Contents - Omron CJ1W- ECT21 Operation Manual

1-4-3 Dimensions ............................................................................................................................... 1-10
1-5 Setting Procedures.............................................................................................................. 1-11
Section 2 Nomenclature and Installation
2-1 Nomenclature......................................................................................................................... 2-2
2-1-1 Nomenclature and Functions...................................................................................................... 2-2
2-1-2 Indicators .................................................................................................................................... 2-3
2-1-3 Switch Settings ........................................................................................................................... 2-6
2-2 Installing the EtherCAT Slave Unit....................................................................................... 2-8
2-2-1 System Configuration Precautions ............................................................................................. 2-8
2-2-2 Mounting to a CJ-series PLC...................................................................................................... 2-8
2-2-3 Handling Precautions.................................................................................................................. 2-9
2-3 EtherCAT Network Wiring ................................................................................................... 2-10
2-3-1 Installation Standards ............................................................................................................... 2-10
2-3-2 Installation Precautions............................................................................................................. 2-10
2-3-3 Preparations for Installation .......................................................................................................2-11
2-3-4 Pin Arrangements of Communications Connectors.................................................................. 2-12
2-3-5 Connecting Communications Cables and Connectors ............................................................. 2-13
2-3-6 Connecting Communications Cables to Units .......................................................................... 2-13
Section 3 Memory Allocations
3-1 Overview of the Memory Allocated to the EtherCAT Slave Unit ....................................... 3-2
3-2 CIO Area Allocations............................................................................................................. 3-3
3-2-1 Overview of the Allocated CIO Area Words................................................................................ 3-3
3-2-2 Details of the Allocated CIO Area Words.................................................................................... 3-4
3-3 DM Area Allocations.............................................................................................................. 3-9
3-3-1 Overview of the Allocated DM Area Words ................................................................................ 3-9
3-3-2 Details of the Allocated DM Area Words .................................................................................... 3-9
3-4 I/O Communication Area Settings ..................................................................................... 3-16
3-4-1 The Unit Edit Parameters Dialog Box ....................................................................................... 3-16
3-4-2 Setting Procedure with the CX-Programmer ............................................................................ 3-19
Section 4 EtherCAT Communications
4-1 Structure of CAN Application Protocol over EtherCAT (CoE)........................................... 4-2
4-2 EtherCAT Slave Information Files (ESI Files) ..................................................................... 4-3
4-3 Transitions of Communications States ............................................................................... 4-4
4-4 Process Data Objects (PDOs)............................................................................................... 4-5
4-4-1 Introduction ................................................................................................................................. 4-5
4-4-2 PDO Mappings ........................................................................................................................... 4-5
4-4-3 Assigning PDOs.......................................................................................................................... 4-7
4-5 Service Data Objects (SDOs)................................................................................................ 4-9
4-5-1 Introduction ................................................................................................................................. 4-9
4-5-2 Abort Codes................................................................................................................................ 4-9
4-6 Communications Performance .......................................................................................... 4-10
4-6-1 I/O Response Time................................................................................................................... 4-10
4-6-2 SDO Message Response Time ................................................................................................ 4-12
CJ-series EtherCAT Slave Units Operation Manual (W541)

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