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GRT1-ETC Operation Manual

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1. 4 m Lom Tu T m I Fel ofel sel ssl ojo BOOTE O fO Ox a alo alo olo olo slo Es 15 04 BOO OJOS 05 04 85 53 sales sess EI m Sie eere eo tes sold NOICS BIOS kola 5184 24VDC 4 for Unit 24VDC Lt SmartSlice I O Units 64 max for 1 O GX series EtherCAT Slave Unit User s Manual 7 GRT1 ECT Installation 7 2 2 Installation on a DIN Rail The GRT1 ECT and SmartSlice I O Units must be mounted on a DIN Attach the DIN Rail with screws in every fourth mounting hole E Attach the rail with screws at a maximum spacing of 105 mm between adjacent screws PFP 50N 50 cm or PFP 100N 100 cm DIN Rail SmartSlice I O System Orientation There is no restriction regarding orientation of the SmartSlice System The system can be mounted in any of the following 6 directions spun pue 124 149 uonejejsu Z Z m Installing a Unit To install an EtherCAT Communication Unit on the DIN rail press the Unit onto the DIN rail
2. Flat blade Wire Screwdriver 9 2 RUN UNIT PWR ERR Ts VO PWR IN o 1 05 o 21 q 3 ADR ji fu 0 4 BACK UNT th pq TEN E hr Ww INPUT lan The GRT1 ECT provides a Field Ground Terminal FG between the EtherCAT connectors If noise is significant source of errors ground the Field Ground Terminal recommended wire 20 AWG to 14 AWG or 0 5 to 2 0 mm Strip the wire between 8 mm and 10 mm of insulation at the ends of the wires stranded or solid wire or use pin terminals with a pin conductor length of 8 mm to 10 mm GRT1 series EtherCAT Communication Unit Operation Manual 4 7 12371189 b p Jojoeuuoo Ajddns 1ewog O I pue p L v 4 GRT1 ECT Details 4 1 6 Node Address Setting Switches These switches are used to set node addresses of Slaves in the EtherCAT network decimal The 10x digit is set on the left rotary switch and the 1x digit is set on the right rotary switch Setting range is 00 to 99 Default setting 00 omron GRT1 ECT Note that the node address set values vary as shown below when the EtherCAT Master Un
3. Y onnon GRTHECT rN UO EB N I gt ON 2 She a iul a x E ope Molke oS Hg E o 36 8 58 ela 4 GRT1 series EtherCAT Communication Unit Operation Manual Appendix Object Dictionary A4 10bject Dictionary 4 2 4 1 1 Object Dictionary Area 4 2 A4 1 2 Data Types EXERCERE 4 2 4 1 3 Object Description Format 4 3 A4 1 4 Communication Objects 4 4 A4 1 5 Mapping Object 4 5 A4 1 6 Sync Manager Communication 4 8 4 1 7 Manufacturer Specific Objects 4 10 A4 1 8 Modular Device Profile area 4 13 GRT1 series EtherCAT Communication Unit Operation Manual A4 1 4 Appendix Object Dictionary 4 1 Object Dictionary A4 1 1 Object Dictionary Area The CAN application protocol over EtherCAT CoE uses the object dictionary Each object is assigned with an index of four digit hexadecimal value The indexes are defined in
4. 8 8 8 2 3 PDO mapping in Sysmac Studio 8 9 8 2 4 mapping Edit 8 10 8 2 5 PDO mapping Add PDO Entry 8 11 8 2 6 mapping Delete PDO Entry 8 14 8 3 Calculating Refresh Time 8 15 8 3 1 Introduction ies eb USER E p xau ex es 8 15 8 3 2 Calculation I O Refresh Time 8 15 8 3 3 Example calculation I O refresh time 8 18 GRT1 series EtherCAT Communication Unit Operation Manual 8 1 8 Sysmac Studio 8 1 EtherCAT Slave Information Files This section provides general information on EtherCAT Slave Information Files ESI Files Using ESI Files in Sysmac Studio includes actions for installation and for checking ESI Files 8 1 1 General information ESI files Settings for EtherCAT are described and stored in EtherCAT Slave Information ESI files ESI files contain a device description in XML format ESI files are provided by the slave manufacturers Part of the EtherCAT communication settings of the GRT1 ECT come from the ESI file Sysmac Studio Network configuration information y EtherCAT master ESI files EtherCAT slaves m in l Communications are started according to the communications
5. eere irai 1 4 Safety Precautioris nere nU PRI 1 8 Labels and Meanings to Ensure Safe 1 8 Symbols iet een ettet E a A de 1 8 Precautions for Safe Use 1 11 Precautions for Correct Use d e tt b M e techs nad Eo e 1 12 Conformance to EC 4 1 0 1 13 Applicable Directives 5 aad 1 13 GOllcepls su Se ae 1 13 Conformance to EC Directives 1 13 TradeMark cie 1 14 EtlierCAT 25 n Da ruo nda ano 1 1 Overview of EtherCAT 2 4048 nn nh nennen 1 2 1 121 Features of EtherGCAT iiec diete 1 2 1 1 2 Structure of EtherCAT 2 22 ER dea 1 2 1 1 3 Communication types of 1 4 Parts of an EtherCAT Network eiecti tette eo Ra REED MER EN 1 5 1 2 1 Configuration Devices of EtherCAT 1 5 1 2 2 Overview of EtherCAT network parts 1 6 EtherCAT Communication details
6. ooo BRA Slaves naa ti lofjoojjoo jo olloolloolo ooo o oo oo o oloolloolo ollooloollo o Last slave ES Reference The setting example explained here is the basic setting of GRT1 series EtherCAT Communication Unit For more information about the SmartSlice I O Units please refer to W455 GRT 1 Series SmartSlice I O Units Operation Manual If your system configuration includes Slaves from other suppliers then refer to the manuals of their Slaves for the correct settings GRT1 series EtherCAT Communication Unit Operation Manual 5 GRT1 ECT Procedures 5 2 Settings Communication Unit Start the system allocate I O data of Slaves and then start the EtherCAT communication For communication state details refer to 2 5 Communication State Transitions in page 2 7 5 2 Address Settings In order to identify the EtherCAT Communication Unit on the EtherCAT network it needs to have a unique node address Using this unique address the EtherCAT Master Unit can transfer parameter settings and exchange data The EtherCAT node address is assigned using the rotary swit
7. 4 1 GRT1 ECT in detail 5 5 ceo eee 4 2 4 1 1 Frontview and Sideview sssssssssssssseseeeeeeeeeee e emere nennen nennen 4 2 4 1 2 Stat s IridiCators o t edet eget e decade ea dua e eene 4 3 4 1 3 DIP Switches einai ie Ue ee eed te eee e e oven 4 6 4 1 4 Unit and I O Power supply enne 4 7 4 1 5 Field Ground en nene nennen 4 7 4 1 6 Node Address Setting 4 8 4 1 7 Communication Connectors 0 0 00 0 000000000000 9 4 8 GRT1 ECT Procedures 5 1 System Setup Example eren 5 2 5 1 1 Example with three 5 2 Settings Communication 2 5 3 532 1 Address Settings iecit eo HR RR 5 3 5 2 2 Setting the EtherCAT Node 004 5 3 5 2 3 SmartSlice I O Unit Number Allocation 5 3 5 2 4 Communication Unit s Status 9 5 4 5952255 Unit ETa A EEE EN IESU Maii 5 5 5 2 6 Table Registration Function 1 5 5 5 2
8. 2 4 2 3 1 gt Overview oct etr e 2 4 2 32 PDO Mapping Settings 2 4 2 3 3 Sync Manager PDO Assignment Settings 2 5 2 3 4 PDO Mapping for GRT1 ECT 2 5 2 4 Service Data Object 00 2 6 2 4 1 Overview setete rnea a Aus OY id dee ERU d ede E eed 2 6 2 4 2 Abort Codes as cu Ep t ras db EQUI 2 6 2 5 Communication State Transitions 2 7 GRT1 series EtherCAT Communication Unit Operation Manual 2 1 2 EtherCAT Communication details 2 1 Structure of CAN application protocol over EtherCAT CoE Multiple protocols can be transferred by EtherCAT The GRT1 series EtherCAT Communication Unit uses CAN application protocol over EtherCAT CoE CoE is a communication interface for EtherCAT devices as the device profile of the open network standard CAN application protocol The figure below shows the structure of CoE in the GRT1 series EtherCAT Communication Unit EtherCAT Slave Unit Application layer Slave application Object dictionary mapping mapping status transitions SDO mailbox PDO cyclic PDO cyclic SyncManager FMMU EtherCAT data link layer EtherCAT physical layer The CAN application protocol has a data object dictionary
9. 2 1 Structure of CAN application protocol over EtherCAT 2 2 EtherCAT Slave Information File ESI File eene m 2 3 Process Data Objects 2 4 223 1 OVSGIVIGW oett tie e E n Rte ERE et t o ele e 2 4 2 3 2 PDO Mapping Settings nennen nennen enn 2 4 2 3 3 Sync Manager PDO Assignment 2 5 2 3 4 PDO Mapping for 1 2 5 Service Data Object 5 2 TAA E EA ERA a nnn inneren 2 6 25451 OVGTVIGW cere ai ODD e HE i 2 6 2 4 2 AAbort Codes ea te e lb aes a alude 2 6 Communication State 444 2 7 GRT1 ECT Network location and Features 3 1 GRT1 ECT In network with 4 4 3 2 GRT41 ECT Features tette Deine T 3 3 GRT1 series EtherCAT Communication Unit Operation Manual Chapter 4 4 1 Chapter 5 5 1 5 2 5 3 Chapter 6 6 1 6 2 Chapter 7 7 1 43 257 IDE E RIEN 3 3 3 2 2 GRT1 ECT SmartSlices data 3 4 GRT1 ECT 5
10. DR KERERARRAMRERE EUR PAR 7 18 7 4 1 Replacement 7 18 7 4 2 Setting the Unit after 7 18 Chapter 8 Sysmac 8 1 8 1 EtherCAT Slave Information 8 2 8 1 1 General information ESI 8 2 8 1 2 ESI files library in Sysmac mmm 8 3 3 1 3 ESI files Add to Library Ee eh Pe e Pan ea eines 8 5 8 1 4 ESI files Check details 8 6 8 2 PIN EDPIUOERRECCEEIEHIE n 8 7 8 2 1 General information PDO mapping eene 8 7 8 2 2 Calculating required PDO 8 8 8 2 3 mapping in Sysmac 8 9 8 2 4 PDO mapping Edit rec ete eene tede ied o eee Du nnd 8 10 8 2 5 mapping Add PDO eene 8 11 8 2 6 PDO mapping Delete PDO 8 14 8 3 Calculating Refresh Time eese nnne nnne nennt nnn nennen 8 15 853 1 ritroduction zssieciti p nero Ue UR RD e EE ERE LEER 8 15 8 3 2 Calculation I O Refresh Time 8 15
11. lData typc PDO entry name Comment 11472 bit Selection Input Output 0x6010 02 1 bs ROOI Dino First block of digital ir i t 0x6010 03 1 BOOL D1003 First block of digital ir Ux6010 04 1 bit BOOL DI004 First block of digital ir 0 601005 1 bi BOOL 1005 First block of digital Output 5 3rd block of digital outputs DO481 to 00512 0x6010 06 1 BOOL 006 First block of digital ir t 4 0 601007 l bi BOOL Di007 First block of digital ir 0x6010 08 1 bi BOOL D1008 First block of digital ir Output 2nd block of digital outputs 00241 to DO480 Output Block of counter outputs Set Value and Comn Communication Unit Status 1st block of digital inputs 01001 to 01240 2nd block of digital inputs 01241 to 01480 3rd block of digital inputs 01481 to 01512 Block of counter inputs Counter Value and Sti Add PDO Fniry Delete PDO Fniry OK Cancel Apply Example Map for the GRT1 ECT e PDO Map section General remarks for PDO Map The displayed available PDO Maps are unit specific The colored lines have content Entries section General remarks for PDO Entries The displayed PDO entries are already selected PDO entries for the selected PDO Map PDO entries for Inputs and Outputs use an Input list and an Output list The top part of these lists display Digital IO then Analog IO then Counter IO GRT1 ECT specific remarks Remarks for the GRT1 ECT
12. ROJO ROIS Dy ooi olo H olo Yolo H olo H colo H olo H RA S SS Ra eOIOs g eoos eolos eolos olos eOoJlos eOJOs J A 7 A a P x AU lt JEN T P CX ET NE P VUE e EN Reference Not shown in the figure above is a Turnback Unit The Turnback Unit also provides I O PWR UNIT PWR and TS LED Indicators The LED indicators can be used to determine the following categories of errors e Power errors Startup errors e SmartSlice I O Unit errors EtherCAT errors 6 1 1 Power Supply Errors Errors in the Power supply of the Unit or the external I O are indicated by the UNIT PWR and I O PWR LED Indicators Troubleshooting UNIT Power The UNIT PWR LED Indicator shows whether or not sufficient power is supplied to the EtherCAT Communication Unit and the SmartSlice I O Units in order for them to startup and operate properly A UNIT PWR LED Indicator is provided on the following Units GRT1 ECT EtherCAT Communication Unit GRT1 TBL Left Turnback Unit The table below shows the LED Indicator options GRT1 series EtherCAT Communication Unit Operation Manual 6 GRT1 ECT Troubleshooting Unit Power Error PWR Cause Actions indicator Off No Power or not enough power is Check whether power is supplied to the Unit Power being supplied to the Units See Connector note Check that the supplied power is with in the req
13. uoneoiunuuuo5 JeDeuey 2045 9 L pv GRT1 series EtherCAT Communication Unit Operation Manual 4 9 4 Appendix Object Dictionary 4 1 7 Manufacturer Specific Objects This section explains the CiA401 generic I O module device profile implemented in the GRT1 series EtherCAT Communication Unit Device Profile area 60 kk hex Digital inputs n n hh where kk 10 12 hex 10 hex 240 1 Sub index 0 Number of digital inputs n n hh Range 00 hex to 04 hex Unit Default hh Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Digital input n Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Possible Sub index Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Possible Sub index hh Digital input n hh Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Possible These objects contain the actual value for each digital input connected to the GRT1 ECT The size and number of digital input objects depends on the total number of connected digital inputs When no digital inputs are connected only object 6010 hex will be created containing 0 entries Each digital input object will only hold 240 entries maximum When the object is completely filled a new object will be created containing again a maximum of 240 entries and
14. e r c Safe Operational Operational State trans EDO weer Contents munication mission tion Initialization Not possible Not possible Not possible Communication is being initialized Init Communication is not possible Pre Operational Possible Not possible Not possible Initialization of network settings Pre Op SDO communication is possible Safe Operational Possible Possible Not possible PDO communication is possible Safe Op e g status from a Slave Unit SDO communication is possible Operational Possible Possible Possible Normal communication state Op PDO communication to control I O data GRT1 series EtherCAT Communication Unit Operation Manual 2 EtherCAT Communication details GRT1 series EtherCAT Communication Unit Operation Manual GRT1 ECT Network location and Features LADIES This section provides an introductory overview of the GRT1 series SmartSlice I O Units and the GRT1 ECT EtherCAT Communication Unit and its functions for an EtherCAT network 3 1 GRT1 ECT In network with SmartSlices 3 2 3 2 GRTT ECT Features 2 3 6s RR 3 3 3 2 1 Features oos rk bw e Arp ie redo we a a ie TRA D 3 3 3 2 2 GRT1 ECT and SmartSlices data exchange 3 4 GRT1 series EtherCAT Communication Unit Operation Manual 2 1 3 GRT1 ECT Network location and
15. The Communication Unit s TS LED intermittently flashes green The TS LED of the I O Units in front of the bad connec tion light green while the TS LED of the I O Units behind the bad connection are OFF The slide connector on the left side of the affected Unit is not connected prop erly Connect this slide connector properly and turn the power ON again Communications Unit Indicator Unit Indicator e LED Indicator Not lit OFF Bad connection The Communication Unit s TS LED flashes green and the I O Unit s TS LED is ON The End Unit is not connected properly Connect the End Unit properly and turn the power ON again Communications Unit Indicator Unit Indicator Aao LED Indicators 277 GRT1 series EtherCAT Communication Unit Operation Manual Bad connection sJ0jeoipul Bunoouse qno4 1 9 uoneoiunululo2 O 2 6 61019 p L 9 6 1 Troubleshooting 6 2 Troubleshooting with Sysmac Studio Sysmac Studio also has information available to help troubleshooting 1 Select the Troubleshooting item from the Tools menu Controller Errors 7 Level Source Source Details Minor FtherCAT Master Node No 1 GRTI ECT Siwe Application 084280000 Shave irstyalieation fole Cause 1 An error occurred in EtherCAT master processing
16. 7 7 7 2 3 Connecting the EtherCAT Unit SmartSlice I O Units 7 8 7 2 4 Connecting Additional SmartSlice I O Units 7 9 7 3 Installing the Power Supplies 7 11 7 3 1 Precautions for Power Supplies 7 11 7 3 2 Unit Power Supply Calculation 7 12 7 3 3 SmartSlice Power Supply 7 13 7 3 4 Power Supplies Example 7 14 3 5 Wiring Methods a epee pate aeons od 7 15 7 3 6 Connecting the Turnback 7 17 7 4 Replacement nrima Rl RI eee teen oe 7 18 7 4 1 Replacement Precautions 7 18 7 4 2 Setting the Unit after 7 18 GRT1 series EtherCAT Communication Unit Operation Manual 7 1 7 GRT1 ECT Installation 7 1 Installing EtherCAT Network This section explains how to install an EtherCAT network 7 1 1 Precautions for Network Connection Observe following precautions when installing an EtherCAT network General Precautions Take sufficient safety measures OMRON recommends qualified engineers for all network related actions nstall the network according to the network standards and th
17. 1222 hex 02 hex 6UUU hex UU hex 8 8 1222 03 6YYY hex YY hex 16 g v 1 PBO Lengh 32Bib Got d i PDO 1 Object A Object Object D 3 9 6TTT hex TT hex Object A 8 6UUU hex UU hex Object B BVVV hex VV hex Object C 5 6YYY hex YY hex Object D 8 6222 hex ZZhex Object E 8 lt 2 3 3 Sync Manager 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 1C13 hex is for TxPDOs sBunjes Odd 1eBeuey ou S 2 The figure below shows an example of sync manager PDO mapping ag a Index Sub Object contents 5 E 1CiZhex 1 1A00 hex 5 E 1 12 2 1 01 o S iCiZhex 3 1A03 hex 5 8 Sync manager entity 2 1A00 hex PDOA E 1A01 hex PDOB 1 02 PDO 1A03 hex PDOD amp 1A04 hex PDOE gt 1A05 hex PDOF 1A06 hex PDO G 2 3 4 PDO Mapping for GRT1 ECT The PDO mapping of the GRT1 ECT depends on the connected SmartSlice units and is detected and configured automatically by the GRT1 ECT The PDO mapping can also be configured by the connected EtherCAT master Ho
18. Add all Analog outputs together Multiply by 2 Size Counter Ouiputs Each Counter SmartSlice Unit uses 6 bytes Add all Counter Units together Multiply by 6 ES Additional information Example One unit GRT1 OD4 One unit GRT1 ROS2 GRT1 ODA 4 bits GRT1 ROS2 2 bits Total Output bits 6 Convert to bytes round 6 8 1 byte 8 16 GRT1 series EtherCAT Communication Unit Operation Manual 8 Sysmac Studio Calculate the IO size 5 Calculate IO data size The IO data size O size in bytes is defined as the maximum of the input data size N SIZE and the output data size OUT size i Calculate the I O refresh time 6 Calculate I O refresh time I O refresh time Pack Unpack Xmit Required are the calculations of OUT size IN size and IO size Pack Pack is the time required by the EtherCAT master to generate the OUT data Pack 0 007 OUT size byte Unpack Unpack is time required by the EtherCAT master to retrieve the IN data Unpack 0 009 size byte Xmit Xmit is the time required to transmit the EtherCAT data Xmit Processing time per slave transfer time per byte Xmit 1 24 0 082 IO size byte eui Bunejnoje 6 8 usejjes UOHEINIIED 24 658 GRT1 series EtherCAT Communication Unit Operation Manual 8 17 8 Sysmac Studio 8 3 3 Example calculation refresh time Please refer to the following example 1 N w
19. 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 13 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 communication power internal power and I O power The OMRON S8JX 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 and other conditions You must therefore confirm that the overall machine or equipment complies with EC Directives Conformance with the EC Directives was confirmed
20. 6 mA 3 wire connection GRT1 ID8 8 NPN inputs 24 VDC 4 mA 1 wire connection 4xG GRT 1 ID8 1 8 PNP inputs 24 VDC 4 mA 1 wire connection 4xV GRT1 OD4 4 NPN outputs 24 VDC 500 mA 2 wire connection GRT1 OD4 1 4 PNP outputs 24 VDC 500 mA 2 wire connection GRit ODAGHE NP 24 VDC 500 mA 3 wire connection with shortcircuit protection GRITODAG S NE eee from 4 x 2 0 A at 30 C to 4 x 1 0 A at 55 C with shortcircuit protection GRT 1 OD8 8 NPN outputs 24 VDC 500 mA 1 wire connection 4xV GRT 1 OD8 1 8 PNP outputs 24 VDC 500 mA 1 wire connection 4xG SENE outputs 24 VDC 500 mA 1 wire connection 4xG with shortcircuit protection GRT1 ROS2 2 relay outputs 240 VAC 2A normally open contacts GRT1 AD2 2 analog inputs current voltage 10 V 0 10 V 0 5 V 1 5 V 0 20 mA 4 20 mA GRT1 DA2V 2 analog outputs voltage 10 V 0 10 V 0 5 V 1 5 V GRT1 DA2C 2 analog outputs current 0 20 mA 4 20 mA 1 4 1 Four point AC Input Unit 100 to 120 VAC 50 60 Hz 1 4 2 Four point AC Input Unit 200 to 240 VAC 50 60 Hz GRT1 TS2P Two point Temperature Resistance thermometer input Input type Input Unit PT100 200 to 850 C or PT100 200 to 200 C GRT1 TS2PK Two point Temperature Resistance thermometer input Input type Input Unit 1000 200 to 850 C PT1000 200 to 200 C Two point Temperature Thermocouple input Input type R S K J T E B N L GREISA Input Unit U W or PL2 GRT1 CT1
21. AL status code 0x8002 One or more SmartSlice Units are not set to their default config uration Replace the SmartSlice I O Unit s or set to their default configuration AL status code 0 8003 Slice bus initializa tion failure Slice registration wrong Only an end slice present AL status code 0x0024 Input PDO map ping incorrect Correct SmartSlice configuration Number or type of Digital or Analog Input Units AL status code 0 0025 Output map ping incorrect e Correct the output PDO mapping according SmartSlice configura tion e Correct SmartSlice configuration Number or type of Digital or Ana log Output Units GRT1 series EtherCAT Communication Unit Operation Manual 6 1 Troubleshooting 6 1 4 Other Errors SmartSlice I O Communication This section deals with troubleshooting the SmartSlice communication on the network from a behavior point of view The column on the left describes the general perceived problem to the user The columns on the right list the possible causes and their remedies Problem The Communication Unit s Unit Power LED is flash ing The I O Unit repeatedly checks LEDs TS LED flashing green and red Cause The Unit power supply capacity is insuffi cient Actions Check the entire SmartSlice I O Sys tem s power supply requirement and replace the power supply with one that has sufficient capacity
