CJ-series EtherCAT Slave Unit Operation Manual

CJ-series EtherCAT Slave Unit Operation Manual
Cat. No. W541-E1-01
SYSMAC CJ Series
CJ1W-ECT21
EtherCAT Slave Unit
®
OPERATION MANUAL
NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.
Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
• Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of
Microsoft Corporation in the USA and other countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• Safety over EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• The SD and SDHC logos are trademarks of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Introduction
Introduction
Thank you for purchasing a CJ-series CJ1W-ECT21 EtherCAT Slave Unit.
This manual contains information that is necessary to use the CJ-series CJ1W-ECT21 EtherCAT Slave
Unit for a CJ-series CPU Unit. Please read this manual and make sure you understand the functionality
and performance of the CJ-series CPU Unit before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of introducing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA systems.
• Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.
Applicable Products
This manual covers the following product.
• CJ-series EtherCAT Slave Unit
CJ1W-ECT21
CJ-series EtherCAT Slave Units Operation Manual (W541)
1
CONTENTS
CONTENTS
Introduction .............................................................................................................. 1
Intended Audience....................................................................................................................................... 1
Applicable Products ..................................................................................................................................... 1
CONTENTS................................................................................................................ 2
Manual Structure ...................................................................................................... 7
Page Structure and Icons ............................................................................................................................ 7
Special Information ...................................................................................................................................... 8
Precautions on Terminology ........................................................................................................................ 8
Terms and Conditions Agreement .......................................................................... 9
Warranty, Limitations of Liability .................................................................................................................. 9
Application Considerations ........................................................................................................................ 10
Disclaimers ................................................................................................................................................ 10
Safety Precautions ................................................................................................. 11
Definition of Precautionary Information...................................................................................................... 11
Symbols ..................................................................................................................................................... 11
Warnings.................................................................................................................................................... 12
Cautions..................................................................................................................................................... 14
Precautions for Safe Use ....................................................................................... 15
Precautions for Correct Use.................................................................................. 18
Regulations and Standards ................................................................................... 19
Conformance to EC Directives .................................................................................................................. 19
Conformance to UL and CSA Standards ................................................................................................... 19
Conformance to Shipbuilding Standards ................................................................................................... 20
Conformance to KC Standards .................................................................................................................. 20
Unit Versions .......................................................................................................... 21
Unit Versions.............................................................................................................................................. 21
Unit Versions and CX-Programmer Versions............................................................................................. 22
Related Manuals ..................................................................................................... 23
Terminology ............................................................................................................ 25
Revision History ..................................................................................................... 27
Sections in this Manual ......................................................................................... 29
Section 1
1-1
Features and System Configuration
Introduction to EtherCAT ...................................................................................................... 1-2
1-1-1
1-1-2
1-2
EtherCAT Slave Unit Features .............................................................................................. 1-5
1-3
System Configuration of CJ-series EtherCAT Slave Unit .................................................. 1-7
1-4
Specifications ........................................................................................................................ 1-9
1-4-1
1-4-2
2
How EtherCAT Works ................................................................................................................. 1-2
Types of EtherCAT Communications .......................................................................................... 1-3
General Specifications ................................................................................................................ 1-9
Functional and Performance Specifications................................................................................ 1-9
CJ-series EtherCAT Slave Units Operation Manual (W541)
CONTENTS
1-4-3
1-5
Setting Procedures.............................................................................................................. 1-11
Section 2
2-1
Nomenclature and Installation
Nomenclature......................................................................................................................... 2-2
2-1-1
2-1-2
2-1-3
2-2
Nomenclature and Functions...................................................................................................... 2-2
Indicators .................................................................................................................................... 2-3
Switch Settings ........................................................................................................................... 2-6
Installing the EtherCAT Slave Unit....................................................................................... 2-8
2-2-1
2-2-2
2-2-3
2-3
Dimensions ............................................................................................................................... 1-10
System Configuration Precautions ............................................................................................. 2-8
Mounting to a CJ-series PLC...................................................................................................... 2-8
Handling Precautions.................................................................................................................. 2-9
EtherCAT Network Wiring ................................................................................................... 2-10
2-3-1
2-3-2
2-3-3
2-3-4
2-3-5
2-3-6
Section 3
Installation Standards ............................................................................................................... 2-10
Installation Precautions............................................................................................................. 2-10
Preparations for Installation .......................................................................................................2-11
Pin Arrangements of Communications Connectors.................................................................. 2-12
Connecting Communications Cables and Connectors ............................................................. 2-13
Connecting Communications Cables to Units .......................................................................... 2-13
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
3-2-2
3-3
DM Area Allocations.............................................................................................................. 3-9
3-3-1
3-3-2
3-4
Overview of the Allocated CIO Area Words................................................................................ 3-3
Details of the Allocated CIO Area Words.................................................................................... 3-4
Overview of the Allocated DM Area Words ................................................................................ 3-9
Details of the Allocated DM Area Words .................................................................................... 3-9
I/O Communication Area Settings ..................................................................................... 3-16
3-4-1
3-4-2
Section 4
The Unit Edit Parameters Dialog Box ....................................................................................... 3-16
Setting Procedure with the CX-Programmer ............................................................................ 3-19
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
4-4-2
4-4-3
4-5
Service Data Objects (SDOs)................................................................................................ 4-9
4-5-1
4-5-2
4-6
Introduction ................................................................................................................................. 4-5
PDO Mappings ........................................................................................................................... 4-5
Assigning PDOs.......................................................................................................................... 4-7
Introduction ................................................................................................................................. 4-9
Abort Codes................................................................................................................................ 4-9
Communications Performance .......................................................................................... 4-10
4-6-1
4-6-2
I/O Response Time................................................................................................................... 4-10
SDO Message Response Time ................................................................................................ 4-12
CJ-series EtherCAT Slave Units Operation Manual (W541)
3
CONTENTS
Section 5
5-1
Troubleshooting
Error Notification and Checking Methods........................................................................... 5-2
5-1-1
5-1-2
5-1-3
5-2
Troubleshooting with Indicators .......................................................................................... 5-5
5-2-1
5-2-2
5-3
Maintenance and Replacement
Cleaning and Inspection ....................................................................................................... 6-2
6-1-1
6-1-2
6-2
Emergency Message Notification.............................................................................................. 5-16
Emergency Error Codes............................................................................................................ 5-16
Troubleshooting with AL Status......................................................................................... 5-18
Section 6
6-1
Error Log Data Specifications.................................................................................................... 5-13
Error Log Registration ............................................................................................................... 5-14
FINS Commands for Error Logs................................................................................................ 5-14
Error Log Error Codes............................................................................................................... 5-15
Troubleshooting with Emergency Messages.................................................................... 5-16
5-4-1
5-4-2
5-5
Checking for Errors and Troubleshooting with the Indicators ..................................................... 5-5
Corrective Actions When the CPU Unit’s Indicators are Lit or Flashing.................................... 5-12
Error Log Function .............................................................................................................. 5-13
5-3-1
5-3-2
5-3-3
5-3-4
5-4
Error Notification Methods........................................................................................................... 5-2
How to Check for Errors.............................................................................................................. 5-3
Procedures to Check Errors........................................................................................................ 5-4
Cleaning ...................................................................................................................................... 6-2
Inspection.................................................................................................................................... 6-2
Replacing Faulty Units .......................................................................................................... 6-4
6-2-1
6-2-2
Precautions ................................................................................................................................. 6-4
Settings When Replacing EtherCAT Slave Units ........................................................................ 6-4
Appendices
A-1 Example of Operations for EtherCAT Slave Unit Communications..................................A-2
A-1-1
A-1-2
A-1-3
A-1-4
A-1-5
A-1-6
System Configuration..................................................................................................................A-2
Setting Condition.........................................................................................................................A-3
Flow of the Setting Procedure.....................................................................................................A-3
CJ1W-ECT21 Setting Procedure ................................................................................................A-4
EtherCAT Master Setting Procedure...........................................................................................A-5
Start EtherCAT Communication ..................................................................................................A-7
A-2 Programming Example To Detect Valid I/O Process Data .................................................A-8
A-3 Process Data Exchange in PROGRAM Mode......................................................................A-9
A-3-1
A-3-2
A-3-3
Detection Method and Timing Considerations ............................................................................A-9
Program Example for the EtherCAT Master..............................................................................A-10
Program Example for the EtherCAT Slave Unit ........................................................................ A-11
A-4 CoE Objects .........................................................................................................................A-13
A-4-1
A-4-2
A-4-3
A-4-4
A-4-5
A-4-6
A-4-7
Object Dictionary Area ..............................................................................................................A-13
Data Type..................................................................................................................................A-13
Format of Objects......................................................................................................................A-13
Communication Objects ............................................................................................................A-14
PDO Mapping Objects ..............................................................................................................A-16
Sync Manager Communication Objects....................................................................................A-19
Device Profile Area ...................................................................................................................A-22
A-5 Creating I/O Tables ..............................................................................................................A-24
A-5-1
A-5-2
A-5-3
4
I/O Table Overview....................................................................................................................A-24
Connecting Programming Devices to the PLC..........................................................................A-24
Procedure for Creating I/O Tables.............................................................................................A-25
CJ-series EtherCAT Slave Units Operation Manual (W541)
CONTENTS
A-6 FINS Commands..................................................................................................................A-29
A-6-1
A-6-2
Introduction ............................................................................................................................... A-29
Details on FINS Commands ..................................................................................................... A-29
A-7 Version Information.............................................................................................................A-33
CJ-series EtherCAT Slave Units Operation Manual (W541)
5
CONTENTS
6
CJ-series EtherCAT Slave Units Operation Manual (W541)
Manual Structure
Manual Structure
Page Structure and Icons
The following page structure is used in this manual.
Mounting Units
Level 1 heading
Level 2 heading
Level 3 heading
Connecting Controller Components
Gives the current
headings.
4 Installation and Wiring
Level 2 heading
Level 3 heading
4-3
4-3-1
The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.
A step in a procedure
1
Join the Units so that the connectors fit exactly.
Hook
Indicates a procedure.
Hook holes
Connector
4-3 Mo u n t i n g Un i t s
4
The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place.
Move the sliders toward the back
until they lock into place.
Lock
Release
£
Special information
Icons indicate
precautions, additional
information, or reference
information.
Manual name
Slider
4-3-1 Connecting Controller Components
2
Page tab
Gives the number
of the main section.
Precautions for Correct Use
The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
the adjacent Unit connectors.
NJ-series CPU Unit Hardware User’s Manual (W500)
4-9
This illustration is provided only as a sample. It may not literally appear in this manual.
CJ-series EtherCAT Slave Units Operation Manual (W541)
7
Manual Structure
Special Information
Special information in this manual is classified as follows:
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Version Information
Information on the differences in specifications and functionality for CPU Units and EtherCAT
Slave Units with different unit versions and for different versions of the CX-Programmer is
given.
Note References are provided to more detailed or related information.
Precautions on Terminology
• In this manual, “download” refers to transferring data from the CX-Programmer to the physical PLC
and “upload” refers to transferring data from the physical PLC to the CX-Programmer.
• The CJ-series EtherCAT Slave Unit can connect with the CJ-series CPU Unit, CP-series CPU Unit
and the NSJ-series CPU Unit. In this manual, the CJ-series CPU Unit is used as an example.
8
CJ-series EtherCAT Slave Units Operation Manual (W541)
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
 Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.
 Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
 Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
CJ-series EtherCAT Slave Units Operation Manual (W541)
9
Terms and Conditions Agreement
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
10
CJ-series EtherCAT Slave Units Operation Manual (W541)
Safety Precautions
Safety Precautions
Definition of Precautionary Information
The following notation is used in this manual to provide precautions required to ensure safe usage of
EtherCAT Slave Unit.
The safety precautions that are provided are extremely important to safety. Always read and heed the
information provided in all safety precautions.
The following notation is used.
WARNING
Caution
Indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury. Additionally, there may be
severe property damage.
Indicates a potentially hazardous situation which, if not avoided,
may result in minor or moderate injury, or property damage.
Symbols
The circle and slash symbol indicates operations that you must not do.
The specific operation is shown in the circle and explained in text.
This example indicates prohibiting disassembly.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for electric shock.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a general precaution.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example shows a general precaution for something that you must do.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates the precaution for high temperatures.
CJ-series EtherCAT Slave Units Operation Manual (W541)
11
Safety Precautions
Warnings
WARNING
During Power Supply
Do not touch any of the terminals or terminal blocks while the power is being
supplied. Doing so may result in electric shock.
Do not attempt to take any Unit apart. In particular, high-voltage parts are
present in the Power Supply Unit while power is supplied or immediately
after power is turned OFF. Touching any of these parts may result in electric
shock. There are sharp parts inside the Unit that may cause injury.
Transferring
Always confirm safety at the destination node before transferring a program
to another node or changing contents of the I/O memory area. Doing either
of these without confirming safety may result in injury.
Confirm safety before transferring data files stored in the file memory (Memory Card or EM file memory) to the I/O area (CIO) of the CPU Unit using a
programming device. Otherwise, the devices connected to the output Unit
may malfunction regardless of the operation mode of the CPU Unit.
Fail-safe Measures
Provide safety measures in external circuits (i.e., not in the Programmable
Controller), including the following items, to ensure safety in the system if an
abnormality occurs due to malfunction of the PLC or another external factor
affecting the PLC operation. Not doing so may result in serious accidents.
Unintended outputs may occur when an error occurs in memory used for
CJ-series Units. As a countermeasure for such problems, external safety
measures must be provided to ensure safe operation of the system.
Emergency stop circuits, interlock circuits, limit circuits, and similar safety
measures must be provided in external control circuits.
The PLC will turn OFF all outputs when its self-diagnosis function detects
any error or when a severe failure alarm (FALS) instruction is executed.
Unexpected operation, however, may still occur for errors in the I/O control
section, errors in I/O memory, and other errors that cannot be detected by
the self-diagnosis function. As a countermeasure for all such errors, external
safety measures must be provided to ensure safety in the system.
12
CJ-series EtherCAT Slave Units Operation Manual (W541)
Safety Precautions
The Controller outputs may remain ON or OFF due to deposition or burning
of the output relays or destruction of the output transistors.
As a countermeasure for such problems, external safety measures must be
provided to ensure safe operation of the system.
When the 24-V DC output (service power supply to the PLC) is overloaded or
short-circuited, the voltage may drop and result in the outputs being turned
OFF. As a countermeasure for such problems, external safety measures
must be provided to ensure safety in the system.
Fail-safe measures must be taken by the customer to ensure safety in the
event of incorrect, missing, or abnormal signals caused by broken signal
lines, momentary power interruptions, or other causes. Serious accidents
may result from abnormal operation if proper measures are not provided.
The CPU Unit refreshes I/O even when the program is stopped (i.e., even in
PROGRAM mode). Confirm safety thoroughly in advance before changing
the status of any part of memory allocated to I/O Units, Special I/O Units, or
CPU Bus Units. Any changes to the data allocated to any Unit may result in
unexpected operation of the loads connected to the Unit. Any of the following
operation may result in changes to memory status.
• Transferring I/O memory data to the CPU Unit from a programming device.
• Changing present values in memory from a programming device.
• Force-setting/-resetting bits from a programming device.
• Transferring I/O memory files from a Memory Card or EM file memory to
the CPU Unit.
• Transferring I/O memory from a host computer or from another PLC on a
network.
Actual Operation
Check the user program, data, and parameter settings for proper execution
before you use them for actual operation.
Voltage and Current Inputs
Make sure that the voltages and currents that are input to the Units and
slaves are within the specified ranges.
Inputting voltages or currents that are outside of the specified ranges may
cause accidents or fire.
CJ-series EtherCAT Slave Units Operation Manual (W541)
13
Safety Precautions
Cautions
Caution
Application
Do not touch any Unit when power is being supplied or immediately after the
power supply is turned OFF. Doing so may result in burn injury.
Wiring
Be sure that all terminal screws and cable connector screws are tightened to
the torque specified in the relevant manuals. The loose screws may result in
fire or malfunction.
Online Editing
Execute online edit only after confirming that no adverse effects will be
caused by extending the cycle time. Otherwise, the input signals may not be
readable.
14
CJ-series EtherCAT Slave Units Operation Manual (W541)
Precautions for Safe Use
Precautions for Safe Use
Disassembly and Dropping
• Do not attempt to disassemble, repair, or modify any Units. Doing so may result in malfunction, fire or
electric shock.
• Do not drop any Unit or subject it to abnormal vibration or shock. Doing so may result in Unit malfunctioning or burning.
Mounting
• After connecting Power Supply Units, CPU Units, I/O Units, Special I/O Units, or CPU Bus Units
together, secure the Units by sliding the sliders at the top and bottom of the Units until they click into
place. Correct operation may not be possible if the Units are not securely properly.
• Be sure to attach the end cover provided with the CPU Unit to the right-most Unit. CJ-series PLCs
will not operate properly if the end cover is not attached.
Transporting
• When transporting the Unit, use special packing boxes and protect it from being exposed to excessive vibration or impact during transportation.
Installation
• Always connect to a ground of 100 Ω or less when installing the Units. A ground of 100 Ω or less
must be installed when shorting the GR and LG terminals on the Power Supply Unit.
Wiring
• Follow the instructions in this manual to correctly perform wiring.
Double-check all wiring and switch settings before turning ON the power supply. Incorrect wiring may
result in burning.
• Use parts and tools appropriate for wiring.
• Do not pull on the cables or bend the cables beyond their natural limit.
Do not place heavy objects on top of the cables or other wiring lines. Doing so may break the cables.
• Mount terminal blocks and connectors only after checking the mounting location carefully.
Be sure that the terminal blocks, Memory Units, expansion cables, and other items with locking
devices are properly locked into place. Improper locking may result in malfunction.
• Before you connect a computer to the PLC, disconnect the power supply plug of the computer from
the AC outlet. Also, if the computer has an FG terminal, make the connections so that the FG terminal has the same electrical potential as the FG (GR) terminal on the Power Supply Unit. A difference
in electric potential between the computer and PLC may cause failure or malfunction.
• Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. Connection
of bare stranded wires may result in burning.
CJ-series EtherCAT Slave Units Operation Manual (W541)
15
Precautions for Safe Use
Power Supply Design
• Do not exceed the rated supply capacity of the Power Supply Units in the CJ-series PLC. The rated
supply capacities are given in the operation manual of the CPU Units.
If the capacity is exceeded, operation may stop, malfunctions may occur, or data may not be backed
up normally for power interruptions.
Use CJ-series Power Supply Units for both the CJ-series CPU Rack and Expansion Racks.
Operation is not possible if an NJ/NX-series Power Supply Unit is used with a CJ-series CPU Unit.
• Surge current occurs when the power supply is turned ON. When selecting fuses or breakers for
external circuits, consider the above precaution and allow sufficient margin in shut-off performance.
Refer to the relevant manuals for surge current specifications. Refer to the operation manual of the
CPU Units for surge current specifications.
• If the full dielectric strength voltage is applied or turned OFF using the switch on the tester, the generated impulse voltage may damage the Power Supply Unit. Use the adjustment on the tester to gradually increase and decrease the voltage.
• Apply the voltage between the Power Supply Unit's L1 or L2 terminal and the GR terminal when testing insulation and dielectric strength.
• Do not supply AC power from an inverter or other device with a square-wave output. Internal temperature rise may result in smoking or burning. Always input a sinusoidal wave with the frequency that is
given in the operation manual of the CPU Units.
• Install external breakers and take other safety measures against short-circuiting in external wiring.
Turning ON the Power Supply
• Always turn ON power to the PLC before turning ON power to the control system. If the PLC power
supply is turned ON after the control power supply, temporary errors may result in control system signals because the output terminals on DC Output Units and other Units may momentarily turn ON
when power is turned ON to the PLC.
• Double-check all wiring and switch settings before turning ON the power supply. Incorrect wiring may
result in burning.
Actual Operation
• Check the user program, data, and parameter settings for proper execution before you use them for
actual operation.
• Confirm that the I/O Communication Area Setting Table and I/O Reference Area Setting Table settings are correct. Incorrect system settings can cause unexpected behavior.
Turning OFF the Power Supply
• Do not disconnect the cable or turn OFF the power supply to the PLC when downloading data or the
user program from Support Software.
• Always turn OFF the power supply to the PLC before attempting any of the following.
a) Mounting or removing I/O Units or the CPU Unit
b) Assembling the Units
c) Setting DIP switches or rotary switches
d) Connecting cables or wiring the system
e) Connecting or disconnecting the connectors
• Do not touch the terminals on the Power Supply Unit immediately after turning OFF the power supply.
Residual voltage may cause electrical shock.
16
CJ-series EtherCAT Slave Units Operation Manual (W541)
Precautions for Safe Use
Operation
• Confirm that no adverse effect will occur in the system before you attempt any of the following.
a) Changing the operating mode of the CPU Unit (including changing the setting of the Operating
Mode at Startup)
b) Changing the user program or settings
c) Changing set values or present values
d) Forced refreshing
• After you change any slave or Unit settings, carefully check the safety of the controlled system before
you restart the Unit.
EtherCAT Communications
• Make sure that the communications distance, number of nodes connected, and method of connection for EtherCAT are within specifications.
• Do not connect EtherCAT communications to EtherNet/IP, a standard in-house LAN, or other networks. An overload may cause the network to fail or malfunction.
• The maximum length between nodes is 100 m. However, some cables are specified for less than 100
m. Generally speaking, if the conductors are twisted wire rather than solid wire, transmission performance will be lower, and reliable communications may not be possible at 100 m. Confirm details with
the cable manufacturer.
• If noise occurs or an EtherCAT slave is disconnected from the network, any current communications
frames may be lost. If frames are lost, slave I/O data is not communicated, and unintended operation
may occur. The slave outputs will behave according to the slave specifications. Confirm that the system will not be adversely affected before you disconnect a slave.
• When an EtherCAT slave is disconnected or disabled, communications will stop and control of the
outputs will be lost not only for the disconnected slave, but for all slaves connected after it. Confirm
that the system will not be adversely affected before you disconnect or disable a slave.
Unit Replacement
• When replacing parts, be sure to confirm that the rating of a new part is correct. Not doing so may
result in malfunction or burning.
• After replacing Units, resume operation only after transferring to the new CPU Unit and/or Special I/O
Units the contents of the DM Area, HR Area, and other data required for resuming operation. Not
doing so may result in unexpected operation.
• If you replace a CPU Bus Unit or Special I/O Unit, refer to operation manual for the Unit for information on the data required for individual Units and redo the necessary settings.
Disposal
• Dispose of the product according to local ordinances as they apply.
CJ-series EtherCAT Slave Units Operation Manual (W541)
17
Precautions for Correct Use
Precautions for Correct Use
Storage, Mounting, and Wiring
• Do not operate the control system in the following locations. Operation may stop or malfunctions may
occur.
a) Locations subject to direct sunlight
b) Locations subject to temperatures or humidity outside the range specified in the specifications
c) Locations subject to condensation as the result of severe changes in temperature
d) Locations subject to corrosive or flammable gases
e) Locations subject to dust (especially iron dust) or salts
f) Locations subject to exposure to water, oil or chemicals
g) Locations subject to shock or vibration
• Take appropriate and sufficient countermeasures when installing the Controller in the following locations.
a) Locations subject to static electricity or other forms of noise
b) Locations subject to strong electromagnetic fields
c) Locations subject to possible exposure to radioactivity
d) Locations close to power lines
• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any
static build-up.
• Use the rated power supply voltage for the Power Supply Units. Take appropriate measures to
ensure that the specified power with the rated voltage and frequency is supplied in places where the
power supply is unstable.
• Install the control system away from sources of heat and ensure proper ventilation. Not doing so may
result in malfunction, in operation stopping, or in burning.
• Use proper connection methods and EtherCAT communication cables. Otherwise, communications
may be faulty. Refer to 2-3 EtherCAT Network Wiring on page 2-10.
• Do not allow foreign matter to enter the openings in the Unit. Doing so may result in Unit burning,
electric shock, or failure.
• Do not allow wire clippings, shavings, or other foreign material to enter any Unit. Otherwise, Unit
burning, failure, or malfunction may occur. Cover the Units or take other suitable countermeasures,
especially during wiring work.
EtherCAT Communications
• Do not disconnect the EtherCAT slave cables during operation. The outputs will become unstable.
Operating Environment
• The operating environment of the PLC System can have a large effect on the longevity and reliability
of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the PLC System. Be sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system.
