Omron CJ1W- ECT21, SYSMAC CJ, SYSMAC CJ1W-ECT21 Operation Manual

Cat. No. W541-E1-02

SYSMAC CJ Series

CJ1W-ECT21

EtherCAT® Slave Unit

OPERATION MANUAL

NOTE

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

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

Trademarks

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

• 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.

Introduction

Thank you for purchasing a CJ-series CJ1W-ECT21 EtherCAT Slave Unit.

This manual contains information that is necessary to use the CJ-series CJ1W-ECT21 EtherCAT Slave
Unit for a CJ-series CPU Unit. Please read this manual and make sure you understand the functionality
and performance of the CJ-series CPU 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 B 3503.

Introduction

Applicable Products

This manual covers the following product.

• CJ-series EtherCAT Slave Unit

CJ1W-ECT21

CJ-series EtherCAT Slave Units Operation Manual (W541)

1

CONTENTS

CONTENTS

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

Intended Audience....................................................................................................................................... 1

Applicable Products..................................................................................................................................... 1

CONTENTS................................................................................................................2

Manual Structure ......................................................................................................7

Page Structure and Icons ............................................................................................................................ 7

Special Information...................................................................................................................................... 8

Precautions on Terminology ........................................................................................................................ 8

Terms and Conditions Agreement .......................................................................... 9

Warranty, Limitations of Liability ..................................................................................................................9

Application Considerations ........................................................................................................................ 10

Disclaimers ................................................................................................................................................ 10

Safety Precautions ................................................................................................. 11

Definition of Precautionary Information...................................................................................................... 11

Symbols..................................................................................................................................................... 11

Warnings.................................................................................................................................................... 12

Cautions..................................................................................................................................................... 14

Precautions for Safe Use.......................................................................................15

Precautions for Correct Use.................................................................................. 18

Regulations and Standards...................................................................................19

Conformance to EC Directives .................................................................................................................. 19

Conformance to UL and CSA Standards................................................................................................... 19

Conformance to Shipbuilding Standards ................................................................................................... 20

Conformance to KC Standards.................................................................................................................. 20

Unit Versions ..........................................................................................................21

Unit Versions.............................................................................................................................................. 21

Unit Versions and CX-Programmer Versions............................................................................................. 22

Related Manuals .....................................................................................................23

Terminology ............................................................................................................25

Revision History .....................................................................................................27

Sections in this Manual .........................................................................................29

Section 1 Features and System Configuration

1-1 Introduction to EtherCAT...................................................................................................... 1-2

1-1-1 How EtherCAT Works .................................................................................................................1-2

1-1-2 Types of EtherCAT Communications ..........................................................................................1-3

1-2 EtherCAT Slave Unit Features .............................................................................................. 1-5

1-3 System Configuration of CJ-series EtherCAT Slave Unit.................................................. 1-7

1-4 Specifications ........................................................................................................................ 1-9

1-4-1 General Specifications ................................................................................................................1-9

1-4-2 Functional and Performance Specifications................................................................................ 1-9

2

CJ-series EtherCAT Slave Units Operation Manual (W541)

1-4-3 Dimensions............................................................................................................................... 1-10

1-5 Setting Procedures.............................................................................................................. 1-11

Section 2 Nomenclature and Installation

2-1 Nomenclature......................................................................................................................... 2-2

2-1-1 Nomenclature and Functions...................................................................................................... 2-2

2-1-2 Indicators .................................................................................................................................... 2-3

2-1-3 Switch Settings ........................................................................................................................... 2-6

2-2 Installing the EtherCAT Slave Unit....................................................................................... 2-8

2-2-1 System Configuration Precautions ............................................................................................. 2-8

2-2-2 Mounting to a CJ-series PLC...................................................................................................... 2-8

2-2-3 Handling Precautions.................................................................................................................. 2-9

2-3 EtherCAT Network Wiring ................................................................................................... 2-10

2-3-1 Installation Standards ............................................................................................................... 2-10

2-3-2 Installation Precautions............................................................................................................. 2-10

2-3-3 Preparations for Installation.......................................................................................................2-11

2-3-4 Pin Arrangements of Communications Connectors.................................................................. 2-12

2-3-5 Connecting Communications Cables and Connectors ............................................................. 2-13

2-3-6 Connecting Communications Cables to Units .......................................................................... 2-13

CONTENTS

Section 3 Memory Allocations

3-1 Overview of the Memory Allocated to the EtherCAT Slave Unit ....................................... 3-2

3-2 CIO Area Allocations............................................................................................................. 3-3

3-2-1 Overview of the Allocated CIO Area Words................................................................................ 3-3

3-2-2 Details of the Allocated CIO Area Words....................................................................................3-4

3-3 DM Area Allocations.............................................................................................................. 3-9

3-3-1 Overview of the Allocated DM Area Words ................................................................................ 3-9

3-3-2 Details of the Allocated DM Area Words .................................................................................... 3-9

3-4 I/O Communication Area Settings ..................................................................................... 3-16

3-4-1 The Unit Edit Parameters Dialog Box ....................................................................................... 3-16

3-4-2 Setting Procedure with the CX-Programmer ............................................................................ 3-19

Section 4 EtherCAT Communications

4-1 Structure of CAN Application Protocol over EtherCAT (CoE)........................................... 4-2

4-2 EtherCAT Slave Information Files (ESI Files) ..................................................................... 4-3

4-3 Transitions of Communications States ............................................................................... 4-4

4-4 Process Data Objects (PDOs)............................................................................................... 4-5

4-4-1 Introduction................................................................................................................................. 4-5

4-4-2 PDO Mappings ........................................................................................................................... 4-5

4-4-3 Assigning PDOs.......................................................................................................................... 4-7

4-5 Service Data Objects (SDOs)................................................................................................ 4-9

4-5-1 Introduction................................................................................................................................. 4-9

4-5-2 Abort Codes................................................................................................................................ 4-9

4-6 Communications Performance .......................................................................................... 4-10

4-6-1 I/O Response Time................................................................................................................... 4-10

4-6-2 SDO Message Response Time ................................................................................................ 4-12

CJ-series EtherCAT Slave Units Operation Manual (W541)

3

CONTENTS

Section 5 Troubleshooting

5-1 Error Notification and Checking Methods........................................................................... 5-2

5-1-1 Error Notification Methods........................................................................................................... 5-2

5-1-2 How to Check for Errors..............................................................................................................5-3

5-1-3 Procedures to Check Errors........................................................................................................5-4

5-2 Troubleshooting with Indicators.......................................................................................... 5-5

5-2-1 Checking for Errors and Troubleshooting with the Indicators ..................................................... 5-5

5-2-2 Corrective Actions When the CPU Unit’s Indicators are Lit or Flashing....................................5-12

5-3 Error Log Function .............................................................................................................. 5-13

5-3-1 Error Log Data Specifications....................................................................................................5-13

5-3-2 Error Log Registration............................................................................................................... 5-14

5-3-3 FINS Commands for Error Logs................................................................................................5-14

5-3-4 Error Log Error Codes...............................................................................................................5-15

5-4 Troubleshooting with Emergency Messages.................................................................... 5-16

5-4-1 Emergency Message Notification.............................................................................................. 5-16

5-4-2 Emergency Error Codes............................................................................................................ 5-16

5-5 Troubleshooting with AL Status......................................................................................... 5-18

Section 6 Maintenance and Replacement

6-1 Cleaning and Inspection ....................................................................................................... 6-2

6-1-1 Cleaning......................................................................................................................................6-2

6-1-2 Inspection.................................................................................................................................... 6-2

6-2 Replacing Faulty Units.......................................................................................................... 6-4

6-2-1 Precautions .................................................................................................................................6-4

6-2-2 Settings When Replacing EtherCAT Slave Units ........................................................................ 6-4

Appendices

A-1 Example of Operations for EtherCAT Slave Unit Communications..................................A-2

A-1-1 System Configuration..................................................................................................................A-2

A-1-2 Setting Condition.........................................................................................................................A-3

A-1-3 Flow of the Setting Procedure.....................................................................................................A-3

A-1-4 CJ1W-ECT21 Setting Procedure ................................................................................................A-4

A-1-5 EtherCAT Master Setting Procedure...........................................................................................A-5

A-1-6 Start EtherCAT Communication ..................................................................................................A-7

A-2 Programming Example To Detect Valid I/O Process Data .................................................A-8

A-3 Process Data Exchange in PROGRAM Mode......................................................................A-9

A-3-1 Detection Method and Timing Considerations ............................................................................A-9

A-3-2 Program Example for the EtherCAT Master..............................................................................A-10

A-3-3 Program Example for the EtherCAT Slave Unit ........................................................................A-11

A-4 CoE Objects .........................................................................................................................A-13

A-4-1 Object Dictionary Area ..............................................................................................................A-13

A-4-2 Data Type..................................................................................................................................A-13

A-4-3 Format of Objects......................................................................................................................A-13

A-4-4 Communication Objects............................................................................................................A-14

A-4-5 PDO Mapping Objects ..............................................................................................................A-16

A-4-6 Sync Manager Communication Objects....................................................................................A-19

A-4-7 Device Profile Area ...................................................................................................................A-22

A-5 Creating I/O Tables ..............................................................................................................A-24

A-5-1 I/O Table Overview....................................................................................................................A-24

A-5-2 Connecting Programming Devices to the PLC..........................................................................A-24

A-5-3 Procedure for Creating I/O Tables.............................................................................................A-25

4

CJ-series EtherCAT Slave Units Operation Manual (W541)

Index

CONTENTS

A-6 FINS Commands..................................................................................................................A-29

A-6-1 Introduction............................................................................................................................... A-29

A-6-2 Details on FINS Commands .....................................................................................................A-29

A-7 Version Information.............................................................................................................A-33

CJ-series EtherCAT Slave Units Operation Manual (W541)

5

CONTENTS

6

CJ-series EtherCAT Slave Units Operation Manual (W541)

Manual Structure

4-9

4 Installation and Wiring

NJ-series CPU Unit Hardware User’s Manual (W500)

stinU gnitnuoM 3-4

4

stnenopmoC rellortnoC gnitcennoC 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 locki ng the slide rs by moving them toward the back of the U nits. The End Cover is connecte d 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.

This illustration is provided only as a sample. It may not literally appear in this manual.

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.

Page Structure and Icons

The following page structure is used in this manual.

Manual Structure

CJ-series EtherCAT Slave Units Operation Manual (W541)

7

Manual Structure

Precautions for Safe Use

Precautions for Correct Use

Additional Information

Version Information

Special Information

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.

Information on the differences in specifications and functionality for CPU Units and EtherCAT
Slave Units with different unit versions and for different versions of the CX-Programmer is
given.

Note References are provided to more detailed or related information.

Precautions on Terminology

• In this manual, “download” refers to transferring data from the CX-Programmer to the physical PLC
and “upload” refers to transferring data from the physical PLC to the CX-Programmer.

• The CJ-series EtherCAT Slave Unit can connect with the CJ-series CPU Unit, CP-series CPU Unit
and the NSJ-series CPU Unit. In this manual, the CJ-series CPU Unit is used as an example.

8

CJ-series EtherCAT Slave Units Operation Manual (W541)

Terms and Conditions Agreement

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.

CJ-series EtherCAT Slave Units Operation Manual (W541)

9

Terms and Conditions Agreement

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 WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE
HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIP­MENT OR SYSTEM.

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.

10

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.

CJ-series EtherCAT Slave Units Operation Manual (W541)

Safety Precautions

Definition of Precautionary Information

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

Indicates a potentially hazardous situation which, if not avoided,

WARNING

could result in death or serious injury. Additionally, there may be
severe property damage.

Safety Precautions

Symbols

Caution

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

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.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.

This example indicates the precaution for high temperatures.

CJ-series EtherCAT Slave Units Operation Manual (W541)

11

Safety Precautions

Warnings

During Power Supply

Do not touch any of the terminals or terminal blocks while the power is being
supplied. Doing so may result in electric shock.

Do not attempt to take any Unit apart. In particular, high-voltage parts are
present in the Power Supply Unit 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.

WARNING

Transferring

Always confirm safety at the destination node before transferring a program
to another node or changing contents of the I/O memory area. Doing either
of these without confirming safety may result in injury.

Confirm safety before transferring data files stored in the file memory (Mem­ory Card or EM file memory) to the I/O area (CIO) of the CPU Unit using a
programming device. Otherwise, the devices connected to the output Unit
may malfunction regardless of the operation mode of the CPU Unit.

Fail-safe Measures

Provide safety measures in external circuits (i.e., not in the Programmable
Controller), 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. Not doing so may result in serious accidents.

