Omron GX-ID1621, GX-OD1611, GX-ID1612, GX-ID1622, GX-OD1612 User Manual
...
EtherCAT Remote I/O Terminal
GX-series
EtherCAT® Slave Units
User’s Manual
GX-ID
GX-OD
GX-OC
GX-MD
GX-AD
GX-DA
GX-EC
GX-ILM
XWT-ID
XWT-OD
Digital I/O Units
Analog I/O Units
Encoder Input Units
IO-Link Master Unit
W488-E1-09
NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.
Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
• Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of
Microsoft Corporation in the United States and other countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• Safety over EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• The SD and SDHC logos are trademarks of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
GX-series
EtherCAT Slave Units
User’s Manual
Revised October 2018
Introduction
Thank you for purchasing a GX-series EtherCAT Slave Unit.
This manual contains information you need to know to use the EtherCAT Slave Unit.
Before use, please make sure that you thoroughly read the manual and have a full understanding of the
products functions and performance.
After you finished reading this manual, please keep it in a convenient place.
Intended Readers
This manual is intended for the following individuals.
Those having electrical knowledge (certified electricians or individuals having equivalent knowledge)
and also being qualified for one of the following:
• Introducing FA equipment
• Designing FA systems
• Managing FA sites
GX-series EtherCAT Slave Unit User’s Manual
1
Indexes
Indicates the chapter number
of the current page.
Icon
(Refer to the following section.)
Clause title
Indicates the clause title
of the current page.
Operation
procedure number
Indicates operation procedure.
Section title
Name of manuals
Clause title
Indicates the chapter title
of the current page.
Section title
Indicates the section title
of the current page.
Chapter title
4 Installation and Wiring
4 - 10
GX-series EtherCAT Slave Unit User’s Manual
4-4 Connecting an External Device
Connect an external device to the I/O terminal of a Slave Unit.
The method of connection differs between Units with screw terminal blocks and Units with e-CON
connectors.
After mounting a crimp terminal to the cable of the external device to be connected, connect it to the
terminal block.
1
Mount the following crimp terminal to the signal line of the cable.
2
Connect the signal line to the terminal block.
Tighten the terminal block screws to the appropriate tightening torque of 0.5 N • m.
The terminal block is removable; remove the left and right screws if it is necessary to remove
the terminal block to connect the signal line.
Precautions for Correct Use
To remove the terminal block from the Slave Unit, loosen the left and right mounting screws
alternately. When mounting the terminal block as well, tighten the left and right screws
alternately.
If you tighten or loosen only one of the screws all the way without tightening or loosening the
other screw using an electric screwdriver, the terminal block will be distorted and cracked.
4-4-1 Connecting to a Screw Terminal Block
6.0 mm max.
6.0 mm max.
φ3.2 mm min.
3.2 mm min.
4 - 11
4 Installation and Wiring
GX-series EtherCAT Slave Unit User’s Manual
4-4 Connecting an External Device
4
4-4-2 Connecting to e-CON Connector Terminals
Connect the dedicated e-CON connector to the cables of the external device to be connected and then
connect it to the connector terminal.
The wire size and sheath diameter of applicable cables vary by the type of e-CON connector.
Use the next table to check that the e-CON connectors to be used conform to the wire size and sheath
diameter of the cables of the connected device.
Tyco Electronics connectors
Sumitomo 3M connectors
Panasonic Electric Works connectors
OMRON connectors
4-4-2 Connecting to e-CON Connector Terminals
Checking the e-CON connector and cable wire size
Model Housing color Applicable wire range
3-1473562-4 Orange Sheath diameter: 0.6 to 0.9 mm
Cross-sectional area: 0.08 to
0.5 mm
2
1-1473562-4 Red Sheath diameter: 0.9 to 1.0 mm
1473562-4 Yellow Sheath diameter: 1.0 to 1.15 mm
2-1473562-4 Blue Sheath diameter: 1.15 to 1.35 mm
4-1473562-4 Green Sheath diameter: 1.35 to 1.60 mm
Model Housing color Applicable wire range
37104-3101-000FL Red
AWG26 (0.14mm
2
) to AWG24 (0.2mm2)
Sheath diameter: 0.8 to 1.0 mm
37104-3122-000FL Yellow
AWG26 (0.14mm
2
) to AWG24 (0.2mm2)
Sheath diameter: 1.0 to 1.2 mm
37104-3163-000FL Orange
AWG26 (0.14mm
2
) to AWG24 (0.2mm2)
Sheath diameter: 1.2 to 1.6 mm
37104-2124-000FL Green
AWG22 (0.3mm
2
) to AWG20 (0.5mm2)
Sheath diameter: 1.0 to 1.2 mm
37104-2165-000FL Blue
AWG22 (0.3mm
2
) to AWG20 (0.5mm2)
Sheath diameter: 1.2 to 1.6 mm
37104-2206-000FL Gray
AWG22 (0.3mm
2
) to AWG20 (0.5mm2)
Sheath diameter: 1.6 to 2.0 mm
Model Housing color Applicable wire range
AXF12142 Red
AWG22 (0.3mm
2
) to AWG20 (0.5mm2)
Sheath diameter: 1.2 to 2.0 mm
AXF12146 Yellow
AWG28 (0.08mm
2
) to AWG24 (0.2mm2)
Sheath diameter: 0.7 to 1.2 mm
Model Specification Applicable wire range
XN2A-1430
Spring
clamp type
AWG28 (0.08mm
2
) to AWG20 (0.5mm2)
Sheath diameter: 1.5 mm max.
How to Read the Manual
Page Structure
This manual's page structure consists of the following.
2
GX-series EtherCAT Slave Unit User’s Manual
Icon
Precautions for Safe Use
Precautions for Correct Use
Reference
The meanings of the icons used in this manual are as follows.
Indicates precautions on what to do and what not to do to ensure using the product safely.
Indicates precautions on what to do and what not to do to ensure proper operation and performance.
This explains useful tips and reference information when using the product.
GX-series EtherCAT Slave Unit User’s Manual
3
Structure of This Manual
This manual consists of the following chapters.
