Omron CK3E Series Hardware User Manual page 20

Precautions for Safe Use
EtherCAT Communications
• Make sure that the communications distance, number of nodes connected, and method of connec-
tion for EtherCAT are within specifications.
Do not connect EtherCAT communications to EtherNet/IP, a standard in-house LAN, or other net-
works. An overload may cause the network to fail or malfunction.
• If the Fail-soft Operation Setting parameter is set to Stop, process data communications will stop
for all the slaves when an EtherCAT communications error is detected in a slave. For this reason, if
Servo Drives are connected, the Servos for all axes will be turned OFF. At that time, the Servo Drive
will operate according to the Servo Drive specifications. Make sure that the Fail-soft Operation pa-
rameter setting results in safe operation when a device error occurs.
• If noise occurs or an EtherCAT slave is disconnected from the network, any current communications
frames may be lost. If frames are lost, slave I/O data is not communicated, and unintended opera-
tion may occur. The slave outputs will behave according to the slave specifications. For details, refer
to the manual for the slave.
• When an EtherCAT slave is disconnected or disabled, communications will stop and control of the
outputs will be lost not only for the disconnected slave, but for all slaves connected after it. Confirm
that the system will not be adversely affected before you disconnect or disable a slave.
• You cannot use standard Ethernet hubs or repeater hubs with EtherCAT communications. If you use
one of these, a major fault level error or other error may occur.
• EtherCAT communications are not always established immediately after the power supply is turned
ON. Use the system-defined variables and the EtherCAT Coupler Unit device variables in the user
program to confirm that I/O data communications are established before attempting control opera-
tions.
• If you need to disconnect the cable from an EtherCAT slave during operation, first reset the Ether-
CAT and EtherCAT slaves that are connected after it to the Init state, then disconnect the EtherCAT
slave.
• For EtherCAT and EtherNet, use the connection methods and cables that are specified in this man-
ual. Otherwise, communications may be faulty.
• Make sure that all of the slaves to be restored are participating in the network before you reset the
EtherCAT Master Function Module. If any slave is not participating in the network when any of these
errors is reset, the EtherCAT Master Function Module may access a slave with a different node ad-
dress than the specified node address, or the error may not be reset correctly.
• There is a time lag between the moment when this Controller sends a command value to the Ether-
CAT type Servo Drive and the moment when it receives the feedback value. Perform servo control
taking this time lag into consideration.
• When the cable connected to the third-party slave on the ring topology is disconnected or the power
supply is disconnected, the frame being communicated may be lost. If the frame is lost, the input or
output data of the slave will not be transmitted, and unintended operation may occur.
Before connecting a third-party slave on the ring topology, check the followings.
a) Connect and disconnect the communication cable connected to the OUT port of the third-party
slave several times, and check the status change of ECAT[i].RedundantLineBreak and
ECAT[i].RedundantLineFixed will only occur.
b) Connect and disconnect the communication cable connected to the IN port of the third-party
slave several times, and check the status change of ECAT[i].RedundantLineBreak and
ECAT[i].RedundantLineFixed will only occur.
18
CK3E-series Programmable Multi-Axis Controller User's Manual Hardware (I610)