Omron EJ1 EtherCAT, EJ1N-HFUC-ECT User Manual

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EJ1 EtherCAT

Slave Unit

EJ1N-HFUC-ECT

Cat. No. H192-E1-01

User’s Manual

NOTE

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

Trademarks

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.

Copyrights

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

Introduction

Thank you for purchasing an EJ1 EtherCAT Slave Unit.

This manual provides information required to use the EJ1 EtherCAT Slave Unit, including information on functions, performance, and application methods.

Observe the following items when you use the EJ1 EtherCAT Slave Unit.

• Allow only a specialist with knowledge of electrical systems to handle the EJ1 EtherCAT Slave Unit.

• Read and understand this user’s manual completely and use the EJ1 EtherCAT Slave Unit correctly.

• Keep this user’s manual in a safe place where it will be available for reference when required.

Introduction

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

 Exclusive Warranty

Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.

 Limitations

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.

Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right.

 Buyer Remedy

Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty.

See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.

Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Application Considerations

Suitability of Use

Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.

NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

Terms and Conditions Agreement

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

Disclaimers

Performance Data

Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.

Change in Specifications

Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our practice to change part numbers when published ratings or features are changed, or when significant construction changes are made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Safety Precautions

WARNING

CAUTION

Indicates a potentially hazardous situation which, if not avoided, is likely to result in slight or moderate injury or occasionally, death or serious injury. And serious property damage may occur as well.

Indicates a potentially hazardous situation which, if not avoided, is likely to result in minor or moderate injury or property damage.

Safety Precautions

Notation and Definitions for Precautionary Information

The following notation is used in this manual to provide precautions required to ensure safe usage of the EJ1 EtherCAT Slave Unit.

The safety precautions that are provided here are extremely important to safety. Always read and heed information provided in all safety precautions.

The following notation is used.

 Definitions of Warning and Caution

Symbols

Caution

Prohibition

Mandatory Caution

Symbol Meaning

• General Caution

Indicates non-specific general cautions, warnings, and dangers.

• Electrical Shock Caution

Indicates possibility of electric shock under specific conditions.

• General Prohibition

Indicates non-specific general prohibitions.

• Disassembly Prohibition

Indicates prohibitions when there is a possibility of injury, such as from electric shock, as the result of disassembly.

• General Caution

Indicates non-specific general cautions, warnings, and dangers.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Warnings and Cautions

WARNING

CAUTION

Never use the product without installing protective circuit in network. Doing so may possibly cause abnormal operation, and result in serious injury, property damage, or accident. To operate your total system safely even if any equipment failure occurs, or any trouble is caused by an external element, be sure to configure an external-control-circuit that consists of emergency stop, interlock and limit circuits to provide double or triple safeguard. Do not attempt to take the Unit apart. In particular, parts with high power supply voltages are present in Units that supply power while power is supplied or immediately after power is turned OFF. Touching any of these parts may result in electric shock. There are sharp parts inside the Unit that may cause injury.

Safety Precautions

Do not touch the terminals while power is being supplied.

Doing so may occasionally result in minor injury due to electric shock. Use power supplies that comply with the reinforced insulation specified in IEC 60664 for the

EJ1 external power supply and for the power supplies for devices connected to the EJ1. If non-compliant power supplies are used, electric shock may occasionally result in minor injury. Do not allow pieces of metal, wire clippings, or fine metallic chips generated during installation to enter the product. Doing so may occasionally result in electric shock, fire, or malfunction.

Do not use the product where subject to flammable or explosive gas.

Otherwise, minor injury from explosion may occasionally occur. Never disassemble, modify, or repair the product or touch any of the internal parts. Minor

electric shock, fire, or malfunction may occasionally occur.

Execute online editing only after confirming that no adverse effects will be caused by deviations in the timing of I/O. If you perform online editing, the task execution time may exceed the task period, I/O may not be refreshed with external devices, input signals may not be read, and output timing may change. Always confirm safety at the destination node before you transfer Unit configuration information, parameters, settings, or other data from tools such as the Sysmac Studio.

The devices or machines may operate unexpectedly, regardless of the operating mode of the controller.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Precautions for Safe Use

• The product is designed for indoor use only. Do not use the product outdoors or in any of the following locations.

• Places directly subject to heat radiated from heating equipment.

• Places subject to splashing liquid or oil atmosphere.

• Places subject to direct sunlight.

• Places subject to dust or corrosive gas (in particular, sulfide or ammonia gas)

• Places subject to intense temperature change.

• Places subject to icing or condensation.

• Places subject to vibration or strong shocks.

• Use and store the product within the rated temperature and humidity ranges. Provide forced-cooling if required.

• To allow heat to escape, do not block the area around the temperature controller. Also, do not block its ventilation holes.

• Be sure to wire properly with correct polarity of terminals.

• Do not wire terminals that do not have an identified use.

• Secure as much space as possible between the product and devices that generates a strong high-frequency or surge. Separate the high-voltage or large-current power lines from other lines, and avoid parallel or common wiring with the power lines when you are wiring to the terminals.

• Use the product within the rated load and power supply voltage.

• Make sure that the rated voltage is attained within two seconds of turning ON the power.

• The switch or circuit breaker must be located within an easy reach of the operator, and must be marked as a disconnecting means for this unit.

• Do not use paint thinner or similar chemical to clean with. Use standard grade alcohol.

• Never touch the electric components, connectors, or patterns in the product with bare hands. Always hold the product by its enclosure. Inappropriate handling of the product may occasionally damage internal components due to static electricity.

• Use a switch, relay, or other device for turning OFF the power supply quickly. Gradually lowering the voltage of the power supply may result in incorrect outputs or memory errors.

• Connect only the specified number of products in only a specified configuration.

• Mount the product to a DIN Rail mounted vertically to the ground.

• Make sure that the data transfer distance for EtherCAT is within the specified range, and use the specified cables only.

• Do not bend a communications cable past its natural bending radius or pull in it with excessive force. Also, do not place heavy objects on top of the cables or other wiring lines. Doing so may break the cable.

• When transporting any Unit, use the special packing box for it. Also, do not subject the Unit to excessive vibration or shock during transportation.

• Do not drop any Unit or subject it to abnormal vibration or shock. Doing so may result in Unit malfunction or burning.

• Be sure that connectors with locking devices are properly locked into place.

• When wiring or installing the Units, do not allow metal fragments to enter the Units.

• Double-check all switches and other settings and double-check all wiring to make sure that they are correct before turning ON the power supply. Use the correct wiring parts and tools when you wire the system.

• Always turn OFF the external power supply to the Units before attempting any of the following.

• Mounting, removing, or replacing the Unit

• Setting the rotary switches

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Precautions for Safe Use

• Connecting cables, wiring, or changing the configuration

• If you change the fail-soft operation setting, the output status when the error occurs may also change. Confirm safety before you change the fail-soft operation setting.

• Confirm that the controlled system will not be adversely affected before you perform any of the following operations.

• Changing the operating mode of the CPU Unit (including changing the setting of the Operating Mode at Startup)

• Changing the user program or settings

• Changing set values or present values

• Forced refreshing

• Dispose of the product according to local ordinances as they apply.

• Do not allow foreign matter to enter the openings in the Unit. Doing so may result in Unit burning, electric shock, or failure.

• Before installing the Unit, do not remove the enclosed cover seal from the connector opening on the left end of the Unit.

• You can connect up to 16 Units for one End Unit. However, you can connect only one Advanced Unit. Do not connect more than 16 Units.

• You can connect up to 32 Basic Units with branch wiring. Do not connect more than 32 Basic Units.

Observe the following precautions for EtherCAT communications.

• Make sure that the communications distance, number of nodes connected, and method of connection for EtherCAT are within specifications.

Do not connect EtherCAT Coupler Units to EtherNet/IP, a standard in-house LAN, or other networks.

An overload may cause the network to fail or malfunction.

• Malfunctions or unexpected operation may occur for some combinations of EtherCAT revisions of the master and slaves. If you disable the revision check in the network settings, check the slave revision settings in the master and the actual slave revisions, and then make sure that functionality is compatible in the manuals or other references. You can check the slave versions in the settings from the Sysmac Studio and you can check the actual slave revisions from the Sysmac Studio or on slave nameplates.

• After you transfer the user program, the CPU Unit is restarted and communications with the EtherCAT slaves are cut off. During that period, the slave outputs behave according to the slave settings.

The time that communications are cut off depends on the EtherCAT network configuration.

Before you transfer the user program, confirm that the system will not be adversely affected.

• EtherCAT communications are not always established immediately after the power supply is turned ON. Use the system-defined variables in the user program to confirm that communications are established before attempting control operations.

• If frames sent to EtherCAT slaves are lost due to noise or other causes, slave I/O data is not communicated, and the intended operation is sometimes not achieved. Perform the following processing if noise countermeasures are necessary.

Program the _EC_InDataInvalid (Input Data Invalid), _EC_InData1Invalid (Input Data 1 Invalid), and _EC_InData2Invalid (Input Data 2 Invalid) system-defined variables as interlock conditions in the user program.

Set the PDO communications consecutive timeout detection count setting in the EtherCAT master to at least 2.

Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for details.

• When an EtherCAT slave is disconnected, communications will stop and control of the outputs will be lost not only for the disconnected slave, but for all slaves connected after it. Confirm that the system will not be adversely affected before you disconnect a slave.

• If you disconnect the cable from an EtherCAT slave to disconnect it from the network, any current communications frames may be lost. If frames are lost, slave I/O data is not communicated, and the

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Precautions for Safe Use

intended operation is sometimes not achieved. Perform the following processing for a slave that needs to be replaced.

Set the PDO communications consecutive timeout detection count setting in the EtherCAT master to at least 2.

Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for details.

• Make sure that the PDO recording area for EtherCAT communications is correct.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Precautions for Correct Use

 Installation

• Connect the EJ1 EtherCAT Slave Unit to the left side of a Basic Unit or an End Unit.

• The EJ1 cannot be used linked to a CJ-series PLC.

 Service Life

• Use the product within the following temperature and humidity ranges.

Temperature: −10 to 55°C (with no icing or condensation)

Humidity: 25% to 85%

When the Temperature Controller is incorporated in a control panel, make sure that the controller’s ambient temperature and not the panel’s ambient temperature does not exceed 55°C.

• The service life of electronic devices like the Temperature Controller is determined by the service life of internal electronic components. Component service life is affected by the ambient temperature: the higher the temperature, the shorter the service life and the lower the temperature, the longer the service life. Therefore, the service life can be extended by lowering the temperature of the Temperature Controller.

• Mounting two or more Temperature Controllers side by side, or mounting Temperature Controllers above each other may cause heat to build up inside the Temperature Controllers, which will shorten their service life. If the Temperature Controllers are mounted above each other or side by side, use forced cooling by fans or other means of air ventilation to cool down the Temperature Controllers.

However, be sure not to cool only the terminals. Doing so will result in measurement errors.

• Take appropriate and sufficient countermeasures when installing the controller 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 lines

Precautions for Correct Use

 Precautions for Operation

• It takes a certain amount of time for the outputs to turn ON from after the power supply is turned ON. Due consideration must be given to this time when designing control panels, etc.

• It takes 30 minutes from the time the product is turned ON until the correct temperature is indicated. Always turn ON the power supply at least 30 minutes before starting temperature control.

• Avoid using the Temperature Controller near a radio, television set, or other wireless device. Its use would result in reception disturbance.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Preparations for Use

Be sure to thoroughly read and understand the manual provided with the product, and check the following points.

Timing Check point Details

Purchasing the product

Setting the Unit Product installa-

Wiring Terminal wiring Do not subject the terminal screws to excessive stress (force) when

Operating environment

Product appearance

Product model and specifications

tion location

Power supply inputs Ambient temperature

Vibration and shock

Foreign particles Install the product in a location that is not subject to liquid or foreign par-

After purchase, check that the product and packaging are not dented or otherwise damaged. Damaged internal parts may prevent optimum control.

Make sure that the purchased product meets the required specifications.

Provide sufficient space around the product for heat dissipation. Do not block the vents on the product.

tightening them.

Make sure that there are no loose screws after tightening terminal screws to the specified torque of 0.25 to 0.30 N·m.

Be sure to confirm the polarity for each terminal before wiring the terminal block and connectors.

Wire the power supply inputs correctly. Incorrect wiring will result in damage to the internal circuits. The ambient operating temperature for the product is −10 to 55°C (with no condensation or icing). To extend the service life of the product, install it in a location with an ambient temperature as low as possible. In locations exposed to high temperatures, if necessary, cool the products using a fan or other cooling method.

Check whether the standards related to shock and vibration are satisfied at the installation environment. (Install the product in locations where the conductors will not be subject to vibration or shock.)

ticles entering the product. If sulfide, chlorine, or other corrosive gases are present, remove the source of the gas, install a fan, or use other countermeasures to protect the product.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Regulations and Standards

Conformance to EU Directives

 Applicable Directives

EMC Directives

 Concepts

EMC Directives

OMRON devices that comply with EU Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards. Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer. EMC-related performance of the OMRON devices that comply with EU 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.

Regulations and Standards

 Conformance to EU Directives

To ensure that the machine or device in which the EJ-series Unit is used complies with EU Directives, the Unit must be installed as follows:

• The EJ1 EtherCAT Slave Unit must be installed within a control panel.

• You must use reinforced insulation or double insulation for the DC power supplies used for the communications power supply, internal power supply, and I/O power supplies.

• EJ-series Units that comply with EU Directives also conform to the Common Emission Standard (EN 61326). 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 EU Directives.

• The Unit is a Class A product (products for industrial environments). In residential environment areas it may cause radio interference, in which case the user may be required to take adequate measures to reduce interference.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Revision History

A manual revision code appears as a suffix to the catalog number at the bottom of the back cover of the manual.

Cat. No. H192-E1-01

Revision code Date Revised content

01 October 2015 Original production

Revision code

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Related Manuals

The manuals related to the EJ1 EtherCAT Slave Unit are configured as shown in the following tables. Refer to these manuals as required.

EJ1

Cat. No. Model number Manual name Application Description

H192

(This manual)

H142 EJ1N-TC2

---

Online Help

EJ1N-HFUC-ECT EJ1 EtherCAT

EJ1N-TC4

EJ1C-EDU

EST2-2C-MV4 CX-Thermo Ver.

Slave Unit User’s Manual

EJ1 Modular Temperature Controllers User's Manual

4. (online help)

Learning the basic specifications of the EJ1 EtherCAT Slave Unit, including introductory information, designing, and maintenance.

Learning the basic specifications of the EJ1 Temperature Controllers, including introductory information, designing, installation, and maintenance.

Learning the operating procedures of the CX-Thermo.

The following information is provided on the EJ1 EtherCAT Slave Unit.

• Overview and features

• System configuration

• Installation and wiring

• Troubleshooting

The following information is provided on the EJ1 Temperature Controllers.

• Overview and features

• System configuration

• Mounting and wiring

• Troubleshooting

Describes how to set parameters and adjust devices (i.e., components such as Temperature Controllers) using the CX-Thermo.

NJ/NX-series Master Units

Cat. No. Model number Manual name Application Description

W505 NX701-

NJ501-

NJ301-

NJ101-

W500 NJ501-

NJ301-

NJ101-

NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual

NJ-series CPU Unit Hardware User’s Manual

Using the built-in EtherCAT port on an NJ/NX-series CPU Unit.

Learning the basic specifications of the NJ-series CPU Units, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided.

Information on the built-in EtherCAT port is provided

This manual provides an introduction and information on the configuration, features, and setup.

Use this manual together with the

NJ-series CPU Unit Hardware User's Manual (Cat. No. W500) and NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).

An introduction to the entire NJ-series system is provided along with the following information on the CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

Use this manual together with the

NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Related Manuals

Cat. No. Model number Manual name Application Description

W535 NX701- NX-series CPU Unit

Hardware User’s Manual

W501 NX701-

NJ501-

NJ301-

NJ101-

W502 NX701-

NJ501-

NJ301-

NJ101-

W504 SYSMAC-SE2 Sysmac Studio Ver-

NJ/NX-series CPU Unit Software User´s Manual

NJ/NX-series Instructions Reference Manual

sion 1 Operation Manual

Learning the basic specifications of the NX-series CPU Units, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided.

Learning how to program and set up an NJ/NX-series CPU Unit. Mainly software information is provided.

Learning detailed specifications on the basic instructions of an NJ/NX-series CPU Unit.

Learning about the operating procedures and functions of the Sysmac Studio.

An introduction to the entire NX-series system is provided along with the following information on the CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

Use this manual together with the

NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).

The following information is provided on an NJ/NX-series CPU Unit.

• CPU Unit operation

• CPU Unit features

• Initial settings

• Use this manual together with IEC 61131-3-based programming language specifications and the NJ-series CPU Unit Hardware User's Manual (Cat. No. W500).

The instructions in the instruction set (IEC 61131-3 specifications) are described.

When programming, use this manual together with the NJ-series CPU Unit Hardware User's Manual (Cat. No. W500) and NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).

Describes the operating procedures of the Sysmac Studio.

G3ZA Multi-channel Power Controllers

Cat. No. Model number Manual name Application Description

Z200 G3ZA-4H203-FLK-UTU

G3ZA-4H403-FLK-UTU

G3ZA-8A203-FLK-UTU

G3ZA-8A403-FLK-UTU

G3ZA Multi-channel Power Controller User’s Manual

Using the G3ZA to perform high-precision control of heater power with RS-485 serial communications (CompoWay/F) from an EJ1 or PLC.

The following information is provided on the G3ZA.

