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1. Slave Unit Terminal Slave Unit e The cable length between each Slave Unit L1 L2 Ln must be within 100 m e Connect cables securely until communications cable connectors click and are fixed in place e When you wire the communications cables observe their specifications bending radius and so on defined by the cable manufacturer E3X ECT EtherCAT Sensor Communication Unit Instraction Manual YAOMJON LWD4043g 0 BuND UUOD Z y s jqe9 suojeoiunwwoy 0 Buls8uu0D 4 72 17 4 4 Installation and Wiring 3 Connecting to Unit Power Supply and I O Power Supply The following power supplies are required to operate the EtherCAT network e Unit power supply For communication and internal operation of Slave Units e O power supply For input output operation of external I O devices of each Slave Unit E3X ECT doesn t need I O power supply This section explains how to supply the unit power supply and I O power supply 4 3 1 Precautions at Supplying Unit Power and I O Power When supplying the unit power supply and I O power supply take the followings into consideration for allowable current of cables and connectors voltage drop and layout of power supplies Consideration to cable voltage drop The power supply voltage of a Slave Unit farthest to
2. E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 EtherCAT Communications Communications cycle The communications cycle is determined by setting output frequency of SyncO signal interrupt signal in DC mode 1 125 us 250 us 500 us 1 ms 2 ms 4 ms The settings are performed on the EtherCAT Master Unit side For the setting method refer to the manual of the EtherCAT Master Unit to be used SUO JESIUNWILWOD PUN SARIS PUN 49 SeW LWD194 5 9 S PONWN Od Z 9 G E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 11 5 EtherCAT Communications 5 Emergency Messages 5 7 1 E3X ECT EtherCAT Sensor Communication Units are able to notify emergency messages to the EtherCAT Master Unit by using the SDO communications if they detect errors Emergency Message Notification It is possible to set whether or not to notify emergency messages via the SDO communications Target indexes are sub index 05 hex Flags in 10F3 hex Diagnostic History The setting values are shown in the table below Set value Emergency message notification 0000 hex Not notify 0001 hex Notify When the power to it is turned on a Slave Unit always starts up in the Not notify setting If you want to use a Slave Unit in the Notify setting set it to Notify each time you turn on the power Note that an emergency message cannot be sent during an Eth
3. Color State Contents Green OFF Unit power OFF state ON The unit power 24 VDC is supplied to the Slave Unit i L A IN indicator Indicates the communication state input side Color State Contents OFF Link not established in physical layer Green Flickering In operation after establishing link ON Link established in physical layer i L A OUT indicator Indicates the communication state output side Color Contents Link not established in physical layer Green Flickering In operation after establishing link ON Link established in physical layer 6 4 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 6 Hardware Specifications of E3X ECT i RUN indicator It indicates the operation state Color Green State Contents OFF Init state Blinking Pre Operational state Single flash Safe Operational state ON Operational state For details on each state refer to 5 3 Communications State Transitions in page 5 4 i ERR indicator It indicates the information of an error Color State Contents OFF No error p Blinking Communications setting error a Red Single flash Synchronization error or communications data error Double flash Application WDT timeout Flickering Boot error 3 ON PDI WDT timeout 8 i SS indicator S o gt n It indicates the information of an Sensor Status Color See Cont
4. Size 1byte U8 Access RO PDO Map Disable Sub index1 1st Input Object to be mapped Range Unit Default 20020108Hex Attribute Size 4byte U32 Access RO PDO Map Disable E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix A 1 6 Sync Manager Communication Object The communication memory of EtherCAT is set by the objects from 1C00 hex to 1013 hex 1C00 hex Sync Manager Communication Type Sub index 0 Number of used SM channels Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Communication Type Sync Manager 0 Range Unit Default 01 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 2 Communication Type Sync Manager 1 Range Unit Default 02 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 3 Communication Type Sync Manager 2 Range Unit Default 03 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 4 Communication Type Sync Manager 3 Range Unit Default 04 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible e The sync manager has the following settings e SMO Mailbox receive EtherCAT Master Unit to Slave Unit e SM1 Mailbox transmit EtherCAT Slave Unit to Master Unit e SM2_ Process data output EtherCAT Master Unit to Slave
5. 0 00000 8 16 8 2 Equipment Maintenance 00 cece eee 8 18 B 221 SISAMING Me osam a ena le creeds Stee deel sagt cele see te a pak led cash eee asa Re ae bob 8 18 8 2 2 INSPECTIONS acts piscina cles ied baad Maks pirus pp I iis Beat OR EMRE 8 18 8 2 3 Handling when Replacing Units 00 0200 c eee eee 8 19 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 8 1 8 Troubleshooting and Maintenance 8 1 8 1 1 Take Troubleshooting Errors can be notified by status indicators on Slave Units Errors that Can be Checked with Status Indicator and Actions to In this section the states of status indicator are indicated using the following abbreviations Abbreviation Definition On ON Off OFF F Flickering ON 50 ms OFF 50 ms flashing B Blinking ON 200 ms OFF 200 ms flashing SF Single flash ON 200 ms OFF 1000 ms flashing DF Double flash ON 200 ms OFF 200 ms ON 200 ms OFF 1000 ms flashing Unknown For details on definition of each state refer to 6 3 1 Status Indicators in page 6 4 Errors of Slave Unit PWR indicator On L A OUT LIA IN LED RUN indicator ERR indicator Off Description EtherCAT communication is in progress Cause EtherCAT communication is being executed Actions PDO communications or both PDO and SDO communications are being executed State is
6. 3001Hex Number of Sensors Sub index0 Range 03Hex Unit Default 03Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Number of Sensors Setting Range O00Hex 1EHex Unit Default OOHex Attribute A Size 1byte U8 Access RW PDO map possible Sub index2 Number of Sensors with Dummy Range 00Hex 01Hex Unit Default OOHex Attribute A Size 1byte U8 Access RO PDO map possible Sub index3 Number of Connected Sensors Range 00Hex 01Hex Unit Default OOHex Attribute A Size 1byte U8 Access RO PDO map possible e Sub index1 Number of Sensors Setting e This object use to set sensor number include dummy sensors e Sub index2 Number of Sensors with Dummy e This object detect number of sensors recognized by E3X ECT with dummy sensors e Sub index3 Number of Connected Sensors e This object detect number of sensors recognized by E3X ECT without dummy sensors A 16 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix 3002Hex Input Filter for Free Run Mode Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Input Filter Setting Range 00Hex 01Hex Unit Default OOHex Attribute A Size 1 BOOL Access RW PDO map Not possible Sub index2 Input Filter Information Range 00Hex 01Hex Unit Default OOHex Attribute A Size 1 BOOL Access RO PDO map N
7. 010 or 810Hex No 01 to 30 Power Tuning Status Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Power Tuning Status IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RO PDO map Not possible Sub index2 No 01 to 30 Power Tuning Status IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RO PDO map Not possible e This object detect the power tuning status of sensor number by index e 0000Hex Power tuning Off 0001Hex Power tuning ON A 24 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix 012 or 812Hex No 01 to 30 Display Mode Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Display Mode Range 0000Hex 0007Hex Unit Default 0001Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the display mode of sensor number by index DATA Setting 0000Hex Detection level and Detection level MDAO 0001Hex Detection level and Sreshold level 0002Hex Detection ratio and Sreshold level 0003Hex Peek and bottom Detection level 1 0004Hex Peak and bottom Detection level 2 0005Hex Analog bar 0006Hex Detection level and Peak Detection level 0007 FFFFHe
8. Lo E ificati ee pe Description Notification method Page Notification is provided when an error is Lv Error status is received by the Sysmac error detected in the application These errors i a TxPDO and the master is notified 9 14 status are displayed only on the OMRON Sysmac of errors every cycle Studio Support Software ce ce Notification is provided of application level Emergency errors Either CiA defined error codes are The slave notifies the master 45 messages used or error codes are added to when an error occurs vendor specific areas IAR Aee aans oe phen The master is notified by writing Application layer EtherCAT communications The error ioe to the application layer status 16 status notification method and error codes that are redieter when an rror oecure defined by ETG are used 9 i 8 8 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 8 Troubleshooting and Maintenance 8 1 4 Sysmac Error Status Codes A table that describes the error event codes that are displayed on the Sysmac Studio is given below Unit version 1 1 or later is required i Error List The errors i e events that can occur in the E3X ECT EtherCAT Slave Unit are given on the following pages Event levels are given as following in the tables Maj Major fault level Prt Partial fault level Min Minor fault level Obs Observation Info Information Refer to the NJ series Troubleshooting Manual Cat No W503 fo
9. e Sub index 2 Sysmac Error Status Clear e This object is used by the Controller a Sysmac device to reset errors that occur in Slave Units EN Reference In the default Sysmac Studio settings sub index 1 Sysmac Error Status is automatically mapped to a PDO because 1BFF hex 512th transmit PDO Mapping is assigned A 14 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 2200Hex Range O0Hex OFHex A Appendix Communication Error Setting Unit s Default 01 Hex Attribute C Size 1byte U8 Access RW PDO map Not possible 2201Hex Range 0000Hex 0258Hex Object mounted only in the DC mode The number of sequences for detecting communications errors is set with this object The setting range is from 00 to OF hex and the number of detections is the set number of times 1 Rewriting value is possible at operation in the DC mode but the operation is performed with the value set when shifting from the pre operational state to safe operational state Note that at this point the rewritten value is read Note With the default setting of 01 hex an error is detected if communications errors occur twice in a row Sync Not Received Timeout Setting Unit s Default 0000Hex Attribute C Size 2byte U16 Access RW PDO map Not possible Object mounted only in the DC mode This object is used to set the standby time until the first synchronization interrupt signal
10. A Appendix 01F or 81FHex No 01 to 30 Threshold Ratio Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Threshold Ratio IN1 Range FF9DHex 0063Hex Unit Default 0006Hex Attribute A Size 2byte INT16 Access RW PDO map Not possible Sub index1 No 01 to 30 Threshold Ratio IN2 Range FF9DHex 0063Hex Unit Default 0006Hex Attribute A Size 2byte INT 16 Access RW PDO map Not possible e This object set the Threshold ratio of sensor number by index 020 or 820Hex No 01 to 30 Number of Interference Prevention Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Number of Interference Prevention Range 0000Hex 0005Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the interference prevertion of sensor number by index Only E2C EDA0 D DATA Setting 0000Hex OFF 0001Hex 1 sensor 0002Hex 2 sensors 0003Hex 3 sensors 0004Hex 4 sensors 0005Hex 5 sensors 0006 FFFFHex Reserved 021 or 821Hex No 01 to 30 Key Lock Setting Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Key Lock Setting Range 0000
11. Event name Sensor Communications Error Event code 04C40000 hex Meaning An error occurred in a Sensor connection Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category System resetting slave or cycling the power Effects User program Continues Operation Input is not possible from the Sensor The input data will be 0 Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None z Cause and Assumed cause Correction Prevention Gorman The Sensor is disconnected Reconnect the Sensor and then reset Connect the Sensor securely the Sensor or cycle the power supply Attached None information Precautions None Remarks Event name Sensor Communications Has Not Been Established Event code 04C50000 hex Meaning Communications has not been established with the Sensor Source EtherCAT Master Function Module Source details Slave Detection When establish timing ing communica tions after turning ON power to the slave or after resetting the Sen sor Error attributes Level Minor fault Recovery Error reset after Log category System automatic slave recovery Effects User program Continues Operation The input data will be 0 Safe operational state and Oper ational state cannot be entered Indicators EtherCAT NET RUN EtherCAT NET ERR
12. System o irere r ach toe cae ee Oe ah Ai bee 3 5 3 3 2 Setting EtherCAT Communications 0 2200000 eee eee 3 5 3 3 3 Starting EtherCAT Communications 00000002 eee eee 3 5 Checking Operations 0 0 00 ccc eee eee 3 6 3 4 1 Checking Unit Displays 0000000 ee 3 6 3 4 2 Confirming Data Read and Write 20 0000 2c e eee 3 6 3 4 3 Setting Slave Unit Parameter 0 0 2 ee 3 6 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 3 1 3 Basic Usage Procedures 3 1 Setup Examples and Basic Procedure This section explains the setup method by using simple system setting examples 3 1 1 System Setting Examples Connect each of the following Slave Units to the EtherCAT Master Unit and make the settings EtherCAT Master Unit Digital I O Slave Unit od GX ID1611 16 inputs Expansion Unit 5 iz j ji XWT ID16 16 inputs Set the node address to 1 Digital I O Slave Unit GX 0D1611 16 outputs XWT OD16 16 outputs 1 cr 1 Expansion Unit Set the node address to 2 Sensor Communication Unit E3X ECT Set the node address to 5 i j y q EmN Although it is not shown in the figur
13. 5 10 9 6 1 RREE RUN Modes sc ita ae ot tan er be hee Gee ate Wee eS BES 5 10 5 6 2 DG Modest is ie ei Bien Hie ape E bape pet beet eee a 5 10 5 7 Emergency Messages 00 eee e eee ete eee eee eee eee 5 12 5 7 1 Emergency Message Notification 0 0000 eee 5 12 9 f 2 Diagnosis HIStory ox cust awe wee esetae i ects Ses ote Me Ne EE te ace ES 5 12 5 8 Sysmac Device Functions 0 cee eee eee 5 13 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 1 5 EtherCAT Communications 5 1 Structure of CAN application protocol over EtherCAT CoE Normally multiple protocols can be transferred by EtherCAT But E3X ECT EtherCAT Sensor Communication Units use CAN application protocol over EtherCAT CoE a communication interface to be applied for EtherCAT devices as the device profile of the open network standard CAN application protocol The figure below shows the structure of CoE in E3X ECT EtherCAT Sensor Communication Units GxX series EtherCAT Slave Units Application layer Slave application Object dictionary Communications PDO SDO mailbox SyncManager ll FMMU ji EtherCAT data link layer EtherCAT physical layer CAN application protocol has two types of object dictionaries PDO Process Data Object and SDO Service Data Object PDO is composed of object dictionaries that can be mapped The process data is defined by PDO mapping PDO is primarily used in PDO c
14. Sub index0 Number of objects Range Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 1st Input Object to be mapped Range Unit Default 61000210Hex Attribute Size 4byte U32 Access RO PDO Map Disable 1B02Hex 259th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 1st Input Object to be mapped Range Unit Default 61000310Hex Attribute Size 4byte U32 Access RO PDO Map Disable 1B03Hex 260th transmit PDO Mapping Default 01Hex Sub index0 Number of objects Size 1byte U8 Sub index1 1st Input Object to be mapped Default 61000410Hex Size 4byte U32 1B04Hex 261st transmit PDO Mapping Sub index0 Number of objects Range Unit Default 10Hex Attribute Size 1byte U8 Access RO Sub index1 16 1st 16th Input Object to be mapped PDO Map Disable Range Unit Default 30200101Hex 30200201Hex 30200301Hex 30200F01Hex 30201001Hex Attribute Size 4byte U32 Access RO PDO Map Disable E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix 1B05Hex 262nd transmit PDO Mapping Sub index0 Number of objects Range Unit Default 10Hex Attribute Size 1byte U8 Sub index1 16 1st
15. fi Error Descriptions This section describes the information that is given for individual errors Controller Error Descriptions The items that are used to describe individual errors events are described in the following copy of an error table Event name Gives the name of the error event Event code Gives the code of the error event Meaning Gives a short description of the error event Source Gives the source of the error event Source details Gives details on Detection Tells when the the source of the timing error is detected error Error attributes Level Tells the Recovery Gives the Log category Tells which log influence on recovery the error is saved control 1 method 2 in Effects User program Tells what will happen Operation Provides special information on the operation that results to execution of the from the error event user program 4 Indicators Gives the status of the built in EtherNet IP port and built in EtherCAT port indicators Indicator status is given only for errors in the EtherCAT Master Function Module and the EtherNet IP Function Module System defined Variable Data type Name variables Lists the variable names data types and meanings for system defined variables that provide direct error notification that are directly affected by the error or that contain settings that cause the error Cause and Assumed cause Remedy Prevention corecion Lists
16. 1ZZZ hex 01 hex 6TTT hex TT hex 1ZZZ hex 02 hex 6UUU hex UU hex Mapping objects 1ZZZ hex 03 hex 6YYY hex YY hex PDO Length 32 Bit PDO_1 Object A Object B Object D 6TTT hex TT hex Object A 6UUU hex UU hex Object B 6VVV hex VV hex Object C 6YYY hex YY hex Object D 6ZZZ hex ZZ hex Object E Application objects Sync Manager PDO Assignment Settings A sync manager channel consists of several PDOs The sync manager PDO assignment objects describe how these PDOs are related to the Sync Manager The number of PDOs is given in sub index 0 of the sync manager PDO assignment table In this table index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs The figure below shows an example of sync manager PDO mapping Ag a o Index Sub Object contents 5 2 1C1Z hex 1A00 hex S 1C1Z hex 1A01 hex o 5 1C1Z hex 1A03 hex BB 1A00 hex PDOA g 1A01 hex PDO B S 1A02 hex PDO C gt 1A03 hex PDO D E 1404 hex PDO E 1A05 hex PDO F 1A06 hex PDO G Sync manager entity Z E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 4 4 PDO Mapping 5 EtherCAT Communications The tables below show the details of PDO mapping for E3X ECT EtherCAT Sensor Communication Units Default PDO mapping with OMRON Sysmac Studio 257th transmit PDO Mapping 1B00
