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Omron E3X-ECT Operation Manual

Sensor communication unit
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E3X-ECT
EtherCAT
Sensor Communication Unit
Operation Manual
  E413­E1

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Summary of Contents for Omron E3X-ECT

  • Page 1 E3X-ECT EtherCAT Sensor Communication Unit Operation Manual   E413­E1...
  • Page 2 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 4 E3X-ECT EtherCAT　Sensor Communication Units Operation Manual Revised February 2012...
  • Page 6 Introduction Thank you for purchasing a E3X-ECT EtherCAT Sensor communication Unit. This manual contains information you need to know to use the EtherCAT Slave Unit. Before use, please make sure that you thoroughly read the manual and have a full understanding of the products functions and performance.
  • Page 7 OMRON connectors Model Specification Applicable wire range Spring AWG28 (0.08mm ) to AWG20 (0.5mm XN2A-1430 clamp type Sheath diameter: 1.5 mm max. Name of manuals GX-series EtherCAT Slave Unit User’s Manual 4 - 11 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 8 Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance. Reference This explains useful tips and reference information when using the product. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 9 Explains the E3X-ECT Functional specifications. This contains troubleshooting and inspection methods Chapter 8 Troubleshooting and Maintenance intended for individuals to handle abnormalities and conduct regular inspections. Appendix Appendix Contains the object overview and explains the precautions. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 10 WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...
  • Page 11 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products.
  • Page 12 Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
  • Page 13 This symbol means it is a compulsory item (an item that must be done). The specific instruction is indicated using text inside the The symbol shown to the left indicates "typical compulsory items". E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 14 Implement proper measures as part of your communications system or in your program to ensure safety in the system even when a communications error or malfunction occurs during remote I/O communication. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 15 Fail-safe measures must be taken by the customer to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes. Not doing so may result in serious accidents. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 16 • Turn OFF the power of PLC and all the Slave Units before wiring the communication cables. • Do not apply voltages to the Input Slave Units in excess of the rated input voltage. Excess voltage or loads may result in burning. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 17 • Changing the present value of any word or any set value in memory. • Do not use thinner when cleaning. Use commercially available alcohol.  External Circuits • Install external breakers and take other safety measures against short-circuiting in external wiring. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 18 • Locations subject to possible exposure to radioactivity. • Locations close to power supplies. • Do not drop any Unit or subject any Unit to excessive shock or vibration. Otherwise, Unit failure or malfunction may occur. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 19 OMRON devices that comply with EC Directives will vary depending on the configuration, wiring, and other conditions of the equipment or control panel on which the OMRON devices are installed. The customer must, therefore, perform the final check to confirm that devices and the overall machine conform to EMC standards.
  • Page 20 • CX-One is a registered trademark for Programming Software made by OMRON Corporation. • Sysmac Studio is a registered trademark for Automation Software made by OMRON Corporation. Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies.
  • Page 21 Manual Hardware User’s Manual (Cat. No. W500) and the NJ-series CPU Unit Software User’s Manual (Cat. No. W501). Sysmac Studio Version 1 W504 Explains the operating procedures of the Sysmac Studio. Operation Manual E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 22: Table Of Contents

    Overview of Configuration Devices ........1-7 E3X-ECT EtherCAT Sensor Communication Unit Instration Manual...

  • Page 23: Overview Of Ethercat Networks

    With this structure, EtherCAT secures high-speed and real-time data transmission. Slave Unit Slave Unit Slave Unit EtherCAT Master Unit Data • Reading output data addressed to the local Slave Units • Writing input data Ethernet frame 1 - 2 E3X-ECT EtherCAT Sensor Communication Unit Instration Manual...
  • Page 24 1...n EtherCAT telegram EtherCAT frame EtherCAT header 1st EtherCAT 2nd EtherCAT ..n th EtherCAT telegram telegram telegram Telegram Data header WKC : Working counter E3X-ECT EtherCAT Sensor Communication Unit Instration Manual 1 - 3...

