Omron NX-ECC201 User Manual
Machine Automation Controller
NX-series
EtherCAT® Coupler Unit
User’s Manual
NX-ECC201
EtherCAT Coupler Unit
W519-E1-01
© OMRON, 2013
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.
• Windows, Windows 98, Windows XP, Windows Vista, Windows 7, and Excel are registered trademarks of
Microsoft Corporation in the USA and other countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• The SD logo is a trademark of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
Introduction
Thank you for purchasing an NX-series EtherCAT Coupler Unit.
This manual contains information that is necessary to use the NX-series EtherCAT Coupler Unit.
Please read this manual and make sure you understand the functionality and performance of the
NX-series EtherCAT Coupler Unit before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of introducing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA systems.
• Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B3503.
Introduction
Applicable Products
This manual covers the following product.
• NX-series EtherCAT Coupler Unit
NX-ECC201
NX-series EtherCAT Coupler Unit User’s Manual (W519)
1
CONTENTS
Introduction ..............................................................................................................1
Relevant Manuals .....................................................................................................8
Manual Structure .................................................................................................... 10
Read and Understand this Manual........................................................................12
Safety Precautions .................................................................................................15
Precautions for Safe Use....................................................................................... 19
Precautions for Correct Use..................................................................................23
Regulations and Standards................................................................................... 24
Unit Versions ..........................................................................................................26
Related Manuals .....................................................................................................29
Terminology ............................................................................................................32
Revision History .....................................................................................................34
Sections in this Manual .........................................................................................35
Section 1 EtherCAT Networks
1-1 Introduction to EtherCAT...................................................................................................... 1-2
1-1-1 How EtherCAT Works ................................................................................................................. 1-2
1-1-2 Types of EtherCAT Communications .......................................................................................... 1-4
1-2 EtherCAT Network Configuration Elements........................................................................ 1-5
1-2-1 System Configuration Example of an EtherCAT Network ........................................................... 1-5
1-2-2 Introduction to Configuration Devices .........................................................................................1-6
Section 2 Features and System Configuration
2-1 Features of EtherCAT Slave Terminals ................................................................................ 2-2
2-2 System Configurations of EtherCAT Slave Terminals ....................................................... 2-4
2-2-1 System Configuration.................................................................................................................. 2-4
2-2-2 Types of NX Units .......................................................................................................................2-6
2-3 Support Software................................................................................................................... 2-7
2-3-1 Applicable Support Software.......................................................................................................2-7
2-3-2 Connection Method and Procedures...........................................................................................2-7
2-3-3 Scope of Access When Connected to the USB Port on the EtherCAT Coupler Unit.................. 2-9
Section 3 Specifications and Application Procedures
3-1 Specifications ........................................................................................................................ 3-2
3-1-1 General Specifications of EtherCAT Slave Terminals .................................................................3-2
3-1-2 EtherCAT Coupler Unit Specifications......................................................................................... 3-2
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NX-series EtherCAT Coupler Unit User’s Manual (W519)
3-1-3 End Cover Specifications............................................................................................................ 3-5
3-2 Procedures............................................................................................................................. 3-6
3-2-1 EtherCAT Slave Terminal Application Procedures ...................................................................... 3-6
3-2-2 Details .........................................................................................................................................3-8
Section 4 Part Names and Functions
4-1 Parts and Names.................................................................................................................... 4-2
4-1-1 EtherCAT Coupler Units..............................................................................................................4-2
4-1-2 NX Units...................................................................................................................................... 4-3
4-1-3 End Cover ................................................................................................................................... 4-4
4-2 Indicators ............................................................................................................................... 4-5
4-3 Hardware Switch Settings .................................................................................................... 4-9
4-3-1 Rotary Switches .......................................................................................................................... 4-9
4-3-2 DIP Switch...................................................................................................................................4-9
4-3-3 Setting the Node Address .........................................................................................................4-10
4-4 Communications Connector and Peripheral USB Port.................................................... 4-11
4-5 Terminal Block ..................................................................................................................... 4-12
4-6 DIN Track Contact Plate ......................................................................................................4-13
Section 5 Designing the Power Supply System
5-1 Power Supply System and Design Concepts ..................................................................... 5-2
5-1-1 Power Supply System and Types of Power Supplies ................................................................. 5-2
5-1-2 NX-series Power Supply-related Units........................................................................................ 5-3
5-1-3 Design Concepts for Power Supply to the EtherCAT Slave Terminal ......................................... 5-5
5-2 Designing the NX Unit Power Supply System .................................................................... 5-6
5-2-1 Procedure for Designing the NX Unit Power Supply System...................................................... 5-6
5-2-2 Calculation Example for the NX Unit Power Supply.................................................................... 5-7
5-3 Designing the I/O Power Supply System ............................................................................ 5-9
5-3-1 I/O Power Supply Method ...........................................................................................................5-9
5-3-2 Designing the I/O Power Supply from the NX Bus.................................................................... 5-10
5-3-3 Designing the I/O Power Supply from External Sources........................................................... 5-14
