Omron GRT1-ECT Operation Manual
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Omron GRT1-ECT Operation Manual

Smartslice grt1-series, ethercat communication unit
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Cat. No. W18E-EN-02
SmartSlice GRT1-Series
GRT1-ECT
ZX-T Series
EtherCAT
Communication Unit
OPERATION MANUAL

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Summary of Contents for Omron GRT1-ECT

  • Page 1 Cat. No. W18E-EN-02 SmartSlice GRT1-Series ZX-T Series GRT1-ECT EtherCAT Communication Unit OPERATION MANUAL...
  • Page 2 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.
  • Page 3 GRT1-series EtherCAT Communication Unit Operation Manual Revised March 2012...

  • Page 4: Introduction

    Introduction Thank you for purchasing a GRT1-series EtherCAT Communication Unit. This manual contains information you need to know to use the EtherCAT Communication Unit. Before use, please make sure that you thoroughly read this manual and have a full understanding of the products functions and performance.
  • Page 5 ) to AWG20 (0.5mm AXF12142 Sheath diameter: 1.2 to 2.0 mm AWG28 (0.08mm ) to AWG24 (0.2mm AXF12146 Yellow Sheath diameter: 0.7 to 1.2 mm OMRON connectors Model Specification Applicable wire range Spring AWG28 (0.08mm ) to AWG20 (0.5mm XN2A-1430 clamp type Sheath diameter: 1.5 mm max.
  • Page 6 Icons 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.
  • Page 7 Appendix Object Dictionary Object Dictionary of the GRT1-ECT Please read and understand this manual before using the product. Please consult your OMRON representative if you have any questions or comments. Related Manuals Refer to following EtherCAT related manuals for more information: Man No.
  • Page 8 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...
  • Page 9 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.
  • Page 10 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.
  • Page 11 Safety Precautions This section gives detailed information on Safety Precautions, Precautions for Safe use and Precautions for Correct Use. Labels and Meanings to Ensure Safe Usage To ensure safe usage of the EtherCAT Slave, the precautions in this manual are displayed with the following labels and symbols.
  • Page 12 WARNING Do not attempt to take any Unit apart and do not touch the interior of any Unit while the power is being supplied. Also, do not turn ON the power supply while the cover is open. Doing any of these may result in electric shock. Do not attempt to disassemble, repair, or modify any Units.
  • Page 13 The CPU Unit refreshes I/O even when the program is stopped (i.e., even in PROGRAM mode). Confirm safety thoroughly in advance before changing the status of any part of memory allocated to I/O Units, Special I/O Units, or CPU Bus Units.
  • Page 14 Precautions for Safe Use Observe the following precautions when using the Unit.  Power Supply • Always use the power supply voltage specified in this manual. An incorrect voltage may result in malfunction or burning. • Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied.
  • Page 15  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 I/O Units the contents of the DM Area, HR Area, and other data required for resuming operation.
  • Page 16 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.
  • Page 17 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.
  • Page 18 GRT1-series EtherCAT Communication Unit - Operation Manual...

  • Page 19: Table Of Contents

    Service Data Object (SDO)....................2-6 2-4-1 Overview ........................2-6 2-4-2 Abort Codes ........................ 2-6 Communication State Transitions..................2-7 Chapter 3 GRT1-ECT Network location and Features ..... 3-1 GRT1-ECT In network with SmartSlices ................3-2 GRT1-ECT Features....................... 3-3 GRT1-series EtherCAT Communication Unit - Operation Manual...
  • Page 20 3-2-1 Features ........................3-3 3-2-2 GRT1-ECT and SmartSlices data exchange............... 3-4 Chapter 4 GRT1-ECT Details.............. 4-1 The GRT1-ECT in detail......................4-2 4-1-1 Frontview and Sideview ....................4-2 4-1-2 Status Indicators......................4-3 4-1-3 DIP switches........................ 4-6 4-1-4 Unit and I/O Power supply connector................4-7 4-1-5 Field Ground Terminal ....................
  • Page 21 Installation GRT1-ECT and Units ..................7-6 7-2-1 Handling Precautions ....................7-6 7-2-2 Installation on a DIN Rail..................... 7-7 7-2-3 Connecting the EtherCAT Unit and SmartSlice I/O Units ..........7-8 7-2-4 Connecting Additional SmartSlice I/O Units ..............7-9 Installing the Power Supplies..................... 7-11 7-3-1 Precautions for Power Supplies ................
  • Page 22 Chapter A4 Appendix Object Dictionary ...........A4-1 A4-1 Object Dictionary.........................A4-2 A4-1-1 Object Dictionary Area ....................A4-2 A4-1-2 Data Types ........................A4-2 A4-1-3 Object Description Format..................A4-3 A4-1-4 Communication Objects ....................A4-4 A4-1-5 PDO Mapping Object ....................A4-5 A4-1-6 Sync Manager Communication Object..............A4-8 A4-1-7 Manufacturer Specific Objects.................A4-10 A4-1-8 Modular Device Profile area ..................A4-13 GRT1-series EtherCAT Communication Unit - Operation Manual...

  • Page 23: Chapter 1 Ethercat Network

    EtherCAT Network This chapter explains the overview of EtherCAT network. 1-1 Overview of EtherCAT Networks ....... . . 1-2 1-1-1 Features of EtherCAT .

