Page 1 Machine Automation Controller NJ/NX-series CPU Unit Built-in EtherCAT Port ® User’s Manual NX701-1 NX102- NX1P2-1 NX1P2-9 NJ501- NJ301-1 NJ101-10 NJ101-90 CPU Unit W505-E1-19...
Page 2 No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe- less, OMRON assumes no responsibility for errors or omissions.
Page 3: Introduction
Introduction Introduction Thank you for purchasing an NJ/NX-series CPU Unit. This manual contains information that is necessary to use the NJ/NX-series CPU Unit. Please read this manual and make sure you understand the functionality and performance of the NJ/NX-series CPU Unit before you attempt to use it in a control system.
Page 4: Relevant Manuals
Relevant Manuals Relevant Manuals The following table provides the relevant manuals for the NJ/NX-series CPU Units. Read all of the manuals that are relevant to your system configuration and application before you use the NJ/NX-series CPU Unit. Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu- dio Version 1 Operation Manual (Cat.
Page 5: Nx1P2
Relevant Manuals Manual Basic information Purpose of use Writing the user program   Using motion control   Using EtherCAT  Using EtherNet/IP  Using OPC UA  Using FINS  Using the database connection service  Using the GEM Services ...
Page 6: Manual Structure
Manual Structure Manual Structure Page Structure The following page structure is used in this manual. Level 1 heading 4 Installation and Wiring Level 2 heading Level 3 heading Mounting Units Level 2 heading Gives the current headings. Level 3 heading 4-3-1 Connecting Controller Components The Units that make up an NJ-series Controller can be connected simply by pressing the Units together...
Page 7: Precaution On Terminology
Manual Structure Precaution on Terminology In this manual, “download” refers to transferring data from the Sysmac Studio to the physical Controller and “upload” refers to transferring data from the physical Controller to the Sysmac Studio. For the Sysmac Studio, synchronization is used to both upload and download data. Here, “synchronize” means to automatically compare the data for the Sysmac Studio on the computer with the data in the physical Controller and transfer the data in the direction that is specified by the user.
Page 8 Manual Structure NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 9: Sections In This Manual
Sections in this Manual Sections in this Manual Introduction Appendices Part Names and Index Slave Settings EtherCAT Communications EtherCAT Network Wiring Setting Up EtherCAT Communications with the Sysmac Studio Process Data Communications and SDO Communications System-defined Variables That Are Related to the Built-in EtherCAT Port Example of Operations for EtherCAT Communications Troubleshooting...
Page 10: Table Of Contents
CONTENTS CONTENTS Introduction ....................... 1 Intended Audience ............................1 Applicable Products ............................1 Relevant Manuals ...................... 2 Manual Structure ....................... 4 Page Structure .............................. 4 Special Information ............................4 Precaution on Terminology ........................... 5 Sections in this Manual .................... 7 Terms and Conditions Agreement .................
Page 11 CONTENTS 1-5-2 Details............................1-15 Section 2 Part Names and Slave Settings Part Names and Functions ..................... 2-2 2-1-1 Built-in EtherCAT Port Indicators ....................2-2 2-1-2 Windows Used in Sysmac Studio ....................2-4 2-1-3 Connecting the Sysmac Studio....................2-7 Setting the Node Addresses of the EtherCAT Slaves ............2-9 Features of Sysmac Devices ....................
Page 12 CONTENTS Downloading the Network Configuration Information ............5-34 5-6-1 Downloading the Network Configuration Information from the Sysmac Studio......5-34 Confirming Communications after Completing EtherCAT Configuration and Settings ................. 5-36 Section 6 Process Data Communications and SDO Communications Process Data Communications (PDO Communications) ............ 6-2 6-1-1 Allocated Variables for Process Data Communications ..............
Page 13 A-2 Monitoring Packets .........................A-8 A-3 Multi-vendor Environments ....................A-17 A-3-1 EtherCAT Slave Information File (ESI Files)................A-17 A-3-2 Connecting Slaves from Other Manufacturers to an OMRON Master........A-19 A-3-3 Installing ESI Files ........................A-19 A-3-4 Editing PDO Entry Tables ......................A-25 A-3-5 Settings for MDP-compatible Slaves from Other Manufacturers ..........
Page 14: Terms And Conditions Agreement
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman- ship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.
Page 15: Application Considerations
Disclaimers Performance Data Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor- mance is subject to the Omron’s Warranty and Limitations of Liability.
Page 16: Safety Precautions
Safety Precautions Safety Precautions Refer to the following manuals for safety precautions. • NX-series CPU Unit Hardware User’s Manual (Cat No. W535) • NX-series NX102 CPU Unit Hardware User’s Manual (Cat. No. W593) • NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578) •...
Page 17: Precautions For Safe Use
Precautions for Safe Use Precautions for Safe Use Refer to the following manuals for precautions for safe use. • NX-series CPU Unit Hardware User’s Manual (Cat No. W535) • NX-series NX102 CPU Unit Hardware User’s Manual (Cat. No. W593) • NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578) •...
Page 18: Precautions For Correct Use
Precautions for Correct Use Precautions for Correct Use Refer to the following manuals for precautions for correct use. • NX-series CPU Unit Hardware User’s Manual (Cat No. W535) • NX-series NX102 CPU Unit Hardware User’s Manual (Cat. No. W593) • NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578) •...
Page 19: Regulations And Standards
Concepts  EMC Directive OMRON devices that comply with EU Directives also conform to the related EMC standards 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 standards.* Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer.
Page 20: Conformance To Shipbuilding Standards
The NJ/NX-series Controllers comply with the following shipbuilding standards. Applicability to the shipbuilding standards is based on certain usage conditions. It may not be possible to use the prod- uct in some locations. Contact your OMRON representative before attempting to use a Controller on a ship.
Page 21: Versions
Versions Versions Hardware revisions and unit versions are used to manage the hardware and software in NJ/NX-series Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a change in hardware or software specifications. Even when two Units or EtherCAT slaves have the same model number, they will have functional or performance differences if they have different hard- ware revisions or unit versions.
Page 22 Versions The ID information on an NX-series NX1P2- CPU Unit is shown below. MAC address PORT1 : PORT2 : Ver.1. HW Rev. Hardware Unit version revision LOT No. DDMYY xxxx ID information indication Lot number Serial number Note The hardware revision is not displayed for the Unit that the hardware revision is in blank. The ID information on an NJ-series NJ501-...
Page 23 Versions Right-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multi- view Explorer and select Production Information. The Production Information Dialog Box is displayed.  Checking the Unit Version of an NJ-series CPU Unit You can use the Production Information while the Sysmac Studio is online to check the unit version of a Unit.
Page 24: Unit Versions Of Cpu Units And Sysmac Studio Versions
Versions  Changing Information Displayed in Production Information Dialog Box Click the Show Detail or Show Outline Button at the lower right of the Production Information Dialog Box. The view will change between the production information details and outline. Outline View Detail View Unit Versions of CPU Units and Sysmac Studio Versions The functions that are supported depend on the unit version of the NJ/NX-series CPU Unit.
Page 25: Related Manuals
Related Manuals Related Manuals The followings are the manuals related to this manual. Use these manuals for reference. Manual name Cat. No. Model numbers Application Description NX-series CPU Unit W535 NX701- Learning the basic specifi- An introduction to the entire NX701 system is Hardware User’s Manual cations of the NX701 CPU provided along with the following information on...
Page 26: Nj101
Related Manuals Manual name Cat. No. Model numbers Application Description NJ/NX-series Instructions W502 NX701- Learning detailed specifi- The instructions in the instruction set (IEC Reference Manual NX102- cations on the basic 61131-3 specifications) are described. NX1P2- instructions of an NJ/NX- NJ501-...
Page 27 Related Manuals Manual name Cat. No. Model numbers Application Description Sysmac Studio Version 1 W504 SYSMAC Learning about the operat- Describes the operating procedures of the Sys- Operation Manual -SE2 ing procedures and func- mac Studio. tions of the Sysmac Studio. CNC Operator O032 SYSMAC...
Page 28: Revision History
Revision History Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual. W505-E1-19 Cat. No. Revision code Revision code Date Revised content July 2011 Original production March 2012 Added information on the NJ301- and corrected mis- ...
Page 29: Nx102
Revision History April 2018 • Corrected mistakes. April 2018 • Added information on the NX102-. • Collected descriptions on event codes and errors to the NJ/NX-series Troubleshooting Manual. • Corrected mistakes. July 2018 • Corrected mistakes. NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 30 Revision History NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 31: Introduction
Introduction This section provides an overview of EtherCAT communications, describes the system configuration and specifications, and provides operating procedures. 1-1 Introduction to EtherCAT ........1-2 1-1-1 EtherCAT Features .
Page 32: Introduction To Ethercat
1 Introduction Introduction to EtherCAT EtherCAT (Ethernet Control Automation Technology) is a high-performance industrial network system that enables faster and more efficient communications based on Ethernet. Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed. Furthermore, even though EtherCAT is a unique protocol, it offers excellent general-purpose applicability.
Page 33: Ethercat Features For Nj/Nx-Series Cpu Units
You can use the NJ/NX-series Machine Automation Controllers together with Sysmac devices* and the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation. * “Sysmac devices” is a generic name for EtherCAT slaves and other OMRON control components that were designed with the same communications and user interface specifications.
Page 34: System Configuration And Configuration Devices
1 Introduction System Configuration and Configuration Devices 1-2-1 System Configuration The EtherCAT network configuration and configuration devices are shown below. Sysmac Studio NJ/NX-series CPU Unit EtherCAT master ESI files .xml Built-in EtherCAT port Input port EtherCAT Junction Slave Unit power supply Communications cable Output ports I/O power supply...
Page 35 Note 1 Refer to 1-3-1 Performance Specifications for details on the maximum number of slaves and the settable node address range. 2 The slaves are synchronized even when multiple non-synced slaves and Junction Slaves are connected. The following tables lists some of the OMRON EtherCAT slaves that are available. Synced/ Reference Assigning...
Page 36 The Junction Slave supports the reference clock that is required for a system configuration that enables synchronization between slaves based on a distributed clock (DC). The following models are examples of some of the OMRON EtherCAT slaves. Slave type/name Number of ports...
Page 37 1 Introduction Precautions for Correct Use Precautions for Correct Use • GX-JC03 and GX-JC06 EtherCAT Junction Slaves do not have hardware switches for node address setting. The Sysmac Studio is required to set the node addresses for these slaves. The node addresses are set to 0 by default. If you use these slaves with the default node address, a Network Configuration Verification Error will occur.
Page 38: Determining The Network Configuration
1 Introduction Additional Information With a CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher, you can add NX-series Safety Control Units to the EtherCAT network. You can use NX-series Safety Control Units on EtherCAT Slave Terminals to build a safety con- trol system on EtherCAT.
Page 39: Specifications Of Built-In Ethercat Port