Chapters Contents
Chapter 1 EtherCAT Network Explains about the EtherCAT features and the network
configuration.
Chapter 2 EtherCAT Slave Unit Overviews the GX-series EtherCAT Slave Unit and its
various types.
Chapter 3 Basic Usage Procedures Explains the setup method and usage procedures by using
simple system setup examples.
Chapter 4 Installation and Wiring Explains how to install Slave Units, and how to connect and
wire the EtherCAT network and power supply.
Chapter 5 EtherCAT Communications Explains the details of EtherCAT communications.
Chapter 6 Basic Specifications of Slave Units Explains the common specifications for all Slave Units.
Chapter 7 Digital I/O Slave Unit Gives an overview about the Digital I/O Slave Unit and
explains names and functions of components consisting
the Slave Unit. It also contains internal circuit diagrams,
wiring diagrams and mounting dimensions.
Chapter 8 Analog I/O Slave Unit Gives an overview about the Analog I/O Slave Unit and
explains names and functions of components consisting
the Slave Unit. It also contains internal circuit diagrams,
wiring diagrams and mounting dimensions.
Chapter 9 Encoder Input Slave Unit Gives an overview about the Encoder Input Slave Unit and
explains names and functions of components consisting
the Slave Unit. It also contains internal circuit diagrams,
wiring diagrams and mounting dimensions.
Chapter 10 IO-Link Master Unit Gives an overview of the IO-Link Master Unit and explains
the names and functions of the components of the IO-Link
Master Unit. It also contains wiring diagrams, and mounting
dimensions.
Chapter 11 Expansion Unit Gives an overview about the Expansion Unit and explains
names and functions of components consisting the Expan-
sion Unit. It also contains wiring diagrams and mounting
dimensions.
Chapter 12 Troubleshooting and Maintenance This contains troubleshooting and inspection methods
intended for individuals to handle abnormalities and con-
duct regular inspections.
Appendix Appendix Contains the object overview and explains the precautions.
4
GX-series EtherCAT Slave Unit User’s Manual
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.
GX-series EtherCAT Slave Unit User’s Manual
5
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY OR IN LARGE QUANTITIES
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.
WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE
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.
6
GX-series EtherCAT Slave Unit User’s Manual
Safety Precautions
WARNING
Caution
Indicates a potentially hazardous
situation which, if not avoided, could
result in death or serious injury.
Additionally, there may be severe
property damage.
Indicates a potentially hazardous
situation which, if not avoided, may
result in minor or moderate injury, or
property damage.
Labels and Meanings to Ensure Safe Usage
To ensure safe usage of the EtherCAT Slave Unit, the precautions in this manual are displayed with the
following labels and symbols.
The precautions explained in this section describe important information regarding safety. These precautions must be followed without fail.
Symbols
This symbol indicates a prohibited item (an item you must not
do).
The specific instruction is indicated using text inside the .
The symbol shown to the left indicates "disassembly prohibited".
This symbol indicates caution (warnings included).
The specific instruction is indicated using text inside the .
The symbol shown to the left indicates "typical cautions".
This symbol means it is a compulsory item (an item that must
be done).
The specific instruction is indicated using text inside the .
The symbol shown to the left indicates "typical compulsory
items".
GX-series EtherCAT Slave Unit User’s Manual
7
WARNING
Do not attempt to take any Unit apart and do not touch the interior of any Unit while
the power is being supplied. Also, do not turn ON the power supply while the cover
is open.
Doing any of these may result in electric shock.
Do not attempt to disassemble, repair, or modify any Units.
Doing any of these may result in electric shock.
Do not input voltages or currents exceeding the rated range to the Unit.
Using voltages or currents exceeding the rated range may cause Unit failure or fire.
Provide safety measures in external circuits (i.e., not in the Units), including the following items, to ensure safety in the system if an abnormality occurs due to malfunction of the PLC or another external factor affecting the PLC operation. ("PLC"
includes CPU Units, other Units mounted in the PLC, and Remote I/O Terminals.)
Not doing so may result in serious accidents.
Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures
must be provided in external control circuits, not in the Units.
The PLC will turn OFF all outputs when its self-diagnosis function detects any error
or when a severe failure alarm (FALS) instruction is executed. As a countermeasure
for such problems, external safety measures must be provided to ensure safety in
the system.
The Slave Unit outputs may remain ON or OFF due to deposits on or burning of the
output relays, or destruction of the output transistors. As a countermeasure for such
problems, external safety measures must be provided to ensure safety in the system.
When the 24-VDC output (service power supply) is overloaded or short-circuited,
the voltage may drop and result in the outputs being turned OFF. As a countermeasure for such problems, external safety measures must be provided to ensure safety
in the system.
Implement proper measures as part of your communications system or in your program to ensure safety in the system even when a communications error or malfunction occurs during remote I/O communication.
8
GX-series EtherCAT Slave Unit User’s Manual
The CPU Unit refreshes I/O even when the program is stopped (i.e., even in PROGRAM mode). Confirm safety thoroughly in advance before changing the status of
any part of memory allocated to I/O Units, Special I/O Units, or CPU Bus Units. Any
changes to the data allocated to any Unit specifically the Special I/O Units/CPU Bus
Units may result in unexpected operation of the loads connected to the Unit.
• Transferring I/O memory data to the CPU Unit with a Programming Device (PC
tool).
• Changing present values in memory with a Programming Device.
• Force-setting/-resetting bits with a Programming Device.
• Transferring I/O memory files from a memory card or EM file memory to the CPU
Unit.
• Transferring I/O memory from a host computer or from another PLC on a network.
Fail-safe measures must be taken by the customer to ensure safety in the event of
incorrect, missing, or abnormal signals caused by broken signal lines, momentary
power interruptions, or other causes. Not doing so may result in serious accidents.
GX-series EtherCAT Slave Unit User’s Manual
9
Precautions for Safe Use
Observe the following precautions when using the Unit.
Power Supply
• Always use the power supply voltage specified in this manual. An incorrect voltage may result in
malfunction or burning.
• Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunction.
• Always turn OFF the power supply to the PLC, Slave Units and other Units before attempting any
of the following. Not turning OFF the power supply may result in malfunction or electric shock.
• Assembling any Units (Expansion Units).
• Removing or attaching the terminal blocks or connectors to Slave Unit.
• Replacing parts (e.g., relays).
• Setting the DIP switch or the node address switches
• Connecting cables or wiring the system.
Installation
• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any
static build-up. Not doing so may result in malfunction or damage.
• Make sure that the terminal blocks, communications cables, and other items with locking devices
are properly locked into place. Improver locking may result in malfunction.
• Mount the Units securely using DIN track.
• Make sure that all Slave Unit mounting screws, cable connector screws, and switch cover screws
are tightened to the torque specified in this manuals. Incorrect tightening torque may result in malfunction.
• Make sure that all terminal block screws are tightened to the torque specified in this manuals.
Incorrect tightening torque may result in fire, malfunction, or failure.
• Always use the specified communications cables and connectors.
• Do not exceed the ranges that are given in the specifications for the communications distance and
number of connected Units.
• When there are multiple systems, keep the cables unbundled and separated by at least 5 mm to
prevent unstable operation due to interference.
Wiring
• Turn the power on after checking that the wiring and switch settings are correct.
• Use the correct wire tools to wire the Unit.
• Confirm the polarity of all terminals before wiring them.
• Do not allow foreign matter to enter the Units when wiring and installing the Units.
• Observe the following precautions when wiring the communications cable.
• Separate the communications cables from the power lines or high-tension lines.
• Do not bend the communications cables past their natural bending radius.
• Do not pull on the communications cables.
• Do not place heavy objects on top of the communications cables.
• Always lay communications cable inside ducts.
• Connect both ends of communications cable shielded wires to the connector hoods.
• Turn OFF the power of PLC and all the Slave Units before wiring the communication cables.
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GX-series EtherCAT Slave Unit User’s Manual
• Do not apply voltages to the Input Slave Units in excess of the rated input voltage. Excess voltage
or loads may result in burning.
• Do not apply voltages or connect loads to the Outputs Slave Units in excess of the maximum
switching capacity. Excess voltage or loads may result in burning.
Handling
• When transporting the product, use special packing boxes, and protect it from being exposed to
excessive vibration or impact during transportation.
• Do not bend cables past their natural bending radius or pull on cables.
• Do not place heavy objects on top of the cables.
• After replacing Units, resume operation only after transferring to the new CPU Unit and/or Special
I/O Units the contents of the DM Area, HR Area, and other data required for resuming operation.
Not doing so may result in unexpected operation.
• Check the user program for proper execution before actually running it on the Unit. Not checking
the program may result in unexpected operation.
• When replacing relays or other parts, be sure to confirm that the ratings of the new part are correct. Not doing so may result in malfunction or burning.
• Confirm that no adverse effect will occur in the system before attempting any of the following.
• 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
• Always sufficiently check the safety at the connected devices before you change the settings of a
slave or Unit.
• Do not use thinner when cleaning. Use commercially available alcohol.
• Do not use high-pressure cleaning.
• EtherCAT communications are not always established immediately after the power supply is
turned ON. Use the system variables in the user program to confirm that communications are
established before attempting control operations.
• If you disconnect the cable from an EtherCAT slave or turn OFF the power supply of 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 intended operation is sometimes not
achieved. Perform the following processing for a slave that needs to be replaced.
Program the Input Data Invalid system-defined variable as an interlock condition in the user program.
Set the PDO communications consecutive timeout detection count setting in the EtherCAT master
to at least 2.
For details, refer to the user's manual for the built-in EtherCAT port on the connected CPU Unit or
Industrial PC.
• When using the cable redundancy in DC Mode, the Communications Error Setting set value for
EtherCAT Slave Units in DC Mode should be set to "1 " (default value) or higher. If the communications cable is disconnected or the power supply of the EtherCAT Slave Units is turned OFF with
the Communications Error Setting set value set to "0", communications may discontinue.
External Circuits
• Install external breakers and take other safety measures against short-circuiting in external wiring.
GX-series EtherCAT Slave Unit User’s Manual
11
Precautions for Correct Use
• Wire all connections correctly according to instructions in this manual.
Failure to install them may result in serious accidents.
• Do not operate the control system in the following locations:
• Location subject to direct sunlight.
• Locations subject to temperatures or humidity outside the range specified in the specifications.
• Locations subject to condensation as the result of severe changes in temperature.
• Location subject to corrosive or flammable gases.
• Location subject to dust (especially iron dust) or salts.
• Location subject to exposure to water, acid, oil, chemicals, etc. (General-purpose Slaves)
• Location subject to exposure to acid, oil, chemicals, etc. (Environment-resistive Slaves)
• Locations subject to shock or vibration.
• Locations close to power lines.
• Confirm voltage specifications when wiring communications, the power supply, and I/O crossovers.
Incorrect wire may result in malfunction.
• Wire all connections correctly according to instructions in this manual.
• Use the correct wiring materials to wire the Unit.
• Take appropriate and sufficient countermeasures when installing systems in the following locations:
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies.
• Do not drop any Unit or subject any Unit to excessive shock or vibration. Otherwise, Unit failure or
malfunction may occur.
• When you attach the switch cover, make sure that the packing is not twisted. Also confirm that there
is no foreign matter adhering to the case and packing.
• Do not use the Unit continuously submerged in water.
• Do not disconnect the EtherCAT communications cables during operation. The outputs will become
unstable. However, for the built-in EtherCAT port on the NJ/NX-series CPU Unit, it is OK to disconnect the communications cable from an EtherCAT Slave Terminal that has been disconnected from
communications in the software.
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GX-series EtherCAT Slave Unit User’s Manual
Regulations and Standards
Conformance to EU Directives
Applicable Directives
• EMC Directives
• Low Voltage Directive
Concepts
EMC Directives
The OMRON products described in this manual are designed so that they individually comply with
the related EMC Directives so that they can be more easily built into other devices or the overall
machine. The actual products have been checked for conformity to EMC Directives (See note)*.