5-4 Selecting External Power Supplies and Protective Devices ........................................... 5-15
5-4-1 Selecting the Unit Power Supply...............................................................................................5-15
5-4-2 Selecting the I/O Power Supplies.............................................................................................. 5-17
5-4-3 Selecting Protective Devices.....................................................................................................5-17
Section 6 Installation
6-1 Installing Units ....................................................................................................................... 6-2
6-1-1 Installation Precautions............................................................................................................... 6-2
6-1-2 Preparations for Installation ........................................................................................................ 6-6
6-1-3 Installation Orientation ................................................................................................................6-8
6-1-4 Installing the EtherCAT Coupler Unit ..........................................................................................6-9
6-1-5 Installing and Connecting NX Units........................................................................................... 6-11
6-1-6 Mounting the End Cover ........................................................................................................... 6-15
6-1-7 Mounting the End Plates...........................................................................................................6-16
6-1-8 Attaching Markers ..................................................................................................................... 6-17
6-1-9 Removing Units......................................................................................................................... 6-18
6-1-10 Assembled Appearance and Dimensions ................................................................................. 6-20
6-2 Control Panel Installation ...................................................................................................6-23
6-2-1 Temperature ..............................................................................................................................6-23
6-2-2 Humidity .................................................................................................................................... 6-25
NX-series EtherCAT Coupler Unit User’s Manual (W519)
3
6-2-3 Vibration and Shock.................................................................................................................. 6-25
6-2-4 Atmosphere .............................................................................................................................. 6-25
6-2-5 Electrical Environment .............................................................................................................. 6-26
6-2-6 Grounding................................................................................................................................. 6-31
Section 7 Wiring
7-1 EtherCAT Network Wiring ..................................................................................................... 7-2
7-1-1 Installation Precautions............................................................................................................... 7-2
7-1-2 Preparations for Installation........................................................................................................ 7-3
7-1-3 Pin Arrangement of Communications Connectors on the EtherCAT Coupler Unit ..................... 7-4
7-1-4 Connecting Communications Cables and Connectors ............................................................... 7-5
7-1-5 Connecting Communications Cables.......................................................................................... 7-6
7-2 Connecting the Power Supply and Ground Wires ............................................................. 7-8
7-2-1 Wiring the EtherCAT Coupler Unit .............................................................................................. 7-8
7-2-2 Wiring the Power Supply to the EtherCAT Slave Terminal ......................................................... 7-9
7-2-3 Grounding the EtherCAT Slave Terminal.................................................................................... 7-9
7-2-4 Precautions for Wiring the EtherCAT Slave Terminal Together
with Computers and other Peripheral Devices7-13
7-2-5 Wiring to the Screwless Clamping Terminal Block.................................................................... 7-14
7-3 Connecting USB Cable ....................................................................................................... 7-26
7-4 Wiring External Signal Lines .............................................................................................. 7-28
Section 8 EtherCAT Communications
8-1 Structure of CAN Application Protocol over EtherCAT (CoE)........................................... 8-2
8-2 EtherCAT Slave Information Files (ESI Files) ..................................................................... 8-3
8-3 Transitions of Communications States ............................................................................... 8-4
8-4 Process Data Objects (PDOs)............................................................................................... 8-5
8-4-1 Introduction................................................................................................................................. 8-5
8-4-2 PDO Mappings ........................................................................................................................... 8-6
8-4-3 Assigning PDOs.......................................................................................................................... 8-8
8-5 Service Data Objects (SDOs)................................................................................................ 8-9
8-5-1 Introduction................................................................................................................................. 8-9
8-5-2 Abort Codes................................................................................................................................ 8-9
8-6 Communications between an EtherCAT Master and Slaves ........................................... 8-10
8-6-1 Communications Modes for Communications between an EtherCAT Master and Slaves ....... 8-10
8-6-2 Communications Modes for EtherCAT Slave Terminals ........................................................... 8-10
8-6-3 Communications Cycle ............................................................................................................. 8-10
Section 9 Setting Up Slave Terminals
9-1 Settings and Setting Procedures ......................................................................................... 9-2
9-1-1 Items to Set................................................................................................................................. 9-2
9-1-2 Slave Terminal Parameters......................................................................................................... 9-2
9-1-3 Variable Assignment Settings ..................................................................................................... 9-3
9-1-4 Setting Procedures ..................................................................................................................... 9-3
9-2 Setting Slave Terminal Parameters...................................................................................... 9-4
9-2-1 Items to Set................................................................................................................................. 9-4
9-2-2 Settings as an EtherCAT Slave .................................................................................................. 9-6
9-2-3 Setting the Unit Configuration Information.................................................................................. 9-8
9-2-4 I/O Allocation Information ......................................................................................................... 9-13
9-2-5 Unit Operation Settings............................................................................................................. 9-23
9-2-6 Unit Application Data ................................................................................................................ 9-25
9-2-7 Sysmac Studio Functions Used as Required ........................................................................... 9-25
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NX-series EtherCAT Coupler Unit User’s Manual (W519)
9-3 Assigning Variables ............................................................................................................ 9-29