• Overview and features

• Installation and wiring

• Setting RS-485 serial communications

• Basic functions

G3PW Power Controllers

Cat. No. Model number Manual name Application Description

Z280 G3PW-A220EC-C-FLK

G3PW-A230EC-C-FLK

G3PW-A245EC-C-FLK

G3PW-A260EC-C-FLK

G3PW-A220EC-S-FLK

G3PW-A230EC-S-FLK

G3PW-A245EC-S-FLK

G3PW-A260EC-S-FLK

G3PW-series

Power Controller User's Manual

Using the G3PW under phase control or cyclic control to perform control that achieves higher precision than with the G3ZA on heater power with a continuous proportional output or with RS-485 serial communications (CompoWay/F) from an EJ1.

The following information is provided on the G3PW.

• Overview and features

• Installation and wiring

• Setting RS-485 serial communications

• Basic functions

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Meanings of Abbreviations and Terms

The following abbreviations and terms are used in this manual.

Abbreviation or term Meaning

CompoWay/F commands/responses

EDU EJ1 End Unit Basic Unit EJ1 Basic Unit

Advanced Unit EJ1 EtherCAT Slave Unit Temperature Controller One of the EJ1 Basic Units given above. communications unit number

Also called “FINS-mini commands/responses.”

This manual uses the term “CompoWay/F commands/responses.”

• TC4: Four-channel Basic Unit

• TC2: Two-channel Basic Unit

An identification number in CompoWay/F communications for a Temperature Controller connected to an EJ1 EtherCAT Slave Unit.

Set the communications unit number with rotary switch 1 and DIP switch 2 on each Basic Unit.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Meanings of Abbreviations and Terms

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Appendices

Index

Part Names and EtherCAT Communications Overview

Installation and Connection

Troubleshooting

Maintenance and Inspection

Specifications and Procedures

Features and System Configuration

Using the EJ1 EtherCAT Slave Unit with PDO Communications

Using the EJ1 EtherCAT Slave Unit with SDO Communications

Sections in this Manual

EJ1 EtherCAT Slave Unit User’s Manual (H192)

CONTENTS

Introduction ..............................................................................................................1

Terms and Conditions Agreement ..........................................................................2

Warranty, Limitations of Liability .................................................................................................................. 2

Application Considerations .......................................................................................................................... 3

Disclaimers .................................................................................................................................................. 3

Safety Precautions ...................................................................................................4

Notation and Definitions for Precautionary Information ............................................................................... 4

Symbols....................................................................................................................................................... 4

Warnings and Cautions ............................................................................................................................... 5

Precautions for Safe Use.........................................................................................6

Precautions for Correct Use.................................................................................... 9

Preparations for Use ..............................................................................................10

Regulations and Standards................................................................................... 11

Conformance to EU Directives .................................................................................................................. 11

Revision History .....................................................................................................12

Related Manuals .....................................................................................................13

EJ1............................................................................................................................................................. 13

NJ/NX-series Master Units ........................................................................................................................ 13

G3ZA Multi-channel Power Controllers ..................................................................................................... 14

G3PW Power Controllers........................................................................................................................... 14

Meanings of Abbreviations and Terms.................................................................15

Sections in this Manual .........................................................................................17

CONTENTS..............................................................................................................18

Section 1 Features and System Configuration

1-1 Overview and Features ......................................................................................................... 1-2

1-1-1 Overview .....................................................................................................................................1-2

1-1-2 Features ...................................................................................................................................... 1-2

1-2 System Configuration ........................................................................................................... 1-3

1-3 Unit Models and Overview of Functions ............................................................................. 1-5

1-3-1 Unit Model Number .....................................................................................................................1-5

1-3-2 Overview of Functions.................................................................................................................1-5

Section 2 Specifications and Procedures

2-1 Specifications ........................................................................................................................ 2-2

2-1-1 General Specifications ................................................................................................................ 2-2

2-1-2 Function Specifications ............................................................................................................... 2-2

2-1-3 EtherCAT Slave Communications Specifications........................................................................ 2-3

EJ1 EtherCAT Slave Unit User’s Manual (H192)

CONTENTS

2-2 Application Procedures ........................................................................................................ 2-4

2-2-1 Hardware Setup Procedure ........................................................................................................ 2-4

2-2-2 Software Setup Procedure.......................................................................................................... 2-5

Section 3 Part Names and EtherCAT Communications Overview

3-1 Part Names and Functions ................................................................................................... 3-2

3-1-1 Appearance and Names of Parts on the Front Panel ................................................................. 3-2

3-1-2 Meanings of Indicators................................................................................................................ 3-3

3-1-3 Node Address Setting Switches ................................................................................................. 3-3

3-1-4 EtherCAT Communications Connectors..................................................................................... 3-4

3-2 EtherCAT Communications Overview ................................................................................. 3-5

3-2-1 Structure of CAN Application Protocol over EtherCAT (CoE)..................................................... 3-5

3-2-2 EtherCAT Slave Information File (ESI Files)............................................................................... 3-6

3-2-3 State Transitions for EtherCAT Communications........................................................................ 3-7

3-2-4 Process Data Objects (PDOs) .................................................................................................... 3-8

3-2-5 Service Data Objects (SDOs) ................................................................................................... 3-10

Section 4 Installation and Connection

4-1 Installing the EJ1 EtherCAT Slave Unit ............................................................................... 4-2

4-2 EtherCAT Network Wiring ..................................................................................................... 4-3

4-2-1 Installation Precautions............................................................................................................... 4-3

4-2-2 Preparations for Installation ........................................................................................................ 4-3

4-2-3 Recommended EtherCAT Cables............................................................................................... 4-4

4-3 Wiring the Temperature Controllers .................................................................................... 4-5

Section 5 Using the EJ1 EtherCAT Slave Unit with PDO Communi-

cations

5-1 EJ1 PDO Communications Overview .................................................................................. 5-2

5-2 How Data Is Sent and Received with PDO Communications ............................................ 5-3

5-2-1 CompoWay/F Commands and Responses ................................................................................ 5-3

5-2-2 Control Commands and Responses........................................................................................... 5-5

5-3 PDO Mapping Data Overview ............................................................................................... 5-6

5-3-1 Types of PDO Mapping Data...................................................................................................... 5-6

5-3-2 PDO Mapping Data List.............................................................................................................. 5-7

5-4 PDO Mapping Data Details.................................................................................................... 5-8

5-4-1 Output Notification Data (Communications Master to EJ1 EtherCAT Slave Unit) ...................... 5-8

5-4-2 Input Notification Data (EJ1 EtherCAT Slave Unit to Communications Master) ....................... 5-10

5-4-3 Sysmac Error Status................................................................................................................. 5-14

5-5 Writing User Programming................................................................................................. 5-15

5-5-1 Handshaking with the EJ1 EtherCAT Slave Unit with User Programming................................ 5-15

5-5-2 Handshaking with the EJ1 EtherCAT Slave Unit with User Programming................................ 5-16

5-5-3 Procedures for Sending Control Commands and Receiving Responses ................................. 5-17

5-6 Example Procedures for Sending CompoWay/F Commands

and Receiving Responses .................................................................................................. 5-18

5-6-1 Example of Sending and Receiving Data without Dividing into Parts....................................... 5-18

5-6-2 Example of Sending and Receiving Data in Parts .................................................................... 5-21

5-7 Setting CompoWay/F Frames............................................................................................. 5-25

5-7-1 Output Data and Input Data Contents ...................................................................................... 5-25

5-7-2 Storing Output Data and Input Data in Array Variables ............................................................ 5-27

5-7-3 Setting the PDO Mappings for I/O Data.................................................................................... 5-28

5-8 Assigning Device Variables................................................................................................ 5-32

EJ1 EtherCAT Slave Unit User’s Manual (H192)

CONTENTS

Section 6 Using the EJ1 EtherCAT Slave Unit with SDO Communi-

cations

6-1 Overview................................................................................................................................. 6-2

6-2 Abort Codes ........................................................................................................................... 6-3

Section 7 Troubleshooting

7-1 Error Notification Methods ...................................................................................................7-2

7-2 Error List ................................................................................................................................ 7-3

7-2-1 Errors Detected during Boot Process.......................................................................................... 7-3

7-2-2 EtherCAT Communications Errors..............................................................................................7-4

7-2-3 Errors Detected during a Software Process................................................................................7-5

7-3 Error Notifications Based on the Sysmac Error Status ..................................................... 7-6

7-3-1 Sysmac Error Status ...................................................................................................................7-6

7-3-2 Checking and Responding to Event Codes ................................................................................7-7

7-4 Error Notifications Provided with Emergency Messages .................................................. 7-8

7-4-1 Emergency Messages.................................................................................................................7-8

7-5 Error Notifications Based on the AL Status........................................................................ 7-9

Section 8 Maintenance and Inspection

8-1 Cleaning and Inspection ....................................................................................................... 8-2

8-1-1 Cleaning ...................................................................................................................................... 8-2

8-1-2 Inspection Methods .....................................................................................................................8-2

8-1-3 Inspection Items .......................................................................................................................... 8-3

8-2 Replacing Units...................................................................................................................... 8-4

8-2-1 Unit Replacement Precautions.................................................................................................... 8-4

8-2-2 Unit Replacement Procedure ......................................................................................................8-4

Appendices

A-1 Dimensions ............................................................................................................................A-2

A-1-1 EJ1N-HFUC-ECT........................................................................................................................A-2

A-2 Sample Programming ...........................................................................................................A-3

A-2-1 Items Common to All Programming Samples .............................................................................A-3

A-2-2 Sending CompoWay/F Commands and Receiving Responses ..................................................A-6

A-2-3 Restart Port .................................................................................................................................A-8

A-3 CoE Objects ...........................................................................................................................A-9

A-3-1 Object Dictionary Area ................................................................................................................A-9

A-3-2 Data type.....................................................................................................................................A-9

A-3-3 Communications Objects ..........................................................................................................A-10

A-3-4 PDO Mapping Objects ..............................................................................................................A-11

A-3-5 Sync Manager Communications Objects ..................................................................................A-14

A-3-6 Manufacturer-specific Object 1 .................................................................................................A-15

A-3-7 Device Profile Area ...................................................................................................................A-17

Index

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Features and System Configuration

This section describes the features of the EJ1 EtherCAT Slave Unit and the system configuration in which the EJ1 EtherCAT Slave Unit is used.

1-1 Overview and Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1-3 Unit Models and Overview of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1-3-1 Unit Model Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1-3-2 Overview of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

EJ1 EtherCAT Slave Unit User’s Manual (H192)

1 - 1

1 Features and System Configuration

1-1 Overview and Features

This section introduces the EJ1 EtherCAT Slave Unit and describes its features.

1-1-1 Overview

The EJ1 EtherCAT Slave Unit is a communications unit used to connect EJ1 Modular Temperature Controllers as slaves on an EtherCAT network.

You can send CompoWay/F commands from a user program through PDO communications to perform handshaking with an EJ1 EtherCAT Slave Unit in order to write/read values in EJ1 Basic Units connected to the EJ1 EtherCAT Slave Unit.

1-1-2 Features

The EJ1 EtherCAT Slave Unit has the following features.

• You can connect up to 15 Basic Units in EJ1 Modular Temperature Controllers to communicate between the EtherCAT communications master and the Basic Units. If you use distributed placement, you can connect up to 32 Basic Units.

• You can send the required commands with the CompoWay/F communications protocol for OMRON components from the EtherCAT communications master to read/write present values and set values or to perform other processing.

1 - 2

EJ1 EtherCAT Slave Unit User’s Manual (H192)

1 Features and System Configuration

Connect the following to port B:

• When using distributed placement, use an RS-485 cable to connect ports B between two EDUs. Note: Programmable Terminals (PTs) cannot be connected.

Connect the following to the port A connector: Use the E58-CIFQ1 (sold separately) to connect port A to USB port on a computer running the CX-Thermo.

(A)

EJ1 EtherCAT Slave Unit EJ1N-HFUC-ECT

(B)

EJ1-TC4 or EJ1-TC2 Units

(C)

EJ1-EDU

(D)

CX-Thermo (for setup)

(H) Communications cable

Ethernet cable

(E) EtherCAT master

NJ/NX-series CPU Unit or non-OMRON master

(F) Sysmac Studio

Support Software

(G) ESI files

Built-in EtherCAT port

.xml

Connect to peripheral USB port or built-in EtherNet/IP port on NJ/NX-series CPU Unit.

EtherCAT

1-2 System Configuration

This section describes the overall system configuration in which an EJ1 EtherCAT Slave Unit is used.

The EJ1 EtherCAT Slave Unit is connected to an EtherCAT network that is connected to an NJ/NX-series CPU Unit or a non-OMRON EtherCAT communications master.

The EJ1 EtherCAT Slave Unit is connected as the far left module, and EJ1 Basic Units (TC4/TC2) are connected on the right of it. An EJ1 End Unit (EDU) is connected as the far right module.

The elements in the system configuration are described in the following system configuration diagram.

1-2 System Configuration

EJ1 EtherCAT Slave Unit User’s Manual (H192)

A maximum of 15 Basic Units can be connected side by side next to an EJ1 EtherCAT Slave Unit to perform EtherCAT communications through the EJ1 EtherCAT Slave Unit.

If you use distributed placement through a RS-485 communications cable from the EDU, you can connect a maximum of 32 Basic Units next to the EJ1 EtherCAT Slave Unit to perform EtherCAT communications through the EJ1 EtherCAT Slave Unit.

Refer to the EJ1 Modular Temperature Controllers User’s Manual (Cat. No. H142) for information on distributed placement.

1 - 3

1 Features and System Configuration

Letter Item Description

(A) EJ1 EtherCAT Slave Unit This Unit is an EJ1 Advanced Unit. (B) EJ1 Basic Units The Basic Units are modular temperature controllers with I/O.

(D) CX-Thermo

(EST2-2C-MV)

(E) EtherCAT communications mas-

ter

(F) Sysmac Studio Support Software This computer software application is used to set up the EtherCAT

(G) ESI files ESI files contain information that is unique to the EJ1 EtherCAT

(H) EtherCAT communications cable Use a double-shielded cable with aluminum tape and braiding of

There are two models of Basic Units: The TC4 with four I/O channels and the TC2 with two I/O channels.

You can connect up to eight G3ZA Multi-channel Power Controllers or V1.1 G3PW Power Controllers to each Basic Unit.

Advanced Unit. The End Unit must be connected as the far right module when you use the EJ1 EtherCAT Slave Unit. You can connect up to 16 Units for one End Unit. However, you can connect only one Advanced Unit.

This computer software application is used to set up and monitor the EJ1 Basic Units.

An E58-CIFQ1 USB-Serial Conversion Cable is required to connect the CX-Thermo. You can also use a K3SC-10 Interface Converter to convert to RS-232C/RS-485 and thereby enable connecting to more than one EJ1 EtherCAT Slave Unit at the same time.

This is an EtherCAT communications master, such as an NJ/NX-series CPU Unit or a communications master from another manufacturer.

network and make other settings. It is used to register an EJ1 EtherCAT Slave Unit in the EtherCAT network configuration.

The Sysmac Studio is also used to set the PDO mappings for the EtherCAT communications master.

To change the default PDO sizes, edit the PDO mappings in the communications master of the EJ1 EtherCAT Slave Unit in EtherCAT slave settings on the Sysmac Studio.

Slave Unit in XML format.

ESI files are required to connect OMRON EtherCAT slaves to controllers from other companies. To connect an EJ1 EtherCAT Slave Unit to a controller from another company, install the ESI file for the EJ1 EtherCAT Slave Unit in the configuration software that you are using. For details on ESI files, refer to 3-2-2 EtherCAT Slave Infor- mation File (ESI Files) on page 3-6

Ethernet category 5 (100BASE-TX) or higher, and use straight wiring.

1 - 4

EJ1 EtherCAT Slave Unit User’s Manual (H192)

1 Features and System Configuration

1-3 Unit Models and Overview of Func-

1-3 Unit Models and Overview of

tions

This section introduces the EJ1 EtherCAT Slave Unit model number and provides an overview of the functions of the EJ1 EtherCAT Slave Unit.

1-3-1 Unit Model Number

The model number and specifications for the EJ1 EtherCAT Slave Unit are given in the following table.

Unit name Model number Specifications

EJ1 EtherCAT Slave Unit

1-3-2 Overview of Functions

EJ1N-HFUC-ECT • In the EJ1 Series, this Unit is classified as an Advanced

Functions

1-3-1 Unit Model Number

Unit.

• As an EtherCAT communications device, this Unit is classified as an EtherCAT slave.

You can use PDO communications to perform CompoWay/F command/response communications between the EJ1 EtherCAT Slave Unit and Basic Units.

• Power supply: 24 VDC provided from the End Unit.

The following table provides an overview of the functions provided by an EJ1 EtherCAT Slave Unit.

Function Description Reference

PDO communications

SDO communications

The following two types of communications commands can be sent and received by using PDO communications from a user program to perform handshaking.

1) CompoWay/F commands:

Commands to read the present values or write set values in Basic Units.

2) Control commands:

Commands used to control an EJ1 EtherCAT Slave

Unit. You can use SDO communications to access objects that cannot be registered in PDO mappings. (You cannot use it for objects that can be registered in PDO mappings.)

Section 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Section 6 Using the EJ1 EtherCAT Slave Unit with SDO Communications

EJ1 EtherCAT Slave Unit User’s Manual (H192)

1 - 5

1 Features and System Configuration

1 - 6

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Specifications and Procedures

This section provides the general specifications and individual Unit specifications, and describes how to use the EJ1 EtherCAT Slave Unit.