18
CJ-series EtherCAT Slave Units Operation Manual (W541)
Regulations and Standards
Regulations and Standards
Conformance to EC Directives
Applicable Directives
• EMC Directives
• Low Voltage Directive
Concepts
 EMC Directive
OMRON devices that comply with EC Directives also conform to the related EMC standards so that
they can be more easily built into other devices or the overall machine. The actual products have
been checked for conformity to EMC standards.*1
Whether the products conform to the standards in the system used by the customer, however, must
be checked by the customer. EMC-related performance of the OMRON devices that comply with EC
Directives will vary depending on the configuration, wiring, and other conditions of the equipment or
control panel on which the OMRON devices are installed. The customer must, therefore, perform
the final check to confirm that devices and the overall machine conform to EMC standards.
*1. Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN 61131-2
EMI (Electromagnetic Interference): EN 61131-2 (Radiated emission: 10-m regulations)
 Low Voltage Directive
Always ensure that devices operating at voltages of 50 to 1,000 VAC and 75 to 1,500 VDC meet the
required safety standards. The applicable directive is EN 61131-2.
 Conformance to EC Directives
The CJ-series PLCs comply with EC Directives. To ensure that the machine or device in which the
CJ-series PLC is used complies with EC Directives, the PLC must be installed as follows:
• The CJ-series PLC must be installed within a control panel.
• You must use reinforced insulation or double insulation for the DC power supplies used for the
communications power supply and I/O power supplies.
• CJ-series PLCs complying with EC Directives also conform to the Common Emission Standard
(EN 61000-6-4). Radiated emission characteristics (10-m regulations) may vary depending on the
configuration of the control panel used, other devices connected to the control panel, wiring, and
other conditions. You must therefore confirm that the overall machine or equipment complies with
EC Directives.
Conformance to UL and CSA Standards
Some CJ-series PLCs comply with UL and CSA standards. Refer to the OMRON website
(http://www.ia.omron.com/) or consult your OMRON representative for the applicable standards for
each model. The Instruction Sheet is provided with the product depending on the models. The Instruction Sheet provides the application conditions for complying with the standards.
CJ-series EtherCAT Slave Units Operation Manual (W541)
19
Regulations and Standards
Conformance to Shipbuilding Standards
Some CJ-series PLCs comply with shipbuilding standards. Refer to the OMRON website
(http://www.ia.omron.com/) or consult your OMRON representative for the applicable standards for
each model. If you use a CJ-series product that complies with shipbuilding standards and the machinery or system in which you use the CJ-series products must also comply with the standards, consult
with your OMRON representative. Application conditions are defined according to the installation location. Application may not be possible for some installation locations.
Usage Conditions for NK and LR Shipbuilding Standards
• The CJ-series PLC must be installed within a control panel.
• Gaps in the door to the control panel must be completely filled or covered with gaskets or other material.
• The following noise filter must be connected to the power supply line.
Name
Noise filter
Manufacturer
Cosel Co., Ltd.
Model
TAH-06-683
Conformance to KC Standards
Observe the following precaution if you use CJ-series CJ1W-ECT21 EtherCAT Slave Units in Korea.
Class A Device (Broadcasting Communications Device for Office Use)
This device obtained EMC registration for office use (Class A), and it is intended to be used in places
other than homes.
Sellers and/or users need to take note of this.
20
CJ-series EtherCAT Slave Units Operation Manual (W541)
Unit Versions
Unit Versions
Unit Versions
A “unit version” has been introduced to manage CPU Units in the CJ Series according to differences in
functionality accompanying Unit upgrades.
Notation of Unit Versions on Products
The Unit version is given to the right of the lot number on the nameplate of the products for which unit
versions are being managed, as shown below.
Example of a CJ-series Unit:
Unit model
Serial No.
Product nameplate
CJ1WUNIT
Unit version
Example for unit version 1.0
Lot No.
Lot No. YYMMDD
xxxx
OMRON Corporation
Ver.1.0
MADE IN JAPAN
The following information is provided on the ID information label.
Item
Description
Unit model
Gives the model of the Unit.
Unit version
Gives the unit version of the Unit.
Lot number and
serial number
Gives the lot number and serial number of the Unit.
• YYMMDD: Lot number (: For use by OMRON)
• xxxx: Serial number
Confirming Unit Versions with Support Software
CX-Programmer version 4.0 can be used to confirm the unit version using the Unit Manufacturing
Information.
Precautions for Correct Use
The unit versions of Pre-Ver.1.0 Units cannot be confirmed in Unit Manufacturing Information.
The following dialog box is displayed.
CJ-series EtherCAT Slave Units Operation Manual (W541)
21
Unit Versions
In the IO Table Window, right-click the Unit to check the Unit Version and select Unit Manufacturing
Information.
The following Unit Manufacturing Information Dialog Box will be displayed.
Unit Versions and CX-Programmer Versions
The functions that are supported depend on the unit version of the Unit. The version of CX-Programmer
that supports the functions that were added for an upgrade is also required to use those functions.
Refer to A-7 Version Information on page A-33 for the functions that are supported by each version.
22
CJ-series EtherCAT Slave Units Operation Manual (W541)
Related Manuals
Related Manuals
The following manuals are related. Use these manuals for reference.
Manual name
Cat. No.
Model numbers
Application
Description
CJ-series EtherCAT®
Slave Units Operation
Manual
W541
CJ1W-ECT21
Learning how to use an
EtherCAT Slave Unit.
The following items are described: the
overall system and configuration methods of an EtherCAT Slave Unit, information on hardware and functions to set up,
control and monitor the EtherCAT Slave
Unit.
CX-Programmer Operational Manual
W446
CXONE-ALC-V4
CXONE-ALD-V4
Learning the functions and
application methods of the
CX-Programmer software.
Provides information on how to use the
CX-Programmer for all functionality
except for function blocks.
SYSMAC CJ Series Programmable Controllers
Operation Manual
W393
CJ1G-CPU
CJ1M-CPU
CJ1G-CPUP
CJ1G/H-CPUH
Learning the functions and
application methods of the
CJ Series PLC.
Provides an outline of, and describes the
design, installation, maintenance, and
other basic operations for the CJ-series
PLCs.
SYSMAC CJ Series CJ2
CPU Unit Software
User’s Manual
W473
CJ2H-CPU6-EIP
CJ2H-CPU6
CJ2M-CPU
Learning the functions and
application methods of the
CJ2 Series PLC Software.
Describes the following for CJ2 CPU
Units:
• CPU Unit operation
• Internal memory
• Programming
• Settings
• Function built into the CPU Unit
Use together with the SYSMAC CJ
Series CJ2 CPU Unit Hardware User’s
Manual (W472).
SYSMAC CJ Series CJ2
CPU Unit Hardware
User’s Manual
W472
CJ2H-CPU6-EIP
CJ2H-CPU6
CJ2M-CPU
Learning the functions and
application methods of the
CJ2 Series PLC Hardware.
Describes the following for CJ2 CPU
Units:
• Overview and features
• Basic system configuration
• Part nomenclature and functions
• Mounting and setting procedure
• Remedies for errors
SYSMAC ONE NSJ
Series Controllers Operation Manual
W452
NSJ5-TQ(B)-G5D
NSJ5-SQ(B)-G5D
NSJ8-TV(B)-G5D
NSJ10-TV(B)-G5D
NSJ12-TS(B)-G5D
NSJ5-TQ(B)-M3D
NSJ5-SQ(B)-M3D
NSJ8-TV(B)-M3D
NSJW-ETN21
NSJW-CLK21-V1
NSJW-IC101
Learning the functions and
application methods of the
NSJ Series Controller.
SYSMAC CP Series
CP1H CPU Unit Operation Manual
W450
CP1H-X40D-
CP1H-XA40D-
CP1H-Y20DT-D
Learning the functions and
application methods of the
CP1H Series Controller.
CJ-series EtherCAT Slave Units Operation Manual (W541)
Use together with the SYSMAC CJ
Series CJ2 CPU Unit Software User’s
Manual (W473).
Provides basic specifications on NSJ
Controllers, including an overview,
designing, installation, and maintenance.
Provides basic specifications on
CP-series CP1H PLCs, including an
overview, designing, installation, and
maintenance.
23
Related Manuals
Manual name
NJ/NX-series CPU Unit
Software User’s Manual
Cat. No.
W501
Model numbers
NX701-
NJ501-
NJ301-
NJ101-
Application
Description
Learning how to program
and set up an
NJ/NX-series CPU Unit.
The following information is provided on
an NJ/NX-series CPU Unit.
Mainly software information is provided.
• CPU Unit features
• CPU Unit operation
• Initial settings
• Programming based on IEC 61131-3
language specifications
Use this manual together with the
NX-series CPU Unit Hardware User’s
Manual (Cat. No. W535) or the NJ-series
CPU Unit Hardware User’s Manual (Cat.
No. W500).
Sysmac Studio Version 1
Operation Manual
W504
SYSMAC-SE2
Learning about the operating procedures and functions of the Sysmac Studio.
Describes the operating procedures of
the Sysmac Studio.
NJ/NX-series CPU Unit
Built-in EtherCAT® Port
User’s Manual
W505
NX701-
Using the built-in EtherCAT
port on an NJ/NX-series
CPU Unit.
Information on the built-in EtherCAT port
is provided.
NJ501-
NJ301-
NJ101-
This manual provides an introduction and
provides information on the configuration,
features and setup.
Use this manual together with the
NX-series CPU Unit Hardware User’s
Manual (Cat. No. W535) or NJ-series
CPU Unit Hardware User’s Manual (Cat.
No. W500) and with the NJ/NX-series
CPU Unit Software User’s Manual (Cat.
No. W501).
24
CJ-series EtherCAT Slave Units Operation Manual (W541)
Terminology
Terminology
Term
application layer status, AL status
Abbreviation
---
CAN application protocol over EtherCAT
CAN in Automation
CoE
CiA
device profile
---
device variable
---
EtherCAT slave controller
EtherCAT slave information
ESC
ESI
EtherCAT state machine
EtherCAT Technology Group
ESM
ETG
I/O map settings
---
I/O port
---
I/O refreshing
---
index
network configuration information
-----
object
---
object dictionary
OD
Operational
---
PDO communications
Pre-Operational
-----
process data
---
process data communications
---
CJ-series EtherCAT Slave Units Operation Manual (W541)
Description
Status for indicating information on errors that occur in
an application on a slave.
A CAN application protocol service implemented on
EtherCAT.
CiA is the international users' and manufacturers'
group that develops and supports higher-layer protocols.
A collection of device dependent information and functionality providing consistency between similar devices
of the same device type.
A variable in the NJ/NX-series CPU Unit to which process data on an EtherCAT slave is allocated. Slave
process data is accessed by directly reading and writing device variables from user applications on the
NJ/NX-series CPU Unit.
A controller for EtherCAT slave communications.
An XML file that contains setting information for an
EtherCAT slave.
An EtherCAT communications state machine.
The ETG is a global organization in which OEM, end
users, and technology providers join forces to support
and promote the further technology development.
Settings that assign variables to I/O ports. Assignment
information between I/O ports and variables.
A logical interface that is used by the CPU Unit to
exchange data with an external device (slave or Unit).
Cyclic data exchange with external devices that is performed with predetermined memory addresses.
Address of an object within an application process.
The EtherCAT network configuration information held
by the EtherCAT master.
An abstract representation of a particular component
within a device, which consists of data, parameters,
and methods.
Data structure that contains description of data type
objects, communication objects and application
objects.
A state in EtherCAT communications where SDO communications and I/O are possible.
An acronym for process data communications.
A state in EtherCAT communications where only SDO
communications are possible with the slaves, i.e., no
I/O can be performed.
Collection of application objects designated to be
downloaded cyclically or acyclically for the purpose of
measurement and control.
One type of EtherCAT communications in which process data objects (PDOs) are used to exchange information cyclically and in realtime. This is also called
PDO communications.
25
Terminology
26
Term
process data object
Abbreviation
PDO
receive PDO
Safe-Operational
RxPDO
---
SDO communications
---
service data object
SDO
Slave Information Interface
SII
subindex
Sync Manager
--SM
task period
---
transmit PDO
TxPDO
Description
A structure that describes the mappings of parameters
that have one or more process data entities.
A process data object received by an EtherCAT slave.
A state in EtherCAT communications where only SDO
communications and reading input data from slaves
are possible. Outputs from slaves are not performed.
One type of EtherCAT communications in which service data objects (SDOs) are used to transmit information whenever required.
CoE asynchronous mailbox communications where all
objects in the object dictionary can be read and written.
Slave information that is stored in non-volatile memory
in the slave.
Sub-address of an object within the object dictionary.
Collection of control elements to coordinate access to
concurrently used objects.
The interval at which the primary periodic task or a
periodic task is executed.
A process data object sent from an EtherCAT slave.
CJ-series EtherCAT Slave Units Operation Manual (W541)
Revision History
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
Cat. No. W541-E1-01
Revision code
Revision code
01
Date
April 2015
Revised content
Original production
CJ-series EtherCAT Slave Units Operation Manual (W541)
27
Revision History
28
CJ-series EtherCAT Slave Units Operation Manual (W541)
Sections in this Manual
Sections in this Manual
1
2
1
Features and System
Configuration
2
Nomenclature and
Installation
3
Memory Allocations
5
4
EtherCAT
Communications
6
5
Troubleshooting
3
A
I
6
Maintenance and Replacement
A
Appendices
I
4
Index
CJ-series EtherCAT Slave Units Operation Manual (W541)
29
Sections in this Manual
30
CJ-series EtherCAT Slave Units Operation Manual (W541)
1
Features and System Configuration
This section provides an introduction to EtherCAT networks and includes features, system configurations, specifications and setting procedures.
1-1 Introduction to EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-1
1-1-2
How EtherCAT Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
Types of EtherCAT Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3
1-2 EtherCAT Slave Unit Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1-3 System Configuration of CJ-series EtherCAT Slave Unit . . . . . . . . . . . . . 1-7
1-4 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1-4-1
1-4-2
1-4-3
General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Functional and Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10
1-5 Setting Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
CJ-series EtherCAT Slave Units Operation Manual (W541)
1-1
1 Features and System Configuration
1-1
Introduction to EtherCAT
EtherCAT (Ethernet Control Automation Technology) is a high-performance industrial network system
that enables faster and more efficient communications based on Ethernet.
Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed.
Although EtherCAT is a unique communications protocol, standard Ethernet technology is used for the
physical layer, which means you can use Ethernet cables for wider application.
The effectiveness of EtherCAT can be fully utilized not only in large control systems that require high
processing speeds and system integrity, but also in small and medium control systems.
1-1-1
How EtherCAT Works
With EtherCAT, Ethernet frames pass through all of the slave nodes.
When a frame passes through a slave node, the slave node reads and writes the data in the area that is
allocated to it in the frame in a few nanoseconds.
The Ethernet frames that are transmitted by the EtherCAT master pass through all EtherCAT slaves
without stopping. The last slave returns all of the frames, which again pass through all of the slaves
before returning to the EtherCAT master.
This mechanism ensures high speed and realtime data transmission.
EtherCAT master
Slave
data
Slave
Slave
OUT IN
• Output data addressed to the local node is read.
• Input data is written.
Ethernet frames
The data exchanges that are cyclically performed between the EtherCAT master and EtherCAT slaves
use EtherCAT datagrams that are stored directly in the Ethernet frames.
Each EtherCAT datagram consists of a header (including the data length and one or more slave
addresses), data, and a working counter (i.e., check bits).
If you think of an Ethernet frame as a train, the EtherCAT datagrams would be the cars of the train.
1-2
CJ-series EtherCAT Slave Units Operation Manual (W541)
1 Features and System Configuration
1-1 Introduction to EtherCAT
Ethernet frame
Ethernet
header
Ethernet data (1,498 bytes max.)
CRC
1
1st to nth EtherCAT datagrams
1st EtherCAT
datagram
Header
2nd EtherCAT
datagram
Data
.....
EtherCAT frame
1-1-2 Types of EtherCAT Communications
EtherCAT
header
nth EtherCAT
datagram
WKC
WKC: Working counter
1-1-2
Types of EtherCAT Communications
The following 2 types of communications are available with EtherCAT.
PDO communications are executed in each EtherCAT communications cycle to refresh data continuously. SDO communications are executed between PDO communications.
Process Data Communications (PDO Communications)
PDO communications transfers process data cyclically and in realtime.
The EtherCAT master maps the logical process data space to the nodes to achieve cyclic communications between the EtherCAT master and slaves.
CJ-series EtherCAT Slave Units Operation Manual (W541)
1-3
1 Features and System Configuration
EtherCAT master
Slave
Slave
Slave
Slave
Ethernet frame
Ethernet Ether
CAT
header header
1st EtherCAT
datagram
2nd EtherCAT
datagram
3rd EtherCAT
datagram
CRC
Logical process data
Data a
Data b
Data c
Mailbox Communications (SDO Communications)
SDO communications is used to perform message communications.
Whenever necessary, the EtherCAT master sends a command to a slave, and then the slave returns a
response to the EtherCAT master.
The following data communications can be performed.
• Reading and writing process data
• Setting slaves
• Monitoring slave status
1-4
CJ-series EtherCAT Slave Units Operation Manual (W541)
1 Features and System Configuration
1-2 EtherCAT Slave Unit Features
1-2
EtherCAT Slave Unit Features
The EtherCAT Slave Unit has the following features when used with the CJ-series CPU Unit.
Data Exchange Between EtherCAT Master and CPU Unit
Exchange data over the EtherCAT network between the EtherCAT master and the CPU Unit through
the EtherCAT Slave Unit.
EtherCAT master
TxPDO
RxPDO
Input data to
EtherCAT master
Output data to
EtherCAT Slave Unit
IN data area
(CPU Unit)
EtherCAT network
OUT data area
(CPU Unit)
EtherCAT Slave Unit
Adjustable Data Exchange Sizes
Choose the amount of data to exchange over the EtherCAT network from 0, 50, 100, 200 or 400 bytes.
CJ-series EtherCAT Slave Units Operation Manual (W541)
1-5
1
1 Features and System Configuration
Integration with Other Networks
Interface with multiple networks such as EtherCAT and DeviceNet.
EtherCAT master
CPU Unit
EtherCAT network
EtherCAT Slave Unit
DeviceNet Master Unit
DeviceNet network
DeviceNet slaves
1-6
CJ-series EtherCAT Slave Units Operation Manual (W541)
1 Features and System Configuration
1-3 System Configuration of
CJ-series EtherCAT Slave Unit
1-3
System Configuration of CJ-series
EtherCAT Slave Unit
An example of a system configuration for a CJ-series EtherCAT Slave Unit is shown below.
1
(G) Configuration Software
(A) EtherCAT master
.xml
(F) ESI files
Built-in EtherCAT port
(D) CX-Programmer
(E) Communications cable
Ethernet cables
(B) CJ-series
EtherCAT Slave Unit
CJ1W-ECT21
Input port
Output port
(C) CJ-series
CPU Unit
Item
Description
(A)
Letter
EtherCAT master
The EtherCAT master manages the EtherCAT network, monitors the status
of the slaves and exchanges I/O data with the slaves.
(B)
CJ-series EtherCAT Slave Unit
(CJ1W-ECT21)
The CJ-series EtherCAT Slave Unit can perform the following functions
over an EtherCAT network.
• Process data communications with the EtherCAT master.
• Message communications (SDO communications) with the EtherCAT
master.
• Exchange data between the CJ-series CPU Unit and the EtherCAT master.
(C)
CJ-series CPU
Unit*1
(D)
CX-Programmer*2
The main Unit that controls a CJ-series PLC. The CPU Unit refreshes I/O
for other Units and slaves, etc.
The CX-Programmer runs on a personal computer and it is used to configure I/O Communication Area Setting Table to communicate between the
CJ-series CPU Unit and the EtherCAT Slave Unit and to program, monitor,
and debug the CJ-series PLC.
CJ-series EtherCAT Slave Units Operation Manual (W541)
1-7
1 Features and System Configuration
Letter
Item
Description
(E)
Communications
Cable
Use a double-shielded cable with aluminum tape and braiding of category 5
(100BASE-TX) or higher, and use straight wiring.
(F)
ESI (EtherCAT
Slave Information
File)
The ESI files contain information unique to the EtherCAT slaves in XML format. You can load an ESI file into the EtherCAT master Configuration Software to easily allocate slave process data and make other settings.
(G)
Configuration
Software
Configuration Software runs on a personal computer and it is used to configure the EtherCAT network and EtherCAT slaves.
*1. Refer to A-7 Version Information on page A-33 for information on CPU Unit version compatibility when connecting EtherCAT Slave Units to CJ/CP/NSJ-series CPU Units.
*2. Refer to A-7 Version Information on page A-33 for information on the versions of the CX-Programmer that you
can use to set up CJ-series EtherCAT Slave Units.
1-8
CJ-series EtherCAT Slave Units Operation Manual (W541)
1 Features and System Configuration
Specifications
1-4 Specifications
1-4
This section provides the general specifications of the EtherCAT Slave Unit.
1-4-1
General Specifications
The general specifications conform to those of the CJ-series PLCs, CP-series PLCs and NSJ-series
PLCs.
1-4-1 General Specifications
1-4-2
Functional and Performance Specifications
This section provides the functional and performance specifications of the EtherCAT Slave Unit.
Item
Model number
Applicable PLCs
Unit classification
Applicable unit numbers
Mounting position
Number of Units that can be mounted
CPU Unit words Allocated CIO Area words
used
(CPU Bus Unit words)
Allocated DM Area words
(CPU Bus Unit words)
Other I/O memory
Transmission
specifications
CPU Bus Unit setting area
Communications protocol
Modulation
Baud rate
Physical layer
Topology
Transmission media
Transmission distance
Send/receive PDO data
sizes
Mailbox data size
Mailbox
Refreshing methods
Node address setting
range
Current consumption
Weight
Dimensions
Specification
CJ1W-ECT21
CJ-series, CP-series, NSJ-series
CPU Bus Unit
0 to F
CPU Rack or Expansion Rack
16 Units max. (you must allocate unique words)
25 words/Unit (one unit number’s words)
Unit Status 1, Unit Status 2, Slave Status 1, Slave Status 2
100 words/Unit (one unit number’s words)
I/O Communication Area Setting Table, I/O Communication
Area Reference Table
I/O communication area in any area*1
Not used
EtherCAT protocol
Baseband
100 Mbps
100BASE-TX (IEEE 802.3)
Depends on the specifications of the EtherCAT master
Category 5 or higher twisted-pair cable (Recommended cable:
double-shielded cable with aluminum tape and braiding)
Distance between nodes: 100 m or less
Allocatable IN and OUT data area sizes of 0, 50, 100, 200 or
400 bytes
Input: 512 bytes
Output: 512 bytes
Emergency messages and SDO requests
Free-Run Mode
1 to 255 (hardware switch setting)
1 to 65535 (software switch setting)
340 mA max. at 5 V DC
97 g max.
31 × 90 × 65 mm (W × H × D)
*1. Set with allocated DM area words (CPU Bus Unit words) or CX-Programmer.
CJ-series EtherCAT Slave Units Operation Manual (W541)
1
1-9
1 Features and System Configuration
1-4-3
Dimensions
This section provides the external dimensions of the EtherCAT Slave Unit.
31.0
65.0
90.0
1 - 10
CJ-series EtherCAT Slave Units Operation Manual (W541)
1 Features and System Configuration
1-5 Setting Procedures
1-5
Setting Procedures
The basic setting procedures for the EtherCAT Slave Unit are described below.
Procedure
Making Hardware
Settings and Wiring the EtherCAT
Slave Unit
Item
2
Reference
Set the unit number and the node
address of the EtherCAT Slave Unit with
the hardware switches.
2-1-3 Switch Settings on page 2-6
Installation
Mount the EtherCAT Slave Unit in the
CPU Rack or Expansion Rack.
2-2 Installing the
EtherCAT Slave
Unit on page 2-8
Wiring
Connect the EtherCAT Slave Unit and the
EtherCAT master with the communication
cable.
2-3 EtherCAT Network Wiring on
page 2-10
Connecting
CX-Programmer
Connect the CX-Programmer to the
CJ-series CPU Unit.
CX-Programmer
Operation Manual
(W446)
Turning ON power
to the CJ-series
CPU Unit
Turn ON the power supply to the
CJ-series PLC.
---
Going online with
the CX-Programmer
Place the CX-Programmer online with the
CJ-series CPU Unit.
CX-Programmer
Operation Manual
(W446)
Creating the I/O
tables
Create the I/O table with CX-Programmer.
A-5 Creating I/O
Tables on page
A-24
1
Making Software
Settings for the
EtherCAT Slave
Unit
Description
Setting the unit
number and node
address
Set the I/O Communication Area Setting
Setting and transferring the I/O Com- Table with one of the following methods.
munication Area
• Use the Edit Parameters Dialog Box in
Setting Table
the CX-Programmer.