22. Mount a Right Turnback Unit GRT1 TBR at the side of this first group 3 Mount a Left Turnback Unit GRT1 TBL at the left side of the second group 4 Connect the Right and Left Turnback Unit with a Turnback Cable 5 Connect the 24 VDC Unit power supply to the Left Turnback Unit GRT1 TBL ES Reference When separating SmartSlice I O Units supply all SmartSlice groups with power from the same power supply See also the Wiring Example Always use isolated power supplies for the power supplies Power is not supplied through the GCN2 100 Turnback Cable Refer to the Wiring Example 7 12 GX series EtherCAT Slave Unit User s Manual 7 GRT1 ECT Installation 7 3 3 SmartSlice I O Power Supply Calculation The SmartSlice I O power supply is limited to a total current consumption of 4 A This power limit is related to the connected Inputs and Outputs If the limit is exceeded it is required to add one or more additional power supplies Calculate required addition of Power Supplies The maximum I O current consumption is 4 A 1 Calculate the total current consumption Calculate all external I O of all connected SmartSlice I O Units this includes other Units like Turnback Units Refer to the GRT1 Series SmartSlice Units Operation Manual W455 for the current value of each SmartSlice Unit ES Reference The current consumption calculation is important for actual occuring current consumption If I O can not be
23. Procedure 5 11 Mapping table 2 4 N Node address 4 8 Object dictionary 2 2 2 4 Online replacement 5 8 Operational 2 7 Operational state 5 10 P PDO 2 2 2 4 PDO communications 5 10 PDO mapping 2 2 2 4 2 5 5 10 PDO mapping object 2 4 Power Supply Precautions 1 11 Pre operational 2 7 Pre operational state 5 10 PWR LED 4 5 R RUN Indicator 4 3 RxPDO 2 4 5 Safe operational state 2 7 Safety 1 8 SDO 2 2 SDO communications 2 6 5 10 5 12 SmartSlice Unit errors 6 4 SmartSlice I O Units Online replacement 5 8 Troubleshooting 6 4 Symbols 1 8 Sync manager channel 2 5 Sync manager PDO assignment object 2 4 2 5 Sync manager PDO assignment table 2 5 Sync manager PDO mapping 2 5 Table registration 5 6 Troubleshooting SmartSlice I O Unit errors 6 4 TxPDO 2 4 Typography 1 3 U Unit power supply 1 7 7 11 Warranty 1 5 Wiring Precautions 1 11 Wiring standards 7 4 GRT1 series EtherCAT Communication Unit Operation Manual Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual Cat No W18E EN 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 Revised content October 2011 First release 02 March 2012 GRT1 ECT Version 2 1 GRT1 CT1 1 and GRT1 CP1 L added G
24. State Contents OFF Unit power OFF state The unit power 24 VDC is supplied to Slave indicators Indicates the communication state of the input side and output side OUT Color State Contents 3 OFF Link not established in physical layer Flickering In operation after establishing link 5 ON Link established in physical layer 5 GRT1 series EtherCAT Communication Unit Operation Manual 4 5 4 GRT1 ECT Details 4 1 3 DIP switches ZEON 15 1s 1s Q1IREGS e E 3 ADR In 4BACK ON OFF ON The backup operation starts after DIP switch 4 is turned from ON to OFF to ON within 3 seconds DIP switch Function Setting Description ON Registered table is enabled REGS Create enable OFF Registered table is disabled registration table OFF to ON Register I O unit table ON to OFF Clear registered unit table NC N A OFF Not used always set to OFF When the SmartSlice Units are replaced the parameter data that was ADR Automatic restore OFF to ON backed up with the BACK dipswitch is automatically restored OFF Automatic restore disabled ON to OFF to Parameter data of all connected RAMS rigger ON in3s SmartSlice I O Units is backed up a en the unit power 15 on b When DIP switch 1 REGS is set to ON Precautions for Correct Use The Backup and Restore functio
25. There are two types of data objects in this dictionary Process Data Objects Contains Process data Composed of objects that can be mapped The process data is defined by PDO mapping PDO is primarily used in PDO communication for cyclic exchange of process data Service Data Objects SDO SDO are used in non cyclic type SDO event type messages communication 2 2 GRT1 series EtherCAT Communication Unit Operation Manual 2 EtherCAT Communication details 2 2 EtherCAT Slave Information File ESI File An EtherCAT Slave Information ESI file contains the setting information of an EtherCAT Slave Unit uoneuuoju e e S 1v249u34 cc The network setting software Configuration Tool uses the ESI files to create the network connection information This information is transferred to the EtherCAT Master Unit to establish a communication network 5 Sysmac Studio EtherCAT master gt mp information ESI files e d EtherCAT slaves Lo Rl ES Communications are started according to the communications settings and the network configuration in the ESI files that are installed GRT1 series EtherCAT Communication Unit Operation Manual 2 3 2 EtherCAT Communication details 2 3 Process Data Objects PDO This section contains information on Process Data Objects PDOs
26. and their mapping 2 3 1 Overview The Process Data Objects PDO are used for real time data transfer via cyclic communication There are two types in PDO RxPDO that transfers data from the EtherCAT Master to the EtherCAT Slave and TxPDO that transfers the present value from an EtherCAT Slave to the EtherCAT Master 4 operation command EtherCAT P Um EtherCAT Master Slave Unit Unit TxPDO input data status The EtherCAT application layer can contain multiple objects to configure the process data being exchanged The details of process data are described in PDO Mapping Objects and Sync Manager PDO Assignment Objects GRT1 series EtherCAT Communication Unit supports PDO mapping for I O control 2 3 2 PDO Mapping Settings The PDO mapping indicates the mapping for application objects real time 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 2 4 GRT1 series EtherCAT Communication Unit Operation Manual 2 EtherCAT Communication details The figure below shows an example of PDO mapping N e Object dictionary 2 2 8 8 Sub Object contents 9 1222 01 6TTT hex TT hex 8
27. 40 hex GRT1 series EtherCAT Communication Unit Operation Manual 4 11 Pafqo gt siefqo L pv 4 Appendix Object Dictionary 7020 Counter outputs Sub index 0 Number of counter outputs 1 hh Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Counter output 1 Range 00000000 hex toFFFF FFFF hex Unit Default Attribute Size 4 bytes INT32 Access RO PDO map Possible Sub index 2 Counter output 2 Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes U16 Access RO PDO map Possible Sub index n Counter output n Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes U16 Access RO PDO map Possible These objects contain the actual value for each counter output connected to the GRT1 ECT The size and number of counter output objects depends on the total number of connected counter outputs When no counter outputs are connected object 7020 hex will contain 0 entries Value range depends on the total number of counter outputs hh 01 20 A4 12 GRT1 series EtherCAT Communication Unit Operation Manual 4 Appendix Object Dictionary 4 1 8 Modular Device Profile area The following objects are part of the Modular Device Profile and contain data and settings specifica
28. 8 3 3 Example calculation I O refresh 8 2 00 4 8 18 Chapter A1 Appendix EtherCAT Terminology A1 1 1 1 EtherCAT Terminology icccice ccccieccssdceeceschsctectecvseccusdecarsteecetevescaetcecdsdeuectesespauciecdsstctece serzt A1 2 Chapter A2 Appendix EtherCAT Specifications A2 1 A2 1 SpecificatiOns PEE RD ete Gu ee RAT ERR A2 2 A2 1 1 EtherCAT nns A2 2 Chapter Appendix GRT1 ECT Specifications A3 1 A3 1 Specifications GRTT ECT iere ree Dc rece Ee Deere iE A3 2 A3 1 1 Installation specifications noo ep A3 2 A3 1 2 Environment A3 2 A3 1 3 SmartSlice I O System A3 2 A3 1 4 Supported SmartSlice A3 3 1 57 1 m d ertet ttal bg A3 4 GRT1 series EtherCAT Communication Unit Operation Manual Chapter 4 Appendix Object Dictionary 4 1 A4 1 Object Dictionary iren REED i ERES 4 2 4 1 1 Object Dictionary Area 11
29. A Define the SmartSlice configuration In this example GRT1 ID4 GRT1 ID4 GRT1 ID4 GRT1 OD4 GRT1 OD4 GRT1 OD8 GRT1 DA2V GRT1 AD2 Calculate input Add all digital indata size puts together 104 4 bits ID4 4 bits ID4 4 bits 12 bits Divide the total number of digital inputs by 8 and round to the next integer value 12 bits 8 1 5 resulting in 2 bytes of digital input data Add the analog input data 4 bytes per analog SmartSlice Input Unit 2 bytes digital 4 bytes analog 6 bytes Add 2 bytes for the Communication Unit status 6 bytes digital analog 2 bytes Communication Unit status 8 bytes So IN size 8 Calculate output data size Add all digital outputs together OD4 4 bits OD4 4 bits OD4 8 bits 16 bits Divide the total number of digital outputs by 8 and round to the next integer value 16 bits 8 2 bytes of digital output data Add the analog output data 4 bytes per analog SmartSlice Input Unit 2 bytes digital 4 bytes analog 6 bytes So OUT size 6 Calculate IO data size IN size 8 gt OUT size 6 resulting in O size 8 Calculate refresh time Pack 0 007 OUT size 0 007 6 2 0 042 Unpack 0 009 size 0 009 8 0 072 Xmit 1 24 0 082 size 1 24 0 082 8 1 896 refresh time per slave Pack Unpack Xmit 0 042 0 072 1 896 2 0us GRT1 series EtherCAT Communication Unit Operation
30. Features 3 1 GRT1 ECT In network with SmartSlices The GRT1 Series SmartSlice I O Units are building block style I O devices which can be expanded small I O increments This provides the possibility to configure I O systems which exactly match the various applications SmartSlice Units communicate with the EtherCAT Master Unit by remote communication through EtherCAT Communication Unit The figure below shows a typical I O configuration EtherCAT master H USB Ethernet connection For setting monitoring and operating EtherCAT GRT1 ECT EtherCAT ren SmartSlice 1 Communication Unit System SmartSlice I O Units Up to 64 SmartSlice I O Units can be connected to one Communication Unit Up to 512 inputs and 512 outputs can be connected SmartSlice I O configurations can be very compact consisting of only a few I O points but they can also be extended to up to 64 I O slices The slice configuration can also be subdivided
31. Press the Unit firmly until it clicks indicating that the Unit s DIN rail Mounting Hooks have all locked onto the DIN rail uo uonejejsu 7 2 2 When the Unit is pushed onto the DIN Rail verify that the Mounting Hooks have locked Mounting Hooks Press firmly towards the DIN Rail Press firmly until you hear a click indicating that the Mounting Hooks have locked GX series EtherCAT Slave Unit User s Manual 7 7 7 GRT1 ECT Installation Removing a Unit Use a standard screwdriver to release the DIN Rail Mounting Hooks at the top and bottom of the Unit and pull the Unit straight away from the DIN Rail 7 2 3 Connecting the EtherCAT Unit and SmartSlice I O Units Connect the first SmartSlice I O Unit to the EtherCAT Communication Unit by aligning the sides of the Units and sliding in the SmartSlice Unit from the front Additional SmartSlice Units can be connected consecutively to the first Slide the Slice Unit toward the DIN Rail from the front Insert the Unit until you hear a click which indicates that the Unit has locked on the Rail It is normally not necessary to release the DIN Rail mounting hook when mounting the Unit H Precautions for Correct Use Do not touch the connector on the Unit s base block GX series EtherCAT Slave Unit User s Manual 7 1 Installation 7 2 4 Connecting Additional SmartSlice I O Units Connect additional
32. SmartSlice I O Units by aligning the sides of the Units and sliding in the next Unit from the front Up to 64 SmartSlice Units can be connected to one EtherCAT Communication Unit Slide the Unit to the DIN Rail from the front Insert the Unit until you hear a click which indicates that the Unit has locked on the Rail It is normally not necessary to release the DIN Rail mounting hook when mounting the Unit Connecting Turnback Units When a SmartSlice I O System is divided into blocks connect a GRT1 TBR Right Turnback Unit to the right end of the first block Connect a GRT1 TBL Left Turnback Unit to the left side of the expansion block and connect additional SmartSlice Units Use a GCN2 100 Turnback Cable to connect the Turnback Units together syuf pue 193 149 uonejejsu Z Z m Turnback Cable connectors GRT1 TBR Turnback Unit GRT1 TBL Turnback Unit for right side of block for left side of block The Turnback Units can be used to divide a SmartSlice I O System into up to three blocks SHUN BdIISHews jeuonippy Bunoeuuo 4 7 2 GX series EtherCAT Slave Unit User s Manual 7 9 7 GRT1 ECT Installation Connecting the End Unit A GRT1 END End Unit must be connected at the end of the SmartSlice I O System GRT1 END End Unit Installing the End Plates Always secure the SmartSlice System on the DIN Rail by installing End Plates on both sides of the System First hook the bottom of the
33. Unit Alarm Indicates a major SmartSlice Unit error 0 Normal This flag goes ON when there is an error in one of the 1 Error detected connected SmartSlice I O Units 5 11 Reserved 12 Unit Maintenance Monitors the operating time threshold that is set with 0 Normal 1 Error monitor value reached the Unit power ON time monitor function GRT1 series EtherCAT Communication Unit Operation Manual 4 Appendix Object Dictionary Bit Name Contents 13 Automatic Restore Monitor Indicates whether or not the automatic parameter 0 Restore successful restore to the SmartSlice I O Units 1 Restore failed was completed successfully 14 Communication Unit Error This flag is ON if one of the other flags bits O to 13 is 0 Normal ON 1 Error occurred 15 Refreshing Indicates whether data is exchanged normally 0 I O communication stopped 1 communication normal F200 hex Device control Sub index 0 Number of objects Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Enable output hold Range 0 to 1 Unit Default 0 Attribute Size 1 byte U8 Access RO PDO map Not possible When set to 1 Hold all output data will hold their value when hold clear function becomes active When set to 0 Clear all output data will be zeroed When set to 2 the IDLE command will be sent to the slice ma
34. and runs from left to right It is not necessary for the user to set these numbers GRT1 series EtherCAT Communication Unit Operation Manual 5 3 5 GRT1 ECT Procedures The SmartSlice I O unit numbers are assigned automatically in order from left to right EtherCAT Communication Unit ES Reference The presence of Turnback units and cables does not influence the automatic allocation of Unit numbers The unit numbers allocated automatically to the SmartSlice Units are unrelated to the EtherCAT station address set with the rotary switches 5 2 4 Communication Unit s Status Flags These flags can be used to monitor the status of the connections between the GRT1 ECT and the SmartSlice I O Units as well as the status of the SmartSlice I O Units themselves The status flags take up 1 word and the information is transferred to the Master as part of the Input data The table below defines the individual bits in the Status word Bit Name Contents 0 SmartSlice I O Bus Monitors the status of SmartSlice I O communication Communication Error 1 Reserved 2 SmartSlice I O Unit Warning Indicates a minor SmartSlice I O Unit error 0 Normal This flag goes ON when there is an error in any one of 1 Error detected the connected SmartSlice l OUnits 3 Reserved 4 SmartSlice I O Unit Alarm Indicates a major SmartSlice Unit error 0 Normal This flag goes ON when there is an error in one
35. drop and cable dimensions can be influenced Check if all parameters stay within specifications GX series EtherCAT Slave Unit User s Manual 7 11 7 GRT1 ECT Installation 7 3 2 Unit Power Supply Calculation Power supply specifications Item Specification Output voltage 24 VDC 10 Output ripple 600 mVp p The capacity to supply at least the power of the total current consumption of all connected Units Between output and AC power supply and between output and chassis ground Output current Isolation OMRON recommends the OMRON S8JX series power supplies for Slaves The power limit for the Unit power supply is 80W This power limit is related to the connected SmartSlice Units If the limit is exceeded it is required to separate the SmartSlice Units in two or more groups Mount Turnback Units to the SmartSlice Units that are separated and connect the Turnback Units with a Turnback Cable to continue the Unit Communication channels Calculate required separation of SmartSlice I O Units The maximum total power consumption for SmartSlice Units is 80 W per block 1 Calculate the power consumption of all connected SmartSlice Units Refer to the GRT1 Series SmartSlice I O Units Operation Manual W455 for the power rating of each SmartSlice I O Unit 2 If the total power consumption exceeds 80 W then regroup the SmartSlice I O Units 1 Create a first group with a power consumption less then 80W 2
36. length of 8 to 10 mm gt i Strip 7 to 10 mm Pin length 8 to 10 mm GX series EtherCAT Slave Unit User s Manual 7 GRT1 ECT Installation 7 3 6 Connecting the Turnback Units When a SmartSlice I O System is divided into blocks to expand the system connect a GRT1 TBR Right Turnback Unit to the GRT1 TBL Left Turnback Unit with a GCN2 100 Turnback Cable V Precautions for Correct Use Power is not supplied through the GCN2 100 Turnback Cable Always wire supply the power to the GRT1 TBL Left Turnback Unit from the same power supply that supplies the EtherCAT Communication Unit Connect the Turnback Units with a Turnback Cable as shown in the following diagram A single EtherCAT Communication Unit can be expanded with up to two additional blocks connected with two Turnback Cables 2 m total GRT1 TBR Turnback Unit seijddng ou m GCN2 100 Turnback Cable Insert the cable s connector fully until it clicks which indicates that the connector s top and bottom latches have locked spun xoequun ey Bunoeuuo2 9 GX series EtherCAT Slave Unit User s Manual 7 17 7 GRT1 ECT Installatio
37. nected or loose in the part that con nects to the connector sJojeoipul Bunoouse qno4 1 9 sog VOJ9eUI3 9 6 GRT1 ECT Troubleshooting ESIN RUN ERR SERES indicator 5 Safe It is commanded Operational from the EtherCAT state Master Unit to shift to the Safe Opera tional state Pre It is commanded Operational from the EtherCAT state Master Unit to shift to the Pre Opera tional state Off Init state It is commanded from the EtherCAT Master Unit to shift to the Init state Actions If the undesired state occured during operation of the system check the state of the connected EtherCAT Master Unit Due to the EtherCAT specification a communication timeout does not occur with those Slaves that only handle input data Errors returning AL status code L A IN L A OUT indicator RUN indicator Off ERR indicator B Description AL status code 0 0061 Cause ID selector lt gt 0 written Slave Actions Slave Node Address is automatically updated to 0 Node Address lt gt 0 Cycle the power to the GRT1 ECT AL status code Unsupported Remove the unsupported SmartSlice 0x8001 SmartSlice Unit detected Unit The following Units are not supported GRT1 END M use GRT1 END GRT1 CT1 1 and CP1 L are supported from Ver 2 1
38. of the same type Mount the terminal block that was removed in step 2 and latch the hook that was released Q A Na Turn ON the I O power supply Precautions for Correct Use Ct When a Unit withdraws from I O communication during replacement the corresponding SmartSlice I O Unit Communication Withdrawn Flag will go ON and the EtherCAT Communication Unit s TS indicator will flash red Before using the automatic restore function the preparation for automatic restoration creating backup data and turning ON DIP switch 3 must be completed See 5 2 8 Automatic Device Restore Function 3 ADR for details Always turn OFF the I O Unit s I O power supply before replacement in order to prevent false output signals false input signals and electrical shocks In addition if external power is supplied to the terminal block for a Unit such as a Relay Output Unit turn OFF that power supply before replacing the Unit Only replace one I O Unit at a time Always replace the I O Unit with the same model of I O Unit If a Unit is replaced with a different model there may be unexpected outputs and the restore operation may not be completed properly If the base block is faulty or damaged turn OFF the power supply and replace the entire Unit Even in this case the I O Unit s parameter data will be restored automatically if the automatic restore function is enabled when the power is turned ON GRT1 series EtherCAT Comm
