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Machine Automation Controller
NJ/NX-series
CPU Unit Built-in EtherCAT
®
Port
User’s Manual
NX701-1
NX102
NX1P2-1
NX1P2-9
NJ501
NJ301-1
NJ101-10
NJ101-90
CPU Unit
W505-E1-24
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, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries.
• 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.
• This product incorporates certain third party software. The license and copyright information associated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
Introduction
Introduction
Thank you for purchasing an NJ/NX-series CPU Unit.
This manual contains information that is necessary to use the NJ/NX-series CPU Unit. Please read this manual and make sure you understand the functionality and performance of the NJ/NX-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 products.
• NX-series CPU Units
• NX701-17 ££
• NX701-16 ££
• NX102-12 ££
• NX102-11 ££
• NX102-10 ££
• NX102-90 ££
• NX1P2-11 ££££
• NX1P2-11 ££££ 1
• NX1P2-10 ££££
• NX1P2-10 ££££ 1
• NX1P2-90 ££££
• NX1P2-90 ££££ 1
• NX1P2-9B ££££
• NX1P2-9B ££££ 1
• NJ-series CPU Units
• NJ501£ 5 ££
• NJ501£ 4 ££
• NJ501£ 3 ££
• NJ301-12 ££
• NJ301-11 ££
• NJ101-10 ££
• NJ101-90 ££
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 1
Introduction
Part of the specifications and restrictions for the CPU Units are given in other manuals.
Refer to Relevant Manuals on page 3 and
2 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Relevant Manuals
Relevant Manuals
The following table provides the relevant manuals for the NJ/NX-series CPU Units. Read all of the manuals that are relevant to your system configuration and application before you use the NJ/NX-series CPU Unit.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac
Studio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.
Manual
Basic information
Purpose of use
Introduction to NX701 CPU
Units
Introduction to NX102 CPU
Units
Introduction to NX1P2 CPU
Units
Introduction to NJ-series Controllers
Setting devices and hardware
Using motion control
Using EtherCAT
Using EtherNet/IP
Using robot control for OM-
RON robots
¡
¡
¡
¡
¡ ¡ ¡ ¡
¡
¡
¡
¡
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 3
Relevant Manuals
Basic information
Manual
Purpose of use
4
Software settings
Using motion control
Using EtherCAT
Using EtherNet/IP
Using OPC UA
Using FINS
Using the database connection service
Using the GEM Services
Using robot control for OM-
RON robots
Using robot control by NJ Robotics function
Using numerical control
Using the NX1P2 CPU Unit functions
Writing the user program
Using motion control
Using EtherCAT
Using EtherNet/IP
Using OPC UA
Using FINS
Using the database connection service
Using the GEM Services
Using robot control for OM-
RON robots
Using robot control by NJ Robotics function
Using numerical control
Programming error processing
Using the NX1P2 CPU Unit functions
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡ ¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
¡
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Relevant Manuals
Basic information
Manual
Purpose of use
Testing operation and debugging
Using motion control
Using EtherCAT
Using EtherNet/IP
Using OPC UA
Using FINS
Using the database connection service
Using the GEM Services
Using robot control for OM-
RON robots
Using robot control by NJ Robotics function
Using numerical control
Using the NX1P2 CPU Unit functions
Learning about error management and corrections
Maintenance
¡
¡
¡
¡
¡
¡ r
¡ r
¡ r
¡ r
¡ r
¡ r
¡ r ¡
Using motion control
Using EtherCAT
¡ ¡ ¡ ¡
¡
¡
Using EtherNet/IP ¡
*1.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error items. However, refer to the manuals that are indicated with triangles for details on errors corresponding to the products with the manuals that are indicated with triangles.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 5
Manual Structure
Manual Structure
Page Structure
The following page structure is used in this manual.
Level 2 heading
Level 3 heading
A step in a procedure
Indicates a procedure.
4 Installation and Wiring
4-3 Mounting Units
4-3-1 Connecting Controller Components
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.
1
Join the Units so that the connectors fit exactly.
Hook
Connector
Hook holes
Level 1 heading
Level 2 heading
Level 3 heading
Gives the current headings.
2
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
Slider
4
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.
Special information
Icons indicate precautions, additional information, or reference information.
Manual name
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.
Page tab
Gives the number of the main section.
6 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
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 differences in specifications and functionality for Controller with different unit versions and for different versions of the Sysmac Studio is given.
Precaution on Terminology
In this manual, "download" refers to transferring data from the Sysmac Studio to the physical Controller and "upload" refers to transferring data from the physical Controller to the Sysmac Studio.
For the Sysmac Studio, "synchronization" is used to both "upload" and "download" data. Here,
"synchronize" means to automatically compare the data for the Sysmac Studio on the computer with the data in the physical Controller and transfer the data in the direction that is specified by the user.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7
Manual Structure
8 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Sections in this Manual
Sections in this Manual
1
Introduction
2
Part Names and
Slave Settings
A
3
EtherCAT Communications
I
Appendices
Index
4
EtherCAT Network Wiring
5
Setting Up EtherCAT Communications with the Sysmac Studio
6
7
Process Data Communications and SDO Communications
System-defined Variables Related to the Built-in EtherCAT Port
8
Example of Operations for EtherCAT Communications
9
Troubleshooting
1 A
2 I
5
6
3
4
7
8
9
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 9
CONTENTS
CONTENTS
Introduction .............................................................................................................. 1
Relevant Manuals..................................................................................................... 3
Manual Structure...................................................................................................... 6
Sections in this Manual ........................................................................................... 9
Terms and Conditions Agreement........................................................................ 14
Safety Precautions................................................................................................. 17
Precautions for Safe Use ...................................................................................... 18
Precautions for Correct Use ................................................................................. 19
Regulations and Standards .................................................................................. 20
Versions .................................................................................................................. 21
Related Manuals..................................................................................................... 26
Revision History..................................................................................................... 29
Section 1 Introduction
10 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
CONTENTS
Section 2 Part Names and Slave Settings
Section 3 EtherCAT Communications
Section 4 EtherCAT Network Wiring
Section 5 Setting Up EtherCAT Communications with the Sysmac
Studio
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 11
CONTENTS
Operation Procedure for Comparing and Merging EtherCAT Network Configurations .............5-28
When Compare and Merge with Actual Network Configuration Dialog Box Is Not
5-8 Using the Sysmac Studio to Obtain Serial Numbers from the Actual Network
5-9 Downloading the Network Configuration Information from the Sysmac Studio ...........5-45
5-10 Confirming Communications after Completing EtherCAT Configuration and Settings5-47
Section 6 Process Data Communications and SDO Communications
Section 7 System-defined Variables Related to the Built-in Ether-
CAT Port
Section 8 Example of Operations for EtherCAT Communications
12 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
CONTENTS
Section 9 Troubleshooting
9-3 Precautions When Connecting or Disconnecting Slaves during Communications......9-25
Appendices
Differences between Project Unit Version Earlier Than 1.40 and Project Unit Version
Index
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 13
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 CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
14 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Terms and Conditions Agreement
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.
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 OR IN LARGE QUANTITIES 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 EQUIP-
MENT 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
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 15
Terms and Conditions Agreement 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.
16 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Safety Precautions
Refer to the following manuals for safety precautions.
• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)
Safety Precautions
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 17
Precautions for Safe Use
Precautions for Safe Use
Refer to the following manuals for precautions for safe use.
• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)
18 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Precautions for Correct Use
Refer to the following manuals for precautions for correct use.
• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)
Precautions for Correct Use
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 19
Regulations and Standards
Regulations and Standards
Refer to the following manuals for regulations and standards.
• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)
20 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Versions
Versions
Hardware revisions and unit versions are used to manage the hardware and software in NJ/NX-series
Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a change in hardware or software specifications. Even when two Units or EtherCAT slaves have the same model number, they will have functional or performance differences if they have different hardware revisions or unit versions.
Checking Versions
You can check versions on the ID information indications or with the Sysmac Studio.
Checking Unit Versions on ID Information Indications
The unit version is given on the ID information indication on the side of the product.
For NX701
The ID information on an NX-series NX701££££ CPU Unit is shown below.
ID information indication
Lot number Serial number Unit version
LOT No. DDMYY £ xxxx Ver.1.
££
PORT1 : ££££££££££££ HW Rev. £
PORT2 : ££££££££££££
MAC address Hardware revision
Note The hardware revision is not displayed for the Unit whose hardware revision is blank.
For NX102
The ID information on an NX-series NX102££££ CPU Unit is shown below.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 21
Versions
Unit version Hardware revision Lot number Serial number
Ver.
£ .
££ HW Rev.
£ LOT No. DDMYY £ xxxx
PORT1 ££££££££££££
PORT2 ££££££££££££
MAC address
ID Information Indication
Note The hardware revision is not displayed for the Unit whose hardware revision is blank.
For NX1P2
The ID information on an NX-series NX1P2£££££££ CPU Unit is shown below.
MAC address
Unit version
ID information indication
PORT1 : ££££££££££££
PORT2 : ££££££££££££
Ver.1.
££ HW Rev. £
LOT No. DDMYY £ xxxx
Hardware revision
Lot number Serial number
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
For NJ-series
The ID information on an NJ-series NJ501££££ CPU Unit is shown below.
22 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Versions
ID information indication
Unit model Unit version Hardware revision
NJ501 ££££ Ver.1.
££ HW Rev. £
PORT1 MAC ADDRESS: ££££££££££££
PORT2 MAC ADDRESS: ££££££££££££
Lot No. DDMYY £ xxxx
Lot number Serial number MAC address
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
Checking Unit Versions with the Sysmac Studio
You can use the Sysmac Studio to check unit versions. The procedure is different for Units and for
EtherCAT slaves.
Checking the Unit Version of an NX-series CPU Unit
You can use the Production Information while the Sysmac Studio is online to check the unit version of a Unit. You can do this for the following Units.
Model
NX701££££
NX102££££
NX1P2££££
Unit for which unit version can be checked
CPU Unit
CPU Unit and NX Unit on CPU Rack
CPU Unit, NX Unit on CPU Rack, and Option Boards
1
Right-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multiview Explorer and select Production Information .
The Production Information Dialog Box is displayed.
Checking the Unit Version of an NJ-series CPU Unit
You can use the Production Information while the Sysmac Studio is online to check the unit version of a Unit. You can do this for the CPU Unit, CJ-series Special I/O Units, and CJ-series CPU Bus
Units. You cannot check the unit versions of CJ-series Basic I/O Units with the Sysmac Studio.
1
Double-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the
Multiview Explorer. Or, right-click CPU Rack under Configurations and Setup - CPU/
Expansion Racks in the Multiview Explorer and select Edit from the menu.
The Unit Editor is displayed.
2
Right-click any open space in the Unit Editor and select Production Information .
The Production Information Dialog Box is displayed.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 23
Versions
Changing Information Displayed in Production Information Dialog Box
1
Click the Show Detail or Show Outline Button at the lower right of the Production Information
Dialog Box.
The view will change between the production information details and outline.
24
Outline View Detail View
The information that is displayed is different for the Outline View and Detail View. The Detail
View displays the unit version, hardware revision, and various versions. The Outline View displays only the unit version.
Note The hardware revision is separated by “/” and displayed on the right of the hardware version. The hardware revision is not displayed for the Unit that the hardware revision is in blank.
Checking the Unit Version of an EtherCAT Slave
You can use the Production Information while the Sysmac Studio is online to check the unit version of an EtherCAT slave.
Use the following procedure to check the unit version.
1
Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit from the menu.
The EtherCAT Tab Page is displayed.
2
Right-click the master on the EtherCAT Tab Page and select Display Production Information .
The Production Information Dialog Box is displayed.
The unit version is displayed after “Rev.”
Changing Information Displayed in Production Information Dialog Box
1
Click the Show Detail or Show Outline Button at the lower right of the Production Information
Dialog Box.
The view will change between the production information details and outline.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Versions
Outline View Detail View
Unit Versions of CPU Units and Sysmac Studio Versions
The functions that are supported depend on the unit version of the NJ/NX-series CPU Unit. The version of Sysmac Studio that supports the functions that were added for an upgrade is required to use those functions.
Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for the relationship between the unit versions of the CPU Units and the Sysmac Studio versions, and for the functions that are supported by each unit version.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 25
Related Manuals
Related Manuals
The followings are the manuals related to this manual. Use these manuals for reference.
Manual name
NX-series CPU Unit
Hardware User's Manual
NX-series
NX102 CPU Unit
Hardware
User’s Manual
NX-series
NX1P2 CPU Unit
Hardware
User’s Manual
NJ-series CPU Unit
Hardware User's Manual
NJ/NX-series CPU Unit
Software User’s Manual
Cat. No.
W535
W593
W578
W500
W501
Model numbers
NX701££££
NX102££££
NX1P2££££
NJ501££££
NJ301££££
NJ101££££
NX701££££
NX102££££
NX1P2££££
NJ501££££
NJ301££££
NJ101££££
Application
Learning the basic specifications of the
NX701 CPU Units, including introductory information, designing, installation, and maintenance.
Mainly hardware information is provided.
Learning the basic specifications of the
NX102 CPU Units, including introductory information, designing, installation, and maintenance.
Mainly hardware information is provided.
Learning the basic specifications of the
NX1P2 CPU Units, including introductory information, designing, installation, and maintenance.
Mainly hardware information is provided.
Learning the basic specifications of the
NJ-series CPU Units, including introductory information, designing, installation, and maintenance.
Mainly hardware information is provided.
Learning how to program and set up an
NJ/NX-series CPU
Unit.
Mainly software information is provided.
Description
An introduction to the entire NX701 system is provided along with the following information on the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
An introduction to the entire NX102 system is provided along with the following information on the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
An introduction to the entire NX1P2 system is provided along with the following information on the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
An introduction to the entire NJ-series system is provided along with the following information on the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
The following information is provided on a
Controller built with an NJ/NX-series CPU
Unit.
• CPU Unit operation
• CPU Unit features
• Initial settings
• Programming based on IEC 61131-3 language specifications
26 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Related Manuals
Manual name
NX-series NX1P2 CPU Unit
Built-in I/O and Option Board
User’s Manual
Cat. No.
W579
NJ/NX-series Instructions
Reference Manual
NJ/NX-series CPU Unit
Motion Control User’s Manual
W507
NJ/NX-series
Motion Control Instructions
Reference Manual
NJ/NX-series
CPU Unit
Built-in EtherCAT ® Port
User’s Manual
NJ/NX-series
CPU Unit
Built-in EtherNet/IP ™ Port
User’s Manual
NJ/NX-series
CPU Unit
OPC UA
User’s Manual
NX-series
CPU Unit
FINS Function
User’s Manual
NJ/NX-series
Database Connection CPU
Units
User’s Manual
NJ-series
SECS/GEM CPU Units
User’s Manual
NJ-series
Robot Integrated CPU Unit
User’s Manual
W502
W508
W505
W506
W588
W596
W527
W528
O037
NX701££££
NX102££££
NX1P2££££
NJ501££££
NJ301££££
NJ101££££
NX701££££
NX102££££
NX1P2££££
NJ501££££
NJ301££££
NJ101££££
NX701££££
NX102££££
NX1P2££££
NJ501££££
NJ301££££
NJ101££££
NX701££££
NX102££££
NX1P2££££
NJ501££££
NJ301££££
NJ101££££
NX701££££
NX102££££
NX1P2££££
NJ501££££
NJ301££££
NJ101££££
NX102££££
NJ501-1 £ 00
Model numbers
NX1P2££££
Application
Learning about the details of functions only for an NX-series
NX1P2 CPU Unit and an introduction of functions for an
NJ/NX-series CPU
Unit.
Learning detailed specifications on the basic instructions of an NJ/NX-series
CPU Unit.
Description
Of the functions for an NX1P2 CPU Unit, the following information is provided.
• Built-in I/O
• Serial Communications Option Boards
• Analog I/O Option Boards
An introduction of following functions for an
NJ/NX-series CPU Unit is also provided.
• Motion control functions
• EtherNet/IP communications functions
• EtherCAT communications functions
The instructions in the instruction set (IEC
61131-3 specifications) are described.
Learning about motion control settings and programming concepts.
Learning about the specifications of the motion control instructions.
Using the built-in
EtherCAT port on an
NJ/NX-series CPU
Unit.
Information on the built-in EtherCAT port is provided.
This manual provides an introduction and provides information on the configuration, features, and setup.
Using the built-in
EtherNet/IP port on an NJ/NX-series
CPU Unit.
Using the OPC UA.
The settings and operation of the CPU Unit and programming concepts for motion control are described.
The motion control instructions are described.
Information on the built-in EtherNet/IP port is provided.
Information is provided on the basic setup, tag data links, and other features.
Describes the OPC UA.
NX701££ 20
NX102££££
NX701££ 20
NX102££ 20
NJ501££ 20
NJ101££ 20
NJ501-1340
NJ501-R £££
Using the FINS function of an NX-series
CPU Unit.
Describes the FINS function of an NX-series CPU Unit.
Using the database connection service with NJ/NX-series
Controllers.
Using the GEM Services with NJ-series
Controllers.
Using the NJ-series
Robot Integrated
CPU Unit.
Describes the database connection service.
Provides information on the GEM Services.
Describes the settings and operation of the
CPU Unit and programming concepts for
OMRON robot control.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 27
Related Manuals
G code ual
Manual name
Sysmac Studio
Robot Integrated System
Building Function with Robot
Integrated CPU Unit Operation Manual
Sysmac Studio
Robot Integrated System
Building Function with IPC
Application Controller Operation Manual
Sysmac Studio
3D Simulation Function Operation Manual
NJ-series
NJ Robotics CPU Unit
User’s Manual
NJ/NY-series
NC Integrated Controller
User’s Manual
NJ/NY-series
Instructions Reference Man-
NJ/NX-series
Troubleshooting Manual
Sysmac Studio Version 1
Operation Manual
CNC Operator
Operation Manual
NX-series
EtherCAT ® Coupler Unit
User’s Manual
Cat. No.
W595
W621
W618
W539
O030
O031
W503
W504
O032
W519
Model numbers
SYSMAC-SE2 ££
£
SYSMAC-
SE200D-64
SYSMAC-SE2
£
SYSMAC-
SE200D-64
SYSMAC-SE2
£
SYSMAC-SA4
£ -64
NJ501-4
NJ501-R
£££
£££
NJ501-5300
NY532-5400
NJ501-5300
NY532-5400
££
££
££
Application
Learning about the operating procedures and functions of the
Sysmac Studio to configure Robot Integrated System using
Robot Integrated
CPU Unit.
Learning about the operating procedures and functions of the
Sysmac Studio to configure Robot Integrated System using
IPC Application Controller.
Learning about an outline of the 3D simulation function of the
Sysmac Studio and how to use the function.
Controlling robots with NJ-series CPU
Units.
Performing numerical control with NJ/NYseries Controllers.
Learning about the specifications of the
G code/M code instructions.
Learning about the errors that may be detected in an
NJ/NX-series Controller.
NX701££££
NX102££££
NX1P2££££
NJ501££££
NJ301££££
NJ101££££
SYSMAC
-SE2 £££
SYSMAC-RTNC0 £
££ D
NX-ECC £££
Learning about the operating procedures and functions of the
Sysmac Studio.
Learning an introduction of the CNC Operator and how to use it.
Learning how to use the NX-series Ether-
CAT Coupler Unit and EtherCAT Slave
Terminals.
Description
Describes the operating procedures of the
Sysmac Studio for Robot Integrated CPU
Unit.
Describes the operating procedures of the
Sysmac Studio for IPC Application Controller.
Describes an outline, execution procedures, and operating procedures for the 3D simulation function of the Sysmac Studio.
Describes the functionality to control robots.
Describes the functionality to perform the numerical control.
The G code/M code instructions are described.
Concepts on managing errors that may be detected in an NJ/NX-series Controller and information on individual errors are described.
Describes the operating procedures of the
Sysmac Studio.
An introduction of the CNC Operator, installation procedures, basic operations, connection operations, and operating procedures for main functions are described.
The following items are described: the overall system and configuration methods of an
EtherCAT Slave Terminal (which consists of an NX-series EtherCAT Coupler Unit and
NX Units), and information on hardware, setup, and functions to set up, control, and monitor NX Units through EtherCAT.
28 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
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.
W505-E1-24
Revision code
Revision code
01
02
03
04
05
06
07
08
09
10
11
12
13
14
15
Date Revised content
July 2011
March 2012
May 2012
August 2012
February 2013
April 2013
June 2013
September 2013
December 2013
July 2014
January 2015
April 2015
April 2016
October 2016
April 2017
Original production
Added information on the NJ301££££ and corrected mistakes.
• Added information on functional support for unit version 1.02 and later of the CPU Units.
• Corrected mistakes.
• Added information on functional support for unit version 1.03 and later of the CPU Units.
• Corrected mistakes.
• Added information on functional support for unit version 1.04 and later of the CPU Units.
• Corrected mistakes.
• Added information on functional support for unit version 1.05 and later of the CPU Units.
• Corrected mistakes.
• Added information on functional support for unit version 1.06 and later of the CPU Units.
• Corrected mistakes.
• Added information on functional support for unit version 1.07 and later of the CPU Units.
• Corrected mistakes.
• Added information on functional support for unit version 1.08 and later of the CPU Units.
• Corrected mistakes.
• Corrected mistakes.
• Added information on functional support for unit version 1.10 and later of the CPU Units.
• Corrected mistakes.
• Added information on the NX701££££ .
• Added information on the NJ101££££ .
• Corrected mistakes.
• Added information on functional support for unit version 1.11 and later of the CPU Units.
• Corrected mistakes.
• Added information on the NX1P2££££££ .
• Corrected mistakes.
• Corrected mistakes.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 29
Revision History
Revision code
16
17
18
22
23
24
19
20
21
Date
October 2017
April 2018
April 2018
July 2018
October 2018
July 2019
July 2019
October 2019
August 2020
Revised content
• Corrected mistakes.
• Corrected mistakes.
• Added information on the NX102££££ .
• Collected descriptions on event codes and errors to the NJ/NX-series
Troubleshooting Manual .
• Corrected mistakes.
Corrected mistakes.
Corrected mistakes.
• Added information on functional support for unit version 1.40 of the CPU
Units.
• Corrected mistakes.
Corrected mistakes.
• Added information on the NX1P2-9B ££££ .
• Corrected mistakes.
• Added information on the NJ501-R £ 00.
• Corrected mistakes.
30 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
1
Introduction
This section provides an overview of EtherCAT communications, describes the system configuration and specifications, and provides operating procedures.
1-1-3 EtherCAT Features for NJ/NX-series CPU Units ............................................ 1-3
1-2 System Configuration and Configuration Devices ..................................... 1-4
Determining the Network Configuration .......................................................... 1-8
Process Data Communications and SDO Communications ......................... 1-12
1-5 EtherCAT Communications Procedure ...................................................... 1-15
1
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 1-1
1 Introduction
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.
Furthermore, even though EtherCAT is a unique protocol, it offers excellent general-purpose applicability. For example, you can use Ethernet cables because EtherCAT utilizes standard Ethernet technology for the physical layer. And 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 EtherCAT Features
EtherCAT provides the following features.
High-speed Communications at 100 Mbps
The I/O response time from signal input to signal output has been significantly reduced. By fully utilizing the optimized Ethernet frame bandwidth to transmit data using a high-speed repeat method, it is possible to efficiently transmit a wide variety of data.
1-1-2 EtherCAT Communications
EtherCAT does not send data to individual slave nodes on the network, instead, it passes Ethernet frames through all of the slave nodes.
When frame passes through a slave node, the slave node reads and writes data in the areas allocated to it in the frames in a few nanoseconds.
The Ethernet frames 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
OUT IN
Slave Slave
1-2
Ethernet frames
•
Output data addressed to the local node is read.
•
Input data is written.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
1 Introduction
1-1-3 EtherCAT Features for NJ/NX-series CPU Units
EtherCAT in the NJ/NX-series CPU Units has the following features.
Synchronization of the CPU Unit Processing Period and the Ether-
CAT Communications Cycle
The period of sequence processing and motion processing in the CPU Unit matches the process data communications cycle of EtherCAT.
This enables high-precision sequence control and motion control with a stable fixed period.
Also, with the NX701 CPU Unit, slaves to be synchronized can be divided into two groups with different process data communications cycles. This means that slaves are separately processed in one group that needs high-speed communications and the other that needs not.
1
Accessing Data with Device Variables without Considering Addresses
EtherCAT slaves are accessed using device variables that are assigned to the I/O ports of the Ether-
CAT slaves. Various types of data in Servo Drive and the encoder input slaves are accessed using structure-type Axis Variables prepared in advance.
This enables access to slaves on EtherCAT without regard to addresses.
Optimum Functionality and Ease of Operation Based on Unified
Specifications
You can use the NJ/NX-series Machine Automation Controllers together with Sysmac devices *1 and the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation.
*1. “Sysmac devices” is a generic name for EtherCAT slaves and other OMRON control components that were designed with the same communications and user interface specifications.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 1-3
1 Introduction
1-2 System Configuration and Configuration Devices
1-2-1 System Configuration
The EtherCAT network configuration and configuration devices are shown below.
Sysmac Studio
NJ/NX-series CPU Unit EtherCAT master
ESI files
.xml
Built-in EtherCAT port
Input port
EtherCAT Junction Slave
Communications cable
Unit power supply
Output ports
I/O power supply
ADR
EtherCAT Slave
Terminal
(EtherCAT slave)
ADR
ADR
Digital I/O Slave
(EtherCAT Slave)
EtherCAT Junction Slave
Analog I/O Slave
(EtherCAT slave)
Servo Drive (EtherCAT slave)
Outlines of the configuration devices are given below.
Inverter (EtherCAT slave)
EtherCAT Master
The EtherCAT master manages the network, monitors the status of slaves, and exchanges I/O data with slaves. There is one output port.
1-4 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
1 Introduction
Output Port
The output port transmits EtherCAT communications data to other devices. When you connect the output port to another device, always connect it to the input port on the other device. Normal communications will not be possible if you connect to the output port on another device.
Input Port
This port is used to input EtherCAT communications data. Always connect it to the output port on another device. Normal communications will not be possible if you connect to the input port on another device.
EtherCAT Slaves
Each EtherCAT slave outputs the output data that it received from the EtherCAT master through the EtherCAT network. It also sends input data to the EtherCAT master through the EtherCAT network.
• Each slave has one input port and at least one output port.
• In the EtherCAT network, you can use the salves and Junction Slaves that are listed below in total up to the maximum number of slaves.
• Assign node addresses to the slaves and Junction Slaves. The node address can be any value within the settable node address range, and can be assigned without any distinction between the slaves and Junction Slaves. But any node address should not be used more than once.
• Some slaves can operate as only synced slave or as only non-synced slave. Some slaves can select to operate the synced slave or the non-synced slave.
• Non-synced Slaves
For these slaves, the distributed clock setting is disabled or selected --.
• Synced Slaves
Perform the clock synchronization to communicate between the EtherCAT master and slaves based on the Distributed Clock (DC). This applies for the slaves that the distributed clock setting is enabled.
Note 1.
Refer to
1-3 Specifications of Built-in EtherCAT Port on page 1-10 for details on the maximum num-
ber of slaves and the settable node address range.
Note 2.
The slaves are synchronized between synced slaves even when multiple non-synced slaves and
Junction Slaves are connected.
Name
The following table lists some of the OMRON EtherCAT slaves that are available.
Type
Digital I/O Slaves Slaves with screw terminals and 2-tier terminal block
Slaves with screw terminals and 3-tier terminal block
Slaves with e-CON connectors
Analog I/O Slaves Slaves with screw terminals and 2-tier terminal block
GX-AD0471/DA0271
Model
GX£ D16 £ 1/OC1601
GX-ID16 £ 2/OD16 £ 2/MD16 £ 2
GX£ D16 £ 8/ £ D32 £ 8
Synced
/Nonsynced
Slaves
Nonsynced
Slaves
Nonsynced
Slaves
Nonsynced
Slaves
Nonsynced
Slaves
Reference
Exist
Exist
Exist
Exist
Assigning an axis
Not possible
Not possible
Not possible
Not possible
1
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 1-5
1 Introduction
Name
NX-series Ether-
CAT Coupler Unit
NX Series
Type
Model
Synced
/Nonsynced
Slaves
Synced or Nonsynced
Reference
Exist
Assigning an axis
Not possible
(Some of the connected
NX Units can be assigned to an axis.)
Not possible Multifunctional,
Compact Inverters
Advanced General-purpose Inverters
AC Servo Drive
Linear Servo
Drives
Encoder Input
Slaves
Vision Sensors
Specialized Vision
Sensors for Positioning
Digital Sensor
Communications
Unit
MX2 Series
RX Series
G5-series Servo Drive with
EtherCAT communications
G5-series Linear Servo
Drives with EtherCAT communications
Slave with 3-tier terminal block
3G3MX2 with EtherCAT Communications Unit
3G3AX-MX2-ECT
3G3RX-V1 with EtherCAT Communications
Unit
3G3AX-RX-ECT
R88M-K/R88D-KN £ -ECT
R88L-EC/R88D-KN £
GX-EC0211/EC0241
FH Series FH-1 £££
FH-3 £££
FQ-MS12 £ (£ )-ECT FQ-M-series Sensors with
EtherCAT Communications
FZM1-series Vision Sensors FZM1-35 £ -ECT
E3NW Series E3NW-ECT
-ECT-L
Nonsynced
Slaves
Nonsynced
Slaves
Synced
Slaves
Synced
Slaves
Synced
Slaves
Synced
Slaves
Synced
Slaves
Synced
Slaves
Synced or Nonsynced
Exist
Exist
Exist
Exist
Exist
Exist
Exist
Exist
Exist
Not possible
Possible
Possible
Possible
Not possible
Not possible
Not possible
Not possible
Fiber Sensor
Communications
Unit
E3X Series E3X-ECT Synced or Nonsynced
Exist Not possible
Confocal Fiber
Type Displacement Sensors
ZW Series ZW-CE1 £ Synced
Slaves
Exist Not possible
*1.
Shows whether or not the slave provides a reference clock. A slave or a master that provides a reference clock is required for a system configuration that enables synchronization between slaves based on a distributed clock (DC). When you connect a slave that supports the reference clock, you must meet some conditions. Refer to
4-1-4 Precautions for Using Junction Slaves on page 4-10.
*2.
A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required.
*3.
A CPU Unit with unit version 1.07 or later and Sysmac Studio version 1.08 or higher are required.
*4.
A CPU Unit with unit version 1.07 or later and Sysmac Studio version 1.11 or higher are required.
*5.
Either can be set in the distributed clock setting for slaves.
EtherCAT Junction Slave
This is a special slave for branching EtherCAT network wiring. It may be omitted as "Junction
Slave" in this manual below.
• Cascade connections are possible within the range of node addresses that the EtherCAT master can handle.
1-6 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
1 Introduction
• Each Junction Slave has one input port and more than one output port. The output ports on each
Junction Slave can be connected to another Junction Slave or other EtherCAT slaves.
• The Junction Slave supports the reference clock that is required for a system configuration that enables synchronization between slaves based on a distributed clock (DC).
• The following models are examples of some of the OMRON EtherCAT slaves.
Slave type/name
EtherCAT Junction Slave 3 ports
6 ports
Number of ports
GX-JC03
GX-JC06
Model
Precautions for Safe Use
You cannot use standard Ethernet hubs or repeater hubs with EtherCAT communications. If you use one of these, a major fault level error or other error may occur.
1
Precautions for Correct Use
• The GX-JC03 and GX-JC06 EtherCAT Junction Slaves do not have hardware switches for node address setting. The Sysmac Studio is required to set the node addresses for these slaves. The node addresses are set to 0 by default. If you use these slaves with the default node address, a Network Configuration Verification Error (84220000 hex) event will occur.
• The GX-JC03 EtherCAT Junction Slave needs only one node address. The GX-JC06 Ether-
CAT Junction Slave needs two node addresses.
Additional Information
The GX-JC06 EtherCAT Junction Slave which appears to be one Unit is actually composed of two slaves. The two slaves appear as "Main device" and "Sub-device" in the Sysmac Studio, respectively, as shown in the figure below. The input port of Sub-device appears as "Internal
Port" in the Sysmac Studio and it is internally connected to the Main device.
Sysmac Studio
The Sysmac Studio runs on a personal computer and it is used to configure EtherCAT networks and slaves, and to program, monitor, and debug the Controller.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 1-7
1 Introduction
Communications Cables
Use a straight, shielded twisted-pair cable (double shielding with aluminum tape and braiding) of
Ethernet category 5 (100BASE-TX) or higher.
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 Sysmac Studio, to easily allocate slave process data and make other settings.
Unit Power Supplies
This power supply is for slave communications and internal operation.
I/O Power Supply
This power supply is for I/O operations of external devices connected to the slaves.
Additional Information
With a CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher, you can add NX-series Safety Control Units to the EtherCAT network.
You can use NX-series Safety Control Units on EtherCAT Slave Terminals to build a safety control system on EtherCAT.
1-2-2 Determining the Network Configuration
Determine the type, total number, and positions of slaves in the network. Check the total number of slaves and the cable length between slaves based on the following workflow.
Start
Design the network configuration.
Review the network configuration.
Total number of slaves is equal to or less than the maximum number of slaves?
(see Note)
Yes
Design slave positions.
No
Review the slave positions.
Length of cable connecting slaves
100 m or less?
No
End
Yes
Note Refer to
1-3 Specifications of Built-in EtherCAT Port on page 1-10 for details on the maximum number of
slaves.
1-8 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
1 Introduction
Precautions for Safe Use
• You cannot use standard Ethernet hubs or repeater hubs with EtherCAT communications. If you use one of these, a major fault level error or other error may occur.
• Make sure that the communications distance, number of devices connected, and method of connection for EtherCAT are within specifications.
1
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 1-9
1 Introduction
1-3 Specifications of Built-in EtherCAT
Port
Item
NX701££££ NX102££££
Specification
NX1P2£££££
££
NJ501££££ /
NJ301££££
NJ101-
Communications protocol
Supported services
Duplex mode
Topology
EtherCAT protocol
CoE (Process data communications and SDO communications)
Synchronization DC (Distributed Clock)
Physical layer 100BASE-TX
Modulation
Baud rate
Baseband
100 Mbit/s (100BASE-TX)
Auto
Transmission media
Maximum transmission distance between nodes
Line, daisy chain, and branching
Line, daisy chain, branching, and ring *3
Twisted-pair cable of category 5 or higher
(Recommended cable: straight, double-shielded cable with aluminum tape and braiding)
100 m
Maximum number of slaves
Settable node address range
Maximum process data size
512
1 to 512
Input: 11,472 bytes
Output: 11,472 bytes
64
1 to 192
Input: 5,736 bytes
Output: 5,736 bytes
Input: 1,434 bytes
Output: 1,434 bytes
192
Input: 5,736 bytes
Output: 5,736 bytes
64
££££
Maximum size per slave
Maximum message size
Communications cycle
Input: 1,434 bytes
Output: 1,434 bytes
2,048 bytes
Sync jitter
• Primary periodic task
125 μs, 250 μs to 8 ms
(in 250-μs increments)
• Priority-5 periodic task
125 μs, 250 μs to 100 ms
(in 250-μs in-
1 μs max.
1,000 μs to
32,000 μs
(in 250-μs increments)
2,000 μs to 8,000
μs
(in 250-μs increments)
,
1,000 μs, 2,000
μs, or 4,000 μs
*1.
Refer to
3-1-1 CoE (CAN Application Protocol over EtherCAT) on page 3-2 for details on CoE.
1,000 μs, 2,000
μs, or 4,000 μs
1-10 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
1 Introduction
*2.
Connection is possible only in full duplex mode. Half-duplex connections will result in link OFF status.
*3.
A ring topology can be used for project unit version 1.40 or later.
*4.
The maximum number of slaves in 8 for an NX1P2-9B £££££ CPU Unit.
*5.
However, the data must be within eight frames.
*6.
However, for project unit version earlier than 1.40, the data must be within four frames.
*7.
However, for project unit version earlier than 1.40, the data must be within one frame.
*8.
Setting is available only for integer multiples of the task period of the primary periodic task.
*9.
The communications cycle is 4,000 μs to 8,000 μs (in 250-μs increments) for an NX1P2-9B £££££ CPU Unit.
*10. Unit version 1.03 or later of the CPU Unit is required to use this setting on the NJ301££££ .
1
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 1-11
1 Introduction
1-4 Overview of Communications
This section provides an overview of the communications functions of the built-in EtherCAT port.
1-4-1 Process Data Communications and SDO Communications
The built-in EtherCAT port performs the following communications method to exchange information with EtherCAT slaves.
• Process data communications
• SDO communications
Process Data Communications
"Process data communications" is a cyclic communications method in which control information is exchanged in a fixed cycle between the EtherCAT master and slaves.
The fixed cycle is called a process data communications cycle. The EtherCAT master can exchange information with EtherCAT slaves in realtime in this process data communications cycle.
The same control period is also used for the process data communications cycle for EtherCAT. This enables precise sequence and motion control in a fixed period with very little deviation.
Refer to 6-1 Process Data Communications (PDO Communications) on page 6-2 for details on the
specifications of process data communications.
SDO communications
"SDO communications" is a communications method in which control information is exchanged in noncyclic event communications between the EtherCAT master and slaves.
You can use EtherCAT communications instructions to read and write the SDO data in EtherCAT slaves.
Refer to 6-2 SDO Communications on page 6-19 for details on the specifications of SDO communi-
cations.
1-4-2 Other Functions
In addition to process data communications and SDO communications, the built-in EtherCAT port also provides functions related to EtherCAT network configurations and setup, as well as communications control and maintenance during operation or at error occurrence.
Among these functions, some cannot be used depending on the unit version of the CPU Unit, project
1-12 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
1 Introduction
Network Configurations and Setup
Enable/Disable Setting for Slaves
Use this function to select the EtherCAT slaves for communications with from among those registered in the network configuration information.
• You can design a network with future addition of EtherCAT slaves in mind, by setting EtherCAT slaves that you plan to add at a later time to Disabled and then registering them in the network configuration information on the EtherCAT master.
• You can change the EtherCAT slaves for communications based on the device configuration during system operation.
You can enable/disable each slave in the Sysmac Studio. Refer to 5-5 EtherCAT Slave Parameter
Settings on page 5-20 for the setting procedure.
To enable/disable slaves during system operation, use the Enable/Disable EtherCAT Slave instruction. Refer to NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on this instruction.
Cable Redundancy Function
Use this function to continue the communications with EtherCAT slaves, even if a communications cable is broken in the EtherCAT communications path.
With the NJ/NX-series CPU Units, use Junction Slaves and configure a ring topology in the network configuration. In the ring topology, the EtherCAT master can continue the normal communications with the EtherCAT slaves even if there is only one point of disconnection in the communications cables.
Refer to 4-1-3 Ring Topology on page 4-4 for the ring topology.
1
Communications Control during Operation
Wait Time Setting for Slave Startup
Use this function to set the wait time until all of the EtherCAT slaves are connected to the network.
When you use a slave that takes time to start, use a longer wait time setting to prevent errors.
Set the wait time for slave startup in the Sysmac Studio. Refer to
Settings on page 5-14 for the setting procedure.
Communications Control at Error Occurrence
Fail-soft Operation
Use this function to continue or stop the communications with EtherCAT slaves that are operating normally, if a communications error occurs.
"Fail-soft operation" refers an operation that only normally operating EtherCAT slaves are allowed to operate continuously.
The EtherCAT master can continue the communications with the EtherCAT slaves until the operation is stopped safely through the user program or user operation.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 1-13
1 Introduction
Maintenance
Disconnecting/Reconnecting Slaves
Use this function to temporarily stop and start process data communications with a specified slave.
It is useful because, during system operation, you can replace an erroneous EtherCAT slave without interrupting the communications with EtherCAT slaves that are operating normally.
Refer to
9-4 Replacing Slaves during Communications on page 9-26 for details on how to use this
function.
Diagnosis/Statistics Log
The diagnostic and statistical information provides statistics on the number of communications frames sent and received by the EtherCAT master and EtherCAT slaves as well as the number of frames for which errors were detected.
This function acquires the diagnostic and statistical information at the specified cycle and saves the information as a log file in an SD Memory Card that is mounted on the CPU Unit.
You can use it to diagnose the EtherCAT network line quality based on the diagnostic and statistical information.
Use this function for the following applications.
• Checking the EtherCAT network line quality for predictive monitoring and preventive maintenance
• Finding locations of errors when they occur
Refer to
9-2-4 Diagnostic and Statistical Information on page 9-3 for details on how to use this
function.