Unintended outputs may occur when an error occurs in memory used for
CJ-series Units. As a countermeasure for such problems, external safety
measures must be provided to ensure safe operation of the system.

Emergency stop circuits, interlock circuits, limit circuits, and similar safety
measures must be provided in external control circuits.

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.
Unexpected operation, however, may still occur for errors in the I/O control
section, errors in I/O memory, and other errors that cannot be detected by
the self-diagnosis function. As a countermeasure for all such errors, external
safety measures must be provided to ensure safety in the system.

12

CJ-series EtherCAT Slave Units Operation Manual (W541)

The Controller 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.

When the 24-V DC output (service power supply to the PLC) 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.

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. Serious accidents
may result from abnormal operation if proper measures are not provided.

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 may result in
unexpected operation of the loads connected to the Unit. Any of the following
operation may result in changes to memory status.

• Transferring I/O memory data to the CPU Unit from a programming device.

• Changing present values in memory from a programming device.

• Force-setting/-resetting bits from 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.

Safety Precautions

Actual Operation

Check the user program, data, and parameter settings for proper execution
before you use them for actual operation.

Voltage and Current Inputs

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.

CJ-series EtherCAT Slave Units Operation Manual (W541)

13

Safety Precautions

Cautions

Application

Do not touch any Unit when power is being supplied or immediately after the
power supply is turned OFF. Doing so may result in burn injury.

Wiring

Caution

Be sure that all terminal screws and cable connector screws are tightened to
the torque specified in the relevant manuals. The loose screws may result in
fire or malfunction.

Online Editing

Execute online edit only after confirming that no adverse effects will be
caused by extending the cycle time. Otherwise, the input signals may not be
readable.

14

CJ-series EtherCAT Slave Units Operation Manual (W541)

Precautions for Safe Use

Disassembly and Dropping

• Do not attempt to disassemble, repair, or modify any Units. Doing so may result in malfunction, fire or
electric shock.

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

Mounting

• After connecting Power Supply Units, CPU Units, I/O Units, Special I/O Units, or CPU Bus Units
together, secure the Units by sliding the sliders at the top and bottom of the Units until they click into
place. Correct operation may not be possible if the Units are not securely properly.

• Be sure to attach the end cover provided with the CPU Unit to the right-most Unit. CJ-series PLCs
will not operate properly if the end cover is not attached.

Precautions for Safe Use

Transporting

• When transporting the Unit, use special packing boxes and protect it from being exposed to exces­sive vibration or impact during transportation.

Installation

• Always connect to a ground of 100 Ω or less when installing the Units. A ground of 100 Ω or less
must be installed when shorting the GR and LG terminals on the Power Supply Unit.

Wiring

• Follow the instructions in this manual to correctly perform wiring.

Double-check all wiring and switch settings before turning ON the power supply. Incorrect wiring may
result in burning.

• Use parts and tools appropriate for wiring.

• Do not pull on the cables or bend the cables beyond their natural limit.

Do not place heavy objects on top of the cables or other wiring lines. Doing so may break the cables.

• Mount terminal blocks and connectors only after checking the mounting location carefully.

Be sure that the terminal blocks, Memory Units, expansion cables, and other items with locking
devices are properly locked into place. Improper locking may result in malfunction.

• Before you connect a computer to the PLC, disconnect the power supply plug of the computer from
the AC outlet. Also, if the computer has an FG terminal, make the connections so that the FG termi­nal has the same electrical potential as the FG (GR) terminal on the Power Supply Unit. A difference
in electric potential between the computer and PLC may cause failure or malfunction.

• Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. Connection
of bare stranded wires may result in burning.

CJ-series EtherCAT Slave Units Operation Manual (W541)

15

Precautions for Safe Use

Power Supply Design

• Do not exceed the rated supply capacity of the Power Supply Units in the CJ-series PLC. The rated
supply capacities are given in the operation manual of the CPU Units.

If the capacity is exceeded, operation may stop, malfunctions may occur, or data may not be backed
up normally for power interruptions.

Use CJ-series Power Supply Units for both the CJ-series CPU Rack and Expansion Racks.

Operation is not possible if an NJ/NX-series Power Supply Unit is used with a CJ-series CPU Unit.

• Surge current occurs when the power supply is turned ON. When selecting fuses or breakers for
external circuits, consider the above precaution and allow sufficient margin in shut-off performance.
Refer to the relevant manuals for surge current specifications. Refer to the operation manual of the
CPU Units for surge current specifications.

• If the full dielectric strength voltage is applied or turned OFF using the switch on the tester, the gener­ated impulse voltage may damage the Power Supply Unit. Use the adjustment on the tester to grad­ually increase and decrease the voltage.

• Apply the voltage between the Power Supply Unit's L1 or L2 terminal and the GR terminal when test­ing insulation and dielectric strength.

• Do not supply AC power from an inverter or other device with a square-wave output. Internal temper­ature rise may result in smoking or burning. Always input a sinusoidal wave with the frequency that is
given in the operation manual of the CPU Units.

• Install external breakers and take other safety measures against short-circuiting in external wiring.

Turning ON the Power Supply

• Always turn ON power to the PLC before turning ON power to the control system. If the PLC power
supply is turned ON after the control power supply, temporary errors may result in control system sig­nals because the output terminals on DC Output Units and other Units may momentarily turn ON
when power is turned ON to the PLC.

• Double-check all wiring and switch settings before turning ON the power supply. Incorrect wiring may
result in burning.

Actual Operation

• Check the user program, data, and parameter settings for proper execution before you use them for
actual operation.

• Confirm that the I/O Communication Area Setting Table and I/O Reference Area Setting Table set­tings are correct. Incorrect system settings can cause unexpected behavior.

Turning OFF the Power Supply

• Do not disconnect the cable or turn OFF the power supply to the PLC when downloading data or the
user program from Support Software.

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

a) Mounting or removing I/O Units or the CPU Unit

b) Assembling the Units

c) Setting DIP switches or rotary switches

d) Connecting cables or wiring the system

e) Connecting or disconnecting the connectors

• Do not touch the terminals on the Power Supply Unit immediately after turning OFF the power supply.
Residual voltage may cause electrical shock.

16

CJ-series EtherCAT Slave Units Operation Manual (W541)

Precautions for Safe Use

Operation

• Confirm that no adverse effect will occur in the system before you attempt any of the following.

a) Changing the operating mode of the CPU Unit (including changing the setting of the Operating

Mode at Startup)

b) Changing the user program or settings

c) Changing set values or present values

d) Forced refreshing

• After you change any slave or Unit settings, carefully check the safety of the controlled system before
you restart the Unit.

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 communications to EtherNet/IP, a standard in-house LAN, or other net­works. An overload may cause the network to fail or malfunction.

• The maximum length between nodes is 100 m. However, some cables are specified for less than 100
m. Generally speaking, if the conductors are twisted wire rather than solid wire, transmission perfor­mance will be lower, and reliable communications may not be possible at 100 m. Confirm details with
the cable manufacturer.

• If noise occurs or an EtherCAT slave is disconnected from the network, any current communications
frames may be lost. If frames are lost, slave I/O data is not communicated, and unintended operation
may occur. The slave outputs will behave according to the slave specifications. Confirm that the sys­tem will not be adversely affected before you disconnect a slave.

• When an EtherCAT slave is disconnected or disabled, 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 or disable a slave.

Unit Replacement

• When replacing parts, be sure to confirm that the rating of a new part is correct. Not doing so may
result in malfunction or burning.

• 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.

• If you replace a CPU Bus Unit or Special I/O Unit, refer to operation manual for the Unit for informa­tion on the data required for individual Units and redo the necessary settings.

Disposal

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

CJ-series EtherCAT Slave Units Operation Manual (W541)

17

Precautions for Correct Use

Precautions for Correct Use

Storage, Mounting, and Wiring

• Do not operate the control system in the following locations. Operation may stop or malfunctions may
occur.

a) Locations subject to direct sunlight

b) Locations subject to temperatures or humidity outside the range specified in the specifications

c) Locations subject to condensation as the result of severe changes in temperature

d) Locations subject to corrosive or flammable gases

e) Locations subject to dust (especially iron dust) or salts

f) Locations subject to exposure to water, oil or chemicals

g) Locations subject to shock or vibration

• Take appropriate and sufficient countermeasures when installing the Controller in the following loca­tions.

a) Locations subject to static electricity or other forms of noise

b) Locations subject to strong electromagnetic fields

c) Locations subject to possible exposure to radioactivity

d) 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 Power Supply Units. 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 control system away from sources of heat and ensure proper ventilation. Not doing so may
result in malfunction, in operation stopping, or in burning.

• Use proper connection methods and EtherCAT communication cables. Otherwise, communications
may be faulty. Refer to 2-3 EtherCAT Network Wiring on page 2-10.

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

• Do not allow wire clippings, shavings, or other foreign material to enter any Unit. Otherwise, Unit
burning, failure, or malfunction may occur. Cover the Units or take other suitable countermeasures,
especially during wiring work.

18

EtherCAT Communications

• Do not disconnect the EtherCAT slave cables during operation. The outputs will become unstable.

Operating Environment

• The operating environment of the PLC System can have a large effect on the longevity and reliability
of the system. Improper operating environments can lead to malfunction, failure, and other unfore­seeable problems with the PLC System. Be sure that the operating environment is within the speci­fied conditions at installation and remains within the specified conditions during the life of the system.

CJ-series EtherCAT Slave Units Operation Manual (W541)

Regulations and Standards

Conformance to EC Directives

Applicable Directives

• EMC Directives

• Low Voltage Directive

Concepts

 EMC Directive

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

Regulations and Standards

Whether the products conform to the standards in the system used by the customer, however, must
be checked by the customer. EMC-related performance of the OMRON devices that comply with 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 CJ-series PLCs comply with EC Directives. To ensure that the machine or device in which the
CJ-series PLC is used complies with EC Directives, the PLC must be installed as follows:

• The CJ-series PLC must be installed within a control panel.

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

• CJ-series PLCs complying with EC Directives also conform to the Common Emission Standard
(EN 61000-6-4). Radiated emission characteristics (10-m regulations) may vary depending on the
configuration of the control panel used, other devices connected to the control panel, wiring, and
other conditions. You must therefore confirm that the overall machine or equipment complies with
EC Directives.

Conformance to UL and CSA Standards

Some CJ-series PLCs comply with UL and CSA standards. Refer to the OMRON website
(http://www.ia.omron.com/) or consult your OMRON representative for the applicable standards for
each model. The Instruction Sheet is provided with the product depending on the models. The Instruc-
tion Sheet provides the application conditions for complying with the standards.

CJ-series EtherCAT Slave Units Operation Manual (W541)

19

Regulations and Standards

Conformance to Shipbuilding Standards

Some CJ-series PLCs comply with shipbuilding standards. Refer to the OMRON website
(http://www.ia.omron.com/) or consult your OMRON representative for the applicable standards for
each model. If you use a CJ-series product that complies with shipbuilding standards and the machin­ery or system in which you use the CJ-series products 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.

Usage Conditions for NK and LR Shipbuilding Standards

• The CJ-series PLC must be installed within a control panel.

• Gaps in the door to the control panel must be completely filled or covered with gaskets or other mate­rial.

• The following noise filter must be connected to the power supply line.

Name Manufacturer Model

Noise filter Cosel Co., Ltd. TAH-06-683

Conformance to KC Standards

Observe the following precaution if you use CJ-series CJ1W-ECT21 EtherCAT Slave Units 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.

20

CJ-series EtherCAT Slave Units Operation Manual (W541)

Unit Versions

Precautions for Correct Use

CJ1W-

UNIT

Lot No. YYMMDD xxxx Ver.1.0

OMRON Corporation

MADE IN JAPAN

Product nameplate

Unit version
Example for unit version 1.0

Lot No.

Unit model

Serial No.

Unit Versions

A “unit version” has been introduced to manage CPU Units in the CJ Series according to differences in
functionality accompanying Unit upgrades.

Notation of Unit Versions on Products

The Unit version is given to the right of the lot number on the nameplate of the products for which unit
versions are being managed, as shown below.

Example of a CJ-series Unit:

Unit Versions

The following information is provided on the ID information label.

Item Description

Unit model Gives the model of the Unit.

Unit version Gives the unit version of the Unit.

Lot number and
serial number

Gives the lot number and serial number of the Unit.

• YYMMDD: Lot number (

• xxxx: Serial number

: For use by OMRON)

Confirming Unit Versions with Support Software

CX-Programmer version 4.0 can be used to confirm the unit version using the Unit Manufacturing
Information.