39. over two or more blocks using local extension units and extension cables as shown in the figure above ES Reference The GRT1 Series of SmartSlice I O Units and Communication Units is constantly being expanded with new Units Refer to the latest revisions of the GRT1 Series SmartSlice Units Operation Manual W455 3 2 GRT1 series EtherCAT Communication Unit Operation Manual 3 1 Network location and Features 3 2 GRT1 ECT Features 3 2 1 Features The GRT1 ECT EtherCAT Communication Unit controls data exchange over the EtherCAT network between the EtherCAT Master and SmartSlice Units e Manage Multiple SmartSlice Units as One Slave A single EtherCAT Communication Unit with up to 64 connected SmartSlice I O Units can be managed as a single slave device from the EtherCAT Master I O Data Exchange Cyclic data exchange is used to exchange I O data between the EtherCAT Master SmartSlice I O Units through the EtherCAT Communication Unit In addition to I O data various status information in the EtherCAT Communication Unit can be accessed from the EtherCAT Master Unit e Simplified Startup The EtherCAT Communication Unit can be set up easily just by wiring the Unit setting the EtherCAT node address on the Unit s rotary switches and making simple DIP switch settings The Units configuration is read automatically when the power is turned ON and I O is also automatically allocated in t
40. power is with in the required a range i e 24 Vdc 10 15 20 4 to 26 4 Vdc No I O power error The correct power is supplied to the External I O System GRT1 series EtherCAT Communication Unit Operation Manual 6 3 6 GRT1 ECT Troubleshooting 6 1 2 SmartSlice I O System Errors TS indicator on GRT1 ECT Color Cause Actions indicator Off Power is not being supplied to the Unit Refer to section 6 1 1 Power Supply Errors Flashing Green Joining SmartSlice I O Units to network Wait until the SmartSlice I O Units have 1 Hz been added to the network There is a possible break in the connec Check the connection between slices at tion between individual slices or one of the point where the first Unit is located the SmartSlice sockets has not been with its TS LED Indicator OFF connected properly to its left neighboring Ensure that all slices are connected cor connector rectly to each other The TS LED Indicator on all correctly connected slices are flashing whereas the TS LED Indicators on the non correct Units are Not Lit OFF The End Unit is not properly attached Check the End Unit connection and ensure SmartSlice Communication does not that it is correctly connected to the Smart start up Slice system The TS LED Indicator on all SmartSlice Units slices are flashing Red SmartSlice bus communication error Check whether the SmartSlice System s occu
41. 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 WOMON 1v24eui3 ue Buirejsu 1 7 uoneJedaeJg pue se qe Z L GX series EtherCAT Slave Unit User s Manual 7 3 7 GRT1 ECT Installation 7 1 3 Communication Cables and Connectors Wiring Connect a communication cable and a connector by wiring them straight as shown below Qe ng Pin No Wire color Wire color Pin No 1 White Green pee White Green 1 2 Green Green 2 3 White Orange White Orange 3 4 Blue Blue 4 5 White Blue White Blue 5 6 Orange Orange 6 7 White Brown es White Brown 7 8 Brown Brown 8 Connector Shielded cable Shielded cable bead EN Reference e 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 e Connect both ends of cable shielded wires to the connector hoods The twisted pairs 1 amp 2 3 amp 6 4 amp 5 and 7 amp 8 7 4 GX series EtherCAT Slave Unit User s Manual 7 GRT1 ECT Installation 7 1 4 Connecting the
42. so on Value range depends on the total number of digital inputs kk 10 12 hex hh 01 F0 hex 6020 hex Analog inputs Sub index 0 Number of analog inputs 1 hh Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Analog input 1 Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes INT16 Access RO PDO map Possible Sub index Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes INT16 Access RO PDO map Possible Sub index n Analog input n Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes INT16 Access RO PDO map Possible These objects contain the actual value for each analog input connected to the GRT1 ECT The size and number of analog input objects depends on the total number of connected analog inputs When no analog inputs are connected object 6020 hex will contain 0 entries Value range depends on the total number of analog inputs hh 01 40 hex 6030 hex Counter inputs Sub index 0 Number of counter inputs 1 hh Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Counter input 1 Range 00000000 hex to FFFFFFFF hex Unit Default Attribute Size 4 bytes INT32 Access RO PDO map Possible A4 10 GRT1 seri
43. the areas below Indexes Area Contents 0000 hex Data Type area Definitions of data types 1000 hex 1FFF hex GCSE Conimuneation dned Definitions of variables that can be used by all servers for designated communication 2000 hex 2FFF hex Manufacturer Specific area 1 Variables defined for all OMRON products Variables defined for the GRT1 series EtherCAT Communication Unit Variables defined for CiA401 generic module device profiles profile specifying the CAN application protocol interface for devices with digital I Os and analog I Os A000 hex EFFF hex Reserved area Area reserved for future use Variables for the Modular Device Profile part of the GRT1 series EtherCAT Communication Unit 3000 hex 5FFF hex Manufacturer Specific area 2 6000 hex 9FFF hex Device Profile area F000 hex FFFF hex Modular Device Profile area 4 1 2 Data Types This 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 4 2 GRT1 series EtherCAT Communication Unit Operation Manual 4 Appendix Object Dictionary A4 1 3 Object Description Format In this manual objects are describ
44. the connected SmartSlice I O Units external I O eS cie ms EtherCAT Unit Label Unit Version OMRON MANUFACTURING OF THE NETHERLANDS MADE IN THE NETHERLANDS Conformity RENI stamps QN1875 GRT1 series EtherCAT Communication Unit Operation Manual 4 GRT1 ECT Details 4 1 2 Status Indicators RUN UNIT PWR ERR 1 0 PWR 12371189 b p RUN indicator Indicates the operation state Color State Contents 27 Init state Gre n Blinking Pre Operational state Single flash Safe Operational state o ON Operational state a o For details on each state refer to 2 5 Communication State Transitions in Page 2 7 ERR indicator It indicates the information of an error Color Red State Contents OFF No error Blinking Communication setting error Single flash Synchronization error or communication data error Double flash Application WDT timeout Flickering Boot error ON PDI WDT timeout GRT1 series EtherCAT Communication Unit Operation Manual 4 GRT1 ECT Details ES Refe
45. 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 block will be distorted and cracked GX sorles 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 The wire size and sheath diameter of applicable cables vary by the type of connector Use the next table to check that the e CON connectors to be used conform to the wire size and sheath diameter of the cables of the connected device Tyco Electronics connectors Model Housing color Applicable wire range 314735624 Orange Sheath diameter 081003 mm 114735624 Red Sheath Giameter 0 810 10mm Cros sectional area 0 08 to 14755824 Yellow Sheath diameter 010 118mm 0772 214735624 Sheath diameter 1 15 to 1 35 mm 114735824 Green Sheath diameter 1 35 fo 1 60 mm Sumitomo connectors Model Housing color Applicable wire range AWG26 014mm to AWG24 0 2mm Fe Sheath diameter 0 810 1 0 mm 81224 fallow AWG26 0 14mm to AWG24 0 2mm Sheath diameter 1 010 1 2 mm
46. 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 GRT1 series EtherCAT Communication Unit Operation Manual Trademarks EtherCAT P is a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Windows is a registered trademark of Microsoft Corporation in the USA e SYSMAC is a registered trademark for Programmable Controllers made by OMRON Corporation CX One is a registered trademark for Programming 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 GRT1 series EtherCAT Communication Unit Operation Manual 14 Contents Chapter 1 1 1 1 2 Chapter 2 2 1 2 2 2 3 2 4 2 5 Chapter 3 3 1 3 2 Introduction 3 einer eie a eicere 1 1 Intended Readers iieri eee eee Re Hagae EUH 1 1 Manual Layout Icons 1 2 Page Structures 3 25 dtt teer e e EP DO 1 2 IGOWS c cd eL Diu M cni E 1 3 PYPOQFAPNY 1 3 5 c 1 4 Related Manuals 2 5 delen
47. 03 One or more SmartSlice Units are not set to their default config uration Slice bus initialization failure Replace the SmartSlice I O Unit s or set to their default configuration Slice registration wrong Only an end slice present 0x0024 Input PDO mapping incorrect Correct the input PDO mapping according SmartSlice configuration 0x0025 Output PDO mapping incorrect GRT1 series EtherCAT Communication Unit Operation Manual Correct the output PDO mapping according SmartSlice configuration oipnys euis S 2 9 UOHedUNWWOD O 2 5 61019 p L 9 6 GRT1 ECT Troubleshooting GRT1 series EtherCAT Communication Unit Operation Manual GRT1 ECT Installation This chapter explains mounting wiring and replacement of the EtherCAT Slave 7 1 Installing an EtherCAT Network 7 2 7 1 1 Precautions for Network Connection 7 2 7 1 2 Communication Cables and Connectors Preparation 7 3 7 1 3 Communication Cables and Connectors Wiring 7 4 7 1 4 Connecting the Communication Cables 7 5 7 2 Installation GRT1 ECT and Units 7 6 7 2 1 Handling Precautions 7 6 7 2 2 Installation on a DIN Rail
48. 1 60 kHz Counter unit NPN A B encoder inputs 1 Z control input 1 output NPN type GRT1 CT1 11 60 kHz Counter unit PNP A B encoder inputs 1 Z control input 1 output PNP type GRT1 CP1 L1 A B Z encoder inputs line driver or 24 V selectable 100 kHz Counter Positioner unit 1 control input 2 outputs PNP type GRT1 END End plate One unit required per bus interface GRT1 PD2 power feed Unit separates power supply between groups of I O units GRT1 PD2G power feed Unit with electronic overload protection separates power supply between groups of I O units power feed and distribution Unit separates power supply between groups of I O units 8xV GRT1 PD8 4 6 GRT1 PD8 1 power feed and distribution Unit separates power supply between groups of I O units 8xV 4 6 GRT1 PC8 power connection Unit 8xV 4 GRT1 PC8 1 power connection Unit 4xV 8xG GRT1 TBR Turnback Unit right hand side GRT1 TBL Turnback Unit left hand side GCN2 100 Turnback cable one meter 1 Supported from GRT1 ECT version 2 1 GRT1 series EtherCAT Communication Unit Operation Manual 3 193 L139 ey gt spun sews peuoddns p Y Appendix GRT1 ECT Specifications A3 1 5 External dimensions The external dimensions are in mm
49. 1 0 AD AD AD AD AD 99 E Do not exceed 80 W power consumption in one block Connector 1 0 power supply Power supply 24 VDC GRT1 TBL Turnback Unit Left Example Power Supplies GX series EtherCAT Slave Unit User s Manual 7 GRT1 ECT Installation 7 3 5 Wiring Methods Supplying Power to the Units Connect the power supply wires 24 VDC to the EtherCAT Communication Unit s screwless clamping power supply terminals If pin terminals are used on the wire ends the pin terminals can just be inserted to wire the power Release button Holes for wires Press the release button with pin terminals a screwdriver and pull out the wire pin terminal These terminals supply power to both the EtherCAT Communication Unit s internal circuits and the connected SmartSlice I O Units internal circuits H Precautions for Correct Use The GRT1 TBL Left Turnback Unit has the same screwless clamping power supply terminals as the EtherCAT Communication Unit These terminals are wired in the same way by inserting the power supply wires Supplying I O Power The power supply for I O devices is supplied through the EtherCAT Communication Unit s screwless clamping power supply terminals If pin terminals are used on the wire ends the pin terminals can be inserted to wire the power seijddng ou m Release button Holes for wires Press the release button wit
50. 1 1 Precautions for Network 7 2 7 1 2 Communication Cables and Connectors Preparation 7 3 7 1 3 Communication Cables and Connectors 2 7 4 7 1 4 Connecting the Communication 22 7 5 GRT1 series EtherCAT Communication Unit Operation Manual 7 2 Installation GRT1 ECT and Units nnne nnn nn nnn annii anna aa naa a ua 7 6 7 2 1 Handling Precautions 2 2 2000 1 000 000 esent enne tranne ania nna hd edd 7 6 7 2 2 Installation on a DIN 7 7 em nennen 7 7 7 2 3 Connecting the EtherCAT Unit SmartSlice I O 7 8 7 2 4 Connecting Additional SmartSlice 7 9 7 3 Installing the Power 000 7 11 7 3 1 Precautions for Power Supplies 7 11 7 3 2 Unit Power Supply 7 12 7 3 3 SmartSlice I O Power Supply Calculation 222000 0 7 13 7 3 4 Power Supplies Example nennen nenene reena 7 14 3 5 Wiring Methods a rd tp rd HR dee 7 15 7 3 6 Connecting the Turnback 0 eee 7 17 7 45 Replacement
51. 1 byte U8 Access RW PDO map Not possible Sub index 1 Digital output n Range Unit Default 70 0101 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index Range Unit Default Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index hh Digital output n hh Range Unit Default 70kkhh01 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index hh 1 Padding bits to make object size a multiple of 8 bits optional Range Unit Default 000000 01 07 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible The number of RxPDO mapping entries for digital outputs depends on the total number of digital outputs connected to the GRT1 ECT When no digital outputs are connected object 1600 hex will contain 0 entries The RxPDO mapping for digital outputs will only hold 240 entries maximum per index When the index is completely filled it will overflow into the next object which again can contain a maximum of 240 entries so on Value range depends on the total number of digital outputs kk 00 02 hex hh 01 F0 hex Poldo 1610 hex RxPDO mapping parameter analog outputs 1 hh A Sub index 0 Number of objects Range Unit Default hh Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1
52. 2 An initialization error occurred in the EtherCAT siave Attached information 1 Attached information 2 Attached information 3 Attached information 4 2 Select the line with event code 0x84280000 Troubleshootir Level Source Source Detats Event Name Event Cade Minor fault EtherCAT Master Node 1 GRTI ECT Slave Initialization Error 084230000 An error occurred in the siave apphecation Cause An error was detected the slave s application layer status Attached information 1 AL status code for the slave where the omor was detected Attached information 1 0 0025 Attached information 2 Attached information 3 Attached information 4 6 10 GRT1 series EtherCAT Communication Unit Operation Manual 6 1 Troubleshooting The line Attached Information 1 lists the AL status code in the example above 0x0025 which is the cause of the failure for that slave The tabel below lists applicable AL status codes for the GRT1 ECT AL status code 0x0061 Cause ID selector lt gt 0 and written Slave Node Address 0 Actions Slave Node Address is automatically updated to 0 Cycle the power to the GRT1 ECT 0x8001 Unsupported SmartSlice Unit detected Remove the unsupported SmartSlice I O Unit The following Units are not supported GRT1 END M use GRT1 END e GRT1 CT1 1 and CP1 L are supported from Ver 2 1 0x8002 0x80
53. 4 uonduoseq 09 00 L pv GRT1 series EtherCAT Communication Unit Operation Manual A4 3 4 Appendix Object Dictionary A4 1 4 Communication Objects 1000 hex Range Unit Default 04561389 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Indicates the CoE device profile number Device type 1008 hex Manufacturer device name Default GRT1 ECT Attribute Size 20 yes VS Indicates the Slave model number 1009 hex Manufacturer hardware version Range Unit Default A Attribute Size 20 bytes VS Access RO PDO map Not possible Indicates the version of the Slave hardware 100A hex Manufacturer software version Range Unit Default 2 10 Attribute Size 20 bytes VS Access RO PDO map Not possible Indicates the version of the Slave software 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 00000060 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Sub index 3 Revision number Range Unit Default 00020001 hex Attribute
54. 44 41 1 000 4 2 A4 1 2 Data Dypes c iiie eedem tie tti e Magica 4 2 A4 1 3 Object Description 4 3 4 1 4 Communication 4 4 A4 1 5 PDO Mapping Object 2 0 0 Oed a ee a teet A4 5 A4 1 6 Sync Manager Communication A4 8 A4 1 7 Manufacturer Specific A4 10 A4 1 8 Modular Device Profile A4 13 GRT1 series EtherCAT Communication Unit Operation Manual EtherCAT Network This chapter explains the overview of EtherCAT network 1 1 Overview of EtherCAT Networks 1 1 1 Features of EtherCAT 1 1 2 Structure of EtherCAT 1 1 3 Communication types of EtherCAT 1 2 Parts of an EtherCAT Network 1 2 1 Configuration Devices of EtherCAT Network 1 2 2 Overview of EtherCAT network parts GRT1 series EtherCAT Communication Unit Operation Manual 1 EtherCAT Network 1 1 Overview of EtherCAT Networks EtherCAT Ethernet Control Automation Technology is a high performance industrial network system based on the Ethernet system that can realize fast and efficient communication Additionally although EtherCAT is a unique communication protocol it employs standard Ethernet technology in the physical layer Using standard Ethernet technology has advantages lik
55. 5 Relative Humidity Storage temperature Shock resistance Dielectric strength 10 to 57Hz 0 7 mm amplitude 57 to 150Hz acceleration 49 m s 150 m s 500 VAC between isolated circuits Conformance to EMC and Electrical safety standards EN61131 2 2007 Enclosure rating 20 A3 1 3 SmartSlice System specifications A3 2 Item Number of connectable SmartSlice Units Specification 64 Units max Connected directly to the GRT1 ECT or via turnback extension units Communication distance SmartSlice I O Units 64 Units coupled about 2 m max Turnback Cable 2 m max 2 cables 1 m each Turnback Cable SmartSlice Unit connections Baseblock power supply Length 1 m max up to 2 cables can be connected Building block style configuration with slide connectors Units connect with Turnback Cables Voltage 24 V DC Current 4 A max Number of I O data 512 digital inputs and 512 digital outputs max Total I O data size 64 words 128 bytes GRT1 series EtherCAT Communication Unit Operation Manual Appendix GRT1 ECT Specifications A3 1 4 Supported SmartSlice Units The GRT1 ECT supports a sub set of the available SmartSlice Units The table below lists all models supported Model Function Specification GRT1 ID4 4 NPN inputs 24 VDC 6 mA 3 wire connection GRT1 ID4 1 4 PNP inputs 24 VDC
56. 6 Receive data RD m 7 Not used 9 8 Not used Hood Frame ground FG S 5 uoneoiunuluo 7 GRT1 series EtherCAT Communication Unit Operation Manual 4 9 4 GRT1 ECT Details GRT1 series EtherCAT Communication Unit Operation Manual GRT1 ECT Procedures This chapter explains basic procedures and settings for the Communication Unit and the EtherCAT Slaves 5 1 System Setup Example 5 2 5 1 1 Example with three Slaves 5 2 5 2 Settings Communication 5 3 5 2 1 Address 5 5 3 5 2 2 Setting the EtherCAT Node Address 5 3 5 2 3 SmartSlice I O Unit Number Allocation 5 3 5 2 4 Communication Unit s Status Flags 5 4 5 2 5 Unit Functions roses er em Speer eds 5 5 5 2 6 Table Registration Function 1 REGS 5 5 5 2 7 Backup Function 4 5 6 5 2 8 Automatic Device Restore Function 3 5 7 5 2 9 Online Replacement Function 5 8 5 3 Starting Communication 5 10 5 3 1
57. 7 Backup Function 4 5 6 5 2 8 Automatic Device Restore Function 3 5 7 5 2 9 Online Replacement 4 5 8 Starting Communication ecce cese ecce eve cccee tenes eeceteeresececieevvecueeieevesecediereesscoeceredeed 5 10 5 3 1 Starting Systa ws odore ee e dI nne ada ro LE De E uae setae 5 10 5 3 2 Setting EtherCAT nennen 5 10 5 3 3 Starting EtherCAT 5 10 Mem 5 11 S MEC 5 11 5 4 2 i etm CERE ape dee beta Te 5 11 95 4537 27 Tn 5 12 GRT1 ECT Troubleshooting nenna 6 1 Troubleshooting with LED ener nnne nnn 6 2 6 1 1 Power Supply EITOrS c arena are aa rea aaaea dae 6 2 6 1 2 SmartSlice System Errors 6 4 65153 EtherGAT EMOS uio omne bed 6 5 6 1 4 Other Errors SmartSlice Communication esee 6 9 Troubleshooting with Sysmac Studio eene 6 10 GRT1 ECT Installation 2 2 7 1 Installing an EtherCAT Network nnne nnne nenne 7 2 7