  • Page 24: Overview Of Ethercat Networks

    1 EtherCAT Network Overview of EtherCAT Networks EtherCAT (Ethernet Control Automation Technology) is a high-performance industrial network system based on the Ethernet system that can realize fast and efficient communication. Additionally, although EtherCAT is a unique communication protocol, it employs standard Ethernet technology in the physical layer.
  • Page 25 1 EtherCAT Network It is the "EtherCAT telegram" stored directly in an Ethernet frame that exchanges data regularly between the EtherCAT Master Unit and Slaves. Each "EtherCAT telegram" is configured with telegram header (data length, including address of one or more Slaves, etc.), data, working counter (check bit).

  • Page 26: Communication Types Of Ethercat

    1 EtherCAT Network 1-1-3 Communication types of EtherCAT EtherCAT provides the following two types of communication types. PDO communications are always updating data per communication cycle on EtherCAT, while SDO communications are processed in between those updates. Process Data Communication functions (PDO communication) The PDO communication function is used to transfer process data in real time in a fixed-cycle.

  • Page 27: Parts Of An Ethercat Network

    1 EtherCAT Network Parts of an EtherCAT Network This section gives information on parts using in an EtherCAT network. 1-2-1 Configuration Devices of EtherCAT Network An example of parts of an EtherCAT network are shown in the figure below. Sysmac Studio NJ-series CPU Unit ESI file DC24V...

  • Page 28: Overview Of Ethercat Network Parts

    • EtherCAT OUT connection(s) = To relay signals to other EtherCAT units. • Possibility to connect to other units like I/O units. The GRT1-ECT is a Communication Unit. Configuration Tool The configuration tool is PC software for configuration of settings of the EtherCAT network and each Slave.
  • Page 29 1 EtherCAT Network Unit power supply Provides for communication of each Slave and internal operations. Separate them from the I/O power supply when wiring. I/O power supply Provides power for Input/Output operations of external devices connected to Slaves. Separate from Unit power supply when wiring. 1 - 7 GRT1-series EtherCAT Communication Unit - Operation Manual...
  • Page 30 1 EtherCAT Network 1 - 8 GRT1-series EtherCAT Communication Unit - Operation Manual...

  • Page 31: Chapter 2 Ethercat Communication Details

    PDO Mapping for GRT1-ECT ........

  • Page 32: Structure Of Can Application Protocol Over Ethercat (Coe)

    2 EtherCAT Communication details 2-1 Structure of CAN application protocol over EtherCAT (CoE) Multiple protocols can be transferred by EtherCAT. The GRT1-series EtherCAT Communication Unit uses "CAN application protocol over EtherCAT (CoE)". CoE is a communication interface for EtherCAT devices, as the device profile of the open network standard "CAN application protocol". The figure below shows the structure of CoE in the GRT1-series EtherCAT Communication Unit.

  • Page 33: Ethercat Slave Information File (Esi File)

    2 EtherCAT Communication details 2-2 EtherCAT Slave Information File (ESI File) An EtherCAT Slave Information (ESI) file contains the setting information of an EtherCAT Slave Unit. The network setting software (Configuration Tool) uses the ESI files to create the network connection information.

  • Page 34: Process Data Objects (Pdo)

    2 EtherCAT Communication details 2-3 Process Data Objects (PDO) This section contains information on Process Data Objects (PDOs) and their mapping. 2-3-1 Overview The Process Data Objects (PDO) are used for real-time data transfer via cyclic communication. There are two types in PDO: RxPDO that transfers data from the EtherCAT Master to the EtherCAT Slave and TxPDO that transfers the present value from an EtherCAT Slave to the EtherCAT Master.

  • Page 35: Sync Manager Pdo Assignment Settings

    PDO G 2-3-4 PDO Mapping for GRT1-ECT The PDO mapping of the GRT1-ECT depends on the connected SmartSlice I/O units and is detected and configured automatically by the GRT1-ECT. The PDO mapping can also be configured by the connected EtherCAT master. However the written configuration must be equal to the actual configuration of the GRT1-ECT to start the communication between the EtherCAT master and the GRT1-ECT.

  • Page 36: Service Data Object (Sdo)

    2 EtherCAT Communication details 2-4 Service Data Object (SDO) 2-4-1 Overview GRT1-series EtherCAT Communication Unit supports the SDO communication. The EtherCAT Master Unit is able to make parameter settings and monitor status by reading and writing data from and to entries in object dictionaries via the SDO communication. 2-4-2 Abort Codes The table below shows abort codes of SDO communication errors.

  • Page 37: Communication State Transitions

    2 EtherCAT Communication details 2-5 Communication State Transitions The EtherCAT State Machine (ESM) indicates the state transition model of EtherCAT Slave Unit communication control. It is controlled by the EtherCAT Master Unit. The following figure shows the communication state transitions from power ON. Power ON Initialization Pre-Operational...
  • Page 38 2 EtherCAT Communication details 2 - 8 GRT1-series EtherCAT Communication Unit - Operation Manual...

  • Page 39: Grt1-Ect Network Location And Features

    3-1 GRT1-ECT In network with SmartSlices ......3-2 3-2 GRT1-ECT Features ..........3-3 3-2-1 Features .

  • Page 40: Grt1-Ect In Network With Smartslices

    3 GRT1-ECT Network location and Features 3-1 GRT1-ECT In network with SmartSlices The GRT1-Series SmartSlice I/O Units are building-block style I/O devices, which can be expanded in small I/O increments. This provides the possibility to configure I/O systems which exactly match the various applications.