  • Page 25: Communications Types Of Ethercat

    At any timing, the EtherCAT Master Unit transmits commands to Slave Units and the Slave Units return responses to the EtherCAT Master Unit. It performs the following data communications: • Read and write process data • Make Slave Unit setting • Monitor Slave Unit state 1 - 4 E3X-ECT EtherCAT Sensor Communication Unit Instration Manual...

  • Page 26: Connection Examples Of Ethercat

    1 EtherCAT Network 1-1-4 Connection Examples of EtherCAT This section explains the connection examples of EtherCAT network. EtherCAT Master Unit DC24V Digital I/O Slave Unit Servo Drive Servomotor Inverter E3X-ECT EtherCAT Sensor Communication Unit Instration Manual 1 - 5...

  • Page 27: Configuration Elements Of Ethercat Network

    DC24V RS-232C port connection Peripheral port connection ESI file I/O power supply Communications cable Unit power supply Analog I/O Slave Unit Digital I/O Slave Unit Communications Unit Servo Drive Inverter 1 - 6 E3X-ECT EtherCAT Sensor Communication Unit Instration Manual...

  • Page 28: Overview Of Configuration Devices

    Separate them from the I/O power supply when wiring. I/O power supply Provides power for input/output operations of external devices connected to Slave Units. Separate from Unit power supply when wiring. E3X-ECT EtherCAT Sensor Communication Unit Instration Manual 1 - 7...
  • Page 29 1 EtherCAT Network 1 - 8 E3X-ECT EtherCAT Sensor Communication Unit Instration Manual...
  • Page 30 2-1 Overview of E3X-ECT ........

  • Page 31: Overview Of E3X-Ect

    NJ-series Controller, other Machine Automation Controllers, and the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation. * “Sysmac devices” is a generic name for EtherCAT Sensor Communication Units and other OMRON control components that were designed with the same communications and user interface specifications.

  • Page 32: Types Of Ethercat Sensor Communication Units

    Fiber Sensor E3X-MDA0 2CH fiber sensro amplifier 2 threshold type fiver sensor amplifier E3X-DA0-S with GIGA Ray Laser Sensor E3C-LDA0 Laser sensor amplifier High resolution proxmity sensor Proxmity Sensor E2C-EDA0 amolifier E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 2 - 3...
  • Page 33 2 EtherCAT Sensor Communication Unit 2 - 4 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 34 Setting Slave Unit Parameter ........3-6 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 35: Setup Examples And Basic Procedure

    Although it is not shown in the figure above, supply the unit power and the I/O power separately. Reference The setting example explained here is the basic setting of E3X-ECT EtherCAT Sensor Communication Units. If more detailed settings are required in actual operation, refer to the manual of the EtherCAT Master Unit.

  • Page 36: Basic Procedure

    Starting a System Section 3-3-2 Setting an EtherCAT Communications Section 3-3-3 Starting EtherCAT Communications Checking Unit Displays Section 3-4-1 Section 3-4-2 Confirming Data Read and Write Section 3-4-3 Setting Slave Unit Parameter E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 3 - 3...

  • Page 37: Setting And Wiring Hardware

    For details, refer to each item below.  Mounting "4-1 Mounting E3X-ECT and Sensor Amplifiers" in page 4 - 2  Setting Pages in Chapter 6 to Chapter 7 which explain the general specification and details of each type of Slave Units.

  • Page 38: Starting Communications

    Shift to the operational state (EtherCAT communications possible) to start the EtherCAT communications. For how to shift to the operational state, refer to the manual of the EtherCAT Master Unit to be used. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 3 - 5...

  • Page 39: Checking Operations

    For the details of parameters that can be set, refer to the pages explaining details of each Slave Unit in Chapter 7. E3X-ECT must be set Number of Sensor Setting object (See Appendix1-7). 3 - 6 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 40 This chapter explains the mounting and wiring methods of the EtherCAT Slave Unit. 4-1 Mounting E3X-ECT and Sensor Amplifiers ......4-2 4-1-1 Mounting Method .