58. 7000 0D ist block of digital outputs 00013 Ox 000 0F 1st block of digital outputs 00014 0x7000 0f 151 block of digital outputs 00015 0 7000 10 1st block of digital outputs DO016 Ox 000 11 1st block of digital outputs DOO1 0 7000 12 1st block of digital outputs 00018 0x7000 13 1st block of digital outputs 07000 14 1 lt hack of DONN 00001 Data type BOOL Comment First block of digital outputs Digital IOs are presented at the top of the list To select Analog IO scroll down to the analog IO part of the list m Edit PDO Map Settings 0 7002 19 3rd block of digital outputs DOSOS 0 0 2 3rd block of digital outputs 00506 0x7002 1B 3rd block of digital outputs 00507 0x7002 1C 3rd block of digital outputs DOSO08 0x7002 1D 3rd block of digital outputs DO509 0x7002 1F 3rd block of digital outputs DO510 0x7002 1F 3rd block of digital outputs DO511 0x7002 20 3rd block of digital TUR DO512 0x7010 02 Analog outputs AO002 0x7010 03 Analog outputs AO003 0 01004 Analog outputs 004 0x7010 05 Analoq outputs AO005 0x7010 06 Analog outputs AO006 0x7010 07 Analog outputs AO007 0x7010 08 Analog outputs AO008 0x7010 09 Analog outputs 009 0x7010 0A Analog outputs AO010 0 010 08 Analog outputs AO011 OV7OIO NC Analog outnute ADDI AOO01 Data type INT Comment Analog outputs Tip To select large number of IOs you can se
59. A OUT indicator On RUN indicator ERR indicator Description Link estab lished in physi cal layer Master Unit com mands to go to Init state Cause Operation standby status after estab lishing link in physi cal layer Check the state of the master m if TS Red SmartSlice I O Unit configura tion error more than 64 I O Units con nected Are more than 128 bytes of I O data being used e Has the I O configuration changed since the I O configura tion table was registered Actions GRT1 series EtherCAT Communication Unit Operation Manual IN RUN pe indicator indicator Off indicator DF Description Link not estab lished in physi cal layer Process data communica tions timeout Cause A link in physical layer has not been established GRT1 ECT Troubleshooting Actions After checking the following items restart the Slave according to the specification of connected EtherCAT Master Unit 15 the communication cable wired correctly Are any cables disconnected or loose in the part that connects to the connector Is the cable length appropriate sthe communication cable of the recommended specification The host master has not been started Check that EtherCAT Master Unit is operating correctly If using an OMRON EtherCAT Master Unit check the EtherCAT Master Unit mod
60. Analog output 1 5 Range Unit Default 70100110 hex Attribute e Size 4 bytes U32 Access RW PDO map Not possible Sub index Range Unit Default Attribute E Size 4 bytes U32 Access RW PDO map Not possible Sub index n Analog output z Range Unit Default 7010hh10 hex Attribute 2 Size 4 bytes U32 Access RW PDO map Not possible GRT1 series EtherCAT Communication Unit Operation Manual A4 5 4 Appendix Object Dictionary The number of mapping entries for analog outputs depends on the total number of analog outputs connected to the GRT1 ECT When no analog outputs are connected object 1610 hex will contain 0 entries Value range depends on the total number of analog outputs hh 01 40 hex 1620 hex RxPDO mapping parameter counter outputs 1 hh Sub index 0 Number of objects Range Unit Default hh Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Counter output 1 Range Unit Default 70200120 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index 2 Counter output 2 Range Unit Default 70200210 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index n Counter output n Range Unit Default 7020hh10 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible The nu
61. Communication Cables Arrange following connections Connect the EtherCAT Master Unit Connect a communication cable from the EtherCAT Master Unit to the CN IN connector of the first Slave Connect all Slaves Connect a communication cable from each CN OUT connector of a Slave to the CN IN connector of the next Slave The CN OUT connector of the last Slave can be left unconnected EN Reference Unlike other networks there is no terminator required at the end of the network Communications cable q Input port L1 Output port D XJ0Mj9N 1v24euj3 ue Buirejsu 1 7 naar olloolJoolfo 00 00 2 L2 Slaves 0010010 Oljo Ol OOl O OjOOJOOLO na rn Ln oa oloollool o 0 010 ollooloo Last slave y p L 7 L1 Connection between Master and first Slave L2 L3 Conn
62. Communication Unit Operation Manual 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 Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this manual 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 Systems machines and equipment 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 APPLICATI
63. End Plate on the bottom edge of the DIN Rail 1 attach the top of the End Plate and pull the End Plate down onto the top edge of the DIN Rail 2 Tighten the End Plate s securing screw End Unit End Plate EtherCAT H Precautions for Correct Use Always secure the SmartSlice System by attaching End Plates on both ends Installation of SmartSlice I O Units Refer to W455 GRT1 Series SmartSlice Units Operation Manual GX series EtherCAT Slave Unit User s Manual 7 GRT1 ECT Installation 7 3 Installing the Power Supplies Power supplies required to operate the EtherCAT network are e Unit power supply For communication and internal operation of Slaves e I O power supply For input output operations of external I O devices of each Slave The GRT1 ECT has 2 24 VDC power supply terminals These terminals are screwless clamp terminals A oe T 5c 7224 vpc pur TT IU T do 5 4 Label Power supply terminal Des
64. EtherCAT Communication Unit OPERATION MANUAL OMRON 2012 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 GRT1 series EtherCAT Communication Unit Operation Manual Revised March 2012 Introduction Thank you for purchasing a GRT1 series EtherCAT Communication Unit This manual contains information you need to know to use the EtherCAT Communication Unit Before use please make sure that you thoroughly read this 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 certified electricians or individuals having equivalent knowledge who are also qualified for Introducing Desig
65. ID8 05E3 hex Eight point DC Input Unit NPN GRT1 ID8 1 05E1 hex Eight point DC Input Unit PNP GRT1 OD8 05E6 hex Eight point Transistor Output Unit NPN GRT1 OD8 1 05E5 hex Eight point Transistor Output Unit PNP GRT1 OD8G 1 05E2 hex Eight point Transistor Output Unit PNP with overcurrent and short circuit protection GRT1 IA4 1 060B hex Four point AC Input Unit Input voltage 100 to 120 VAC 50 60 Hz 1 4 2 060 hex Four point AC Input Unit Input voltage 200 to 240 50 60 Hz GRT1 ROS2 0574 hex Two point Relay Output Unit GRT1 AD2 0571 hex Two point Analog Output Unit GRT1 DA2V 0573 hex Two point Analog Voltage Output Unit GRT1 DA2C 0572 hex Two point Analog Current Output Unit GRT1 TS2P 0609 hex Two point Temperature Input Unit Resistance thermometer input Input type 100 200 to 850 C or PT100 200 to 200 C GRT1 TS2PK 060A hex Two point Temperature Input Unit Resistance thermometer input Input type PT1000 200 to 850 C or 1000 200 to 200 C GRT1 TS2T 060 hex Two point Temperature Input Unit Thermocouple input Inputtype 5 K J T E B N L U W or PL2 GRT1 CT1 05DD hex Counter Unit with one counter with encoder A and B inputs 1 input settable to an encoder Z input or a digital input and 1 digital output NPN GRT1 CT1 1 05DE hex Counter Unit with one counter with encoder A and B inputs 1 input settable to an encoder Z input or a digital input and 1 digital output
66. Input port EtherCAT Junction Slave Communications cable Unit power supply WOMEN 1VOJeuj3 10 UOHeINBYUOD L 2 L power supply Output ports EtherCAT Junction Slave Communications Unit Analog 1 Slave Unit Communications Unit Servo Drive Inverter GRT1 series EtherCAT Communication Unit Operation Manual 1 5 1 EtherCAT Network 1 2 2 Overview of EtherCAT network parts An EtherCAT network contains following parts EtherCAT Master Unit Administers the EtherCAT network monitors the state of Slaves exchanges data with Slaves Slave EtherCAT Slave One unit or a combination of units that can receive signals from the EtherCAT Master Unit and that can perform a task Example for one unit as an EtherCAT Slave A Servo Drive with an EtherCAT connector Example for a combination of units as an EtherCAT Slave A Communication Unit with a set of I O Units Communication Unit A Communication Unit gives other units the possibility to function as a Slave in an EtherCAT network The hardware has EtherCAT IN connection To receive signals from an EtherCAT Master Unit EtherCAT OUT connection s 7 To relay signals to other EtherCAT units Possibility to connect to other units like I O units The GRT1 ECT is a Communication Unit i Configuration Tool The configuration tool is PC software for configuration of set
67. Manual Appendix EtherCAT Terminology 1 1 1 2 GRT1 series EtherCAT Communication Unit Operation Manual 1 1 A1 Appendix EtherCAT Terminology A1 1 EtherCAT Terminology Use the following list of EtherCAT terms for reference Abbrevia Term Description tion Abstract representation of a particular component within a device object 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 service data object SDO CoE asynchronous mailbox communication where all objects in the object dictionary can be read and written index Address of an object within an application process subindex Sub address of an object within the object dictionary Collection of application objects designated to be transferred Process data cyclically or acyclically for the purpose of measurement and control 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 Transmit PDO TxPDO A process data object sent from an EtherCAT Slave Collection of control elements to coordinate access to concurrent
68. ON 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 GRT1 series EtherCAT Communication Unit Operation 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 given 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
69. PNP GRT1 CP1 L O5DF hex Positioning Unit with one counter with encoder A and Z inputs 1 digital input and 2 digital outputs PNP Poldo gt 9 L pv GRT1 series EtherCAT Communication Unit Operation Manual A4 13 4 Appendix Object Dictionary F060 hex SmartSlice I O Unit participation list Sub index 0 Number of SmartSlice I O Units Range Unit Default hh Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Participation state of SmartSlice unit 1 Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Not possible Sub index Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Not possible Sub index 1 Participation state of SmartSlice Unit hh Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Not possible When a Unit does not participate in data exchange its Participation index will go FALSE F061 hex SmartSlice unit withdrawal list Sub index 0 Number of SmartSlice Units Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Withdrawal state of SmartSlice unit 1 Range 0 to 1 Unit Defau
70. RT1 ECT series EtherCAT Slave Unit User s Manual Revision 1 Revision 2 GRT1 ECT series EtherCAT Slave Unit User s Manual Authorized Distributor
71. Size 4 bytes U32 Access RO PDO map Not possible Sub index 4 Serial number Range Unit Default 00000000 hex Attribute Size 4 bytes U32 Access RO PDO map Not possible Indicates the device information Sub index 1 Vendor ID gives the manufacturer identifier Sub index 2 Product Code gives the value assigned to each Slave type Sub index 3 Revision number gives the Unit revision number Bits 0 to 15 Minor revision number of the device Bits 16 to 31 Major revision number of the device e Sub index 4 Serial number gives a serial number for each product always 00000000 hex A4 4 GRT1 series EtherCAT Communication Unit Operation Manual 4 Appendix Object Dictionary A4 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 to 7 Bit length of the mapped object For example for 32 bits 20 hex is given Bits 8 15 Sub index of the mapped object Bits 16 to 31 Index of the mapped object 16kk hex RxPDO mapping parameter digital outputs n n hh where n kk 240 1 Sub index 0 Number of objects Range Unit Default hh 1 when padding is used Attribute Size
72. Slaves The correct status of the status indicators of each Slave is as follows LED State PWR ON L A IN Flickering L A OUT Flickering turned OFF for the terminal Slave only RUN ON ERR OFF i 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 data is correctly read and written Setting Slave Parameters Make parameter settings for each Slave as required via the SDO communication For the details of parameters that can be set refer to Appendix A4 to 1 Appendix Object Dictionary 5 12 GRT1 series EtherCAT Communication Unit Operation Manual GRT1 ECT Troubleshooting BEREITS This section provides troubleshooting information using LED indicators and Sysmac Studio 6 1 Troubleshooting with LED indicators 6 2 6 1 1 Power Supply Errors 6 2 6 1 2 SmartSlice I O System 6 4 62123 EtherGAT Errors ca fede awe ee ee Fa As 6 5 6 1 4 Other Errors SmartSlice Communication 6 9 6 2 Troubleshooting with Sysmac 10 GRT1 series EtherCAT Communication Unit Operation Manual 6 1 6 1 Troubleshooting 6 1 Troubleshooting with LED indicators The figure below shows the available LED indicators on the EtherCA
73. Starting a System 5 10 5 3 2 Setting EtherCAT Communication 5 10 5 3 3 Starting EtherCAT Communication 5 10 5 4 Maintenance 5 11 54 1 Gleaning esee Pantha erre dde PS Pus 5 11 5 4 2 Inspection oet i cire cree trae quta kie gy tee Robo 5 11 5 4 3 CHECKS A EUER RELIER 5 12 GRT1 series EtherCAT Communication Unit Operation Manual 5 1 5 GRT1 ECT Procedures 5 1 System Setup Example 5 1 1 This section shows an example with three EtherCAT Slaves and one Master Unit Example with three Slaves Three Slaves and one Master Unit are connected L1 Connection between Master Unit and first Slave L2 Connection between first Slave and second Slave L3 Connection between second Slave and third Slave Not shown are the power supply lines to the three Slaves and to the Master Unit Note that the Unit power and the power are separate connections for the Communication Unit 0 mi eB Communications cable ZT J Uu c Gu c Input port L1 Output port
74. T Communication Unit and on the SmartSlice I O system attached to it The GRT1 ECT and the SmartSlice I O Units are operating normally when all of the LED indicators are lit green RUN LED Indicates the status of the EtherCAT Communication Unit ERR LED Indicates the status of EtherCAT Communication Unit TS LED Indicates the status of the SmartSlice I O System UNIT PWR Indicates the status of the Unit power supply I O PWR Indicates the status of the I O power supply TS LEDs Indicate the status of each SmartSlice I O Unit ec omron GRT1 ECT ADR o Q EtherCAT A ESESEHES Ba 00 4 Q Q 90 A4 4 Q A4 4 4 Calm mies exem ex aa i volo 8 c p
75. Table Registration Function 1 REGS Functionality to registers the configuration of the connected SmartSlice I O Units in a table within the Communication Unit This table can then be used to compare the registered table with the information of the Master yun uoneoiunuiuio suas Z S ON during power up Compare The registered l O table will be compared automatically with the actual configuration each time the power of the EtherCAT Communication Unit is turned ON The red blinking TS LED indicates a verification error A verification error will occur if a registered Unit is not available or an unregistered Unit is detected The verification error will prevent the Communication Unit to change from init to pre operational For communication state details refer to 2 5 Communication State Transitions in page 2 7 Suogoung HUN S c G Four Four Two Two contact contact relay relay inputs inputs outputs outputs EtherCAT Communications There are the same number of Units but the I O data size does not match so a verification error occurs and this I O Unit does not Pin 1 ON when power D participate in communications was turned ON Registration table The actual configuration is compared to the registered table Units that do not match the registered table do not participate in I O communications I O communications start with the other Units EN Reference A mismatch verificati
76. a transmission EtherCAT Slave Unit Slave Unit Slave Unit Master Unit Reading output data addressed to the local Slave Units Writing input data Ethernet frame 1 2 GRT1 series EtherCAT Communication Unit Operation Manual 1 EtherCAT Network It is the EtherCAT telegram stored directly in an Ethernet frame that exchanges data regularly 9 between the EtherCAT Master Unit and Slaves Each EtherCAT telegram is configured with telegram header data length including address of one 5 more Slaves etc data working counter check bit zm When an Ethernet frame is compared to a train an EtherCAT telegram can be considered as railway 28 25 Ethernet frame m Ethernet i e Reader Ethernet data Maximum 1498 bytes CRC S Vv 2 m 2 O EtherCAT 1 n EtherCAT telegram EtherCAT frame gt header 2nd EtherCAT telegram n th EtherCAT telegram 1st EtherCAT telegram Telegram header WKC Working counter GRT1 series EtherCAT Communication Unit Operation Manual 1 3 1 EtherCAT Network 1 1 3 Communication types of EtherCAT EtherCAT provides the following two types of communication types PDO communications are always updating data per communication cycle on EtherCAT while SDO communications are processed in between those updates Process Data Communication functi
77. ackup function records the parameter data of all SmartSlice I O Units connected to the EtherCAT Communication Unit The parameter data recorded in the Communication Unit can be restored to the SmartSlice I O Units later with the automatic restore function when SmartSlice I O Unit has been replaced EtherCAT Power ON d Communications Unit Turn DIP switch 4 ON OFF and then ON again while the power is ON and DIP switch 1 is ON Downloads all of the I O Units unit information and parameter data 5 6 GRT1 series EtherCAT Communication Unit Operation Manual 5 GRT1 ECT Procedures Backup Procedure 1 Verify that the power is ON DIP switch 1 REGS is ON and all of the SmartSlice I O Units are participating in I O communication 2 Turn DIP switch 4 BACK ON then OFF and then ON again within 3 s to start the back up 3 While the data is being backed up the EtherCAT Communication Unit s TS indicator will flash green every 0 5 s The TS indicator will stop flashing and stay green lit when the backup is completed If the restore operation fails the TS indicator will be lit red for 2 s Precautions for Correct Use Do not turn OFF the Unit power supply while data is being backed up The data will not be backed up properly if the power is turned OFF The backup data will be erased along with the registered configuration table if DIP switch pin 1 REGS is turned OFF Backing up the parameter data i
78. activated simultaniously this can influence the calculation Contact Field Automation certified engineers for more details 2 If the current consumption exceeds 4A provide a separate external I O power supply 1 An external I O power supply can be mounted between SmartSlice I O Units OMRON advises the GRT1 PD2 G Power Supply Unit for this situation 2 External power supplies can also be connected to a Left Turnback Unit GRT1 TBL The GRT1 TBL is equipped with separate power supply terminals for the Unit power supply and power supply EN Reference e Creating separate hardware groups for groups of inputs and groups of outputs can also be a reason to separate the SmartSlice Units Always use isolated power supplies for the power supplies Power is not supplied through the GCN2 100 Turnback Cable Refer to the Wiring Example seijddng 186 wog m Aiddns Jemod e isueus e 7 GX series EtherCAT Slave Unit User s Manual 7 13 7 GRT1 ECT Installation 7 3 4 Power Supplies Example This example demonstrates the calculations and results for the Unit Power Supply and the SmartSlice Power Supplies GRT1 PD2 1 0 Power Supply Unit GRT1 TBR Turnback Unit Right EtherCAT Communication Unit Connector Do not exceed 80 W power consumption in one block Power is not supplied through the Turnback Cable J vo vo 1 0 1 0
79. add delete the file to from The change will be applied after restarting this software Close This folder se 4 uoneuuoju ALIS IV2J9Uj3 1 8 An Explorer with the contents of the UserEsiFiles folder is displayed 3 Copy the ESI file for the slave and paste it in this UserEsiFiles folder UcerFsiFiles EX Yew Favorites Took gt Search Folders f D C VProgr am Files OMRON Sysma les Uem Es Fi ond tolder Tasks CD Make a new folder Publish this folder to the Web ad Share this folder 01 ISI 1 8 ES Additional information For installation of the GRT1 ECT EtherCAT slave the ESI file named OMRON GRT1 ECT xml has to be copied to this directory 4 Save the project GRT1 series EtherCAT Communication Unit Operation Manual 8 5 8 Sysmac Studio 5 Restart Sysmac Studio The ESI file s that you installed is displayed in the ESI Library Dialog Box after you restart Sysmac Studio 6 Return to the ESI Library window The installed slave should now be visible in the expanded tree of All ESI files 8 1 4 ESI files Check details Use the following procedure to check details of an ESI file 1 Display the ESI files library in Sysmac Studio See also 8 1 2 ESI files library in Sysmac Studio in Page 8 3 2 Check if no exclamation mark is displayed to the left of the name H Precautions for Correc