1 Introduction Specifications of Built-in EtherCAT Port 1-3-1 Performance Specifications Specification Item NX102- NX1P2- NJ501-/ NX701- NJ101- NJ301-   Communications EtherCAT protocol protocol Supported services CoE (Process data communications and SDO communications) Synchronization DC (Distributed Clock) Physical layer 100BASE-TX Modulation Baseband Baud rate...
Page 40: Nj101
1 Introduction Specification Item NX102- NX1P2- NJ501-/ NX701- NJ101- NJ301-   2,000 to 8,000 μs 1,000 μs, 2,000 • Primary peri- 1,000 to 32,000 500 μs , 1,000 odic task μs (in 250-μs (in 250-μs incre- μs, or 4,000 μs μs, 2,000 μs, or increments) ments)
Page 41 1 Introduction List of Supported Functions Function name Description PDO mapping using CoE Process data communica- Fail-soft operation for slave communications errors tions Stop operation for slave communications errors DC (distributed clock) Clock synchronization • Emergency message server (receptions from slaves) SDO communications •...
Page 42: Introduction Of Communications
1 Introduction Introduction of Communications This section provides an introduction of the communications functions of the built-in EtherCAT port. 1-4-1 Process Data Communications and SDO Communications The built-in EtherCAT port performs the following communications method to exchange information with EtherCAT slaves. •...
Page 43 1 Introduction To enable/disable slaves during system operation, use the Enable/Disable EtherCAT Slave instruc- tion. Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on this instruction. Communications Control during Operation  Wait Time Setting for Slave Startup Use this function to set the wait time until all of the EtherCAT slaves are connected to the network.
Page 44: Ethercat Communications Procedure
1 Introduction EtherCAT Communications Procedure 1-5-1 Overview Step Section 1. Mounting and Setting Devices and Hardware 2-2 Setting the Node Addresses of the EtherCAT Slaves ↓ 2. Laying EtherCAT Communications Cables Section 4 EtherCAT Network Wiring ↓ 3. Creating the EtherCAT Network Configuration 5-2 Creating the EtherCAT Network Con- figuration ↓...
Page 45: Details
1 Introduction 1-5-2 Details Sysmac Studio Step Description Section operation 1. Mounting and Setting Devices • Use the hardware switches on all of the 2-2 Setting the and Hardware EtherCAT slaves in the network to set the Node node addresses. (The starting node Addresses of address and sequence are not specified.) the EtherCAT...
Page 46 1 Introduction Sysmac Studio Step Description Section operation Setting EtherCAT Parame- ters Setting EtherCAT Master Set the EtherCAT master parameters. Create an EtherCAT 5-4-1 Setting Parameters (Examples: Fail-soft Operation Setting and master with EtherCAT EtherCAT Mas- Wait Time for Slave Startup) under Configurations and Setup.
Page 47 1 Introduction Sysmac Studio Step Description Section operation 9. Downloading the Network Download the network configuration infor- Select Synchroniza- 5-6 Download- Configuration Information and mation (EtherCAT configuration, process tion from the Controller ing the Network the User Program data information, and parameters). Menu to download and Configuration verify the network con-...
Page 48 1 Introduction 1-18 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 49: Part Names And Slave Settings
Part Names and Slave Settings This section provides the part names and describes the slave settings and Sysmac device functions. 2-1 Part Names and Functions ........2-2 2-1-1 Built-in EtherCAT Port Indicators .
Page 50: Part Names And Functions
2 Part Names and Slave Settings Part Names and Functions 2-1-1 Built-in EtherCAT Port Indicators The indicators show the operating status of the built-in EtherCAT port on an NJ/NX-series CPU Unit. The locations of indicators of the built-in EtherCAT port on the CPU Unit as well as the colors and sta- tuses of indicators associated with corresponding operating status are shown below.
Page 51 2 Part Names and Slave Settings  NX102 CPU Unit Operation indicators for the Built-in EtherCAT port Built-in EtherCAT port (PORT3)  NX1P2 CPU Unit SW SETTING POWER PORT1 EtherNet/IP ERROR BUSY SD PWR SD BUSY PORT1 EtherNet/IP NET RUN PORT2 EtherCAT NET ERR LINK/ACT...
Page 52: Windows Used In Sysmac Studio
2 Part Names and Slave Settings 2-1-2 Windows Used in Sysmac Studio Use the Sysmac Studio to create the EtherCAT network configuration and to make other settings. The following windows are used.  Creating the EtherCAT Network Configuration Use the EtherCAT Configuration Editor offline to register slaves in the EtherCAT slave configuration. Or, upload the network configuration online.
Page 53 2 Part Names and Slave Settings Axis Basic Settings: Used to create Axis Variables and set parameters for Servo Drive and encoder input slaves. Use the Axis Basic Settings to assign Axis Variables to the Servo Drive/encoder input slaves. Setting Axis Parameters: Use the Axis Setting Table to set axis parameters.
Page 54 2 Part Names and Slave Settings  EtherCAT Master and Slave Parameters Settings Set the EtherCAT master and slave parameters after selecting a master or slave on the EtherCAT network configuration. • Parameter Setting for the EtherCAT Master • Parameter Setting for the EtherCAT Slaves Refer to Section 5 Setting Up EtherCAT Communications with the Sysmac Studio for the Sysmac Studio procedures.
Page 55: Connecting The Sysmac Studio
2 Part Names and Slave Settings 2-1-3 Connecting the Sysmac Studio You can connect the Sysmac Studio to the NJ/NX-series CPU Unit through the USB or EtherNet/IP port. You must set the connection method, IP address to connect to, and other parameters for com- munications between the computer and Controller.
Page 56 2 Part Names and Slave Settings  Communications Setup Dialog Box Settings Item Description Connection type Specify the connection method to use for online communications. The specified connec- tion method is used when you go online. Remote IP Address If you select Remote connection via USB or Ethernet connection via a hub, set the IP address of the Controller that you normally will connect to.
Page 57: Setting The Node Addresses Of The Ethercat Slaves
EtherCAT Slaves  Setting Node Address Using Hardware Switches Setting the node address is described here. An OMRON GX-series Remote I/O Terminal is used as the slave. With a GX-series Remote I/O Terminal, the node address is set on hardware switches.
Page 58 2 Part Names and Slave Settings Double-click EtherCAT under Configurations and Setups on the Multiview Explorer. Or, right- click EtherCAT under Configurations and Setups and select Edit. Right-click the EtherCAT master that is displayed in the Edit Pane and select Write Slave Node Address.
Page 59 2 Part Names and Slave Settings If there are slaves for which the node address is not set (i.e., for which the present value is 0) or if there is more than one slave with the same node address (indicated by “!”), change the set values of the slave addresses, and then click the Write Button.
Page 60: Features Of Sysmac Devices
2-3-1 Sysmac Devices “Sysmac devices” is a generic name for EtherCAT slaves and other OMRON control components that were designed with the same communications and user interface specifications. You can use the NJ/NX-series Machine Automation Controllers together with Sysmac devices and the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation.
Page 61 Refer to 7-1-3 EtherCAT Master Function Module, Category Name: _EC for details on the values. Additional Information • This feature is not supported for OMRON slaves that are not Sysmac devices and slaves that are manufactured by other companies. Check the error detection methods for each slave.
Page 62 0x0012 in the EtherCAT slave controller of the slave as the node address.) • For OMRON slaves that are not Sysmac devices, set the node addresses on the hardware switches. If the node address switches are set to 0, a Network Configuration Verification Error occurs.
Page 63: List Of Sysmac Devices
Refer to 5-4-1 Setting EtherCAT Master for information on checking serial numbers. 2-3-3 List of Sysmac Devices The following table lists the OMRON Sysmac slaves. Refer to the manual for the slave for information on OMRON slaves that are not listed in the following table. Name...
Page 64: Sysmac Device Features And Ethercat Masters
*5 The ability to store node addresses depends on the ability of the EtherCAT master from another manufacturer. *6 The ability to verify serial numbers depends on the ability of the EtherCAT master from another manufacturer. OMRON Slaves That Do Not Support Sysmac Devices OMRON EtherCAT master NJ/NX-series CPU Unit NX701-...
Page 65 *7 The ability to verify serial numbers depends on the ability of the EtherCAT master from another manufacturer. Slaves from Other Manufacturers If you connect slaves from other manufacturers to an OMRON EtherCAT master, some slave functions are not supported or restricted as follows.
Page 66 2 Part Names and Slave Settings 2-18 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 67 EtherCAT Communications This section describes the different types of EtherCAT communications, EtherCAT set- tings, and state transitions. 3-1 EtherCAT Communications Types and Settings ..... 3-2 3-1-1 CoE (CAN Application Protocol over EtherCAT) .
Page 68: Ethercat Communications
3 EtherCAT Communications EtherCAT Communications Types and Settings 3-1-1 CoE (CAN Application Protocol over EtherCAT) The EtherCAT port built into the NJ/NX-series CPU Unit uses CoE (CAN application protocol over Eth- erCAT) to exchange information with slaves over EtherCAT. CoE implements message communica- tions of CAN application over an EtherCAT network.
Page 69 3 EtherCAT Communications Additional Information Object Dictionary The object dictionary is a data table within the device that interfaces the application and commu- nications. It describes the information handled by the device. Each piece of information is called an object. Each object is assigned a 4-digit hexadecimal index. Each object is divided into a data type area, a CoE communications area, and a manufacturer- specific area.
Page 70 3 EtherCAT Communications Additional Information Distributed Clock (DC) This is a unique EtherCAT feature that enables precise clock synchronization. The DC-based clock synchronization enables sharing the same time between the EtherCAT master and the slaves. This enables the timing of the operation of the EtherCAT master and slaves to be syn- chronized with the shared time.
Page 71: Types Of Communications
3 EtherCAT Communications 3-1-2 Types of Communications The following two methods are used to exchange data between master and slaves in EtherCAT com- munications. Communication Name of communication Timing of processing Type of data type type Cyclic Process data Constant PDO data communications communications...
Page 72: Types Of Ethercat Variables
3 EtherCAT Communications SDO Communications SDO communications are used to read and write specified slave data from the master when required. This is called SDO communications. You can read/write the following specified slave data with the EC_CoESDORead (Read CoE SDO) instruction or the EC_CoESDOWrite (Write CoE SDO) instruction.
Page 73: Settings Required For Ethercat Communications
3 EtherCAT Communications Variable type Description Allocated Axis Variables These are structure variables for I/O and parameters for Servo Drive and variables encoder input slaves. You can change the names of these variables. CPU Unit Axis Variable B Axis Variable A Allocated.
Page 74: Programming Ethercat Communications
3 EtherCAT Communications Programming EtherCAT Communications The user program in the NJ/NX-series CPU Unit reads/writes EtherCAT slave data and performs motion control for Servo Drive and encoder input slaves. Instructions and variables are used according to slave types and target data as shown below. Slave type Type of data Timing...
Page 75: State Transitions For Ethercat Communications
3 EtherCAT Communications State Transitions for EtherCAT Communications 3-3-1 Self Diagnosis at Startup The EtherCAT master executes the following self-diagnosis when the power is turned ON. The results of self-diagnosis are provided in the following system-defined variables as EtherCAT mas- ter errors if errors are detected.
Page 76 3 EtherCAT Communications The current control state can be determined using the RUN indicator on the front panel. Process data State Description RUN indicator communications communications 1. Init Communications are Not allowed Not allowed Not lit being initialized. Com- munications are not possible.
Page 77: Cpu Unit Status In Relation To Ethercat
3 EtherCAT Communications Additional Information I/O Refreshing The procedure from startup of the EtherCAT network until process data I/O can be refreshed is shown below. There is no correlation between the startup of the EtherCAT network and the exe- cution of the user program. Design the user program by adding the system-defined variables* for the relevant slaves to the interlock conditions of the device variables for the slaves.