  • Page 41: Mounting E3X-Ect And Sensor Amplifiers

    4 Installation and Wiring Mounting E3X-ECT and Sensor Amplifiers This section explains the mounting methods of E3X-ECT and Sensor Amplifier to the DIN track. 4-1-1 Mounting Method 1. Hook the top side of groove on backside of the Slave Unit to 通信ユニ...

  • Page 42: Removal Method

    4 Installation and Wiring 4-1-2 Removal Method 1. Release E3X-ECT form amplifiers to slide sensor amplifiers. 2. Push to DIN track and push up E3X-ECT. Push to DIN track Push up E3X-ECT E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 4 - 3...

  • Page 43: Connecting To Ethercat Network

    • Use the cables in locations without powder dust and oil mist. • There is a limit to the bending radius of communications cables. Check the specification of communications cables to be used for the information on bending radius. 4 - 4 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 44: Preparation For Connecting Network

    (solid wire/twisted wire, 2/4 pairs), and outer diameter. Reference We recommend cables with double, aluminum tape and braded shielding, taking noise resistance into consideration. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 4 - 5...

  • Page 45: Connecting Communications Cables And Connectors

    There are 2 types of wiring standards for Ethernet cables : "T568A" and "T568B." The figure above shows a wiring method conforming to the standard "T568A". The wiring method conforming to the standard "T568B" can also be used. 4 - 6 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 46: Connecting To Communications Cables

    EtherCAT networks allow free wiring in any connection forms. Connection before and after the E3X-ECT EtherCAT Sensor Communication Units shall be made in daisy chain connection. Connect the communications cable from the EtherCAT Master Unit to the [CN IN] connector of the Slave Units.

  • Page 47: Connecting To Unit Power Supply And I/O Power Supply

    If you want to avoid stopping the entire system, we recommend to set power supplies at several locations and supply power to groups of Slave Units, or take similar measures. This has also the effects of reducing voltage drop and cable size and so on. 4 - 8 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 48: Unit Power Supply Specifications

    Slave Unit Between output and AC power supply as well as between output and Isolation chassis ground We recommend S8JX series power supplies made by OMRON for the unit power supply for Slave Units. 4-3-3 Connecting the Unit Power Supply Connect a cable from the 24-VDC unit power supply to the unit power supply connector on each Slave Unit, and supply power to individual Slave Units.
  • Page 49 Co., Ltd. series Crimper PZ1.5 H0.5/16 orange 0.5 mm/AWG20 Weidmueller Japan Co., Ltd. (Product No. 900599) Also, the following screwdriver is recommended for removing pin terminals. Model Manufacturer XW4Z-00C OMRON 4 - 10 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 50 Co., Ltd. series Crimper PZ1.5 H0.5/16 orange 0.5 mm/AWG20 Weidmueller Japan Co., Ltd. (Product No. 900599) Also, the following screwdriver is recommended for removing pin terminals. Model Manufacturer XW4Z-00C OMRON E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 4 - 11...
  • Page 51 4 Installation and Wiring 4 - 12 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 52 5-8 Sysmac Device Functions ........5-13 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 53: Structure Of Can Application Protocol Over Ethercat (Coe)

    Communication Units use "CAN application protocol over EtherCAT (CoE)", a communication interface to be applied for EtherCAT devices, as the device profile of the open network standard "CAN application protocol." The figure below shows the structure of CoE in E3X-ECT EtherCAT Sensor Communication Units. GX-series EtherCAT Slave Units Application layer...

  • Page 54: Ethercat Slave Information File (Esi File)

    Configuration tool EtherCAT Master Unit Network configuration information files EtherCAT Slave Units Communications are started according to the communications settings and the network configuration in the ESI files that are installed. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 5 - 3...