80. ance specifications and the specifications of common areas A2 1Specifications 22 eR Ru ERE RU RR RUE A2 2 2 1 1 EtherCAT Specifications A2 2 GRT1 series EtherCAT Communication Unit Operation Manual A2 1 A2 Appendix EtherCAT Specifications A2 1 Specifications A2 1 1 EtherCAT Specifications 2 2 This section gives the EtherCAT Specifications Item Specification Communication protocol 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 Communication media Communication distance Category 5 or higher cable with double aluminum tape and braided shielding is recommended Distance between nodes Slaves 100 m max Noise immunity Conforms to IEC 61000 4 4 1 or higher Node address setting method Set with decimal rotary switch or Configuration Tool Node address range 1 to 99 Set with rotary switch 1 to 65535 Set with Configuration Tool Indicator Process data PDO size PWR x 2 Unit PWR I O PWR L A IN Link Activity IN x 1 L A OUT Link Activity OUT x 1 RUN x 1 ERR x 1 Configurable PDO mapping automatically detected 2 byte to 130 byte Mailbox SDO requests SDO responses and SDO information Synchronizati
81. and Setup Nodo AddrassiNetwork configuration Master oipmgs oeuis S saly 159 2 1 8 Write Slave Node Address Compare and Merge with Actual Network Configuration Get Slave Serial Numbers Display Diaynenis Statistics Information Di GRT1 series EtherCAT Communication Unit Operation Manual 8 3 8 Sysmac Studio 6 A new window with the title ESI Library is displayed All available ESI files are displayed in this tree structure Omron 3G3AX MX2 ECT Omron F7M1 XXX ECT Omron GX Analog IO Omron GX Digital 1O Omron GX Encoder Omron GX JC moe vxx FCT mron GRTI ECT gt u u add or delete an ESI file exit from this software and then add delete the file to from The change will be applied after restarting this software Close E If the ESI file is not available refer to 8 1 3 ESI files Add to Library in Page 8 5 GRT1 series EtherCAT Communication Unit Operation Manual 8 Sysmac Studio 8 1 3 ESI files Add to Library Use the following procedure to add an ESI file to the library in Sysmac Studio 1 Display the ESI files library in Sysmac Studio See also 8 1 2 ESI files library in Sysmac Studio in Page 8 3 Omron 3G3AX MX2 ECT Omron F7M1 XXX ECT Omron GX Analog IO Omron GX Digital IO Omron GX Encoder Omron GX JC Omron R88D KNoox ECT To add or delete an ESI file exit from this software and then
82. ble The number of RxPDO mapping entries for analog outputs depends on the total number of analog outputs connected to the GRT1 ECT When no analog outputs are connected object 1610 hex will contain 0 entries Value range depends on the total number of analog outputs hh 01 40 hex 1A30 hex RxPDO mapping parameter counter inputs 1 hh Sub index 0 Number of objects Range Unit Default hh Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Counter input 1 Range Unit Default 60300120 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index 2 Counter input 2 Range Unit Default 60300210 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index n Counter input n Range Unit Default 6030hh10 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible The number of RxPDO mapping entries for counter inputs depends on the total number of inputs outputs connected to the GRT1 ECT When no counter inputs are connected object 1A30 hex will contain 0 entries Value range depends on the total number of counter inputs hh 01 20 GRT1 series EtherCAT Communication Unit Operation Manual A4 7 Poldo gt BuiddeW Odd S L vv 4 Appendix Object Dictionary 4 1 6 Sync Manager Communication Object The com
83. ches at the front of the Unit All individual SmartSlice Units need a unique address to identify each of them to the GRT1 ECT Unit The GRT1 ECT Unit assigns this unique address automatically to each SmartSlice Unit at startup uoneoiunuiulo suas Z S 5 2 2 Setting the EtherCAT Node Address The node address of the GRT1 ECT is set with the rotary switches at the front of the Unit The left rotary switch sets the ten s digit and the right rotary switch sets the one s digit 0 0 NE NE EtherCAT node copy address setting x10 x1 The valid address range is 00 to 99 e Address 01 to 99 can be set as long as this number is unique in the network e With Address 00 the Communication Unit retrieves its node address from settings stored in its memory With configuration software e g Sysmac Studio this node address setting can changed sBumes sseJppv 2 6 14 Precautions for Correct Use Turn OFF the power supply of the GRT1 ECT before setting the node address The factory default setting for the node address is 00 both in hardware and in memory If the node address is duplicated any other Unit then communication will not be achieved 5 2 3 SmartSlice I O Unit Number Allocation The SmartSlice I O Unit numbers are used to identify the individual I O Units in the SmartSlice system These unit numbers are assigned automatically at startup when the power is turned ON The numbering starts from 1
84. cription These terminals supply power to the EtherCAT Communica Unit tion Unit s internal circuits as well as the connected SmartSlice 2 power suppty I O Units internal circuits supplied through the SmartSlice v terminal bus 2 2 Th terminal to th t l I O that i E ese terminals supply power to the externa at is con 5 External o nected to the System s SmartSlice Units z supply terminal 9 x This section explains how to install the Unit power supply and power supply 7 3 Precautions for Power Supplies Observe following precautions when installing Power Supplies i General Precautions Take sufficient safety measures Ensure the allowable current of cables and connectors is not exceeded Check the voltage drop The supplied voltage for a Slave is directly related to the distance cable length from the power supply Check if voltage of the Slave most far from the power supply stays within specifications seiddng JO suonneoeJd Multiple power supplies Consider the use of multiple power supplies The layout and grouping of power supplies determines what stops 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 Slaves or take similar measures When the power supplied is generated by multiple power supplies then the line current voltage
85. e power supply if required for your application Release the locks on the front of the SmartSlice I O Unit that must be replaced and remove the terminal block The wiring can remain connected Remove the main block of the SmartSlice Unit and replace it with a new SmartSlice Unit of the same type Mount the terminal block that was removed in step 2 and latch the lock that was released When the power is turned ON again the Communication Unit will automatically detect the Unit that was replaced and download the backup data The SmartSlice I O Unit s TS indicator will indicate the results of the restore operation f the download was successful the Unit will be reset automatically and join I O communication normally The Unit s TS indicator will be lit green e f the download failed the I O Unit s TS indicator will flash red e f the connected Unit is the wrong model the I O Unit s TS indicator will be lit red Precautions for Correct Use Do not turn OFF the power supply or reset the EtherCAT Communication Unit while data is being restored The data will not be restored properly if the power is turned OFF e When an I O Unit has been replaced with the power ON and the new Unit joins I O communication the new Unit will be compared to the previous one and the parameter data restore operation will start automatically While data is being restored the EtherCAT Communication Unit s TS indicator will flas
86. e The GRT1 can handle 512 Digital Outputs and 512 Digital Inputs each divided in three blocks 001 to 240 241 to 480 481 to 512 The middle PDO map Input Communication Unit status is always added by the system and not editable If the total number of bits of the selected PDO entries is not a multiple of 8 then the system adds an extra PDO entry that is not editable for users The size of the added entry makes the total size of the PDO entries a multiple of 8 GRT1 series EtherCAT Communication Unit Operation Manual 8 Sysmac Studio 8 2 5 PDO mapping Add PDO Entry This section describes the procedure to add a PDO entry 1 Calculate the total number of DI DO AI and AO for the connected SmartSlice units Each slave can have a different number of DI DO AI and AO The total quantity of each type is required for the mapping Refer to Calculating required PDO mapping for more details 2 Select the correct Map the Map overview 3 Select the button Add PDO entry in the Edit PDO Map Settings window A window with a listing of available PDOs appears 0x7000 01 1st block of digital outputs 00001 0x7000 02 1st block of digital outputs 00002 0x7000 03 1st block of digital outputs 00003 0x7000 04 1st block of digital outputs 00004 0x7000 05 lst block of digital outputs 00005 0x7000 06 1st block of digital outputs eu 0x7000 07 1st block of digital outputs DOOO 0x7000 08 151 block of digi
87. e Unit Transferring l O memory data to the CPU Unit with a Programming Device PC tool Changing present values in memory with a Programming Device Force setting resetting bits with a Programming Device e Transferring I O memory files from a memory card EM file memory to the CPU Unit Transferring 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 GRT1 series EtherCAT Communication Unit Operation Manual 10 11 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 Slaves and other Units before attempting any of the following Not turning OFF the power supply may result in malfunction or electric shock Assembling any Units Expansion Units Removing or attaching the terminal blocks or connectors
88. e and Slave node addresses If using EtherCAT Master Unit from another manufacturer refer to the user s manual for that Master Unit A hardware failure occurred A communication error occurred If the problem is not resolved even after the measures described above are taken the Slave hardware may be damaged Replace the applicable Slave After checking the following items restart the Slave according to the specification of connected EtherCAT Master Unit Item about communication cable 15 the communication cable wired correctly Are any cables disconnected or loose in the part that connects to the connector Is the cable length appropriate Is the communication cable of the recommended specification Item about power supply Is the power supply voltage within the specification range Is the power supply capacity suffi cient Malfunction due to noise If there are devices in the vicinity that generate noise take neces sary measures against the noise to protect the EtherCAT Master Unit and Slaves and the commu nication cable The noise resistance deterio rates if a cable other than those ofthe recommended specification is used Use the communication cable of the recommended speci fication Link in physical later OFF GRT1 series EtherCAT Communication Unit Operation Manual Communication cable disconnec tion occurred Check to see if the cable is discon
89. e decreasing training needs and the use of commercially available Ethernet tools like cables EtherCAT can be used for large scale control systems but also for small and medium scale applications 1 1 1 Features of EtherCAT EtherCAT has the following features Extremely high speed communications with speed of 100 Mbps It dramatically shortens the response time from the generation of input signals to the transmission of output signals It makes the best use of the optimized Ethernet frame band and transmits with the high speed repeat method thereby allowing transmitting various types of data at high efficiency Employment of standard Ethernet technology EtherCAT is a global open network that employs standard Ethernet technology in the physical layer For this reason commercially available Ethernet cables connectors tools and other general purpose products can be used 1 1 2 Structure of EtherCAT EtherCAT does not transmit data to each node on a network but gets Ethernet frames through each node At passing each node reads and writes data in Units of several nanoseconds in its own area within a frame Ethernet frames sent from the EtherCAT Master Unit go through all the EtherCAT Slaves without stopping on the way Once they reach the final Slave they are sent back from the final Slave pass through all Slaves again and return to the EtherCAT Master Unit With this structure EtherCAT secures high speed and real time dat
90. e local standards i Precautions for devices and cables Do not install EtherCAT network devices near any devices generating noise If noise can not be prevented then make sure to take noise measures such as housing each device in metal cases Check all communication cables on cable breakage short circuits and a good connector Check for all connectors if the communication cable is locked to the device nstall communication cables separate from high voltage electrical power lines and from devices generating noise Prevent using cables in high temperature high humidity environment powder dust and oil mist Do not use communication cables with a length of more then 100 meters Ensure the bending radius of communication cables is within the specifications of the supplier 7 2 GX series EtherCAT Slave Unit User s Manual 7 GRT1 ECT Installation 7 1 2 Communication Cables and Connectors Preparation Prepare the required cables Use 100BASE TX shielded twisted pair cables category 5 or higher The cables should be double shielded aluminum tape and braided shielding l Precautions for Correct Use 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 When
91. ected to the GRT1 ECT The size and number of output objects depends on the total number of connected digital outputs When no digital outputs are connected only object 7000 hex will be created containing 0 entries Each digital output object will only hold 240 entries maximum When the object is completely filled a new object will be created containing again a maximum of 240 entries and so on Value range depends on the total number of digital outputs kk 0 2 hex hh 01 F0 hex 7010 hex Analog outputs Sub index 0 Number of analog outputs 1 hh Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Analog output 1 Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes INT16 Access RO PDO map Possible Sub index Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes INT16 Access RO PDO map Possible Sub index n Analog output n Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes INT16 Access RO PDO map Possible These objects contain the actual value for each analog output connected to the GRT1 ECT The size and number of analog output objects depends on the total number of connected analog outputs When no analog outputs are connected object 7010 hex will contain 0 entries Value range depends on the total number of analog outputs hh 01
92. ections between Slaves GX series EtherCAT Slave Unit User s Manual 7 5 7 GRT1 ECT Installation 7 2 Installation GRT1 ECT and Units 7 2 1 This section contains the procedures for installing the GRT1 ECT Unit and SmartSlice Units Handling Precautions When installing the EtherCAT Communication Unit and the SmartSlice Units observe the following handling precautions Always turn OFF the power supply to the EtherCAT Communication Unit the SmartSlice Units and the external I O before mounting or dismounting a Unit or connecting or disconnecting cables Do not connect or disconnect the EtherCAT Communication Unit s communication cable while the EtherCAT network is operational Short circuits or poor contacts in the EtherCAT cable may prevent normal communication Ensure that the power supplies for the EtherCAT Communication Unit and the SmartSlice I O Units and the external I O are wired correctly Provide separate conduits or ducts for the I O and communication lines to prevent noise from high tension lines or power lines The SmartSlice I O system is installed and set up as an EtherCAT Slave The EtherCAT Communication Unit s communication connector connects to the Master Unit through an EtherCAT communication cable Up to 64 SmartSlice I O Units be connected to one GRT1 ECT Unit EtherCAT Master EtherCAT Slide SmartSlice I O Units Communication Unit in from the front to install
93. ed in the following format i Object description format Index Object name gt Range Setting range Unit Unit Default Default setting Attribute Data attribute Size Size Access Access PDO map Possible Not possible Object description format with sub indexes Index Object name gt Sub index 0 Range Setting range Unit Unit Default Default setting Attribute Data attribute Size Size Access Access PDO map Possible Not possible Sub index N Range Setting range Unit Unit Default Default setting Attribute Data attribute Size Size Access Access PDO map Possible Not possible The following values are indicated within the pointed brackets lt gt Indexes An object 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 C Timing of pre operational state safe operational state 2 Updated after the power supply is reset 5 The object size is given bytes 8 Indicates whether the object is read only read and write 8 RO Read only RW Read and write PDO map Indicates the PDO mapping possibility jeuuJo
94. es EtherCAT Communication Unit Operation Manual 4 Appendix Object Dictionary Sub index 2 Counter input 2 Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes U16 Access RO PDO map Possible Sub index n Counter input n Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes U16 Access RO PDO map Possible These objects contain the actual value for each counter input connected to the GRT1 ECT The size and number of counter input objects depends on the total number of connected counter inputs When no counter inputs are connected object 6030 hex will contain 0 entries Value range depends on the total number of analog inputs hh 01 20 70 kk hex Digital outputs n n hh where kk 0 2 hex n kk 240 1 Sub index 0 Number of digital outputs n n hh Range 00 hex to 04 hex Unit Default hh Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Digital output n Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Possible Sub index Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Possible Sub index hh Digital output n hh Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Possible These objects contain the actual value for each digital output conn
95. f the Refresh Time for a SmartSlice configuration 8 3 1 Introduction The Refresh Time is the time required to process the Outputs transmitting the EtherCAT data and processing the Inputs The Refresh Time depends on the hardware configuration of the Slave For more information refer to manual W501 NJ series Software user s Manual 8 3 2 Calculation Refresh Time To calculate the Refresh Time 1 Define the SmartSlice configuration 2 List for all available units the input size and the output size The input and output size are the number of bits required for the signal ES Additional information One digital Input or Output has a I O size of 1 bit On Off One Analog Input or Output has a I O size of 2 bytes One Counter Unit has an Input size of 6 bytes and an Output size of 6 bytes 1 byte 8 bits i Calculate the IN_size 3 Calculate the total number of bytes for Inputs named N size IN size Size Digital Inputs Size Analog Inputs Size Communication Unit status eui Bunejnoje 6 8 8 e Size Digital Inputs DI The N size is in bytes the actual unit is bits so conversion from bits to bytes is required Add all digital inputs together Convert the result from bits to bytes Total number of DI 8 and then round to next integer value Size Analog Inputs Al Each analog SmartSlice Input uses 2 bytes O
96. g the Units Observe the following precautions when wiring the communication cable Separate the communication cables from the power lines or high tension lines Do not bend the communication cables past their natural bending radius Do not pull on the communication cables Do not place heavy objects on top of the communication cables Always lay communication cable inside ducts Turn OFF the power of PLC and all the Slaves berofe wiring the communication cables Do not apply voltages to the Input Slaves in excess of the rated input voltage Excess voltage or loads may result in burning Do not apply voltages or connect loads to the Outputs Slaves in excess of the maximum switching capacity Excess voltage or loads may result in burning GRT1 series EtherCAT Communication Unit Operation Manual Handling When transporting the product use special packing boxes 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 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 it on the Unit Not checking the program may result in unexpected operation When replacing relays o