Page 78 3 EtherCAT Communications 3-12 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 79: Ethercat Network Wiring
EtherCAT Network Wiring This section describes how to connect and wire an EtherCAT network. 4-1 Laying the EtherCAT Network ........4-2 4-1-1 Supported Network Topologies .
Page 80: Laying The Ethercat Network
4 EtherCAT Network Wiring Laying the EtherCAT Network This section describes how to install EtherCAT networks. 4-1-1 Supported Network Topologies The NJ/NX-series CPU Unit can be connected using daisy chain connections with no branching, or with branching connections using Junction Slaves. This supports redundancy, and all topologies other than rings.
Page 81 EtherCAT network. You can determine whether the EtherCAT Junction Slave supports a reference clock from the Reference Clock setting in the Sysmac Studio slave settings. OMRON EtherCAT Junction Slaves support a reference clock.
Page 82: Installation Precautions
4 EtherCAT Network Wiring 4-1-2 Installation Precautions Basic precautions for the installation of EtherCAT networks are provided below. Precautions when Installing a Network • When you install an EtherCAT network, take sufficient safety precautions and perform the installation according to standards and specifications. (Refer to JIS X5252 or to electrical facility technical refer- ences.) An expert well versed in safety measures and the standards and specifications should be asked to perform the installation.
Page 83 4 EtherCAT Network Wiring Cable with Connectors  Sizes and Conductor Pairs: AWG 27 × 4 Pairs Product name Manufacturer Cable length [m] Model Contact information OMRON Cor- XS6W- OMRON Customer poration 6LSZH8SS30CM-Y Service Center Standard type XS6W- Cable with Connec-...
Page 84 *1 Cables are available in the following lengths: 0.3, 0.5, 1, 2, 3, 5, 10, and 15 m. Refer to the Industrial Ethernet Connectors Catalog (Cat. No. G019) for details. *2 For details, contact your OMRON representative. Cables and Connectors ...
Page 85 4 EtherCAT Network Wiring Attaching the Connectors to the Cable and Pin Assignments Use straight wiring to attach the connectors to the communications cable. Pin No. Wire color Wire color Pin No. White-Green White-Green Green Green White-Orange White-Orange Blue Blue White-Blue White-Blue Orange...
Page 86: Connecting Communications Cables
4 EtherCAT Network Wiring 4-1-4 Connecting Communications Cables Cable connections can be made freely in EtherCAT networks. Connect the communications cable from the EtherCAT master to the input port on the first slave, and then connect the communications cable to the next slave to the output port on the first slave.
Page 87: Cable Connection Procedure
4 EtherCAT Network Wiring 4-1-5 Cable Connection Procedure Precautions for Correct Use Precautions for Correct Use • Turn OFF the Controller’s power supply before connecting or disconnecting Ethernet commu- nications cable. • Allow extra space for the bending radius of the communications cable. The required space depends on the communications cable, connector, and CPU Unit that are used.
Page 88 4 EtherCAT Network Wiring 4-10 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 89: Setting Up Ethercat Communications With The Sysmac Studio
Setting Up EtherCAT Communications with the Sysmac Studio This section describes how to set the network configuration information and how to check EtherCAT communications from the Sysmac Studio. 5-1 Overview of Network Configuration Information ....5-2 5-2 Creating the EtherCAT Network Configuration .
Page 90: Overview Of Network Configuration Information
5 Setting Up EtherCAT Communications with the Sysmac Studio Overview of Network Configuration Information To execute EtherCAT communications, you must create the following three types of data with the Sys- mac Studio and download the data to the CPU Unit. When this data is set, the network configuration information is automatically created.
Page 91: Creating The Ethercat Network Configuration
5 Setting Up EtherCAT Communications with the Sysmac Studio Creating the EtherCAT Network Configuration This section describes how to create the EtherCAT network configuration. Start the Sysmac Studio offline. Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, right- click EtherCAT under Configurations and Setup and select Edit.
Page 92 5 Setting Up EtherCAT Communications with the Sysmac Studio Select a slave in the Toolbox, drag it to the Edit Pane, and drop it under the master. The slave will be added under the master. Toolbox Drag the slaves. Select another slave in the Toolbox, drag it to the Edit Pane, and drop it under the slave to which you want to connect it to.
Page 93 5 Setting Up EtherCAT Communications with the Sysmac Studio Additional Information You can go online and read the actual network configuration from the Sysmac Studio to display it and to use it as the network configuration in the project. For details, refer to 5-5-2 Automatically Creating the Network Configuration. NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 94: Setting Ethercat Slave Variables And Axes
5 Setting Up EtherCAT Communications with the Sysmac Studio Setting EtherCAT Slave Variables and Axes Device variables are used to read and write process data for EtherCAT slaves. Axis variables are used to manipulate slaves to which axes are assigned from the Motion Control Function Module. This section describes how to register device variables and set the axes.
Page 95 5 Setting Up EtherCAT Communications with the Sysmac Studio Select the variables from the pull-down list in the I/O Map Tab Page to assign them to I/O ports. Select user-defined variables that were previously registered in the global variable table. Inputting New Device Variable Names You can input the required device variable names.
Page 96 5 Setting Up EtherCAT Communications with the Sysmac Studio To specify a variable table for the scope, specify the Variable Type. Automatically Creating Device Variable Names The device variable names will be created by combining the device name and the I/O port name. The device names are set in the slave parameters.
Page 97 5 Setting Up EtherCAT Communications with the Sysmac Studio Select a slave or I/O ports on the I/O Map Tab Page, right-click, and select Create Device Vari- able. Device variables that were automatically created If you specify a variable table for the scope, specify the Variable Type afterward. Device variables are automatically assigned to the I/O ports of the slaves and registered in the variable table that is specified by the variable type.
Page 98: Axis Settings For Servo Drives And Encoder Input Slaves
5 Setting Up EtherCAT Communications with the Sysmac Studio Additional Information • We recommend that you set device names. • To delete the mapping for the variable that is assigned to a port, delete the contents of the cell in the Variable Column or right-click the cell and select Reset Assignment. The mapping of the device variable is deleted.
Page 99: Ethercat Master And Slave Parameter Settings
5 Setting Up EtherCAT Communications with the Sysmac Studio EtherCAT Master and Slave Parameter Settings 5-4-1 Setting EtherCAT Master Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, right- click EtherCAT under Configurations and Setup and select Edit. Select the EtherCAT master that is displayed in the Edit Pane.
Page 100 5 Setting Up EtherCAT Communications with the Sysmac Studio • Screen for NX-series CPU Unit The EtherCAT master settings are listed below. Name Editing Remarks Device name Displays the name of the EtherCAT master. Default setting: Master Model name Always ”Master.” allowed.
Page 101 5 Setting Up EtherCAT Communications with the Sysmac Studio Name Editing Remarks Fail-soft Operation Setting Select Stop or Fail-soft operation for communications with all slaves on the network when the master detects a communica- tions error (cable disconnection, slave malfunction, etc.). Default setting: Fail-soft operation Refer to 9-1 Overview of Errors for details on errors.
Page 102 5 Setting Up EtherCAT Communications with the Sysmac Studio *2 Displayed only with the NJ-series CPU Unit. *3 Displayed only with the NX-series CPU Unit. *4 For the NX102 and NX1P2 CPU Units, the default setting is 2,000 μs. *5 When the priority-5 periodic task is not used, “---” is displayed. *6 Exist is displayed with the NX-series CPU Unit, Not Exist is displayed with the NJ-series.
Page 103 5 Setting Up EtherCAT Communications with the Sysmac Studio Verified information Required/optional Description Number of slaves connected Required Number of slaves in the network Vendor ID Required Vendor ID of each slave Product code Required Product code of each slave Revision Revision number of each slave Optional...
Page 104: Setting Ethercat Slaves
5 Setting Up EtherCAT Communications with the Sysmac Studio 5-4-2 Setting EtherCAT Slaves Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, right- click EtherCAT under Configurations and Setup and select Edit. Select an EtherCAT slave that is displayed in the Edit Pane. •...
Page 105 5 Setting Up EtherCAT Communications with the Sysmac Studio • Screen for NX-series CPU Unit The EtherCAT slave settings are listed as below. Name Editing Remarks Device name Displays the name of the slave. Default setting: E*** (where * is a serial number starting from 001) The default value is automatically generated based on the node address.
Page 106 5 Setting Up EtherCAT Communications with the Sysmac Studio Name Editing Remarks Enable/Disable Settings Enables or disables the slave as a communications tar- get. • Enabled: The slave will operate. • Disabled: The slave will not operate. Set the following slaves as disabled slaves: slaves that are not installed on the physical EtherCAT network but are scheduled for addition at a later date or slaves that not used due to changes in the device configuration...
Page 107 5 Setting Up EtherCAT Communications with the Sysmac Studio Name Editing Remarks Reference Clock Displays whether the slave provides a reference clock. allowed. Exist is displayed if the slave provides a reference clock. Not exist is displayed if the slave does not provide a refer- ence clock.
Page 108 5 Setting Up EtherCAT Communications with the Sysmac Studio Changing the PDO Map Settings Default allocations of process data for slaves are defined in the ESI files. Depending on the slave, you may have to change the process data assignment as required by the application.
Page 109 5 Setting Up EtherCAT Communications with the Sysmac Studio The Edit PDO Map Settings Window will appear. Edit the allocated data as required. Select the output data (RxPDO) and input data (TxPDO) in the PDO Map. You can add or delete the PDOs with Editable Flags as entries for the objects to use for the slaves.
Page 110 5 Setting Up EtherCAT Communications with the Sysmac Studio  Relation between Changes in the Enable/Disable Setting and I/O Operations The I/O operations that occur for changes in the enable/disable settings of an EtherCAT slave are given in the following table. Inputs Outputs Change in status...
Page 111 5 Setting Up EtherCAT Communications with the Sysmac Studio (2) If the input device is disabled, always write the value of the device variable. _EC_DisableSlavTbl [node_address_of_input_dev Device variable ice] system-defined variable of input device Considered FALSE if the input device is disabled.
Page 112: Comparing And Merging Ethercat Network Configurations
5 Setting Up EtherCAT Communications with the Sysmac Studio Comparing and Merging EtherCAT Network Configurations 5-5-1 Comparing and Merging with the Actual Network Configuration from the Sysmac Studio Use the Sysmac Studio to compare the network configuration information settings in the Sysmac Studio with the actual network configuration that is connected, including branch lines and branch locations.
Page 113 5 Setting Up EtherCAT Communications with the Sysmac Studio Use the following procedure to compare and merge the network configuration settings on the Sysmac Studio and the actual network configuration. Start the Sysmac Studio and go online with the Controller. Double-click EtherCAT under Configurations and Setup in the Multiview Explorer.
Page 114 5 Setting Up EtherCAT Communications with the Sysmac Studio The Compare and Merge with Actual Network Configuration Dialog Box is displayed. The results of comparing the settings on the Sysmac Studio with the actual network configuration are displayed in the Comparison results Column. If there is a slave that exists only on the actual network, “Added”...
