Mitsubishi Electric MELSEC iQ-R RJ71EC92 User Manual
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Mitsubishi Electric MELSEC iQ-R RJ71EC92 User Manual

Mitsubishi Electric MELSEC iQ-R RJ71EC92 User Manual

Maindevice module (support ethercat)
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MELSEC iQ-R MainDevice Module
(Support EtherCAT)
User's Manual
-RJ71EC92

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Summary of Contents for Mitsubishi Electric MELSEC iQ-R RJ71EC92

  • Page 1 MELSEC iQ-R MainDevice Module (Support EtherCAT) User's Manual -RJ71EC92...

  • Page 3: Safety Precautions

    SAFETY PRECAUTIONS (Read these precautions before using this product.) Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle the product correctly. If the equipment is used in a manner not specified by the manufacturer, the protection provided by the equipment may be impaired.
  • Page 4 [Design Precautions] WARNING  In an output circuit, when a load current exceeding the rated current or an overcurrent caused by a load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an external safety circuit, such as a fuse.
  • Page 5 [Design Precautions] CAUTION  Do not install the control lines or communication cables together with the main circuit lines or power cables. Doing so may result in malfunction due to electromagnetic interference. Keep a distance of 100mm or more between those cables. ...
  • Page 6 [Installation Precautions] WARNING  Shut off the external power supply (all phases) used in the system before mounting or removing the module. Failure to do so may result in electric shock or cause the module to fail or malfunction. [Installation Precautions] CAUTION ...
  • Page 7 Directly touching any conductive parts of the connectors while power is on may result in electric shock. *1 For details, please consult your local Mitsubishi Electric representative. [Wiring Precautions] CAUTION  Individually ground the FG and LG terminals of the programmable controller with a ground resistance of 100 ohms or less.
  • Page 8 [Wiring Precautions] CAUTION  Check the interface type and correctly connect the cable. Incorrect wiring (connecting the cable to an incorrect interface) may cause failure of the module and external device.  Tighten the terminal screws or connector screws within the specified torque range. Undertightening can cause drop of the screw, short circuit, fire, or malfunction.
  • Page 9 [Startup and Maintenance Precautions] WARNING  Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction.  Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so will cause the battery to produce heat, explode, ignite, or leak, resulting in injury and fire.
  • Page 10 [Startup and Maintenance Precautions] CAUTION  After the first use of the product, do not perform each of the following operations more than 50 times (IEC 61131-2/JIS B 3502 compliant). Exceeding the limit may cause malfunction. • Mounting/removing the module to/from the base unit •...
  • Page 11 [Operating Precautions] CAUTION  When changing data and operating status, and modifying program of the running programmable controller from an external device such as a personal computer connected to an intelligent function module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or modification may cause system malfunction, damage to the machines, or accidents.

  • Page 12: Conditions Of Use For The Product

    Notwithstanding the above restrictions, Mitsubishi Electric may in its sole discretion, authorize use of the PRODUCT in one or more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific applications agreed to by Mitsubishi Electric and provided further that no special quality assurance or fail-safe, redundant or other safety features which exceed the general specifications of the PRODUCTs are required.

  • Page 13: Table Of Contents

    CONTENTS SAFETY PRECAUTIONS ..............1 CONDITIONS OF USE FOR THE PRODUCT .
  • Page 14 SubDevice and Module Settings ............61 PDO Settings .
  • Page 15 CHAPTER 23 PROGRAM USING PROCESS DATA COMMUNICATION 23.1 PDO Communication (With Data Assurance) ..........159 23.2 PDO Communication (Without Data Assurance) .

  • Page 16: Relevant Manuals

    RELEVANT MANUALS Manual name [manual number] Description MELSEC iQ-R MainDevice Module (Support EtherCAT) User's System configuration, procedures before operation, wiring, parameter settings, specifications, Manual functions, programming, and troubleshooting of the RJ71EC92 [SH-082696ENG] (this manual) MELSEC iQ-R Module Configuration Manual The combination of the MELSEC iQ-R series modules, common information on the [SH-081262ENG] installation/wiring in the system, and specifications of the power supply module, base unit, SD memory card, and battery...

  • Page 17: Terms

    TERMS Unless otherwise specified, this manual uses the following terms. Term Description Auto increment address One of the EtherCAT address specifications. The addresses are assigned based on the sorting order of SubDevices. Their numbers to be assigned are 0, -1, -2, and thereafter, starting from the closest to the MainDevice. Buffer memory Memory in an intelligent function module to store data such as setting values and monitored values.

  • Page 18: Generic Terms And Abbreviations

    GENERIC TERMS AND ABBREVIATIONS Unless otherwise specified, this manual uses the following generic terms and abbreviations. Generic term/abbreviation Description ARTT An abbreviation for Actual Round Trip Time. The time that was actually used to perform process data communications and mailbox communications. CPU module A MELSEC iQ-R series CPU module ENI file...

  • Page 19: Part 1 Overview

    PART 1 OVERVIEW This part consists of the following chapter. 1 WHAT CAN BE PERFORMED WITH THIS MODULE...

  • Page 20: Chapter 1 What Can Be Performed With This Module

    WHAT CAN BE PERFORMED WITH THIS MODULE The RJ71EC92 has the following features. EtherCAT communication is supported The RJ71EC92 operates as the MainDevice on EtherCAT and can control the SubDevices in the network. Communication methods The EtherCAT communications that can be performed with the RJ71EC92 are as follows. •...
  • Page 21 Central management of EtherCAT parameters The parameter settings related to EtherCAT are configured by using "EtherCAT Configuration". Since "EtherCAT Configuration" can be started and set from the engineering tool, it can be centrally managed as parameters, improving operability in the engineering environment. 1 WHAT CAN BE PERFORMED WITH THIS MODULE...
  • Page 22 MEMO 1 WHAT CAN BE PERFORMED WITH THIS MODULE...

  • Page 23: Part 2 Part Names

    PART 2 PART NAMES This part consists of the following chapter. 2 PART NAMES...

  • Page 24: Chapter 2 Part Names

    PART NAMES This chapter describes the names of each part of the RJ71EC92. Name Description RUN LED Indicates the operating status. • On: Normal operation • Off: Error occurring (Page 168 When the RUN LED turns off) ERR LED Indicates the error status of the module. •...
  • Page 25 Name Description Ethernet port (P2) Connector for EtherCAT network connection. Connect an Ethernet cable. For wiring methods and precautions, refer to the following. Page 28 WIRING L/A LED (P2) Indicates the link status. ( Page 171 When the L/A LED turns off or on) •...
  • Page 26 LED flashing interval The LEDs on the RJ71EC92 have three types of flashing intervals. (Single flash, Double flash, Blinking) The following figure shows each type of flashing interval. Single flash 0.2s Double flash 0.2s 0.2s 0.2s Blinking 0.2s 0.2s When the flashing status of LED has been changed, the flashing interval may be changed before changing the status.

  • Page 27: Part 3 Procedures Before Operation

    PART 3 PROCEDURES BEFORE OPERATION This part consists of the following chapters. 3 START-UP PROCEDURE 4 WIRING 5 PARAMETER SETTINGS...

  • Page 28: Chapter 3 Start-Up Procedure

    START-UP PROCEDURE This chapter describes the start-up procedure for the RJ71EC92. Mounting the module Mount the RJ71EC92 in the desired configuration.  MELSEC iQ-R Module Configuration Manual Module communication test Turn on the power and perform the module communication test on the RJ71EC92 alone. The test result can be checked with the dot matrix LED.
  • Page 29 MEMO 3 START-UP PROCEDURE...

  • Page 30: Chapter 4 Wiring

    WIRING This chapter describes the wiring methods, wiring products, and wiring precautions when the RJ71EC92 is used. Wiring Method This section describes how to connect and disconnect the Ethernet cable. Connecting the cable Push the Ethernet cable connector into the RJ71EC92 until it clicks. Pay attention to the connector's direction. Lightly pull it to check that it is securely connected.

  • Page 31: Installation Environment

    Precautions This section provides wiring precautions. • To ensure proper installation of EtherCAT networks, refer to IEC 61784-5-12 along with IEC 61918. • Place the Ethernet cable in a duct or clamp it. If not, the dangling cable may swing or be inadvertently pulled, potentially damaging the module or the cable, or causing a malfunction due to poor contact.

  • Page 32: Wiring Products

    Wiring Products This section describes the devices used for EtherCAT. Ethernet cable Wire an Ethernet cable that satisfies the following standard. Ethernet cable Type Connector Standard Category 5 or over, shielded twisted pair cable Straight cable RJ45 connector 100BASE-TX • Check that the Ethernet cable is not disconnected or not shorted and there is no problem with the connector connection.

  • Page 33: Chapter 5 Parameter Settings

    PARAMETER SETTINGS This chapter describes the parameter settings required for communication with EtherCAT SubDevices. Setting parameters Add the RJ71EC92 in the engineering tool. Navigation window  [Parameter]  [Module Information]  Right-click  [Add New Module] The basic settings, application settings, and refresh setting are included in the module parameter. Select the settings from the tree in the following window and configure them.

  • Page 34: Application Settings

    Application Settings Configure items such as the ESM state transition setting and the output hold clear setting at CPU module stop. ESM State Transition Setting at CPU Stop Set the ESM state at CPU module stop. Item Description Setting range At CPU Stop Set the ESM state to which the MainDevice and SubDevices transition when the CPU •...

  • Page 35: Refresh Setting

    Refresh Setting Set the refresh timing for the specified refresh target. Refresh timing Set the refresh timing with the module parameter. Navigation window  [Parameter]  [Module Information]  [RJ71EC92]  [Module Parameter]  [Refresh Setting]  [Refresh by the Set Timing] Item Description Setting range...