Whether the products conform to the standards in the system used by the customer, however, cannot be checked by OMRON and must be checked by the customer. EMC-related performance of the
OMRON devices that comply with 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.
* Note: Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN 61131-2 and EN 61000-6-2
EMI (Electromagnetic Interference): EN 61131-2 and EN61000-6-4
(Radiated emission: 10-m regulations)
Low Voltage Directive
Always ensure that devices operating at voltages of 50 to 1,000 VAC and 75 to 1,500 VDC meet the
required safety standards.
Applicable standard: EN 61131-2
Conformance to EU Directives
The OMRON products described in this manual comply with the related EU Directives. To ensure that
the machine or device in which the products are used complies with EU Directives, the products must
be installed as follows:
• The products must be installed within a control panel.
• A DC power supply with reinforced insulation or double insulation that can maintain a stable output
even if the input is interrupted for 10 ms must be used for communications power, internal power, and
I/O power. The OMRON S8JX-series Power Supply is recommended. (See note.)*
• Products complying with EU Directives also conform to the Emission Standards (EN 61131-2 and EN
61000-6-4). Radiated emission characteristics (10-m regulations) may vary depending on the configuration of the control panel used, other devices connected to the control panel, wiring, and other conditions. You must therefore confirm that the overall machine or equipment complies with EU
Directives.
• Conformance with the EU Directives was confirmed with a system configuration using I/O wiring
lengths of less than 30 m.
* Note: Conformance with the EMC Directive was confirmed when using the recommended power supply.
GX-series EtherCAT Slave Unit User’s Manual
13
Conformance to UL and CSA Standards
Some GX-series products comply with UL and CSA standards. If you use an GX-series product that
complies with UL or CSA standards and the machinery or system in which you use the GX-series product must also comply with the standards, refer to the Instruction Sheet that is provided with the product.
The Instruction Sheet provides the application conditions for complying with the standards.
Conformance to Shipbuilding Standards
Some GX-series products comply with shipbuilding standards. If you use an GX-series product that
complies with shipbuilding standards and the machinery or system in which you use the GX-series
product must also comply with the standards, consult with your OMRON representative. Application
conditions are defined according to the installation location. Application may not be possible for some
installation locations.
Conformance to KC Certification
Some GX-series products comply with KC standards.
Observe the following precaution if you use GX-series products in Korea.
Class A Device (Broadcasting Communications Device for Office Use)
This device obtained EMC registration for office use (Class A), and it is intended to be used in places
other than homes. Sellers and/or users need to take note of this.
14
GX-series EtherCAT Slave Unit User’s Manual
Related Manuals
The following manuals also deal with EtherCAT. Refer to them for details.
Man No. Name of manuals Contents
W488 GX-series EtherCAT Slave Units
User’s Manual
W505 NJ/NX-series CPU Unit Built-in
EtherCAT
W562 NY-series IPC Machine Controller
Industrial Panel PC / Industrial
Box PC Built-in EtherCAT® Port
User’s Manual
W503 NJ/NX-series Troubleshooting
Manual
W564 NY-series Troubleshooting Man-
ual
W504 Sysmac Studio Version 1 Opera-
tion Manual
W570 IO-Link System User’s Manual Provides an overview of IO-Link Systems and explains the
W567 NX-series IO-Link Master Unit
User’s Manual
® Port User’s Manual
Describes part names, functions, installation, and wiring
and also provides tables of specifications and objects for
the GX-series IO-Link Master Unit (W488-E1-05 or later).
Also describes the hardware, setup methods, and functions of the EtherCAT Remote I/O Terminals.
Explains the built-in EtherCAT port.
An overview is provided and the configuration, functions,
and setup are described.
Information on the built-in EtherCAT port is provided.
This manual provides an introduction and provides information on the configuration, features, and setup.
Concepts on managing errors that may be detected in an
NJ/NX-series Controller and information on individual
errors are described.
Concepts on managing errors that may be detected in an
NY-series Controller and information on individual errors
are described.
Explains the operating procedures of the Sysmac Studio.
system configuration, communications specifications, communications methods, I/O data, parameters, models, Support Software, and troubleshooting.
Refer to the following manuals for the individual IO-Link
Master Units for hardware information and specifications
specific to each Master Unit and a list of the objects for
each Master Unit.
NX-series IO-Link Master Unit: W568
GX-series IO-Link Master Unit:W488-E1-05 or later
Describes part names, functions, installation, and wiring
and also provides tables of specifications and NX objects
for the NX-series IO-Link Master Unit.
GX-series EtherCAT Slave Unit User’s Manual
15
Version Upgrade Information
This section explains the functions that have been added or changed due to the unit version upgrade of
the GX-series EtherCAT Slave Units.
For the compatible versions of Support Software for the EtherCAT Slave Units, refer to A-7 Version
Information on page A-83.
Details of Upgrade from Unit Version 1.0 to 1.1
The following changes have been made in the upgrade from unit version 1.0 to 1.1 of the GX-series
Digital I/O Slaves, Analog I/O Slaves, and Encoder Input Slaves.
Item Unit version 1.0 Unit version 1.1
Emergency message setting when the Slave Unit’s
power supply is turned ON
Sysmac device
functions
Data attribute for Input Time Constant (3000 hex) for
Digital I/O Slave Unit
Bit objects
• Digital I/O bit objects for Digital I/O Slave Units (3020
hex and 3220 hex)
• Soft switches (bits) and status (bits) objects for
Encoder Input Slave Units (4021 hex and 4031 hex)
Sysmac error status Not supported. Supported.
Saving node address settings Not supported. Supported.
Displaying the serial number Not supported. Supported.
Conformance to ESI specifica-
tions (ETG.2000 S (R) V1.0.1)
SII data checking Not supported. Supported.
Emergency message notification is enabled at
startup.
Supported. Supported.
Attribute: R Attribute: D
Not supported. Supported.
Emergency message notification is not enabled at
startup.
