operation state 9 5 Counter present value sse 9 3 Counter preset bit 9 12 Counter reset 9 11 Counter status niedrige epe dede 9 3 Crimp terminal 2 5 4 12 D Daisy chain connection sse 4 7 Diagnosis history 5 12 Digital O slave
113. CW LLOLG e e s 1ndino 1urod g pue jndu 9 ed 1en z GX series EtherCAT Slave Unit User s Manual 7 23 7 Digital I O Slave Unit Names and functions r 1 EthercAE s ADR omron GX 1 XO T 1 70 N OUT PWR 01234567 01234567 IN Ss gt 8 7 Terminal arrangement diagram Left side input Right side output Function Refer to 6 3 Specifications of Common Areas in Page 6 4 12 to 22 1 to 11 No Name 1 Communications connectors 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 inputON 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 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 Fixes a Slave Unit to a DIN track GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Internal circuit
114. D08 1 PNP power supply 24 VDC Solenoid valve etc Solenoid valve etc 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 10 10 GX series EtherCAT Slave Unit User s Manual 10 Expansion Unit 10 2 3 16 point Input Expansion Unit XWT ID16 ID16 1 Specification Specification rem 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 6 0 mA max input at 24 VDC phe cumani 3 0 mA max input at 17 VDC ON delay time 1 5 ms max OFF delay time 1 5 ms max 16 inputs common Isolation method Photocoupler isolation Input indicators LED display yellow Weight 120g max Names and functions 01234567 8 9 1011 12 13 14 15 LN OMRON XWT ID16 REMOTE TERMINAL yun uoisuedx3 jo 2 0 E 4 3 Terminal arrangement diagram
115. DC 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 uonduinsuo zuana Z Y gt A 2 4 Expansion Unit Unit power supply current Unit power supply current Model 4 Model consumption consumption XWT IDO8 5 mA max XWT IDO8 1 5 mA max XWT OD08 5 mA max 008 1 5 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 A 3 Precautions with 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 Rel
116. EtherCAT o PDO communications remote I O communications a 3 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 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 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 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 I O data is correctly read and written Moreover make parameter settings for Slave Units as required 3 4
117. EtherCAT Slave Unit User s Manual 00010000 hex GX EC0241 space 20 hex of 11 characters Manufacturer hardware version space 20 hex of 20 characters A Appendix Manufacturer software version v1 00 20 15 characters 329140 1 gt p L v 1011 hex Store parameters Sub index 0 Number of entries Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Store 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 e The specific value is load MSB LSB d a 64 61 hex 6F 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
118. 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 nee V 24VDC k y oy gt Internal circuits yun uoisuedx3 jo 2 0 V 24VDC E Internal circuits Photocoupler k ie ges 6 55 G L 9100 91GO LMX uoisuedx3 nd no julod g 0 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 e XWT OD16 1 PNP power supply 24 VDC Solenoid valve etc Solenoid valve etc Precautions for Correct Use When using an inductive load such as a solen
119. Fault Action 8 16 9 5 3 User Adjustment a xn de bots bed be ee eds 8 17 8 6 Overview of Each Slave Unit Type 8 18 8 6 1 4 point Input Slave Unit GX AD0471 8 19 8 6 2 2 point Output Slave Unit 0 271 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 Slave Units refer to slaves with processing functions for analog I O data voltage value current value Other functions of the Slave Unit include 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 800
120. GX series EtherCAT Slave Unit User s Manual 5 1 5 EtherCAT Communications 5 1 Structure of CAN application protocol over EtherCAT CoE a Normally multiple protocols can be transffered 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 Communications spo maibox EPO PDO cyclic PDO cyclic SyncManager 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 Commu
121. GX series EtherCAT Slave Unit User s Manual 9 13 9 Encoder Input Slave Unit Open collector input type GX EC0211 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 Specification Rom Counter phase A B Counter phase Z iso 4505506 tsi 45055 0 310 5 VDC 5 10 5 VDC 5 input current 8 4 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 9 Encoder Input Slave Unit Pulse input timing specifications Counter input phase A B Counter input phase Z Input pulse duty 50 ON voltage Terminal input OFF voltage Terminal input OFF voltage
122. ID1618 1D1628 7 44 7 4 9 e CON Connector 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 nnne nennen nennen nens 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 3218 03228 0 7 69 7 5 Mounting Dimensions 7 75 7 5 1 2 tier Terminal Block 7 75 7 5 2 3 tier Terminal Block Type orna AE EEA OAT E EE 7 76 7 5 3 Connector 2 14141 0 0106 unas EEE E 7 77 Chapter 8 Analog I O Slave 2 8 1 8 1 Analog l O Slave Unit iier oreet 8 2 8 2 Overview of the Analog Input Slave Unit 8 3 8 2 1 Input Range and Converted 8 3 8 2 2 Data Allocation PDO Mapping eem nmn 8 6 8 3 Function of the Analog Input Slave 8 7 8 3 1 Conversion Available Point Setting
123. Manual 4 Power Supply Current The I O power supply current to be supplied to the V terminals of each Digital I O Slave Unit is provided by the following equation The points to which power must be supplied are divided into small blocks The I O power supply 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 O to 7 The other contains 8 points on the right Inputs 8 to 15 Currents are calculated for each block In case of Input Slave Units The power supply current supplied to V and terminals input current for number of points used current supplied to connected input devices for number of points used I O power supply current consumption This value does not apply to 2 tier terminal block type Slave Units Calculate using power supply current supplied to V and G terminals input current for number of points used power supply current consumption In case of Output Slave Units The power supply current supplied to V and terminals rated output current for number of points used current supplied to connected input devices for number of points used I O power supply current consumption Compare with the restricted value for common and apply whichever value is the smallest Example In case of having seven 30 mA sen
124. Materials required for inspections The following materials are required to perform periodic inspections Materials used regularly Phillips screwdrivers and flat blade screwdrivers Screwdrivers for communications connectors Testers or digital voltmeters Industrial alcohol and pure cotton cloth eoueusjure y 3ueuidinb3 Z e Materials sometimes required e Synchroscope Pen oscilloscope Thermometer and hygrometer 2 LL GX series EtherCAT Slave Unit User s Manual 11 13 11 Troubleshooting and Maintenance i Inspection item Periodically inspect the following items to ensure that they do not deviate from the criteria If the items deviate from the criteria adjust the environment so the criteria are met or adjust the Unit itself Inspection item Environment z DS Inspection Inspection details Criteria Wiethod Are the ambient and _10 55 temperatures appropriate Is the ambient and in panel humidity 25 to 85 with no 2 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 inspection Are the external wiring screws loose No looseness Phillips screwdriver Are the connection cables damaged 11 2 3 Handling when Rep
125. Not necessary GX series EtherCAT Slave Unit User s Manual 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 yo connection method M3 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 ID08 1 XWT ODO8 1 XWT ID16 1 XWT OD16 1 GX series EtherCAT Slave Unit User s Manual Slave Unit installation method DIN track yo connection method M3 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 SHUN o e S 1949433 SEdAL Z Z e e S 10 SPON A ddng pue uonoeuuo uonel e su z z c 2 EtherCAT Slave Unit GX series EtherCAT Slave Unit User s Manual Basic Usage Procedures Ei This chapter explains the procedure of using EtherCAT Slave Units based on specific setting examples 3 1 Setup Examples and Basic 3 2 3 1 1 System Setting Examples
126. PPA 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 input contact ON OFF 5 Input indicators 0 to 15 Not lit Contact OFF input OFF state Lit in yellow Contact ON inputON 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 jurod 9 pue 1urod 9 ed J0 98UU0D NO2 9 1 7 1 Left side 7 connectors 1 to 16 x 2 For input device Right side For output device 8 power supply connector Supplies the 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 71 7 Digital I O Slave Unit i Internal circuits diagram GX MD3218 NPN TX TX RX RX e GX MD3228 PNP TX TX RX RX TX TX RX RX Left side E Photocoupler B V 8 1 Short circuit _ protection element GO 3 INO E 3 2 V S NC V Photocoupler G OUTO Right side DC DC V converter 771 V No isolation G type G Photocoupler 5 o en m Left side vo 2
127. Phoenix Contact AI0 5 10WH 0 5 mm AWG20 or CRIMPFOX ZA3 Co Ltd series Crimper PZ1 5 5 16 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 4 3 4 Connecting the 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 power to the I O power supply connector V terminal 24 VDC power supply G terminal Mount a pin terminal or equivalent to the power supply cable so that
128. 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 bytes U32 Access RO PDO map Not possible ndicates 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 GX series EtherCAT Slave Unit User s Manual The table below shows the identity object values by Slave Unit types Model Revision Model Revision Type product Number product Number Slave Unit Expansion Unit Code hex hex Slave Unit Expansion Unit Code hex hex 0000000E 00010000 00000017 00010000 XWT IDO8 0000000F 00
129. Sub index 2 Communication type SM1 Range Unit Default 02 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 3 Communication type SM2 Range Unit Default 03 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 4 Communication type SM3 Range Unit Default 04 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible The sync manager has the following settings SMO SM1 SM2 e SM3 Mailbox receive EtherCAT Master Unit to Slave Unit Mailbox transmit EtherCAT Slave Unit to Master Unit Process data output EtherCAT Master Unit to Slave Unit Process data input EtherCAT Slave Unit to Master Unit 1010 hex Sync manager 0 PDO assignment Sub index 0 Number of assigned PDOs Range 00 hex Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible t indicates the number of PDO mappings used by this sync manager Mailbox reception sync manager does not have PDOs 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 GX series EtherCAT Slave Unit User s Manual
130. Supply by power supply Unit power supply current 90 mA max for 20 4 to 26 4 VDC power supply voltage consumption vo power SUPPIY current 5 mA max for 20 4 to 26 4 VDC power supply voltage consumption Weight 180 g max Expansion functions Enabled Error Mode Output Select either hold or clear Short circuit protection No function Notes For the I O power supply current value to V and G terminals refer to A 4 Power Supply Current in Page A 33 7 14 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Names and functions y omron GX OUT 1 g OUT 012346567 891017213145 IN IN VA a RUN 1 i L UNITPS 2 pos INPUT gt Ww 7 6 Terminal arrangement diagram oe 1711151 v CEEE 6 10 suoneoyioeds Function Communications connectors 2 Unit power supply connector Status indicators Refer to 6 3 Specifications of Common Areas in Page 6 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 Connects external devices and the I O power supply 6 Terminal block V G
131. Tn 1 0 Clear present value preset execution completion Edge execution flag 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 EARESEn reset enabled 0 Disabled level EXLAEn External latch A enabled 1 Enabled Level 0 Disabled 1 Enabled EXLBEn External latch B enabled Level 0 Disabled Clear present value EXRESCn external reset generation 0 1 Clear flag Edge flag Cl t latch A EXLACn 0 1 Clear flag Edge generation flag Cl t latch EXLBCn 0 gt 1 Clear flag Edge generation flag GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit 9 3 Function of the Encoder Input Slave Units This section explains the function of Encoder Input Slave Units 9 3 1 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 O is set the maximum value becomes FFFFFFFF hex 1 maximum value x 4 294 967 295 0 00000001 hex x maximum value lt OXFFFFFFFF hex 00000000 hex Count continuously Incremental count Decremental count SHUN lt 3ndu Jepoo
132. WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR GX series EtherCAT Slave Unit User s Manual 5 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or