Page 115 5 Setting Up EtherCAT Communications with the Sysmac Studio Click the Close Button. The Sysmac Studio returns to the Edit Pane. This completes the operation to compare and merge with the actual network configuration. “Removed” is displayed in the Comparison results Column for a slaves that exist only in the set- tings on the Sysmac Studio.
Page 116 5 Setting Up EtherCAT Communications with the Sysmac Studio Additional Information • Make sure that the communications cables between the master and slaves are connected cor- rectly before you perform the compare and merge operation. The Compare and Merge with Actual Network Configuration Dialog Box is not displayed if the connections are not correct.
Page 117: Automatically Creating The Network Configuration
5 Setting Up EtherCAT Communications with the Sysmac Studio Version Information Sysmac Studio version 1.22 or higher is required to show the list of the incorrect settings of slave node address. 5-5-2 Automatically Creating the Network Configuration Instead of manually setting the network configuration offline, you can also automatically create the net- work configuration on the Sysmac Studio based on the actual network configuration.
Page 118 5 Setting Up EtherCAT Communications with the Sysmac Studio Click the Apply actual network configuration Button. The actual network configuration is duplicated in the network configuration on Sysmac Studio, and the Comparison results Column shows that everything in the configurations matches. (The network configuration on the Sysmac Studio is created based on the actual network configura- tion.) Click the Close Button.
Page 119 5 Setting Up EtherCAT Communications with the Sysmac Studio Additional Information • Make sure that the communications cables between the master and slaves are connected cor- rectly before you perform this operation. The Compare and Merge with Actual Network Config- uration Dialog Box is not displayed if the connections are not correct.
Page 120: Using The Sysmac Studio To Obtain Serial Numbers From The Actual Network Configuration
5 Setting Up EtherCAT Communications with the Sysmac Studio 5-5-3 Using the Sysmac Studio to Obtain Serial Numbers from the Actual Network Configuration If the Serial Number Check Method in the EtherCAT master settings is set to Setting = Actual device, you must download the network configuration information in which the slave serial numbers are set to the CPU Unit.
Page 121 5 Setting Up EtherCAT Communications with the Sysmac Studio Additional Information • Make sure that the communications cables between the master and slaves are connected cor- rectly before you perform this operation. You cannot get the serial numbers of the slaves unless the connections are correct.
Page 122: Downloading The Network Configuration Information
5 Setting Up EtherCAT Communications with the Sysmac Studio Downloading the Network Configuration Information 5-6-1 Downloading the Network Configuration Information from the Sysmac Studio You must download the network configuration information in the project from the Sysmac Studio to the NJ/NX-series CPU Unit.
Page 123 5 Setting Up EtherCAT Communications with the Sysmac Studio Click the Transfer to Controller Button. The network configuration information is downloaded from the Sysmac Studio to the Controller. Additional Information The backup parameters of EtherCAT slaves are out of the scope of synchronization and are not downloaded to the slaves for the default settings.
Page 124: Confirming Communications After Completing Ethercat Configuration And Settings
5 Setting Up EtherCAT Communications with the Sysmac Studio Confirming Communications after Completing EtherCAT Configuration and Settings If normal network configuration information is downloaded to the CPU Unit, EtherCAT communications start automatically regardless of the operating mode of the CPU Unit. After the start of EtherCAT communications, check the process data communications status to ensure that process data communications are performed normally between the EtherCAT master and all EtherCAT slaves.
Page 125 5 Setting Up EtherCAT Communications with the Sysmac Studio Precautions for Correct Use Precautions for Correct Use • When you change the EtherCAT slave configuration and reconfigure the axis allocation set- tings, you must download the network configuration information again. •...
Page 126 5 Setting Up EtherCAT Communications with the Sysmac Studio 5-38 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 127 Process Data Communications and SDO Communications This section describes the timing of communications, response times, and special instructions for process data communications and SDO communications. It also pro- vides sample programming. 6-1 Process Data Communications (PDO Communications) ....6-2 6-1-1 Allocated Variables for Process Data Communications .
Page 128: Process Data Communications (Pdo Communications)
6 Process Data Communications and SDO Communications Process Data Communications (PDO Communications) Process data communications cyclically exchanges data between the master and slaves in the process data communications cycle (i.e., the task period of primary periodic task or priority-5 periodic task). From the user program in the NJ/NX-series CPU Unit, slave data is accessed through allocated vari- ables.
Page 129 6 Process Data Communications and SDO Communications Axis Variables Servo Drives and encoder input slaves that are assigned to axes on EtherCAT can be controlled by specifying Axis Variables (structures) as parameters for motion control instruction in-out variables. Axis Variables (structures) consist of the following data. •...
Page 130: Process Data Communications Refresh Timing
6 Process Data Communications and SDO Communications 6-1-2 Process Data Communications Refresh Timing The process data communications cycle is the same as the task period of the primary periodic task or the priority-5 periodic task for sequence control. It is also the same as the motion control period. The control periods between each function module and between the function module and the slave are shown as follows.
Page 131 6 Process Data Communications and SDO Communications Relationship Between Process Data Communications Cycle and Task Setting The process data communications cycles of the primary periodic task and priority-5 periodic task are synchronized with the task period of the task to which I/O refreshing is assigned for each EtherCAT slave.
Page 132 An error occurs if you use the Sysmac Studio to set the I/O refreshing timing to a communications cycle that is not supported with the slave. The error occurs only with the OMRON slaves that is set for synchronization. *2 You can use the priority-5 periodic task only with the NX701 CPU Units.
Page 133: Checking The Validity Of The Process Data
6 Process Data Communications and SDO Communications 6-1-3 Checking the Validity of the Process Data When reading and writing the device variables and axes variables that input and output process data with slaves, the validity of the process data must be checked. When EtherCAT communications are not established, such as immediately after the power supply to the CPU Unit is turned ON, the process data is invalid.
Page 134 6 Process Data Communications and SDO Communications Sample Programming to Check the Validity of the Process Data for Each Slave With this sample program, validity of the process data is checked individually for each slave, and the data inputs and outputs with the salve are controlled. The slave with which the process data is input and output is given the node address 1 and named “slave 1”.
Page 135 6 Process Data Communications and SDO Communications (* Input valid condition *) IF A=TRUE AND InDataInvalid=FALSE THEN Slav_In:=TRUE; ELSE Slav_In:=FALSE; END_IF; (* Output data valid *) IF Slav_Out=TRUE THEN E001_Out_Bit00:=TRUE; ELSE E001_Out_Bit00:=FALSE; END_IF; (* Input data valid *) IF Slav_In=TRUE AND E001_In_Bit00=TRUE THEN E001_Out_Bit07:=TRUE;...
Page 136 6 Process Data Communications and SDO Communications  LD _EC_PDActive All_slave_outputs_valid _EC_SlavErr WORD#16#0000 _EC_InDataInvalid All_slave_inputs_valid All slave inputs E001_Out_Bit07 All_slave_inputs_valid E001_In_Bit00 All slave outputs E001_Out_Bit00 All_slave_outputs_valid  ST IF _EC_PDActive=TRUE AND _EC_SlavErr=WORD#16#0 THEN A:=TRUE; ELSE A:=FALSE; END_IF; (* Output valid condition *) IF A=TRUE THEN AllSlav_Out:=TRUE;...
Page 137 6 Process Data Communications and SDO Communications (* Input data valid *) IF ALLSlav_In=TRUE AND E002_In_Bit00=TRUE THEN E002_Out_Bit07:=TRUE; ELSE E002_Out_Bit07:=FALSE; END_IF; 6-11 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 138: System Response Time In Process Data Communications
6 Process Data Communications and SDO Communications 6-1-4 System Response Time in Process Data Communications This section defines the maximum I/O response time of process data communications in the system. Standard Synchronization Timing The following timing chart shows when sequence control and motion control are performed within the task period of the primary periodic task in which EtherCAT communications were refreshed.
Page 139 For example, the EtherCAT frame length in bytes for the following configu- ration is as given below. Configuration Example • Two OMRON GX-series EtherCAT slaves: Data size of 20 bytes/slave • One EtherCAT Slave Terminal: Input data size of 50 bytes and output data size of 30 bytes...
Page 140 6 Process Data Communications and SDO Communications  Transmission Jitter The value of transmission jitter depends on the CPU Unit. CPU Unit Transmission jitter NX701 10 μs NX102 NX1P2 100 μs NJ-series  Slave Input Response Time This is the time from a slave reads input information from output devices until the slave transmits a frame as a process data on the EtherCAT communications.
Page 141 6 Process Data Communications and SDO Communications The transmission delay times for PDO communications cycle 1 and PDO communications cycle 2 are displayed in the Output Tab Page. The transmission delay times of the EtherCAT master depend on the periodic tasks of the CPU Units that refresh I/O with the EtherCAT slaves, as shown below.
Page 142: I/O Operations For Major Fault Level Controller Errors And I/O Refreshing With Specified Values
The formula and the maximum time required for all the slaves to enter Safe-Operational state and for the output to reach to the value set from the slave settings are shown below. This formula applies to only OMRON slaves. 6-16...
Page 143 6 Process Data Communications and SDO Communications CPU Unit Formula Maximum time PDO communications timeout detection count × Task NX-series The result given from the left for- mula. period of the task assigned to slave + 10 ms The maximum time is 100 to 110 ms if the calculation result is 110 ms or less.
Page 144 6 Process Data Communications and SDO Communications Forced Refreshing You can specify forced refreshing from the Sysmac Studio for debugging. This allows you to change process data output values to the slaves and input values from the slaves to the values that you specify in advance.
Page 145 6 Process Data Communications and SDO Communications Precautions for Safe Use • You can select whether the master continues or stops communications with all slaves when a communications error occurs. Refer to 5-4-1 Setting EtherCAT Master for details. • If noise occurs or an EtherCAT slave is disconnected from the network, any current communi- cations frames may be lost.
Page 146: Sdo Communications
6 Process Data Communications and SDO Communications SDO Communications SDO communications are performed by using EtherCAT instructions to access SDO data in slaves when required. 6-2-1 EtherCAT Instructions You can perform the following SDO communications with EtherCAT instructions. • Reading and writing of SDO data Reading and Writing SDO Data Function Instruction...
Page 147: Sample Programming
6-2-2 Sample Programming This sample uses an EtherCAT communications instruction to read the software version of an OMRON R88D-KN01L-ECT Servo Drive. The node address of the slave is 1. The object index for the software version is 16#100A. The subindex is 0. The read value is stored in STRING variable VersionInfo.
Page 148: Execution Timing Of Sdo Communications
6 Process Data Communications and SDO Communications Internal Variable Data type Initial value Comment Variables Trigger BOOL False Execution condition SdoObject _sSDO_ACCESS SDO parameter (Index:=0, Subindex:=0, IsCompleteAccess:=False) DoSdoRead BOOL False Processing VersionInfo STRING[256] Read data ‘’ NormalEnd UINT Normal end ErrorEnd UINT Error end...
Page 149: Minimum Message Response Time For Sdo Communications