• Use the allocated DM area words.
Transfer the setting to the EtherCAT
Slave Unit.
• 3-4 I/O Communication Area Settings on page
3-16
• 3-3 DM Area Allocations on page
3-9
Restarting the
EtherCAT Slave
Unit
Cycle the power supply of the CJ-series
PLC or restart the EtherCAT Slave Unit.
---
Checking the I/O
Communication
Area Reference
Table
Check the I/O Communication Area Reference Table with one of the following
methods.
• 3-4 I/O Communication Area Settings on page
3-16
• Use the Edit Parameters Dialog Box in
the CX-Programmer.
• Use the allocated DM area words.
Creating and trans- Create the user program. Transfer the
ferring the user pro- user program to the CJ-series CPU Unit
with the CX-Programmer.
gram
CJ-series EtherCAT Slave Units Operation Manual (W541)
• 3-3 DM Area Allocations on page
3-9
CX-Programmer
Operation Manual
(W446)
1 - 11
1
1 Features and System Configuration
Procedure
Setting the EtherCAT Master
Item
Description
Installing ESI files
Install the ESI file of the EtherCAT Slave
Unit into the Configuration Software.
Turning ON the
power supply to the
EtherCAT master
Turn ON the power supply to the EtherCAT master.
Creating the network configuration
information
Create the network configuration information as follows.
Reference
Manuals for the
EtherCAT master
• Network configuration
• PDO Mapping
Assign PDOs of the same size as the
setting value of the IN and OUT data
area size in the I/O Communication
Area Setting Table of the EtherCAT
Slave Unit.
3
Confirming Operation
Creating the communication settings
Create the EtherCAT master’s network
communication settings.
Downloading the
settings to the
EtherCAT master
Download the network configuration
information and the communication settings to the EtherCAT master.
Starting EtherCAT
communication
Enable EtherCAT network communications.
Checking indicators
Check the indicators on the EtherCAT
master and the EtherCAT Slave Unit.
• 5-2-1 Checking
for Errors and
Troubleshooting
with the Indicators on page 5-5
4
• Manuals for the
EtherCAT master
Checking I/O data
1 - 12
• 2-1-2 Indicators
on page 2-3
Check the I/O data exchange of the
EtherCAT master and EtherCAT Slave
Unit with the CX-Programmer and EtherCAT master Configuration Software.
• CX-Programmer
Operation Manual (W446)
• Manuals for the
EtherCAT master
CJ-series EtherCAT Slave Units Operation Manual (W541)
2
Nomenclature and Installation
This section describes the nomenclature, installation and wiring of the EtherCAT Slave
Unit.
2-1 Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-1-1
2-1-2
2-1-3
Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2-2 Installing the EtherCAT Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2-2-1
2-2-2
2-2-3
System Configuration Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Mounting to a CJ-series PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2-3 EtherCAT Network Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2-3-1
2-3-2
2-3-3
2-3-4
2-3-5
2-3-6
Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Preparations for Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11
Pin Arrangements of Communications Connectors . . . . . . . . . . . . . . . . . . . . 2-12
Connecting Communications Cables and Connectors . . . . . . . . . . . . . . . . . . 2-13
Connecting Communications Cables to Units . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
CJ-series EtherCAT Slave Units Operation Manual (W541)
2-1
2 Nomenclature and Installation
2-1
Nomenclature
This section provides the nomenclature for the EtherCAT Slave Unit.
2-1-1
Nomenclature and Functions
This section provides the names and functions of the items on the front panel of the EtherCAT Slave
Unit.
(A)
(B)
(D)
(A)
(C)
Letter
2-2
Name
Function
(A)
Indicators
The indicators show the current operating status of the Unit and
the connection status of the IN and OUT EtherCAT ports.
(B)
Unit number switch
This switch sets the unit number of the EtherCAT Slave Unit as
a one-digit hexadecimal value.
(C)
Communication connectors
These connectors are connected to the communications cables
of the EtherCAT network. There are two connectors: one for the
input port and one for the output port.
(D)
Node address switches
These switches set the node address as a two-digit hexadecimal value.
CJ-series EtherCAT Slave Units Operation Manual (W541)
2 Nomenclature and Installation
2-1-2
Indicators
2-1 Nomenclature
An EtherCAT Slave Unit is equipped with the following indicators that provide the operating status of
the Unit itself and the overall network.
2
2-1-2 Indicators
 Overview of Indicators
Name
Meaning
L/A IN
The L/A IN indicator shows the link activity of the input port.
L/A OUT
The L/A OUT indicator shows the link activity of the output port.
ECAT RUN
The ECAT RUN indicator shows the operating status of EtherCAT communications for the
EtherCAT Slave Unit.
ECAT ERR
The ECAT ERR indicator provides information on errors in the EtherCAT Slave Unit.
RUN
The RUN indicator provides information on the operation of the EtherCAT Slave Unit.
ERC
The ERC indicator provides information about errors of the EtherCAT Slave Unit.
ERH
The ERH indicator provides information about errors of the CPU Unit.
 Indicator Details
Name
L/A IN
Color
Green
L/A OUT
ECAT RUN
Green
Status
Meaning
Lit
Link established in physical layer
Flickering
Operating after establishing link
Not lit
Link not established in physical layer
Lit
Operational state
Blinking
Pre-Operational state
Single flash
Safe-Operational state
Flickering
Initializing process
Not lit
Init state
CJ-series EtherCAT Slave Units Operation Manual (W541)
2-3
2 Nomenclature and Installation
Name
ECAT ERR
Color
Red
Status
Lit
Meaning
• Special Unit Error
• ESC Initial Error
Blinking
• CPU Unit Fatal Error
• I/O Bus Error
• Output OFF Error
• CPU Unit Watchdog Timer Error
• CPU Unit Service Monitoring Error
• I/O Refresh Error
• Sll Unit Verification Error
• Mailbox Setting Error
• Verification Error
• Illegal State Transition Request Received
• Restart
Single flash
• CPU Unit Fatal Error
• Output OFF Error
• CPU Unit Watchdog Timer Error
• CPU Unit Service Monitoring Error
• I/O Refresh Error
• I/O Bus Error
Double flash
RUN
ERC
Green
Red
I/O Communication Error (Process Data WDT Error)
Flickering
ESC Error
Not lit
No error
Lit
The Unit is in operation.
Not lit
The Unit is not in operation.
Lit
The Unit has an error.
• CPU Unit Faulty
• Special Unit Error
• ESC Error
• ESC Initial Error
• Sll Unit Verification Error
• Special Unit Memory Error
• I/O Communication Error (Process Data WDT Error)
• Mailbox Setting Error
• Verification Error
• Illegal State Transition Request Received
Flashing
The Unit has an error.
• EtherCAT Slave Unit Faulty
ERH
Red
Not lit
The Unit is normal.
Lit
The CPU Unit has an error.
• Unit Number Duplication
• CPU Unit Faulty
• I/O Table Not Registered
• CPU Unit Fatal Error
• CPU Unit Watchdog Timer Error
• CPU Unit Service Monitoring Error
• I/O Refresh Error
• I/O Bus Error
Not lit
2-4
The CPU Unit is normal.
CJ-series EtherCAT Slave Units Operation Manual (W541)
2 Nomenclature and Installation
 Indicator State Timing
The flashing patterns for flickering, blinking, single flash, and double flash are given below.
50 ms
2-1 Nomenclature
on
Flickering
off
on
Blinking
off
200 ms 200 ms
2
2-1-2 Indicators
on
1,000 ms
Single flash
off
200 ms
200 ms
on
1,000 ms
Double flash
off
200 ms 200 ms 200 ms
CJ-series EtherCAT Slave Units Operation Manual (W541)
2-5
2 Nomenclature and Installation
2-1-3
Switch Settings
This section describes the functions of the rotary hardware switches on the front panel of the EtherCAT
Slave Unit.
Unit Number Switch
The unit number switch sets the unit number of the EtherCAT Slave Unit as a CPU Bus Unit. The unit
number determines which data area words and DM area words are allocated to the Unit that contain
data such as unit status, slave status, the I/O Communication Area Setting Table and the I/O Communication Area Reference Table.
Setting method: One-digit hexadecimal
Setting range: 0 to F hex
The unit number is set to 0 at the factory.
You can set any unit number from 0 to F as long as it has not been set on another CPU Bus Unit connected to the same CPU Unit.
Precautions for Safe Use
• Use a small flat-blade screwdriver to turn the rotary switches; be careful not to damage the
switch.
• Always turn OFF the PLC’s power supply before setting the unit number.
Additional Information
If the same unit number is set on more than one CPU Bus Unit mounted in a PLC, a Unit Number Duplication error will occur in the PLC and the EtherCAT Slave Unit will not be able to start
operating.
Node Address Switches
The node address switches set the node address of the EtherCAT Slave Unit to enable the EtherCAT
master to recognize the EtherCAT Slave Unit.
The value of node address is loaded to register 0012h of the EtherCAT slave controller when the power
supply to the CJ1W-ECT21 is turned ON.
The upper switch sets the sixteens digit (most significant digit) and the lower switch sets the ones digit
(least significant digit).
2-6
CJ-series EtherCAT Slave Units Operation Manual (W541)
2 Nomenclature and Installation
There are two methods to set the node address: hardware switches and software switches.
The switch settings are used to select the method to use.
 Set the Node Address with Hardware Switches
Setting method: Two-digit hexadecimal
Setting range: 01 to FF hex
The node address is set to 00 at the factory.
2
 Setting the Node Address with Software Switches
Precautions for Correct Use
• The node address that is set with hardware or software switches is read only when the Unit
initializes (upon power-up or restart). Changing the node address while the Unit is operational will not effect the EtherCAT Slave Unit unless a restart or power-up is applied.
• An error may occur on the EtherCAT master if the same node address is set for more than
one slave present on the EtherCAT network.
• An error may occur on the EtherCAT master if the node address is not within the setting
range specified for the EtherCAT master.
2-7
2-1-3 Switch Settings
To set the node address with software switches, set the node address switches to 00. When the
switches are set to 00, use the EtherCAT master Configuration Software to set a range from 1 to
65535 for the node address.
CJ-series EtherCAT Slave Units Operation Manual (W541)
2-1 Nomenclature
Use the switch settings to set the node address from 1 to 255. If these switches are not set to 00, the
node address that is set on the switches will be used.
2 Nomenclature and Installation
2-2
Installing the EtherCAT Slave Unit
This section describes how to mount the EtherCAT Slave Unit to a CJ-series PLC system.
2-2-1
System Configuration Precautions
Up to 16 EtherCAT Slave Units can be mounted to the CJ-series PLC system when Expansion Racks
are present.
If EtherCAT Slave Units are mounted in combination with other CPU Bus Units (e.g., Controller Link
Units), the maximum total number of CPU Bus Units that can be mounted is 16.
Precautions for Correct Use
Be sure that the total current consumption of all the Units connected to the same CPU Rack or
Expansion Rack does not exceed the output capacity of the Power Supply Unit.
2-2-2
Mounting to a CJ-series PLC
EtherCAT Slave Units can be mounted in a CJ-series CPU Rack or a CJ-series Expansion Rack. Connect the EtherCAT Slave Unit in any of the positions shown below using the sliders on the top and bottom of the Unit.
10 Units max.*1
CPU Rack
End Cover
P C I
S P C
U
10 Units max.*1
Expansion Rack
End Cover
P I
S I
Up to 16 EtherCAT Slave
Units can be mounted.*1
10 Units max.*1
Expansion Rack
End Cover
P I
S I
10 Units max.*1
Expansion Rack
End Cover
P I
S I
PS: Power Supply Unit
CPU: CPU Unit
IC: I/O Control Unit
II: I/O Interface Unit
2-8
CJ-series EtherCAT Slave Units Operation Manual (W541)
2 Nomenclature and Installation
2-2 Installing the EtherCAT Slave Unit
*1. The maximum number of EtherCAT Slave Units that can be mounted to a CJ-series PLC depends on the
model of the CPU Unit. Refer to the operation manual of the specific CPU Unit for more details.
Mounting Procedure
1
Carefully align the connectors to mount the EtherCAT Slave Unit.
Openings
Hooks
Connectors
PA205R
POWER
RUN
2
INH
PRPHL
PROGRAMMABLE
CONTROL
LER
COMM
OPEN
L1
AC100-240V
PERIPHERA
L
RUN
OUTPUT
AC240V
DC24V
PORT
2
Move the yellow sliders on the top and bottom of the Unit until they click into position, to lock.
Slider
PA205R
POWER
Lock
RUN
INH
PRPHL
PROGRAMMABLE
CONTROLLER
COMM
Release
OPEN
L1
BUSY
AC100-240V
L2/N
PERIPHERAL
RUN
OUTPUT
DC24V
PORT
Precautions for Safe Use
If the sliders are not securely locked, the EtherCAT Slave Unit functions may not operate sufficiently.
To dismount the Unit, move the sliders to the “Release” direction.
2-2-3
Handling Precautions
This section provides handling precautions for the EtherCAT Slave Unit.
• Always turn OFF the PLC’s power supply before you mount or dismount a Unit or connect or disconnect cables.
• Provide separate conduits or ducts for the I/O lines to prevent noise from high-tension lines or power
lines.
• Prevent wire clippings, cutting chips or other materials from getting inside the Unit. They could cause
scorching, failure, and malfunction. Pay particular attention to this during installation and take measures such as covering with a cover.
CJ-series EtherCAT Slave Units Operation Manual (W541)
2-9
2-2-3 Handling Precautions
L2/N
2 Nomenclature and Installation
2-3
EtherCAT Network Wiring
This section describes how to install the EtherCAT network.
2-3-1
Installation Standards
To ensure that the EtherCAT communication network is installed properly, refer to IEC 61784-5-12
standard in conjunction with IEC 61918.
2-3-2
Installation Precautions
Basic precautions for the installation of EtherCAT networks are provided below.
Precautions when Installing a Network
• When you install an EtherCAT network, take sufficient safety precautions and perform the installation
according to all applicable standards and specifications. An expert well versed in safety measures
and the standards and specifications should be asked to perform the installation.
• Do not install EtherCAT network equipment near sources of noise.
• If the network must be installed in an area with noise, take steps to address the noise, such as placing equipment in metal cases.
Precautions when Installing Communications Cables
• Check the following items on the communications cables that are used in the network.
Are there any breaks?
Are there any shorts?
Are there any connector problems?
• When you connect the cable to the communications connectors on devices, firmly insert the communications cable connector until it locks in place.
• Do not lay the communications cables together with high-voltage lines.
• Do not lay the communications cable near devices that generate noise.
• Do not lay the communications cables in locations subject to high temperatures or high humidity.
• Do not lay the communications cables in locations subject to excessive dust, oil mist, or other contaminants.
• There are limitations on the bending radius of communications cables. Check the specifications of
the communications cable for the bending radius.
2 - 10
CJ-series EtherCAT Slave Units Operation Manual (W541)
2 Nomenclature and Installation
2-3 EtherCAT Network Wiring
2-3-3
Preparations for Installation
Prepare the following devices.
Product
Remarks
Twisted-pair cable (Cables with the following connectors can also be used.)
100BASE-TX (Category 5 or higher)
RJ45 connectors
Shielded
Double shielding with aluminum tape and braiding
2
Recommended products are given in the following tables.
2-3-3 Preparations for Installation
Cables with Connectors
 Sizes and Conductor Pairs: AWG 22 × 2 Pairs
Product name
Cables with Connectors on Both Ends
OMRON Corporation
(RJ45/RJ45)
Cables with Connectors on Both Ends
Length (m)*1
Manufacturer
OMRON Corporation
(M12/RJ45)
0.3
Model
XS5W-T421-AMD-K
0.5
XS5W-T421-BMD-K
1
XS5W-T421-CMD-K
2
XS5W-T421-DMD-K
5
XS5W-T421-GMD-K
10
XS5W-T421-JMD-K
0.3
XS5W-T421-AMC-K
0.5
XS5W-T421-BMC-K
1
XS5W-T421-CMC-K
2
XS5W-T421-DMC-K
5
XS5W-T421-GMC-K
10
XS5W-T421-JMC-K
*1. Refer to the XS5/XS6 Industrial Ethernet Connectors Catalog (Cat. No. G019) for the latest lineup of these
Cables.
Cables and Connectors
 Sizes and Conductor Pairs: AWG 24 x 4 Pairs
Part name
Cables
Manufacturer
Hitachi Cable, Ltd.
Model
NETSTAR-C5E SAB
0.5 × 4P*1
RJ45 Connectors
Kuramo Electric Co., Ltd.
KETH-SB*1
SWCC Showa Cable Systems Co., Ltd.
FAE-5004*1
Nihon Electric Wire & Cable Co., Ltd.
IETP-SB*1
Panduit Corporation
MPS588-C*1
*1. A combination of the above cables and connectors is recommended for use.
CJ-series EtherCAT Slave Units Operation Manual (W541)
2 - 11
2 Nomenclature and Installation
 Sizes and Conductor Pairs: AWG 22 x 2 Pairs
Part name
Cables
RJ45 Assembly Connectors
Manufacturer
Model
Kuramo Electric Co., Ltd.
KETH-PSB-OMR*1
Nihon Electric Wire & Cable
Co., Ltd.
PNET/B*1
Omron Corporation
XS6G-T421-1*1
*1. A combination of the above cables and connectors is recommended for use.
Precautions for Correct Use
• The maximum length between nodes is 100 m. However, some cables are specified for less
than 100 m. Generally speaking, if the conductors are twisted wire rather than solid wire,
transmission performance will be lower, and reliable communications may not be possible at
100 m. Confirm details with the cable manufacturer.
• When selecting a connector, confirm that it is applicable to the cable that will be used. Confirm the following items: Conductor size, conductor type (solid wire or twisted wire), number
of twisted pairs (2 or 4), outer diameter, etc.
• Use only the specified communication cables.
2-3-4
Pin Arrangements of Communications Connectors
The pin arrangement of the EtherCAT communications connectors is given below.
Communications
connectors
8
1
Pin No.
2 - 12
Signal name
Abbreviation
1
Send data +
TD+
2
Send data −
TD-
3
Receive data +
RD+
4
Not used
---
5
Not used
---
6
Receive data -
RD-
7
Not used
---
8
Not used
---
CJ-series EtherCAT Slave Units Operation Manual (W541)
2 Nomenclature and Installation
2-3 EtherCAT Network Wiring
2-3-5
Connecting Communications Cables and Connectors
Use straight connections for the communications cables and connectors, as shown below.
1
2
Wire color
Wire color
Pin No.
Pin No.
1
Green
Green
2
3
White-Orange
White-Orange
3
4
Blue
Blue
4
5
White-Blue
White-Blue
5
6
Orange
Orange
6
7
White-Brown
White-Brown
7
8
Brown
Brown
8
Hood
Shield*1
Shield*1
Hood
2
*1. Connect the cable shield wire to the connector hood at both ends of the cable.
Additional Information
There are two connection methods for Ethernet cables: T568A and T568B.
The T568A connection method is shown in the above figure, but the T568B connection method
can also be used.
2-3-6
Connecting Communications Cables to Units
Cable connections can be made freely in EtherCAT networks.
The following example shows daisy-chain connections.
Connect the communications cable from the EtherCAT master to the input port on the EtherCAT Slave
Unit, and then connect another communications cable from the output port on the EtherCAT Slave Unit
to the input port on the next EtherCAT slave.
Do not connect anything to the output port of the EtherCAT slave at the end of the network.
CJ-series EtherCAT Slave Units Operation Manual (W541)
2 - 13
2-3-5 Connecting Communications Cables and Connectors
White-Green
White-Green
2 Nomenclature and Installation
EtherCAT master
Communications
cable
Input port
Output port
L1
L2
EtherCAT
slaves
Ln
EtherCAT Slave Unit
Do not connect anything.
Last EtherCAT slave
Precautions for Correct Use
• The cable between any two nodes (L1, L2 ... Ln) must be 100 m or less.
• Firmly connect the communications cable connector until it clicks into place.
• When you install the communications cables, observe the cable specifications (e.g., bending
radius) of the cable manufacturer.
• Do not disconnect the communications cables from the EtherCAT Slave Units during operation. The outputs from the EtherCAT master may become unstable.
Additional Information
Make sure the cable between each pair of devices connects an output port to an input port.
Normal communications are not possible if an output port is connected to another output port or
an input port is connected to another input port.
2 - 14
CJ-series EtherCAT Slave Units Operation Manual (W541)
Memory Allocations
3
This section describes the words allocated to the EtherCAT Slave Unit. These words
both enable controlling the EtherCAT Slave Unit and accessing Unit status.
3-1 Overview of the Memory Allocated to the EtherCAT Slave Unit . . . . . . . . 3-2
3-2 CIO Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-2-1
3-2-2
Overview of the Allocated CIO Area Words . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Details of the Allocated CIO Area Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-3 DM Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3-3-1
3-3-2
Overview of the Allocated DM Area Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Details of the Allocated DM Area Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3-4 I/O Communication Area Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
3-4-1
3-4-2
The Unit Edit Parameters Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16
Setting Procedure with the CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19
CJ-series EtherCAT Slave Units Operation Manual (W541)
3-1
3 Memory Allocations
3-1
Overview of the Memory Allocated to
the EtherCAT Slave Unit
The following CPU Unit words are allocated to the EtherCAT Slave Unit.
• CPU Unit’s allocated CIO Area words
These words contain the status information.
• CPU Unit’s allocated DM Area words
These words contain the I/O Communication Area Setting Tables and I/O Communication Area Reference Tables.
The words shown in the following diagram are allocated according to the unit number setting. For each
Unit, there are 25 words allocated in the CIO Area and 100 words allocated in the DM Area.
• First word allocated in the CIO Area: n = CIO 1,500 + (25 x unit number)
• First word allocated in the DM Area: m = D30,000 + (100 x unit number)
CPU Unit
EtherCAT Slave Unit
Allocated CIO Area words
(Allocated to the Unit as a CPU Bus Unit)
Unit number 0
Local memory
CIO 1500
CIO 1501
25 words
25 words
Unit number 1
CIO 1524
CIO 1525
CIO 1526
Unit/Slave status
(I/O refresh)
25 words
CIO 1549
CIO 1875
CIO 1876
Unit number 15
25 words
CIO 1899
Unit number 0
Allocated DM Area words
(Allocated to the Unit as a CPU Bus Unit)
D30000
D30001
100 words
D30099
D30100
D30101
Unit number 1
D30199
D31500
D31501
Unit number 15
I/O Communication
Area Setting Tables
(I/O refresh)
100 words
I/O Communication
Area Reference
Tables
(Power ON or
restart the Unit)
100 words
Local memory
100 words
D31599
Precautions for Correct Use
Setting results are refreshed when the Unit restarts or when the Unit is powered ON.
3-2
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 Memory Allocations
3-2
CIO Area Allocations
This section describes CIO area allocations for the EtherCAT Slave Unit.
Overview of the Allocated CIO Area Words
Various kinds of data are stored in the allocated CIO Area words, which are identified by the offset from
the beginning word (n) allocated to each Unit.
The beginning word n is calculated by the following equation:
Beginning word n = CIO 1500 + (25 × unit number)
3
Offset
Bit
15
3-2 CIO Area Allocations
3-2-1
8
7
n
1
n+1
2
n+2
3
n+3
4
n+4
5
n+5
6
n+6
7
n+7
8
n+8
9
n+9
10
n+10
Unit Status 1
11
n+11
Unit Status 2
12
n+12
Slave Status 1
13
n+13
Slave Status 2
14
n+14
15
n+15
16
n+16
17
n+17
18
n+18
19
n+19
20
n+20
21
n+21
22
n+22
23
n+23
24
n+24
Data direction
3-2-1 Overview of the Allocated CIO Area Words
0
0
(Reserved)
EtherCAT Slave Unit → CPU Unit
EtherCAT Slave Unit → CPU Unit
(Reserved)
Precautions for Correct Use
The reserved words are regularly refreshed with all zeroes.
CJ-series EtherCAT Slave Units Operation Manual (W541)
3-3
3 Memory Allocations
3-2-2
Details of the Allocated CIO Area Words
This section provides the details of the allocated CIO area words.
Unit Status 1 (n+10)
15 14 13 12 11 10 9
8
7
6
5
4
3
2
1
0
n + 10
Unit Error
Slave Function Error
Unit Memory Error
ESC Error
Bit
0
Name
Unit Error
Manipulated by
Unit
Unit operation
ON:
Displays EtherCAT Slave Unit operating errors
Unit Error turns ON if any bit from 01 to 15 in Unit Status 1
is ON (OR information of bits 01 to 15).