  • Page 36: Module Extended Parameter

    Module Extended Parameter Start up "EtherCAT Configuration" and configure the EtherCAT parameters. Startup and termination Startup Start up "EtherCAT Configuration" using the following procedure. Navigation window  [Parameter]  [Module Information]  [RJ71EC92]  [Module Extended Parameter] During the startup process of "EtherCAT Configuration", the engineering tool cannot be operated. Termination Terminate "EtherCAT Configuration"...
  • Page 37 Precautions Writing the module extended parameter The module extended parameter of the RJ71EC92 can be written to both the CPU module and the flash ROM on the RJ71EC92. However, the parameter in the CPU module takes priority over that in the flash ROM of the RJ71EC92. Therefore, when writing the module extended parameter to the flash ROM on the RJ71EC92 when the module extended parameter is written in the CPU module, delete the module extended parameter in the CPU module before proceeding.
  • Page 38 MEMO 5 PARAMETER SETTINGS 5.4 Module Extended Parameter...

  • Page 39: Part 4 Ethercat Parameter Settings

    PART 4 EtherCAT PARAMETER SETTINGS This part consists of the following chapters. 6 WINDOW CONFIGUTATION AND OPERATION 7 PARAMETER SETTINGS 8 SETTING PROCEDURES...

  • Page 40: Chapter 6 Window Configutation And Operation

    WINDOW CONFIGUTATION AND OPERATION This chapter describes the operation methods for the window configuration and the display of "EtherCAT Configuration" window. Window Configuration This section describes the window configuration when "EtherCAT Configuration" is started up. Displayed items Name Description "Project explorer" window Page 39 "Project explorer"...

  • Page 41: Project Explorer" Window

    "Project explorer" window This window has two tabs, Classic view and Topology view, which are displayed by switching between them. Classic view In the classic view, the RJ71EC92 and the SubDevices are displayed in a tree format and the operations are performed by selecting each module.

  • Page 42: Operation

    Operation The following table lists the operations that can be performed in the classic view. Select "Own station" or any SubDevices and right-click. Target Item Description station Own station Add SubDevice Adds SubDevices. ( Page 51 Adding SubDevices and Modules) Paste SubDevice Pastes the SubDevices which were copied or cut.

  • Page 43: Topology View

    Topology view In the topology view, the connection destinations of the RJ71EC92 and the SubDevices set in "EtherCAT Configuration" can be checked. Display icons Icon Description Indicates the MainDevice (RJ71EC92). The terminals indicating the ports are displayed on the right side of the icon, and the port on the upper side is connected to the port on the SubDevice side.

  • Page 44: Device Editor" Window

    "Device editor" window Set the parameters related to EtherCAT for the RJ71EC92 and the SubDevices. The settings are classified by the tabs and differ depending on the models of the RJ71EC92 and SubDevices. For details, refer to the following. Page 53 MainDevice Setting Page 61 SubDevice and Module Settings 6 WINDOW CONFIGUTATION AND OPERATION 6.1 Window Configuration...

  • Page 45: Device Information" Window

    Display items of the RJ71EC92 Item Description MainDevice name Displays the "RJ71EC92". Description Displays the "RJ71EC92". Vendor Displays "Mitsubishi Electric Corporation". Display items of the SubDevice Item Description Device name Displays the device name of the SubDevice. Description Displays the description of the SubDevice.

  • Page 46: Output" Window

    "Output" window The processing result message is displayed after operating in the "Project explorer" window and the "Device editor" window. The messages display the priority, time, and message content. The priority is classified into Error, Warning, and Information. Clicking the Error, Warning, or Information button at the top of the window can display or hide the messages. 6 WINDOW CONFIGUTATION AND OPERATION 6.1 Window Configuration...

  • Page 47: Operations Related To Display

    Operations Related to Display Refreshing to latest status Refresh "EtherCAT Configuration" to the latest status. [View]  [Refresh to latest status] Displaying/hiding windows Displaying or hiding the "Device information" window and "Output" window can be switched. [View]  [Window]  [(Target display items)] Displaying or hiding the windows is switched based on whether the checkbox is selected.
  • Page 48 Floating display Dragging a docking window to any location displays it independently of the main frame. (1) Main frame (2) Floating display Docking display Dragging and dropping the floating window onto the guidance area in the main frame incorporates the window into the main frame.

  • Page 49: Chapter 7 Parameter Settings

    PARAMETER SETTINGS This chapter describes the parameter setting procedures for "EtherCAT Configuration". For the procedure for adding the RJ71EC92 to the engineering tool, refer to the following. Page 31 PARAMETER SETTINGS Register the ESI files of the SubDevices and the modules to be connected to the RJ71EC92. (Initial time only) Page 49 Registering ESI files Add SubDevices and modules to "EtherCAT Configuration".
  • Page 50 MEMO 7 PARAMETER SETTINGS...

  • Page 51: Chapter 8 Setting Procedures

    SETTING PROCEDURES This chapter describes how to set the parameters in "EtherCAT Configuration". Registering/Removing ESI Files ESI files manage the SubDevice information for setting the parameters in "EtherCAT Configuration". Register or remove the ESI files in the "ESI Management" window. [EtherCAT Configuration] ...
  • Page 52 When the registration is completed, the ESI file added to the "ESI Management" window will be displayed. Removing ESI files This section describes how to remove the ESI files. Select the ESI file to be removed and click the [Remove] button in the "ESI Management" window. Click the [Yes] button.

  • Page 53: Adding Subdevices And Modules

    Adding SubDevices and Modules Add SubDevices and modules to be connected to the RJ71EC92 to "EtherCAT Configuration". Adding SubDevices This section describes how to add SubDevices. Right-click the "Own station" or the SubDevice in the "Project explorer" window and click "Add SubDevice". In the following window, specify the SubDevices and the number to be added and click the [OK] button.
  • Page 54 Adding modules Modules can be added to the SubDevices that are compatible with the modules. This section describes how to add the modules. Right-click the SubDevice in the "Project explorer" window and click "Add module". In the following window, specify the module to be added and click the [OK] button. Item Description Filter...

  • Page 55: Maindevice Setting

    MainDevice Setting Set the parameters for EtherCAT communications to the RJ71EC92. Select the "Own station" in the "Project explorer" window and set the parameters in the "Device editor" window. Add the SubDevices to be connected to the "Project explorer" window via EtherCAT before setting the parameters of the RJ71EC92.
  • Page 56 [MainDevice] tab The following table lists the settings on the [MainDevice] tab. Item Description Setting range MainDevice name Set the device name of the MainDevice. 1 to 80 characters The set name is reflected to the information in the "Device (Default: RJ71EC92) information"...
  • Page 57 [Process data image] tab The following table lists the settings on the [Process data image] tab. Item Description Variable list Displays the PDO settings in the SubDevices. ( Page 64 [PDO mapping] tab) The displayed items are Variable name, Comment, Data type, MSU, Offset, and Size. Variable name is displayed with the form of |SubDevice name|, |PDO name|, and |Entry name|.

  • Page 58: Setting Range

    [Details] tab The following table lists the settings on the [Details] tab. Item Description Setting range MainDevice Number of retries Set the number of retries for initialization command. 0 to 99 setting for initialization If the processing is not completed within the set number of times, a send error occurs. (Default: 3) command ...
  • Page 59 [Communication between SubDevices] tab The following table lists the settings on the [Communication between SubDevices] tab. Item Description [Next cycle method] button Select the method for the communication between SubDevices. When communications between SubDevices are performed using the same cycle method, click the [Same cycle method] [Same cycle method] button button.
  • Page 60 [Distributed Clocks] tab The following table lists the settings on the [Distributed Clocks] tab. Item Description Reference clock Select the SubDevice to set the reference clock. The SubDevice with the distributed clock function that is closest to the RJ71EC92 is displayed by default and the checkbox for "Automatic selection"...
  • Page 61 [Task + Sync Units] tab The following table lists the settings on the [Task + Sync Units] tab. Item Description Task Displays the list of the task. In the list, "Task ID", "Comment", "Cycle time [s]", "Input PDO size [byte]", "Output PDO size [byte]", "Ethernet size [byte]", and "Frame count"...
  • Page 62 Edit task The following table lists the settings on the "Edit task" window. Item Description Setting range Comment Set the comment. None (Default: Task 0) Cycle time [s] Set the cycle time of the task. • 250 Changing the settings changes the value of "Cycle time [s]" in the •...