1-14 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
1 Introduction
1-5 EtherCAT Communications Procedure
1-5-1 Overview
Step
1.
2.
3.
4.
5.
6.
Mounting and Setting Devices and Hardware
7.
Turning ON Power and Going Online from the Sysmac Studio
8.
9.
10.
Laying EtherCAT Communications Cables
Creating the EtherCAT Network Configuration
Setting EtherCAT Slave Variables and Axes
Setting EtherCAT Parameters
Programming
Online Debugging
Downloading the Network Configuration Information and the User Program
Checking the EtherCAT Process Data Communications
Status
Section
2-2 Setting the Node Addresses of the
Section 4 EtherCAT Network Wiring on page 4-1
5-2 Creating the EtherCAT Network Configuration on page 5-3
5-3 Setting EtherCAT Slave Variables and
5-4 EtherCAT Master Parameter Settings on page 5-14
5-5 EtherCAT Slave Parameter Settings on page 5-20
Section 6 Process Data Communications and SDO Communications on page 6-1
2-1-3 Connecting the Sysmac Studio on page 2-7
3-3 State Transitions for EtherCAT Communications on page 3-9
5-6 Comparing and Merging EtherCAT Network Configurations on page 5-28
5-9 Downloading the Network Configuration
Information from the Sysmac Studio on page 5-45
5-10 Confirming Communications after
Completing EtherCAT Configuration and
1-5-2 Details
Step Description
Sysmac Studio operation
Section
1
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 1-15
1 Introduction
Step
1.
Mounting and Setting
Devices and Hardware
2.
Laying EtherCAT Communications Cables
3.
Creating the EtherCAT
Network Configuration
4.
Setting EtherCAT Slave
Variables and Axes
All EtherCAT Slaves Allocate variables to the I/O ports.
• If necessary, change the names of automatically generated device variables for each I/O port to user-defined variable names.
Make the settings with
I/O Map under
Configurations and
Setup .
Only EtherCAT Servo
Drive and Encoder Input Slaves
Description
• Use the hardware switches on all of the Ether-
CAT slaves in the network to set the node addresses. (The starting node address and sequence are not specified.) Refer to relevant manuals for each slave for information on the procedure for setting node addresses.
Note Use the Sysmac Studio to set the node address if there are no hardware switches or the node address is beyond the range that can be set with the hardware switches.
• Connect the EtherCAT slaves and external I/O devices.
Connect the EtherCAT slaves to the EtherCAT port of the NJ/NX-series CPU Unit.
If there is more than one EtherCAT slave, connect them using a daisy chain/line topology, branching topology, or ring topology.
Sysmac Studio operation
Section
• Use the Sysmac Studio to create a new project.
a) Go offline and create the EtherCAT network configuration.
or b) Go online and automatically create the
EtherCAT network configuration from the actual network devices. Do so after making the online connection that is described in step 7.
Set up the axes.
• Create axes (axes variables).
• Set the axis types for the Axis Variables (to a servo axis, virtual axis, etc.), and set the IDs of the Servo Drives.
Axis Variables are automatically registered in the global variable table.
Create the EtherCAT network configuration with EtherCAT under
Configurations and
Setup .
Create and set up the axes from Axis
Settings under
Configuration and
Setup − Motion
Control Setup − Axis
Settings − Add .
5.
Setting EtherCAT Parameters
1-16 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
1 Introduction
Step
Setting EtherCAT Master Parameters
Description
Set the EtherCAT master parameters.
(Examples: Fail-soft Operation Setting and Wait
Time for Slave Startup)
The values that are set are reflected in the network configuration information.
Setting EtherCAT Slave
Parameters
Set the EtherCAT slave parameters.
(Example: Enable/disable slaves)
Sysmac Studio operation
Set an EtherCAT master with EtherCAT under Configurations and Setup .
Set EtherCAT slaves with EtherCAT under
Configurations and
Setup .
Section
CAT Master Parameter Settings on page
6.
Programming
Process Data Communications
SDO communications
7.
Turning ON Power and
Going Online from the
Sysmac Studio
8.
Online Debugging
Specify the device variables in the user program.
Input conditions include system-defined variables for network error flags and normal or error flags for each slave.
Assign to the task that refreshes I/O for each
EtherCAT slave.
Create the programs with POUs under
Programming .
Set it for each slave from I/O Control Task
Settings under
Configurations and
Setup - Task Settings .
Create the programs with POUs under
Programming .
Read and write the following specified data for slaves:
Use EC_CoESDORead and EC_CoESDOWrite instructions.
• SDO data in slaves (parameters, error information, etc.)
• Turn ON the power supply to EtherCAT slaves.
• Turn ON the I/O power supplies to the slaves.
• Turn ON the power supply to NJ/NX-series
Controller.
• Use the Sysmac Studio to set communications with the NJ/NX-series Controller and go online.
Select
Communications
Setup from the
Controller Menu and make the settings to go online.
Compare and merge the network configuration that was set on the Sysmac Studio and the actual network configuration.
Right-click the Ether-
CAT master under
Configurations and
Setup − EtherCAT and select Compare and
Merge with Actual
Network
Configuration .
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 1-17
1
1 Introduction
Step
9.
Downloading the Network Configuration Information and the User
Program
10.
Checking the EtherCAT
Process Data Communications Status
Description
Download the network configuration information
(EtherCAT configuration, process data information, and parameters).
Note Use the synchronization operation of the
Sysmac Studio to download the project.
• In the Sysmac Studio, check that process data communications with all EtherCAT slaves are performed normally.
• Check the indicators on the NJ/NX-series CPU
Unit.
a) A flashing yellow EtherCAT LINK/ACT indicator shows that data is being transmitted and received after the link is established.
b) A solid green EtherCAT NET RUN indicator shows the device is in the Operational state
(normal communications state).
c) If the EtherCAT NET ERR indicator is not lit, there is no error.
Sysmac Studio operation
Select
Synchronization from the Controller Menu to download and verify the network configuration information.
Display the Controller
Status Pane and switch to the detailed view.
Section
Configuration Information from the
Communications after Completing
1-18 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
2
Part Names and Slave Settings
This section provides the part names and describes the slave settings and Sysmac device functions.
2
2-2 Setting the Node Addresses of the EtherCAT Slaves................................. 2-9
Setting Node Address Using Hardware Switches ........................................... 2-9
Setting the Node Address from the Sysmac Studio ...................................... 2-10
Sysmac Device Features and EtherCAT Masters ......................................... 2-15
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 2-1
2 Part Names and Slave Settings
2-1 Part Names and Functions
2-1-1 Built-in EtherCAT Port Indicators
The indicators show the operating status of the built-in EtherCAT port on an NJ/NX-series CPU Unit.
The locations of indicators of the built-in EtherCAT port on the CPU Unit as well as the colors and statuses of indicators associated with corresponding operating status are shown below.
The locations of the built-in EtherCAT port indicators are shown below.
NJ-series CPU Units
Built-in EtherCAT port (PORT2)
Operation indicators for the Built-in EtherCAT port
NX701 CPU Units
PORT1 EtherNet/IP
PORT2 EtherNet/IP
PORT1
EtherNet/IP
NET RUN
NET ERR
LINK/ACT
PORT2
EtherNet/IP
NET RUN
NET ERR
LINK/ACT
PORT3
EtherCAT
NET RUN
NET ERR
LINK/ACT
PORT3 EtherCAT
Built-in EtherCAT port (PORT3)
Operation indicators for the Built-in EtherCAT port
2-2 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
2 Part Names and Slave Settings
NX102 CPU Unit
NX1P2 CPU Unit
PORT1 EtherNet/IP
PORT2 EtherCAT
POWER
RUN
ERROR
BUSY
SD PWR
SD BUSY
PORT1 EtherNet/IP
NET RUN
NET ERR
LINK/ACT
PORT2 EtherCAT
NETRUN
NET ERR
LINK/ACT
OUT
Operation indicators for the Built-in EtherCAT port
Built-in EtherCAT port (PORT3)
Operation indicators for the Built-in EtherCAT port
Built-in EtherCAT port (PORT2)
Operation Indicators and Operating Status for the Built-in EtherCAT
Port
The operating status corresponding to colors and status of the built-in EtherCAT port indicators are shown below.
2
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 2-3
2 Part Names and Slave Settings
Label
NET RUN
NET ERR
LINK/ACT or L/A
Color
Gree n
Lit
Status
Flashing
Red Lit
Yellow
Not lit
Flashing
Not lit
Lit
Flashing
Not lit
Meaning
EtherCAT communications are in progress.
• Inputs and outputs for I/O data are in operation.
EtherCAT communications are being established.
This indicator shows either of the following conditions.
• Only message communications are in operation.
• Only message communications and I/O data inputs are in operation.
EtherCAT communications are stopped.
• The power supply is OFF or the CPU Unit was reset.
• A MAC Address Error , Communications Controller Error , or other error occurred.
A hardware error or unrecoverable error occurred, such as for exception processing.
A recoverable error occurred.
There are no errors.
A link was established.
Data communications are in progress after the link is established.
Flashes every time data is sent or received.
The link was not established.
Refer to 3-3-2 Control States for EtherCAT Communications on page 3-9 for details on the states.
2-1-2 Windows Used in Sysmac Studio
Use the Sysmac Studio to create the EtherCAT network configuration and to make other settings.
The following windows are used.
Creating the EtherCAT Network Configuration
Use the EtherCAT Configuration Editor offline to register slaves in the EtherCAT slave configuration.
Or, upload the network configuration online.
2-4 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
2 Part Names and Slave Settings
Setting EtherCAT Slave Variables and Axes
• I/O Map: Used to allocate device variables.
Use the I/O Map to assign device variables to the I/O ports of the EtherCAT slaves.
2
• Axis Basic Settings: Used to create Axis Variables and set parameters for Servo Drive and encoder input slaves.
Use the Axis Basic Settings to assign Axis Variables to the Servo Drive/encoder input slaves.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 2-5
2 Part Names and Slave Settings
• Setting Axis Parameters:
Use the Axis Setting Table to set axis parameters.
2-6
EtherCAT Master and Slave Parameter Settings
Set the EtherCAT master and slave parameters after selecting a master or slave on the EtherCAT network configuration.
• Parameter Setting for the EtherCAT Master
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
• Parameter Setting for the EtherCAT Slaves
2 Part Names and Slave Settings
2
Refer to Section 5 Setting Up EtherCAT Communications with the Sysmac Studio on page
5-1 for the Sysmac Studio procedures.
2-1-3 Connecting the Sysmac Studio
You can connect the Sysmac Studio to the NJ/NX-series CPU Unit through the USB or EtherNet/IP port. You must set the connection method, IP address to connect to, and other parameters for communications between the computer and Controller.
Precautions for Correct Use
You cannot connect a computer and an NX102 or an NX1P2 CPU Unit because it does not provide a peripheral USB port.
1
Select Communications Setup from the Controller Menu .
The Communications Setup Dialog Box is displayed.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 2-7
2 Part Names and Slave Settings
2-8
2
Select the connection method for the connection configuration in the Connection type Area.
If you select Remote connection via USB or Ethernet connection via a hub , enter the IP address of the Controller in the Remote IP Address Area. Also set Options and Response
Monitor Time if necessary. Refer to
3
Click the OK Button.
This completes the setup.
Setting Items on the Communications Setup Dialog Box
Item Description
Connection type Specify the connection method to use for online communications.
The specified connection method is used when you go online.
Remote IP Address If you select Remote connection via USB or Ethernet connection via a hub , set the IP address of the Controller that you normally connect to.
USB Communications Test Button
Ethernet Communications Test
Button
These buttons perform a communication test with the Controller at the specified remote IP address. The result is displayed as follows:
• Normal: "Test OK"
• Error: "The Controller was not found." or
"There is more than one Controller with the specified IP address."
Options
Response Monitor
Time
Confirm the serial ID when going online.
When going online, the names and serial IDs are compared between the project and the
Controller to make sure that a connection is made to the intended Controller.
Check forced refreshing when going offline.
Before going offline, a check is made to see if any forced refreshing values are still in effect.
You can set the response monitoring time for communications with the Controller.
An error is displayed if a response is not received before this time expires.
Note The time can be set to between 1 and 3,600 s.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
2 Part Names and Slave Settings
2-2 Setting the Node Addresses of the
EtherCAT Slaves
This section describes the procedure to set the node addresses of EtherCAT slaves.
There are methods to set a node address with hardware switches or the Sysmac Studio.
Additional Information
• The hardware switch setting is read only once when the power is turned ON. Even if the setting is changed after the power supply is turned ON, the new setting will not be used until the next time that power is turned ON.
• If same node address is set for more than one node, a Slave Node Address Duplicated Error
(24200000 hex) event occurs.
For the operation of slaves when the event occurs, refer to the description of each event in
Errors in the EtherCAT Master Function Module in the NJ/NX-series Troubleshooting Manual
(Cat. No. W503) .
• If you use an OMRON EtherCAT slave, after setting the node address, you need to cycle the power supply to the slave to apply the setting.
2
2-2-1 Setting Node Address Using Hardware Switches
For slaves with hardware switches, you can set the node address using only the hardware switches, instead of using the Sysmac Studio.
This section describes the node address setting with two hardware switches using an OMRON GXseries Remote I/O Terminal as an example below.
The 10s digit is set using the left rotary switch and the 1s digit is set using the right rotary switch.
The setting range is from 00 to 99.
Node address setting,
×
1
Node address setting,
×
10
The node address setting values are described in the following table.
Switch setting Node address setting
00
01 to 99
Set with the Sysmac Studio.
Set with the hardware switches.
*1.
range.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 2-9
2 Part Names and Slave Settings
2-2-2 Setting the Node Address from the Sysmac Studio
Use the Sysmac Studio to set the node address if there are no hardware switches or the node address is beyond the range that can be set with the hardware switches.
Setting Procedure
1
Start the Sysmac Studio and go online with the Controller.
2
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
3
Right-click the EtherCAT master that is displayed in the EtherCAT Tab Page and select Write
Slave Node Address .
2-10
The Slave Node Address Writing Dialog Box is displayed.
Refer to When the Slave Node Address Writing Dialog Box Is Not Displayed on page 2-11 if
the dialog box is not displayed.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
2 Part Names and Slave Settings
4
If there are slaves for which the node address is not set (i.e., for which the present value is 0) or if there is more than one slave with the same node address (indicated by ), change the set values of the slave addresses, and then click the Write Button.
(If the correct node addresses are set for all of the slaves, click the Cancel Button.)
Node addresses changed.
The node addresses are written to the actual slaves.
5
Cycle the power supply to the slave for which Set value of the node address is changed.
The set node address becomes valid.
6
Click the Update With Latest Actual Network Configuration Button.
The present values of each slave node address are read and Present value of node addresses are updated. Check that Present value and Set value of the slave node address for which
Set value was changed show the same values.
Version Information
Sysmac Studio version 1.22 or higher is required to use the Update With Latest Actual
Network Configuration Button.
When the Slave Node Address Writing Dialog Box Is Not Displayed
After you execute Write Slave Node Address and even several tens of seconds has passed, an error message may be displayed, instead of the Slave Node Address Writing Dialog Box.
The following are causes that the error message is displayed.
• The communications cable is not wired correctly.
• More than the maximum number of slaves are connected.
Make suitable corrections according to the displayed message and then write the slave node address again.
Refer to 5-6-3 When Compare and Merge with Actual Network Configuration Dialog Box Is Not
Displayed on page 5-32 for how to handle error messages.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 2-11
2
2 Part Names and Slave Settings
2-3 Features of Sysmac Devices
2-3-1 Sysmac Devices
"Sysmac devices" is a generic name for EtherCAT slaves and other OMRON control components that were designed with the same communications and user interface specifications.
You can use the NJ/NX-series Machine Automation Controllers together with Sysmac devices and the
Sysmac Studio Automation Software to achieve optimum functionality and ease of operation.
2-3-2 Sysmac Device Features
You can connect Sysmac device slaves to an NJ/NX-series Machine Automation Controller to use the following features.
Sysmac device features
Troubleshooting
Backing up and restoring parameters
Saving node address settings
Verifying the EtherCAT network configuration using serial numbers
Description
OMRON defines component error status as Sysmac errors for the entire
Sysmac Series.
You can use Sysmac errors to display errors that occur in slaves on the
Sysmac Studio together with corrections for the errors.
An optional feature in the version-1.0.1 ESI specifications is used to enable backing up and restoring slave parameters (called backup parameters).
The node address setting for each slave is stored in non-volatile memory within the slave.
You can verify the EtherCAT network configuration based on serial numbers.
Troubleshooting
OMRON defines component error status as Sysmac errors for the entire Sysmac Series.
You can use Sysmac errors to display errors that occur in slaves on the Sysmac Studio together with corrections for the errors.
This allows you to detect slave errors and isolate the causes of the errors.
If a Sysmac error occurs in a slave, the values of the _EC_SlavErr system-defined variable and the element of the _EC_SlavErrTbl system-defined variable that corresponds to the slave node address change.
Refer to 7-1-3 EtherCAT Master Function Module, Category Name: _EC on page 7-9 in the for de-
tails on the values.
2-12 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
2 Part Names and Slave Settings
Additional Information
• This feature is not supported for OMRON slaves that are not Sysmac devices and slaves that are manufactured by other companies. Check the error detection methods for each slave.
• Before you reset an error from the NJ/NX-series EtherCAT master, make sure you confirm the cause of the error in the slave.
• Sysmac errors are not displayed on the Troubleshooting Dialog Box when the slave whose process data communications are not possible, is detected for Sysmac errors. To display the
Sysmac errors, you need to change the state in which process data communications are possible for the slave. Therefore, if both the error that process data communications are not possible for the slave and Sysmac error occur at the same time, first remove the error that process data communications are not possible for the slave and then make the suitable correction. Check the Sysmac error for the slave after the process data communications are restarted with the slave. Then, remove the cause of the Sysmac error and reset the error again.
For details on the error that process data communications are not possible for the slave, refer to Errors in the EtherCAT Master Function Module in the NJ/NX-series Troubleshooting
Manual (Cat. No. W503) . You can find it in the operation cell for each event.
• If you delete the assignment of the Sysmac error status from the processing data communications data, e.g., to reduce the load on the EtherCAT communications line, you will not be able to use the Sysmac error status in troubleshooting. (To delete the assignment, edit the
PDO map settings in the EtherCAT master settings on the Sysmac Studio so that the map object that is mapped to object 2002 hex is not selected.)
If you do so, you can detect errors that occur in the slave applications other than communications errors only through the transmission of emergency messages or status information that is mapped for other process data communications. Use emergency messages and other status information for which PDOs are mapped to detect slave errors in this case. Transmission of emergency messages is disabled by default for OMRON slaves.
2
Additional Information
• When the EtherCAT master detects an emergency message from a slave, the
_EC_SlavEmergErr system-defined variable changes to TRUE. Check the contents of the emergency message from the slave on the Troubleshooting Dialog Box.
• Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for details on checking for errors and corrections.
Backing Up and Restoring Parameters
The Sysmac devices use an option in the version-1.0.1 ESI specifications to enable backing up and restoring the backup parameters that are specified in the ESI files in non-volatile memory in the slaves.
You can back up and restore the backup parameters that are stored from the Sysmac Studio.
This makes it easy to set slaves when they are replaced.
Additional Information
• If you use slaves from other manufacturers, obtain the slave information files that are compliant with the version-1.0.1 ESI specifications from the slave manufacturers.
• Refer to
9-4-3 Backing Up Settings on page 9-28 in the for how to back up slave data from
the Sysmac Studio.
• Refer to
9-4-4 Restoring Settings on page 9-30 in the for how to restore slave data from the
Sysmac Studio.
• Refer to
A-3 Multi-vendor Environments on page A-15 in the for details on ESI.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 2-13
2 Part Names and Slave Settings
Saving Node Address Settings
Each Sysmac device stores its own node address setting in non-volatile memory within the slave.
This allows the master to identify slaves on the network.
The node addresses are set as given below depending on the type of slave.
• Slaves with Hardware Switches
The set value for the node address is determined depending on the set value for hardware switches.
00: The node address is set from the Sysmac Studio.
Not 00: The setting on the hardware switches is used.
• Slaves without Hardware Switches
The node address is set from the Sysmac Studio.
Precautions for Correct Use
• Set a node address for all slaves so that they can be identified on the EtherCAT network. Do not assign the same node address more than once.
• If you use slaves from other manufacturers with project unit version earlier than 1.40, set the node addresses from the Sysmac Studio. For project unit version 1.40 or later, you can set the node addresses either from the Sysmac Studio or with hardware switches.
Additional Information
• Refer to
2-2 Setting the Node Addresses of the EtherCAT Slaves on page 2-9 or the relevant
manuals for each slave for how to set the node addresses.
• Refer to
5-5 EtherCAT Slave Parameter Settings on page 5-20 for information on setting
node addresses from the Sysmac Studio.
Verifying the EtherCAT Network Configuration Using Serial Numbers
Each Sysmac device slave stores its serial number in non-volatile memory within the slave.
If serial number verification is enabled in the EtherCAT master settings, the EtherCAT network configuration is verified based on the serial numbers when the EtherCAT master is started. The following are enabled by verification of the serial numbers.
• If the EtherCAT network configuration changes, the serial numbers will not match and a Network
Configuration Verification Error (84220000 hex) or Network Configuration Verification Error
(Mismatched Slave) (84330004 hex) event occurs. This helps prevent forgetting to set the parameters when a slave is replaced.
• The serial numbers of any of the slaves can be checked from the EtherCAT master.
Additional Information
Refer to
5-4 EtherCAT Master Parameter Settings on page 5-14 for information on serial num-
ber verification.
2-3-3 List of Sysmac Devices
The following table lists the OMRON Sysmac slaves. Refer to relevant manuals for each slave for information on OMRON slaves that are not listed in the following table.
2-14 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
2 Part Names and Slave Settings
AC Servo Drives
Name
Multifunctional, Compact Inverter
R88D-KN £££ -ECT
3G3AX-MX2-ECT
Model Revision
Revision 2.1 or later
Revision 1.1 or later
Revision 1.1 or later Digital I/O Slaves
Analog I/O Slaves
GX-ID ££££
GX-OD ££££
GX-MD ££££
GX-OC ££££
GX-AD0 £ 71
GX-DA0 £ 71
Encoder Input Slaves
Vision Sensors
GX-EC02 £ 1
FH-1 £££
FH-3 £££
Specialized Vision Sensors for Positioning FQ-MS12 £ -ECT
FQ-MS12 £ -M-ECT
Smart Fiber Sensor Communications Unit E3X-ECT
EtherCAT Junction Slaves GX-JC03
GX-JC06
NX-series EtherCAT Coupler Units
Revision 1.1 or later
Revision 1.1 or later
Revision 1.0 or later
Revision 1.0 or later
Revision 1.0 or later
Revision 1.0 or later
Revision 1.0 or later
Revision 1.2 or later
Revision 1.3 or later
Advanced General-purpose Inverters
Linear Servo Drives
3G3RX-V1 with EtherCAT Communications
Unit
3G3AX-RX-ECT
R88L-EC
R88D-KN £ -ECT-L
E3NW-ECT
Revision 1.0 or later
Revision 1.0 or later
Digital Sensor Communications Unit Revision 1.0 or later
Fiber Sensor Communications Unit E3X-ECT
Confocal Fiber Type Displacement Sensors ZW-CE1 £
Revision 1.0 or later
Revision 1.0 or later
*1.
A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are required.
*2.
A CPU Unit with unit version 1.07 or later and Sysmac Studio version 1.08 or higher are required.
*3.
A CPU Unit with unit version 1.07 or later and Sysmac Studio version 1.11 or higher are required.
2-3-4 Sysmac Device Features and EtherCAT Masters
The following table shows the relationship between Sysmac device features and EtherCAT masters.
2
OMRON Sysmac Device Slaves
Sysmac device feature
Troubleshooting
Backing up and restoring parameters
OMRON EtherCAT master
NJ/NX-series CPU Unit
NX701££££
NX102££££
NX1P2£££££££
NJ501££££
NJ301££££
NJ101££££
CJ-series Position Control Unit
CJ1W-NC £ 8 £
Supported.
Not supported.
Supported.
EtherCAT master from another manufacturer
Partially supported.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 2-15
2 Part Names and Slave Settings
2-16
Sysmac device feature
OMRON EtherCAT master
NJ/NX-series CPU Unit
NX701££££
NX102££££
NX1P2£££££££
NJ501££££
NJ301££££
NJ101££££
Supported.
CJ-series Position Control Unit
CJ1W-NC £ 8
Supported.
£
EtherCAT master from another manufacturer
Saving node address settings
Verifying the EtherCAT network configuration
Supported.
Not supported.
Partially supported.
Partially supported.
*1.
Errors are notified with emergency messages.
*2.
EtherCAT slaves for which data can be backed up have specific precautions. Refer to EtherCAT Slaves for
Which You Can Back Up Data in the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for details on the precautions.
*3.
You cannot specify data to back up and restore.
*4.
Available backup and restore functions depend on the EtherCAT master from another manufacturer that you use.
*5.
The node address setting method depends on the EtherCAT master from another manufacturer that you use.
*6.
Whether the serial number can be checked or not depends on the EtherCAT master from another manufacturer that you use.
OMRON Slaves That Do Not Support Sysmac Devices
Sysmac device feature
OMRON EtherCAT master
NJ/NX-series CPU Unit
NX701££££
NX102££££
NX1P2£££££££
NJ501££££
NJ301££££
NJ101££££
CJ-series Position Control Unit
CJ1W-NC £ 8 £
EtherCAT master from another manufacturer
Troubleshooting
Backing up and restoring parameters
Saving node address settings
Verifying the EtherCAT network configuration
Supported.
Partially supported.
Not supported.
Partially supported.
Partially supported.
Not supported.
Partially supported.
Partially supported.
Partially supported.
*1.
Errors are notified with emergency messages.
*2.
EtherCAT slaves for which data can be backed up have specific precautions. Refer to EtherCAT Slaves for
Which You Can Back Up Data in the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for details on the precautions.
*3.
You cannot specify data to back up and restore.
*4.
Available backup and restore functions depend on the EtherCAT master from another manufacturer that you use.
*5.
Setting is possible on the node address switches. Node addresses set with the software cannot be stored in the slave.
*6.
The node address setting method depends on the EtherCAT master from another manufacturer that you use.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
2 Part Names and Slave Settings
*7.
Whether the serial number can be checked or not depends on the EtherCAT master from another manufacturer that you use.
Slaves from Other Manufacturers
If you connect slaves from other manufacturers to an OMRON EtherCAT master, functionality is restricted as given below depending on the functionality of the slaves.
• Some items for slave function setting may be missing or the slave functionality may be restricted with an ESI file that is not supported by Sysmac Studio. The slave may not operate properly.
• The node address setting from the Sysmac Studio may not be supported by some slave specifications.
• Verification with serial numbers is not possible for slaves that do not have the serial number in SII.
2
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2 Part Names and Slave Settings
2-18 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
3
EtherCAT Communications
This section describes the different types of EtherCAT communications, EtherCAT settings, and state transitions.
3
3-1 EtherCAT Communications Types and Settings ......................................... 3-2
CoE (CAN Application Protocol over EtherCAT) ............................................. 3-2
Settings Required for EtherCAT Communications .......................................... 3-7
3-2 Programming EtherCAT Communications .................................................. 3-8
3-3 State Transitions for EtherCAT Communications ....................................... 3-9
Control States for EtherCAT Communications ................................................ 3-9
3-3-3 EtherCAT Status in Relation to CPU Unit Status ...........................................3-11
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3 EtherCAT Communications
3-1 EtherCAT Communications Types and Settings
3-1-1 CoE (CAN Application Protocol over EtherCAT)
The EtherCAT port built into the NJ/NX-series CPU Unit uses CoE (CAN application protocol over
EtherCAT) to exchange information with slaves over EtherCAT.
CoE implements message communications of CAN application over an EtherCAT network.
With CoE, the parameters and control information held by the slaves are specified according to data specifications for the object dictionary.
Process Data Communications and SDO Communications
There are two communications that are used to communicate data between the master and slaves.
These are described below.
Process Data Communications
Communications using process data objects (PDOs) to exchange information in realtime with a fixed period.
SDO communications
Communications using service data objects (SDOs) for communicating information when required.
Controller
(communications master)
Slave
Process data communications
EtherCAT communications line
Executed periodically.
Output data
Input data
SDO communications
Data written.
Data read.
Executed for requests.
The EtherCAT port built into the NJ/NX-series CPU Unit uses process data communications for commands to refresh I/O data in a fixed control period, including I/O data for EtherCAT slaves, and position control data for Servomotors. It uses SDO communications for commands to read and write data, such as for parameter transfers, at specified times.
Process data communications are executed each control cycle to refresh data continuously, and SDO communications are executed between PDO communications.
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3 EtherCAT Communications
Additional Information
Object Dictionary
The object dictionary is a data table within the device that interfaces the application and communications. It describes the information handled by the device. Each piece of information is called an object.
Each object is assigned a 4-digit hexadecimal index.
Each object is divided into a data type area, a CoE communications area, and a manufacturerspecific area.
CANopen device
Application
3
Index
1000 hex
Object content
Device Type
1600 hex Process Data
3000 hex Parameters
Object dictionary
Communications
PDO SDO
EtherCAT
Process data communications is used to read and write the process data in the CoE communications area in these objects.
SDO communications is used to read and write the parameters within the manufacturer-specific area in these objects.
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3 EtherCAT Communications
Additional Information
Distributed Clock (DC)
This is a unique EtherCAT feature that enables precisely clock synchronization.
The DC-based clock synchronization enables sharing the same time between the EtherCAT master and the slaves.
This enables the timing of the operation of the EtherCAT master and slaves to be synchronized with the shared time.
Operation timing is synchronized by sharing time information between the EtherCAT master and slaves.
EtherCAT Master
Slaves with a distributed clock
The clock that gives the standard network time is called a "reference clock".
The reference clock is provided either by the master or a slave that supports the function to provide a reference clock, to the other slaves. As described in the table below, whether the master or slave provides a reference clock depends on the used CPU Unit.
When NX-series CPU Unit is Used When NJ-series CPU Unit is Used
The EtherCAT master of the NX-series CPU Unit Of the slaves that provide a reference clock, the slave that is the closest to the EtherCAT master on the wiring. In the above figure, the left most slave of the slaves with the DC functionality.
*1.
Slaves with the DC functionality can provide a reference clock.
The EtherCAT master uses this reference clock to send frames so that the EtherCAT master and slaves remain synchronized.
The slaves for which the distributed clock setting is enabled (i.e., synchronized slaves) perform advanced time synchronization by performing input and outputs based on the reference clock.
3-1-2 Types of Communications
The following two methods are used to exchange data between master and slaves in EtherCAT communications.
Communication type
Cyclic communications
Message communications
Name of communication type
Process data communications
(PDO communications)
SDO communications
Timing of processing
Constant
(process data communications cycle)
When required.
Type of data
PDO data
SDO data
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3 EtherCAT Communications
CPU Unit
EtherCAT communications
Cyclic communications (for PDO data)
IN Device variables and
Axis Variables*
OUT
Message communications (for SDO data)
EC_CoESDORead/
EC_CoESDOWrite
Process data communications:
Constant data exchange
(process data communications cycle)
EtherCAT
SDO communications:
When required
(from instruction or
Sysmac Studio)
PDO data
IN
SDO data
PDO data OUT
SDO data
* Device variables for EtherCAT slaves
Axis Variables only for Servo Drive and encoder input slaves to which axes are allocated
Process Data Communications (PDO Communications)
PDO communications is used for constant data exchange between the master and slaves. It is called
"process data communications".
PDO data (i.e., I/O data that is mapped to PDOs) that is allocated in advance is input and output periodically each EtherCAT process data communications cycle (i.e., the task period of primary periodic task or priority-5 periodic task).
It is accessed from the NJ/NX-series CPU Unit in the following ways.
• With device variables for EtherCAT slave I/O
• With Axis Variables for Servo Drive and encoder input slaves to which an axis is allocated
Additional Information
You can use the priority-5 periodic task only with NX701 CPU Units.
SDO Communications
SDO communications are used to read and write specified slave data from the master when required.
This is called "SDO communications".
You can read/write the following specified slave data with the EC_CoESDORead (Read CoE SDO) instruction or the EC_CoESDOWrite (Write CoE SDO) instruction.
• SDO data in slaves (parameters, error information, etc.)
3
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3 EtherCAT Communications
3-1-3 Types of EtherCAT Variables
There are three types of EtherCAT variables as listed below.
Variable type
Allocated variables
Device variables
Description
These are common in-out variables for EtherCAT slaves. You can change the names of these variables.
Device variables for I/O ports
CPU Unit
EtherCAT
EtherCAT slave
EtherCAT slave
EtherCAT slave
Axis Variables
Slave configuration
These are structure variables for I/O and parameters for Servo Drive and encoder input slaves.
You can change the names of these variables.
CPU Unit
Axis Variable A Axis Variable B
Allocated.
EtherCAT
Allocated.
EtherCAT slave
3-6
System-defined variables
System-defined variables for
EtherCAT master
Servo Drive
Servo Drive
These variables are defined by the system for communications parameters, communication status, and other functions. You cannot change the names of these variables.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
3 EtherCAT Communications
3-1-4 Settings Required for EtherCAT Communications
For EtherCAT communications, you must set the following network configuration information from the
Sysmac Studio and download it to the CPU Unit.
• Network configuration: Master and slave configuration
• EtherCAT master settings: Parameters settings, such as the Fail-soft Operation Setting or Wait Time for Slave Startup
• Process data information: Allocation information for slave PDO data
Additional Information
EtherCAT communications cannot be performed unless the correct network configuration information is downloaded to the CPU Unit.
Refer to
Section 5 Setting Up EtherCAT Communications with the Sysmac Studio on page
3
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3 EtherCAT Communications
3-2 Programming EtherCAT Communications
The user program in the NJ/NX-series CPU Unit reads/writes EtherCAT slave data and performs motion control for Servo Drive and encoder input slaves.
Instructions and variables are used according to slave types and target data as shown below.
Slave type Type of data
Slaves to which you cannot assign axes
Process data
SDO data
Slaves to which you can assign axes
Process data
SDO data
Timing
Constantly read/ written
Read/written as required
Constantly read/ written
Read/written as required
Instructions
Read/write instructions such as LD, OUT and
MOV
EtherCAT communications instructions
(EC_CoESDORead or
EC_CoESDOWrite)
Motion control instructions or read/write instructions such as LD,
OUT and MOV
EtherCAT communications instructions
(EC_CoESDORead or
EC_CoESDOWrite)
Variables
Device variables
User-defined variables
Axis Variables or device variables
User-defined variables
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3 EtherCAT Communications
3-3 State Transitions for EtherCAT Communications
3-3-1 Self Diagnosis at Startup
The EtherCAT master executes the following self-diagnosis when the power is turned ON.
The results of self-diagnosis are provided in the following events and system-defined variables as
EtherCAT master errors if errors are detected.
Diagnosis
Notification in case of an error detected
Events System-defined variables
_EC_NetCfgErr Diagnosis of network configuration information
Network Configuration Information
Error
(34400000 hex)
Diagnosis of communications port MAC Address Error
(14400000 hex)
Communications Controller Failure
(04400000 hex)
_EC_MacAdrErr
_EC_LanHwErr
Refer to Errors in the EtherCAT Master Function Module in the NJ/NX-series Troubleshooting Manual
(Cat. No. W503) for details on events.
3-3-2 Control States for EtherCAT Communications
3
Control State Machine
EtherCAT communications provides four control states. Communications is controlled by moving between these states.
Power ON
Self-diagnosis
1. Init state (Process data communications and SDO communications are not possible.)
2. Pre-Operational state (Only SDO communications is possible.)
3. Safe-Operational state (Inputs for process data communications and
SDO communications are possible.)
4. Operational state (I/O for process data communications and SDO communications are possible.)
After the power is turned ON, the communications master and slaves go from the Init state to the Pre-
Operational state, Safe-Operational state, and then Operational state before starting EtherCAT communications.
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3 EtherCAT Communications
Afterwards, EtherCAT communications are performed while the state changes automatically between these states according to error occurrence and other conditions.
The current control state can be determined using the RUN indicator on the front panel.
State
1: Init
2: Pre-Operational
3: Safe-Operational
4: Operational
Description
Process data communications
Not allowed Communications are being initialized. Communications are not possible.
This state continues if there is not the network configuration information.
Only SDO communications are possible in this state.
Communications always enters this state after initialization, and changes to the Safe-Operational state after initial setting of the network is performed.
In this state, SDO communications and only inputs for process data communications are possible. Communications always enters this state before going into the Operational state.
This is the normal state for communications.
Not allowed
Only inputs are possible
Possible
SDO communications
Not allowed
Possible
Possible
Possible
RUN indicator
Not lit
Flashing
Flashing
Lit
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3 EtherCAT Communications
Additional Information
I/O Refreshing
The procedure from startup of the EtherCAT network until process data I/O can be refreshed is shown below.
There is no correlation between the startup of the EtherCAT network and the execution of the user program. Design the user program by adding the system-defined variables* for the relevant slaves to the interlock conditions of the device variables for the slaves.
* _EC_MBXSlavTbl[1..n], _EC_PDSlavTbl[1..n]
Here, n is the maximum value of the settable node address. Refer to
START Power ON
1. EtherCAT master initialized.
3
2. Slaves initialized based on network configuration information.
3. The program waits for slaves to join the EtherCAT network.
Applicable slave parameters can be set.
4. When the _ EC_MBXSlavTbl system-defined variable for the relevant slave changes to TRUE, message communications for the relevant slave are possible.
I/O refreshing started for the relevant slave.
5. When the _ EC_PDSlavTbl system-defined variable for the relevant slave changes to TRUE, I/O refreshing for the relevant slave is enabled.
User program executed.
3-3-3 EtherCAT Status in Relation to CPU Unit Status
Refer to A-1 EtherCAT Status in Relation to CPU Unit Status on page A-2 for details on the follow-
ing: memory related to the EtherCAT master, the ability to download master settings and slave settings, and the status of slaves according to the CPU Unit operating mode and the status of Controller errors.
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3 EtherCAT Communications
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4
EtherCAT Network Wiring
This section describes how to connect and wire an EtherCAT network.
Precautions for Using Junction Slaves.......................................................... 4-10
Installing EtherCAT Communications Cables................................................ 4-13
Connecting Communications Cables ............................................................ 4-16
4
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4 EtherCAT Network Wiring
4-1 Supported Network Topologies
The NJ/NX-series CPU Units support line/daisy chain, branching, and ring topologies. You can combine more than one topology.
Each of these topologies is described below.
4-1-1 Line/Daisy Chain Topology
This topology connects the output ports and input ports of slaves one after another in a row.
EtherCAT master
Slave
Slave
Slave Slave
Input port
Output port
Slave
Features of Line/Daisy Chain Topology
The master and slaves can be connected easily. However, if a slave is disconnected due to a broken cable or other reason, all slaves after the disconnected slave are also disconnected from the network.
4-1-2 Branching Topology
This topology uses Junction Slaves to configure more than one line/daisy chain.
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4 EtherCAT Network Wiring
Slave Slave
EtherCAT master
GX-JC06
Junction Slave
Slave
GX-JC03
Junction Slave
Slave Slave
Input port
Output port
Features of Branching Topology
In a configuration that consists of only a line/daisy chain topology, if a slave is disconnected due to a broken cable or other reason, all slaves after the disconnected slave are also disconnected from the network. If you configure a network with the branching topology, you can reduce the disconnected slaves to only those in a branched path.
Slave Slave
EtherCAT master
GX-JC06
Junction Slave
Slave
GX-JC03
Junction Slave
Slave Slave
Broken cable
Disconnected slaves
Input port
Output port
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4
4 EtherCAT Network Wiring
4-1-3 Ring Topology
This topology uses Junction Slaves to connect slaves in a ring.
This section describes the features, components, and precautions for the ring topology.
Version Information
Project unit version 1.40 or later and Sysmac Studio version 1.29 or higher are required to use the ring topology.
Features of Ring Topology
In a ring topology, the master can continue the normal communications with all the slaves even if there is only one point of disconnection in the communications cables.
If disconnection occurs at a point between Slave #1 and Slave #2 as shown in the figure below, in
Slave #1, the output port is closed, but communications frames return at the input port. The communications frames then flow via the Junction Slave into Slave #3 and return at the output port of Slave #2.