OFF:
Indicates that the error did not occur or turns OFF when the
error is cleared.
Default: OFF
1 to 2
Reserved
---
---
3
Slave Function Error
Unit
ON:
Indicates that at least one slave error occurred. Refer to
Slave Status 1.
The slave errors are as follows:
• Slave AL Status Error
• SII Unit Verification Error
• Verification Error
• Mailbox Setting Error
• I/O Communication Error
• Illegal State Transition Request Received
• I/O Refresh Error
OFF:
Indicates that none of the above errors occurred or turns
OFF when all of above errors are cleared.
Default: OFF
This bit cannot be turned OFF unless the error is recovered
from the EtherCAT master.
3-4
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 Memory Allocations
Bit
4
Name
Unit Memory Error
Manipulated by
Unit
Unit operation
ON:
Indicates an error in internal memory where the error log or
I/O communication area data is stored. The error occurs
when the Unit starts up or when the error log is written.
Indicates that the error did not occur. Once this error
occurs, the bit will remain ON and will not return to OFF.
Default: OFF
5
ESC Error
Unit
ON:
Indicates an error in ESC.
OFF:
Indicates that the error has not occurred. Once this error
occurs, the bit will remain ON and will not return to OFF.
Default: OFF
6 to 15
Reserved
---
3-2-2 Details of the Allocated CIO Area Words
8
7
6
5
4
3
2
1
0
n + 11
Online Status
Error Log Registered
Bit
0
Name
Online Status
3
---
Unit Status 2 (n+11)
15 14 13 12 11 10 9
3-2 CIO Area Allocations
OFF:
Manipulated by
Unit
Unit operation
ON:
Indicates that the Unit is online and capable of communicating on the network.
OFF:
Indicates that the Unit is offline.
A Unit will go offline under the following conditions:
• Operation is stopped by the hardware/software
check at startup.
• An ESC Error has occurred.
Default: OFF
1 to 14
Reserved
---
---
15
Error Log Registered
Unit
ON:
Indicates that an error log was registered. Turns ON at
the first error log registration for the Unit.
OFF:
Indicates that no errors are registered in the error log.
Turns OFF when the Unit receives an error log clear
request.
Default: OFF
CJ-series EtherCAT Slave Units Operation Manual (W541)
3-5
3 Memory Allocations
Slave Status 1 (n+12)
15 14 13 12 11 10 9
8
7
6
5
4
3
2
1
0
n + 12
Slave AL Status Error
SII Unit Verification Error
Verification Error
Mailbox Setting Error
I/O Communication Error
Illegal State Transition Request
Received
I/O Refresh Error
Bit
Name
Manipulated by
Unit operation
0
Reserved
---
---
1
Slave AL Status Error
Unit
ON:
Indicates that the slave detects an AL status error.
OFF:
Indicates that the error has not occurred.
Default: OFF
2
SII Unit Verification
Error
Unit
ON:
Indicates that an error occurred in the slave information
stored in SII when the power supply is turned ON.
OFF:
Indicates that the error has not occurred.
Default: OFF
3
Verification Error
Unit
ON:
Indicates that the I/O communication area size does not
match with the Sync Manager size set by the EtherCAT
master.
OFF:
Indicates that the I/O communication area size matches
with the Sync Manager size set by the EtherCAT master.
Default: OFF
4
Mailbox Setting Error
Unit
ON:
Indicates that the Unit is requested to change Pre-Operational state without mailbox settings or the mailbox size
setting is outside the allowable range (512 bytes).
OFF:
Indicates the error has not occurred.
Default: OFF
3-6
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 Memory Allocations
Bit
5
Name
Manipulated by
I/O Communication
Error
Unit
Unit operation
ON:
Indicates that RxPDO data from the EtherCAT master is
not refreshed during the monitoring time.
OFF:
Default: OFF
6
Illegal State Transition
Request Received
Unit
ON:
Indicates that an unexpected state transition request
has been sent from the EtherCAT master.
OFF:
Indicates that an unexpected state transition request
has not been sent from the EtherCAT master.
3
Default: OFF
7
I/O Refresh Error
Unit
ON:
3-2-2 Details of the Allocated CIO Area Words
Indicates that an I/O Refresh Error occurred while in
operation.
OFF:
Indicates that an I/O Refresh Error has not occurred
while in operation.
Default: OFF
8 to 14
Reserved
---
---
Slave Status 2 (n+13)
15 14 13 12 11 10 9
8
7
6
5
4
3
2
1
0
n + 13
Available Mailbox Communication
Input Data Valid
Output Data Valid
IN Port Link Status
OUT Port Link Status
Bit
Name
3-2 CIO Area Allocations
Indicates that RxPDO data from the EtherCAT master is
refreshed during the monitoring time.
Manipulated by
Unit operation
0
Reserved
---
---
1
Available Mailbox Communication
Unit
ON:
Indicates that mailbox communication is available for
the Unit.
OFF:
Indicates that mailbox communication is not available
for the Unit.
Default: OFF
This bit will remain ON while the Unit is in the Pre-Operational, Safe-Operational or Operational state.
This bit will also remain ON if the IN port link is not
established with another device.
CJ-series EtherCAT Slave Units Operation Manual (W541)
3-7
3 Memory Allocations
Bit
2
Name
Input Data Valid
Manipulated by
Unit
Unit operation
ON:
Indicates that the Unit is processing transmit by process
data communication. Data is valid and usable for control.
OFF:
Indicates that the Unit is not processing transmit by process data communication. Data is invalid and unusable
for control.
Default: OFF
This bit will remain ON while the Unit is in Safe-Operational state or Operational state. This bit will also remain
ON if the IN port link is not established with another
device. Refer to A-2 Programming Example To Detect
Valid I/O Process Data on page A-8 for a programming
example to check validity of input data.
3
Output Data Valid
Unit
ON:
Indicates that the Unit is processing receive by process
data communication. Data is valid and usable for control.
OFF:
Indicates that the Unit is not processing receive by process data communication. Data is invalid and unusable
for control.
Default: OFF
This bit will remain ON while the Unit is in Operational
state. This bit will also remain ON if the IN port link is
not established with another device. Refer to A-2 Programming Example To Detect Valid I/O Process Data
on page A-8 for a programming example to check validity of output data.
4 to 13
Reserved
---
---
14
IN Port Link Status
Unit
ON:
Indicates when a link on the IN port is established with
another device.
OFF:
Indicates when a link on the IN port is not established
with another device.
Default: OFF
15
OUT Port Link Status
Unit
ON:
Indicates when a link on the OUT port is established
with another device.
OFF:
Indicates when a link on the OUT port is not established
with another device.
Default: OFF
3-8
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 Memory Allocations
3-3
DM Area Allocations
This section describes DM area allocations for the EtherCAT Slave Unit.
Overview of the Allocated DM Area Words
The various kinds of data are stored in the offset positions shown in the following diagram, from the
beginning word in the area for each Unit.
The beginning word m is calculated by the following equation:
Beginning word m = D30000 + (100 x unit number)
3
Bit
Offset
15
m
m+12
m+13
m+99
8 7
0
Data direction
I/O Communication Area Setting Table
(7 ch)
CPU Unit to EtherCAT Slave Unit
I/O Communication Area Reference Table
(6 ch)
EtherCAT Slave Unit to CPU Unit
3-3-1 Overview of the Allocated DM Area Words
m+6
m+7
(Not used)
Precautions for Correct Use
Setting results are refreshed when the Unit restarts or when the Unit is powered ON.
3-3-2
3-3 DM Area Allocations
3-3-1
Details of the Allocated DM Area Words
This section provides the details of the allocated DM area words.
I/O Communication Area Setting Table
Set values in this area to specify the input and output words used by the EtherCAT Slave Unit. Changes
to the I/O Communication Area Setting Table require a Unit restart to take effect.
 Relationship Between I/O Communication Area and Process Data Objects
IN and OUT data area settings determine where the PDO data that is exchanged over the EtherCAT
network is allocated in the memory of the CPU Unit.
The IN data area is used to send (TxPDO) data to the EtherCAT master.
The OUT data area is used to receive (RxPDO) data from the EtherCAT master.
CJ-series EtherCAT Slave Units Operation Manual (W541)
3-9
3 Memory Allocations
EtherCAT
master
EtherCAT
Slave Unit
CJ-series
CPU Unit
RxPDO
OUT data area
Output data to
EtherCAT Slave Unit
TxPDO
IN data area
Input data to
EtherCAT master
 I/O Communication Area Setting Table Detail
Bit
8 7
15
m
Reserved
0
OUT data area type
m+1
First word in OUT data area
m+2
OUT data area size (byte)
Offset
m+3
3 - 10
Reserved
IN data area type
m+4
First word in IN data area
m+5
IN data area size (byte)
m+6
Setting results
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 Memory Allocations
Word
m
Bit
00 to 07
Name
OUT data area
type
Manipulated by
Default value
User
00 hex
Function
Set the area type code.
• 00 hex: not used
• 01 hex: CIO Area (CIO)
• 04 hex: Work Area (WR)
• 05 hex: Holding Relay Area
(HR)
• 08 to 14 hex: Expansion Memory (EM) bank 0 to C*1
m+1
08 to 15
Reserved
---
---
Reserved by system
00 to 15
First word in OUT
data area
User
0000 hex
Set the starting word of the OUT
data area. Setting ranges vary
by OUT data area type.
3-3 DM Area Allocations
• 03 hex: Data Memory (DM)
3
• CIO: 0000 to 17FF hex
• WR: 0000 to 01FF hex
• HR: 0000 to 01FF hex
• EM*1: 0000 to 7FFF hex
m+2
00 to 15
OUT data area
size
User
0000 hex
Set the OUT data area size in
bytes from one of the following.
• 00 hex: 0 byte
• 32 hex: 50 byte
• 64 hex: 100 byte
• C8 hex: 200 byte
• 190 hex: 400 byte
m+3
00 to 07
IN data area type
User
00 hex
Set the area type code.
• 00 hex: not used
• 01 hex: CIO Area (CIO)
• 03 hex: Data Memory (DM)
• 04 hex: Work Area (WR)
• 05 hex: Holding Relay Area
(HR)
• 08 to 14 hex: Expansion Memory (EM) bank 0 to C*1
08 to 15
Reserved
CJ-series EtherCAT Slave Units Operation Manual (W541)
---
---
Reserved by system
3 - 11
3-3-2 Details of the Allocated DM Area Words
• DM: 0000 to 7FFF hex
3 Memory Allocations
Word
m+4
Bit
00 to 15
Name
First word in IN
data area
Manipulated by
Default value
User
0000 hex
Function
Set the starting word of the IN
data area. Setting ranges vary
by IN data area type.
• CIO: 0000 to 17FF hex
• DM: 0000 to 7FFF hex
• WR: 0000 to 01FF hex
• HR: 0000 to 01FF hex
• EM: 0000 to 7FFF hex*1
m+5
00 to 15
IN data area size
User
0000 hex
Set the IN data area size in bytes
from one of the following.
• 00 hex: 0 byte
• 32 hex: 50 byte
• 64 hex: 100 byte
• C8 hex: 200 byte
• 190 hex: 400 byte
m+6
00 to 15
Setting results
Unit
0000 hex
Display the setting results.
Refer to Setting Results Codes
on page 3-12 for the code.
*1. EM areas are not available for all CJ-series CPU Units. Refer to the operation manuals of the CPU Units for
details on the EM memory area specification.
 Setting Results Codes
Result code
Description
Corrective action
Completed normally.
---
1101 hex
Incorrect area setting.
Ensure that the memory area codes for OUT
data area type and IN data area type are set
to the allowable values.
1103 hex
The first word is outside the setting range.
Ensure that the first word in OUT data area
and first word in IN data area are set as valid
memory areas for the corresponding memory
area type set with the OUT data area type
and IN data area type codes.
1104 hex
The allocated data area exceeds the valid
word range.
Ensure that the OUT data area range and IN
data area range setting does not exceed
valid memory locations for the corresponding
memory area type set with the OUT data
area type and IN data area type codes.
110C hex
The area size is outside the setting range.
Ensure that the OUT data area size and IN
data area size are set to allowable values for
the corresponding memory area type set with
the OUT data area type and IN data area
type codes.
0000
hex*1
*1. If the EtherCAT Slave Unit is set with default values, the setting result code will be 0000 hex and the Unit cannot perform process data communications with the EtherCAT master.
3 - 12
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 Memory Allocations
Precautions for Correct Use
• A Unit restart is required after I/O communication allocations are changed or set to enable
the new settings.
• Select valid areas in the CPU Unit that do not interfere or overlap with another memory area
that is already in use. Also ensure the size of the area is within a valid memory area by properly setting the first word and size values for the memory type selected. Otherwise, an incorrect area setting result will occur.
• EM memory area availability and size vary depending on the CPU Unit series and model
type. Refer to the operation manuals of the CPU Units for details on the EM memory area
specification.
3-3 DM Area Allocations
• If the user sets both IN and OUT data area sizes to zero or the I/O allocation settings are
invalid, the Unit will be in the Pre-Operational state and cannot perform process data communications with the EtherCAT master.
3
Refer to this area for the I/O communications area settings established in the EtherCAT Slave Unit.
Bit
8 7
15
m+7
Reserved
0
OUT data area type
m+8
First word in OUT data area
m+9
OUT data area size (byte)
Offset
m + 10
Reserved
IN data area type
m + 11
First word in IN data area
m + 12
IN data area size (byte)
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 - 13
3-3-2 Details of the Allocated DM Area Words
I/O Communication Area Reference Table
3 Memory Allocations
Word
m+7
Bit
00 to 07
Name
OUT data area
type
Manipulated by
Default value
Unit
00 hex
Function
The area type code in use is indicated.
• 00 hex: not used
• 01 hex: CIO Area (CIO)
• 03 hex: Data Memory (DM)
• 04 hex: Work Area (WR)
• 05 hex: Holding Relay Area
(HR)
• 08 to 14 hex: Expansion Memory (EM) bank 0 to C*1
m+8
08 to 15
Reserved
---
---
Reserved by system
00 to 15
First word in OUT
data area
Unit
0000 hex
The starting word of the OUT
data area in use is indicated. The
ranges vary by OUT data area
type.
• CIO: 0000 to 17FF hex
• DM: 0000 to 7FFF hex
• WR: 0000 to 01FF hex
• HR: 0000 to 01FF hex
• EM*1: 0000 to 7FFF hex
m+9
00 to 15
OUT data area
size
Unit
0000 hex
The OUT data area size in use is
indicated. The value is in bytes
from one of the following.
• 00 hex: 0 byte
• 32 hex: 50 byte
• 64 hex: 100 byte
• C8 hex: 200 byte
• 190 hex: 400 byte
3 - 14
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 Memory Allocations
Word
m + 10
Bit
08 to 15
Name
IN data area type
Manipulated by
Default value
Unit
00 hex
Function
The area type code in use is indicated.
• 00 hex: not used
• 01 hex: CIO Area (CIO)
• 04 hex: Work Area (WR)
• 05 hex: Holding Relay Area
(HR)
• 08 to 14 hex: Expansion Memory (EM) bank 0 to C*1
m + 11
08 to 15
Reserved
---
---
Reserved by system
00 to 15
First word in IN
data area
Unit
0000 hex
The starting word of the IN data
area in use is indicated. The
ranges vary by IN data area
type.
• DM: 0000 to 7FFF hex
• WR: 0000 to 01FF hex
• HR: 0000 to 01FF hex
• EM: 0000 to 7FFF hex*1
m + 12
00 to 15
IN data area size
Unit
0000 hex
The IN data area size in use is
indicated. The value is in bytes
from one of the following.
• 00 hex: 0 byte
• 32 hex: 50 byte
• 64 hex: 100 byte
• C8 hex: 200 byte
• 190 hex: 400 byte
*1. EM areas are not available for all CJ-series CPU Units. Refer to the operation manuals of the CPU Units for
details on the EM memory area specification.
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 - 15
3
3-3-2 Details of the Allocated DM Area Words
• CIO: 0000 to 17FF hex
3-3 DM Area Allocations
• 03 hex: Data Memory (DM)
3 Memory Allocations
3-4
I/O Communication Area Settings
This section describes the I/O communication area settings, such as IN and OUT data area type, starting word and size for the EtherCAT Slave Unit with CX-Programmer.
3-4-1
The Unit Edit Parameters Dialog Box
The Edit Parameters Dialog Box of the EtherCAT Slave Unit is used for setting and referencing the I/O
communication area table. The Edit Parameters Dialog Box has two tables.
• I/O Communication Area Setting Table
• I/O Communication Area Reference Table
I/O Communication
Area Setting Table
I/O Communication
Area Reference Table
3 - 16
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 Memory Allocations
Item name
OUT data area
type
Setting
method
Pull down list
Description
PLC memory area type used for
RxPDO data from the EtherCAT
master
Data range
• Do not use
• CIO Area
Default
Do not
use
• Data Memory
• Work Area
• Holding Relay
• Expansion Data Memory
Bank 0 to C*1
First word in
OUT data area
Direct input
Starting word of the OUT data
area
Ranges vary by OUT data
area type.
0000 hex
3-4 I/O Communication Area Settings
I/O Communication Area Setting Table
3
• CIO: 0000 to 17FF hex
• WR: 0000 to 01FF hex
• HR: 0000 to 01FF hex
• EM: 0000 to 7FFF hex*1
OUT data area
size
Pull down list
OUT data area size in bytes
• 0 byte
0 byte
• 50 byte
• 100 byte
• 200 byte
• 400 byte
IN data area
type
Pull down list
PLC memory area type used for
TxPDO data to the EtherCAT
master
• Do not use
• CIO Area
Do not
use
• Data Memory
• Work Area
• Holding Relay
• Expansion Data Memory
Bank 0 to C*1
First word in IN
data area
Direct input
Starting word of the IN data
area
Ranges vary by IN data area
type.
0000 hex
• CIO: 0000 to 17FF hex
• DM: 0000 to 7FFF hex
• WR: 0000 to 01FF hex
• HR: 0000 to 01FF hex
• EM: 0000 to 7FFF hex*1
IN data area
size
Pull down list
IN data area size in bytes
• 0 byte
0 byte
• 50 byte
• 100 byte
• 200 byte
• 400 byte
*1. EM areas are not available for all CJ-series CPU Units. Refer to the operation manuals of the CPU Units for
details on the EM memory area specification.
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 - 17
3-4-1 The Unit Edit Parameters Dialog Box
• DM: 0000 to 7FFF hex
3 Memory Allocations
I/O Communication Area Reference Table
Item name
OUT data area
type
Setting
method
Read Only
Description
The reference PLC memory
area type used for RxPDO data
from the EtherCAT master.
Data range
• Do not use
• CIO Area
Default
Do not
use
• Data Memory
• Work Area
• Holding Relay
• Expansion Data Memory
Bank 0 to C*1
First word in
OUT data area
The reference starting word of
the OUT data area.
Ranges vary by OUT data
area type.
0000 hex
• CIO: 0000 to 17FF hex
• DM: 0000 to 7FFF hex
• WR: 0000 to 01FF hex
• HR: 0000 to 01FF hex
• EM: 0000 to 7FFF hex*1
OUT data area
size
The reference OUT data area
size in bytes.
• 0 byte
0 byte
• 50 byte
• 100 byte
• 200 byte
• 400 byte
IN data area
type
The reference PLC memory
area type used for TxPDO data
to the EtherCAT master.
• Do not use
• CIO Area
Do not
use
• Data Memory
• Work Area
• Holding Relay
• Expansion Data Memory
Bank 0 to C*1
First word in IN
data area
The reference starting word of
the IN data area.
Ranges vary by IN data area
type.
0000 hex
• CIO: 0000 to 17FF hex
• DM: 0000 to 7FFF hex
• WR: 0000 to 01FF hex
• HR: 0000 to 01FF hex
• EM: 0000 to 7FFF hex*1
IN data area
size
The reference IN data area size
in bytes.
• 0 byte
0 byte
• 50 byte
• 100 byte
• 200 byte
• 400 byte
*1. EM areas are not available for all CJ-series CPU Units. Refer to the operation manuals of the CPU Units for
details on the EM memory area specification.
3 - 18
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 Memory Allocations
Setting Procedure with the CX-Programmer
This section provides the setting procedure of the I/O Communication Area Setting Table with CX-Programmer.
1
Double-click IO Table and Unit Setup Icon in the project workspace in the CX-Programmer.
The PLC IO Table Window will be displayed.
When the EtherCAT Slave Unit is registered in the I/O tables of the CX-Programmer, the Unit
will be displayed in the I/O tables. Refer to A-5 Creating I/O Tables on page A-24 for details.
3-4 I/O Communication Area Settings
3-4-2
3
3-4-2 Setting Procedure with the CX-Programmer
2
Right-click the EtherCAT Slave Unit in the I/O table and select Unit Setup from the menus.
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 - 19
3 Memory Allocations
The Edit Parameters Dialog Box will be displayed.
3
Make the necessary settings.
I/O Communication
Area Setting Table
3 - 20
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 Memory Allocations
4
After transferring the settings using the EtherCAT Slave Unit Edit Parameters Dialog Box, a
message will ask if you wish to restart the EtherCAT Slave Unit.
Click the Yes Button. The EtherCAT Slave Unit will be restarted to enable the settings.
6
3
Check the indicators on the EtherCAT Slave Unit.
Check the I/O Communication Area Reference Table in the Edit Parameters Dialog Box.
Click the Compare Button. If the compare is successful, click the Transfer[Unit to PC] Button
to update the I/O Communication Area Reference Table values. If the compare is unsuccessful,
transfer the settings again. Refer to the CX-Programmer Operation Manual (Cat. No. W446) for
the Edit Parameters Dialog Box operation.
I/O Communication
Area Reference Table
CJ-series EtherCAT Slave Units Operation Manual (W541)
3 - 21
3-4-2 Setting Procedure with the CX-Programmer
If the RUN indicator is lit while the ERC and ERH indicators are not lit, it indicates that the EtherCAT Slave Unit has recognized the new I/O communication area settings. Refer to Setting
Results Codes on page 3-12.
7
3-4 I/O Communication Area Settings
5
Place the CX-Programmer online with the PLC and transfer the settings to the EtherCAT Slave
Unit.
3 Memory Allocations
Precautions for Safe Use
• If the node address is not set correctly, invalid device parameters may be set in the wrong
EtherCAT Slave Unit, so check the connected Unit before downloading parameters.
• The EtherCAT Slave Unit must restart in order to enable the parameter settings that are
transferred to it. Verify that restarting the Unit will not cause any problems in the system
before restarting it. When the Special Unit Settings and the other data in the PLC are transferred, the EtherCAT Slave Unit will be restarted automatically.
3 - 22
CJ-series EtherCAT Slave Units Operation Manual (W541)
EtherCAT Communications
This section provides an introduction to EtherCAT communications.
4
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
4-4-2
4-4-3
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
PDO Mappings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
Assigning PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4-5 Service Data Objects (SDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-5-1
4-5-2
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
Abort Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-6 Communications Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4-6-1
4-6-2
I/O Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
SDO Message Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
CJ-series EtherCAT Slave Units Operation Manual (W541)
4-1
4 EtherCAT Communications
4-1
Structure of CAN Application Protocol over EtherCAT (CoE)
EtherCAT allows the use of multiple protocols for communications. However, the EtherCAT Slave Unit
uses the CAN application protocol over EtherCAT (CoE) as the device profile for the CAN application
protocol. The CoE is a communications interface that is designed to provide compatibility with EtherCAT devices. The CAN application protocol is an open network standard.
The following figure shows how the CoE is structured for an EtherCAT Slave Unit.
EtherCAT Slave Unit
Application layer
Slave Unit application
Object dictionary
Transitions of
communications
states
SDO (mailbox)
Registers
Mailbox
PDO mappings
PDO communications (cyclic)
Process data
SyncManager
FMMU
EtherCAT data link layer
EtherCAT physical layer
The object dictionary for the CAN application protocol is broadly divided into PDOs (process data
objects) and SDOs (service data objects).
PDOs are contained in the object dictionary. The PDOs can be mapped in the object dictionary. The
process data is defined by the PDO mappings. PDOs are used in PDO communications for periodic
exchange of process data.
SDOs are the objects that can be read and written. SDOs are used in non-periodic SDO communications (event-driven message communications).
If you use the CoE interface to set the object dictionary for PDOs and SDOs, you can provide EtherCAT
devices with the same device profiles as the CAN application protocol.