  • Page 63: Subdevice And Module Settings

    SubDevice and Module Settings Set the parameters of the added SubDevices and modules. Select a SubDevice or a module in the "Project explorer" window and set the parameters in the "Device editor" window. The following table lists the parameters of the SubDevice and module. Item Reference [General] tab...
  • Page 64 [General] tab The following table lists the settings on the [General] tab. Item Description Setting range Address Node Address Set the node address of the SubDevice. 1 to 65535 (Default: Depends on the order of the added SubDevices.) Information Device name Set the device name of the SubDevice.
  • Page 65 [Module] tab The following table lists the settings on the [Module] tab. Item Description Module Displays the slot list of the SubDevices. assignment The slot list is displayed with the form of |number|: |slot name| [module model name] (description of the module). For the settings, refer to the manual for the SubDevice to be used.
  • Page 66 [PDO mapping] tab The following shows the settings on the [PDO mapping] tab. PDO mapping window The following table lists the display items on the PDO mapping window. Item Description [PDO] button Switches the display of the PDO mapping. (PDO mapping window is displayed by default.) Clicking the [FMMU/SM] button displays the FMMU/SM window.
  • Page 67 Item Description PDO mapping Displays the PDO list of the SubDevice. Assign The selected PDO can be used by selecting the checkbox of "Assign". PDO name The PDO name is displayed. The name differs depending on the SubDevice. Direction "IN" or "OUT" is displayed. •...
  • Page 68 FMMU/SM window The following table lists the display items on the FMMU/SM window. Item Description [PDO] button Switches the display of the PDO mapping. Click the [PDO] button to switch the PDO mapping window. [FMMU/SM] button For the display of the PDO mapping window, refer to the following. Page 64 PDO mapping window FMMU Displays the FMMU information list.
  • Page 69 Adding and setting of PDO The following table lists the settings for adding or editing PDO. Item Description Setting range General PDO name Set the PDO name. No limit on the number of characters (UTF-8) (Default: blank) Index Set the index of the PDO. 0 to 65535 (0x0000 to 0xFFFF) Click the [Dec] button to input decimal numbers.
  • Page 70 Adding and setting PDO entry The following table lists the settings for adding or editing the entry. Item Description Setting range General Entry name Set the entry name. No limit on the number of characters (UTF-8) (Default: blank) Comment Set the comment of the entry. No limit on the number of characters (UTF-8) (Default: blank)
  • Page 71 [Group] tab The following table lists the settings of the [Group] tab. For creating a group, refer to the following. Page 87 Creating a Group Item Description Setting range General MSU ID Displays the MSU ID set in the group. ...
  • Page 72 [E-Bus current] tab The following table lists the settings on the [E-Bus current] tab. Item Description E-Bus current Device name Displays the list of the device name of the connected SubDevices. consumption E-Bus [mA] Displays the amount of remaining current after the current is consumed up to the SubDevice in the same row.
  • Page 73 [Details] tab The following table lists the settings on the [Details] tab. Item Description Setting range Startup check Check vendor ID Checks the information of the ESI file registered in EtherCAT Configuration • Selected and the vendor ID of the SubDevice by selecting the checkbox. •...
  • Page 74 Item Description Setting range Checkbox Checkbox Overwrite watchdog Set multiplicator Selecting the checkbox writes the set value to the specified register • Not selected (0x0400) of the SubDevice. • Selected The set values are the reference values for the PDI watchdog and the SM (Default: Not selected) Input value watchdog.
  • Page 75 Item Description Setting range Checkbox Overwrite Mailbox Output size Selecting the checkbox changes the Output mailbox size. (Unit: byte) size • Not selected • Selected (Default: Not selected) Input value 0 to 999999 (Default: Depends on the SubDevice.) Input size Selecting the checkbox changes the Input mailbox size.
  • Page 76 [Distributed Clocks] tab The following table lists the settings on the [Distributed Clocks] tab. Item Description Setting range  Distributed Operation mode Set the operation mode of the distributed clocks. Clocks The settings depend on the SubDevice to be used. Displays the cycle time of the distributed clocks.
  • Page 77 Item Description Setting range Distributed Sync 1 Uses the sync 1 sets the reference for the cycle time of the • Not selected Clocks distributed clocks by selecting the checkbox. • Selected (Default: Depends on the SubDevice.) Sync 1 Sync cycle Set the sync cycle of the sync 1.
  • Page 78 [Initialization command] tab The following table lists the settings on the [Initialization command] tab. Item Description Initialization Displays the initialization command in a list. command When this item is defined in the ESI file of a SubDevice, the list is displayed by default. Transition The timing to be executed the initialization command is displayed in the transition of the ESM status.
  • Page 79 Adding and setting the initialization command The following table lists the settings for adding or editing the initialization command. Item Description Setting range General Index Set the index of the address to be accessed by the initialization command. 0 to 65535 (0x0000 to 0xFFFF) Click the [Dec] button to input decimal numbers.
  • Page 80 Item Description Setting range Direction Set the direction of the initialization command. • Download • Download: Write to the SubDevice. • Upload • Upload: Read from the SubDevice. (Default: Download) CoE object dictionary Displays the lists of the CoE object dictionary. ...
  • Page 81 [CoE object dictionary] tab The following table lists the settings on the [CoE object dictionary] tab. Item Description Value list Displays the list of the CoE object dictionary. In the list, "Index", "Object name", "Value", "Data type" and "Flag" are displayed from the ESI file information of the SubDevice. Click the [] button to display the list of the subindex.
  • Page 82 [Sync Units] tab The following table lists the settings on the [Sync Units] tab. Item Description SubDevice Sync Units Displays the setting list of the SubDevice sync units. The settings in the [PDO mapping] tab is reflected as sync units. Name The name and number of the sync unit are displayed.
  • Page 83 [MDP slot] tab The following table lists the settings on the [MDP slot] tab. Item Description General Vendor Displays the vendor of the module. ESI file of SubDevice Displays the ESI file name of the module source SubDevice. Slot Slot name Displays the slot name of the module.

  • Page 84: Pdo Settings

    PDO Settings This section describes the PDO setting procedures for the RJ71EC92. When setting parameters using the registered PDO When using the PDO registered in SubDevice, perform the following procedures. Select the checkboxes of "Assign" for PDOs to be used from the PDO mapping of the SubDevice. SubDevice ...
  • Page 85 Variable names of the RJ71EC92 are registered. Own station  "Device editor" window  [Process data image] tab 8 SETTING PROCEDURES 8.5 PDO Settings...
  • Page 86 When creating and setting a new PDO When creating and setting a new PDO, perform the following procedures. Create the PDO in the PDO mapping of the SubDevice. (The PDO registered in the SubDevice is removed as follows.) SubDevice  "Device editor" window  [PDO mapping] tab Select the checkbox of "Download PDO setting"...
  • Page 87 Set the PDO and click the [OK] button. Create a PDO for output in the same way as a PDO for input. Select the checkboxes of "Assign" for the created PDOs from the PDO mapping of the SubDevice. 8 SETTING PROCEDURES 8.5 PDO Settings...
  • Page 88 Set the MSU to the sync units. SubDevice  "Device editor" window  [Sync Units] tab Variable names of the RJ71EC92 are registered. Own station  "Device editor" window  [Process data image] tab 8 SETTING PROCEDURES 8.5 PDO Settings...

  • Page 89: Creating A Group

    Creating a Group The multiple SubDevices registered in the RJ71EC92 can be controlled in a batch by creating a group. Also, the created group can be applied for pin group and hot connect group. Item Description Pin group Fixes the values of the Input offset and Output offset when the pin group is selected. Hot Connect group A group of master sync units that can continue the network even if SubDevices are connected or disconnected.
  • Page 90 Detach/attach hot connect group Detach Hot Connect group Detaching the set hot connect group from the group is called "Detach". Detach the SubDevices in the order of the grouped ones. "Project explorer" window  Select SubDevices  Right-click  "Detach Hot Connect group" The detached group can be checked from the following "Network location"...
  • Page 91 Attach Hot Connect group Reattaching the detached SubDevice to the hot connect group is called "Attach". Attach the SubDevices in the order of the grouped ones. "Project explorer" window  Select SubDevices  Right-click  "Attach Hot Connect group" Precaution Hot connect group is a group in which SubDevices can be connected or disconnected during the system operating.

  • Page 92: Exporting Eni File

    Exporting ENI File This section describes how to export the parameters to the ENI file set in "EtherCAT Configuration". Click "Export ENI file" in "EtherCAT Configuration". [EtherCAT Configuration]  [Export ENI file] Set the file name and click the [Save] button. 8 SETTING PROCEDURES 8.7 Exporting ENI File...

  • Page 93: Updating Esi Data

    Updating ESI Data This section describes how to update the information of the ESI data for the SubDevice for which parameters are set. Select the SubDevice to be updated and update the ESI data. "Project explorer" window  Select SubDevices  Right-click  "Reload ESI data" When the ESI data information is updated to the SubDevices with modules, the information of the modules can be updated together.

  • Page 94: Changing Subdevice Revision

    Changing SubDevice Revision To ensure compatibility with other SubDevices to be configured with EtherCAT, the SubDevice revision may be changed. The following shows the revision changing methods of the SubDevice set in "EtherCAT Configuration". Select the SubDevice which changes the revision. "Project explorer"...

  • Page 95: Version Information

    8.10 Version Information The software version of "EtherCAT Configuration" can be checked on the following window. [Help]  [Version Information] 8 SETTING PROCEDURES 8.10 Version Information...
  • Page 96 MEMO 8 SETTING PROCEDURES 8.10 Version Information...

  • Page 97: Part 5 System Configuration

    PART 5 SYSTEM CONFIGURATION This part consists of the following chapter. 9 SYSTEM CONFIGURATION...

  • Page 98: Chapter 9 System Configuration

    SYSTEM CONFIGURATION Applicable CPU Modules The following table shows the availability of the RJ71EC92 when each CPU module or remote head module is used. The CPU modules and remote head modules are indicated by symbols as follows. • Rn: RnCPU •...

  • Page 99: Available Software Packages

    Available Software Packages The engineering tool and EtherCAT Configuration Tool are required for setting the RJ71EC92. Software Supported version GX Works3 Version 1.110Q or later EtherCAT Configuration Tool Version 1.00A or later CW Configurator Version 1.019V or later EtherCAT Configuration Tool Operating environment and installation/uninstallation For the operating environment for the EtherCAT Configuration Tool and its installation and uninstallation, refer to the following.
  • Page 100 MEMO 9 SYSTEM CONFIGURATION 9.2 Available Software Packages...