6 Process Data Communications and SDO Communications 6-2-4 Minimum Message Response Time for SDO Communications The minimum message response time for SDO communications is the time from when the SDO com- munications instruction is executed in the user program until execution of the instruction is completed. When the instruction is executed in the user program, the master sends a frame to the slave in the sys- tem service.
Page 150 6 Process Data Communications and SDO Communications The following timing chart shows an example of the timing from an execution of the SDO communi- cations instruction to the completion of the instruction execution, based on the performance model below. Here, it is assumed that the program that executes the SDO communications instructions is assigned to the primary periodic task.
Page 151 6 Process Data Communications and SDO Communications The following timing chart shows an example of the timing from an execution of the SDO communi- cations instruction to the completion of the instruction execution, based on the performance model below. Here, it is assumed that the program that executes the SDO communications instructions is assigned to the primary periodic task.
Page 152 6 Process Data Communications and SDO Communications NJ-series CPU Units The calculation formula for the minimum message response time is given below. Minimum message response time (ms) = Task period of the task that executes SDO communications instruction + (Slave SDO processing time /Task period of primary periodic ×...
Page 153: Instructions Used In Ethercat Communications
6 Process Data Communications and SDO Communications Instructions Used in EtherCAT Communications 6-3-1 EtherCAT Instructions Function Instruction Description Start EtherCAT Packet EC_StartMon Starts packet monitoring of the EtherCAT master built Monitor into the NJ/NX-series CPU Unit. Stop EtherCAT Packet EC_StopMon Stops packet monitoring of the EtherCAT master built Monitor into the NJ/NX-series CPU Unit.
Page 154 6 Process Data Communications and SDO Communications Additional Information “Enable/disable,” “Connected/disconnected,” and “physical slave/no physical slave” are defined as follows: • Enable/Disable Setting This setting tells whether process data communications are performed for an EtherCAT slave. You can make this setting from the Sysmac Studio and you can change the setting with the EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave) instruction.
Page 155 System-defined Variables That Are Related to the Built-in EtherCAT Port This section describes the system-defined variables that are related to the built-in EtherCAT port. 7-1 System-defined Variables That Are Related to the Built-in EtherCAT Port ..7-2 7-1-1 What Are System-defined Variables? .
Page 156: What Are System-Defined Variables
7 System-defined Variables That Are Related to the Built-in EtherCAT Port System-defined Variables That Are Related to the Built-in EtherCAT Port 7-1-1 What Are System-defined Variables? System-defined variables are variables that are defined by the system for use with EtherCAT communi- cations.
Page 157: System-Defined Variables
7 System-defined Variables That Are Related to the Built-in EtherCAT Port 7-1-2 System-defined Variables  Functional Classification: EtherCAT Communications Errors Range of Variable name Meaning Function Data type Reference values _EC_ErrSta Built-in This system-defined variable provides the col- WORD 16#0000 to page 7-9 EtherCAT Error lective status of errors in the EtherCAT Master...
Page 158 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Range of Variable name Meaning Function Data type Reference values _EC_SlavAdrDupErr Slave Node TRUE if the same node address is set for BOOL TRUE or page 7-11 Address more than one slave. FALSE Duplicated Error _EC_SlavInitErr...
Page 159 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Additional Information Typical Relationships for the Built-in EtherCAT Error Flags Variable Variable Meaning Meaning Variable Name Meaning Event level Name Name _EC_ErrSta Built-in _EC_PortErr Communi- _EC_MacAdrErr MAC Address Error Partial fault EtherCAT cations...
Page 160 7 System-defined Variables That Are Related to the Built-in EtherCAT Port  Functional Classification: EtherCAT Communications Status Range of Variable name Meaning Function Data type Reference values _EC_RegSlavTbl Registered Slave This table indicates the slaves that are regis- ARRAY TRUE or page 7-13 Table tered in the network configuration information.
Page 161 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Range of Variable name Meaning Function Data type Reference values _EC_InDataInvalid Input Data TRUE when process data communications in BOOL TRUE or page 7-16 Invalid the primary periodic task are not normal and FALSE the input data is not valid.
Page 162 7 System-defined Variables That Are Related to the Built-in EtherCAT Port  Meanings of Error Status Bits The meanings of the individual bits in the above error status variables are given below. Name Description Value Meaning Master Detection This bit indicates whether the master TRUE Error detected an error in the slaves that it...
Page 163: Ethercat Master Function Module, Category Name: _Ec
7 System-defined Variables That Are Related to the Built-in EtherCAT Port 7-1-3 EtherCAT Master Function Module, Category Name: _EC  Functional Classification: EtherCAT Communications Errors Variable name _EC_ErrSta Meaning Built-in EtherCAT Error Global/local Global Function This system-defined variable provides the collective status of errors in the EtherCAT Master Function Module. Refer to Meanings of Error Status Bits provided above for the meanings of the error status bits.
Page 164 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Variable name _EC_SlavErrTbl Meaning Slave Error Table Global/local Global Function This system-defined variable gives the error status for each EtherCAT slave. The error status is given for each slave in the actual system configuration. This variable array indicates slaves in which there are errors.
Page 165 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Variable name _EC_NetCfgCmpErr Meaning Network Configuration Verification Error Global/local Global Function TRUE if the network configuration information does not match the actual network configuration. Data type BOOL Range of values TRUE or FALSE R/W access Retained...
Page 166 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Variable name _EC_SlavInitErr Meaning Slave Initialization Error Global/local Global Function TRUE if there is an error in an initialization command addressed to a slave. Data type BOOL Range of values TRUE or FALSE R/W access Retained...
Page 167 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Variable name _EC_CommErrTbl Meaning Communications Error Slave Table Global/local Global Function Slaves are given in the table in the order of slave node addresses. The corresponding slave element is TRUE if the master detected an error for the slave. Data type Range of values TRUE or FALSE...
Page 168 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Variable name _EC_MBXSlavTbl Meaning Message Communications Enabled Slave Table Global/local Global Function This table indicates the slaves that can perform message communications. Slaves are given in the table in the order of slave node addresses. The element for a slave is TRUE if message communications are enabled for it (pre-operational, safe-operation, or operational state).
Page 169 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Variable name _EC_DisableSlavTbl Meaning Disabled Slave Table Global/local Global Function Slaves are given in the table in the order of slave node addresses. The element for a slave is TRUE if the corresponding slave is disabled. Data type Range of values TRUE or FALSE...
Page 170 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Variable name _EC_InDataInvalid Meaning Input Data Invalid Global/local Global Function TRUE when process data communications are not normal and the input data is not valid. Data type BOOL Range of values TRUE or FALSE R/W access Retained...
Page 171 7 System-defined Variables That Are Related to the Built-in EtherCAT Port Variable name _EC_StatisticsLogCycleSec * Meaning Diagnosis/Statistics Log Cycle Global/local Global Function Specifies the interval to write the diagnostic and statistical information of the diagnosis/statistics log in units of seconds. When 0 is specified, the diagnostic and statistical information is written only once when the diagnosis/statistics log is ended.
Page 172 7 System-defined Variables That Are Related to the Built-in EtherCAT Port 7-18 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 173: Example Of Operations For Ethercat Communications
Example of Operations for EtherCAT Communications This section provides a series of example operations for when an NJ/NX-series CPU Unit is connected to slaves. 8-1 Example of Operations for EtherCAT Communications ....8-2 8-1-1 System Configuration Example .
Page 174: System Configuration Example
8 Example of Operations for EtherCAT Communications Example of Operations for EtherCAT Communications 8-1-1 System Configuration Example EtherCAT master Button 1 Digital I/O slave Button 0 Digital I/O slave Node address 1 Node address 2 Servo Drive Servo Drive Node address 3 Node address 4 Button 0: Operation start button Button 1: Homing button...
Page 175: Setting The Ethercat Network Configuration
8 Example of Operations for EtherCAT Communications 8-1-3 Setting the EtherCAT Network Configuration Start the Sysmac Studio and make the following settings.  Creating the EtherCAT Network Configuration Use the EtherCAT Configuration Editor to create the slave configuration. In this example, digital I/O slaves are set to node addresses 1 and 2 and Servo Drives are set to node addresses 3 and 4.
Page 176 8 Example of Operations for EtherCAT Communications  Axis Settings for the Servo Drives (Node Addresses 3 and 4) Add an axis to the Motion Control Setup and then assign the Servo Drive with node address 3 to the axis to set the axis. In the same way, add an axis and assign the Servo Drive with node address 4 to it.
Page 177: Programming
8 Example of Operations for EtherCAT Communications 8-1-4 Programming  Programming When the operation start button is pressed, the Pwr_On variable changes to TRUE and axis control is enabled. (See rung 0.) When the homing button is pressed, the Hm1_On variable changes to TRUE and homing is per- formed.
Page 178: Confirming The Start Of Communications
8 Example of Operations for EtherCAT Communications 8-1-9 Confirming the Start of Communications Check to make sure that all registered slaves are participating in the network and that communications start. Make sure that the master indicators are in the following status. NET RUN indicator NET ERR indicator Not lit...
Page 179: Troubleshooting
Troubleshooting This section describes overview of troubleshooting, network diagnosis procedure using diagnostic and statistical information, functions of the Sysmac Studio and the CPU Unit for acquiring diagnostic and statistical information, functions of the Sysmac Studio for identifying error slaves and error causes, and precautions and methods of replacing slaves during communications.
Page 180: Overview Of Errors
9 Troubleshooting Overview of Errors You manage all of the errors that occur on the NJ/NX-series Controller as events. This allows you to see what errors have occurred and find corrections for them with the same methods for the entire range of errors that is managed (i.e., CPU Unit, NX Units, NX-series Slave Terminals, EtherCAT slaves, CJ-series Units).
Page 181: How To Check For Errors
9 Troubleshooting 9-1-1 How to Check for Errors Refer to Checking for Non-fatal Errors in the NJ/NX-series Troubleshooting Manual (Cat. No. W503-E1- 19 or later) for checking for errors. 9-1-2 Errors Related to the EtherCAT Master Function Module Refer to Errors Related to the EtherCAT Master Function Module in the NJ/NX-series Troubleshooting Manual (Cat.
Page 182: Troubleshooting
9 Troubleshooting Troubleshooting This section describes errors (events) that can occur and the corrections for them, network diagnosis procedure using diagnostic and statistical information, functions of the Sysmac Studio and the CPU Unit for acquiring diagnostic and statistical information, and functions of the Sysmac Studio for identify- ing error slaves and error causes.
Page 183 9 Troubleshooting Implement corrections for the error locations that you found. Confirm status after implementation of the correction.  Step 1: Acquiring Diagnostic and Statistical Information for Master and Slaves There are two methods to acquire the diagnostic and statistical information for the master and slaves.
Page 184 9 Troubleshooting Increased. Increased. If the value of the frame reception timeout count or number of CRC error frames received increases, then the EtherCAT network is not operating normally. If a certain number of the frame reception timeout count or a certain number of CRC error frames received is detected, the EtherCAT network may not be operating normally.