  • Page 55: Communications State Transitions

    Normal communication state Operational (Op) Possible Possible Possible PDO communications can be used to control the I/O data. E3X-ECT can’t trance the state of Operational, when amplifier does not exist. 5 - 4 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 56: Process Data Objects (Pdo)

    It is possible to hold multiple objects in the EtherCAT application layer so that various process data of EtherCAT Sensor Communication Units can be transferred. The details of process data are described in PDO Mapping Objects and Sync Manager PDO Assignment Objects. E3X-ECT EtherCAT Sensor Communication Units support PDO mapping for I/O control. 5-4-2 PDO Mapping Settings The PDO mapping indicates the mapping for application objects (realtime process data) between the object dictionary and PDO.

  • Page 57: Sync Manager Pdo Assignment Settings

    PDO D 1A00 hex PDO A 1A01 hex PDO B 1A02 hex PDO C 1A03 hex PDO D 1A04 hex PDO E 1A05 hex PDO F PDO G 1A06 hex 5 - 6 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 58: Pdo Mapping

    5 EtherCAT Communications 5-4-4 PDO Mapping The tables below show the details of PDO mapping for E3X-ECT EtherCAT Sensor Communication Units.  Default PDO mapping with OMRON Sysmac Studio No.1 Sensor Input 1 257th transmit No.1 Sensor Input 2 PDO Mapping ..
  • Page 59 (1B05 hex) No.16 Sensor Input 1 No.16 Sensor Input 2 265th transmit PDO Mapping Sensor Status bits (3000Hex) (1B08 hex) 267th transmit PDO Mapping Connecting Sensor bits (3001Hex) (1B0A hex) 5 - 8 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 60: Service Data Object (Sdo)

    5-5-1 Overview E3X-ECT EtherCAT Sensor Communication Units support the SDO communications. The EtherCAT Master Unit is able to make parameter settings and monitor status by reading and writing data from and to entries in object dictionaries via the SDO communications.

  • Page 61: Ethercat Master Unit - Slave Unit Communications

    5 EtherCAT Communications EtherCAT Master Unit - Slave Unit Communications This section explains the communication modes between the Master Unit and E3X-ECT EtherCAT Slave Unit. 5-6-1 FREE RUN Mode In the FREE RUN mode, a Slave Unit operates asynchronously with the EtherCAT Master Unit.
  • Page 62 125 s, 250 s, 500 s, 1 ms, 2 ms, 4 ms The settings are performed on the EtherCAT Master Unit side. For the setting method, refer to the manual of the EtherCAT Master Unit to be used. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 5 - 11...
  • Page 63 5-7-2 Diagnosis History A E3X-ECT EtherCAT Slave Unit can save up to eight emergency messages in non-volatile memory inside the Slave Unit. The saved messages can be read with SDO communications. Indexes to be read are sub-indexes 06 hex to 0D hex (Diagnosis messages 1 to 8) among 10F3 hex (Diagnosis History).

  • Page 64: Sysmac Device Functions

    The section explains the functions of Sysmac devices when they are used together with NJ-series Controller or other Machine Automation Controllers, and Automation Software. Starting with unit version 1.1, the E3X-ECT EtherCAT Sensor Communication Units are Sysmac devices and support Sysmac device functions.
  • Page 65 (3) The EtherCAT Master Unit reads the setting in Register: 0012 hex register address 0012 hex. Node address (4) The EtherCAT Master Unit writes the value of switches address 0012 hex to address 0010 hex. EtherCAT Slave Unit 5 - 14 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 66 EtherCAT Sensor Communication Units that are Sysmac devices check the information in the SII at the Slave Units. Precautions for Correct Use Do not change the SII information with setting software that is produced by other companies. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 5 - 15...
  • Page 67 5 EtherCAT Communications 5 - 16 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 68 Unit Power Supply Connector ........6-7 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 69: Ethercat Communications Specifications

    6 Hardware Specifications of E3X-ECT EtherCAT Communications Specifications This section explains the communications specifications of the E3X-ECT EtherCAT Slave Unit. Item Specification Communication protocol Dedicated protocol for EtherCAT Modulation Base band Baud rate 100 Mbps Physical layer 100BASE-TX (IEEE802.3) RJ45  2 (Shielded)