This enable the master to continue the normal communication.
EtherCAT master
Flow of communications frames
Junction Slave
Ring topology
Slave #1
Disconnection
Slave #2
Return
Closed
Return
Slave #3
Input port
Output port
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4 EtherCAT Network Wiring
Precautions for Correct Use
• If there is more than one point of disconnection in the communications cables in the ring topology, the master stops communications with slaves to which the communications paths are broken with the Junction Slave. It continues communications with other slaves. In this case, an Illegal Slave Disconnection Detected (84310002 hex) event occurs.
• If a power interruption occurs only at one slave in the ring topology, the master can continue the normal communications with slaves at which the power interruption does not occur in the ring topology. In this case, an Illegal Slave Disconnection Detected (84310002 hex) event occurs.
• If a power interruption occurs at more than one slave in the ring topology, the master stops communications with the slaves at which the power interruption occurred and slaves to which the communications paths are broken due to the power interruption. It continues communications with other slaves. In this case, an Illegal Slave Disconnection Detected (84310002 hex) event occurs.
Components of the Ring Topology
The components of the ring topology are shown below.
The following table describes the terms and definitions used for the explanation of the components of ring topology.
Term
Originating slave of the ring
Start port of the ring
End port of the ring
Definition
A Junction Slave that is the starting point of the ring topology. This includes the start port of the ring and the end port of the ring.
A port that is the start point of the ring topology.
The start port of the ring is X2 for the GX-JC03.
A port that is the end point of the ring topology.
The end port of the ring is X3 for the GX-JC03.
EtherCAT master Slave
4
GX-JC03
Junction Slave
IN
X2
X3
Start port of the ring
End port of the ring
Originating slave of the ring
Ring topology
Slave
Slave
Input port
Output port
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4 EtherCAT Network Wiring
Junction Slave
a. An EtherCAT configuration can have only one Junction Slave that becomes the originating slave of the ring. Use the OMRON GX-JC03 EtherCAT Junction Slave.
Precautions for Correct Use
To use a Junction Slave as the originating slave of the ring, set Cable Redundancy to Enable from the Sysmac Studio. Refer to
5-2-2 Cable Redundancy Setting on page 5-5 for how to
set Cable Redundancy to Enable .
b. You can use more than one Junction Slave in a ring topology. Use the OMRON GX-JC03 Ether-
CAT Junction Slave.
Precautions for Correct Use
Use the OMRON EtherCAT Junction Slaves with unit version 1.1 or later.
Slave
a. In a ring topology, use slaves that support the ring topology.
If you use OMRON slaves, refer to the user's manual for each slave for information on topologies, and check that the slaves support the ring topology. Check also that their versions are supported.
b. You cannot connect synced slaves in a ring topology and in a drop line from the ring.
Precautions for Correct Use
Some slaves can select to operate the synced slave or the non-synced slave. If you connect this slave in the ring topology and in the drop line from the ring, set distributed clock setting to
Disabled on the Sysmac Studio so that the slave will operate as a non-synced slave.
For example, for the EtherCAT Coupler Units, the initial value of the distributed clock setting is
Enabled , so you must change the value to Disabled .
Slave A shown in the following figure is not connected either "in the ring topology" or "in the drop line from the ring", so you can connect the synced slaves.
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4 EtherCAT Network Wiring
EtherCAT master Slave A
¡ :Can be connected with synced slaves
Í :Cannot be connected with synced slaves
IN
X2
X3
GX-JC03
Junction Slave
Originating slave of the ring
Slave B
Ring topology
GX-JC03
Junction Slave
IN
X2
X3
Slave D
Drop line from the ring
Slave C
4
Input port
Output port c. If the Junction Slave is connected between the EtherCAT master and the originating slave of the ring, synced slaves can be connected to the following output ports of the Junction Slaves.
• Output port numbers smaller than those for the Junction Slave connected to the input port of the originating slave of the ring
• Output port numbers smaller than those for the Junction Slave connected to input port for the
Junction Slave between Junction Slaves if more than one Junction Slave is connected
This section describes an example to which two Junction Slaves are connected.
In the following figure, you can connect a synced slave to X3 for Junction Slave B because the input port of the originating slave of the ring is connected to X4 for Junction Slave B. However, you cannot connect a synced slave to X5 for Junction Slave B.
You can also connect a synced slave to X4 for Junction Slave A because the input port of the
Junction Slave B is connected to X5 for Junction Slave A. However, you cannot connect a synced slave to X6 for Junction Slave A.
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4 EtherCAT Network Wiring
EtherCAT master
¡ :Can be connected with synced slaves
Í :Cannot be connected with synced slaves
Synced Slave
IN
X2
X3
GX-JC06
Junction Slave A
X4
X5
X6
Synced Slave
IN
X2
X3
GX-JC06
Junction Slave B
X4
X5
X6
Synced Slave
GX-JC03
Junction Slave C
Originating slave of the ring
IN
Ring topology
Non-synced Slave
X2
X3
Non-synced Slave
Synced Slave
Input port
Output port
Precautions for Configuring a Ring Topology
The precautions for configuring a ring topology are described below.
a. If you use a Junction Slave in a ring topology, connect the last port of the Junction Slave to the input port of the next slave to connect to in the ring topology.
The last port is the last to receive communications frames among multiple output ports on a Junction Slave. The last port is X3 for the GX-JC03 Junction Slave.
b. In the slaves that are connected in series from the start port of the ring in a ring topology, connect the output port of the last slave in the ring topology to the end port of the ring.
The above examples of a and b are given in the figure below.
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4 EtherCAT Network Wiring
EtherCAT master
Ring topology
GX-JC03
Junction Slave
Originating slave of the ring
IN
X2
Start port of the ring X3
End port of the ring b
Slave
GX-JC03
Junction Slave
IN
X2
X3
Slave
Last port
Slave a
Last slave
Input port
Output port
Example for Configuring Drop Line from the Ring with Junction
Slaves
You can connect Junction Slaves in a ring topology to configure a drop line from the ring.
4
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4 EtherCAT Network Wiring
EtherCAT master
GX-JC03
Junction Slave
IN
X2
X3
Ring topology
Slave
Drop line from the ring
Slave
GX-JC03
Junction Slave
IN
X2
X3
Slave
Input port
Output port
4-1-4 Precautions for Using Junction Slaves
This section provides precautions for using Junction Slaves in a network configuration based on the branching or ring topology.
Precautions for Safe Use
You cannot use standard Ethernet hubs or repeater hubs with EtherCAT communications. If you use one of these, a major fault level error or other error may occur.
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Precautions for Correct Use
When you use a system configuration in which an EtherCAT Junction Slave is connected to the
EtherCAT master to synchronize between synced slaves, you need a EtherCAT master or slave that can provide a reference clock.
With the NX-series CPU Unit, the EtherCAT master provides a reference clock.
With the NJ-series CPU Unit, at least one of the following two conditions must be met because the EtherCAT master does not provide a reference clock.
• A slave that provides a reference clock must be connected between the EtherCAT master and the first EtherCAT Junction Slave.
• The EtherCAT Junction Slave must provide a reference clock.
However, the above conditions do not apply when synchronization is not performed between synced slaves in the entire EtherCAT network.
You can determine whether the EtherCAT Junction Slave supports a reference clock from the
Reference Clock in the slave settings on the Sysmac Studio.
OMRON EtherCAT Junction Slaves support a reference clock.
Precautions for Correct Use
For project unit version 1.40 or later, check that the EtherCAT Junction Slave ports actually connected to slaves agree with the ports of the network configuration information on the Sysmac
Studio. If the ports do not agree, a communications error occurs. You can perform the compare and merge operation in the Sysmac Studio to check whether the ports agree.
For project unit version earlier than 1.40, an error does not occur and the CPU Unit can continue the communications even when the EtherCAT Junction Slave ports actually connected to slaves do not agree with the ports of the network configuration information on the Sysmac Studio.
4
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4 EtherCAT Network Wiring
4-2 Laying the EtherCAT Network
This section describes how to install EtherCAT networks.
4-2-1 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 standards and specifications. (Refer to JIS X5252 or to electrical facility technical references .)
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.
• When using a shielded cable with the shields on both ends of the cable connected to connector hoods, ground loops induced by improper earthing methods may decrease noise immunity and cause device damage. To prevent ground loops caused by differences in potential between device earthing points, the reference potential between the devices must be stabilized. Design earthing appropriately so that noise current does not flow to ground lines between the devices. For Earthing methods, refer to the NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500) , the NX-series
CPU Unit Hardware User's Manual (Cat. No. W535) , the NX-series NX102 CPU Unit Hardware
User's Manual (Cat. No. W593) , or the NX-series NX1P2 CPU Unit Hardware User's Manual (Cat.
No. W578) .
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 dirt and dust or to 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.
4-12 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
4 EtherCAT Network Wiring
4-2-2 Installing EtherCAT Communications Cables
Ethernet communications cables and connectors are used to connect the built-in EtherCAT port with
EtherCAT slaves.
Use a straight, shielded twisted-pair cable (double shielding with aluminum tape and braiding) of
Ethernet category 5 (100BASE-TX) or higher.
Cable with Connectors
Size and Conductor Pairs: AWG27 × 4 Pairs
Product name
Cable with Connectors on
Both Ends
(RJ45/RJ45)
Cable Sheath material:
Cable color: Yellow
Manufacturer
OMRON
Corporation
3
5
Cable length [m]
1
2
0.3
0.5
Model
XS6W-6LSZH8SS30CM-Y
XS6W-6LSZH8SS50CM-Y
XS6W-6LSZH8SS100CM-Y
XS6W-6LSZH8SS200CM-Y
XS6W-6LSZH8SS300CM-Y
XS6W-6LSZH8SS500CM-Y
Contact information
OMRON Customer Service
Center
4
*1.
Cables are available in the following lengths: 0.2, 0.3, 0.5, 1, 1.5, 2, 3, 5, 7.5, 10, 15, and 20 m. Refer to the Industrial Ethernet Connectors Catalog (Cat. No. G019) for details.
*2.
This is the Low Smoke Zero Halogen cable for in-cabinet use. Although the LSZH cable is single shielded, its communications and noise characteristics meet the standards. PUR cables for out-of-cabinet use are also available.
*3.
Cables colors are available in blue, yellow, or green.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 4-13
4 EtherCAT Network Wiring
Size and Conductor Pairs: AWG 22 × 2 Pairs
Product name
Cable with Connectors on
Both Ends (RJ45/RJ45)
Rugged RJ45 plug
Cable color: Light blue
Manufacturer
OMRON
Corporation
Cable length [m]
1
2
0.3
0.5
5
10
Model
XS5W-T421-AMD-K
XS5W-T421-BMD-K
XS5W-T421-CMD-K
XS5W-T421-DMD-K
XS5W-T421-GMD-K
XS5W-T421-JMD-K
Cable with Connectors on
Both Ends (M12
Straight/M12 Straight)
M12/Smartclick connectors
Cable color: Black
OMRON
Corporation
2
3
0.5
1
5
10
XS5W-T421-BM2-SS
XS5W-T421-CM2-SS
XS5W-T421-DM2-SS
XS5W-T421-EM2-SS
XS5W-T421-GM2-SS
XS5W-T421-JM2-SS
Contact information
OMRON Customer Service
Center
Cable with Connectors on
Both Ends (M12 Straight/
RJ45)
M12/Smartclick connector and rugged RJ45 plug
Cable color: Black
OMRON
Corporation
0.5
3
5
1
2
10
XS5W-T421-BMC-SS
XS5W-T421-CMC-SS
XS5W-T421-DMC-SS
XS5W-T421-EMC-SS
XS5W-T421-GMC-SS
XS5W-T421-JMC-SS
Cable with Connectors on
Both Ends (RJ45/RJ45)
Rugged standard plugs
Cable color: Yellow
3M Japan
Limited
1
2
0.25
0.5
5
10
3RHS4-1100-0.25M
3RHS4-1100-0.5M
3RHS4-1100-1M
3RHS4-1100-2M
3RHS4-1100-5M
3RHS4-1100-10M
3M Japan Limited
*1.
Cables are available in the following lengths: 0.3, 0.5, 1, 2, 3, 5, 10, and 15 m. Refer to the Industrial
Ethernet Connectors Catalog (Cat. No. G019) for details.
*2.
For details, contact your OMRON representative.
*3.
Cables are available from 0.25 m to 100 m. Ask the manufacturer for details on the models that are not described in the table.
4-14 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
4 EtherCAT Network Wiring
Cables and Connectors
Size and Conductor Pairs: AWG 24 × 4 Pairs
Cables
Part name
RJ45 Connectors
Manufacturer Model
Hitachi Metals, Ltd.
NETSTAR-C5E SAB 0.5
× 4P*
Kuramo Electric Co., Ltd. KETH-SB*
SWCC Showa Cable
Systems Co., Ltd.
FAE-5004*
Panduit Corporation MPS588*
Contact information
Planning Department,
Kanetsu Co., Ltd.
Kuramo Electric Co., Ltd.
SWCC Showa Cable
Systems Co., Ltd.
Panduit Corporation US
Headquarters
* We recommend that you use combinations of the above Cables and Connectors.
Size and Conductor Pairs: AWG 22 × 2 Pairs
Cables
Part name
RJ45 Assembly Connectors
Manufacturer Model
Kuramo Electric Co., Ltd. KETH-PSB-OMR*
JMACS Japan Co., Ltd.
PNET/B*
OMRON Corporation XS6G-T421-1*
Contact information
Kuramo Electric Co., Ltd.
JMACS Japan Co., Ltd.
OMRON Customer Service Center
4
* We recommend that you use combinations of the above Cables and Connectors.
Part name
Cables
RJ45 Assembly Connectors
Manufacturer
3M Japan Limited
Model
79100-IE4P-F1-YE*
3R104-1110-000AM*
Contact information
3M Japan Limited
* We recommend that you use combinations of the above Cables and Connectors.
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.
Additional Information
If an Ethernet cable of category 5 or higher is used, communications will be possible even if the cable is not shielded. However, we recommend a cable with double, aluminum tape and braided shielding to ensure sufficient noise immunity.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 4-15
4 EtherCAT Network Wiring
Attaching the Connectors to the Cable and Pin Assignments
Use straight wiring to attach the connectors to the communications cable.
Pin No.
1
2
3
4
5
6
7
8
Hood
Wire color
White-Green
Green
White-Orange
Blue
White-Blue
Orange
White-Brown
Brown
Shield
Wire color
White-Green
Green
White-Orange
Blue
White-Blue
Orange
White-Brown
Brown
Shield
Pin No.
1
2
5
6
3
4
7
8
Hood
Note 1.
Connect the cable shield to the connector hood at both ends of the cable.
Note 2.
There are two connection methods for Ethernet: T568A and T568B. The T568A connection method is shown above, but the T568B connection method can also be used.
Connector Specifications
Specification
Electrical characteristics
Connector structure
Description
Conforms to IEEE 802.3 standards.
RJ45 8-pin modular connector (Conforms to ISO 8877.)
Pin Assignments
Pin No.
1
2
3
6
7
4
5
8
Hood
Signal name
Transmission data +
Transmission data −
Reception data +
Not used.
Not used.
Reception data −
Not used.
Not used.
Frame ground
Abbreviation Signal direction
TD+
TD−
RD+
Output
Output
Input
---
---
RD-
---
---
FG
---
---
Input
---
---
---
4-2-3 Connecting Communications Cables
Cable connections can be made freely in EtherCAT networks.
Connect the communications cable from the EtherCAT master to the input port on the first slave, and then connect the communications cable to the next slave to the output port on the first slave.
Do not connect anything to the output port of the slave at the end of the network.
4-16 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
4 EtherCAT Network Wiring
EtherCAT master
L1
Communications cable
Input port
Output port
L2
Slaves
Ln
Do not connect anything
Last slave
The cable between the EtherCAT master and a slave and between any two slaves (L1, L2 ... Ln) must be 100 m or less.
Firmly connect the communications cable connector until it clicks into place.
Precautions for Correct Use
Always perform one of the following operations before you disconnect the communications cable to a EtherCAT slave during operation.
• Disconnect the EtherCAT slave from the network.
• Disable the EtherCAT slaves and all slaves connected after it.
Refer to
9-4 Replacing Slaves during Communications on page 9-26 for information on replac-
ing slaves during operation.
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.
4
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 4-17
4 EtherCAT Network Wiring
4-2-4 Cable Connection Procedure
Precautions for Correct Use
• Turn OFF the Controller's power supply before connecting or disconnecting Ethernet communications cable.
• Allow extra space for the bending radius of the communications cable.
The required space depends on the communications cable, connector, and CPU Unit that are used.
Refer to the NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500) for details on the
NJ-series CPU Unit.
Refer to the NX-series CPU Unit Hardware User's Manual (Cat. No. W535) for details on the
NX701 CPU Unit.
Refer to the NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593) for details on the NX102 CPU Unit.
Refer to the NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578) for details on the NX1P2 CPU Unit.
1
Lay the Ethernet communications cable.
2
Connect the Ethernet communications cable to the built-in EtherCAT port on the NJ/NX-series
CPU Unit. Firmly insert the connector until it locks into place.
Built-in EtherCAT port
RJ45 Modular Connector
CPU Unit
4-18 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5
Setting Up EtherCAT Communications with the Sysmac Studio
This section describes how to set the network configuration information and how to check EtherCAT communications from the Sysmac Studio.
5-1 Overview of Network Configuration Information ........................................ 5-2
5-2 Creating the EtherCAT Network Configuration ........................................... 5-3
5-2-1 Procedure to Create the EtherCAT Network Configuration............................. 5-3
5-3 Setting EtherCAT Slave Variables and Axes................................................ 5-9
Registering Device Variables for All EtherCAT Slaves .................................... 5-9
Axis Settings for Servo Drives and Encoder Input Slaves............................. 5-13
5-4 EtherCAT Master Parameter Settings......................................................... 5-14
EtherCAT Slave Enable/Disable Settings...................................................... 5-25
5-6 Comparing and Merging EtherCAT Network Configurations................... 5-28
5-6-1 Introduction for Comparing and Merging EtherCAT Network Configu-
Operation Procedure for Comparing and Merging EtherCAT Network
When Compare and Merge with Actual Network Configuration
When Slaves on Actual Network Configuration Are Not Displayed............... 5-39
5-7 Automatically Creating the Network Configuration .................................. 5-40
5-9 Downloading the Network Configuration Information from the
5
5-1 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5 Setting Up EtherCAT Communications with the Sysmac Studio
5-1 Overview of Network Configuration
Information
To execute EtherCAT communications, you must create the following three types of data with the Sysmac Studio and download the data to the CPU Unit. When this data is set, the network configuration information is automatically created.
When you download the network configuration information to the CPU Unit, the EtherCAT master initializes slaves and performs process data communications based on the network configuration information.
This section describes the procedures to set the network configuration information and how to check
EtherCAT communications.
Network Configuration Information
Network configuration information
• EtherCAT network configuration
• Process data information
This is allocation information for PDO data in the slaves. It is also called PDO mapping data.
• EtherCAT master and slave parameter settings
(Examples: Fail-soft Operation Setting and Wait Time for Slave Startup)
Sysmac Studio
NJ/NX-series CPU Unit
EtherCAT master
Network Configuration Information
EtherCAT network configuration
EtherCAT Master
Parameter Settings
Process Data Information
Master
Slaves
Fail-soft Operation
Setting
Wait Time for Slave
Startup
Etc.
PDO data for
EtherCAT slaves
PDO data for
Servo Drive slaves
The network configuration information is downloaded.
EtherCAT
5-2 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5 Setting Up EtherCAT Communications with the Sysmac Studio
5-2 Creating the EtherCAT Network Configuration
This section describes how to create the EtherCAT network configuration.
5-2-1 Procedure to Create the EtherCAT Network Configuration
1
Start the Sysmac Studio offline.
2
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
Double-click EtherCAT or rightclick EtherCAT and select Edit .
5
Multi-view Explorer
EtherCAT Master will be displayed in the EtherCAT Tab Page.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 5-3
5 Setting Up EtherCAT Communications with the Sysmac Studio
EtherCAT Tab Page
3
Select a slave in the Toolbox, drag it to the EtherCAT Tab Page, and drop it to the master.
The slave will be added under the master.
Toolbox
5-4
Drag the slaves.
4
Select another slave in the Toolbox, drag it to the EtherCAT Tab Page, and drop it under the slave to which you want to connect it to.
The slave will be added under the slave.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5 Setting Up EtherCAT Communications with the Sysmac Studio
• For detailed procedures, such as those for deleting slaves, or copying and pasting slaves, refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) .
• Refer to the NX-series EtherCAT Coupler Units User’s Manual (Cat. No. W519) and the
Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on creating the
EtherCAT Slave Terminal configuration.
• Refer to MDP Settings for EtherCAT Network Slaves in the Sysmac Studio Version 1
Operation Manual (Cat. No. W504) for information on MDP slaves and editing the configurations of the modules that you can connect to the MDP slaves.
Additional Information
You can go online and read the actual network configuration from the Sysmac Studio to display it and to use it as the network configuration in the project.
For details, refer to 5-7 Automatically Creating the Network Configuration on page 5-40.
5
5-2-2 Cable Redundancy Setting
This section describes the settings for configuring a ring topology.
To configure a ring topology, you must enable the cable redundancy function.
Precautions for Correct Use
Refer to
4-1-3 Ring Topology on page 4-4 for precautions on the specifications and configura-
tions of the ring topology.
The following terms are used to define the states of a ring topology for which the cable redundancy function is enabled.
Term
Cable redundancy status
Ring disconnection status
State of ring topology
A state of the ring topology, in which there is no broken cable and all slaves participate in it, except for disabled slaves.
A state of the ring topology, in which there is only one point of disconnection in the communications cables.
The operation of the cable redundancy function and its setting procedure are described below.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 5-5
5 Setting Up EtherCAT Communications with the Sysmac Studio
Operation of the Cable Redundancy Function
The operation of the cable redundancy function is described below.
• If there is only one point of disconnection in the communications cables in a ring topology and its state changes from the cable redundancy status to the ring disconnection status, a Ring
Disconnection Detected (84390000 hex) event occurs and the state of the communications cables and the point of disconnection are provided in the following system-defined variables.
a) _EC_RingBreaking (Ring Disconnection) b) _EC_RingBreakNodeAdr (Slave Node Address Before Ring Disconnection)
Additional Information
When the observation event level is set for the Ring Disconnection Detected event, even the event occurs, the event is not displayed in current errors. To detect a broken cable in a ring topology, monitor the above system-defined variables with the user program.
If the event level is set to the minor fault and the event occurs, it is displayed on the current errors in the Sysmac Studio.
• When you repair the point of disconnection, for example, by replacing the cables in the ring disconnection status, the topology state automatically changes to cable redundancy status.
Procedure to Set the Cable Redundancy Function
Use the Sysmac Studio and enable the cable redundancy function for a part of the EtherCAT network configuration where you want to set a ring topology.
The procedure to set the GX-JC03 Junction Slave as the originating slave of the ring is described below.
1
In the EtherCAT Tab Page, drop the Junction Slave that becomes the originating slave of the ring, to the master or slave.
Originating slave of the ring
5-6
2
Drop the slave to the start port of the ring X2 that becomes the start point of the ring topology.
The slave is connected to the start port of the ring. If you add more slaves, drop a slave to the connected slave and then connect the slave to the start port of the ring.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5 Setting Up EtherCAT Communications with the Sysmac Studio
Start port of the ring.
Connect the slave to the start port of the ring.
Precautions for Correct Use
Do not connect the slave to the end port of the ring X3 that becomes the end point of the ring topology. You cannot enable the cable redundancy function.
3
In the EtherCAT Tab Page, right-click the originating slave of the ring and select Cable
Redundancy to Enable .
Originating slave of the ring
5
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 5-7
5 Setting Up EtherCAT Communications with the Sysmac Studio
As shown below, "Redundancy" is indicated and double lines are displayed on the location where the cable redundancy is enabled.
5-8 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5 Setting Up EtherCAT Communications with the Sysmac Studio
5-3 Setting EtherCAT Slave Variables and
Axes
Device variables are used to read and write process data for EtherCAT slaves. Axis variables are used to manipulate slaves to which axes are assigned from the Motion Control Function Module. This section describes how to register device variables and set the axes.
5-3-1 Registering Device Variables for All EtherCAT Slaves
You use the I/O Map in the Sysmac Studio to assign device variables to the I/O ports. The device variables that you create are registered in the global variable table.
Use one of the following three methods.
• Selecting variables that were previously registered in a variable table
• Inputting new device variable names.
• Automatically creating device variable names
Selecting Variables That Were Previously Registered in a Variable
Table
You can select variables that are already registered on the menu on the I/O Map Tab Page.
For example, this method can be used to register device variables in the following cases.
• To write the program before the slave configuration information is created.
• To reuse programs from another project.
Use the following procedure.
1
Register the variables in advance in the global variable table or the local variable table of one of the POUs.
2
Program using those variables.
3
Create the slave configuration information.
4
Double-click I/O Map under Configurations and Setup on the Multiview Explorer. Or, rightclick I/O Map under Configurations and Setup and select Edit .
5
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 5-9
5 Setting Up EtherCAT Communications with the Sysmac Studio
5
Select the variables from the pull-down list in the I/O Map Tab Page to assign them to I/O ports.
Select user-defined variables that were previously registered in the global variable table.
5-10
Inputting New Device Variable Names
You can input the required device variable names.
For example, this method can be used to register device variables in the following cases.
• To give suitable names to device variables that are assigned to I/O for I/O slaves.
Use the following procedure.
1
Double-click I/O Map under Configurations and Setup on the Multiview Explorer. Or, rightclick I/O Map under Configurations and Setup and select Edit .
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5 Setting Up EtherCAT Communications with the Sysmac Studio
2
Select the I/O port on the I/O Map Tag Page and enter the variable name in the Variable Column.
5
Device variables are assigned to the I/O ports of the slaves.
3
To specify a variable table for the scope, specify the Variable Type .
Automatically Creating Device Variable Names
The device variable names can be created by combining the device name and the I/O port name.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 5-11
5 Setting Up EtherCAT Communications with the Sysmac Studio
The device names are set in the slave parameters.
The default device names are E followed by a serial number that starts from 001.
For example, this method can be used to register device variables in the following cases.
• To eliminate the work that is involved in obtaining the device variable names.
Use the following procedure.
1
Double-click I/O Map under Configurations and Setup on the Multiview Explorer. Or, rightclick I/O Map under Configurations and Setup and select Edit .
The I/O Map Tab Page will be displayed.
2
Select a slave or I/O ports on the I/O Map Tab Page, right-click, and select Create Device
Variable .
Device variables that were automatically created
5-12
3
If you specify a variable table for the scope, specify the Variable Type afterward.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5 Setting Up EtherCAT Communications with the Sysmac Studio
Device variables are automatically assigned to the I/O ports of the slaves and registered in the variable table that is specified by the Variable Type .
Additional Information
• We recommend that you set the device names.
• To delete the mapping for the variable that is assigned to a port, delete the contents of the cell in the Variable Column or right-click the cell and select Reset Assignment .
The mapping of the device variable is deleted. The variable is not deleted from the variable table.
Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for details on devices variables.
• If you do not specify anything in the Variable Type Column when you register a variable or create device variables, the variables are automatically registered in the global variable table.
5
5-3-2 Axis Settings for Servo Drives and Encoder Input Slaves
To operate slaves that can be assigned to axes in the Motion Control Function Module, you have to make axes settings.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for details on the items and procedures of the axes setting.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 5-13
5 Setting Up EtherCAT Communications with the Sysmac Studio
5-4 EtherCAT Master Parameter Settings
1
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
2
Select the EtherCAT master that is displayed in the Edit Pane.
• For NJ-series CPU Units
• For NX-series CPU Units
5-14
The above screen is for NX102 CPU Units.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5 Setting Up EtherCAT Communications with the Sysmac Studio
The above screen is for NX701 CPU Units.
The EtherCAT master settings are listed below.
Device name
Name
Model name
Product name
Number of Slaves
PDO Communications Cycle
PDO Communications Cycle
PDO Communications Cycle
Not allowed.
Not allowed.
Not allowed.
Not allowed.
Editing
OK
Remarks
Displays the name of the EtherCAT master.
Default setting: Master
Always ”Master.”
Always ”Master.”
The number of slaves is automatically calculated based on the topology.
Display range: 0 to the maximum number of slaves
Not allowed.
Not allowed.
Displays the time of Process Data Communications Cycle.
This is automatically input based on the task period of the primary periodic task.
Display range: 500 to 4,000 μs
Default setting: 1,000 μs
Displays the time of Process Data Communications Cycle 1.
This is automatically input based on the task period of the primary periodic task.
Display range: 125, 250 to 32,000 μs.
Displays the time of Process Data Communications Cycle 2.
This is automatically input based on the task period of the priori-
Display range: 125, 250 to 100,000 μs.
Default setting: 2,000 μs
5
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 5-15
5 Setting Up EtherCAT Communications with the Sysmac Studio
Name
Reference Clock
Total Cable Length
Fail-soft Operation Setting
Wait Time for Slave Startup
Not allowed.
OK
Editing
OK
Remarks
Sets the transmission delay time that is a parameter used to calculate the I/O refresh time.
Selects the transmission delay time for each PDO communications cycle from the following values.
• Estimated result from network configuration setting on Sysmac
Studio
• Calculation result from the measured value in the actual net-
Default setting: Estimated result from network configuration setting on Sysmac Studio
Displays whether the master provides a reference clock.
Exist: The master provides a reference clock.
Not Exist: The master does not provides a reference clock.
OK
OK
PDO Communications Timeout
Detection Count
OK
This is the total cable length, including the cable between the
EtherCAT master and a slave and cables between slaves.
Setting range: 1 to (100 × Maximum number of slaves)
Default setting: 1,000 m
Selects Stop or Fail-soft operation for communications with all slaves on the network when the master detects a communications error (cable disconnection, slave malfunction, etc.).
Default setting: Fail-soft operation
For the operating specifications of the master and slaves with the
Fail-soft Operation Setting when a communications error occurs, refer to Errors in the EtherCAT Master Function Module in the
NJ/NX-series Troubleshooting Manual (Cat. No. W503) . For events that are affected by the Fail-soft Operation Setting, the operating specifications are specified for each set value.
Sets the time to wait from the detection of the link on the Ether-
CAT port until all slaves connect the network.
Setting range: 3 to 200 s
Default setting: 30 s
Process data communications start if all slaves are present within the wait time. If all of the slaves are not present after the wait time elapses, a Network Configuration Verification Error (84220000 hex), Network Configuration Verification Error (Slave
Unconnected) (84380000 hex), Network Configuration
Verification Error (Unnecessary Slave Connected) (84320003 hex), Network Configuration Verification Error (Mismatched
Slave) (84330004 hex), or Network Configuration Verification
Error (Incorrect Ring Wiring) (843A0000 hex) event occurs.
When you use a slave that takes time to start, use a longer wait time setting to prevent errors.
A Process Data Reception Timeout (842B0000 hex) event occurs if process data (PDO) communications timeouts occur continuously more often than the specified number of times.
Set the value to 2 or higher for a slave that needs to be replaced.
Setting range: 1 to 8
Default setting: 2 errors
5-16 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5 Setting Up EtherCAT Communications with the Sysmac Studio
Name
Editing
Remarks
Revision Check Method
Serial Number Check Method
DC Synchronous Correction
OK
OK
OK
Specifies the method to use to verify the revision numbers that are stored in the network configuration information (setting) against the actual revision numbers of the slaves (actual device) at the start of communications.
Communications will not start if there are unverified slaves, and a
Network Configuration Verification Error (84220000 hex) or
Network Configuration Verification Error (Mismatched Slave)
(84330004 hex) event will occur.
Setting values: Setting <= Actual device, Setting = Actual device, or No check
Default setting: Setting <= Actual device
Specifies whether to verify the slave serial numbers that are stored in the network configuration information against the serial numbers that are set in the actual slaves when initiating communications.
Communications will not start if there are unverified slaves, and a
Network Configuration Verification Error (84220000 hex) or
Network Configuration Verification Error (Mismatched Slave)
(84330004 hex) event will occur.
Setting values: Setting = Actual device or No check
Default setting: No check
Specifies whether to use the slave monitoring option during DC
Synchronous Correction which ensures sync jitter accuracy of the
DC time.
If Enable slave monitoring option is selected, the master executes
DC Synchronous Correction while monitoring the DC time of the slave.
Use this setting if a Slave Application Error (84280000 hex) event occurs when the slaves are started.
The error can be prevented if you select Enable slave monitoring option and reconnect the slave. If the error does not occur any more, that means a longer time is required for the startup of all slaves and slave reconnection.
Setting range: Enable, or Disable slave monitoring option
Default setting: Disable slave monitoring option
*1.
slaves.
*2.
Displayed only with the NJ-series CPU Unit.
*3.
Displayed only with the NX-series CPU Unit.
*4.
For the NX102 and NX1P2 CPU Units, the default setting is 2,000 μs.
*5.
When the priority-5 periodic task is not used, "---" is displayed.
*6.
This can be used for project unit version 1.40 or later.
*7.
Calculate the transmission delay time from the measured value in the actual network configuration if the
Process Data Reception Timeout (842B0000 hex) or EtherCAT Frame Not Received (842E0000 hex)
event occurs. Refer to A-4 Setting Transmission Delay Time by Actual Measurement on page A-31 for
how to set the transmission delay time from the measured value in the actual network configuration.
*8.
Exist is displayed with the NX-series CPU Unit, Not Exist is displayed with the NJ-series CPU Unit.
*9.
If the total cable length exceeds the default setting (1,000 m), set an appropriate value for the total cable length.
*10. For project unit version 1.40 or later, this value is 1 to 51200 m.
*11. For project unit version 1.40 or later, the setting range is 1 to 50 errors.
the operation of communications with slaves that are determined by the result of revision number check.
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5
5 Setting Up EtherCAT Communications with the Sysmac Studio
*13. If you enable the cable redundancy in the network configuration, set a value other than No check .
*14. If the set value is Setting = Actual device , communications are not started with a slave, in a network, that is replaced. If it is necessary to replace a slave while the set value is Setting = Actual device , you must correct the network configuration information and transfer it to the EtherCAT master again. Set this parameter to Setting = Actual device only when strict management of the equipment configuration is required.
*15. A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to use this function. However, for project unit version 1.40 or later, this setting is not supported. Select Enable slave monitoring option to use DC Synchronous Correction.
Precautions for Safe Use
• If the Fail-soft Operation Setting parameter is set to Stop , process data communications will stop for all slaves when an EtherCAT communications error is detected in a slave.
The Servo Drive will operate according to the Servo Drive specifications.
Make sure that the Fail-soft Operation parameter setting results in safe operation when a device error occurs.
• If the Revision Check Method is set to No check , parameters are also transferred to slaves with different EtherCAT revisions.
If an incompatible revision of a slave is connected, incorrect parameters may be set and operation may not be correct.
If you set the Revision Check Method to No check , make sure that only compatible slaves are connected before transferring the parameters.
Communications with Slaves Based on the Result of Revision Number
Check
Setting value of Revision Check
Method
Setting <= Actual device
Result of revision number check Communications with slaves
Setting = Actual device
No check
Setting > Actual device
Setting = Actual device
Setting < Actual device
Setting > Actual device
Setting = Actual device
Setting < Actual device
Setting > Actual device
Setting = Actual device
Setting < Actual device
Communications are not possible.
Communications are possible.
Communications are possible.
Communications are not possible.
Communications are possible.
Communications are not possible.
Communications are possible.
Communications are possible.
Communications are possible.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
Additional Information
Network Configuration Verification
The network configuration information is verified against the actual network when the EtherCAT master is started. If an inconsistency is found during verification, a Network Configuration
Verification Error (84220000 hex) or Network Configuration Verification Error (Mismatched
Slave) (84330004 hex) event will occur.
Verified information Required/optional Description
Number of slaves connected Required
Vendor ID Required
Product code
Revision
Required
Optional
Number of slaves in the network
Vendor ID of each slave
Product code of each slave
Revision number of each slave
Serial number
Optional
Serial numbers of all slaves
*1.
Set this by the Revision Check Method and Serial Number Check Method in the EtherCAT master settings. You cannot set this setting for each slave.
5
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5 Setting Up EtherCAT Communications with the Sysmac Studio
5-5 EtherCAT Slave Parameter Settings
1
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
2
Select an EtherCAT slave that is displayed in the EtherCAT Tab Page.
• For NJ-series CPU Units
• For NX-series CPU Units
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5 Setting Up EtherCAT Communications with the Sysmac Studio
The EtherCAT slave settings are listed below.
Device name
Name
Model name
Product name
Revision
PDO Communications Cycle
Node Address
Editing
OK
Remarks
Not allowed.
Not allowed.
Not allowed.
Not allowed.
Displays the name of the slave.
Default setting: E*** (where * is a serial number starting from 001)
The default value is automatically generated based on the node address.
Automatically displays the name of the slave model.
Displays the product name of the slave.
Displays the revision of the slave.
OK
Displays the process data communications cycle assigned for the slave.
Either of the following values is displayed.
• PDO Communications Cycle 1
Communications cycle is the task period of the primary periodic task.
• PDO Communications Cycle 2
Communications cycle is the task period of the priority-5 periodic task.
Sets the node address.
The default value is set automatically when a slave is added.
Setting range: Settable node address range
5
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5 Setting Up EtherCAT Communications with the Sysmac Studio
Name
Enable/Disable Settings
Serial Number
PDO Map Settings
Enable Distributed Clock
Reference Clock
Editing
OK
Remarks
Not allowed.
OK
OK
Not allowed.
Enables or disables the slave as a communications target.
• Enabled: The slave will operate.
• Disabled: The slave will not operate.
Set the following slaves as disabled slaves: slaves that are not installed on the physical EtherCAT network but are scheduled for addition at a later date or slaves that not used due to changes in the device configuration during system operation.
Even for disabled slaves, process data allocations can be set and used as system-defined variables and device variables in the user program.
Default setting: Enabled
Displays the serial number of the slave.
Default: 0x00000000 (when offline)
The value is updated to the serial number of the physical slave when you select Get Slave Serial Numbers from the menu for the master.
A Network Configuration Verification Error (84220000 hex) or
Network Configuration Verification Error (Mismatched Slave)
(84330004 hex) event occurs if the serial number on the Sysmac
Studio and the serial number of the physical slave do not agree when the Serial Number Check Method in the master settings is set to Setting = Actual device .
Refer to
cess the serial number of the physical slave.
Default allocations of process data for slaves are provided by the
Sysmac Studio.
When the network configuration is created, device variables are automatically created in the initial process data allocations. You can read and write these process data allocations as device variables from the user program.
When valid PDOs are present, a list of them is displayed.
When valid PDOs are not present, "---" is displayed.
If editing the process data allocations is required, click the Edit
PDO Map Settings
Button at the bottom of the list. Refer to
5-5-1 Changing the PDO Map Settings on page 5-23 for details.
If a slave provides a distributed clock, Enabled is displayed.
If a slave provides a distribute clock which allows disable setting, either Enabled or Disabled is displayed. You can select enabling or disabling the clock.
If the distributed clock is enabled, you can select the synchronization timing (Sync0 or Sync1) for some slaves. If Sync0 is selected,
Enabled (DC Sync0) is displayed.
If a slave does not provide a distributed clock, "---" is displayed.
Displays whether the slave provides a reference clock.
Exist is displayed if the slave provides a reference clock.
Not exist is displayed if the slave does not provide a reference clock.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
Name
Editing
OK
Remarks
Setting Parameters
Backup Parameter Settings OK
If a slave has an initial parameter setting function, Setting is displayed.
If a slave does not have an initial parameter setting function, "---" is displayed.
To edit the settings, click the Edit Setting Parameters Button.
If a slave has a backup parameter setting function, Setting is displayed.
If a slave does not have a backup parameter setting function, "---" is displayed.
To edit the settings, click the Edit Backup Parameter Settings Button.
*1.
Displayed only with the NX-series CPU Unit.
*2.
range.
*3.
Network errors do not occur even if disabled slaves are not present on the EtherCAT network. You can use them to prepare for future system expansions or operate without them for the current system. You can execute a special instruction to enable a disabled slave during system operation. You can also execute the special instruction to disable a slave during system operation.
*4.
With the NJ-series CPU Unit, if you configure the system to connect the EtherCAT Junction Slave and to synchronize the slaves that have an enabled distributed clock, there must be a slave that provides a reference clock between the Master and the first EtherCAT Junction Slave. Or, the first EtherCAT Junction Slave must provide a reference clock.