17. It becomes 0 There is no error and 1 The error is occurring Bits Name Communications error Device profile specific error Reserved Manufacturer specific error Error Register Bits Name Generic error 0 1 Current error 2 Voltage error 3 Temperature error 1008 hex Manufacturer Device Name Range Unit Default Differ by Slave Unit types Attribute Size 20 bytes VS Access RO PDO map Not possible e Indicates the Slave Unit model number 1009 hex Manufacturer Hardware Version Range Unit Default Differ by Slave Unit types Attribute Size 20 bytes VS Access RO PDO map Not possible e Indicates the version of the Slave Unit hardware 100A hex Manufacturer Software Version Range Unit Default Differ by Slave Unit types Attribute Size 20 bytes VS Access RO PDO map Not possible e Indicates the version of the Slave Unit software A 4 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix 1011 hex Restore Default Parameters Sub index 0 Number of entries Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Restore Default Parameters Range Unit Default 00000001 hex Attribute A Size 4 bytes U32 Access RW PDO map Not possible e Resets the parameters to their default values e The parameter
18. No 9 Sensor Input 2 No 16 Sensor Input 1 No 16 Sensor Input 2 Read Input bits 3020Hex 265th transmit PDO Mapping Sensor Status bits 3000Hex 1B08 hex 267th transmit PDO Mapping Connecting Sensor bits 3001Hex 1BO0A hex E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Overview 5 EtherCAT Communications 5 5 Service Data Object SDO E3X ECT EtherCAT Sensor Communication Units support the SDO communications The EtherCAT Master Unit is able to make parameter settings and monitor status by reading and writing data from and to entries in object dictionaries via the SDO communications 5 5 2 Abort Codes The table below shows abort codes of SDO communications errors Code 05030000 hex Meaning Toggle bit not changed 05040000 hex SDO protocol timeout 05040001 hex Client Server command specifier not valid or unknown 05040005 hex 06010000 hex Out of memory Unsupported access to an object 06010001 hex Attempt to read a write only object 06010002 hex Attempt to write to a read only object 06020000 hex The object does not exist in the object directory 06040041 hex The object cannot be mapped into the PDO 06040042 hex 06040043 hex The number and length of the objects to be mapped would exceed the PDO length General parameter incompatibility reason 06040047 hex General internal incompatibility in the device 06
19. Not possible Sub index1 No 01 to 30 Teaching Level without Work piece IN1 Range FF9DHex 0063Hex Unit Default 0006Hex Attribute A Size 2byte INT16 Access RW PDO map Not possible Sub index1 No 01 to 30 Teaching Level without Work piece IN2 Range FF9DHex 0063Hex Unit Default 0006Hex Attribute A Size 2byte INT 16 Access RW PDO map Not possible e This object set the teaching level without work piece of sensor number by index 01B or 81BHex No 01 to 30 ATC Power ON Setting Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 ATC Power ON Setting Range 0000Hex 0002Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the ATC power on setting of sensor number by index DATA Setting 0000Hex OFF 0001Hex ATC 0002Hex ATC powertuning 0003 FFFFHex reserved E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 27 Aseuoljsiq Poldo Y gt syo fqo ojoeds seunjoejnueyy z Y A Appendix 00C or 80CHex No 01 to 30 ATC Setting Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 ATC Setting IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not pos
20. SYNCO is input after shifting to the safe operational state state where a DC mode is confirmed If the first interrupt signal SYNCO is not input at all within this setting time a synchronization error occurs The setting range is from 0000 hex to 0258 hex 600s and operation is performed at 120s when Rewriting value is possible at operation in the DC mode but the operation is performed with the value set when shifting from the pre operational state to safe operational state Note that at this point the rewritten value is read E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 15 Aseuoljs1q Poldo Y gt sy fqo ojoeds seunjoejnuey y z Y A Appendix 3000Hex Sensor Communication Status Sub index0 Range 08Hex Unit Default 0O8Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Communication Busy Range O00Hex 01Hex Unit Default OOHex Attribute A Size 17 BOOL Access RO PDO map possible Sub index2 Communication Error Range 00Hex 01Hex Unit Default OOHex Attribute A Size 17 BOOL Access RO PDO map possible e This object detect comunication status with E3X ECT and sensor amplifiers e When communication Busy is on detect comunicatiing E3X ECT and Sensor amplifier e When communication error is on the number of sensors setting is defferent from the number of sensors include dummy sensors
21. fqo ojoeds seunjoejnueyy z 4 Y A Appendix 000 or 800Hex No 01 to 30 Type of Sensor Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Type of Sensor Range 0000Hex FFFFHex Unit Default 0000Hex Attribute A Size 2byte U16 Access RO PDO map Not possible e This object detect the sensor type of sensor number by index DATA type 00 E3X DAO S 01 E3X MDAO 02 E3C LDAO 03 E2C EDAO 05 E3X HDO 001 or 801Hex No 01 to 30 Detection Level Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Detection Level IN1 Range F831Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte INT16 Access RO PDO map possible Sub index1 No 01 to 30 Detection Level IN2 Range F831Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte INT16 Access RO PDO map possible e This object detect the detection level of sensor number by index 002 or 802Hex No 01 to 30 ON Detection Level Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 ON Detection Level IN1 Range F831Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte INT 16 Access RO PDO map Not possible
22. when writing 0001Hex and a value 0000hex is indicated when reading E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix 032 or 832Hex No 01 to 30 Teaching without Workpiece Through beam Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Teaching without Workpiece Through beam IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Teaching without Workpiece Through beam IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the teaching without workpiece through beam of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 033 or 833Hex No 01 to 30 Teaching First Point Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Teaching First Point IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Teaching First Point IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the teaching first point of
23. 001D hex Ae Manager settings in the Error a logic setting error in the saved notified Master Unit Sync Manager An error was detected in TxPDO Setting the TxPDO settings e g Not Can be CROOK MESING 001E hex i 5 ra Manager settings in the Error a logic setting error in the saved notified f Master Unit Sync Manager 001F hex PDO WDT An incorrect PDO WDT Not Can be Check the WDT settings Setting Error setting was detected saved notified in the Master Unit An incorrect TxPDO TxPDO setting was made e g an Check the TxPDO i Not Can be i p 0024 hex Assignment index subindex or size Sved notified assignment settings in Error that is out of range was the Master Unit registered An incorrect RxPDO RxPDO setting was made e g an Check the RxPDO F i Not Can be 0025 hex Assignment index subindex or size ay notified assignment settings in Error that is out of range was the Master Unit registered The SYNCO interrupt CERERE l 002C hex Synchronization topped dunna onerati n Not Can be synchronization settings Error PP g op saved notified Encoder Input Slave in Operational state Units only E3X ECT EtherCAT Sensor Communication Unit Instraction Manual AL status Name of error code SYNC Signal 092D hex Not Received Contents No SYNCO signals have been received since entering DC mode E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 8
24. 16th Input Object to be mapped Access RO PDO Map Disable Range Default 30201101Hex 30201201Hex 30201301Hex Unit 30201F01Hex 30202001Hex Attribute Size 4byte U32 Access RO PDO Map Disable 1B06Hex 263rd transmit PDO Mapping Sub index0 Number of objects Range Size 1byte U8 Sub index1 16 1st 16th Input Object to be mapped Range Unit Default 10Hex Default 30202101Hex 30202201Hex 30202301Hex Unit 30202F01Hex 30203001Hex Attribute PDO Map Disable Attribute 1B07Hex 264th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 10Hex Attribute Size 1byte U8 Sub index1 16 1st 16th Input Object to be mapped Access RO PDO Map Disable Range Default 30203101Hex 30203201Hex 30203301Hex Unit 30203F01Hex 30204001Hex Attribute 1BO08Hex 265th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 1st Input Object to be mapped Range Unit Default 300A0108Hex Attribute Size 4byte U32 Access RO PDO Map Disable 1BO09Hex 266th transmit PDO Mapping Sub index0 Number of objects Range Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 1st In
25. A Size 2byte U16 Access RW PDO map Not possible e This object set the output setting of sensor number by index DATA Setting 0000Hex each channel 0001Hex eria output LDAO EDAO 0002Hex Self diagnostic LDAO EDAO 0003Hex AND output MDAO 0004Hex OR output MDAO 0005Hex difference output MDAO 0006Hex low edge sync output MDAO 0007Hex high edge sync output MDAO 0007Hex sensor head error output EDAO 0005 F FFFHex reserved 016 or 816Hex No 01 to 30 Output Timer Function Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Timer Function Range 0000Hex 0004Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the timer function of sensor number by index DATA Setting 0000Hex timer disabled 0001Hex off delay timer 0002Hex on delay timer 0003Hex one shot timer 04 FFHex reserved 017 or 817Hex No 01 to 30 Output Timer Value Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Output Timer Value Range 0000Hex 1388Hex Unit Default 0040Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the timer value of sensor number by index A 26 E3X ECT EtherCAT
26. EtherCAT Master Unit check the EtherCAT Master Unit mode and Slave Unit node addresses If using EtherCAT Master Unit from another manufacturer refer to the user s manual for that Master Unit A hardware failure occurred If the problem is not resolved even after the measures described above are taken the Slave Unit hardware may be damaged Replace the applicable Slave Unit E3X ECT EtherCAT Sensor Communication Unit Instraction Manual L A IN indicator HA OUTI LED On RUN indicator ERR indicator DF 8 Troubleshooting and Maintenance Description Process data communica tions timeout Link in physical later OFF E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Cause A communications error occurred Actions After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit Item about communication cable e Is the communications cable wired correctly e Are any cables disconnected or loose in the part that connects to the connector e Is the cable length appropriate e Is the communications cable of the recommended specification Item about power supply e Is the power supply voltage within the specification range e Is the power supply capacity sufficient Malfunction due to noise Communications cable disconnection occurred e If there are
27. EtherCAT LINK ACT System defined Variable Data type Name variables None a Cause and Assumed cause Correction Prevention correction A sensor is not connected Connect at least one Sensor Connect at least one Sensor Attached None information Precautions None Remarks E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Bunooysajqnol 1 8 SOpod snjels Jouy oewsAS y 8 8 Troubleshooting and Maintenance Event name Non volatile Memory Checksum Error Event code 14A00000 hex Meaning An error occurred in the control parameters Source EtherCAT Master Function Module Source details Slave Detection When establish timing ing communica tions after turning ON power to the slave Error attributes Level Minor fault Recovery Error reset after Log category System cycling slave power Effects User program Continues Operation The slave s I O communications stop and the outputs turn OFF Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT Flashes at 1 s intervals System defined Variable Data type Name variables None a os Cause and Assumed cause Correction Prevention corecion Noise Return the control parameters to their Implement noise countermeasures default settings using restore parame ters 1011 hex of the EtherCAT Slave Attached None information Precautions None Remarks Event name
28. Sensor Communication Unit Instraction Manual A Appendix 018 or 818Hex No 01 to 30 Power Tuning Target Value Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Power Tuning Target Value IN1 Range 0064Hex 270FHex Unit Default O7DOHex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Power Tuning Target Value IN2 Range 0064Hex 270FHex Unit Default O7DOHex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the Power Tuning Target value of sensor number by index 019 or 819Hex No 01 to 30 Power Tuning Threshold Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Power Tuning Threshold IN1 Range 0000Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Power Tuning Threshold IN2 Range 0000Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the power tuning threshold value of sensor number by index 01A or 81AHex No 01 to 30 Teaching Level without Work piece Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map
29. Sub index1 No 01 to 30 ON Detection Level IN2 Range F831Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte INT16 Access RO PDO map Not possible e This object detect the ON dection level of sensor number by index 003 or 803Hex No 01 to 30 OFF Detection Level Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 OFF Detection Level IN1 Range F831Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte INT16 Access RO PDO map Not possible Sub index1 No 01 to 30 OFF Detection Level IN2 Range F831Hex 270FHex Unit Default 0000Hex Attribute A Size 2byte INT 16 Access RO PDO map Not possible e This object detect the OFF detection level of sensor number by index A 20 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix 004 or 804Hex No 01 to 30 Threshold Settings Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Threshold Settings IN1 Range F831Hex 270FHex Unit Default 0005Hex Attribute A Size 2byte INT 16 Access RW PDO map Not possible Sub index1 No 01 to 30 Threshold Settings IN2 Range F831Hex 270FHex Unit Default 0005Hex Attribute A Size 2byte INT 16 Access RW PDO map Not possible e This object set the threshold level o
30. Troubleshooting and Maintenance Diagnosis history Not saved Notification to EtherCAT Master Unit Can be notified Measures Check the synchronization settings Encoder Input Slave Units only Bunooysajqnol 1 8 SEpoOD snjejs e uoHeo ddy 9 1 8 8 Troubleshooting and Maintenance 8 2 Equipment Maintenance This section describes routine equipment maintenance in particular cleaning methods inspection methods and handling methods when replacing Slave Units 8 2 1 Cleaning Perform the following cleaning regularly to ensure the equipment is kept in the best condition possible e Wipe the equipment over with a soft dry cloth when doing daily cleaning e If dirt remains even after wiping with a soft dry cloth wipe over with a cloth that has been wet with a sufficiently diluted detergent 2 and wrung dry e Units will become stained if items such as rubber or vinyl products or adhesive tape are left on the Unit for a long period Remove such items during regular cleaning l Precautions for Correct Use Never use benzene thinners or other volatile solvents or chemical cloths The unit coating may change if these products are used 8 2 2 Inspections Always perform periodic inspections to ensure the equipment is kept in the best possible condition Periodic inspections should occur every 6 months to a year Periodic inspections should occur more frequently however for Units that are used in
31. Unit Power Supply Connector sss as saanane 6 7 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 6 1 6 Hardware Specifications of E3X ECT 6 1 EtherCAT Communications Specifications This section explains the communications specifications of the E3X ECT EtherCAT Slave Unit Item Communication protocol Specification Dedicated protocol for EtherCAT Modulation Base band Baud rate 100 Mbps Physical layer 100BASE TX IEEE802 3 RJ45 x 2 Shielded Connectors CN IN EtherCAT input CN OUT EtherCAT output Topology Daisy chain Communications media Category 5 or higher cable with double aluminum tape and braided shielding is recommended Communications distance Distance between nodes Slave Units 100 m max Noise immunity Conforms to IEC 61000 4 4 1 kV or higher Node address setting method Node address range Set on decimal node address switches or with a Configuration Tool 1 to 999 Node address switch setting 1 to 65535 Set with Configuration Tool PWR x 1 L A IN Link Activity IN x 1 Indicator L A OUT Link Activity OUT x 1 RUN x 1 ERR x 1 Process data PDO mapping PDO size node 36 byte max Mailbox Emergency messages SDO requests SDO responses and SDO information SYNCHRONIZATION mode Free Run mode asynchronous and DC mode 1 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 6 Hard
32. Units Error Diagnosis Notification to ee Name of error Contents history EtherCAT Measures Master Unit A timeout was detected when writing Non volaule data to non volatile Not 5530 hex Memory i Can be notified Write the data again Hardware Etor memory during saved EtherCAT communications At turning ON the If the error occurs Slave Unit power supply a even after restarting ey verification error Cannot be the power supply the 6140 hex Verification Saved me Error occurred on the Slave notified Slave Unit is Unit information stored damaged Replace the in the Slave Unit Slave Unit A non volatile memory data error occurred Initialize non volatile memory from a Non volatile l Configuration Tool or Memory An error occurred in with SDO 6330 hex Ch cks in non volatile memory Saved Can be notified communications and data in the Slave Unit then restart the Slave Error Unit Target indexes 1011 hex Restore default parameters parameter restore If the error occurs A hardware error even after restarting Slave occurred in the Cannot be the power supply the 1030 NEX Hardware Error EtherCAT Saved notified Slave Units is communications area E3X ECT EtherCAT Sensor Communication Unit Instraction Manual damaged Replace the Slave Units Bunooysajqnol 1 8 apog Joy Aouabiowy G 8 8 Troubleshooting and Maintenance 8 1 6 Application Layer Status Codes The AL status codes that
33. Units and Analog I O Slave Units operate in the FREE RUN mode Note that Slave Unit s internal processing time varies by the Slave Unit type refer to the explanation on each Slave Unit in Chapter 7 to Chapter 8 Digital I O Slave Units ON delay OFF delay Analog I O Slave Units Cycle time To calculate the input and output response time of the entire system refer to the relevant values in the manual of the host system EtherCAT Master or CPU Unit to be used This is the time which takes for an input signal from an Input Slave Unit to be processed by the PLC of the Master Unit and output to an Output Slave Unit 5 6 2 DC Mode In the DC mode a Slave Unit operates synchronously with the EtherCAT Master Unit A mechanism called distributed clock DC where the EtherCAT Master Unit and Slave Units share the same clock is used for synchronization Each of DC mode ready Slave Units connected to EtherCAT shares the clock information By generating interrupt signals and executing input output processing inside each Slave Unit according to the clock it becomes possible to synchronize the input output timing with other Slave Units The DC mode supported by E3X ECT Units is DC mode 1 Set common clock information among the EtherCAT Master Unit and Slave Units H to match the time mutually E z Ween z EtherCAT i Master Unit Slave Unit