  • Page 41: Grt1-Ect Features

    3 GRT1-ECT Network location and Features GRT1-ECT Features 3-2-1 Features The GRT1-ECT EtherCAT Communication Unit controls data exchange over the EtherCAT network between the EtherCAT Master and SmartSlice I/O Units.  Manage Multiple SmartSlice I/O Units as One Slave A single EtherCAT Communication Unit with up to 64 connected SmartSlice I/O Units can be managed as a single slave device from the EtherCAT Master.

  • Page 42: Grt1-Ect And Smartslices Data Exchange

    EtherCAT network and the SmartSlice I/O Units NJ-serie To use units of the NJ-serie a GRT1-ECT Version 2.0 (Ver.2.0) or higher is required. The Version number of the GRT1-ECT is printed on the side of the GRT1-ECT. Refer to "4-1-1 Frontview and Sideview" on page 4 - 2 for the location of the Version number.

  • Page 43: Chapter 4 Grt1-Ect Details

    4-1 The GRT1-ECT in detail ........

  • Page 44: The Grt1-Ect In Detail

    4 GRT1-ECT Details The GRT1-ECT in detail This section explains the specifications of indicator, switches, and connectors of the GRT1-ECT. 4-1-1 Frontview and Sideview The GRT1-ECT SmartSlice Communication Unit controls data exchange between an EtherCAT Master Unit and SmartSlice I/O Units over an EtherCAT network. For more information on SmartSlice I/O Units, refer to the GRT1 Series SmartSlice I/O Units Operation Manual (W455).

  • Page 45: Status Indicators

    4 GRT1-ECT Details 4-1-2 Status Indicators UNIT PWR OMRON GRT1-ECT UNIT PWR UNIT PWR x1 x1 TS TS I/O PWR I/O PWR I/O PWR REGS REGS BACK BACK UNIT UNIT +V +V +V +V -V -V DC24V DC24V INPUT INPUT [RUN] indicator Indicates the operation state.
  • Page 46 4 GRT1-ECT Details Reference The timing of each flashing state of indicator is as follows. 50 ms Flickering Blinking 200 ms 200 ms 1000 ms Single flash 200 ms 200 ms 1000 ms Double flash 200 ms 200 ms 200 ms [TS] indicator Indicates the status of the SmartSlice I/O system.
  • Page 47 4 GRT1-ECT Details [UNIT PWR] indicator Indicates the unit power supply state. Color State Contents Unit power OFF state Green The unit power (24 VDC) is supplied to the Slave. [I/O PWR] indicator Indicates the I/O power supply state. Color...

  • Page 48: Dip Switches

    When the unit power is on. b. When DIP switch 1 | REGS is set to ON. Precautions for Correct Use The Backup and Restore functionality is available in the GRT1-ECT. However, the backed up and restored parameters cannot be accessed via EtherCAT communication. Reference •...

  • Page 49: Unit And I/O Power Supply Connector

    DC24V INPUT INPUT The GRT1-ECT provides a Field Ground Terminal (FG) between the EtherCAT connectors. If noise is a significant source of errors, ground the Field Ground Terminal (recommended wire 20 AWG to 14 AWG or 0.5 to 2.0 mm ).

  • Page 50: Node Address Setting Switches

    GRT1-ECT x1 x1 Note that the node address set values vary as shown below when the EtherCAT Master Unit is made by OMRON or by other manufacturers. Set value for node address Set value for EtherCAT Master Unit from another...
  • Page 51 4 GRT1-ECT Details The specifications are shown below. • Electrical characteristics: Conforms to the IEEE 802.3 standard. • Connector structure: RJ45 8-pin modular connector (conforms to ISO 8877) Terminal arrangement: Pin No. Signal name Abbreviation Send data + TD + Send data −...
  • Page 52 4 GRT1-ECT Details 4 - 10 GRT1-series EtherCAT Communication Unit - Operation Manual...

  • Page 53: Chapter 5 Grt1-Ect Procedures

    GRT1-ECT Procedures This chapter explains basic procedures and settings for the Communication Unit and the EtherCAT Slaves. 5-1 System Setup Example ......... 5-2 5-1-1 Example with three Slaves.

  • Page 54: System Setup Example

    5 GRT1-ECT Procedures System Setup Example This section shows an example with three EtherCAT Slaves and one Master Unit. 5-1-1 Example with three Slaves. Three Slaves and one Master Unit are connected. L1 = Connection between Master Unit and first Slave.

  • Page 55: Settings Communication Unit

    Setting the EtherCAT Node Address The node address of the GRT1-ECT is set with the rotary switches at the front of the Unit. The left rotary switch sets the ten's digit, and the right rotary switch sets the one's digit.

  • Page 56: Communication Unit's Status Flags

    5-2-4 Communication Unit’s Status Flags These flags can be used to monitor the status of the connections between the GRT1-ECT and the SmartSlice I/O Units as well as the status of the SmartSlice I/O Units themselves. The status flags take up 1 word and the information is transferred to the Master as part of the Input data. The table below defines the individual bits in the Status word.

  • Page 57: Unit Functions

    5 GRT1-ECT Procedures 5-2-5 Unit Functions The following table lists the EtherCAT Communication Unit’s functions. Function name Summary Setting method Reads the configuration of the SmartSlice I/O Units connected to the Communication Unit and registers that Table registration DIP switch ‘1 REGS’...