133. a 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 telegram stored directly in an Ethernet frame that exchanges data regularly 9 between the EtherCAT Master Unit and Slave Units 2 Each EtherCAT telegram is configured with telegram header data length including address of one or 5 more Slave Units etc data working counter check bit zm When an Ethernet frame is compared to a train an EtherCAT telegram can be considered as railway 2 25 Ethernet frame Ethernet i Ethernet data Maximum 1498 bytes CRC Y S S V v 2 o m 8 EtherCAT 1 EtherCAT telegram EtherCAT frame header E 1st EtherCAT 2nd EtherCAT J n th EtherCAT telegram telegram telegram Telegram 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 l
134. allowable current of cables and connectors voltage drop and layout of power supplies Consideration to cable voltage drop The power supply voltage of a Slave Unit farthest to the power supply must be within the allowable variation range Supplying unit power supply and I O power supply from multiple sources When the unit power and I O power are supplied from multiple power supplies instead of from one power supply the line current voltage drop and cable size can be reduced Moreover it is effective to secure safety of the system at power supply errors If power supply errors occur Consideration on layout and grouping of power supplies differ by whether you want to stop the entire system or not when a power supply error occurs If you want to avoid stopping the entire system we recommend to set power supplies at several locations and supply power to groups of Slave Units or take similar measures This has also the effects of reducing voltage drop and cable size and so on 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 10 Output ripple 600 mVp p Has the capacity to supply power more than the total current consumption of each Slave Unit Between output and AC power supply as well as between output and chassis ground Output
135. and and so on EtherCAT Master Slave TxPDO Unit input data status and so on s1 efqo Lq 044 is possible to hold 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 TxPDO L p G GX series EtherCAT Slave Unit User s Manual 5 5 5 EtherCAT Communications 5 4 3 The figure below shows an example of PDO mapping 1 Object A Object B Object D Object dictionary I Index Sub Object contents 8 1222 01 6TTT hex TT hex D 1227 02 hex 6UUU hex UU hex 8 8 1222 hex 03 6YYY YY 16 _PDO Length 32 6TTT TT hex Object A E 6UUU hex UU hex Object B 5 BVVV hex VV hex Object C 5 6YYY hex YY hex Object D 6222 hex ZZhex Object E 8 lt
136. ate 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 lt Left side gt V1 G1 Input side I O power supply terminals 0 to 7 Input terminals lt 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 Slave Unit Internal circuits diagram GX MD1612 NPN TX TX RX RX TX TX RX RX UNIT PS DC DC V converter v No isolation type Internal circuits Photocoupler GX MD1622 PNP TX TX RX RX OO converter v 0 No isolation EX type Physical DC DC 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 0107 G1 V2 24VDC G2 V2 0 to 7 G2 e e s 10 suoneoyioeds m W X9 Lvl eCOLGW ZLOLG PUN e e s Julod g pue 9 ed 1en c 7 D
137. ation 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 lon Vcc VR Vr Internal residual voltage of a Unit with DC inputs Rin Input impedance of a Unit with DC inputs When is smaller than lout min connect a bleeder resistor 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 DC input type slave 2 wire sensor GX series EtherCAT Slave Unit User s Manual A 31 siosuas 9q v gt pue e jo NO uonelos L v A 3 3 Relation between OFF Current of a Unit with DC Inputs and Sensor Leakage Current 2 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 lorF x VF lieak lOFF Power W gt Vcc Vr 2 Rx 4 allowable margin 32 GX series EtherCAT Slave Unit User s
138. b 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 object Input object 1 Range Unit Default 40100120 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Input object 2 Range Unit Default 40100220 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Mapping for counter present value reading 1B01 hex 2nd TxPDO mapping parameter Transmit PDO 2nd 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 object Input object 1 Range Unit Default 40120120 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Input object 2 Range Unit Default 40120220 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Mapping for preset command value setting S 1B02 hex 3rd TxPDO mapping parameter Transmit PDO 3rd mapping E Sub index 0 Number of objects 8 Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible 5 Sub index 1 1st object Input object 1 3 Range Unit Default 40130120 hex Attribute Size 4 bytes U32 Access
139. 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 synchronousy 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 EtherCAT Master Unit GX series EtherCAT Slave Unit User s Manual 5 EtherCAT Communications Communications cycle The communications cycle is determined by setting output frequency of SyncO signal interrupt signal in DC mode 1 125 us 250 us 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
140. bles mb Section 3 2 3 3 e 2 Connecting Power Supplys mb Section 3 2 4 m 9 2 Wiring I O Devices Section 3 2 5 3 4 c 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 2 5 D E 5 42 Checking Unit Displays mp Section 3 4 1 Confirming Data Read and Write mp 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 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 refer to 4 2 C
141. ce when the power supply 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 f node addresses overlap an error occurs and the operation stops EtherCAT Master Unit from another manufacturer Set value according to Configuration Tool settings by these switches are irrelevant GX series EtherCAT Slave Unit User s Manual 6 Basic Specifications of Slave Units 6 3 3 Communications Connectors The Connectors are used to connect the communications cables CN1 CN2 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 SeaJy 4 c 9 Pin No Signal name Abbreviation 1 Send data TD 2 Send data TD 3 Receive data RD 4 Not used 5 Not used 6 Receive RD 7 Not used 8 Not used Frame ground FG 6 3 4 Unit Power Supply Connector The Connector is used to connect the unit power supply 24 VDC JOJOOUUOD suoneoliunululo2 9 Etherco E ADI I Connector type Spring connection connector with fixing screw 2 e Supported pin terminal diameter
142. cess RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Preset Value Range 00000000 hex to au FFFFFFFF hex 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 GX series EtherCAT Slave Unit User s Manual A 27 329140 1 gt siefqo 1e1moejnue N 7 L V 4012 hex Latch Value A Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 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 4013 hex Latch Value B Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 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 Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Instruction Bits Range Unit Default 0000 hex Attrib
143. cess voltage or loads may result in burning Handling When transporting the product use special packing boxes and protect it from being exposed to excessive vibration or impact during transportation 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 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 Precautions for Correct Use Wire all connections correctly according to instructions in this manual Failure to install them may result in serious ac
144. ch Slave Unit This section shows the specification of Digital 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 2 5 erna Wiring Specification circuits functions 3 diagram diagram GX ID1611 GX ID1621 7 10 7 11 7 12 7 13 GX OD1611 2 tier terminal GX OD1624 7 14 7 15 7 16 7 17 block type at GX OC1601 7 18 7 19 7 21 7 21 i GX MD1611 o GX MD1621 7 22 7 24 7 25 7 26 GX ID1612 5 GX ID1622 7 28 7 29 7 30 7 31 2 2 3 tier terminal GX OD1612 block type GX 0D1622 1793 2 Las fup 5 GX MD1612 o GX MD1622 7 38 7 40 7 41 7 42 s GX ID1618 2 GX ID1628 7 44 7 45 7 46 7 47 d 2 GX OD1618 GX OD1628 7 48 7 49 7 50 7 51 GX MD1618 7 e CON connector GX MD1628 Tum P ES Tor type GX ID3218 GX ID3228 7 59 7 60 7 62 7 63 GX OD3218 GX OD3228 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 Digital I O Slave Unit 7 4 1 GX ID1611 ID1621 Specification 2 tier Terminal Block Type 16 point Input Slave Unit Specification ro GX ID1611 GX ID1621 Input capacity 16 points 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
145. ch 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 20D0 8400 1740 8000 0000 0 Voltage 10 V 10 5 V 70 400 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 0 40 hex 4000 to 4000 The input data range for which conversion is possible is 11 to 11 V and here 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 f OFA0 4000 0000 0 11V 10V js OV 10V 11V P ARRA F060 4000 E EEDO 4400 input range 4 to 20 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 20D0 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 disconnecte
146. cidents 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 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 e 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 13 Conformance to EC Directives Applicable Directives EMC Directives Low Voltage Directive Concepts EMC Directives The OMRON products described in this manual are designed so tha
147. collecter output type Precautions for Correct Use e Use shielded cable and ground the shield to 100 Q 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 LLZOOA XD 9 1ndui0j2ejoo 9 6 GX series EtherCAT Slave Unit User s Manual 9 21 9 Encoder Input Slave Unit 9 4 2 Line Driver Input Type GX EC0241 Specification Slave Unit specifications Item Counter point Specification 2 points 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 100 mA max for 20 4 to 26 4 VDC power supply voltage Weight 390 g max Pulse input specifications Specification item Counter phase A B Counter phase Z Input voltage EIA standard RS 422 A line driver level Input impedance 120 Q 5 gH level input voltage 0 1 V gL level input voltage 0 1 V Hysteresis voltage 60 mV Maximum response frequency Single phase 4 MHz phase difference Multiplication x 4 1 MHz NIE
148. colors in parentheses are the wire colors prior to the revisions 2 Using Tyco Electronics Sumitomo 3M or Panasonic Electric Works connectors 7 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 7 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 S euiUuJ9 Jojeuuo NOD e Bugoeuuo2 2 Flat blade Screwdriver Operation opening GX series EtherCAT Slave Unit User s Manual 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 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 ha
149. cording 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 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 Synchronization frequency SyncO frequency setting error On Synchronization error at synchronization start Communications On re synchronization error 11 6 GX series EtherCAT Slave Unit User s Manual IN indicator HA OUTI LED On Slave Unit type All models other than Encoder Input Slave Units RUN ERR indicator indicator SF SF Symptom Some functions are not reflected even after parameters have been set Synchronization error in operation 11 Troubleshooting and Maintenance Description 11 1 2 Errors Unique to Each Slave Unit Cause The functions enabled by reclosing were changed Actions After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit Is the communications cable wired correctly Is
150. cted EtherCAT Master Unit e Are the power supply cables wired correctly Are the power supply cables disconnected s the power supply voltage within the specification range s the power supply capacity sufficient s the power supply malfunctioning GX series EtherCAT Slave Unit User s Manual L A IN L A OUT LED PWR indicator On RUN indicator Off ERR indicator On 11 Troubleshooting and Maintenance Description Hardware error Cause A hardware failure occurred Actions If the error does not clear even after the power is turned ON again the Slave Unit hardware is damaged Replace the Slave Unit The Expansion Unit is disconnected Check the Expansion Unit connection On GX series EtherCAT Slave Unit User s Manual Illegal switch setting A range setting switch or other switch setting is illegal Check the switch settings then restart the Slave Unit according to the specification of connected EtherCAT Master Unit EEPROM data error EEPROM data error Use the Configuration Tool or SDO communications to restore the default data and restart the Slave Unit according to the specification of connected EtherCAT Master Unit Sync manager setting error The sync manager setting is illegal Change to the correct settings Hardware error A hardware failure occurred If the problem is n
151. ctual output voltage 10096 is written by the EtherCAT Master Unit to the data area of the point to adjust Adjustment at 10096 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 If the lower limit is adjusted without adjusting the upper limit 100 the lower limit adjustment may have an error 3213 hex Analogue output Adjustment Low Value User adjustment compensation value minimum Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Adj Low Value Range Unit Default 0000 hex Attribute Size 2 byte INT16 Access RO PDO map Not possible Stores the lower limit of user adjustment GX series EtherCAT Slave Unit User s Manual 3215 hex Analogue output Adjustment Low Execute User adjustment execution minimum Sub index 0 Num of c