The unit versions of Pre-Ver.1.0 Units cannot be confirmed in Unit Manufacturing Information.
The following dialog box is displayed.

CJ-series EtherCAT Slave Units Operation Manual (W541)

21

Unit Versions

In the IO Table Window, right-click the Unit to check the Unit Version and select Unit Manufacturing

Information.

The following Unit Manufacturing Information Dialog Box will be displayed.

Unit Versions and CX-Programmer Versions

The functions that are supported depend on the unit version of the Unit. The version of CX-Programmer
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-33 for the functions that are supported by each version.

22

CJ-series EtherCAT Slave Units Operation Manual (W541)

Related Manuals

The following manuals are related. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

CJ-series EtherCAT®
Slave Units Operation

Manual

CX-Programmer Opera­tional Manual

SYSMAC CJ Series Pro­grammable Controllers
Operation Manual

SYSMAC CJ Series CJ2
CPU Unit Software
User’s Manual

SYSMAC CJ Series CJ2
CPU Unit Hardware
User’s Manual

SYSMAC ONE NSJ
Series Controllers Oper­ation Manual

SYSMAC CP Series
CP1H CPU Unit Opera­tion Manual

W541 CJ1W-ECT21 Learning how to use an

EtherCAT Slave Unit.

W446 CXONE-ALC-V4

W393 CJ1G-CPU

W473 CJ2H-CPU6-EIP

W472 CJ2H-CPU6-EIP

W452 NSJ5-TQ(B)-G5D

W450 CP1H-X40D-

CXONE-ALD-V4

CJ1M-CPU
CJ1G-CPUP
CJ1G/H-CPUH

CJ2H-CPU6
CJ2M-CPU

CJ2H-CPU6
CJ2M-CPU

NSJ5-SQ(B)-G5D
NSJ8-TV(B)-G5D
NSJ10-TV(B)-G5D
NSJ12-TS
NSJ5-TQ
NSJ5-SQ(B)-M3D
NSJ8-TV(B)-M3D
NSJW-ETN21
NSJW-CLK21-V1
NSJW-IC101

CP1H-XA40D-
CP1H-Y20DT-D

(B)-

(B)-M3D

G5D

Learning the functions and
application methods of the
CX-Programmer software.

Learning the functions and
application methods of the
CJ Series PLC.

Learning the functions and
application methods of the
CJ2 Series PLC Software.

Learning the functions and
application methods of the
CJ2 Series PLC Hardware.

Learning the functions and
application methods of the
NSJ Series Controller.

Learning the functions and
application methods of the
CP1H Series Controller.

The following items are described: the
overall system and configuration meth­ods of an EtherCAT Slave Unit, informa­tion on hardware and functions to set up,
control and monitor the EtherCAT Slave
Unit.

Provides information on how to use the
CX-Programmer for all functionality
except for function blocks.

Provides an outline of, and describes the
design, installation, maintenance, and
other basic operations for the CJ-series
PLCs.

Describes the following for CJ2 CPU
Units:

• CPU Unit operation

• Internal memory

• Programming

• Settings

• Function built into the CPU Unit

Use together with the SYSMAC CJ

Series CJ2 CPU Unit Hardware User’s
Manual (W472).

Describes the following for CJ2 CPU
Units:

• Overview and features

• Basic system configuration

• Part nomenclature and functions

• Mounting and setting procedure

• Remedies for errors

Use together with the SYSMAC CJ

Series CJ2 CPU Unit Software User’s
Manual (W473).

Provides basic specifications on NSJ
Controllers, including an overview,
designing, installation, and maintenance.

Provides basic specifications on
CP-series CP1H PLCs, including an
overview, designing, installation, and
maintenance.

Related Manuals

CJ-series EtherCAT Slave Units Operation Manual (W541)

23

Related Manuals

Manual name Cat. No. Model numbers Application Description

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

Sysmac Studio Version 1
Operation Manual

NJ/NX-series CPU Unit
Built-in EtherCAT® Port
User’s Manual

W501

W504

W505

NX701-

NJ501-

NJ301-

NJ101-

SYSMAC-SE2

NX701-

NJ501-

NJ301-

NJ101-

Learning how to program
and set up an
NJ/NX-series CPU Unit.

Mainly software informa­tion is provided.

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

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

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

• CPU Unit operation

• CPU Unit features

• Initial settings

• Programming based on IEC 61131-3
language specifications

Use this manual together with the

NX-series CPU Unit Hardware User’s
Manual (Cat. No. W535) or the NJ-series
CPU Unit Hardware User’s Manual (Cat.

No. W500).

Describes the operating procedures of
the Sysmac Studio.

Information on the built-in EtherCAT port
is provided.

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

Use this manual together with the

NX-series CPU Unit Hardware User’s
Manual (Cat. No. W535) or NJ-series
CPU Unit Hardware User’s Manual (Cat.
No. W500) and with the NJ/NX-series
CPU Unit Software User’s Manual (Cat.

No. W501).

24

CJ-series EtherCAT Slave Units Operation Manual (W541)

Terminology

Term Abbreviation Description

application layer status, AL status --- Status for indicating information on errors that occur in

CAN application protocol over Ether­CAT

CAN in Automation CiA CiA is the international users' and manufacturers'

device profile --- A collection of device dependent information and func-

device variable --- A variable in the NJ/NX-series CPU Unit to which pro-

EtherCAT slave controller ESC A controller for EtherCAT slave communications.
EtherCAT slave information ESI An XML file that contains setting information for an

EtherCAT state machine ESM An EtherCAT communications state machine.
EtherCAT Technology Group ETG The ETG is a global organization in which OEM, end

I/O map settings --- Settings that assign variables to I/O ports. Assignment

I/O port --- A logical interface that is used by the CPU Unit to

I/O refreshing --- Cyclic data exchange with external devices that is per-

index --- Address of an object within an application process.
network configuration information --- The EtherCAT network configuration information held

object --- An abstract representation of a particular component

object dictionary OD Data structure that contains description of data type

Operational --- A state in EtherCAT communications where SDO com-

PDO communications --- An acronym for process data communications.
Pre-Operational --- A state in EtherCAT communications where only SDO

process data --- Collection of application objects designated to be

process data communications --- One type of EtherCAT communications in which pro-

Terminology

an application on a slave.

CoE A CAN application protocol service implemented on

EtherCAT.

group that develops and supports higher-layer proto­cols.

tionality providing consistency between similar devices
of the same device type.

cess data on an EtherCAT slave is allocated. Slave
process data is accessed by directly reading and writ­ing device variables from user applications on the
NJ/NX-series CPU Unit.

EtherCAT slave.

users, and technology providers join forces to support
and promote the further technology development.

information between I/O ports and variables.

exchange data with an external device (slave or Unit).

formed with predetermined memory addresses.

by the EtherCAT master.

within a device, which consists of data, parameters,
and methods.

objects, communication objects and application
objects.

munications and I/O are possible.

communications are possible with the slaves, i.e., no
I/O can be performed.

downloaded cyclically or acyclically for the purpose of
measurement and control.

cess data objects (PDOs) are used to exchange infor­mation cyclically and in realtime. This is also called
PDO communications.

CJ-series EtherCAT Slave Units Operation Manual (W541)

25

Terminology

process data object PDO A structure that describes the mappings of parameters

receive PDO RxPDO A process data object received by an EtherCAT slave.
Safe-Operational --- A state in EtherCAT communications where only SDO

SDO communications --- One type of EtherCAT communications in which ser-

service data object SDO CoE asynchronous mailbox communications where all

Slave Information Interface SII Slave information that is stored in non-volatile memory

subindex --- Sub-address of an object within the object dictionary.
Sync Manager SM Collection of control elements to coordinate access to

task period --- The interval at which the primary periodic task or a

transmit PDO TxPDO A process data object sent from an EtherCAT slave.

Term Abbreviation Description

that have one or more process data entities.

communications and reading input data from slaves
are possible. Outputs from slaves are not performed.

vice data objects (SDOs) are used to transmit informa­tion whenever required.

objects in the object dictionary can be read and writ­ten.

in the slave.

concurrently used objects.

periodic task is executed.

26

CJ-series EtherCAT Slave Units Operation Manual (W541)

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.

Revision History

Cat. No.

Revision code Date Revised content

01 April 2015 Original production
02 April 2019 Added information on the unit version that supports a ring

W541-E1-02

Revision code

topology.

CJ-series EtherCAT Slave Units Operation Manual (W541)

27

Revision History

28

CJ-series EtherCAT Slave Units Operation Manual (W541)

1

2

3

4

5

6

A

I

1

2

3

4

5

6

A

I

Features and System
Configuration

EtherCAT
Communications

Troubleshooting

Appendices

Maintenance and Replacement

Index

Nomenclature and
Installation

Memory Allocations

Sections in this Manual

Sections in this Manual

CJ-series EtherCAT Slave Units Operation Manual (W541)

29

Sections in this Manual

30

CJ-series EtherCAT Slave Units Operation Manual (W541)

Features and System Configura­tion

This section provides an introduction to EtherCAT networks and includes features, sys­tem configurations, specifications and setting procedures.

1-1 Introduction to EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-1 How EtherCAT Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-2 Types of EtherCAT Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3

1-2 EtherCAT Slave Unit Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5

1-3 System Configuration of CJ-series EtherCAT Slave Unit . . . . . . . . . . . . . 1-7

1-4 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1-4-1 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1-4-2 Functional and Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9

1-4-3 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-10

1-5 Setting Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11

1

CJ-series EtherCAT Slave Units Operation Manual (W541)

1 - 1

1 Features and System Configuration

Slave

• Output data addressed to the local node is read.

• Input data is written.

Ethernet frames

EtherCAT master

Slave

data

Slave

IN

OUT

1-1 Introduction to EtherCAT

EtherCAT (Ethernet Control Automation Technology) is a high-performance industrial network system
that enables faster and more efficient communications based on Ethernet.

Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed.

Although EtherCAT is a unique communications protocol, standard Ethernet technology is used for the
physical layer, which means you can use Ethernet cables for wider application.

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 How EtherCAT Works

With EtherCAT, Ethernet frames pass through all of the slave nodes.

When a frame passes through a slave node, the slave node reads and writes the data in the area that is
allocated to it in the frame in a few nanoseconds.

The Ethernet frames that are transmitted by the EtherCAT master pass through all EtherCAT slaves
without stopping. The last slave returns all of the frames, which again pass through all of the slaves
before returning to the EtherCAT master.

This mechanism ensures high speed and realtime data transmission.

The data exchanges that are cyclically performed between the EtherCAT master and EtherCAT slaves
use EtherCAT datagrams that are stored directly in the Ethernet frames.

Each EtherCAT datagram consists of a header (including the data length and one or more slave
addresses), data, and a working counter (i.e., check bits).

If you think of an Ethernet frame as a train, the EtherCAT datagrams would be the cars of the train.

1 - 2

CJ-series EtherCAT Slave Units Operation Manual (W541)

1 Features and System Configuration

Ethernet

header

CRC

Ethernet data (1,498 bytes max.)

Data

Header

WKC

1st to nth EtherCAT datagrams

EtherCAT

header

1st EtherCAT

datagram

2nd EtherCAT

datagram

nth EtherCAT

datagram

. . . . .

EtherCAT frame

Ethernet frame

WKC: Working counter

1-1 Introduction to EtherCAT

1

1-1-2 Types of EtherCAT Communications

1-1-2 Types of EtherCAT Communications

The following 2 types of communications are available with EtherCAT.

PDO communications are executed in each EtherCAT communications cycle to refresh data continu­ously. SDO communications are executed between PDO communications.

Process Data Communications (PDO Communications)

PDO communications transfers process data cyclically and in realtime.

The EtherCAT master maps the logical process data space to the nodes to achieve cyclic communica­tions between the EtherCAT master and slaves.

CJ-series EtherCAT Slave Units Operation Manual (W541)

1 - 3

1 Features and System Configuration

EtherCAT master

Slave

Ethernet frame

Slave

Slave

Slave

Logical process data

CRC

Data a

Data b

Data c

Ethernet

header

Ether
CAT

header

1st EtherCAT

datagram

2nd EtherCAT

datagram

3rd EtherCAT

datagram

Mailbox Communications (SDO Communications)

SDO communications is used to perform message communications.

Whenever necessary, the EtherCAT master sends a command to a slave, and then the slave returns a
response to the EtherCAT master.

The following data communications can be performed.