9-3-1 Methods to Assign Variables..................................................................................................... 9-29
9-3-2 Assigning Device Variables to I/O Ports....................................................................................9-30
9-3-3 I/O Ports for Status That Accept Device Variable Assignments ................................................9-32
9-3-4 Assigning Axis Variables ...........................................................................................................9-33
9-4 Transferring and Comparing Settings ............................................................................... 9-34
9-4-1 Transferring Settings................................................................................................................. 9-34
9-4-2 Comparing Settings...................................................................................................................9-36
9-5 Backing Up Settings............................................................................................................ 9-37
9-5-1 Backup Functions...................................................................................................................... 9-37
9-5-2 SD Memory Card Backup Function...........................................................................................9-38
9-5-3 Sysmac Studio Controller Backup Function..............................................................................9-38
9-5-4 Data That Is Backed Up............................................................................................................ 9-39
9-5-5 Backing Up the Slave Terminal Settings by Transferring Data.................................................. 9-40
9-6 Precautions in Changing the Unit Configuration ............................................................. 9-41
9-6-1 I/O Data That Require Specification of NX Unit Numbers......................................................... 9-41
9-6-2 Synchronous I/O Refresh Cycle................................................................................................9-42
9-6-3 Using Settings from NX Units on Other Slave Terminals ..........................................................9-43
Section 10 I/O Refreshing
10-1 Introduction to I/O Refreshing for EtherCAT Slave Terminals ........................................ 10-2
10-2 I/O Refreshing for EtherCAT Slaves................................................................................... 10-4
10-2-1 I/O Refreshing Modes ...............................................................................................................10-4
10-2-2 I/O Refreshing Mode Operation ................................................................................................ 10-4
10-3 I/O Refreshing for EtherCAT Slave Terminals................................................................... 10-6
10-3-1 I/O Refreshing Methods ............................................................................................................10-6
10-3-2 Setting the I/O Refreshing Methods..........................................................................................10-6
10-3-3 Selecting NX Units ....................................................................................................................10-7
10-3-4 I/O Refreshing Method Operation ............................................................................................. 10-7
Section 11 EtherCAT Coupler Unit Functions
11-1 Functions ............................................................................................................................. 11-3
11-2 NX Unit Mounting Settings ................................................................................................. 11-5
11-2-1 Introduction ............................................................................................................................... 11-5
11-2-2 Applications............................................................................................................................... 11-6
11-2-3 Operating Specifications for NX Units That Are Set as Unmounted Units ................................ 11-6
11-2-4 Setting NX Units as Unmounted Units ...................................................................................... 11-7
11-3 Sysmac Device Functionality Unique to EtherCAT Slaves.............................................. 11-8
11-4 Security .............................................................................................................................. 11-10
11-4-1 Supported Security Functions ................................................................................................. 11-10
11-4-2 Specifications of Verification of Operation Authority for the EtherCAT Slave Terminal ........... 11-10
11-5 Event Logs ......................................................................................................................... 11-12
11-5-1 Introduction ............................................................................................................................. 11-12
11-5-2 Detailed Information on Event Logs........................................................................................ 11-13
11-5-3 Reading Event Logs ................................................................................................................ 11-16
11-5-4 Clearing Event Logs................................................................................................................ 11-17
11-5-5 Exporting the Event Log.......................................................................................................... 11-19
11-6 Clearing All Memory .......................................................................................................... 11-20
11-6-1 Introduction ............................................................................................................................. 11-20
11-6-2 Details on Clearing All Memory............................................................................................... 11-20
11-6-3 Procedure for Clearing All Memory......................................................................................... 11-21
11-7 Restarting........................................................................................................................... 11-22
11-7-1 Introduction ............................................................................................................................. 11-22
NX-series EtherCAT Coupler Unit User’s Manual (W519)
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11-7-2 Details on Restarting ...............................................................................................................11-22
11-7-3 Procedure for Restarting..........................................................................................................11-23
11-8 Changing Event Levels ..................................................................................................... 11-24
11-8-1 Introduction ..............................................................................................................................11-24
11-8-2 Details on Changing Event Levels...........................................................................................11-24
11-8-3 Procedure to Change an Event Level......................................................................................11-25
11-9 Resetting Errors ................................................................................................................ 11-27
11-9-1 Introduction ..............................................................................................................................11-27
11-9-2 Details on Resetting Errors......................................................................................................11-27
11-9-3 Procedure to Reset Errors .......................................................................................................11-28
Section 12 Communications Performance
12-1 Performance of Process Data Communications .............................................................. 12-2
12-1-1 I/O Response Times for Synchronous I/O Refreshing.............................................................. 12-2
12-1-2 I/O Response Times for Free-Run Refreshing ....................................................................... 12-14
12-2 Message Response Time.................................................................................................. 12-22
12-2-1 Special Instructions................................................................................................................. 12-22