  • Page 70: General Specifications

    6 Hardware Specifications of E3X-ECT General Specifications This section explains the general specifications of the E3X-ECT EtherCAT Slave Unit. Item Specification 20.4 to 26.4 VDC (24 VDC 15% to +10%) Unit power supply voltage 20.4 to 26.4 VDC (24 VDC 15% to +10%)

  • Page 71: Hardware Specifications

    [L/A OUT] indicator Indicates the communication state (output side). Color State Contents Link not established in physical layer Green Flickering In operation after establishing link Link established in physical layer 6 - 4 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 72 The timing of each flashing state of indicator is as follows. 50 ms Flickering Blinking 200 ms 200 ms 1000 ms Single flash 200 ms 200 ms 1000 ms Double flash 200 ms 200 ms 200 ms E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 6 - 5...

  • Page 73: Node Address Setting Switches

    Even if the settings are changed after turning the power supply ON, they are not reflected in the control. They become effective when the power supply is turned ON the next time. • If node addresses overlap, an error occurs and the operation stops. 6 - 6 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 74: Communications Connectors

    0.5 mm /AWG24 to AWG20 (Pin terminal with isolation sleeve used) For types of recommended pin terminals, refer to "4-3-3 Connecting the Unit Power Supply" in page 4 - E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 6 - 7...
  • Page 75 6 Hardware Specifications of E3X-ECT 6 - 8 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 76 7-2 Functions of E3X-ECT ........

  • Page 77: I/O Data Allocation (Pdo Mapping)

    For the detailed explanation of allocation method, refer to the manual of EtherCAT Master Unit to be connected. 7-1-1 Input Data Allocation The input data for E3X-ECT. You can also assign the Sysmac error status. Sensor Numbers Amplifier Sensor ead...
  • Page 78 Sensor11 Sensor10 Sensor10 Sensor9 Sensor9 Sensor16 Sensor16 Sensor15 Sensor15 Sensor14 Sensor14 Sensor13 Sensor13 reserved reserved reserved reserved reserved reserved S_ERR BUSY Number of Sensors setting Number od Sensors with dummy E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 7 - 3...

  • Page 79: Functions Of E3X-Ect

    The settings are made using the SDO communication. The target index is 3002 hex. For the set values, refer to the information in the corresponding index of "Appendix A-1 Object Dictionary" in A-1-7. 7 - 4 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 80: Dummy Sensor Setting

    This function provides keeping I/O map, when number of sensor change by customer option, sensing point degrees and so on.  Details of functions E3X-ECT can be set dummy sensor, so I/O map keep by using dummy sensor setting. Setting method The settings are made using the SDO communication.

  • Page 81: Mounting Dimensions

    7 Function Spcifications Mounting Dimensions The mounting dimensions are shown below. 7 - 6 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 82 Errors Unique to E3X-ECT ........

  • Page 83: Troubleshooting

    • Are the power supply cables disconnected? • Is the power supply voltage within the specification range? • Is the power supply capacity sufficient? • Is the power supply malfunctioning? 8 - 2 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 84 If the problem is not resolved even after the measures described A hardware failure above are taken, the Hardware error occurred. Slave Unit hardware may be damaged. Replace the applicable Slave Unit. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 8 - 3...
  • Page 85 If the problem is not resolved even after the measures described A hardware failure above are taken, the occurred. Slave Unit hardware may be damaged. Replace the applicable Slave Unit. 8 - 4 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 86 Check to see if the Communications cable is disconnected or Link in physical cable loose in the part that later OFF disconnection connects to the occurred. connector. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 8 - 5...
  • Page 87 EtherCAT Master Unit.  Communications • Is the communications cable synchronization error wired correctly? • Is the communications cable exposed to excessive noise? • Review set time of Communication Error Setting . 8 - 6 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 88: Errors Unique To E3X-Ect

    SS LED lights red deffernt from Number of Check the connecting of E3X-ECT connecting sensors and amplifires. If this does not improve, the amplifire hardware may be damaged. Replace the applicable amplifire. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 8 - 7...