5-5-1 Changing the PDO Map Settings
Default allocations of process data for slaves are defined in the ESI files.
Depending on the slave, you may have to change the process data assignment as required by the application.
The operations on the Sysmac Studio is shown as follows.
1
Select the slave for which to change the allocated data. The parameters and allocated data for the slave will appear.
5
Slave parameters
Allocated data
Slave parameters
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5 Setting Up EtherCAT Communications with the Sysmac Studio
2
Click the Edit PDO Map Settings Button at the lower right of the allocated data in the pane.
The Edit PDO Map Settings Window will appear. Edit the allocated data as required.
5-24
3
Select the output data (RxPDO) and input data (TxPDO) in the PDO Map .
You can add or delete the PDOs with Editable Flags as entries for the objects to use for the
slaves. Refer to A-3-4 Editing PDO Entry Tables on page A-21 for details.
4
Click the OK Button.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
5-5-2 EtherCAT Slave Enable/Disable Settings
You can temporarily stop and start process data communications with a specified EtherCAT slave without stopping the entire communications system. When an EtherCAT slave is disabled, only message communications can be performed. Use the Sysmac Studio or the instruction in the user program to enable or disable EtherCAT slaves.
Version Information
A CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher are required to disable EtherCAT slaves with the special instruction.
Precautions for Correct Use
• If an EtherCAT slave is enabled with the EC_ChangeEnableSetting (Enable/Disable Ether-
CAT Slave) instruction, check the element of the EtherCAT slave that will be enabled is TRUE in the _EC_EntrySlavTbl[] (Network Connected Slave Table) system-defined variable.
• If the cable redundancy setting is enabled, you cannot use the EC_ChangeEnableSetting
(Enable/Disable EtherCAT Slave) instruction to enable or disable the EtherCAT slave in the ring topology. You can set to enable or disable EtherCAT slaves from the Sysmac Studio.
Relation between EtherCAT Slave Status and Enable/Disable Instruction
Settings
The following table gives the results after instruction execution with the EC_ChangeEnableSetting
(Enable/Disable EtherCAT Slave) instruction for the EtherCAT slave status.
EtherCAT slave status before instruction exe-
Enable cution
Disabled with physical slaves
Disabled with no physical slave
Enable with disconnected
Instruction setting
Enable
Disable
Enable
Disable
Enable
Disable
Enable
Disable
Result after instruction execution
Instruction execution result
Normal end
EtherCAT slave enabled/disabled status
Error end
Enabled (not changed)
Disabled
Enabled
Disabled (not changed)
Disabled (not changed)
Enabled (not changed)
*1.
You cannot use the instruction to disable or enable the slave if it is disconnected or in an error state.
Execute a reconnection command or an error reset to the slave before you execute the instruction.
Precautions for Correct Use
If you use the special instruction to change the enable/disable setting of a slave, turning OFF the power supply to the master will discard the change and revert the setting to those set from
Sysmac Studio. To retain the changed setting, you must change the setting from the Sysmac
Studio and then transfer the network configuration information to the CPU Unit.
Relation between Changes in the Enable/Disable Setting and I/O Operations
The I/O operations that occur for changes in the enable/disable settings of an EtherCAT slave are given in the following table.
5
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5 Setting Up EtherCAT Communications with the Sysmac Studio
Change in status
Disabled slaves after turning ON the power supply or transferring the
EtherCAT network configuration information
Slaves changed from disabled to enabled
Slaves changed from enabled to disabled
Inputs
Input refresh values
Device variable values
Input refreshing is performed but not applied to the device variables.
Input refreshing is performed.
Input refreshing is performed but not applied to the device variables.
0 or FALSE
Input refresh values are applied.
The values from before the status of the slave was changed are retained.
Device variable values
Depends on results of user program execution.
Outputs
Depends on results of user program execution.
Depends on results of user program execution.
Output refresh values
Output refreshing is not performed.
The values of the device variables are output.
Depends on the settings of the slave and on slave models.
With GX-series
EtherCAT Slaves, a value is output according to the Error
Mode Output setting on each slave.
Precautions for Correct Use
To access the I/O devices variable values of a slave after you disable or enable the slave, you
Relation between Operation and the Slave Information at a Disabled Slave
If the actual network configuration has a slave in a position of a slave set to Disable (or disabled slave), the slave operation depends on the slave information. The operation differs by the result of comparison between the slave information of the disabled slave and the slave information of the slave on the actual network configuration. The table below gives the operation of the disabled slave.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
Slave information
Node address
Same
Different
Vendor ID/
Product code
Same
Different
Same
Different
Message communications
Performed
Not performed
Operation for disabled slave
Process data communications
Error
Backup, restore, and compare operations
Performed Not performed Normal operation (no error)
A Network
Configuration
Verification
Error
(84220000 hex) or Network
Configuration
Verification
Error
(Mismatched
Slave)
(84330004 hex) event occurs.
Not performed
5
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5 Setting Up EtherCAT Communications with the Sysmac Studio
5-6 Comparing and Merging EtherCAT
Network Configurations
5-6-1 Introduction for Comparing and Merging EtherCAT Network
Configurations
Use the Sysmac Studio to compare the network configuration information settings in the Sysmac Studio with the actual network configuration that is connected, including branch locations of a branching topology.
The following items are compared.
• Node Addresses
• Vendor IDs
• Product codes
• Revisions
• Connection ports
If the settings in the Sysmac Studio and the actual network configuration match completely, it is possible to identify the locations of errors when they occur.
If differences are shown in the comparison results, merge the configurations from the Sysmac Studio.
Network Configuration Settings on the Sysmac Studio
#09 (Junction Slave)
Out1 Out2 Out3
Actual Network Configuration
That Is Connected
#09 (Junction Slave)
Out1 Out2 Out3
#10 #13 #15
#14
#15 #13 #10
#11 #14 #11
#12
#12
The output port numbers for the branches do not match the node addresses for the connected slaves. In this example, the settings on the Sysmac Studio and the slaves connected to Out1 and
Out3 on node #09 in the actual network configuration do not match.
Input port Output port “#” indicates a node address.
5-6-2 Operation Procedure for Comparing and Merging EtherCAT Network Configurations
Use the following procedure to compare and merge the network configuration settings on the Sysmac
Studio and the actual network configuration.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
1
Start the Sysmac Studio and go online with the Controller.
2
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
The EtherCAT Tab Page is displayed.
3
Right-click the EtherCAT master that is displayed in the EtherCAT Tab Page and select
Compare and Merge with Actual Network Configuration .
5
The Compare and Merge with Actual Network Configuration Dialog Box is displayed. The results of comparing the settings on the Sysmac Studio with the actual network configuration are displayed in the Comparison results Column.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
5-30
4
If there is a slave that exists only on the actual network configuration, Added is displayed in the Comparison results Column. Drag the slave in the Actual network configuration to the
Network configuration on Sysmac Studio and drop it.
Drag and drop
After you drag and drop the missing slaves and add them to the Network configuration on
Sysmac Studio , the Comparison results Column will show that everything in the configurations matches.
5
Click the Close Button.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
The Sysmac Studio returns to the EtherCAT Tab Page. This completes the operation to compare and merge with the actual network configuration.
Removed is displayed in the Comparison results Column for a slaves that exist only in the settings on the Sysmac Studio. The following example shows a case where a node address is different in the settings on the Sysmac Studio and in the actual network configuration. As a result, Added and Removed are displayed in the Comparison results Column.
5
Here, either correct the node address in the network configuration on the Sysmac Studio or the node address in the physical slave in the actual network configuration, and then repeat the compare and merge operation to confirm that the configurations are the same.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
Additional Information
• In the following cases, the Compare and Merge with Actual Network Configuration Dialog
Box is not displayed. Refer to
5-6-3 When Compare and Merge with Actual Network
Configuration Dialog Box Is Not Displayed on page 5-32 to remove the cause of the error,
and perform the compare and merge operation.
a) The slave node address settings are not correct on the actual network.
b) The communications cable is not wired correctly.
c) More than the maximum number of slaves are connected.
In addition, if an EtherCAT Frame Not Received (842E0000 hex) event occurs, refer to the
NJ/NX-series Troubleshooting Manual (Cat. No. W503) to remove the cause of the error, and perform the compare and merge operation.
• After you execute the Compare and Merge with Actual Network Configuration and even several tens of seconds has passed, if slaves that are connected on the actual network configuration are not displayed in the Compare and Merge with Actual Network Configuration
Dialog Box, refer to
tion.
• After the operation to compare and merge with the actual network configuration is completed,
• When the compare and merge operation is executed for the actual network configuration, the synchronization between the Sysmac Studio and the Controller is lost. Synchronize the Sysmac Studio and Controller before you perform any online operations for the slaves.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on synchronization.
• For project unit version 1.40 or later, if the synchronization between the Sysmac Studio and the Controller is inconsistent, you may not be able to obtain the module configuration information on MDP-compatible slaves. Refer to
A-3-5 Settings for MDP-compatible Slaves from
Other Manufacturers on page A-27 for information on MDP-compatible slaves.
If you failed to obtain the module configuration information for MDP-compatible slaves, you can obtain the information by the following steps.
1. Set the Module config send method parameter for the MDP-compatible slaves to Do not send and perform synchronous transfer.
2. Perform the compare and merge operation.
5-6-3 When Compare and Merge with Actual Network Configuration
Dialog Box Is Not Displayed
If comparison between the network configuration on the Sysmac Studio and the actual network configuration cannot be preformed, an error message is displayed. Take appropriate measures according to the displayed error message and then compare the network configuration on the Sysmac Studio and the actual network configuration again.
When Slave Node Address Settings Are Not Correct
If the slave node address settings are not correct, the following error message is displayed. Write the slave node addresses or reset the node addresses using the hardware switches for the slaves displayed in the message, and then compare the network configuration on the Sysmac Studio and the
ware switches.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
Version Information
Sysmac Studio version 1.22 or higher is required to show the list of the incorrect settings of slave node address.
When Communications Cables Are Not Wired Correctly
If the communications cables are not wired correctly, an error message that is indicated the incorrect wiring is displayed. Correct the wiring for communications cables and then compare the network configuration on the Sysmac Studio and the actual network configuration again.
Version Information
Sysmac Studio version 1.29 or higher is required to use the function to display incorrect wiring in a ring topology.
There are following cases weather you can identify incorrect wiring points of communications cables.
When You Can Identify Incorrect Wiring Points of Communications Cables
The following dialog box is displayed, and any incorrect wiring point in the list is indicated with an exclamation mark ( ).
In addition, in the error cause and correction area, an error message is displayed depending on the error cause.
Error cause and correction area
5
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5 Setting Up EtherCAT Communications with the Sysmac Studio
The error message and correction for each error cause are described below.
• Error cause 1: Output ports are connected to each other between slaves outside the ring topology.
GX-JC03
Junction Slave
GX-JC03
Junction Slave
Ring topology
IN
X2
X3
IN
X2
X3
Slave
The output ports are connected to each other.
Slave
Slave
GX-JC03
Junction Slave
The output ports are connected to each other.
IN
X2
X3
Slave
Input port
Output port
The following error message is displayed.
Correct the error as follows.
Review the wiring to connect the output port of the slave indicated in the list to the input port of the destination slave.
• Error cause 2: There is a broken or unconnected cable in the ring topology.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
GX-JC03
Junction Slave
IN
X2
X3
The output ports are connected to each other.
Ring topology
Slave
Slave
Broken or unconnected cable
Input port
Output port
The following error message is displayed.
Correct the error as follows.
If you configure a ring topology, replace the broken cable or make other wiring corrections. If you do not configure a ring topology, review the wiring to the X3 port of the Junction Slave so that output ports are not connected to each other.
When You Cannot Identify Incorrect Wiring Points of Communications Cables
The following error message is displayed.
5
The correction for each cause of incorrect wiring is described as follows.
• Cause 1 of incorrect wiring: There is more than one ring topology.
Check that there is one ring topology.
You can configure a ring topology in only one location.
In the example below, there are two ring topologies in the actual network configuration. Disconnect cable (A) or (B) that connects output ports to each other to have only one ring topology.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
GX-JC03
Junction Slave
IN
X2
X3
Ring topology
IN
X2
X3
GX-JC03
Junction Slave
IN
X2
GX-JC03
Junction Slave
X3
(B)
Slave
Ring topology
Slave
Slave
(A)
Slave
Input port
Output port
• Cause 2 of incorrect wiring: A ring topology is configured, but the Junction Slave that cannot be used for the originating slave of the ring is used.
For the collection, if you configure a ring topology, check that the GX-JC03 Junction Slave is used for the originating slave of the ring. If you do not configure a ring topology, review the wiring so that output ports are not connected to each other.
In the example below, if you configure a ring topology, change the GX-JC06 Junction Slave to the GX-JC03 Junction Slave, and then reconnect the cable that is currently connected to X5 and
X6 of the Junction Slave to X2 and X3, respectively. If you do not configure a ring topology, remove the cable that is connected to X6 or connect the cable that is connected to X6 to the input port of the Slave #2.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
GX-JC06
Junction Slave
X4
X5
X6
Originating slave of the ring
Ring topology
Slave #1
Slave #2
Input port
Output port
• Cause 3 of incorrect wiring: The wiring for the start port of the ring and the wiring for the end port of the ring are reversed.
Check that the wiring for the start port of the ring and the wiring for the end port of the ring are not replaced each other.
In the example below, reconnect the cables that are currently connected to X2 and X3 of the
Junction Slave to X3 and X2, respectively.
Start port of the ring
GX-JC03
Junction Slave
IN
End port of the ring
X2
X3
Replace the wiring for the start port of the ring and the wiring for the end port of the ring
Slave
5
Slave
Input port
Output port
• Cause 4 of incorrect wiring: If a Junction Slave is connected in a ring topology, the output port to which the slave immediately after the Junction Slave is connected is not the last port of the Junction Slave.
Review the wiring so that the last port is used for the output port of the Junction Slave in the ring topology.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
In the example below, the cable that is currently connected to X2 is changed to connect to X3 because the last port of the GX-JC03 Junction Slave in the ring topology is X3. Connect the cable that is currently connected to X3 for the drop line from the ring, to X2.
GX-JC03
Junction Slave
Ring topology
Slave
GX-JC03
Junction Slave
IN
X2
X3
Last port
Drop line from the ring
Slave
Slave
Slave immediately after the Junction Slave
Input port
Output port
When More Than the Maximum Number of Slaves Are Connected
If more than the maximum number of slaves are connected in the actual network configuration, the following error message is displayed. Review the network configuration so that the maximum number
maximum number of slaves.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
5-6-4 When Slaves on Actual Network Configuration Are Not Displayed
After you perform the Compare and Merge with Actual Network Configuration , slaves that are actually connected may not be displayed in the Actual network configuration display area in the
Compare and Merge with Actual Network Configuration Dialog Box shown below.
Actual network configuration display area
The cause of which the slaves are not displayed and its collection are described as follows.
• Cause: Output ports are connected to each other between slaves in the ring topology.
Review the wiring between slaves in the ring topology so that output ports are not connected to each other.
In the example below, Slave #2 is not displayed in the Actual network configuration display area because output ports are connected to each other between Slave #1 and Slave #2. For the correction, the connections for the input port and output port of the Slave #2 are replaced.
GX-JC03
Junction Slave
Ring topology
Slave #1
X2
X3
Slave that is not displayed in the Actual network configuration display area
Slave #2
5
The output ports are connected to each other.
Input port
Output port
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5 Setting Up EtherCAT Communications with the Sysmac Studio
5-7 Automatically Creating the Network
Configuration
Instead of manually setting the network configuration offline, you can also automatically create the network configuration on the Sysmac Studio based on the actual network configuration.
Use the following procedure to automatically duplicate the network configuration on the Sysmac Studio.
1
Start the Sysmac Studio and go online with the Controller.
2
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
3
Right-click the EtherCAT master that is displayed in the EtherCAT Tab Page and select
Compare and Merge with Actual Network Configuration .
5-40
The Compare and Merge with Actual Network Configuration Dialog Box is displayed.
4
Click the Apply actual network configuration Button.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
5 Setting Up EtherCAT Communications with the Sysmac Studio
The configuration in the Actual network configuration is duplicated in the Network configuration on Sysmac Studio , and the Comparison results Column shows that everything in the configurations matches. (The network configuration on the Sysmac Studio is created based on the actual network configuration.)
5
Click the Close Button.
5
6
Go offline, and then assign device variables, set the axis parameters, set up the tasks, and set the master and slave parameters.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 5-41
5 Setting Up EtherCAT Communications with the Sysmac Studio
Additional Information
• In the following cases, the Compare and Merge with Actual Network Configuration Dialog
Box is not displayed. Refer to
5-6-3 When Compare and Merge with Actual Network
Configuration Dialog Box Is Not Displayed on page 5-32 to remove the cause of the error,
and perform the compare and merge operation.
a) The slave node address settings are not correct on the actual network.
b) The communications cable is not wired correctly.
c) More than the maximum number of slaves are connected.
In addition, if an EtherCAT Frame Not Received (842E0000 hex) event occurs, refer to the
NJ/NX-series Troubleshooting Manual (Cat. No. W503) to remove the cause of the error, and perform the compare and merge operation.
• After you execute the Compare and Merge with Actual Network Configuration and even several tens of seconds has passed, if slaves that are connected on the actual network configuration are not displayed in the Compare and Merge with Actual Network Configuration
Dialog Box, refer to
tion.
• Even if you have previously set them on the Sysmac Studio, the following configuration and settings are discarded when you automatically create the network configuration on the Sysmac Studio based on the actual network configuration: network configuration, master settings, and any slave settings (including disable settings, PDO map settings, setting parameter settings, backup parameter settings, device variable assignments in the I/O map, slave assignments to Axes Variables registered in the axis settings, and task settings to control slaves that are registered in the task settings).
To merge the actual network configuration information without losing the current settings in the Sysmac Studio, use the compare and merge operation to create the network configura-
• After automatically creating the network configuration, if there is a ring topology in the net-
work configuration on the Sysmac Studio, refer to Components of the Ring Topology on page
4-5 to check that the appropriate slaves are connected.
• When the compare and merge operation is executed for the actual network configuration, the synchronization between the Sysmac Studio and the Controller is lost. Synchronize the Sysmac Studio and the Controller before you perform any online operations for the slaves. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on synchronization.
• For project unit version 1.40 or later, if the synchronization between the Sysmac Studio and the Controller is inconsistent, you may not be able to obtain the module configuration information on MDP-compatible slaves. Refer to
A-3-5 Settings for MDP-compatible Slaves from
Other Manufacturers on page A-27 for information on MDP-compatible slaves.
If you failed to obtain the module configuration information for MDP-compatible slaves, you can obtain the information by the following steps.
1. Set the Module config send method parameter for the MDP-compatible slaves to Do not send and perform synchronous transfer.
2. Perform the compare and merge operation.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
5-8 Using the Sysmac Studio to Obtain
Serial Numbers from the Actual Network Configuration
If the Serial Number Check Method in the EtherCAT master settings is set to Setting = Actual device , you must download the network configuration information in which the slave serial numbers are set to the CPU Unit.
Use the following procedure to get the serial numbers of the physical slaves and apply them as the serial numbers of the slaves in the settings on the Sysmac Studio.
1
Start the Sysmac Studio and go online with the Controller.
2
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
5
3
Right-click the EtherCAT master that is displayed in the EtherCAT Tab Page and select Get
Slave Serial Numbers .
The serial numbers of the physical slaves are saved as the serial numbers in the slave settings on the Sysmac Studio.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
Additional Information
• Make sure that the communications cables between the master and slaves are connected correctly before you perform this operation. You cannot get the serial numbers of the slaves unless the connections are correct.
• You cannot get the serial numbers of the slaves if there is a slave in the actual network configuration for which the node address is not set or if the same address is set for more than one slave in the actual network configuration. Make sure that node addresses are set correctly for the slaves in the actual network configuration before you perform this operation.
• You cannot get the serial numbers of the slaves unless the Compare and Merge with Actual
Network Configuration Dialog Box shows that the entire slave configurations agree. Make sure that the Compare and Merge with Actual Network Configuration Dialog Box shows that the entire slave configurations agree before you perform this operation.
However, you can get the serial numbers of the slaves even if the entire slave configurations do not agree if there are slaves in the Sysmac Studio settings that are disabled.
• If you get the serial numbers of the slaves when there are disabled slaves that do not exist in the actual network configuration, the serial numbers of the disabled slaves will be cleared to
0x00000000 in the settings on the Sysmac Studio.
If the disabled slaves exist in the actual network configuration, the serial numbers of the slaves in the actual network configuration are saved in the settings on the Sysmac Studio.
• Any serial numbers that are set for slaves in the settings on the Sysmac Studio are overwritten when the serial numbers are obtained from the actual network configuration. Make sure that it is OK to overwrite the serial numbers on the Sysmac Studio before you perform this operation.
• When you get the serial numbers from the slaves on the actual network configuration, the synchronization between the Sysmac Studio and the Controller is lost. Synchronize the Sysmac Studio and Controller before you perform any online operations for the slaves. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on synchronization.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
5-9 Downloading the Network Configuration Information from the Sysmac
Studio
You must download the network configuration information in the project from the Sysmac Studio to the
NJ/NX-series CPU Unit.
Use the synchronize operation to download the network configuration information.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on synchronization.
Precautions for Safe Use
After you transfer the user program, the CPU Unit is restarted and communications with the
EtherCAT slaves are cut off. During that period, the slave outputs behave according to the slave specifications. The time that communications are cut off depends on the EtherCAT network configuration.
Before you transfer the user program, confirm that the system will not be adversely affected.
Precautions for Correct Use
If a Link OFF Error (84200000 hex) event occurs, remove the cause of the error and retry downloading the network configuration information after the error is reset.
1
Go online and select Synchronization from the Controller Menu.
5
The Synchronization Window is displayed.
2
Click the Transfer to Controller Button.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 5-45
5 Setting Up EtherCAT Communications with the Sysmac Studio
The network configuration information is transferred from the Sysmac Studio to the Controller.
Additional Information
The backup parameters of EtherCAT slaves are out of the scope of synchronization and are not transferred to the slaves for the default settings.
To transfer the backup parameters, clear the selection of the Do not transfer Special Unit parameters and backup parameters of EtherCAT slaves (out of synchronization scope).
Check Box in the Synchronization Window before you click the Transfer To Controller Button.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
5-10 Confirming Communications after
Completing EtherCAT Configuration and Settings
If normal network configuration information is downloaded to the CPU Unit, EtherCAT communications start automatically regardless of the operating mode of the CPU Unit.
After the start of EtherCAT communications, check the process data communications status to ensure that process data communications are performed normally between the EtherCAT master and all
EtherCAT slaves.
Checking the Process Data Communications Status
Use one of the following methods to check the process data communications status.
• Controller status monitor of the Sysmac Studio
• System-defined variable
• Indicator
The contents of checking the process data communications status using these methods are given below.
Controller Status Monitor of the Sysmac Studio
On the detailed view of the Controller status monitor, check the item for EtherCAT Process Data
Communications . If the item for EtherCAT Process Data Communications is Communicating , process data communications are performed normally. Refer to the Sysmac Studio Version 1
Operation Manual (Cat. No. W504) for how to display the Controller status monitor of the Sysmac
Studio.
System-defined Variable
Check the _EC_PDActive (Process Data Communications Status) system-defined variable in the user program. If _EC_PDActive is TRUE, process data communications are performed normally.
Indicator
EtherCAT communications are in Operational state (process data communications are performed normally) if the EtherCAT NET RUN indicator on the front of the NJ/NX-series CPU Unit is lit green.
5
Checking and Correction Methods if Process Data Communications are not Performed Normally
If process data communications are not performed normally, check the event log in the Sysmac Studio and take suitable measures. Refer to Error Tables in Errors in the EtherCAT Master Function Module in the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for event logs.
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5 Setting Up EtherCAT Communications with the Sysmac Studio
Precautions for Safe Use
• EtherCAT communications are not always established immediately after the power supply is turned ON. Use the system-defined variable in the user program to confirm that communications are established before you attempt to control device variables and Axis Variables.
• After you change any EtherCAT slave or Special Unit settings, carefully check the safety of the controlled system before you restart the Unit.
Precautions for Correct Use
• When you change the EtherCAT slave configuration and reconfigure the axis allocation settings, you must download the network configuration information again.
• If network configuration information is not downloaded to the Controller, the EtherCAT master will not perform process data communications. Because of this, notification of errors will not occur. The EtherCAT communications will be in the Init state (where both process data communications and SDO communications are disabled).
Checking the EtherCAT Network Line Quality
If you need to confirm that the network was correctly installed after configuring an EtherCAT network, diagnose the EtherCAT network line quality. For how to diagnose the EtherCAT network line quality,
refer to 9-2-4 Diagnostic and Statistical Information on page 9-3.
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6
Process Data Communications and SDO Communications
This section describes the timing of communications, response times, and special instructions for process data communications and SDO communications. It also provides sample programming.
6-1 Process Data Communications (PDO Communications)........................... 6-2
Allocated Variables for Process Data Communications .................................. 6-2
Process Data Communications Refresh Timing.............................................. 6-3
System Response Time in Process Data Communications ...........................6-11
Execution Timing of SDO Communications .................................................. 6-21
Minimum Message Response Time for SDO Communications .................... 6-21
6-3 Instructions Used in EtherCAT Communications ..................................... 6-25
6
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 6-1
6 Process Data Communications and SDO Communications
6-1 Process Data Communications (PDO
Communications)
Process data communications cyclically exchanges data between the master and slaves in the process data communications cycle (i.e., the task period of primary periodic task or priority-5 periodic task).
From the user program in the NJ/NX-series CPU Unit, slave data is accessed through allocated variables.
Additional Information
You can use the priority-5 periodic task only with NX701 CPU Units.
6-1-1 Allocated Variables for Process Data Communications
The variables that are allocated depend on the slave type as shown in the following table.
Slave type Allocated variables Operation screen in Sysmac Studio
EtherCAT slaves which are not assigned to axes Device Variables
EtherCAT slaves which are assigned to axes Axis Variables
I/O Map
Axis Settings
Allocated variables are specified for parameters of instructions in the user program.
Device Variables
The user program in an NJ/NX-series CPU Unit can read and write EtherCAT slave process data that is not assigned to axes through device variables. (The slave process data is I/O data that is exchanged between the master and slaves in each period.)
NJ/NX-series CPU Unit
User program
Reading and writing
Device variables
Slave
Process data
EtherCAT
Slave
Process data
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6 Process Data Communications and SDO Communications
Axis Variables
Servo Drives and encoder input slaves that are assigned to axes on EtherCAT can be controlled by specifying Axis Variables (structures) as parameters for motion control instruction in-out variables.
Axis Variables (structures) consist of the following data.
• Parameters: Maximum acceleration rate, software limits, etc.
• I/O: Home proximity input, Servo ON, etc.
• Operating status: Accelerating, waiting for in-position state, etc.
• Error and warning status: Excessive following error, acceleration error, etc.
NJ/NX-series CPU Unit
User program
Reading, writing, and commands
Axis Variables (structures)
EtherCAT
Servo Drive/encoder input slave
Process data
Process data
Process data
Process data
Process data
Process data
Servo Drive/encoder input slave
6
6-1-2 Process Data Communications Refresh Timing
The process data communications cycle is the same as the task period of the primary periodic task or the priority-5 periodic task for sequence control. It is also the same as the motion control period.
The control periods between each function module and between the function module and the slave are shown as follows.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 6-3
6 Process Data Communications and SDO Communications
NJ/NX-series CPU Unit
PLC Function Module
Execution of user program
Instruction
Device variables
Motion control instruction
Axes variables
Motion
Control
Function
Module
Axes variables
EtherCAT
Master
Function
Module
EtherCAT communications
Slave
Processing in slave
Data refresh cycle in slave
(depends on the slave)
6-4
Sequence control period
(Task period of primary periodic
task or priority-5 or priority-16
periodic task)
Motion control period
(Task period of primary periodic
task or priority-5 periodic task)
Process data communications cycle
(EtherCAT data transmission cycle)
This is the same as the task period of
primary periodic task or priority-5
periodic task.
Task period of primary periodic task or priority-5 periodic task = Motion control period = Process data communications cycle
Precautions for Correct Use
• You can use the priority-5 periodic task only with NX701 CPU Units.
• With an NX701 CPU Unit, you can perform process data communications separately in each task period of the primary periodic task and the priority-5 periodic task. If these two process data communications cycles must be distinguished, the cycle for the primary periodic task is called process data communications cycle 1 and the cycle for the priority-5 periodic task is called process data communications cycle 2.
• With an NX701 CPU Unit, you can execute motion control in the primary periodic task and in the priority-5 periodic task. If these two motion controls must be distinguished, the one executed by the primary periodic task is called motion control 1 and the other executed by the priority-5 periodic task is called motion control 2.
• The NX102 and NX1P2 CPU Units and NJ-series CPU Units perform process data communications only in the primary periodic task.
Relationship Between Process Data Communications Cycle and
Task Setting
The process data communications cycles of the primary periodic task and priority-5 periodic task are synchronized with the task period of the task to which I/O refreshing is assigned for each EtherCAT slave.
Assigning I/O refreshing to tasks, setting procedure on Sysmac Studio, and I/O refreshing timing are shown as follows.
Assigning I/O Refreshing to Tasks
I/O refreshing of the EtherCAT slaves is assigned to the tasks.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
Tasks to which assignment is possible and unit of assignment are different depending on the I/O refreshing target. Unit of assignment refers to a target or a group of targets for I/O refreshing that can be assigned to one I/O controlling task. For example, when the unit of assignment is Slave Terminal, you can assign I/O refreshing to only one task even if more than one NX Unit is connected to a Communications Coupler Unit.
The following table shows the relationship among the I/O refreshing target, the assignable task, and the unit of assignment.
Unit of assignment
Slave Terminal
I/O refreshing target
Communications Coupler Unit with an NX Unit assigned to an axis on the
Slave Terminal
Communications Coupler Unit without an NX Unit assigned to an axis on the
Slave Terminal
EtherCAT slaves to which axes are assigned
Assignable task
Primary periodic task or priority-5 periodic task
Primary periodic task or priority-5 and priority-16 periodic tasks
Other EtherCAT slaves
Primary periodic task or priority-5 periodic task
Primary periodic task or priority-5 and priority-16 periodic tasks
*1.
You can use the priority-5 periodic task only with NX701 CPU Units.
Slave
Sysmac Studio Setting Procedure
For the slaves and Units that are not assigned to axes, set the tasks in which to perform I/O refreshing in I/O Control Task Settings under Configuration and Setup - Task Settings of the Sysmac Studio.
Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for details.
For the slaves and Units that are assigned to axes, specify the motion controls to use in Motion
Control Setup under Confugurations and Setup of the Sysmac Studio. The tasks to perform I/O refreshing are set.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for details.
Timing of I/O Refreshing
The table below shows when I/O is refreshed for each type of EtherCAT slaves.
Task that controls I/O
Primary periodic task
Priority-16 periodic task
Execution period of I/O refreshing
Task period of the primary periodic task
Task period of the priority-5 periodic task
Task period of the primary periodic task
*1.
Refer to relevant manuals for each slave to check if the I/O refreshing period agrees with the communications cycle supported with the slave. An error occurs if you use the Sysmac Studio to set the I/O refreshing timing to a communications cycle that is not supported with the slave. The error occurs only with the OMRON synced slaves.
*2.
You can use the priority-5 periodic task only with NX701 CPU Units.
*3.
EtherCAT communications is executed during I/O refreshing in the primary periodic task. If the priority-16 periodic task is used to control EtherCAT slaves, data will be refreshed by I/O refreshing in the task period of the priority-16 periodic task.
Relationship between tasks to execute I/O refreshing, process data communications cycle, and motion control is shown as follows.
6
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6 Process Data Communications and SDO Communications
• NX701 CPU Units
Task to execute I/O refreshing
Primary periodic task
Priority-5 periodic task
Process data communications cycle
Process data communications cycle 1
Process data communications cycle 2
Motion control
Motion control 1
Motion control 2
• NX102 and NX1P2 CPU Units and NJ-series CPU Units
Task to execute I/O refreshing
Primary periodic task
Process data communications cycle
Process data communications cycle
Motion control
Motion control
Restrictions for Multiple Communications Cycles
With an NX701 CPU Unit, you can perform process data communications separately in each task period of the primary periodic task and the priority-5 periodic task. On the other hand, there is only one EtherCAT network line. Therefore, some restrictions are placed on the process data communications in multiple communications cycles, as shown below.
• When the number of slaves controlled by the master increases, the process data communications cycles of both primary periodic task and priority-5 periodic task will get longer.
Consider the following countermeasures if the process data communications cycle for each task exceeds the task period.
• If you want to maintain the number of the slaves, increase the task period of the task whose process data communications cycle exceeds the task period.
• If you want to maintain the task period, decrease the number of the slaves.
• The process data communications for the primary periodic task is processed in priority over the process data communications for the priority-5 periodic task. Therefore, the size of process data for the priority-5 periodic task that can be processed becomes smaller than that for the primary periodic task even if both tasks have the same task period.
Consider the following countermeasures if the process data communications cycle for the priority-5 periodic task exceeds the task period.
• If you want to maintain the process data size of priority-5 periodic task, increase the period of the priority-5 periodic task.
• If you want to maintain the period of priority-5 periodic task, decrease the process data size of the priority-5 periodic tasks that are assigned for the entire slaves.
6-1-3 Checking Validity of Process Data
When reading and writing the device variables and axes variables that input and output process data with slaves, the validity of the process data must be checked.
When EtherCAT communications are not established, such as immediately after the power supply to the CPU Unit is turned ON, the process data is invalid. Thus values become invalid for the device variables and axes variables that input and output the process data. If EtherCAT communications were established previously, the device variables and axes variables retain the values updated while Ether-
CAT commutations were established then.
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6 Process Data Communications and SDO Communications
Once the EtherCAT communications are established, the process data becomes valid, therefore values of the device variables and axes variables that input and output the process data become also valid. Be sure to read and write the device variables and axes variables that input and output the process data, after confirming that the process data is valid.
Use the following system-defined variables to check the validity of the process data.
• Checking the validity of the process data for each slave.
_EC_PDSlavTbl (Process Data Communicating Slave Table)
• Checking the validity of the process data for the entire slaves.
_EC_PDActive (Process Data Communications Status)
Precautions for Correct Use
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 behave according to the slave specifications.
For details, refer to relevant manuals for each slave. If a noise countermeasure or slave replacement is required, perform the following processing.
• Program the _EC_InDataInvalid (Input Data Invalid), _EC_InData1Invalid (Input Data1 Invalid), or _EC_InData2Invalid (Input Data2 Invalid) system-defined variable as an interlock condition in the user program.
• Set the PDO communications timeout detection count setting in the EtherCAT master to at least 2. Refer to
5-4 EtherCAT Master Parameter Settings on page 5-14 for the setting pro-
cedure.
A sample programming to check the validity of the process data is shown in the next section.
6
Sample Programming to Check Validity of Process Data for Each
Slave
With this sample program, validity of the process data is checked individually for each slave, and the data inputs and outputs with the salve are controlled.
The slave with which the process data is input and output is given the node address 1 and named
"slave 1".
The _EC_PDSlavTbl (Process Data Communicating Slave Table) system-defined variable is used to see if the process data inputs and outputs are valid for the slave 1.
If the process data inputs and outputs with the slave 1 are valid, E001_Out_Bit07 changes to TRUE when E001_In_Bit00 changes to TRUE. Also, when the process data outputs with the slave 1 are valid, E001_Out_Bit00 changes to TRUE.
Precautions for Correct Use
If you execute the instructions below, the _EC_InDataInvalid (Input Data Invalid),
_EC_InData1Invalid (Input Data1 Invalid), and _EC_InData2Invalid (Input Data2 Invalid) system-defined variables will temporarily change to TRUE depending on the task to which the specified EtherCAT slave is assigned.
• EC_DisconnectSlave (Disconnect EtherCAT Slave)
• EC_ConnectSlave (Connect EtherCAT Slave)
• EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave)
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6 Process Data Communications and SDO Communications
LD
LD
_EC_PDSlavTbl[1] _EC_CommErrTbl[1]
Slave 1 inputs
Slave_1_inputs_valid E001_In_Bit00
Slave 1 outputs
Slave_1_outputs_valid
Slave_1_outputs_valid
_EC_InDataInvalid Slave_1_inputs_valid
E001_Out_Bit07
E001_Out_Bit00
6-8
ST
IF _EC_PDSlavTbl[1]=TRUE AND _EC_CommErrTbl[1]=FALSE THEN
A:=TRUE;
ELSE
A:=FALSE;
END_IF;
(*Output valid condition*)
IF A=TRUE THEN
Slav_Out:=TRUE;
ELSE
Slav_Out:=FALSE;
END_IF;
(*Input valid condition*)
IF A=TRUE AND _EC_InDataInvalid=FALSE THEN
Slav_In:=TRUE;
ELSE
Slav_In:=FALSE;
END_IF;
(*Output data valid*)
IF Slav_Out=TRUE THEN
E001_Out_Bit00:=TRUE;
ELSE
E001_Out_Bit00:=FALSE;
END_IF;
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
(*Input data valid*)
IF Slav_In=TRUE AND E001_In_Bit00=TRUE THEN
E001_Out_Bit07:=TRUE;
ELSE
E001_Out_Bit07:=FALSE;
END_IF;
Additional Information
You can read the status of the _EC_PDSlavTbl (Process Data Communicating Slave Table) system-defined variable from the user program to see if I/O refreshing is normal.
Sample Programming to Check Validity of Process Data for Entire
Slaves
With this sample program, validity of process data is checked collectively for all slaves that are connected to the network, and the process data inputs and outputs with the slaves are controlled.
The slave with which the process data is input and output is given the node address 1.
The _EC_PDActive (Process Data Communications Status) system-defined variable is used to see if the process data inputs and outputs are valid for all of the slaves.
If the process data inputs and outputs with all slaves are valid, E001_Out_Bit07 changes to TRUE when E001_In_Bit00 changes to TRUE. Also, when the process data outputs with all slaves are valid,
E001_Out_Bit00 changes to TRUE.
Precautions for Correct Use
If you execute the instructions below, the _EC_InDataInvalid (Input Data Invalid),
_EC_InData1Invalid (Input Data1 Invalid), and _EC_InData2Invalid (Input Data2 Invalid) system-defined variables will temporarily change to TRUE depending on the task to which the specified EtherCAT slave is assigned.
• EC_DisconnectSlave (Disconnect EtherCAT Slave)
• EC_ConnectSlave (Connect EtherCAT Slave)
• EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave)
6
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6 Process Data Communications and SDO Communications
LD
LD
_EC_PDActive
All slave inputs
All_slave_inputs_valid E001_In_Bit00
All slave outputs
All_slave_outputs_valid
All_slave_outputs_valid
_EC_InDataInvalid All_slave_inputs_valid
E001_Out_Bit07
E001_Out_Bit00
6-10
ST
IF _EC_PDActive=TRUE THEN
A:=TRUE;
ELSE
A:=FALSE;
END_IF;
(*Output valid condition*)
IF A=TRUE THEN
AllSlav_Out:=TRUE;
ELSE
AllSlav_Out:=FALSE;
END_IF;
(*Input valid condition*)
IF A=TRUE AND _EC_InDataInvalid=FALSE THEN
AllSlav_In:=TRUE;
ELSE
AllSlav_In:=FALSE;
END_IF;
(*Output data valid*)
IF ALLSlav_Out=TRUE THEN
E001_Out_Bit00:=TRUE;
ELSE
E001_Out_Bit00:=FALSE;
END_IF;
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
(*Input data valid*)
IF ALLSlav_In=TRUE AND E001_In_Bit00=TRUE THEN
E001_Out_Bit07:=TRUE;
ELSE
E001_Out_Bit07:=FALSE;
END_IF;
6-1-4 System Response Time in Process Data Communications
This section defines the maximum I/O response time of process data communications in the system.
Standard Synchronization Timing
The following timing chart shows when sequence control and motion control are performed within the task period of the primary periodic task in which EtherCAT communications were refreshed.