Page 185 9 Troubleshooting  Step 3: Finding Locations of Errors with Trends in Slave Diagnostic and Statistical Information You can check for trends of values in the slave diagnostic and statistical information to find the loca- tions of the errors. Example of the Slave Diagnosis/Statistics Tab Page of Sysmac Studio The following are the points to check to find error locations based on the number of error frames.
Page 186 9 Troubleshooting Examples of Finding Error Locations Example 1: Network Configuration Where an EtherCAT Junction Slave Is Not Used Network configuration NJ/NX-series CPU Unit EtherCAT master Slave Slave Slave Slave node address 64 node address 3 node address 4 node address 5 Slave Diagnosis/Statistics Tab Page The number of error frames for the input port (PortA) for node address 4 is 31, so you can see that error frames were received on the input port for node address 4.
Page 187 9 Troubleshooting Example 2: Network Configuration Where an EtherCAT Junction Slave Is Used Network configuration NJ/NX-series CPU Unit EtherCAT master Junction slave node address 64 Slave node address 3 Slave Slave node address 4 node address 5 Slave Diagnosis/Statistics Tab Page The number of error frames for the input port (PortA) for node address 4 is 123, so you can see that error frames were received on the input port for node address 4.
Page 188 9 Troubleshooting This is the procedure to find error locations when Failed is displayed for the number of error frames. In the EtherCAT network configuration, Failed is sometimes displayed for more than one Ether- CAT slave. In the network configuration for example 2, assume that Failed is displayed for the number of error frames for node addresses 4 and 5.
Page 189 9 Troubleshooting  Step 4: Implementing Corrections for Error Locations Implement corrections for the error locations that you found. To check the position of the EtherCAT slave with an error in the network configuration, refer to the Node Address|Network configuration display under Slave Diagnosis/Statistics. The following table provides corrections for the causes as assumed from the diagnostic and statisti- cal information.
Page 190 9 Troubleshooting  Step 5: Confirming After Implementing Corrections To confirm that the error locations were corrected, perform Step 2: Checking for Errors in Trends in Master Diagnostic and Statistical Information on page 9-5 again to make sure the network is operat- ing normally.
Page 191 9 Troubleshooting The diagnostic and statistical information for the master and slaves are displayed.  Operation Button Functions The following table describes the buttons to operate the diagnostic and statistical information. Button Function Acquires the diagnostic and statistical information from the EtherCAT master and EtherCAT slaves and updates the display.
Page 192 9 Troubleshooting  Master Diagnostic and Statistical Information The following are the items displayed for the master diagnostic and statistical information. Items that indicate the values may increase if the EtherCAT network is not operating normally. Items that indicate the values may increase if the EtherCAT network is not operating...
Page 193 9 Troubleshooting The values of the following items may increase if there is an EtherCAT network error. The following table gives the description of each item, assumed cause of increase, and correction. Item Displayed information Assumed cause of increase Possible correction Frame recep- The number of frame A cause to a Process Data reception...
Page 194 9 Troubleshooting Precautions for Correct Use Precautions for Correct Use Even if communications are normal, values other than 0 may occur for the frame reception time- out count and the number of CRC error frames received. Refer to EtherCAT Network Diagnostic Procedure on page 9-4 to determine if the EtherCAT network is operating normally.
Page 195 9 Troubleshooting Item Displayed information Error Frames Number of error frames received on the EtherCAT slave’s input and output ports Range: 0 to 254 • 255 or more is displayed if 255 or more error frames were received. • When the diagnostic and statistical information is acquired twice or more, the increase from the previous acquisition is displayed in parentheses on the right of the number of error frames.
Page 196 9 Troubleshooting Diagnosis/Statistics Log of CPU Unit The periodic auto-acquisition of the diagnostic and statistical information is allowed for the following purposes during a test run or normal operation of equipment. • Checking the EtherCAT network line quality for predictive monitoring and preventive maintenance •...
Page 197 9 Troubleshooting  Setting Cycle to Save Diagnostic and Statistical Information in a Log File You can specify the cycle to save the acquired diagnostic and statistical information in a log file within the range from 30 seconds to 30 minutes in units of seconds. You can also specify the cycle so that the diagnostic and statistical information is saved only once into a log file when the execution of this function is completed.
Page 198 9 Troubleshooting  Procedures The procedure to use the diagnosis/statistics log is as follows. Set a value for _EC_StatisticsLogCycleSec (Diagnosis/Statistics Log Cycle). The cycle to save the diagnostic and statistical information in a log file is set. Set the value in units of seconds. (Example: set 30 for 30 seconds, set 1,800 for 30 minutes). If 0 is set, the diagnostic and statistical information is saved only once when execution of this function is completed.
Page 199 9 Troubleshooting TRUE _EC_StatisticsLogEnable FALSE Write Cycle = 30 _EC_StatisticsLogCycle TRUE _EC_StatisticsLogBusy FALSE TRUE _EC_StatisticsLogErr FALSE Log file Write Cycle Write Cycle Write Cycle = 30 = 30 = 30 Event logs EtherCAT Diagnosis/Statistics Acquired diagnostic/statistical EtherCAT The previous log file Log Started information is saved in a log file.
Page 200: Identifying An Error Slave And Cause Of Error
9 Troubleshooting 9-2-5 Identifying an Error Slave and Cause of Error Sysmac Studio provides the following functions to identify the slave in which an error occurred and the cause of the error. • EtherCAT configuration information view of the event log •...
Page 201 9 Troubleshooting Not Matched b) Whether a slave with error exist or not Slaves in which an error occurred are displayed with an error mark for emphasis. Slave with an error The event name of the current error on the relevant slave is displayed in the tooltip of the error mark. c) Location where communications stopped The connecting line between the ports at which communications are stopped are highlighted.
Page 202 9 Troubleshooting EtherCAT Configuration Information View of the Event Log The following information is displayed on the EtherCAT configuration information (Event log) view. • Event in the event log whose event source is the EtherCAT Master Function Module Version Information Sysmac Studio version 1.22 or higher is required to use the EtherCAT configuration information view of the event log.
Page 203 9 Troubleshooting The network configuration information is displayed on the EtherCAT configuration information (Event log) view in topology diagram.  Display Information Slaves are shown with error icons in the display when they have an error whose source is EtherCAT Master Function Module and whose level is higher than the minor fault level.
Page 204: Precautions When Connecting Or Disconnecting Slaves During Communications
9 Troubleshooting Precautions When Connecting or Disconnecting Slaves during Communications 9-3-1 Procedure for Connecting and Disconnecting Slaves during Communications Always use the following procedure to turn OFF the slave power supply or connect/disconnect cables during EtherCAT master communications.* * This includes the pre-operational, safe-operational, and operational states. Step 1.
Page 205: Replacing Slaves During Communications
9 Troubleshooting Replacing Slaves during Communications 9-4-1 Introduction You can temporarily stop and start communications with a specified slave and all subsequent slaves without stopping the entire communications system. This makes it possible to replace slaves during communications for maintenance, or for replacement when a slave malfunctions. Specified from the Sysmac Studio or Sysmac Studio with an instruction for EtherCAT...
Page 206: Slave Replacement Methods
9 Troubleshooting 9-4-2 Slave Replacement Methods The slave to be replaced is first disconnected from the network and then reconnected after you replace it. Use one of the following methods to disconnect and reconnect the slave. Method 1: Connecting and Reconnecting Specified Slaves from the Sysmac Studio Method 2: Execute the Disconnect EtherCAT Slave and Connect EtherCAT Slave instructions.
Page 207: Backing Up Settings
9 Troubleshooting 9-4-3 Backing Up Settings Before you replace an EtherCAT slave that is currently performing communications, the settings of the EtherCAT slave to replace are backed up. The settings of an EtherCAT slave are divided according to the storage locations and setting methods into initial parameters and backup parameters, as shown in the following table.
Page 208: Restoring Settings
9 Troubleshooting Additional Information • You can back up the EtherCAT slave settings for any EtherCAT slave that is connected to the network (i.e., whenever the _EC_EntrySlavTbl[] (Network Connected Slave Table) system- defined variable is TRUE) either before of after the disconnection command is sent to the Eth- erCAT slave.
Page 209 9 Troubleshooting Precautions for Correct Use Precautions for Correct Use Restore the settings to the EtherCAT slave before you connect the EtherCAT slave to restart pro- cess data communications. Restore the EtherCAT slave settings while the slave is connected to the network (i.e., whenever the _EC_EntrySlavTbl[] (Network Connected Slave Table) system- defined variable is TRUE).
Page 210: Replacement Procedure
9 Troubleshooting 9-4-5 Replacement Procedure START Process data communications are performed with the slave Back up the backup parameters. before it is disconnected. Disconnect the slave to replace with the EtherCAT slave disconnection operation on the Sysmac Studio or with the Disconnect EtherCAT Slave instruction.
Page 211 9 Troubleshooting Precautions for Safe Use • When an EtherCAT slave is disconnected from the Sysmac Studio or with an instruction, com- munications will stop and control of the outputs will be lost not only for the disconnected slave, but for all slaves connected after it. Always confirm system safety before you disconnect an EtherCAT slave.
Page 212 9 Troubleshooting Disconnecting Slaves If a slave is disconnected, slaves connected after the designated slave (on the output side) in a daisy chain are disconnected at the same time. Slaves connected before the disconnected slave (on the input side) and slaves connected beyond Junction Slaves continue to operate. (If (1) is disconnected in the following figure, (2) and (3) are also disconnected.) Junction Slave Disconnected...
Page 213 9 Troubleshooting Reconnecting Slaves When reconnecting disconnected slaves after replacement or inspection, make sure that the following conditions are met and then reconnect them. If they are reconnected without meeting following condi- tions, process data communications with the slaves will not start again, and a network configuration verification error will occur.
Page 214 9 Troubleshooting Additional Information Synchronization correction processing is performed to reconnect synced slaves. Therefore, sev- eral seconds may be required per slave until reconnection is completed. 9-36 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 215: Appendices
EtherCAT Slave Information File (ESI Files) ......A-17 A-3-2 Connecting Slaves from Other Manufacturers to an OMRON Master ..A-19 A-3-3 Installing ESI Files .
Page 216: Ethercat Status In Relation To Cpu Unit Status
Appendices EtherCAT Status in Relation to CPU Unit Status The status of EtherCAT master memory, the ability to download master and slave settings, and the slave status are given below for different CPU Unit operating modes, Controller errors, and other sta- tus.
Page 217: A-1-2 Cpu Unit Operating Modes
Appendices A-1-2 CPU Unit Operating Modes Memory related to EtherCAT master Slaves Diagnos- Down- Category tic and loading Network Slave CPU Unit sta- _EC sys- statistical master Device configura- Current Slave out- communi- tem- informa- and slaves variables tion infor- errors puts cations...
Page 218 Appendices Memory related to EtherCAT master Slaves Diagnos- Down- Category tic and loading Network Slave CPU Unit sta- _EC sys- statistical master Device configura- Current Slave out- communi- tem- informa- and slaves variables tion infor- errors puts cations defined tion/Proto- settings mation status...