  • Page 58: Backup Function (4 | Back)

    5 GRT1-ECT Procedures  OFF (during power up) = Automatic detection The registered table is disabled and the Communication Unit will automatically detect the actual I/O configuration and start communication.  OFF to ON = Creating a New Registration Table The SmartSlice I/O System’s actual I/O configuration can be read and registered in the table just by...

  • Page 59: Automatic Device Restore Function (3 | Adr)

    5 GRT1-ECT Procedures  Backup Procedure Verify that the power is ON, DIP switch 1 (REGS) is ON, and all of the SmartSlice I/O Units are participating in I/O communication. Turn DIP switch 4 (BACK) ON, then OFF, and then ON again within 3 s to start the back While the data is being backed up, the EtherCAT Communication Unit’s TS indicator will...

  • Page 60: Online Replacement Function

    5 GRT1-ECT Procedures  Replacing a Unit Turn OFF the I/O power supply if required for your application. Release the locks on the front of the SmartSlice I/O Unit that must be replaced and remove the terminal block. The wiring can remain connected.
  • Page 61 5 GRT1-ECT Procedures  Replacing a Unit Turn OFF the I/O power supply of the I/O Unit being replaced. Release the locks on the front of the I/O Unit that must be replaced and remove the terminal block. The wiring can remain connected.

  • Page 62: Starting Communication

    (remote I/O communication). Reference • For a detailed explanation of I/O data of the GRT1-ECT refer to "8-2-1 General information PDO mapping" in page 8 - 7. • ESI file are used to allocate I/O data.For a detailed explanation of the procedure, refer to "8-1-2 ESI files library in Sysmac Studio"...

  • Page 63: Maintenance

    5 GRT1-ECT Procedures Maintenance This section describes the routine cleaning and inspection recommended as regular maintenance. 5-4-1 Cleaning Clean the EtherCAT Communication Unit regularly as described below in order to keep it in an optimum operating condition. • Regularly wipe the Unit with a dry, soft cloth.

  • Page 64: Checks

    5 GRT1-ECT Procedures 5-4-3 Checks Confirm that the LED indicators of the EtherCAT Master Unit and Slaves are normal status and that I/O data is correctly read and written. Moreover, make parameter settings for Slaves as required. Check Unit Displays ...

  • Page 65: Chapter 6 Grt1-Ect Troubleshooting

    GRT1-ECT Troubleshooting This section provides troubleshooting information using LED indicators and Sysmac Studio. 6-1 Troubleshooting with LED indicators ......6-2 6-1-1 Power Supply Errors .

  • Page 66: Troubleshooting With Led Indicators

    The figure below shows the available LED indicators on the EtherCAT Communication Unit and on the SmartSlice I/O system attached to it. The GRT1-ECT and the SmartSlice I/O Units are operating normally when all of the LED indicators are lit green.
  • Page 67 No Power or not enough power is Check whether power is supplied to the I/O Power Con- being supplied to the External I/O of nector on the GRT1-ECT, the GRT1-TBL or the the SmartSlice I/O Units GRT1-PD2 Unit. Check that the supplied power is with in the required range, i.e.

  • Page 68: Smartslice I/O System Errors

    6 GRT1-ECT Troubleshooting 6-1-2 SmartSlice I/O System Errors  TS indicator on GRT1-ECT [TS] Color Cause Actions indicator Power is not being supplied to the Unit. Refer to section 6-1-1 Power Supply Errors. Flashing Green Joining SmartSlice I/O Units to network.

  • Page 69: Ethercat Errors

    Refer to section 6-1-1 Power Supply Errors. Power is not being supplied to each Ensure the Unit power supply of each GRT1-TBL Unit. GRT1-TBL is the same Unit power supply used for the GRT1-ECT. Flashing Communication error occurred. Check whether the connector is inserted (1 Hz) properly.
  • Page 70 6 GRT1-ECT Troubleshooting [L/A IN] [RUN] [ERR] [L/A OUT] Description Cause Actions indicator indicator indicator − − Illegal switch A range setting Check the switch settings then setting switch or other restart the Slave according to the switch setting is specification of connected EtherCAT illegal.
  • Page 71 6 GRT1-ECT Troubleshooting [L/A IN] [RUN] [ERR] [L/A OUT] Description Cause Actions indicator indicator indicator − − Link not estab- A link in physical After checking the following items, lished in physi- layer has not been restart the Slave according to the cal layer established.
  • Page 72 6 GRT1-ECT Troubleshooting [L/A IN] [RUN] [ERR] [L/A OUT] Description Cause Actions indicator indicator indicator − − Safe- It is commanded If the undesired state occured during Operational from the EtherCAT operation of the system, check the state Master Unit to shift...

  • Page 73: Other Errors - Smartslice I/O Communication

    6 GRT1-ECT Troubleshooting 6-1-4 Other Errors - SmartSlice I/O Communication This section deals with troubleshooting the SmartSlice I/O communication on the network from a behavior point of view. The column on the left describes the general perceived problem to the user. The columns on the right list the possible causes and their remedies.

  • Page 74: Troubleshooting With Sysmac Studio

    6 GRT1-ECT Troubleshooting 6-2 Troubleshooting with Sysmac Studio Sysmac Studio also has information available to help troubleshooting. Select the Troubleshooting item from the Tools menu. Select the line with event code 0x84280000: 6 - 10 GRT1-series EtherCAT Communication Unit - Operation Manual...
  • Page 75 6 GRT1-ECT Troubleshooting The line Attached Information 1 lists the AL status code (in the example above 0x0025) which is the cause of the failure for that slave. The tabel below lists applicable AL status codes for the GRT1-ECT. AL status Cause...
  • Page 76 6 GRT1-ECT Troubleshooting 6 - 12 GRT1-series EtherCAT Communication Unit - Operation Manual...