2-1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-2 Function Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-3 EtherCAT Slave Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . 2-3

2-2 Application Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-2-1 Hardware Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-2-2 Software Setup Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

EJ1 EtherCAT Slave Unit User’s Manual (H192)

2 - 1

2 Specifications and Procedures

2-1 Specifications

This section gives the general specifications of the EJ1 EtherCAT Slave Unit.

2-1-1 General Specifications

The following table gives the general specifications of the EJ1 EtherCAT Slave Unit.

Item Specification

Power supply voltage End Unit power supply: 24 VDC Allowable voltage range End Unit power supply: 20.4 to 26.4 VDC Power consumption (at maxi-

mum load) Ambient operating tempera-

ture Ambient operating humidity 25% to 85% Ambient storage temperature −25 to 65°C (with no condensation or icing) Ambient storage humidity 25% to 85% Vibration resistance

Shock resistance

Dielectric strength 600 VAC, 50 or 60 Hz for 1 min Insulation resistance 20 MΩ min. (at 500 VDC) Enclosure rating IP20 Memory protection EEPROM, 100,000 write operations EJ1 internal bus communica-

tions conditions

Weight 100 g max.

2 W max.

−10 to 55°C (with no condensation or icing)

10 to 55 Hz, 10 m/s

150 m/s

Communications protocol: CompoWay/F, Baud rate: 115,200 bps

Data length: 7 bits, Stop bit: 2 bits, Communications parity: Even

max. 3 times each in 3 axes, 6 directions

for 2 hours each in X, Y, and Z directions

2-1-2 Function Specifications

The following table gives the function specifications of the EJ1 EtherCAT Slave Unit.

Item Specification

Maximum number of Basic Units that can be connected

32 Units

You can connect up to 16 Units for one End Unit. However, you can connect only one Advanced Unit.

2 - 2

EJ1 EtherCAT Slave Unit User’s Manual (H192)

2 Specifications and Procedures

2-1-3 EtherCAT Slave Communications Specifications

This section provides the EtherCAT slave communications specifications for the EJ1 EtherCAT Slave Unit.

Item Specification

Communications protocol EtherCAT protocol Communica-

tions

Modulation Baseband Baud rate 100 Mbps Physical layer 100BASE-TX Topology Daisy chain, T-junction Communications media STP category 5 or higher Communications distance Distance between nodes: 100 m or less Noise immunity Conforms to IEC 61000-4-4, 1 kV or higher PDO size The following process data can be allocated as required.

Address range 0 to 255: Based on the two rotary switches on the front panel

Address setting method Set on the hexadecimal rotary switches or in the software settings. Indicators L/A, RUN, and ERR Cycle Time FreeRun Message protocol CoE

PDO communications

SDO communications

Input (received by communications master)

Output (sent by communications master)

Cyclic I/O is supported between the communications master and the following PDO-mappable objects in an EJ1 EtherCAT Slave Unit.

• Input Notification Data: Port Status, Input SID, Input Data, etc.

• Output Notification Data: Output SID, Output Data, etc. SDO communications is supported only when it is required to access objects that

cannot be assigned to PDO mappings.

• Input Notification Data:

• Sysmac Error Status: 1 byte.

• Output Notification Data:

0 to 65,535: Based on software settings*1, *2

*1. The addresses that you can set in the software settings depend on the

EtherCAT master that you use.

(For example, 1 to 192 for an NJ-series CPU Unit or 1 to 512 for an NX-series CPU Unit.)

*2. Use the EtherCAT master’s configuration tool to configure the software set-

tings.

(For example, use the Sysmac Studio if using an NJ-series CPU Unit or NX-series CPU Unit.)

10 + (4 × n) bytes (n = 1, 2, 3, ... 20), where n is the number of input data items (default: 5)

The input data size is between 4 and 80 bytes

(default: 20 bytes).

(The input data size can be changed by editing the PDO mappings.)

8 + (4 × m) bytes (m = 1, 2, 3, ... 20), where m is the number of output data items (default: 5)

The output data size is between 4 and 80 bytes (default: 20 bytes).

(The output data size can be changed by editing the PDO mappings.)

2-1 Specifications

2-1-3 EtherCAT Slave Communications Specifications

EJ1 EtherCAT Slave Unit User’s Manual (H192)

2 - 3

2 Specifications and Procedures

EJ1 EtherCAT Slave Unit

TC4/2

EDU

TC4/2

EDU

TC4/2

EDU

Turn ON pin 8 on SW2.

The baud rate is automatically set.

Pin 8 on SW2 must be turned ON to synchronize the baud rates.

2-2 Application Procedures

This section provides the procedures to use the EJ1 EtherCAT Slave Unit. The hardware and setup procedures are given separately.

2-2-1 Hardware Setup Procedure

Step Item Description Reference

1 Connect the EJ1 Eth-

erCAT Slave Unit and the Basic Units.

2 Mount the con-

nected Units to a DIN Rail.

3 If you use distributed

placement or connect to multiple Units from the CX-Thermo, connect an RS-485 communications cable.

4 Connect the power

supply.

Place the EJ1 EtherCAT Slave Unit on the far left, connect up to 15 Basic Units on the right of it, and connect an End Unit on the far right.

Mount the connected Units to a DIN Rail. To ensure secure mounting, always attach an End Plate to each end.

• If you use a multiblock configuration for the Basic Units connected to the EJ1 EtherCAT Slave Unit, connect an RS-485 communications cable to port B on the End Unit of each block.

• If you use the CX-Thermo configuration tool on a computer to set up the Basic Units connected by distributed placement, connect a communications cable to port A (i.e., the terminal block).

Connect a 24-VDC power supply to the power supply terminals of the End Unit.

Section 1 Features and System Configuration

Section 4 Installation and Connection

EJ1 Modular Temperature Controllers User’s Manual (Cat. No.

H142)

Note Do not turn ON the power supply at this time. This power

supply is used as the internal circuit power supply of the Basic Units and the EJ1 EtherCAT Slave Unit.

5 Wire the Basic Units. Wire the Basic Unit temperature inputs, control outputs, and other

signals.

Note Do not turn ON the power supply to any peripheral devices

at this time.

6 Set the communica-

tions unit numbers of the Basic Units.

7 Set the Basic Unit

baud rate.

8 Set the node

address.

Set the CompoWay/F communications unit number of each Basic Unit using the rotary switch and DIP switch on the Basic Unit. Set a unique CompoWay/F communications unit number for each Basic Unit.

• If you use distributed placement, turn ON pin 8 on SW2 on the Basic Unit connected at the far left for all blocks not connected to an EJ1 EtherCAT Slave Unit.

Set the EtherCAT node address (0 to 255) of the EJ1 EtherCAT Slave Unit using the rotary switches. Set a unique node address for each slave connected to the same communications master.

Section 3 Part Names and EtherCAT Communications Overview

2 - 4

EJ1 EtherCAT Slave Unit User’s Manual (H192)

2 Specifications and Procedures

Precautions for Correct Use

Step Item Description Reference

9 Connect the Ether-

CAT communications connector.

Connect the EtherCAT communications connector to the EJ1 EtherCAT Slave Unit.

Section 4 Installation and Connection

2-2-2 Software Setup Procedure

Step Item Description Reference

1 Create the EtherCAT

network configuration.

2 Set the PDO map-

pings for I/O data.

3 Assign I/O ports to

device variables and create the user program.

4 Turn ON the power

supply to the EJ1 system.

5 Configure the Basic

Unit settings.

6 Turn ON the power

supply to the EtherCAT communications master.

7 Check the PWR

operation indicator on the EJ1 EtherCAT Slave Unit.

8 Transfer the network

configuration information and the user program.

9 Execute the user pro-

gram and check operation.

Register the EJ1 EtherCAT Slave Unit when you create the EtherCAT network configuration on the Sysmac Studio or another EtherCAT communications master tool.

Edit the I/O data PDO mappings used by the EJ1 EtherCAT Slave Unit on the Sysmac Studio or another EtherCAT communications master tool.

If you use an NJ/NX-series CPU Unit as the communications master, perform the following tasks on the Sysmac Studio:

• Assign I/O port device variables for the EJ1 EtherCAT Slave Unit.

• Create the user program to send CompoWay/F commands,

Turn ON the power supply connected to the End Unit.

The Basic Units will start.

There are no restrictions on the order for turning ON the power supply. Connect an E58-CIFQ1 USB-Serial Conversion Cable between a COM port on the computer on which the CX-Thermo is installed and port A on the End Unit.

Configure the Basic Unit settings on the CX-Thermo. Turn ON the power supply to the EtherCAT communications mas-

ter.

Confirm that the PWR operation indicator on the EJ1 EtherCAT Slave Unit is as follows:

PWR: The power supply status is normal if the indicator is lit green.

Transfer the network configuration information and the user program created on the Sysmac Studio or other EtherCAT communications master tool software to the controller.

Execute the user program and confirm that communications between the communications master and the Basic Units are working.

receive CompoWay/F responses, and perform handshaking for that data.

Sysmac Studio Operation Manual (Cat. No.

W504)

Section 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Section 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

EJ1 Modular Temperature Controllers User’s Manual (Cat. No.

H142)

---

Section 3 Part Names and EtherCAT Communications Overview

Sysmac Studio Operation Manual (Cat. No.

W504)

Section 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

2-2 Application Procedures

2-2-2 Software Setup Procedure

Do not send any CompoWay/F commands from the EtherCAT master to the EJ1 EtherCAT Slave Unit while you are changing EJ1 EtherCAT Slave Unit settings or Basic Unit settings from the CX-Thermo.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

2 - 5

2 Specifications and Procedures

2 - 6

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Part Names and EtherCAT Communications Overview

This section gives the names of the parts of the EJ1 EtherCAT Slave Unit, describes the functions of the parts, and provides an overview of EtherCAT communications.

3-1 Part Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-1 Appearance and Names of Parts on the Front Panel . . . . . . . . . . . . . . . . . . . . 3-2

3-1-2 Meanings of Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3-1-3 Node Address Setting Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3-1-4 EtherCAT Communications Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3-2 EtherCAT Communications Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5

3-2-1 Structure of CAN Application Protocol over EtherCAT (CoE) . . . . . . . . . . . . . . 3-5

3-2-2 EtherCAT Slave Information File (ESI Files) . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

3-2-3 State Transitions for EtherCAT Communications . . . . . . . . . . . . . . . . . . . . . . . 3-7

3-2-4 Process Data Objects (PDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3-2-5 Service Data Objects (SDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

EJ1 EtherCAT Slave Unit User’s Manual (H192)

3 - 1

3 Part Names and EtherCAT Communications Overview

Front panel

Operation Indicators PWR RUN ERR L/A IN L/A OUT

EtherCAT

IN port

EtherCAT OUT port

EtherCAT node address rotary switches

3-1 Part Names and Functions

This section gives the names of the parts of the EJ1 EtherCAT Slave Unit and describes its external appearance.

3-1-1 Appearance and Names of Parts on the Front Panel

 Appearance

 Names of Parts on the Front Panel

3 - 2

EJ1 EtherCAT Slave Unit User’s Manual (H192)

3 Part Names and EtherCAT Communications Overview

3-1-2 Meanings of Indicators

The following table gives the meanings of the operation indicators on the front panel of the EJ1 EtherCAT Slave Unit.

 Operation Indicators

Indicator Name Color Indicator Description

PWR Power sup-

ply status

RUN Operating

status

ERR Error status Red Lit. • Error detected during boot process.

L/A IN EtherCAT IN

port

L/A OUT EtherCAT

OUT port

*1. It will take a few moments until the indicators light after the power supply to the Unit is turned ON.

Green Lit.

--- Not lit. No power is supplied to the Unit.

Green Lit. Operational state

--- Not lit. Init state

--- Not lit. No error

Green Lit. A link was established in the physical layer.

--- Not lit. A link was not established in the physical layer.

Green Lit. A link was established in the physical layer.

--- Not lit. A link was not established in the physical layer.

Power is supplied to the Unit.

Single flash Safe-Operational state Flashing Pre-Operational state

• Error detected during Unit process. Double flash A process data WDT error occurred. Flashing An EtherCAT communications error other than a pro-

cess data WDT error occurred.

Flickering A link was established and output communications are

in operation.

Flickering A link was established and output communications are

in operation.

3-1 Part Names and Functions

3-1-2 Meanings of Indicators

3-1-3 Node Address Setting Switches

The front panel rotary switches are used to set the node address of the EJ1 EtherCAT Slave Unit.

There is a difference in setting the node addresses between an OMRON EtherCAT master and one made by another manufacturer.

Setting on node

address switches

01 to 99 Address set on node address switches is used.

OMRON NJ501-100 or CJ1W-NC82

EtherCAT Master Unit

The node address set with the configuration tool is used.

(Default setting: 0, Setting range: 1 to 65,535)

Node address

EtherCAT master from another

manufacturer

The node address set with the configuration tool is used. (The address set on the switches is ignored.)

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3 Part Names and EtherCAT Communications Overview

Precautions for Correct Use

• The setting on the node address switches is read only once when the power supply is turned ON. Even if the setting is changed after the power supply is turned ON, the new setting will not be used until the next time the power supply is turned ON.

• When an NJ/NX-series CPU Unit is used, an error will occur and operation will stop if the same node address is set for more than one slave.

• When an NJ/NX-series CPU Unit is used and you set the node address switches to 00, the EJ1 EtherCAT Slave Unit will not operate if the node address setting from the configuration tool is not changed from 0. Be sure to use the configuration tool to change the node address to a value between 1 and 65,535.

 Setting the EtherCAT Node Address

Use the two hexadecimal rotary switches to set the first digit (×160) and second digit (×161) of the EtherCAT node address for the EJ1 EtherCAT Slave Unit. You can set the address to any value between 00 and FF hex (0 to 255 decimal).

Note The default address setting is 00 hex.

• Make sure that the power supply to the EJ1 EtherCAT Slave Unit is OFF before manipulating the switches. The setting is enabled when the power supply is turned ON.

• Set the switches with a small flat-blade screwdriver. Do not set the switches midway between two settings.

3-1-4 EtherCAT Communications Connectors

The following standards and specifications apply to the connectors for the Ethernet twisted-pair cable.

Connect EtherCAT network communications cables to the communications connectors.

There are two connectors: one for the IN (input) port and one for the OUT (output) port.

The specifications of the EtherCAT connectors are as follows:

• Electrical specifications: Conforming to IEEE 802.3 standards.

• Connector structure: RJ45 8-pin Modular Connector (conforming to ISO 8877).

For detailed wiring methods, refer to 4-2 EtherCAT Network Wiring on page 4-3.

3 - 4

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3 Part Names and EtherCAT Communications Overview

EtherCAT Slave Unit

EtherCAT physical layer

Transitions of communications states

SDO (mailbox)

Slave application

Object dictionary

PDO mappings

PDO communications (cyclic)

EtherCAT data link layer

Registers Mailbox Process data

FMMUSyncManager

Application layer

3-2 EtherCAT Communications Overview

This section provides an overview of EtherCAT communications.

3-2-1 Structure of CAN Application Protocol over EtherCAT (CoE)

EtherCAT allows the use of multiple protocols for communications. However, the EtherCAT Slave Unit uses the CAN application protocol over EtherCAT (CoE) as the device profile for the CAN application protocol. The CoE is a communications interface that is designed to provide compatibility with EtherCAT devices. The CAN application protocol is an open network standard.

The following figure shows how the CoE is structured for an EtherCAT Slave Unit.

3-2 EtherCAT Communications Overview

3-2-1 Structure of CAN Application Protocol over EtherCAT (CoE)

The objects in the object dictionary for the CAN application protocol are broadly divided into PDOs (process data objects) and SDOs (service data objects).

PDOs are contained in the object dictionary. The PDOs can be mapped in the object dictionary. The process data is defined by the PDO mappings. PDOs are used in PDO communications for periodic exchange of process data.

SDOs are the objects that can be read and written. SDOs are used in non-periodic SDO communications (event-driven message communications).

If you use the CoE interface to set the object dictionary for PDOs and SDOs, you can provide EtherCAT devices with the same device profiles as the CAN application protocol.

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3 Part Names and EtherCAT Communications Overview

ESI

files

Network

configuration

information

EtherCAT master

EJ1 EtherCAT Slave Unit

EtherCAT communications

Configuration

software

Communications are started according to the communications settings and the network configuration in the ESI files that are installed.

3-2-2 EtherCAT Slave Information File (ESI Files)

The setting information for an EtherCAT slave is provided in an ESI file (EtherCAT slave information). The EtherCAT communications settings are defined based on the ESI files of the connected slaves and the network connection information.

You can create the network configuration information by installing ESI files into the network configuration software.

You can download the network configuration information to the EtherCAT master to configure the EtherCAT network.

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EJ1 EtherCAT Slave Unit User’s Manual (H192)

3 Part Names and EtherCAT Communications Overview

Initialization

Pre-Operational

Safe Operational

Operational

Power supply ON

3-2-3 State Transitions for EtherCAT Communications

The state machine that is used to control communications for the EJ1 EtherCAT Slave Unit is controlled by the EtherCAT master. The state machine is based on the ESI definition information and network connection information of the connected EJ1 EtherCAT Slave Units.

The following figure shows the communications state transitions from when the power supply is turned ON.

3-2 EtherCAT Communications Overview

3-2-3 State Transitions for EtherCAT Communications

SDO

State

Initialization (Init) Not possi-

Pre-Operational (Pre-Op)

Safe-Operational (Safe-Op)

Operational (Op) Possible. Possible. Possible. This is the normal state for communications.

communi-

cations

ble. Possible. Not possi-

Possible. Possible. Not possi-

Sending

PDOs

Not possible.

ble.

Receiv-

ing PDOs

Not possible.

ble.