4-2
CJ-series EtherCAT Slave Units Operation Manual (W541)
4 EtherCAT Communications
4-2
The setting information for an EtherCAT slave is provided in an ESI file (EtherCAT slave information).
The EtherCAT communications settings are defined based on the ESI files of the connected slaves and
the network connection information.
You can create the network configuration information by installing ESI files into the network setup software (Configuration Software).
You can download the network configuration information to the EtherCAT master to configure the
EtherCAT network.
Configuration Software
ESI files
EtherCAT master
Network
configuration
information
4
EtherCAT Slave Unit
Communications are started according to the
communications settings and the network
configuration based on the ESI files that are installed.
ESI files for the EtherCAT Slave Units can be downloaded from the OMRON website.
CJ-series EtherCAT Slave Units Operation Manual (W541)
4-2 EtherCAT Slave Information Files (ESI Files)
EtherCAT Slave Information Files
(ESI Files)
4-3
4 EtherCAT Communications
4-3
Transitions of Communications
States
The state transition model for communications control of the EtherCAT Slave Unit is controlled by the
EtherCAT master.
The following figure shows the communications state transitions from when the power supply is turned
ON.
Power supply ON
Init
Pre-Operational
Safe-Operational
Operational
Status
Init
SDO
communications
Not possible
Pre-Operational Possible
Sending
PDOs
Receiving
PDOs
Description
Not possible
Not possible
Communications are being initialized. Communications are not possible.
Not possible
Not possible
Only SDO communications (message
communications) are possible in this
state.
This state is entered after initialization
is completed. It is used to initialize
network settings.
Safe-Operational
Possible
Possible
Not possible
In this state, both SDO communications (message communications) and
sending PDOs are possible.
Information, such as status, is sent
from the EtherCAT Slave Unit.
Operational
Possible
Possible
Possible
This is the normal state for communications.
PDO communications are used to
control the I/O data.
4-4
CJ-series EtherCAT Slave Units Operation Manual (W541)
4 EtherCAT Communications
4-4
Process Data Objects (PDOs)
This section describes the process data objects that are used by the EtherCAT Slave Unit.
Introduction
Process data objects (PDOs) are used to transfer data during cyclic communications in real time.
There are two types of process data objects (PDOs): the RxPDOs, which are used by the EtherCAT
Slave Unit to receive data from the EtherCAT master; and the TxPDOs, which are used by the EtherCAT Slave Unit to send data to the EtherCAT master.
RxPDO
4
4-4-1 Introduction
Output data to
EtherCAT Slave Unit
EtherCAT
Slave Unit
EtherCAT master
TxPDO
Input data to
EtherCAT master
The EtherCAT application layer can hold more than one object to enable the transfer of various process
data of the EtherCAT Slave Unit.
The contents of the process data are defined in the PDO mapping objects.
EtherCAT Slave Units support PDO mapping for I/O control.
4-4-2
PDO Mappings
PDO mapping objects contain the I/O data for the EtherCAT Slave Units. PDO mapping objects for the
RxPDOs are managed in the object dictionary from indexes 1600 to 17FF hex. The TxPDOs are managed in the object dictionary from indexes 1A00 to 1BFF hex.
PDO Mapping Scheme in EtherCAT
The PDO mapping scheme in EtherCAT is described below.
Three application objects (A, B, and D) are allocated to the PDO (name: PDO_1) at index 1ZZZ hex.
As described here, PDO mapping shows how application objects are assigned to PDOs.
Indexes and subindexes are also assigned to application objects.
CJ-series EtherCAT Slave Units Operation Manual (W541)
4-4 Process Data Objects (PDOs)
4-4-1
4-5
4 EtherCAT Communications
Mapping object
Object Dictionary
Index
Subindex
1ZZZ hex
01 hex
Object contents
6TTT hex TT hex
8
02 hex 6UUU hex UU hex
8
03 hex
16
6YYY hex YY hex
PDO-Length: 32 bits
PDO_1
Application object
6TTT hex
TT hex
Object B
Object D
Object A
6UUU hex UU hex
Object B
6VVV hex VV hex
Object C
6YYY hex YY hex
Object D
6ZZZ hex
Object E
ZZ hex
Object A
PDO Mapping with EtherCAT Slave Units
EtherCAT Slave Units have fixed PDO mapping and adjustments to the objects are not possible. The
fixed PDO mapping of the EtherCAT Slave Units is provided in the table below.
 RxPDO
PDO mapping object
Name
Index number
I/O Output Data Area object*1
Name
Index
number
01 to 19 hex
OUT data area size is 50 bytes.
Output001
to
Output050
01 to 32 hex
OUT data area size is 100 bytes.
1702 hex
Output001
to
Output100
01 to 64 hex
OUT data area size is 200 bytes.
1703 hex
Output001
to
Output200
01 to C8 hex
OUT data area size is 400 bytes.
257th receive
PDO Mapping
1700 hex
Output001
to
Output025
258th receive
PDO Mapping
1701 hex
259th receive
PDO Mapping
260th receive
PDO Mapping
7000 hex
Description
Sub-index
number
*1. The I/O Output Data Area object is the application object of the PDO mapping.
4-6
CJ-series EtherCAT Slave Units Operation Manual (W541)
4 EtherCAT Communications
 TxPDO
I/O Input Data Area object*1
PDO mapping object
Name
Index number
Name
Index
number
Description
Sub-index
number
IN data area size is 50 bytes.
Input001
to
Input050
01 to 32 hex
IN data area size is 100 bytes.
1B02 hex
Input001
to
Input100
01 to 64 hex
IN data area size is 200 bytes.
1B03 hex
Input001
to
Input200
01 to C8 hex
IN data area size is 400 bytes.
1B00 hex
Input001
to
Input025
258th transmit
PDO Mapping
1B01 hex
259th transmit
PDO Mapping
260th transmit
PDO Mapping
6000 hex
4-4 Process Data Objects (PDOs)
01 to 19 hex
257th transmit
PDO Mapping
*1. The I/O Input Data Area object is the application object of the PDO mapping.
4
Assigning PDOs
4-4-3 Assigning PDOs
4-4-3
This section provides details for assigning PDOs to an EtherCAT Slave.
Scheme for Assigning PDOs to EtherCAT Slaves
You can assign more than one PDO to an EtherCAT slave.
Here, PDOs are assigned to index 1C12 hex for the RxPDO, and 1C13 hex for the TxPDO.
Sync Manager PDO
assignment objects
The following example shows how PDOs are assigned.
Index
Subindex
Object contents
1C13 hex
1
1A00 hex
2
1A01 hex
3
1A03 hex
Sync Manager entity Z
Mapping objects
PDO A
1A00 hex
PDO A
1A01 hex
PDO B
1A02 hex
PDO C
1A03 hex
PDO D
1A04 hex
PDO E
1A05 hex
PDO F
1A06 hex
PDO G
PDO B
PDO D
In this example, three PDOs (PDO A, PDO B, and PDO D) are assigned to index 1C13 hex (for the
TxPDOs).
Similarly, a PDO (for the RxPDO) is assigned to index 1C12 hex.
CJ-series EtherCAT Slave Units Operation Manual (W541)
4-7
4 EtherCAT Communications
These assignments determine the PDOs to use for communications between the EtherCAT master and
slave.
Assigning PDOs to EtherCAT Slave Units
When assigning PDOs to the EtherCAT Slave Unit, refer to the IN and OUT data area size that have
been configured for the EtherCAT Slave Unit.
Assign PDOs of the same size as the setting value. PDOs are not assigned by default to an EtherCAT
Slave Unit. An example is shown in the table below.
I/O communication area reference table
Name
Offset
Value
PDO assignment
OUT data area size
m+9
64 hex (100 bytes)
258th receive PDO Mapping
IN data area size
m + 12
32 hex (50 bytes)
257th transmit PDO Mapping
Refer to 3-3-2 Details of the Allocated DM Area Words on page 3-9 for the I/O Communication Area
Reference Table.
Refer to 4-4-2 PDO Mappings on page 4-5 for PDO Mapping of the EtherCAT Slave Unit.
Precautions for Correct Use
The IN and OUT data area size allocation for the EtherCAT Slave Unit must be the same size
as the PDO mapping for the EtherCAT master. Refer to 3-3-1 Overview of the Allocated DM
Area Words on page 3-9. If the sizes do not match, an error will occur.
4-8
CJ-series EtherCAT Slave Units Operation Manual (W541)
4 EtherCAT Communications
4-5
Service Data Objects (SDOs)
This section describes the service data objects that are supported by the EtherCAT Slave Unit.
Introduction
EtherCAT Slave Units support SDO communications.
The EtherCAT master can read and write data from and to entries in the object dictionary with SDO
communications to make parameter settings and monitor status.
Refer to A-4 CoE Objects on page A-13 for the objects that you can use with SDO communications.
4-5-2
Abort Codes
The following table lists the abort codes for the SDO communications errors.
Value
4-5 Service Data Objects (SDOs)
4-5-1
4
Meaning
Unsupported access to an object.
06010002 hex
Attempt to write to a read-only object.
06020000 hex
The object does not exist in the object directory.
06040041 hex
The object cannot be mapped to the PDO.
06040042 hex
Number/length of mapped objects exceeds PDO length.
06070010 hex
Data type does not match, length of service parameter does not match.
06090011 hex
Missing subindex.
06090030 hex
Value of parameter exceeded range (only for write access).
CJ-series EtherCAT Slave Units Operation Manual (W541)
4-5-1 Introduction
06010000 hex
4-9
4 EtherCAT Communications
4-6
Communications Performance
This section describes the PDO I/O response times and the message response times for the EtherCAT
Slave Unit.
4-6-1
I/O Response Time
This section describes the method for calculating the maximum I/O response time of the EtherCAT
Slave Unit.
The I/O response time is the time from when the CJ-series CPU Unit processes the output data from
the EtherCAT master until the EtherCAT master inputs the processed result.
Timing Chart for I/O Response Time
A timing chart for the I/O response time is provided in the figure below. Use this timing chart with the
provided formula to determine the maximum I/O response time.
EtherCAT master
cycle
Tmaster*1
Cycle of
process data
communication
Ttrans
Tslave
Ttrans
EtherCAT slave
processing
cycle
Tmaster*1
2 x Tslave
Tcj_plc
Tcj_plc
2 x Tslave
COM PG
SYS
I/O
COM PG
SYS
I/O
Tcj_plc
COM: Overseeing processing
PG: Program execution
SYS: Peripheral processing
I/O: I/O refreshing
Element
Description
Tmaster*1
Cycle time of the EtherCAT master.
Tslave
Processing time of the EtherCAT Slave Unit.
Tcj_plc
Cycle time of the CJ-series CPU Unit.
Ttrans
Transmission time of the EtherCAT master.
*1. The cycle time of the EtherCAT master is based on the assumption that the EtherCAT master cycle is the
same as the cycle of process data communication. Refer to the EtherCAT master manual about the relationship between these cycles.
4 - 10
CJ-series EtherCAT Slave Units Operation Manual (W541)
4 EtherCAT Communications
I/O Response Time Formula
A formula is provided below to calculate the I/O response time.
Tmaster + (4 x Tslave) + (2 x Tcj_plc) + (2 x Ttrans)
The elements used in the maximum I/O response time formula are described below. Units of these elements are in ms.
 Tmaster
The cycle time of the EtherCAT master is assumed to be the same as the process data communication cycle. Use the process data communication cycle that is set in the EtherCAT master.
 Tslave
The EtherCAT Slave Unit processing time can be calculated with the formula below.
4
Tslave = 1.5 + (0.0007 x (IN data area size + OUT data area size))
 Tcj_plc
The PLC cycle time can be obtained by referring to the CPU Unit’s operation manual.
The I/O refresh time of the PLC is the maximum time required for I/O data to be exchanged between
the CPU Unit and the EtherCAT Slave Unit. The PLC cycle time is increased when an EtherCAT
Slave Unit is mounted as shown in the formula below.
I/O Refresh Time = A + (B x (IN data area size + OUT data area size))
Units of IN and OUT data area size are in channels (CH).
Use the values of A and B in table below for the CPU type that has the EtherCAT Slave Unit
mounted.
Value of A
Value of B
CJ1M
0.3
0.0008
CJ2H
0.3
0.0024
CJ2M
0.3
0.0024
 Ttrans
The transmission time of the EtherCAT master can be calculated with the formula below.
Ttrans = ((1.24 x Number of EtherCAT slaves) + (0.09 x EtherCAT frame length in bytes)) / 1000
The number of EtherCAT slaves represents the number of EtherCAT slaves that are present on the
same EtherCAT network. An EtherCAT Slave Unit is considered to be one EtherCAT slave.
The EtherCAT frame length in bytes represents the data byte size of the EtherCAT frame on the
same EtherCAT network.
CJ-series EtherCAT Slave Units Operation Manual (W541)
4 - 11
4-6-1 I/O Response Time
Units of IN and OUT data area size are in channels (CH).
CPU type
4-6 Communications Performance
Maximum I/O Response Time =
4 EtherCAT Communications
4-6-2
SDO Message Response Time
This section describes the method for calculating the minimum SDO message response time of the
EtherCAT Slave Unit.
The message response time is the time from when the EtherCAT master sends the SDO data with the
mailbox until it receives the SDO response from the target EtherCAT Slave Unit.
Timing Chart for SDO Message Response Time
A timing chart for the SDO message response time is provided in the figure below. Use this timing chart
with the provided formula to determine the minimum SDO message response time.
Send requesting
SDO
Response data
preparation completed
Receive
requesting SDO
EtherCAT master cycle
Cycle of
process data
communication
Tmaster*1
Tmaster*1
Ts_resp
Element
Description
Tmaster*1
Cycle time of the EtherCAT master.
Ts_resp
EtherCAT Slave Unit message response time is 2 ms.
*1. The cycle time of the EtherCAT master is based on the assumption that the EtherCAT master cycle is the
same as the cycle of process data communication. Refer to the EtherCAT master manual about the relationship between these cycles.
Minimum SDO Message Response Time Formula
A formula is provided below to calculate the SDO message response time.
Minimum SDO Message Response Time = (((Ts_resp / Tmaster) + 1*1) x Tmaster) + (((data byte size of
response message / 512) + 1*2) x Tmaster) + Tmaster
*1. If Tmaster divides the Ts_resp evenly, there is no need to add 1 in the formula.
*2. If 512 divides the data byte size of the message response evenly, there is no need to add 1.
The elements used in the minimum SDO message response time formula are described below. Units of
these elements are in ms.
 Tmaster
The cycle time of the EtherCAT master is assumed to be the same as the process data communication cycle. Use the process data communication cycle that is set in the EtherCAT master.
 Ts_resp
This is the time from when the message request is received until the EtherCAT Slave Unit completes
generating the response.
4 - 12
CJ-series EtherCAT Slave Units Operation Manual (W541)
Troubleshooting
There are several ways to check errors on an EtherCAT Slave Unit. If an error occurs,
refer to this section to troubleshoot the error.
5-1 Error Notification and Checking Methods . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-1
5-1-2
5-1-3
Error Notification Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
How to Check for Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
Procedures to Check Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5-2 Troubleshooting with Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-2-1
5-2-2
Checking for Errors and Troubleshooting with the Indicators . . . . . . . . . . . . . . 5-5
Corrective Actions When the CPU Unit’s Indicators are Lit or Flashing . . . . . 5-12
5-3 Error Log Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5-3-1
5-3-2
5-3-3
5-3-4
Error Log Data Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error Log Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FINS Commands for Error Logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error Log Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-13
5-14
5-14
5-15
5-4 Troubleshooting with Emergency Messages . . . . . . . . . . . . . . . . . . . . . . 5-16
5-4-1
5-4-2
Emergency Message Notification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
Emergency Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16
5-5 Troubleshooting with AL Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18
CJ-series EtherCAT Slave Units Operation Manual (W541)
5-1
5
5 Troubleshooting
5-1
Error Notification and Checking
Methods
This section describes error notification, checking methods and procedures when an error has occurred
in the EtherCAT Slave Unit.
5-1-1
Error Notification Methods
The EtherCAT Slave Unit uses the following methods to notify the CJ-series CPU Unit or EtherCAT
master that errors have occurred.
EtherCAT master
Notification to the master:
• Emergency message
• AL status
Indicators
CJ-series
EtherCAT Slave Unit
CJ1W-ECT21
CJ-series
CPU Unit
Notification to the CJ-series CPU Unit:
• Unit status
• Slave status
Type of error notification
Emergency message
Overview
Notification method
The emergency message reports application level errors.
The error code contains the CiA-defined
error code, and an additional error code in
the unique header area.
5-2
When an error occurs, the EtherCAT
Slave Unit notifies the EtherCAT master.
CJ-series EtherCAT Slave Units Operation Manual (W541)
5 Troubleshooting
Type of error notification
Notification method
When an error occurs, the error is
written to the AL status register to
notify the EtherCAT master.
AL status
This status reports errors related to EtherCAT communications. The ETG-defined
method is used for the error detection and
error code.
Unit status, Slave status
The status of the EtherCAT Slave Unit allo- When an error occurs, the EtherCAT
cated to CIO Area is notified.
Slave Unit notifies the CJ-series CPU
Unit.
Indicators
These are the indicators on the EtherCAT
Slave Unit.
---
How to Check for Errors
Use the following methods to check the status of errors on the EtherCAT Slave Unit.
Configuration Software:
• AL status
• Emergency message
5-1 Error Notification and Checking Methods
5-1-2
Overview
EtherCAT master
5
5-1-2 How to Check for Errors
CX-Programmer:
• Error log
Indicators
CJ-series
CPU Unit
Checking method
Checking the indicators
Information provided
The indicators provide the status of the EtherCAT Slave Unit and the
level of the error.
CJ-series EtherCAT Slave Units Operation Manual (W541)
5-3
5 Troubleshooting
Checking method
Information provided
Displaying error log for CPU Bus Units
or Special I/O Units in the I/O table
with CX-Programmer
The error log is recorded by the error log function of the EtherCAT
Slave Unit.
Checking the Unit status and slave
status areas
These areas indicate the status of the EtherCAT Slave Unit and the
level of the error.
Checking with Configuration Software
The Configuration Software provides the emergency message code
The error log can be read with FINS commands to the Unit.
and AL status code*1.
*1. Available information is specific to the EtherCAT master used and the functions of its Configuration Software.
5-1-3
Procedures to Check Errors
The basic procedures to check errors are described below.
1
2
Check whether an error exists on the EtherCAT Slave Unit with the Configuration Software that
is connected to the EtherCAT master.
If an error occurs in the EtherCAT Slave Unit, check the following items to determine the cause
of an error.
• Check indicators
• Check the error log and the status with the CX-Programmer that is connected to the PLC
5-4
CJ-series EtherCAT Slave Units Operation Manual (W541)
5 Troubleshooting
5-2
Troubleshooting with Indicators
Use the indicators to determine the error status of the EtherCAT Slave Unit. Refer to 2-1-2 Indicators on
page 2-3 for information on indicators.
5-2-1
Checking for Errors and Troubleshooting with the Indicators
Indicators
Name
Function
L/A IN
The L/A IN indicator shows the link activity of the input port.
L/A OUT
The L/A OUT indicator shows the link activity of the output port.
ECAT RUN
The ECAT RUN indicator shows the operating status of EtherCAT communications for the
EtherCAT Slave Unit.
ECAT ERR
The ECAT ERR indicator provides information on errors in the EtherCAT Slave Unit.
The RUN indicator provides information on the operation of the EtherCAT Slave Unit.
ERC
The ERC indicator provides information about errors of the EtherCAT Slave Unit.
ERH
The ERH indicator provides information about errors of the CPU Unit.
5
Indicator Timing Status
Here, the following abbreviations are used to describe the status of the indicators.
Abbreviation
Indicator status
Lit
Lit
Not Lit
Not lit
FS
This abbreviation indicates a flashing pattern other than flickering, blinking, single flash, and
double flash.
FK
Flickering
B
Blinking
SF
Single flash
DF
Double flash
---
Undefined
CJ-series EtherCAT Slave Units Operation Manual (W541)
5-5
5-2-1 Checking for Errors and Troubleshooting with the Indicators
RUN
5-2 Troubleshooting with Indicators
This section provides information for checking errors and troubleshooting with the indicators on the
EtherCAT Slave Unit.
5 Troubleshooting
The flashing patterns for flickering, blinking, single flash, and double flash are given below.
50 ms
on
Flickering
off
on
Blinking
off
200 ms 200 ms
on
1,000 ms
Single flash
off
200 ms
200 ms
on
1,000 ms
Double flash
off
5-6
200 ms 200 ms 200 ms
CJ-series EtherCAT Slave Units Operation Manual (W541)
5 Troubleshooting
Error Descriptions
 Errors Related to CPU Unit Data Exchange During Init State or Pre-Operational State
Indicator
ECAT ECAT
ERC ERH RUN
RUN ERR
Not
Lit
Not
Lit
Not
Lit
Not
Lit
Lit
Not
Lit
Cause
Unit operation
Operation
stops and error
is recorded in
the error log.
Error
log
(hex)
0006
CIO
area
---
Countermeasures
Set the unit numbers correctly
and restart the
EtherCAT Slave
Unit.
The same unit
number is set on
another Unit.
CPU Unit
Faulty
---
000F
Replace the CPU
Unit if the error
recurs after
restarting the
CPU Unit.
I/O Table
Not Registered
The CPU Unit’s
I/O table is not
registered.
0006
Create the I/O
table.
---
---
Replace the CPU
Unit if the error
recurs when the
CPU Unit is
restarted.
Lit
Lit
CPU Unit
Faulty
FS
Not
Lit
EtherCAT
Slave Unit
Faulty
CJ-series EtherCAT Slave Units Operation Manual (W541)
Operation
stops
Replace the
EtherCAT Slave
Unit if the same
error recurs
when the Unit is
mounted to
another CPU
Unit.
5-7
5
5-2-1 Checking for Errors and Troubleshooting with the Indicators
Unit Number Duplication
5-2 Troubleshooting with Indicators
Not
Lit
Error
5 Troubleshooting
Indicator
ECAT ECAT
ERC ERH RUN
RUN ERR
Error
Not
Lit
CPU Unit
Fatal Error
A fatal error
occurred in the
CPU Unit.
Not
Lit
Output
OFF Error
An Output OFF
condition occurred
in the CPU Unit.
Lit
CPU Unit
Watchdog
Timer
Error
An error occurred
in the CPU Unit.
CPU Unit
Service
Monitoring Error
Servicing from the
CPU Unit was not
completed within
the fixed interval.
B*1
B*1
Lit
---
Cause
The monitoring
time is normally 11
s.
Unit operation
Error
log
(hex)
CIO
area
(n+12)
Countermeasures
An emergency
code is sent if
EtherCAT Unit
is in Pre-Operational state.
---
An emergency
code is sent if
the EtherCAT
Slave Unit is in
Pre-Operational state and
records the
error in the
error log.
0001
Replace the CPU
Unit.
0002
Check and correct the CPU
Unit’s operating
environment.
bit
01*2
Clear the cause
of the error, and
restart the CPU
Unit.
Clear the cause
of the error.
An error occurred
while exchanging
data with the CPU
Unit.
I/O
Refresh
Error
The I/O communication area does
not exist in the
CPU Unit.
0347
(n+12) Check the I/O
bit 01*2 communication
area and change
(n+12)
to the correct
bit 07
allocation and
restart the EtherCAT Slave Unit.
000E
---
This can occur
when the I/O communication area is
set incorrectly,
when the Unit is
mounted to a different CPU Unit
with a different
number of EM
banks or when EM
has been converted to file memory.
I/O Bus
Error
An error occurred
while exchanging
data with the CPU
Unit.
Check and correct the CPU
Unit’s operating
environment and
then cycle power
to the PLC.
*1. If the EtherCAT master requests transition to Safe-Operational state or Operational state, the Unit remains in the Pre-Operational state, the ECAT ERR and ECAT RUN indicators are blinking.
*2. If the EtherCAT master requests transition to Safe-Operational state or Operational state, the Unit remains in the Pre-Operational state and the CIO area (n+12) bit 01 is ON.
5-8
CJ-series EtherCAT Slave Units Operation Manual (W541)
5 Troubleshooting
 Errors Related to CPU Unit Data Exchange During Operational State or
Safe-Operational State
Indicator
ECAT ECAT
ERC
RUN ERR
ERH RUN
B
Lit
SF
Not
Lit
---
Error
CPU Unit
Fatal
Error
Cause
A fatal error
occurred in the
CPU Unit.
Unit operation
---
CIO
area
(n+12)
bit 01
An emergency
code is sent.