  • Page 77: Chapter 7 Grt1-Ect Installation

    Connecting the Communication Cables ......7-5 7-2 Installation GRT1-ECT and Units ....... . . 7-6 7-2-1 Handling Precautions .

  • Page 78: Installing An Ethercat Network

    Observe following precautions when installing an EtherCAT network: General Precautions • Take sufficient safety measures. • OMRON recommends qualified engineers for all network related actions. • Install the network according to the network standards and the local standards. Precautions for devices and cables •...

  • Page 79: Communication Cables And Connectors - Preparation

    7 GRT1-ECT Installation 7-1-2 Communication Cables and Connectors - Preparation Prepare the required cables. Use 100BASE-TX shielded twisted pair cables, category 5 or higher. The cables should be double-shielded (aluminum tape and braided shielding). Precautions for Correct Use • The maximum cable length between connected nodes is 100 m. Note that some cables do not guarantee 100 m.

  • Page 80: Communication Cables And Connectors - Wiring

    7 GRT1-ECT Installation 7-1-3 Communication Cables and Connectors - Wiring Connect a communication cable and a connector by wiring them straight as shown below. Wire color Wire color Pin No. Pin No. White-Green White-Green Green Green White-Orange White-Orange Blue Blue...

  • Page 81: Connecting The Communication Cables

    7 GRT1-ECT Installation 7-1-4 Connecting the Communication Cables Arrange following connections:  Connect the EtherCAT Master Unit Connect a communication cable from the EtherCAT Master Unit to the [CN IN] connector of the first Slave.  Connect all Slaves. Connect a communication cable from each [CN OUT] connector of a Slave to the [CN IN] connector of the next Slave.

  • Page 82: Installation Grt1-Ect And Units

    The SmartSlice I/O system is installed and set up as an EtherCAT Slave. The EtherCAT Communication Unit’s communication connector connects to the Master Unit through an EtherCAT communication cable. Up to 64 SmartSlice I/O Units can be connected to one GRT1-ECT Unit. EtherCAT...

  • Page 83: Installation On A Din Rail

    7 GRT1-ECT Installation 7-2-2 Installation on a DIN Rail The GRT1-ECT and SmartSlice I/O Units must be mounted on a DIN Rail. Attach the DIN Rail with screws in every fourth mounting hole. Attach the rail with screws at a maximum spacing of 105 mm between adjacent screws.

  • Page 84: Connecting The Ethercat Unit And Smartslice I/O Units

    7 GRT1-ECT Installation  Removing a Unit Use a standard screwdriver to release the DIN Rail Mounting Hooks at the top and bottom of the Unit and pull the Unit straight away from the DIN Rail. 7-2-3 Connecting the EtherCAT Unit and SmartSlice I/O Units Connect the first SmartSlice I/O Unit to the EtherCAT Communication Unit by aligning the sides of the Units and sliding in the SmartSlice I/O Unit from the front.

  • Page 85: Connecting Additional Smartslice I/O Units

    7 GRT1-ECT Installation 7-2-4 Connecting Additional SmartSlice I/O Units Connect additional SmartSlice I/O Units by aligning the sides of the Units and sliding in the next Unit from the front. Up to 64 SmartSlice I/O Units can be connected to one EtherCAT Communication Unit.
  • Page 86 7 GRT1-ECT Installation  Connecting the End Unit A GRT1-END End Unit must be connected at the end of the SmartSlice I/O System. GRT1-END End Unit  Installing the End Plates Always secure the SmartSlice I/O System on the DIN Rail by installing End Plates on both sides of the System.

  • Page 87: Installing The Power Supplies

    • Unit power supply: For communication and internal operation of Slaves. • I/O power supply: For input/output operations of external I/O devices of each Slave. The GRT1-ECT has 2 24 VDC power supply terminals: These terminals are screwless clamp terminals.

  • Page 88: Unit Power Supply - Calculation

    Isolation chassis ground OMRON recommends the OMRON S8JX series power supplies for Slaves. The power limit for the Unit power supply is 80W. This power limit is related to the connected SmartSlice Units. If the limit is exceeded it is required to separate the SmartSlice Units in two or more groups.

  • Page 89: Smartslice I/O Power Supply - Calculation

    If the current consumption exceeds 4 A provide a separate external I/O power supply. (1) An external I/O power supply can be mounted between SmartSlice I/O Units. OMRON advises the GRT1-PD2(G) I/O Power Supply Unit for this situation. (2) External power supplies can also be connected to a Left Turnback Unit (GRT1-TBL).

  • Page 90: Power Supplies - Example

    7 GRT1-ECT Installation 7-3-4 Power Supplies - Example This example demonstrates the calculations and results for the Unit Power Supply and the SmartSlice I/O Power Supplies. GRT1-PD2 I/O Power Supply Unit GRT1-TBR Turnback Unit (Right) EtherCAT Connector (OUT) (OUT) (OUT)

  • Page 91: Wiring Methods

    7 GRT1-ECT Installation 7-3-5 Wiring Methods  Supplying Power to the Units Connect the power supply wires (24 VDC) to the EtherCAT Communication Unit’s screwless clamping power supply terminals. If pin terminals are used on the wire ends, the pin terminals can just be inserted to wire the power.
  • Page 92 Use a SELV power supply with over current protection. A SELV power supply has redundant or increased insulation between the I/O, an output voltage of 30 Vr.m.s and a 42.4-V peak or maximum of 60 VDC. Recommended power supply: S82K-01524 (OMRON) or S8TS-06024 (OMRON).  Recommended Wire Type...