Description

Communications are being initialized. Communications are not possible.

Only SDO communications (message communications) are possible in this state.

This state is entered after initialization is completed. It is used to initialize network settings.

In this state, you can use both SDO communications (message communications) and send PDOs from the Slave Unit.

You can send PDOs to send status and other information from the EJ1 EtherCAT Slave Unit.

PDO communications are used to control the I/O data.

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3 Part Names and EtherCAT Communications Overview

3-2-4 Process Data Objects (PDOs)

 Overview

Process data objects (PDOs) are used to transfer data during cyclic communications in realtime.

There are two types of process data objects (PDOs): RxPDOs, which are used by the EJ1 EtherCAT Slave Unit to receive data from the EtherCAT master, and TxPDOs, which are used by the EJ1 EtherCAT Slave Unit to send data to the EtherCAT master.

RxPDO

Data output to the EJ1 EtherCAT Slave Unit

EtherCAT master

TxPDO

Data input to the EtherCAT master

EJ1 EtherCAT Slave Unit

The EtherCAT application layer can hold more than one object to enable the transfer of various process data of the EJ1 EtherCAT Slave Unit.

The contents of the process data is defined in the PDO mapping objects.

The EJ1 EtherCAT Slave Unit supports PDO mapping for I/O control.

 PDO Mappings

PDO mapping objects contain the I/O data for the EJ1 EtherCAT Slave Unit. PDO mapping objects for the RxPDOs are managed in the object dictionary from indexes 1600 to 17FF hex, and for the TxPDOs from indexes 1A00 to 1BFF hex.

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3 Part Names and EtherCAT Communications Overview

Object B

Object C

Object A

PDO_1

Object E

Object D

Object A

Object B

Object D

Index

02 hex

03 hex

01 hex

Subindex

UU hex

VV hex

TT hex

ZZ hex

YY hex

Object Contents

Mapping object

Object dictionary

Application object

1ZZZ hex

6TTT hex

6UUU hex

6VVV hex

6YYY hex

6ZZZ hex

6UUU

hex

6TTT

hex

6YYY

hex

PDO-Length : 32 Bit

 PDO Mapping Scheme in EtherCAT

The PDO mapping scheme in EtherCAT is described below.

Three application objects (objects A, B, and D) are allocated to the PDO (name: PDO_1) at index 1ZZZ hex.

As described here, PDO mappings show how application objects are assigned to PDOs.

Indexes and subindexes are also assigned to application objects.

3-2 EtherCAT Communications Overview

3-2-4 Process Data Objects (PDOs)

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3 Part Names and EtherCAT Communications Overview

3-2-5 Service Data Objects (SDOs)

The EJ1 EtherCAT Slave Unit also supports SDO communications. Use SDO communications to monitor object settings and the status of the EJ1 EtherCAT Slave Unit. The communications master can read and write data in entries in the object dictionary to make parameter settings and monitor status.

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EJ1 EtherCAT Slave Unit User’s Manual (H192)

Installation and Connection

This section describes how to install the EJ1 EtherCAT Slave Unit and wire communications.

4-1 Installing the EJ1 EtherCAT Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-2 EtherCAT Network Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4-2-1 Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4-2-2 Preparations for Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3

4-2-3 Recommended EtherCAT Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4-3 Wiring the Temperature Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

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4 Installation and Connection

Precautions for Correct Use

4-1 Installing the EJ1 EtherCAT Slave

Unit

This section describes how to connect the EJ1 EtherCAT Slave Unit to an EJ1 system.

Connect the Basic Units on the right side of the EJ1 EtherCAT Slave Unit.

Connect the End Unit to the right end.

1 Align the connectors and connect the Units to each other. 2 The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders

until they click into place.

3 Mount the EJ1 EtherCAT Slave Unit and Basic Units to a DIN Rail. Use screws to attach the DIN

Rail to the control panel in at least three places.

If you use distributed placement, connect the End Units of all of the blocks to each other with RS-485 communications cables. If you use distributed placement, connect ports B on all of the End Units to each other. If you connect to anything other than ports B on the End Units, the EJ1 EtherCAT Slave Unit may not operate correctly.

Refer to the EJ1 Modular Temperature Controllers User’s Manual (Cat. No. H142) for information on how to mount Units to a DIN Rail.

4 - 2

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4 Installation and Connection

4-2 EtherCAT Network Wiring

This section describes how to install an EtherCAT network.

4-2-1 Installation Precautions

Basic precautions for the installation of EtherCAT networks are provided below.

 Precautions when Installing a Network

• When you install an EtherCAT network, take sufficient safety precautions and perform the installation according to standards and specifications. (Refer to JIS X5252 or to electrical facility technical references.)

An expert well versed in safety measures and the standards and specifications should be asked to perform the installation.

• Do not install EtherCAT network equipment near sources of noise.

• If the network must be installed in an area with noise, take steps to address the noise, such as placing equipment in metal cases.

 Precautions when Installing Communications Cables

• Check the following items on the communications cables that are used in the network.

• Are there any breaks?

• Are there any shorts?

• Are there any connector problems?

• When you connect the cable to the communications connectors on devices, firmly insert the communications cable connector until it locks in place.

• Do not lay the communications cables together with high-voltage lines.

• Do not lay the communications cable near devices that generate noise.

• Do not lay the communications cables in locations subject to high temperatures or high humidity.

• Do not lay the communications cables in locations subject to excessive dirt and dust or to oil mist or other contaminants.

• There are limitations on the bending radius of communications cables. Check the specifications of the communications cable for the bending radius.

4-2 EtherCAT Network Wiring

4-2-1 Installation Precautions

4-2-2 Preparations for Installation

Prepare the following devices.

Product Remarks

Twisted-pair cable (Cables with the following connectors can also be used.)

RJ45 connectors Shielded

EJ1 EtherCAT Slave Unit User’s Manual (H192)

100BASE-TX (Category 5 or higher)

Double shielding with aluminum tape and braiding

4 - 3

4 Installation and Connection

4-2-3 Recommended EtherCAT Cables

Recommended products are given in the following tables.

Cables with Connectors

 Sizes and Conductor Pairs: AWG 27 × 4 pairs

Product name Manufacturer

Standard-type

Cables with Connectors on Both Ends

(RJ45/RJ45)

*1. Cables are available in the following lengths: 0.2, 0.3, 0.5, 1, 1.5, 2, 3, 5, 7.5, 10, 15, and 20 m. Refer to the

Industrial Ethernet Connectors Catalog (Cat. No. G019)

OMRON Corporation 0.3 XS6W-6LSZH8SS30CM-Y

Cable length (m)

0.5 XS6W-6LSZH8SS50CM-Y 1 XS6W-6LSZH8SS100CM-Y 10 XS6W-6LSZH8SS1000CM-Y

Model

Cables and Connectors

 Sizes and Conductor Pairs: AWG 24 × 4 pairs

Connecting Communications Cables and Connectors

Use straight wiring with a cable that has two or four twisted pairs.

• For cables with four twisted pairs, use T568A or T568B cables.

• For cables with two twisted pairs, refer to the datasheet for the connector.

• After wiring, use a LAN cable tester to check the operation of the network wiring.

4 - 4

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4 Installation and Connection

4-3 Wiring the Temperature Controllers

Refer to the EJ1 Modular Temperature Controllers User’s Manual (Cat. No. H142) for information on wiring the Temperature Controllers.

 Complying with Safety Standards

The power supply terminals must be supplied from a SELV, limited-current source. A SELV (separated extra-low voltage) source is a power supply having double or reinforced insulation between the primary and the secondary circuits and having an output voltage of 30 V r.m.s. max. and 42.4 V peak max. or 60 VDC max.

Recommended power supply: S8VM Series or S8VS Series (both manufactured by OMRON)

• Select a Power Supply with a capacity that is suitable for the application conditions.

• To comply with the EN 61326 Class A noise terminal voltage standard, insert a noise filter (TDK’s RSMN2006 or the equivalent) on the DC line as close as possible to Temperature Controller.

4-3 Wiring the Temperature Controllers

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4 Installation and Connection

4 - 6

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Using the EJ1 EtherCAT Slave Unit with PDO Communications

This section describes how to send data to and receive data from the EJ1 EtherCAT Slave Unit by using PDO communications from the communications master.

5-1 EJ1 PDO Communications Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-2 How Data Is Sent and Received with PDO Communications . . . . . . . . . . . 5-3

5-2-1 CompoWay/F Commands and Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5-2-2 Control Commands and Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5-3 PDO Mapping Data Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5-3-1 Types of PDO Mapping Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5-3-2 PDO Mapping Data List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

5-4 PDO Mapping Data Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8

5-4-1 Output Notification Data

(Communications Master to EJ1 EtherCAT Slave Unit) . . . . . . . . . . . . . . . . . . 5-8

5-4-2 Input Notification Data

(EJ1 EtherCAT Slave Unit to Communications Master) . . . . . . . . . . . . . . . . . 5-10

5-4-3 Sysmac Error Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

5-5 Writing User Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15

5-5-1 Handshaking with the EJ1 EtherCAT Slave Unit with User Programming . . . 5-15 5-5-2 Handshaking with the EJ1 EtherCAT Slave Unit with User Programming . . . 5-16

5-5-3 Procedures for Sending Control Commands and Receiving Responses . . . . 5-17

5-6 Example Procedures for Sending CompoWay/F Commands and Receiving

Responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18

5-6-1 Example of Sending and Receiving Data without Dividing into Parts . . . . . . . 5-18

5-6-2 Example of Sending and Receiving Data in Parts . . . . . . . . . . . . . . . . . . . . . 5-21

5-7 Setting CompoWay/F Frames . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25

5-7-1 Output Data and Input Data Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-25

5-7-2 Storing Output Data and Input Data in Array Variables . . . . . . . . . . . . . . . . . . 5-27

5-7-3 Setting the PDO Mappings for I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28

5-8 Assigning Device Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-32

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

5-1 EJ1 PDO Communications Overview

This section provides an overview of PDO communications when the EJ1 EtherCAT Slave Unit is used with EJ1 Basic Units as slave devices.

 Reading EJ1 Basic Unit Present Values and Writing Target Values

If you want to access an EJ1 Basic Unit connected to an EJ1 EtherCAT Slave Unit on the EtherCAT network from the communications master to read present values or write target values, you can use PDO communications to send a CompoWay/F command to the Basic Unit and receive a CompoWay/F response back from that Basic Unit. To do this, user programming is used to perform handshaking and to send and receive data.

 Restarting a Port on the EJ1 EtherCAT Slave Unit

To restart a port or clear the send and receive buffers in the EJ1 EtherCAT Slave Unit from the communications master, you can send control commands to control the EJ1 EtherCAT Slave Unit and then receive the response back for those commands. To do this, user programming is used to perform handshaking and to send and receive data.

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Precautions for Correct Use

5-2 How Data Is Sent and Received with

PDO Communications

This section describes how data is sent and received between the communications master and the EJ1 EtherCAT Slave Unit with PDO communications.

The operation is described separately when CompoWay/F commands and responses are executed and when control commands and responses are executed.

5-2-1 CompoWay/F Commands and Responses

This section describes how data is sent and received when CompoWay/F commands and responses are used.

 How Data Is Sent

The following procedure is used to send data.

1 In each process data communications cycle, the Output Notification Data from the EtherCAT

master is automatically sent to the send buffer in the EJ1 EtherCAT Slave Unit.

The size of the data sent at one time depends on the PDO map settings that are made from the Sysmac Studio. The PDO mapping sizes for Output Data and Input Data can be set from 4 to 80 bytes. The default setting is 20 bytes.)

5-2 How Data Is Sent and Received with PDO Communications

5-2-1 CompoWay/F Commands and Responses

2 The EJ1 EtherCAT Slave Unit is notified through user programming that the Output Notification

Data was updated, and handshaking is performed when the EJ1 EtherCAT Slave Unit receives that notification.

3 The data in the send buffer in the EJ1 EtherCAT Slave Unit is used to automatically generate a

CompoWay/F command and send it to the destination Basic Unit via the lateral EJ1 bus.

 How Data Is Received

1 The CompoWay/F commands are processed by the Basic Unit, a CompoWay/F response is

sent back from the Basic Unit via the lateral EJ1 bus, and the response is stored in the EJ1 EtherCAT Slave Unit’s receive buffer.

2 In each process data communications cycle, the Input Notification Data in the receive buffer in

the EJ1 EtherCAT Slave Unit is automatically sent to the EtherCAT master.

The size of the data received at one time depends on the PDO map settings that are made from the Sysmac Studio. (The PDO mapping sizes for Output Data and Input Data can be set from 4 to 80 bytes. The default setting is 20 bytes.)

If you use broadcast CompoWay/F commands, you do not need to perform reception processing for CompoWay/F responses.

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

EtherCAT master

EJ1 EtherCAT Slave Unit

Send buffer

Receive buffer

Output

Notification Data

Input

Notification Data

CPU Unit

User

programming

Handshaking with the EJ1 EtherCAT Slave Unit to send and receive updated data

EtherCAT PDO

communications

EJ1 lateral connection

(EJ1 bus)

CompoWay/F command

CompoWay/F response

EJ1 Basic I/O Unit

CompoWay/F command processing

3 The EJ1 EtherCAT Slave Unit sends a notification through user programming that the Input

Notification Data was updated, and handshaking is performed when the notification is received.

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

EJ1 EtherCAT Slave Unit

Output Notification Data (including control commands)

Input Notification Data (including control responses)

Send buffer

Receive buffer

Control command

processing

CPU Unit

User

programming

EtherCAT master

EtherCAT PDO communications

Handshaking with the EJ1 EtherCAT Slave Unit to send and receive updated data

5-2-2 Control Commands and Responses

This section describes how data is sent and received when control commands and responses are used.

 How Data Is Sent

The following procedure is used to send data.

1 In each process data communications cycle, the Output Notification Data, which includes con-

trol commands, is automatically sent from the EtherCAT master to the send buffer in the EJ1 EtherCAT Slave Unit.

2 The EJ1 EtherCAT Slave Unit is notified through user programming that the Output Notification

Data was updated, and handshaking is performed when the EJ1 EtherCAT Slave Unit receives that notification.

 How Data Is Received

1 The control commands are processed by the EJ1 EtherCAT Slave Unit. 2 In each process data communications cycle, the Input Notification Data, which includes control

responses, is automatically sent to the EtherCAT master.

3 The EJ1 EtherCAT Slave Unit sends a notification through user programming that the Input

Notification Data was updated, and handshaking is performed when the notification is received.

5-2 How Data Is Sent and Received with PDO Communications

5-2-2 Control Commands and Responses

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

5-3 PDO Mapping Data Overview

This section provides an overview of mapping data for the communications master of the EJ1 EtherCAT Slave Unit for PDO communications.

The following section describes the types of PDO mapping data and provides a list of PDO entries.

5-3-1 Types of PDO Mapping Data

The following data is input and output cyclically in each process data communications cycle between the communications master and the EJ1 EtherCAT Slave Unit.

Data name Description Index Size

Output Notification Data

Input Notification Data This data is cyclically input from

Sysmac Error Status The Sysmac Error Status data is

This data is cyclically output from the communications master to the EJ1 EtherCAT Slave Unit.

the EJ1 EtherCAT Slave Unit to the communications master.

cyclically input from the EJ1 EtherCAT Slave Unit to the communications master.

7000 hex The Output Data consists of 8 +

(4 × m) bytes (where m = 1, 2, 3, ... 20).

6000 hex The Input Data consists of 10 + (4

× n) bytes (where n = 1, 2, 3, ...

20).

2002 hex

(subindex 01 hex)

1 byte

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Precautions for Correct Use

5-3-2 PDO Mapping Data List

The following table lists the PDO mapping data by PDO entry.

Set the assignments to meet the following conditions for PDO mapping. If the following conditions are not met, it will not be possible to change the EtherCAT communications state to the Safe-Operational (Safe−Op) state to enable PDO communications.

• Mapping must be in ascending order by index and subindex.

• Do not map a PDO at index 0000 hex, subindex 00 hex.

• Do not delete required PDO entries when mapping. Refer to 5-3-2 PDO Mapping Data List on page 5-7 for details on the required PDO entries.

5-3 PDO Mapping Data Overview

Data

name

Output Notification Data

Input Notification Data

Sysmac Error Status

*1. The following PDO entries are required. Do not delete these PDO entries when you set the PDO mappings.

Index 7000 hex, subindices 01, 02, 03, 04, 05, and 06 hex

Index 6000 hex, subindices 01, 02, 03, 04, 05, 06, and 07 hex

*2. The I/O port names are used to assign variables on the Sysmac Studio if you use an NJ/NX-series communi-

cations master.

Index Subindex

7000 hex

6000 hex

2002 hex

01 hex Required. O Output SID Output SID 1 byte 02 hex Required. O Input SID

03 hex Required. O Output Data

04 hex Required. O Output Sub Info Output Sub Info 2 bytes 05 hex Required. O Output Data

06 hex Required. O Output Data 01 07 to 0A hex 0B to 19 hex

01 hex Required. O Port Status Port Status 2 bytes 02 hex Required. O Input SID Input SID 1 byte 03 hex Required. O Output SID

04 hex Required. O Input Data Type Input Data Type 2 bytes 05 hex Required. O Input Sub Info Input Sub Info 2 bytes 06 hex Required. O Input Data

07 hex Required. O Input Data 01 to 08 to 0B

hex 0C to 1A

hex

01 hex Any value --- Sysmac Error

PDO

entry

Any value O

Any value ---

Any value O

Any value ---

Set by

default

PDO entry

name, I/O port

name

Response

Type

Length

to Output Data 20

(Defaults: Output Data 01 to Output Data 05)

Response

Length

Input Data 20

(Defaults: Input Data 01 to Input Data 05)

Status

Object name Size

Input SID Response Output Data Type 2 bytes

Output Data Length

Output Data 01 to Output Data 20

(Defaults:Output Data 01 to Output Data 05)

Output SID Response

Input Data Length 2 bytes

Input Data 01 to Input Data 20

(Defaults:Input Data 01 to Input Data 05)

Sysmac Error Status

1 byte

2 bytes

4 bytes × 1

to 4 bytes × 20

(Default: 4 × 5 bytes)

1 byte

4 bytes × 1

to 4 bytes × 20

(Default: 4 × 5 bytes)

1 byte

5-3-2 PDO Mapping Data List

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

5-4 PDO Mapping Data Details

This section provides details on the PDO mapping data. It is separated into Output Notification Data, Input Notification Data, and Sysmac Error Status.