The following changes have been made in the upgrade from unit version 1.0 to 1.1 of the GX-series
IO-Link Master Unit.
Item Unit version 1.0 Unit version 1.1
The following data that can be allocated to the I/O data
• Digital Input Data
• Digital Output Data
Digital input collection Not supported. Supported.
The following objects are added to the manufacturer
specific objects.
• Vendor Name of the Last Connected IO-Link Device
(80n2 hex *1)
• Product Name of the Last Connected IO-Link Device
(80n3 hex *1)
• Vendor Name (90n2 hex *1)
• Product Name (90n3 hex *1)
*1. n = 0 to 7 ("n" represents the port number.)
Not allocated by default. Allocated by default.
Not supported. Supported.
16
GX-series EtherCAT Slave Unit User’s Manual
Details of Upgrade from Unit Version 1.1 to 1.2
The following changes have been made in the upgrade from unit version 1.1 to 1.2 of the GX-series
Digital I/O Slave Units, Analog I/O Slave Units, and Encoder Input Slave Units.
Item Unit version 1.1 Unit version 1.2
Support for the cable redundancy
(Minimum value of the communications cycle: 125 μs)
Communications objects
• The Newest Acknowleged Message (subindex 3) of
the Diagnosis History (10F3 hex) and the New Messages Available (subindex 4)
• CoE time distribution object (10F9 hex)
PDO mapping objects
• 511th transmit PDO mapping (1BFE hex)
*1. The cable redundancy can be realized by configuring a ring topology. It depends on the specifications of the
EtherCAT master to be used whether a ring topology can be configured or not. Confirm the specifications of
the EtherCAT master to be used.
*2. If the slave device is operated at a cycle shorter than the minimum value of the communications cycle, the
EtherCAT frame may be lost or the communications may be disabled.
*1
Not supported. Supported.
*2
Not supported. Supported.
Not supported. Supported.
The following changes have been made in the upgrade from unit version 1.1 to 1.2 of the GX-series
IO-Link Master Unit.
Item Unit version 1.1 Unit version 1.2
Support for the cable redundancy
(Minimum value of the communications cycle: 125 μs)
*1. The cable redundancy can be realized by configuring a ring topology. It depends on the specifications of the
EtherCAT master to be used whether a ring topology can be configured or not. Confirm the specifications of
the EtherCAT master to be used.
*2. If the slave device is operated at a cycle shorter than the minimum value of the communications cycle, the
EtherCAT frame may be lost or the communications may be disabled.
*1
Not supported. Supported.
*2
GX-series EtherCAT Slave Unit User’s Manual
17
CONTENTS
Contents
Introduction ..............................................................................................................1
Intended Readers ........................................................................................................................................ 1
How to Read the Manual..........................................................................................2
Page Structure............................................................................................................................................. 2
Icon.............................................................................................................................................................. 3
Structure of This Manual .........................................................................................4
Terms and Conditions Agreement .......................................................................... 5
Warranty, Limitations of Liability .................................................................................................................. 5
Application Considerations .......................................................................................................................... 6
Disclaimers .................................................................................................................................................. 6
Safety Precautions ...................................................................................................7
Labels and Meanings to Ensure Safe Usage .............................................................................................. 7
Symbols.......................................................................................................................................................7
Precautions for Safe Use....................................................................................... 10
Precautions for Correct Use.................................................................................. 12
Regulations and Standards...................................................................................13
Conformance to EU Directives .................................................................................................................. 13
Concepts.................................................................................................................................................... 13
Conformance to UL and CSA Standards ...................................................................................................14
Conformance to Shipbuilding Standards ................................................................................................... 14
Conformance to KC Certification ............................................................................................................... 14
Related Manuals .....................................................................................................15
Version Upgrade Information ................................................................................16
Section 1 EtherCAT Network
1-1 Overview of EtherCAT Networks.......................................................................................... 1-2
1-1-1 Features of EtherCAT .................................................................................................................1-2
1-1-2 Structure of EtherCAT ................................................................................................................. 1-2
1-1-3 Communications types of EtherCAT ...........................................................................................1-4
1-1-4 Connection Examples of EtherCAT............................................................................................. 1-5
1-2 Configuration Elements of EtherCAT Network ................................................................... 1-6
1-2-1 Configuration Devices of EtherCAT Network ..............................................................................1-6
1-2-2 Overview of Configuration Devices .............................................................................................1-7
Section 2 EtherCAT Slave Unit
2-1 Overview of EtherCAT Slave Unit......................................................................................... 2-2
2-1-1 Slave Units Usage.......................................................................................................................2-2
2-1-2 Features of GX-series EtherCAT Slave Units ............................................................................. 2-2
2-2 Types of EtherCAT Slave Units ............................................................................................ 2-3
2-2-1 Slave Units List ........................................................................................................................... 2-3
2-2-2 Installation, I/O Connection, and Power Supply Methods for Each Slave Unit ...........................2-6
18
GX-series EtherCAT Slave Unit User’s Manual
Section 3 Basic Usage Procedures
3-1 Setup Examples and Basic Procedure ................................................................................ 3-2
3-1-1 System Setting Examples........................................................................................................... 3-2
3-1-2 Basic Procedure ......................................................................................................................... 3-3
3-2 Setting and Wiring Hardware ............................................................................................... 3-4
3-2-1 Mounting and Setting EtherCAT Master Unit.............................................................................. 3-4
3-2-2 Mounting and Setting Slave Units............................................................................................... 3-4
3-2-3 Wiring Communications Cables.................................................................................................. 3-4
3-2-4 Connecting Power Supplies........................................................................................................ 3-4
3-2-5 Wiring I/O Devices...................................................................................................................... 3-4
3-3 Starting Communications ..................................................................................................... 3-5
3-3-1 Starting a System ....................................................................................................................... 3-5
3-3-2 Setting EtherCAT Communications ............................................................................................3-5
3-3-3 Starting EtherCAT Communications ...........................................................................................3-5
3-4 Checking Operations ............................................................................................................ 3-6
3-4-1 Checking Unit Displays............................................................................................................... 3-6
3-4-2 Confirming Data Read and Write................................................................................................ 3-6
3-4-3 Setting Slave Unit Parameter ..................................................................................................... 3-6
CONTENTS
Section 4 Installation and Wiring
4-1 Mounting Slave Units ............................................................................................................ 4-2
4-1-1 Mounting Preparation ................................................................................................................. 4-2
4-1-2 Mounting Direction...................................................................................................................... 4-2
4-1-3 Mounting Method........................................................................................................................ 4-2
4-1-4 Removal Method......................................................................................................................... 4-3