152. current Isolation We recommend S8JX series power supplies made by OMRON for the unit power supply for Slave Units 12 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 S J 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 jddng 18 Mog pue Ajddng un p suoneoyioeds Ajddns Z e v 4 Installation and Wiring e Recommended product The following pin terminals are recommended for the unit power supply cables Model npa MURS Crimping tool Manufacturer CRIMPFOX UD6 Product No 1204436
153. d 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 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 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 120 mA max for 20 4 to 26 4 VDC power supply voltage consumption Weight 140 g max Expansion functions No Short circuit protection function Input section Item Input capacity Available at input section only Operates at 50 mA point min Specification GX MD1618 8 points GX MD1628 15 VDC min between each input 15 VDC min between each input e e s 10 suoneoyioeds ON Voltage terminal and the V terminal
154. d Supply by power supply Output device supply 100 mA point current i Power supply Current 5 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 4 Power Supply Current in Page A 33 7 70 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Names and functions 3 4 T Etherca E XE pode ju 808 2 898 8 mor 9 8 7 Terminal arrangement diagram Left side input Right side output 0 1 2 4 4 5 7 10 suoneoyioeds 6 es fen lt 12 15 13 NC D lt 5 C2 5 C2 Function x 1 Communications connectors 2 it t 2 zu SA
155. d OFF when the present value internal reset is executed or external reset is generated Encoder Input Slave Unit 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 11 1 3 Emergency Error Code The table below shows types of emergency error codes used in GX series EtherCAT Slave Units and corresponding error cotents Error codes common to GX series EtherCAT Slave Units Error Diagnosis Name of error Contents history EtherCAT Measures Master Unit During EtherCAT communications 5530 hex timeout was detected Net Can be notified Write the data again A timeout error al saved 2 when writing data to EN EEPROM 5 At turning ON the If the error occurs 5 Slave Unit power supply a even after restarting 2 information verification error Cannot be the power supply the o UID DISK verification occurred on the Slave Saved notified Slave Unit is Unit information stored damaged Replace the in the Slave Unit Slave Unit There is an error in the EEPROM data Initialize EEPROM using the Configuration Tool or o EEPROM Error of EEPROM data SDO communications BOSQUE checksum error within the Slave Units Saved can be and restart the Slave 5 Units
156. d line detection is activated and the data is set to 7FFF hex Converted data Hexadecimal decimal 1F40 8000 2 i 20D0 8400 7FFF 0000 0 L Current FE70 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 20 For how to set with the input range switch refer to Names and functions in Page 8 20 GX series EtherCAT Slave Unit User s Manual 8 5 yun 1nduj Bojeuy au Jo 2 9 peueAuo pue 8 8 Analog I O Slave Unit 8 2 2 Data Allocation PDO Mapping An Analog Input Slave Unit has input data only and is allocated to the IN area of the I O memory of the EtherCAT Master Unit For the detailed explanation of allocation method refer to the manual of EtherCAT Master Unit to be connected Input data allocation Input data of an Analog Input Slave Unit is 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 Analog input data for CH4 7
157. 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 65 hex 76 hex 61 hex 73 hex t e 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 Sub index 0 Num of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 to 4 Moving Average Range 0000 hex to 00 hex Unit 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 3136 hex Analogue input Disconnection status Sub index 0 Num of channel Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Disconnection status Range 0000 hex to 000F hex Unit Default 0000 hex Attribute 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 1 1 CH2 disc
158. dew 2 2 uogeoo v eyeq 2 2 7 Digital I O Slave Unit 16 point Expansion Unit Offset byte 7 bit 0 bit 0 Output data of the Expansion Unit 7 to O bit 1 Output data of the Expansion Unit 15 to 8 bit 16 point Output Slave Unit and 8 point Expansion 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 3 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 O 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 Slave Units have the following convenient functions in addition to the I O signal processing 7 3 1 Input Filter Overview of functions e 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 function
159. e sensns A 33 EtherCAT Terminology cerne entrer getreten hane Perth nep IDEE A 34 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 Features of EtherCAT 1 1 Structure of EtherCAT 1 1 Communications types of EtherCAT 1 1 1 2 Configuration Elements of EtherCAT Network Configuration Devices of EtherCAT Network Overview of Configuration 1 2 1 2 GX series EtherCAT Slave Unit User s Manual 1 2 3 4 Connection Examples of EtherCAT 1 2 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 cycle time by transmitting Ethernet frames at high speed Additionally although EtherCAT is a unique communication protocol it employs standard Ethernet technology in the physical layer and is thus highly versatile for example commercially available Ethernet cables can be used Moreover can demonstrate its full effect not only in large scale control systems that require fast process speed and s
160. e 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 Slave Unit Specifies the value to be written over the counter present value data at preset execution 2 6 Preset command value 8 bytes e eq nd nO Z Z 6 GX series EtherCAT Slave Unit User s Manual 9 5 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 007 006 005 004 003 D02 D01 D00 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 8 LL 9 CH2 Preset command value LH 10 HL 11 0 to 3 Soft switch Abbreviations used in soft switch description have the following meanings Abbreviati E z e Status name Operation Detection CENBn Count possible not 1 Count possible command aval possible 0 Count not possible command 0 gt 1 Start preset of present value Present value preset PSE
161. ection element vo NC O G 5 _Photocoupler 5 2 5 c Short circuit V4 protection element IN1 Input circuit GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit i Wiring diagram GX ID1618 NPN NC NC NC NC NC NC NC NC G1 G2 G3 G4 G5 G6 G7 IN1 2 IN3 IN4 5 IN6 IN7 NC NC NC NC NC NC NC G9 G10 611 G12 G13 G14 615 INQ INTO IN11 IN12 IN13 IN14 IN15 2 wire sensor NPN output 3 wire sensor Limit switch etc Photoelectric sensor proximity sensor e GX ID1628 PNP V1 2 4 V5 V6 V7 NC NC NC NC NC NC NC IN1 IN2 IN3 INA IN5 IN6 IN7 V9 10 V11 12 13 V14 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 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 GX series EtherCAT Slave Unit User s Manual 7 47 e e s 10 suoneoyioeds 829 01 8191 01 LIS 1nduj julod g ed
162. ects are described in the following format Object description format lt Index gt lt Object name gt Range lt Setting range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt Object description format with sub indexes lt Index gt lt Object name gt Sub index 0 Range lt Setting range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt Sub index N Range lt Setting range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt The following values are indicated within the pointed brackets lt gt Indexes An object index given by a four digit hexadecimal number Object name The object name Range The possible range of settings Unit Physical unit Default Default value set before product shipment Attribute The timing when a change is updated in a writable object A Always enabled gt B Timing of count stop operation Encoder Input Slave Unit only C Timing of pre operational state safe operational state 5 Updated after the power supply is reset Read only Size The object size is given in by
163. elect either hold or clear Short circuit protection function No For the specification of individual relay refer to the data sheet disclosed by manufacturers 12 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 Slave Unit Names and functions 8 7 6 Terminal arrangement diagram 6 10 suoneoyioeds Function 1 Communications connectors 2 Unit power supply connector T 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
164. ely 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 switch 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
165. ent 6 0 mA max input at 24 VDC 3 0 mA max input at 17 VDC ON delay time 1 5 ms max OFF delay time 1 5 ms max Number of circuits per common 8 inputs common Isolation method Photocoupler isolation Input indicators LED display yellow Weight 80g max Names and functions 1 ion REMOTE TERMINAL 01234567 LN XWT IDO8 mi 4 3 Terminal arrangement diagram GX series EtherCAT Slave Unit User s Manual 10 5 yun uoisuedx3 jo 2 0 E L 80dl 80GI LMX uorsuedx3 julod g 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 inputON 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 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 ID08 NPN Photocoupler Internal circuits e XWT ID08 1 PNP V 24VDC Photocoupler gt Photocoupler gt Internal circu
166. eoyioeds Function Communications connectors 2 Unit power supply connector Status indicators Refer to 6 3 Specifications of Common Areas in Page 6 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 inputON state Connects external devices and the I O power supply 6 Terminal block V G I O power supply terminals 0 to 15 Input terminals 7 DIN track mounting hook Fixes a Slave Unit to a DIN track LZ9LAI LL9LAI X HUN yndu 309 91 ed jeuruue Jen z 1 GX series EtherCAT Slave Unit User s Manual 7 11 7 Digital I O Slave Unit i Internal circuits diagram GX ID1611 NPN TX TX RX RX Photocoupler Physical layer TX TX RX RX Internal circuits DC DC V O converter No isolation O TX RX RX 9 lt type 24VDC Photocoupler Internal circuits 7 12 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit i Wiring diagram e GX ID1611 NPN i power supply 24 VDC NPN output 3 wire sensor 2 wire sensor Photoelectr
167. er supply voltage consumption Weight 370 g max Expansion functions No Short circuit protection No function Input section Specification Item GX MD 1612 GX MD1622 Input capacity 8 points 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 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 va Bower current 5 mA max for 20 4 to 26 4 VDC power supply voltage consumption GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Output section en 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 outp
168. ernal diode 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 7 74 GX series EtherCAT Slave Unit User s Manual 7 5 Mounting Dimensions 7 Digital I O Slave Unit The mounting dimensions of a Digital I O Slave Unit are shown below 7 5 1 2 tier Terminal Block Type GX ID1611 1D1621 0D1611 0D1621 z D fe Ci m 3 LB ena ca e GX OC1601 160 50 57 6 GX series EtherCAT Slave Unit User s Manual ed xoo g jeuiuJe 1en z L S E Pununoy S Z 7 Digital I O Slave Unit GX MD1611 MD1621 52 57 1 7 5 2 200
169. ersion Saved Cannot be notified 9 11 12 hardware error area supply the Slave Unit is damaged Replace the Slave Unit 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 f 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 12 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 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
170. es EtherCAT Slave Unit User s Manual 15 Related Manuals The following manuals also deal with EtherCAT Refer to them for details Man No Name of manuals Contents SYSMAC CJ Series Explains the setup and operation procedures of the W487 Position Control Units EtherCAT Position Control Units CJ1W NCx81 x82 which Operation Manual functions as a master W446 CX Programmer Explains the operations method of the Windows based 16 Operation Manual programming tool CX Programmer GX series EtherCAT Slave Unit User s Manual GX series EtherCAT Slave Unit User s Manual 17 Contents Chapter 1 Chapter 2 Chapter 3 18 1 1 1 2 2 1 2 2 3 1 ied 1 2 1 How to Read the eaaa ae eara aa oa 2 Fage SITuctures eere 2 Icone c cma e dL 3 Structure of This 444 404 0 6 2 1 1 1 hann ssh na tnnt niin 4 Safety Precautiornis crecer erre econ earn rra ra SOKAN emma rS 8 Labels and Meanings to Ensure Safe 8 Yos ru 8 Precautions for Safe pte rr IER En Ie ERR 11 Precautions for Correct Use