12-2-2 Message Response Time....................................................................................................... 12-22
Section 13 Troubleshooting
13-1 How to Check for Errors .....................................................................................................13-2
13-2 Checking for Errors and Troubleshooting with the Indicators ....................................... 13-3
13-2-1 Checking for Errors and Troubleshooting with the Indicators on the EtherCAT Coupler Unit... 13-3
13-2-2 Checking for Errors and Troubleshooting with the Indicators on the NX Units ........................13-11
13-3 Checking for Errors and Troubleshooting on the Sysmac Studio................................ 13-12
13-3-1 Checking for Errors from the Sysmac Studio.......................................................................... 13-12
13-3-2 Event Codes for Errors and Troubleshooting Procedures ...................................................... 13-14
13-4 Resetting Errors ................................................................................................................ 13-40
13-5 Error Notification Methods ............................................................................................... 13-41
13-6 Error Notifications Based on the Sysmac Error Status ................................................. 13-42
13-7 Emergency Messages ....................................................................................................... 13-43
13-7-1 Enabling/Disabling Emergency Message Notification ............................................................ 13-43
13-7-2 Error Logs ............................................................................................................................... 13-43
13-7-3 Emergency Error Codes ......................................................................................................... 13-44
13-8 Error Notifications Based on the AL Status.................................................................... 13-47
13-8-1 Procedure for Checking AL Status Codes .............................................................................. 13-47
13-8-2 AL Status Codes..................................................................................................................... 13-47
13-9 Troubleshooting Other Errors .......................................................................................... 13-50
13-10Troubleshooting Flow When Errors Occur ..................................................................... 13-51
13-10-1 When the Sysmac Studio Is Connected to an NJ-series CPU Unit ........................................ 13-51
13-10-2 When the Sysmac Studio Is Connected to the EtherCAT Coupler Unit.................................. 13-52
13-11Troubleshooting When the Sysmac Studio Cannot Go Online..................................... 13-53
13-11-1 Causes and Corrective Actions When the Sysmac Studio Cannot Go Online ....................... 13-53
13-11-2 Troubleshooting by Cause ...................................................................................................... 13-54
Section 14 Maintenance and Inspection
14-1 Cleaning and Maintenance ................................................................................................. 14-2
14-1-1 Cleaning.................................................................................................................................... 14-2
14-1-2 Periodic Inspections.................................................................................................................. 14-2
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NX-series EtherCAT Coupler Unit User’s Manual (W519)
14-2 Maintenance Procedures .................................................................................................... 14-4
14-2-1 Backing Up Data ....................................................................................................................... 14-4
14-2-2 Replacement Procedure for the EtherCAT Coupler Unit........................................................... 14-5
14-2-3 Basic Replacement Procedure for NX Units ............................................................................. 14-6
Appendices
A-1 Dimensions ............................................................................................................................A-3
A-1-1 EtherCAT Coupler Unit................................................................................................................A-3
A-1-2 End Cover ...................................................................................................................................A-4
A-2 Supplementary Information on Sysmac Studio Functions................................................A-5
A-2-1 Functional Differences on the Sysmac Studio Based on the Connected Port ............................A-5
A-2-2 Transferring the Unit Operation Settings.....................................................................................A-6
A-3 Special Instructions...............................................................................................................A-7
A-3-1 Instructions..................................................................................................................................A-7
A-3-2 Specifying the Targets for Instructions ........................................................................................A-7
A-4 Connecting to Masters from Other Manufacturers ............................................................A-9
A-4-1 Basic Connection Procedures.....................................................................................................A-9
A-4-2 Supplementary Information for Connections with a Master from Another Manufacturer ..........A-10
A-5 CoE Objects .........................................................................................................................A-13
A-5-1 Object Dictionary Area ..............................................................................................................A-13
A-5-2 Data Type ..................................................................................................................................A-13
A-5-3 Assigning Objects .....................................................................................................................A-14
A-5-4 Format of Objects......................................................................................................................A-16
A-5-5 Communication Objects............................................................................................................A-17
A-5-6 PDO Mapping Objects ..............................................................................................................A-21
A-5-7 Sync Manager Communications Objects..................................................................................A-30
A-5-8 Manufacturer-specific Object 1 .................................................................................................A-34
A-5-9 Manufacturer-specific Object 2 .................................................................................................A-37
A-5-10 Device Profile Area ...................................................................................................................A-44
A-5-11 Modular Device-specific Area ...................................................................................................A-49
A-6 NX Objects............................................................................................................................A-52
A-6-1 NX Objects................................................................................................................................A-52
A-6-2 Format of Object Descriptions...................................................................................................A-52
A-6-3 Unit Information Object .............................................................................................................A-53
A-6-4 Objects That Accept I/O Allocations..........................................................................................A-54
A-6-5 Other Objects............................................................................................................................A-56
A-7 Version Information.............................................................................................................A-59
A-7-1 Relationship between the Unit Versions of EtherCAT Coupler Unit
A-7-2 Relationship between Unit Versions of EtherCAT Coupler Unit and CPU Units .......................A-59
Index
and Sysmac Studio VersionsA-59
NX-series EtherCAT Coupler Unit User’s Manual (W519)
7
Relevant Manuals
Relevant Manuals
To use the EtherCAT Coupler Unit, you must refer to the manuals for all related products.