  • Page 89: Error Notification Methods And Types

    The master is notified by writing Application layer EtherCAT communications. The error to the application layer status status notification method and error codes that are register when an error occurs. defined by ETG are used. 8 - 8 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 90: Sysmac Error Status Codes

    Unit version 1.1 or later is required. Error List The errors (i.e., events) that can occur in the E3X-ECT EtherCAT Slave Unit are given on the following pages. Event levels are given as following in the tables: Maj: Major fault level...
  • Page 91 Access: Access event log *4 One of the following: Continues: Execution of the user program will continue. Stops: Execution of the user program stops. Starts: Execution of the user program starts. 8 - 10 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 92 None Cause and Assumed cause Correction Prevention correction A sensor is not connected. Connect at least one Sensor. Connect at least one Sensor. Attached None information Precautions/ None Remarks E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 8 - 11...
  • Page 93 Sensors that are actu- sors that are connected is incorrect, ally connected. correct the Sensor connections and reset the Sensors or cycle the power supply. Attached None information Precautions/ None Remarks 8 - 12 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 94 Amplifiers that are connected. be assigned to all connected Sen- sors, and then change the Sensors from the Init state to Pre-operational state or restart the Sensors. Attached None information Precautions/ None Remarks E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 8 - 13...
  • Page 95 Non-volatile memory failure Replace the EtherCAT Communica- None tions Unit or the EtherCAT slave. Attached None information Precautions/ This error is not recorded in the error log of the slave. Remarks 8 - 14 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 96: Emergency Error Code

    8 Troubleshooting and Maintenance 8-1-5 Emergency Error Code The table below shows types of emergency error codes used in E3X-ECT EtherCAT Sensor Communication Units and corresponding error contents. Error codes common to E3X-ECT EtherCAT Sensor Communication Units Notification to Error...

  • Page 97: Application Layer Status Codes

    8 Troubleshooting and Maintenance 8-1-6 Application Layer Status Codes The AL status codes that are used by the E3X-ECT EtherCAT Sensor Communication Units are described in the following table. AL status codes of E3X-ECT EtherCAT Sensor Communication Units Notification AL status...
  • Page 98 Master Unit Check the No SYNC0 signals have SYNC Signal Can be synchronization settings. 002D hex been received since Not Received saved notified (Encoder Input Slave entering DC mode. Units only) E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual 8 - 17...

  • Page 99: Equipment Maintenance

    • Screwdrivers for communications connectors • Testers (or digital voltmeters) • Industrial alcohol and pure cotton cloth  Materials sometimes required • Synchroscope • Pen oscilloscope • Thermometer and hygrometer 8 - 18 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 100: Handling When Replacing Units

    • Check that the new Unit does not have errors after replacement. • If returning malfunctioning devices for repair, attach a detailed description of the malfunction to the device and send the device to the OMRON representative listed at the end of this manual or to your OMRON representative.
  • Page 101 8 Troubleshooting and Maintenance 8 - 20 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 102 Manufacturer Specific Objects ........A-14 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 103: A-1 Object Dictionary

    4 bytes 0 to 4294967295 128 to 127 Integer8 INT8 1 byte 32768 to 32767 Integer16 INT16 2 bytes 2147483648 to 2147483647 Integer32 INT32 4 bytes   Visible string A - 2 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 104: A-1-3 Object Description Format

    : The object size is given in bytes Access : Indicates whether the object is read only, or read and write RO: Read only RW: Read and write PDO map : Indicates the PDO mapping possibility E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 3...