Page 219: A-1-3 Controller Errors Other Than Errors In The Built-In Ethercat Master
Appendices A-1-3 Controller Errors Other Than Errors in the Built-in EtherCAT Master Memory related to EtherCAT master Slaves Diagnos- Down- Category tic and loading Network Slave CPU Unit sta- _EC sys- statistical master Device configura- Current Slave out- communi- tem- informa- and slaves variables...
Page 220: A-1-4 Others
Appendices A-1-4 Others Memory related to EtherCAT master Slaves Diagnos- Down- Category tic and loading Network Slave CPU Unit sta- _EC sys- statistical master Device configura- Current Slave out- communi- tem- informa- and slaves variables tion infor- errors puts cations defined tion/Proto- settings...
Page 221: A-1-5 When The Power Supply Is Turned Off
Appendices A-1-5 When the Power Supply Is Turned OFF Memory related to EtherCAT master Slaves Download- Diagnostic Category Network ing master and statisti- Slave com- Device vari- _EC system- configura- Current Slave out- and slaves cal informa- munica- ables defined vari- tion infor- errors puts...
Page 222: Monitoring Packets
Appendices Monitoring Packets Packet monitoring stores a certain number of the most recent packets sent and received by the Ether- CAT master along with time information. You can use an EtherCAT communications instruction or the Sysmac Studio to save the captured packet data in packet data files in the system in the CPU Unit.
Page 223 Appendices Starting and Stopping Packet Monitor You can start and stop packet monitoring either with instructions in the user program or with operations on the Sysmac Studio.  Using Instructions in the User Program • EC_StartMon (Start EtherCAT Packet Monitor) instruction: Starts the execution of packet monitor- ing and continues to update a fixed number of packets.
Page 224 Appendices Click the Start Button to begin monitoring packets. Click the Stop Button to stop monitoring packets. Saving Packet Data  Reading Data from the Sysmac Studio After you stop packet monitoring, you can use the Sysmac Studio to read the packet data and save it in a file.
Page 225 Appendices Packet Monitoring Specifications Item Specification Maximum data size of one packet data file 12 MB Maximum number of packets that can be obtained 3,904 packets Format of packet data file TCPDump format (cap) Recorded (unit: μs) The elapsed time starting when Time information packet monitoring begins is recorded.
Page 226 Appendices Sample Programming This sample transfers EtherCAT communications packets to an SD Memory Card when an EtherCAT slave error occurs. The file name is ‘PacketFile.’ The processing procedure is as follows: The system-defined variable _EC_ErrSta (EtherCAT Error) is monitored and processing is started if an error occurs.
Page 227 Appendices Internal Variable Data type Initial value Comment Variables OperatingEnd Processing completed BOOL False Execution condition Operating BOOL False BOOL False BOOL False BOOL False RS_instance EC_StopMon_instance EC_StopMon EC_SaveMon_instance EC_SaveMon EC_CopyMon_instance EC_CopyMon EC_StartMon_instance EC_StartMon External Variable Data type Constant Comment Variables _EC_ErrSta WORD...
Page 228 Appendices Instruction execution EC_StopMon_instance EC_SaveMon_instance Operating _Card1Ready EC_StopMon EC_SaveMon Done Execute Execute Done Busy Busy Error Error ErrorID ErrorID EC_CopyMon_instance EC_StartMon_instance EC_CopyMon EC_StartMon Execute Done Execute Done ‘PacketFile’ FileName Busy Busy Error Error ErrorID ErrorID Processing after normal end Inline ST Operating 1 // Processing after normal end A-14...
Page 229 Appendices Internal Variable Data type Initial value Comment Variables Controller error in the EtherCAT Master Function Module. EC_Err BOOL False Detect when EC_Err changes to TRUE. EC_Err_Trigger BOOL False Processing DoEC_PktSave BOOL False Stage change Stage R_TRIG_instance R_TRIG EC_StopMon_instance EC_StopMon EC_SaveMon_instance EC_SaveMon EC_CopyMon_instance...
Page 230 Appendices // Restart EtherCAT packet monitoring. EC_StartMon_instance( Execute :=TRUE); IF (EC_StartMon_instance.Done=TRUE) THEN Stage:=INT#0; // Normal end ELSIF (EC_StartMon_instance.Error=TRUE) THEN Stage:=INT#40; // Error end END_IF; // Processing after normal end DoEC_PktSave:=FALSE; // Processing after error end ELSE DoEC_PktSave:=FALSE; END_CASE; END_IF: A-16 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 231: Multi-Vendor Environments
Appendices Multi-vendor Environments This section provides precautions and describes documentation for multi-vendor environments. A-3-1 EtherCAT Slave Information File (ESI Files) Setting information for EtherCAT is defined in EtherCAT slave information (ESI) files. These files are provided by the individual slave manufacturers. Various EtherCAT communications settings are defined based on the ESI definitions of connected slaves.
Page 232 Appendices Additional Information ESI file versions that are lower than ESI version-1.0.1 specifications are not supported. If you install an ESI file version that is not supported, a message saying that you cannot use the slave is displayed by the Sysmac Studio. The NJ/NX-series CPU Units do not support variables with some of the data types that are defined in ETG.1020.
Page 233: Connecting Slaves From Other Manufacturers To An Omron Master
You can install the ESI file for a slave from another manufacturer in the Sysmac Studio to handle the slave in the same way as an OMRON slave. (Only the ESI files for OMRON slaves for which connect- ability has been confirmed are installed in the Sysmac Studio in advance.) When connecting a slave from another manufacturer to an OMRON master, refer to the manuals for the other manufacturer’s slaves, and then ask your OMRON representative if you have any questions.
Page 234 Appendices Right-click the EtherCAT master that is displayed in the edit pane and select Display ESI Library. The ESI Library Dialog Box is displayed. Click the this folder link in the ESI Library Dialog Box. The contents of the EsiFiles folder are displayed. A-20 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 235 Appendices Copy the ESI file for the EtherCAT slave that is manufactured by another company and paste it in the EsiFiles folder. Obtain the ESI file from the slave manufacturer. The ESI file must conform to the most recent ETG ESI specifications. Restart the Sysmac Studio.
Page 236 Appendices  Procedure to Confirm ESI File Installation Use the following procedure to confirm that an ESI file was installed correctly Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, right- click EtherCAT under Configurations and Setup and select Edit. The edit pane is displayed.
Page 237 Appendices Click the + Icon to the left of the name of the ESI file that was added. The slave definitions in the ESI file are expanded so that you can check the following items. • Model • Revision • Product name Model Revision Product name...
Page 238 Appendices If an exclamation mark is not displayed, click the Close Button. Additional Information If an ESI file for a slave cannot be used in the Sysmac Studio, an exclamation mark is displayed to the left of the file name. If an exclamation mark is displayed, obtain an ESI file with the cause corrected from the slave manufacturer, and then install the ESI file again.
Page 239: A-3-4 Editing Pdo Entry Tables
PDO entry table. However, the following restrictions apply:  Byte Boundaries An OMRON master must arrange entry objects by byte boundaries. (This applies only to objects that are one byte or larger in size.) If an entry object is bit data, padding must be entered to adjust the boundaries. Padding is meaning- less data that is added to the end of an entry so that an object ends at a boundary of the specified size.
Page 240 Appendices  Specifications of Edit PDO Entry Tables Window The following buttons are used to edit a PDO entry table. The meanings of the buttons are given below. Button Description Add PDO Entry Button Use these buttons to add objects to and delete objects from the PDO entry table. Delete PDO Entry Button “0x0000:00”...
Page 241 Appendices Editing Methods for PDO Entries  Adding PDO Entries Click the Add PDO Entry Button. The entry table from the slave is displayed. Select the object to add with the cursor and click the OK Button to add it. The selected object is added at the location of the cursor in the PDO entry table.
Page 242 Appendices PDO Mapping Comparison and Uploading You can upload the PDO map settings from the actual slave or compare with the PDO map settings of the actual slave. See below for the procedure to compare and upload the PDO map settings. Version Information Sysmac Studio version 1.22 or higher is required to use the PDO map compare and upload func- tion.
Page 243 Appendices b) When inconsistencies are found The following dialog box is displayed. When inconsistencies are found by comparison, you can update the information in Edit PDO Map Settings Window to match the PDO Map and PDO entry list of the actual slave by clicking Yes But- ton.
Page 244: A-3-5 Settings For Mdp-Compatible Slaves From Other Manufacturers
Appendices A-3-5 Settings for MDP-compatible Slaves from Other Manufacturers The MDP (Modular Device Profile) defines the data structure for the settings in EtherCAT slaves. It is an EtherCAT specification. You can use slaves that support MDPs from other manufacturers on the EtherCAT Tab Page.
Page 245 Appendices Select a slave on the Edit Pane for the module configuration. A list of the slave settings is displayed. Some items in the slave settings only display the current setting. The other items in the slave settings are changeable. The set values and their meanings are given below for the settings that are only displayed.
Page 246 Appendices Select the location at which to register a module and double-click the module to register in the Toolbox. Or, drag the module from the Toolbox to the location to register it on the Edit Pane for the module configuration. The module is registered and a list of module settings is displayed.
Page 247: Glossary
Appendices Glossary Use the following list of EtherCAT terms for reference. Abbrevia- Term Description tion − AL status (application layer status) Status for indicating information on errors that occur in an application on a slave. CAN application protocol over Ether- A CAN application protocol service implemented on EtherCAT.
Page 248 Appendices Abbrevia- Term Description tion − Safe operational A state in EtherCAT communications where only SDO communica- tions and reading input data from slaves are possible. Outputs from slaves are not performed. − SDO communications One type of EtherCAT communications that uses service data objects (SDOs) for communicating information when required.
Page 249: Version Information
CPU Unit models regardless of their versions.  Adding the EtherCAT Slaves That You Can Use If you use a newer unit version of the CPU Unit, you can increase the OMRON EtherCAT Slaves that you can use. Refer to 1-2-1 System Configuration for details.
Page 250 Appendices A-36 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 251 Index Index-1 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 252 Index Index _EC_LinkStatus ............7-6, 7-15 _EC_MacAdrErr ...........7-3, 7-10 _EC_MBXSlavTbl ..........7-6, 7-14 AL status ..............A-33 _EC_MsgErr ............7-4, 7-12 Axis Variables ..............3-7 _EC_MstrErr ............7-3, 7-9 _EC_NetCfgCmpErr ..........7-3, 7-11 _EC_NetCfgErr ............7-3, 7-10 _EC_NetTopologyErr ..........7-3, 7-11 Back up function ............5-23 _EC_PDActive ............7-6, 7-15 backing up _EC_PDCommErr ..........7-3, 7-11 ..
Page 253 Index EtherCAT Technology Group ........A-33 PDO communications timeout detection count ... 5-13 PDO Map Settings ............5-18 PDOs ................3-2 performance specifications ........... 1-9 Pre-operational ..........3-10, A-33 Fail-soft Operation Setting .......... 5-13 procedures forced refreshing ............6-18 overall procedure ........... 1-14 process data ...............
Page 254 Index EtherCAT communications errors ......7-9 EtherCAT communications status ....7-6, 7-13 topologies ..............4-2 Total Cable Length ............5-12 transmit PDO ...............A-34 TxPDO .................A-34 unit power supplies ............1-7 Wait Time for Slave Startup ......... 5-13 WireShark ..............A-34 Index-4 NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Page 256 The Netherlands Hoffman Estates, IL 60169 U.S.A. Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 © OMRON Corporation 2011-2018 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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Omron NX102 series User Manual