Note The data in the PDO entry name, I/O port name column in the following tables match the PDO entry names

and I/O port names (i.e., the names assigned to variables on the Sysmac Studio if you use an NJ/NX-series communications master) in the PDO mapping. However, the I/O port name column lists only the I/O port names.

5-4-1 Output Notification Data (Communications Master to EJ1 Ether-

CAT Slave Unit)

The following data is cyclically output from the communications master to the EJ1 EtherCAT Slave Unit.

PDO entry

name, I/O port

name

Output SID

Input SID Response

Output Data Type Output Data

Output Sub Info Output Sub

Output Data Length

Object name

Output SID

Input SID

Response

Type

Info

Output Data Length

Typ e*1,

USINT 1 byte R/W This parameter tells

USINT 1 byte R/W This is a response

WORD 2 bytes R/W This entries specifies

WORD 2 bytes R/W Reserved area 0000 hex

UINT 2 bytes R/W This entry gives the

Size R/W Function Value Default

the EJ1 EtherCAT Slave Unit whether or not the Output Notification Data was updated.

parameter to the Input SID (update notification for Input Notification Data) in the Input Notification Data.

• The EJ1 EtherCAT Slave Unit will not send notification of the next Input Data until the Input SID Response and Input SID match. The last value is retained.

the control command relationship and the send data status.

byte size of data sent as Output Data.

00 hex: Initial state

01 hex to FF hex: The Output SID is incremented each time data is sent by user programming. The value returns to 01 hex after FF hex.

00 hex: Initial state

01 hex to FF hex: Set SID with user programming.

Refer to the Output Data Type on page 5-9 for details.

0 to 80 0000 hex

00 hex

0000 hex

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

PDO entry

name, I/O port

name

Output Data 01 Output Data 1 ARRAY[0..3]

Output Data m Output Data m

Object name

(m = 2 to 20)

(Default: m =

OF BYTE

ARRAY[0..3] OF BYTE

Typ e*1,

Size R/W Function Val ue Default

4 bytes R/W This data is sent from

Same as above.

the EJ1 EtherCAT Slave Unit to the Basic Unit. The text portion of the CompoWay/F command frame is written here.

For details, refer to the 5-7-1 Output Data

and Input Data Contents on page 5-25.

Binary data of 0 to 80 decimal (00 hex to 50 hex) bytes.

You can edit the PDO map settings on the Sysmac Studio to add PDO entries to increase or decrease the maximum output data size to 4 (where m = 1 to 20) bytes.

× m

00000000 hex

*1. WORD data is displayed as UINT data except on the Sysmac Studio.

On the Sysmac Studio, each bit of WORD data can be accessed as BOOL data. You cannot access these bits as BOOL data except from the Sysmac Studio.

*2. BYTE data is displayed as USINT data except on the Sysmac Studio.

On the Sysmac Studio, each bit of BYTE data can be accessed as BOOL data. You cannot access these bits as BOOL data except from the Sysmac Studio.

*3. How to Use Output SIDs in User Programming

Perform the following processing in user programming.

 Each time you update the Output Notification Data, increment the Output SID (previous value + 1).*

 If the Output SID Response in the next received Input Notification Data matches the Output SID incremented in step 1,

it means that the EJ1 EtherCAT Slave Unit received the updated Output Notification Data.

*: If the EJ1 EtherCAT Slave Unit detects that the Output SID was incremented (previous value + 1), it receives the Output

Notification Data by itself. If the Output SID value is not equal to the previous value plus 1, the data is considered invalid and is not received.

*4. How to Use Input SID Responses in User Programming

Perform the following processing in user programming.

• When Input Notification Data is received, set the Input SID Response to the value of the Input SID.

5-4 PDO Mapping Data Details

5-4-1 Output Notification Data (Communications Master to EJ1 EtherCAT Slave Unit)

 Output Data Type

The following table shows how the Output Data type specifies the control command relationship and the send data status.

Bit position I/O port name Parameter name Valu e Default

00 to 07 None

(Specifications are made in the lower

Command Code of the Control Com-

mand byte of the Output Data Type WORD.)

08 Send Command

Flag

Control Command

Flag

*1, *2

Specifies the control command code. Refer to the Control Command Code List, below.

Bit 08, below, is valid when the Control Command Flag is 1 (ON).

0: No control command sent.

1: Control command sent. 09 to 11 Reserved Reserved area Always 0 (OFF). 0 12 Send Data Flag Intermediate Send

13 Send Last Data

Flag

Data Flag

Final Send Data

Flag

1: There is

intermediate

send data.

1: There is

final send

data.

If both bits are 0 (OFF): No send data.

Note Both of these bits

cannot be 1 (ON) at the same time.

14 to 15 Reserved Reserved area Always 0 (OFF). 0

*1. Do not send a control command while output data is being sent for a CompoWay/F command or while input data is being

received for a CompoWay/F response.

*2. If an out-of-range value is set for the control command, the Input Sub Info will return Undefined Command (0002 hex).

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

*3. If an out-of-range value is specified for the Control Command Flag, Intermediate Send Data Flag, or Final Send Data Flag

when WORD data is specified, nothing is processed.

 Control Command Code List

Command code Command Description

01 hex Restart Port Clears the send and receive buffers and resets the Input SID

06 hex Clear Send and Receive

to 0 to restore the port to its initial state. Clears the send and receive buffers.

Buffers

*1. The Output SID is not reset if the port is restarted.

5-4-2 Input Notification Data (EJ1 EtherCAT Slave Unit to Communica-

tions Master)

The following data is cyclically input from the communications EJ1 EtherCAT Slave Unit to the communications master.

PDO entry,

I/O port name

Port Status

Input SID

Object name

Port Status

Input SID

Typ e*1,

WORD

or BOOL

USINT 1 byte RO This parameter allows

Size R/W Function Value Default

2 bytes RO This status provides

information on the communications state.

the EJ1 EtherCAT Slave Unit to tell the communications master whether or not the Input Notification Data was updated.

• When the EJ1 EtherCAT Slave Unit receives a CompoWay/F command response or a control command response from a Basic Unit, this Input SID is automatically incremented (previous value + 1) by the EJ1 EtherCAT Slave Unit.

Refer to the Port Sta- tus on page 5-12 for details.

00 hex: Initial state (no received data)

01 hex to FF hex: The Input SID is automatically incremented when the EJ1 EtherCAT Slave Unit updates the data.

The value returns to 01 hex after FF hex.

• If the EJ1 EtherCAT Slave Unit performs a port restart, the input SID is reset to its initial state of 00 hex. If the Input SID Response is set to 00 hex, a Restart Port control command response is returned, so the input SID will be 01

hex.

0000 hex

00 hex

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

PDO entry,

I/O port name

Output SID Response

Input Data Type Input Data

Input Sub Info Input Sub Info WORD 2 bytes RO When a control com-

Input Data Length

Input Data 01 Input Data 1 ARRAY[0..3

· · · · · · · · ·

Input Data n Input Data n

Object name

Output SID

Response

Type

Input Data Length

(where n = 2 to

20)

(Default: n = 5)

Typ e*1,

USINT 1 byte RO This is a response

WORD 2 bytes RO The Input Data Type

UINT 2 bytes RO This entry gives the

] OF BYTE

ARRAY[0..3 ] OF BYTE

Size R/W Function Value Default

parameter to the Output SID (update notification for Output Notification Data) in the Output Notification Data.

When Output Notification Data is received, the EJ1 EtherCAT Slave Unit automatically sets the Output SID Response to the value of the Output SID.

contains the control command-related response and received data status.

mand is executed, the results of that command execution is stored here.

byte size of valid data in the Input Data.

4 bytes RO The data received by

Same as above.

RO 00000000 hex

the EJ1 EtherCAT Slave Unit from the Basic Unit.

The text portion of the CompoWay/F response frame is written to this data.

For details, refer to the

5-7-1 Output Data and Input Data Contents on

page 5-25 later in this manual.

00 hex: Initial state

01 to FF hex: The Output SID received by the EJ1 EtherCAT Slave Unit is automatically stored in the Output SID Response.

Refer to the Input Data Type on page 5-13 for details.

0000 hex: Control command ended normally.

0002 hex: Control command is undefined.

0 to 80 decimal (00 hex to 50 hex) bytes

Binary data of 0 to 80 decimal (00 hex to 50 hex) bytes.

* You can edit the PDO map settings on the Sysmac Studio to add PDO entries to increase or decrease the maximum input data size to 4 × n (n = 1 to 20) bytes.

00 hex

0000 hex

00 hex

00000000 hex

*1. WORD data is displayed as UINT data except on the Sysmac Studio.

On the Sysmac Studio, each bit of WORD data can be accessed as BOOL data. You cannot use these bits as BOOL data except on the Sysmac Studio.

*2. BYTE data is displayed as USINT data except on the Sysmac Studio.

On the Sysmac Studio, each bit of BYTE data can be accessed as BOOL data. You cannot access these bits as BOOL data except from the Sysmac Studio.

*3. How to Use Input SIDs in User Programming

Perform the following processing in user programming.

 When the value of this Input SID is equal to the previous value +1, the Input Notification Data is received. If the Input

SID value is not changed, the Input Notification Data is not received.

 When the Input Notification Data is received, the Input SID Response in the Output Notification Data is set to the value

of the Input SID incremented (previous value + 1) in step 1.

*4. If the Input SID Response is 00 hex and Restart Port is executed, a Restart Port control command response is returned

immediately, so the input SID will be 01 hex.

*5. How to Use Output SID Responses in User Programming:

Perform the following processing in user programming.

• If the received Output SID Response matches the previously incremented Output SID, it means that the EJ1 EtherCAT Slave Unit received the sent data.

5-4 PDO Mapping Data Details

5-4-2 Input Notification Data (EJ1 EtherCAT Slave Unit to Communications Master)

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

 Port Status

The port status provides information on the communications state, as given in the following table.

Bit posi-

tion

00 Send Data Exist Send Data

01 Send Completed

02 Send Buffer Full

03 to 10 Reserved Reserved area Always 0. 0 11 Receive Data Exist Final Data

12 to 13 Reserved Reserved area Always 0. 0

I/O port name

Toggle Bit

Flag

Parameter

name

Exists Flag

Send Completed Toggle Bit

Send Buffer Full Flag

Reception Flag

Function Valu e Default

Indicates whether CompoWay/F command data exists in the EJ1 EtherCAT Slave Unit send buffer.

After all of the CompoWay/F command is sent to the Basic Unit, the value changes to 0 (OFF).

This bit toggles each time a CompoWay/F command is sent from the EJ1 EtherCAT Slave Unit to the Basic Unit.

This bit changes to 1 (ON) when the send data exceeds the maximum size of the buffer.

The maximum send data buffer size is 2,048 bytes.

To reset this bit to 0 (OFF), restart the port or use the Clear Send and Receive Buffers control command.

This bit changes to 1 (ON) when the entire CompoWay/F response is received (up to the BCC) by the receive buffer in the EJ1 EtherCAT Slave Unit from a Basic Unit.

The bit changes back to 0 (OFF) when the communications master reads the received CompoWay/F response data from the receive buffer of the EJ1 EtherCAT Slave Unit.

0: There is no data in the send buffer.

1: There is data in the send buffer.

The value is toggled between 0 and 1 after each send operation.

0: No error occurred.

1: Error occurred.

0: There is no data in the receive buffer.

1: There is data in the receive buffer.

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Bit posi-

tion

14 EJ1Bus Communi-

15 BCC Error BCC Error

*1. If an EJ1 bus communications error occurs, the EJ1 EtherCAT Slave Unit may still be receiving a CompoWay/F

response. Allow at least 32 ms after detecting an EJ1 bus communications error before executing the next output data notification.

I/O port name

cation Error

Parameter

name

EJ1 Bus Communications Error Flag

Flag

Function Value Default

This bit changes to 1 (ON) when a communications error occurs on the EJ1 bus (the internal bus between the EJ1 EtherCAT Slave Unit and Basic Unit) due to

noise or other factors.

This flag resets to 0 (OFF) when a correct response is received.

This bit changes to 1 (ON) when the BCC check of the received response indicates that communications failed.

The received data is discarded.

This flag resets to 0 (OFF) when a correct response is received.

0: Normal

1: EJ1 Bus Communications Error occurred.

0: Normal

1: BCC error occurred.

5-4 PDO Mapping Data Details

5-4-2 Input Notification Data (EJ1 EtherCAT Slave Unit to Communications Master)

 Input Data Type

The Input Data Type contains the control command-related response and received data status.

Bit posi-

tion

00 to 07 None

08 Reserved Reserved area Always 0. 0 09 Receive Command

10 to 11 Reserved Reserved area Always 0. 0 12 Receive Data Flag Intermediate

13 Receive Last Data

14 Reserved Reserved area Always 0. 0

I/O port name

(Specifications are made in the lower byte of the Input Data Type WORD.)

Flag

Parameter

name

Control Command Response

Control Command Response Flag

Data Recep-

tion Flag Final Data Reception

Flag

Value Default

The control command code that was sent in the control command of the Output Data Type is returned as is. Bit 09, below, is valid when the Control Command Response Flag is 1 (ON).

0: There is no control command response.

1: There is a control command response.

1: There is Intermediate Receive Data from the Basic Unit.

1: There is Final Receive Data from the Basic Unit.

When both bits are 0 (OFF): There is no received data from the Basic Unit.

Note Both of

these bits cannot be 1 (ON) at the same time.

00 hex

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Bit posi-

tion

I/O port name

15 Receive Data Error

Flag

*1. The Final Data Reception Flag changes to 1 (ON) when the response to the received CompoWay/F command

is the final data.

The Final Data Reception Flag will always be 1 (ON) for responses that do not require division into smaller parts.

If a response must be divided into smaller parts, the Intermediate Data Reception Flag changes to 1 (ON) for intermediate data, and the Final Data Reception Flag changes to 1 (ON) for the final data.

*2. If an error occurs during the reception of data from the Basic Unit, the Receive Data Error Flag changes to 1

(ON).

One of the following errors is the cause.

• The received data fails the BCC check.

• The received data is corrupted due to noise or some other cause.

5-4-3 Sysmac Error Status

PDO entry

name, I/O port

name

Sysmac Error

Status

Object name Type Size R/W Function Value Default

Sysmac Error Status

BYTE 1 byte RO This is the Sysmac

Parameter

name

Receive Data

Error Flag

Value Default

0: No error

1: There is an error.

This flag resets to 0 (no errors) when a correct response is received.

error status for the EJ1 EtherCAT Slave Unit.

1 (ON): An error at the relevant event level occurred.

0 (OFF): There are no errors at the relevant event level.

Refer to 7-3 Error

Notifications Based on the Sysmac Error Status on page 7-6

for details.

Bit 05: Minor fault

Bit 04: Observation

00 hex

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Additional Information

5-5 Writing User Programming

This section describes how to write user programming to perform data transfer between the communications master and the EJ1 EtherCAT Slave Unit.

It is necessary to use handshaking to confirm that the Input Notification Data and Output Notification Data that are updated between the communications master and the EJ1 EtherCAT Slave Unit are received normally by the other party.

“SID” in “output SID” and “input SID” stands for sequential ID. The SID is an identifier used to determine the sequential number of data in a sequential data set.

5-5 Writing User Programming

5-5-1 Handshaking with the EJ1 EtherCAT Slave Unit with User Pro-

gramming

Create user programming based on the following procedure.

1 Increment the Output SID to notify the EJ1 EtherCAT Slave Unit that the Output Notification

Data was updated.

2 Check whether the Output SID Response matches the above Output SID to confirm that the

EJ1 EtherCAT Slave Unit received the Output Notification Data successfully.

3 See if the Input SID was incremented to confirm when the Input Notification Data is updated. 4 Set the Input SID Response to the above Input SID to notify the EJ1 EtherCAT Slave Unit that

the Input Notification Data was received.

5-5-1 Handshaking with the EJ1 EtherCAT Slave Unit with User Programming

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

5-5-2 Handshaking with the EJ1 EtherCAT Slave Unit with User Pro-

gramming

Create user programming based on the following procedure when you send a CompoWay/F command, receive a CompoWay/F response, and perform handshaking as discussed previously.

1 Set the Output Data Type to 1000 hex (intermediate send data) or 2000 hex (final send data). At

the same time, set the CompoWay/F command in the Output Data.

2 Increment the Output SID from the previous value (+1). This allows the communications master

to notify the EJ1 EtherCAT Slave Unit that the Output Notification Data was updated.

3 If the received Output SID Response matches the value of the Output SID sent in step 2 above,

it means that the EJ1 EtherCAT Slave Unit received the sent data.

4 If the Send Completed Toggle Bit in the Port Status was changed, it means that the Compo-

Way/F command was successfully sent to the Basic Unit.