Task period = Period of the primary periodic task
CPU Unit
{ OI
UP
RG
MC OI
UP
RG
MC
Transmission cycle = Task period
OI
UP
RG
MC
(2) (3) (4)
OI
UP
RG
MC OI
UP
RG
MC OI
UP
RG
MC
Process data communications cycle = Task period
Task period + Transmission delay time + Transmission jitter
Scheduled trigger = task period
Network
Slave
Processing
{
Input
Output
Slave input response time
Time lag = Task period
(1)
Maximum I/O response time
Slave output response time
(5)
OI : I/O refresh
UPRG : User program execution
MC : Motion control
1. The slave generates process data send frames with I/O information from sensors and other devices.
2. The EtherCAT master receives the process data frames that was sent from the slave through I/O refreshing for the CPU Unit, and reads it as input data in the CPU Unit.
3. Based on the input data, the CPU Unit processes user program execution and motion control to determine the output data.
4. The EtherCAT master generates a send frame of the process data with the output data produced in step 3, and sends the frame to the slave before the slave performs reception processing.
6
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6 Process Data Communications and SDO Communications
6-12
5. The slave receives the send frame of the process data from the EtherCAT master in the scheduled trigger timing, and outputs data to relays and other output devices.
Calculation Formula for Maximum I/O Response Time
The maximum I/O response time is calculated for each periodic task of the CPU Unit in which I/O is refreshed for EtherCAT slaves.
The formula for calculating the maximum I/O response time is as follows:
Maximum I/O response time = Task period of periodic task (= process data communications cycle) × 2
+ Slave input response time + Slave output response time
+ Transmission delay time + Transmission jitter
Precautions for Correct Use
The values that are found in the above formula are guidelines instead of guaranteed values.
You must use a physical device to check the performance before the actual operation.
The following describes how to find each element value in the formula.
Task Period of Periodic Task
This indicates the task period of the primary periodic task or the priority-5 periodic task. The priority-5 periodic task is applicable only when you use an NX701 CPU Unit.
Transmission Delay Time
The following methods are provided to calculate the transmission delay times for the CPU Unit and the periodic tasks in which I/O is refreshed.
Precautions for Correct Use
The calculation of the transmission delay times described below assume that OMRON slaves are used with recommended cables.
NX701
CPU Unit
NX102 and NX1P2
Periodic task of the CPU Unit in which I/O is refreshed
Primary periodic task
Priority-5 periodic task
Primary periodic task
Calculation method
• Calculation with the Sysmac
Studio
• Calculation by a formula
Calculation with the Sysmac Studio
• Calculation with the Sysmac
Studio
• Calculation by a formula
Calculation by a formula NJ-series
1. Calculation with the Sysmac Studio
You can use the Sysmac Studio to display the transmission delay time for the EtherCAT master.
Refer to
2. Calculation by a formula
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
You can use the following formula for the calculation by a formula. The value that is found in the formula is a roughly-estimated value.
Transmission delay time (μs) = 1.24
[μs] x Number of EtherCAT slaves + 0.082 [μs] x EtherCAT frame length [bytes] + 0.01 [μs] x Total cable length [m]
*1.
For project unit version 1.40 or later, this value is 1.60.
The parameters necessary for calculation are described below.
Parameter
Number of EtherCAT
Slaves
EtherCAT Frame Length in Bytes
Description
This is the number of all of the EtherCAT slaves in the same EtherCAT network. An EtherCAT Slave Terminal is counted as one EtherCAT slave.
The EtherCAT frame length is the data byte size that is calculated under the following conditions for the EtherCAT slaves in the same EtherCAT network and for which I/O is refreshed in the primary periodic task.
• If the total data size is less than 64 bytes, use 64 bytes in the calculation.
• For EtherCAT slaves that have both input and output data, use the larger of the input data size and output data size.
Total Cable Length
For example, the EtherCAT frame length in bytes for the following configuration is as given below.
Configuration Example
• Two OMRON GX-series EtherCAT slaves:
Data size of 20 bytes/slave
• One EtherCAT Slave Terminal:
Input data size of 50 bytes and output data size of 30 bytes
EtherCAT frame length = 20 bytes + 20 bytes + 50 bytes = 90 bytes
This is the total cable length, including the cable between the EtherCAT master and a slave and cables between slaves.
Transmission Jitter
The value of transmission jitter depends on the CPU Unit.
CPU Unit Transmission jitter
10 μs NX701
NX102
NX1P2
NJ-series 100 μs
Slave Input Response Time
This is the time from when a slave reads input information from output devices until the slave transmits a frame as a process data on the EtherCAT communications. This is the time required for internal processing that is specific to each slave. Refer to relevant manuals for each slave.
Slave Output Response Time
This is the time from when a slave receives a frame as a process data on the EtherCAT communications until the slave outputs the frame as output data to external output devices. This is the time required for internal processing that is specific to each slave. Refer to relevant manuals for each slave.
6
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 6-13
6 Process Data Communications and SDO Communications
Displaying Transmission Delay Time for EtherCAT Master with the
Sysmac Studio
You can use the Sysmac Studio to calculate and display the transmission delay time for the built-in
EtherCAT port of the NX-series CPU Unit. Use the following procedure to display the transmission delay time with the Sysmac Studio.
1
Right-click the EtherCAT master or EtherCAT slave in the EtherCAT Tab Page and select
Calculate Transmission Delay Time of the Master .
2
The transmission delay times of PDO communications cycle 1 and PDO communications cycle
2 are displayed in the Output Tab Page.
6-14
The applied transmission delay times of the EtherCAT master are different depending on the periodic tasks of the CPU Units that refresh I/O with the EtherCAT slaves, as shown below.
Periodic task of the CPU Unit in which I/O is refreshed
Primary periodic task
Applied transmission delay time of the
EtherCAT master
Transmission delay time for PDO communications cycle 1
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
Periodic task of the CPU Unit in which I/O is refreshed
Priority-5 periodic task
Applied transmission delay time of the
EtherCAT master
Transmission delay time for PDO communications cycle 2
Precautions for Correct Use
• Sysmac Studio does not support the transmission delay time display function for the built-in
EtherCAT ports of the NJ-series CPU Units.
• You can use the Sysmac Studio to calculate and display the transmission delay times of the
EtherCAT master according to the configuration information such as the number of EtherCAT slaves and the EtherCAT frame lengths. When you changed the EtherCAT configurations or setup, you must perform this function again.
• For project unit version 1.40 or later, when you select Calculation result from the measured value in the actual network configuration on the Transmission Delay Time in the EtherCAT master settings, the value of transmission delay time that is calculated at the actual measurement is displayed in the Output Tab Page.
Version Information
Sysmac Studio version 1.13 or higher is required to use the transmission delay time display function for the EtherCAT master.
6-1-5 I/O Operations for Major Fault Level Controller Errors and I/O
Refreshing with Specified Values
6
I/O Operation for Major Fault Level Controller Errors
If the NJ/NX-series CPU Unit detects a major fault level Controller error, all slave outputs will retain the process data values from before operation stopped in Operational state. Then the slaves will enter
Safe-Operational state *1 and the slave outputs are processed according to settings in the slave. The inputs from the slaves will retain the process data values from before operation stopped. Message communications are continued.
NJ/NX-series CPU Unit
When a major fault level Controller error is detected
Input data: Values before operation stopped.
Output data:
Values before operation stopped.
Slave Slave
Values before operation stopped
When Safe-Operational state is entered, the slave settings control the outputs.
Values before operation stopped
When Safe-Operational state is entered, the slave settings control the outputs.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 6-15
6 Process Data Communications and SDO Communications
When a major fault level Controller error occurs, the values of the variables are not output to the slaves even if they are initialized. The slave outputs are processed according to settings in the slave.
Operation stopped.
Values of variables
Values before operation stopped
Slave state Operational
Initial values
Default setting
®®®®®®®®®®®®®
Safe-Operational *1 Safe-Operational ®®
Inputs from slaves
Slave output values
Values before operation stopped
®®®®®®®®®®®®®®®®®®®®®®®®®®®®
Values before operation stopped
According to settings
According to settings ®®®®®®®®
Gradually change.
When all slaves have entered
Safe-Operational state, the slave settings control all of the outputs.
*1. The following errors may occur when the slave enters to the Safe-Operational state.
• Slave Application Error (84280000 hex) event
• Slave Initialization Error (84230000 hex) event
• Slave State Transition Failed (84300001 hex) event
• Slave AL Status Error Detected (84360000 hex) event
The formula and the maximum time required for all the slaves to enter Safe-Operational state and for the slave output to reach to the value set from the slave settings are shown below. This formula applies to only OMRON slaves.
Maximum time required for the slave output to reach to the value set from the slave settings *1 =
PDO communications timeout detection count × Task period of the task assigned to slave + 10 ms
*1. The maximum time is 100 to 110 ms if the calculation result is 110 ms or less.
Precautions for Correct Use
You cannot obtain current errors from slaves after a major fault occurs except for those in Ether-
CAT Slave Terminals.
Additional Information
When a major fault level Controller error occurs, the related system-defined variables have the following values.
• For NX701 CPU Units
_EC_InData1Invalid = TRUE
_EC_InData2Invalid = TRUE
_EC_PDSlavTbl[] = FALSE
_EC_MBXSlavTbl[] = Values before operation stopped
• For NX102 and NX1P2 CPU Units and NJ-series CPU Units
_EC_InDataInvalid = TRUE
_EC_PDSlavTbl[] = FALSE
_EC_MBXSlavTbl[] = Values before operation stopped
6-16 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
Forced Refreshing
You can specify forced refreshing from the Sysmac Studio for debugging. This allows you to change process data output values to the slaves and input values from the slaves to the values that you specify in advance.
Sysmac Studio
Forced refreshing specified.
NJ/NX-series
CPU Unit
Debugging
Input data is changed to values specified with forced refreshing.
Output data is changed to values specified with forced refreshing.
Slave Slave
Relationship between Major Fault Level Controller Errors, Normal
Operation, and Forced Refreshing
Forced refreshing functions as shown in the following table for major fault level Controller errors and for normal operation.
Condition
Forced refreshing
Enabled
Disabled
Major fault level Controller error
Output data: Values from before operation stopped
(Operational state).
Slave settings control the outputs (Safe-Operational state).
Input data: Values from before operation stopped
(Operational state).
Output data: Values from before operation stopped
(Operational state).
Slave settings control the outputs (Safe-Operational state).
Input data: Values from before operation stopped
(Operational state).
Normal operation
Output data: Forced refreshing values
Input data: Forced refreshing values
Output data: Process data
Input data: Process data
6
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 6-17
6 Process Data Communications and SDO Communications
Precautions for Correct Use
• You can select whether the master continues or stops communications with all slaves when a communications error occurs. Refer to
5-4 EtherCAT Master Parameter Settings on page
• 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 behave according to the slave specifications.
For details, refer to relevant manuals for each slave. If a noise countermeasure or slave replacement is required, perform the following processing.
• Program the _EC_InDataInvalid (Input Data Invalid), _EC_InData1Invalid (Input Data 1 Invalid), or _EC_InData2Invalid (Input Data 2 Invalid) system-defined variable as an interlock
condition in the user program. Refer to 6-1-3 Checking Validity of Process Data on page
• Set the PDO communications timeout detection count setting in the EtherCAT master to at least 2. Refer to
5-4 EtherCAT Master Parameter Settings on page 5-14 for the setting
procedure.
• If a communications error prevents the slaves from receiving signals from the master, the slave outputs are processed according to settings in the slave. During the time to change from normal operation to a communications error status, frames will be lost. The outputs for lost frames are different for synced slaves (Servo Drives and encoders) and non-synced slaves. The outputs from synced slaves are processed according to settings in the slaves.
The previous values are retained for the slave outputs for non-synced slaves.
Communications status with master
Outputs from synced slaves
(Servo Drives and encoders)
Outputs from non-synced slaves
Normal operation Frames lost
Controlled by the values of device variables.
Controlled by the values of device variables.
Controlled by the slave settings.
The previous values are output.
For details, refer to relevant manuals for each slave.
Communications error status
Controlled by the slave settings.
Controlled by the slave settings.
Additional Information
You can read the status of the _EC_PDSlavTbl (Process Data Communicating Slave Table) system-defined variables from the user program to see if I/O refreshing is normal.
6-18 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
6-2 SDO Communications
SDO communications are performed by using EtherCAT communications instructions to access SDO data in slaves when required.
6-2-1 EtherCAT Communications Instructions
You can perform the following SDO communications with EtherCAT communications instructions.
• Reading and writing SDO data
Reading and Writing SDO data
Function
CoE messages
(Read CoE SDO)
CoE messages
(Write CoE SDO)
Instruction
EC_CoESDORead
EC_CoESDOWrite
Description
You set parameters to read data from the slave's object dictionary (SDO data).
You set parameters to write data to the slave's object dictionary (SDO data).
6-2-2 Sample Programming
This sample uses an EtherCAT communications instruction to read the software version of an OMRON
R88D-KN01L-ECT Servo Drive. The node address of the slave is 1.
The object index for the software version is 16#100A. The subindex is 0.
The read value is stored in STRING variable VersionInfo .
SDO read
Remote slave node address 1
Object Dictionary Settings
Index: 16#100A
Subindex 0
6
Built-in EtherCAT port
LD
Internal
Variables
Variable Data type Initial value Comment
Trigger
SdoObject
VersionInfo
EC_CoESDORead_instance
BOOL
STRING[256]
EC_CoESDORead
False
_sSDO_ACCESS (Index:=0, Subindex:=0,
IsCompleteAccess:=False)
‘’
Execution condition
SDO parameter
Read data
External Variables
Variable Data type
_EC_MBXSlavTbl ARRAY[1..192] OF
BOOL
Constant Comment
Message Communications Enabled Slave Table
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 6-19
6 Process Data Communications and SDO Communications
Accept trigger.
Trigger _EC_MBXSlavTbl[1]
(@)MOVE
EN ENO
In Out UINT#16#100A SdoObject.Index
(@)MOVE
EN ENO
In Out USINT#0 SdoObject.Subindex
(@)MOVE
EN ENO
In Out FALSE SdoObject.IsComleteAccess
UINT#1
SdoObject
UINT#20
EC_CoESDORead_instance
EC_CoESDORead
Execute Done
NodeAdr Busy
SdoObj Error
TimeOut ErrorID
ReadDat
VersionInfo
Processing after normal end
Trigger EC_CoESDORead_instance.Done
AbortCode
ReadSize
Inline ST
1 // Processing after normal end
2 ;
Processing after error end
Trigger EC_CoESDORead_instance.Error
Inline ST
1 // Processing after error end
2 ;
ST
Internal
Variables
Variable
Trigger
SdoObject
Data type Initial value Comment
DoSdoRead
VersionInfo
NormalEnd
ErrorEnd
EC_CoESDORead_instance
BOOL False
_sSDO_ACCESS (Index:=0, Subindex:=0,
IsCompleteAccess:=False)
BOOL
STRING[256]
UINT
UINT
EC_CoESDORead
False
‘’
0
0
Execution condition
SDO parameter
Processing
Read data
Normal end
Error end
External Variables
Variable Data type
_EC_MBXSlavTbl ARRAY[1..192] OF
BOOL
Constant Comment
Message Communications Enabled Slave Table
6-20 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
// Detect when Trigger changes to TRUE.
IF ( (Trigger=TRUE) AND (DoSdoRead=FALSE) AND (_EC_MBXSlavTbl[1]=TRUE) ) THEN
DoSdoRead :=TRUE;
SdoObject.Index :=UINT#16#100A;
SdoObject.Subindex :=USINT#0;
SdoObject.IsCompleteAccess:=FALSE;
EC_CoESDORead_instance(
Execute:=FALSE,
ReadDat:=VersionInfo);
END_IF;
// Initialize instance.
// Dummy
// Execute EC_CoESDORead instruction.
IF (DoSdoRead=TRUE) THEN
EC_CoESDORead_instance(
Execute := TRUE,
NodeAdr :=UINT#1,
SdoObj :=SdoObject,
TimeOut :=UINT#20,
ReadDat:=VersionInfo);
// Node address 1
// SDO parameter
// Timeout time: 2.0 s
// Read data
IF (EC_CoESDORead_instance.Done=TRUE) THEN
// Processing after normal end
NormalEnd:=NormalEnd+UINT#1;
ELSIF (EC_CoESDORead_instance.Error=TRUE) THEN
// Processing after error end
ErrorEnd :=ErrorEnd+UINT#1;
END_IF;
END_IF;
6-2-3 Execution Timing of SDO Communications
SDO communications are executed in the system service time of the NJ/NX-series CPU Unit.
System services are executed in the period between execution of all of the tasks. Refer to the NJ/NXseries CPU Unit Software User's Manual (Cat. No. W501) for details on the execution timing of system services.
6
6-2-4 Minimum Message Response Time for SDO Communications
The minimum message response time for SDO communications is the time from when the SDO communications instruction is executed in the user program until execution of the instruction is completed.
When the instruction is executed in the user program, the master sends a frame to the slave in the system service. When the slave receives the frame, it processes it. When the slave completes processing, the master receives a response from the slave to complete execution of the instruction.
Additional Information
The minimum message response time depends on the unused time in task execution, slave
SDO size, and slave SDO processing time. In the timing chart below, the time from when the
SDO communications instruction is executed until execution of the instruction is completed should be used for reference only.
NX-series CPU Units
The calculation formula for the minimum message response time differs between when the task period of primary periodic task is smaller than 4 ms and when the task period is 4 ms or longer.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 6-21
6 Process Data Communications and SDO Communications
When the Task Period of the Primary Periodic Task is Smaller than 4 ms
Minimum message response time (ms) =
Task period of the task that executes the SDO communications instruction
+ (Slave SDO processing time *1 /Task period of primary periodic task) *2
× Task period of primary periodic task
+ (SDO response data size/Transmission size) *2 × Task period of primary periodic task
*1.
The slave SDO processing time depends on the slaves. Refer to relevant manuals for each slave.
*2.
Round up the calculation result in parentheses to make an integer.
The transmission size is determined by the task period of primary periodic task as shown below.
Task period of the primary periodic task Transmission size
125 μs
250 μs
500 μs or longer
64 bytes
128 bytes
256 bytes
The following timing chart shows an example of the timing from an execution of the SDO communications instruction to the completion of the instruction execution, based on the performance model below.
Here, it is assumed that the program that executes the SDO communications instructions is assigned to the primary periodic task.
Performance Model Example
Task period of primary periodic task [ms] 1
SDO response data size [byte] 512
Slave SDO processing time [ms]
Message response time [ms]
1.2
5
IO: I/O refreshing
UPG: User program execution
MC: Motion control
IO
Task period
(1 ms)
UPG MC
EtherCAT master processing
Line delay
SDO communications instruction executed.
Frame sent.
Slave SDO processing
Task period
(1 ms)
IO UPG MC
Task period
(1 ms)
IO UPG MC
Slave SDO processing time
Task period
(1 ms)
IO UPG MC
Task period
(1 ms)
IO UPG MC
Task period
(1 ms)
IO UPG MC
Execution of SDO communications instruction completed.
SDO request received.
SDO response generation completed.
EtherCAT master captures
SDO response data from slave:
256 bytes per frame.
When the Task Period of the Primary Periodic Task is 4 ms or Longer
Minimum message response time (ms) =
Task period of the task that executes the SDO communications instruction
+ (Slave SDO processing time *1
/Divided period
× Divided period
+ (SDO response data size/256 bytes) *3 × Divided period
*1.
The slave SDO processing time depends on the slaves. Refer to relevant manuals for each slave.
*2.
The divided period is obtained by dividing the task period of primary periodic task. If the task period of primary periodic task is equal to or more than 4 ms, the EtherCAT master sends a message communications frame to a slave and receives a message response data from the slave, according to the divided period. Assign 1 ms to the divided period for this calculation.
6-22 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
*3.
Round up the calculation result in parentheses to make an integer.
The following timing chart shows an example of the timing from an execution of the SDO communications instruction to the completion of the instruction execution, based on the performance model below.
Here, it is assumed that the program that executes the SDO communications instructions is assigned to the primary periodic task.
Performance Model Example
Task period of primary periodic task [ms] 4
Divided period [ms] 1
SDO response data size [byte] 512
Slave SDO processing time [ms]
Message response time [ms]
1.2
8
UPG: User program execution
Task period (4 ms)
UPG
EtherCAT master processing
Line delay
SDO communications instruction executed.
Frame sent.
Task period (4 ms)
Divided period
(1 ms)
Slave SDO processing
Slave SDO processing time
SDO request received.
SDO response generation completed.
Task period (4 ms)
UPG
Execution of SDO communications instruction completed.
EtherCAT master captures
SDO response data from slave:
256 bytes per frame.
6
NJ-series CPU Units
The calculation formula for the minimum message response time is given below.
Minimum message response time (ms) =
Task period of the task that executes the SDO communications instruction
+ (Slave SDO processing time
*1 /Task period of primary periodic task) *2 x Task period of primary periodic task
+ (SDO response data size/256 bytes)
× Task period of primary periodic task
*1.
The slave SDO processing time depends on the slaves. Refer to relevant manuals for each slave.
*2.
Round up the calculation result in parentheses to make an integer.
The following timing chart shows an example of the timing from an execution of the SDO communications instruction to the completion of the instruction execution, based on the performance model below.
Here, it is assumed that the program that executes the SDO communications instructions is assigned to the primary periodic task.
Performance Model Example
Task period of primary periodic task [ms] 1
SDO response data size [byte] 512
Slave SDO processing time [ms] 1.2
Message response time [ms] 5
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 6-23
6 Process Data Communications and SDO Communications
IO: I/O refreshing
UPG: User program execution
MC: Motion control
EtherCAT master processing
Line delay
Task period
(1 ms)
IO UPG MC
SDO communications instruction executed.
Frame sent.
Slave SDO processing
IO
Task period
(1 ms)
UPG MC IO
Task period
(1 ms)
UPG MC IO
Task period
(1 ms)
UPG MC
SDO request received.
Slave SDO processing time
SDO response generation completed.
Task period
(1 ms)
IO UPG MC
Task period
(1 ms)
IO UPG MC
Execution of SDO communications instruction completed.
EtherCAT master captures
SDO response data from slave:
256 bytes per frame.
6-24 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
6 Process Data Communications and SDO Communications
6-3 Instructions Used in EtherCAT Communications
6-3-1 EtherCAT Communications Instructions
Function
Start EtherCAT Packet
Monitor
Stop EtherCAT Packet
Monitor
Save Packet Data File
Copy Packet Data File to
SD Memory Card
EC_StartMon
Disconnect EtherCAT Slave EC_DisconnectSlave
Connect EtherCAT Slave
Instruction
EC_ConnectSlave
Description
Starts packet monitoring of the EtherCAT master built into the NJ/NX-series CPU Unit.
Stops packet monitoring of the EtherCAT master built into the NJ/NX-series CPU Unit.
Saves captured data in a file in the system of the
NJ/NX-series CPU Unit with the packet monitoring.
The packet monitoring is a function of the EtherCAT master built into the NJ/NX-series CPU Unit.
The captured files in the system of the NJ/NX-series CPU Unit are not retained when the power is interrupted.
Copies the captured data that was saved in the system of the NJ/NX-series CPU Unit to a file on an
SD Memory Card. The captured data is previously saved from EtherCAT master built into the NJ-series CPU Unit into the system of the NJ/NX-series
CPU Unit.
The files saved to an SD Memory Card are retained after the power is interrupted.
Temporarily disconnects a slave from the EtherCAT network for maintenance, such as replacement of the slave.
Reconnects a temporarily disconnected slave to the
EtherCAT network after maintenance, such as replacement of the slave.
Enable/Disable EtherCAT
Slave
EC_ChangeEnableSetting
Get EtherCAT Error Status GetECError
Enables or disables an EtherCAT slave.
Gets the status of Controller errors (partial faults or minor faults) that occur in the EtherCAT master and the highest-level event code for the current errors.
Reset EtherCAT Error ResetECError Resets Controller errors in the EtherCAT master.
(Execute this instruction only after eliminating the cause of the error.)
*1.
For the NJ301££££ CPU Units, the CPU Unit with unit version 1.10 or later and Sysmac Studio version
1.12 or higher are required to use the packet monitoring. However, for project unit version 1.40 or later, the packet monitoring cannot be used regardless of the models of the CPU Units. If the packet monitoring cannot be used, the _EC_PktMonStop system-defined variable, which shows the operating status of packet monitoring, will always be TRUE.
In addition, if you execute any EtherCAT instructions for packet monitoring (EC_StartMon, EC_StopMon,
EC_SaveMon, or EC_CopyMon) in the user program, an error that shows packet monitoring cannot be used occurs.
Note Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on the instructions that are used with EtherCAT communications.
6
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 6-25
6 Process Data Communications and SDO Communications
6-26 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
7
System-defined Variables Related to the Built-in EtherCAT Port
This section describes the system-defined variables that are related to the built-in
EtherCAT port.
7-1 System-defined Variables That Are Related to the Built-in Ether-
What Are System-defined Variables?.............................................................. 7-2
7-1-3 EtherCAT Master Function Module, Category Name: _EC ............................. 7-9
7
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7-1
7 System-defined Variables Related to the Built-in EtherCAT Port
7-1 System-defined Variables That Are
Related to the Built-in EtherCAT Port
7-1-1 What Are System-defined Variables?
System-defined variables are variables that are defined by the system for use with EtherCAT communications. These are provided in advance in the global variable table.
The user program can input status and set parameters for the EtherCAT master and slaves by reading and writing system-defined variables.
NJ/NX-series CPU Unit
User programming
Reading
System-defined variables
Writing
EtherCAT master
Slave
EtherCAT
Slave
7-1-2 System-defined Variables
Variable name
_EC_ErrSta
Functional Classification: EtherCAT Communications Errors
Meaning Function Data type
WORD
Range of values
16#0000 to
16#40F0
_EC_PortErr
Built-in EtherCAT Error
Communications Port
Error
This system-defined variable provides the collective status of errors in the
EtherCAT Master Function Module.
Refer to information on the meanings of the error status bits at the end of this appendix for details.
This system-defined variable provides the collective status of errors in the communications ports for the EtherCAT master.
Refer to information on the meanings of the error status bits at the end of this appendix for details.
WORD 16#0000 to
16#00F0
Reference
7-2 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name Meaning Function
_EC_MstrErr
_EC_SlavErr
_EC_SlavErrTbl
_EC_MacAdrErr
_EC_LanHwErr
_EC_LinkOffErr
_EC_NetCfgErr
Master Error
Slave Error
Slave Error Table
MAC Address Error
Communications
Controller Error
Link OFF Error
Network Configuration Information Error
_EC_NetCfgCmpErr Network Configuration Verification Error
_EC_NetTopologyErr Network Configuration Error
This system-defined variable provides the collective status of EtherCAT master errors and slave errors detected by the
EtherCAT master.
Refer to information on the meanings of the error status bits at the end of this appendix for details.
This system-defined variable provides the collective status of all the error status for EtherCAT slaves.
Refer to information on the meanings of the error status bits at the end of this appendix for details.
This system-defined variable gives the error status for each EtherCAT slave.
The error status is given for each slave in the actual system configuration. This variable array indicates slaves in which there are errors. Status is provided for each EtherCAT slave node address (1 to
.
Refer to information on the meanings of the error status bits at the end of this appendix for details.
TRUE if the MAC Address Error
(14400000 hex) event occurred.
TRUE if the Communications Controller
Error (047C0000 hex) event occurred.
TRUE if the Link OFF Error (84200000 hex) event occurred.
TRUE if the Network Configuration Information Error (34400000 hex) event occurred.
TRUE if one of the following events occurred.
• Network Configuration Verification Error (84220000 hex)
• Network Configuration Verification Error (Slave Unconnected) (84380000 hex)
• Network Configuration Verification Error (Unnecessary Slave Connected)
(84320003 hex)
• Network Configuration Verification Error (Mismatched Slave) (84330004 hex)
• Network Configuration Verification Error (Incorrect Ring Wiring) (843A0000 hex
TRUE if one of the following events occurred.
• Network Configuration Error
(84210000 hex)
• Incorrect Wiring Detected (843C0000 hex)
Data type
WORD
WORD
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
Range of values
16#0000 to
16#00F0
16#0000 to
16#00F0
Array [1..512]
16#0000 to
16#00F0
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
Reference
page 7-11 page 7-11 page 7-11 page 7-11 page 7-11
7
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7-3
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
_EC_PDCommErr
Meaning
Process Data Communications Error
Function
TRUE if one of the following events occurred.
• Process Data Communications Error
(842C0000 hex)
• Illegal Slave Disconnection Detected
(84310002 hex)
• Slave PDI WDT Error Detected
(84340000 hex)
Data type
BOOL
Range of values
TRUE or
FALSE
Reference
_EC_PDTimeoutErr Process Data Reception Timeout Error
_EC_PDSendErr Process Data Transmission Error
_EC_SlavAdrDupErr Slave Node Address
Duplicated Error
_EC_SlavInitErr Slave Initialization
Error
_EC_SlavAppErr
_EC_MsgErr
Slave Application Error
EtherCAT Message
Error
TRUE if the Process Data Reception
Timeout (842B0000 hex) event occurred.
TRUE if the Process Data Transmission
Error (84290000 hex) event occurred.
TRUE if the Slave Node Address Duplicated (24200000 hex) event occurred.
TRUE if one of the following events occurred.
• Slave Initialization Error (84230000 hex)
• Slave State Transition Failed
(84300001 hex)
TRUE if one of the following events occurred.
• Slave Application Error (84280000 hex)
• Slave AL Status Error Detected
(84360000 hex)
TRUE if one of the following events occurred.
• EtherCAT Message Error (842D0000 hex)
• Illegal Mailbox Received (84350000 hex)
TRUE if the Emergency Message Detected (64200000 hex) event occurred.
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
page 7-13 page 7-13 page 7-13 page 7-13
_EC_SlavEmergErr Emergency Message
Detected
BOOL TRUE or
FALSE
_EC_IndataInvalidErr
(Ver.1.13)
_EC_CommErrTbl
Input Process Data
Invalid Error
Communications Error Slave Table
TRUE if the Input Process Data Invalid
Error (842F0000 hex) event occurred.
Slaves are given in the table in the order of slave node addresses. The corresponding slave element is TRUE if the master detected an error for the slave.
BOOL
Array [1..512]
OF BOOL
TRUE or
FALSE
TRUE or
FALSE
_EC_CycleExceeded EtherCAT Communications Cycle Exceeded
TRUE if the EtherCAT Communications
Cycle Exceeded (34410000 hex) event occurred.
Note You can use this system-defined variable only for NX-series CPU Units.
BOOL TRUE or
FALSE
*1.
For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the node address is 1 to 192 and the data type is ARRAY
[1..192] OF WORD.
*2.
For NJ-series CPU Units, the data type is Array [1..192] OF BOOL.
7-4 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
7 System-defined Variables Related to the Built-in EtherCAT Port
Additional Information
Typical Relationships for the Built-in EtherCAT Error Flags
Variable name
Meaning
_EC_ErrSta Built-in Ether-
CAT Error
Variable name
_EC_PortErr
Meaning Variable name Meaning
_EC_MstrErr
Communications Port
Error
Master Error
_EC_MacAdrErr
_EC_LanHwErr
MAC Address
Error
Communications
Controller Error
Link OFF Error _EC_LinkOffErr
_EC_NetCfgErr
_EC_NetCfgCmpErr
Network Configuration Information Error
Network Configuration Verification Error
Network Configuration Error
_EC_NetTopologyErr
_EC_PDCommErr
_EC_PDTimeoutErr Process Data
Reception Timeout Error
_EC_PDSendErr
Process Data
Communications
Error
Process Data
Transmission Error
_EC_SlavAdrDupErr
Slave Node Address Duplicated
Error
_EC_SlavInitErr
_EC_SlavAppErr
_EC_CommErrTbl
_EC_CycleExceeded
Slave Initialization Error
Slave Application Error
Communications
Error Slave Table
EtherCAT Communications Cycle Exceeded
_EC_MsgErr EtherCAT Message Error
_EC_SlavEmergErr Emergency Message Detected
_EC_SlavErr Slave Error _EC_SlavErrTbl Slave Error Table
Event Level
Partial fault level
Minor fault level
Observation
Defined by the slave.
7
Note The values of all system-defined variables that are related to errors in EtherCAT communications do not change until the cause of the error is removed and then the error in the Controller is reset with the troubleshooting functions of the Sysmac Studio or the ResetECError instruction.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7-5
7 System-defined Variables Related to the Built-in EtherCAT Port
Functional Classification: EtherCAT Communications Status
Variable name Meaning Function
_EC_RegSlavTbl
_EC_EntrySlavTbl
_EC_MBXSlavTbl
_EC_PDSlavTbl
Registered Slave Table
Network Connected
Slave Table
Message Communications Enabled
Slave Table
Process Data Communicating Slave Table
_EC_DisconnSlavTbl Disconnected Slave
Table
This table indicates the slaves that are registered in the network configuration information.
Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave is registered.
This table indicates which slaves are connected to the network.
Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave has entered the network.
This table indicates the slaves that can perform message communications.
Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if message communications are enabled for it
(pre-operational, safe-operation, or operational state).
Note Use this variable to confirm that message communications are possible for the relevant slave before you execute message communications with an
EtherCAT slave.
This table indicates the slaves that are performing process data communications. Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if process data of the corresponding slave is enabled (operational) for both slave inputs and outputs.
Note Use this variable to confirm that the data for the relevant slave is valid before controlling an EtherCAT slave.
Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave was disconnected.
_EC_DisableSlavTbl Disabled Slave Table Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave is disabled.
_EC_PDActive Process Data Communications Status
TRUE when process data communications are performed with all slaves*.
*Disabled slaves are not included.
_EC_PktMonStop
_EC_LinkStatus
Packet Monitoring
Stopped
Link Status
TRUE when packet monitoring is stopped.
TRUE if the communications controller link status is Link ON.
Data type
Array [1..512]
OF BOOL
Range of values
TRUE or
FALSE
Array [1..512]
OF BOOL
TRUE or
FALSE
Array [1..512]
OF BOOL
TRUE or
FALSE
Array [1..512]
OF BOOL
TRUE or
FALSE
Array [1..512]
OF BOOL
TRUE or
FALSE
Array [1..512]
OF BOOL
TRUE or
FALSE
BOOL
BOOL
BOOL
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
Reference
page 7-16 page 7-16 page 7-16 page 7-16 page 7-16
7-6 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
_EC_PktSaving
_EC_InDataInvalid
Meaning
Saving Packet Data
File
Input Data Invalid
_EC_InData1Invalid Input Data1 Invalid
_EC_InData2Invalid Input Data2 Invalid
_EC_RingBreaking
(Ver.1.40)
_EC_RingBreakNodeAdr
(Ver.1.40)
Ring Disconnection
Slave Node Address
Before Ring Disconnection
Function
Shows whether a packet data file is being saved.
TRUE: Packet data file being saved.
FALSE: Packet data file not being saved.
TRUE when process data communications established in the primary periodic task are not normal and the input data is not valid.
TRUE when process data communications established in the primary periodic task are not normal and the input data is not valid.
Note You can use this system-defined variable only for NX-series CPU Units.
TRUE when process data communications established in the priority-5 periodic task are not normal and the input data is not valid.
Note You can use this system-defined variable only for NX-series CPU Units.
Note This variable is always TRUE for the NX102 CPU Units and
NX1P2 CPU Units.
TRUE when all slaves in the ring topology except for disabled slaves are connected and if there is only one point of disconnection in the communications cables in the ring topology.
When the _EC_RingBreaking (Ring Disconnection) system-defined variable is
TRUE, the slave node address before point of disconnection is stored.
When the _EC_RingBreaking (Ring Disconnection) system-defined variable is
FALSE, “0” is stored.
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
UINT
Range of values
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
TRUE or
FALSE
0 to maximum number of node addresses
*1.
For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the data type is ARRAY [1..192] OF BOOL.
Reference
page 7-17 page 7-17 page 7-17 page 7-17
Note All system-defined variables that are related to the status of EtherCAT communications give the current status.
Functional Classification: EtherCAT Communications Diagnosis/Statistics
Log
Variable name
_EC_StatisticsLogEnable
(Ver.1.11)
Meaning
Diagnosis/Statistics
Log Enable
Function
Changes to TRUE when the diagnosis/ statistics log is started.
Changes to FALSE when the diagnosis/ statistics log is ended.
Data type
BOOL
Range of values
TRUE or
FALSE
Reference
7
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7-7
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
_EC_StatisticsLog-
CycleSec
(Ver.1.11)
Meaning
Diagnosis/Statistics
Log Cycle
Function Data type
Specifies the interval to write the diagnostic and statistical information of the diagnosis/statistics log in units of seconds.
When 0 is specified, the diagnostic and statistical information is written only once when the diagnosis/statistics log is ended.
Note The write interval does not change even if you change the value of this system-defined variable while the diagnosis/ statistics log operation is in progress.
TRUE while the diagnosis/statistics log operation is in progress.
UINT
BOOL
Range of values
0, or 30 to
1800
TRUE or
FALSE
Reference
_EC_StatisticsLogBusy
(Ver.1.11)
_EC_StatisticsLogErr
(Ver.1.11)
Diagnosis/Statistics
Log Busy
Diagnosis/Statistics
Log Error
TRUE when the diagnosis/statistics log failed to start or it is impossible to write into the log.
The value of this flag is determined when
_EC_StatisticsLogBusy (Diagnosis/
Statistics Log Busy) changes to FALSE after the diagnosis/statistics log operation is started.
The error end is caused by the following.
• Another records cannot be added in the log file because the capacity of the
SD Memory Card is fully used.
• The SD Memory Card is write-protected.
• There is no SD Memory Card.
• The function cannot be started because the value specified for
_EC_StatisticsLogCycleSec (Diagnosis/Statistics Log Cycle) is invalid.
BOOL TRUE or
FALSE
Meanings of Error Status Bits
The meanings of the individual bits in the following error status are the same.
• _ErrSta (Controller Error Status)
• _PLC_ErrSta (PLC Function Module Error Status)
• _CJB_ErrSta (I/O Bus Error Status)
• _CJB_MstrErrSta (I/O Bus Master Error Status)
• _CJB_UnitErrSta (I/O Bus Unit Error Status)
• _NXB_ErrSta (NX Bus Function Module Error Status)
• _NXB_MstrErrSta (NX Bus Function Module Master Error Status)
• _NXB_UnitErrStaTbl (NX Bus Function Module Unit Error Status)
• _MC_ErrSta (MC Error Status)
• _MC_ComErrSta (MC Common Error Status)
• _MC_AX_ErrSta (Axis Error Status)
• _MC_GRP_ErrSta (Axes Group Error Status)
• _EC_ErrSta (Built-in EtherCAT Error)
• _EC_PortErr (Communications Port Error)
• _EC_MstrErr (Master Error)
7-8 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
7 System-defined Variables Related to the Built-in EtherCAT Port
• _EC_SlavErr (Slave Error)
• _EC_SlavErrTbl (Slave Error Table)
• _EIP_ErrSta (Built-in EtherNet/IP Error)
• _EIP_PortErr (Communications Port Error), _EIP1_PortErr (Communications Port1 Error),
_EIP2_PortErr (Communications Port2 Error)
• _EIP_CipErr (CIP Communications Error), _EIP1_CipErr (CIP Communications1 Error),
_EIP2_CipErr (CIP Communications2 Error)
• _EIP_TcpAppErr (TCP Application Communications Error)
The meanings of the bits are shown in the following table. However, do not use the following variables in the user program: _ErrSta (Controller Error Status), _CJB_ErrSta (I/O Bus Error Status),
_CJB_MstrErrSta (I/O Bus Master Error Status), _CJB_UnitErrSta (I/O Bus Master Unit Status),
_NXB_ErrSta (NX Bus Function Module Error Status), _NXB_MstrErrSta (NX Bus Function Module
Master Error Status), and _NXB_UnitErrStaTbl (NX Bus Function Module Unit Error Status). There may be a delay in updating them and concurrency problems in relation to the error status of the function module. Use these variables only to access status through communications from an external device.
Bit:
WORD
1 5 1 4 1 3 1 2 11 1 0
-
9
-
8 7 6 5 4
-
3
-
2
-
1
-
0
-
15
Bit
14
8 to 13
7
6
5
4
0 to 3
Meaning
Master-detected error: This bit indicates whether the master detected a Controller error in the Unit/slave for the error status of the Controller error.
TRUE: The master detected a Controller error.
FALSE: The master has not detected a Controller error. (Valid for _CJB_UnitErrSta .)
Collective slave error status: This bit indicates if a Controller error was detected for levels (e.g., a Unit, slave, axis, or axes group) that are lower than the event source (i.e., for a function module).
TRUE: A Controller error has occurred at a lower level.
FALSE: A Controller error has not occurred at a lower level. (Valid for _CJB_ErrSta , _MC_ErrSta , and
_EC_ErrSta .)