4-2 Connecting to EtherCAT Network........................................................................................ 4-4
4-2-1 Precautions for Network Connection .......................................................................................... 4-4
4-2-2 Preparation for Connecting Network........................................................................................... 4-5
4-2-3 Connecting Communications Cables and Connectors ............................................................... 4-6
4-2-4 Connecting to Communications Cables...................................................................................... 4-7
4-3 Connecting to Unit Power Supply and I/O Power Supply.................................................. 4-8
4-3-1 Precautions at Supplying Unit Power and I/O Power ................................................................. 4-8
4-3-2 Unit Power Supply Specifications............................................................................................... 4-9
4-3-3 Connecting the Unit Power Supply ............................................................................................. 4-9
4-3-4 Connecting the I/O Power Supply..............................................................................................4-11
4-4 Connecting an External Device .......................................................................................... 4-13
4-4-1 Connecting to a Screw Terminal Block ..................................................................................... 4-13
4-4-2 Connecting to e-CON Connector Terminals ............................................................................. 4-14
4-4-3 Connecting the M12 Connector ................................................................................................ 4-17
Section 5 EtherCAT Communications
5-1 Structure of CAN application protocol over EtherCAT (CoE)............................................ 5-2
5-2 EtherCAT Slave Information File (ESI File) ......................................................................... 5-3
5-3 Communications State Transitions ..................................................................................... 5-4
5-4 Process Data Objects (PDO) ................................................................................................ 5-5
5-4-1 Overview..................................................................................................................................... 5-5
5-4-2 PDO Mapping Settings ............................................................................................................... 5-5
5-4-3 Sync Manager PDO Assignment Settings.................................................................................. 5-6
5-4-4 Fixed PDO Mapping ................................................................................................................... 5-7
5-5 Service Data Object (SDO).................................................................................................. 5-10
5-5-1 Overview................................................................................................................................... 5-10
5-5-2 Abort Codes.............................................................................................................................. 5-10
GX-series EtherCAT Slave Unit User’s Manual
19
CONTENTS
5-6 EtherCAT Master Unit - Slave Unit Communications....................................................... 5-11
5-6-1 FREE RUN Mode...................................................................................................................... 5-11
5-6-2 DC Mode................................................................................................................................... 5-11
5-7 Emergency Messages ......................................................................................................... 5-13
5-7-1 Emergency Message Notification..............................................................................................5-13
5-7-2 Diagnosis History ......................................................................................................................5-14
5-8 Sysmac Device Functions .................................................................................................. 5-15
Section 6 Basic Specifications of Slave Units
6-1 EtherCAT Communications Specifications......................................................................... 6-2
6-2 General Specifications .......................................................................................................... 6-3
6-3 Specifications of Common Areas ........................................................................................ 6-4
6-3-1 Status Indicators ......................................................................................................................... 6-4
6-3-2 Node Address Setting Switches.................................................................................................. 6-6
6-3-3 Communications Connectors......................................................................................................6-8
6-3-4 Unit Power Supply Connector................................................................................................... 6-11
6-3-5 I/O Power Supply Connector..................................................................................................... 6-13
Section 7 Digital I/O Slave Unit
7-1 Digital I/O Slave Unit ............................................................................................................. 7-2
7-2 I/O Data Allocation (PDO Mapping) ...................................................................................... 7-3
7-2-1 Input Data Allocation ................................................................................................................... 7-3
7-2-2 Output Data Allocation ................................................................................................................ 7-5
7-3 Functions of Digital I/O Slave Units ..................................................................................... 7-7
7-3-1 Input Filter ...................................................................................................................................7-7
7-3-2 Error Mode Output ......................................................................................................................7-8
7-4 Specifications for Each Slave Unit ...................................................................................... 7-9
7-4-1 2-tier Terminal Block Type 16-point Input Slave Unit GX-ID1611/ID1621 .................................7-10
7-4-2 2-tier Terminal Block Type 16-point Output Slave Unit GX-OD1611/OD1621........................... 7-14
7-4-3 2-tier Terminal Block Relay Type 16-point Output Slave Unit GX-OC1601...............................7-18
7-4-4 2-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit GX-MD1611/MD1621 ... 7-22
7-4-5 3-tier Terminal Block Type 16-point Input Slave Unit GX-ID1612/ID1622.................................7-28
7-4-6 3-tier Terminal Block Type 16-point Output Slave Unit GX-OD1612/OD1622 ..........................7-33
7-4-7 3-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit GX-MD1612/MD1622 ... 7-38
7-4-8 e-CON Connector Type 16-point Input Slave Unit GX-ID1618/ID1628.....................................7-44
7-4-9 e-CON Connector Type 16-point Output Slave Unit GX-OD1618/OD1628 ..............................7-48
7-4-10 e-CON Connector Type 8-point Input and 8-point Output Slave Unit GX-MD1618/MD1628.... 7-53
7-4-11 e-CON Connector Type 32-point Input Slave Unit GX-ID3218/ID3228.....................................7-59
7-4-12 e-CON Connector Type 32-point Output Slave Unit GX-OD3218/OD3228 .............................. 7-64
7-4-13 e-CON Connector Type 16-point Input and 16-point Output Slave Unit GX-MD3218/MD3228... 7-69
7-5 Mounting Dimensions ......................................................................................................... 7-75
7-5-1 2-tier Terminal Block Type.........................................................................................................7-75
7-5-2 3-tier Terminal Block Type.........................................................................................................7-76
7-5-3 e-CON Connector Type.............................................................................................................7-77
Section 8 Analog I/O Slave Unit
8-1 Analog I/O Slave Unit ............................................................................................................ 8-2
8-2 Overview of the Analog Input Slave Unit............................................................................. 8-3
8-2-1 Input Range and Converted Data ...............................................................................................8-3
8-2-2 I/O Data Allocation (PDO Mapping) ............................................................................................ 8-6
8-3 Function of the Analog Input Slave Unit ............................................................................. 8-7
20
GX-series EtherCAT Slave Unit User’s Manual
8-3-1 AD Conversion Available Point Setting....................................................................................... 8-7
8-3-2 Moving Average.......................................................................................................................... 8-8
8-3-3 Disconnected Line Detection .................................................................................................... 8-10
8-3-4 User adjustment........................................................................................................................ 8-10
8-4 Overview of the Analog Output Slave Unit........................................................................ 8-12
8-4-1 Output Range and Converted Data .......................................................................................... 8-12
8-4-2 I/O Data Allocation (PDO Mapping) ..........................................................................................8-14
8-5 Function of the Analog Output Slave Unit ........................................................................ 8-15
8-5-1 DA Conversion Available Point Setting ..................................................................................... 8-15
8-5-2 Analog Output Fault Action ....................................................................................................... 8-16
8-5-3 User Adjustment ....................................................................................................................... 8-17
8-6 Overview of Each Slave Unit Type..................................................................................... 8-18