5 Check the value of the Input SID. If the Input SID was incremented (+1) from its previous value

(it has an initial value of 00 hex), check the Input Data Type.

(If the Receive Data Error Flag is ON, a BCC error or EJ1 bus communications error occurred. Check the Port Status for error details.)

If the Intermediate Data Reception Flag or Final Data Reception Flag is ON, it means that the Input Notification Data was updated and the Input Data is read.

If the Input Data Type is 2000 hex, the data received from the Basic Unit is the final data.

If the Input Data Type is 1000 hex, the data received from the Basic Unit is not the final data and is considered to be intermediate data (i.e., there is still more data to receive).

Repeat steps 5 and 6 for the next data reception.

6 Set the Input SID Response to the Input SID from step 5 above to notify the EJ1 EtherCAT

Slave Unit that the Input Notification Data was received.

7 If the Receive Data Exists Flag in the Port Status is 0 (OFF), the data was received.

5 - 16

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

5-5-3 Procedures for Sending Control Commands and Receiving

Responses

Create user programming based on the following procedure when you send a control command, receive a control command response, and perform handshaking as discussed previously.

1 Set the Output Data Type to 0101 hex (Port Restart) or 0106 hex (Clear Send and Receive Buf-

fers).

2 Increment the Output SID from the previous value (+1). This allows the communications master

to notify the EJ1 EtherCAT Slave Unit that the Output Notification Data was updated.

3 If the received Output SID Response matches the value of the Output SID sent in step 2 above,

it means that the EJ1 EtherCAT Slave Unit received the sent data.

4 Check the value of the Input SID.

If the value is 0101 hex (Restart Port):

If the Input SID is not 0 before restarting the port, the Input SID changes to 0 after the port is restarted.

5-5 Writing User Programming

If the Input SID is 0, set the Input SID Response to 0.

When the Input SID is updated to 1, check the Input Data Type. If the Control Command Response Flag is 1 (ON), there is a control command response.

If the value is 0106 hex (Clear Send and Receive Buffers):

If the Input SID was incremented (+1) from its previous value (it has an initial value of 00 hex), check the Input Data Type. If the Control Command Response Flag is 1 (ON), there is a control command response.

5 Set the Input SID Response to the Input SID from step 4 above to notify the EJ1 EtherCAT

Slave Unit that the Input Notification Data was received.

5-5-3 Procedures for Sending Control Commands and Receiving Responses

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Port Status 0000 hex Input SID 00 hex Output SID Response 00 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None

5-6 Example Procedures for Sending

CompoWay/F Commands and Receiving Responses

This section provides example procedures for sending CompoWay/F commands and receiving responses.

Whether or not the data must be sent or received in parts depends on whether the Output Data or Input Data exceeds the assigned PDO mapping size.

The following examples demonstrate sending and receiving data both not dividing the data and dividing the data into parts.

5-6-1 Example of Sending and Receiving Data without Dividing into

Parts

If the Output Data and Input Data do not exceed the assigned PDO mapping sizes, the Output Data and Input Data are sent and received without division into parts.

Step Process

1 No data reception 1. The communications master receives

Communications master processing

(processing in user programming)

the Input Notification Data given on the right.

2. The Input SID is 00 hex, so the master knows that the received Input Notification Data was not updated.

Communi-

cations

direc-

tion

← 1. The EJ1 EtherCAT Slave Unit inputs

EJ1 EtherCAT Slave Unit processing

(EJ1 EtherCAT Slave Unit firmware pro-

cessing)

the following Input Notification Data.

2. The EJ1 EtherCAT Slave Unit sets the Input SID to 00 hex to notify the communications master that the Input Notification Data was not updated.

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Output SID 01 hex Input SID Response 00 hex Output Data Type 2000 hex Reserved. 0000 hex Output Data Length nnnn hex Output Data Send data

Port Status 0001 hex Input SID 00 hex Output SID Response 01 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None

5-6 Example Procedures for Sending CompoWay/F Commands and Receiving

Step Process

2 Input response

for no Input Data + output of undivided send data

1. The communications master outputs the following Output Notification Data.

2. The communications master has not yet received input data, so the Input SID Response remains at 00 hex.

3. The communications master sets the Output Data Type to 2000 hex to indicate that the Output Data is the final data (because it is not divided).

4. The communications master increments the Output SID by 1, then passes the Output Data Length and Send Data to the EJ1 EtherCAT Slave Unit.

3 Output response

for the send data

1. The communications master receives the Input Notification Data given on the right.

2. The communications master knows that sent data was received by the EJ1 EtherCAT Slave Unit because the Output SID Response in the Input Notification Data matches the value of the Output SID output in step 2.

Communications master processing

(processing in user programming)

Communi-

cations

direc-

tion

EJ1 EtherCAT Slave Unit processing

(EJ1 EtherCAT Slave Unit firmware pro-

cessing)

→ The EJ1 EtherCAT Slave Unit receives the

Output Notification Data given on the left.

← 1. The EJ1 EtherCAT Slave Unit inputs

the following Input Notification Data.

2. The EJ1 EtherCAT Slave Unit changes the Send Data Exists Flag (bit 00) in the Port Status to 1 (ON) to indicate that there is data in the send buffer.

3. When the value of the Output SID Response is 01 hex, i.e., the value of the Output SID from step 2, it tells the communications master that the Output Notification Data was received normally.

Responses

5-6-1 Example of Sending and Receiving Data without Dividing into Parts

4 Sending the send

data

EJ1 EtherCAT Slave Unit User’s Manual (H192)

−−−

The EJ1 EtherCAT Slave Unit sends the data to the Basic Unit.

5 - 19

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Port Status 0002 hex Input SID 00 hex Output SID Response 01 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None

Port Status 0002 hex Input SID 01 hex Output SID Response 01 hex Input Data Type 2000 hex Input Sub Info 0000 hex Input Data Length nnnn hex Input Data Received data

Output SID 01 hex Input SID Response 01 hex Output Data Type 0000 hex Reserved. 0000 hex Output Data Length 0000 hex Output Data None

Step Process

5 Confirmation of

sending the send data

Communications master processing

(processing in user programming)

1. The communications master receives the Input Notification Data given on the right.

2. The Send Completed Toggle Bit in the Port Status in the Input Notification Data changed, so the communications master knows that the EJ1 EtherCAT Slave Unit sent the send data to the Basic Unit.

6 Receiving data

from Basic Unit

−−−

7 Data input 1. The communications master receives

the Input Notification Data given on the right.

2. The Input SID changed from 00 to 01 hex, so the communications master knows that the received Input Data in the Input Notification Data was updated.

3. The Input Data Type is 2000 hex, so the communications master knows that the Input Data is the final data.

4. The communications master reads the Input Data.

Communi-

cations

direc-

tion

EJ1 EtherCAT Slave Unit processing

(EJ1 EtherCAT Slave Unit firmware pro-

cessing)

← 1. The EJ1 EtherCAT Slave Unit inputs

the following Input Notification Data to tell the communications master that the final send data was sent to the Basic Unit.

2. The EJ1 EtherCAT Slave Unit changes the Send Completed Toggle Bit in the Port Status.

The EJ1 EtherCAT Slave Unit receives the receive data from the Basic Unit.

← 1. The EJ1 EtherCAT Slave Unit inputs

the following Input Notification Data.

2. The EJ1 EtherCAT Slave Unit changes the Input SID from 00 hex to 01 hex to tell the communications master that the Input Data in the Input Notification Data was updated.

8 Input response 1. The communications master outputs the

following Output Notification Data.

2. The communications master sets the Input SID Response to the value of the Input SID received in step 7 (01 hex) to tell the EJ1 EtherCAT Slave Unit that the communications master normally received the Input Data.

5 - 20

→ 1. The EJ1 EtherCAT Slave Unit receives

the Output Notification Data given on the left.

2. The EJ1 EtherCAT Slave Unit knows that the communications master normally received the Input Notification Data because the value of the Input SID Response in the Output Notification Data from step 7 is 01 hex.

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5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Port Status 0000 hex Input SID 00 hex Output SID Response 00 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None

Output SID 01 hex Input SID Response 00 hex Output Data Type 1000 hex Reserved. 0000 hex Output Data Length nnnn hex Output Data Send data that

is not the final send data

5-6-2 Example of Sending and Receiving Data in Parts

If the Output Data or Input Data exceeds the assigned PDO mapping size, the Output Data or Input Data is divided to be sent or received.

5-6 Example Procedures for Sending CompoWay/F Commands and Receiving

Step Process

Communications master processing

(processing in user programming)

1 No data reception 1. The communications master receives

the Input Notification Data given on the right.

2. The Input SID is 00 hex, so the master knows that the received Input Notification Data was not updated.

2 Input response

for no Input Data + output of non-final send data

1. The communications master outputs the following Output Notification Data.

2. The communications master has not yet received input data, so the Input SID Response remains at 00 hex.

3. The communications master sets the Output Data Type to 1000 hex to indicate that the Output Data is not the final data.

4. The communications master increments the Output SID by 1, then passes the Output Data Length and send data (not the final data) to the EJ1 EtherCAT Slave Unit.

Com-

muni-

cations

direc-

tion

EJ1 EtherCAT Slave Unit processing

(EJ1 EtherCAT Slave Unit firmware pro-

cessing)

← 1. The EJ1 EtherCAT Slave Unit inputs

the following Input Notification Data.

2. The EJ1 EtherCAT Slave Unit sets the Input SID to 00 hex to notify the communications master that the Input Notification Data was not updated.

→ The EJ1 EtherCAT Slave Unit receives the

Output Notification Data given on the left.

Responses

5-6-2 Example of Sending and Receiving Data in Parts

EJ1 EtherCAT Slave Unit User’s Manual (H192)

5 - 21

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Port Status 0001 hex Input SID 00 hex Output SID Response 01 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None

Output SID 02 hex Input SID Response 00 hex Output Data Type 2000 hex Reserved. 0000 hex Output Data Length nnnn hex Output Data This is the final

send data.

Port Status 0001 hex Input SID 00 hex Output SID Response 02 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None

Step Process

3 Output response

for send data that is not the final send data

1. The communications master receives the Input Notification Data given on the right.

4 Outputting the

final send data

1. The communications master outputs the following Output Notification Data.

2. The communications master sets the Output Data Type to 2000 hex to indicate that the Output Data is the final data.

3. The communications master increments the Output SID by 1, then passes the Output Data Length and final send data to the EJ1 EtherCAT Slave Unit.

Communications master processing

(processing in user programming)

Communi-

cations

direc-

tion

EJ1 EtherCAT Slave Unit processing

(EJ1 EtherCAT Slave Unit firmware pro-

cessing)

← 1. The EJ1 EtherCAT Slave Unit inputs

the following Input Notification Data.

2. The EJ1 EtherCAT Slave Unit changes the Send Data Exists Flag (bit 0) in the Port Status to 1 (ON) to indicate that there is data in the send buffer.

3. When the value of the Output SID Response is 01 hex, it tells the communications master that the Output Notification Data was received normally.

→ The EJ1 EtherCAT Slave Unit receives the

Output Notification Data given on the left.

5 Output response

for the final send data

1. The communications master receives the Input Notification Data given on the right.

6 Sending the send

5 - 22

data

−−−

← 1. The EJ1 EtherCAT Slave Unit inputs

the following Input Notification Data.

2. When the value of the Output SID Response is 02 hex, it tells the communications master that the final send data was received normally.

The EJ1 EtherCAT Slave Unit sends the data to the Basic Unit.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Port Status 0002 hex Input SID 00 hex Output SID Response 02 hex Input Data Type 0000 hex Input Sub Info 0000 hex Input Data Length 0000 hex Input Data None

Port Status 0802 hex Input SID 01 hex Output SID Response 02 hex Input Data Type 1000 hex Input Sub Info 0000 hex Input Data Length nnnn hex Input Data First received data

5-6 Example Procedures for Sending CompoWay/F Commands and Receiving

Step Process

7 Checking sending

of the final send data

1. The communications master receives the Input Notification Data given on the right.

2. The Send Completed Toggle Bit in the Port Status in the Input Notification Data changed, so the communications master knows that the EJ1 EtherCAT Slave Unit sent the final send data to the Basic Unit.

8 Receiving data

from Basic Unit

9 Inputting the first

data

1. The communications master receives the Input Notification Data given on the right.

2. The Input SID changed from 00 to 01 hex, so the communications master knows that the received Input Data in the Input Notification Data was updated.

3. The Input Data Type is 1000 hex, so the communications master knows that the Input Data is not the final data.

4. The communications master reads the Input Data.

Communications master processing

(processing in user programming)

−−−

Communi-

cations

direc-

tion

EJ1 EtherCAT Slave Unit processing

(EJ1 EtherCAT Slave Unit firmware pro-

cessing)

← 1. The EJ1 EtherCAT Slave Unit inputs

the following Input Notification Data to tell the communications master that the final send data was sent to the Basic Unit.

2. The EJ1 EtherCAT Slave Unit sets the Send Data Exists Flag (bit 00) in the Port Status to 0 (OFF) to indicate that the CompoWay/F command was sent to the Basic Unit.

3. The EJ1 EtherCAT Slave Unit changes the Send Completed Toggle Bit in the Port Status.

The EJ1 EtherCAT Slave Unit receives the receive data from the Basic Unit.

← 1. The EJ1 EtherCAT Slave Unit inputs

the following Input Notification Data.

2. The EJ1 EtherCAT Slave Unit sets the Receive Data Exists Flag (bit 11) in the Port Status to 1 (ON) to indicate that the CompoWay/F response was received from the Basic Unit.

3. The EJ1 EtherCAT Slave Unit changes the Input SID from 00 hex to 01 hex to tell the communications master that the Input Data in the Input Notification Data was updated.

Responses

5-6-2 Example of Sending and Receiving Data in Parts

EJ1 EtherCAT Slave Unit User’s Manual (H192)

5 - 23

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Output SID 02 hex Input SID Response 01 hex Output Data Type 0000 hex Reserved. 0000 hex Output Data Length 0000 hex Output Data None

Port Status 0002 hex Input SID 02 hex Output SID Response 02 hex Input Data Type 2000 hex Input Sub Info 0000 hex Input Data Length nnnn hex Input Data Second

received data

Output SID 02 hex Input SID Response 02 hex Output Data Type 0000 hex Reserved. 0000 hex Output Data Length 0000 hex Output Data None

Step Process

10 First input

response

11 Inputting the sec-

ond data

Communications master processing

(processing in user programming)

1. The communications master outputs the following Output Notification Data.

2. The communications master sets the Input SID Response to the value of the Input SID received in step 9 (01 hex) to tell the EJ1 EtherCAT Slave Unit that the communications master normally received the first Input Data.

1. The communications master receives the Input Notification Data given on the right.

2. The communications master checks the Input SID.

3. The Input SID changed from 01 to 02 hex, so the communications master knows that the received Input Data in the Input Notification Data was updated.

4. The Input Data Type is 2000 hex, so the communications master knows that the Input Data is the final data.

5. The communications master reads the Input Data.

Communi-

cations

direc-

tion

EJ1 EtherCAT Slave Unit processing

(EJ1 EtherCAT Slave Unit firmware pro-

cessing)

→ 1. The EJ1 EtherCAT Slave Unit receives

the Output Notification Data given on the left.

2. The EJ1 EtherCAT Slave Unit knows that the communications master normally received the first Input Data because the Input SID Response in the Output Notification Data is 01 hex from step 9.

← 1. The EJ1 EtherCAT Slave Unit inputs

the following Input Notification Data.

2. The EJ1 EtherCAT Slave Unit changes the Input SID from 01 hex to 02 hex to tell the communications master that the Input Data in the Input Notification Data was updated.

12 Second input

response

1. The communications master outputs the following Output Notification Data.

2. The communications master sets the Input SID Response to the value of the Input SID received in step 11 (02 hex) to tell the EJ1 EtherCAT Slave Unit that the communications master normally received the second Input Data.

5 - 24

→ 1. The EJ1 EtherCAT Slave Unit receives

the Output Notification Data given on the left.

2. The EJ1 EtherCAT Slave Unit knows that the communications master normally received the second Input Data because the Input SID Response in the Output Notification Data is 02 hex from step 11.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Communications Unit No.

Sub-address

SID1FINS-mini command text

Text

BCC calculation range

Sub-address

FINS-mini response text

Te xt

BCC calculation range

End code

Communications Unit No.

5-7 Setting CompoWay/F Frames

This section describes what data to set and what data is set in the Output Data included in Output Notification Data and Input Data included in Input Notification Data for the CompoWay/F frames during CompoWay/F communications. This section also describes how to arrange that data in array variables.

5-7-1 Output Data and Input Data Contents

This section describes the information that you must set in the Output Data (i.e., the data sent from the EJ1 EtherCAT Slave Unit to a Basic Unit) from user programming and the information that is set automatically in the Input Data (i.e., the data received by the EJ1 EtherCAT Slave Unit from the Basic Unit).

 Output Data Contents

Set the text portion from the communications unit number to the FINS-mini command text in the CompoWay/F command frame to the Output Data (index: 7000 hex, subindex: 06 hex to 19 hex) with user programming.

5-7 Setting CompoWay/F Frames

Do not include the leading STX (02 hex) and ETX (03 hex) + BCC at the end.

 Input Data Contents

Set the text portion from the communications unit number to the FINS-mini response text in the CompoWay/F response frame to the Input Data (index: 6000 hex, subindex: 07 hex to 1A hex) with user programming. Do not include the leading STX (02 hex) and ETX (03 hex) + BCC at the end.