34. devices in the vicinity that generate noise take necessary measures against the noise to protect the EtherCAT Master Unit and Slave Units and the communications cable e The noise resistance deteriorates if a cable other than those of the recommended specification is used Use the communications cable of the recommended specification Check to see if the cable is disconnected or loose in the part that connects to the connector aye 0 suonoy pue JoJeoIpu SNyeIS UY payxdeyD eq UeD Jey SION 1 1 8 Bunooysajqnol 1 8 8 Troubleshooting and Maintenance LIA IN PWR RUN ERR L A OUT s l Description Cause Actions indicator indicator indicator LED It is commanded Safe from the EtherCAT On SF B Operational Master Unit to shift state tothe Safe Operational state If the trouble occurred Itiscomma ded during operating the from the EtherCAT g operaung Pre system check the state Master Unit to shift On B Operational tothe of the connected state EtherCAT Master Unit Pre Operational state It is commanded from the EtherCAT On z Si i Init State Master Unit to shift to the Init state Due to the EtherCAT specification a communication timeout does not occur with those Slave Units that only handle input data Synchronization Errors LA IN L A OUT LED PWR indicator RUN indicator ERR indicator Acin Description Afte
35. input 1 Input Bit 4 No 2 sensor input 2 Input Bit 57 No 29 sensor input 1 Input Bit 58 No 29 sensor input 2 Input Bit 59 No 30 sensor input 1 Input Bit 60 No 30 sensor input 2 A 18 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual The address connection with sensor amplifier These object to comunication sensor amplifiers Each object exist 1 to 30 objects by number of sensors The object is offset 80Hex Show below number of sensors and index address relation Sensor No Index Sensor No 1 4000 407F Sensor No 2 4080 40FF Sensor No 3 4100 417F Sensor No 4 4180 41FF Sensor No 5 4200 427F Sensor No 6 4280 42FF Sensor No 7 4300 437F Sensor No 8 4380 43FF Sensor No 9 4400 447F Sensor No 10 4480 44FF Sensor No 11 4500 457F Sensor No 12 4580 45FF Sensor No 13 4600 467F Sensor No 14 4680 46FF Sensor No 15 4700 477F Sensor No 16 4880 48FF Sensor No 17 4800 487F Sensor No 18 4980 49FF Sensor No 19 4900 497F Sensor No 20 4A80 4AFF Sensor No 21 4A00 4A7F Sensor No 22 4A80 4AFF Sensor No 23 4B00 4B7F Sensor No 24 4B80 4BFF Sensor No 25 4C00 4C7F Sensor No 26 4C80 4CFF Sensor No 27 4D00 4D7F Sensor No 28 4D80 4DFF Sensor No 29 4E00 4E7F Sensor No 30 4E80 4EFF E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix Aseuoljs1q Poldo Y gt sy
36. is reset only when a specific value is written to Sub index 1 This prevents parameter values from being accidentally overwritten e The specific value is load MSB LSB d a o l 64 hex 61 hex 6F hex 6C hex e The ABORT code is displayed if a value other than the specific is written e A value 0000 0001 hex command valid is indicated when reading 1018 hex Identity Object Sub index 0 Number of entries Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Vendor ID Range Unit Default 00000083 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 2 Product Code Range Unit Default Differ by Slave Unit types Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 Revision Number Range Unit Default Differ by Slave Unit types Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 Serial Number Range Unit Default Each Unit Attribute Size 4 bytes U32 Access RO PDO map Not possible e Indicates the device information e Sub index 1 Vendor ID gives the manufacturer identifier Bits 0 to 15 Minor revision number of the device Bits 16 to 31 Major revision number of the device E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Sub index 2 Product Code g
37. is set to 0001 hex Emergency notify when power is turned ON At startup the setting is 0000 hex no emergency notification Sub indexes 6 to 13 Diagnosis messages 1 to 8 indicate the diagnosis history From Sub index 6 Diagnosis message 1 to Sub index 13 Diagnosis message 8 are stored 8 errors The 9th error and onward are stored from the Sub index 6 Diagnosis message 1 again E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix A 1 5 PDO Mapping Object Indexes 1600 hex to 17FF hex are used for Receive PDO mapping and indexes 1A00 hex to 1BFF hex are used for Transmit PDO mapping Sub indexes after Sub index 1 provide information about the application object being mapped 31 16 15 8 7 0 Indexes Sub Bit length Indexes MSB LSB Bits 0 to 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bits 8to15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object Aseuoljs1q Poldo Y gt yalqo Budde Odd S l V E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 7 A Appendix 1B00Hex 257th transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 1st Input Object to be mapped Range Unit Default 61000110Hex Attribute Size 4byte U32 Access RO PDO Map Disable 1B01Hex 258th transmit PDO Mapping
38. may result in unexpected operation of the loads connected to the Unit Transferring I O memory data to the CPU Unit with a Programming Device PC tool e Changing present values in memory with a Programming Device e Force setting resetting bits with a Programming Device e Transferring I O memory files from a memory card or EM file memory to the CPU Unit e Transferring I O memory from a host computer or from another PLC on a network Fail safe measures must be taken by the customer to ensure safety in the event of incorrect missing or abnormal signals caused by broken signal lines momentary power interruptions or other causes Not doing so may result in serious accidents E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Precautions for Safe Use Observe the following precautions when using the Unit Power Supply Always use the power supply voltage specified in this manual An incorrect voltage may result in malfunction or burning Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied Be particularly careful in places where the power supply is unstable An incorrect power supply may result in malfunction Always turn OFF the power supply to the PLC Slave Units and other Units before attempting any of the following Not turning OFF the power supply may result in malfunction or electric shock e Assembling any Units Expansion Units
39. normal Off Off Off Off Power supply error The power is not properly supplied to the Slave Unit After removing the following factors of power supply shutdown restart the Slave Unit according to the specification of connected EtherCAT Master Unit e Are the power supply cables wired correctly e Are the power supply cables disconnected e Is the power supply voltage within the specification range e Is the power supply capacity sufficient e Is the power supply malfunctioning E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 8 Troubleshooting and Maintenance L A IN Pw R L A OUT IRSN f ERP Description Cause Actions indicator indicator indicator LED On If the error does not clear even after the A hardware failure power is turned ON F occurred again the Slave Unit On Off Hardware error hardware is damaged Replace the Slave Unit The Expansion s B Unit is Check the Expansion Unit connection disconnected Check the switch A range setting settings then restart the Illegal switch switch or other Slave Unit according to setting switch setting is the specification of illegal connected EtherCAT Master Unit Use the Configuration Tool or SDO communications to Non volatile A non volatile restore the default data memory data memory data error and restart the Slave error occurred Unit according to the On B specificatio
40. profile uses the following data types Data Types Code Size Range Boolean BOOL 1 bit true 1 false 0 Unsigned8 U8 1 byte 0 to 255 Unsigned16 U16 2 bytes 0 to 65535 Unsigned32 U32 4 bytes 0 to 4294967295 Integer8 INT8 1 byte 128 to 127 Integer16 INT16 2 bytes 32768 to 32767 Integer32 INT32 4 bytes 2147483648 to 2147483647 Visible string VS A 2 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix A 1 3 Object Description Format In this manual objects are described in the following format i Object description format lt Object name gt lt Index gt Range lt Setting Range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt i Object description format with Sub indexes lt Index gt lt Object name gt Sub index 0 Range lt Setting Range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt Sub index N Range lt Setting Range gt Unit lt Unit gt Default lt Default setting gt Attribute lt Data attribute gt Size lt Size gt Access lt Access gt PDO map lt Possible Not possible gt The following values are indicated within the pointed brackets lt gt Indexes An obj
41. sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 034 or 834Hex No 01 to 30 Teaching Secondt Point Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Teaching Second Point IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Teaching Second Point IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the teaching second point of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 31 Aseuoljs1q Poldo L V gt sy fqo ojoeds seunjoejnueyy z Y A Appendix 035 or 835Hex No 01 to 30 Position Teaching Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Position Teaching IN1 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Position Teaching IN2 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object e
42. used For types of recommended pin terminals refer to 4 3 3 Connecting the Unit Power Supply in page 4 9 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 6 7 6 Hardware Specifications of E3X ECT E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Function Spcifications es This chapter explains the function specifications of E3X ECT 7 1 W O Data Allocation PDO Mapping 00 0 cece e ee eee eee eee 7 2 7 1 1 Input Data Allocation 0 0 nnn eens 7 2 7 2 Functions of E3X ECT 2 00 eee 7 4 7 2 1 Input Filter cs seoda eee siira run a eire Oe oe oe ba ee ewe oe 7 4 7 2 2 Dummy Sensor Setting 0 0 tees 7 5 7 3 Mounting Dimensions 0 0 cece eee eee 7 6 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 7 1 7 Function Spcifications 7 41 I O Data Allocation PDO Mapping I O data of Digital I O Slave Units are allocated to the input output areas of the I O memory of the EtherCAT Master Unit respectively For the detailed explanation of allocation method refer to the manual of EtherCAT Master Unit to be connected 7 1 1 Input Data Allocation The input data for E3X ECT You can also assign the Sysmac error status i Sensor Numbers Amplifier E3X ECT T P E P p P PP pHRuRARAREHRH n io 5 D e s x oO Q a DIN track CET TTT tt tt t tt Connector No No NoNo No NoNo No NoNo No No No NoNo No 12 3 4 5 67 8 9 1
43. used either by connecting to the EtherCAT Master Unit or as a substitute of the EtherCAT Master Unit jo s u w jg uoNeINnByUOD Z 4 WOMEN LV9147 s 2A9q UONEINBYUOD JO MAIAIOAQ Z Z 4 i Communications cable Uses cables of Ethernet category 5 100BASE TX or higher with double shield aluminum tape and braided shielding which are connected straight i ESI EtherCAT Slave Information file Describes information specific to EtherCAT Sensor Communication Units in XML format By reading this file into the Configuration Tool it is possible to perform various settings such as mapping of Slave Units to I O memory easily i Unit power supply Provides power for communications of each Slave Unit and internal operations Separate them from the I O power supply when wiring i I O power supply Provides power for input output operations of external devices connected to Slave Units Separate from Unit power supply when wiring E3X ECT EtherCAT Sensor Communication Unit Instration Manual 1 7 1 EtherCAT Network E3X ECT EtherCAT Sensor Communication Unit Instration Manual EtherCAT Sensor Communication Unit See This chapter explains the overview of EtherCAT Slave Unit 2 1 Overview of E3X ECT 0 cc ees 2 2 2 1 1 Features of E3X ECT EtherCAT Sensor Communication Units 2 2 2 2 Types of EtherCAT Sensor Communication Units 55 2 3 2 2 1 Slave Units ist oop a eos A voce ue 428s ee Sea
44. 0 hex to 08 hex Default Differ by Slave Unit types Attribute Size 1 byte UB Sub index 1 to 8 1st 8th PDO Mapping Object Index of assigned PDO Range 1A00 hex to 1BFF hex Default Differ by Slave Unit types Attribute Size 2 bytes U16 Access RW PDO map Not possible RO is set if there is no TxPDO e It indicates the TxPDOs used by this sync manager The default settings for Sync Manager 2 PDO Assignment and Sync Manager 3 PDO Assignment are different for OMRON software and software from other companies The default settings are given in the following table A 12 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix Default Settings for OMRON Software Sysmac Studio Sync manager 2 J PDO assignment Sync manager 3 PDO assignment Number Assigned Number F of PDO of Assigned PDO assigned assigned A RxPDOs TxPDOs 00Hex 1BOOHex 1B01Hex 1B08Hex 1BOAHex 1BFFHex Default Settings for OMRON Software CX Programmer Sync manager 2 PDO assignment Sync manager 3 PDO assignment Number Assigned Number Assigned of PDO of PDO assigned assigned RxPDOs TxPDOs u 2 a 00Hex 04Hex 1B00Hex 1B00Hex 1BO9Hex 1BOAHex Default Settings for Other COmpony tool Sync manager 2 3 PDO assignment Sync manager 3 PDO assignment Number Assigned Number Assigned of PDO of PDO assigned assigned RxPDOs TxPDOs i 5 00Hex
45. 011 12 13 1415 16 E3X ECT recognize the sensor number from left side And each sensor has IN1 sensor output1 and IN2 sensor output2 7 2 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 7 Function Spcifications i Input data allocation example Offset byte Tbit 6bit 5bit Abit 3bit 2bit 1bit 0 bit 0 Sensor4 Sensor4 Sensor3 Sensor3 Sensor2 Sensor2 Sensor Sensor IN2 IN1 IN2 IN1 IN2 IN1 IN2 IN1 1 Sensor8 Sensor8 Sensor7 Sensor7 Sensor6 Sensor6 Sensor5 Sensor5 IN2 IN1 IN2 IN1 IN2 IN1 IN2 IN1 2 Sensor12 Sensor12 Sensor11 Sensor11 Sensor10 Sensor10 Sensor9 Sensor9 IN2 IN1 IN2 IN1 IN2 IN1 IN2 IN1 3 Sensor16 Sensor16 Sensor15 Sensor15 Sensor14 Sensor14 Sensor13 Sensor13 IN2 IN1 IN2 IN1 IN2 IN1 IN2 IN1 4 reserved reserved reserved reserved reserved reserved S_ERR BUSY 5 Number of Sensors setting 6 Number od Sensors with dummy Buiddew Odd uonevoliy 2ed O I b s uo eoojiy amp eq ynduy p Z E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 7 3 7 Function Spcifications 7 2 Functions of E3X ECT 7 2 1 Digital I O Slave Units have the following convenient functions in addition to the I O signal processing Input Filter i Overview of functions Purpose This function prevents data changes and unstable data which may be caused by fluctuation of input data and unstable contact state due to chatt
46. 04Hex 1B04Hex 1B05Hex 1BO9Hex 1BOAHex l Precautions for Correct Use E3X ECT can be mapped PDO 36byte maximum E3X ECT EtherCAT Sensor Communication Unit Instraction Manual gt Aseuoljs1q P lqo L Y p fqo uogearunwwog seBeueyy 9uAS 9 Y A Appendix A 1 7 Manufacturer Specific Objects 2100Hex Range Size 4byte U32 Error History Clear Default 00000000Hex e This object clears diagnosis history of 10F3 hex Diagnosis History e It clears the history only when specific values are written The specific value is elcl Attribute A MSB LSB l c l e 6CHex 63Hex 6CHex 65Hex Writing values other than this is invalid 2002h Sysmac Error Sub index0 Number of entries Range Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Sysmac Error Status Range Unit Default 00Hex Attribute Size 1byte U8 Access RO PDO map possible Sub index2 Sysmac Error Status Clear Range Unit Default 00Hex Attribute A Size 1byte U8 Access RW PDO map Not possible e The mapping is used for Sysmac error status notification and to clear Sysmac error status e Sub index 1 Sysmac Error Status e This object is for notification of errors that are detected in the Slave Unit e When connected to an NJ series Machine Automation Controller NJ501 1 00 map this object to a PDO
47. 060000 hex Access failed due to a hardware error 06070010 hex Data type does not match length of service parameter does not match 06070012 hex 06070013 hex 06090011 hex Data type does not match length of service parameter too high Data type does not match length of service parameter too low Sub index does not exist 06090030 hex Value range of parameter exceeded only for write access 06090031 hex Value of parameter written too high 06090032 hex Value of parameter written too low 06090036 hex Maximum value is less than minimum value 08000000 hex 08000020 hex General error Data cannot be transferred or stored to the application 08000021 hex Data cannot be transferred or stored to the application because of local control 08000022 hex Data cannot be transferred or stored to the application because of the present device state 08000023 hex Object dictionary dynamic generation fails or no object dictionary is present E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 9 oas 2efqo Leq BDIAIag S G M M AO G G 5 EtherCAT Communications 5 6 EtherCAT Master Unit Slave Unit Communications 5 6 1 This section explains the communication modes between the Master Unit and E3X ECT EtherCAT Slave Unit FREE RUN Mode In the FREE RUN mode a Slave Unit operates asynchronously with the EtherCAT Master Unit The Digital I O Slave
48. 2Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Zero Reset IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Zero Reset IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the Zero reset of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 03B or 83BHex No 01 to 30 Cancel Zero Reset Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Cancel Zero Reset IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Cancel Zero Reset IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the zero reset cancel of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 03C or 83CHex No 01 to 30 Projection Lighting OFF Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Projection Lighting OFF IN1 Range 0000
49. 3X ECT EtherCAT Sensor Communication Unit Instraction Manual 3 Basic Usage Procedures 3 3 Starting Communications Start the system allocate I O data of Slave Units and then start the EtherCAT communications ow For operational state and details of it refer to 5 3 Communications State Transitions in page 5 4 amp S 2 gt 3 3 1 Starting a System A o 3 Turn ON the power supply to each Unit 3 gt 2 1 Unit power supply of EtherCAT Master Units 2 2 Unit power supply of Slave Units When the power is supplied Slave Unit s PWR indicator is lit a 3 I O power supply of Slave Units 3 Note that there are no restrictions on the order of turning ON the power supplies p P 3 3 2 Setting EtherCAT Communications y 2 The following communications are performed in EtherCAT wn PDO communications remote I O communications a 3 Allocate I O data of Slave Units to the EtherCAT Master Unit PDO mapping and perform PDO communication remote I O communications For the detailed explanation of I O data of each Slave Unit refer to I O Data Allocation PDO Mapping in Chapter 7 Note that the ESI file are used to allocate I O data For the detailed explanation of the procedure refer to the manual of the EtherCAT Master Unit to be used and the manual of the Configuration Tool E3X ECT can allocate PDO 36byte max SDO communications message communications For the method of using refer to the manual
50. 838Hex No 01 to 30 Power Tuning Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Power Tuning IN1 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Power Tuning IN2 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the power tunig of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading A 32 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix 039 or 839Hex No 01 to 30 Cancel Power Tuning Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Cancel Power Tuning IN1 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Cancel Power Tuning IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the power tuning cancel of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 03A or 83AHex No 01 to 30 Zero Reset Sub index0 Range 0