Reserved.
This bit indicates whether a major fault level Controller error has occurred.
TRUE: A major fault level Controller error has occurred.
FALSE: A major fault level Controller error has not occurred.
This bit indicates whether a partial fault level Controller error has occurred.
TRUE: A partial fault level Controller error has occurred.
FALSE: A partial fault level Controller error has not occurred.
This bit indicates whether a minor fault level Controller error has occurred.
TRUE: A minor fault level Controller error has occurred.
FALSE: A minor fault level Controller error has not occurred.
This bit indicates whether an observation level Controller error has occurred.
TRUE: An observation level Controller error has occurred.
FALSE: An observation level Controller error has not occurred.
Reserved.
Note Bits 14 and 15 are never TRUE for the built-in EtherNet/IP port.
7-1-3 EtherCAT Master Function Module, Category Name: _EC
7
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7-9
7 System-defined Variables Related to the Built-in EtherCAT Port
Functional Classification: EtherCAT Communications Errors
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_ErrSta
Built-in EtherCAT Error Global/local Global
This system-defined variable provides the collective status of errors in the EtherCAT Master Function Module.
Refer to
Meanings of Error Status Bits on page 7-8 for the meanings of the error status bits.
WORD
R
Possible.
Retained
Related instructions •
Range of values
Not retained.
Network Publish
Get EtherCAT Error Status
GetECError
Reset EtherCAT Error
• ResetECError
16#0000 to 16#40F0
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_PortErr
Communications Port Error Global/local Global
This system-defined variable provides the collective status of errors in the communications ports for the EtherCAT master.
Refer to
Meanings of Error Status Bits on page 7-8 for the meanings of the error status bits.
WORD
R
Possible.
Retained
Related instructions
Range of values
Not retained.
Network Publish
Get EtherCAT Error Status
• GetECError
Reset EtherCAT Error
• ResetECError
16#0000 to 16#00F0
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_MstrErr
Master Error Global/local Global
This system-defined variable provides the collective status of EtherCAT master errors and slave errors detected by the EtherCAT master.
Refer to
Meanings of Error Status Bits on page 7-8 for the meanings of the error status bits.
WORD
R
Possible.
Retained
Related instructions
Range of values
Not retained.
Network Publish
Get EtherCAT Error Status
• GetECError
Reset EtherCAT Error
• ResetECError
16#0000 to 16#00F0
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_SlavErr
Slave Error Global/local Global
This system-defined variable provides the collective status of all the error status for EtherCAT slaves.
Refer to
Meanings of Error Status Bits on page 7-8 for the meanings of the error status bits.
WORD Range of values 16#0000 to 16#00F0
R
Possible.
Retained
Related instructions
Not retained.
Network Publish
Get EtherCAT Error Status
• GetECError
Reset EtherCAT Error
• ResetECError
Published.
7-10 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
Meaning
Function
Data type
_EC_SlavErrTbl
Slave Error Table
Global/local Global
This system-defined variable gives the error status for each EtherCAT slave.
The error status is given for each slave in the actual system configuration. This variable array indicates slaves in
which there are errors. Status is provided for each EtherCAT slave node address (1 to 512) *1
.
Refer to
Meanings of Error Status Bits on page 7-8 for the meanings of the error status bits.
Range of values 16#0000 to 16#00F0
R/W access R Retained Not retained.
Network Publish Published.
Usage in user program
Possible.
Related instructions
Get EtherCAT Error Status
• GetECError
Reset EtherCAT Error
• ResetECError
*1.
For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the node address is 1 to 192 and the data type is ARRAY
[1..192] OF WORD.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_MacAdrErr
MAC Address Error Global/local
TRUE if the MAC Address Error (14400000 hex) event occurred.
BOOL
R
Possible.
Retained
Related instructions
Not retained.
---
Range of values
Network Publish
Global
TRUE or FALSE
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_LanHwErr
Communications Controller Error Global/local Global
TRUE if the Communications Controller Error (047C0000 hex) event occurred.
BOOL
R Retained Not retained.
Range of values
Network Publish
TRUE or FALSE
Published.
Possible.
Related instructions
---
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_LinkOffErr
Link OFF Error Global/local
TRUE if the Link OFF Error (84200000 hex) event occurred.
BOOL
R
Possible.
Retained
Related instructions
Range of values
Not retained.
Network Publish
Reset EtherCAT Error
• ResetECError
Global
TRUE or FALSE
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_NetCfgErr
Network Configuration Information Error Global/local Global
TRUE if the Network Configuration Information Error (34400000 hex) event occurred.
BOOL Range of values TRUE or FALSE
R
Possible.
Retained
Related instructions
Not retained.
Network Publish
---
Published.
7
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7-11
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_NetCfgCmpErr
Network Configuration Verification Error
R
Possible.
Retained
Related instructions
Global/local
Not retained.
Network Publish
Reset EtherCAT Error
• ResetECError
Global
TRUE if one of the following events occurred.
• Network Configuration Verification Error (84220000 hex)
• Network Configuration Verification Error (Slave Unconnected) (84380000 hex)
• Network Configuration Verification Error (Unnecessary Slave Connected) (84320003 hex)
• Network Configuration Verification Error (Mismatched Slave) (84330004 hex)
• Network Configuration Verification Error (Incorrect Ring Wiring) (843A0000 hex)
BOOL Range of values TRUE or FALSE
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_NetTopologyErr
Network Configuration Error
Related instructions
Global/local
TRUE if one of the following events occurred.
• Network Configuration Error (84210000 hex)
• Incorrect Wiring Detected (843C0000 hex)
BOOL
R Retained
Range of values
Not retained.
Network Publish
Possible.
Reset EtherCAT Error
• ResetECError
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_PDCommErr
Process Data Communications Error Global/local
TRUE if one of the following events occurred.
• Process Data Communications Error (842C0000 hex)
• Illegal Slave Disconnection Detected (84310002 hex)
• Slave PDI WDT Error Detected (84340000 hex)
BOOL Range of values
R Retained Not retained.
Network Publish
Possible.
Related instructions
Reset EtherCAT Error
• ResetECError
Global
TRUE or FALSE
Published.
Global
TRUE or FALSE
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_PDTimeoutErr
Process Data Reception Timeout Error Global/local Global
TRUE if the Process Data Reception Timeout (842B0000 hex) event occurred.
BOOL Range of values TRUE or FALSE
R
Possible.
Retained
Related instructions
Not retained.
Network Publish
Reset EtherCAT Error
• ResetECError
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_PDSendErr
Process Data Transmission Error
Reset EtherCAT Error
• ResetECError
Global/local Global
TRUE if the Process Data Transmission Error (84290000 hex) event occurred.
BOOL Range of values TRUE or FALSE
R Retained Not retained.
Network Publish Published.
Possible.
Related instructions
7-12 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_SlavAdrDupErr
Slave Node Address Duplicated Error Global/local
TRUE if the Slave Node Address Duplicated (24200000 hex) event occurred.
Global
BOOL Range of values TRUE or FALSE
R
Possible.
Retained
Related instructions
Not retained.
Network Publish
Reset EtherCAT Error
• ResetECError
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_SlavInitErr
Slave Initialization Error
TRUE if one of the following events occurred.
• Slave Initialization Error (84230000 hex)
• Slave State Transition Failed (84300001 hex)
BOOL
R
Possible.
Retained
Related instructions
Global/local
Range of values
Not retained.
Network Publish
Reset EtherCAT Error
• ResetECError
Global
TRUE or FALSE
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_SlavAppErr
Slave Application Error Global/local
TRUE if one of the following events occurred.
• Slave Application Error (84280000 hex)
• Slave AL Status Error Detected (84360000 hex)
BOOL Range of values
R
Possible.
Retained
Related instructions
Not retained.
Network Publish
Reset EtherCAT Error
• ResetECError
Global
TRUE or FALSE
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_MsgErr
EtherCAT Message Error
TRUE if one of the following events occurred.
• EtherCAT Message Error (842D0000 hex)
• Illegal Mailbox Received (84350000 hex)
BOOL
R
Possible.
Retained
Related instructions
Global/local Global
Range of values TRUE or FALSE
Not retained.
Network Publish Published.
CoE messages (Read EtherCAT CoE SDO)
• EC_CoESDORead
CoE messages (Write EtherCAT CoE SDO)
• EC_CoESDOWrite
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_SlavEmergErr
Emergency Message Detected Global/local
TRUE if the Emergency Message Detected (64200000 hex) event occurred.
Global
BOOL
R
Possible.
Retained
Related instructions
Range of values
Not retained.
Network Publish
Reset EtherCAT Error
• ResetECError
TRUE or FALSE
Published.
7
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7-13
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
Meaning
Function
Data type
R/W access
Input Process Data Invalid Error Global/local Global
TRUE if the Input Process Data Invalid Error (842F0000 hex) event occurred.
BOOL
R Retained
Range of values
Not retained.
Network Publish
Usage in user program
Possible.
Related instructions
Reset EtherCAT Error
• ResetECError
*1.
This system-defined variable was added for unit version 1.13 of the CPU Unit.
TRUE or FALSE
Published.
Variable name
Meaning
_EC_CommErrTbl
Communications Error Slave Table Global/local Global
Function
Data type
Slaves are given in the table in the order of slave node addresses. The corresponding slave element is TRUE if the master detected an error for the slave.
Array [1..512] OF BOOL
R
Retained Not retained.
Range of values
Network Publish
TRUE or FALSE
Published.
R/W access
Usage in user program
Possible.
Related instructions
Reset EtherCAT Error
• ResetECError
*1.
For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the data type is ARRAY [1..192] OF BOOL.
Note The values of all system-defined variables that are related to errors in EtherCAT communications do not change until the cause of the error is removed and then the error in the Controller is reset with the troubleshooting functions of the
Sysmac Studio or the ResetECError instruction.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_CycleExceeded
EtherCAT Communications Cycle Exceeded Global/local Global
TRUE if the EtherCAT Communications Cycle Exceeded (34410000 hex) event occurred.
Note You can use this system-defined variable only for NX-series CPU Units.
BOOL Range of values TRUE or FALSE
R
Possible.
Retained
Related instructions
Not retained.
Network Publish
---
Published.
Functional Classification: EtherCAT Communications Status
Variable name
Meaning
_EC_RegSlavTbl
Registered Slave Table Global/local Global
Function
Data type
This table indicates the slaves that are registered in the network configuration information.
Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave is registered.
Array [1..512] OF BOOL
R
Retained Not retained.
Range of values
Network Publish
TRUE or FALSE
Published.
R/W access
Usage in user program
Possible.
Related instructions
---
*1.
For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the data type is ARRAY [1..192] OF BOOL.
7-14 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name _EC_EntrySlavTbl
Meaning
Function
Network Connected Slave Table Global/local Global
This table indicates which slaves are connected to the network. Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave has entered the network.
Data type
R/W access
Usage in user program
R
Possible.
Retained
Related instructions
Not retained.
---
Range of values
Network Publish
TRUE or FALSE
Published.
*1.
For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the data type is ARRAY [1..192] OF BOOL.
Variable name
Meaning
Function
Data type
_EC_MBXSlavTbl
Message Communications Enabled Slave Table Global/local Global
This table indicates the slaves that can perform message communications. Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if message communications are enabled for it (pre-operational, safe-operation, or operational state).
Note Use this variable to confirm that message communications are possible for the relevant slave before you execute message communications with an EtherCAT slave.
Range of values TRUE or FALSE
R/W access R Retained Not retained.
Network Publish Published.
Usage in user program
Possible.
Related instructions
Disconnect EtherCAT Slave
• EC_DisconnectSlave
Connect EtherCAT Slave
• EC_ConnectSlave
*1.
For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the data type is ARRAY [1..192] OF BOOL.
Variable name
Meaning
Function
Data type
_EC_PDSlavTbl
Process Data Communicating Slave Table
This is a table that indicates the slaves that are performing process data communications. Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if process data of the corresponding slave is enabled (operational) for both slave inputs and outputs.
Note Use this variable to confirm that the data for the relevant slave is valid before controlling an
EtherCAT slave.
R Retained
Global/local
Range of values
Not retained.
Network Publish
Global
TRUE or FALSE
Published.
R/W access
Usage in user program
Possible.
Related instructions
Disconnect EtherCAT Slave
• EC_DisconnectSlave
Connect EtherCAT Slave
• EC_ConnectSlave
*1.
For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the data type is ARRAY [1..192] OF BOOL.
7
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7-15
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
Meaning
Function
Data type
_EC_DisconnSlavTbl
Disconnected Slave Table
Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave was disconnected.
Array [1..512] OF BOOL
R
Retained Not retained.
Global/local
Range of values
Network Publish
Global
TRUE or FALSE
Published.
R/W access
Usage in user program
Possible.
Related instructions
Disconnect EtherCAT Slave
• EC_DisconnectSlave
Connect EtherCAT Slave
• EC_ConnectSlave
*1.
For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the data type is ARRAY [1..192] OF BOOL.
Variable name
Meaning
_EC_DisableSlavTbl
Disabled Slave Table Global/local Global
Function
Data type
R/W access
Usage in user program
Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave is disabled.
Array [1..512] OF BOOL
R
Possible.
Retained
Related instructions
Not retained.
---
Range of values
Network Publish
TRUE or FALSE
Published.
*1.
For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the data type is ARRAY [1..192] OF BOOL.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_PDActive
Process Data Communications Status Global/local
TRUE when process data communications are performed with all slaves
BOOL Range of values
Global
TRUE or FALSE
R
Possible.
Retained
Related instructions
Not retained.
Network Publish
Disconnect EtherCAT Slave
• EC_DisconnectSlave
Connect EtherCAT Slave
• EC_ConnectSlave
Published.
*1.
Disabled slaves are not included.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_PktMonStop
Packet Monitoring Stopped
TRUE when packet monitoring is stopped.
BOOL
R
Possible.
Retained
Related instructions
Global/local
Range of values
Not retained.
Network Publish
Stop Packet Monitor
• EC_StopMon
Start Packet Monitor
• EC_StartMon
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_LinkStatus
Link Status
Related instructions
Global/local
TRUE if the communications controller link status is Link ON.
BOOL Range of values
R Retained Not retained.
Network Publish
Possible.
---
Global
TRUE or FALSE
Published.
Global
TRUE or FALSE
Published.
7-16 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_PktSaving
Saving Packet Data File
Shows whether a packet data file is being saved.
TRUE: Packet data file being saved.
FALSE: Packet data file not being saved.
BOOL
R
Possible.
Retained
Related instructions
Global/local
Range of values
Not retained.
Network Publish
Saving Packet Data File
• EC_SaveMon
Global
TRUE or FALSE
Published.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_InDataInvalid
Input Data Invalid Global/local Global
TRUE when process data communications performed in the primary periodic task are not normal and the input data is not valid.
BOOL
R Retained
Range of values
Not retained.
Network Publish
TRUE or FALSE
Published.
Possible.
Related instructions
---
Note 1.
All system-defined variables that are related to the status of EtherCAT communications give the current status.
Note 2.
The variable temporarily changes to TRUE if the EC_DisconnectSlave (Disconnect EtherCAT Slave) instruction,
EC_ConnectSlave (Connect EtherCAT Slave) instruction, or EC_ChangeEnableSetting (Enable/Disable EtherCAT
Slave) instruction is executed.
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_InData1Invalid
Input Data1 Invalid Global/local Global
TRUE when process data communications established in the primary periodic task are not normal and the input data is not valid.
Note You can use this system-defined variable only for NX-series CPU Units.
BOOL
R
Possible.
Retained
Related instructions
Range of values
Not retained.
Network Publish
---
TRUE or FALSE
Published.
Note 1.
All system-defined variables that are related to the status of EtherCAT communications give the current status.
Note 2.
The variable temporarily changes to TRUE if the EC_DisconnectSlave (Disconnect EtherCAT Slave) instruction,
EC_ConnectSlave (Connect EtherCAT Slave) instruction, or EC_ChangeEnableSetting (Enable/Disable EtherCAT
Slave) instruction is executed.
7
Variable name
Meaning
Function
Data type
R/W access
Usage in user program
_EC_InData2Invalid
Input Data2 Invalid Global/local Global
TRUE when process data communications established in the priority-5 periodic period are not normal and the input data is not valid.
Note You can use this system-defined variable only for NX-series CPU Units.
Note This variable is always TRUE for the NX102 CPU Units and NX1P2 CPU Units.
BOOL Range of values TRUE or FALSE
R Retained Not retained.
Network Publish Published.
Possible.
Related instructions
---
Note 1.
All system-defined variables that are related to the status of EtherCAT communications give the current status.
Note 2.
The variable temporarily changes to TRUE if the EC_DisconnectSlave (Disconnect EtherCAT Slave) instruction,
EC_ConnectSlave (Connect EtherCAT Slave) instruction, or EC_ChangeEnableSetting (Enable/Disable EtherCAT
Slave) instruction is executed.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7-17
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
Meaning
Function
Data type
R/W access
Ring Disconnection Global/local Global
TRUE when all slaves in the ring topology except for disabled slaves are connected and if there is only one point of disconnection in the communications cables in the ring topology.
BOOL
R Retained
Range of values
Not retained.
Network Publish
TRUE or FALSE
Published.
Usage in user program
Possible.
Related instructions
---
*1.
This system-defined variable was added for unit version 1.40 of the CPU Unit.
Variable name
Meaning
Function
Data type
Slave Node Address Before Ring Disconnection Global/local Global
When the _EC_RingBreaking (Ring Disconnection) system-defined variable is TRUE, the slave node address before point of disconnection is stored.
When the _EC_RingBreaking (Ring Disconnection) system-defined variable is FALSE, “0” is stored.
UINT Range of values
R Retained Not retained.
Network Publish
0 to maximum number of node addresses
Published.
R/W access
Usage in user program
Possible.
Related instructions
---
*1.
This system-defined variable was added for unit version 1.40 of the CPU Unit.
Functional Classification: EtherCAT Communications Diagnosis/Statistics
Log
Variable name
Meaning
Function
Diagnosis/Statistics Log Enable Global/local
Changes to TRUE when the diagnosis/statistics log is started.
Changes to FALSE when the diagnosis/statistics log is ended.
Data type
R/W access
BOOL
RW Retained
Range of values
Not retained.
Network Publish
Usage in user program
Possible.
Related instructions
---
*1.
This system-defined variable was added for unit version 1.11 of the CPU Unit.
Global
TRUE or FALSE
Published.
Variable name
_EC_StatisticsLogCycleSec
Meaning
Function
Diagnosis/Statistics Log Cycle Global/local Global
Specifies the interval to write the diagnostic and statistical information of the diagnosis/statistics log in units of seconds.
When 0 is specified, the diagnostic and statistical information is written only once when the diagnosis/statistics log is ended.
Note The write interval does not change even if you change the value of this system-defined variable while the diagnosis/statistics log operation is in progress.
Data type
R/W access
UINT
RW Retained
Range of values
Not retained.
Network Publish
Usage in user program
Possible.
Related instructions
---
*1.
This system-defined variable was added for unit version 1.11 of the CPU Unit.
0, or 30 to 1800
Published.
7-18 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
7 System-defined Variables Related to the Built-in EtherCAT Port
Variable name
Meaning
Function
Diagnosis/Statistics Log Busy Global/local
TRUE while the diagnosis/statistics log operation is in progress.
Data type
R/W access
BOOL
R Retained
Range of values
Not retained.
Network Publish
Usage in user program
Possible.
Related instructions
---
*1.
This system-defined variable was added for unit version 1.11 of the CPU Unit.
Global
TRUE or FALSE
Published.
Variable name
_EC_StatisticsLogErr
Meaning
Function
Data type
R/W access
Diagnosis/Statistics Log Error Global/local Global
TRUE when the diagnosis/statistics log failed to start or it is impossible to write into the log.
The value of this flag is determined when _EC_StatisticsLogBusy (Diagnosis/Statistics Log Busy) changes to
FALSE after the diagnosis/statistics log operation is started.
The error end is caused by the following.
• Another records cannot be added in the log file because the capacity of the SD Memory Card is fully used.
• The SD Memory Card is write-protected.
• There is no SD Memory Card.
• The function cannot be started because the value specified for _EC_StatisticsLogCycleSec (Diagnosis/Statistics Log Cycle) is invalid.
BOOL
R Retained
Range of values
Not retained.
Network Publish
Usage in user program
Possible.
Related instructions
---
*1.
This system-defined variable was added for unit version 1.11 of the CPU Unit.
TRUE or FALSE
Published.
7
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 7-19
7 System-defined Variables Related to the Built-in EtherCAT Port
7-20 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
8
Example of Operations for Ether-
CAT Communications
This section provides a series of example operations for when an NJ/NX-series CPU
Unit is connected to slaves.
8-1 Example of Operations for EtherCAT Communications............................. 8-2
Setting the EtherCAT Network Configuration .................................................. 8-2
Downloading the Network Configuration Information and the User
Confirming the Start of Communications......................................................... 8-5
8
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 8-1
8 Example of Operations for EtherCAT Communications
8-1 Example of Operations for EtherCAT
Communications
8-1-1 System Configuration Example
EtherCAT master
Digital I/O slave
Node address 1
Button 1
Button 0
Digital I/O slave
Node address 2
Servo Drive
Node address 3
ADR
Servo Drive
Node address 4
ADR
Button 0: Operation start button
Button 1: Homing button
There are no restrictions on the order of node addresses.
8-1-2 Wiring and Settings
Wiring
• Install the Controller and slaves.
• Connect communications cables to the EtherCAT master and slaves.
• Connect the power supply.
Settings
Set the node address for each slave.
8-1-3 Setting the EtherCAT Network Configuration
Start the Sysmac Studio and make the following settings.
8-2 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
8 Example of Operations for EtherCAT Communications
Creating the EtherCAT Network Configuration
Use the EtherCAT Configuration Editor to create the slave configuration.
In this example, digital I/O slaves are set to node addresses 1 and 2 and Servo Drives are set to node addresses 3 and 4.
Assigning Device Variables to Digital I/O Slaves (Node Addresses 1 and 2)
Use the I/O Map to assign device variables to the I/O ports of the slaves.
8
In this example, Pwr_On is assigned to bit 0 of slave 1 and Hm1_On is assigned to bit 1 of slave 1.
Axis Settings for the Servo Drives (Node Addresses 3 and 4)
Add an axis to the Motion Control Setup and then assign the Servo Drive with node address 3 to the axis to set the axis.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 8-3
8 Example of Operations for EtherCAT Communications
In the same way, add an axis and assign the Servo Drive with node address 4 to it.
Setting EtherCAT Master Parameters
Set the parameters for the EtherCAT master from the EtherCAT master settings.
Setting Slave Parameters
Set the slave parameters from the EtherCAT configuration slave settings.
If a communications error prevents the slaves from receiving signals from the EtherCAT master, the slave outputs are processed according to settings in the slave.
Assigning Tasks to Slaves
Use Task Settings to assign tasks to slaves.
• Set Period/Execution Conditions for each task from Task Settings .
• Set names of the tasks that are assigned to the slaves from I/O Control Task Settings .
8-1-4 Programming
Programming
When the operation start button is pressed, the Pwr_On variable changes to TRUE and axis control is enabled. (See rung 0.)
When the homing button is pressed, the Hm1_On variable changes to TRUE and homing is performed. (See rung 1.)
8-4 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
8 Example of Operations for EtherCAT Communications
Assigning Programs to Tasks
Use Task Settings to assign programs to tasks and set the program execution order.
Assign programs to tasks and set the program execution order from Program Assignment
Settings .
8-1-5 Offline Debugging
You can use the Simulator to check the program and task execution times with offline debugging.
8-1-6 Turning the Power ON
Turn ON the following power supplies.
• Slave unit power supply (The PWR indicator on the slave will light when the power supply turns
ON.)
• Slave I/O power supply
• Controller power supply
8-1-7 Online Debugging
Compare and merge the network configuration that was set on the Sysmac Studio and the actual configuration.
8-1-8 Downloading the Network Configuration Information and the
User Program
Download the network configuration information and the user program that were created on the Sysmac Studio to the Controller.
Note Use the synchronization operation of the Sysmac Studio to download the data.
8-1-9 Confirming the Start of Communications
Check to make sure that all registered slaves are participating in the network and that communications start.
Make sure that the master indicators are in the following status.
NET RUN indicator
NET ERR indicator
LINK/ACT indicator (physical layer LINK)
Lit
Not lit
Flashing
Make sure that the status indicators on all slaves are in the following status.
PWR indicator
RUN indicator
Lit
Lit
8
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 8-5
8 Example of Operations for EtherCAT Communications
ERR indicator
L/A IN (physical layer LINK inputs)
L/A OUT (physical layer LINK outputs)
Not lit
Flashing
Flashing (Not lit on the last slave.)
8-6 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9
Troubleshooting
This section describes overview of troubleshooting, network diagnosis procedure using diagnostic and statistical information, functions of the Sysmac Studio and the CPU
Unit for acquiring diagnostic and statistical information, functions of the Sysmac Studio for identifying error slaves and error causes, and precautions and methods of replacing slaves during communications.
Errors Related to the EtherCAT Master Function Module ............................... 9-2
Identifying an Error Slave and Cause of Error............................................... 9-21
9-3 Precautions When Connecting or Disconnecting Slaves during
9-3-1 Procedure for Connecting and Disconnecting Slaves during Commu-
9-4 Replacing Slaves during Communications ............................................... 9-26
9
9-1 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9 Troubleshooting
9-1 Overview of Troubleshooting
You manage all of the errors that occur on the NJ/NX-series Controller as events. This allows you to see what errors have occurred and find corrections for them with the same methods for the entire range of errors that is managed (i.e., CPU Unit, NX Units, NX-series Slave Terminals, EtherCAT slaves *1 , and CJ-series Units).
*1. Only Sysmac devices are supported.
Host computer HMI
Checking Network Status
EtherNet/IP
Troubleshooter
Network Configurator
NJ/NX-series
CPU Unit
Built-in
EtherNet/IP
Port
CJ-series Units and
NX Units
Troubleshooting
Sysmac Studio
Built-in EtherCAT port
EtherCAT
EtherCAT slaves
Error management range for NJ/NX-series Controller
You can use the troubleshooting functions of the Sysmac Studio or the Troubleshooter on an HMI to quickly check for errors that have occurred and find corrections for them.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for error types and details, specific corrections when errors occur, and troubleshooting information on the entire NJ/NX-series Controller.
9-1-1 How to Check for Errors
Refer to Checking for Non-fatal Errors in the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for checking for errors.
9-1-2 Errors Related to the EtherCAT Master Function Module
Refer to Errors Related to the EtherCAT Master Function Module in the NJ/NX-series Troubleshooting
Manual (Cat. No. W503) for errors related to the EtherCAT Master Function Module.
9-2 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9 Troubleshooting
9-2 Troubleshooting
This section describes errors (events) that can occur and the corrections for them, network diagnosis procedure using diagnostic and statistical information, functions of the Sysmac Studio and the CPU
Unit for acquiring diagnostic and statistical information, and functions of the Sysmac Studio for identifying error slaves and error causes.
9-2-1 Error Table
Refer to Error Tables in Errors in the EtherCAT Master Function Module in the NJ/NX-series
Troubleshooting Manual (Cat. No. W503) for tables of errors (events) that occur in the EtherCAT Master Function Module.
9-2-2 Error Descriptions
Refer to Error Descriptions in Errors in the EtherCAT Master Function Module in the NJ/NX-series
Troubleshooting Manual (Cat. No. W503) for description of errors (events) that occur in the EtherCAT
Master Function Module.
9-2-3 Resetting Errors
Refer to Resetting Errors in the EtherCAT Master Function Module in Errors Related to the EtherCAT
Master Function Module in the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for how to reset errors.
9-2-4 Diagnostic and Statistical Information
The diagnostic and statistical information provides statistics on the number of communications frames sent and received by the EtherCAT master and EtherCAT slaves as well as the number of frames for which errors were detected.
You can use it to diagnosis the EtherCAT network line qualify for the following:
• Confirming that the EtherCAT network was correctly installed during a test run
• Finding the causes of communications errors that occur during normal operation
• Checking the EtherCAT network line quality during normal operation
9
EtherCAT Network Diagnostic Procedure
You can diagnose the EtherCAT network with the diagnostic and statistical information for the master and slaves. The procedure to diagnose the EtherCAT network is given below.
If the diagnostic results show that the EtherCAT network is not operating normally, you can find the location of the error.
An outline procedure from EtherCAT network diagnosis through correction is given below.
1
Acquire the diagnostic and statistical information for the master and slaves.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 9-3
9 Troubleshooting
2
Check for errors in the trends shown in the master diagnostic and statistical information.
3
Find the locations of the errors with trends in the slave diagnostic and statistical information.
4
Implement corrections for the error locations that you found.
5
Confirm status after implementation of the correction.
Step 1: Acquiring Diagnostic and Statistical Information for Master and
Slaves
There are two methods to acquire the diagnostic and statistical information for the master and slaves. The following table describes each method. Use either of the methods to acquire the diagnostic and statistical information for the master and slaves.
Acquisition method
Using the diagnostic and statistical information display of Sysmac
Studio
Using the diagnosis/ statistics log of CPU
Unit
Description
Use the Sysmac Studio to acquire the diagnostic and statistical information. You can save the acquired diagnostic and statistical information in the computer.
The CPU Unit acquires the diagnostic and statistical information periodically. The acquired diagnostic and statistical information is saved in an SD Memory Card that is mounted on the CPU Unit.
Reference
Refer to
Statistical Information Display of Sysmac Studio on page 9-11.
Refer to
Diagnosis/Statistics Log of CPU Unit on page 9-16.
Precautions for Correct Use
When the Sysmac Studio’s diagnostic and statistical information display is used, the maximum number of error frames recorded for the slave diagnostic and statistical information is 255. If the number of error frames exceeds 255, increasing trends of the number of error frames cannot be recognized. If the number of error frames for the slave diagnostic and statistical information is assumed to exceed 255, execute the clear operation for the slave diagnostic and statistical information before acquiring the slave diagnostic and statistical information.
Step 2: Checking for Errors in Trends in Master Diagnostic and Statistical
Information
Check for trends in the items in the acquired master diagnostic and statistical information to diagnose errors in the EtherCAT network.
Example of the Master Diagnosis/Statistics Tab Page of Sysmac Studio
9-4 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9 Troubleshooting
Increased.
Increased.
If the value of the frame reception timeout count or number of CRC error frames received increases, then the EtherCAT network is not operating normally.
If a certain number of the frame reception timeout count or a certain number of CRC error frames received is detected, the EtherCAT network may not be operating normally.
If there is an error or possibility of an error in the EtherCAT network, find the error location by per-
Additional Information
A certain number of the frame reception timeout count or a certain number of CRC error frames received is also detected if a power OFF or disconnection occurs in an EtherCAT slave.
Step 3: Finding Locations of Errors with Trends in Slave Diagnostic and
Statistical Information
You can check for trends of values in the slave diagnostic and statistical information to find the locations of the errors.
Example of the Slave Diagnosis/Statistics Tab Page of Sysmac Studio
9
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 9-5
9 Troubleshooting
Increased.
The following are the points to check to find error locations based on the number of error frames.
• A certain number of error frames is detected.
• The number of error frames is increased compared to the value acquired last time.
• "Failed" is displayed for the number of error frames.
If a certain number of error frames is detected for more than one port, start finding error locations from the port with the highest number of error frames.
The error locations that you find will change depending on the configuration of EtherCAT slave connection. Refer to the network configuration diagram to find error locations.
This section explains how to find error locations with two examples of EtherCAT network configurations in which the EtherCAT slave connection configurations are different.
9-6 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9 Troubleshooting
Examples of Finding Error Locations
Example 1: Network Configuration Where an EtherCAT Junction Slave Is Not Used
Network Configuration Diagram
NJ/NX-series CPU Unit
EtherCAT master
(A) (B)
(C)
IN OUT
Slave node address 64
IN OUT
Slave node address 3
IN OUT
Slave node address 4
IN OUT
Slave node address 5
Slave Diagnosis/Statistics Tab Page
The number of error frames for the input port (PortA) for node address 4 is 31, so you can see that error frames were received on the input port for node address 4.
Therefore, you can assume that there is a problem between the output port (PortB) for node address 3 and the input port for node address 4.
This corresponds to location (A) (B) or (C) in the network configuration diagram.
Concretely, you can assume the following possible error locations.
• The device at node address 3
• The cable between the output port at node address 3 and the input port at node address 4 or the connectors at those ports
• The device at node address 4
9
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 9-7
9 Troubleshooting
Example 2: Network Configuration Where an EtherCAT Junction Slave Is Used
Network Configuration Diagram
NJ/NX-series CPU Unit
EtherCAT master
IN
Junction slave node address 64
OUT
IN OUT
Slave node address 3
(A)
(B)
(C)
Slave Diagnosis/Statistics Tab Page
IN OUT
Slave node address 4
IN
OUT
Slave node address 5
9-8
The number of error frames for the input port (PortA) for node address 4 is 123, so you can see that error frames were received on the input port for node address 4.
Therefore, you can assume that there is a problem between the output port (X3) for node address 64 and the input port for node address 4.
This corresponds to location (A) (B) or (C) in the network configuration diagram.
Concretely, you can assume the following possible error locations.
• The device at node address 64
• The cable between the output port at node address 64 and the input port at node address 4 or the connectors at those ports
• The device at node address 4
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9 Troubleshooting
This is the procedure to find error locations when "Failed" is displayed for the number of error frames.
In the EtherCAT network configuration, "Failed" is sometimes displayed for more than one
EtherCAT slave.
In the network configuration for example 2, assume that "Failed" is displayed for the number of error frames for node addresses 4 and 5.
If "Failed" is displayed for the number of error frames, the EtherCAT slave currently cannot communicate. If an EtherCAT slave cannot communicate, all of the EtherCAT slaves connected after it may not be able to communicate. In the network configuration diagram of example 2, node address 5 is connected after node address 4.
Therefore, you can assume that there is an error in node address 4 that prevents communications.
Concretely, you can assume the following possible error locations.
• The device at node address 64
• The cable between the output port at node address 64 and the input port at node address 4 or the connectors at those ports
• The device at node address 4
Step 4: Implementing Corrections for Error Locations
Implement corrections for the error locations that you found.
To check the position of the EtherCAT slave with an error in the network configuration, refer to the
Node Address|Network configuration display under Slave Diagnostic and Statistical Information.
The following table provides corrections for the causes as assumed from the diagnostic and statistical information.
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9-10
Master diagnosis and statistical information trend
The frame reception timeout count is increasing.
The number of
CRC error frames received is not increasing.
The number of
CRC error frames received is increasing.
Slave diagnosis and statistical information trend
"Failed" is displayed for the number of error frames.
The number of error frames is not increasing.
"Failed" is displayed for the number of error frames and the number of error frames is increasing.
"Failed" is displayed for the number of error frames or the number of error frames is increasing.
Assumed error cause Possible correction
The power is not supplied to the EtherCAT slave.
A connector on the Ethernet cable is disconnected, the contact is faulty, or parts are faulty.
The Ethernet cable is broken or the specified cable was not used.
A general-purpose Ethernet hub is connected.
Supply the power to the
EtherCAT slave.
Make sure the connector is mated correctly, or reconnect the connector.
Replace the Ethernet cable.
The EtherCAT slave failed.
The EtherCAT master communications cycle is too short.
A connector on the Ethernet cable is disconnected, the contact is faulty, or parts are faulty.
The EtherCAT slave failed.
There is noise.
Replace the general-purpose Ethernet hub with an EtherCAT Junction
Slave.
Replace the EtherCAT slave.
Go online with the Sysmac Studio, lengthen the task period (communications cycle), and set it in the CPU Unit again.
Make sure the connector is mated correctly, or reconnect the connector.
Replace the EtherCAT slave.
Implement noise countermeasures.
The following is a description of the case which does not correspond to any of above conditions.
If a certain number of the frame reception timeout count and CRC error frames received for the master diagnostic and statistical information, as well as a certain number of error frames for the slave diagnostic and statistical information are detected but are not increasing, these numbers were detected temporarily due to any of the following error causes.
• A connector on the Ethernet cable is disconnected, the contact is faulty, or parts are faulty.
• There is noise.
• The Ethernet cable is broken or the specified cable was not used.
Implement corrections for the error locations that you found. Refer to the table above for what to do for corrections.
Step 5: Confirming After Implementing Corrections
To confirm that the error locations were corrected, perform the procedure in
Errors in Trends in Master Diagnostic and Statistical Information on page 9-4 again to make sure
the network is operating normally.
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Diagnostic and Statistical Information Display of Sysmac Studio
This section describes how to activate the diagnostic and statistical information display of Sysmac Studio. The functions of the operation buttons and displayed items are also explained.
Activation
Activate the diagnostic and statistical information display of Sysmac Studio as follows.
1
Start the Sysmac Studio and go online with the Controller.
2
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
3
Right-click the EtherCAT master on the EtherCAT Tab Page and select Display Diagnosis/
Statistics Information from the menu.
9
The diagnostic and statistical information for the master and slaves are displayed.
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Operation Button Functions
The following table describes the buttons to operate the diagnostic and statistical information.
Button Function
Get Acquires the diagnostic and statistical information from the EtherCAT master
and EtherCAT slaves *1 and updates the display.
You can retain a maximum of 100 diagnostic and statistical data that you acquired.
When the Display Diagnosis/Statistics Information Tab Page is closed, the diagnostic and statistical information that you acquired are discarded.
Clears all values of the master diagnostic and statistical information to zeros.
Clear Master Diagnosis/
Statistics Information
Clear Slave Diagnosis/Statistics Information
Output File
Clears all values of the slave diagnostic and statistical information to zeros.
Outputs the diagnostic and statistical information to a CSV or a Viewer For-
in a specified folder. The following data are output.
• Master diagnostic and statistical information
• Slave diagnostic and statistical information
*1.
Only for the EtherCAT slaves that are registered in the network configuration information of the project.
*2.
This appears only when the unit version set in the Sysmac Studio project is 1.11 or later.
*3.
The Viewer Format file is used to review the obtained diagnostic and statistical information in the Ether-
CAT Diagnosis/Statistics Information Viewer on the Sysmac Studio. Refer to Diagnostic and Statistical
Information in the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on the Ether-
CAT Diagnosis/Statistics Information Viewer on the Sysmac Studio. Sysmac Studio version 1.29 or higher is required to use the EtherCAT Diagnosis/Statistics Information Viewer.
*4.
For a CSV file, if the number of error frames exceeds 255, 255 is output.
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Master Diagnostic and Statistical Information
The following are the items displayed for the master diagnostic and statistical information.
Items that indicate the values may increase if the EtherCAT network is not operating normally.
Items that indicate the values may increase if the EtherCAT network is not operating normally.
The last two master diagnostic and statistical data acquired from the EtherCAT master are displayed. If the master diagnostic and statistical data is not acquired, "---" is displayed.
Precautions for Correct Use
• All values of the master diagnostic and statistical information are cleared to zeros when the power supply to the Controller is turned ON.
• The network propagation delay time is not cleared to zero when the master diagnostic and statistical information is cleared.
• Values of the network propagation delay time and transmission cycle are valid only if an
EtherCAT slave that supports a distributed clock is assigned to the primary periodic task. If an
EtherCAT slave that supports a distributed clock is not assigned to the primary periodic task,
"---" is displayed.
• The items for PDO communications cycle 2 are valid only if an EtherCAT slave that supports a distributed clock is assigned to the priority-5 periodic task. If the CPU Unit does not have a priority-5 periodic task or if an EtherCAT slave that supports a distributed clock is not assigned to the priority-5 periodic task, "--- " is displayed.
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The values of the following items may increase if there is an EtherCAT network error.
The following table gives the description of each item, assumed cause of increase, and correction.
Item
Frame reception timeout count
Reception buffer overflow count
Non-EtherCAT frames received
Link OFF count
Discarded process data receptions
Discarded message receptions
CRC error frames received
Frame reception errors
Displayed information
The number of frame reception timeouts that occurred.
The number of frames discarded due to buffer overflows when receiving data.
The number of frames received other than EtherCAT frames.
The number of times link OFF was detected.
The number of process data packets discarded when receiving process data.
The number of messages discarded in mailbox reception.
Assumed cause of increase Possible correction
A cause to a Process Data
Reception Timeout error occurred.
The Frame reception timeout count will increase also when the count in the CRC Error Frames Received,
Short frames received, or Overlength frames received increases.
There are too many frames on the
EtherCAT network that are not Ether-
CAT frames.