Read all of the manuals that are relevant to your system configuration and application before you use
the NX-series EtherCAT Coupler Unit.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu-
dio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.
NJ Series
Commu-
nications
Coupler
Unit
NX Series
NX Units All Units
Learning about the
NX-series Units
Specifications
Functionality
Application procedures
Learning about Slave Terminals
Slave Terminal specifications
System configuration
Rules on building
systems
Slave Terminal application procedures
Slave Terminal installation procedures
Support Software
connection procedures
Procedure to estimate Slave Terminal
performance
Using NX-series Units with
NJ-series Controllers
Using a Slave Terminal connected to the
built-in EtherCAT port
on an NJ-series CPU
Unit
Procedures for performing motion control with Position
Interface Units
8
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Troubleshooting
NX-series Digital I/O Units User′s
Manual
NX-series Position Interface Units
User's Manual
Managing errors for
the overall NJ-series
Controller
Troubleshooting
Slave Terminals and
Communications
Coupler Units
Troubleshooting NX
Units
Performing Unit maintenance
Referencing data lists for
NX Unit power consumptions, weights, etc.
NJ Series
NJ-series CPU Unit Hardware
User's Manual
NJ-series CPU Unit Motion
Control User's Manual
Relevant Manuals
NX Series
Commu-
nications
Coupler
Unit
NX-series EtherCAT Coupler Unit
User's Manual
NX Units All Units
NX-series Analog I/O Units User's
Manual
NX-series System Units User's
Manual
NX-series Data Reference
Manual
NX-series EtherCAT Coupler Unit User’s Manual (W519)
9
Manual Structure
4-9
4 Installation and Wiring
NJ-series CPU Unit Hardware User’s Manual (W500)
s
t
i
n
U
gnitn
u
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3-4
4
s
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no
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C
rel
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1
-
3-
4
4-3 Mounting Units
The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.
1 Join the Units so that the connectors fit exactly.
2 The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place.
Precautions for Correct UsePrecautions for Correct Use
4-3-1 Connecting Controller Components
Connector
Hook
Hook holes
Slider
Lock
Release
Move the sliders toward the back
until they lock into place.
Level 1 heading
Level 2 heading
Level 3 heading
Level 2 heading
A step in a procedure
Manual name
Special information
Level 3 heading
Page tab
Gives the current
headings.
Indicates a procedure.
Icons indicate
precautions, additional
information, or reference
information.
Gives the number
of the main section.
The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
the adjacent Unit connectors.
Manual Structure
Page Structure and Icons
The following page structure and icons are used in this manual.
Note This illustration is provided only as a sample. It may not literally appear in this manual.
10
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Precautions for Safe Use
Precautions for Correct Use
Additional Information
Version Information
Special Information
RightLeft
Up
Down
Special information in this manual is classified as follows:
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Manual Structure
Information on differences in specifications and functionality for CPU Units and EtherCAT Coupler Units with different unit versions and for different versions of the Sysmac Studio is given.
Note References are provided to more detailed or related information.
Precaution on Terminology
• In this manual, “download” refers to transferring data from the Sysmac Studio to the physical Controller and “upload” refers to transferring data from the physical Controller to the Sysmac Studio.
For the Sysmac Studio, synchronization is used to both upload and download data. Here, “synchronize” means to automatically compare the data for the Sysmac Studio on the computer with the data
in the physical Controller and transfer the data in the direction that is specified by the user.
• In this manual, the directions in relation to the Units are given in the following figure, which shows
upright installation.
NX-series EtherCAT Coupler Unit User’s Manual (W519)
11
Read and Understand this Manual
Read and Understand this Manual
Please read and understand this manual before using the products. Please consult your OMRON
representative if you have any questions or comments.
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTAT IO N, EXPRESS OR IMPLIED, REGARDING
NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES,
LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY C ONNECTED WITH THE PRODUCTS,
WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT
LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTA I NED AND NOT SUBJECT TO
CON
TA MI NATI O N, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.
12
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Read and Understand this Manual
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses
listed may be suitable for the products:
•Ou
tdoor use, uses involving potential chemical contamination or electrical interference, or conditions or
uses not described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED
FOR THE INTENDED USE WITHIN THE OVERALL EQUIPME
NT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.