51. BLUE IN2 Range 0000Hex 03E8Hex Unit Default 0190Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e Reserved E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 21 Aseuoljsiq Poldo Y gt sy fqo o d seunjoejnueyy z 4 Y A Appendix 008 or 808Hex No_01 30 Differentiation Threshold Settings Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Differentiation Threshold Settings IN1 Range F831Hex 270FHex Unit Default 0005Hex Attribute A Size 2byte INT16 Access RW PDO map Not possible Sub index1 No 01 to 30 Differentiation Threshold Settings IN2 Range F831Hex 07CFHex Unit Default 0005Hex Attribute A Size 2byte INT16 Access RW PDO map Not possible e This object set the dfferentiation threshold level of sensor number by index 009 or 809Hex No_01 30 Difference Threshold Settings Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Difference Threshold Settings IN1 Range F831Hex 270FHex Unit Default 0005Hex Attribute A Size 2byte INT16 Access RW PDO map Not possible Sub index1 No 01 to 30 Difference Threshold Settings IN2 Range F831Hex 07CFHex Unit Default 0005Hex Attribute A Size 2byte INT 16 Access RW PDO map
52. EtherCAT Sensor Communication Unit Instration Manual 1 EtherCAT Network It is the EtherCAT telegram stored directly in an Ethernet frame that exchanges data regularly 2 between the EtherCAT Master Unit and Slave Units Each EtherCAT telegram is configured with telegram header data length including address of one or gt more Slave Units etc data working counter check bit zm os When an Ethernet frame is compared to a train an EtherCAT telegram can be considered as railway F car E Ethernet frame Ethernet i EEIE Ethernet data Maximum 1498 bytes CRC Y a a v eh 4 m 2 EtherCAT 1 n EtherCAT telegram EtherCAT frame header aq 1stEtherCAT 2ndEtherCAT nth EtherCAT telegram telegram telegram Telegram eener Data WKC WKC Working counter E3X ECT EtherCAT Sensor Communication Unit Instration Manual 1 3 1 EtherCAT Network 1 1 3 Communications types of EtherCAT EtherCAT provides the following two types of communication functions PDO communications are always updating data per communication cycle on EtherCAT while SDO communications are processed in between those updates fi Process data communications functions PDO communications This communication function is used to transfer process data in real time in a fixed cycle By mapping logical process data space to each node by the EtherCAT Master Unit it achieves fixed cycle communicati
53. Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category System automatic slave recovery Effects User program Continues Operation The relevant slave will go to the Init state I O communica tions and message communications are not possible for the relevant slave Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None Cause and Assumed cause Correction Prevention gorecuon More than the maximum number of This event occurs when the cause of Do not connect more than the maxi Sensors are connected the error is removed and communica mum number of Sensors tions for the relevant slave recover Simply reset the error in the Control ler Attached None information Precautions None Remarks Event name Dummy Sensors Setting Error Event code 34F80000 hex Meaning Too many Dummy Units are set Source EtherCAT Master Function Module Source details Slave Detection When establish timing ing communica tions Error attributes Level Minor fault Recovery Errors reset Log category System Effects User program Continues Operation Not affected Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None Cause and Assumed cause Correction Prevention corecion There are too many Dummy Units set Reduce the number of Dum
54. HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products e Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual e Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations e Systems machines and equipmen
55. Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the Key lock of sensor number by index DATA Setting 0000Hex OFF 0001Hex ON 0002 FFFFHex Reserved E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 29 Aseuoljs1q paldo Y gt sy fqo ojoeds seunjoejnueyy z Y A Appendix 022 or 822Hex No 01 to 30 Gain Leve Sub index0 Range 02Hex Unit Default 02Hex Attribute Size lbyte U8 Access RO PDO map Not possible Sub indexl No 01 to 30 Gain Level IN Range 0000Hex FFFFHex Uni J Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Gain Level IN2 Range 0000Hex FFFFHex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e Reserved 023 or 823Hex No 01 to 30 Distinction Mode Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Distinction Mode IN1 Range 0O000Hex FFFFHex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Distinction Mode IN2 Range 0000Hex FFFFHex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e Reserve
56. Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Projection Lighting OFF IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the projection lighting OFF of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 33 Aseuoljsiq paldo 1 V gt sje qo ojoeds seunjoejnueyy J V A Appendix 03D or 83DHex No 01 to 30 Cancel Projection Lighting Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Cancel Projection Lighting IN1 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Cancel Projection Lighting IN2 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the projection lighting OFF cancel of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 03E or 83EHex No 01 to 30 Display Blinking Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub ind
57. HuyjoauUOD y 4 3 3 Connecting the Unit Power Supply Connect a cable from the 24 VDC unit power supply to the unit power supply connector on each Slave Unit and supply power to individual Slave Units V Teminal l O O Unit Power Supply Cable suoneoyloads Ajddns amod HUN Z 7 A V Terminal Pin Terminal gt To Unit DC24V Power Suuply Mount a pin terminal or equivalent to the unit power supply cable so that it will not be displaced E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 4 9 4 Installation and Wiring Recommended product The following pin terminals are recommended for the unit power supply cables Model Al0 5 10WH Applicable wire size 0 5 mm AWG20 Crimping tool CRIMPFOX UD6 Product No 1204436 or CRIMPFOX ZA3 series Manufacturer Phoenix Contact Co Ltd H0 5 16 orange 0 5 mm AWG20 Crimper PZ1 5 Product No 900599 Weidmueller Japan Co Ltd Also the following screwdriver is recommended for removing pin terminals Model XW4Z 00C Manufacturer OMRON E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Recommended product The following pin terminals are recommended for the unit power supply cables Model Al0 5 10WH Applicable wire size 0 5 mm AWG20 Crimping tool CRIMPFOX UD6 Product No 1204436 or CRIMPFOX ZA3 series 4 Ins
58. Not possible e This object set the difference threshold level of sensor number by index O0A or 80AHex No 01 to 30 Operating Mode Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Operating Mode IN1 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Operating Mode IN2 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the oprating mode of sensor number by index DATA Setting 0000Hex E3X E3C Light ON E2C Normary Open 0001Hex E3X E3C Dark ON E2C Normary Close 0002 FFFFHex Reserved A 22 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix 00B or 80BHex No 01 to 30 Detection Function Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Detection Function Range 0000Hex 0006Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the Detection function of sensor number by index DATA Setting 0000Hex Standerd 0001Hex High resolution 0002Hex Defferntiation 0004Hex High Speed 0005Hex Tough Only E3X DA0 S 0006 FFFFHex 00C o
59. Number of Sensors Verify Error Event code 24780000 hex Meaning The number of Sensors that is connected does not agree with the settings Source EtherCAT Master Function Module Source details Slave Detection Continuously timing Error attributes Level Minor fault Recovery Error reset after Log category System resetting slave or cycling the power Effects User program Continues Operation Operation continues with the Sensors that are actually connected Indicators EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK ACT System defined Variable Data type Name variables None EE 3 Cause and Assumed cause Correction Prevention conection The set value does not match the If the setting of the number of con Make sure that the setting of the num number of Sensors that are actually nected Sensors is incorrect correct ber of connected Sensors agrees with connected the set value If the number of Sen the number of Sensors that are actu sors that are connected is incorrect ally connected correct the Sensor connections and reset the Sensors or cycle the power supply Attached None information Precautions None Remarks E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 8 Troubleshooting and Maintenance Event name Number of Sensors Over Limit Event code 24790000 hex Meaning Too many Sensors are connected Source EtherCAT Master
60. OMRON E3X ECT EtherCAT Sensor Communication Unit Operation Manual always in control E413 E1 OMRON 2012 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 con stantly 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 E3X ECT EtherCAT Sensor Communication Units Operation Manual Revised February 2012 Introduction Thank you for purchasing a E3X ECT EtherCAT Sensor communication Unit This manual contains information you need to know to use the EtherCAT Slave Unit Before use please make sure that you thoroughly read the manual and have a full understanding of the products functions and performance After you finished reading this manual please keep it in a convenient place Intended Readers This manual is intended for the following individuals Those having electric
61. Unit e SM3 _ Process data input EtherCAT Slave Unit to Master Unit 1010 hex Sync Manager 0 PDO Assignment Sub index 0 Number of assigned PDOs Range 00 hex Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible e It indicates the number of PDO mappings used by this sync manager e Mailbox reception sync manager does not have PDOs Aseuoljs1q Poldo Y gt yelqo uonedunuwoD seBeuey ouAS 9 1 V E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 11 A Appendix 1011 hex Sync Manager 1 PDO Assignment Sub index 0 Number of assigned PDOs Range 00 hex Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible e It indicates the number of PDO mappings used by this sync manager e Mailbox transmit sync manager does not have PDOs Sub index 0 Number of assigned PDOs Range 00 hex to 08 hex Unit Default Differ by Slave Unit types Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 to 8 1st 8th PDO Mapping Object Index of assigned PDO Range 1600 hex to 17FF hex Unit Default Differ by Slave Unit types Attribute Size 2 bytes U16 Access RW PDO map Not possible RO is set if there is no RxPDO e It indicates the RxPDOs used by this sync manager 1013 hex Sync Manager 3 PDO Assignment Sub index 0 Number of assigned PDOs Range 0
62. Unit as required via the SDO communications For the details of parameters that can be set refer to the pages explaining details of each Slave Unit in Chapter 7 E3X ECT must be set Number of Sensor Setting object See Appendix1 7 3 6 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Installation and Wiring SSSI This chapter explains the mounting and wiring methods of the EtherCAT Slave Unit 4 1 Mounting E3X ECT and Sensor Amplifiers 0 000s eee eens 4 2 4 1 1 Mounting Method 00002 eee 4 2 4 1 2 Removal Method i rrr crien pn he td eh aoe yen et ae eS See o eee 4 3 4 2 Connecting to EtherCAT Network 200 cece eee eee eee 4 4 4 2 1 Precautions for Network Connection 0 0 00 e eee es 4 4 4 2 2 Preparation for Connecting Network 0200 eee eee eee 4 5 4 2 3 Connecting Communications Cables and Connectors 4 6 4 2 4 Connecting to Communications Cables 20000 20a ee 4 7 4 3 Connecting to Unit Power Supply and I O Power Supply 4 8 4 3 1 Precautions at Supplying Unit Power and I O Power 4 8 4 3 2 Unit Power Supply Specifications 0 0 0 0 eee 4 9 4 3 3 Connecting the Unit Power Supply 200002 cece eee 4 9 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 4 1 4 Installation and Wiring 4 1 Mounting E3X ECT and Sensor Amplifiers This section explains t
63. a aar sue dee ce gues dee a 2 3 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 2 1 2 EtherCAT Sensor Communication Unit 2 1 Overview of E3X ECT This section explains the overview of E3X ECT 2 1 1 Features of E3X ECT EtherCAT Sensor Communication Units The E3X ECT EtherCAT Sensor Communication Units have the following features e Send sensor outputsto upstreem controller by PDO e Send sensor detective level to upstreem controler by PDO and SDO e Change the sensor setting from upstreem controler by SDO e Excute sensor tuning and teaching from upstreem controler bySDO e Connect fiver sensor amplifier laser sensor amplifier and proxmity sensor amplifier Optimum Functionality and Ease of Operation Based on Unified Specifications The E3X ECT EtherCAT Sensor Communication Units are Sysmac devices You can use them together with NJ series Controller other Machine Automation Controllers and the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation Sysmac devices is a generic name for EtherCAT Sensor Communication Units and other OMRON control components that were designed with the same communications and user interface specifications E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 2 EtherCAT Sensor Communication Unit 2 2 Types of EtherCAT Sensor Communication Units This section explains the types of connectable sensor amplifiers with EtherCAT Sensor C
64. al knowledge certified electricians or individuals having equivalent knowledge and also being qualified for one of the following e Introducing FA equipment e Designing FA systems e Managing FA sites E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 1 How to Read the Manual Page Structure This manual s page structure consists of the following Chapter title m4 installation and Wiring Clause title gt 4 4 Connecting an External Device Indicates the clause title Connect an external device to the I O terminal of a Slave Unit of the current page The method of connection differs between Units with screw terminal blocks and Units with e CON connectors 4 4 1 Connecting to a Screw Terminal Block After mounting a crimp terminal to the cable of the extemal device to be connected connect it to the terminal block Section title T Mount the following crimp terminal to the signal line of the cable 32mm min 98 2 mm min 6 0 mm max 6 0 mm max Operation 1 2 connect the signal line to the terminal block p roced ure num be r Tighten the terminal block screws to the appropriate tightening torque of 0 5 N m The terminal block is removable remove the left and right screws if it is necessary to remove Indicates operation procedure the terminal block to connect the signal ine Icon gt P Precautions for Correct Use 7 To remove the terminal b
65. ap Not possible e This object execute the sensor initialization of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading A 34 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A Appendix Use the following list of EtherCAT terms for reference Term pb ptev ie Description tion AL status application layer status 7 Status for indicating information on errors that occur in an application on a slave CAN application protocol oyer CoE A CAN application protocol service implemented on EtherCAT EtherCAT CAN in Automation CIA CiA is the international users and manufacturers group that develops and supports higher layer protocols Collection of device dependent information and functionality device profile providing consistency between similar devices of the same device type distributed clocks DC Clock distribution mechanism used to synchronize EtherCAT Sensor Communication Units and the EtherCAT Master Units EtherCAT slave controller ESC A controller for EtherCAT slave communication EtherCAT slave information ESI Ab Aig file that contains setting information for an EtherCAT Slave EtherCAT state machine ESM An EtherCAT communication state machine The ETG is a global organization in which OEM End Users and EtherCAT Technology Group ETG Technology Providers join forces to support and promote the further techno
66. are made using the SDO communication The target index is 3004 hex For the set values refer to the information in the corresponding index of Appendix A 1 Object Dictionary in A 1 7 193 X 3 JO suooun 4 Z Z ae Bunjes sosuag Awwing z z 2 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 7 5 7 Function Spcifications 7 3 Mounting Dimensions The mounting dimensions are shown below E3X ECT E3X HDO Communkations p 41 Communications an connector IN 18 connector OUT a 63 PFP ON DIN Track sold separately Power Supply Connector accessory KMO Tit ST 35 rEg E3X LDAO E3X MDA0O i nie ek 138 10 E3X EDAO E3X DAO S 45 565 7 6 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Troubleshooting and Maintenance SSS This chapter explains actions to be taken at errors troubleshooting and equipment maintenance 8 1 Troubleshooting 000 eee eee ee eee eee eee eee 8 2 8 1 1 Errors that Can be Checked with Status Indicator and Actions to Take 8 2 8 1 2 Errors Unique to E3X ECT 0 eee eee 8 7 8 1 3 Error Notification Methods and Types 000000 0c eee ee eeaee 8 8 8 1 4 Sysmac Error Status Codes 2 00000 eee 8 9 8 1 5 Emergency Error Code 00 020s 8 15 8 1 6 Application Layer Status Codes
67. are used by the E3X ECT EtherCAT Sensor Communication Units are described in the following table fi AL status codes of E3X ECT EtherCAT Sensor Communication Units 7 Notification A A Name of error Contents EAA to EtherCAT Measures eiekele ry Master Unit Non volatile An error was detected in Can be oe ae 0001 hex Memory Control non volatile memory data Saved ie y Data Error in the Slave Unit noniga parameter and then i restart the Slave Unit Illegal State 0011 hex Transition An illegal state transition Not Can be N ha Request request was received saved notified Received Error State A transition request to an yA Not Can be 0012 hex Transition unknown state was i None saved notified Received received A verification error If cycling the power occurred in the slave slave Unit information stored in the Can be supply does not solve 0014 hex Verification Saved i the problem the Slave Slave Units when the notified f Error ower SRO was tied Unit has failed Replace P PPIY the Slave Unit ON i An incorrect setting was Check the mailbox 0016 hex Mailbox Seting detected in the mailbox of Ao ganba settings in the Master Error saved notified the Sync Manager Unit 001B hex Process Data Sets ee delected Not Can be Check the WDT settings WDT Error ae saved notified in the Master Unit transmission frame An error was detected in RxPDO Setting the RxPDO settings e g Not Can be eee lage
68. at support Sysmac device functions can use an optional function that is defined in the ESI specifications to specify backup parameters in the Slave Units You can back up and restore the backup parameters that are defined in the Slave Units from the Sysmac Studio suoljouny ad1Aeq IBWS S 9 sG Sil data checking The SII slave information interface contains specific configuration information on the EtherCAT slave that is written in non volatile memory in the EtherCAT Slave Unit EtherCAT Sensor Communication Units that are Sysmac devices check the information in the SII at the Slave Units H Precautions for Correct Use Do not change the SII information with setting software that is produced by other companies Alo siH sisoubeiq Z 2 S E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 15 5 EtherCAT Communications E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Hardware Specifications of E3X ECT This chapter explains EtherCAT communication specifications and Hardware specifications 6 1 EtherCAT Communications Specifications 00000005 6 2 6 2 General Specifications 6 ee 6 3 6 3 Hardware Specifications 0c ee 6 4 623 1 Status Indicators 8 0 05 eee eal tie each as Rite ite eee eek ace Bae 6 4 6 3 2 Node Address Setting Switches 0020000 e eee eee 6 6 6 3 3 Communications Connectors s s s assas s 000 tee 6 7 6 3 4