• Reading and writing process data

• Setting slaves

• Monitoring slave status

1 - 4

CJ-series EtherCAT Slave Units Operation Manual (W541)

1 Features and System Configuration

EtherCAT Slave Unit

EtherCAT master

RxPDO

Output data to

EtherCAT Slave Unit

TxPDO

Input data to

EtherCAT master

OUT data area

(CPU Unit)

IN data area

(CPU Unit)

EtherCAT network

1-2 EtherCAT Slave Unit Features

1-2 EtherCAT Slave Unit Fea-

The EtherCAT Slave Unit has the following features when used with the CJ-series CPU Unit.

Data Exchange Between EtherCAT Master and CPU Unit

Exchange data over the EtherCAT network between the EtherCAT master and the CPU Unit through
the EtherCAT Slave Unit.

tures

1

Adjustable Data Exchange Sizes

Choose the amount of data to exchange over the EtherCAT network from 0, 50, 100, 200 or 400 bytes.

CJ-series EtherCAT Slave Units Operation Manual (W541)

1 - 5

1 Features and System Configuration

EtherCAT Slave Unit

EtherCAT master

DeviceNet Master Unit

DeviceNet network

EtherCAT network

DeviceNet slaves

CPU Unit

Integration with Other Networks

Interface with multiple networks such as EtherCAT and DeviceNet.

1 - 6

CJ-series EtherCAT Slave Units Operation Manual (W541)

1 Features and System Configuration

(A) EtherCAT master

(E) Communications cable

Ethernet cables

(G) Configuration Software

(D) CX-Programmer

(F) ESI files

Built-in EtherCAT port

.xml

(B) CJ-series

EtherCAT Slave Unit
CJ1W-ECT21

(C) CJ-series

CPU Unit

Input port

Output port

1-3 System Configuration of CJ-series

EtherCAT Slave Unit

An example of a system configuration for a CJ-series EtherCAT Slave Unit is shown below.

CJ-series EtherCAT Slave Unit

1-3 System Configuration of

1

(A)

(B) CJ-series Ether-

(C) CJ-series CPU

(D)

Letter Item Description

EtherCAT master

CAT Slave Unit
(CJ1W-ECT21)

Unit

CX-Programmer

*1

*2

*3

The EtherCAT master manages the EtherCAT network, monitors the status
of the slaves and exchanges I/O data with the slaves.

The CJ-series EtherCAT Slave Unit can perform the following functions
over an EtherCAT network.

• Process data communications with the EtherCAT master.

• Message communications (SDO communications) with the EtherCAT
master.

• Exchange data between the CJ-series CPU Unit and the EtherCAT mas­ter.

The main Unit that controls a CJ-series PLC. The CPU Unit refreshes I/O
for other Units and slaves, etc.

The CX-Programmer runs on a personal computer and it is used to config­ure I/O Communication Area Setting Table to communicate between the
CJ-series CPU Unit and the EtherCAT Slave Unit and to program, monitor,
and debug the CJ-series PLC.

CJ-series EtherCAT Slave Units Operation Manual (W541)

1 - 7

1 Features and System Configuration

Letter Item Description

(E) Communications

Cable

(F) ESI (EtherCAT

Slave Information
File)

(G) Configuration Soft-

ware

*1. An EtherCAT Slave Unit cannot be connected to any of the OMRON CJ1W-NC□81/□82 Position Control Units

even though they can operate as EtherCAT masters.

*2. Refer to A-7 Version Information on page A-33 for information on CPU Unit version compatibility when con-

necting EtherCAT Slave Units to CJ/CP/NSJ-series CPU Units.

*3. Refer to A-7 Version Information on page A-33 for information on the versions of the CX-Programmer that you

can use to set up CJ-series EtherCAT Slave Units.

Use a double-shielded cable with aluminum tape and braiding of category
5 (100BASE-TX) or higher, and use straight wiring.

The ESI files contain information unique to the EtherCAT slaves in XML
format. You can load an ESI file into the EtherCAT master Configuration
Software to easily allocate slave process data and make other settings.

Configuration Software runs on a personal computer and it is used to con­figure the EtherCAT network and EtherCAT slaves.

1 - 8

CJ-series EtherCAT Slave Units Operation Manual (W541)

1 Features and System Configuration

1-4 Specifications

This section provides the general specifications of the EtherCAT Slave Unit.

1-4-1 General Specifications

The general specifications conform to those of the CJ-series PLCs, CP-series PLCs and NSJ-series
PLCs.

1-4-2 Functional and Performance Specifications

This section provides the functional and performance specifications of the EtherCAT Slave Unit.

Item Specification

Model number CJ1W-ECT21
Applicable PLCs CJ-series, CP-series, NSJ-series
Unit classification CPU Bus Unit
Applicable unit numbers 0 to F
Mounting position CPU Rack or Expansion Rack
Number of Units that can be mounted 16 Units max. (you must allocate unique words)
CPU Unit words

used

Transmission
specifications

Current consumption 340 mA max. at 5 V DC
Weight 97 g max.
Dimensions 31 × 90 × 65 mm (W × H × D)

*1. Set with allocated DM area words (CPU Bus Unit words) or CX-Programmer.

*2. The CJ-series EtherCAT Slave Unit conforms to EtherCAT standards. Confirm the specifications of the con-

nected EtherCAT master for the support topology. The EtherCAT Slave Unit with unit version 1.0 or later sup­ports a ring topology.

Allocated CIO Area words
(CPU Bus Unit words)

Allocated DM Area words
(CPU Bus Unit words)

Other I/O memory

CPU Bus Unit setting area Not used
Communications protocol EtherCAT protocol
Modulation Baseband
Baud rate 100 Mbps
Physical layer 100BASE-TX (IEEE 802.3)
Topology

Transmission media Category 5 or higher twisted-pair cable (Recommended cable:

Transmission distance Distance between nodes: 100 m or less
Send/receive PDO data

sizes
Mailbox data size Input: 512 bytes

Mailbox Emergency messages and SDO requests
Refreshing methods Free-Run Mode
Node address setting

range

25 words/Unit (one unit number’s words)
Unit Status 1, Unit Status 2, Slave Status 1, Slave Status 2
100 words/Unit (one unit number’s words)
I/O Communication Area Setting Table, I/O Communication

Area Reference Table

I/O communication area in any area

Depends on the specifications of the EtherCAT master

double-shielded cable with aluminum tape and braiding)

Allocatable IN and OUT data area sizes of 0, 50, 100, 200 or
400 bytes

Output: 512 bytes

1 to 255 (hardware switch setting)

1 to 65535 (software switch setting)

1-4 Specifications

1

1-4-1 General Specifications

*1

*2

CJ-series EtherCAT Slave Units Operation Manual (W541)

1 - 9

1 Features and System Configuration

31.0

90.0

65.0

1-4-3 Dimensions

This section provides the external dimensions of the EtherCAT Slave Unit.

1 - 10

CJ-series EtherCAT Slave Units Operation Manual (W541)

1-5 Setting Procedures

The basic setting procedures for the EtherCAT Slave Unit are described below.

Procedure Item Description Reference

Making Hardware
Settings and Wir­ing the EtherCAT
Slave Unit

1

Setting the unit
number and node
address

Installation Mount the EtherCAT Slave Unit in the

Wiring Connect the EtherCAT Slave Unit and the

Set the unit number and the node
address of the EtherCAT Slave Unit with
the hardware switches.

CPU Rack or Expansion Rack.

EtherCAT master with the communication
cable.

1 Features and System Configuration

2-1-3 Switch Set­tings on page 2-6

2-2 Installing the
EtherCAT Slave
Unit on page 2-8

2-3 EtherCAT Net­work Wiring on

page 2-10

1-5 Setting Procedures

1

Making Software
Settings for the
EtherCAT Slave
Unit

2

Connecting
CX-Programmer

Turning ON power
to the CJ-series
CPU Unit

Going online with
the CX-Program­mer

Creating the I/O
tables

Setting and trans­ferring the I/O Com­munication Area
Setting Table

Restarting the
EtherCAT Slave
Unit

Checking the I/O
Communication
Area Reference
Ta bl e

Creating and trans­ferring the user pro­gram

Connect the CX-Programmer to the
CJ-series CPU Unit.

Turn ON the power supply to the
CJ-series PLC.

Place the CX-Programmer online with the
CJ-series CPU Unit.

Create the I/O table with CX-Program­mer.

Set the I/O Communication Area Setting
Table with one of the following methods.

• Use the Edit Parameters Dialog Box in
the CX-Programmer.

• Use the allocated DM area words.

Transfer the setting to the EtherCAT
Slave Unit.

Cycle the power supply of the CJ-series
PLC or restart the EtherCAT Slave Unit.

Check the I/O Communication Area Ref­erence Table with one of the following
methods.

• Use the Edit Parameters Dialog Box in
the CX-Programmer.

• Use the allocated DM area words.

Create the user program. Transfer the
user program to the CJ-series CPU Unit
with the CX-Programmer.

CX-Programmer
Operation Manual

(W446)

---

CX-Programmer
Operation Manual

(W446)

A-5 Creating I/O
Tables on page

A-24

• 3-4 I/O Communi-

cation Area Set­tings on page

3-16

• 3-3 DM Area Allo-
cations on page
3-9

---

• 3-4 I/O Communi-

cation Area Set­tings on page

3-16

• 3-3 DM Area Allo-
cations on page
3-9

CX-Programmer
Operation Manual

(W446)

CJ-series EtherCAT Slave Units Operation Manual (W541)

1 - 11

1 Features and System Configuration

Procedure Item Description Reference

Setting the Ether­CAT Master

3

Installing ESI files Install the ESI file of the EtherCAT Slave

Turning ON the
power supply to the
EtherCAT master

Creating the net­work configuration
information

Creating the com­munication settings

Downloading the
settings to the
EtherCAT master

Starting EtherCAT
communication

Unit into the Configuration Software.

Turn ON the power supply to the Ether­CAT master.

Create the network configuration informa­tion as follows.

• Network configuration

• PDO Mapping

Assign PDOs of the same size as the
setting value of the IN and OUT data
area size in the I/O Communication
Area Setting Table of the EtherCAT
Slave Unit.

Create the EtherCAT master’s network
communication settings.

Download the network configuration
information and the communication set­tings to the EtherCAT master.

Enable EtherCAT network communica­tions.

Manuals for the
EtherCAT master

Confirming Oper­ation

4

Checking indicators Check the indicators on the EtherCAT

master and the EtherCAT Slave Unit.

Checking I/O data Check the I/O data exchange of the

EtherCAT master and EtherCAT Slave
Unit with the CX-Programmer and Ether­CAT master Configuration Software.

• 2-1-2 Indicators
on page 2-3

• 5-2-1 Checking

for Errors and
Troubleshooting
with the Indica­tors on page 5-5

• Manuals for the
EtherCAT master

• CX-Programmer

Operation Man­ual (W446)

• Manuals for the
EtherCAT master

1 - 12

CJ-series EtherCAT Slave Units Operation Manual (W541)

Nomenclature and Installation

This section describes the nomenclature, installation and wiring of the EtherCAT Slave
Unit.

2-1 Nomenclature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-1 Nomenclature and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-2 Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3

2-1-3 Switch Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6

2-2 Installing the EtherCAT Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2-2-1 System Configuration Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2-2-2 Mounting to a CJ-series PLC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2-2-3 Handling Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2-3 EtherCAT Network Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2-3-1 Installation Standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2-3-2 Installation Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2-3-3 Preparations for Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2-11

2-3-4 Pin Arrangements of Communications Connectors . . . . . . . . . . . . . . . . . . . . 2-12

2-3-5 Connecting Communications Cables and Connectors . . . . . . . . . . . . . . . . . . 2-13

2-3-6 Connecting Communications Cables to Units . . . . . . . . . . . . . . . . . . . . . . . . . 2-13

2

CJ-series EtherCAT Slave Units Operation Manual (W541)

2 - 1

2 Nomenclature and Installation

(A)

(B)

(C)

(D)

(A)

2-1 Nomenclature

This section provides the nomenclature for the EtherCAT Slave Unit.

2-1-1 Nomenclature and Functions

This section provides the names and functions of the items on the front panel of the EtherCAT Slave
Unit.

Letter Name Function

(A) Indicators The indicators show the current operating status of the Unit and

the connection status of the IN and OUT EtherCAT ports.

(B) Unit number switch This switch sets the unit number of the EtherCAT Slave Unit as

a one-digit hexadecimal value.

(C) Communication connectors These connectors are connected to the communications cables

of the EtherCAT network. There are two connectors: one for the
input port and one for the output port.

(D) Node address switches These switches set the node address as a two-digit hexadeci-

mal value.