171. ex XWT OD08 1 00020191 hex XWT OD16 1 00020191 hex GX OC1611 space 20 hex of 11 characters GX MD1611 MD1621 00030191 hex GX MD1611 l GX MD1621 space 20 hex of 11 characters GX ID1612 101622 00010191 GX ID1612 GX ID1622 space 20 hex of 11 characters GX OD1612 OD1622 00020191 hex GX OD1612 l GX OD1622 space 20 hex of 11 characters GX MD1612 MD1622 00030191 hex GX MD1612 l GX MD1622 d space 20 hex of 11 characters GX ID1618 101628 00010191 GX ID1618 GX ID1628 i space 20 hex of 11 characters GX OD1618 OD1628 00020191 hex GX OD1618 l GX OD1628 space 20 hex of 11 characters GX MD1618 MD1628 00030191 hex GX MD1618 l GX MD1628 space 20 hex of 11 characters GX ID3218 1D3228 00010191 hex GX ID3218 l GX ID3228 E space 20 hex of 11 characters GX OD3218 OD3228 00020191 hex GX OD3218 b l GX OD3228 i space 20 hex of 11 characters GX MD3218 MD3228 00030191 hex GX MD3218 l 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 EC0211 00010000 hex GX EC0211 space 20 hex of 11 characters GX EC0241 GX series
172. ex 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 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Max Count Setting Range 00000000 hex to m FFFFFFFF hex Unit Default 00000000 hex Attribute B Size 4 byte U32 Access RW PDO map Not possible This object is used to specify the maximum value of the counter t operates as FFFFFFFF hex if 0 is set 4010 hex Encoder Input Setting Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Position Value Range 00000000 hex to i e hex Unit Default 00000000 hex Attribute Size 4 byte U32 Access RO PDO map Possible The present counter value is stored 4011 hex Preset Value Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Ac
173. execution upper limit Lower limit correction 3215 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 24 GX series EtherCAT Slave Unit User s Manual 8 17 e e s Bojeuy jo 9 8 Jes 6 8 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 Internal T Model iri stag Specification Raines circuits Ed functions diagram diagram ie Slave SX ADO471 8 19 8 20 8 22 8 22 GX DA0271 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 rom Voltage input Current input Input capacity 4 points possible to set number of enabled points 0to5V 1to5V Input range 0 to 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 CH1 to CH4 separately Maximum signal input 15 V 30 mA Inp
174. hannel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Adj Low Range Unit Default 00000000 hex Attribute R Size 4 bytes U32 Access RW PDO map Not possible This object executes user adjustment It writes lower adjustment value sure to execute the command only when a count value which makes the actual output voltage 0 is written by the EtherCAT Master Unit to the data area of the point to adjust Always adjust at 0 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 2 This prevents erroneous execution and resetting The specific values are save for execution rset for resetting MSB LSB e V a 65 hex 76 hex 61 hex 73 hex t e 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 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Error Mode Range S S hex Doha Default 04 hex Attribute R Size T byle 08 PDO map Net possible e Selects a value to output at a communications error for each point
175. herCAT Slave Unit Collection of control elements to coordinate access to concurrently sync manager SM used objects Clock distribution mechanism used to synchronize EtherCAT Slave distributed clock DC Units and the EtherCAT Master Units Among GX series EtherCAT Slave Units only encoder input slaves support this function Collection of device dependent information and functionality device profile providing consistency between similar devices of the same device type fieldbus memory management unit FMMU Function which establishes single or multiple communications between logical address and physical memory physical device internal interface PDI od of elements to access data link services from the application CAN Automation is the international users and manufacturers group that develops and supports higher layer protocols CAN applicatoniprotocolover CoE A CAN application protocol service implemented on EtherCAT EtherCAT EEPROM EEPROM Electrically erasable PROM Writable ROM 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 EtherCAT slave controller ESC A controller for EtherCAT slave communication EtherCAT state machine ESM An EtherCAT communication state machine EtherCAT slave information ESI An XML file that contains setting information for an EtherCAT Slave Unit GX series Ether
176. herCAT network take sufficient safety measures and construct the network according to the standards We recommend to request specialized constructors familiar with the safety measures and standards to perform the laying operation 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 i Precautions at 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 na
177. hysical 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 1 Jojeoipu snjeiS pexoeu eq ue Jey L LL 11 Troubleshooting and Maintenance L A IN PWR RUN ERR 1 L A OUT 5 Y Description Cause Actions indicator indicator indicator LED It is commanded Safe from the EtherCAT On SF _ Operational Master Unit to shift state Tode Safe Operational state If the trouble occurred ipe commanded during operating the from the EtherCAT 5 system check the state Master Unit to shift On B Operational tothe of the connected state EtherCAT Master Unit Pre Operational state It is commanded from the EtherCAT On 9m Master Unit to shift to the Init state Due to the EtherCAT specification a communication timeout does not occur with those Slave Units that only handle input data Errors of Encoder Input Slave Unit L A IN L A OUT LED PWR indicator RUN indicator ERR indicator Actions Description After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit Set the correct synchronization frequency After checking the following items restart the Slave Unit ac
178. ic sensor Limit switch etc proximity sensor e GX ID1621 PNP e e s 10 suoneoyioeds I O power supply 24 VDC 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 for photoelectric and proximity sensors The colors in parentheses are the wire colors prior to the revisions LZ9LAI LL9LAI X LIS Indul Julod g ed jeuruje JON Z 1 7 GX series EtherCAT Slave Unit User s Manual 7 13 7 Digital I O Slave Unit 7 4 2 2 tier Terminal Block Type 16 point Output Slave Unit GX OD1611 0D1621 Specification ltem Specification GX OD 1611 GX OD1621 Output capacity 16 points Rated current ON current 0 5 A output 4 0 A common 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 poles per 16 points common Output indicators LED display yellow Isolation method Photocoupler isolation power supply method
179. ications specifications of the GX series EtherCAT Slave Unit Item Communication protocol Specification Dedicated protocol for EtherCAT Modulation Base band Baud rate 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 with decimal rotary switch or Configuration Tool Node address range 1 to 99 Set with rotary switch 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
180. ied in this manuals Incorrect tightening torque may result in fire malfunction or failure Always use the specified communications cables and connectors Do not extend connection distances or the number of connected nodes beyond the ranges given in the specifications When there are multiple systems keep the cables unbundled and separated by at least 5 mm to prevent unstable operation due to interference 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 berofe 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 11 12 Do not apply voltages or connect loads to the Outputs Slave Units in excess of the maximum switching capacity Ex
181. igital I O Slave Unit Wiring diagram GX MD1612 NPN O Nc lo MH 2 ls 7 NC 0 7 1 v2 2 v2 G1 G2 62 G2 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 GX MD1622 PNP 4 2 4 5 6 NC 0 7 V1 v2 1 v2 G1 G2 162 G2 O power supply power 24 VDC supply 24 VDC 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 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 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 i
182. ignal 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 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 A is advanced from phase B and decremented if phase A is delayed from phase B Incremental count Decremental count up Ll 1j Mutation 1 0 2 Counter value Mutation 0 1 2 3 4 5 6 5 4 3 2 1 Mutation x4 0 12 fo 2 8 7 5 54 1 9 8 GX series EtherCAT Slave Unit User s Manual 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 O Input A A Encoder B O Input B O 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
183. 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 to notify It is set to 0001 hex Emergency notify when power is turned ON If you want to set Emergency not notify it is set to 0000 hex from the EtherCAT Master Unit e Sub indexes 6 to 13 Diagnosis messages 1 to 8 indicate the diagnosis history From sub index 6 Diagnosis message 1 to sub index 13 Diagnosis message 8 are stored 8 errors The 9th error and onward are stored from the sub index 6 Diagnosis message 1 again 1 5 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 Indexes Sub Bit length Indexes MSB LSB Bits 0 to 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bits 8to15 Sub index of the mapped object Bits 161031 Index of the mapped object The following indexes describes the specific objects by Slave Unit types Digital
184. ing an inductive load such as a solenoid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode 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 7 58 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit 7 4 11 Connector 32 point Input Slave Unit GX ID3218 ID3228 i Specification Specification Ud GX 1D3218 GX ID3228 Input capacity 32 points Internal 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 curre
185. ion 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 wil be distorted and cracked 4 10 GX sorles EthorCAT Slave Unit User s Manual 4 Installation and Wiring 4 4 2 Connecting to e CON Connector Terminals Connect the dedicated e CON connector to the cables of the external device to be connected and then connect it to the connector terminal I Checking the e CON connector and cable wire size i 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 amp diameter of the cables of the connected device d C ause ti tle Ei Tyco Electronics connectors H Indicates the chapter title TERE LEA LOCE i 314735024 Orange Sheath diameter 0 6 to 0 8 H of the current page 11735824 Red mi 14735624 Sheath diameter if 18 00226 LATZA Bue Sheath diameter 1619126 mm omes Sah dans g 4 Indexes Sumitomo 3M connectors Indicates the chapter number Modal Housing color 74626 4mm to AWG24 02mm of the current page Sheath diameter 08
186. 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 GX series EtherCAT Slave Unit User s Manual Slave Unit type Analog I O Slave Units Symptom The analog data values are different from expected or the analog data error is too large 11 Troubleshooting and Maintenance Cause The user adjustment error is too large Measures Execute user adjustment again Even if the I O range setting is changed expected analog input value is not set Alternatively expected 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 The Pin8 is turned OFF to allow the setting via SDO communications This is the default setting Turn Pin8 ON to all
187. it Expansion Unit assigned PDO 1 assigned PDO 1 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 OD08 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 OD08 1 01 hex 1700 hex 00 hex ie XWT OD16 1 01 hex 1700 hex 00 hex 9 01 hex 1700 hex 00 hex A XWT ID08 1 01 hex 1700 hex 01 hex 1B00 hex 2 GX OC1601 XWT ID16 1 01 hex 1700 hex 01 hex 1B00 hex 5 XWT OD08 1 01 hex 1700 hex 00 hex 8 XWT OD16 1 01 hex 1700 hex 00 hex GX MD1611 IMD1621 01 hex 1700 hex 01 hex 1B00 hex GX ID1612 ID1622 00 hex 01 hex 1B00 hex GX OD1612 Oo OD1622 01 hex 1700 hex 00 hex 2 GX MD1612 8 IMD1622 01 hex 1700 hex 01 hex 1B00 hex 5 0 GX ID1618 ID1628 00 hex 01 hex 1B00 hex E GX OD1618 odo DO OD1628 01 hex 1700 hex 00 hex T GX MD1618 MD1628 01 hex 1700 hex 01 hex 1B00 hex GX series EtherCAT Slave Unit User s Manual 13 2 Sync manager 3 PDO Model A assignment assignment Number of Assidned Number of Keslohed Slave Unit Expansion Unit assigned 1 1 RxPDOs TxPDOs GX ID3218 103228 00 hex 01 hex
188. it will not be displaced 4 10 GX series EtherCAT Slave Unit User s Manual Recommended product The following pin terminals are recommended for the unit power supply cables Model Al0 5 10WH Applicable wire size 0 5 mm AWG20 Crimping tool CRIMPFOX UD6 Product No 1204436 or CRIMPFOX ZA3 series 4 Installation and Wiring Manufacturer Phoenix Contact Co Ltd H0 5 16 orange 0 5 mm AWG20 Crimper PZ1 5 Product No 900599 Weidmueller Japan Co Ltd Also the following screwdriver is recommended for removing pin terminals Model XWAZ 00C Manufacturer OMRON GX series EtherCAT Slave Unit User s Manual jddng pue Ajddng gt 2 p A ddns Bunoeuuo2 p e p 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 line to the terminal block Tighten the terminal block screws to the appropriate tightening torque of
189. itch 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 9 12 GX series EtherCAT Slave Unit User s Manual 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 5 Names and erma Wiring Specification circuits functions 3 diagram diagram Open collector GX EC0211 9 14 9 16 9 19 9 20 input type Peer GX EC0241 9 22 9 24 9 27 9 28 Input type o 8 2 5 o g m o 9 lt 5