NX-series EtherCAT Coupler Unit User’s Manual (W519)
13
Read and Understand this Manual
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other
reasons.
It is our practice to change model numbers when published ratings or features are changed, or when
significant construction changes are made. However, some specifications of the products may be changed
without any notice. When in doubt, special model numbers may be assigned to fix or establish key
specifications for your application on your request. Please consult with your OMRON representative at any
time to confirm actual specifications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.
PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining suitability and does
not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must
correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and
Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
14
NX-series EtherCAT Coupler Unit User’s Manual (W519)
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.
Definition of Precautionary Information
The following notation is used in this manual to provide precautions required to ensure safe usage of an
NX-series EtherCAT Coupler Unit.
The safety precautions that are provided are extremely important to safety. Always read and heed the
information provided in all safety precautions.
The following notation is used.
Safety Precautions
Symbols
The circle and slash symbol indicates operations that you must not do.
The specific operation is shown in the circle and explained in text.
This example indicates prohibiting disassembly.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a precaution for electric shock.
The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in text.
This example indicates a general precaution.
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example shows a general precaution for something that you must do.
NX-series EtherCAT Coupler Unit User’s Manual (W519)
15
Safety Precautions
WARNING
Warnings
During Power Supply
Do not touch the terminal section while power is ON.
Electric shock may occur.
Do not attempt to take any Unit apart.
In particular, high-voltage parts 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.
Fail-safe Measures
Provide safety measures in external circuits to ensure safety in the system if an abnormality
occurs due to malfunction of the CPU Unit, other Units, or slaves or due to other external
factors affecting operation.
Not doing so may result in serious accidents due to incorrect operation.
Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must
be provided in external control circuits.
The CPU Unit will turn OFF all outputs from Basic Output Units in the following cases. The
remote I/O slaves will operate according to the settings in the slaves.
• If a power supply error occurs.
• If the power supply connection becomes faulty.
• If a CPU watchdog timer error or CPU reset occurs.
• If a Controller error in the major fault level occurs.
• While the CPU Unit is on standby until RUN mode is entered after the power is turned ON
External safety measures must be provided to ensure safe operation of the system in such
cases.
The outputs may remain ON or OFF due to deposition 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 safe operation of the system.
If external power supplies for slaves or other devices are overloaded or short-circuited, the
voltage will drop, outputs will turn OFF, and the system may be unable to read inputs. Provide external safety measures in control with monitoring of external power supply voltage
as required so that the system operates safely in such a case.
You must take fail-safe measures 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 due to incorrect operation.
16
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Voltage and Current Inputs
Caution
Make sure that the voltages and currents that are input to the Units and slaves are within
the specified ranges.
Inputting voltages or currents that are outside of the specified ranges may cause accidents
or fire.
Transferring
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.
Cautions
Safety Precautions
Wiring
When you connect a computer or other peripheral device to a Communications Coupler
Unit that has a non-isolated DC power supply, either ground the 0-V side of the external
power supply (i.e. Unit power supply) or do not ground it at all.
If the peripheral devices are grounded incorrectly, the external power supply (i.e. Unit
power supply) may be short-circuited.
Never ground the 24-V side of the power supply, as shown in the following figure.
NX Unit power
supply
0 V
Peripheral device
(e.g., computer)
Communications Coupler Unit
Non-isolated DC power
supply (internal power
supply circuit)
Peripheral device
cable
24 V
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Ground terminal
Unit power
supply
17
Safety Precautions
Online Editing
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.
18
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Precautions for Safe Use
Up
Down
Transporting
• 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.
Mounting
• Mount terminal blocks and connectors only after checking the mounting location carefully.
• Be sure that the terminal blocks, expansion cables, and other items with locking devices are properly
locked into place.
Precautions for Safe Use
Installation
• Do not apply labels or tape to the Unit. When the Unit is installed or removed, adhesive or scraps
may adhere to the pins in the NX bus connector, which may result in malfunctions.
• Do not write on the Communications Coupler Unit or an NX Unit with ink within the restricted region
that is shown in the following figure. Also do not get this area dirty. When the Unit is installed or
removed, ink or dirt may adhere to the pins in the NX bus connector, which may result in malfunctions
in the Slave Terminal.
Restricted
region (shaded
portion)
Communications Coupler
Unit or NX Unit
• For the installation orientations in the following figure, support the cables, e.g., with a duct, so that the
End Plate on the bottom is not subjected to the weight of the cables. The weight of the cables may
cause the bottom End Plate to slide downward so that the Slave Terminal is no longer secured to the
DIN Track, which may result in malfunctions.
NX Unit
NX-series EtherCAT Coupler Unit User’s Manual (W519)
19
Precautions for Safe Use
NG NG
Wiring
• 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.
• Do not pull on the cables or bend the cables beyond their natural limit. Also, do not place heavy
objects on top of the cables or other wiring lines. Doing so may break the cable.
• When wiring or installing the Units, do not allow metal fragments to enter the Units.