8-6-1 4-point Input Slave Unit GX-AD0471........................................................................................ 8-19
8-6-2 2-point Output Slave Unit GX-DA0271 ..................................................................................... 8-23
8-7 Mounting Dimensions ......................................................................................................... 8-27
Section 9 Encoder Input Slave Unit
CONTENTS
9-1 Encoder Input Slave Unit ...................................................................................................... 9-2
9-2 I/O Data Allocation................................................................................................................. 9-3
9-2-1 Input Data Allocation................................................................................................................... 9-3
9-2-2 Output Data Allocation................................................................................................................ 9-6
9-3 Function of the Encoder Input Slave Units ......................................................................... 9-8
9-3-1 Count Mode ................................................................................................................................ 9-8
9-3-2 Circular Counter.......................................................................................................................... 9-8
9-3-3 Input Signal Types ...................................................................................................................... 9-9
9-3-4 Encoder Direction Setting ..........................................................................................................9-11
9-3-5 Counter Reset........................................................................................................................... 9-12
9-3-6 Counter Preset.......................................................................................................................... 9-13
9-3-7 Counter value latch................................................................................................................... 9-13
9-4 Specifications for Each Slave Unit .................................................................................... 9-14
9-4-1 Open collector input type GX-EC0211...................................................................................... 9-15
9-4-2 Line Driver Input Type GX-EC0241 .......................................................................................... 9-23
9-5 Mounting Dimensions ......................................................................................................... 9-30
Section 10 IO-Link Master Unit
10-1 What Is an IO-Link Master Unit? ........................................................................................ 10-2
10-1-1 Introduction ............................................................................................................................... 10-2
10-1-2 Connection Configuration for EtherCAT Communications Master Unit and IO-Link Devices ... 10-2
10-1-3 Support Software to Be Used ................................................................................................... 10-3
10-2 I/O Data Allocations: PDO Mapping................................................................................... 10-4
10-2-1 Allocating Input Data................................................................................................................. 10-4
10-2-2 Allocating Output Data.............................................................................................................. 10-6
10-3 Functions of the IO-Link Master Unit................................................................................. 10-7
10-4 Specifications ...................................................................................................................... 10-9
10-4-1 Specifications............................................................................................................................ 10-9
10-4-2 Part Names and Functions..................................................................................................... 10-13
10-5 Mounting Dimensions ....................................................................................................... 10-17
10-6 Communications Performance ........................................................................................ 10-18
10-6-1 Maximum I/O Response Time ................................................................................................ 10-18
10-6-2 Determining the IO-Link Communications Cycle.................................................................... 10-20
10-7 Connected Device Specifications and Models ............................................................... 10-21
GX-series EtherCAT Slave Unit User’s Manual
21
CONTENTS
Section 11 Expansion Unit
11-1 Overview of the Expansion Unit......................................................................................... 11-2
11-1-1 Connecting Expansion Units ..................................................................................................... 11-2
11-1-2 I/O Power Supply ...................................................................................................................... 11-3
11-2 Specifications of Expansion Unit....................................................................................... 11-4
11-2-1 8-point Input Expansion Unit XWT-ID08/ID08-1........................................................................ 11-5
11-2-2 8-point Output Expansion Unit XWT-OD08/OD08-1 ................................................................. 11-8
11-2-3 16-point Input Expansion Unit XWT-ID16/ID16-1.....................................................................11-11
11-2-4 16-point Output Expansion Unit XWT-OD16/OD16-1 ............................................................. 11-15
11-3 Mounting Dimensions ....................................................................................................... 11-19
Section 12 Troubleshooting and Maintenance
12-1 Troubleshooting .................................................................................................................. 12-2
12-1-1 Errors that Can be Checked with Status Indicator and Actions to Take .................................... 12-2
12-1-2 Errors Unique to Each Slave Unit .............................................................................................12-7
12-1-3 Error Notification Methods and Types.....................................................................................12-13
12-1-4 Sysmac Error Status Codes....................................................................................................12-14
12-1-5 Emergency Error Code ........................................................................................................... 12-19
12-1-6 Application Layer Status Codes .............................................................................................. 12-21
12-2 Equipment Maintenance ................................................................................................... 12-23
12-2-1 Cleaning.................................................................................................................................. 12-23
12-2-2 Inspections.............................................................................................................................. 12-23
12-2-3 Handling when Replacing Units .............................................................................................. 12-24
12-2-4 Replacing the IO-Link Master Unit or IO-Link Devices............................................................ 12-24
Section A Appendix
A-1 Object Dictionary...................................................................................................................A-2
A-1-1 Object Dictionary Area ................................................................................................................A-2
A-1-2 Data Types ..................................................................................................................................A-2
A-1-3 Object Description Format ..........................................................................................................A-3
A-1-4 Communication Objects..............................................................................................................A-4
A-1-5 PDO Mapping Object ................................................................................................................A-10
A-1-6 Sync Manager Communication Object......................................................................................A-26
A-1-7 Manufacturer Specific Objects ..................................................................................................A-32
A-2 Current Consumption Summary ........................................................................................A-74
A-2-1 Digital I/O Slave Unit.................................................................................................................A-74
A-2-2 Analog I/O Slave Unit................................................................................................................A-74
A-2-3 Encoder Input Slave Unit ..........................................................................................................A-74
A-2-4 IO-Link Master Unit...................................................................................................................A-75
A-2-5 Expansion Unit..........................................................................................................................A-75
A-3 Precautions with Connecting Two-wire DC Sensors .......................................................A-76
A-3-1 Relation between ON Voltage of a Unit with DC Inputs and Sensor Residual Voltage.............A-76
A-3-2 Relation between ON Current of a Unit with DC Inputs and Sensor Control Output ................A-76
A-3-3 Relation between OFF Current of a Unit with DC Inputs and Sensor Leakage Current ...........A-77
A-4 Wiring External Output Signal Lines .................................................................................A-78
A-5 I/O Power Supply Current ...................................................................................................A-79
A-6 Glossary ...............................................................................................................................A-81
INDEX 1
22
A-7 Version Information.............................................................................................................A-83
GX-series EtherCAT Slave Unit User’s Manual
EtherCAT Network
This chapter explains the overview of EtherCAT network.