  • Page 105: A-1-4 Communication Objects

    Range:  Unit:  Attribute:  Default: Differ by Slave Unit types* Size: 20 bytes (VS) Access: RO PDO map: Not possible • Indicates the version of the Slave Unit software. A - 4 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 106 Bits 0 to 15: Minor revision number of the device Bits 16 to 31: Major revision number of the device • Sub-index 4 (Serial Number) gives a serial number for each product. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 5...
  • Page 107 From Sub-index 6 (Diagnosis message 1) to Sub-index 13 (Diagnosis message 8) are stored 8 errors. The 9th error and onward are stored from the Sub-index 6 (Diagnosis message 1) again. A - 6 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 108: Pdo Mapping Object

    : Bit length of the mapped object. (For example, for 32 bits, 20 hex is given.) Bits 8 to 15 : Sub-index of the mapped object. Bits 16 to 31 : Index of the mapped object. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 7...
  • Page 109 Access: RO PDO Map: Disable Sub-index1?16: 1st?16th Input Object to be mapped Range: - Unit: - Default: 30200101Hex Attribute: - 30200201Hex 30200301Hex 30200F01Hex 30201001Hex Size: 4byte(U32) Access: RO PDO Map: Disable A - 8 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 110 Attribute: - Size: 4byte(U32) Access: RO PDO Map: Disable Sub-index2: 2nd Input Object to be mapped Range: - Unit: - Default: 30000201Hex Attribute: - Size: 4byte(U32) Access: RO PDO Map: Disable E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 9...
  • Page 111 Attribute: - Size: 1byte(U8) Access: RO PDO Map: Disable Sub-index1: 1st Input Object to be mapped Range: - Unit: - Default: 20020108Hex Attribute: - Size: 4byte(U32) Access: RO PDO Map: Disable A - 10 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...

  • Page 112: A-1-6 Sync Manager Communication Object

    Size: 1 byte (U8) Access: RO PDO map: Not possible • It indicates the number of PDO mappings used by this sync manager. • Mailbox reception sync manager does not have PDOs. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 11...
  • Page 113 • It indicates the TxPDOs used by this sync manager. * The default settings for Sync Manager 2 PDO Assignment and Sync Manager 3 PDO Assignment are different for OMRON software and software from other companies. The default settings are given in the following table. A - 12...
  • Page 114 Sync manager 3 PDO assignment PDO assignment Number Assigned Number Assigned assigned assigned RxPDOs TxPDOs 00Hex 04Hex 1B04Hex 1B05Hex 1B09Hex 1B0AHex Precautions for Correct Use E3X-ECT can be mapped PDO 36byte maximum E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 13...