5-7-1 Output Data and Input Data Contents

EJ1 EtherCAT Slave Unit User’s Manual (H192)

5 - 25

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Frame element Command Response

This code designates the beginning of the communications frame. The EJ1 EtherCAT Slave Unit

STX: Not included in the Output Data or the Input Data.

Communications unit number

Text: Included in the Output Data or the Input Data.

ETX: Not included in the Output Data or the Input Data.

BCC: Not included in the Output Data or the Input Data.

Sub-address

SID

End code --- The end code is stored. FINS-mini command

text FINS-mini response

text

Refer to the EJ1 Modular Temperature Controllers User’s Manual (Cat. No. H142) for details on Com- poWay/F commands and responses.

adds the STX automatically. With the EJ1 EtherCAT Slave Unit, you do not need to send the STX from the communications master.

Set the communications unit number that is set on switches SW1 and SW2 on the Basic Unit.

Specify XX as the communications unit number for broadcasting. No response is returned for broadcasting.

No response is returned for any communications unit number other than the above one.

The sub-address is not used with the EJ1 EtherCAT Slave Unit. Always set it to 3030 hex.

The SID is not used with the EJ1 EtherCAT Slave Unit. Always set it to 30 hex.

This is the command.

---

This code designates the end of the communications frame. The EJ1 EtherCAT Slave Unit

adds the ETX automatically. With the EJ1 EtherCAT Slave Unit, you do not need to send the ETX from the communications master.

This is the BCC calculation result from the communications unit number to the ETX. The EJ1 EtherCAT Slave Unit adds the BCC automatically. With the EJ1 EtherCAT Slave Unit, you do not need to send the BCC from the communications master.

The response data is returned with the STX automatically removed.

---

This is the response.

The response data is returned with the ETX automatically removed.

The response data is returned with the BCC automatically removed.

5 - 26

EJ1 EtherCAT Slave Unit User’s Manual (H192)

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Element No. One byte

0 1 2

30 hex (sub-address upper byte)

Output Data 2

Output Data 3

Output Data m (m = 20 max.)

Output Data 1

0 1 2 3

0 1 Data 1 2 Data 2 3 Data 3

0 Data 1 Data 2 Data 3 Data

Communications Unit No. upper byte Communications Unit No. lower byte

30 hex (sub-address lower byte)

30 hex (SID)

MRC upper byte MRC lower byte SRC upper byte

SRC lower byte

FINS-mini command text

One byte

0 1 2

30 hex (sub-address upper byte)

Input Data 2

Input Data 3

Input Data 4

Input Data 01

0 1 2 3

0 1 SRC lower byte 2

Response code MRES upper byte

Response code MRES lower byte

Response code SRES upper byte

Response code SRES lower byte 2 Data 1 3 Data 2

Input Data m (m = 20 max.)

0 Data 1 Data 2 Data 3 Data

Communications Unit No. upper byte

Communications Unit No. lower byte

30 hex (sub-address lower byte)

End code upper byte

End code lower byte

MRC upper byte MRC lower byte

SRC upper byte

FINS-mini command text

Element No.

5-7-2 Storing Output Data and Input Data in Array Variables

If the communications master is an NJ/NX-series CPU Unit, the Output Data and Input Data are set in array variables of four bytes each. Specifically, the data in the frame is stored in bytes in ascending order of the array element numbers starting from the communications unit number. This is shown in the following table.

 Storing the Output Data for a CompoWay/F Command in Array Variables

5-7 Setting CompoWay/F Frames

 Storing Input Data for a CompoWay/F Response in Array Variables

5-7-2 Storing Output Data and Input Data in Array Variables

EJ1 EtherCAT Slave Unit User’s Manual (H192)

5 - 27

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

Precautions for Correct Use

If the CompoWay/F command or CompoWay/F response to send or receive exceeds the PDO assignment sizes, send the data divided into parts. Refer to Example of Sending and Receiving Data in Parts on page 5-21 for how to send and receive data divided into parts.

5-7-3 Setting the PDO Mappings for I/O Data

You must set the PDO mappings for Input Data and Output Data used for PDO communications between the communications master and EJ1 EtherCAT Slave Unit.

You can edit the Input Data and Output Data PDO mapping sizes on the Sysmac Studio by using the PDO map settings to set the PDO sizes to between 4 and 80 bytes for both inputs and outputs.

You can adjust the Output Data and Input Data PDO mapping sizes to prioritize either CompoWay/F communications performance or PDO communications performance. For guidelines on how to determine the PDO sizes, refer to the Guidelines for Determining the Output Data and Input Data PDO Map- ping Sizes on page 5-31 later in this manual.

How to set the PDO mapping sizes when an EJ1 EtherCAT Slave Unit is registered to the EtherCAT network configuration is described next.

• Mapping must be in ascending order by index and subindex.

• Do not map a PDO at index 0000 hex, subindex 00 hex.

• Do not delete required PDO entries when mapping. Refer to 5-3-2 PDO Mapping Data List on page 5-7 for details on the required PDO entries.

5 - 28

EJ1 EtherCAT Slave Unit User’s Manual (H192)

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

1 Click the EJ1N-HFUC-ECT in the EtherCAT network configuration.

The following dialog box is displayed.

5-7 Setting CompoWay/F Frames

2 Click the Edit PDO Map Settings Button.

The following dialog box is displayed.

5-7-3 Setting the PDO Mappings for I/O Data

EJ1 EtherCAT Slave Unit User’s Manual (H192)

5 - 29

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

3 Select 257th receive PDO Mapping and click the Add PDO Entry Button.

The following dialog box is displayed.

4 Select the PDO to add and click the OK Button.

The PDO is added.

5 Set the other PDO entries in the same way.

• The Output Data entries are 4 bytes each.

If OutputData01 to OutputData20 are all registered, the Output Data size will be 80 bytes and the resulting Output Notification Data will be 88 bytes.

• The Input Data entries are 4 bytes each.

If InputData01 to InputData20 are all registered, the Input Data size will be 80 bytes and the resulting Output Notification Data will be 90 bytes.

6 Click the OK Button or Apply Button in the Edit PDO Map Settings Dialog Box.

The PDO entries are added to the EJ1 EtherCAT Slave Unit settings.

5 - 30

EJ1 EtherCAT Slave Unit User’s Manual (H192)

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

 Guidelines for Determining the Output Data and Input Data PDO Mapping

Sizes

The PDO mapping sizes for Output Data and Input Data are determined based on the cases given in the following table.

PDO mapping sizes

Case

Case 1 Giving priority to Compo-

Way/F communications

(As a result, the PDO mapping sizes will be larger and the process data cycle will be longer.)

Case 2 Giving priority to commu-

nications for frequently used CompoWay/F commands.

It must be acceptable that less frequently used CompoWay/F commands are slower.

Case 3 Giving priority to the pro-

cess data cycle.

You can perform CompoWay/F communications with as little effect as possible on the process data cycle.

(Conversely, it must be acceptable that CompoWay/F communications are slower as a result.)

Size of Output Data in the Out-

put Notification Data

The Output Data size must be larger than the maximum size of the data from the communications unit number to the FINS-mini command text in any CompoWay/F command that is used.

The Output Data size must be larger than the maximum size of the data from the communications unit number to the FINS-mini command text in frequently used CompoWay/F commands.

CompoWay/F commands or CompoWay/F responses that do not meet the above conditions must be divided into parts to be sent and received with user programming.

First, determine the PDO mapping sizes to obtain a satisfactory target process data cycle.

Based on those results, divide the data into parts to send and receive with user programming in the following cases:

• When the maximum size of the data from the communications unit number to the FINS-mini command text in the CompoWay/F command is larger than the Output Data size

• When the maximum size of the data from the communications unit number to the FINS-mini response text in the CompoWay/F response is larger than the Input Data size

Size of Input Data in the Input

Notification Data

The Input Data size must be larger than the maximum size of the data from the communications unit number to the FINS-mini response text in any CompoWay/F response that is used.

The Input Data size must be larger than the maximum size of the data from the communications unit number to the FINS-mini response text in frequently used CompoWay/F responses.

5-7 Setting CompoWay/F Frames

5-7-3 Setting the PDO Mappings for I/O Data

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Note The allowed size of process data for communications is deter-

mined by the EtherCAT communications master based on the process data cycle time. For details, refer to the manual for your EtherCAT communications master.

5 - 31

5 Using the EJ1 EtherCAT Slave Unit with PDO Communications

5-8 Assigning Device Variables

This section describes how to assign device variables to I/O ports when the communications master is an NJ/NX-series CPU Unit.

When the communications master is an NJ/NX-series CPU Unit, you must assign device variables to the I/O ports on the I/O Map Tab Page of the Sysmac Studio to access PDO entries from user programming.

Area (1), below, gives the I/O port names for the EJ1N-HFUC-ECT EJ1 EtherCAT Slave Unit.

You can right-click on any of these I/O ports and select Create Device Variable to assign device variables.

5 - 32

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Using the EJ1 EtherCAT Slave Unit with SDO Communications

This section describes how to read and write data in the EJ1 EtherCAT Slave Unit by using SDO communications from the communications master.

6-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6-2 Abort Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

EJ1 EtherCAT Slave Unit User’s Manual (H192)

6 - 1

6 Using the EJ1 EtherCAT Slave Unit with SDO Communications

6-1 Overview

The EJ1 EtherCAT Slave Unit supports SDO message communications.

The communications master can read and write data in entries in the object dictionary with SDO communications to make parameter settings and monitor status when necessary.

If the communications master is an NJ/NX-series CPU Unit, the following EtherCAT communications instructions are used.

Instruction Function

EC_CoESDORead Reads a value from a CoE object in the specified slave. EC_CoESDOWrite Writes a value to a CoE object in the specified slave.

For details on the EtherCAT communications instructions, refer to the NJ/NX-series Instructions Refer- ence Manual (Cat. No. W502).

6 - 2

EJ1 EtherCAT Slave Unit User’s Manual (H192)

6 Using the EJ1 EtherCAT Slave Unit with SDO Communications

6-2 Abort Codes

The following table lists the abort codes for SDO communications errors.

Value Meaning

06010000 hex Unsupported access to an object 06010002 hex Attempt to write to a read-only object. 06020000 hex The object does not exist in the object directory. 06040041 hex The object cannot be mapped to the PDO. 06040042 hex The number and length of the objects to be mapped would exceed the PDO

length 06070010 hex Data type does not match or length of service parameter does not match. 06090011 hex Subindex does not exist. 06090030 hex Value range of parameter exceeded (only for write access) 06090031 hex Value of parameter that was written is too high. 06090032 hex Value of parameter that was written is too low. 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.

6-2 Abort Codes

EJ1 EtherCAT Slave Unit User’s Manual (H192)

6 - 3

6 Using the EJ1 EtherCAT Slave Unit with SDO Communications

6 - 4

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Troubleshooting

This section describes the notification and confirmation methods and checking procedures when an error occurs in an EJ1 EtherCAT Slave Unit.

7-1 Error Notification Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7-2 Error List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7-2-1 Errors Detected during Boot Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3

7-2-2 EtherCAT Communications Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7-2-3 Errors Detected during a Software Process . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5

7-3 Error Notifications Based on the Sysmac Error Status . . . . . . . . . . . . . . . 7-6

7-3-1 Sysmac Error Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6

7-3-2 Checking and Responding to Event Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

7-4 Error Notifications Provided with Emergency Messages . . . . . . . . . . . . . 7-8

7-4-1 Emergency Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8

7-5 Error Notifications Based on the AL Status . . . . . . . . . . . . . . . . . . . . . . . . 7-9

EJ1 EtherCAT Slave Unit User’s Manual (H192)

7 - 1

7 Troubleshooting

Precautions for Correct Use

EJ1 EtherCAT Slave Unit EJ1N-HFUC-ECT

EJ1-TC4 or EJ1-TC2 Units

EJ1-EDU

EtherCAT master (NJ/NX-series CPU Unit)

Sysmac Studio Support Software

EtherCAT

Sysmac Error Status

• Emergency messages

• AL Status

Error occurs.

LED

Notification to the master

7-1 Error Notification Methods

This section describes how the communications master and other devices are notified when an error occurs in an EJ1 EtherCAT Slave Unit.

Use the following methods to check the status of errors in the EJ1 EtherCAT Slave Unit.

Type of error

notification

Indicators Operation indicators on the front

panel of the EJ1 EtherCAT Slave Unit.

Sysmac error status

Emergency messages

AL status This status reports errors related to

Refer to the EJ1 Modular Temperature Controllers User’s Manual (Cat. No. H142) for informa-

This status reports errors that are detected in the application layer.

The emergency messages report application level errors.

The error code contains the CiA-defined error code as well as an additional error code in the vendor-specific area.

EtherCAT communications. The ETG-defined method is used for the error detection and error code.

Description Notification method Reference

tion on errors that occur in the Basic Units.

---

The status is assigned to a TxPDO and sent cyclically to the master.

When an error occurs, the EJ1 EtherCAT Slave Unit notifies the communications master.

When an error occurs, the error is written to the AL status register to notify the communications master.

3-2 EtherCAT Communications Overview on page 3-5

7-2 Error List on page 7-3 7-3 Error Notifications

Based on the Sysmac Error Status on page 7-6

7-4 Error Notifications Provided with Emergency Messages on page 7-8

7-5 Error Notifications Based on the AL Status on

page 7-9

7 - 2

EJ1 EtherCAT Slave Unit User’s Manual (H192)

7-2 Error List

This section provides a list of errors that can occur in the EJ1 EtherCAT Slave Unit.

7-2-1 Errors Detected during Boot Process

7 Troubleshooting

Indicators Operation Master notified?

ECAT EtherCAT

RUN ERR

Lit. Stops in Init

lit.

Lit. Stops in Init

lit.

Lit. Stops in Init

lit.

state transi-

state.

tion

State

restric-

tion

Init No No No If this error is

AL status

code

Emergency

code

Event

code

Possible cor-

rection

not cleared when the power supply to the Unit is cycled, there is a Unit hardware failure.

Replace the Unit.

not cleared when the power supply to the Unit is cycled, there is a Unit hardware failure.

Replace the Unit.

not cleared when the power supply to the Unit is cycled, there is a Unit hardware failure.

Replace the Unit.

Error name Description

An error occurred in the EtherCAT slave communications controller.

Initialization of the EtherCAT slave communications controller failed.

A hardware error occurred in the Slave Unit.

ESC Error

*1, *2

ESC Initialization

*1, *2

Error

Slave Hardware Error

*1, *2

Detec-

tion

state

I Not

*1. This error is detected as a Slave Initialization Error (event code: 84230000 hex) or a Network Configuration Verification

Error (event code: 84220000 hex) in an NJ/NX-series CPU Unit.

*2. If this type of error occurs, the user is unable to determine the type of error because EtherCAT communications will be

unusable.

7-2 Error List

7-2-1 Errors Detected during Boot Process

Note The meanings for the symbols in the Detection state column above are as follows:

I: Init state, I → P: During transition from Init state to Pre-Op state, P: Pre-Op state, P → S: During transition from Pre-Op state to Safe-Op state, S: Safe-Op state, S → O: During transition from Safe-Op to Op state, O: OP state, and −: Undefined

EJ1 EtherCAT Slave Unit User’s Manual (H192)

7 - 3

7 Troubleshooting

7-2-2 EtherCAT Communications Errors

Indicators Operation Master notified?

ECAT EtherCAT

RUN ERR

Flash

lit.

ing

Flash

lit.

ing

state transi-

Init + ERR No 0014 hex No No 7-5 Error Notifi-

Init + ERR No 0016 hex No No 7-5 Error Notifi-

tion

State

restric-

tion

AL status

code

Emergency

code

Event

code

Possible cor-

rection

cations Based on the AL Status on page 7-9

Error name Description

Slave Unit Verification

Error

Mailbox Set-

ting Error

An error occurred in Slave Unit verification.

An incorrect mailbox setting was detected for

Detec-

tion

state

I→P Not

the Sync Manager.

RxPDO Set-

ting Error

TxPDO Set-

ting Error

PDO WDT Setting

Error

Init State Transition Request

An error was detected in the RxPDO settings.

An error was detected in the TxPDO settings.

An incorrect PDO WDT setting was detected.

The slave sent a request to the EtherCAT master to

P→S Flash

ing

P→S Flash

ing

P→S Flash

ing

P→S Flash

ing

Flash ing

Pre-Op + ERR

No 001D hex No No 7-5 Error Notifi-

cations Based on the AL Status on page 7-9

No 001E hex No No 7-5 Error Notifi-

cations Based on the AL Status on page 7-9

No 001F hex No No 7-5 Error Notifi-

cations Based on the AL Status on page 7-9

No 0021 hex No No 7-5 Error Notifi-

cations Based on the AL Status on page 7-9

change to the Init state.

TxPDO Map-

ping Error

An incorrect TxPDO was set.

P→S Flash

ing

Flash ing

Pre-Op + ERR

No 0024 hex No No 7-5 Error Notifi-

cations Based on the AL Status on page 7-9

RxPDO Map-

ping Error

An incorrect RxPDO was set.

P→S Flash

ing

Flash ing

Pre-Op + ERR

No 0025 hex No No 7-5 Error Notifi-

cations Based on the AL Status on page 7-9

An incorrect state transition request was received.

An unclear state transition request was received.

Process data communications were stopped for

(Und efine

--d.)

(Und efine

--d.)

O Sin-

gle flash

Flash ing

Double flash

Current status + ERR

Safe-Op + ERR

No 0011 hex No No 7-5 Error Notifi-

cations Based on the AL Status on page 7-9

No 0012 hex No No 7-5 Error Notifi-

cations Based on the AL Status on page 7-9

No 001B hex No No 7-5 Error Notifi-

cations Based on the AL Status on page 7-9

Illegal State Transition Request

Received

Error State Transition

Received

Process Data

WDT Error

more than the specified period of time.