190. its 10 6 0 GX series EtherCAT Slave Unit User s Manual 10 Expansion Unit Wiring diagram e XWT ID08 NPN power supply 24 VDC NPN output 3 wire 2 wire sensor sensor Limit switch etc Photoelectric sensor proximity sensor e XWT ID08 1 PNP yun uoisuedx3 jo 2 0 I O power supply PNP output 3 wire 2 wire sensor 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 L 80Ql 80GI LMX uorsuedx3 1ndu julod g 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 Hom Specification XWT OD08 XWT OD08 1 Internal common NPN PNP capacity 8 outputs Rated output current 0 5 A output 2 0 A common 1 2 V max 1 2 V 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 8 inputs comm
191. k Do not input voltages or currents exceeding the rated range to the Unit Using voltages or currents exceeding the rated range may cause Unit failure or fire Provide safety measures in external circuits i e not in the Units including the following items to ensure safety in the system if an abnormality occurs due to malfunction of the PLC or another external factor affecting the PLC operation PLC includes CPU Units other Units mounted in the PLC and Remote Terminals Not doing so may result in serious accidents eoo 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 e
192. l A DC power supply with reinforced insulation or double insulation that can maintain a stable output even if the input is interrupted for 10 ms must be used for communications power internal power and I O power The OMRON 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 Trademarks EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Windows is a registered trademark of Microsoft Corporation in the USA SYSMAC is a registered trademark for Programmable Controllers made by OMRON Corporation CX One is a registered trademark for Programming Software made by OMRON Corporation Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies GX seri
193. l 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 Photocoupler isolation power supply method Supply by power supply Output device supply 100 mA point current Unit power supply current 149 for 20 4 to 26 4 VDC power supply voltage consumption Weight 210 g max Expansion functions No Error Mode Output Select either hold or clear Short circuit protection function No Notes For the power supply current value to V and G terminals refer to A 4 Power Supply Current in Page A 33 7 64 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Names and functions 7 4 Specifications for Each Slave Unit EJ 7 4 12 e CON Connector Type 32 point Output Slave Unit GX OD3218 0D3228
194. lacing 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 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 alcohol If contacts are defective wipe them with a clean pure cotton cloth that has been soaked in industrial Settings after Unit replacement After replacing a Unit make the switch and other settings the same as before the Unit was replaced 11 14 GX series EtherCAT Slave Unit User s Manual Appendix A 1 Object Dictionary A 2 A 1 1 Object Dictionary Area A 2 1 22 D ta TYPES ri armen epa een octet Soon Pe ot eset A 2 A 1 3 Object Description Format
195. ld 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 GX series EtherCAT Slave Unit User s Manual 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 11 9 O 10 43 1 Slave Unit type Encoder Input Slave Unit 11 Troubleshooting and Maintenance Symptom The count pulse cannot be detected Cause Input wiring is wrong Measures Check wiring of input A and input B The 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 accurat
196. les of connected devices are normally cut in semi strip or strip specification as shown in the next figures Semi strip specification Strip specification SS _ When the cables are prepared this connector cannot be attached First cut the 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 7to8mm 4 14 GX series EtherCAT Slave Unit User s Manual Inserting wires into the cable connector 4 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 Installation and Wiring Terminal NPN Slave Unit PNP Slave Unit number 3 wire sensor 2 wire sensor 3 wire sensor 2 wire sensor 9 1 Brown red Brown red Brown white 2 3 Blue black Blue black Blue black D 4 Black white Brown white Black white Blue black m Notes Wire colors have been changed according to revisions in the JIS standards for photoelectric sensors and 8 proximity sensors E The
197. lors 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 32 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit 7 4 6 3 tier Terminal Block Type 16 point Output Slave Unit GX 0D1612 0D1622 Specification Hem Specification GX OD1612 GX OD1622 Output capacity 16 points Rated current EON 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 g ON delay 0 5 ms max 8 OFF delay 1 5 ms max Number of circuits 8 points common S common 2 Output indicators LED display yellow Isolation method Photocoupler isolation power supply method Supply by power supply i lt Output device supply 100 mA point 2 current 5 EIE nd SUPPI current 90 mA max for 20 4 to 26 4 VDC power supply voltage consumption power supply current 7 5 mA max for 20 4 to 26 4 VDC power supply voltage 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 4 Power
198. ly Output device supply 100 mA point current i Power supply Current 5 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 4 Power Supply Current in Page A 33 7 54 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Names and functions 1 ae 3 4 Etherca e 54 6 PWR IN ES o 5 w gt a o 6 9 7 Terminal arrangement diagram e GX MD1618 Top side input Bottom side output 2 5 s Z Q 2 8 Communications connectors GX MD1628 Top side input Bottom side output 0 N NC 4 Function Unit power supply connector Status indicators Refer to 6 3 Specifications of Common Areas in Page 6 4 Node Address setting Switches 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 i
199. m Connectors GX ID3218 32 inputs 5 No 2 No No No No No 103228 5 3 32 outputs No No No 5 No No 2 2 GX MD3218 16 inputs and MD3228 16 outputs 3 2 No 3 2 2 No No 5 2 gt siefqo 1e1moejnue N 7 L V GX series EtherCAT Slave Unit User s Manual A 19 Analog Input Slave Unit e Manufacturer Specific area 2 3100 hex Analogue input available Channel choice Sub index 0 available Channel choice Range 0000 hex to 000F hex Unit Default 000F hex Attribute R Size 2 bytes 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 1 4 enabled 0 CH4 disabled 4 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 Num of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 to 4 Input Range Range A 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 0 to 10 V 03 hex 4 to 20 mA 07 hex 1
200. m uoo Peso 1 1 2 poga L z M i L 9 Ea 5 cl 5 amp 22 71 6 IN2 arrangement diagram 1 GX ID3218 Termina GX ID3228 IN2 IN1 GX series EtherCAT Slave Unit User s Manual 7 60 7 Digital Slave Unit No Name Function Communications connectors 2 Unit t 2 power SUPP Refer to 6 3 Specifications of Common Areas in 6 4 3 Status indicators 4 Node Address setting Switches Indicates the state of an input contact ON OFF Not lit Contact OFF input OFF state Lit in yellow Contact ON inputON state 6 connectors 0 to 15 x 2 Connects an external device 7 DIN track mounting hook Fixes a Slave Unit to a DIN track 5 Input indicators 1 0 to 15 IN2 0 to 15 e e s 10 suoneoyioeds 8eczeal eLeeai xo HUN Indu 3urod ze ed LL r 4 GX series EtherCAT Slave Unit User s Manual 7 61 7 Digital I O Slave Unit i Internal circuits diagram GX ID3218 NPN TX O TX O RX RX UNIT PS DC DC v 1 converter v No isolation type Internal circuits Photocoupler
201. mber of objects Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 1st object Output object 1 Range Unit Default 64110110 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Output object 2 Range Unit Default 64110210 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible e This object gives the mapping for an analog output application It is mapped only to Analog Output Slave Units 1B00 hex 1st TxPDO mapping parameter Transmit PDO 1st 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 object Input object 1 Range Unit Default 64010110 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Input object 2 Range Unit Default 64010210 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 3rd object Input object 3 Range Unit Default 64010310 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 4th object Input object 4 Range Unit Default 64010410 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible This object gives the map
202. me Comment Twisted pair cable 100BASE TX Category 5 or higher Cables with connectors Double shield aluminum tape braided shielding below are also allowed Category 5 or higher RJ45 connector Shielded 12 Precautions for Correct Use The maximum cable length between connected nodes is 100 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 X10Mj9N 149433 Bun2euuo z y ES Reference We recommend cables with double aluminum tape and braded shielding taking noise resistance into consideration Bunoeuuo uonejedeJd zZ z p GX series EtherCAT Slave Unit User s Manual 4 5 4 Installatio 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 Qe d 1 White Green A White Green 1 2 Green 2 3 White Orange EL rr LLL White O
203. n area i 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 23 e e s Bojeuy jo 9 8 The table below shows the analog conversion time by the number of DA conversion available points Enabled channel 1 point 500 2 points 1000 Conversion time us BUNS 1utog uoisje uo YA 1 9 8 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 e Output value corresponding to the output range and output pattern Output range Daa 5 User Count s 525
204. n is stopped use the present value internal reset execution soft switch Josey 19juno2 G c 6 GX series EtherCAT Slave Unit User s Manual 9 11 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 via 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 27 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 value is acquired stored at the rise of latch B of external control input However it is necessary to set the soft sw
205. nal and the V terminal terminal and the G terminal 5 VDC max between each input 5 VDC max between each input ORE Noliade terminal and is V terminal E G terminal 7 OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC Q 3 0 mA max input at 17 VDC gt ON delay 0 1 ms max OFF delay 0 2 ms max 2 Without filter 0 5 ms 1 ms 2 ms 4 ms 8 ms 16 ms 32 ms Input filter value 9 Default setting 1 ms S Number of circuits common 16 points common Isolation method No isolation power supply method Supplied from unit power supply Input device supply 100 mA point current vO power supply current 5 mA max for 20 4 to 26 4 VDC power supply voltage consumption GX series EtherCAT Slave Unit User s Manual jurod 9 pue ed NO2 9 1 7 1 7 Digital I O Slave Unit Output section fem 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 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 Isolation method Photocoupler isolation I O power supply metho
206. ncremental count pulse signal incremental count yellow yellow A1 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 B4 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 Lit Phase Z input available Lit Phase Z input available Z1 yellow Z2 yellow OFF Phase Z input not available OFF Phase Z input not available Lit External latch input A available Lit External latch input A available yellow yellow LA1 LA2 External latch input not External latch input A not OFF OFF available available ci External latch input B available i External latch input B available yellow yellow LB1 LB2 External latch input B not External latch input B not OFF OFF available available Lit External reset input available Lit External reset input available RST1 yellow RST2 yellow OFF External reset input not available OFF External reset input not available GX series EtherCAT Slave Unit User s Manual
207. ng Communications setting error Single flash Synchronization error or communications data error Double flash Application WDT timeout 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 SeaJy 4 c 9 SJOJESIPU 5815 5 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 The 10s digit is set on the left rotary switch and the 1s digit is set on the right rotary switch Setting range is 00 to 99 Default setting 00 UNIT PS DC24V INPUT N N _ Setting the node address x 1 Setting the node address x 10 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 Set value for node address switch OMRON EtherCAT Master Unit Set value according to Configuration 00 Tool 1 to 65535 01 to 99 Set value by these switches 12 Precautions for Correct Use The switch settings are read only on
208. nications 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 A communications setting is created in an ESI file by using the network setting software Configuration Tool Then it is transferred to the EtherCAT Master Unit to establish a communications network Configuration ESI file Tool w EtherCAT Master Unit Communications setting gt Z Z 153 9114 1v249uj3 2 6 A s Network E configuration information EtherCAT Slave Unit it uses i Get connection status online or make setting offline Start communications in the network configuration and the communications setting made based on the installed network configuration information 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