97. h pin terminals screwdriver and pull out the wire pin terminal G 7 These terminals supply power the external I O devices connected to the SmartSlice Units 14 Precautions for Correct Use The GRT1 TBL Left Turnback Unit and GRT1 PD2 I O Power Supply Unit have the same screwless clamping power supply terminals These terminals are wired in the same way as the EtherCAT Communication Unit s terminals by inserting the power supply wires GX series EtherCAT Slave Unit User s Manual 7 15 7 GRT1 ECT Installation Removing Wires To remove the wires press the release button above the terminal hole using a slotted precision screwdriver and pull out the wire Slotted precision screwdriver Side view Front view d S V d rud 2 A Recommended model SZF1 Phoenix Contact Release button Recommended Power Supplies Use a SELV power supply with over current protection A SELV power supply has redundant or increased insulation between the an output voltage of 30 Vr m s and a 42 4 V peak or maximum of 60 VDC Recommended power supply 582 01524 OMRON or S8TS 06024 OMRON e Recommended Wire Type Gauge Stranded wire 20 AWG to 16 AWG Solid wire 0 5 to 1 25 mm Pin terminal Strip Length Pin Terminal Length Strip wire between 7 and 10 mm of insulation at the ends of the wires stranded or solid wire or use pin terminals with a pin conductor
98. h green every 0 5 s The TS indicator will stop flashing not lit when the restore operation is completed If the restore operation fails the Automatic Restore Monitor Flag bit 13 of the Communication Unit status flags will be turned ON and the Communication Unit s TS indicator will be lit red for 2 s 5 2 9 Online Replacement Function When one of the SmartSlice Units connected to the EtherCAT Communication Unit must be replaced the Unit can be replaced without turning OFF the power The Units can be replaced online because the SmartSlice Units are made up of 3 blocks the base block main block and terminal block When replacing a SmartSlice I O Unit leave just the base block connected and replace the main block I O communication will continue with the other I O Units even while the problem Unit is being removed and replaced If DIP switches 1 and 3 are ON data is automatically restored to the replaced Unit To keep the system online leave the communications block connected EtherCAT Communications Power ON Unit being replaced GRT1 series EtherCAT Communication Unit Operation Manual 5 GRT1 ECT Procedures Replacing a Unit Turn OFF the I O power supply of the I O Unit being replaced Release the locks on the front of the I O Unit that must be replaced and remove the terminal block The wiring can remain connected Remove the main block of the SmartSlice I O Unit and replace it with a new I O Unit
99. have PDOs 1C11 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 t indicates the number of PDO mappings used by this sync manager Mailbox transmit sync manager does not have PDOs 4 8 GRT1 series EtherCAT Communication Unit Operation Manual 4 Appendix Object Dictionary 1C12 hex Sync manager 2 PDO assignment Sub index 0 Number of assigned RxPDOs Range 00 hex to 04 hex Unit Default 05 hex Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Assignment of digital outputs Range 1600 hex to 17FF hex Unit Default 1600 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible Sub index 2 Assignment of digital outputs Range 1600 hex to 17FF hex Unit Default 1601 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible Sub index 3 Assignment of digital outputs Range 1600 hex to 17FF hex Unit Default 1602 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible Sub index 4 Assignment of analog outputs Range 1600 hex to 17FF hex Unit Default 1610 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible Sub index 5 Assignment of counter outputs Range 1600 hex to 17FF hex Unit Default 1620 hex At
100. he GRT1 ECT Ver 2 0 or higher is supported by Trajexia firmware version 2 0152 or higher The Version number of the GRT1 ECT is printed on the side of the GRT1 ECT To find the firmware version of Trajexia connect the TJ2 MC64 to Trajexia Studio software Open the terminal window and type PRINT VERSION in the terminal window Refer to the Trajexia Programming manual I58E EN for more information GRT1 series EtherCAT Communication Unit Operation Manual GRT1 ECT Details This section gives detailed information on the hardware of the GRT1 ECT 4 1 GRT1 ECT in detail 4 2 4 1 1 Frontview and Sideview 4 2 4 1 2 Status Indicators 4 3 4 1 3 DIP switches sisse ire ron hh her ame i Re Yos 4 6 4 1 4 Unitand I O Power supply connector 4 7 4 1 5 Field Ground Terminal 4 7 4 1 6 Node Address Setting Switches 4 8 4 1 7 Communication Connectors 4 8 GRT1 series EtherCAT Communication Unit Operation Manual 4 1 4 GRT1 ECT Details 4 1 GRT1 ECT in detail This section explains the specifications of indicator switches and connectors of the GRT1 ECT 4 1 1 Frontview and Sideview The GRT1 ECT SmartSlice Communication Unit contr
101. he SmartSlice Units It is not necessary to make any settings with special Programming Device e Simplified Wiring All of the SmartSlice I O Units that connect to a EtherCAT Communication Unit are equipped with screw less clamp terminal blocks Wiring to external I O is accomplished just by inserting the wire into the terminals eliminating the need to tighten terminal screws Table Registration The configuration of the SmartSlice I O Units mounting order and I O size connected to a EtherCAT Communication Unit can be registered in a table by simply setting the corresponding DIP switch Once the table has been registered the actual configuration is compared to the registered configuration each time that the Unit power is turned ON If the configuration does not match a status flag is turned ON in the EtherCAT Master to indicate the error Hot swap Replacement of I O Units The SmartSlice Unit s consist of three parts that can be separated from each other Base block Main block and Terminal block You can leave the Base block connected to the Slice Terminal with power supplied to the Slice Terminal and then replace the Main block or Terminal block Automatic Device Replacement The Automatic Device Replacement ADR function is the mechanism to backup and restore parameters with only a DIP switch setting on the Communication Unit Setting a DIP switch will back up parameters in the I O Unit to
102. ing and inspection methods intended for individuals to handle abnormalities and conduct regular inspections This chapter explains mounting wiring and replacement of the EtherCAT Slave Chapter 8 Sysmac Studio Explains how to use Sysmac Studio to be able to connect the GRT1 ECT to an NJ series CPU Unit Appendices 1 Appendix EtherCAT Terminology EtherCAT terminology and explanations A2 Appendix EtherCAT Specifications EtherCAT specifications A3 Appendix GRT1 ECT Specifications GRT1 ECT specifications including dimensions 4 Appendix Object Dictionary Object Dictionary of the GRT1 ECT Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Related Manuals Refer to following EtherCAT related manuals for more information Man No Name of manuals Contents us GRT1 Series SmartSlice l O Describes the models specifications functions operating Units Operation Manual procedures and applications of GRT1 series Slice I O Units An introduction to the Support Software is provided along W504 Sysmac Studio Manual with information on the installation procedure basic operations connection procedures and procedures for the main features NJ series CPU Unit Built in Information on the built in EtherCAT port is provided W505 EtherCAT Port CPU Unit Users This manual provides an introduction and provides Manual i
103. ion 1 REGS Backup Function see Section 5 2 7 Backup Function 4 BACK e Automatic Restore Function see Section 5 2 8 Automatic Device Restore Function 3 ADR Execute these operations again for the new Unit Re connect it to the network and restart operation 7 18 GX series EtherCAT Slave Unit User s Manual Sysmac Studio The program Sysmac Studio gives users the possibility to configure a NJ series CPU Unit for connection with for example a GRT1 ECT EtherCAT Slave Information Files ESI files supply Sysmac Studio with information of Slaves With PDO Mapping the I O data of connected slaves is configured This section gives information on installing the ESI file for the GRT1 ECT all information required for PDO Mapping and to calculate the I O Refresh Time Refer to manual W504 for more detailed information on Sysmac Studio 8 1 EtherCAT Slave Information 8 2 8 1 1 General information ESI files 8 2 8 1 2 ESI files library in Sysmac Studio 8 3 8 1 3 ESI files Add to Library 8 5 8 1 4 ESI files Check details 8 6 8 2 PDO Mapping 8 7 8 2 1 General information PDO 8 7 8 2 2 Calculating required PDO mapping
104. it is made by OMRON or by other manufacturers Set value for node address Set value for switch OMRON EtherCAT Master Unit rom anome manufacturer Set val ding to Confi ti 00 22 Set value according to Configuration 1 to 65535 by these switches 01 to 99 Set value by these switches H Precautions for Correct Use e The switch settings are read only once when the power supply 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 f node addresses overlap an error occurs and the operation stops 4 1 7 Communication Connectors The Connectors are used to connect the communication cables ec OMRON GRT1 ECT zRUN UNITPWRo ERR EtherCAT 4 8 GRT1 series EtherCAT Communication Unit Operation Manual 4 GRT1 ECT Details The specifications are shown below Electrical characteristics Conforms to the IEEE 802 3 standard Connector structure RJ45 8 pin modular connector conforms to ISO 8877 Terminal arrangement Pin No Signal name Abbreviation 1 Send data TD 2 Send data TD gt 3 Receive data RD 4 Not used d 5 Not used 2
105. lay the PDO mapping of the GRT1 ECT in Sysmac Studio 1 Start the program Sysmac Studio 2 Ensure the Multiview Exporer is displayed Click the left bar Multiview Explorer if required 3 Open the menu Configurations and Setup and select EtherCAT 4 Doubleclick EtherCAT to open the EtherCAT tab Sysmac Studio De dt Views Inset Projet Controller 5 jou ETE gt 73 Controller Setup b 2 Motion Control Setup of Cam Data Setting gt Cvent Settings Settings Data Trace Settings Odd 2 8 The edit pane is displayed Note Another display method is Right click EtherCAT and then select Edit 5 Select the GRT1 ECT in the column Network configuration oipnis oeuus g Buiddeui lt 2 9 Details window Info Edit PDO The details window shows all GRT1 ECT specific details including PDO information in the section PDO Map Settings GRT1 series EtherCAT Communication Unit Operation Manual 8 9 8 Sysmac Studio 8 2 4 PDO mapping Edit Select the button Edit PDO Map to edit the PDO Map or to view details of the PDO Map A new window with the title Edit PDO Map Settings appears The mapping is displayed with at the left side the available PDO Maps The right side displays the PDO entries for the selected PDO Map PDO Map PDO entries included 1st block of digital inputs 01001 to 01240 Process Data Size Input 32 bit 11472 bit Index
106. lect click on the first item and then use shift click on the last item selecting all items in between GRT1 series EtherCAT Communication Unit Operation Manual 8 Sysmac Studio To select Counter IO scroll down to the counter IO part of the list E 0x7010 3B Analog outputs A0059 0x7010 3C Analog outputs AO060 0x7010 3D Analog outputs AO061 Ox 010 3E Analog outputs 062 0x7010 3F Analog outputs AO063 0x7010 40 Analog outputs AO064 0x7020 02 Counter outputs Counter Command 1 0 020 03 Counter outputs Counter Set Value 2 0x7020 04 Counter outputs Counter Command 2 0 7020 05 Counter outputs Counter Set Value 0x7020 06 Counter outputs Counter Command 3 0x7020 07 Counter outputs Counter Set Value 4 0 020 08 Counter outputs Counter Command 4 0x7020 09 Counter outputs Counter Set Value 5 0 702050 Counter outputs Counter Command 5 0 7020 08 Counter outputs Counter Set Value 6 0x7020 0C Counter outputs Counter Command 6 0x 020 0D Counter outputs Counter Set Value MOTOWN mentee Creme 7 Counter Set Value 1 Data type DINT Comment Counter outputs Cancel Each Counter SmartSlice Unit GRT1 CT1 1 and GRT1 CP1 L always requires 2 output objects Set value and Command and 2 input objects Data and Status to be mapped 2 8 ES Additional information Ensure all PDOs are selected Unused PDOs are only allowed a
107. lly for the SmartSlice I O units F050 hex Detected SmartSlice I O unit list Sub index 0 Number of detected SmartSlice I O units Range 00 hex to 40 hex Unit Default hh Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Product ID of the first SmartSlice I O unit Range Unit Default Attribute Size 2 bytes U32 Access RO PDO map Not possible Sub index Range Unit Default Attribute Size 2 bytes U32 Access RO PDO map Not possible Sub index hh Product ID of the hh SmartSlice unit Range Unit Default Attribute Size 2 bytes U32 Access RO PDO map Not possible Contains the list of all SmartSlice units connected to the GRT1 ECT Value range depends on the total number of slices connected to the slice bus hh 01 40 hex List of supported SmartSlice units and their Producty ID s Model ID Specification GRT1 ID4 056D hex Four point DC Input Unit NPN GRT1 ID4 1 056E hex Four point DC Input Unit PNP GRT1 OD4 056F hex Four point Transistor Output Unit NPN GRT1 OD4 1 0570 hex Four point Transistor Output Unit PNP GRT1 OD4G 1 05E0 hex Four point Transistor Output Unit PNP with overcurrent and short circuit protection GRT1 OD4G 3 0600 hex Four point 2 A Transistor Output Unit PNP with overcurrent and short circuit protection GRT1
108. lt Attribute Size 1 bit BOOL Access RO PDO map Not possible Sub index Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Not possible Sub index 1 Withdrawal state of SmartSlice Unit hh Range 0 to 1 Unit Default Attribute Size 1 bit BOOL Access RO PDO map Not possible When a Unit withdraws from I O communication during replacement the corresponding SmartSlice Unit Communication Withdrawn index will go TRUE and the EtherCAT Communication Unit s TS indicator will flash red Communication Unit status F100 hex Sub index 0 Number of objects Range Unit Default 01 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Communication Status Range 0000 hex to FFFF hex Unit Default Attribute Size 2 bytes U16 Access RO PDO map Possible A4 14 The GRT1 ECT status flags give the status of the connection between the GRT1 ECT and the SmartSlice I O Units and the status of the SmartSlice I O Units Bit Name Contents 0 SmartSlice I O Bus Monitors the status of SmartSlice I O communication Communication Error 1 Reserved 2 SmartSlice I O Unit Warning Indicates a minor SmartSlice I O Unit error 0 Normal This flag goes ON when there is an error in any one of 1 Error detected the connected SmartSlice l OUnits 3 Reserved 4 SmartSlice
109. ly sync manager SM used objects T Clock distribution mechanism used to synchronize EtherCAT Slaves genetic Pe and the EtherCAT Master Units Collection of device dependent information and functionality device profile providing consistency between similar devices of the same device type fieldbus memory management unit FMMU Function which establishes single or multiple communication between logical address and physical memory physical device internal interface PDI 5 of elements to access data link services from the application CAN in Automation CiA CiA is the international users and manufacturers group that develops and supports higher layer protocols protocol over CAN application protocol service implemented EtherCAT EtherCAT EEPROM EEPROM Electrically erasable PROM Writable ROM 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 technology development EtherCAT slave controller ESC A controller for EtherCAT slave communication EtherCAT state machine ESM An EtherCAT communication state machine EtherCAT slave information ESI An XML file that contains setting information for an EtherCAT Slave A1 2 GRT1 series EtherCAT Communication Unit Operation Manual Appendix EtherCAT Specifications This chapter explains EtherCAT communication specifications Slaves perform
110. mber of RxPDO mapping entries for counter outputs depends on the total number of counter outputs connected to the GRT1 ECT When no countter outputs are connected object 1620 hex will contain 0 entries Value range depends on the total number of counter outputs hh 01 20 1A00 hex TxPDO mapping parameter Communication status Sub index 0 Number of objects Range Unit Default 01 hex Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 1st object Output object 1 Range Unit Default F1000110 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible The GRT1 ECT status flags give the status of the connection between the GRT1 ECT and the SmartSlice I O Units and the status of the SmartSlice I O Units 1Akk hex RxPDO mapping parameter digital inputs m m hh where m kk 10 hex 240 1 Sub index 0 Number of objects Range Unit Default hh 1 when padding is used Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Digital output m Range Unit Default 60kk0101 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index Range Unit Default Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index hh Digital output m hh Range Unit Default 60kkhh01 hex Attribute Size 4 bytes U32 Access RW PDO map N
111. munication memory of EtherCAT is set by the objects from 1C00 hex to 1C13 hex 1C00 hex Sync manager communication type Sub index 0 Number of used sync manager channels Range Unit Default 04 hex Attribute Size 1 byte U8 Access RO PDO map Not possible Sub index 1 Communication type SMO Range Unit Default 01 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 2 Communication type SM1 Range Unit Default 02 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 3 Communication type SM2 Range Unit Default 03 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible Sub index 4 Communication type SM3 Range Unit Default 04 hex Attribute Size 4 bytes U8 Access RO PDO map Not possible The sync manager has the following settings e SMO Mailbox receive EtherCAT Master Unit to Slave e SM1 Mailbox transmit EtherCAT Slave to Master Unit e SM2 data output EtherCAT Master Unit to Slave e 3 data input EtherCAT Slave to Master Unit 1C10 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 t indicates the number of PDO mappings used by this sync manager Mailbox reception sync manager does not
112. n 7 4 Replacement 7 4 1 Replacement Precautions The EtherCAT Communication Unit is a Network device If the Unit is damaged it will effect the entire Network so always ensure repairs are undertaken immediately It is recommended to have a spare EtherCAT Communication Unit on hand so that repairs may be conducted quickly Replacement Precautions Observe the following precautions when replacing the Unit Always turn OFF the power before replacing the Unit Ensure that the new Unit is not faulty f a poor connection is suspected of causing the malfunction clean the connectors using a clean soft cloth and industrial grade alcohol Remove any lint or threads left from the cloth and remount the Unit When returning a faulty Unit for repair always attach a detailed fault report to the Unit and return it to the nearest OMRON dealer V Precautions for Correct Use n order to prevent faulty operation be sure to turn off the power to all master and slave devices before replacing the Unit When replacing the Unit do not reconnect it to the Network before carrying out the procedures listed below 7 4 2 Setting the Unit after Replacement After replacing the Unit before re applying the power set the EtherCAT node address number to the same value as the previous Unit When using one or more of the following Unit functions for the old Unit Table Registration Function see Section 5 2 6 Table Registration Funct
113. nality is available in the GRT1 ECT However the backed up and restored parameters cannot be accessed via EtherCAT communication EN Reference t is recommended to do a registration of the SmartSlice I O Units t is recommended to set dipswitches 1 and 3 to ON and dipswitch 4 to OFF after this registration The factory setting of all dipswitches is OFF GRT1 series EtherCAT Communication Unit Operation Manual 4 GRT1 ECT Details 4 1 4 Unit and I O Power supply connector The GRT1 ECT has 2 24 VDC power supply terminals A 9 VDC H EI k U B voc T 11 En DC24V INPUT Label Power supply terminal Description subhi Power supply to the internal circuits of the GRT1 ECT and to A uni the internal circuits of the connected SmartSlice Units through the SmartSlice bus B External power Power supply to the external I Os connected to the SmartSlice supply terminal 1 0 Units V Precautions for Correct Use The unit power supply is isolated from the external power supply Please use 2 separate power supplies to keep this isolation The unit power supply and the external I O power supply are not transferred through the GCN2 100 Turnback cable The GRT1 TBR units have the same power supply terminals as the GRT1 ECT 4 1 5 Field Ground Terminal