  • Page 101: Part 6 Specifications

    PART 6 SPECIFICATIONS This part consists of the following chapter. 10 PERFORMANCE SPECIFICATIONS...

  • Page 102: Chapter 10 Performance Specifications

    PERFORMANCE SPECIFICATIONS This chapter describes the performance specifications of the RJ71EC92. Item Description EtherCAT communication specifications CAN application protocol over EtherCAT (CoE) Transmission specifications Type 100BASE-TX Data transmission speed 100Mbps Minimum synchronization cycle 250s Communication mode Full-duplex Interface RJ45, two ports Transmission method Base band Maximum number of connectable stations per...
  • Page 103 MEMO 10 PERFORMANCE SPECIFICATIONS...
  • Page 104 MEMO 10 PERFORMANCE SPECIFICATIONS...

  • Page 105: Part 7 Functions

    PART 7 FUNCTIONS This part consists of the following chapters. 11 FUNCTION LIST 12 PROCESS DATA COMMUNICATIONS 13 MAILBOX COMMUNICATIONS (SDO COMMUNICATIONS) 14 ESM STATE CHANGE FUNCTION 15 CONTROL COMMAND FUNCTION 16 CABLE REDUNDANCY FUNCTION 17 HOT CONNECT FUNCTION 18 SYNC UNIT FUNCTION 19 COMMUNICATION BETWEEN SUBDEVICES FUNCTION 20 DISTRIBUTED CLOCK FUNCTION 21 OPERATION SETTINGS AT CPU MODULE STOP OR STOP ERROR...

  • Page 106: Chapter 11 Function List

    FUNCTION LIST The following tables list the functions of the RJ71EC92. Function Description Reference source Process data communication Regularly performs periodic data communication using PDO between the Page 106 PROCESS DATA RJ71EC92 and the SubDevice. COMMUNICATIONS Mailbox communication (SDO Performs non-periodic data communication from the RJ71EC92 to the Page 115 MAILBOX COMMUNICATIONS communication) SubDevice.
  • Page 107 MEMO 11 FUNCTION LIST...

  • Page 108: Chapter 12 Process Data Communications

    PROCESS DATA COMMUNICATIONS PDO is used to perform periodic data communication between the RJ71EC92 and the SubDevice. Overview Data is received from and sent to a SubDevice at communication cycles (cycle time) specified by the RJ71EC92. Type Description Sending data (PDO output) The RJ71EC92 sends the data stored in 'Output data' (Un\G24576 to Un\G40959).
  • Page 109 Cycle time and ERTT/ARTT The processing to be performed by the MainDevice within the cycle time are as follows. • PDO data processing such as data copying • Process data communication and mailbox communication For the RJ71EC92, the time allocated for process data communication and mailbox communication needs to be set in advance.
  • Page 110 Input data/output data allocation to buffer memory areas The data to be exchanged in process data communication is received and sent using the buffer memory of the RJ71EC92 ('Input data' (Un\G0 to Un\G16383) and 'Output data' (Un\G24576 to Un\G40959)), but the allocation within the buffer memory will follow the layout specified by the values set in 'Configuration information' (Un\G73728 to Un\G76287).

  • Page 111: Processing Flow

    Related buffer memory areas The following table lists the related buffer memory areas. Item Name Buffer memory Reference source Input/output data Input data Un\G0 to Un\G16383 Page 211 Input data (Un\G0 to Un\G16383) Output data Un\G24576 to Un\G40959 Page 211 Output data (Un\G24576 to Un\G40959) Configuration Node address Un\G73728 to Un\G73855...
  • Page 112 Data assurance Data assurance is a function that ensures the consistency of input and output data for each SubDevice in process data communication (preventing the mixing of data from different cycles). Data consistency is ensured using a handshake area on the buffer memory of the RJ71EC92 and interlocking the access to the I/O data between the CPU module and the RJ71EC92.
  • Page 113 Processing Description Acquiring input data The input information of the target SubDevice can be acquired by acquiring the input data offset of each SubDevice and then reading an area corresponding to the data size, which is shifted by the offset amount from the start of the input data in the buffer memory.
  • Page 114 Data output procedure After storing the data to be sent in 'Output data' (Un\G24576 to Un\G40959) using a program, store a value different from 'Output data read response' (Un\G57347) in 'Output data read request' (Un\G57345). This operation notifies the RJ71EC92 that new data has been stored. After the output data has been sent, the RJ71EC92 sets the same value as 'Output data read request' (Un\G57345) to 'Output data read response' (Un\G57347).
  • Page 115 Processing Description Setting 'Output data read After storing of output data is completed, store a value different from 'Output data read response' (Un\G57347) in request' (Un\G57345) 'Output data read request' (Un\G57345) using a program. (Range: 0000H to 00FFH) When a different value is set, the RJ71EC92 will be notified that the new output data has been written. When data sending is completed, the RJ71EC92 stores the same value as 'Output data read request' (Un\G57345) to 'Output data read response' (Un\G57347).

  • Page 116: Sample Programs

    Data I/O procedure (without data assurance) When data assurance is not used, store FFFFH in either or both 'Input data read response' (Un\G57344) and 'Output data read request' (Un\G57345) using a program before the start of process data communication. Data input procedure When FFFFH is stored in 'Input data read response' (Un\G57344), the RJ71EC92 updates input data as needed, regardless of whether the program has completed reading the input data.

  • Page 117: Chapter 13 Mailbox Communications (Sdo Communications)

    MAILBOX COMMUNICATIONS (SDO COMMUNICATIONS) This function performs non-periodic data communication from the RJ71EC92 to the SubDevice. The RJ71EC92 only supports SDO communication. Overview SDO communication is a function that reads/writes data from/to an object dictionary between modules in EtherCAT. This function allows reading information stored in the object dictionary of a SubDevice or setting a SubDevice via the object dictionary.
  • Page 118 Reading procedure (SDO upload) The following table lists the SDO upload procedure. Processing Description Checking 'SDO control command' A program is used to check the values of the following buffer memory areas to determine whether SDO (Un\G90112) and 'SDO executed communication can be executed.
  • Page 119 Processing Description Storing 0000H (No command) in 'SDO After the receive data is acquired, a program stores 0000H (No command) in 'SDO control command' control command' (Un\G90112) (Un\G90112). During the operation above, the value of 'SDO executed control command' (Un\G90518) will be 0000H (No command), the value of 'SDO error code' (Un\G90924) will be 0000H (No error), and the value of 'SDO detail error code' (Un\G90926 to Un\G90927) will be 00000000H (No detail error).
  • Page 120 Writing procedure (SDO download) The following table lists the SDO download procedure. Processing Description Checking 'SDO control command' A program is used to check the values of the following buffer memory areas to determine whether SDO (Un\G90112) and 'SDO executed communication can be executed.

  • Page 121: Timing Chart

    Timing chart The following figure is the timing chart of mailbox communication (SDO communication). SDO upload Performed by the RJ71EC92 Performed by the program 'SDO control command' 0001H 0000H (Un\G90112) 'SDO transmission node address' (Un\G90113) 'SDO transmission index No.' (Un\G90114) 'SDO transmission subindex No.' (Un\G90115) 'SDO executed control command'...
  • Page 122 SDO download Performed by the RJ71EC92 Performed by the program 'SDO control command' 0002H 0000H (Un\G90112) 'SDO transmission node address' (Un\G90113) 'SDO transmission index No.' (Un\G90114) 'SDO transmission subindex No.' (Un\G90115) 'SDO transmission data size' (Un\G90116 to Un\G90117) 'SDO transmission data' (Un\G90118 to Un\G90517) ''SDO error code' Error code...

  • Page 123: Chapter 14 Esm State Change Function

    ESM STATE CHANGE FUNCTION This function controls the ESM state of the RJ71EC92 and SubDevices using the buffer memory. Overview In EtherCAT, a state machine called the EtherCAT state machine is defined to determine the operating status of EtherCAT devices, with each status referred to as an ESM state. ESM states normally transition automatically, but they can be transitioned manually at a desired timing, for example, to stop process data communication.
  • Page 124 ESM state relationship When ESM states are shown in comparison, the Init side is expressed as the lower order and the Operational side as the higher order. (Bootstrap is excluded.) Init Pre-Operational Safe-Operational Operational High Safe-Operational or higher  Safe-Operational or Operational status ESM state higher than Init ...
  • Page 125 ESM state change The RJ71EC92 can be changed to a specified ESM state at a desired timing using a program. Also, when the RJ71EC92 starts, the CPU module changes from RUN to STOP, or a stop error occurs, the ESM state can be changed automatically.
  • Page 126 How to check the ESM state The current ESM state of the RJ71EC92 and SubDevices can be checked using the buffer memory of the RJ71EC92. • In 'MainDevice ESM state' (Un\G69888), the current ESM state of the RJ71EC92 can be checked. •...
  • Page 127 When the request is completed, the same value as 'MainDevice ESM state change request' (Un\G98304) will be stored in 'MainDevice ESM state change response' (Un\G99072). (Completion of the request can be determined by checking that the same value is stored.) If an error occurs, the error code will be stored in 'MainDevice ESM state change error code' (Un\G99840).

  • Page 128: Setting Method

    Function to change the ESM state when a SubDevice is connected This function automatically changes a SubDevice into any desired ESM state immediately after it is connected. For example, when a SubDevice transitions from offline to online due to events such as the reconnection of a disconnected Ethernet cable, use this function to automatically transition to any desired ESM state after recovery.

