Omron CJ1W-DRM21 Operation Manual page 30

Precautions for Safe Use
• If the Fail-soft Operation parameter is set to stop operation, process data communications will stop
for all 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. Make sure that the Fail-soft Opera-
tion parameter setting results in safe operation when a device error occurs.
• EtherCAT communications are not always established immediately after the power supply is turned
ON. Use the system-defined variables in the user program to confirm that communications are estab-
lished before attempting control operations.
• If frames sent to EtherCAT slaves are lost due to noise or other causes, slave I/O data is not commu-
nicated, and the intended operation is sometimes not achieved. If noise countermeasures are
required, use the _EC_InDataInvalid (Input Data Disable) system-defined variable as an interlock
condition in the user program.
Refer to the NJ-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) for details.
The slave outputs behave according to the slave settings. Refer to the manuals for the slaves for
details.
• When an EtherCAT slave is disconnected, 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 a slave.
• If you disconnect the cable from an EtherCAT slave to disconnect it from the network, any current
communications frames may be lost. If frames are lost, slave I/O data is not communicated, and the
intended operation is sometimes not achieved. Perform the following processing for a slave that
needs to be replaced.
Program the _EC_InDataInvalid (Input Data Disable) system-defined variable as an interlock con-
dition.
Set the Impermissible Number of Continuous Timeouts setting in the EtherCAT master to at least
2.
Refer to the NJ-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) for details.
Motion Control
• Confirm the axis number carefully before you perform an MC Test Run.
• The motor is stopped if communications are interrupted between the Sysmac Studio and the CPU
Unit during an MC Test Run. Connect the communications cable between the computer and CPU
Unit securely and confirm that the system will not be adversely affected before you perform an MC
Test Run.
• Always execute the Save Cam Table instruction if you change any of the cam data from the user pro-
gram in the CPU Unit or from the Sysmac Studio. If the cam data is not saved, the previous condition
will be restored when the power is turned ON again, possibly causing unexpected machine operation.
• The positive drive prohibit input (POT), negative drive prohibit input (NOT), and home proximity input
(DEC) of the Servo Drive are used by the MC Function Module as the positive limit input, negative
limit input, and home proximity input. Make sure that the signal widths for all of these input signals are
longer than the control period of the MC Function Module. If the input signal widths are shorter than
the control period, the MC Function Module may not be able to detect the input signals, resulting in
incorrect operation.
Battery Replacement
• The Battery may leak, rupture, heat, or ignite. Never short-circuit, charge, disassemble, heat, or incin-
erate the Battery or subject it to strong shock.
• Dispose of any Battery that has been dropped on the floor or otherwise subjected to excessive shock.
Batteries that have been subjected to shock may leak if they are used.
• UL standards require that only an experienced engineer replace the Battery. Make sure that an expe-
rienced engineer is in charge of Battery replacement.
• Apply power for at least five minutes before changing the Battery. Install a new Battery within five
minutes (at 25°C) of turning OFF the power supply. If power is not supplied for at least 5 minutes, the
saved data may be lost.
28 CJ-series DeviceNet Units Operation Manual for NJ-series CPU Unit(W497)