69. ch the OMRON devices are installed The customer must therefore perform the final check to confirm that devices and the overall machine conform to EMC standards Note Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnetic Susceptibility EN 61131 2 and EN 61000 6 2 EMI Electromagnetic Interference EN 61131 2 and EN61000 6 4 Radiated emission 10 m regulations Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 VAC and 75 to 1 500 VDC meet the required safety standards Applicable standard EN 61131 2 Conformance to EC Directives 14 The OMRON products described in this manual comply with the related EMC Directives To ensure that the machine or device in which the products are used complies with EC Directives the products must be installed as follows The products must be installed within a control panel A DC power supply with reinforced insulation or double insulation that can maintain a stable output even if the input is interrupted for 10 ms must be used for communications power internal power and I O power The OMRON S8JxX series Power Supply is recommended See note Products complying with EC Directives also conform to the Emission Standards EN 61131 2 and EN 61000 6 4 Radiated emission characteristics 10 m regulations may vary depending on the configuration of the control panel used other devices connected to the control panel wiring a
70. d 030 or 830Hex No 01 to 30 Maximum Sensitivity Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Sub index1 No 01 to 30 Maximum Sensitivity IN1 Access RO PDO map Not possible Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW Sub index1 No 01 to 30 Maximum Sensitivity IN2 PDO map Not possible Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the maxmum sensitivity of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 031 or 831Hex Sub index0 No 01 to 30 Teaching without Workpiece Reflective Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Sub index1 No 01 to 30 Teaching without Workpiece Reflective IN1 Access RO PDO map Not possible Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Sub index1 No 01 to 30 Teaching without Workpiece Reflective IN2 Access RW PDO map Not possible Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the teaching without workpiece refirctive of sensor number by index e Excute
71. d with communications and user interface specifications that are unified for OMRON control components This functions of these procedures are called Sysmac device functions The section explains the functions of Sysmac devices when they are used together with NJ series Controller or other Machine Automation Controllers and Automation Software Starting with unit version 1 1 the E3X ECT EtherCAT Sensor Communication Units are Sysmac devices and support Sysmac device functions Sysmac error status Slaves Units that are Sysmac devices systematically handle errors that occur in the Slave Unit You can therefore use the Sysmac Studio to check errors and confirm corrections by using the same procedures for all Sysmac devices Errors are reported in 2002 hex 01 hex Sysmac Error Status To display errors that are detected by a Slave Unit on the Sysmac Studio you must map 2002 hex 01 hex Sysmac Error Status to a PDO In the Sysmac Studio default settings 2002 hex 01 hex Sysmac Error Status is automatically mapped to a PDO in the 512th Transmit PDO Mapping 1BFF hex assignments EN Reference e Refer to A 1 7 Manufacturer Specific Objects in page A 25 for information on 2002 hex 01 hex Sysmac Error Status e Refer to 11 1 4 Sysmac Error Status Codes in page 11 9 for errors that are displayed on the Sysmac Studio suoljouny ad1Aeq ILWS S 8 G Alo siH sisoubeiq Z 2 S E3X ECT EtherCAT Sensor Communication Unit Instraction Man
72. e Sumitomo 3M connectors Model Housing color Applicable wire range AWG26 0 4mm to AWG24 0 2mm Sheath diameter 0 8 to 1 0 mm AWG26 0 14mm to AWG24 0 2mm Sheath diameter 1 0 to 1 2 mm AWG26 0 14mm to AWG24 0 2mm Sheath diameter 1 2 to 1 6 mm AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 0 to 1 2 mm AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 2 to 1 8 mm AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 6 to 2 0 mm 37104 3101 000FL Red 37104 3122 000F Yellow A Section title Indicates the section title of the current page 37104 3163 000FL Orange 37104 2124 000FL Green 37104 2165 000FL Blue sreuw 1g20uu09 NOJO 0 BuNPOWOD Z 37104 2206 000FL Gray Panasonic Electric Works connectors Modei Housing color Applicable wire range AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 2 to 2 0 mm AWG28 0 08mm to AWG24 0 2mm Sheath diameter 0 7 to 1 2mm AXF12142 Red AXF12146 Yellow OMRON connectors Modal Specification Tpplicable wire range PoE Spring AWG28 0 08mm2 to AWG20 0 5mm clamp type Sheath diameter 1 6 mm max Name of manuals gt ose stmcarsve ut verso a 2 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Icon The meanings of the icons used in this manual are as follows Precautions for Safe Use Indicates precautio
73. e Removing or attaching the terminal blocks or connectors to Slave Unit e Replacing parts e g relays e Setting the DIP switch or the node address switches e Connecting cables or wiring the system Installation Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static build up Not doing so may result in malfunction or damage Make sure that the terminal blocks communications cables and other items with locking devices are properly locked into place Improver locking may result in malfunction Mount the Units securely using DIN track Make sure that all Slave Unit mounting screws and cable connector screws are tightened to the torque specified in this manual Incorrect tightening torque may result in malfunction Make sure that all terminal block screws are tightened to the torque specified in this manuals Incorrect tightening torque may result in fire malfunction or failure Always use the specified communications cables and connectors Do not extend connection distances or the number of connected nodes beyond the ranges given in the specifications When there are multiple systems keep the cables unbundled and separated by at least 5 mm to prevent unstable operation due to interference Wiring Turn the power on after checking that the wiring and switch settings are correct Use the correct wire tools to wire the Unit Confirm the polarity of all terminals before wiring the
74. e above supply the unit power and the I O power separately EN Reference The setting example explained here is the basic setting of E3X ECT EtherCAT Sensor Communication Units If more detailed settings are required in actual operation refer to the manual of the EtherCAT Master Unit Moreover if your system configuration includes Slave Units other than our products make the setting upon referring to the manual of the relevant Slave Units 3 2 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 3 Basic Usage Procedures 3 1 2 Basic Procedure This is the flow of the procedures explained in the following sections Mounting and Setting EtherCAT Master Unit m Section 3 2 1 ainpasoig 1seg pue sajdwexy dnjes o Mounting and Setting Slave Units m Section 3 2 2 D ax 3 Wiring Communications Cables m Section 3 2 3 ne p N 2 Connecting Power Supplies Section 3 2 4 Ka K w a a Connecting fiber or sensor head Section 3 2 5 7 3 Starting a System Section 3 3 1 Setting an EtherCAT Communications Section 3 3 2 Starting EtherCAT Communications Section 3 3 3 wn Cc 2 O E E O D S Oo S 92 Checking Unit Displays m Section 3 4 1 Confirming Data Read and Write m Section 3 4 2 Checking Operations Setting Slave Unit Parameter Section 3 4 3 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 3 3 3 Basic Usage Pr
75. e wa bao yo ok RL yeh Ee a ee S A 2 A 1 3 Object Description Format 0 0 0 cece cette A 3 A 1 4 Communication Objects 00000 tee A 4 A 1 5 PDO Mapping Object 0 ccs A 7 A 1 6 Sync Manager Communication Object 000000 0c eee aes A 11 A 1 7 Manufacturer Specific Objects 00 020 eee A 14 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 1 A Appendix A 1 Object Dictionary A 1 1 Object Dictionary Area The CAN application protocol over EtherCAT CoE protocol uses the object dictionary of CAN application protocol as its base Each object is assigned with an index of four digit hexadecimal value The indexes are configured in the areas below Indexes Area Contents 0000 hex OFFF hex Data Type area Definitions of data types Definitions of variables that can be used by all servers for designated communications 2000 hex 2FFF hex Manufacturer Specific area 1 Variables defined for all OMRON products Variables defined for E3X ECT EtherCAT Sensor Communication Units Variables defined for CiA401 generic I O module device profiles profile specifying the CAN application protocol interface for devices with digital I Os and analog I Os A000 hex FFFF hex Reserved area Area reserved for future use 1000 hex 1FFF hex CoE Communications area 3000 hex 5FFF hex Manufacturer Specific area 2 6000 hex 9FFF hex Device Profile area A 1 2 Data Types This
76. ect index given by a four digit hexadecimal number Object name The object name Range The possible Range of settings Unit Physical unit Default Default value set before product shipment Attribute The timing when a change is updated in a writable object A Always enabled gt B Timing of count stop operation Encoder Input Slave Unit only C Timing of pre operational state safe operational state H D Timing of pre operational state init state 0 R Updated after the power supply is reset g Read only Size The object size is given in bytes Access Indicates whether the object is read only or read and write RO Read only A RW Read and write PDO map Indicates the PDO mapping possibility yewo uondiuoseq alqo 1 V E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 3 A Appendix A 1 4 Communication Objects 1000 hex Range Unit Default 00 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible e Indicates the CoE device profile number Device Type Bits Name Contents 0 15 Device profile number Differ by Slave Unit types 16 23 Type Differ by Slave Unit types 25 31 Mode 0 Manufacturer specific 1001 hex Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible e Indicates the error type that occurs in a Slave Unit e The error kind is allocated in each bit as follows
77. ed A This symbol indicates caution warnings included The specific instruction is indicated using text inside the A The symbol shown to the left indicates typical cautions This symbol means it is a compulsory item an item that must be done The specific instruction is indicated using text inside the The symbol shown to the left indicates typical compulsory items E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A WARNING Do not attempt to take any Unit apart and do not touch the interior of any Unit while the power is being supplied Also do not turn ON the power supply while the cover is open Doing any of these may result in electric shock Do not attempt to disassemble repair or modify any Units Doing any of these may result in electric shock Do not input voltages or currents exceeding the rated range to the Unit Using voltages or currents exceeding the rated range may cause Unit failure or fire Provide safety measures in external circuits i e not in the Units including the following items to ensure safety in the system if an abnormality occurs due to malfunction of the PLC or another external factor affecting the PLC operation PLC includes CPU Units other Units mounted in the PLC and Remote I O Terminals Not doing so may result in serious accidents SO 2 Emergency stop circuits interlock circuits limit circuits and si
78. en in this manual 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 users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Safety Precautions Labels and Meanings to Ensure Safe Usage To ensure safe usage of the EtherCAT Slave Unit the precautions in this manual are displayed with the following labels and symbols The precautions explained in this section describe important information regarding safety These precautions must be followed without fail Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage Symbols S This symbol indicates a prohibited item an item you must not do The specific instruction is indicated using text inside the S The symbol shown to the left indicates disassembly prohibit
79. ents Power OFF or Initial satus of sensor connection Green ON Normal Red ON Sensor Error Connecting Sensors is different form setting p Q wn EN Reference a f n The timing of each flashing state of indicator is as follows z 3 So a 50 ms on Flickering off on Blinking a off on 1000 ms Single flash 200 ms 200 ms off on 1000 ms Double flash ff 200 ms 200 ms 200 ms oO E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 6 5 6 Hardware Specifications of E3X ECT 6 3 2 Node Address Setting Switches These switches are used to set node addresses of Slave Units in the EtherCAT network decimal Set the tens digit of the node address on the left switch and the ones digit on the right switch Setting range is 00 to 99 Default setting 00 Setting the node address X 100 Setting the node address X 10 Setting the node address Xx 1 Note that the node address set values vary as shown below when the EtherCAT Master Unit is made by OMRON or by other manufacturers Node address switch setting Set value for node address OMRON EtherCAT Master Unit NJ501 1 00 or CJ1W NC 82 Set value according to Configuration 000 Tool 1 to 65535 001 to 999 Setting on node address switches H Precautions for Correct Use EtherCAT Master Unit from another manufacturer Set value according to Configuration Tool settings by these switches are irrelevant e The setting on the node addres
80. environments subject to high temperatures high humidity or a lot of dust i Materials required for inspections The following materials are required to perform periodic inspections Materials used regularly e Phillips screwdrivers and flat blade screwdrivers e Screwdrivers for communications connectors e Testers or digital voltmeters e Industrial alcohol and pure cotton cloth Materials sometimes required e Synchroscope e Pen oscilloscope e Thermometer and hygrometer 8 18 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 8 Troubleshooting and Maintenance i Inspection item Periodically inspect the following items to ensure that they do not deviate from the criteria If the items deviate from the criteria adjust the environment so the criteria are met or adjust the Unit itself l i z nspecton Inspection details Criteria Inepecton item method Are the ambient and in panel 140 to 55 C nae ee temperatures appropriate Environment Is the ambient and in panel humidity 25 to 85 with no A Hygrometer appropriate condensation Has dust collected No dust Visual inspection Has the Slave Unit been secured No looseness Phillips screwdriver Are the communications cable F No looseness Visual inspection Installation connectors inserted properly Are the external wiring screws loose No looseness Phillips screwdriver Are the connection cables damaged No visible damage Visual inspecti
81. erCAT communications errors are occurring l Precautions for Correct Use Emergency message notification is enabled at startup for unit version 1 0 An emergency message is composed of 8 byte data as shown below Emergency Error register Object 1001 hex Resetved For contents of emergency message refer to 11 1 5 Emergency Error Code in page 11 15 For contents of Sysmac error status codes refer to 11 1 4 Sysmac Error Status Codes in page 11 9 Contents Sysmac error status code 5 7 2 Diagnosis History A E3X ECT EtherCAT Slave Unit can save up to eight emergency messages in non volatile memory inside the Slave Unit The saved messages can be read with SDO communications Indexes to be read are sub indexes 06 hex to OD hex Diagnosis messages 1 to 8 among 10F3 hex Diagnosis History Diagnosis history is stored from Diagnosis message 1 If 8 errors are stored in order up to Diagnosis message 8 the 9th error onward are saved from Diagnosis message 1 again History is saved even if emergency messages cannot be sent to the EtherCAT Master Unit due to EtherCAT communications errors or emergency messages are set to Not notify Errors that occur for non volatile memory are not saved in the diagnosis history E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 EtherCAT Communications 5 8 Sysmac Device Functions Sysmac devices is the generic name of control component products that were designe
82. ering and noise This function is available in Free Run Mode Details of functions This function reads inputs ON OFF within a certain set time and turn ON the inputs if they are all same all ON or all OFF and turn them OFF if not Note that this function works for all inputs of Slave Units and Expansion Units at the same time When the input shifts from OFF to ON or ON to OFF it is read 4 times from that point at an interval of 1 4 of the set time When all read results are ON or OFF the input is turned ON or OFF 12 3 4 ON ON OFF OFF YYYY yyvryy ON OFF OFF ON ON ON ON ON Input data is OFF because all data Input data is ON because all data is not ON during 4 readings is ON during 4 readings Data set to be input Data set to be input ON ON OFF _ _ _ OFF H J ON delay time i Setting method The settings are made using the SDO communication The target index is 3002 hex For the set values refer to the information in the corresponding index of Appendix A 1 Object Dictionary in A 1 7 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 7 Function Spcifications 7 2 2 Dummy Sensor Setting i Overview of functions Purpose This function provides keeping I O map when number of sensor change by customer option sensing point degrees and so on Details of functions E3X ECT can be set dummy sensor so I O map keep by using dummy sensor setting i Setting method The settings
83. ex1 No 01 to 30 Display Blinking IN1 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Display Blinking IN2 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the Display Blinking of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading O3F or 83FHex No 01 to 30 Cancel Display Blinking Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Cancel Display Blinking IN1 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Cancel Display Blinking IN2 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the display blinking cancel of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 040 or 840Hex No 01 to 30 Sensor Initialization Sub index0 Range 01Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Sensor Initialization Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 PDO m
84. f sensor number by index 005 or 805Hex No 01 to 30 Color Ratio RED Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Color Ratio RED IN1 Range 0000Hex 03E8Hex Unit Default OOC8Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Color Ratio RED IN2 Range 0000Hex 03E8Hex Unit Default OOC8Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e Reserved 006 or 806Hex No 01 to 30 Color Ratio GREEN Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Color Ratio GREEN IN1 Range 0000Hex 03E8Hex Unit Default 0190Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Color Ratio GREEN IN2 Range 0000Hex 03E8Hex Unit Default 0190Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e Reserved 007 or 807Hex No 01 to 30 Color Ratio BLUE Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Color Ratio BLUE IN1 Range 0000Hex 03E8Hex Unit Default 0190Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Color Ratio