2 - 2

CJ-series EtherCAT Slave Units Operation Manual (W541)

2-1-2 Indicators

2 Nomenclature and Installation

An EtherCAT Slave Unit is equipped with the following indicators that provide the operating status of
the Unit itself and the overall network.

 Overview of Indicators

Name Meaning

L/A IN The L/A IN indicator shows the link activity of the input port.

L/A OUT The L/A OUT indicator shows the link activity of the output port.

ECAT RUN The ECAT RUN indicator shows the operating status of EtherCAT communications for the

EtherCAT Slave Unit.

ECAT ERR The ECAT ERR indicator provides information on errors in the EtherCAT Slave Unit.

RUN The RUN indicator provides information on the operation of the EtherCAT Slave Unit.

ERC The ERC indicator provides information about errors of the EtherCAT Slave Unit.

ERH The ERH indicator provides information about errors of the CPU Unit.

2-1 Nomenclature

2

2-1-2 Indicators

 Indicator Details

Name Color Status Meaning

L/A IN

L/A OUT

ECAT RUN Green Lit Operational state

CJ-series EtherCAT Slave Units Operation Manual (W541)

Green Lit Link established in physical layer

Flickering Operating after establishing link

Not lit Link not established in physical layer

Blinking Pre-Operational state

Single flash Safe-Operational state

Flickering Initializing process

Not lit Init state

2 - 3

2 Nomenclature and Installation

Name Color Status Meaning

ECAT ERR Red Lit • Special Unit Error

Blinking • CPU Unit Fatal Error

Single flash • CPU Unit Fatal Error

Double flash I/O Communication Error (Process Data WDT Error)

Flickering ESC Error

Not lit No error

RUN Green Lit The Unit is in operation.

Not lit The Unit is not in operation.

ERC Red Lit The Unit has an error.

Flashing The Unit has an error.

Not lit The Unit is normal.

ERH Red Lit The CPU Unit has an error.

Not lit The CPU Unit is normal.

• ESC Initial Error

• I/O Bus Error

• Output OFF Error

• CPU Unit Watchdog Timer Error

• CPU Unit Service Monitoring Error

• I/O Refresh Error

• Sll Unit Verification Error

• Mailbox Setting Error

• Verification Error

• Illegal State Transition Request Received

•Restart

• Output OFF Error

• CPU Unit Watchdog Timer Error

• CPU Unit Service Monitoring Error

• I/O Refresh Error

• I/O Bus Error

• CPU Unit Faulty

• Special Unit Error

• ESC Error

• ESC Initial Error

• Sll Unit Verification Error

• Special Unit Memory Error

• I/O Communication Error (Process Data WDT Error)

• Mailbox Setting Error

• Verification Error

• Illegal State Transition Request Received

• EtherCAT Slave Unit Faulty

• Unit Number Duplication

• CPU Unit Faulty

• I/O Table Not Registered

• CPU Unit Fatal Error

• CPU Unit Watchdog Timer Error

• CPU Unit Service Monitoring Error

• I/O Refresh Error

• I/O Bus Error

2 - 4

CJ-series EtherCAT Slave Units Operation Manual (W541)

2 Nomenclature and Installation

on

off

off

off

off

on

on

on

Flickering

Blinking

Single flash

Double flash

200 ms 200 ms

50 ms

1,000 ms

1,000 ms

200 ms

sm 002sm 002

200 ms 200 ms

 Indicator State Timing

The flashing patterns for flickering, blinking, single flash, and double flash are given below.

2-1 Nomenclature

2

2-1-2 Indicators

CJ-series EtherCAT Slave Units Operation Manual (W541)

2 - 5

2 Nomenclature and Installation

Precautions for Safe Use

Additional Information

2-1-3 Switch Settings

This section describes the functions of the rotary hardware switches on the front panel of the EtherCAT
Slave Unit.

Unit Number Switch

The unit number switch sets the unit number of the EtherCAT Slave Unit as a CPU Bus Unit. The unit
number determines which data area words and DM area words are allocated to the Unit that contain
data such as unit status, slave status, the I/O Communication Area Setting Table and the I/O Commu­nication Area Reference Table.

Setting method: One-digit hexadecimal

Setting range: 0 to F hex

The unit number is set to 0 at the factory.

You can set any unit number from 0 to F as long as it has not been set on another CPU Bus Unit con­nected to the same CPU Unit.

• Use a small flat-blade screwdriver to turn the rotary switches; be careful not to damage the
switch.

• Always turn OFF the PLC’s power supply before setting the unit number.

If the same unit number is set on more than one CPU Bus Unit mounted in a PLC, a Unit Num­ber Duplication error will occur in the PLC and the EtherCAT Slave Unit will not be able to start
operating.

Node Address Switches

The node address switches set the node address of the EtherCAT Slave Unit to enable the EtherCAT
master to recognize the EtherCAT Slave Unit.

The value of node address is loaded to register 0012h of the EtherCAT slave controller when the power
supply to the CJ1W-ECT21 is turned ON.

The upper switch sets the sixteens digit (most significant digit) and the lower switch sets the ones digit
(least significant digit).

2 - 6

CJ-series EtherCAT Slave Units Operation Manual (W541)

2 Nomenclature and Installation

Precautions for Correct Use

There are two methods to set the node address: hardware switches and software switches.

The switch settings are used to select the method to use.

 Set the Node Address with Hardware Switches

Use the switch settings to set the node address from 1 to 255. If these switches are not set to 00, the
node address that is set on the switches will be used.

Setting method: Two-digit hexadecimal

Setting range: 01 to FF hex

The node address is set to 00 at the factory.

 Setting the Node Address with Software Switches

To set the node address with software switches, set the node address switches to 00. When the
switches are set to 00, use the EtherCAT master Configuration Software to set a range from 1 to
65535 for the node address.

• The node address that is set with hardware or software switches is read only when the Unit
initializes (upon power-up or restart). Changing the node address while the Unit is opera­tional will not effect the EtherCAT Slave Unit unless a restart or power-up is applied.

• An error may occur on the EtherCAT master if the same node address is set for more than
one slave present on the EtherCAT network.

• An error may occur on the EtherCAT master if the node address is not within the setting
range specified for the EtherCAT master.

2-1 Nomenclature

2

2-1-3 Switch Settings

CJ-series EtherCAT Slave Units Operation Manual (W541)

2 - 7

2 Nomenclature and Installation

Precautions for Correct Use

C
P
U

P
SIC

PSI

I

PSI

I

PSI

I

CPU Rack

10 Units max.

*1

End Cover

10 Units max.

*1

End Cover

Expansion Rack

10 Units max.

*1

End Cover

Expansion Rack

10 Units max.

*1

End Cover

Expansion Rack

Up to 16 EtherCAT Slave
Units can be mounted.

*1

PS: Power Supply Unit
CPU: CPU Unit
IC: I/O Control Unit
II: I/O Interface Unit

2-2 Installing the EtherCAT Slave Unit

This section describes how to mount the EtherCAT Slave Unit to a CJ-series PLC system.

2-2-1 System Configuration Precautions

Up to 16 EtherCAT Slave Units can be mounted to the CJ-series PLC system when Expansion Racks
are present.

If EtherCAT Slave Units are mounted in combination with other CPU Bus Units (e.g., Controller Link
Units), the maximum total number of CPU Bus Units that can be mounted is 16.

Be sure that the total current consumption of all the Units connected to the same CPU Rack or
Expansion Rack does not exceed the output capacity of the Power Supply Unit.

2-2-2 Mounting to a CJ-series PLC

EtherCAT Slave Units can be mounted in a CJ-series CPU Rack or a CJ-series Expansion Rack. Con­nect the EtherCAT Slave Unit in any of the positions shown below using the sliders on the top and bot­tom of the Unit.

2 - 8

CJ-series EtherCAT Slave Units Operation Manual (W541)

2 Nomenclature and Installation

Precautions for Safe Use

PA205R

POWER

AC100

-240V

L2/N

L1

DC24V

AC240V

OUT

PU

T

RUN

PERIPHERA

L

RUN
INH

COMM
PRPHL

CONTROL

LER

P

R
OGR

AMMABLE

PORT

OPEN

Connectors

Hooks

Openings

PA205R

POWER

AC100-240V

L2/N

L1

DC24V

OUTPUT

RUN

PERIPHERAL

RUN
INH

COMM
PRPHL

CONTROL

L

ER

PROGRA

M

MABLE

PORT

OPEN
BUSY

Slider

Lock

Release

*1. The maximum number of EtherCAT Slave Units that can be mounted to a CJ-series PLC depends on the

model of the CPU Unit. Refer to the operation manual of the specific CPU Unit for more details.

Mounting Procedure

1 Carefully align the connectors to mount the EtherCAT Slave Unit.

2-2 Installing the EtherCAT Slave Unit

2

2-2-3 Handling Precautions

2 Move the yellow sliders on the top and bottom of the Unit until they click into position, to lock.

If the sliders are not securely locked, the EtherCAT Slave Unit functions may not operate suffi­ciently.

To dismount the Unit, move the sliders to the “Release” direction.

2-2-3 Handling Precautions

This section provides handling precautions for the EtherCAT Slave Unit.

• Always turn OFF the PLC’s power supply before you mount or dismount a Unit or connect or discon­nect cables.

• Provide separate conduits or ducts for the I/O lines to prevent noise from high-tension lines or power
lines.

• Prevent wire clippings, cutting chips or other materials from getting inside the Unit. They could cause
scorching, failure, and malfunction. Pay particular attention to this during installation and take mea­sures such as covering with a cover.

CJ-series EtherCAT Slave Units Operation Manual (W541)

2 - 9

2 Nomenclature and Installation

2-3 EtherCAT Network Wiring

This section describes how to install the EtherCAT network.

2-3-1 Installation Standards

To ensure that the EtherCAT communication network is installed properly, refer to IEC 61784-5-12
standard in conjunction with IEC 61918.

2-3-2 Installation Precautions

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

Precautions when Installing a Network

• When you install an EtherCAT network, take sufficient safety precautions and perform the installation
according to all applicable standards and specifications. An expert well versed in safety measures
and the standards and specifications should be asked to perform the installation.

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

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

Precautions when Installing Communications Cables

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

Are there any breaks?

Are there any shorts?

Are there any connector problems?

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

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

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

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

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

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

2 - 10

CJ-series EtherCAT Slave Units Operation Manual (W541)

2-3-3 Preparations for Installation

Prepare the following devices.

Product Remarks

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

RJ45 connectors Shielded

100BASE-TX (Category 5 or higher)

Double shielding with aluminum tape and braiding

2 Nomenclature and Installation

2-3 EtherCAT Network Wiring

Recommended products are given in the following tables.

Cables with Connectors

 Sizes and Conductor Pairs: AWG 22 × 2 Pairs

Product name Manufacturer

Cables with Connec­tors on Both Ends

(RJ45/RJ45)

Cables with Connec­tors on Both Ends

(M12/RJ45)

*1. Refer to the XS5/XS6 Industrial Ethernet Connectors Catalog (Cat. No. G019) for the latest lineup of these

Cables.

OMRON Corporation 0.3 XS5W-T421-AMD-K

OMRON Corporation 0.3 XS5W-T421-AMC-K

Length (m)

0.5 XS5W-T421-BMD-K

1 XS5W-T421-CMD-K

2 XS5W-T421-DMD-K

5 XS5W-T421-GMD-K

10 XS5W-T421-JMD-K

0.5 XS5W-T421-BMC-K

1 XS5W-T421-CMC-K

2 XS5W-T421-DMC-K

5 XS5W-T421-GMC-K

10 XS5W-T421-JMC-K

*1

Model

2

2-3-3 Preparations for Installation

Cables and Connectors

 Sizes and Conductor Pairs: AWG 24 x 4 Pairs

Part name Manufacturer Model

Cables Hitachi Cable, Ltd. NETSTAR-C5E SAB

Kuramo Electric Co., Ltd.

SWCC Showa Cable Systems Co., Ltd.

Nihon Electric Wire & Cable Co., Ltd.

RJ45 Connectors Panduit Corporation

*1. A combination of the above cables and connectors is recommended for use.

CJ-series EtherCAT Slave Units Operation Manual (W541)

0.5×4P CP

KETH-SB

FAE-5004

IETP-SB

MPS588-C

*1

*1

*1

*1

*1

2 - 11

2 Nomenclature and Installation

Precautions for Correct Use

Communications
connectors

1

8

 Sizes and Conductor Pairs: AWG 22 x 2 Pairs

Part name Manufacturer Model

Cables Kuramo Electric Co., Ltd.

