Omron CJ1W-ECT21 Operation Manual page 6

CONTENTS
4-6-1 I/O Response Time ................................................................................................................... 4-10
4-6-2 SDO Message Response Time................................................................................................. 4-12
Section 5 Troubleshooting
5-1 Error Notification and Check Methods ................................................................................ 5-2
5-1-1 Error Notification Methods........................................................................................................... 5-2
5-1-2 How to Check for Errors.............................................................................................................. 5-3
5-1-3 Procedures to Check Errors........................................................................................................ 5-6
5-2 Troubleshooting with Indicators .......................................................................................... 5-7
5-2-1 Checking for Errors and Troubleshooting with the Indicators ..................................................... 5-7
5-2-2 Corrective Actions When the CPU Unit's Indicators are Lit or Flashing.................................... 5-14
5-3 Error Log Function of the EtherCAT Slave Unit................................................................ 5-15
5-3-1 Error Log Data........................................................................................................................... 5-15
5-3-2 Error Log Error Codes............................................................................................................... 5-16
5-4 Troubleshooting with Event Logs of the NJ-series Controller........................................ 5-18
5-4-1 Overview of Event Logs ............................................................................................................ 5-18
5-4-2 Event Codes for Errors and Troubleshooting Procedures ........................................................ 5-18
5-5 Troubleshooting with Emergency Messages.................................................................... 5-25
5-5-1 Emergency Message Notification.............................................................................................. 5-25
5-5-2 Emergency Error Codes............................................................................................................ 5-25
5-6 Troubleshooting with AL Status......................................................................................... 5-27
Section 6 Maintenance and Replacement
6-1 Cleaning and Inspection ....................................................................................................... 6-2
6-1-1 Cleaning ...................................................................................................................................... 6-2
6-1-2 Inspection.................................................................................................................................... 6-2
6-2 Replacing Faulty Units .......................................................................................................... 6-4
6-2-1 Precautions ................................................................................................................................. 6-4
6-2-2 Settings When Replacing EtherCAT Slave Units ........................................................................ 6-4
Appendices
A-1 Example of Operations for EtherCAT Slave Unit Communications..................................A-2
A-1-1 System Configuration..................................................................................................................A-2
A-1-2 Setting Condition.........................................................................................................................A-3
A-1-3 Flow of the Setting Procedure.....................................................................................................A-4
A-1-4 CJ1W-ECT21 Setting Procedure ................................................................................................A-4
A-1-5 EtherCAT Master Setting Procedure...........................................................................................A-8
A-1-6 Start EtherCAT Communication ................................................................................................A-10
A-2 Programming Example to Detect Valid I/O Process Data ................................................A-11
A-3 Process Data Exchange in PROGRAM Mode....................................................................A-12
A-3-1 Detection Method and Timing Considerations ..........................................................................A-12
A-3-2 Program Example for the EtherCAT Master..............................................................................A-13
A-3-3 Program Example for the EtherCAT Slave Unit ........................................................................A-14
A-4 Differences in Available Functions Depending on the CPU Unit (NJ or CJ Series) ......A-15
A-4-1 Functional Differences ..............................................................................................................A-15
A-4-2 Differences in Accessing from User Program ...........................................................................A-15
A-5 CoE Objects .........................................................................................................................A-22
A-5-1 Object Dictionary Area ..............................................................................................................A-22
A-5-2 Data Type..................................................................................................................................A-22
A-5-3 Format of Objects......................................................................................................................A-22
A-5-4 Communication Objects ............................................................................................................A-23
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CJ-series EtherCAT Slave Units Operation Manual for NJ-series CPU Unit (W542)