  • Page 93: Connecting The Turnback Units

    7 GRT1-ECT Installation 7-3-6 Connecting the Turnback Units When a SmartSlice I/O System is divided into blocks to expand the system, connect a GRT1-TBR Right Turnback Unit to the GRT1-TBL Left Turnback Unit with a GCN2-100 Turnback Cable. Precautions for Correct Use Power is not supplied through the GCN2-100 Turnback Cable.

  • Page 94: Replacement

    Unit. • When returning a faulty Unit for repair, always attach a detailed fault report to the Unit and return it to the nearest OMRON dealer. Precautions for Correct Use • In order to prevent faulty operation be sure to turn off the power to all master and slave devices before replacing the Unit.

  • Page 95: Chapter 8 Sysmac Studio

    EtherCAT Slave Information Files (ESI files) supply Sysmac Studio with information of Slaves. With PDO Mapping the I/O data of connected slaves is configured. This section gives information on installing the ESI file for the GRT1-ECT, all information required for PDO Mapping and to calculate the I/O Refresh Time.

  • Page 96: Ethercat Slave Information Files

    Settings for EtherCAT are described and stored in EtherCAT Slave Information (ESI) files. ESI files contain a device description in XML format. ESI files are provided by the slave manufacturers. Part of the EtherCAT communication settings of the GRT1-ECT come from the ESI file. Sysmac...

  • Page 97: Esi Files Library In Sysmac Studio

    8 Sysmac Studio 8-1-2 ESI files library in Sysmac Studio A configuration program like Sysmac Studio is used to configure the master and Slaves. For each Slave an ESI file should be available in Sysmac Studio. Use the following procedure to display an overview of available ESI files (slaves). Start the program Sysmac Studio.
  • Page 98 8 Sysmac Studio A new window with the title ESI Library is displayed. All available ESI files are displayed in this tree structure. If the ESI file is not available refer to "8-1-3 ESI files - Add to Library" in Page 8 - 5. 8 - 4 GRT1-series EtherCAT Communication Unit - Operation Manual...

  • Page 99: Esi Files - Add To Library

    An Explorer with the contents of the UserEsiFiles folder is displayed. Copy the ESI file for the slave and paste it in this UserEsiFiles folder. Additional information For installation of the GRT1-ECT EtherCAT slave the ESI file named OMRON GRT1-ECT.xml has to be copied to this directory. Save the project.

  • Page 100: Esi Files - Check Details

    8 Sysmac Studio Restart Sysmac Studio. The ESI file(s) that you installed is displayed in the ESI Library Dialog Box after you restart Sysmac Studio. Return to the ESI Library window. The installed slave should now be visible in the expanded tree of All ESI files. 8-1-4 ESI files - Check details Use the following procedure to check details of an ESI file.

  • Page 101: Pdo Mapping

    Digital Outputs (DO), Analog Outputs (AO), Counter Outputs (CO), Digital Inputs (DI), Analog Inputs (AI) and Counter Inputs (CI). The GRT1-ECT can handle up to 512 digital inputs, 512 digital outputs, 64 analog inputs, 64 analog outputs and 10 counters. The combination of type and sequence number creates unique PDO names:...

  • Page 102: Calculating Required Pdo Mapping

    8-2-2 Calculating required PDO mapping The PDO mapping in the GRT1-ECT should reflect the actual situation. If the PDO mapping is not correct the LEDs [RUN] and [ERR] on the GRT1-ECT will be blinking. This section describes the calculation for the correct PDO mapping.

  • Page 103: Pdo Mapping In Sysmac Studio

    8-2-3 PDO mapping in Sysmac Studio Mapping PDO is required to make Inputs and Outputs available in the NJ-series CPU Unit. Use the following procedure to display the PDO mapping of the GRT1-ECT in Sysmac Studio. Start the program Sysmac Studio.

  • Page 104: Pdo Mapping - Edit

    The mapping is displayed with at the left side the available PDO Maps. The right side displays the PDO entries for the selected PDO Map. Example of a PDO Map for the GRT1-ECT  PDO Map section General remarks for PDO Map.

  • Page 105: Pdo Mapping - Add Pdo Entry

    8 Sysmac Studio 8-2-5 PDO mapping - Add PDO Entry This section describes the procedure to add a PDO entry. Calculate the total number of DI, DO, AI and AO for the connected SmartSlice I/O units. Each slave can have a different number of DI, DO, AI and AO. The total quantity of each type is required for the mapping.
  • Page 106 8 Sysmac Studio Use the mouse or keyboard (arrows, <home>, <end>, <shift>) to select the desired PDOs. Digital IOs are presented at the top of the list. To select Analog IO scroll down to the analog IO part of the list. Tip: To select large number of IOs you can select (click) on the first item and then use <shift>...
  • Page 107 8 Sysmac Studio To select Counter IO scroll down to the counter IO part of the list. Each Counter SmartSlice Unit (GRT1-CT1(-1) and GRT1-CP1-L) always requires 2 output objects (Set value and Command) and 2 input objects (Data and Status) to be mapped. Additional information •...