  • Page 129: Chapter 15 Control Command Function

    CONTROL COMMAND FUNCTION This function controls the stop, restart, and other operations of EtherCAT communication using the buffer memory areas of the RJ71EC92. Related buffer memory areas and commands The following table lists the related buffer memory areas and commands. Buffer memory Item Name...
  • Page 130 Communication stop request When 0001H (Communication stop request) is set in 'Control command' (Un\G65552), the EtherCAT function will stop, and process data communication and mailbox communication (SDO communication) will also stop. In this case, the values stored in the following buffer memory areas will be reset to their initial values. •...
  • Page 131 Communication restart request When 0002H (Communication restart request) is set in 'Control command' (Un\G65552), the EtherCAT function will restart and the ESM state will transition from Init to Operational. At the same time, process data communication and mailbox communication (SDO communication) will start. Also, 'Control command response' (Un\G69648) will change to 0002H (Communication restart request completed) when the communication restart process is started.
  • Page 132 Event information cleared When 0003H (Event information cleared) is set in 'Control command' (Un\G65552), the following buffer memory areas will be cleared. • 'EtherCAT event history index' (Un\G81920 to Un\G81921) • 'EtherCAT event history data' (Un\G81922 to Un\G82921) Performed by the RJ71EC92 Performed by the program 'Control command' (Un\G65552) 0003H...

  • Page 133: Chapter 16 Cable Redundancy Function

    CABLE REDUNDANCY FUNCTION This function ensures cable redundancy by creating a ring topology in the EtherCAT system, including the RJ71EC92, allowing communication to be maintained in the event of a cable or device failure. Overview This function allows the RJ71EC92 to send the same frame from both ports during EtherCAT communication so that it can acquire valid input data by combining the received data at each port.
  • Page 134 Examples of operations without this function are shown for the following systems. RJ71EC92 SubDevice1 SubDevice2 SubDevice3 In the following system, a failure has occurred in a cable between SubDevice1 and SubDevice2, but communication with the subsequent SubDevice2 and SubDevice3 is not possible. RJ71EC92 SubDevice1 SubDevice2...
  • Page 135 Setting method To use this function, configure the following settings in "EtherCAT Configuration". Set "Cable redundancy" to "Use port 1 as the EtherCAT port and port 2 as the redundant port.". [Own station]  "Device editor" window  [MainDevice] tab  [Cable redundancy] Check "Disable LRW"...

  • Page 136: Chapter 17 Hot Connect Function

    HOT CONNECT FUNCTION Hot Connect allows SubDevices to be added to or removed from an active system in the EtherCAT network. Overview SubDevices to be connected to the RJ71EC92 are categorized into required SubDevices and optional SubDevices. Item Description Required SubDevice Refers to SubDevices that are not set to the Hot Connect group.
  • Page 137 Setting method Set the device ID to the first SubDevice for which the Hot Connect group is to be set. For the device ID setting method, refer to the manual of the SubDevice used. In the "Project explorer" window of "EtherCAT Configuration", select a SubDevice for which the Hot Connect group is to be set, right-click, and click "Create group".

  • Page 138: Chapter 18 Sync Unit Function

    SYNC UNIT FUNCTION This function groups SubDevices and enables independent data exchange between them. Overview A sync unit is a unit that collects process data in the network and a MainDevice and SubDevices exchange data by using this unit. MainDevice SubDevice SubDevice Buffer memory...
  • Page 139 Setting method To use this function, configure the following settings. How to configure the settings from the sync unit setting window of the own station and the target SubDevice Set the MSU to the RJ71EC92 in "EtherCAT Configuration". Own station  "Device editor" window  [Task + Sync Units] tab From "Edit MSU", click the [Add] button to add a line for the MSU.
  • Page 140 Set the sync unit for each SubDevice. Target SubDevice  "Device editor" window  [Sync Units] tab Click the "MSU" column and allocate the master sync unit. Set other SubDevices to be connected in the same manner. How to create a group and add a sync unit Select the SubDevices to be grouped and create a group.

  • Page 141: Chapter 19 Communication Between Subdevices Function

    COMMUNICATION BETWEEN SUBDEVICES FUNCTION This function allows for data exchange between SubDevices without data processing by the RJ71EC92 (data transfer by a program). For data exchange using inter-SubDevice communication, the following methods are available. • Next-cycle method • Same-cycle method Next-cycle method The next-cycle method performs communication across the next cycles between SubDevices whose the communication between SubDevices function is set.
  • Page 142 Same-cycle method The same-cycle method performs reading and writing of process data in the same cycle between SubDevices whose the communication between SubDevices function is set. In the same-cycle method, the SubDevice that reads process data must be positioned upstream (closer to the RJ71EC92 side) than the SubDevice that writes process data.
  • Page 143 Setting method To use this function, configure the following settings. In "EtherCAT Configuration", assign PDOs of SubDevices to be used for inter-SubDevice communication. Target SubDevice  "Device editor" window  [PDO mapping] tab Configure the inter-SubDevice communication settings for the RJ71EC92. For the next-cycle method, check that the window is in the following status before configuring the settings.
  • Page 144 Precautions Inter-SubDevice communication using the next-cycle method The following shows the operation when the next-cycle method is set, and the number of SubDevices differ between input and output. • When the setting is configured so that multiple different output SubDevices are assigned for a single input SubDevice, the process data of the input SubDevice will be written to all output SubDevices.

  • Page 145: Chapter 20 Distributed Clock Function

    DISTRIBUTED CLOCK FUNCTION This function performs time synchronization for all EtherCAT devices (MainDevices and SubDevices) that are connected in EtherCAT and support the distributed clock (DC). Synchronizing the time of EtherCAT devices enables simultaneous input and output for all the EtherCAT devices using the distributed clock.
  • Page 146 DC synchronization setting method DC synchronization needs to be set separately for the RJ71EC92 and the SubDevice. Configure the setting from "EtherCAT Configuration". Setting method on the SubDevice side To check if this function is supported by a SubDevice and for the setting procedure, refer to the manual of the SubDevice used.
  • Page 147 Change the synchronization cycle. (Optional) When the synchronization cycle is not changed, execute synchronization based on the RJ71EC92 cycle time. Target SubDevice  "Device editor" window  [Distributed Clocks] tab Select the checkbox of "Overwrite mode" to enable the synchronization cycle change. Item Description Sync 0...
  • Page 148 Setting method on the RJ71EC92 side Select the reference clock. (Required) Own station  "Device editor" window  [Distributed Clocks] tab • Manual selection (When the auto selection checkbox is not selected): A manually-selected SubDevice will be used as the reference clock.
  • Page 149 Freerun setting method For the freerun setting, perform the following procedure from "EtherCAT Configuration". To check if this function is supported by a SubDevice and for the setting procedure, refer to the manual of the SubDevice used. Select "Free Run" of the operation mode. Target SubDevice ...
  • Page 150 DC synchronization status and synchronization window diagnostics The synchronization window diagnostics checks whether the time of all SubDevices subject to DC synchronization is synchronized with the reference clock. When the time of one or more SubDevices deviates from the reference clock by a certain amount or more, an error will be notified.
  • Page 151 DC system time DC synchronization synchronizes the time of SubDevices. This time is called the DC system time. The reference clock will be the synchronization source of this DC system time, and other SubDevices will be synchronized with the reference clock. When the DCM is enabled, the time of SubDevices will be synchronized with the local time of the RJ71EC92.

  • Page 152: Chapter 21 Operation Settings At Cpu Module Stop Or Stop Error

    OPERATION SETTINGS AT CPU MODULE STOP OR STOP ERROR The ESM state and the process data output values for the module will be changed when the CPU module stops or a stop error occurs. 21.1 ESM State Transition Setting at CPU Module Stop or Stop Error When the CPU module is changed from RUN to STOP or a stop error occurs, the RJ71EC92 and all SubDevices are restricted to the specified or lower ESM state.

  • Page 153: Pdo Output Hold Clear Setting At Cpu Module Stop Or Stop Error

    21.2 PDO Output Hold Clear Setting at CPU Module Stop or Stop Error When the CPU module is changed from RUN to STOP or a stop error occurs, selection can be made to either hold or clear the PDO output data of the RJ71EC92. For the PDO output, refer to the following.
  • Page 154 MEMO 21 OPERATION SETTINGS AT CPU MODULE STOP OR STOP ERROR 21.2 PDO Output Hold Clear Setting at CPU Module Stop or Stop Error...

  • Page 155: Part 8 Programming

    PART 8 PROGRAMMING This part consists of the following chapters. 22 SYSTEM CONFIGURATION EXAMPLE 23 PROGRAM USING PROCESS DATA COMMUNICATION 24 PROGRAM USING MAILBOX COMMUNICATIONS...

  • Page 156: Chapter 22 System Configuration Example

    SYSTEM CONFIGURATION EXAMPLE This chapter describes an example of the system configuration for EtherCAT communication between the RJ71EC92 and SubDevices. System configuration The following system configuration is used to explain an example of EtherCAT communication. (1) Programmable controller system (MainDevice) •...