85. g procedures of the Sysmac Studio E3X ECT EtherCAT Sensor Communication Unit Instraction Manual EtherCAT Network This chapter explains the overview of EtherCAT network 1 1 Overview of EtherCAT Networks 02 0000000 1 1 1 Features of EtherCAT 200 000 c eee eae 1 1 2 Structure of EtherCAT 2 000000 eee eee 1 1 3 Communications types of EtherCAT 1 1 4 Connection Examples of EtherCAT 1 2 Configuration Elements of EtherCAT Network 1 2 1 Configuration Devices of EtherCAT Network 1 2 2 Overview of Configuration Devices E3X ECT EtherCAT Sensor Communication Unit Instration Manual 1 EtherCAT Network 1 1 Overview of EtherCAT Networks EtherCAT Ethernet Control Automation Technology is a high performance industrial network system based on Ethernet system and can realize faster and more efficient communications 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 medi
86. he mounting methods of E3X ECT and Sensor Amplifier to the DIN track 4 1 1 Mounting Method 1 Hook the top side of groove on backside of the Slave Unit to TEY hk the top side of the DIN track DINU JL 2 Push bottom side to DIN track HLHH 3 Release the cover of E3X ECT right side Slide sensor tuyrpvg7azayb amplifiers and connect each other securely _ aa a Kas 4 Set end plates each side at last set the cover at 3 to the last amplifier Precautions for Safe Use After the operation make sure to check that the Slave Unit is securely mounted 4 2 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Installation and Wiring 4 4 1 2 Removal Method 4 1 Mounting E3X ECT and Sensor Amplifiers la 4 1 2 Removal Method Push up E3X ECT Push to DIN track 1 Release E3X ECT form amplifiers to slide sensor amplifiers 2 Push to DIN track and push up E3X ECT E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 4 Installation and Wiring 4 2 Connecting to EtherCAT Network This section explains how to lay down EtherCAT network 4 2 1 Precautions for Network Connection Observe the precautions below when laying down the EtherCAT network il Precautions at laying down network e When laying down an EtherCAT network take sufficient safety measures and construct the network according to the standards We recommend t
87. he power supply is OFF set the node address switches 2 When the power supply to the Slave Unit is turned ON the value that is set on the node address switches is saved in register address 0012 hex 3 The EtherCAT Master Unit reads the setting in register address 0012 hex 4 The EtherCAT Master Unit writes the value of address 0012 hex to address 0010 hex EtherCAT slave controller eee ee Register 0010 hex peers ee ee Register 0012 hex lt 3 4 1 Node address switches EtherCAT Slave Unit 5 14 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 EtherCAT Communications Displaying serial numbers The serial number that is stored in non volatile memory in the Slave Unit is given in 1018 hex 04 hex Serial number Controllers that support Sysmac device functions can use serial numbers to verify the network configuration To verify the configuration set the Serial Number Check Method parameter to Setting Actual device on the Edit Network Configuration Tab Page for EtherCAT on the Sysmac Studio A Network Configuration Verification Error will occur if verification fails for the specified method EN Reference This helps prevent forgetting to set the parameters because a slave device that was replaced is detected Conformance to ESI specifications ETG 2000 S R V1 0 1 The ESI specifications define the contents of the EtherCAT slave information ESI files Controllers th
88. herCAT Communications 5 3 Communications State Transitions The EtherCAT State Machine ESM indicates the state transition model of EtherCAT Slave Unit communications control It is controlled by EtherCAT Master Unit The following figure shows the communications state transitions from power ON Power ON i Initialization Pre Operational t Safe Operational t Operational SDO l 228 PDO State communi transmiss Contents p p reception cations ion ee Not Not Not Communications are being initialized Initialization Init F nae possible possible possible Communications are not possible SDO message communications are Pre Operational P Not Not possible a ils Siete sees ae Pre Op Possible ossible ssibi This state is entered after initialization has P P AR been completed It is used to initialize network settings In this state PDO transmissions are possible in addition to SDO message Safe Operational Possible Possible Not communications Safe Op possible PDO sendings can be used to send information such as status from the Slave Unit Normal communication state Operational Op Possible Possible Possible PDO communications can be used to control the I O data E3X ECT can t trance the state of Operational when amplifier does not exist E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 E
89. hex No 1 Sensor Input 1 No 1 Sensor Input 2 No 8 Sensor Input 1 No 8 Sensor Input 2 Read Input 1st word 6100Hex 258th transmit PDO Mapping 1B01 hex No 9 Sensor Input 1 No 9 Sensor Input 2 No 16 Sensor Input 1 No 16 Sensor Input 2 Read Input 2nd word 6100Hex 265th transmit PDO Mapping 1B08 hex Sensor Status bits 3000Hex 267th transmit PDO Mapping 1BOA hex Connecting Sensor bits 3001Hex 512th transmit PDO Mapping 1BFF hex Sysmac Error 2002 hex Default PDO mapping with OMRON CX Programmer 257th transmit PDO Mapping 1B00 hex No 1 Sensor Input 1 No 1 Sensor Input 2 No 8 Sensor Input 1 No 8 Sensor Input 2 Read Input 1st word 6100Hex 258th transmit PDO Mapping 1B01 hex No 9 Sensor Input 1 No 9 Sensor Input 2 No 16 Sensor Input 1 No 16 Sensor Input 2 Read Input 2nd word 6100Hex 265th transmit PDO Mapping Sensor Status bits 3000Hex 1B08 hex 267th transmit PDO Mapping Connecting Sensor bits 3001Hex 1BOA hex E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Odd s 99fqo Lq SseD01d Y Buiddew Odd v Y 9 5 EtherCAT Communications Default PDO mapping with Other Company Tool 261th transmit PDO Mapping 1B04 hex No 1 Sensor Input 1 No 1 Sensor Input 2 No 8 Sensor Input 1 No 8 Sensor Input 2 Read Input bits 3020Hex 262th transmit PDO Mapping 1B05 hex No 9 Sensor Input 1
90. ives the value assigned to each Slave Unit type Sub index 3 Revision Number gives the Unit revision number Sub index 4 Serial Number gives a serial number for each product Aseuoljs1q paldo Y gt sjoalqo uoleolunWwWwOD 4 1 7 A Appendix 10F3 hex Diagnosis History Sub index 0 Number of entries Range Unit Default OD hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Maximum Messages Range Unit Default 00 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 2 Newest Message Range Unit Default Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 5 Flags Range 0000 hex 0001 hex Unit Default 0000 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible Sub index 6 to 13 Diagnosis Message 1 8 Range Unit Default Attribute Size 23 bytes VS Access RO PDO map Not possible This object indicates up to 8 diagnosis histories It also sets whether to notify emergency messages or not Sub index 1 Maximum Messages gives the number of error messages Sub index 2 Newest Messages gives the Sub index number the latest message in the diagnosis history Sub index 5 Flags is the control flag of diagnosis history It specifies whether or not to notify error messages via emergency messages Setting 0001 hex means to notify It
91. jsiq Poldo 1 V gt sy fqo ojoeds seunjoejnueyy J V A Appendix 300AHex Sensor Communication Status 8bit Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Communication Busy Range 00Hex 02Hex Unit Default OOHex Attribute A Size 1byte U8 Access RO PDO map possible e This object detect comunication status with E3X ECT and sensor amplifiers e When communication Busy is on detect comunicatiing E3X ECT and Sensor amplifier e When communication error is on the number of sensors setting is defferent from the number of sensors include dummy sensors Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Restart Sensors Range 00Hex 03Hex Unit Default OOHex Attribute A Size 1byte U8 Access RW PDO map Not possible e This object execute all sensors restart by writing 01Hex to Sub index1 3020Hex Read input bits Sub index0 Range 40Hex Unit Default 40Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 60 Input bit 1760 Range 00Hex 01Hex Unit Default OOHex Attribute A Size 17 BOOL Access RO PDO map possible e This object is Sensor Input 1 to 60 Input Bit 1 No 1 sensor input 1 Input Bit 2 No 1 sensor input 2 Input Bit 3 No 2 sensor
92. lock from the Slave Unit loosen the left and right mounting screws Refer to the followin g section alterately When mounting the terminal block as well tighten the left and right screws alternately If you tighten or loosen only one of the screws all the way without tightening or loosening the other screw using an electric screwdriver the terminal black will be distorted and cracked 4 10 GX series EtherCAT Slave Unit User s Manual 4 Installation and Wiring 4 4 2 Connecting to e CON Connector Terminals Connect the dedicated e CON connector to the cables of the external device to be connected and then connect it to the connector terminal I Checking the e CON connector and cable wire size o The wire size and sheath diameter of applicable cables vary by the type of e CON connector 3 Use the next table to check that the e CON connectors to be used conform to the wire size and sheath amp 3 diameter of the cables of the connected device Clause title 8 i p i B Tyco Electronics connectors F Indicates the chapter title Modai Housing color Applicable wire range i 214735624 Orange Sheath diameter 0 6 to 0 9 mm 2 of the current page 114735674 Red Sheath dameter 0S0 10mm cross sectional area 0 081 14735624 Yelow Sheath dameter 1010 115mm en 214735624 Bue Sheath diameter 1 15 to 1 35 mm w ures eer Sah daneo TIE TET g Indexes Indicates the chapter number of the current pag
93. logy development index Address of an object within an application process ae The EtherCAT network configuration information held by the network configuration information EtherCAT master d Abstract representation of a particular component within a device object j which consists of data parameters and methods Data structure addressed by Index and Sub index that contains object dictionary OD description of data type objects communication objects and application objects A state in EtherCAT communications where SDO communications operational i and I O are possible PDO communications An acronym for process data communications PAR ne gt A state in EtherCAT communications where only SDO P P communications are possible without being able to perform I O Collection of application objects designated to be downloaded Process data cyclically or acyclically for the purpose of measurement and control One type of EtherCAT communications that uses process data process data communications objects PDOs to exchange information in realtime with a fixed cycle This is also called PDO communications Process data object PDO Structure described by mapping parameters containing one or several process data entities Receive PDO RxPDO A process data object received by an EtherCAT Slave Unit A state in EtherCAT communications where only SDO safe operational communications and reading input data from slaves are possible Outpu
94. m Do not allow foreign matter to enter the Units when wiring and installing the Units Observe the following precautions when wiring the communications cable e Separate the communications cables from the power lines or high tension lines e Do not bend the communications cables past their natural bending radius Do not pull on the communications cables e Do not place heavy objects on top of the communications cables e Always lay communications cable inside ducts Turn OFF the power of PLC and all the Slave Units before wiring the communication cables Do not apply voltages to the Input Slave Units in excess of the rated input voltage Excess voltage or loads may result in burning E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 11 12 H Do not apply voltages or connect loads to the Outputs Slave Units in excess of the maximum switching capacity Excess voltage or loads may result in burning andling When transporting the product use special packing boxes and protect it from being exposed to excessive vibration or impact during transportation Do not bend cables past their natural bending radius or pull on cables After replacing Units resume operation only after transferring to the new CPU Unit and or Special I O Units the contents of the DM Area HR Area and other data required for resuming operation Not doing so may result in unexpected operation Check the user program for proper execution before actually running i
95. milar safety measures must be provided in external control circuits not in the Units The PLC will turn OFF all outputs when its self diagnosis function detects any error or when a severe failure alarm FALS instruction is executed As a countermeasure for such problems external safety measures must be provided to ensure safety in the system The Slave Unit outputs may remain ON or OFF due to deposits on or burning of the output relays or destruction of the output transistors As a countermeasure for such problems external safety measures must be provided to ensure safety in the system When the 24 VDC output service power supply is overloaded or short circuited the voltage may drop and result in the outputs being turned OFF As a countermeasure for such problems external safety measures must be provided to ensure safety in the system Implement proper measures as part of your communications system or in your program to ensure safety in the system even when a communications error or malfunction occurs during remote I O communication E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 10 The CPU Unit refreshes I O even when the program is stopped i e even in PROGRAM mode Confirm safety thoroughly in advance before changing the status of any part of memory allocated to I O Units Special I O Units or CPU Bus Units Any changes to the data allocated to any Unit specifically the Special I O Units CPU Bus Units
96. my Units Set Dummy Units so that logical unit so some Sensors are not assigned that is set in the dummy function set numbers can be assigned to all Sen logical unit numbers tings so that logical unit numbers can sor Amplifiers that are connected be assigned to all connected Sen sors and then change the Sensors from the Init state to Pre operational state or restart the Sensors Attached None information Precautions None Remarks E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Bunooysajqnol 1 8 s po9 snjels Jouy oewsAS y 8 8 Troubleshooting and Maintenance Non volatile Memory Hardware Error Event code 04A10000 hex An error occurred in non volatile memory EtherCAT Master Function Module When establish ing communica tions after turning ON power to the slave Slave System Non volatile memory cannot be written None Non volatile memory failure Replace the EtherCAT Communica None tions Unit or the EtherCAT slave None This error is not recorded in the error log of the slave 8 14 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 8 1 5 Emergency Error Code 8 Troubleshooting and Maintenance The table below shows types of emergency error codes used in E3X ECT EtherCAT Sensor Communication Units and corresponding error contents Error codes common to E3X ECT EtherCAT Sensor Communication
97. n of connected EtherCAT Master Unit Sync manager The sync manager Change to the correct setting error setting is illegal settings If the problem is not resolved even after the measures described A hardware failure above are taken the Hardware error occurred Slave Unit hardware may be damaged Replace the applicable Slave Unit E3X ECT EtherCAT Sensor Communication Unit Instraction Manual aye 0 suonoy pue JoJeoIpul SNyeIS UYM payxdeYD aq UeD Jey SION 1 1 8 Bunooysajqnol 1 8 8 Troubleshooting and Maintenance Errors of EtherCAT Network PWR indicator On L A OUT On L A IN LED RUN indicator ERR indicator Description Link established in physical layer Cause Operation standby status after establishing link in physical layer Actions On Off Link not established in physical layer A link in physical layer has not been established After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit e Is the communications cable wired correctly e Are any cables disconnected or loose in the part that connects to the connector e Is the cable length appropriate e Is the communications cable of the recommended specification The host master has not been started Check that EtherCAT Master Unit is operating correctly If using an OMRON
98. nd other conditions You must therefore confirm that the overall machine or equipment complies with EC Directives Conformance with the EC Directives was confirmed with a system configuration using I O wiring lengths of less than 30 m Note Conformance with the EMC Directive was confirmed when using the recommended power supply E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Trademarks e EtherCAT is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany e Windows is a registered trademark of Microsoft Corporation in the USA e CX One is a registered trademark for Programming Software made by OMRON Corporation e Sysmac Studio is a registered trademark for Automation Software made by OMRON Corporation Other system names and product names that appear in this manual are the trademarks or registered trademarks of the relevant companies E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 15 Related Manuals The following manuals also deal with EtherCAT Refer to them for details Man No W487 Name of manuals CJ Series Position Control Units Operation Manual Contents Explains the setup and operation procedures of the EtherCAT Position Control Units CJ1W NCx81 x82 which functions as a master W446 CX Programmer Operation Manual Explains the operations method of the Windows based programming tool CX Programmer W500 NJ serie
99. ns on what to do and what not to do to ensure using the product safely H Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance EN Reference This explains useful tips and reference information when using the product E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Structure of This Manual This manual consists of the following chapters Chapters Contents Chapter 1 EtherCAT Network Explains about the EtherCAT features and the network configuration EtherCAT Sensor Communication Overviews the E3X ECT EtherCAT Sensor Communication Chapter 2 i Unit Unit and its various types Explains the setup method and usage procedures by using Chapter 3 Basic Usage Procedures simple system setup examples Explains how to install Slave Units and how to connect and Chapter 4 Installation and Wiring wire the EtherCAT network and power supply Chapter 5 EtherCAT Communications Explains the details of EtherCAT communications Chapter 6 E3X ECT Hardware spesifications Explains the E3X ECT Hardware specifications Chapter 7 E3X ECT Functional spesifications Explains the E3X ECT Functional specifications This contains troubleshooting and inspection methods Chapter 8 Troubleshooting and Maintenance intended for individuals to handle abnormalities and conduct regular inspections Appendix Appendix Contains the objec