  • Page 108: Pdo Mapping - Delete Pdo Entry

    8 Sysmac Studio 8-2-6 PDO mapping - Delete PDO Entry This section describes the procedure to delete a PDO entry. Select the button Edit PDO Map to edit the PDO Map or to view details of the PDO Map. A new window with the title Edit PDO Map Settings appears. Select the correct PDO Map in the PDO Map overview.

  • Page 109: Calculating I/O Refresh Time

    8 Sysmac Studio 8-3 Calculating I/O Refresh Time This section describes the calculation of the I/O Refresh Time for a SmartSlice configuration. 8-3-1 Introduction The I/O Refresh Time is the time required to process the Outputs, transmitting the EtherCAT data and processing the Inputs.
  • Page 110 8 Sysmac Studio • Size Communication Unit status 2 bytes for the Communication Unit status. Additional information Example: Three GRT1-ID4 units + One GRT1-AD2 unit + Three GRT1-OD4 units 3 x (GRT1-ID4 = 4 bits) + 1 x (GRT1-AD2 = 4 bytes) + Not Applicable. •...
  • Page 111 8 Sysmac Studio Calculate the IO_size Calculate IO data size The IO data size (IO_size in bytes) is defined as the maximum of the input data size (IN_SIZE) and the output data size (OUT_size) Calculate the I/O refresh time Calculate I/O refresh time. I/O refresh time = Pack + Unpack + Xmit Required are the calculations of OUT_size, IN_size and IO_size.

  • Page 112: Example Calculation I/O Refresh Time

    8 Sysmac Studio 8-3-3 Example calculation I/O refresh time Please refer to the following example. Define the SmartSlice configuration In this example: GRT1-ID4 + GRT1-ID4 + GRT1-ID4 + GRT1-OD4 + GRT1-OD4 + GRT1-OD8 + GRT1-DA2V + GRT1-AD2 Calculate input Add all digital indata size •...
  • Page 113 Appendix EtherCAT Terminology A1-1 EtherCAT Terminology ......... A1-2 A1 - 1 GRT1-series EtherCAT Communication Unit - Operation Manual...

  • Page 114: A1-1 Ethercat Terminology

    A1 Appendix EtherCAT Terminology A1-1 EtherCAT Terminology Use the following list of EtherCAT terms for reference. Abbrevia- Term 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 description of data type objects, communication objects and application objects.
  • Page 115 Appendix EtherCAT Specifications This chapter explains EtherCAT communication specifications, Slaves performance specifications, and the specifications of common areas. A2-1 Specifications ..........A2-2 A2-1-1 EtherCAT Specifications .

  • Page 116: A2-1 Specifications

    A2 Appendix EtherCAT Specifications A2-1 Specifications A2-1-1 EtherCAT Specifications This section gives the EtherCAT Specifications. Item Specification Communication protocol Dedicated protocol for EtherCAT Modulation Base band Baud rate 100 Mbps Physical layer 100BASE-TX (IEEE802.3) RJ45 × 2 (Shielded) Connectors CN IN: EtherCAT input CN OUT: EtherCAT output Topology Daisy chain...

  • Page 117: A3-1 Specifications Grt1-Ect

    A3-1 Specifications GRT1-ECT ........

  • Page 118: A3-1 Specifications Grt1-Ect

    Number of connectable 64 Units max. SmartSlice I/O Units Connected directly to the GRT1-ECT or via turnback extension units. SmartSlice I/O Units: 64 Units coupled (about 2 m max.) Communication distance Turnback Cable: 2 m max. (2 cables, 1 m each) Turnback Cable Length 1 m max., up to 2 cables can be connected.

  • Page 119: A3-1-4 Supported Smartslice I/O Units

    A3 Appendix GRT1-ECT Specifications A3-1-4 Supported SmartSlice I/O Units The GRT1-ECT supports a sub-set of the available SmartSlice I/O Units. The table below lists all models supported. Model Function Specification GRT1-ID4 4 NPN inputs 24 VDC, 6 mA, 3-wire connection...

  • Page 120: A3-1-5 External Dimensions

    A3 Appendix GRT1-ECT Specifications A3-1-5 External dimensions The external dimensions are in mm. 27.6 13.8 61.2 36.8 69.7 A3 - 4 GRT1-series EtherCAT Communication Unit - Operation Manual...
  • Page 121 Appendix Object Dictionary A4-1 Object Dictionary ..........A4-2 A4-1-1 Object Dictionary Area .

  • Page 122: Chapter A4 Appendix Object Dictionary

    1000 hex-1FFF hex CoE Communication area servers for designated communication 2000 hex-2FFF hex Manufacturer Specific area 1 Variables defined for all OMRON products Variables defined for the GRT1-series EtherCAT 3000 hex-5FFF hex Manufacturer Specific area 2 Communication Unit Variables defined for CiA401 generic I/O module...

  • Page 123: A4-1-3 Object Description Format

    A4 Appendix Object Dictionary A4-1-3 Object Description Format In this manual, objects are described in the following format. Object description format <Index> <Object name> Range: <Setting range> Unit: <Unit> Default: <Default setting> Attribute: <Data attribute> Size: <Size> Access: <Access> PDO map: <Possible/Not possible> Object description format with sub-indexes <Index>...

  • Page 124: A4-1-4 Communication Objects

    • Indicates the CoE device profile number. 1008 hex Manufacturer device name Range: − Unit: − Attribute: − Default: “GRT1-ECT” Size: 20 bytes (VS) Access: RO PDO map: Not possible • Indicates the Slave model number. 1009 hex Manufacturer hardware version Range: −...