RJ45 Assembly Connectors Omron Corporation

*1. A combination of the above cables and connectors is recommended for use.

• The maximum length between nodes is 100 m. However, some cables are specified for less
than 100 m. Generally speaking, if the conductors are twisted wire rather than solid wire,
transmission performance will be lower, and reliable communications may not be possible at
100 m. Confirm details with the cable manufacturer.

• When selecting a connector, confirm that it is applicable to the cable that will be used. Con­firm the following items: Conductor size, conductor type (solid wire or twisted wire), number
of twisted pairs (2 or 4), outer diameter, etc.

• Use only the specified communication cables.

Nihon Electric Wire & Cable
Co., Ltd.

KETH-PSB-OMR

PNET/B

XS6G-T421-1

*1

*1

*1

2-3-4 Pin Arrangements of Communications Connectors

The pin arrangement of the EtherCAT communications connectors is given below.

Pin No. Signal name Abbreviation

1 Send data + TD+

2 Send data − TD-

3 Receive data + RD+

4 Not used ---

5 Not used ---

6 Receive data - RD-

7 Not used ---

8 Not used ---

2 - 12

CJ-series EtherCAT Slave Units Operation Manual (W541)

2 Nomenclature and Installation

Additional Information

White-Green

Green

White-Orange

Blue

White-Blue

Orange

White-Brown

Brown

Hood

1

2

3

4

5

6

7

8

Shield

*1

Wire color

Pin No.

White-Green

Green

White-Orange

Blue

White-Blue

Orange

White-Brown

Brown

Hood

1

2

3

4

5

6

7

8

Shield

*1

Wire color

Pin No.

*1. Connect the cable shield wire to the connector hood at both ends of the cable.

2-3-5 Connecting Communications Cables and Connectors

Use straight connections for the communications cables and connectors, as shown below.

2-3 EtherCAT Network Wiring

2

2-3-5 Connecting Communications Cables and Connectors

There are two connection methods for Ethernet cables: T568A and T568B.

The T568A connection method is shown in the above figure, but the T568B connection method
can also be used.

2-3-6 Connecting Communications Cables to Units

Cable connections can be made freely in EtherCAT networks.

The following example shows daisy-chain connections.

Connect the communications cable from the EtherCAT master to the input port on the EtherCAT Slave
Unit, and then connect another communications cable from the output port on the EtherCAT Slave Unit
to the input port on the next EtherCAT slave.

Do not connect anything to the output port of the EtherCAT slave at the end of the network.

CJ-series EtherCAT Slave Units Operation Manual (W541)

2 - 13

2 Nomenclature and Installation

Precautions for Correct Use

Additional Information

Input port

Output port

EtherCAT master

EtherCAT
slaves

Communications
cable

Do not connect anything.

Last EtherCAT slave

L1

L2

Ln

EtherCAT Slave Unit

• The cable between any two nodes (L1, L2 ... Ln) must be 100 m or less.

• Firmly connect the communications cable connector until it clicks into place.

• When you install the communications cables, observe the cable specifications (e.g., bending
radius) of the cable manufacturer.

• Do not disconnect the communications cables from the EtherCAT Slave Units during opera­tion. The outputs from the EtherCAT master may become unstable.

Make sure the cable between each pair of devices connects an output port to an input port.
Normal communications are not possible if an output port is connected to another output port or
an input port is connected to another input port.

2 - 14

CJ-series EtherCAT Slave Units Operation Manual (W541)

Memory Allocations

This section describes the words allocated to the EtherCAT Slave Unit. These words
both enable controlling the EtherCAT Slave Unit and accessing Unit status.

3-1 Overview of the Memory Allocated to the EtherCAT Slave Unit . . . . . . . . 3-2

3-2 CIO Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3-2-1 Overview of the Allocated CIO Area Words . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3-2-2 Details of the Allocated CIO Area Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4

3-3 DM Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3-3-1 Overview of the Allocated DM Area Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3-3-2 Details of the Allocated DM Area Words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9

3-4 I/O Communication Area Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

3-4-1 The Unit Edit Parameters Dialog Box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

3-4-2 Setting Procedure with the CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . 3-19

3

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 - 1

3 Memory Allocations

Precautions for Correct Use

3-1 Overview of the Memory Allocated to

the EtherCAT Slave Unit

The following CPU Unit words are allocated to the EtherCAT Slave Unit.

• CPU Unit’s allocated CIO Area words

These words contain the status information.

• CPU Unit’s allocated DM Area words

These words contain the I/O Communication Area Setting Tables and I/O Communication Area Ref­erence Tables.

The words shown in the following diagram are allocated according to the unit number setting. For each
Unit, there are 25 words allocated in the CIO Area and 100 words allocated in the DM Area.

• First word allocated in the CIO Area: n = CIO 1,500 + (25 x unit number)

• First word allocated in the DM Area: m = D30,000 + (100 x unit number)

Unit number 0

Unit number 1

Unit number 15

Unit number 0

Unit number 1

Unit number 15

CPU Unit

Allocated CIO Area words

(Allocated to the Unit as a CPU Bus Unit)

CIO 1500
CIO 1501

CIO 1524
CIO 1525
CIO 1526

CIO 1549

CIO 1875
CIO 1876

CIO 1899

Allocated DM Area words
(Allocated to the Unit as a CPU Bus Unit)

D30000
D30001

D30099
D30100
D30101

D30199

D31500
D31501

25 words

25 words

25 words

100

words

100

words

100

words

Unit/Slave status

(I/O refresh)

I/O Communication
Area Setting Tables

(I/O refresh)

I/O Communication

Area Reference

Tables

(Power ON or

restart the Unit)

EtherCAT Slave Unit

Local memory

25 words

Local memory

100 words

Setting results are refreshed when the Unit restarts or when the Unit is powered ON.

3 - 2

D31599

CJ-series EtherCAT Slave Units Operation Manual (W541)

3-2 CIO Area Allocations

Precautions for Correct Use

(Reserved)

Unit Status 1

Unit Status 2

Slave Status 1

Slave Status 2

(Reserved)

EtherCAT Slave Unit → CPU Unit

EtherCAT Slave Unit → CPU Unit

Offset

Bit

Data direction

n

n+1

n+2

n+3

n+4

n+5

n+6

n+7

n+8

n+9

n+10

n+11

n+12

n+13

n+14

n+15

n+16

n+17

n+18

n+19

n+20

n+21

n+22

n+23

n+24

15 8 7 0

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14

15

16

17

18

19

20

21

22

23

24

This section describes CIO area allocations for the EtherCAT Slave Unit.

3-2-1 Overview of the Allocated CIO Area Words

Various kinds of data are stored in the allocated CIO Area words, which are identified by the offset from
the beginning word (n) allocated to each Unit.

The beginning word n is calculated by the following equation:

Beginning word n = CIO 1500 + (25 × unit number)

3 Memory Allocations

3-2 CIO Area Allocations

3

3-2-1 Overview of the Allocated CIO Area Words

CJ-series EtherCAT Slave Units Operation Manual (W541)

The reserved words are regularly refreshed with all zeroes.

3 - 3

3 Memory Allocations

Unit Error

Slave Function Error

14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

n + 10

Unit Memory Error

ESC Error

15

3-2-2 Details of the Allocated CIO Area Words

This section provides the details of the allocated CIO area words.

Unit Status 1 (n+10)

Bit Name Manipulated by Unit operation

0Unit Error Unit ON:

Displays EtherCAT Slave Unit operating errors

Unit Error turns ON if any bit from 01 to 15 in Unit Status 1
is ON (OR information of bits 01 to 15).

OFF:

Indicates that the error did not occur or turns OFF when the
error is cleared.

Default: OFF

1 to 2 Reserved --- ---

3 Slave Function Error Unit ON:

Indicates that at least one slave error occurred. Refer to
Slave Status 1.

The slave errors are as follows:

• Slave AL Status Error

• SII Unit Verification Error

• Verification Error

• Mailbox Setting Error

• I/O Communication Error

• Illegal State Transition Request Received

• I/O Refresh Error

OFF:

Indicates that none of the above errors occurred or turns
OFF when all of above errors are cleared.

Default: OFF

This bit cannot be turned OFF unless the error is recovered
from the EtherCAT master.

3 - 4

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 Memory Allocations

Online Status

n + 11

Error Log Registered

14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

15

Bit Name Manipulated by Unit operation

4 Unit Memory Error Unit ON:

Indicates an error in internal memory where the error log or
I/O communication area data is stored. The error occurs
when the Unit starts up or when the error log is written.

OFF:

Indicates that the error did not occur. Once this error
occurs, the bit will remain ON and will not return to OFF.

Default: OFF

5 ESC Error Unit ON:

Indicates an error in ESC.

OFF:

Indicates that the error has not occurred. Once this error
occurs, the bit will remain ON and will not return to OFF.

Default: OFF

6 to 15 Reserved --- ---

3-2 CIO Area Allocations

3

3-2-2 Details of the Allocated CIO Area Words

Unit Status 2 (n+11)

Bit Name Manipulated by Unit operation

0 Online Status Unit ON:

Indicates that the Unit is online and capable of commu­nicating on the network.

OFF:

Indicates that the Unit is offline.

A Unit will go offline under the following conditions:

• Operation is stopped by the hardware/software
check at startup.

• An ESC Error has occurred.

Default: OFF

1 to 14 Reserved --- ---

15 Error Log Registered Unit ON:

Indicates that an error log was registered. Turns ON at
the first error log registration for the Unit.

OFF:

Indicates that no errors are registered in the error log.
Turns OFF when the Unit receives an error log clear
request.

Default: OFF

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 - 5

Slave AL Status Error

SII Unit Verification Error

n + 12

Verification Error

I/O Communication Error

Illegal State Transition Request
Received

Mailbox Setting Error

I/O Refresh Error

14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

15

3 Memory Allocations

Slave Status 1 (n+12)

Bit Name Manipulated by Unit operation

0 Reserved --- ---

1 Slave AL Status Error Unit ON:

2 SII Unit Verification

Error

3 Verification Error Unit ON:

4 Mailbox Setting Error Unit ON:

Indicates that the slave detects an AL status error.

OFF:

Indicates that the error has not occurred.

Default: OFF

Unit ON:

Indicates that an error occurred in the slave information
stored in SII when the power supply is turned ON.

OFF:

Indicates that the error has not occurred.

Default: OFF

Indicates that the I/O communication area size does not
match with the Sync Manager size set by the EtherCAT
master.

OFF:

Indicates that the I/O communication area size matches
with the Sync Manager size set by the EtherCAT master.

Default: OFF

Indicates that the Unit is requested to change Pre-Oper­ational state without mailbox settings or the mailbox size
setting is outside the allowable range (512 bytes).

OFF:

Indicates the error has not occurred.

Default: OFF

3 - 6

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 Memory Allocations

Available Mailbox Communication

Input Data Valid

n + 13

IN Port Link Status

OUT Port Link Status

Output Data Valid

14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

15

Bit Name Manipulated by Unit operation

5 I/O Communication

Error

6 Illegal State Transition

Request Received

7 I/O Refresh Error Unit ON:

8 to 14 Reserved --- ---

Unit ON:

Indicates that RxPDO data from the EtherCAT master is
not refreshed during the monitoring time.

OFF:

Indicates that RxPDO data from the EtherCAT master is
refreshed during the monitoring time.

Default: OFF

Unit ON:

Indicates that an unexpected state transition request
has been sent from the EtherCAT master.

OFF:

Indicates that an unexpected state transition request
has not been sent from the EtherCAT master.

Default: OFF

Indicates that an I/O Refresh Error occurred while in
operation.

OFF:

Indicates that an I/O Refresh Error has not occurred
while in operation.

Default: OFF

3-2 CIO Area Allocations

3

3-2-2 Details of the Allocated CIO Area Words

Slave Status 2 (n+13)

Bit Name Manipulated by Unit operation

0 Reserved --- ---

1 Available Mailbox Com-

munication

CJ-series EtherCAT Slave Units Operation Manual (W541)

Unit ON:

Indicates that mailbox communication is available for
the Unit.

OFF:

Indicates that mailbox communication is not available
for the Unit.

Default: OFF

This bit will remain ON while the Unit is in the Pre-Oper­ational, Safe-Operational or Operational state.

This bit will also remain ON if the IN port link is not
established with another device.

3 - 7

3 Memory Allocations

Bit Name Manipulated by Unit operation

2 Input Data Valid Unit ON:

3 Output Data Valid Unit ON:

4 to 13 Reserved --- ---

14 IN Port Link Status Unit ON:

15 OUT Port Link Status Unit ON:

Indicates that the Unit is processing transmit by process
data communication. Data is valid and usable for con­trol.