*1. + ERR in the EtherCAT state transition column means that an error defined in the EtherCAT specifications has occurred.

In this state, the user is notified of an AL status error.

*2. This error is detected as a Slave Application Error (event code: 8428 0000 hex) in an NJ/NX-series CPU Unit. The AL

status code that the EJ1 EtherCAT Slave Unit reports to the master is stored as Sub Info 1 of the Slave Application Error (event code: 8428 0000 hex).

7 - 4

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Note The meanings for the symbols in the Detection state column above are as follows:

7-2-3 Errors Detected during a Software Process

7 Troubleshooting

Indicators Operation Master notified?

ECAT Ether-

RUN ERR

Not lit. Lit. Changed

(Undefined.)

CAT state transition

to Init state.

Current state + Sysmac Error Status (Observation) generated

State

restric-

tion

Init No No No If this error is

No No FF01

No No FF02

AL status

code

Emergency

code

hex

Event

code

08300000 hex

08310000 hex

Possible cor-

rection

not cleared when the power supply to the Unit is cycled, there is a Unit hardware failure.

Replace the Unit.

Cause:

Noise influence

Correction:

Implement noise countermeasures if there is excessive noise.

Cause:

Incomplete connection between the EJ1 EtherCAT Slave Unit and the Basic Units.

Correction:

Install the Units properly.

Error name Description

Unit Process-

ing Error

EJ1 Bus Communica-

tions Error

BCC Error

*1*2

A fatal error was detected in the EJ1 EtherCAT Slave Unit.

An EJ1 bus communications error occurred due to noise or other cause.

The BCC check on the response received from the Basic Units failed.

The data received from the Basic Units will be discarded.

Detec-

tion

state

---

*1. This error is detected as a Slave Initialization Error (event code: 8423 0000 hex) or a Process Data Communications Error

(event code: 842C0000 hex) in an NJ/NX-series CPU Unit.

*2. If this type of error occurs, the user is unable to determine the type of error because EtherCAT communications will be

unusable.

*3. In an NJ/NX-series CPU Unit, this error is detected as a Sysmac Error Status.

7-2 Error List

7-2-3 Errors Detected during a Software Process

Note The meanings for the symbols in the Detection state column above are as follows:

EJ1 EtherCAT Slave Unit User’s Manual (H192)

7 - 5

7 Troubleshooting

7-3 Error Notifications Based on the Sys-

mac Error Status

This section describes how the communications master is notified of a Sysmac Error Status.

7-3-1 Sysmac Error Status

The Sysmac Error Status is assigned to a TxPDO to provide cyclic notifications of the level of current errors in the EJ1 EtherCAT Slave Unit to the communications master. This allows you to use the same operation to check errors and corrections with an NJ/NX-series CPU Unit and the Sysmac Studio.

With an NJ/NX-series CPU Unit, you can use the _EC_SlavErr system-defined variable or a device variable for the EJ1 EtherCAT Slave Unit (Sysmac Error Status) to detect errors that are shown in the Sysmac Error Status.

Errors shown in the Sysmac Error Status are retained even if the cause of the error is removed. You can write 1 for the Sysmac Error Status Clear object (index: 2002 hex, subindex: 02 hex) to clear the error status detected by the EJ1 EtherCAT Slave Unit.

With an NJ/NX-series CPU Unit, you can use an instruction to clear the error status detected by the EJ1 EtherCAT Slave Unit. You can also clear this error status from the Sysmac Studio with the Reset All Button in the Troubleshooter.

7 - 6

EJ1 EtherCAT Slave Unit User’s Manual (H192)

7-3-2 Checking and Responding to Event Codes

When an error occurs, you can view all current errors according to their Sysmac Error Status level through the communications master.

You can check the errors that are managed by the EJ1 EtherCAT Slave Unit through the Sysmac Error Status.

You can connect the NJ/NX-series CPU Unit and the Sysmac Studio to check an error detected by the EJ1 EtherCAT Slave Unit with the event code given in Sub Info 3 under Emergency Message Detected on the Controller Event Log Tab Page. Refer to Event Code List on page 7-7 for details on event codes.

For non-OMRON masters, you can check the current error details by reading data from the objects at indexes 2003 hex and 2004 hex. For details, refer to A-3-6 Manufacturer-specific Object 1 on page A-15 under A-3 CoE Objects on page A-9.

 Event Code List

The events that occur in the EJ1 EtherCAT Slave Unit are listed below.

The following abbreviations are used in the Level column.

7 Troubleshooting

7-3 Error Notifications Based on the Sysmac Error Status

Abbreviation Name

Maj Major fault level Prt Partial fault level Min Minor fault level Obs Observation Info Information

Symbol Name

 Event levels that are defined by the system.

Event code

08300000 hex EJ1 Bus

08310000 hex BCC

Event name

Communications Error

Error

Meaning

An EJ1 bus communications error occurred due to noise or other cause.

The BCC check failed on the CompoWay/F response received from the Basic Units.

The data received from the Basic Units will be discarded.

Assumed

cause

A problem, such as noise, caused one of the following communications errors on the EJ1 bus: Parity Error, Framing Error, Overrun Error, or Noise Error. An error occurred in the CompoWay/F BCC due to a Basic Unit error or some other problem, such as noise.

Correction

If this error occurs irregularly, implement noise countermeasures.

Level

Maj Prt Min Obs Info



7-3-2 Checking and Responding to Event Codes

EJ1 EtherCAT Slave Unit User’s Manual (H192)

7 - 7

7 Troubleshooting

7-4 Error Notifications Provided with

Emergency Messages

This section describes how the communications master is notified with emergency messages.

7-4-1 Emergency Messages

The EJ1 EtherCAT Slave Unit reports emergency messages to the communications master by using SDO communications if it detects an error at the application level.

When the power supply to the EJ1 EtherCAT Slave Unit is turned ON, the EJ1 EtherCAT Slave Unit will always start with emergency message notifications enabled.

With an NJ/NX-series CPU Unit, an Emergency Message Detected event (event code: 64200000 hex) occurs when the EJ1 EtherCAT Slave Unit sends an emergency message.

When this event code error is detected, place the Sysmac Studio online with the NJ/NX-series CPU Unit. Details on the emergency message, including the emergency error code, are stored in Sub Info 1 to Sub Info 3 under Emergency Message Detected on the Controller Event Log Tab Page.

An emergency message consists of 8 bytes of data as shown below.

Byte 0 1 2 3 4 5 6 7

Meaning Emergency error code

(Sub Info 1)

Reserved Event code (Sub Info 3)

 Emergency Error Code List

The following table provides details on and corrections for the emergency error codes used by the EJ1 EtherCAT Slave Unit.

Emergency error

code

FF01 hex EJ1 Bus Communica-

FF02 hex BCC Error The BCC check on the response

Error name Meaning Possible correction

tions Error

An EJ1 bus communications error occurred due to noise or other cause.

received from the Basic Units failed.

The data received from the Basic Units will be discarded.

If this error occurs irregularly, implement noise countermeasures.

If the error still occurs, replace the Basic Unit.

7 - 8

Emergency error codes allow you to isolate the causes of errors.

Emergency messages cannot be sent while there is an EtherCAT communications error.

Refer to Event Code List on page 7-7 for details on event codes.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

7 Troubleshooting

7-5 Error Notifications Based on the AL

Status

This section describes how the communications master is notified of the AL status (an error status related to EtherCAT communications).

When an error related to EtherCAT communications occurs, the AL status code is written to the AL status register in the EJ1 EtherCAT Slave Unit. This allows the communications master to detect errors related to EtherCAT communications with the EJ1 EtherCAT Slave Unit.

If an AL status error occurs in the EJ1 EtherCAT Slave Unit, it is detected as a Slave Application Error (event code: 84280000 hex) in an NJ/NX-series CPU Unit.

When this event code error is detected, place the Sysmac Studio online with the NJ/NX-series CPU Unit. The following AL status codes are stored in Sub Info 1 under Slave Application Error in the event log.

AL status codes allow you to isolate the causes of errors.

7-5 Error Notifications Based on the AL Status

 AL Status Code List

The following table provides details on and corrections for the AL status error codes used by the EJ1 EtherCAT Slave Unit.

AL status

code

0011 hex Illegal State

0012 hex Error State

0014 hex Slave Unit Ver-

0016 hex Mailbox Set-

001B hex Process Data

001D hex RxPDO Set-

001E hex TxPDO Set-

Name Cause Possible correction

Transition Request Received

Transition Received

ification Error

ting Error

WDT Error

ting Error

An incorrect state transition request was received.

An unclear state transition request was received.

The non-volatile memory for SII backups does not match the information in the SII (VendorID, ProductCode, RevisionNo, and Serial No.).

An incorrect mailbox setting was detected for the Sync Manager.

A timeout was detected for an I/O data send frame.

An error was detected in the RxPDO settings.

An error was detected in the TxPDO settings.

Change the state correctly.

Cycle the power supply. If the error still occurs, replace the Unit.

Correct the settings, and then download the settings to the communications master again. Review the following items, and restart the slave based on the specifications of the connected communications master.

• Wire the EtherCAT communications cable correctly.

• Check to see if the EtherCAT communications cable is exposed to excessive noise.

Correct the settings, and then download the settings to the communications master again.

EJ1 EtherCAT Slave Unit User’s Manual (H192)

7 - 9

7 Troubleshooting

AL status

code

001F hex PDO WDT

0021 hex Init State Tran-

0024 hex TxPDO Map-

0025 hex RxPDO Map-

Name Cause Possible correction

Setting Error

sition Request

ping Error

An incorrect PDO WDT setting was detected.

The slave sent a request to the EtherCAT master to change to the Init state. An illegal TxPDO was set.

• An incorrect TxPDO was set, e.g., the index, subindex, or size was outside of the allowable range.

An illegal RxPDO was set.

• An incorrect RxPDO was set, e.g., the index, subindex, or size was outside of the allowable range.

Correct the settings, and then download the settings to the communications master again.

Set the Slave Unit to Init state, and then resume communications. Correct the settings, and then download the settings to the communications master again.

Correct the settings, and then download the settings to the communications master again.

7 - 10

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Maintenance and Inspection

This section describes how to clean, inspect, and maintain an EJ1 EtherCAT Slave Unit.

8-1 Cleaning and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8-1-1 Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8-1-2 Inspection Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8-1-3 Inspection Items . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

8-2 Replacing Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

8-2-1 Unit Replacement Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

8-2-2 Unit Replacement Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-4

EJ1 EtherCAT Slave Unit User’s Manual (H192)

8 - 1

8 Maintenance and Inspection

Precautions for Correct Use

8-1 Cleaning and Inspection

This section describes the cleaning and inspection methods recommended as regular maintenance.

8-1-1 Cleaning

Clean the EJ1 EtherCAT Slave Unit regularly as described below in order to keep the network in optimal operating condition.

• Wipe the equipment over with a soft, dry cloth when performing daily cleaning.

• If dirt remains even after wiping with a soft, dry cloth, wipe over with a cloth that has been wet with a sufficiently diluted detergent (2%) and wrung dry.

• Smudges may remain on the Unit from gum, vinyl, or tape that was left on for a long time. Remove these smudges when cleaning.

Never use volatile solvents, such as paint thinner or benzene, or chemical wipes to clean the Unit. These substances may deteriorate the surface coating of the EJ1 EtherCAT Slave Unit.

8-1-2 Inspection Methods

Perform regular inspections to maintain optimal operating conditions.

In general, inspect the system once every 6 to 12 months, but inspect more frequently if the system is used in hot, humid, or dusty conditions.

 Equipment Required for Inspection

Prepare the following equipment for inspection.

 Regularly Required Items

• Flat-blade and Phillips screwdrivers

• A screwdriver for connecting communications connectors

• A voltage tester (or digital voltmeter)

• Industrial alcohol and pure cotton cloth

 Equipment Required Occasionally

• Synchroscope

• Pen-writing oscilloscope

• Thermometer and hygrometer (humidity meter)

8 - 2

EJ1 EtherCAT Slave Unit User’s Manual (H192)

8-1-3 Inspection Items

Check the items in the following table for any condition that does not meet the criteria. Adjust the EJ1 EtherCAT Slave Unit or improve the operating environment to correct the situation if any of the following criteria is not met.

8 Maintenance and Inspection

Inspection Item Inspection details Criteria

Environmental conditions

Installation conditions

Are the ambient and cabinet temperatures correct?

Are the ambient and cabinet humidities correct? Has dust or dirt accumulated? No dust or dirt Visual inspection

Is the Unit installed securely? No looseness Phillips screwdriver Are the connectors of the communica-

tions cables fully inserted? Are the external wiring screws tight? No looseness Phillips screwdriver Are the connecting cables undamaged? No externally visible dam-

-10 to 55°C Thermometer

25% to 85% Hygrometer

No looseness Visual inspection

age

Inspection

method

Visual inspection

8-1 Cleaning and Inspection

8-1-3 Inspection Items

EJ1 EtherCAT Slave Unit User’s Manual (H192)

8 - 3

8 Maintenance and Inspection

8-2 Replacing Units

The EJ1 EtherCAT Slave Unit is part of an EtherCAT network. The entire network is affected when a Unit is faulty, so a faulty Unit must be repaired or replaced quickly. We recommend having spare Units available to restore network operation as quickly as possible.

8-2-1 Unit Replacement Precautions

Observe the following precautions when you replace a faulty Unit.

• Check the new Unit to make sure that there are no errors.

• If returning malfunctioning devices for repair, attach a detailed description of the malfunction to the device and send the device to the OMRON representative listed at the end of this manual or to your OMRON representative.

• If there is faulty contact, try wiping the contacts with a clean, lint-free cotton cloth dampened with alcohol.

8-2-2 Unit Replacement Procedure

Step Item Description

1 System power supply OFF Turn OFF the power supply to the system. 2 Unit replacement Replace the Unit. 3 Settings after Unit replacement • After replacing a Unit, set the new Unit’s EtherCAT node

• If you use a software setting for the EtherCAT node address,

• Connect the same model of EJ1 EtherCAT Slave Unit to the

Note If you do not use a software setting for the EtherCAT node address, you do not need to perform backup and

restore operations before and after you replace the Unit.

address rotary switches to the same address setting as on the old Unit.

use the Sysmac Studio or other EtherCAT master support software to set the EtherCAT node address.

If you use the Sysmac Studio’s backup function, you can restore the settings from a backup to recover the EtherCAT node address software settings.

Basic Units as the previous EJ1 EtherCAT Slave Unit.

8 - 4

EJ1 EtherCAT Slave Unit User’s Manual (H192)

Omron EJ1 EtherCAT, EJ1N-HFUC-ECT User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Terms and Conditions Agreement

Warranty, Limitations of Liability

Application Considerations

Disclaimers

Safety Precautions

Notation and Definitions for Precautionary Information

Symbols

Warnings and Cautions

Precautions for Safe Use

Precautions for Correct Use

Preparations for Use

Regulations and Standards

Conformance to EU Directives

Revision History

Related Manuals

NJ/NX-series Master Units

G3ZA Multi-channel Power Controllers

G3PW Power Controllers

Meanings of Abbreviations and Terms

Sections in this Manual

CONTENTS

1-1 Overview and Features

1-1-1 Overview

1-1-2 Features

1-2 System Configuration

1-3-2 Overview of Functions

1-3-1 Unit Model Number

2-1 Specifications

2-1-1 General Specifications

2-1-2 Function Specifications

2-1-3 EtherCAT Slave Communications Specifications

2-2 Application Procedures

2-2-1 Hardware Setup Procedure

2-2-2 Software Setup Procedure

3-1 Part Names and Functions

3-1-1 Appearance and Names of Parts on the Front Panel

3-1-2 Meanings of Indicators

3-1-3 Node Address Setting Switches

3-1-4 EtherCAT Communications Connectors

3-2 EtherCAT Communications Overview

3-2-1 Structure of CAN Application Protocol over EtherCAT (CoE)

3-2-2 EtherCAT Slave Information File (ESI Files)

3-2-3 State Transitions for EtherCAT Communications

3-2-4 Process Data Objects (PDOs)

3-2-5 Service Data Objects (SDOs)

4-2 EtherCAT Network Wiring

4-2-1 Installation Precautions

4-2-2 Preparations for Installation

4-2-3 Recommended EtherCAT Cables

4-3 Wiring the Temperature Controllers

5-1 EJ1 PDO Communications Overview

5-2 How Data Is Sent and Received with PDO Communications

5-2-1 CompoWay/F Commands and Responses

5-2-2 Control Commands and Responses

5-3 PDO Mapping Data Overview

5-3-1 Types of PDO Mapping Data

5-3-2 PDO Mapping Data List

5-4 PDO Mapping Data Details

5-4-3 Sysmac Error Status

5-5 Writing User Programming

5-5-1 Handshaking with the EJ1 EtherCAT Slave Unit with User Programming

5-5-3 Procedures for Sending Control Commands and Receiving Responses

5-6-2 Example of Sending and Receiving Data in Parts

5-7 Setting CompoWay/F Frames

5-7-1 Output Data and Input Data Contents

5-7-2 Storing Output Data and Input Data in Array Variables

5-7-3 Setting the PDO Mappings for I/O Data

5-8 Assigning Device Variables

6-1 Overview

6-2 Abort Codes

7-1 Error Notification Methods

7-2 Error List

7-2-1 Errors Detected during Boot Process

7-2-2 EtherCAT Communications Errors

7-2-3 Errors Detected during a Software Process