Refer to EtherCAT Network Diagnostic Procedure on page 9-3.
There are frames on the EtherCAT network that are not EtherCAT frames.
A cause to a
(84200000 hex) event occurred.
Operations for which multi-execution
The value sometimes increases when the network is started or communicating EtherCAT slaves are replaced.
Link OFF Error
A cause to an EtherCAT Message
Error (842D0000 hex) or Illegal
Mailbox Received (84350000 hex) event occurred.
The frames on the EtherCAT network are corrupted.
See if there are computers or other non-EtherCAT devices connected to the EtherCAT network and remove them if there are any.
See if there are computers or other non-EtherCAT devices connected to the EtherCAT network and remove them if there are any.
Refer to a Link OFF Error (84200000 hex) event in the NJ/NX-series
Troubleshooting Manual (Cat. No.
W503) and remove the cause of the error.
Slave at the Same Time on page
Refer to an
Received the
EtherCAT Message Error
(842D0000 hex) or Illegal Mailbox
(84350000 hex) event in
NJ/NX-series Troubleshooting
Manual (Cat. No. W503) and remove the cause of the error.
Refer to EtherCAT Network Diagnostic Procedure on page 9-3.
The number of frames received that resulted in CRC errors.
The number of frames resulting in reception errors from the Ethernet controller (EtherMAC).
The frames on the EtherCAT network are corrupted due to noise.
Implement noise countermeasures.
Refer to 4-2-1 Installation Precautions on page 4-12 for details.
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Item
Collision count
Displayed information
The total number of delay collisions on the line after start of transmissions.
Assumed cause of increase
A repeater hub is connected.
Short frames received
Overlength frames received
The number of frames received with less than 64 bytes.
The number of frames received with more than 1,522 bytes.
The frames on the EtherCAT network are corrupted due to noise.
Computers or other non-EtherCAT devices are connected.
The frames on the EtherCAT network are corrupted due to noise.
Computers or other non-EtherCAT devices are connected.
Possible correction
You cannot use repeater hubs with
EtherCAT communications. See if there are repeater hubs connected to the EtherCAT network and remove them if there are any.
Refer to EtherCAT Network Diagnostic Procedure on page 9-3.
Refer to EtherCAT Network Diagnostic Procedure on page 9-3.
Precautions for Correct Use
Even if communications are normal, values other than 0 may occur for the frame reception
Slave Diagnostic and Statistical Information
The following are the items displayed for the slave diagnostic and statistical information.
Item
Node Address|Network configuration
Node Address
Port Name
Displayed information
EtherCAT network configuration of the project
Node addresses of the EtherCAT slaves
Port names of the EtherCAT slave input or output ports
Port names that are defined in the EtherCAT slave’s ESI file
• If no name is defined, Port A, Port B, Port C, or Port D is displayed. If there are two ports, an input and an output port, i.e., Port A and Port B is displayed. The input port which is the only input port is displayed first followed by the output ports (some
EtherCAT slaves have more than one output port).
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Item
Error Frames
Displayed information
Number of error frames received on the EtherCAT slave’s input and output ports
Range: 0 to 254
• 255 or more is displayed if 255 or more error frames were received.
• When the diagnostic and statistical information is acquired twice or more, the increase from the previous acquisition is displayed in parentheses on the right of the number of error frames.
Example: When the number acquired at the previous acquisition was 6 and increased 4: 10 (+4)
• Failed is displayed when the number of error frames cannot be acquired from
EtherCAT slaves for reasons such as absence of the relevant EtherCAT slave.
• You cannot acquire the slave diagnostic and statistical information when the diagnosis/statistics log of the CPU Unit is in progress. If you click the Get Button, Auto logging is displayed for the number of error frames. Note that if the result of the previous acquisition was Failed , Failed will be displayed again.
Precautions for Correct Use
When you display the slave diagnostic and statistical information, first open a Sysmac Studio project where the network configuration agrees with the actual network. If the network configuration in the project does not agree with the actual network, the slave diagnostic and statistical information is not displayed correctly. If a project where the network configuration agrees with the actual network is not available, create a new project, make the network configuration in the project agree with the actual network, and then display the slave diagnostic and statistical information. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on building the network configuration.
Diagnosis/Statistics Log of CPU Unit
The periodic auto-acquisition of the diagnostic and statistical information is allowed for the following purposes during a test run or normal operation of equipment.
• Checking the EtherCAT network line quality for predictive monitoring and preventive maintenance
• Finding locations of errors when they occur
Version Information
• A CPU Unit with unit version 1.11 or later is required to use this function.
Overview
This function acquires the diagnostic and statistical information that the EtherCAT master and slaves have. The information is acquired at the specified cycle and saved as a log file in an SD
Memory Card that is mounted on the CPU Unit.
Use system-defined variables to set the execution command for this function and the cycle at which the diagnostic and statistical information is saved.
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Precautions for Correct Use
• An SD Memory Card is required to use this function. Refer to the NJ-series CPU Unit
Hardware User’s Manual (Cat. No. W500) , the NX-series NX102 CPU Unit Hardware User's
Manual (Cat. No. W593) , the NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No.
W578) , or the NX-series CPU Unit Hardware User's Manual (Cat. No. W535) for the SD
Memory Card models supported by the CPU Unit.
• When the diagnosis/statistics log is in progress, you cannot acquire or clear the slave diagnostic and statistical information from the diagnostic and statistical information display of the
Sysmac Studio. Try it again after the diagnosis/statistics log is completed.
• When the diagnosis/statistics log is in progress, the response time in message communications with EtherCAT slaves may be extended.
Diagnostic and Statistical Information to Acquire
The following table shows the information to acquire and describes the information.
Information to acquire
Master diagnostic and statistical information
Slave diagnostic and statistical information
Description
Same as the master diagnostic and statistical information displayed by the diagnostic and statistical information display of Sysmac Studio. Refer
to Master Diagnostic and Statistical Information on page 9-13 for details.
Same as the number of error frames for the slave diagnostic and statistical information displayed by the diagnostic and statistical information dis-
*1.
Only for the EtherCAT slaves that are registered in the EtherCAT master network configuration information of the project.
Precautions for Correct Use
If this function is executed when the EtherCAT master network configuration information is in the following status, only the master diagnostic and statistical information is saved in a log file.
The slave diagnostic and statistical information and system-defined variables are not saved.
• The network configuration information is cleared for the Clear All Memory operation.
• No EtherCAT slave is registered in the network configuration information.
Setting Cycle to Save Diagnostic and Statistical Information in a Log File
You can specify the cycle to save the acquired diagnostic and statistical information in a log file within the range from 30 seconds to 30 minutes in units of seconds. You can also specify the cycle so that the diagnostic and statistical information is saved only once into a log file when the execution of this function is completed.
Specifications of Log File
The acquired diagnostic and statistical information is saved as a CSV log file in the SD Memory
Card. You can save a maximum of 1,000 diagnostic and statistical data in a log file.
The file name, file type and save location of the log file saved in the SD Memory Card are given below.
Specifications Item
File name
File format
Save location
ECAT_STATISTICS.csv
CSV
Root folder
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Additional Information
The following available space is required in an SD Memory Card to save the diagnostic and statistical information.
Size of a data = 273 bytes + 51 bytes × Number of EtherCAT slaves
If the number of EtherCAT slaves is 512 and you want to save 1,000 diagnostic and statistical data, an available space of approximately 26 MB is required.
The specification of data saved in a log file is given below.
• For the first row, data are output in the following order: the CPU Unit model, software version, package version, hardware version, and serial ID. For the following rows, the date and time of acquisition and the diagnostic and statistical data are output.
• The number of error frames for the slave diagnostic and statistical information is left blank if the number of error frames cannot be acquired from the relevant EtherCAT slave.
Additional Information
The items of information such as the master diagnostic and statistical information output to a
CSV file by this function are arranged in the same order as the diagnostic and statistical information display of Sysmac Studio. You can make the same file format by exchanging the places of the row and column of each item.
Related System-defined Variables
The following system-defined variables are used to control execution of the diagnosis/statistics log.
Refer to
7-1-2 System-defined Variables on page 7-2 for details on system-defined variables.
Variable name
_EC_StatisticsLogEnable
_EC_StatisticsLogCycleSec
_EC_StatisticsLogBusy
_EC_StatisticsLogErr
Meaning
Diagnosis/Statistics Log Enable
Diagnosis/Statistics Log Cycle
Diagnosis/Statistics Log Busy
Diagnosis/Statistics Log Error
Procedures
The procedure to use the diagnosis/statistics log is as follows.
1
Set a value for _EC_StatisticsLogCycleSec (Diagnosis/Statistics Log Cycle).
The cycle to save the diagnostic and statistical information in a log file is set.
Set the value in units of seconds. (Example: set 30 for 30 seconds, set 1,800 for 30 minutes).
If 0 is set, the diagnostic and statistical information is saved only once when execution of this function is completed.
2
Change _EC_StatisticsLogEnable (Diagnosis/Statistics Log Enable) from FALSE to TRUE.
The execution of the diagnosis/statistics log is started.
• _EC_StatisticsLogErr (Diagnosis/Statistics Log Error) changes to FALSE.
• _EC_StatisticsLogBusy (Diagnosis/Statistics Log Busy) changes to TRUE.
During execution of the diagnosis/statistics log, the diagnostic and statistical information is acquired and saved in a log file at the cycle specified in step 1.
If one of the following (a) to (f) is detected during the diagnosis/statistics log, the diagnosis/ statistics log is automatically terminated.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9 Troubleshooting a) The maximum number of diagnostic and statistical data are saved in a log file.
b) The SD Memory Card does not have sufficient available space.
c) The SD Memory Card is write-protected.
d) There is no SD Memory Card.
e) A synchronization (or downloading) is executed on the Sysmac Studio.
f) The value set for _EC_StatisticsLogCycleSec is out of range.
• An EtherCAT Diagnosis/Statistics Log Started error is recorded in the event log.
• _EC_StatisticsLogBusy changes to FALSE.
• If (b), (c), (d) or (f) occurs, _EC_StatisticsLogErr changes to TRUE.
• An EtherCAT Diagnosis/Statistics Log Ended error is recorded in the event log.
3
Change _EC_StatisticsLogEnable (Diagnosis/Statistics Log Enable) from TRUE to FALSE.
Execution of the diagnosis/statistics log is terminated. The diagnostic and statistical information is saved in a log file when this variable changes to FALSE, regardless of the write cycle setting.
• _EC_StatisticsLogBusy changes to FALSE.
• An EtherCAT Diagnosis/Statistics Log Ended error is recorded in the event log.
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The following figure shows the timing chart.
TRUE
_EC_StatisticsLogEnable
FALSE
_EC_StatisticsLogCycle
Write Cycle = 30
_EC_StatisticsLogBusy
_EC_StatisticsLogErr
TRUE
FALSE
TRUE
FALSE
Log file
Write Cycle
= 30
Event logs
Write Cycle
= 30
Write Cycle
= 30
The previous log file is deleted and a new file is created.
EtherCAT Diagnosis/Statistics
Log Started
Acquired diagnostic/statistical information is saved in a log file.
EtherCAT
Diagnosis/Statistics
Log Ended
Precautions for Correct Use
• To retain the log file saved in the SD Memory Card, rename the log file or save it in another memory before you execute the diagnosis/statistics log. Once the diagnosis/statistics log is started, the log file in the SD Memory Card is deleted and a new log file is created.
• During the diagnosis/statistics log, you cannot re-execute the diagnosis/statistics log. Check that _EC_StatisticsLogBusy is FALSE before you execute the diagnosis/statistics log.
• Even if you change the value of _EC_StatisticsLogCycleSec during the diagnosis/statistics log, the change is not reflected to the saving cycle of the diagnostic and statistical information. The changed saving cycle is used during the next execution of the diagnosis/statistics log. To use the changed saving cycle, you need to terminate the diagnosis/statistics log that is currently executed.
• Access _EC_StatisticsLogErr after _EC_StatisticsLogBusy changes from TRUE to FALSE.
The value of _EC_StatisticsLogErr varies while _EC_StatisticsLogBusy is TRUE.
Additional Information
The following are the examples of methods to retain the log file saved in the SD Memory Card.
• Use the SD Memory Card instruction such as FileRename or FileCopy to change the file name.
• Use the FTP server function for the built-in EtherNet/IP to take the log file out.
• Remove the SD Memory Card and save the file in another medium.
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9-2-5 Identifying an Error Slave and Cause of Error
Sysmac Studio provides the following functions to identify the slave in which an error occurred and the cause of the error.
• EtherCAT configuration view of the current error
• EtherCAT configuration information view of the event log
EtherCAT Configuration View of the Current Error
The following information is displayed on the EtherCAT configuration view in the slave diagnosis/statistics information display.
• Slave state
• Whether a slave with error exist or not
• Location where communications stopped
Version Information
Sysmac Studio version 1.22 or higher is required to use the EtherCAT configuration view of the current error.
Display Method
Right-click the master on the EtherCAT Tab Page and select Display Diagnosis/Statistics
Information from the menu.
The network configuration information is displayed in topology diagram on the EtherCAT configuration view in the slave diagnosis/statistics information display.
EtherCAT configuration view
9
Displayed Information
The following information is displayed on the EtherCAT configuration view in the slave diagnosis/ statistics information display.
a. Slave state
Slaves in Disabled, Disconnected and Not Matched states are shown by icons with marks.
See below for an example of the pane showing slaves in Not Matched state.
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Not Matched b. Whether a slave with error exist or not
Slaves in which an error occurred are displayed with an error icon for emphasis.
Slave with an error
The event name of the current error on the relevant slave is displayed in the tooltip of the error icon.
c. Location where communications stopped
The connecting line between the ports at which communications are stopped are highlighted.
Location where communications stopped
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EtherCAT Configuration Information View of the Event Log
The following information is displayed on the EtherCAT configuration information (Event log) view.
• Event in the event log whose event source is the EtherCAT Master Function Module
Version Information
Sysmac Studio version 1.22 or higher is required to use the EtherCAT configuration information view of the event log.
Display Procedure
Right-click in the Controller Event Log Tab Page and select Display EtherCAT Configuration
Information (Event Log) from the menu.
Additional Information
You can narrow down the range to display the event log using time information in which events occurred.
Right-click on the event log to select the condition to display from the menu.
The network configuration information is displayed on the EtherCAT configuration information
(Event log) view in topology diagram.
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Display Information
Slaves are shown with error icons in the display when they have an error whose source is Ether-
CAT Master Function Module and whose level is higher than the minor fault level.
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9-3 Precautions When Connecting or Disconnecting Slaves during Communications
9-3-1 Procedure for Connecting and Disconnecting Slaves during
Communications
Always use the following procedure to turn OFF the power supply to the slave or connect/disconnect cables during EtherCAT master communications.
*1
*1. This includes the Safe-Operational and Operational states.
Step 1. Use the Sysmac Studio or an instruction to send a command to disconnect the slave.
Step 2. Confirm that the slave was disconnected normally.
Step 3. Turn OFF the power supply to the slave or disconnect the cable.
If you turn OFF the power supply or disconnect the cable without performing steps 1 and 2, the slaves that are operating may be adversely affected.
9-3-2 Prohibition to Physically Disconnecting a Slave and Resetting an Error or Connecting a Slave at the Same Time
If you perform the following operation a or b at the same time as operation c, a Slave Initialization
Error (84230000 hex) event will occur.
a. Turn OFF the power supply to the slave or disconnect the cable.
b. Turn ON the power supply to the slave or connect the cable.
c. Reset an error in the EtherCAT Master Function Module or connect the slave.
*1
*1. This can happen when the ResetECError (Reset EtherCAT Error) instruction or EC_ConnectSlave (Connect
EtherCAT Slave) instruction is cyclically executed in the user program.
If you perform these operations at the same time, the EtherCAT master may access a slave with a different node address than the specified node address, or other unintended operations may occur.
Therefore, never turn OFF the power supply to the slave or disconnect the cable at the same time as you reset an error or connect a slave.
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9-4 Replacing Slaves during Communications
9-4-1 Introduction
You can temporarily stop and start communications with a specified slave and all subsequent slaves without stopping the entire communications system. This makes it possible to replace slaves during communications for maintenance, or for replacement when a slave malfunctions.
Specified from the Sysmac
Studio or with an EtherCAT communications instruction.
Sysmac Studio
NJ/NX-series CPU Unit
EtherCAT communications instruction
EC_Disconnect
Slave
Slave Slave
Slave you need to replace
Slave
Communications continue.
Replaced.
Communications stop.
New slave
Precautions for Safe Use
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.
Precautions for Correct Use
• An error occurs if you physically disconnect a slave from the network without executing the
EC_DisconnectSlave (Disconnect EtherCAT Slave) instruction.
• An error may occur if the correct node address is not set for a replaced slave and a connection is made to a different port than the one that was used for the EC_DisconnectSlave (Disconnect EtherCAT Slave) instruction.
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9-4-2 Slave Replacement Methods
The slave to be replaced is first disconnected from the network and then reconnected after you replace it.
Use one of the following methods to disconnect and reconnect the slave.
• Method 1: Connecting and Reconnecting Specified Slaves from the Sysmac Studio
• Method 2: Executing the Disconnect EtherCAT Slave and Connect EtherCAT Slave instructions.
Execute the following instructions in the user program. You can use a pushbutton or an HMI to input the execution condition.
Function
Disconnect EtherCAT Slave
Connect EtherCAT Slave
Instruction
EC_DisconnectSlave
EC_ConnectSlave
Description
Temporarily disconnects a slave from the
EtherCAT network for maintenance, such as replacement of the slave.
Reconnects a temporarily disconnected slave to the EtherCAT network after maintenance, such as replacement of the slave.
If the EtherCAT slave to replace has backup parameters, we recommend that you use the Sysmac
Studio to replace the slave. (You can specify backup parameter settings in the EtherCAT slave from the Sysmac Studio.)
Precautions for Correct Use
For the slaves in the ring topology, you cannot perform the disconnect operation from the Sysmac Studio and execute the Disconnect EtherCAT Slave instruction. If you perform the disconnect operation from the Sysmac Studio or execute the Disconnect EtherCAT Slave instruction to the slaves in the ring topology, the slaves end in errors.
If you replace the salve in the ring topology, you need to disconnect the originating slave of the ring and then disconnect the entire ring topology. When the originating slave of the ring is disconnected, the EtherCAT master stops process data communications with slaves in the ring topology and slaves that are connected to the drop line from the ring.
Additional Information
For slaves that are disabled with the EC_ChangeEnableSetting (Enable/Disable EtherCAT
Slave) instruction or EtherCAT Slave Enable/Disable Settings, you cannot disconnect and reconnect them from the Sysmac Studio. If you execute the Disconnect EtherCAT Slave and Connect EtherCAT Slave instructions, they end in errors.
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9-4-3 Backing Up Settings
Before you replace an EtherCAT slave that is currently performing communications, the settings of the
EtherCAT slave to replace are backed up.
The settings of an EtherCAT slave are divided according to the storage locations and setting methods into initial parameters and backup parameters, as shown in the following table.
Slave settings
Initial parameters
Backup parameters
Storage location
EtherCAT master
EtherCAT slaves
Slave setting method
These parameters are set automatically from the
EtherCAT master when EtherCAT communications start or when a slave is connected.
You set these parameters by transferring them to the slaves from the Backup Parameter Settings Tab
Page of the Sysmac Studio.
The data can also be transferred from the EtherCAT
Drive Tab Page.
To replace an EtherCAT slave, you first back up the backup parameters that are stored in the Ether-
CAT slave.
1
Click the Edit Backup Parameter Settings Button in the EtherCAT Slave Setting Tab Page.
The Backup Parameter Settings Tab Page is displayed.
2
Click the Transfer from Slave Button.
All of the backup parameters that are stored in the EtherCAT slave and displayed in the list are transferred from the EtherCAT slave.
9-28
3
Click the Compare Button.
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Check to be sure that you have correctly obtained the backup parameters in step 2.
Additional Information
• You can back up the EtherCAT slave settings for any EtherCAT slave that is connected to the network (i.e., whenever the _EC_EntrySlavTbl[] (Network Connected Slave Table) systemdefined variable is TRUE) either before or after the disconnection command is sent to the
EtherCAT slave.
• You can also set the EtherCAT drive slaves from the EtherCAT Drive Tab Page. Back up the settings information from the EtherCAT Drive Tab Page. Refer to the Sysmac Studio Version
1 Operation Manual (Cat. No. W504) for the applicable EtherCAT drive slaves.
• You do not need to back up the settings to replace an EtherCAT slave that does not have backup parameters.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 9-29
9
9 Troubleshooting
9-4-4 Restoring Settings
After you replace the EtherCAT slave, you restore the settings that you backed up before you replaced the slave. The backup parameters that were backed up are restored to the EtherCAT slave.
1
Click the Edit Backup Parameter Settings Button in the EtherCAT Slave Setting Tab Page.
The Backup Parameter Settings Tab Page is displayed.
2
Click the Transfer to Slave Button.
All of the backup parameters that are stored in the EtherCAT slave and displayed in the list are downloaded to the EtherCAT slave.
9-30
3
Click the Compare Button.
Check to be sure that you have correctly transferred the backup parameters in step 2.
Precautions for Correct Use
Restore the settings to the EtherCAT slave before you connect the EtherCAT slave to restart process data communications. Restore the EtherCAT slave settings while the slave is connected to the network (i.e., whenever the _EC_EntrySlavTbl[] (Network Connected Slave Table) system-defined variable is TRUE). You must set the node address of the EtherCAT slave before it can participate in the network.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9 Troubleshooting
Additional Information
• You can set the EtherCAT drive slaves from the EtherCAT Drive Tab Page. Restore the settings information from the EtherCAT Drive Tab Page. Refer to the Sysmac Studio Version 1
Operation Manual (Cat. No. W504) for the applicable EtherCAT drive slaves.
• You do not need to restore the settings to replace an EtherCAT slave that does not have backup parameters.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 9-31
9
9 Troubleshooting
9-4-5 Replacement Procedure
START
Back up the backup parameters.
Disconnect the slave to replace with the
EtherCAT slave disconnection operation on the Sysmac Studio or with the Disconnect EtherCAT Slave instruction.
Back up the backup parameters.
Physically remove the EtherCAT slave from the EtherCAT network.
If the node address is set on hardware switches, set the node address of the new
EtherCAT slave.
Physically connect the new EtherCAT slave to the EtherCAT network.
If the node address is set in the software, set the node address of the new EtherCAT slave.
Restore the backup parameters.
Process data communications are performed with the slave before it is disconnected.
Process data communications are interrupted with the slave before it is disconnected.
Connect the new slave with the EtherCAT slave connection operation on the
Sysmac Studio or with the Connect
EtherCAT Slave instruction.
Are all disconnected slaves now reconnected?
NO
YES
END
Note Steps shown in dotted boxes depend on the system.
Process data communications are restarted with the connected slave.
9-32 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9 Troubleshooting
Precautions for Safe Use
• When an EtherCAT slave is disconnected from the Sysmac Studio or with an instruction, communications will stop and control of the outputs will be lost not only for the disconnected slave, but for all slaves connected after it.
Always confirm system safety before you disconnect an EtherCAT slave.
• 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 behave according to the slave specifications. For details, refer to relevant manuals for each slave. If a noise countermeasure or slave replacement is required, perform the following processing.
• Program the _EC_InDataInvalid (Input Data Invalid) system-defined variable as an interlock condition in the user program. Refer to
6-1-3 Checking Validity of Process Data on page 6-6.
• Set the PDO communications timeout detection count setting in the EtherCAT master
to at least 2. Refer to 5-4 EtherCAT Master Parameter Settings on page 5-14 for the setting
procedure.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 9-33
9
9 Troubleshooting
Disconnecting Slaves
If a slave is disconnected, slaves connected after the designated slave (on the output side) in a daisy chain are disconnected at the same time. Slaves connected before the disconnected slave (on the input side) and slaves connected beyond Junction Slaves continue to operate.
(If (1) is disconnected in the following figure, (2) and (3) are also disconnected.)
Junction Slave
Disconnected slaves
(1)
Simultaneously disconnected slaves
(2)
(3)
Slaves that continue to operate
9-34
When the connected slave is disconnected with an instruction or from the Sysmac Studio, the status of the system-defined variables for the slaves are listed in the following table.
System-defined variable
_EC_RegSlavTbl[]
(Registered Slave Table)
_EC_EntrySlavTbl[]
(Network Connected Slave Table)
_EC_MBXSlavTbl[]
(Message Communications Enabled
Slave Table)
_EC_PDSlavTbl[]
(Process Data Communicating Slave
Table)
Description
This variable shows the slaves that are registered in the network configuration information.
This variable shows the slaves that are registered in the network configuration information and connected to the network.
This variable shows the slaves that are registered in the network configuration information and able to perform message communications.
This variable shows the slaves that are registered in the network configuration information and performing process data communications.
Value
Remains TRUE.
Remains TRUE.
Changes to FALSE.
_EC_DisconnSlavTbl[]
(Disconnected Slave Table)
This variable shows the slaves that are registered in the network configuration information and disconnected from the network.
Changes to TRUE.
*1.
After the slave is disconnected, it changes to FALSE when the slave is removed from the actual network configuration.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9 Troubleshooting
*2.
For project unit version 1.40 or later, it changes to FALSE when the slave is removed from the actual network configuration.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 9-35
9
9 Troubleshooting
Reconnecting Slaves
When reconnecting disconnected slaves after replacement or inspection, make sure that the following conditions are met and then reconnect them. If the following conditions are met, _EC_EntrySlavTbl
(Network Connected Slave Table) system-defined variable will be TRUE.
• Make sure that the slave's node address is set correctly.
• Make sure that there are no errors in the order that the slaves are connected.
Additional Information
If slaves are reconnected without meeting above conditions, process data communications with the slaves will not start again, and a Network Configuration Verification Error (84220000 hex) event will occur. However, for project unit version 1.40 or later, a Network Configuration
Verification Error (84220000 hex) event will not occur.
There are no restrictions on the order when reconnecting slaves that are in a daisy chain. For example, even if slaves (1) to (3) in a configuration such as the one shown in the following figure are disconnected, there are no restriction on the reconnection order of slaves (1) to (3). (For example, the slaves can be reconnected in the order (3), (2), (1) or (1), (3), (2).)
Junction Slave
9-36
(1)
Disconnected slaves
(2)
(3)
When the disconnected slave is reconnected with an instruction or from the Sysmac Studio, the status of the system-defined variables for the slaves are listed in the following table.
System-defined variable
_EC_RegSlavTbl[]
(Registered Slave Table)
_EC_EntrySlavTbl[]
(Network Connected Slave Table)
Description
This variable shows the slaves that are registered in the network configuration information.
This variable shows the slaves that are registered in the network configuration information and connected to the network.
Value
Remains TRUE.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
9 Troubleshooting
System-defined variable
_EC_MBXSlavTbl[]
(Message Communications Enabled
Slave Table)
_EC_PDSlavTbl[]
(Process Data Communicating Slave
Table)
_EC_DisconnSlavTbl[]
(Disconnected Slave Table)
Description
This variable shows the slaves that are registered in the network configuration information and able to perform message communications.
This variable shows the slaves that are registered in the network configuration information and performing process data communications.
This variable shows the slaves that are registered in the network configuration information and disconnected from the network.
Value
Changes to TRUE.
Changes to FALSE.
*1.
The value changes to TRUE when the slave is connected to the actual network configuration. It remains
TRUE even if a salve is reconnected after the change.
Additional Information
For project unit version earlier than 1.40, synchronization correction processing is performed to reconnect synced slaves. Therefore, several seconds may be required per slave until reconnection is completed.
9
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) 9-37
9 Troubleshooting
9-38 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
A
Appendices
The appendices describe the relation of EtherCAT communications to overall CPU
Unit status, packet monitoring functions, and multi-vendor application.
A-1 EtherCAT Status in Relation to CPU Unit Status........................................ A-2
When the Power Supply Is Turned ON ........................................................... A-2
Controller Errors Other Than Errors in the Built-in EtherCAT Master.............. A-4
When the Power Supply Is Turned OFF.......................................................... A-6
Connecting Slaves from Other Manufacturers to an OMRON Master .......... A-16
Settings for MDP-compatible Slaves from Other Manufacturers................... A-27
A-4 Setting Transmission Delay Time by Actual Measurement..................... A-31
A-6-1 Functions That Were Added or Changed for Each Unit Version ................... A-35
A-6-2 Differences between Project Unit Version Earlier Than 1.40 and
A
A-1 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
A-1 EtherCAT Status in Relation to CPU
Unit Status
The status of EtherCAT master memory, the ability to download master and slave settings, and the slave status are given below for different CPU Unit operating modes, Controller errors, and other status.
A-1-1 When the Power Supply Is Turned ON
Device variables
Memory related to EtherCAT master
Category _EC system-defined variables
Network configuration information
Diagnostic and statistical information/
Protocol monitor
Devices variables that are not retained:
Initial values
Initial values --Cleared to all zeros.
---
Downloading master and slaves settings
Axes variables:
Initial values
Slaves
Slave outputs
Slave communications status
The status of slave outputs before the start of EtherCAT communications depend on the slave.
Slaves output values of device variables after EtherCAT communications start.
Enters the Operational state.
A-2 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
A-1-2 CPU Unit Operating Modes
Memory related to EtherCAT master Slaves
CPU Unit
Status
PRO-
GRAM mode
Switching between
PRO-
GRAM and
RUN modes and
Device
Output
Hold
Configurat
enabled
Switching between
PRO-
GRAM and
RUN modes and
Device
Output
Hold
Configurat
bled
Device variables
Shows the
I/O data exchanged on the
EtherCAT communications.
Devices variables that are not retained:
Initial values
Axis variables: Retained
Device variables that are not retained: Retained
Axis variables: Retained
Category
_EC system-defined variables
Continually shows
EtherCAT communications sta-
Network configuration information
Does not
Diagnostic and statistical information/
Protocol monitor
Continually shows
EtherCAT communications status.
Current errors
Downloading master and slaves settings
• Master settings:
OK
• Slave settings:
---
OK
Slave outputs
Continually shows the output data sent from the Ether-
CAT master.
Slave communications status
Does not change.
RUN mode
Shows the
I/O data exchanged on the
EtherCAT communications.
• Master settings:
Not possible.
• Slave settings:
OK
*1.
Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for the Device Output Hold Configuration.
*2.
It does not depend on the operating mode of the CPU Unit.
*3.
However, the setting may not be possible depending on the status of the slave.
A
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-3
Appendices
A-1-3 Controller Errors Other Than Errors in the Built-in EtherCAT
Master
CPU Unit
Status
A major fault level
Controller error occurs.
A partial fault level
Controller error occurs.
A minor fault level
Controller error occurs.
Device variables
Devices variables that are not retained:
Initial values
Axis variables: Retained
Shows the
I/O data exchanged on the
EtherCAT communications.
Memory related to EtherCAT master
Category
_EC system-defined variables
Network configuration information
Diagnostic and statistical information/
Protocol monitor
Continually shows
EtherCAT communications status.
Does not
Continually shows
EtherCAT communications status.
Current errors
Retained.
Downloading master and slaves settings
---
Slaves
Slave outputs
Slave communications status
In Operational state, the values from before operation stopped are output.
When the slaves have entered Safe-
Operational state, the outputs depend on the slave settings. Inputs are enabled.
Continually shows the output data sent from the Ether-
CAT master.
EtherCAT communications stop.
Enters the
Safe-Operational state.
Does not change.
*1.
It does not depend on the operating mode of the CPU Unit.
CAT master.
A-4 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
A-1-4 Others
CPU Unit
Status
Device variables
Memory related to EtherCAT master
Category
_EC system-defined variables
Entirely initialized (0).
Network configuration information
Deleted.
Diagnostic and statistical information/
Protocol monitor
Cleared to all zeros.
Current errors
Downloading master and slaves settings
Slaves
Slave outputs
Slave communications status
Memory all clear
Downloading data and
Device
Output
Hold
Configurat
bled
Cleared to all zeros.
Devices variables that are not retained:
Initial values
Axis variables: Retained
Continually shows
EtherCAT communications sta-
Does not
Cleared to all zeros.
Cleared to all zeros.
Cleared to all zeros.
--Depends on the slave settings.
Downloading data and
Device
Output
Hold
Configurat
enabled
Device variables that are not retained: Retained
Axis variables: Retained
Continually shows
EtherCAT communications status.
Continually shows the output data sent from the Ether-
CAT master.
Does not change.
*1.
Refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for the Device Output Hold Configuration.
*2.
It does not depend on the operating mode of the CPU Unit.
*3.
However, after downloading data, the EtherCAT master restarts, and records any event as a current error if the cause of the error has not been removed.
Enters the
Initialized state.
• Enters the Initialized state when parameters are transferred to the master.
• Enters the Pre-
Operational state when backup parameters are downloaded to slaves.
A
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-5
Appendices
A-1-5 When the Power Supply Is Turned OFF
Device variables
Does not change.
Memory related to EtherCAT master
Category
_EC system-defined variables
Network configuration information
Diagnostic and statistical information/Protocol monitor
Does not change.
Does not change.
Updating the protocol monitor stops.
Current errors
Cleared to all zeros.
---
Downloading master and slaves settings puts
Slaves
Slave out-
Depends on the slave settings.
Slave communications status
Depends on the behavior of slaves when Ether-
CAT communications stop.
A-6 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
A-2 Monitoring Packets
Packet monitoring stores a certain number of the most recent packets sent and received by the Ether-
CAT master along with time information.
You can use an EtherCAT communications instruction or the Sysmac Studio to save the captured packet data in packet data files in the system in the CPU Unit.
You can use any of the following methods to obtain the packet data saved in the system memory in the CPU Unit.
• Reading directly from the Sysmac Studio
• Saving to an SD Memory Card inserted in the CPU Unit
You can view the captured packet data with packet analyzer software, such as WireShark. You can also use the data for analysis applications, such as error analysis and data mining.
Sysmac Studio
You can save packet data to the memory in the CPU Unit.
You can save data to files on an
SD Memory Card.
NJ/NX-series CPU Unit
Packet data
You can check and analyze data with packet analyzer software, such as WireShark.
Reading directly from the
Sysmac Studio
SD Memory Card
Packets
A
Slave Slave
Version Information
For the NJ301££££ CPU Units, the CPU Unit with unit version 1.10 or later and Sysmac
Studio version 1.12 or higher are required to use the packet monitoring. However, for project unit version 1.40 or later, the packet monitoring cannot be used regardless of the models of the
CPU Units.
If the packet monitoring cannot be used, the _EC_PktMonStop system-defined variable, which shows the operating status of packet monitoring, will always be TRUE.
In addition, if you execute any EtherCAT instructions for packet monitoring (EC_StartMon,
EC_StopMon, EC_SaveMon, or EC_CopyMon) in the user program, an error that shows packet monitoring cannot be used occurs.
Starting and Stopping Packet Monitor
You can start and stop packet monitoring either with instructions in the user program or with operations on the Sysmac Studio.
Using Instructions in the User Program
• EC_StartMon (Start EtherCAT Packet Monitor) instruction: Starts the execution of packet monitoring and continues to update a fixed number of packets.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-7
Appendices
• EC_StopMon (Stop EtherCAT Packet Monitor) instruction: Stops the execution of packet monitoring.
Operation from the Sysmac Studio
1
Start the Sysmac Studio and go online with the Controller.
2
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
3
Right-click the master on the EtherCAT Tab Page and select Display Packet Monitor from the menu.
A-8
The Packet Monitor Dialog Box is displayed.
4
Click the Start Button to begin monitoring packets.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
5
Click the Stop Button to stop monitoring packets.
Saving Packet Data
Reading Data from the Sysmac Studio
After you stop packet monitoring, you can use the Sysmac Studio to read the packet data and save it in a file.
1
Stop monitoring packets.
2
Click the Save Packet Data Button to save the packet data.
A
The Save Dialog Box is displayed.
3
Input a file name, and then click the Save Button.
A TCPDump packet data file with a .cap extension is saved.
Saving to an SD Memory Card from Memory in the CPU Unit
Stop monitoring packets, and then execute the EC_SaveMon (Save EtherCAT Packets) instruction to save a given quantity of collected packet data in memory in the CPU Unit.
Then, execute the EC_CopyMon (Transfer EtherCAT Packets) instruction to save the packet data that was saved in the CPU Unit to a file on an SD Memory Card inserted into the CPU Unit.
You can specify the name of the file that is saved in the SD Memory Card. The number of files is limited only by the space that is available on the SD Memory Card.
Additional Information
• Packet data in the CPU Unit's memory is not retained when the power is interrupted.
• Packet data cannot be saved while packets are being monitored.
• Packet monitoring cannot be started while saving packet data.
• If an SD Memory Card is not inserted and you execute the instruction to copy the data to the
SD Memory Card, then an error is returned. If there is no SD Memory Card, only the one file in the CPU Unit's memory can be read to the Sysmac Studio.
• Packet monitoring starts when the power is turned ON.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-9
Appendices
Packet Monitoring Specifications
Item
Maximum data size of one packet data file
Maximum number of packets that can be obtained
Format of packet data file
Time information
Save location for packet data file
Specification
12 MB
3,904 packets
TCPDump format (cap)
Recorded (unit: μs)
The elapsed time starting when packet monitoring begins is recorded. (Packet monitoring can be started when power turns ON, for an EtherCAT instruction, or for a Sysmac Studio operation.)
CPU Unit's system: 1 file
SD Memory Card inserted in CPU Unit: Multiple files
(up to capacity of SD Memory Card)
A-10
Sample Programming
This sample transfers EtherCAT communications packets to an SD Memory Card when an EtherCAT slave error occurs. The file name is 'PacketFile.'
The processing procedure is as follows:
1
The system-defined variable _EC_ErrSta (EtherCAT Error) is monitored and processing is started if an error occurs.
2
The EC_StopMon instruction is used to stop execution of packet monitoring for EtherCAT communications.
3
The EC_SaveMon instruction is used to save EtherCAT communications packet data to a file in the system of the CPU Unit.
4
The EC_CopyMon instruction is used to copy that file to the SD Memory Card.
5
The EC_StartMon instruction is used to restart execution of packet monitoring for EtherCAT communications.
LD
Internal
Variables
Variable Data type Initial value Comment
A
B
OperatingEnd
Operating
C
RS_instance
EC_StopMon_instance
EC_SaveMon_instance
EC_CopyMon_instance
EC_StartMon_instance
BOOL
BOOL
BOOL
BOOL
BOOL
RS
EC_StopMon
EC_SaveMon
EC_CopyMon
EC_StartMon
False
False
False
False
False
Processing completed
Execution condition
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
External
Variables
Variable
_EC_ErrSta
_EC_PktMonStop
_EC_PktSaving
_Card1Ready
Data type
WORD
BOOL
BOOL
BOOL
Constant Comment
Built-in EtherCAT Error
Packet Monitoring Stopped
Saving Packet Data File
SD Memory Card Ready
Flag
A
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-11
Appendices
Determine if instruction execution is completed.
EC_StartMon_instance.Done
OperatingEnd
EC_StopMon_instance.Error
EC_SaveMon_instance.Error
EC_CopyMon_instance.Error
EC_StartMon_instance.Error
Monitor for EtherCAT errors.
_EC_ErrSta
WORD#16#00
EN
In1
In2
<> Up
In
_EC_PktMonStop EC_StopMon_instance.Busy
A EC_SaveMon_instance.Busy EC_CopyMon_instance.Busy
EC_StartMon_instance.Busy
A
B
B _EC_PktSaving
OperatingEnd
RS_instance
RS
Set Q1
Reset1
Operating
Instruction execution
Operating _Card1Ready
EC_StopMon_instance
EC_StopMon
Execute Done
Busy
Error
ErrorID
EC_SaveMon_instance
EC_SaveMon
Execute Done
Busy
Error
ErrorID
C
‘PacketFile’
EC_CopyMon_instance
EC_CopyMon
Execute
FileName
Done
Busy
Error
ErrorID
Processing after normal end
Operating
Inline ST
EC_StartMon_instance
EC_StartMon
Execute Done
Busy
Error
ErrorID
1 // Processing after normal end
2 ;
C
A-12 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
ST
Internal
Variables
Variable
EC_Err
Data type
BOOL
EC_Err_Trigger BOOL
DoEC_PktSave
Stage
R_TRIG_instance
EC_StopMon_instance
BOOL
INT
R_TRIG
EC_StopMon
EC_SaveMon_instance EC_SaveMon
EC_CopyMon_instance EC_CopyMon
EC_StartMon_instance EC_StartMon
External
Variables
Variable
_EC_ErrSta
_EC_PktMonStop
_EC_PktSaving
_Card1Ready
Data type
WORD
BOOL
BOOL
BOOL
Initial value Comment
False
False
False
0
Controller error in the
EtherCAT Master Function Module.
