Omron NX-ECC201 User Manual page 6

6-2-3
6-2-4
6-2-5
6-2-6
Section 7 Wiring
7-1 EtherCAT Network Wiring ..................................................................................................... 7-2
7-1-1
7-1-2
7-1-3
7-1-4
7-1-5
7-2 Connecting the Power Supply and Ground Wires ............................................................. 7-8
7-2-1
7-2-2
7-2-3
7-2-4
7-2-5
7-3 Connecting USB Cable ....................................................................................................... 7-26
7-4 Wiring External Signal Lines .............................................................................................. 7-28
Section 8 EtherCAT Communications
8-1 Structure of CAN Application Protocol over EtherCAT (CoE)........................................... 8-2
8-2 EtherCAT Slave Information Files (ESI Files) ..................................................................... 8-3
8-3 Transitions of Communications States ............................................................................... 8-4
8-4 Process Data Objects (PDOs)............................................................................................... 8-5
8-4-1
8-4-2
8-4-3
8-5 Service Data Objects (SDOs)................................................................................................ 8-9
8-5-1
8-5-2
8-6 Communications between an EtherCAT Master and Slaves ........................................... 8-10
8-6-1
8-6-2
8-6-3
Section 9 Setting Up Slave Terminals
9-1 Settings and Setting Procedures ......................................................................................... 9-2
9-1-1
9-1-2
9-1-3
9-1-4
9-2 Setting Slave Terminal Parameters...................................................................................... 9-4
9-2-1
9-2-2
9-2-3
9-2-4
9-2-5
9-2-6
9-2-7
4
Vibration and Shock.................................................................................................................. 6-25
Atmosphere .............................................................................................................................. 6-25
Electrical Environment .............................................................................................................. 6-26
Grounding ................................................................................................................................. 6-31
Installation Precautions............................................................................................................... 7-2
Preparations for Installation ........................................................................................................ 7-3
Pin Arrangement of Communications Connectors on the EtherCAT Coupler Unit ..................... 7-4
Connecting Communications Cables and Connectors ............................................................... 7-5
Connecting Communications Cables.......................................................................................... 7-6
Wiring the EtherCAT Coupler Unit .............................................................................................. 7-8
Wiring the Power Supply to the EtherCAT Slave Terminal ......................................................... 7-9
Grounding the EtherCAT Slave Terminal.................................................................................... 7-9
Precautions for Wiring the EtherCAT Slave Terminal Together
with Computers and other Peripheral Devices7-13
Wiring to the Screwless Clamping Terminal Block.................................................................... 7-14
Introduction ................................................................................................................................. 8-5
PDO Mappings ........................................................................................................................... 8-6
Assigning PDOs.......................................................................................................................... 8-8
Introduction ................................................................................................................................. 8-9
Abort Codes................................................................................................................................ 8-9
Communications Modes for Communications between an EtherCAT Master and Slaves ....... 8-10
Communications Modes for EtherCAT Slave Terminals ........................................................... 8-10
Communications Cycle ............................................................................................................. 8-10
Items to Set................................................................................................................................. 9-2
Slave Terminal Parameters......................................................................................................... 9-2
Variable Assignment Settings ..................................................................................................... 9-3
Setting Procedures ..................................................................................................................... 9-3
Items to Set................................................................................................................................. 9-4
Settings as an EtherCAT Slave .................................................................................................. 9-6
Setting the Unit Configuration Information.................................................................................. 9-8
I/O Allocation Information ......................................................................................................... 9-13
Unit Operation Settings............................................................................................................. 9-23
Unit Application Data ................................................................................................................ 9-25
Sysmac Studio Functions Used as Required ........................................................................... 9-25
NX-series EtherCAT Coupler Unit User's Manual (W519)