CPU Unit
Watchdog
Timer
Error
An error
occurred in the
CPU Unit.
CPU Unit
Service
Monitoring Error
Servicing from
the CPU Unit
was not completed within the
fixed interval.
The EtherCAT
Slave Unit
changes to
Pre-Operational state and
an error is
recorded in the
error log.
0002
Check the CPU
Unit’s operating
environment and
then turn OFF the
error bit of AL status
from the EtherCAT
master.
0347
(n+12)
bit 01
(n+12)
bit 07
This can occur
when EM has
been converted
to file memory.
Not
Lit
I/O Bus
Error
An error
occurred while
exchanging
data with the
CPU Unit.
Output
OFF
Error
An Output OFF
condition
occurred in the
CPU Unit.
The EtherCAT
Slave Unit
changes to
Pre-Operational state.
An emergency
code is sent.
CJ-series EtherCAT Slave Units Operation Manual (W541)
Check the I/O communication area and
change to the correct allocation and
restart the EtherCAT Slave Unit.
000E
---
Check the CPU
Unit’s operating
environment, cycle
power to the PLC,
and then turn OFF
the error bit of AL
status from the
EtherCAT master.
---
(n+12)
bit 01
Clear the cause of
the error and then
turn OFF the error
bit of AL status from
the EtherCAT master.
5-9
5
5-2-1 Checking for Errors and Troubleshooting with the Indicators
Replace the CPU
Unit.
An emergency
code is sent.
The I/O communication area
does not exist in
the CPU Unit.
Clear the cause of
the error, restart the
CPU Unit and then
turn OFF the error
bit of AL status from
the EtherCAT master.
0001
The monitoring
time is normally
11 s.
I/O
Refresh
Error
Countermeasures
5-2 Troubleshooting with Indicators
The EtherCAT
Slave Unit
changes to
Pre-Operational state.
Error
log
(hex)
5 Troubleshooting
 Errors Related to Memory Access
Indicator
ECAT ECAT
ERC ERH RUN
RUN ERR
Not
Lit
---
B
Lit
Not
Lit
---
---
Error
log
(hex)
Error
Cause
Unit operation
SII Unit
Verification Error
A SII Unit Verification Error
occurred in the
EtherCAT Slave
Unit information
stored in SII when
the power was
applied.
The EtherCAT
Slave Unit
does not enter
Pre-Operational state.
---
Special
Unit
Memory
Error
An error occurred
in the EtherCAT
Slave Unit’s
non-volatile memory itself. This
error occurs when
attempting to read
or write to the
error log.
• Records an
error 0602 in
the RAM
error log
area.
0602
CIO
area
Countermeasures
(n+12)
bit 01
Restart the EtherCAT Slave Unit.
(n+12)
bit 02
Replace the EtherCAT Slave Unit if
the error recurs.
(n+10)
bit 04
• Remaining
writes to
non-volatile
memory are
all ignored
and normal
operation
continues.
• Error records
will continue
to be written
to RAM.
 Unit Errors
Indicator
Cause
Unit operation
Special
Unit
Error
An error occurred in
the EtherCAT Slave
Unit.
Operation
stops and error
is recorded in
the error log.
0601
FK
ESC
Error
A timeout occurred
while accessing
ESC.
---
---
Lit
ESC
Initial
Error
An initialization
error occurred in
the ESC.
Operation
stops.
ECAT ECAT
ERC ERH RUN
RUN ERR
Not
Lit
Lit
Lit
Not
Lit
---
It was not possible
to write the node
address to the
EtherCAT Slave
Unit with the Configuration Software.
5 - 10
Error
log
(hex)
Error
CIO
area
---
Countermeasures
Restart the CPU
Unit.
Replace the EtherCAT Slave Unit if
the error recurs.
(n+10)
bit 05
Replace the EtherCAT Slave Unit if
the same error
recurs when the
Unit is mounted to
another CPU Unit.
---
Replace the Unit if
the error recurs.
Write the node
address again.
CJ-series EtherCAT Slave Units Operation Manual (W541)
5 Troubleshooting
 EtherCAT Slave Errors
Indicator
ECAT
RUN
ECAT
ERR
ERC ERH RUN
SF
DF
Lit
B
I/O Communication Error
(Process
Data
WDT
Error)
The EtherCAT
Slave Unit did not
receive the frame
from the EtherCAT
master for more
than SM watch dog
time (100 ms).
Records the
error in the
error log
0345
Mailbox
Setting
Error
The mailbox setting from the EtherCAT master is
invalid.
---
---
Verification Error
Records the
A mismatch
error in the
occurred between
the RxPDO setting error log
size from the EtherCAT master and
the OUT data area
size setting in the
EtherCAT Slave
Unit.
Illegal
State
Transition
Request
Received
CIO
area
Countermeasures
(n+12)
bit 01
Clear the cause of
the error and then
turn OFF the error
bit of AL status
from the EtherCAT master.
(n+12)
bit 05
(n+12)
bit 01
(n+12)
bit 04
0344
(n+12)
bit 01
(n+12)
bit 03
Correct the mailbox settings and
then turn OFF the
error bit of AL status from the
EtherCAT master.
Correct the OUT
data area size setting to match the
Ethercat master
RxPDO setting
and then turn OFF
the error bit of AL
status from the
EtherCAT master.
A mismatch
occurred between
the TxPDO setting
size from the EtherCAT master and
the IN data area
size setting in the
EtherCAT Slave
Unit.
Correct the IN
data area size setting to match the
Ethercat master
TxPDO setting
and then turn OFF
the error bit of AL
status from the
EtherCAT master.
The TxPDO and
RxPDO are not
assigned when the
Unit changes from
Pre-Operational
state to Safe-Operational state.
Correct the
TxPDO and
RxPDO settings
and then turn OFF
the error bit of AL
status from the
EtherCAT master.
An illegal state tran- --sition request was
received.
A transition request
to an unknown
state was received.
CJ-series EtherCAT Slave Units Operation Manual (W541)
---
(n+12)
bit 01
(n+12)
bit 06
Turn OFF the
error bit of AL status from the
EtherCAT master.
5 - 11
5
5-2-1 Checking for Errors and Troubleshooting with the Indicators
---
B
---
Error
log
(hex)
Cause
5-2 Troubleshooting with Indicators
Not
Lit
Not
Lit
Unit operation
Error
5 Troubleshooting
 Others
Indicator
Not
Lit
---
B
---
---
---
Lit
CIO
area
IN Port
Link OFF
The IN port link is
turned off after
turned on once.
OUT Port
Link OFF
The OUT port link
is turned off after
turned on once.
(n+13)
bit 15
Restart
The Unit was
restarted.
(n+12) Turn OFF the error
bit 01 bit of AL status
from the EtherCAT
master.
The voltage is
present in the Unit
immediately after
power is turned
OFF. The power is
turned ON in this
state.
5-2-2
Error
log
(hex)
Cause
ECAT ECAT
ERC ERH RUN
RUN
ERR
---
Unit operation
Error
---
---
Countermeasures
(n+13) Connect the Etherbit 14 CAT communications cable.
Corrective Actions When the CPU Unit’s Indicators are Lit or
Flashing
Use the following table to troubleshoot the system if the CPU Unit’s ERR/ALM indicator is lit or flashing
when the EtherCAT Slave Unit is mounted.
Error
An I/O verification error occurred.
Corrective action
• Confirm that the Unit is connected properly.
• Check the I/O table with the I/O table verification operation and correct it if necessary. After correcting it, perform the I/O table create
operation.
A CPU Bus Unit setting error
occurred.
• The CPU Bus Unit model registered in the I/O tables does not match
the model of CPU Bus Unit actually mounted. Check the I/O tables
with the I/O table verification operation and correct it if necessary.
After correcting the I/O tables, perform the I/O table create operation.
A CPU Bus Unit error occurred.
• Confirm that the Unit is connected properly.
• Restart the Unit. Replace the Unit if it doesn’t restart.
An I/O bus error occurred.
• Confirm that the Unit is connected properly.
• Restart the Unit. Replace the Unit if it doesn’t restart.
Refer to the CPU Unit’s operation manual for details.
5 - 12
CJ-series EtherCAT Slave Units Operation Manual (W541)
5 Troubleshooting
5-3
Error Log Function
Errors detected by the EtherCAT Slave Unit are stored in the error log along with the date and time of
their occurrence. The error log can be accessed by using the CX-Programmer. Refer to the CX-Programmer Operation Manual (Cat. No. W446) for error log monitoring operations. The error log can be
read and cleared with FINS commands to the Unit.
Some error log records are cleared when the CPU Unit’s power goes OFF and other records are not
cleared.
5-3-1
Error Log Data Specifications
The error log table records the following information.
• Error code
• Detail code
5-3 Error Log Function
Each time an error occurs, one error record is recorded in the EtherCAT Slave Unit's RAM error log
table. You can record a maximum of 203 records. If another error occurs when the table is full, the oldest record will be erased to make room for the new error record.
• Time of occurrence (The CPU Unit's time is used for the time stamp.)
Refer to 5-3-4 Error Log Error Codes on page 5-15 for more information on error and detail codes.
Specifications
10 bytes/record
Number of
records
203 records max.
Data type
Binary (time information: BCD)
5-3-1 Error Log Data Specifications
Item
Record length
The structure of each record is as follows.
Bit
15
8
7
0
Error code
Detail code
Minutes
Seconds
Day of month
Hour
Year
Month
CJ-series EtherCAT Slave Units Operation Manual (W541)
5
5 - 13
5 Troubleshooting
5-3-2
Error Log Registration
This section provides details about the error log registration function of the EtherCAT Slave Unit.
Error Log Storage Area
When an error occurs, information on the error and the time stamp are stored in the Unit’s internal RAM
as an error log record. Serious errors are recorded in non-volatile memory as well as RAM. The time
read from the CPU Unit during cyclic servicing is used for the time stamp.
The error log records stored in non-volatile memory are copied to RAM when the Unit starts operating,
so these records are retained even when the Unit’s power is turned OFF or the Unit is restarted.
When the error log is read, the error log records in RAM are read. When the error log is cleared, the
error log records in both RAM and non-volatile memory are erased.
The EtherCAT Slave Unit does not record errors caused by the EtherCAT network.
Additional Information
The CPU Unit’s time information is used for the time stamps in the EtherCAT Slave Unit’s error
log records. If the time information cannot be read from the CPU Unit, the time stamp will be as
follows.
• When the error log is read with a FINS command
The time stamp contains all zeroes.
• When the error log is read from the CX-Programmer
The invalid data and time are displayed.
Moreover, if the battery is replaced in a CJ-series CPU Unit, the time of the CPU Unit’s built-in
clock must be set again the next time that power is turned ON. If the built-in clock time is not
set, the correct time information will not be recorded. If this error log is read from the CPU Unit,
the time information will not be consistent.
Error Log Overflows
The error log can record up to 203 records. If another error occurs when the log is full, the oldest record
will be erased to make room for the new error record.
5-3-3
FINS Commands for Error Logs
The following FINS commands can be sent to the EtherCAT Slave Unit to read or clear the error log.
Command code
MRC
21
5 - 14
SRC
Function name
02
ERROR LOG READ
03
ERROR LOG CLEAR
CJ-series EtherCAT Slave Units Operation Manual (W541)
5 Troubleshooting
5-3-4
Error Log Error Codes
This section provides details of the error log error codes.
Error
code
(hex)
Detail code
Error
Cause
First byte
Second byte
0001
CPU Unit Watchdog Timer Error
An error occurred in the CPU Unit.
00 hex
00 hex
0002
CPU Unit Service
Monitoring Error
Servicing from the CPU Unit was not completed within the fixed interval.
Monitoring time (ms)
0006
Other CPU Error
• The CPU Unit’s I/O table is not registered.
Saved in
non-volatile
memory
Yes
The monitoring time is normally 11 s.
000E
I/O Bus Error
An error occurred while exchanging data
with the CPU Unit.
000F
CPU Unit Initialization Error
Timeout while awaiting access right of
cyclic area during initialization.
0118
Illegal Packet Discarded
The frame was aborted because of an illegal packet reception.
5-3 Error Log Function
• The same unit number is set on another
Unit.
Bit D11: Unit not in Registered I/O Tables
Bit D14: Duplicate unit number setting
(Other bits are reserved for system use.)
00 hex
00 hex
FINS Command:
No
• Bit 15: OFF
• Bits 08 to 14: Source network address
5
• Bits 00 to 07: Source node address
FINS Response:
5-3-4 Error Log Error Codes
• Bit 15: ON
• Bits 08 to 14: Destination network
address
• Bits 00 to 07: Destination node address
0344
Verification Error
• A mismatch occurred between the
RxPDO setting size from the EtherCAT
master and the OUT data area size setting in the EtherCAT Slave Unit.
06 hex
00 hex
• A mismatch occurred between the
TxPDO setting size from the EtherCAT
master and the IN data area size setting in the EtherCAT Slave Unit.
• The TxPDO and RxPDO are not
assigned when the Unit changes from
Pre-Operational state to Safe-Operational state.
0345
I/O Communication
Error
The EtherCAT Slave Unit did not receive
the frame from the EtherCAT master for
more than SM watch dog time (100 ms).
02 hex
00 hex
0347
I/O Refresh Error
The I/O communication area does not
exist in the CPU Unit.
02 hex
00 hex
This can occur when the I/O communication area is set incorrectly, when the Unit
is mounted to a different CPU Unit with a
different number of EM banks or when EM
has been converted to file memory.
0601
Special Unit Error
An error occurred in the EtherCAT Slave
Unit.
Uncertain contents
0602
Special Unit Memory Error
An error occurred in the EtherCAT Slave
Unit’s non-volatile memory itself.
01: Read error
Yes
06 hex: Error log
Yes*1
02: Write error
*1. If a memory error occurs in the error log area of non-volatile memory, the record will not be stored in non-volatile.
CJ-series EtherCAT Slave Units Operation Manual (W541)
5 - 15
5 Troubleshooting
5-4
Troubleshooting with Emergency
Messages
EtherCAT Slave Units are able to report emergency messages to the EtherCAT master by using the
SDO communications if they detect errors.
5-4-1
Emergency Message Notification
When the power supply is turned ON, the EtherCAT Slave Unit always starts with the Notification setting.
Emergency messages cannot be sent while there is an EtherCAT communications error.
Byte
Contents
0
1
Emergency error code
2
3
4
Reserved
5
6
7
0000 hex
Refer to 5-4-2 Emergency Error Codes on page 5-16 for the meanings of the emergency messages.
5-4-2
Emergency Error Codes
The following table lists the emergency error codes that are used with EtherCAT Slave Units and the
meaning of each error.
Error
code
(hex)
5530
Error type
Memory access
error
Error name
Description
Special Unit
Memory Error
An error occurred while
reading or writing the error
log.
Notification to
EtherCAT
master
Yes
6120
7030
5 - 16
Unit error
Restart the EtherCAT
Slave Unit.
Replace the EtherCAT
Slave Unit if the error
recurs.
All error log records cannot
be used during initialization
or registering an error log
record.
6140
Corrective action
No
SII Unit Verification Error
An error occurred in the
slave information stored in
SII when the power supply
was turned ON.
Special Unit
Error
An error occurred in the
EtherCAT Slave Unit.
Restart the CPU Unit.
ESC Error
An error occurred in the
ESC.
Replace the EtherCAT
Slave Unit if the same error
recurs when the Unit is
mounted to another CPU
Unit.
Replace the EtherCAT
Slave Unit if the error
recurs.
CJ-series EtherCAT Slave Units Operation Manual (W541)
5 Troubleshooting
Error
code
(hex)
FF02
Error type
Description
Notification to
EtherCAT
master
FF03
Output OFF
Error
An Output OFF condition
occurred in the CPU Unit.
FF04
CPU Unit
Watchdog
Timer Error
An error occurred in the
CPU Unit.
Replace the CPU Unit.
FF05
CPU Unit Service Monitoring Error
Servicing from the CPU
Unit was not completed
within the fixed interval.
I/O Bus Error
An error occurred while
exchanging data with the
CPU Unit.
Check the CPU Unit's
operating environment,
and then turn OFF error bit
of AL status from EtherCAT master.
I/O Refresh
Error
The I/O communication
area does not exist in the
CPU Unit.
Check I/O communication
area and reset with a correct allocation and restart
the EtherCAT Slave Unit.
5
5-4-2 Emergency Error Codes
CJ-series EtherCAT Slave Units Operation Manual (W541)
Clear the cause occurred
error, and restart CPU Unit,
and then turn OFF error bit
of AL status from EtherCAT master.
5-4 Troubleshooting with Emergency Messages
A fatal error occurred in the
CPU Unit.
This can occur when the
I/O communication area is
set incorrectly, when the
Unit is mounted to a different CPU Unit with a different number of EM banks or
when EM has been converted to file memory.
Yes
Corrective action
CPU Unit
Fatal Error
FF07
Errors related to
the CPU Unit
Error name
5 - 17
5 Troubleshooting
5-5
Troubleshooting with AL Status
This status reports errors related to EtherCAT communications.
The following table lists the AL status codes that are used with the EtherCAT Slave Units.
AL status
code (hex)
Status name
Contents
Notification to
EtherCAT
master
Corrective action
0011
Illegal State Transition Request
Received
An incorrect state transition request
was received.
0012
Error State Transition Received
An unclear state transition request
was received.
0014
SII Unit Verification
Error
The non-volatile memory for SII backups does not match the information in
the SII (VendorID, ProductCode,
RevisionNo, and Serial No.).
Cycle the power supply.
0016
Mailbox Setting
Error
An incorrect mailbox setting was
detected for the Sync Manager.
Correct the settings and then download them to
the EtherCAT master again.
001B
Process Data
WDT Error
A timeout was detected for an I/O
data send frame.
Review the following items, and restart the slave
based on the specifications of the connected
EtherCAT master.
Possible
Change the status correctly.
If the error still occurs, replace the EtherCAT
Slave Unit.
• Wire the EtherCAT communications cable correctly.
• Check to see if the EtherCAT communications
cable is exposed to excessive noise.
001D
RxPDO Setting
Error
A mismatch occurred between the
RxPDO setting size from the EtherCAT master and the OUT data area
size setting in the EtherCAT Slave
Unit.
Correct the OUT data area size to match the
EtherCAT master RxPDO setting and then turn
OFF the error bit of AL status from the EtherCAT
master.
001E
TxPDO Setting
Error
A mismatch occurred between the
TxPDO setting size from the EtherCAT master and the IN data area size
setting in the EtherCAT Slave Unit.
Correct the IN data area size to match the EtherCAT master TxPDO setting and then turn OFF
the error bit of AL status from the EtherCAT master.
0024
TxPDO Mapping
Error
The TxPDO and RxPDO are not
assigned after the Unit receives a
request to change from Pre-Operational state to Safe Operational state.
Correct the communication area input and output
data size to match the EtherCAT master TxPDO
and RxPDO settings and then turn OFF the error
bit of AL status from the EtherCAT master.
8000
Slave Restarted
The Unit was restarted.
Turn OFF the error bit of AL status from the
EtherCAT master.
The voltage is present in the Unit
immediately after power is turned
OFF. The power is turned ON in this
state.
8004
Errors Related to
the CPU Unit
An error was detected in the CPU
Unit.
The AL status code is caused by one
of the following errors.
Refer to 5-2-1 Checking for Errors and Troubleshooting with the Indicators on page 5-5 for error
corrective actions.
• CPU Unit Fatal Error
• CPU Unit Watchdog Timer Error
• CPU Unit Service Monitoring Error
• I/O Refresh Error
• I/O Bus Error
5 - 18
CJ-series EtherCAT Slave Units Operation Manual (W541)
Maintenance and Replacement
This section describes the procedures for cleaning, inspecting and replacing EtherCAT
Slave Units.
6-1 Cleaning and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6-1-1
6-1-2
Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2
6-2 Replacing Faulty Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6-2-1
6-2-2
Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
Settings When Replacing EtherCAT Slave Units . . . . . . . . . . . . . . . . . . . . . . . 6-4
CJ-series EtherCAT Slave Units Operation Manual (W541)
6-1
6
6 Maintenance and Replacement
6-1
Cleaning and Inspection
This section describes the routine cleaning and inspection recommended as regular maintenance.
6-1-1
Cleaning
Clean the EtherCAT Slave Units regularly as described below in order to keep the network in its optimal
operating condition.
• Wipe the Unit daily with a dry, soft cloth.
• When a spot can't be removed with a dry cloth, dampen the cloth with a neutral cleanser (2% solution), wring out the cloth, and wipe the Unit.
• A smudge may remain on the Unit from gum, vinyl, or tape that was left on for a long time. Remove
the smudge when cleaning.
Precautions for Correct Use
Never use volatile solvents such as paint thinner, benzene, or chemical wipes. These substances could damage the surface of the Unit.
6-1-2
Inspection
Be sure to inspect the system periodically to keep it in its optimal operating condition. In general,
inspect the system once every 6 to 12 months, but inspect more frequently if the system is used with
high temperature or humidity or under dirty/dusty conditions.
Inspection Equipment
Prepare the following equipment before inspecting the system.
 Required Equipment
Have a standard and Phillips-head screwdriver, multimeter, alcohol and a clean cloth.
 Equipment Required Occasionally
Depending on the system conditions, a synchroscope, oscilloscope, thermometer, or hygrometer (to
measure humidity) might be needed.
Inspection Procedure
Check the items in the following table and correct any items that are below standard.
Item
Environmental
conditions
6-2
Standard
Equipment
Ambient and cabinet temperature
0°C to 55°C
Thermometer
Ambient and cabinet humidity
10% to 90%
(with no condensation or
icing)
Hygrometer
Dust/dirt accumulation
None
Check visually
CJ-series EtherCAT Slave Units Operation Manual (W541)
6 Maintenance and Replacement
Item
Installation
Standard
Equipment
Are the Units installed securely?
No looseness
Phillips head screwdriver
Are the communications connectors fully inserted and locked?
No looseness
Check visually
Are the connecting cables undamaged?
No damage
6-1 Cleaning and Inspection
6
6-1-2 Inspection
CJ-series EtherCAT Slave Units Operation Manual (W541)
6-3
6 Maintenance and Replacement
6-2
Replacing Faulty Units
Replace a faulty EtherCAT Slave Unit as soon as possible. We recommend having spare Units available to restore network operation as quickly as possible.
6-2-1
Precautions
Observe the following precautions when replacing a faulty Unit.
• After replacement make sure that there are no errors with the new Unit.
• When a Unit is being returned for repair, attach a sheet of paper detailing the problem and return the
Unit to your OMRON dealer.
• If there is a faulty contact, try wiping the contact with a clean, lint-free cloth dampened with alcohol.
Precautions for Safe Use
To prevent electric shock when replacing a Unit, be sure to stop communications in the network
and turn OFF the power supplies to all of the nodes (master and slaves) before removing the
faulty Unit.
6-2-2
Settings When Replacing EtherCAT Slave Units
When a Unit is replaced, verify that the following steps have been made correctly.
• Set the node address and unit number.
• Connect the communication cables.
Precautions for Correct Use
After replacing Units, resume operation only after transferring to the new CPU Unit and/or Special I/O Units the contents of the DM Area, HR Area, and other data required for resuming operation. Not doing so may result in unexpected operation.
The EtherCAT Slave Unit does not contain data that is backed up for the simple backup function.
6-4
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
The appendix provides an example of operations, a programming example to detect
valid I/O process data, information on process data exchange in PROGRAM mode,
information on CoE objects, supplemental information for creating I/O tables, FINS
commands and version information.
A-1 Example of Operations for EtherCAT Slave Unit Communications . . . . . A-2
A-1-1
A-1-2
A-1-3
A-1-4
A-1-5
A-1-6
System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting Condition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Flow of the Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CJ1W-ECT21 Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EtherCAT Master Setting Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start EtherCAT Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-2
A-3
A-3
A-4
A-5
A-7
A-2 Programming Example To Detect Valid I/O Process Data . . . . . . . . . . . . . A-8
A-3 Process Data Exchange in PROGRAM Mode . . . . . . . . . . . . . . . . . . . . . . . A-9
A-3-1
A-3-2
A-3-3
Detection Method and Timing Considerations . . . . . . . . . . . . . . . . . . . . . . . . . A-9
Program Example for the EtherCAT Master . . . . . . . . . . . . . . . . . . . . . . . . . . A-10
Program Example for the EtherCAT Slave Unit . . . . . . . . . . . . . . . . . . . . . . . A-11
A-4 CoE Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-13
A-4-1
A-4-2
A-4-3
A-4-4
A-4-5
A-4-6
A-4-7
Object Dictionary Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Format of Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PDO Mapping Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sync Manager Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Device Profile Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
A-13
A-13
A-13
A-14
A-16
A-19
A-22
A-5 Creating I/O Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-24
A-5-1
A-5-2
A-5-3
I/O Table Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-24
Connecting Programming Devices to the PLC . . . . . . . . . . . . . . . . . . . . . . . . A-24
Procedure for Creating I/O Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-25
A-6 FINS Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-29
A-6-1
A-6-2
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-29
Details on FINS Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-29
A-7 Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-33
CJ-series EtherCAT Slave Units Operation Manual (W541)
A-1
A
Appendices
A-1 Example of Operations for EtherCAT
Slave Unit Communications
This section provides an example of operations for EtherCAT Slave Unit communications with an EtherCAT master.