100. o request specialized constructors familiar with the safety measures and standards to perform the laying operation e Do not lay down EtherCAT network devices near any devices generating noise If there is no choice but to lay them down in a noisy environment make sure to take noise measures such as housing each device in metal cases fi Precautions at laying down communications cables e Check the following items for communications cables to be used e Are there any disconnected cables e Are any cables short circuited e Are there any problems in connector connections e To connect a cable to communications connector of each device insert it securely until the connector of the communications cable is locked e Lay down and wire the communications cables separately from high voltage electrical power lines e Do not lay down the cables near devices generating noise e Do not lay down the cables in high temperature and high humidity environment e Use the cables in locations without powder dust and oil mist e There is a limit to the bending radius of communications cables Check the specification of communications cables to be used for the information on bending radius 4 4 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 4 Installation and Wiring 4 2 2 Preparation for Connecting Network Prepare the following devices Product name Comment Twisted pair cable 100BASE TX Category 5 or higher Cables with connectors bel
101. ocedures 3 2 Setting and Wiring Hardware Make settings and wiring of the EtherCAT Master Unit and Slave Units and power supply 3 2 1 Mounting and Setting EtherCAT Master Unit Mount the EtherCAT Master Unit at the prescribed location and make settings of Unit No and so on For the detailed explanation refer to the manual of the EtherCAT Master Unit to be used 3 2 2 Mounting and Setting Slave Units Mount each Slave Unit at the prescribed location and make settings of node address and so on For details refer to each item below Mounting 4 1 Mounting E3X ECT and Sensor Amplifiers in page 4 2 Setting Pages in Chapter 6 to Chapter 7 which explain the general specification and details of each type of Slave Units 3 2 3 Wiring Communications Cables Wire communications cables to the EtherCAT Master Unit and each Slave Unit For wiring method refer to 4 2 Connecting to EtherCAT Network in page 4 4 3 2 4 Connecting Power Supplies Connect the unit power supply to the EtherCAT Master Unit and Slave Units In addition connect the I O power supply to each Slave Unit as required For the connection method refer to 4 3 Connecting to Unit Power Supply and I O Power Supply in page 4 8 or the wiring diagram of each Slave Unit in pages explaining the details 3 2 5 Connecting fiber or Sensors head Connect fiber or sensor head to sensor amplifier For the connection method refer each sensor amplifier manual 3 4 E
102. of the EtherCAT Master Unit to be used Refer to Appendix A 1 Object Dictionary for the detailed explanation of objects implemented on E3X ECT EtherCAT Sensor Communication Units Note that the SDO communications can be used in the pre operational state or more 3 3 3 Starting EtherCAT Communications Shift to the operational state EtherCAT communications possible to start the EtherCAT communications For how to shift to the operational state refer to the manual of the EtherCAT Master Unit to be used E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 3 5 3 Basic Usage Procedures 3 4 Checking Operations Confirm that the LED indicators of the EtherCAT Master Unit and Slave Units are normal status and that I O data is correctly read and written Moreover make parameter settings for Slave Units as required 3 4 1 Checking Unit Displays EtherCAT Master Unit Refer to the manual of the EtherCAT Master Unit to be used EtherCAT Sensor Communication Units Check that the status indicator of each Slave Unit is as follows LED State PWR ON L A IN Flickering L A OUT Flickering turned OFF for the terminal Slave Unit only RUN ON ERR OFF 3 4 2 Confirming Data Read and Write Use the Configuration Tool to read IN data and OUT data of the EtherCAT Master Unit in order to check that the I O data is correctly read and written 3 4 3 Setting Slave Unit Parameter Make parameter settings for each Slave
103. ollowing items restart the Slave Unit according to the specification of connected EtherCAT Master Unit e Is the communications cable wired correctly e Is the communications cable exposed to excessive noise e Review set time of Communication Error Setting If this does not improve the Slave Unit hardware may be damaged Replace the applicable Slave Unit Measures Turn ON Slave Unit power supply again after changing the setting SS LED lights red Nmber of sensors setting is deffernt from Number of connecting sensors E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Set correct number of sensors setting When use dummy sensror setting Set nember of sensors setting as include dummysensors Amplifire connecting is wrong Check the connecting of E3X ECT and amplifires If this does not improve the amplifire hardware may be damaged Replace the applicable amplifire Bunooysajqnol 1 8 LOA XeF 0 anbiup siouy 7 1 8 8 Troubleshooting and Maintenance 8 1 3 Error Notification Methods and Types This section describes the notification methods for errors that occur in the Slave Units lt EtherCAT Master Unit E fe Ft EtherCAT Slave Unit Error occurs Sysmac error status I l I I I l Diagnosis mergency message history I I I l l l l l I Application layer status
104. ommunication Units 10su S 1Y39194 3 Jo S d L Z Z spun uonesiunwwog 2 2 1 Slave Units List H List of Sensor Amplifiers N N Sensor Type n Standerd fiber sensor amplifier with lt oes GIGA Ray 2 Fiber Sensor E3X MDAO 2CH fiber sensro amplifier a 2 threshold type fiver sensor amplifier a EJX DA0 S with GIGA Ray Laser Sensor E3C LDAO Laser sensor amplifier Proxmity Sensor E2C EDAO High resolution proxmity sensor amolifier E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 2 3 2 EtherCAT Sensor Communication Unit E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Basic Usage Procedures This chapter explains the procedure of using EtherCAT Sensor Communication Units based on specific setting examples 3 1 3 2 3 4 Setup Examples and Basic Procedure 0200ee ee eeeeee 3 2 3 1 1 System Setting Examples 000000 eee 3 2 3 1 2 Basic Procedure seer 5 ceeds Cae oa ee ae et ele ee E 3 3 Setting and Wiring Hardware 0 0 eee 3 4 3 2 1 Mounting and Setting EtherCAT Master Unit 204 3 4 3 2 2 Mounting and Setting Slave Units 0000000 e eee 3 4 3 2 3 Wiring Communications Cables 0000 02 e eee 3 4 3 2 4 Connecting Power Supplies 0 00000 eee ees 3 4 3 2 5 Connecting fiber or Sensors head 0 0c eee 3 4 Starting Communications 00 eee 3 5 3 321 Starting
105. ommunications for regularly exchanging process data Moreover SDO is able to read and write all object dictionaries and is used in non fixed cycle type SDO event type messages communications By using the CoE interface to set object SDO and PDO dictionaries EtherCAT can provide EtherCAT devices with the same device profile as CAN application protocol 5 2 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 EtherCAT Communications 5 2 EtherCAT Slave Information File ESI File An EtherCAT Slave Information ESI file contains the setting information of an EtherCAT Slave Unit Various EtherCAT communications setting can be defined from the ESI files of connected Slave Units and the network connection information ESI files are installed in the configuration tool to create network configuration information You can download the network configuration information to the EtherCAT Master Unit to configure the EtherCAT network Configuration tool gt gt files Network configuration information E3X ECT EtherCAT Sensor Communication Unit Instraction Manual EtherCAT Master Unit EtherCAT Slave Units T ee T a Communications are started according to the communications settings and the network configuration in the ESI files that are installed 114 ISA O14 UOHeWOJU BARIS LWO419U Z S 5 Et
106. on 8 2 3 Handling when Replacing Units Networks are constructed from an EtherCAT Master Unit and Slave Units If a Unit is malfunctioning the entire network will be affected The malfunctioning Unit must be replaced quickly To restore network functions as quickly as possible it is recommended that spare Units are kept on hand ready to replace malfunctioning Units immediately i Precautions when replacing Units Heed the following precautions when replacing nodes after a periodic inspection has revealed a problem e Check that the new Unit does not have errors after replacement e If returning malfunctioning devices for repair attach a detailed description of the malfunction to the device and send the device to the OMRON representative listed at the end of this manual or to your OMRON representative If contacts are defective wipe them with a clean pure cotton cloth that has been soaked in industrial alcohol i Settings after Unit replacement After replacing a Unit make the switch and other settings the same as before the Unit was replaced vueu zuiew zu wd nbg Z 8 sun Buloejdey uaym Buljpuey Z 8 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 8 19 8 Troubleshooting and Maintenance E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Appendix A 1 Object Dictionary 0 c ccc eens A 2 A 1 1 Object Dictionary Area asana nanana A 2 A12 Data TYPES z errre e ot
107. ons among the EtherCAT Master Unit and Slave Units EtherCAT Master Unit Slave Unit Slave Unit Slave Unit Slave Unit Ethernet frame 1st EtherCAT telegram EtherCAT header Ethernet header CRC 2nd EtherCAT 3rd EtherCAT telegram telegram Logic process data Dataa Datab Datac i Mailbox communications functions SDO communications It refers to message communications At any timing the EtherCAT Master Unit transmits commands to Slave Units and the Slave Units return responses to the EtherCAT Master Unit It performs the following data communications e Read and write process data e Make Slave Unit setting e Monitor Slave Unit state E3X ECT EtherCAT Sensor Communication Unit Instration Manual 1 EtherCAT Network lt 1 1 4 Connection Examples of EtherCAT 2 O This section explains the connection examples of EtherCAT network 9 z2 EtherCAT Master Unit 20 ae vet NJ501 1509 1Y9194 3 Jo s jdwexg uondeuu0D y p 4 Servo Drive Servomotor Inverter E3X ECT EtherCAT Sensor Communication Unit Instration Manual 1 5 1 EtherCAT Network 1 2 Configuration Elements of EtherCAT Network This section explains the configuration devices and usages of EtherCAT netw
108. ork 1 2 1 Configuration Devices of EtherCAT Network The devices composing an EtherCAT network are shown in the figure below EtherCAT Master Unit PC o fha l a ieh Configuration Tool E aso RS 232C port connection Peripheral port connection ESI file A Communications cable E I O power supply Unit power supply pretties oS g Ys 7 me E h EIGENS SE nanm C O Analog I O Slave Unit Digital I O Slave Unit Communications Unit Servo Drive Inverter 1 6 E3X ECT EtherCAT Sensor Communication Unit Instration Manual 1 EtherCAT Network 1 2 2 Overview of Configuration Devices The overview of each configuration device is as follows i EtherCAT Master Unit Administers the EtherCAT network monitors the state of Slave Units exchanges I O data with Slave Units i EtherCAT Slave Unit Outputs data received from the EtherCAT Master Unit through the EtherCAT network or sends input data to the EtherCAT Slave Unit through the EtherCAT network There are Digital I O Slave Unit and Analog I O Slave Unit i Communications Unit By mounting to an inverter sensor and other devices it is possible to serve as a Slave Unit in the EtherCAT network i Configuration Tool Itis a PC software for making setting of the EtherCAT network and each Slave Unit It can be
109. ot possible e Sub index1 Input Filter Setting e This object set Input Filter for free run mode 0 disable 1 enable e Sub index2 Input Filter Information e This object detect Input Filter Setting for free run mode 0 disable 1 enable 3004Hex Dummy Setting Sub index0 Range 03Hex Unit Default O3Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 Dummy Sensors Setting Range 00000000Hex 3F FFFFFFHex Unit Default 00000000Hex Attribute A Size 4byte U32 Access RW PDO map Not possible Sub index2 Dummy Sensors Information Range 00000000Hex 3F FFFFFFHex Unit Default 00000000Hex Attribute A Size 4byte U32 Access RO PDO map Not possible Sub index3 Dummy Sensors Response Setting Range 00Hex 01Hex Unit Default OOHex Attribute A Size 1byte U8 Access RW PDO map Not possible e Sub index1 Dummy Sensors Setting e This object set the dummy sensor Set the Obit to ON No 1 sensor set dummy sensor This function enabled by recycling power were changed e Sub index2 Dummy Sensors Information e This object detect dummy sensor setting e Sub index3 Dummy Sensors Response Setting e This object set the responce setting when sennding command to dummy sensor 0 Dummy sensor reply normal responce The read data is always O 1 Dummy sensor reply error responce E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 17 Aseuol
110. ow are also allowed Double shield aluminum tape braided shielding Category 5 or higher RJ45 connector Shielded l Precautions for Correct Use e The maximum cable length between connected nodes is 100 m Note that some cables do not guarantee 100 m In general if the conductors are strand wire the transmission performance will be lower than solid wire and the operation at 100 m distance cannot be guaranteed Confirm details with the cable manufacturer e When selecting connectors check that the cables to be used conform to connectors Items to be checked include conductor size conductor wire type solid wire twisted wire 2 4 pairs and outer diameter YAOMJON LV9147 0 Bupo uuoy Z y EN Reference We recommend cables with double aluminum tape and braded shielding taking noise resistance into consideration YIOMION BuNdeUUOd 104 uoneJedald Z Z E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 4 5 4 Installation and Wiring 4 2 3 Connecting Communications Cables and Connectors Connect a communications cable and a connector by wiring them straight as shown below Qe Pin No Wire color Wire color Pin No 1 White Green m White Green 1 2 Green Green 2 3 White Orange a White Orange 3 4 Blue Blue 4 5 White Blue White Blue 5 6 Orange Orange 6 7 White Brown er es White Brown 7 8 B
111. ower supply and I O crossovers Incorrect wire may result in malfunction e Wire all connections correctly according to instructions in this manual e Use the correct wiring materials to wire the Unit e Take appropriate and sufficient countermeasures when installing systems in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies e Do not drop any Unit or subject any Unit to excessive shock or vibration Otherwise Unit failure or malfunction may occur E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 13 Conformance to EC Directives Applicable Directives e EMC Directives e Low Voltage Directive Concepts EMC Directives The OMRON products described in this manual are designed so that they individually comply with the related EMC Directives so that they can be more easily built into other devices or the overall machine The actual products have been checked for conformity to EMC Directives See note Whether the products conform to the standards in the system used by the customer however cannot be checked by OMRON and must be checked by the customer EMC related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration wiring and other conditions of the equipment or control panel on whi
112. put Object to be mapped Range Unit Default 30000101Hex Attribute Size 4byte U32 Access RO PDO Map Disable Sub index2 2nd Input Object to be mapped Range Unit Default 30000201 Hex Attribute Size 4byte U32 Access RO PDO Map Disable E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Aseuoljs1q paldo 1 V gt yoalqo Buiddew Odd S l V A Appendix 1BOAHex 267th transmit PDO Mapping Sub index0 Number of objects Range Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 1st Input Object to be mapped Range Unit Default 30010108Hex Attribute Size 4byte U32 Access RO PDO Map Disable Sub index2 2nd Input Object to be mapped Range Unit Default 30010208Hex Attribute Size 4byte U32 Access RO PDO Map Disable 1B10Hex 1B11Hex 1B12Hex 1B4BHex Sub index0 Number of objects 273th 332nd transmit PDO Mapping Range Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO Map Disable Sub index1 1st Input Object to be mapped Range Unit Default 40010110Hex Attribute 40010210Hex 41810110Hex 41810210Hex 4E810110Hex 4E810210Hex Size 4byte U32 Access RO PDO Map Disable 1BFFHex 512ndth transmit PDO Mapping Sub index0 Number of objects Range Unit Default 01Hex Attribute
113. r 80CHex Reserved No 01 to 30 Differentiation Edge Sub index0 Range 01Hex Unit Default 01 Hex Attribute Size 1byte U8 Sub index1 No 01 to 30 Differentiation Response Time Access RO PDO map Not possible Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the defferentiation edge of sensor number by index DATA Setting 0000Hex One side edge 0001Hex Double side edge 0002 FFFFHex Reserved 00D or 80DHex No 01 to 30 Differentiation Response Time Sub index0 Range 01Hex Unit Default 01 Hex Attribute Size 1byte U8 Sub index1 No 01 to 30 Differentiation Response Time Access RO PDO map Not possible Range 0001Hex 0006Hex Unit Default 0001Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the defferentiation responce time of sensor number by index E3X HDO DA0 LDA0 EDA DATA Serting Sia one side edge double side edge 0001Hex differentiation responce 1 defferntiation OFF 250us 500us 0002Hex differentiation responce 2 250us 500us ims 0003Hex differentiation responce 3 500us ims 10ms 0004Hex differentiation responce 4 1ms 10ms 100ms 0005Hex differentiation responce 5 10ms 100ms 200ms 0006Hex differentiation responce 6 100ms
114. r all of the event codes that may occur in an NJ series Controller Event code Event name Meaning Assumed cause eee oe cee ert Reference Maj Prt Min Obs Info 04C40000 hex Sensor Com An error occurred in The Sensor is disconnected 11 munications a Sensor connec Error tion 04C50000 hex Sensor Com Communications e A sensor is not connected 11 munications has not been estab Has Not lished with the Sen Been Estab sor lished 14A00000 hex Non volatile An error occurredin Noise 12 Memory the control parame Checksum ters Error 24780000 hex Number of The number of Sen e The set value does not match 12 Sensors Ver sors that is con the number of Sensors that are ify Error nected does not actually connected agree with the set tings 24790000 hex Number of Too many Sensors More than the maximum num 13 Sensors are connected ber of Sensors are connected Over Limit 34F80000 hex Dummy Sen Too many Dummy _ There are too many Dummy 13 sors Setting Units are set Units set so some Sensors are Error not assigned logical unit num bers 04A10000 hex Non volatile An error occurredin Non volatile memory failure 14 Memory non volatile mem Hardware ory Error E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 8 9 Bunooysajqnol 1 8 s po9 snjels Jou oeWsSAS y 8 8 Troubleshooting and Maintenance
115. r checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit e Set the correct synchronization frequency After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit e Is the communications cable wired correctly e Is the communications cable exposed to excessive noise e Review set time of Sync Not Received Timeout Setting synchronization error setting After checking the following items restart the Slave Unit according to the specification of connected EtherCAT Master Unit Communications e Is the communications cable synchronization error wired correctly e Is the communications cable exposed to excessive noise e Review set time of Communication Error Setting Synchronization frequency Sync0O frequency setting error On B B Synchronization error at On 7 B SF synchronization start On SF SF E3X ECT EtherCAT Sensor Communication Unit Instraction Manual PWR aN RUN indicator HAGI indicator LED On SF Symptom Some functions are not reflected even after parameters have been set 8 Troubleshooting and Maintenance 8 1 2 Errors Unique to E3X ECT ERR sas inchoate Description Synchronization error in SF r operation Cause The functions enabled by recycling the power were changed Actions After checking the f