209. nimum value of the range Output Range and Converted Data Output range 0 to 5V 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 ER P OV 8000 0 T Converted data AN 1F40 2000 7FFF Hexadecimal decimal 025V 900010 8000 8400 Output range 1 to 5V 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 0 8 V E Tov Converted data 8000 FE70 0000 0 1F40 2000 7FFF Hexadecimal decimal 400 8000 8400 8 12 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 105 TOV pO nM ae OV FE70 8000 400 NM 05 0000 0 Converted data 1F40 2000 7 Hexadecimal decimal 8000 8400 Output range 10 to 10 V Data from F060
210. nit 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 Slave Unit For details refer to 7 3 Functions of Digital I O 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 I O Slave Unit together until they click into place with the connectors properly mated 12 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 Power Supply 10 Expansion Unit The I O power supply method when an Expansion Unit is connected differs in cases In some cases I O 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 I O combination Refer to the following table for the correct supply Expansion Unit Slave Unit XWT ID16 1 XWT OD16 1 XWT OD08 1 GX ID1621 sii eed p and Expansion Unit required SCOTI P i lied to
211. nit power supply connector Node Address setting Switches Refer to Specifications of Common Areas in Page 6 4 3 Status indicators 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 8 Input range setting method ON switches Pin1 to Pin6 12 Precautions for Correct Use When setting a range with these switches the same input ranges are set for inputs CH1 and 2 as well as inputs CH3 and respectively To set a differrent range for inputs CH1 to CHA use the SDO communications to make the settings
212. nputON 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 connectors 0 to 15 Connects an external device lt Top side gt For input device lt Bottom side gt For output device 8 power supply connector Supplies the I O power For output device 9 DIN track mounting hook GX series EtherCAT Slave Unit User s Manual Fixes a Slave Unit to a DIN track LIS u ea 10 suoneoyioeds m 8c9LaW 8L 9L aW xo jurod g pue jurod g ed 10jeuuo02 NO2 9 01 7 Digital I O Slave Unit i Internal circuits diagram GX MD1618 NPN TX TX RX RX DC DC converter No isolation type Physical layer DC DC converter No isolation type Internal circuits Short circuit 1 protection element Photocoupler Internal circuits Short circuit protection element Input circuit OUTO QQ lt lt GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit i Wiring diagram GX MD1618 NPN V1 V1 V1 V1 V1 V1 V1 NC NC NC NC NC NC NC 60 61 G2 G3 G4 G5 G6 INO IN1 2 IN3 IN4 IN5 IN6 I O power s
213. nstall an external diode 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 e e s 10 suoneoyioeds m eCOLGW ZLOLGW X9 PUN lt 1ndino 3 109 8 pue jnduj juiod g ed xoojg 491 8 p Z GX series EtherCAT Slave Unit User s Manual 7 43 7 Digital I O Slave Unit 7 4 8 GX ID1618 ID1628 Specification e CON Connector Type 16 point Input Slave Unit Specification GX ID1618 GX ID1628 Input capacity 16 points 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 16 points common Input indicators LED display yellow Isolation method No isolation power supply method Supplied from unit po
214. nsure safety in the system Implement proper measures as part of your communications system or in your program to ensure safety in the system even when a communications error or malfunction occurs during remote I O communication GX series EtherCAT Slave Unit User s Manual 10 The CPU Unit refreshes 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 Units or CPU Bus Units Any changes to the data allocated to any Unit specifically the Special I O Units CPU Bus Units may result in unexpected operation of the loads connected to the Unit Transferring memory data to the CPU Unit with a Programming Device 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 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 Observe the following precautions when using the
215. nt Unit power supply current 549 ma max for 20 4 to 26 4 VDC power supply voltage consumption Weight 220 g max Expansion functions No Short circuit protection function Notes Page A 33 Available Operates at 50 mA point min GX series EtherCAT Slave Unit User s Manual For the I O power supply current value to V and terminals refer to A 4 I O Power Supply Current in e e s 10 suoneoyioeds ix BZZEAI BLZEI XO HUN ALIS 1ndu julod ZE ed LL r 4 7 Digital I O Slave Unit ions Names and funct 6555 I I in aon x 1 i crar m 3 sooo lana ESS ES E eoa CEE i aoa 2 1 1 peas 1 Eseg poco 102 4 1 eco CEE x ooo o oo o sini CLLI z ur d3 pL di i
216. o be read are sub indexes 06 hex to 13 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 Note that the history is not saved while errors related to EEPROM are occur 5 12 GX series EtherCAT Slave Unit User s Manual Basic Specifications of Slave Units Se 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 uen Li eg ee ENDE ELE 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 commun
217. of the minimum and maximum input values The correctable range for each input range is as follows Input range Low limit High limit 0 to5V 0 25 to 0 25 V 4 75 to 5 25 V 1to5V 0 8 to 1 2 V 4 8 to 5 2V 0 to 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 i Setting method Set by SDO communication The target indexes are as follows yun y jo 4 8 Upper limit correction 3112 hex Analogue 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 21 Jes 1 p e g 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 mi
218. ogical 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 J Ji tt Ethernet frame 1 Ethernet EtherCAT 1st EtherCAT 2nd EtherCAT 3rd EtherCAT header header CRC Logic process data Dataa 4 Datab Data c Mailbox communications functions SDO communications It refers to message communications At any timing the EtherCAT Master Unit transmits commands to Slave Units and the Slave Units return responses to the EtherCAT Master Unit It performs the 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 25 HE 9o EtherCAT Master Unit 2A Digital I O Slave Unit 1949413 Jo sejduiex3 uonoeuuo2 1 Servo Drive Servomotor Inverter GX series EtherCAT Slave Unit User s Manual 1 5 1 EtherCAT Network 1 2 Configuration Elements of E
219. oid valve either use a built in diode for absorbing the counterelectromotive force or install an external diode 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 XWT ID08 ID08 1 0D08 OD08 1 12 xi 94 43 9 c 01234567 89 101112131415 cj TT o y v 29 9 e 49 7 gt Bununo ES j m 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 Sassi This chapter explains actions to be taken at errors troubleshooting and equipment maintenance 11 1 Troubleshooting eee III RI 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 Emergency Error Code 11 11 11 2 Equipment Maintenance 11 13 1122 1 Cleaning i Gere hace acaba ahd ay 11 13 11 2 2 INSPECUONS is See Sula ae
220. on 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 15 7 3 2 Error Mode Output Overview of functions e Purpose This functiion provides selection whether to hold or clear the outputs if signals from 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 OC 1601 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 i 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 98 Output Unit Expansion Unit 3 output EREIN capacity Applicable index capacity 8 point 8 points pore 8 points 6306 16 points is polis P 16 points 24 points 16 points 8 points 32 points 16 points 16 points 6326 hex 32 points For the set value refer to the information of the corresponding index of Appendix A 1 Object Dictionary in Page A 17 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit 7 4 Specifications for Ea
221. on Isolation method Photocoupler isolation Output indicators LED display yellow Error Mode Output Select either hold or clear Weight 80g max i Names and functions rae 01234567 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 G 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 OD08 NPN Internal circuits e XWT OD08 1 PNP yun uoisuedx3 jo 2 0 Photocoupler 90 E Internal circuits Photocoupler L 8000 8000 LMX yun uoisuedx3 jndyno jutod 8 2 2 01 Voltage drop 0 GX series EtherCAT Slave Unit User s Manual 10 9 10 Expansion Unit Wiring diagram e XWT OD08 NPN power supply 24 VDC Solenoid valve etc Solenoid valve etc e XWT O
222. onnected 0 CH2 normal 2 1 CH3 disconnected 0 CH3 normal 3 1 CH4 disconnected 0 CH4 normal 4 to 15 Reserved GX series EtherCAT Slave Unit User s Manual Device Profile area 6401 hex Read analogue input 16 bit Sub index 0 Num of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 to 4 Input 16 bit Channel 0 to 3 input Range Unit Default 0000 hex Attribute Size 2 bytes INT16 Access RO PDO map Possible This is equal to the set input range This object indicates input of each point Analog Output Slave Unit e Manufacturer Specific area 2 3200 hex Analogue output available Channel choice Sub index 0 available Channel choice Range 0000 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 Bits D A conversion enabled channel 0 1 CH1 enabled 0 CH1 disabled 1 1 CH2 enabled 0 CH2 disabled 2to 15 Reserved 3201 hex Analogue output Range Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Output Range gt Range 00 hex 01 fex 03 hex iiig Default 04 hex Attribute R 06 9
223. onnecting to EtherCAT Network in page 4 4 3 2 4 Connecting Power Supplys 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 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 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 amp 5 3 3 1 Starting a System 3 Turn ON the power supply to each Unit 3 5 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 a 3 power supply of Slave Units 3 Note that there are no restrictions on the order of turning ON the power supplies e m 3 3 2 Setting EtherCAT Communications w The following communications are performed in
224. ores 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 8 bytes 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 latched by external latch B Counter status 2 bytes Status flag to check the counter status 2 6 eyeg 1ndu 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 007 005 004 003 002 001 000 0 CRUN1 CERR1 Reserved EXLB1 EXLA1 EXRES1 RACK1 PACK1 1 CRUN2 CERR2 Reserved EXLB2 EXLA2 EXRES2 RACK2 PACK2 2 LL 43 LH CH1 Present value data 44 HL 45 HH 6 LL 47 LH CH2 Present value data 48 HL 49 HH 10 LL 11 LH CH1 Latch A data 12 HL 413 HH 14 LL 15 CH2 Latch data 16 HL 447 HH 18 LL 19 LH CH1 Latch B data 20 HL 21 22 LL 23 LH CH2 Latch B data 424 HL
225. ork fi 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 s u w jg uoNeinByUuoD Z L WOMEN 1949433 UONEINBYUOD JO Z Z L 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 Units to 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 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 ee ao 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 2 Types of EtherCAT Sla
226. ot resolved even after the measures described above are taken the Slave Unit hardware may be damaged Replace the applicable Slave Unit 11 3 1 Jojeoipu snjeiS pexoeu eq ued Jey L LL 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 e Is the communications cable wired correctly e Are any cables disconnected or loose in the part that connects to the connector Is the cable length appropriate e Is the communications cable of the recommended specification The host master has not been started Check that EtherCAT Master Unit is operating correctly If using an OMRON EtherCAT Master Unit check the EtherCAT Master Unit mode and Slave Unit node addresses If using EtherCAT Master Unit from another manufacturer refer to the user s manual for that Master Unit A hardware failure occurred If
227. ow the setting via range setting switch Analog input Slave Unit The disconnection indication does not clear The sensor is disconnected 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 Reduce 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 ho
228. ping for an analog input application It is mapped only to Analog Input Slave Units Encoder Input Slave Unit 1700 hex 1st RxPDO mapping parameter Receive PDO 1st 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 object Output object 1 Range Unit Default 40200110 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Output object 2 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 A 10 GX series EtherCAT Slave Unit User s Manual 1701 hex 2nd RxPDO mapping parameter Receive PDO 2nd 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 object Output object 1 Range Unit Default 40110120 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 2nd object Output object 2 Range Unit Default 40110220 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Mapping for preset command value setting 1B00 hex 1st TxPDO mapping parameter Transmit PDO 1st mapping Su