Introduction

Relevant Manuals

Manual Structure

Sections in this Manual

Terms and Conditions Agreement

Safety Precautions

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

Versions

Related Manuals

Revision History

Introduction to Ethercat

System Configuration and Configuration Devices

Specifications of Built-In Ethercat Port

Introduction of Communications

Ethercat Communications Procedure

Section 2 Part Names and Slave Settings

Part Names and Functions

Setting the Node Addresses of the Ethercat Slaves

Features of Sysmac Devices

Section 3 Ethercat Communications

Ethercat Communications Types and Settings

Programming Ethercat Communications

State Transitions for Ethercat Communications

Section 4 Ethercat Network Wiring

Laying the Ethercat Network

Section 5 Setting up Ethercat Communications with

Overview of Network Configuration Information

Creating the Ethercat Network Configuration

Setting Ethercat Slave Variables and Axes

Ethercat Master and Slave Parameter Settings

Comparing and Merging Ethercat Network Configurations

Downloading the Network Configuration Information

Confirming Communications after Completing Ethercat Configuration and Settings

Process Data Communications (PDO Communications)

SDO Communications

Instructions Used in Ethercat Communications

7-1 System-Defined Variables that Are Related to the Built-In Ethercat Port

8-1 Example of Operations for Ethercat Communications

Overview of Errors

Troubleshooting

Precautions When Connecting or Disconnecting Slaves During Communications

Replacing Slaves During Communications

Appendices

Ethercat Status in Relation to CPU Unit Status

Monitoring Packets

Multi-Vendor Environments

Glossary

Version Information

Quick Links

Troubleshooting

Related Manuals for Omron NX102 series

Summary of Contents for Omron NX102 series