116. reserved 0007 FFFFHe reserved x E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Aseuoljs1q paldo L Y gt sy fqo ojoeds seunjoejnuey y z Y A Appendix O0E or 80EHex No 01 to 30 Timer Function Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Timer Function IN1 Range 0000Hex 0004Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Timer Function IN2 Range 0000Hex 0004Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the timer function of sensor number by index DATA Setting 0000Hex Disable timer function 0001Hex OFF delay timer 0002Hex ON delay timer 0003Hex One shot timer 0004 00FFHex Reserved 00F or 80FHex No 01 to 30 Timer Value Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Timer Value IN1 Range 0000Hex 270FHex Unit Default 0040Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Timer Value IN2 Range 0000Hex 270FHex Unit Default 040Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the Timer valu of sensor number by index
117. rown Brown 8 Connector Shielded cable e Shielded cable oa Connect both ends of cable shielded wires to the connector hoods EN Reference There are 2 types of wiring standards for Ethernet cables T568A and T568B The figure above shows a wiring method conforming to the standard T568A The wiring method conforming to the standard T568B can also be used 4 6 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 4 Installation and Wiring 4 2 4 Connecting to Communications Cables EtherCAT networks allow free wiring in any connection forms Connection before and after the E3X ECT EtherCAT Sensor Communication Units shall be made in daisy chain connection Connect the communications cable from the EtherCAT Master Unit to the CN IN connector of the Slave Units Connect another the communications cable from the CN OUT connector of the first Slave Unit to the CN IN connector of the next Slave Unit Note that nothing should be connected to the CN OUT connector of the Slave Unit at the terminal end of the network EtherCAT Master Unit wT ow Joe sete L1 Ln Do not connect anything l Precautions for Correct Use Communications cable CN IN connector CN OUT connector
118. s CPU Unit Hardware User s Manual Explains the overall NJ series System and the following items for the NJ501 CPU Units e Features and system configuration e Overview e Part names and functions e General specifications e Installation and wiring e Maintenance and inspection Use this manual together with the NJ series CPU Unit Software User s Manual Cat No W501 W501 NJ series CPU Unit Software User s Manual Explains the following items for NJ series CPU Units e CPU Unit operation e CPU Unit functions e Initial settings e Languages and programming based on IEC 61131 3 Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 W505 W503 W504 16 NJ series CPU Unit Built in EtherCAT Port User s Manual NJ series Troubleshooting Manual Sysmac Studio Version 1 Operation Manual Explains the built in EtherCAT port An overview is provided and the configuration functions and setup are described Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and the NJ series CPU Unit Software User s Manual Cat No W501 Explains error management concepts and the individual errors that are detected by the NJ series System Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and the NJ series CPU Unit Software User s Manual Cat No W501 Explains the operatin
119. s switches is read only once when the power is turned ON Even if the settings are changed after turning the power supply ON they are not reflected in the control They become effective when the power supply is turned ON the next time e f node addresses overlap an error occurs and the operation stops E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 6 Hardware Specifications of E3X ECT 6 3 3 Communications Connectors The Connectors are used to connect the communications cables The specifications are shown below e Electrical characteristics Conforms to the IEEE 802 3 standard e Connector structure RJ45 8 pin modular connector conforms to ISO 8877 e Terminal arrangement suoljeoyioads asempiepy 9 Pin No Signal name Abbreviation 1 Send data TD 2 Send data TD 3 Receive data RD 4 Not used 5 Not used 6 Receive data RD 7 Not used 8 Not used Hood Frame ground FG 6 3 4 Unit Power Supply Connector The Connector is used to connect the unit power supply 24 VDC 1OJOOUUOD suoeoiunwwon 9 H Vterminal Name Specification Vteminal V 24VDC y OVDC e Connector type Spring connection connector with fixing screw 2 pin e Supported pin terminal diameter 0 25 mm to 0 5 mm2 AWG24 to AWG20 Pin terminal with isolation sleeve
120. sible Sub index1 No 01 to 30 ATC Setting IN2 Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the ATC setting of sensor number by index DATA Setting 0000Hex OFF 0001Hex ON 0002 FFFFHex Reserved 01D or 81DHex No 01 to 30 Eco Mode Setting Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Eco Mode Setting Range 0000Hex 0002Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the ECO mode of sensor number by index DATA Setting 0000Hex OFF 0001Hex ECO1 0002Hex ECO2 0003 FFFFHex Reserved 01E or 81EHex No 01 to 30 Zero Reset Level Sub index0 Range 02Hex Unit Default 02Hex Attribute gt Size 1byte U8 Access RO PDO map Not possible x Sub index1 No 01 to 30 Zero Reset Level IN1 E Range 0000Hex 0FA0Hex Unit Default 0000Hex Attribute A 2 Size 2byte U16 Access RW PDO map Not possible 2 Sub index1 No 01 to 30 Zero Reset Level IN2 S Range 0000Hex 0FA0Hex Unit Default 0000Hex Attribute A 5 Size 2byte U16 Access RW PDO map Not possible e This object set the Zero reset level of sensor number by index gt E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 28
121. t on the Unit Not checking the program may result in unexpected operation When replacing relays or other parts be sure to confirm that the ratings of the new part are correct Not doing so may result in malfunction or burning Confirm that no adverse effect will occur in the system before attempting any of the following e Changing the operating mode of the PLC e Setting resetting any bit in memory e Changing the present value of any word or any set value in memory Do not use thinner when cleaning Use commercially available alcohol External Circuits Install external breakers and take other safety measures against short circuiting in external wiring E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Precautions for Correct Use e Wire all connections correctly according to instructions in this manual Failure to install them may result in serious accidents Do not operate the control system in the following locations Location subject to direct sunlight Locations subject to temperatures or humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in temperature Location subject to corrosive or flammable gases Location subject to dust especially iron dust or salts Location subject to exposure to water acid oil chemicals etc Locations subject to shock or vibration e Confirm voltage specifications when wiring communications the p
122. t overview and explains the precautions 4 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY
123. t that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof 6 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Disclaimers 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 model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data giv
124. tallation and Wiring Manufacturer Phoenix Contact Co Ltd H0 5 16 orange 0 5 mm AWG20 Crimper PZ1 5 Product No 900599 Weidmueller Japan Co Ltd Also the following screwdriver is recommended for removing pin terminals Model XW4Z 00C Manufacturer OMRON E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Ajddng 1amog O I pue Ajddng 14amMog uN 0 HuyjoauUu0D y A ddng 1 m0q Hun eu Bupoauuop g g y 4 Installation and Wiring E3X ECT EtherCAT Sensor Communication Unit Instraction Manual EtherCAT Communications ee This chapter explains the overview of EtherCAT communications 5 1 Structure of CAN application protocol over EtherCAT CoE 5 2 5 2 EtherCAT Slave Information File ESI File 200 eee e eee e eee 5 3 5 3 Communications State Transitions 00 cee eee eee 5 4 5 4 Process Data Objects PDO 00 cece eee eee eee eee eee 5 5 0 4 1 OVEIVIEW ce Mave h a san cidade oh lin eile eal aae a a E a Sects et ce a Pet 5 5 5 4 2 PDO Mapping Settings 0 0 5 5 5 4 3 Sync Manager PDO Assignment Settings 0200000000e 5 6 5 4 4 PDOMapping 000 a T E A A R E eae 5 7 5 5 Service Data Object SDO 0 ccc eee 5 9 5 5 1 Overview 6 ttt tenes 5 9 9 0 2 Abort Codes eE wid ees die fae aes fa Rae Gee 5 9 5 6 EtherCAT Master Unit Slave Unit Communications
125. the possible causes remedies and preventive measures for the error event Attached Provides the additional information that is displayed by the Sysmac Studio or an NS series PT information Precautions Provides precautions restrictions and supplemental information Remarks 1 One of the following 2 3 4 Major fault Major fault level Partial fault Partial fault level Minor fault Minor fault level Observation Information One of the following Automatic recovery Normal status is restored automatically when the cause of the error is removed Error reset Normal status is restored when the error is reset after the cause of the error is removed Cycle the power supply Normal status is restored when the power supply to the Controller is turned OFF and then back ON after the cause of the error is removed Controller reset Normal status is restored when the Controller is reset after the cause of the error is removed Depends on cause The recovery method depends on the cause of the error One of the following System System event log Access Access event log One of the following Continues Execution of the user program will continue Stops Execution of the user program stops Starts Execution of the user program starts 8 10 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 8 Troubleshooting and Maintenance i Error Descriptions
126. the power supply must be within the allowable variation range Supplying unit power supply and I O power supply from multiple sources When the unit power and I O power are supplied from multiple power supplies instead of from one power supply the line current voltage drop and cable size can be reduced Moreover it is effective to secure safety of the system at power supply errors If power supply errors occur Consideration on layout and grouping of power supplies differ by whether you want to stop the entire system or not when a power supply error occurs If you want to avoid stopping the entire system we recommend to set power supplies at several locations and supply power to groups of Slave Units or take similar measures This has also the effects of reducing voltage drop and cable size and so on E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 4 Installation and Wiring 4 3 2 Unit Power Supply Specifications Use a general purpose power supply that satisfies the following specifications Item Specification Output voltage 24 VDC 10 Output ripple 600 mVp p Has the capacity to supply power more than the total current consumption of each Slave Unit Between output and AC power supply as well as between output and chassis ground Output current Isolation We recommend S8JX series power supplies made by OMRON for the unit power supply for Slave Units Ajddng 1amog O I pue Ajddng 1aMog yun 0
127. therCAT Communications 5 4 Process Data Objects PDO 5 4 1 Overview The process data objects PDO are used for real time data transfer via cyclic communications There are two types in PDO RxPDO that receives data from the EtherCAT Master Unit and TxPDO that sends the present value from a EtherCAT Slave Unit to the EtherCAT Master Unit RxPDO output data operation command and so on EtherCAT EtherCAT Master Unit Slave TxPDO Writ input data status and so on Odd S fq0 Lq Ss 201d Y It is possible to hold multiple objects in the EtherCAT application layer so that various process data of EtherCAT Sensor Communication Units can be transferred The details of process data are described in PDO Mapping Objects and Sync Manager PDO Assignment Objects E3X ECT EtherCAT Sensor Communication Units support PDO mapping for I O control 5 4 2 PDO Mapping Settings The PDO mapping indicates the mapping for application objects realtime process data between the object dictionary and PDO The number of mapped objects is described in sub index 0 of the mapping table In this mapping table indexes 1600 hex to 17FF hex are used for RxPDO and 1A00 hex to 1BFF hex are used for TxPDO M Q L Y G E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 5 5 5 EtherCAT Communications 5 4 3 The figure below shows an example of PDO mapping Object dictionary Index Sub Object contents
128. ts from slaves are not performed eer One type of EtherCAT communications that uses service data SDO communications s T ad h objects SDOs for communicating information when required service data object SDO CoE asynchronous mailbox communications where all objects in the object dictionary can be read and written Slave Information Interface SII Slave information that is stored in non volatile memory in the slave subindex Sub address of an object within the object dictionary Collection of control elements to coordinate access to concurrently sync manager SM f used objects Transmit PDO TxPDO A process data object sent from an EtherCAT Slave Unit E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Aseuojsiq Poldo L Y gt sje qo ojoeds seunjoejnueyy J W A Appendix E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No E413 E1 01 Revision code The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised content 01 February 2012 Original production E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Revision 1 Revision 2 E3X ECT EtherCAT Sensor Communication Unit Instraction Manual Authorized Distributor
129. ual 5 13 5 EtherCAT Communications Saving node address settings If the node address switches are set to 00 the software setting is enabled and the node address that is set on the Sysmac Studio is used To use the software setting execute the Write Slave Node Address menu command on the Edit Network Configuration Tab Page for EtherCAT The software setting will be saved in non volatile memory in the Slave Unit e Software setting The software setting that is set in the SII slave information interface in non volatile memory in the Slave Unit is used as the node address EtherCAT Master Unit E e E 1 When the power supply is OFF set the node address switches to 00 slave controller 2 From the master write the node address to the SII in the Slave Unit 3 When the power supply to the Slave Unit is 2 p Non volatile memory SII oe ee Register 0010 hex turned ON the software writes the node Seer eee ae Register 0012 hex f address setting to register address 0012 hex 4 The EtherCAT Master Unit reads the setting in register address 0012 hex 5 The EtherCAT Master Unit writes the value of address 0012 hex to address 0010 hex EtherCAT 4 5 SE ee eee EtherCAT Slave Unit e Node address switch setting The value that is set on the node address switches on the Slave Unit is used as the node address EtherCAT Master Unit 1 When t
130. um control systems 1 1 1 Features of EtherCAT EtherCAT has the following features Extremely high speed communications with speed of 100 Mbps It dramatically shortens the I O response time from generation of input signals to transmission of output signals By fully utilizing the optimized Ethernet frame bandwidth to transfer data using a high speed repeat method it is possible to efficiently transmit a wide variety of data Extremely High Compatibility with Ethernet EtherCAT is an open network with extremely high compatibility with conventional Ethernet systems 1 1 2 Structure of EtherCAT 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 Ethernet frames sent from the EtherCAT Master Unit go through all the EtherCAT Sensor Communication Units without stopping on the way Once they reach the final Slave Unit they are sent back from the final Slave Unit pass through all Slave Units again and return to the EtherCAT Master Unit With this structure EtherCAT secures high speed and real time data transmission EtherCAT Slave Unit Slave Unit Slave Unit Master Unit e Reading output data addressed to the local Slave Units e Writing input data Ethernet frame 1 2 E3X ECT
131. ware Specifications of E3X ECT 6 2 General Specifications This section explains the general specifications of the E3X ECT EtherCAT Slave Unit Item Unit power supply voltage Specification 20 4 to 26 4 VDC 24 VDC 15 to 10 I O power supply voltage 20 4 to 26 4 VDC 24 VDC 15 to 10 Noise immunity Conforms to IEC 61000 4 4 2 kV power line Vibration resistance Malfunction 10 to 60 Hz with amplitude of 0 7 mm 60 to 150Hz and 50 m s in each of X Y and Z directions for 80 minutes Shock resistance 150 m s with amplitude of 0 7 mm 3 times each in 6 directions on 3 axes Dielectric strength 500 VAC between isolated circuits Insulation resistance 20 MQ or more between isolated circuits Storage temperature 25 to 65 C o z A N Ambient operating 0 to 55 C O temperature 2 T z o Ambient operating 25 to 85 with no condensation humidity L x z O Ambient operating No corrosive gases 2 atmosphere Q S 7 Storage humidity 25 to 85 with no condensation Mounting method E3X ECT EtherCAT Sensor Communication Unit Instraction Manual 35 mm DIN track mounting 6 Hardware Specifications of E3X ECT 6 3 Hardware Specifications 6 3 1 Status Indicators It indicates the current state of an EtherCAT Slave Unit L A IN L A OUT PWR RUN ERR SS i PWR indicator Indicates the unit power supply state
132. x Reserved 013 or 813Hex No 01 to 30 Display Direction Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Display Direction Range 0000Hex 0001Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object set the display derection of sensor number by index DATA Setting 0000Hex Normal 0001Hex Revers 0002 FFFFHex Reserved Sub index0 gt Range 01Hex Unit Default 01Hex Attribute o Size 1byte U8 Access RO PDO map Not possible E Sub index1 No 01 to 30 MODE Key Setting 2 Range 0000Hex 0004Hex Unit Default 0000Hex Attribute A 2 Size 2byte U16 Access RW PDO map Not possible S o lt e This object set the mode key setting of sensor number by index DATA Setting 0000Hex Power tuning A 0001Hex Zero reset 0002Hex Reserved 0003Hex Teaching for EDAO Q 0004Hex Workpeice exist non exist teaching 0005 FFFFHex Reserved a ojoeds seunjoejnuey y z Y E3X ECT EtherCAT Sensor Communication Unit Instraction Manual A 25 A Appendix 015 or 815Hex No 01 to 30 Output Setting Sub index0 Range 01Hex Unit Default 01Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Output Setting Range 0000Hex 0008Hex Unit Default 0000Hex Attribute
133. xecute the position teaching of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 036 or 836Hex No 01 to 30 Auto Teaching Start Sub index0 Range 02Hex Unit Default O2Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Auto Teaching Start IN1 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Auto Teaching Start IN2 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the auto teaching start of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 037 or 837Hex No 01 to 30 Auto Teaching Stop Sub index0 Range 02Hex Unit Default 02Hex Attribute Size 1byte U8 Access RO PDO map Not possible Sub index1 No 01 to 30 Auto Teaching Stop IN1 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible Sub index1 No 01 to 30 Auto Teaching Stop IN2 Range 0000Hex 0001 Hex Unit Default 0000Hex Attribute A Size 2byte U16 Access RW PDO map Not possible e This object execute the auto teaching stop of sensor number by index e Excute when writing 0001Hex and a value 0000hex is indicated when reading 038 or

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