229. possible in any of the following 6 orientations Ll m Li 185 Vertical direction 4 1 3 Mounting Method 1 Hook the top side of groove 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 e e s BuyunoW 1 7 End plate Precautions for Safe Use After the operation make sure to check that the Slave Unit is securely mounted poy p 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 Precautions at laying down network When laying down an Et
230. put 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 handle abnormalities and conduct regular inspections Appendix Appendix Contains the object overview and explains the precautions GX series EtherCAT Slave Unit User s Manual Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS
231. r practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions 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 symbol
232. rCAT Master Unit Digital I O Slave Unit GX ID1611 16 inputs Expansion Unit F E XWT ID16 16 inputs Set the node address to 1 Digital I O Slave Unit GX OD1611 16 outputs al E ET Set the node address to 2 i i i XWT OD16 16 outputs 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 EN 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 3 2 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 mp Section 3 2 1 9JnpaooJg 21526 pue sajduiex3 8 Mounting and Setting Slave Units m Section 3 2 2 Wiring Communications Ca
233. range 3 4 Blue Blue 4 5 White Blue 7 White Blue 5 6 Orange I P Orange 6 7 White Brown A White Brown 7 8 Brown y Brown 8 Connector Shielded cable Shielded cable i 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 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 zi o9 Tel PI
234. s The precautions explained in this section describe important information regarding safety These precautions must be followed without fail Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Symbols This symbol indicates a prohibited item an item you must not do The specific instruction is indicated using text inside the The symbol shown to the left indicates disassembly prohibited A This symbol indicates caution warnings included The specific instruction is indicated using text inside the A The symbol shown to the left indicates typical cautions e This symbol means itis a compulsory item an item that must be done The specific instruction is indicated using text inside the symbol shown to the left indicates typical compulsory items 8 GX series EtherCAT Slave Unit User s Manual 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 CK 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 shoc
235. s 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 spun e els 10 suonoun When the input shifts from OFF to ON or ON to OFF itis 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 Ti OFF OFF P Y vv tv 5 ON OFF OFF ON ON ON ON 2 T Input data is OFF because all data Input data is ON because all data 5 is not ON during 4 readings is ON during 4 readings Data set to be input Data set to be input ON ON OFF OFF i 1 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 communicati
236. s diagram e GX MD1611 NPN TX V1 24VDC RX 0 RX 1 g TX 8 G1 TX 5 RX RX c V2 24 VDC D 0 1 E UNITPS lt DC DC v converter v O No isolation __ 8 E type o G2 3 m o GX MD1621 PNP 8 5 V1 24VDC De Photocoupler TX mim 0 7 RX mi 1 RX x Photocoupler gt 3 5 TX 5 2 RX im 24 VDC z RX E 5 ber S UNIT PS DC DC v converter v 0 No isolation E type e e s 1ndino 1urod g pue juiod g ed jeuiuue 1en z GX series EtherCAT Slave Unit User s Manual 7 25 7 Digital I O Slave Unit Wiring diagram e GX MD1611 NPN power supply power suppl 24 VDC 24 5 2 v 5 3 en NPN output 3 wire sensor 2 wire sensor Solenoid valve etc Solenoid valve etc Photoelectric sensor switch etc proximity sensor e GX MD1621 PNP i power supply power suppl 24 VDC
237. s locked and then pull out the wire Also after removing the wire always return the operation lever to its normal position GX series EtherCAT Slave Unit User s Manual EtherCAT Communications ee ao 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 5 5 85 451 ca RET ER ERE ERE IER Se She 5 5 5 4 2 Mapping Settings 5 5 5 4 3 Sync Manager PDO Assignment Settings 5 6 5 4 4 Fixed PDO Mapping 5 7 5 5 Service Data Object SDO 5 9 5 5 1 5 9 9 0 2 Abort Codes tule oe ee Salty aka do oaa 5 9 5 6 EtherCAT Master Unit Slave Unit Communications 5 10 9 6 1 FREE RUN Mode6 Led ots ors eure MERE CA I 5 10 5 7 Emergency Messages 5 12 5 7 1 Emergency Message Notification 5 12 5 7 2 Diagnosis History 5 12
238. s with screw terminal blocks Appearance 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 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 Expansion Unit Type Models with 2 tier terminal block Appearance points Model my 8 inputs NPN XWT ID08 P lt 8 inputs PNP XWT IDO8 1 2 8 outputs NPN XWT OD08 linn Spe 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 2 EtherCAT Slave Unit Features Can be connected to the following Digital I O Slave Unit GX ID1611 ID1621 0 D1611 0D1621 OC16 01 Can connect only 1 Expantion Unit per Slave Unit SHUN o e S 1949433 SEdAL Z Z 1811 SHUN 2 EtherCAT Slave Unit 2 2 2 Installation I O Connection and Power Supply Methods for Each Slave Unit Digital Slave Unit Type Models with 2 tier terminal block Model GX ID1611 GX ID1621 GX OD1611 GX OD1621 GX OC1601 GX MD1611 GX MD16
239. sors connected to the GX ID1612 power supply current supplied to V and terminals 6 mA x 7 points 30 mA x 7 points 5 mA 257 mA GX series EtherCAT Slave Unit User s Manual A 33 uana Ajddng t V pue sindu pun 330 ueewjeq e v 5 EtherCAT Terminology Use the following list of EtherCAT terms for reference Term aen Description tion Abstract representation of a particular component within a device object 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 application objects service data object SDO CoE asynchronous mailbox communications where all objects in the object dictionary can be read and written index Address of an object within an application process subindex Sub address of an object within the object dictionary Collection of application objects designated to be transferred Process data cyclically or acyclically for the purpose of measurement and control 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 Transmit PDO TxPDO A process data object sent from an Et
240. ss RO Range Size 20 bytes VS ndicates the version of the Slave Unit hardware Default Differ by Slave Unit types Attribute PDO map Not possible 100A hex Manufacturer software version Unit Access RO Range Size 20 bytes VS ndicates the version of the Slave Unit software Default Differ by Slave Unit types Attribute PDO map Not possible The default settings of device type device name hardware version and software version vary by the Slave Unit Types Model Manufacturer device Manufacturer 1 Uni E ion Uni Does Typs name hardware software version ave Unit xpansion Unit 00010191 XWT ID08 1 00010191 hex hope i 5 11621 XWTIDT6 71 00010191 hex space 20 of 11 20 characters SPace 20 hex of XWT ODO8 1 00010191 hex characters 15 characters XWT OD16 1 00010191 hex GX series EtherCAT Slave Unit User s Manual Model Slave Unit GX OD1611 OD1621 Expansion Unit DeviceType 00020191 hex 1008 1 00020191 hex XWT ID16 1 00020191 hex XWT OD08 1 00020191 hex XWT OD16 1 00020191 hex Manufacturer device name GX OD1611 r l GX OD1621 space 20 hex of 11 characters GX OC1601 00020191 hex XWT IDO8 1 00020191 hex XWT ID16 1 00020191 h
241. t mem 42 479 1 11 24 UNES DC DC E 1 5 O converter 5 v No isolation 4300 type 2 8 Photocoupler 9 om 79 Ex 224 i 1 2 1 5 L3 Z5 4300 V2 2 62 8 Photocoupler E 2 v2 2 4 a3 Uo LA LB m e conu 8 G2 o 5 1 58 v2 5 3 89 E pom 9 RST G2 LLZ003 x9 ed 9 6 GX series EtherCAT Slave Unit User s Manual 9 19 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 collecter NPN open collecter output type Output output type NPN output 2 wire sensor 3 wire sensor 9 20 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit Sensor power supply 24 VDC RSV RSV V1_ V1_ V1 RSV V1 V1 V1 424 24 224 V1 A24 G1 G1 5 5 75 G1 5 Black Phase White Phase Orange Phase Z Brown Vcc Encoder NPN open collecter output type NPN output Encoder power supply 3 wire sensor 24 VDC or 5 VDC HUN 10 suoneoyioeds 6 Encoder NPN open
242. t Z pulse generators Decremental bs pulse Precautions for Safe Use f the input method is changed while the counter is stopped or operating restart stop gt operate the counter in order to reflect the change to the count operation fthe 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 26 Precautions for Safe Use If the encoder direction setting is changed while the counter is stopped or operating restart stop operate the counter in order to reflect the change to the count operation fthe 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 10 GX series EtherCAT Slave Unit User s Manual 9 Encoder Input Slave Unit 9
243. t data of the Expansion Unit 7 to 0 bit 3 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 1 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 7 4 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit 7 2 2 Output Data Allocation Output data of Digital 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 1 Reserved 16 point Output Slave Unit Offset byte 7 bit O bit 0 Output data of the Slave Unit 7 to O bit 1 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 0 bit 1 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 0 bit 1 Reserved GX series EtherCAT Slave Unit User s Manual 7 5 Buid
244. t 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 exceeded only for write access 06090031 hex Value of parameter written
245. t they individually comply with the related EMC Directives so that they can be more easily built into other devices or the overall machine The actual products have been checked for conformity to EMC Directives See note Whether the products conform to the standards in the system used by the customer however cannot be checked by OMRON and must be checked by the customer EMC related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel on which the OMRON devices are installed The customer must therefore perform the final check to confirm that devices and the overall machine conform to EMC standards 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 14 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 pane
246. tal 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 B4 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 Lit Phase Z input available Lit Phase Z input available Z1 yellow Z2 yellow OFF Phase Z input not available OFF Phase Z input not available Lit External latch input A available Lit External latch input A available yellow yellow LA1 LA2 External latch input not External latch input A not OFF OFF available available ci External latch input B available i External latch input B available yellow yellow LB1 LB2 External latch input B not External latch input B not OFF OFF available available Lit External reset input available Lit External reset input available RST1 yellow RST2 yellow OFF External reset input not available OFF External reset input not available GX series EtherCAT Slave Unit User s Manual HUN 10 suoneoyioeds 6 LLZ003 X9 ed A 1ndui uedO 6 9 Encoder Input Slave Unit Terminal block CH CH1 CH2
247. terminal and the G terminal 5 VDC max between each input 5 VDC max between each input ORE Noliade terminal and is V terminal E G terminal 7 OFF current 1 0 mA max Input current 6 0 mA max input at 24 VDC Q 3 0 mA max input at 17 VDC gt ON delay 0 1 ms max g OFF delay 0 2 ms max 2 Without filter 0 5 ms 1 2 ms 4 ms 8 ms 16 ms 32 ms Input filter value 9 Default setting 1 ms 9 Number of circuits 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 5 mA max for 20 4 to 26 4 VDC power supply voltage GX series EtherCAT Slave Unit User s Manual jurod g pue 1nduj jurod g ed NO2 9 01 7 Digital I O Slave Unit Output section fem 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 Number of circuits per 3 Beamon 8 points common Isolation method Photocoupler isolation power supply method Supply by power supp
248. tes 8 Access Indicates whether the object is read only or read and write RO Read only RW Read and write A PDO map Indicates the PDO mapping possibiity jeuu04 uonduoseq lqo L v GX series EtherCAT Slave Unit User s Manual A 3 A 1 4 Communication Objects 1000 hex Device type Range Unit Default 00 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Indicates the CoE device profile number 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 Size 1 byte U8 Access RO 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 error 1 The error is occurring Bits Name Bits Name Generic error Communications error Device profile specific error Reserved Manufacturer specific error Error register Unit Default 00 hex Attribute PDO map Not possible 0 1 Current error 2 Voltage error 3 Temperature error 1008 hex Manufacturer device name Unit Access RO Range Size 20 bytes VS ndicates the Slave Unit model number Default Differ by Slave Unit types Attribute PDO map Not possible 1009 hex Manufacturer hardware version Unit Acce