  • Page 157: Communication Details

    Communication details The following figure shows the relationship between the buffer memory areas of the RJ71EC92 and each SubDevice. For a program using process data communication MainDevice SubDevice1 SubDevice2 CPU module RJ71EC92 Buffer memory send area Output_Data_1 Send data to the Input data from the SubDevice1 MainDevice (50 bytes)

  • Page 158: Setting Parameters

    Setting parameters Connect the engineering tool to the CPU module of the MainDevice and set the parameters. Set the CPU module as follows. [Project]  [New] Click the [Setting Change] button and set "Use" for "Module label". Set the RJ71EC92 as follows. 22 SYSTEM CONFIGURATION EXAMPLE...
  • Page 159 Click the [OK] button to add the module label of the RJ71EC92. In "EtherCAT Configuration", set the EtherCAT parameters. Navigation window  [Parameter]  [Module Information]  [RJ71EC92]  [Module Extended Parameter] 22 SYSTEM CONFIGURATION EXAMPLE...
  • Page 160 On the "Project explorer" window, add two SubDevices to be used. "Project explorer" window  Select "Own station"  Right-click  "Add SubDevice" Assign PDO to the two SubDevices that have been added. SubDevice  "Device editor" window  [PDO mapping] tab Select [Close with Reflecting the Setting] to close "EtherCAT Configuration".
  • Page 161 PROGRAM USING PROCESS DATA COMMUNICATION This chapter describes program examples where the RJ71EC92 communicates using 50 bytes (25 words) of I/O data for SubDevice1 and SubDevice2. 23.1 PDO Communication (With Data Assurance) This program example is created for the following operations. •...

  • Page 162: Program Example

    Program example 23 PROGRAM USING PROCESS DATA COMMUNICATION 23.1 PDO Communication (With Data Assurance)
  • Page 163 23.2 PDO Communication (Without Data Assurance) This program example is created for the following operations. • Input data will be read without checking the input data read request and the input data read response. • Output data will be written without checking the output data read request and the output data read response. Also, the I/O data will be updated every second using the one second clock.
  • Page 164 Program example 23 PROGRAM USING PROCESS DATA COMMUNICATION 23.2 PDO Communication (Without Data Assurance)
  • Page 165 PROGRAM USING MAILBOX COMMUNICATIONS This chapter describes program examples where the RJ71EC92 performs SDO communication (download/upload) with SubDevice2. The program examples describe access to the following destinations. • Node address: 1002 • Index number: 7001H • Subindex number: 1H Available labels and devices Classification Label name Description...
  • Page 166 24 PROGRAM USING MAILBOX COMMUNICATIONS...
  • Page 167 24 PROGRAM USING MAILBOX COMMUNICATIONS...
  • Page 168 MEMO 24 PROGRAM USING MAILBOX COMMUNICATIONS...

  • Page 169: Part 9 Troubleshooting

    PART 9 TROUBLESHOOTING This part consists of the following chapters. 25 HOW TO CHECK TROUBLES 26 TROUBLESHOOTING BY SYMPTOM 27 LIST OF ERROR CODES 28 LIST OF DETAIL ERROR CODES 29 LIST OF SDO ABORT CODES 30 EVENT LIST...

  • Page 170: Checking With Led

    HOW TO CHECK TROUBLES This chapter describes how to check errors that have occurred in the RJ71EC92. If a trouble has occurred, perform troubleshooting using the following procedure. Check the LEDs of the RJ71EC92. ( Page 168 Checking with LED) Connect an engineering tool and check the RJ71EC92 status.
  • Page 171 When the ERR LED turns on or is flashing When the ERR LED turns on or is flashing, check the following. Check item Action Has an error occurred in the module diagnostics? Take the actions displayed on the module diagnostics window. ( Page 172 Checking from the "Module Diagnostics"...
  • Page 172 When the ECAT ERR LED turns on or is flashing When the ECAT ERR LED turns on or is flashing, check the following. LED status Check item Action Has a stop error occurred on the CPU Check the error on the CPU module using the CPU module LEDs and module diagnostics. module? (User's manual of the CPU module used) If a stop error has occurred, take the actions described on the manual of the CPU module or...
  • Page 173 When the L/A LED turns off or on When the L/A LED turns off or on, check the following. LED status Check item Action Has a moderate error or major error Check the error on the RJ71EC92 using the RJ71EC92 LEDs and module diagnostics. occurred on the RJ71EC92? If a moderate error or major error has occurred, take the actions displayed on the module diagnostics window.

  • Page 174: Error Information

    25.2 Checking the Module Status Checking from the "Module Diagnostics" window The module diagnostics are a function that diagnoses the target modules (checks the errors currently occurring and detailed information about the errors). [Diagnostics]  [System Monitor]  Double-click the RJ71EC92. The following contents can be checked in the "Module Diagnostics"...
  • Page 175 Item Description Corrective Action Displays the actions to eliminate the error causes. Error clear Click the [Clear Error] button in the "Module Diagnostics" window to collectively clear the continuation errors of the RJ71EC92 and delete the error information on the module diagnostics window. However, if there is a stop error, the continuation errors cannot be cleared.
  • Page 176 Module information list Switch to the [Module Information List] tab to display the LED information and individual information of the RJ71EC92. Item Description LED information Displays the status of each LED on the RJ71EC92. ( Page 22 PART NAMES) ECAT RUN ECAT ERR L/A (P1) L/A (P2)

  • Page 177: Checking The Network Status

    25.3 Checking the Network Status The EtherCAT network status can be checked from "Intelligent Function Module Monitor" of the engineering tool or using the buffer memory. Checking with the intelligent function module monitor "Intelligent Function Module Monitor" of the engineering tool can be used for checking the EtherCAT network status. For details, refer to the following.

  • Page 178: Checking With The Buffer Memory

    Checking with the buffer memory The status, errors, and other information of the EtherCAT process data communication can be checked via buffer memory. The buffer memory can be checked from "Device/Buffer Memory Batch Monitor" of the engineering tool. [Online]  [Monitor]  [Device/Buffer Memory Batch Monitor] Name Buffer memory address Reference source...
  • Page 179 Error causes that can be checked using the buffer memory and the countermeasures The following table lists causes that turn on each bit and the countermeasures for error information that can be checked using the buffer memory. MainDevice error status (Un\G69635) Address Name Cause...
  • Page 180 DC/DCM error status (Un\G69637) Address Name Cause Countermeasure Un\G69637.0 DC synchronization The DC synchronization setting is disabled. Set DC synchronization with the module extended parameter. setting disabled Un\G69637.1 DC system time DC synchronization is stopped. (Un\G69637.2 Operate DC synchronization. disabled is set to on (DC synchronization being stopped).) The reference clock is not present.
  • Page 181 SubDevice error status (Un\G76288 to Un\G76415) Address Name Cause Countermeasure Un\G76288.0 SubDevice not No module extended parameter is set or a Write the appropriate module extended parameter. registered parameter error has occurred. The target SubDevice is not registered in the Add the target SubDevice to the module extended parameter.
  • Page 182 25.4 Self-diagnostic Test (Module Communication Test) This test checks whether a hardware failure has occurred when the communication operation of the RJ71EC92 is unstable. The following table lists the tests performed. Test item Description External self-loopback test Checks whether the communication can be performed normally with the Ethernet cable connected between two connectors.

  • Page 183: Troubleshooting By Symptom

    TROUBLESHOOTING BY SYMPTOM This chapter describes the troubleshooting for the cases where EtherCAT communication is not possible even when no error has occurred in the RJ71EC92. If an error occurs in the RJ71EC92, identify the cause of the error using the engineering tool. ( Page 172 Checking the Module Status) Item Reference source...
  • Page 184 PDO communication fails. Check the following items if the bus scan succeeds but PDO communication fails. Check item Action Has an error occurred on the module diagnostics If an error has occurred, take the actions displayed on the window. ( Page 172 Checking from the window? "Module Diagnostics"...
  • Page 185 Cable redundancy fails. If cable redundancy fails (the Ethernet port (P2) cannot be used), check the following. Check item Action Is "Cable redundancy" of the module extended If it is not set to "Use port 1 as the EtherCAT port and port 2 as the redundant port.", the Ethernet port parameter set to "Use port 1 as the EtherCAT port (P2) cannot be used as cable redundancy is disabled.

  • Page 186: List Of Error Codes

    LIST OF ERROR CODES This chapter lists the error codes, error definitions and causes, and actions for the errors that occur in the RJ71EC92. Error Error definition and cause Action Detailed information 1 code Detailed information 2  1800H • The Ethernet cable is disconnected or broken. •...
  • Page 187 Error Error definition and cause Action Detailed information 1 code Detailed information 2 1810H The port connected to the MainDevice or • Check and, if necessary, revise the wiring of the  Connection error information SubDevice is incorrect. SubDevice displayed on detailed information 2. •...
  • Page 188 Error Error definition and cause Action Detailed information 1 code Detailed information 2  18A3H Communication startup failed because a Check the following, set the parameter again, and start Parameter setting error parameter setting error was detected. communication. The following are the possible causes. •...
  • Page 189 Error Error definition and cause Action Detailed information 1 code Detailed information 2 18A5H Communication failed to start because module Check the following, set the parameter again, and start  ENI file read failure information extended parameter analysis failed. communication. The following are the possible causes.
  • Page 190 Error Error definition and cause Action Detailed information 1 code Detailed information 2  18C0H The request failed because a duplicate request After the previous request has completed, request the MainDevice ESM state transition was made to change the ESM state of the next one.
  • Page 191 Error Error definition and cause Action Detailed information 1 code Detailed information 2 1905H The MainDevice failed to complete processing The cycle time length is insufficient. Revise one of the  within the cycle time. following parameters: • Extend "Cycle Time" in the module extended parameter.
  • Page 192 Error Error definition and cause Action Detailed information 1 code Detailed information 2  1BA5H Communication failed to start because module Check the following, set the parameter again, and start extended parameter analysis failed. communication. The following are the possible causes. •...
  • Page 193 Error Error definition and cause Action Detailed information 1 code Detailed information 2 1BB2H An error was detected in the MainDevice ESM • Re-write the parameters in the CPU module or module.  state transition at the stop of communication. Then restart the CPU module.
  • Page 194 Error Error definition and cause Action Detailed information 1 code Detailed information 2  1BD2H The state change failed because a request was Start the communication. made to change the ESM state of the SubDevice while communication is stopped.  1BD3H The state change failed because a value Specify the correct value for the SubDevice ESM state...
  • Page 195 Error Error definition and cause Action Detailed information 1 code Detailed information 2 1BD8H The setting failed because the value specified for Specify the correct value for the request to set the start  the request to set the start ESM state of the ESM state of the SubDevice.
  • Page 196 Error Error definition and cause Action Detailed information 1 code Detailed information 2  3E00H A hardware failure has been detected. • Take measures to reduce noise. • Reset the CPU module, and run it again. • If the same error is displayed, a hardware error may have occurred in the module.
  • Page 197 LIST OF DETAIL ERROR CODES The following table lists the detail error codes of errors that occur in EtherCAT communication. Detail error codes are stored in the following buffer memory areas of the RJ71EC92. • 'Control command detail error code' (Un\G69650 to Un\G69651) •...
  • Page 198 MEMO 28 LIST OF DETAIL ERROR CODES...
  • Page 199 LIST OF SDO ABORT CODES The following table lists the SDO abort codes defined in the EtherCAT Specification (ETG.1000.6) issued by the ETG (EtherCAT Technology Group). SDO abort codes are stored in 'SDO detail error code' (Un\G90926 to Un\G90927). Abort code Meaning 05030000H The toggle bit has not changed.
  • Page 200 MEMO 29 LIST OF SDO ABORT CODES...