In this example, the NJ-series CPU Unit’s built-in EtherCAT port is used as the EtherCAT master. Refer
to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for instructions on
using the built-in EtherCAT port on the NJ-series CPU Unit.
A-1-1
System Configuration
The following configuration is used for this example.
(A) Sysmac Studio
(B) EtherCAT master
(NJ-series CPU Unit)
Built-in EtherCAT port
(C) Communications
cables
(F) CX-Programmer
(E) CJ-series
CPU Unit
Letter
A-2
(D) CJ-series
EtherCAT Slave Unit
CJ1W-ECT21
Description
Comment
(A)
Sysmac Studio
Used to configure the EtherCAT master
(B)
EtherCAT master (NJ-series CPU Unit)
Built-in EtherCAT port on NJ-series CPU Unit
(C)
Communications cable
---
(D)
CJ-series EtherCAT Slave Unit
CJ1W-ECT21
(E)
CJ-series CPU Unit
---
(F)
CX-Programmer
Used to configure the EtherCAT Slave Unit
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
A-1-2
Setting Condition
The following setting conditions are used in this example.
A-1 Example of Operations for EtherCAT Slave Unit Communications
I/O Communication Area Setting Table
Set the I/O Communication Area Setting Table with the following values.
Name
OUT data area type
Setting value
CIO
First word in OUT data area 0000 hex
OUT data area size
50 byte
IN data area type
CIO
First word in IN data area
001A hex
IN data area size
50 byte
PDO Mapping for the EtherCAT Master
Set the PDO mapping with the following values.
Name
Setting value
Output
257th receive PDO Mapping
Input
257th transmit PDO Mapping
EtherCAT Slave Unit Switch Settings
A
Set the node address and unit number with the following values.
Name
Node address
01
Unit number
01
A-1-2 Setting Condition
A-1-3
Setting value
Flow of the Setting Procedure
Use the following procedure to establish EtherCAT Slave Unit communications with an EtherCAT master.
Procedure
1. CJ1W-ECT21 setting
Reference
A-1-4 CJ1W-ECT21 Setting Procedure on page A-4
2. EtherCAT master setting
A-1-5 EtherCAT Master Setting Procedure on page A-5
3. Start EtherCAT communication
A-1-6 Start EtherCAT Communication on page A-7
CJ-series EtherCAT Slave Units Operation Manual (W541)
A-3
Appendices
A-1-4
CJ1W-ECT21 Setting Procedure
This section provides the setting procedure for establishing EtherCAT Slave Unit communications.
1
2
3
4
5
6
7
8
With the power OFF, set the unit number and node address with the corresponding hardware
switches. Refer to 2-1-3 Switch Settings on page 2-6.
Mount the EtherCAT Slave Unit to the CPU Rack. Refer to 2-2-2 Mounting to a CJ-series PLC
on page 2-8.
Connect the communications cable between the EtherCAT master and EtherCAT Slave Unit.
Refer to 2-3 EtherCAT Network Wiring on page 2-10.
Connect the CX-Programmer to the CJ-series CPU Unit.
Turn ON the power supply to the CJ-series PLC.
Place the CX-Programmer online with the CJ-series CPU Unit.
Create the I/O table with CX-Programmer. Refer to A-5 Creating I/O Tables on page A-24.
Set the I/O Communication Area Setting Table. Refer to 3-4-2 Setting Procedure with the
CX-Programmer on page 3-19.
The example is shown below.
A-4
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
9
Transfer the I/O table, I/O Communication Area Setting Table and user program to the
CJ-series PLC.
After transferring the settings using the EtherCAT Slave Unit Edit Parameters Dialog Box, a
message will ask if you wish to restart the EtherCAT Slave Unit.
Click the Yes Button. The EtherCAT Slave Unit will be restarted to enable the settings.
Click the Compare Button. If the compare is successful, click the Transfer[Unit to PC] Button
to update the I/O Communication Area Reference Table values. If the compare is unsuccessful,
transfer the settings again. Refer to the CX-Programmer Operation Manual (Cat. No. W446) for
the Edit Parameters Dialog Box operation.
A-1 Example of Operations for EtherCAT Slave Unit Communications
10 Check the I/O Communication Area Reference Table in the Edit Parameters Dialog Box.
A
EtherCAT Master Setting Procedure
The setting procedure of the EtherCAT master is provided below. Refer to the Sysmac Studio Version 1
Operating Manual (Cat. No. W504) for Sysmac Studio operating procedures.
The ESI files for OMRON EtherCAT slaves are already installed in the Sysmac Studio. Update the Sysmac Studio to get the ESI files for the most recent EtherCAT Slave Unit.
1
2
Create a project in the Sysmac Studio.
Create the EtherCAT network configuration offline.
CJ-series EtherCAT Slave Units Operation Manual (W541)
A-5
A-1-5 EtherCAT Master Setting Procedure
A-1-5
Appendices
3
Register the EtherCAT Slave Unit in the network configuration and set the node address of the
EtherCAT Slave Unit.
The example is shown below.
4
Set the PDO mapping of the EtherCAT Slave Unit. Assign the PDOs of the same size as the setting value of the IN and OUT data area size in the I/O Communication Area Setting Table of the
EtherCAT Slave Unit.
The example is shown below.
5
Set the EtherCAT master parameters if necessary.
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for
details on the parameters of the built-in EtherCAT port of the NJ-series CPU Unit.
A-6
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
6
Assign the I/O data that is assigned in the PDO mapping settings to device variables. Assign the
device variables to I/O ports in the I/O map.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on I/O
ports and device variables.
The example is shown below when variable names are automatically created.
A-1-6
Start EtherCAT Communication
If the I/O Communication Area Setting Table, PDO mapping and switch settings are configured properly, EtherCAT communications should occur.
Verify EtherCAT Communications by checking the indicators and I/O data exchange.
CJ-series EtherCAT Slave Units Operation Manual (W541)
A-7
A
A-1-6 Start EtherCAT Communication
ler. Use the synchronization operation of the Sysmac Studio to download the data.
A-1 Example of Operations for EtherCAT Slave Unit Communications
7 Create the user program using the device variables.
8 Turn ON the power supply to the NJ-series Controller.
9 Use the Sysmac Studio to set communications with the NJ-series Controller and go online.
10 Download the network configuration information and the user program to the NJ-series Control-
Appendices
A-2 Programming Example To Detect
Valid I/O Process Data
The following programming example should be used to confirm that I/O process data is valid for an
EtherCAT Slave Unit mounted to a CJ-series CPU Unit.
This example uses bits in Unit Status 1 and Slave Status 2. Refer to 3-2 CIO Area Allocations on page
3-3 for details of Unit Status 1 and Slave Status 2. The unit number of the EtherCAT Slave Unit is set to
01 for this example.
Bit
(n + 10)
Name
Description
Unit Error
Indicates EtherCAT Slave Unit operating errors
(n + 13)
bit 02
Input Data Valid
Indicates that the Unit is processing transmit by process data communication. Data is valid and usable for control.
(n + 13)
Output Data Valid
Indicates that the Unit is processing receive by process data communication.
Data is valid and usable for control.
IN Port Link Status
Indicates when a link on the IN port is established with another device.
bit 00
bit 03
(n + 13)
bit 14
A-8
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
A-3 Process Data Exchange in PROGRAM
Mode
When an EtherCAT master or a CJ-series CPU Unit with a mounted EtherCAT Slave Unit enters PROGRAM mode, the EtherCAT Slave Unit will continue to exchange process data over the EtherCAT network. However, this process data is not updated in the CPU Unit that is in PROGRAM mode and is no
longer accurate. The EtherCAT Slave Unit will maintain its current state and will not automatically indicate this condition. It is necessary to monitor this condition with the user program to determine if the
exchanged process data remains accurate.
Detection Method and Timing Considerations
This section describes the following items.
• The method for detecting transition of the EtherCAT master and the CPU Unit to PROGRAM mode
• Consideration of detection timing
Detection Method
The suggested method to detect that an EtherCAT master and a CPU Unit enter PROGRAM mode
requires the user program that toggles process data bits ON and OFF between the EtherCAT master
and a CJ-series CPU Unit with a mounted EtherCAT Slave Unit. If the process data bits stop toggling,
the user program is no longer executing which is an indication that the EtherCAT master and the CPU
Unit are in PROGRAM mode.
Refer to the manuals for the EtherCAT master and the CJ-series CPU Unit’s user’s manual for more
information on creating the user program.
When implementing these detection methods, it is important to consider the maximum I/O response
time of the EtherCAT Slave Unit. Both program examples include a timer instruction to detect that process data is not changing within a fixed amount of time. This time should be adjusted to a value that is
more than the maximum I/O response time. Refer to 4-6-1 I/O Response Time on page 4-10 for details
on the maximum I/O response time.
CJ-series EtherCAT Slave Units Operation Manual (W541)
A-9
A
A-3-1 Detection Method and Timing Considerations
Timing Considerations
A-3 Process Data Exchange in PROGRAM Mode
A-3-1
Appendices
A-3-2
Program Example for the EtherCAT Master
Use the following program example as a guide to detect that the CJ-series CPU Unit with a mounted
EtherCAT Slave Unit enters PROGRAM mode. In the following example, an NJ-series CPU Unit’s
built-in EtherCAT port is used as the EtherCAT master.
This program example uses the following items.
Item
Description
_EC_PDSlavTbl[1]
System-defined variable for the NJ-series CPU Unit to indicate that the
EtherCAT slave (node 01) is performing process data communications.
E001_Input001[0]
Device variable assigned to the EtherCAT Slave Unit.
E001_Output001[0]
A - 10
WatchDogBit
Internal variable to reset the accumulation timer when E001_Input001[0]
changes state.
AccumulationTimer
instruction
Instruction that checks for a stop in bit toggling for a preset time amount that
will occur when the CJ-series CPU Unit with a mounted EtherCAT Slave Unit
enters PROGRAM mode. Refer to Timing Considerations on page A-9.
SetAlarm instruction
Instruction that creates a user-defined error when the CJ-series CPU Unit
with a mounted EtherCAT Slave Unit enters PROGRAM mode.
ECAT_Slave_PRG_Mode
External variable to indicate that the CJ-series CPU Unit with a mounted
EtherCAT Slave Unit has entered PROGRAM mode.
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
A-3-3
Program Example for the EtherCAT Slave Unit
Use the following program example as a guide to detect that the EtherCAT master enters PROGRAM
mode. A CJ-series CPU Unit with a mounted EtherCAT Slave Unit is used in the example below. The
EtherCAT Slave Unit’s unit number is set to 01.
A-3 Process Data Exchange in PROGRAM Mode
A
Item
OUT_Data_Bit
Description
Process data exchanged with the EtherCAT master.
IN_Data_Bit
Input_Data_Valid
Slave Status 2 bit to indicate that the EtherCAT Slave Unit is processing transmit
by process data communication.
Output_Data_Valid
Slave Status 2 bit to indicate that the EtherCAT Slave Unit is processing receive by
process data communication.
IN_Port_Link_Status
Slave Status 2 bit to indicate that the EtherCAT Slave Unit’s IN port has a link
established with another device.
Unit_Error
Unit Status 1 bit to indicate an EtherCAT Slave Unit operating error.
CJ-series EtherCAT Slave Units Operation Manual (W541)
A - 11
A-3-3 Program Example for the EtherCAT Slave Unit
This program example uses the following items.
Appendices
Item
Description
TTIM(087) instruction
Instruction that checks for a stop in bit toggling for a preset time amount that will
occur when the EtherCAT master enters PROGRAM mode. Refer to Timing Considerations on page A-9.
FAL(006) instruction
Instruction that creates a user-defined error when the EtherCAT master enters
PROGRAM mode.
ECAT_Master_PRG_Mode Bit to indicate that the EtherCAT master has entered PROGRAM mode.
A - 12
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
A-4 CoE Objects
This section explains the CoE objects that are implemented by the EtherCAT Slave Unit.
A-4-1
Object Dictionary Area
The CAN application protocol over EtherCAT (CoE) is based on the object dictionary for the CAN application protocol.
All objects are assigned 4-digit hexadecimal indexes. The objects are structured in the following areas.
Indexes
Area
Description
0000 to 0FFF hex
Data Type Area
This area contains the data type definitions.
1000 to 1FFF hex
CoE Communications Area
The objects in this area are defined for use by all servers
that perform specialized communications.
• PDO mapping objects
Manufacturer-specific Area 1
The objects in this area are defined for all OMRON products.
3000 to 5FFF hex
Manufacturer-specific Area 2
The objects in this area are defined for the EtherCAT Slave
Unit.
6000 to 9FFF hex
Device Profile Area
The objects in this area are defined by the CiA401 Generic
I/O Module Device Profile (a profile that specifies the CAN
application protocol interface for devices with digital I/O and
analog I/O).
A000 to FFFF hex Reserved Area
A-4-2
This area is reserved for future use.
A
Data Type
A-4-1 Object Dictionary Area
The following data types are used in this profile.
Data type
A-4-3
Abbreviation
Size
Range of values
Unsigned8
U8
1 byte
0 to 255
Unsigned16
U16
2 bytes
0 to 65,535
Unsigned32
U32
4 bytes
0 to 4,294,967,295
Visible String
VS
---
---
Format of Objects
The following table describes objects with the following format.
Index
(hex)
<Index>
Subindex
(hex)
<Subindex>
Object name
<Object name>
A-4 CoE Objects
2000 to 2FFF hex
Default
<Default
setting>
Data range
Unit
<Data range>
<Unit>
CJ-series EtherCAT Slave Units Operation Manual (W541)
Data
attribute
<Data
attribute>
Size
Access
<Size>
<Access>
PDO
mapping
Complete
access
<Possible/Not
possible>
<Possible/Not possible>
A - 13
Appendices
Items with the <> brackets are replaced with data. Each item has the following meaning.
Item
Description
Index
This is the index of the object that is expressed as a four-digit hexadecimal number.
Subindex
This is the subindex of the object that is expressed as a two-digit hexadecimal number.
Object name
This is the name of the object. For a subindex, this is the name of the subindex.
Default
This is the value that is set when the product is shipped from the factory.
Data range
For a read-only (RO) object, this is the range of the data that you can read. For a
read/write (RW) object, this is the setting range of the data.
Unit
The unit is the physical units.
Data attribute
This is the timing when changes to writable objects are enabled.
A: Enabled at all times
B: When moving from Pre-Operational state to Safe-Operational state
C: When moving from Pre-Operational state to Init state
R: When the power supply is reset or the Unit is restarted
---: Write-prohibited
Size
This is the size of the object in bytes.
Access
This data indicates if the object is read-only or read/write.
RO: Read only
RW: Read/write
PDO mapping
This indicates if you can map the object to a PDO.
Complete access*1
This indicates whether the object allows complete access.
*1. Complete access is used to read and write to a batch of objects. It allows you to read or write to all subindexes
of an object.
A-4-4
Communication Objects
The indexes from 1000 to 1018 hex are for communication objects for the EtherCAT Slave Unit.
Index
(hex)
1000
Subindex
(hex)
---
Object name
Device Type
Default
00000000
hex
Data range
00000000 hex
Unit
---
Data
attribute
---
Size
4 byte
(U32)
Access
RO
PDO
mapping
Complete
access
Not possible
Not possible
PDO
mapping
Complete
access
Not possible
Not possible
• This object stores the device profile number that the Slave uses.
Index
(hex)
1008
Subindex
(hex)
---
Object name
Manufacturer
Device Name
Default
CJ1W-ECT
21 (padded
with 10
spaces,
character
20 hex)
Data range
CJ1W-ECT21
(padded with
10 spaces,
character 20
hex)
Unit
---
Data
attribute
---
Size
20
byte
(VS)
Access
RO
• This object provides the model of the EtherCAT Slave Unit in ASCII code.
A - 14
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
Index
(hex)
1009
Subindex
(hex)
---
Object
name
Manufacturer Hardware Version
Default
“A“ (padded
with 19
spaces, character 20 hex)
Data range
“A“ (padded
with 19
spaces, character 20 hex)
Unit
Data
attribute
---
---
Size
Access
20
byte
(VS)
RO
PDO mapping
Complete
access
Not possible
Not possible
• This object provides the hardware version of the EtherCAT Slave Unit in ASCII code.
Index
(hex)
100A
Subindex
(hex)
---
Object name
Default
Manufacturer Software Version
“V1.00“ (padded with 15
spaces, character 20 hex)
Data range
“V1.00“ (padded with 15
spaces, character 20 hex)
Unit
---
Data
attribute
---
Size
20
byte
(VS)
Access
RO
PDO mapping
Complete
access
Not possible
Not possible
• This object provides the software version of the EtherCAT Slave Unit in ASCII code. Start with”V” (56
hex), and delimit three characters of ASCII codes with a period (2E hex), e.g. “V1.00”. If it is composed of plural modules, delimit them with a space (20 hex) and return the version in 20 bytes or
shorter which is filled from the head, e.g. “V1.00 V1.02 V1.01”.
1018
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
Identity Object
---
---
---
---
---
---
---
Possible
00
Number of entries
04 hex
04 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
Vendor ID
00000083
hex
00000083 hex
---
---
4
bytes
(U32)
RO
Not possible
---
A
Product Code
000000BA
hex
000000BA hex
---
---
4
bytes
(U32)
RO
Not possible
---
03
Revision Number
00010000
hex
00010000 hex
---
---
4
bytes
(U32)
RO
Not possible
---
04
Serial Number
Every slave
has a
unique
number
00000000 to
FFFFFFFF hex
---
---
4
bytes
(U32)
RO
Not possible
---
A-4-4 Communication Objects
02
This object provides information on the EtherCAT Slave Unit.
• Subindex 01 hex provides the vendor’s ID.
• Subindex 02 hex provides the value that is assigned to the EtherCAT Slave Unit.
• Subindex 03 hex provides the revision number of the EtherCAT Slave Unit.
Bits 16 to 31: These bits provide the major revision number of the EtherCAT Slave Unit.
Bits 0 to 15: These bits provide the minor revision number of the EtherCAT Slave Unit.
• Subindex 04 hex provides the serial number of the EtherCAT Slave Unit. This is a unique value for
each product.
CJ-series EtherCAT Slave Units Operation Manual (W541)
A-4 CoE Objects
Index
(hex)
A - 15
Appendices
A-4-5
PDO Mapping Objects
The PDO mapping objects for the EtherCAT Slave Unit are listed in the following table.
Index (hex)
Description
1700 to 1703
Receive PDO mappings
1B00 to 1B03
Transmit PDO mappings
Subindexes 01 hex and on give the mapped application object information.
31
16
15
Index
8
7
0
Bit length
Subindex
MSB
LSB
Bits 16 to 31: Index of the assigned object
Bits 8 to 15: Subindex of the assigned object
Bits 0 to 7: Bit length of the assigned object (i.e., a bit length of 32 bits is given as 20 hex)
Receive PDO Mapping Objects for the EtherCAT Slave Unit
The indexes from 1700 to 1703 hex are for receive PDO mapping objects for the EtherCAT Slave Unit.
Index
(hex)
1700
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
257th receive
PDO Mapping
---
---
---
---
---
---
---
Possible
0
Number of
objects in this
PDO
19 hex
19 hex
---
---
1 byte
(U8)
RO
Not possible
---
1
1st Output Object
to be mapped
70000110
hex
70000110 hex
---
---
4 byte
(U32)
RO
Not possible
---
2
2nd Output
Object to be
mapped
70000210
hex
70000210 hex
---
---
4 byte
(U32)
RO
Not possible
---
70001910
hex
70001910 hex
---
---
4 byte
(U32)
RO
Not possible
---
Sub indexes 3 to 18
19
25th Output
Object to be
mapped
• These objects store the RxPDO entries.
A - 16
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
Index
(hex)
1701
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
258th receive
PDO Mapping
---
---
---
---
---
---
---
Possible
0
Number of
objects in this
PDO
32 hex
32 hex
---
---
1 byte
(U8)
RO
Not possible
---
1
1st Output Object
to be mapped
70000110
hex
70000110 hex
---
---
4 byte
(U32)
RO
Not possible
---
2
2nd Output
Object to be
mapped
70000210
hex
70000210 hex
---
---
4 byte
(U32)
RO
Not possible
---
70003210
hex
70003210 hex
---
---
4 byte
(U32)
RO
Not possible
---
Sub indexes 03 to 31
32
50th Output
Object to be
mapped
• These objects store the RxPDO entries.
Index
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
259th receive
PDO Mapping
---
---
---
---
---
---
---
Possible
00
Number of
objects in this
PDO
64 hex
64 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
1st Output Object
to be mapped
70000110
hex
70000110 hex
---
---
4 byte
(U32)
RO
Not possible
---
02
2nd Output
Object to be
mapped
70000210
hex
70000210 hex
---
---
4 byte
(U32)
RO
Not possible
---
70006410
hex
70006410 hex
---
---
4 byte
(U32)
RO
Not possible
---
A
100th Output
Object to be
mapped
• These objects store the RxPDO entries.
Index
(hex)
1703
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
260th receive
PDO Mapping
---
---
---
---
---
---
---
Possible
00
Number of
objects in this
PDO
C8 hex
C8 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
1st Output Object
to be mapped
70000110
hex
70000110 hex
---
---
4 byte
(U32)
RO
Not possible
---
02
2nd Output
Object to be
mapped
70000210
hex
70000210 hex
---
---
4 byte
(U32)
RO
Not possible
---
7000C810
hex
7000C810 hex
---
---
4 byte
(U32)
RO
Not possible
---
Sub indexes 03 to C7
C8
200th Output
Object to be
mapped
• These objects store the RxPDO entries.
CJ-series EtherCAT Slave Units Operation Manual (W541)
A - 17
A-4-5 PDO Mapping Objects
Sub indexes 03 to 63
64
A-4 CoE Objects
1702
Subindex
(hex)
Appendices
Transmit PDO Mapping Objects for the EtherCAT Slave Unit
The indexes from 1B00 to 1B03 hex are for transmit PDO mapping objects for the EtherCAT Slave Unit.
Index
(hex)
1B00
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
257th transmit
PDO Mapping
---
---
---
---
---
---
---
Possible
00
Number of
objects in this
PDO
19 hex
19 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
1st Input Object
to be mapped
60000110
hex
60000110 hex
---
---
4 byte
(U32)
RO
Not possible
---
02
2nd Input Object
to be mapped
60000210
hex
60000210 hex
---
---
4 byte
(U32)
RO
Not possible
---
60001910
hex
60001910 hex
---
---
4 byte
(U32)
RO
Not possible
---
Sub indexes 03 to 18
19
25th Input Object
to be mapped
• These objects store the TxPDO entries.
Index
(hex)
1B01
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
258th transmit
PDO Mapping
---
---
---
---
---
---
---
Possible
00
Number of
objects in this
PDO
32 hex
32 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
1st Input Object
to be mapped
60000110
hex
60000110 hex
---
---
4 byte
(U32)
RO
Not possible
---
02
2nd Input Object
to be mapped
60000210
hex
60000210 hex
---
---
4 byte
(U32)
RO
Not possible
---
60003210
hex
60003210 hex
---
---
4 byte
(U32)
RO
Not possible
---
Sub indexes 03 to 31
32
50th Input Object
to be mapped
• These objects store the TxPDO entries.
Index
(hex)
1B02
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
259th transmit
PDO Mapping
---
---
---
---
---
---
---
Possible
00
Number of
objects in this
PDO
64 hex
64 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
1st Input Object
to be mapped
60000110
hex
60000110 hex
---
---
4 byte
(U32)
RO
Not possible
---
02
2nd Input Object
to be mapped
60000210
hex
60000210 hex
---
---
4 byte
(U32)
RO
Not possible
---
60006410
hex
60006410 hex
---
---
4 byte
(U32)
RO
Not possible
---
Sub indexes 03 to 63
64
A - 18
100th Input
Object to be
mapped
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
• These objects store the TxPDO entries.