OFF:

Indicates that the Unit is not processing transmit by pro­cess data communication. Data is invalid and unusable
for control.

Default: OFF

This bit will remain ON while the Unit is in Safe-Opera­tional state or Operational state. This bit will also remain
ON if the IN port link is not established with another
device. Refer to A-2 Programming Example To Detect
Valid I/O Process Data on page A-8 for a programming
example to check validity of input data.

Indicates that the Unit is processing receive by process
data communication. Data is valid and usable for con­trol.

OFF:

Indicates that the Unit is not processing receive by pro­cess data communication. Data is invalid and unusable
for control.

Default: OFF

This bit will remain ON while the Unit is in Operational
state. This bit will also remain ON if the IN port link is
not established with another device. Refer to A-2 Pro-
gramming Example To Detect Valid I/O Process Data
on page A-8 for a programming example to check valid­ity of output data.

Indicates when a link on the IN port is established with
another device.

OFF:

Indicates when a link on the IN port is not established
with another device.

Default: OFF

Indicates when a link on the OUT port is established
with another device.

OFF:

Indicates when a link on the OUT port is not established
with another device.

Default: OFF

3 - 8

CJ-series EtherCAT Slave Units Operation Manual (W541)

3-3 DM Area Allocations

Precautions for Correct Use

This section describes DM area allocations for the EtherCAT Slave Unit.

3-3-1 Overview of the Allocated DM Area Words

The various kinds of data are stored in the offset positions shown in the following diagram, from the
beginning word in the area for each Unit.

The beginning word m is calculated by the following equation:

Beginning word m = D30000 + (100 x unit number)

3 Memory Allocations

3-3 DM Area Allocations

Bit

Offset

15

m

m+6
m+7

m+12

m+13

m+99

I/O Communication Area Reference Table

8 7

I/O Communication Area Setting Table

(7 ch)

(6 ch)

(Not used)

0

Data direction

CPU Unit to EtherCAT Slave Unit

EtherCAT Slave Unit to CPU Unit

Setting results are refreshed when the Unit restarts or when the Unit is powered ON.

3-3-2 Details of the Allocated DM Area Words

This section provides the details of the allocated DM area words.

I/O Communication Area Setting Table

Set values in this area to specify the input and output words used by the EtherCAT Slave Unit. Changes
to the I/O Communication Area Setting Table require a Unit restart to take effect.

3

3-3-1 Overview of the Allocated DM Area Words

 Relationship Between I/O Communication Area and Process Data Objects

IN and OUT data area settings determine where the PDO data that is exchanged over the EtherCAT
network is allocated in the memory of the CPU Unit.

The IN data area is used to send (TxPDO) data to the EtherCAT master.

The OUT data area is used to receive (RxPDO) data from the EtherCAT master.

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 - 9

3 Memory Allocations

TxPDO

EtherCAT
master

EtherCAT
Slave Unit

RxPDO

Output data to
EtherCAT Slave Unit

Input data to
EtherCAT master

CJ-series
CPU Unit

OUT data area

IN data area

 I/O Communication Area Setting Table Detail

Offset

m

m + 1

m + 2

m + 3

m + 4

m + 5

m + 6

15

Reserved

First word in OUT data area

OUT data area size (byte)

Reserved

First word in IN data area

IN data area size (byte)

Bit

8

7

OUT data area type

IN data area type

Setting results

0

3 - 10

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 Memory Allocations

Word Bit Name Manipulated by Default value Function

m 00 to 07 OUT data area

type

08 to 15 Reserved --- --- Reserved by system

m + 1 00 to 15 First word in OUT

data area

m + 2 00 to 15 OUT data area

size

m + 3 00 to 07 IN data area type User 00 hex Set the area type code.

08 to 15 Reserved --- --- Reserved by system

User 00 hex Set the area type code.

• 00 hex: not used

• 01 hex: CIO Area (CIO)

• 03 hex: Data Memory (DM)

• 04 hex: Work Area (WR)

• 05 hex: Holding Relay Area
(HR)

• 08 to 14 hex: Expansion Mem-

ory (EM) bank 0 to C

User 0000 hex Set the starting word of the OUT

data area. Setting ranges vary
by OUT data area type.

• CIO: 0000 to 17FF hex

• DM: 0000 to 7FFF hex

• WR: 0000 to 01FF hex

• HR: 0000 to 01FF hex

*1

•EM

: 0000 to 7FFF hex

User 0000 hex Set the OUT data area size in

bytes from one of the following.

• 00 hex: 0 byte

• 32 hex: 50 byte

• 64 hex: 100 byte

• C8 hex: 200 byte

• 190 hex: 400 byte

• 00 hex: not used

• 01 hex: CIO Area (CIO)

• 03 hex: Data Memory (DM)

• 04 hex: Work Area (WR)

• 05 hex: Holding Relay Area
(HR)

• 08 to 14 hex: Expansion Mem-

ory (EM) bank 0 to C

3-3 DM Area Allocations

*1

3

3-3-2 Details of the Allocated DM Area Words

*1

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 - 11

3 Memory Allocations

Word Bit Name Manipulated by Default value Function

m + 4 00 to 15 First word in IN

m + 5 00 to 15 IN data area size User 0000 hex Set the IN data area size in bytes

m + 6 00 to 15 Setting results Unit 0000 hex Display the setting results.

*1. EM areas are not available for all CJ-series CPU Units. Refer to the operation manuals of the CPU Units for

details on the EM memory area specification.

data area

User 0000 hex Set the starting word of the IN

data area. Setting ranges vary
by IN data area type.

• CIO: 0000 to 17FF hex

• DM: 0000 to 7FFF hex

• WR: 0000 to 01FF hex

• HR: 0000 to 01FF hex

• EM: 0000 to 7FFF hex

from one of the following.

• 00 hex: 0 byte

• 32 hex: 50 byte

• 64 hex: 100 byte

• C8 hex: 200 byte

• 190 hex: 400 byte

Refer to Setting Results Codes
on page 3-12 for the code.

*1

 Setting Results Codes

Result code Description Corrective action

0000 hex

1101 hex Incorrect area setting. Ensure that the memory area codes for OUT

1103 hex The first word is outside the setting range. Ensure that the first word in OUT data area

1104 hex The allocated data area exceeds the valid

110C hex The area size is outside the setting range. Ensure that the OUT data area size and IN

*1. If the EtherCAT Slave Unit is set with default values, the setting result code will be 0000 hex and the Unit can-

*1

not perform process data communications with the EtherCAT master.

Completed normally. ---

data area type and IN data area type are set
to the allowable values.

and first word in IN data area are set as valid
memory areas for the corresponding memory
area type set with the OUT data area type
and IN data area type codes.

Ensure that the OUT data area range and IN

word range.

data area range setting does not exceed
valid memory locations for the corresponding
memory area type set with the OUT data
area type and IN data area type codes.

data area size are set to allowable values for
the corresponding memory area type set with
the OUT data area type and IN data area
type codes.

3 - 12

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 Memory Allocations

Precautions for Correct Use

Offset

Bit

Reserved

15

8

7

0

OUT data area type

First word in OUT data area

m + 7

m + 8

OUT data area size (byte)

Reserved

First word in IN data area

IN data area size (byte)

IN data area type

m + 9

m + 10

m + 11

m + 12

• A Unit restart is required after I/O communication allocations are changed or set to enable
the new settings.

• If the user sets both IN and OUT data area sizes to zero or the I/O allocation settings are
invalid, the Unit will be in the Pre-Operational state and cannot perform process data com-

3-3 DM Area Allocations

munications with the EtherCAT master.

• Select valid areas in the CPU Unit that do not interfere or overlap with another memory area
that is already in use. Also ensure the size of the area is within a valid memory area by prop­erly setting the first word and size values for the memory type selected. Otherwise, an incor­rect area setting result will occur.

• EM memory area availability and size vary depending on the CPU Unit series and model
type. Refer to the operation manuals of the CPU Units for details on the EM memory area
specification.

3

I/O Communication Area Reference Table

Refer to this area for the I/O communications area settings established in the EtherCAT Slave Unit.

3-3-2 Details of the Allocated DM Area Words

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 - 13

3 Memory Allocations

Word Bit Name Manipulated by Default value Function

m + 7 00 to 07 OUT data area

08 to 15 Reserved --- --- Reserved by system

m + 8 00 to 15 First word in OUT

m + 9 00 to 15 OUT data area

type

data area

size

Unit 00 hex The area type code in use is indi-

cated.

• 00 hex: not used

• 01 hex: CIO Area (CIO)

• 03 hex: Data Memory (DM)

• 04 hex: Work Area (WR)

• 05 hex: Holding Relay Area
(HR)

• 08 to 14 hex: Expansion Mem-

ory (EM) bank 0 to C

*1

Unit 0000 hex The starting word of the OUT

data area in use is indicated. The
ranges vary by OUT data area
type.

• CIO: 0000 to 17FF hex

• DM: 0000 to 7FFF hex

• WR: 0000 to 01FF hex

• HR: 0000 to 01FF hex

*1

•EM

: 0000 to 7FFF hex

Unit 0000 hex The OUT data area size in use is

indicated. The value is in bytes
from one of the following.

• 00 hex: 0 byte

• 32 hex: 50 byte

• 64 hex: 100 byte

• C8 hex: 200 byte

• 190 hex: 400 byte

3 - 14

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 Memory Allocations

Word Bit Name Manipulated by Default value Function

m + 10 08 to 15 IN data area type Unit 00 hex The area type code in use is indi-

cated.

• 00 hex: not used

• 01 hex: CIO Area (CIO)

• 03 hex: Data Memory (DM)

• 04 hex: Work Area (WR)

• 05 hex: Holding Relay Area

(HR)

• 08 to 14 hex: Expansion Mem-

ory (EM) bank 0 to C

08 to 15 Reserved --- --- Reserved by system

m + 11 00 to 15 First word in IN

data area

m + 12 00 to 15 IN data area size Unit 0000 hex The IN data area size in use is

*1. EM areas are not available for all CJ-series CPU Units. Refer to the operation manuals of the CPU Units for

details on the EM memory area specification.

Unit 0000 hex The starting word of the IN data

area in use is indicated. The
ranges vary by IN data area
type.

• CIO: 0000 to 17FF hex

• DM: 0000 to 7FFF hex

• WR: 0000 to 01FF hex

• HR: 0000 to 01FF hex

• EM: 0000 to 7FFF hex

indicated. The value is in bytes
from one of the following.

• 00 hex: 0 byte

• 32 hex: 50 byte

• 64 hex: 100 byte

• C8 hex: 200 byte

• 190 hex: 400 byte

*1

*1

3-3 DM Area Allocations

3

3-3-2 Details of the Allocated DM Area Words

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 - 15

3 Memory Allocations

I/O Communication
Area Setting Table

I/O Communication
Area Reference Table

3-4 I/O Communication Area Settings

This section describes the I/O communication area settings, such as IN and OUT data area type, start­ing word and size for the EtherCAT Slave Unit with CX-Programmer.

3-4-1 The Unit Edit Parameters Dialog Box

The Edit Parameters Dialog Box of the EtherCAT Slave Unit is used for setting and referencing the I/O
communication area table. The Edit Parameters Dialog Box has two tables.

• I/O Communication Area Setting Table

• I/O Communication Area Reference Table

3 - 16

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 Memory Allocations

I/O Communication Area Setting Table

Item name

OUT data area
type

First word in
OUT data area

OUT data area
size

IN data area
type

First word in IN
data area

IN data area
size

*1. EM areas are not available for all CJ-series CPU Units. Refer to the operation manuals of the CPU Units for

details on the EM memory area specification.

Setting

method

Pull down list PLC memory area type used for

RxPDO data from the EtherCAT
master

Direct input Starting word of the OUT data

area

Pull down list OUT data area size in bytes • 0 byte

Pull down list PLC memory area type used for

TxPDO data to the EtherCAT
master

Direct input Starting word of the IN data

area

Pull down list IN data area size in bytes • 0 byte

Description Data range Default

• Do not use

• CIO Area

• Data Memory

• Work Area

• Holding Relay

• Expansion Data Memory

Bank 0 to C

Ranges vary by OUT data
area type.

• CIO: 0000 to 17FF hex

• DM: 0000 to 7FFF hex

• WR: 0000 to 01FF hex

• HR: 0000 to 01FF hex

• EM: 0000 to 7FFF hex

• 50 byte

• 100 byte

• 200 byte

• 400 byte

• Do not use

• CIO Area

• Data Memory

• Work Area

• Holding Relay

• Expansion Data Memory

Bank 0 to C

Ranges vary by IN data area
type.