  • Page 201: Event List

    EVENT LIST The following table lists the events that occur in the RJ71EC92. System Event code Overview Cause 00400 ESM state transition The ESM state of the RJ71EC92 has transitioned. 00401 Ethernet is connected. If cable redundancy is disabled, P1 is connected. If cable redundancy is enabled, P1, P2, or both are connected.
  • Page 202 MEMO 30 EVENT LIST...

  • Page 203: External Dimensions

    APPENDICES Appendix 1 External Dimensions This section describes the external dimensions of the RJ71EC92. 27.8 (Unit: mm) APPX Appendix 1 External Dimensions...

  • Page 204: Appendix 2 Compliance With Emc And Low Voltage Directives

    Directives Method of ensuring compliance To ensure that Mitsubishi Electric programmable controllers maintain the EMC and Low Voltage Directives or other regulations when incorporated into other machinery or equipment, certain measures may be necessary. Please refer to one of the following manuals.

  • Page 205: Module Label

    Appendix 3 Module Label This section describes how to use a module label to configure the I/O signals and buffer memory of the RJ71EC92. Module label format The name of the module label is defined in the following format. "Instance name"_"Module number"."Label name" "Instance name"_"Module number"."Label name"_D REC92_1.

  • Page 206: List Of I/O Signals

    Appendix 4 I/O Signals This section describes the I/O signals for the CPU module. The I/O signal assignment of when the start I/O number of the RJ71EC92 is "0" is listed below. List of I/O signals The following tables list the I/O signals. The device X is an input signal from the RJ71EC92 to the CPU module. The device Y is an output signal from the CPU module to the RJ71EC92.

  • Page 207: Details Of Input Signals

    Details of input signals Module READY (X0) This signal indicates that the RJ71EC92 is running. When this signal is on, the RJ71EC92 can be controlled and monitored using a buffer memory area. • On: The RJ71EC92 is running. Buffer memory areas are available. •...

  • Page 208: Details Of Output Signals

    Details of output signals Error clear (YF) This signal is used to execute error clearing and clear the error notifications of the RJ71EC92. It can also be used to disable minor error notifications. • On: The error has been cleared, and the error notifications are cleared. Also, minor errors are not notified while this signal is on.
  • Page 209 Timing chart Performed by the program Performed by the RJ71EC92 'Error clear request' (YF) 'Module error' (XF) 'Module error information' (Un\G69664) Error code Error occurrence (1) When an error occurs in the RJ71EC92, 'Module error' (XF) turns on. (2) When 'Error clear' (YF) is turned on using a program, error clearing is executed. When error clearing is successful, 'Module error' (XF) turns off. When error clearing fails, 'Module error' (XF) turns on.

  • Page 210: List Of Buffer Memory Addresses

    Appendix 5 Buffer Memory The buffer memory is used to exchange data between the RJ71EC92 and the CPU module, or between the RJ71EC92 and the SubDevice. Buffer memory values are reset to default when the CPU module is powered off or reset. List of buffer memory addresses The following table lists the buffer memory addresses of the RJ71EC92.
  • Page 211 Address (decimal) Address Name Initial Read, (hexadecimal) value write 73728 to 73855 12000H to 1207FH SubDevice Configuration Node address Read information information 73856 to 74239 12080H to 121FFH System area 74240 to 74495 12200H to 122FFH Input data offset/size Read 74496 to 75263 12300H to 125FFH System area...
  • Page 212 Address (decimal) Address Name Initial Read, (hexadecimal) value write 98304 18000H ESM state change MainDevice ESM state change request Read, write 98305 to 98432 18001H to 18080H SubDevice ESM state change request Read, write 98433 to 99071 18081H to 182FFH System area 99072 18300H...