• Do not press the flat-blade screwdriver straight into the release holes on a screwless clamping terminal block. Doing so may damage the terminal block.
NG OK
• When you insert a flat-blade screwdriver into a release hole on a screwless clamping terminal block,
press it down with a force of 30N or less. Applying excessive force may damage the terminal block.
• Do not incline or twist the flat-blade screwdriver while it is in a release hole on a screwless clamping
terminal block. Doing so may damage the terminal block.
Power Supply Design
• Use all Units within the I/O power supply ranges that are given in the specifications.
• Supply sufficient power according to the contents of this manual.
• Use the power supply voltage that is specified in this manual.
• Do not apply voltages that exceed the rated value to any Input Unit.
• Do not apply voltages or connect loads to the Output Units or slaves in excess of the maximum ratings.
• Inrush current occurs when the power supply is turned ON. When selecting fuses or breakers for
external circuits, consider their fusing and detection characteristics as well as the above precautions
and allow sufficient margin in shut-off performance.
• Install external breakers and take other safety measures against short-circuiting and overcurrents in
external wiring.
Turning ON the Power Supply
• When you set the Operating Mode at Startup, confirm that no adverse effect will occur in the system.
Actual Operation
20
• Before you start operation, always register the NX Units that are connected to the Communications
Coupler Unit in the host communications master as the Unit Configuration Information.
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Precautions for Safe Use
• Check the user program, data, and parameter settings for proper execution before you use them for
actual operation.
Turning OFF the Power Supply
• Do not disconnect the cable or turn OFF the power supply to the Controller or a Slave Terminal when
downloading data or the user program from Sysmac Studio.
• Always turn OFF the external power supply to the Units before attempting any of the following.
Mounting or removing an NX Unit, Communications Coupler Unit, or CPU Unit
Assembling Units
Setting DIP switches or rotary switches
Connecting or wiring cables
Attaching or removing terminal blocks or connectors
Units that supply power continue to supply power to the Units for up to several seconds after the
power supply is turned OFF. The PWR indicator remains lit as long as power is supplied. Confirm that
the PWR indicator is not lit before you perform any of the above.
Operation
• 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
• Always sufficiently check the safety at the connected devices before you change the settings of an
EtherCAT slave or Special Unit.
General Communications
• Do not exceed the ranges that are given in the specifications for the communications distance and
number of connected Units.
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.
NX-series EtherCAT Coupler Unit User’s Manual (W519)
21
Precautions for Safe Use
• 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 Disable) 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.
Refer to the NJ-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
intended operation is sometimes not achieved. Perform the following processing for a slave that
needs to be replaced.
Program the _EC_InDataInvalid (Input Data Disable) 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.
Refer to the NJ-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for details.
Unit Replacement
• When you replace a Unit, start operation only after you transfer the settings and variables that are
required for operation to the new Unit.
Disposal
• Dispose of the product according to local ordinances as they apply.
22
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Precautions for Correct Use
Storage, Mounting, and Wiring
• Follow the instructions in this manual to correctly perform installation.
• Do not operate or store the Units in the following locations. Operation may stop or malfunction may
occur.
Locations 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
Locations subject to corrosive or flammable gases
Locations subject to dust (especially iron dust) or salts
Locations subject to exposure to water, oil, or chemicals
Locations subject to shock or vibration
• Take appropriate and sufficient countermeasures during installation in the following locations.
Locations subject to strong, high-frequency noise
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
• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any
static build-up.
• Use the rated power supply voltage for the Units that supply power. Take appropriate measures to
ensure that the specified power with the rated voltage and frequency is supplied in places where the
power supply is unstable.
• Install the Units away from sources of heat and ensure proper ventilation. Not doing so may result in
malfunction, in operation stopping, or in burning.
• Do not allow foreign matter to enter the openings in the Unit. Doing so may result in Unit burning,
electric shock, or failure.
• Use the EtherCAT connection methods and applicable cables that are specified in this manual and in
the NJ-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505). Otherwise, communi-
cations may be faulty.
Precautions for Correct Use
Actual Operation
• If you change the event level of an error, the output status when the error occurs may also change.
Confirm safety before you change an event level.
Turning OFF the Power Supply
• Do not turn OFF the power supply while data is being transferred.
• Do not turn OFF the power supply while parameters are being written to the Communications Coupler Unit or NX Units.
EtherCAT Communications
• Do not disconnect the EtherCAT communications cables during operation. The outputs will become
unstable. However, for the built-in EtherCAT port on the NJ-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.
NX-series EtherCAT Coupler Unit User’s Manual (W519)
23
Regulations and Standards
Regulations and Standards
Conformance to EC Directives
Applicable Directives
• EMC Directives
• Low Voltage Directive
Concepts
EMC Directives
OMRON devices that comply with EC 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.*1
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 EC
Directives will vary depending on the configuration, wiring, and other conditions of the equipment or
control panel on which the OMRON devices are installed. The customer must, therefore, perform
the final check to confirm that devices and the overall machine conform to EMC standards.