114. ne analog SmartSlice unit has 2 analog inputs and therefore an Analog Inputs Size of 4 bytes Add all Analog inputs together Multiply AI by 2 Size Counter Inputs Each Counter SmartSlice Unit uses 6 bytes Add all Counter Units together Multiply by 6 GRT1 series EtherCAT Communication Unit Operation Manual 8 15 8 Sysmac Studio e Size Communication Unit status 2 bytes for the Communication Unit status EN Additional information Example Three GRT1 ID4 units One GRT1 AD2 unit Three GRT1 OD4 units 3 x GRT1 ID4 4 bits 1 x GRT1 AD2 4 bytes Not Applicable Total Digital Input 3 x 4 bits 12 bits Convert to bytes round 12 8 2 bytes Total Analog Input 4 bytes Input for Communication Unit status 2 bytes IN size Total DI Total DO CommStatus size 2 bytes 4 bytes 2 bytes 8 bytes Calculate the OUT size 4 Calculate the total number of bytes for Outputs named OUT size OUT size Size Digital Outputs Size Analog Outputs Size Digital Outputs The required unit is bytes the actual unit is bits so conversion from bits to bytes is required Add all digital outputs together Convert the result from bits to bytes Total number of DO 8 and then round to next integer value Size Analog Outputs Each analog SmartSlice Output Unit uses 4 bytes One analog SmartSlice unit has 2 analog outputs and therefor an Analog Outputs Size of 4 bytes
115. nformation Additional information to read as required This information is provided to increase understanding or make operation easier ES Reference This explains useful tips and reference information when using the product Typography CAPITALS for names displayed on hardware and for abbreviations E g RUN LED will be On Bold for names that can be read from the computer monitor E g Right click EtherCAT and then select Edit lt Carets gt for keys on the keyboard E g Press the Enter key GRT1 series EtherCAT Communication Unit Operation Manual Manual Structure This manual consists of the following chapters Chapters Chapter 1 EtherCAT Network Contents Explains about the EtherCAT features and the network configuration Chapter 2 EtherCAT Communication details Explains the details of EtherCAT communication GRT1 ECT Network location and Chapter 3 Features This section provides an introductory overview of the GRT1 series SmartSlice Units and the GRT1 ECT EtherCAT Communication Unit and its functions for EtherCAT network Chapter 4 GRT1 ECT Details This section gives detailed information on the hardware of the GRT1 ECT Chapter 5 GRT1 ECT Procedures This chapter explains basic procedures and settings for the Communication Unit and the EtherCAT Slaves Chapter 6 GRT1 ECT Troubleshooting Chapter 7 GRT1 ECT Installation This contains troubleshoot
116. nformation on the configuration features and setup GRT1 series EtherCAT Communication Unit Operation Manual Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for 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 IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR 5 GRT1 series EtherCAT
117. ning or Managing Field Automation systems 1 GRT1 series EtherCAT Communication Unit Operation Manual Manual Layout Icons Typography Page Structure This manual s page structure consists of the following Chapter title Clause title Indicates the clause title of the current page L 4 Installation and Wiring gt 4 4 Connecting an External Device Connect an external device to the I O terminal of a Slave Unit 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 external device to be connected connect it to the terminal block Section title Operation procedure number Indicates operation procedure 1 Mount the following crimp terminal to the signal line of the cable 32mm mi 932 mm min 6 0 me max T 2 Connect the signal line to the terminal block 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 the terminal block to connect the signal line Icon Refer to the following section Name of manuals Precautions for Correct Use gt remove the terminal block from the Slave Unit loosen the left and right mounting screws alternately When mounting the terminal block as well
118. of the 1 Error detected connected SmartSlice I O Units 5 11 Reserved 12 Unit Maintenance Monitors the operating time threshold that is set with 0 Normal the Unit power ON time monitor function 1 Error monitor value reached 13 Automatic Restore Monitor Indicates whether or not the automatic parameter 0 Restore successful restore to the SmartSlice I O Units was completed 1 Restore failed successfully 14 Communication Unit Error This flag is ON if one of the other flags bits O to 13 is 0 Normal ON 1 Error occurred 15 I O Refreshing Indicates whether I O data is exchanged normally 0 I O communication stopped 1 communication normal GRT1 series EtherCAT Communication Unit Operation Manual 5 GRT1 ECT Procedures 5 2 5 Unit Functions The following table lists the EtherCAT Communication Unit s functions Function name Summary Setting method Reads the configuration of the SmartSlice Units connected to the Communication Unit and registers that information in a table More info 5 2 6 Table Registration Function 1 REGS Records the parameter data of all connected Units in the Backup Communication Unit DIP switch 4 BACK More info 5 2 7 Backup Function 4 BACK Automatically downloads the backed up parameter data to Table registration DIP switch 1 REGS Automatig the appropriate Unit Download and More info 5 2 8 Automatic Device Restore Function 3 EA S Restore ADR 5 2 6
119. ols data exchange between an EtherCAT Master Unit and SmartSlice Units over an EtherCAT network For more information on SmartSlice Units refer to the GRT1 Series SmartSlice I O Units Operation Manual W455 Rotary switches Set the Unit s address of the EtherCAT Slave Set a decimal node address between 0 and 99 1 Pa OMRON GRT1 ECT zRUN UNIT PWR ERR gt Sas agate Indicators Refer to 6 2 2 Status Indicators for details EtherCAT connector IN port i RTT Link Activity LED IN port a t DIP Switch oN Sets the I O allocation method and registers the I O Unit 1 H 1 n 1 Shielding Terminal configuration information S q spon I 5 1 REGS Create enable registration table Riper SEU OUT port pr SW2 NC Not used set to OFF EtherCAT connector OUT port m SW3 ADR Automatic restore E Be SWA BACK Backup trigger E o xm o E EE DIY Unit power supply terminals WU Connect the power supply for the Unit s internal circuits w V and the connected SmartSlice I O Units internal circuits l O power supply terminals Connect the power supply for
120. on error with the registered table is indicated at the EtherCAT Communication Unit s TS indicator flashing red GRT1 series EtherCAT Communication Unit Operation Manual 5 5 5 GRT1 ECT Procedures OFF during power up Automatic detection The registered table is disabled and the Communication Unit will automatically detect the actual I O configuration and start communication OFF to ON Creating a New Registration Table The SmartSlice I O System s actual I O configuration can be read and registered in the table just by turning DIP switch 1 REGS from OFF to ON while the EtherCAT Communication Unit s power supply is ON If the registration table is being refreshed the old registration table will be erased 4 4 4 2 contact contact contact relay inputs inputs outputs outputs Power ON ethercar Communications Turn pin 1 from OFF to ON with the power ON Reads the configuration information creates Registration table 4 the registration table and records the table ES Reference Register the configuration table when all of the SmartSlice Units are communicating i e when the EtherCAT Communication Unit s TS indicator is lit green The configuration information records the order that the SmartSlice I O Units are connected and the I O size input or output number of bits of each SmartSlice I O Unit The I O Unit model numbers are not recorded 5 2 7 Backup Function 4 BACK The b
121. on mode Free Run mode asynchronous GRT1 series EtherCAT Communication Unit Operation Manual Appendix GRT1 ECT Specifications This section gives detailed specifications for the GRT1 ECT and it s environment A3 1 Specifications GRT1 ECT A3 2 A3 1 1 Installation specifications A3 2 A3 1 2 Environment specifications A3 2 A3 1 3 SmartSlice I O System specifications A3 2 A3 1 4 Supported SmartSlice I O Units A3 3 A3 1 5 External dimensions A3 4 GRT1 series EtherCAT Communication Unit Operation Manual A3 1 Appendix GRT1 ECT Specifications A3 1 Specifications GRT1 ECT This section explains the communication specifications of the GRT1 series EtherCAT Slave A3 1 1 Installation specifications Item Unit type Model Specification SmartSlice GRT1 series GRT1 ECT Mounting position DIN Rail mounted Power supply 24 10 15 20 4 to 26 4 Vdc Current consumption 130 mA typical at 24 VDC Dimensions W x H x D 58 x 80 x 70mm Weight 130g typical A3 1 2 Environment specifications Item Specification Ambient operating 10 to 55 no icing or condensation temperature Ambient operating humidity 25 to 8
122. on of objects implemented on GRT1 series EtherCAT Slaves ES Reference SDO communication is available in the pre operational state For communication state details refer to 2 5 Communication State Transitions in page 2 7 5 3 3 Starting EtherCAT Communication Shift to the operational state EtherCAT communication possible to start the EtherCAT communication For how to shift to the operational state refer to the manual of the EtherCAT Master Unit to be used ES Reference For communication state details refer to 2 5 Communication State Transitions in page 2 7 5 10 GRT1 series EtherCAT Communication Unit Operation Manual 5 GRT1 ECT Procedures 5 4 Maintenance This section describes the routine cleaning and inspection recommended as regular maintenance 5 4 1 Cleaning Clean the EtherCAT Communication Unit regularly as described below in order to keep it in an optimum operating condition Regularly wipe the Unit with a dry soft cloth If a spot cannot be removed with a dry cloth dampen the cloth with a neutral cleaner wring out the cloth and wipe the Unit l Precautions for Correct Use e Never use volatile solvents such as paint thinner benzine or chemical wipes These substances could damage the surface of the Unit p G 5 4 2 Inspection Be sure to inspect the system periodically to keep it in optimum operating condition In general inspect the system once or twice a
123. ons communication The PDO 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 communication among the EtherCAT Master Unit and Slaves EtherCAT Master Unit Slave Unit Slave Unit Slave Unit Slave Unit Ethernet frame 1st EtherCAT telegram Ethernet header EtherCAT header CRC 2nd EtherCAT 3rd EtherCAT telegram telegram Logic process data Dataa Datab lt Mailbox communication functions 00 communication Communication with Service Data Objects SDO refers to message communication At any timing the EtherCAT Master Unit transmits commands to Slaves and the Slaves return responses to the EtherCAT Master Unit It performs the following data communication Read and write process data Make Slave setting Monitor Slave state GRT1 series EtherCAT Communication Unit Operation Manual 1 EtherCAT Network 1 2 Parts of an EtherCAT Network 3 This section gives information on parts using EtherCAT network 27 1 2 1 Configuration Devices of EtherCAT Network An example of parts of an EtherCAT network are shown in the figure below Sysmac Studio NJ series CPU Unit t ESI file t Built in EtherCAT port
124. ot possible Sub index hh 1 Padding bits to make object size a multiple of 8 bits optional Range Unit Default 000000 01 07 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible The number of RXPDO mapping entries for digital inputs depends on the total number of digital inputs connected to the GRT1 ECT When no digital inputs are connected object 1A10 hex will contain 0 entries The RxPDO mapping for digital inputs will only hold 240 entries maximum per index When the index is completely filled it will overflow into the next object which again can contain a maximum of 240 4 6 GRT1 series EtherCAT Communication Unit Operation Manual 4 Appendix Object Dictionary entries and so on Value range depends on the total number of digital outputs kk 10 12 hex hh 01 F0 hex 1A20 hex RxPDO mapping parameter analog inputs 1 hh Sub index 0 Number of objects Range Unit Default hh Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Analog input 1 Range Unit Default 60200110 hex Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index Range Unit Default Attribute Size 4 bytes U32 Access RW PDO map Not possible Sub index n Analog input n Range Unit Default 6020hh10 hex Attribute Size 4 bytes U32 Access RW PDO map Not possi
125. pping 1 Make a list of the actual connected hardware 2 Calculate the total number of DI DO AO CO and CI for the connected SmartSlice units Each slave can have a different number of DI DO Al AO CI and CO The total quantity of each type is required for the mapping The table below lists the amount of digital analog and counter for all supported SmartSlice Units Model DO AO DI Al Cl GRT1 ROS2 2 GRT1 OD4 GRT1 OD8 8 GRT1 DA2 2 GRT1 ID4 4 GRT1 IA4 GRT1 ID8 8 GRT1 AD2 2 GRT1 TS2 2 GRT1 CT1 6 6 GRT1 CP1 L 6 6 and similar models E g GRT1 OD4 cover models GRT1 OD4 GRT1 OD4 1 GRT1 OD4G 1 and GRT1 OD4G 3 A A Additional information Check the supplied documentation to prevent mistakes Example 1 Hardware GRT1 OD4 and GRT1 OD8 and GRT1 ROS2 2 DO Actual connected hardware DO AO DI GRT1 ROS2 2 GRT1 OD4G 1 4 GRT1 OD8 8 TOTAL PDO entries to map 12 0 0 0 Example 2 Actual connected hardware DO AO DI Al GRT1 OD4 1 4 GRT1 OD4 1 4 GRT1 OD8 1 8 GRT1 DA2V 2 GRT1 IA4 4 GRT1 ID8 1 8 GRT1 AD2 2 TOTAL PDO entries to map 16 2 12 2 GRT1 series EtherCAT Communication Unit Operation Manual 8 Sysmac Studio 8 2 3 PDO mapping in Sysmac Studio Mapping PDO is required to make Inputs and Outputs available in the NJ series CPU Unit Use the following procedure to disp
126. r 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 Changing the operating mode of the PLC Setting resetting any bit in memory 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 Precautions for Correct Use 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 communication the power supply and I O crossovers Incorrect wire may result in malfunction Wire all connections correctly according to instructions in this manual Use the co
127. re There are six types of I O that can be connected to the GRT1 ECT Digital Outputs DO Analog Outputs AO Counter Outputs CO Digital Inputs DI Analog Inputs and Counter Inputs The GRT1 ECT can handle up to 512 digital inputs 512 digital outputs 64 analog inputs 64 analog outputs and 10 counters The combination of type and sequence number creates unique PDO names TYPE OF I O PDO NAME ER Digital Outputs DOO001 to DO512 9 Analog Outputs 001 to AO064 z Counter Outputs Counter Set Value Command 1 to 10 Digital Inputs DI001 to DI512 E Analog Inputs A1001 to Al064 Counter Inputs Counter Value Status 1 to 10 The total connected hardware determines the total number of required PDO names E g For two SmartSlices with each 4 Digital Inputs it is required to map 01001 to 01008 ES Additional information Requirements for mapping Mapping for each type of hardware should start with the first avaible PDOname of that type The mapping should be sequential It is not allowed to skip PDOnames uoneuuojur jejeuec 2 9 GRT1 series EtherCAT Communication Unit Operation Manual 8 7 8 Sysmac Studio 8 2 2 Calculating required PDO mapping The PDO mapping in the GRT1 ECT should reflect the actual situation If the PDO mapping is not correct the LEDs RUN and ERR on the GRT1 ECT will be blinking This section describes the calculation for the correct PDO ma
128. rence The timing of each flashing state of indicator is as follows 50 ms on Flickering off on Blinking off on 1000 ms Single flash 200 ms 200 ms off on 1000 ms Double flash s 200 ms 200 ms 200 ms TS indicator Indicates the status of the SmartSlice system Color State Contents No power supply N A OFF Communication with SmartSlice I O Unit has not started Overcurrent detected Flashing SmartSlice Unit added to the system every second Backup Restore function operating Green Flashing Restoring settings to SmartSlice Unit backup function every 0 5 second operating Downloading SmartSlice I O Unit settings ON Communication with SmartSlice I O Unit established Non fatal communication error occurred Communication timeout Flashing Verification error occurred with registered table Different model unit detected after SmartSlice I O Unit Hed replacement ON Fatal communication error occurred Failure occurred while restoring settings to I O unit or Lit for 2 s i downloading 1 unit settings GRT1 series EtherCAT Communication Unit Operation Manual 4 GRT1 ECT Details UNIT PWR indicator Indicates the unit power supply state Coor see Contents Unit power OFF state ON The unit power 24 VDC is supplied to the Slave T 4 i PWR indicator 8 2 Indicates the power supply state Color
129. ription Cause Actions indicator F On Off EtherCAT EtherCAT PDO communication or both PDO communication communication is SDO communication are being is in progress being executed executed State is normal Off On Hardware error A hardware failure If the error does not clear even after F occurred the power is turned ON again the Slave hardware is damaged Replace the Slave B The Expansion Check the Expansion Unit connec Unit is discon tion nected GRT1 series EtherCAT Communication Unit Operation Manual 6 GRT1 ECT Troubleshooting L A IN OUT TUE MEM Description Cause Actions indicator B Illegal switch A range setting Check the switch settings then setting switch or other restart the Slave according to the switch setting is specification of connected EtherCAT illegal Master Unit EEPROM EEPROM data Use the Configuration Tool or SDO data error error communication to restore the default data and restart the Slave according to the specification of connected EtherCAT Master Unit Sync manager The sync manager Change to the correct settings setting error setting is illegal Hardware error A hardware failure If the problem is not resolved even occurred after the measures described above are taken the Slave hardware may be damaged Replace the applicable Slave Off Off Init state The EtherCAT If TS Green Errors of EtherCAT Network L A IN L
130. rrect wiring materials to wire the Unit 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 Do not drop any Unit or subject any Unit to excessive shock or vibration Otherwise Unit failure or malfunction may occur GRT1 series EtherCAT Communication Unit Operation Manual 12 Conformance to EC Directives Applicable Directives EMC Directives Low Voltage Directive Concepts e 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 which the OMRON devices are installed The customer must therefore perform the final check to confirm that devices and the overall machine conform to EMC standards
131. rred base block is connected properly When the registration table function is Correct the configuration and turn the power enabled the actual configuration does ON again not match the registered configuration The total number of I O points in the Correct the Unit configuration and number of SmartSlice Systems exceeds the I O points and turn the power ON again maximum Flashing Green Restore operation in progress Wait until the restore operation is completed 2 Hz Backup operation in progress Wait until the backup operation is com pleted On Red Backup operation failed See Note Backup the data again Restore operation failed See Note Reinstall the Unit in which the data was being restored and turn the power ON again SmartSlice I O Unit configuration error Are more than 64 I O Units connected occurred Are more than 128 bytes of I O data being used e Has the I O configuration changed since the I O configuration table was regis tered Green The Slice bus is operating normally EN Reference Backup Restore Operation failed TS LED Indicator will be Lit for 2 seconds GRT1 series EtherCAT Communication Unit Operation Manual 6 GRT1 ECT Troubleshooting e TS indicator on SmartSlice I O units TS Color Cause Actions indicator Off Refer to section 6 1 1 Power Supply Errors Ensure the Unit power supply of each GRT1 TBL is the same Unit power supply used for the GRT1 ECT Check whether
132. s 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 GRT1 series EtherCAT Communication Unit Operation 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 Terminals Not doing so may result in serious accidents eoo Emergency stop circuits interlock circuits limit circuits and similar safety measures must be provided in external con
133. s not match length of service parameter does not match 06070012 hex Data type does not match length of service parameter too high 06070013 hex Data type does not match length of service parameter too low 06090011 hex 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 08000000 hex Maximum value is less than minimum value General error 08000020 hex 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 GRT1 series EtherCAT Communication Unit Operation Manual 2 EtherCAT Communication details 2 5 Communication State Transitions The EtherCAT State Machine ESM indicates the state transition model of EtherCAT Slave Unit communication control It is controlled by the EtherCAT Master Unit The following figure shows the communication state transitions from power ON lt NE SuonisueJ 9jejs uoneoiunululo9 S Z Power ON Initialization Pre Operational