  • Page 213: Details Of Buffer Memory Addresses

    Details of buffer memory addresses This section describes the buffer memory areas of the RJ71EC92. Input/output data Input data (Un\G0 to Un\G16383) This area is used for acquiring the input data received from the SubDevice. Input data is stored by each SubDevice. (Storage range: 0000H to FFFFH) To acquire the received input data using this area, control with 'Input data read response' (Un\G57344) is required.
  • Page 214 Data assurance Input data read response (Un\G57344) This area is used by the RJ71EC92 to make a request for updating 'Input data' (Un\G0 to Un\G16383) to acquire the latest input data. It is also used for the purpose of assuring data consistency (preventing the mixing of data from different cycles) for reading 'Input data' (Un\G0 to Un\G16383).
  • Page 215 Input data read request (Un\G57346) This area is used by the RJ71EC92 to send a notification in response to the request of 'Input data read response' (Un\G57344), indicating that 'Input data' (Un\G0 to Un\G16383) has been updated. The behavior of this area varies depending on the value of 'Input data read response' (Un\G57344). Value of 'Input data read response' Operation (Un\G57344)
  • Page 216 MainDevice control information Control command (Un\G65552) This area is used to request operations such as starting or stopping EtherCAT communication for the RJ71EC92. • 0000H: No command • 0001H: Communication stop request • 0002H: Communication restart request • 0003H: Event information cleared This area will be initialized when the RJ71EC92 starts (before 'Module READY' (X0) turns on).
  • Page 217 Communication state (Un\G69634) This area notifies the communication status of process data. • 0000H: Communication not executed (The ESM state of the RJ71EC92 is init or lower (such as communication stop and communication start in progress).) • 0001H: Communicating (The ESM state of the RJ71EC92 is Pre-Operational or higher, and one or more ports are linked up.) •...
  • Page 218 Address Name Description Un\G69635.6 SubDevice with input data error Allows checking that input data from all SubDevices have been received in the latest detected cycle process data communication. • Off: Input data from all SubDevices has been received. • On: Input data could not be received from one or more SubDevices. Un\G69635.6 turns on in the following cases.
  • Page 219 Cable redundancy error status (Un\G69636) This area is used to check the cable redundancy error status. The following table lists the description of each bit. Address Name Description Un\G69636.0 Cable redundancy setting Allows checking whether cable redundancy is enabled. disabled •...
  • Page 220 Address Name Description UnG69637.3 DC SubDevice Sync error Allows checking that DC synchronization has synchronized SubDevices with the system time. (For the RJ71EC92, the status in which the difference between the time of each SubDevice and the system time is smaller than 2048ns is called synchronization.) When "Synchronization window diagnosis"...
  • Page 221 Control command response (Un\G69648) This area is used to notify that the request of 'Control command' (Un\G65552) has been completed. • Same value as 'Control command' (Un\G65552): The request is completed. • Other than the above: The request is being executed. This area will be updated when the request of 'Control command' (Un\G65552) is completed.
  • Page 222 Module error information (Un\G69664) The error code of the latest error that has occurred on the RJ71EC92 is stored. ( Page 184 LIST OF ERROR CODES) If the error is cleared successfully using the following method, this area will also be cleared. •...
  • Page 223 DC system time (Un\G69700 to Un\G69703). This area stores the latest DC system time acquired from the reference clock. Address Description Storage range Un\G69700 to Un\G69701 DC system time (lower bits) 0000000000000000H to FFFFFFFFFFFFFFFFH (Unit: ns) Un\G69702 to Un\G69703 DC system time (higher bits) The value to be stored will be reset to 0 each time DC synchronization is initialized (when the reference clock supply node is lost or the RJ71EC92 status is changed from Init to Pre-Operational).
  • Page 224 Communication cycle counter (Un\G69760 to Un\G69761) The number of communication cycles of the RJ71EC92 is counted and stored. (Storage range: 00000000H to FFFFFFFFH) When the count reaches the upper limit (FFFFFFFFH), it resets to 0. This area will be initialized when the RJ71EC92 starts, and it will be counted up during each communication cycle. To read this area from a program, the following conditions must be met.
  • Page 225 DCM Sync error counter (Un\G69766 to Un\G69767) This counter indicates the number of times the RJ71EC92 has lost synchronization with the system time. It counts the number of times the RJ71EC92 has lost synchronization from the synchronized status. (Storage range: 00000000H to FFFFFFFFH) When the count reaches the upper limit (FFFFFFFFH), it resets to 0.
  • Page 226 Current ESM state MainDevice ESM state (Un\G69888) This area is used to acquire the current ESM state of the RJ71EC92. • 0: MainDevice stop/starting • 1: Init • 2: Pre-Operational • 4: Safe-Operational • 8: Operational This area will be updated when the RJ71EC92 starts, stops, or when the ESM state changes. To read this area from a program, the following condition must be met.
  • Page 227 SubDevice information SubDevice information is classified as follows. Item Address Reference source Configuration information Un\G73728 to Un\G76287 Page 225 Node address (Un\G73728 to Un\G73855) Page 225 Input data offset/size (Un\G74240 to Un\G74495) Page 226 Output data offset/size (Un\G75264 to Un\G75519) SubDevice diagnostic Un\G76288 to Un\G76415 Page 227 SubDevice error status (Un\G76288 to Un\G76415)
  • Page 228 Output data offset/size (Un\G75264 to Un\G75519) The output data offset and size of the target SubDevices are stored for 'Output data' (Un\G24576 to Un\G40959). Address Description Un\G75264 Output data offset/size (1st SubDevice) Output data offset (1st SubDevice) Un\G75265 Output data size (1st SubDevice) Un\G75266 Output data offset/size (2nd SubDevice) Output data offset (2nd SubDevice)
  • Page 229 SubDevice error status (Un\G76288 to Un\G76415) This area is used to check the error status of each SubDevice. Address Description Un\G76288 Error status of the first SubDevice Un\G76289 Error status of the second SubDevice   Un\G76415 Error status of the 128th SubDevice *1 The order of SubDevices can be checked with 'Node address' (Un\G917507).
  • Page 230 Address Name Description Un\G76288.6 Input data disabled Allows checking that the RJ71EC92 has received the input data from the target SubDevice in the latest cycle process data communication. • Off: Valid input data has been received. • On: Valid input data could not be received. Operation of Un\G76288.6 •...
  • Page 231 EtherCAT event history EtherCAT event history index (Un\G81920 to Un\G81921) The index numbers (1 to 100) used to record the latest EtherCAT events are stored. If no event has occurred, 0 will be stored. EtherCAT event history data (Un\G81922 to Un\G82921) The EtherCAT event code and occurrence time will be stored.
  • Page 232 ARTT/surplus time information ARTT/surplus time control command (Un\G86016) The control command for the ARTT/surplus time information is stored. • 0000H: No command • 0001H: Measurement stop request • 0002H: Measurement restart request • 0003H: Measurement result cleared ARTT/surplus time control command response (Un\G86017) After the control command is executed for 'ARTT/surplus time control command' (Un\G86016), the same value is stored.
  • Page 233 SDO communication area SDO control command (Un\G90112) The command to be requested to the send destination in SDO communication is stored. • 0000H: No command • 0001H: SDO communication UPLOAD • 0002H: SDO communication DOWNLOAD SDO transmit node address (Un\G90113) The node address of the SubDevice that performs SDO communication is stored.
  • Page 234 ESM state change MainDevice ESM state change request (Un\G98304) This area is used to change the ESM state of the RJ71EC92 or the SubDevice. The following table lists the description of each bit. Address Name Description Un\G98304.0 to Un\G98304.3 ESM state •...
  • Page 235 SubDevice ESM state change request (Un\G98305 to Un\G98432) This area is used to change the ESM state of the SubDevice. Address Description Un\G98305 Requests a change to the ESM state of the first SubDevice. Un\G98306 Requests a change to the ESM state of the second SubDevice. ...
  • Page 236 SubDevice ESM state change response (Un\G99073 to Un\G99200) This area is used to check the execution status of 'SubDevice ESM state change request' (Un\G98305 to Un\G98432). Address Description Un\G99073 Allows checking how the ESM state of the first SubDevice has been changed. Un\G99074 Allows checking how the ESM state of the second SubDevice has been changed.
  • Page 237 SubDevice ESM state change error code (Un\G99841 to Un\G99968) An error that occurred during the execution of 'SubDevice ESM state change request' (Un\G98305 to Un\G98432) is stored. Address Description Un\G99841 Stores the error code of an error that occurred during the execution of the ESM state change for the first SubDevice.
  • Page 238 MainDevice ESM state change detail error code (Un\G101376 to Un\G101377) The detail error code that supplements 'MainDevice ESM state change error code' (Un\G99840) is stored. The error code stored in this area will be retained from the time the request is completed with 'MainDevice ESM state change response' (Un\G99072) until the next request is executed with 'MainDevice ESM state change request' (Un\G98304).
  • Page 239 SubDevice setting detail information This area stores the setting values of each SubDevice set in the module extended parameter (ENI file). Information about all SubDevices connected to the MainDevice can be checked. Address Description Un\G917504 to Un\G917631 SubDevice setting detail information (1st SubDevice) Un\G917632 to Un\G917759 SubDevice setting detail information (2nd SubDevice) ...
  • Page 240 Address Name Description Un\G917520 to Un\G917547 SubDevice name Allows acquisition of the SubDevice name defined with the setting file in ASCII code. Un\G917548 Reference clock Allows acquisition of the information on whether the SubDevice is the reference clock supply supply node source.
  • Page 241 SubDevice actual configuration diagnostic information This area stores information acquired from the actual connected SubDevices. The information in this area is updated during the bus scan. It is not updated after the bus scan is completed. Information about all SubDevices connected to the RJ71EC92 can be checked. Address Description Un\G983040 to Un\G983103...
  • Page 242 Address Name Description Un\G983056 to Un\G983057 Vendor ID Stores the same content as 'Vendor ID' (Un\G917508 to Un\G917509) of the SubDevice setting detail information. Page 237 SubDevice setting detail information Un\G983058 to Un\G983059 Product code Stores the same content as 'Product code' (Un\G917510 to Un\G917511) of the SubDevice setting detail information.
  • Page 243 Address Name Description Un\G983088 to Un\G983091 RX error counter Stores the number of times an error was detected in the physical layer during reception. This information is acquired from register areas 0301H, 0303H, 0305H, and 0307H of the SubDevice. When the count reaches or exceeds the maximum value (00FFH), it stops. Storage range 0000H to 00FFH Un\G983092 to Un\G983095...
  • Page 244 Bus mismatch information Bus mismatch refers to a state where the network configuration setting (module extended parameter (ENI file)) and the actual network configuration (the configuration of the actually-connected SubDevice) do not match. For example, a bus mismatch occurs in the following situations. •...
  • Page 245 Address Name Description Un\G1015827 Auto increment address on ENI settings Stores the auto increment address on the module extended parameter (ENI file) settings. Un\G1015828 to Un\G1015829 Vendor ID on ENI Stores the vendor ID on the module extended parameter (ENI file) settings.

  • Page 246: Appendix 6 Processing Time

    Appendix 6 Processing Time Processing time of process data communication This section describes the processing time of process data communication. Cycle time and ERTT The following table lists the calculation formulas that provide guidelines for cycle time and ERTT. For cycle time and ERTT, refer to the following. Page 106 PROCESS DATA COMMUNICATIONS Item Calculation formula...
  • Page 247 Transmission delay time of data output (with data assurance) The following shows the calculation formula for the transmission delay time of data output (with data assurance). Calculation formula Transmission delay time = SST + (CT  2) CPU module RJ71EC92 SubDevice ERTT (1) The CPU module is writing 'Output data' (Un\G24576 to Un\G40959).
  • Page 248 Transmission delay time of data input (with data assurance) The following shows the calculation formula for the transmission delay time of data input (with data assurance). Calculation formula Transmission delay time = (SST  2) + CT CPU module RJ71EC92 SubDevice ERTT (1) The RJ71EC92 has set 'Input data read request' (Un\G57346).
  • Page 249 MEMO APPX Appendix 6 Processing Time...
  • Page 250 INDEX ..230 . . .222 ARTT (average) (UnG86022 to UnG86023) Frame lost counter (UnG69762 to UnG69763) ..230 ARTT (Current) (UnG86020 to UnG86021) . . . 230 ARTT (Maximum) (UnG86024 to UnG86025) . . . 230 ARTT (minimum) (UnG86026 to UnG86027) ARTT error counter (UnG86028 to UnG86029) .
  • Page 251 ..231 SDO control command (UnG90112) SDO detail error code (UnG90926 to UnG90927) ........231 .
  • Page 252 Japanese manual number: SH-082695-A This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

  • Page 253: Warranty

    WARRANTY Please confirm the following product warranty details before using this product. 1. Gratis Warranty Term and Gratis Warranty Range If any faults or defects (hereinafter "Failure") found to be the responsibility of Mitsubishi occurs during use of the product within the gratis warranty term, the product shall be repaired at no cost via the sales representative or Mitsubishi Service Company.
  • Page 254 INFORMATION AND SERVICES For further information and services, please contact your local Mitsubishi Electric sales office or representative. Visit our website to find our locations worldwide. MITSUBISHI ELECTRIC Factory Automation Global Website Locations Worldwide www.MitsubishiElectric.com/fa/about-us/overseas/ TRADEMARKS  EtherCAT is a patented technology and registered trademark licensed by Beckhoff Automation GmbH (Germany).
  • Page 256 SH(NA)-082696ENG-A(2412) MODEL: RJ71EC92-U-E HEAD OFFICE: TOKYO BLDG., 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN NAGOYA WORKS: 1-14, YADA-MINAMI 5-CHOME, HIGASHI-KU, NAGOYA 461-8670, JAPAN When exported from Japan, this manual does not require application to the Ministry of Economy, Trade and Industry for service transaction permission. Specifications subject to change without notice.

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