  • Page 115: A-1-7 Manufacturer Specific Objects

    • This object is used by the Controller (a Sysmac device) to reset errors that occur in Slave Units. Reference In the default Sysmac Studio settings, sub-index 1 (Sysmac Error Status) is automatically mapped to a PDO because 1BFF hex (512th transmit PDO Mapping) is assigned. A - 14 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 116 • Rewriting value is possible at operation in the DC mode, but the operation is performed with the value set when shifting from the pre-operational state to safe-operational state. Note that at this point, the rewritten value is read. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 15...
  • Page 117 • This object use to set sensor number include dummy sensors. • Sub-index2: Number of Sensors with Dummy • This object detect number of sensors recognized by E3X-ECT (with dummy sensors). • Sub-index3: Number of Connected Sensors • This object detect number of sensors recognized by E3X-ECT (without dummy sensors).
  • Page 118 • This object set the responce setting when sennding command to dummy sensor. 0: Dummy sensor reply normal responce. (The read data is always “0”) 1: Dummy sensor reply error responce. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 17...
  • Page 119 • This object detect comunication status with E3X-ECT and sensor amplifiers. • When communication Busy is on, detect comunicatiing E3X-ECT and Sensor amplifier. • When communication error is on, the number of sensors setting is defferent from the number of sensors include dummy sensors.
  • Page 120 Sensor No.25 4C00 - 4C7F Sensor No.26 4C80 - 4CFF Sensor No.27 4D00 - 4D7F Sensor No.28 4D80 - 4DFF Sensor No.29 4E00 - 4E7F Sensor No.30 4E80 - 4EFF E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 19...
  • Page 121 Sub-index1: No.01 to 30 OFF Detection Level IN2 Range: F831Hex-270FHex Unit: - Default: 0000Hex Attribute: A Size: 2byte(INT16) Access: RO PDO map: Not possible • This object detect the OFF detection level of sensor number by index. A - 20 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 122 Access: RW PDO map: Not possible Sub-index1: No.01 to 30 Color Ratio(BLUE) IN2 Range: 0000Hex-03E8Hex Unit: - Default: 0190Hex Attribute: A Size: 2byte(U16) Access: RW PDO map: Not possible • Reserved E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 21...
  • Page 123 PDO map: Not possible • This object set the oprating mode of sensor number by index. DATA Setting 0000Hex E3X,E3C:Light ON, E2C:Normary Open 0001Hex E3X,E3C:Dark ON, E2C:Normary Close 0002-FFFFHex Reserved A - 22 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 124 2 250us 500us 0003Hex differentiation responce 3 500us 10ms 0004Hex differentiation responce 4 10ms 100ms 0005Hex differentiation responce 5 10ms 100ms 200ms 0006Hex differentiation responce 6 100ms reserved 0007-FFFFHe reserved E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 23...
  • Page 125 Size: 2byte(U16) Access: RO PDO map: Not possible • This object detect the power tuning status of sensor number by index. • 0000Hex: Power tuning Off, 0001Hex: Power tuning ON A - 24 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 126 • This object set the mode key setting of sensor number by index. DATA Setting 0000Hex Power tuning 0001Hex Zero reset 0002Hex Reserved 0003Hex Teaching for EDA0 0004Hex Workpeice exist non-exist teaching 0005-FFFFHex Reserved E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 25...
  • Page 127 Sub-index1: No.01 to 30 Output Timer Value Range: 0000Hex-1388Hex Unit: - Default: 0040Hex Attribute: A Size: 2byte(U16) Access: RW PDO map: Not possible • This object set the timer value of sensor number by index. A - 26 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 128 Access: RW PDO map: Not possible • This object set the ATC power on setting of sensor number by index. DATA Setting 0000Hex 0001Hex 0002Hex ATC + powertuning 0003-FFFFHex reserved E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 27...
  • Page 129 Sub-index1: No.01 to 30 Zero Reset Level IN2 Range: 0000Hex-0FA0Hex Unit: - Default: 0000Hex Attribute: A Size: 2byte(U16) Access: RW PDO map: Not possible • This object set the Zero reset level of sensor number by index. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 28...
  • Page 130 Default: 0000Hex Attribute: A Size: 2byte(U16) Access: RW PDO map: Not possible • This object set the Key lock of sensor number by index. DATA Setting 0000Hex 0001Hex 0002-FFFFHex Reserved E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 29...
  • Page 131 PDO map: Not possible • This object execute the teaching without workpiece(reflrctive) of sensor number by index. • Excute, when writing 0001Hex, and a value 0000hex is indicated when reading. A - 30 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 132 PDO map: Not possible • This object execute the teaching second point of sensor number by index. • Excute, when writing 0001Hex, and a value 0000hex is indicated when reading. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 31...
  • Page 133 Access: RW PDO map: Not possible • This object execute the power tunig of sensor number by index. • Excute, when writing 0001Hex, and a value 0000hex is indicated when reading. A - 32 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 134 PDO map: Not possible • This object execute the projection lighting OFF of sensor number by index. • Excute, when writing 0001Hex, and a value 0000hex is indicated when reading. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 33...
  • Page 135 Access: RW PDO map: Not possible • This object execute the sensor initialization of sensor number by index. • Excute, when writing 0001Hex, and a value 0000hex is indicated when reading. A - 34 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 136 Sub-address of an object within the object dictionary. Collection of control elements to coordinate access to concurrently sync manager used objects. Transmit PDO TxPDO A process data object sent from an EtherCAT Slave Unit. E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual A - 35...
  • Page 137 A Appendix A - 36 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 138 Cat. No. E413-E1-01 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version. Revision code Date Revised content February 2012 Original production E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual Revision-1...
  • Page 139 Revision-2 E3X-ECT EtherCAT Sensor Communication Unit Instraction Manual...
  • Page 141 The Netherlands IL 60173-5302 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 2010 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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