Subindex
(hex)
Index
(hex)
1B03
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
260th transmit
PDO Mapping
---
---
---
---
---
---
---
Possible
00
Number of
objects in this
PDO
C8 hex
C8 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
1st Input Object
to be mapped
60000110
hex
60000110 hex
---
---
4 byte
(U32)
RO
Not possible
---
02
2nd Input Object
to be mapped
60000210
hex
60000210 hex
---
---
4 byte
(U32)
RO
Not possible
---
6000C810
hex
6000C810 hex
---
---
4 byte
(U32)
RO
Not possible
---
Sub indexes 03 to C7
C8
200th Input
Object to be
mapped
• These objects store the TxPDO entries.
A-4-6
Sync Manager Communication Objects
Index
(hex)
1C00
Subindex
(hex)
---
Object name
Default
Data range
---
Unit
---
Data
attribute
--
Size
---
Access
PDO
mapping
---
---
Complete
access
Sync Manager
Communication
Type
---
00
Number of entries
04 hex
04 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
Communication
Type Sync Manager 0
01 hex
01 hex
---
---
1 byte
(U8)
RO
Not possible
---
02
Communication
Type Sync Manager 1
02 hex
02 hex
---
---
1 byte
(U8)
RO
Not possible
---
03
Communication
Type Sync Manager 2
03 hex
03 hex
---
---
1 byte
(U8)
RO
Not possible
---
04
Communication
Type Sync Manager 3
04 hex
04 hex
---
---
1 byte
(U8)
RO
Not possible
---
A-4 CoE Objects
The EtherCAT communications memory is set with objects 1C00 to 1C13 hex
Possible
A
A-4-6 Sync Manager Communication Objects
• The Sync Managers are set as follows:
SM0: Mailbox receive (EtherCAT master to an EtherCAT Slave Unit)
SM1: Mailbox send (EtherCAT Slave Unit to EtherCAT master)
SM2: Process data output (EtherCAT master to EtherCAT Slave Unit)
SM3: Process data input (EtherCAT Slave Unit to EtherCAT master)
CJ-series EtherCAT Slave Units Operation Manual (W541)
A - 19
Appendices
Index
(hex)
1C10
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
Sync Manager 0
PDO Assignment
---
---
---
--
---
---
---
Possible
00
Number of
assigned PDO
00 hex
00 hex
---
---
1 byte
(U8)
RO
Not possible
---
• This object provides the number of PDO mappings that are used by Sync Manager 0.
• The Mailbox Receive Sync Manager does not have any PDOs.
Index
(hex)
1C11
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
Sync Manager 1
PDO Assignment
---
---
---
--
---
---
---
Possible
00
Number of
assigned PDO
00 hex
00 hex
---
---
1 byte
(U8)
RO
Not possible
---
• This object provides the number of PDO mappings that are used by Sync Manager 1.
• The Mailbox Transmit Sync Manager does not have any PDOs.
Index
(hex)
1C12
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
Sync Manager 2
PDO Assignment
---
---
---
---
---
---
---
Possible
00
Number of
assigned
00 hex
00 to 01 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
1st PDO Mapping
object index of
assigned RxPDO
0000 hex
0000 hex,
1700 to 1703
hex
---
---
2 byte
(U16)
RO
Not possible
---
RxPDOs
• This object provides the receive PDO that is used by Sync Manager 2.
Index
(hex)
1C13
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
Sync Manager 3
PDO Assignment
---
---
---
--
---
---
---
Possible
00
Number of
assigned TxPDOs
00 hex
00 to 01 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
1st PDO Mapping
object index of
assigned TxPDO
0000 hex
0000 hex,
1B00 to 1B03
hex
---
---
2 byte
(U16)
RO
Not possible
---
• This object provides the transmit PDO that is used by the Sync Manager 3.
A - 20
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
Index
(hex)
1C32
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
Sync Manager 2
Synchronization
---
---
---
--
---
---
---
Possible
00
Number of Synchronization
Parameters
20 hex
20 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
Synchronization
Type
0000 hex
0000 hex
---
---
2 byte
(U16)
RW
Not possible
---
02
Cycle Time
00000000
hex
00000000 hex
ns
---
4 byte
(U32)
RO
Not possible
---
04
Synchronization
Types supported
0001 hex
0001 hex
---
---
2 byte
(U16)
RO
Not possible
---
05
Minimum Cycle
Time
00000000
hex
00000000 hex
ns
---
4 byte
(U32)
RO
Not possible
---
• This object provides the specifications of the EtherCAT communications mode for Sync Manager 2.
• Subindex 01 hex provides the EtherCAT communications mode for Sync Manager 2 of the EtherCAT
Slave Unit.
0000 hex: Free-Run Mode
• Subindex 04 hex provides the type of synchronization that is supported by the EtherCAT Slave Unit.
• Subindex 05 hex provides the minimum cycle time that is supported by the EtherCAT Slave Unit.
Index
(hex)
1C33
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
Sync Manager 3
Synchronization
---
---
---
--
---
---
---
Possible
00
Number of Synchronization
Parameters
20 hex
20 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
Synchronization
Type
0000 hex
0000 hex
---
---
2 byte
(U16)
RW
Not possible
---
02
Cycle Time
00000000
hex
00000000 hex
ns
---
4 byte
(U32)
RO
Not possible
---
04
Synchronization
Types supported
0001 hex
0001 hex
---
---
2 byte
(U16)
RO
Not possible
---
05
Minimum Cycle
Time
00000000
hex
00000000 hex
ns
---
4 byte
(U32)
RO
Not possible
---
• This object provides the specifications of the EtherCAT communications mode for Sync Manager 3.
• Subindex 01 hex provides the EtherCAT communications mode for Sync Manager 3 of the EtherCAT
Slave Unit.
0000 hex: Free-Run Mode
• Subindex 02 hex provides the cycle time. In Free-Run Mode, the time between two local timer events
is provided.
• Subindex 04 hex provides the type of synchronization that is supported by the EtherCAT Slave Unit.
• Subindex 05 hex provides the minimum cycle time that is supported by the EtherCAT Slave Unit.
CJ-series EtherCAT Slave Units Operation Manual (W541)
A - 21
A
A-4-6 Sync Manager Communication Objects
---
A-4 CoE Objects
• Subindex 02 hex provides the cycle time. In Free-Run Mode, the time between two local timer events
is provided.
Appendices
A-4-7
Device Profile Area
The device profile area for the EtherCAT Slave Unit is listed below.
Index (hex)
PDO mapping
6000
I/O Input Data Area
7000
I/O Output Data Area
I/O Input Data Area
This object does not allow complete access.
The reading and writing specifications for this object are listed below.
• If the object is mapped to a PDO, reading and writing are not allowed.
• If the object is not mapped to a PDO, reading and writing depend on the communications control status. The specifications are given in the following table.
Status
Specification
Pre-Operational
Reading and writing are not allowed.
Safe-Operational
Reading is allowed and writing is not allowed.
Operational
Index
(hex)
6000
Subindex
(hex)
Object name
Default
Data range
Data
attribute
Unit
Size
Access
PDO
mapping
Complete
access
---
I/O Input Data
Area
---
---
---
---
---
---
---
Not possible
00
Number of entries
C8 hex
C8 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
Input001
0000 hex
0000 to FFFF
hex
---
---
2 byte
(U16)
RO
Possible
---
0000 hex
0000 to FFFF
hex
---
---
2 byte
(U16)
RO
Possible
---
Sub indexes 2 to C7
C8
Input200
I/O Output Data Area
This object does not allow complete access.
The reading and writing specifications for this object are listed below.
• If the object is mapped to a PDO, reading and writing are not allowed.
• If the object is not mapped to a PDO, reading and writing depend on the communications control status. The specifications are given in the following table.
Status
A - 22
Specification
Pre-Operational
Reading and writing are not allowed.
Safe-Operational
Reading is allowed and writing is not allowed.
Operational
Reading and writing are allowed.
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
Index
(hex)
7000
Subindex
(hex)
Object name
Default
Data range
Unit
Data
attribute
Size
Access
PDO
mapping
Complete
access
---
I/O Output Data
Area
---
---
---
---
---
---
---
Not possible
00
Number of entries
C8 hex
C8 hex
---
---
1 byte
(U8)
RO
Not possible
---
01
Output001
0000 hex
0000 to FFFF
hex
---
A
2 byte
(U16)
RW
Possible
---
0000 hex
0000 to FFFF
hex
---
A
2 byte
(U16)
RW
Possible
---
Sub indexes 2 to C7
C8
Output200
A-4 CoE Objects
A
A-4-7 Device Profile Area
CJ-series EtherCAT Slave Units Operation Manual (W541)
A - 23
Appendices
A-5 Creating I/O Tables
This section describes how to create I/O tables for the EtherCAT Slave Unit.
A-5-1
I/O Table Overview
I/O tables are used to identify Units mounted to the PLC and to allocate I/O to them. With CJ-series
PLCs, whenever there is a change to the Unit configuration it is necessary to create I/O tables and register the mounted Units in the CPU Unit.
The I/O tables can be created in the following ways.
• Using the CX-Programmer offline
• Using the CX-Programmer online to create the I/O table based on the Units mounted to the PLC
• Using the Programming Console to create the I/O table based on the Units mounted to the PLC
• Using the CPU Unit's automatic I/O allocation at startup
A-5-2
Connecting Programming Devices to the PLC
To create the I/O tables, connect a programming device (such as a CX-Programmer or Programming
Console) to the PLC.
Applicable Programming Devices
The following programming devices can be used with CJ-series PLCs.
 CX-Programmer
For information on how to connect and operate the CX-Programmer, refer to the CX-Programmer
Operation Manual (Cat. No. W446).
 Programming Console
Model number
C200H-PRO27-E
Key sheet (required)
CS1W-KS001-E
Recommended cable (required)
CS1W-CN224 (cable length: 2.0 m)
CS1W-CN624 (cable length: 6.0 m)
CQM1-PRO01-E
CS1W-CN114 (cable length: 0.1 m)
Precautions for Correct Use
A Programming Console cannot be used with the CJ2H-CPU(-EIP) and CJ2M-CPU3
CPU Units. Use the CX-Programmer.
A - 24
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
A-5-3
Procedure for Creating I/O Tables
This section provides the procedure for creating I/O tables for the EtherCAT Slave Unit using the
CX-Programmer.
CX-Programmer
This section describes how to register an EtherCAT Slave Unit in the I/O tables using the CX-Programmer (version 9.54 or higher). Refer to the CX-Programmer Operation Manual (Cat. No. W446) for
details on the operating procedures.
This section describes how to register the CJ1W-ECT21 in the I/O tables by creating the I/O tables on a
computer with the CX-Programmer. In this example, the computer is connected to the PLC using a
serial cable. The CJ1W-ECT21 is connected to a CJ1H-CPU65 CPU Unit.
1
Start the CX-Programmer, and then select PLC - Auto Online - Direct Online from the menus.
A-5 Creating I/O Tables
A
A-5-3 Procedure for Creating I/O Tables
CJ-series EtherCAT Slave Units Operation Manual (W541)
A - 25
Appendices
2
3
A - 26
The Direct Online Dialog Box will be displayed. Select a serial connection, select the name of
the applicable computer serial port, and then press the Connect Button.
If the connection process is successful, the system will be connected online. Here, check the
operating mode of the PLC. If the operating mode is not PROGRAM mode, change the mode by
selecting PLC - Operating Mode - Program from the menus.
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
4
Double-click IO Table and Unit Setup Icon in the project workspace in the CX-Programmer.
The PLC IO Table Window will be displayed. Select Options - Create from the menus.
A-5 Creating I/O Tables
A
The EtherCAT Slave Unit will be displayed at the position it is mounted in the PLC.
CJ-series EtherCAT Slave Units Operation Manual (W541)
A-5-3 Procedure for Creating I/O Tables
5
A - 27
Appendices
Programming Console
This section provides the procedure for creating the I/O tables using a Programming Console. For
details on using the Programming Console, refer to the Programming Console’s operation manual.
Use the following procedure to create the I/O tables.
Additional Information
With the CJ Series, it is necessary to create I/O tables only when the user is allocating I/O manually.
Initial screen
SHIFT
CH
*DM
000000 I/O TBL ?
CHG
000000 I/O TBL
WRIT
????
WRITE
Password
000000CPU BU ST?
0:CLR 1:KEEP
or
(Save or clear the CPU Bus Unit System Setup.)
000000 I/O TBL
WRIT OK
A - 28
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
A-6 FINS Commands
This section explains the FINS commands that are supported by the EtherCAT Slave Unit.
A-6-1
Introduction
The following FINS command codes can be used to perform various functions with the EtherCAT Slave
Unit.
Command code
MRC
05
01
CONTROLLER DATA READ
21
02
ERROR LOG READ
03
ERROR LOG CLEAR
Details on FINS Commands
A-6 FINS Commands
A-6-2
Function name
SRC
This section describes details for FINS commands used with the EtherCAT Slave Unit.
Controller Data Read (0501)
This command reads the model and version of the EtherCAT Slave Unit.
A
 Command Block
A-6-1 Introduction
05 01
Command code
 Response Block
05 01
Command
code
End
code
20 byte
20 byte
Model
number
Version
 Parameters
Name
Description
Model
number
The model number of the EtherCAT Slave Unit is returned as ASCII characters occupying 20 bytes
(i.e., 20 characters each). If all bytes are not used, the remaining bytes will be all spaces (ASCII 20
hex).
Version
The version of the EtherCAT Slave Unit is returned as ASCII characters occupying 20 bytes (i.e., 20
characters each). If all bytes are not used, the remaining bytes will be all spaces (ASCII 20 hex).
• Example Model: CJ1W-ECT21
• Example Version: V1.00
CJ-series EtherCAT Slave Units Operation Manual (W541)
A - 29
Appendices
 End Code
End code (hex)
Description
0000
Normal
1001
Command too large
Error Log Read (2102)
This command reads the error log.
 Command Block
21 02
Command Beginning Number
code
record
of
number records
 Response Block
21 02
10 bytes
Command
code
End
code
Number
of stored
records
Maximum
number
of stored
records
A - 30
10 bytes
Error log data
Number
of read
records
Error log data
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
 Parameters
Name
Description
Beginning record num- Specify the first record to be read. The first record number can be specified in the range
ber (command)
between 0000 and 00F9 hex (0 to 249 decimal). The 0000 hex record is the oldest
record.
Number of records
(command)
The number of records to read is specified between 0001 and 0063 hex (1 to 99 decimal).
Maximum number of
stored records
(response)
Indicates the maximum number of records that can be stored in the error log. The maximum number of error log records depends on the model of CPU Unit or CPU Bus Unit
being used. In an EtherCAT Slave Unit, the maximum number of stored records is fixed
at 00FA hex (250 decimal).
Number of stored
records (response)
The number of records stored at the time the command is executed is returned.
Number of read
records (response)
The number of actual records read is returned as a hexadecimal value.
Error log data
(response)
The specified number of error log records from the beginning record number is returned
sequentially. The total number of bytes in the error log is calculated as the number of
records x 10 bytes/record. Each error log record thus comprises 10 bytes. Refer to
Error Log Data Format on page A-31.
A-6 FINS Commands
 Error Log Data Format
1st byte
10th byte
Error code Detailed Min. Sec. Day Hour Year Month
information
Detailed information
Minute, Second, Day,
Hour, Year, Month
Description
Details of the error stored in the record. Refer to 5-3-4 Error Log Error Codes on page
5-15 for details.
Indicates the time at which the error stored in the record occurred.
 Precautions
If the error log contains fewer records than the number specified in the number of records parameter, all records stored in the error log at the time the command is executed will be returned and the
command executed will end normally.
 End Code
End code (hex)
Description
0000
Normal end
1001
Command too large
1002
Command too small
1103
Beginning record number is out of range
110C
The number of read records is 0000 hex
CJ-series EtherCAT Slave Units Operation Manual (W541)
A - 31
A-6-2 Details on FINS Commands
Name
Error code
A
Appendices
Error Log Clear (2103)
This command clears the error log for the EtherCAT Slave Unit and resets the number of stored records
to 0.
 Command Block
21 03
Command code
 Response Block
21 03
Command Response
code
code
 End Code
End code (hex)
A - 32
Description
0000
Normal end
1001
Command too large
CJ-series EtherCAT Slave Units Operation Manual (W541)
Appendices
A-7 Version Information
The following table shows the relationship between the Unit version of the EtherCAT Slave Unit, the
unit version of the CPU Unit and the version of the CX-Programmer.
Refer to version-related information on the CPU Unit for corresponding versions when using CPU Unit
versions and CX-Programmer versions that are later or higher than the corresponding versions given in
the following table.
Model number of
EtherCAT Slave
Unit
Unit version
CJ1W-ECT21
Ver.1.0
Corresponding unit version/version*1
Unit version of Unit version of
Unit version of
CX-ProgramCJ-series CPU CP-series CPU
NSJ Controller
mer version
Unit
Unit
The oldest available version or later
Ver. 9.54 or
higher
*1. Some Units do not have all of the versions given in the above table. If a Unit does not have the specified version, support is provided by the oldest available version after the specified version. Refer to the user’s manuals
for the specific Units for the relation between models and versions.
A-7 Version Information
A
CJ-series EtherCAT Slave Units Operation Manual (W541)
A - 33
Appendices
A - 34
CJ-series EtherCAT Slave Units Operation Manual (W541)
Index
I
CJ-series EtherCAT Slave Units Operation Manual (W541)
I-1
Index
Index
A
AL status ........................................................................ 5-3
application objects .......................................................... 4-5
Available Mailbox Communication ................................. 3-7
C
cables and connectors ................................................. 2-11
CAN application protocol over EtherCAT ....................... 4-2
CIO Area ........................................................................ 3-2
CJ1W-ECT21 ................................................................. 1-7
CJ-series CPU Unit ........................................................ 1-7
communication connectors ............................................. 2-2
communications cable .................................................... 1-8
communications state transitions ................................... 4-4
complete access ...........................................................A-14
Configuration Software ................................................... 1-8
Controller Data Read ....................................................A-29
CPU Bus Unit ................................................................. 1-9
CPU Bus Unit setting area ............................................. 1-9
CPU Unit Fatal Error ......................................5-8, 5-9, 5-17
CPU Unit Faulty .............................................................. 5-7
CPU Unit Initialization Error .......................................... 5-15
CPU Unit Service Monitoring Error ........5-8, 5-9, 5-15, 5-17
CPU Unit Watchdog Timer Error ...........5-8, 5-9, 5-15, 5-17
current consumption ....................................................... 1-9
CX-Programmer ............................................................. 1-7
D
daisy-chain connections ............................................... 2-13
Device Type ..................................................................A-14
DM Area ......................................................................... 3-2
E
ECAT ERR .............................................................. 2-3, 5-5
ECAT RUN .............................................................. 2-3, 5-5
Edit Parameters Dialog Box ......................................... 3-16
emergency message ...................................................... 5-2
environmental conditions ................................................ 6-2
ERC ......................................................................... 2-3, 5-5
ERH ......................................................................... 2-3, 5-5
error descriptions ............................................................ 5-7
error log ........................................................................ 5-13
Error Log Read .............................................................A-29
Error Log Registered ...................................................... 3-5
Error State Transition Received .................................... 5-18
errors related to the CPU Unit ............................. 5-17, 5-18
ESC Error .....................................................3-5, 5-10, 5-16
ESC Initial Error ............................................................ 5-10
ESI .................................................................................. 1-8
ESI file ............................................................................ 4-3
I-2
EtherCAT ........................................................................ 1-2
EtherCAT master ............................................................ 1-7
EtherCAT Slave Unit Faulty ............................................ 5-7
Ethernet frames .............................................................. 1-2
F
FINS commands .......................................................... A-29
first word in IN data area .............................................. 3-12
first word in OUT data area .......................................... 3-11
fixed PDO mapping ........................................................ 4-6
Free-Run Mode .............................................................. 1-9
I
I/O Bus Error .........................................5-8, 5-9, 5-15, 5-17
I/O Communication Area Reference Table .......... 3-13, 3-18
I/O Communication Area Setting Table ................. 3-9, 3-17
I/O Communication Error ............................. 3-7, 5-11, 5-15
I/O Refresh Error ............................3-7, 5-8, 5-9, 5-15, 5-17
I/O response time ......................................................... 4-10
I/O Table Not Registered ................................................ 5-7
I/O tables ...................................................................... A-24
Illegal Packet Discarded ............................................... 5-15
Illegal State Transition Request Received .... 3-7, 5-11, 5-18
IN data area ................................................................... 3-9
IN data area size .......................................................... 3-12
IN data area type .......................................................... 3-11
IN Port Link OFF .......................................................... 5-12
IN Port Link Status ......................................................... 3-8
indicator timing ............................................................... 5-5
Indicators ................................................................. 2-2, 5-5
Initialization .................................................................... 4-4
input data area ............................................................. A-22
Input Data Valid .............................................................. 3-8
inspection ....................................................................... 6-2
IO Table and Unit Setup ............................................... 3-19
L
L/A IN ...................................................................... 2-3, 5-5
L/A OUT .................................................................. 2-3, 5-5
Lot number ..................................................................... -21
M
mailbox communications ................................................ 1-4
Mailbox Setting Error .................................... 3-6, 5-11, 5-18
maintenance ................................................................... 6-2
Manufacturer Device Name ......................................... A-14
Manufacturer Hardware Version .................................. A-15
Manufacturer Software Version .................................... A-15
memory access error ................................................... 5-16
mounting procedure ....................................................... 2-9
CJ-series EtherCAT Slave Units Operation Manual (W541)
Index
N
node address switches ........................................... 2-2, 2-6
O
object name ................................................................. A-13
Online Status ...................................................................3-5
Operational .....................................................................4-4
Other CPU Error ...........................................................5-15
OUT data area ................................................................3-9
OUT data area size .......................................................3-11
OUT data area type ......................................................3-11
OUT Port Link OFF .......................................................5-12
OUT Port Link Status ......................................................3-8
Output Data Valid ............................................................3-8
Output OFF Error ........................................... 5-8, 5-9, 5-17
P
PDO mapping objects .....................................................4-5
PDOs ..............................................................................4-2
Pre-Operational ...............................................................4-4
process data communications ........................................1-3
process data object .........................................................4-5
Process Data WDT Error .................................... 5-11, 5-18
Product Code ............................................................... A-15
T
transmit PDO mappings ............................................... A-16
twisted-pair cable ..........................................................2-11
TxPDO ............................................................................3-9
TxPDO Mapping Error ..................................................5-18
TxPDO Setting Error .....................................................5-18
U
Unit Error ........................................................................3-4
Unit error .......................................................................5-16
Unit Memory Error ..........................................................3-5
Unit Number Duplication .................................................5-7
unit number switch ...................................................2-2, 2-6
Unit Status 1 ...................................................................3-4
Unit Status 2 ...................................................................3-5
Unit version .................................................................. A-33
V
Vendor ID ..................................................................... A-15
Verification Error .......................................... 3-6, 5-11, 5-15
W
weight .............................................................................1-9
R
receive PDO mappings ................................................ A-16
replacement ....................................................................6-4
Restart ..........................................................................5-12
Revision Number ......................................................... A-15
RJ45 connectors ...........................................................2-11
RUN ........................................................................ 2-3, 5-5
RxPDO ............................................................................3-9
RxPDO Setting Error .....................................................5-18
I
S
Safe-Operational .............................................................4-4
SDO ................................................................................4-2
SDO communications .....................................................1-4
SDO Message Response Time .....................................4-12
Serial Number .............................................................. A-15
service data object ..........................................................4-9
setting results ................................................................3-12
SII Unit Verification Error ..................... 3-6, 5-10, 5-16, 5-18
simple backup .................................................................6-4
Slave AL Status Error ......................................................3-6
Slave Function Error .......................................................3-4
Slave Restarted ............................................................5-18
Slave Status 1 .................................................................3-6
Slave Status 2 .................................................................3-7
slider ...............................................................................2-9
Special Unit Error ....................................... 5-10, 5-15, 5-16
Special Unit Memory Error ......................... 5-10, 5-15, 5-16
CJ-series EtherCAT Slave Units Operation Manual (W541)
I-3
Index
I-4
CJ-series EtherCAT Slave Units Operation Manual (W541)
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• Power Supplies
Safety
• Laser Scanners • Safety Mats • Edges and Bumpers • Programmable Safety
Controllers • Light Curtains • Safety Relays • Safety Interlock Switches
W541-E1-01
04/15
Note: Specifications are subject to change.
Printed on recycled paper.
© 2015 Omron Electronics LLC
Printed in U.S.A.
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