*1. Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN 61131-2
EMI (Electromagnetic Interference): EN 61131-2 (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. The applicable directive is EN 61131-2.
Conformance to EC Directives
The NX-series Units comply with EC Directives. To ensure that the machine or device in which the
NX-series Units are used complies with EC Directives, the following precautions must be observed.
• The NX-series Units must be installed within a control panel.
• You must use reinforced insulation or double insulation for the DC power supplies that are connected as the Unit power supplies and I/O power supplies for the NX-series Units.
We recommend that you use the OMRON S8JX-series Power Supplies. EMC standard compliance was confirmed for the recommended Power Supplies.
• NX-series Units that comply with EC Directives also conform to the Common Emission Standard
(EN 61131-2). 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 in which the NX-series Units
are used complies with EC Directives.
• You must use power supplies with an output hold time of 10 ms or longer for the DC power supplies that are connected as the Unit power supplies and I/O power supplies for the NX-series
Units.
• This is a Class A product (for industrial environments). In a residential environment, it may cause
radio interference. If radio interference occurs, the user may be required to take appropriate measures.
24
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Conformance to UL and CSA Standards
The NX-series Units comply with the following UL and CSA standards. The application conditions for
standard compliance are defined. Refer to the Instruction Sheet that is provided with each Unit before
application.
Conformance to KC Standards
Observe the following precaution if you use NX-series Units in Korea.
Regulations and Standards
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.
Software Licenses and Copyrights
This product incorporates certain third party software. The license and copyright information associated
with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
NX-series EtherCAT Coupler Unit User’s Manual (W519)
25
Unit Versions
Notched
area
Unit
specifications
LOT No.
Unit version
Lot number
Unit model number
Lot number and unit version
Unit Versions
This section describes the notation that is used for unit versions, the confirmation method for unit versions, and the relationship between unit versions and Sysmac Studio versions.
Unit Versions
A “unit version” has been introduced to manage the Units in the NX Series according to differences in
functionality accompanying Unit upgrades.
Notation of Unit Versions on Products
The unit version is given with the Unit specifications on the side of the Unit or in the notched area.
The following information is provided in the Unit specifications on the Unit.
Unit model number Gives the model of the Unit.
Unit version Gives the unit version of the Unit.
Lot number Gives the lot number of the Unit.
26
Name Function
DDMYY: Lot number, : Used by OMRON.
“M” gives the month (1 to 9: January to September, X: October, Y: November, Z: December)
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Unit Versions
The following information is provided in the notched area on the Unit.
Name Function
Lot number and
unit version
Gives the lot number and unit version of the Unit.
• DDMYY: Lot number, : Used by OMRON.
“M” gives the month (1 to 9: January to September, X: October, Y: November, Z: December)
•1: Unit version
The decimal portion of the unit version is omitted. (It is provided in the Unit specifications.)
Confirming Unit Versions with the Sysmac Studio
You can use the Unit Production Information on the Sysmac Studio to check the unit versions EtherCAT
Coupler Unit and NX Units.
1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer, and then
double-click the EtherCAT Coupler Unit. Or, right-click the EtherCAT Coupler Unit and select
Edit from the menu.
The Edit Slave Terminal Configuration Tab Page is displayed.
You can also display the Edit Slave Terminal Configuration Tab Page with any of the following
operations.
Double-click EtherCAT under Configurations and Setup in the Multiview Explorer, right-click
the EtherCAT Coupler Unit in the EtherCAT Configuration Edit Tab Page, and select Edit Slave
Terminal Configuration.
Or, select the EtherCAT Coupler Unit on the EtherCAT Configuration Edit Tab Page click the
Edit Slave Terminal Configuration Button.
2 Go online.
3 Right-click the EtherCAT Coupler Unit and select Display Production Information from the
menu.
The Production Information Dialog Box is displayed.
Simple Display
In this example, “Ver.1.0” is displayed next to the Unit model.
The following items are displayed.
•Slot number
• Unit model number
•Unit version
• Serial number
• Lot number
NX-series EtherCAT Coupler Unit User’s Manual (W519)
Detailed Display
27
Unit Versions
• Hardware version
• Software version
The software version is displayed only for Units that contain software.
Unit Versions and Sysmac Studio Versions
The functions that are supported depend on the unit version of the Unit. The version of Sysmac Studio
that supports the functions that were added for an upgrade is also required to use those functions.
Refer to A-7 Version Information on page A-59 for the functions that are supported by each unit version.
Unit Version Notation
In this User’s Manual, unit versions are specified as shown in the following table.
Unit version in Unit specifications
on the product
Unit version 1.0 or later Ver. 1. or later Unless unit versions are specified, the infor-
Notation in this manual Remarks
mation in this manual applies to all unit versions.
28
NX-series EtherCAT Coupler Unit User’s Manual (W519)
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