249. th two sets of V and 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 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 150 mA max for 20 4 to 26 4 VDC power supply voltage consumption Weight 220 g max Expansion functions No Short circuit protection function Input section Item Input capacity Available at input section only Operates at 50 mA point min Specification GX MD3218 16 points GX MD3228 15 VDC min between each input 15 VDC min between each input e e s 10 suoneoyioeds ON Voltage termi
250. the V positive terminal and I positive terminal at current input Use the attached short circuit metal fixture to short circuit these terminals 12 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 9 Voltage output Current output Output capacity 2 points possible to set number of enabled points 0to5V 1to5V Output range 0to 10 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 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 Analog conversion cycle 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 lt 9 8
251. therCAT 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 CJ series Position Control Unit Power Supply Unit CPU Unit CJ1W NCx82 PC Configuration Tool o 55 52 o NL port connection Peripheral port connection ESI file Unit power supply 1145425 power supply Communications cable Ld Analog I O Slave Unit Digital Slave Unit Communications 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 I 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 I O Slave Unit 1 Communications Unit By mounting to an inverter and other devices it is possible to serve as a Slave Unit in the EtherCAT netw
252. tion 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 Analogue input Adjustment Low Value User adjustment compensation value 3113 hex minimum Sub index 0 Num of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 to 4 Adj Low Value Range Unit Default 0000 hex Attribute Size 2 bytes INT16 Access RO PDO map Not possible Stores the lower limit of user adjustment paldo 1 gt siefqo 1e1moejnue N 7 L V GX series EtherCAT Slave Unit User s Manual A 21 3115 Analogue input Adjustment Low Execute User adjustment execution minimum Sub index 0 Num of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Sub indexes 1 to 4 CH1 to 4 Adj Low CHO to Access RO 3 user adjustment execution PDO map Not possible Range Unit Default 00000000 hex Attribute R 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 0 from a connected
253. to Names and functions in Page 8 23 8 4 2 Data Allocation PDO Mapping An Analog Output Slave Unit has output data only and is allocated to the OUT area of the memory of the EtherCAT Master Unit For the detailed explanation of allocation method refer to the manual of EtherCAT Master Unit to be connected Output data allocation Output data of an Analog Output Slave Unit is analog data for 2 channels Offset byte 7 bit 0 bit 0 Analog output data for CH1 1 2 Analog output data for CH2 3 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 Conversion Available Point Setting Overview of functions e 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 allocatio
254. to OFAO 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 10Vp 7777 7 EEDO F060 4400 4000 Converted data Hexadecimal decimal 8000 0000 0 anels Bojeuy y 8 OV OFAO 1130 rrr 4000 4400 a 10V Gen ee 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 n 20 U f ejeg pue jndjno 8 E Converted data 8000 0 0000 0 140 2000 see Hexadecimal decimal 400 8000 8400 GX series EtherCAT Slave Unit User s Manual 8 13 8 Analog I O Slave Unit i 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 23 For how to set with the output range switch refer
255. to5V Range 3110 hex Analogue input Adjustment High Value User adjustment compensation value maximum Sub index 0 Num of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 to 4 Adj 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 A 20 GX series EtherCAT Slave Unit User s Manual 3112 hex Analogue input Adjustment High Execute User adjustment execution maximum Sub index 0 Num of channel Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 4 CH1 to 4 Adj High CHO to 3 user adjustment execution Range Unit Default 00000000 hex Attribute R 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 100 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 execu
256. 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 GX series EtherCAT Slave Unit User s Manual 5 9 oas 12efqo Leq 6 6 L G G 5 EtherCAT Communications 5 6 EtherCAT Master Unit Slave Unit Communications 5 6 1 This section explains the communication modes between the Master Unit and GX series EtherCAT Slave Unit FREE RUN Mode In the FREE RUN mode a Slave Unit operates asynchronousy with the EtherCAT Master Unit The Digital I O Slave Units and Analog I O Slave Units operate 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 I O Slave Units ON delay OFF delay Analog I O Slave Units 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
257. tputs 16 bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Write output 01 hex to 10 hex Outputs Och to 15ch 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 6306 hex Error mode output 16 bit Sub index 0 Number of outputs 16 bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Error mode output 01 hex to 10 hex Outputs Och to 15ch Error mode output 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 Contents OUT15 OUT14 OUTO setting setting setting setting Setting 0 Clear to 0 1 Retain the value at error occurrence 6320 hex Write output 32 bit Digital output 32 bit Sub index 0 Number of outputs 32 bit Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Write output 01 hex to 20 hex Inputs Och to 31ch Range 00000000 hex to 0 224 FFFFFFFF hex Unit Default Attribute A Size 4 bytes U32 Access
258. tween 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 8 points common Input indicators LED display yellow Isolation method Photocoupler isolation power supply method Supply by power supply Input device supply 100 mA point current POR SUPPI EUEN 90 mA max for 20 4 to 26 4 VDC power supply voltage consumption power PR current 5 mA max for 20 4 to 26 4 VDC power supply voltage consumption Weight 370 g max Expansion functions No Short circuit protection function Notes For the I O power supply current value to V and terminals refer to A 4 Power Supply Current in Page A 33 GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Names and functions 3 4 5 25508 x 7 6 Dy Terminal arrangement diagram 1to9 ven ii i ere sen os os
259. u3 au jo uonounJ 6 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 settings 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 27 poN 6 GX series EtherCAT Slave Unit User s Manual 9 7 9 Encoder Input Slave Unit Precautions for Safe Use e f the maximum Circular Counter value is changed while the counter is stopped or operating restart stop operate the counter in order to reflect the change to the count operation lf 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 27 Phase phase difference pulse input Multiplication x 1 2 4 1 Multiplication x 1 Count at s
260. un uoisuedx3 jo 2 0 power supply 24 VDC PNP output 3 wire 2 wire sensor sensor Limit switch etc Photoelectric sensor proximity sensor L 9LQl 9LGI LMX yun uorsuedx3 yndu julod g 2 01 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 10 13 10 Expansion Unit 10 2 4 16 point Output Expansion Unit XWT OD16 OD16 1 Specification Hom Specification XWT OD16 XWT OD16 1 Internal common NPN PNP 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 Mica per 16 inputs common Isolation method Photocoupler isolation Output indicators LED display yellow Error Mode Output Select either hold or clear Weight 120g max i Names and functions 01234567 8 9101 12 13 14 15 OUT OMRON XWT OD16 REMOTE TERMINAL 4 3 Terminal arrangement diagram v e 10 14 GX series EtherCAT Slave Unit User s Manual 10
261. upply 24 VDC NC NC NC NC NC NC NC OUT OUT OUT OUT OUT 0 1 2 3 4 5 6 2 wire sensor Solenoid valve etc NPN input 3 wire NPN output 3 wire Limit switch etc external device sensor Emitter of Photoelectric sensor photoelectric sensor proximity sensor LIS 10 suoneoyioeds GX MD1628 PNP bas vo V1 V2 v3 4 5 V6 NC NC NC NC NC NC NC G1 G1 G1 G1 G1 G1 G1 INO IN1 2 IN3 IN4 IN5 IN6 8c9LaW 8L 9L QW X9 jurod g pue jurod g ed 10jeuuo2 NO2 9 01 power supply 24 VDC NC NC NC NC NC NC NC 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 I O Slave Unit Precautions for Correct Use The I O power supply connectors are equipped with two sets of V and 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 us
262. upply 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 Slave Units with digital outputs 11 8 When the output is ON nothing is output although the output indicator is turned ON The 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
263. ut impedance 1 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 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 Analog conversion cycle Isolation method Unit power supply current 120 mA max for 20 4 to 26 4 VDC power supply voltage PUN ALIS 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 LZvOQV XO HUN 1ndu 9 8 GX series EtherCAT Slave Unit User s Manual 8 19 8 Analog Slave Unit Names and functions 4 EthercA E x yn omron GX Ere i n e je Es 1 m wd rs 85598 7 6 Function 1 Communications connectors U
264. ut 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 HOA 8 points common Isolation method Photocoupler isolation power supply method Supply by I O power supply Output device supply 100 mA point current ue power Supply current 5 mA max for 20 4 to 26 4 VDC power supply voltage consumption Error Mode Output Select either hold or clear Notes For the power supply current value to V and G terminals refer to A 4 Power Supply Current in Page A 33 e e s 10 suoneoyioeds ix W X9 2 9 2 9 91 e e s 1ndino 3 109 8 pue juiod g ed euie 1en c GX series EtherCAT Slave Unit User s Manual 7 39 7 Digital I O Slave Unit Names and functions 1 3 4 8 7 Terminal arrangement diagram 1to9 10 to 18 19 to 27 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 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 inputON st
265. ute A Size 2 byte U16 Access RW PDO map Possible The soft switch setting is specified 4030 hex Status Bits Sub index 0 Num of channel Range Unit Default 02 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub indexes 1 to 2 CH1 to 2 Status Bits Range Unit Default 0000 hex Attribute Size 2 byte U16 Access RO PDO map Possible Status bit is stored A 28 GX series EtherCAT Slave Unit User s Manual A 2 Current Consumption Summary A 2 1 Digital I O Slave Unit Model Unit power supply current Model Unit power supply current consumption consumption exist SEES exupie MAMBE 224 VDC 0 GXMD1618 mA macat204vbc 1608 120 mA at 20 4 VDC 7 ai 20 4 VOC eee 100 mA max at 20 4 VDC GX MD3218 140 mA max at 24 VDC GX MD3228 140 mA max at 24 VDC 150 mA max at 20 4 VDC A 2 2 Analog I O Slave Unit Model 0471 Unit power supply current consumption 110 mA max at 24 VDC 120 mA max at 20 4 VDC A 2 3 Encoder Input Slave Unit Model GX EC0211 Unit power supply current consumption 100 mA max at 24 V
266. ve Units 2 3 2 2 1 Slave Units List eee ERE RUE RR aleve rias 2 3 2 2 2 Installation 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 Slave Unit Inputs and outputs digital ON OFF signals Analog I O Slave Unit Performs AD or DA conversion for analog 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 Slave Units with 2 tier terminal block and 16 points 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 Digital VO Slave Unit Slave Units List Type Appearance points Model Features Models with 16 inputs NPN GX ID1611 Equipped with a
267. wer supply Input device supply 100 mA point current Unit power supply current 159 ma max for 20 4 to 26 4 VDC power supply voltage consumption Weight 140 g max Expansion functions No Short circuit protection function Notes Page A 33 Available Operates at 50 mA point min For the I O power supply current value to V and terminals refer to A 4 Power Supply Current in GX series EtherCAT Slave Unit User s Manual 7 Digital Slave Unit Names and functions E aoa I IT I E aoa ooo wo uj E aoa 2000 o e LEE E eoa ipao o m IT 1 ooa s 9 I D maa x I II 1 3 L 5 6 p 8 255 F 5 8 BB E 7 4 Specifications for Each Slave Unit EJ 7 4 8 e CON Connector 16 point Input Slave Unit GX ID1618 1D1628 1 o 5 A 2 to LL 9 im PHI T am lt 2 D c 8 or 2 o E 6 5 x O o iL 5 S N as3 g N n 2092 S a C lt Sou
268. ystem integration but also in small and medium scale 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 It makes the best use of the optimized Ethernet frame band and transmits with the high speed repeat method thereby allowing transmitting various types of data at high efficiency Employment of standard Ethernet technology EtherCAT is a global open network that employs standard Ethernet technology in the physical layer For this reason commercially available Ethernet cables connectors tools and other general purpose products can be used 1 1 2 Structure of EtherCAT EtherCAT does not transmit data to each node on a network but gets Ethernet frames through each node At passing each node reads and writes data in Units of several nanoseconds in its own area within a frame 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 dat

GX-series ErtherCAT Slave Units USER'S MANUAL

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