134. s required for easy replacement of faulty Units yun uoneoiunuiuio suas Z S 5 2 8 Automatic Device Restore Function 3 ADR When a SmartSlice I O Unit has been replaced this function will automatically download restore SmartSlice Unit parameter data that was previously backed up in the EtherCAT Communication Unit The following conditions are required to execute the automatic restore function with a replaced SmartSlice I O Unit DIP switch 1 REGS is ON when the power turns ON the registered table is enabled DIP switch 3 ADR is ON when the power turns ON the automatic restore function is enabled Before replacement the parameter data has been backed up in the EtherCAT Communication Unit using the Backup procedure Power ON gt DIP switch 1 was ON when power is turned ON and DIP switch 3 is turned from OFF to ON EtherCAT Communications Unit 4 Parameter data uonounJ oneuoiny 8 2 9 Parameter data is automatically restored only to the replacement Unit same unit number same model number different serial number Preparing Data Restore 1 Create backup data in the Communication Unit with the backup function For details see 5 2 7 Backup Function 4 BACK 2 Turn ON DIP switch 3 ADR GRT1 series EtherCAT Communication Unit Operation Manual 5 7 5 GRT1 ECT Procedures Replacing a Unit 1 2 3 4 5 Turn OFF th
135. s7t0asies cooes orange AWG26 014mm to AWG24 0 2mm Sheath diameter 1 200 1 6 mm aos AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 0 to 1 2 mm A 37104 2165 000FL Blue AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1210 1 6 mm TUS e AWG22 0 3mm to AWG20 0 5mm Sn aot Sheath diameter 1 610 20 mm Panasonic Electric Works connectors Model Housing color Applicable wire range AWG22 0 3mm to AWG20 0 5mm Sheath diameter 1 2 to 2 0 mm d AWG2B 0 08mi to AWG24 0 2mm lim Sheath diameter 0 7 to 1 2 mm OMRON connectors Model Specification Applicable wire range Spring AWG28 0 08mm to AWG20 0 5mm R clamp type Sheath diameter 1 5 mm max ge GXsories EtherCAT Slave Unit User s Manual i i Clause title f Indicates the chapter title of the current page g Indexes Indicates the chapter number of the current page n Section title Indicates the section title of the current page jaceuuco NOD oi Bunpeuuoo zr GRT1 series EtherCAT Communication Unit Operation Manual Icons The meanings of the icons used in this manual are as follows Precautions for Safe Use Indicates precautions on what to do and what not to do to ensure using the product safely uu Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance EN Additional I
136. settings and the network configuration in the ESI files that are installed You can install ESI files in Sysmac Studio and edit the EtherCAT configuration to create or change the network configuration information You must download the network configuration information to the EtherCAT master to configure the EtherCAT network Contact the supplier of your slave device s to obtain the most recent ESI file s 8 2 GRT1 series EtherCAT Communication Unit Operation Manual 8 Sysmac Studio A configuration program like Sysmac Studio is used to configure the master and Slaves For each Slave an ESI file should be available in Sysmac Studio Use the following procedure to display an overview of available ESI files slaves 1 Start the program Sysmac Studio 2 Ensure the Multiview Explorer is displayed Click the left bar Multiview Explorer if required 3 Open the menu Configurations and Setup and select EtherCAT 4 Doubleclick EtherCAT to open the EtherCAT tab F Sysmac Studio 4 1 0 Map gt 7 Controller Setup b 9 Motion Control Setup se 4 uoneuuoju ALIS IV2J9Uj3 1 8 of Cam Il gt Cvent Settings Br Toce Settings Data Trace Settings The edit pane is displayed Note Another display method is Right click EtherCAT and then select Edit 5 Right click the EtherCAT master that is displayed in the edit pane and select Display ESI Library Configurations
137. ster when the hold clear function becomes active to trigger individual slice hold clear reaction depending on its configuration Poldo gt 9 L pv GRT1 series EtherCAT Communication Unit Operation Manual A4 15 4 Appendix Object Dictionary A4 16 GRT1 series EtherCAT Communication Unit Operation Manual INDEX A Abort codes 2 6 Application object 2 4 Automatic restore 5 7 CAN application protocol 2 2 CN IN connector 7 5 CoE 2 2 Communications cable 1 6 4 8 7 2 7 4 7 5 Communications Unit 1 6 Configuration Tool 1 6 4 8 5 12 Connecting SmartSlice I O Units 7 8 D Disclaimers 1 7 E ERR LED 4 3 4 4 ESI file 1 6 5 10 ESM 2 7 Ethernet frame 1 2 EtherCAT Master 1 6 EtherCAT slave 1 6 EtherCAT slave information 8 2 EtherCAT telegram 1 3 G GRT1 ECT Automatic restore 5 7 Features 3 3 allocation 5 4 5 5 Installation 7 6 Installing a Unit 7 7 Online replacement of I O units 5 8 Removing a Unit 7 8 Table registration 5 6 H Handling Precautions 1 12 GRT1 series EtherCAT Communication Unit Operation Manual data allocation 5 4 5 5 Table registration 5 6 power supply 1 7 7 11 Icons 1 3 Initialization 2 7 Installation Handling precautions 7 6 Precautions 1 11 L L A IN Indicator 4 5 Liability 1 5 M Maintenance Inspection Equipment 5 11
138. t Use If an ESI file for a slave cannot be used in Sysmac Studio an exclamation mark is displayed Install a new improved ESI file from the slave manufacturer to remove the exclamation mark 3 Click the Icon to the left of the name of the ESI file that was added The slave definitions in the ESI file are expanded so that you can check the following items Model Revision Product name AIESI files Omron 3G3AX MX2 ECT Omron FZM1 XXX FCT Omron GX Analog IO Omron GX Digital IO Omron GX Encoder Omron Omron R88D KNoox ECT o E GRTI ECT Rev 2 0 GRII ECT EtherCAT Communication Unit for SmartSlice To add or deletc ESI exit from thi B software and then add delete the file to from Ihe chanpe will belapplied after jestarting this software Close Model Revision Product name GRT1 series EtherCAT Communication Unit Operation Manual 8 Sysmac Studio 8 2 PDO Mapping This section gives general information on PDO mapping and specific information on how PDO mapping is used in Sysmac Studio 8 2 1 General information PDO mapping PDO mapping is required to be able to use connected hardware Mapping creates a connection between software parts PDO and the hardware Mapping Inputs and Outputs from the connected hardware makes these Inputs Outputs usable in the GRT1 ECT Mapped Inputs and Outputs can be used as Process Data Objects PDO in the configuration softwa
139. t the end of the total range 5 Select OK when the number of PDOs to add is correct 6 Select each PDO map in the PDO Map window and add the desired number of PDOs See step 1 of this procedure for the desired number Use the option Add PDO entry or Delete PDO until the mapping is correct Anua PPY Odd 9 2 8 GRT1 series EtherCAT Communication Unit Operation Manual 8 13 8 Sysmac Studio 8 2 6 mapping Delete Entry This section describes the procedure to delete a PDO entry 1 Select the button Edit PDO Map to edit the PDO Map or to view details of the PDO Map A new window with the title Edit PDO Map Settings appears 2 Select the correct PDO Map in the PDO Map overview 3 Use the mouse or keyboard arrows home end lt shift gt to select the PDO entries to delete in the PDO entries overview 4 Select the button Delete PDO entry in the Edit PDO Map Settings window Note Also the Delete key will remove selected PDO entries 5 Select OK when the number of PDOs to add is correct ES Additional information Ensure all selected PDO entries are selected sequential Unused PDOs are only allowed at the end of the total range Use the option Add PDO entry or Delete PDO until the mapping is correct 8 14 GRT1 series EtherCAT Communication Unit Operation Manual 8 Sysmac Studio 8 3 Calculating Refresh Time This section describes the calculation o
140. tal outputs 00008 0x7000 09 1st block of digital outputs 00009 0x7000 0A 1st block of digital outputs DOOLO 0x7000 0B 1st block of digital outputs 00011 0x 000 0C 1st block of digital outputs 00012 0x7000 0D ist block of digital outputs 00013 Odd 2 8 0x7000 0E 1st block of digital outputs 00014 0x7000 0f 1st block of digital outputs 00015 0x7000 10 1st block of digital outputs DO016 Ox 000 11 1st block of digital outputs DOO17 0x7000 12 1st block of digital outputs 00018 0x 000 13 1st block of digital outputs 07000 14 let hack of dinital DONN Data type Comment Anua PPY Odd 9 2 8 GRT1 series EtherCAT Communication Unit Operation Manual 8 11 8 Sysmac Studio 4 Use the mouse or keyboard arrows home end lt shift gt to select the desired PDOs m Edit PDO Map Settings 0x7000 01 1st block of digital outputs 00001 0x7000 02 1st block of digital outputs 00002 0x7000 03 1st block of digital outputs 00003 0x7000 04 1st block of digital outputs DOO04 0x7000 05 1st block of digital outputs 00005 0x7000 06 1st block of digital outputs 00006 0x7000 07 1st block of digital outputs 00007 0x7000 08 1st block of digital outputs 00008 0x 000 09 151 block of digital outputs DOO09 0x7000 0A 1st block of digital outputs DOOLO 0x7000 0B 1st block of digital outputs 00011 Ox 000 0C 151 block of digital outputs 00012 0x
141. the EtherCAT Communication Unit Another DIP switch will write the backed up parameters from the EtherCAT Communication Unit to the new I O Unit GRT1 series EtherCAT Communication Unit Operation Manual 3 3 sejnjged LOA LLYS C sounjes4y 2 3 1 Network location and Features Limitations SmartSlice Units cannot be configured nor accessed through the EtherCAT Communication Unit SmartSlice I O Units are only supported with their default I O data configuration E g adding status flag information with GRT1 AD2 is not supported and will cause an error during startup 3 2 2 GRT1 ECT and SmartSlices data exchange The EtherCAT Communication Unit connects to the Master with an Ethernet network cable and it is directly connected to one or more SmartSlice I O Units H Precautions for Correct Use The refresh cycles of the EtherCAT network and the SmartSlice units are independent and not synchronised Therefore a small quasi random delay exists in the communication between the EtherCAT network and the SmartSlice Units NJ serie To use units of the NJ serie a GRT1 ECT Version 2 0 Ver 2 0 or higher is required The Version number of the GRT1 ECT is printed on the side of the GRT1 ECT Refer to 4 1 1 Frontview and Sideview on page 4 2 for the location of the Version number Trajexia TJ2 MC64 The GRT1 ECT 1 0 is supported by Trajexia firmware version 2 0132 or higher T
142. the connector is inserted Power is not being supplied to the Unit Power is not being supplied to each GRT1 TBL Unit Flashing Red Communication error occurred 1 Hz properly Flashing Green Restore operation in progress Wait until the restore operation is completed 2 Hz Backup operation in progress Wait until the backup operation is com pleted On Red Unit hardware failure Turn the power OFF and then ON again Replace the Unit if the error recurs Green SmartSlice I O Unit operating normally 6 1 3 EtherCAT Errors If power supply to the Unit is correct and the Communication Unit and the SmartSlice I O Units are operating correctly problems in the EtherCAT Connection can be determined using the RUN ERR and L A LED indicators on the EtherCAT Communication Unit In this section the states of status indicator are indicated using the following abbreviations sJojeoipul G37 Bunoouse qno4 1 9 Abbreviation Definition On ON Off OFF F Flickering ON 50 ms OFF 50 ms flashing ni B Blinking ON 200 ms OFF 200 ms flashing m SF Single flash ON 200 ms OFF 1000 ms flashing 2 DF Double flash ON 200 ms OFF 200 ms ON 200 ms OFF 1000 ms flashing 5 Undefined 9 o For details on definition of each state refer to 2 5 Communication State Transitions in page 2 7 Errors of Slave L A IN L A OUT s RN Desc
143. 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 7 GRT1 series EtherCAT Communication Unit Operation Manual Safety Precautions This section gives detailed information on Safety Precautions Precautions for Safe use and Precautions for Correct Use Labels and Meanings to Ensure Safe Usage To ensure safe usage of the EtherCAT Slave 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 This symbol indicates prohibited item an item you must not do The specific instruction is indicated using text inside the The symbol shown to the left indicates disassembly prohibited A This symbol indicates caution warning
144. tings of the EtherCAT network and each Slave Connect the configuration tool to the EtherCAT Master Unit fl Communication cable Use 100BASE TX shielded twisted pair cables category 5 or higher The cables should be double shielded aluminum tape and braided shielding i ESI EtherCAT Slave Information file Describes information specific to EtherCAT Slaves in XML format By reading this file into the Configuration Tool it is possible to perform various settings such as mapping of Slaves to I O memory easily GRT1 series EtherCAT Communication Unit Operation Manual 1 EtherCAT Network m gt 1 a Jj Unit power supply o Provides for communication of each Slave and internal operations m 25 Separate them from the I O power supply when wiring 2 60 gt RA power supply Provides power for Input Output operations of external devices connected to Slaves Separate from Unit power supply when wiring sued YOMIOU v249u13 JO MelAJeAQ GRT1 series EtherCAT Communication Unit Operation Manual 1 7 1 EtherCAT Network GRT1 series EtherCAT Communication Unit Operation Manual EtherCAT Communication details This chapter provides details on EtherCAT communication 2 1 Structure of CAN application protocol over EtherCAT CoE 2 2 2 2 EtherCAT Slave Information File ESI File 2 3 2 3 Process Data Objects
145. to Slave Replacing parts e g relays e Setting the DIP switches and rotary switches 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 communication cables and other items with locking devices are properly locked into place Improver locking may result in malfunction Mount the Units securely using DIN rail Make sure that all Slave 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 communication 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 e 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 them Do not allow foreign matter to enter the Units when wiring and installin
146. tribute Size 2 bytes U16 Access RW PDO map Not possible t indicates the RxPDOs used by this sync manager 1C13 hex Sync manager 3 PDO assignment Sub index 0 Number of assigned TxPDOs Range 00 hex to 05 hex Unit Default 06 hex Attribute Size 1 byte U8 Access RW PDO map Not possible Sub index 1 Assignment of com status Range 1A00 hex to 1BFF hex Unit Default 1A00 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible Sub index 2 Assignment of digital inputs Range 1A00 hex to 1BFF hex Unit Default 1A10 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible Sub index 3 Assignment of digital inputs Range 1A00 hex to 1BFF hex Unit Default 1A11 hex Attribute Size 2 bytes U16 Access RW PDO map Not possible Sub index 4 Assignment of digital inputs Range 1A00 hex to 1BFF hex Unit Default 1 12 hex Attribute gt Size 2 bytes U16 Access RW PDO map Not possible EN Sub index 5 Assignment of analog inputs 9 Range 1A00 hex to 1BFF hex Unit Default 1A20 hex Attribute Hi Size 2 bytes U16 Access RW PDO map Not possible Sub index 6 Assignment of analog inputs 5 Range 1A00 hex to 1BFF hex Unit Default 1A30 hex Attribute 3 Size 2 bytes U16 Access RW PDO map Not possible tindicates the TXPDOs used by this sync manager gt
147. trol 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 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 communication system or in your program to ensure safety in the system even when a communication error or malfunction occurs during remote communication GRT1 series EtherCAT Communication Unit Operation Manual The CPU Unit refreshes even when the program is stopped i e even 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 may result in unexpected operation of the loads connected to th
148. uired range i e 24 Vdc 10 15 20 4 to 26 4 Vdc Flashing The Unit power supply capacity is Check the entire SmartSlice System s power supply insufficient requirement and replace the power supply with one that has sufficient capacity On No Unit power error The correct power is supplied to the System 14 Precautions for Correct Use The EtherCAT Communication Unit can startup on less power than specified If this happens the UNIT PWR LED Indicator may be OFF whereas other LED Indicators may indicate correct operation In this situation however correct operation of the whole SmartSlice System is not guaranteed Troubleshooting I O Power The I O PWR LED Indicator shows whether or not sufficient power is supplied to the External I O Power lines to the SmartSlice I O Units in order for them to drive the external Outputs on the individual Units I O slices A I O PWR LED Indicator is provided on the following Units GRT1 ECT EtherCAT Communication Unit GRT1 TBL Left Turnback Unit e GRT1 PD2 I O Power Supply Unit The table below shows the LED Indicator options sJ0jeoipul G37 Bunoouse qno4 1 9 o Power Error vO PWR Cause Actions 9 indicator 5 Off No Power or not enough power is Check whether power is supplied to the I O Power Con being supplied to the External I O of nector on the GRT1 ECT the GRT1 TBL or the the SmartSlice I O Units GRT1 PD2 Unit pe Check that the supplied
149. unication Unit Operation Manual 5 9 yun uoneoiunuiuio suas Z S uonounJ 6 2 6 5 GRT1 ECT Procedures 5 3 Starting Communication Start the system allocate data of Slaves and then start the EtherCAT communication For communication state details refer to 2 5 Communication State Transitions in page 2 7 5 3 1 Starting a System Turn ON the power supply to each Unit 1 Unit power supply of EtherCAT Master Units 2 Unit power supply of Slaves When the power is supplied Slave s PWR indicator is lit 3 power supply of Slaves Note that there are no restrictions on the order of turning ON the power supplies 5 3 2 Setting EtherCAT Communication The following communications are performed in EtherCAT communication remote communication Allocate data of Slaves to the EtherCAT Master Unit PDO mapping and perform PDO communication remote communication EN Reference For a detailed explanation of I O data of the GRT1 ECT refer to 8 2 1 General information PDO mapping in page 8 7 ESI file are used to allocate I O data For a detailed explanation of the procedure refer to 8 1 2 ESI files library in Sysmac Studio in page 8 3 SDO communication message communication For the method of using refer to the manual of the EtherCAT Master Unit to be used Refer to Appendix A4 to 1 Appendix Object Dictionary for the detailed explanati
150. wever the written configuration must be equal to the actual configuration of the GRT1 ECT to start the communication between the EtherCAT master and the GRT1 ECT GRT1 series EtherCAT Communication Unit Operation Manual 2 5 2 4 1 Overview 2 EtherCAT Communication details 2 4 Service Data Object SDO GRT1 series EtherCAT Communication Unit supports the SDO communication 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 communication 2 4 2 Abort Codes The table below shows abort codes of SDO communication errors Code 05030000 hex Meaning Toggle bit not changed 05040000 hex SDO protocol time out 05040001 hex 05040005 hex Client Server command specifier not valid or unknown Out of memory 06010000 hex 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 06040042 hex The object cannot be mapped into the PDO The number and length of the objects to be mapped would exceed the PDO length 06040043 hex General parameter incompatibility reason 06040047 hex General internal incompatibility in the device 06060000 hex Access failed due to a hardware error 06070010 hex Data type doe
151. year but more frequently if the system is used in high temperature or high humidity environments or dirty dusty conditions Inspection Equipment Prepare the following equipment before inspecting the system L p G e Required Equipment Philips type screwdriver multimeter alcohol and a clean cloth Optional Test Equipment Depending on system conditions a synchroscope oscilloscope thermometer or hygrometer to measure humidity might be needed Inspection Procedure Check the items in the following table and correct any that are below standard Item Standard Equipment Environmental Ambient temperature 0 C to 55 C Thermometer conditions Ambient humidity 10 to 90 Hygrometer Dust dirt accumulation None Installation Are the units installed securely No looseness Are the communication connec No looseness tors fully inserted Are the external wiring screws No looseness tight Are the connecting cables No damage GRT1 series EtherCAT Communication Unit Operation Manual 5 11 5 GRT1 ECT Procedures 5 4 3 Checks Confirm that the LED indicators of the EtherCAT Master Unit and Slaves are normal status and that I O data is correctly read and written Moreover make parameter settings for Slaves as required Check Unit Displays EtherCAT Master Unit Refer to the manual of the EtherCAT Master Unit to be used EtherCAT

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