1-1 Overview of EtherCAT Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-1 Features of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-2 Structure of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-3 Communications types of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1-1-4 Connection Examples of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1-2 Configuration Elements of EtherCAT Network . . . . . . . . . . . . . . . . . . . . . . 1-6
1-2-1 Configuration Devices of EtherCAT Network . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-2-2 Overview of Configuration Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1
GX-series EtherCAT Slave Unit User’s Manual
1 - 1
1 EtherCAT Network
EtherCAT
Master Unit
Slave Unit Slave Unit
Slave Unit
Ethernet frame
IN
OUT
Data
•
Reading output data addressed to the local Slave Units
• Writing input data
1-1 Overview of EtherCAT Networks
EtherCAT (Ethernet Control Automation Technology) is a high-performance industrial network system
based on Ethernet system and can realize faster and more efficient communications.
Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed.
Furthermore, even though EtherCAT is a unique protocol, it offers excellent general-purpose
applicability. For example, you can use Ethernet cables because EtherCAT utilizes standard Ethernet
technology for the physical layer. And the effectiveness of EtherCAT can be fully utilized not only in
large control systems that require high processing speeds and system integrity, but also in small and
medium control systems.
1-1-1 Features of EtherCAT
EtherCAT has the following features.
Extremely high-speed communications with speed of 100 Mbps
It dramatically shortens the I/O response time from generation of input signals to transmission of
output signals. By fully utilizing the optimized Ethernet frame bandwidth to transfer data using a
high-speed repeat method, it is possible to efficiently transmit a wide variety of data.
Extremely High Compatibility with Ethernet
EtherCAT is an open network with extremely high compatibility with conventional Ethernet systems.
1-1-2 Structure of EtherCAT
EtherCAT does not send data to individual slave nodes on the network, instead, it passes Ethernet
frames through all of the slave nodes.
When frame passes through a slave node, the slave node reads and writes data in the areas allocated
to it in the frames in a few nanoseconds.
Ethernet frames sent from the EtherCAT Master Unit go through all the EtherCAT Slave Units without
stopping on the way. Once they reach the final Slave Unit, they are sent back from the final Slave Unit,
pass through all Slave Units again, and return to the EtherCAT Master Unit.
With this structure, EtherCAT secures high-speed and real-time data transmission.
1 - 2
GX-series EtherCAT Slave Unit User’s Manual
1 EtherCAT Network
Ethernet
header
CRC
Ethernet data (Maximum 1498 bytes)
Data
Header
WKC
1...n EtherCAT datagram
EtherCAT
header
1st EtherCAT
datagram
2nd EtherCAT
datagram
n th EtherCAT
datagram
. . . . .
EtherCAT frame
Ethernet frame
WKC : Working counter
It is the "EtherCAT datagram" stored directly in an Ethernet frame that exchanges data regularly
between the EtherCAT Master Unit and Slave Units.
Each "EtherCAT datagram" is configured with header (data length, including address of one or more
Slave Units, etc.), data, working counter (check bit).
When an Ethernet frame is compared to a "train", an EtherCAT datagram can be considered as "railway
car."
1-1 Overview of EtherCAT
Networks
1
1-1-2 Structure of EtherCAT
GX-series EtherCAT Slave Unit User’s Manual
1 - 3
1 EtherCAT Network
EtherCAT Master Unit
Slave Unit
Ethernet frame
Slave Unit Slave Unit
Slave Unit
Logic process data
.
.
.
.
.
.
.
.
.
Data a
Data b
Data c
Ethernet
header
EtherCAT
header
1st EtherCAT
datagram
2nd EtherCAT
datagram
3rd EtherCAT
datagram
CRC
. . .
1-1-3 Communications types of EtherCAT
EtherCAT provides the following two types of communication functions.
PDO communications are always updating data per communication cycle on EtherCAT, while SDO
communications are processed in between those updates.
Process data communications functions (PDO communications)
This communication function is used to transfer process data in real time in a fixed-cycle.
By mapping logical process data space to each node by the EtherCAT Master Unit, it achieves
fixed-cycle communications among the EtherCAT Master Unit and Slave Units.
Mailbox communications functions (SDO communications)
It refers to message communications.
At any timing, the EtherCAT Master Unit transmits commands to Slave Units and the Slave Units return
responses to the EtherCAT Master Unit.
It performs the following data communications:
• Read and write process data
• Make Slave Unit setting
• Monitor Slave Unit state
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GX-series EtherCAT Slave Unit User’s Manual
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