Detect when EC_Err changes to TRUE.
Processing
Stage change
Constant Comment
Built-in EtherCAT Error
Packet Monitoring Stopped
Saving Packet Data File
SD Memory Card Ready
Flag
A
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-13
Appendices
// Start sequence when _EC_ErrSta changes to TRUE.
EC_Err:=(_EC_ErrSta <> WORD#16#00);
R_TRIG_instance(Clk:=EC_Err, Q=>EC_Err_Trigger);
IF ( (EC_Err_Trigger=TRUE) AND (DoEC_PktSave=FALSE) AND (_EC_PktMonStop=FALSE)
AND (_EC_PktSaving=FALSE) AND (_Card1Ready=TRUE) ) THEN
DoEC_PktSave:=TRUE;
Stage :=INT#1;
EC_StopMon_instance(Execute:=FALSE);
EC_SaveMon_instance(Execute:=FALSE);
// Initialize instance.
EC_CopyMon_instance(Execute:=FALSE);
EC_StartMon_instance(Execute:=FALSE);
END_IF;
// Instruction execution
IF (DoEC_PktSave=TRUE) THEN
CASE Stage OF
1 : // Stop EtherCAT packet monitor.
EC_StopMon_instance(
Execute := TRUE);
IF (EC_StopMon_instance.Done=TRUE) THEN
Stage:=INT#2;
// Normal end
ELSIF (EC_StopMon_instance.Error=TRUE) THEN
Stage:=INT#10;
// Error end
END_IF;
2 : // Save EtherCAT packet data to file in system.
EC_SaveMon_instance(
Execute := TRUE);
IF (EC_SaveMon_instance.Done=TRUE) THEN
Stage:=INT#3; // Normal end
ELSIF (EC_SaveMon_instance.Error=TRUE) THEN
Stage:=INT#20; // Error end
END_IF;
3 : // Copy EtherCAT packet data file to the SD Memory Card.
EC_CopyMon_instance(
Execute := TRUE,
FileName:=’PacketFile’);
IF (EC_CopyMon_instance.Done=TRUE) THEN
Stage:=INT#4; // Normal end
ELSIF (EC_CopyMon_instance.Error=TRUE) THEN
Stage:=INT#30;
END_IF;
// Error end
4 : // Restart EtherCAT packet monitoring.
EC_StartMon_instance(
Execute := TRUE);
IF (EC_StartMon_instance.Done=TRUE) THEN
Stage:=INT#0; // Normal end
ELSIF (EC_StartMon_instance.Error=TRUE) THEN
Stage:=INT#40; // Error end
END_IF;
0 : // Processing after normal end
DoEC_PktSave:=FALSE;
ELSE // Processing after error end
DoEC_PktSave:=FALSE;
END_CASE;
END_IF:
A-14 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
A-3 Multi-vendor Environments
This section provides precautions and describes documentation for multi-vendor environments.
A-3-1 EtherCAT Slave Information File (ESI Files)
Setting information for EtherCAT is defined in EtherCAT slave information (ESI) files. These files are provided by the individual slave manufacturers. Various EtherCAT communications settings are defined based on the ESI definitions of connected slaves.
You can install the ESI files in the Sysmac Studio to use them to edit the EtherCAT configuration in the
Sysmac Studio and create the network configuration information.
You can download the network configuration information to the EtherCAT master to configure the
EtherCAT network.
Contact the manufacturer or the point of purchase to obtain the most recent ESI files for slaves that are manufactured by other companies.
Sysmac
Studio EtherCAT master
Network configuration information
ESI files
A
EtherCAT slaves
Communications are started according to the communications settings and the network configuration in the ESI files that are installed.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-15
Appendices
Additional Information
ESI file versions that are lower than ESI version-1.0.1 specifications are not supported. If you install an ESI file version that is not supported, a message saying that you cannot use the slave is displayed by the Sysmac Studio.
The NJ/NX-series CPU Units do not support variables with some of the data types that are defined in ETG.1020. If variables with any unsupported data types are included in the slave information (ESI), you cannot use the slave.
The following table gives the data types that are supported by different Sysmac Studio versions.
Data type
BIT1, BIT2, BIT3, BIT4, BIT5, BIT6, BIT7, and BIT8
BITARR8, BITARR16, and BITARR32
ARRAY[0..n] OF BYTE
ARRAY[0..n] OF UINT
INT24, INT40, INT48, and INT56
UINT24, UINT40, UINT48, and UINT56
1.09 or higher
Sysmac Studio Ver.
1.08
1.07 or lower
Supported.
Supported.
Supported.
Not support-
Supported.
Not support-
Not supported.
Not supported.
Supported.
Not supported.
Supported.
Not supported.
Not supported.
Not supported.
Not support-
Not support-
Not supported.
Not supported.
STRING(n) Not supported.
Not supported.
Not supported.
*1.
With Sysmac Studio version 1.06, 1.07, or 1.08, you can read ESI files and assign device variables.
However, you cannot monitor them in the I/O Map.
If variables with any of these data types are included in the slave information (ESI), a message saying that you cannot use the slave is displayed in the ESI Library Dialog Box of the Sysmac
Studio.
A-3-2 Connecting Slaves from Other Manufacturers to an OMRON
Master
You can install the ESI file for a slave from another manufacturer in the Sysmac Studio to handle the slave in the same way as an OMRON slave. (Only the ESI files for OMRON slaves for which connectability has been confirmed are installed in the Sysmac Studio in advance.)
When connecting a slave from another manufacturer to an OMRON master, refer to the manuals for the other manufacturer's slaves, and then ask your OMRON representative if you have any questions.
Additional Information
EtherCAT setup software that is provided by other manufacturers cannot be connected to
NJ/NX-series CPU Units.
A-3-3 Installing ESI files
A-16 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
Procedure to Install ESI Files
An ESI (EtherCAT slave information) file is an XML file that describes the connection information and profile of the EtherCAT slave.
To connect an EtherCAT slave that is manufactured by other company to an NJ/NX-series master, you must install the ESI file for that slave in the Sysmac Studio to enable setting the slave.
Precautions for Correct Use
Obtain the ESI file to install from the slave manufacturer. The ESI file must conform to the most recent ETG ESI specifications.
Use the following procedure to install an ESI file.
1
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
A
The EtherCAT Tab Page is displayed.
2
Right-click the EtherCAT master that is displayed in the EtherCAT Tab Page and select
Display ESI Library .
The ESI Library Dialog Box is displayed.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-17
Appendices
3
Click the Install (File) or Install (Folder) Button.
If you install the ESI files individually, click the Install (File) Button. If you install all the ESI files in the folder simultaneously, click the Install (Folder) Button.
A-18
The dialog box to select folders or files is displayed.
4
Select the ESI file and then click the Open Button, or select the folder in which ESI files are stored and then click the OK Button.
The ESI files are installed and the corresponding slaves are displayed in the ESI Library Dialog Box.
Procedure to Confirm ESI File Installation
Use the following procedure to confirm that an ESI file was installed correctly
1
Double-click EtherCAT under Configurations and Setup on the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit .
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
The EtherCAT Tab Page is displayed.
2
Right-click the EtherCAT master that is displayed in the EtherCAT Tab Page and select
Display ESI Library .
A
The ESI Library Dialog Box is displayed.
3
Click the Icon to the left of the name of the ESI file that was added.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-19
Appendices
The slave definitions in the ESI file are expanded so that you can check the following items.
• Model
• Revision
• Product name
Model
Revision
Product name
A-20
4
If an exclamation mark is not displayed, click the Close Button.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
A
Additional Information
If an ESI file for a slave cannot be used in the Sysmac Studio, an exclamation mark is displayed to the left of the file name. If an exclamation mark is displayed, obtain an ESI file with the cause corrected from the slave manufacturer, and then install the ESI file again.
Procedure to Uninstall ESI Files
Use the following procedure to uninstall the installed ESI file.
1
In the ESI Library Dialog Box, select the slave for which you want to uninstall the ESI file and click the Uninstall Button.
The dialog box to confirm execution is displayed.
2
Click the Yes Button.
The ESI file is uninstalled and the corresponding slaves are removed from the ESI Library
Dialog Box.
A-3-4 Editing PDO Entry Tables
A PDO entry table maps objects in a slave to the process data that is used for communications between the master and the slave.
You cannot necessarily edit all of the PDO mappings in a PDO entry table.
You can add and delete objects in a PDO entry table or you can change the order of the entries.
The Sysmac Studio provides the functionality to edit slave PDO entry tables.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-21
Appendices
Order of entries
Index Size
0x6000:00 16[bit]
0x6001:00 8[bit]
0x6002:00 8[bit]
0x6008:00 16[bit]
0x6010:00 32[bit]
Data type PDO entry name Comment
UINT
USINT
USINT
UINT
UDINT uiAAA b2BBB b4CCC uiddd udEEE
Editing a PDO Entry Table
Initially, a slave PDO entry table contains the default objects. Some slaves have objects other than these default objects.
You can add objects other than the default objects to the PDO entry table, or you can delete objects from the PDO entry table.
However, the following restrictions apply:
Byte Boundaries
An OMRON master must arrange entry objects by byte boundaries. (This applies only to objects that are one byte or larger in size.)
If an entry object is bit data, padding must be entered to adjust the boundaries.
Padding is meaningless data that is added to the end of an entry so that an object ends at a boundary of the specified size.
You can use the following methods to arrange objects within byte boundaries.
• Click the Align Button.
Padding is automatically entered. Refer to the descriptions of the buttons below for details.
• Add padding to the PDO entries manually.
In the following example, 2 bits of padding are entered to adjust the byte boundary when entering objects with BIT2 and BIT4 data types for PDO entries.
Index Size
0x6000:00 16[bit]
0x6001:00 2[bit]
0x6002:00 4[bit]
0x0000:00 2[bit]
0x6010:00 32[bit]
Data type PDO entry name Comment
UINT uiAAA
BIT2
BIT4
b2BBB
b4CCC
---
UDINT
---
udEEE
Because an object with 2 bits and an object with 4 bits are entered,
2 bits of padding must be added to adjust the byte boundary (8 bits).
Connecting to Slaves from Other Manufacturers
When connecting a slave from another manufacturer, refer to the manuals for the other manufacturer's slaves, and then ask your OMRON representative if you have any questions.
Specifications of Edit PDO Entry Tables Window
The following buttons are used to edit a PDO entry table. The meanings of the buttons are given below.
A-22 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
Button
Add PDO Entry Button
Delete PDO Entry Button
Edit PDO Entry Button
Move Up Button
Move Down Button
Align Button
Compare Button
Description
Use these buttons to add objects to and delete objects from the PDO entry table.
“0x0000:00” is for padding. The default size is 8 bits.
Use this button to change the size of padding (i.e., the number of bits) in the
PDO mapping.
Use these buttons to change the order of the PDO entries by moving objects up and down.
Use this button to automatically order the PDO entries and adjust byte boundaries.
The PDO entires are ordered according to the type, descending PDO entry size, ascending indices, and then ascending subindices.
For the type, data arranged by byte boundaries (INT, BYTE, STRING, etc.) comes first, followed by data arranged by bit boundaries (BIT, BIT8, etc.).
Use this button to compare the PDO map settings of the project and that of the actual slave.
Use this button to upload the PDO map settings from the actual slave and update only the PDO mapping data in the PDO Map Settings Window.
*1.
This button is displayed only when Sysmac Studio is connected online with the CPU Unit.
*2.
This button is not displayed in MDP-compatible slave setting.
Version Information
• Sysmac Studio version 1.08 or higher is required to use the following buttons to edit PDO entry tables: Edit PDO Entry , Move Up , Move Down , and Align Buttons.
• Sysmac Studio version 1.08 or higher is required to add “0x0000:00” to a PDO entry table.
• Sysmac Studio version 1.22 or higher is required to use the following buttons to edit PDO entry tables: Compare and Apply Actual Device Buttons.
Editing Methods for PDO Entries
Adding PDO Entires
Click the Add PDO Entry Button. The entry table from the slave, which is a list of objects defined in the ESI files of the slave, is displayed. Select the object to add with the cursor and click the OK
Button to add it.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-23
A
Appendices
The selected object is added at the location of the cursor in the PDO entry table.
Select the Display All Objects Check Box to display all objects in the slave.
Version Information
Sysmac Studio version 1.23 or higher is required to display all objects in the slave.
A-24
Editing PDO Entries
Select padding (0x0000:00) in the PDO entry table and click the Edit PDO Entry Button. Enter the size and click the OK Button. The size of the padding will change.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
Comparing and Uploading the PDO Mapping
You can upload the PDO map settings from the actual slave or compare with the PDO map settings of the actual slave. The procedure to compare and upload the PDO map settings is described below.
Version Information
Sysmac Studio version 1.22 or higher is required to compare and upload the PDO mapping.
Precautions for Correct Use
When the Sysmac Studio is online, you cannot change PDO mapping selection or edit PDO entries.
Additional Information
• The PDO Map Settings Window can be displayed while the Sysmac Studio is online.
• You can execute to compare and upload the PDO mapping even when the slave is in the Init state.
Use the following procedure to compare and upload the PDO map settings.
1
In the PDO Map Settings of the EtherCAT slave settings, click the Edit PDO Map Settings
Button.
The Edit PDO Map Settings Window is displayed.
A
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-25
Appendices
Comparing
Click the Compare Button to read the PDO mapping list and PDO entry list from the actual slave and compare them with the PDO map settings in the project.
a. When the PDO mapping matches the actual device
The following dialog box is displayed.
b. When the PDO mapping does not match the actual device
The following dialog box is displayed.
A-26
When the PDO mapping does not match the actual device, click the Yes Button to update the information in the PDO Map Settings Window to match the PDO mapping list and the PDO entry list of the actual slave. Click the OK Button or Apply Button in the Edit PDO Map Settings
Window to update the project with the PDO mapping list and PDO entry list of the actual slave.
Uploading
Click the Apply actual device Button to read the PDO mapping list and PDO entry list from the actual slave and update the information in the PDO Map Settings Window to match the PDO mapping list and the PDO entry list of the actual slave.
Click the OK Button or Apply Button in the Edit PDO Map Settings Window to update the project with the PDO mapping list and PDO entry list of the actual slave.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
A-3-5 Settings for MDP-compatible Slaves from Other Manufacturers
The MDP (Modular Device Profile) defines the data structure for the settings in EtherCAT slaves. It is an EtherCAT specification. You can use slaves that support MDPs from other manufacturers on the
EtherCAT Tab Page.
There are two sets of settings, slave and module, for MDP-compatible slaves.
The setting items and setting procedure for MDP-compatible slaves with the Sysmac Studio are described below.
A
Setting Items
This section describes each setting item for slave settings and module settings.
Slave Setting Items
Some items in the slave settings only display the current setting. The other items in the slave settings are changeable.
a. Items for which the current setting is displayed only.
The names of items and their settings are as follows:
Name
Device name
Model
Product name
Revision
Number of modules
Meaning of setting
The device name that is set in the EtherCAT configuration
The model number of the slave
The product name of the slave
The revision of the slave
The number of modules that are connected b. Items for which the current setting is changeable.
The items that you can edit are the PDO Map Settings , Module config send method , Setting
Parameters , and Backup Parameter Settings . The meanings of these settings are given below.
PDO Map Settings
• The PDO Map Settings displays the settings for the process data assigned for the slave.
• When valid PDOs are present, a list of them is displayed.
• When valid PDOs are not present, "---" is displayed.
• Process data is assigned for each slave in default by the Sysmac Studio. To change the process data assignments, click the Edit PDO Map Settings Button. Refer to
Entry Tables on page A-21 for details.
Module config send method
• This is the area to select whether to send the module configuration information to the device or not.
• When you select Send , module configuration information commands are created for the devices. However, the slaves must support this function.
• When you select Do not send , module configuration information commands are not created for the devices.
• The default is Do not send .
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-27
Appendices
A-28
Setting Parameters
• The set values of the Setting Parameters are displayed.
• The Setting Parameters are assigned for each module in default by the Sysmac Studio. To edit the setting parameters, click the Edit Setting Parameters Button.
Backup Parameter Settings
• The set values of Backup Parameter Settings are displayed.
• The Backup Parameter Settings are assigned for each module in default by the Sysmac Studio. To edit the backup parameters, click the Edit Backup Parameter Settings Button.
Version Information
Sysmac Studio version 1.29 or higher is required to use the Setting Parameters and Backup
Parameter Settings.
Module Setting Items
Some items in the module settings only display the current setting. The other items in the module settings are changeable.
a. Items for which the current setting is displayed only.
The names of items and their settings are as follows:
Name
Model
Product name
Connected position
Meaning of setting
The model name of the device
The product name of the device
The connected position of the device b. Items for which the current setting is changeable.
The items that you can edit are the Device name , PDO Map Settings , Setting Parameters , and Backup Parameter Settings . The meanings of these settings are given below.
Device name
• The name of the module is displayed.
• The default is M#. "#" is a serial number that starts from 1.
PDO Map Settings
• The PDO Map Settings displays the settings for the process data assigned for the module.
• When valid PDOs are present, a list of them is displayed.
• When valid PDOs are not present, "---" is displayed.
• Process data is assigned for each module in default by the Sysmac Studio. To change the process data assignments, click the Edit PDO Map Settings
Button. Refer to A-3-4 Editing
PDO Entry Tables on page A-21 for details.
Setting Parameters
• The set values of the Setting Parameters are displayed.
• The Setting Parameters are assigned for each module in default by the Sysmac Studio. To edit the setting parameters, click the Edit Setting Parameters Button.
Backup Parameter Settings
• The set values of Backup Parameter Settings are displayed.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
• The Backup Parameter Settings are assigned for each module in default by the Sysmac Studio. To edit the backup parameters, click the Edit Backup Parameter Settings Button.
Version Information
Sysmac Studio version 1.29 or higher is required to use the Setting Parameters and Backup
Parameter Settings.
A
Setting Procedure
1
Right-click the slave in the EtherCAT Tab Page and select Edit Module Configuration .
An edit pane for the module configuration is displayed.
2
Select a slave on the edit pane for the module configuration.
A list of the slave settings is displayed.
3
Select the location at which to register a module and double-click the module to register in the
Toolbox . Or, drag the module from the Toolbox to the location to register it on the edit pane for the module configuration.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-29
Appendices
The module is registered and a list of module settings is displayed.
A-30 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
A-4 Setting Transmission Delay Time by
Actual Measurement
This section describes the procedure to set the transmission delay time that is measured and calculated in the actual network configuration to the CPU Unit.
Version Information
Project unit version 1.40 or later is required to set the transmission delay time by the actual measurement.
A
Precautions for Correct Use
Make sure to confirm the followings before you perform the actual measurement. Otherwise, the correct transmission delay time cannot be calculated.
• Connect all slaves, including disconnected and temporarily disabled slaves, to the network.
• If a ring topology is included, remove the cable connected to the end port of the ring.
1
Go online and click the Edit Settings Button for Transmission Delay Time in the master settings.
The Transmission Delay Time Setting Dialog Box is displayed.
2
Click the Calculate the transmission delay time from the measured value Button.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-31
Appendices
The transmission delay time is calculated based on the measured value in the actual network configuration. After the actual measurement is completed, the calculated transmission delay time will be displayed on Calculation result from the measured value in the actual network configuration .
3
Select Calculation result from the measured value in the actual network configuration and click the OK Button.
The calculated transmission delay time is set to the transmission delay time in the network configuration information for the project.
Additional Information
The set transmission delay time is displayed on Calculation result from the measured value in the actual network configuration in the Transmission Delay Time Setting Dialog Box, even offline.
The following dialog box is displayed.
4
Click the OK Button and then perform synchronous transfer to send the project to the CPU
Unit.
Precautions for Correct Use
If you changed the actual network configuration after the transmission delay time that was calculated by actual measurement was set to the project, perform the actual measurement again.
When you transfer a project without actual measurement, the transmission delay time that was calculated by the previous actual measurement is set to the CPU Unit.
A-32 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
A-5 Terminology
AL status
Use the following list of EtherCAT terms for reference.
Term
CAN in Automation
Abbreviation
---
CiA
Description
Status for indicating information on errors that occur in an application on a slave.
CiA is the international users' and manufacturers' group that develops and supports higher-layer protocols.
A CAN application protocol service implemented on EtherCAT.
CAN application protocol over
EtherCAT
EtherCAT slave controller
EtherCAT state machine
EtherCAT slave information
EtherCAT Master Function Module
EtherCAT Technology Group
CoE
ESC
ESM
ESI
---
ETG
PDO communications
SDO communications
Slave Imformation Interface
WireShark index object object dictionary
Operational service data object subindex system-defined variable receive PDO sync manager slave disconnection
Safe-Operational
---
---
SII
---
---
---
OD
---
SDO
---
---
RxPDO
SM
---
---
A controller for EtherCAT slave communication.
An EtherCAT communication state machine.
An XML file that contains setting information for an EtherCAT slave.
One of the function modules. This module controls the EtherCAT slaves as the EtherCAT master.
The ETG is a global organization in which OEM, End Users and Technology Providers join forces to support and promote the further technology development.
An acronym for process data communications.
One type of EtherCAT communications that uses service data objects
(SDOs) for communicating information when required.
Slave information that is stored in non-volatile memory in the slave.
Freeware for monitoring and capturing packets.
Address of an object within an application process.
An abstract representation of a particular component within a device, which consists of data, parameters, and methods.
A data structure addressed by Index and Subindex that contains description of data type objects, communications objects and application objects.
A state in EtherCAT communications where SDO communications and
I/O are possible.
CoE asynchronous mailbox communications where all objects in the object dictionary can be read and written.
Sub-address of an object within the object dictionary.
A variable in the NJ/NX-series CPU Unit for providing information such as the EtherCAT communications status and error status. Status information about EtherCAT communications is obtained by reading systemdefined variables from user applications in the NJ/NX-series CPU Unit.
A process data object received by an EtherCAT slave.
Collection of control elements to coordinate access to concurrently used objects.
A state where an EtherCAT slave does not existed from the network due to the following causes.
• Cable disconnection
• Slave power interruption
A state in EtherCAT communications where only SDO communications and reading input data from slaves are possible. Outputs from slaves are not performed.
A
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-33
Appendices
Term project unit version transmission jitter transmit PDO distributed clocks device profile device variables sync jitter network configuration information packet monitoring
Pre-Operational process data process data object process data communications
Originating slave of the ring
Start port of the ring
End port of the ring
Abbreviation
---
---
TxPDO
DC
---
---
---
---
---
---
---
PDO
---
---
---
---
Description
A unit version to be set for the project. It is set for the project in the Select Device Area of the Project Properties Dialog Box on the Sysmac
Studio.
The jitter in the process data transmission period (ns).
A process data object sent from an EtherCAT slave.
Clock distribution mechanism used to synchronize EtherCAT slaves and the EtherCAT master.
Collection of device dependent information and functionality providing consistency between similar devices of the same device type.
Variables in the NJ/NX-series CPU Unit to which process data on Ether-
CAT slaves are allocated. Slave process data is accessed by directly reading and writing these device variables from user applications on the
NJ/NX-series CPU Unit.
The offset in the operation timing between slaves.
The EtherCAT network configuration information held by the EtherCAT master.
A function that enables the EtherCAT master to capture packets flowing over an EtherCAT line and store them in the master. You can start and stop capturing packets from the Sysmac Studio or with EtherCAT communications instructions.
A state in EtherCAT communications where only SDO communications are possible without being able to perform I/O.
Collection of application objects designated to be transferred cyclically or acyclically for the purpose of measurement and control.
Structure described by mapping parameters containing one or several process data entities.
One type of EtherCAT communications that uses process data objects
(PDOs) to exchange information in realtime with a fixed cycle. This is also called PDO communications .
A slave that becomes the starting point of the ring topology. To be specific, any of the following slaves for which the cable redundancy is enabled.
• GX-JC03 Junction Slave
A port that becomes the start point of the ring topology.
A port that becomes the end point of the ring topology.
A-34 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
A-6 Version Information
A-6-1 Functions That Were Added or Changed for Each Unit Version
This section gives the functions that were added or changed for each unit version of the CPU Unit.
Changes in and Additions to Functional Specifications
The following table gives the unit version of the CPU Units and the Sysmac Studio version for each addition or change to the functional specifications.
Function
Addition/ change
Reference Unit version
Sysmac Studio version
Backup and restore operations
Enabling/disabling
Addition
Addition
1.03
1.04
1.04
1.05
Packet monitoring
Addition
Change
1.10
1.12
Diagnosis/statistics log
Cable redundancy function
Addition
Addition
1.40
1.11
1.40
1.29
---
1.29
*1.
This function was added to the NJ301££££ CPU Units. The NJ501££££ and NJ101££££
CPU Units support packet monitoring with all versions.
*2.
Packet monitoring can be used with project unit version earlier than 1.40. It cannot be used with project unit version 1.40 or later.
*3.
The cable redundancy function can be used with project unit version 1.40 or later. It cannot be used with project unit version earlier than 1.40.
Adding the EtherCAT Slaves That You Can Use
If you use a newer unit version of the CPU Unit, you can increase the OMRON EtherCAT Slaves that you can use. Refer to
1-2-1 System Configuration on page 1-4 for details.
For information on the most recent lineup of the OMRON EtherCAT slaves, NX-series EtherCAT
Communications Coupler Units and NX Units, refer to catalogs or OMRON websites, or ask your
OMRON representative.
A
A-6-2 Differences between Project Unit Version Earlier Than 1.40 and
Project Unit Version 1.40 or Later
The following table shows the differences between project unit version earlier than 1.40 and project unit version 1.40 or later for EtherCAT master.
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-35
Appendices
A-36
Item
Function
Description
Packet monitoring
Cable redundancy function
Actual measurement of network transmission delay time in actual configuration
DC Synchronous Correction
Version earlier than 1.40
Supported.
Not supported.
Project unit version
Version 1.40 or later
Not supported.
Supported.
Not supported.
Selectable between Enable slave monitoring option and Disable slave monitoring option
Can be set with the Sysmac Studio only.
Supported.
Fixed to Enable slave monitoring option
Can be set with the hardware switches or Sysmac Studio.
Operation
Node address setting for slaves from other manufacturers
PDO communications timeout detection count that can be set
Set value of Total Cable
Length
State in which the Ether-
CAT Junction Slave ports actually connected to slaves do not agree with the Sysmac Studio network configuration
1 to 8 errors
1 to (100 × Maximum number of slaves) [m]
This status is not detected as an error.
1 to 50 errors
1 to 51200 [m]
Operation of the slaves that are disconnected from the Sysmac Studio or with a special instruction
Detection timing of the
EtherCAT Frame Not
Received (842E0000 hex) event
Communication state of master and slave if a minor fault occurs when
Fail-soft Operation is set to Stop
• Control state: Init state
• PDO communications for input data: Stop
• PDO communications for output data: Stop
• Message communications: Not possible
• At power ON
• At Controller reset
• When a cable is connected to
EtherCAT master
• State for the master and all of the slaves: Pre-Operational state
• PDO communications for input data: Stop
• PDO communications for output data: Stop
• Message communications:
Possible
One of the following errors occurs.
• Network Configuration Verification
Error (Unnecessary Slave
Connected) (84320003 hex) event
• Network Configuration Verification
Error (Mismatched Slave)
(84330004 hex) event
• Network Configuration Verification
Error (Slave Unconnected)
(84380000 hex) event
• Control state: Pre-Operational state
• PDO communications for input data: Stop
• PDO communications for output data: Stop
• Message communications: Possible
• At power ON
• At Controller reset
• When a cable is connected to
EtherCAT master
• During communications
• State for the master and all of the slaves: Safe-Operational state
• PDO communications for input data: Continue
• PDO communications for output data: Stop
• Message communications: Possible
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Appendices
Item Description
Operation when more than the maximum number of slaves are connected during communications
Event that will occur
Project unit version
Version earlier than 1.40
• A Network Configuration Error
(84210000 hex) event occurs.
• Communications continue with salves that are during communications.
Version 1.40 or later
• A Network Configuration
Verification Error (Unnecessary
Slave Connected) (84320003 hex) event occurs.
• Communications continue with salves that are during communications. However, an error may occur in synced slaves.
Refer to Correspondence of Events between Project Unit Version Earlier than 1.40 and Project Unit Version 1.40 or Later in the appendices of the
NJ/NX-series Troubleshooting Manual (Cat. No. W503) for specific events.
A
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) A-37
Appendices
A-38 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Index
I
I
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) I-1
Index
Index
A
AL status......................................................................... A-33
Axis Settings....................................................................5-13
Axis Variables.................................................................... 3-6
B
backing up.................................. 2-12, 2-13, 2-15, 9-28, 9-32
Backup Parameter Settings.............................................5-23
Built-in EtherCAT Error.............................................7-2, 7-10
C
CAN application protocol over EtherCAT.................3-2, A-33
CAN in Automation .........................................................A-33
checking for errors.............................................................9-2
CiA.................................................................................. A-33
CoE.......................................................................... 3-2, A-33
communications cables............................................ 1-8, 4-13
Communications Controller Error............................. 7-3, 7-11
Communications Error Slave Table.......................... 7-4, 7-14
Communications Port Error...................................... 7-2, 7-10
comparing and merging...................................................5-28
control states..................................................................... 3-9
D
DC............................................................................3-4, A-34
Device name.................................................5-15, 5-21, A-27
Diagnosis/Statistics Log Busy.................................. 7-8, 7-19
Diagnosis/Statistics Log Cycle................................. 7-8, 7-18
Diagnosis/Statistics Log Enable............................... 7-7, 7-18
Diagnosis/Statistics Log Error.................................. 7-8, 7-19
diagnostic and statistical information.................................9-3
Disabled Slave Table................................................7-6, 7-16
Disconnected Slave Table........................................ 7-6, 7-16
distributed clocks..................................................... 3-4, A-34
download......................................................................... 5-45
E
EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave)
..................................................................................... 6-25
_EC_CommErrTbl (Communications Error Slave Table)........
..............................................................................7-4, 7-14
_EC_CycleExceeded (EtherCAT Communications Cycle Ex-
ceeded).................................................................7-4, 7-14
_EC_DisableSlavTbl (Disabled Slave Table)........... 7-6, 7-16
_EC_DisconnSlavTbl (Disconnected Slave Table)...7-6, 7-16
_EC_EntrySlavTbl (Network Connected Slave Table)............
..............................................................................7-6, 7-15
_EC_ErrSta (Built-in EtherCAT Error)...................... 7-2, 7-10
_EC_InData1Invalid (Input Data1 Invalid)................ 7-7, 7-17
_EC_InData2Invalid (Input Data2 Invalid)................ 7-7, 7-17
_EC_InDataInvalid (Input Data Invalid).................... 7-7, 7-17
_EC_IndataInvalidErr (Input Process Data Invalid Error).......
..............................................................................7-4, 7-14
_EC_LanHwErr (Communications Controller Error). 7-3, 7-11
_EC_LinkOffErr (Link OFF Error)............................. 7-3, 7-11
_EC_LinkStatus (Link Status).................................. 7-6, 7-16
_EC_MacAdrErr (MAC Address Error)..................... 7-3, 7-11
_EC_MBXSlavTbl (Message Communications Enabled
Slave Table).......................................................... 7-6, 7-15
_EC_MsgErr (EtherCAT Message Error)................. 7-4, 7-13
_EC_MstrErr (Master Error)..................................... 7-3, 7-10
_EC_NetCfgCmpErr (Network Configuration Verification Er-
ror)........................................................................ 7-3, 7-12
_EC_NetCfgErr (Network Configuration Information Error)....
.............................................................................. 7-3, 7-11
_EC_NetTopologyErr (Network Configuration Error)7-3, 7-12
_EC_PDActive (Process Data Communications Status)........
..............................................................................7-6, 7-16
_EC_PDCommErr (Process Data Communications Error).....
..............................................................................7-4, 7-12
_EC_PDSendErr (Process Data Transmission Error)............
..............................................................................7-4, 7-12
_EC_PDSlavTbl (Process Data Communicating Slave Ta-
ble)........................................................................7-6, 7-15
_EC_PDTimeoutErr (Process Data Reception Timeout Er-
ror)........................................................................ 7-4, 7-12
_EC_PktMonStop (Packet Monitoring Stopped)...... 7-6, 7-16
_EC_PktSaving (Saving Packet Data File).............. 7-7, 7-17
_EC_PortErr (Communications Port Error).............. 7-2, 7-10
_EC_RegSlavTbl (Registered Slave Table)............. 7-6, 7-14
_EC_RingBreaking (Ring Disconnection)................ 7-7, 7-18
_EC_RingBreakNodeAdr (Slave Node Address Before Ring
Disconnection)...................................................... 7-7, 7-18
_EC_SlavAdrDupErr (Slave Node Address Duplicated Error)
..............................................................................7-4, 7-13
_EC_SlavAppErr (Slave Application Error).............. 7-4, 7-13
_EC_SlavEmergErr (Emergency Message Detected)............
..............................................................................7-4, 7-13
_EC_SlavErr (Slave Error)....................................... 7-3, 7-10
_EC_SlavErrTbl (Slave Error Table).........................7-3, 7-11
_EC_SlavInitErr (Slave Initialization Error)...............7-4, 7-13
_EC_StatisticsLogBusy (Diagnosis/Statistics Log Busy)........
..............................................................................7-8, 7-19
_EC_StatisticsLogCycleSec (Diagnosis/Statistics Log Cycle)
..............................................................................7-8, 7-18
_EC_StatisticsLogEnable (Diagnosis/Statistics Log Enable).
..............................................................................7-7, 7-18
_EC_StatisticsLogErr (Diagnosis/Statistics Log Error)...........
..............................................................................7-8, 7-19
Emergency Message Detected................................ 7-4, 7-13
Enable Distributed Clock................................................. 5-22
Enable/Disable EtherCAT Slave......................................6-25
enable/disable setting for slaves..................................... 1-13
Enable/Disable Settings.................................................. 5-22
I-2 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
Index
End port of the ring..........................................................A-34
ESC.................................................................................A-33
ESI.................................................................................. A-33
ESI files.......................................................... 1-8, A-15, A-17
ESM................................................................................ A-33
ETG.................................................................................A-33
EtherCAT....................................................................1-2, 3-1
EtherCAT Communications Cycle Exceeded........... 7-4, 7-14
EtherCAT communications instructions..................6-19, 6-25
EtherCAT Junction Slave...................................................1-6
EtherCAT master............................................................... 1-4
EtherCAT Master Function Module................................. A-33
EtherCAT Message Error......................................... 7-4, 7-13
EtherCAT network diagnostic procedure........................... 9-3
EtherCAT slave controller................................................A-33
EtherCAT Slave Enable/Disable Settings........................5-25
EtherCAT slave information ........................ A-15, A-17, A-33
EtherCAT slaves................................................................1-5
EtherCAT state machine................................................. A-33
EtherCAT Technology Group...........................................A-33
events................................................................................ 9-2
F
I
Fail-soft Operation Setting...............................................5-16
forced refreshing..............................................................6-17
I/O power supply................................................................1-8
I/O refreshing .................................................................. 3-11
index................................................................................A-33
indicators........................................................................... 2-2
Init ...................................................................................3-10
Input Data Invalid..................................................... 7-7, 7-17
Input Data1 Invalid................................................... 7-7, 7-17
Input Data2 Invalid................................................... 7-7, 7-17
input ports..........................................................................1-5
Input Process Data Invalid Error.............................. 7-4, 7-14
installation........................................................................4-13
L
Link OFF Error..........................................................7-3, 7-11
Link Status................................................................7-6, 7-16
M
MAC Address Error...................................................7-3, 7-11
major fault level Controller errors.................................... 6-15
Master Error............................................................. 7-3, 7-10
Message Communications Enabled Slave Table..... 7-6, 7-15
Model.....................................................................A-27, A-28
Model name............................................................5-15, 5-21
N
Network Configuration Error.....................................7-3, 7-12
network configuration information...................5-2, 5-45, A-34
Network Configuration Information Error.................. 7-3, 7-11
network configuration verification.................................... 5-19
Network Configuration Verification Error.................. 7-3, 7-12
Network Connected Slave Table.............................. 7-6, 7-15
Node Address..................................................................5-21
node addresses................................................................. 2-9
non-synced slaves.............................................................1-5
Number of Slaves............................................................ 5-15
O
OD...................................................................................A-33
Operational ........................................................... 3-10, A-33
Originating slave of the ring............................................ A-34
output ports........................................................................1-5
P
packet monitoring.................................................... A-7, A-34
Packet Monitoring Stopped...................................... 7-6, 7-16
PDO......................................................................... 3-2, A-34
PDO communications................................3-2, 3-5, 6-2, A-33
PDO Communications Cycle..................................5-15, 5-21
PDO Communications Cycle 1........................................ 5-15
PDO Communications Cycle 2........................................ 5-15
PDO Communications Timeout Detection Count............ 5-16
PDO Map Settings...........................................................5-22
Process Data Communicating Slave Table.............. 7-6, 7-15
process data communications................... 3-2, 3-5, 6-2, A-34
Process Data Communications Error....................... 7-4, 7-12
Process Data Communications Status.....................7-6, 7-16
process data objects....................................................... A-34
Process Data Reception Timeout Error....................7-4, 7-12
Process Data Transmission Error.............................7-4, 7-12
Product name......................................5-15, 5-21, A-27, A-28
Production Information........................................................23
project unit version.......................................................... A-34
R
receive PDO....................................................................A-33
Reference Clock.............................................................. 5-22
Registered Slave Table............................................ 7-6, 7-14
Replacing slaves............................................................. 9-26
restoring....................................2-12, 2-13, 2-15, 9-30 – 9-32
Revision...........................................................................5-21
Revision Check Method...................................................5-17
Ring Disconnection.................................................. 7-7, 7-18
RxPDO............................................................................ A-33
S
Safe-Operational ...................................................3-10, A-33
Saving Packet Data File........................................... 7-7, 7-17
SDO......................................................................... 3-2, A-33
SDO communications..............................3-2, 3-5, 6-19, A-33
self diagnosis.....................................................................3-9
I
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505) I-3
Index
Serial Number..................................................................5-22
Serial Number Check Method......................................... 5-17
service data objects........................................................ A-33
Setting Parameters..........................................................5-23
SII....................................................................................A-33
Slave Application Error.............................................7-4, 7-13
slave disconnection.........................................................A-33
Slave Error............................................................... 7-3, 7-10
Slave Error Table...................................................... 7-3, 7-11
Slave Imformation Interface............................................ A-33
Slave Initialization Error............................................7-4, 7-13
Slave Node Address Before Ring Disconnection..... 7-7, 7-18
Slave Node Address Duplicated Error......................7-4, 7-13
SM...................................................................................A-33
Start port of the ring........................................................ A-34
subindex..........................................................................A-33
sync jitter......................................................................... A-34
sync manager..................................................................A-33
synced slaves.................................................................... 1-5
Sysmac devices...............................................................2-12
Sysmac devices features.................................................2-12
Sysmac Studio...................................................................1-7
system configuration..........................................................1-4
system-defined variables.................................. 3-6, 7-2, A-33
T
topologies.......................................................................... 4-2
Total Cable Length...........................................................5-16
TxPDO............................................................................ A-34
U
unit power supplies............................................................1-8
V
Version...................................................................... 21, A-35
W
Wait Time for Slave Startup.............................................5-16
WireShark....................................................................... A-33
I-4 NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (W505)
OMRON Corporation Industrial Automation Company
Kyoto, JAPAN
Contact: www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V.
Wegalaan 67-69, 2132 JD Hoofddorp
The Netherlands
Tel: (31)2356-81-300/Fax: (31)2356-81-388
OMRON ELECTRONICS LLC
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Tel: (1) 847-843-7900/Fax: (1) 847-843-7787
OMRON ASIA PACIFIC PTE. LTD.
No. 438A Alexandra Road # 05-05/08 (Lobby 2),
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Singapore 119967
Tel: (65) 6835-3011/Fax: (65) 6835-2711
OMRON (CHINA) CO., LTD.
Room 2211, Bank of China Tower,
200 Yin Cheng Zhong Road,
PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200
Authorized Distributor:
© OMRON Corporation 2011-2020 All Rights Reserved.
In the interest of product improvement, specifications are subject to change without notice.
Cat. No. W505-E1-24 0820
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