  • Page 125: A4-1-5 Pdo Mapping Object

    PDO map: Not possible • The number of RxPDO mapping entries for digital outputs depends on the total number of digital outputs connected to the GRT1-ECT. When no digital outputs are connected, object 1600 hex will contain 0 entries. • The RxPDO mapping for digital outputs will only hold 240 entries maximum per index. When the index is completely filled, it will ‘overflow’...
  • Page 126 Size: 4 bytes (U32) Access: RW PDO map: Not possible • The GRT1-ECT status flags give the status of the connection between the GRT1-ECT and the SmartSlice I/O Units, and the status of the SmartSlice I/O Units. 1Akk hex RxPDO mapping parameter digital inputs [m..m+hh], where m=(kk-10 hex)*240+1 Sub-index 0: Number of objects Range: −...
  • Page 127 PDO map: Not possible • The number of RxPDO mapping entries for analog outputs depends on the total number of analog outputs connected to the GRT1-ECT. When no analog outputs are connected, object 1610 hex will contain 0 entries. • Value range (depends on the total number of analog outputs): (hh = 01..40) hex 1A30 hex RxPDO mapping parameter counter inputs [1..hh]...

  • Page 128: A4-1-6 Sync Manager Communication Object

    A4 Appendix Object Dictionary A4-1-6 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: −...
  • Page 129 A4 Appendix Object Dictionary 1C12 hex Sync manager 2 PDO assignment Sub-index 0: Number of assigned RxPDOs Unit: − Attribute: − Range: 00 hex to 04 hex Default: 05 hex Size: 1 byte (U8) Access: RW PDO map: Not possible Sub-index 1: Assignment of digital outputs Range: 1600 hex to 17FF hex Unit: −...

  • Page 130: A4-1-7 Manufacturer Specific Objects

    Access: RO PDO map: Possible • These objects contain the actual value for each digital input connected to the GRT1-ECT. The size and number of digital input objects depends on the total number of connected digital inputs. When no digital inputs are connected, only object 6010 hex will be created, containing 0 entries.
  • Page 131 Access: RO PDO map: Possible • These objects contain the actual value for each counter input connected to the GRT1-ECT. The size and number of counter input objects depends on the total number of connected counter inputs. When no counter inputs are connected, object 6030 hex will contain 0 entries.
  • Page 132 Access: RO PDO map: Possible • These objects contain the actual value for each counter output connected to the GRT1-ECT. The size and number of counter output objects depends on the total number of connected counter outputs. When no counter outputs are connected, object 7020 hex will contain 0 entries.

  • Page 133: A4-1-8 Modular Device Profile Area

    Access: RO PDO map: Not possible • Contains the list of all SmartSlice I/O units connected to the GRT1-ECT • Value range (depends on the total number of slices connected to the slice bus): (hh = 01..40) hex • List of supported SmartSlice I/O units and their Producty ID’s:...
  • Page 134 Range: 0000 hex to FFFF hex Size: 2 bytes (U16) Access: RO PDO map: Possible • The GRT1-ECT status flags give the status of the connection between the GRT1-ECT and the SmartSlice I/O Units, and the status of the SmartSlice I/O Units. Name Contents...
  • Page 135 A4 Appendix Object Dictionary Name Contents Automatic Restore Monitor Indicates whether or not the automatic parameter 0: Restore successful restore to the SmartSlice I/O Units 1: Restore failed was completed successfully Communication Unit Error This flag is ON if one of the other flags (bits 0 to 13) is 0: Normal 1: Error occurred I/O Refreshing...
  • Page 136 A4 Appendix Object Dictionary A4 - 16 GRT1-series EtherCAT Communication Unit - Operation Manual...
  • Page 137 Node address EtherCAT Master EtherCAT slave EtherCAT slave information EtherCAT telegram Object dictionary Online replacement Operational 5-10 Operational state GRT1-ECT Automatic restore Features I/O allocation Installation 5-10 PDO communications Installing a Unit 5-10 PDO mapping Online replacement of I/O units...
  • Page 138 Safe-operational state Safety 5-10 5-12 SDO communications SmartSlice I/O Unit errors SmartSlice I/O Units Online replacement Troubleshooting Symbols Sync manager channel Sync manager PDO assignment object Sync manager PDO assignment table Sync manager PDO mapping Table registration Troubleshooting SmartSlice I/O Unit errors TxPDO Typography 7-11...
  • Page 139 The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version. Revision code Date Revised content October 2011 First release March 2012 GRT1-ECT Version 2.1: GRT1-CT1(-1) and GRT1-CP1-L added Revision-1 GRT1-ECT series EtherCAT Slave Unit User’s Manual...
  • Page 140 Revision-2 GRT1-ECT series EtherCAT Slave Unit User’s Manual...
  • Page 141 Buyer indemnifies Omron against all related costs or expenses. rights of another party. 10. Force Majeure. Omron shall not be liable for any delay or failure in delivery 16. Property; Confidentiality. Any intellectual property in the Products is the exclu-...
  • Page 142 OMRON ELETRÔNICA DO BRASIL LTDA • HEAD OFFICE São Paulo, SP, Brasil • 55.11.2101.6300 • www.omron.com.br OMRON EUROpE B.V. • Wegalaan 67-69, NL-2132 JD, Hoofddorp, The Netherlands. • Tel: +31 (0) 23 568 13 00 Fax: +31 (0) 23 568 13 88 • www.industrial.omron.eu Cat.

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