• CIO: 0000 to 17FF hex

• DM: 0000 to 7FFF hex

• WR: 0000 to 01FF hex

• HR: 0000 to 01FF hex

• EM: 0000 to 7FFF hex

• 50 byte

• 100 byte

• 200 byte

• 400 byte

Do not
use

*1

0000 hex

*1

0 byte

Do not
use

*1

0000 hex

*1

0 byte

3-4 I/O Communication Area Settings

3

3-4-1 The Unit Edit Parameters Dialog Box

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 - 17

3 Memory Allocations

I/O Communication Area Reference Table

Item name

OUT data area
type

First word in
OUT data area

OUT data area
size

IN data area
type

First word in IN
data area

IN data area
size

*1. EM areas are not available for all CJ-series CPU Units. Refer to the operation manuals of the CPU Units for

details on the EM memory area specification.

Setting

method

Read Only The reference PLC memory

area type used for RxPDO data
from the EtherCAT master.

The reference starting word of
the OUT data area.

The reference OUT data area
size in bytes.

The reference PLC memory
area type used for TxPDO data
to the EtherCAT master.

The reference starting word of
the IN data area.

The reference IN data area size
in bytes.

Description Data range Default

• Do not use

•CIO Area

• Data Memory

•Work Area

• Holding Relay

• Expansion Data Memory

Bank 0 to C

Ranges vary by OUT data
area type.

• CIO: 0000 to 17FF hex

• DM: 0000 to 7FFF hex

• WR: 0000 to 01FF hex

• HR: 0000 to 01FF hex

• EM: 0000 to 7FFF hex

•0 byte

• 50 byte

• 100 byte

• 200 byte

• 400 byte

• Do not use

•CIO Area

• Data Memory

•Work Area

• Holding Relay

• Expansion Data Memory

Bank 0 to C

Ranges vary by IN data area
type.

• CIO: 0000 to 17FF hex

• DM: 0000 to 7FFF hex

• WR: 0000 to 01FF hex

• HR: 0000 to 01FF hex

• EM: 0000 to 7FFF hex

•0 byte

• 50 byte

• 100 byte

• 200 byte

• 400 byte

*1

*1

*1

*1

Do not
use

0000 hex

0 byte

Do not
use

0000 hex

0 byte

3 - 18

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 Memory Allocations

3-4-2 Setting Procedure with the CX-Programmer

This section provides the setting procedure of the I/O Communication Area Setting Table with CX-Pro­grammer.

1 Double-click IO Table and Unit Setup Icon in the project workspace in the CX-Programmer.

The PLC IO Table Window will be displayed.

When the EtherCAT Slave Unit is registered in the I/O tables of the CX-Programmer, the Unit
will be displayed in the I/O tables. Refer to A-5 Creating I/O Tables on page A-24 for details.

3-4 I/O Communication Area Settings

3

3-4-2 Setting Procedure with the CX-Programmer

2 Right-click the EtherCAT Slave Unit in the I/O table and select Unit Setup from the menus.

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 - 19

3 Memory Allocations

The Edit Parameters Dialog Box will be displayed.

3 Make the necessary settings.

I/O Communication
Area Setting Table

3 - 20

CJ-series EtherCAT Slave Units Operation Manual (W541)

3 Memory Allocations

4 Place the CX-Programmer online with the PLC and transfer the settings to the EtherCAT Slave

Unit.

5 After transferring the settings using the EtherCAT Slave Unit Edit Parameters Dialog Box, a

message will ask if you wish to restart the EtherCAT Slave Unit.

Click the Yes Button. The EtherCAT Slave Unit will be restarted to enable the settings.

3-4 I/O Communication Area Settings

6 Check the indicators on the EtherCAT Slave Unit.

If the RUN indicator is lit while the ERC and ERH indicators are not lit, it indicates that the Ether­CAT Slave Unit has recognized the new I/O communication area settings. Refer to Setting
Results Codes on page 3-12.

7 Check the I/O Communication Area Reference Table in the Edit Parameters Dialog Box.

Click the Compare Button. If the compare is successful, click the Transfer[Unit to PC] Button
to update the I/O Communication Area Reference Table values. If the compare is unsuccessful,
transfer the settings again. Refer to the CX-Programmer Operation Manual (Cat. No. W446) for
the Edit Parameters Dialog Box operation.

3

3-4-2 Setting Procedure with the CX-Programmer

CJ-series EtherCAT Slave Units Operation Manual (W541)

I/O Communication
Area Reference Table

3 - 21

3 Memory Allocations

Precautions for Safe Use

• If the node address is not set correctly, invalid device parameters may be set in the wrong
EtherCAT Slave Unit, so check the connected Unit before downloading parameters.

• The EtherCAT Slave Unit must restart in order to enable the parameter settings that are
transferred to it. Verify that restarting the Unit will not cause any problems in the system
before restarting it. When the Special Unit Settings and the other data in the PLC are trans­ferred, the EtherCAT Slave Unit will be restarted automatically.

3 - 22

CJ-series EtherCAT Slave Units Operation Manual (W541)

EtherCAT Communications

This section provides an introduction to EtherCAT communications.

4-1 Structure of CAN Application Protocol over EtherCAT (CoE) . . . . . . . . . . 4-2

4-2 EtherCAT Slave Information Files (ESI Files) . . . . . . . . . . . . . . . . . . . . . . . 4-3

4-3 Transitions of Communications States . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4-4 Process Data Objects (PDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4-4-1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4-4-2 PDO Mappings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4-4-3 Assigning PDOs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4-5 Service Data Objects (SDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4-5-1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4-5-2 Abort Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4-6 Communications Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4-6-1 I/O Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4-6-2 SDO Message Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

4

CJ-series EtherCAT Slave Units Operation Manual (W541)

4 - 1

4 EtherCAT Communications

EtherCAT Slave Unit

EtherCAT physical layer

SDO (mailbox)

Slave Unit application

Object dictionary

PDO mappings

PDO communications (cyclic)

EtherCAT data link layer

Registers

Mailbox

Process data

FMMUSyncManager

Application layer

Transitions of

communications

states

4-1 Structure of CAN Application Proto-

col over EtherCAT (CoE)

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

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

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

PDOs are contained in the object dictionary. The PDOs can be mapped in the object dictionary. The

4 - 2

process data is defined by the PDO mappings. PDOs are used in PDO communications for periodic
exchange of process data.

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

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

CJ-series EtherCAT Slave Units Operation Manual (W541)

4 EtherCAT Communications

EtherCAT master

ESI files

Configuration Software

Network
configu-

ration

informa-

tion

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

EtherCAT Slave Unit

4-2 EtherCAT Slave Information Files

(ESI Files)

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

You can create the network configuration information by installing ESI files into the network setup soft­ware (Configuration Software).

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

4-2 EtherCAT Slave Information Files (ESI Files)

4

ESI files for the EtherCAT Slave Units can be downloaded from the OMRON website.

CJ-series EtherCAT Slave Units Operation Manual (W541)

4 - 3

4 EtherCAT Communications

4-3 Transitions of Communications

States

The state transition model for communications control of the EtherCAT Slave Unit is controlled by the
EtherCAT master.

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

Power supply ON

Init

Pre-Operational

Safe-Operational

Operational

Status

Init Not possible Not possible Not possible Communications are being initial-

Pre-Operational Possible Not possible Not possible Only SDO communications (message

Safe-Opera­tional

Operational Possible Possible Possible This is the normal state for communi-

SDO

communications

Possible Possible Not possible In this state, both SDO communica-

Sending

PDOs

Receiving

PDOs

Description

ized. Communications are not possi­ble.

communications) are possible in this
state.

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

tions (message communications) and
sending PDOs are possible.

Information, such as status, is sent
from the EtherCAT Slave Unit.

cations.

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

4 - 4

CJ-series EtherCAT Slave Units Operation Manual (W541)

4 EtherCAT Communications

TxPDO

EtherCAT master

EtherCAT
Slave Unit

RxPDO

Output data to
EtherCAT Slave Unit

Input data to
EtherCAT master

4-4 Process Data Objects (PDOs)

This section describes the process data objects that are used by the EtherCAT Slave Unit.

4-4-1 Introduction

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

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

4-4 Process Data Objects (PDOs)

4

4-4-1 Introduction

4-4-2 PDO Mappings

CJ-series EtherCAT Slave Units Operation Manual (W541)

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

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

EtherCAT Slave Units support PDO mapping for I/O control.

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

PDO Mapping Scheme in EtherCAT

The PDO mapping scheme in EtherCAT is described below.

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

As described here, PDO mapping shows how application objects are assigned to PDOs.

Indexes and subindexes are also assigned to application objects.

4 - 5

4 EtherCAT Communications

8

16

8

Object B

Object C

Object A

PDO_1

Object E

Object D

Object A

Object B

Object D

Index

02 hex

03 hex

01 hex

Sub-

index

UU hex

VV hex

TT hex

ZZ hex

YY hex

Object contents

Mapping object

Object Dictionary

Application object

1ZZZ hex

6TTT hex

6UUU hex

6VVV hex

6YYY hex

6ZZZ hex

6UUU

hex

UU

hex

6TTT

hex

TT

hex

6YYY

hex

YY

hex

PDO-Length: 32 bits

PDO Mapping with EtherCAT Slave Units

EtherCAT Slave Units have fixed PDO mapping and adjustments to the objects are not possible. The
fixed PDO mapping of the EtherCAT Slave Units is provided in the table below.

 RxPDO

PDO mapping object

Name Index number Name

257th receive

1700 hex Output001

PDO Mapping

I/O Output Data Area object

Index

number

7000 hex 01 to 19 hex OUT data area size is 50 bytes.
to
Output025

258th receive
PDO Mapping

1701 hex Output001

to
Output050

259th receive
PDO Mapping

1702 hex Output001

to
Output100

260th receive
PDO Mapping

1703 hex Output001

to
Output200

*1. The I/O Output Data Area object is the application object of the PDO mapping.

*1

Sub-index

Description

number

01 to 32 hex OUT data area size is 100 bytes.

01 to 64 hex OUT data area size is 200 bytes.

01 to C8 hex OUT data area size is 400 bytes.

4 - 6

CJ-series EtherCAT Slave Units Operation Manual (W541)

 TxPDO

4 EtherCAT Communications

PDO mapping object

Name Index number Name

257th transmit

1B00 hex Input001

PDO Mapping

258th transmit

1B01 hex Input001

PDO Mapping

259th transmit

1B02 hex Input001

PDO Mapping

260th transmit

1B03 hex Input001

PDO Mapping

*1. The I/O Input Data Area object is the application object of the PDO mapping.

4-4-3 Assigning PDOs

This section provides details for assigning PDOs to an EtherCAT Slave.

I/O Input Data Area object

Index

number

6000 hex 01 to 19 hex IN data area size is 50 bytes.
to
Input025

to
Input050

to
Input100

to
Input200

*1

Sub-index

Description

number

01 to 32 hex IN data area size is 100 bytes.

01 to 64 hex IN data area size is 200 bytes.

01 to C8 hex IN data area size is 400 bytes.

4-4 Process Data Objects (PDOs)

4

4-4-3 Assigning PDOs

Scheme for Assigning PDOs to EtherCAT Slaves

You can assign more than one PDO to an EtherCAT slave.

Here, PDOs are assigned to index 1C12 hex for the RxPDO, and 1C13 hex for the TxPDO.

The following example shows how PDOs are assigned.

Index

1C13 hex

assignment objects

Sync Manager PDO

1A00 hex

1A01 hex

1A02 hex

1A03 hex

1A04 hex

Mapping objects

1A05 hex

1A06 hex

Sub-

index

1

2

3

Object contents

1A00 hex

1A01 hex

1A03 hex

PDO A

PDO B

PDO C

PDO D

PDO E

PDO F

PDO G

PDO A

Sync Manager entity Z

PDO B

PDO D

In this example, three PDOs (PDO A, PDO B, and PDO D) are assigned to index 1C13 hex (for the
TxPDOs).

Similarly, a PDO (for the RxPDO) is assigned to index 1C12 hex.

CJ-series EtherCAT Slave Units Operation Manual (W541)

4 - 7

4 EtherCAT Communications

Precautions for Correct Use

These assignments determine the PDOs to use for communications between the EtherCAT master and
slave.

Assigning PDOs to EtherCAT Slave Units

When assigning PDOs to the EtherCAT Slave Unit, refer to the IN and OUT data area size that have
been configured for the EtherCAT Slave Unit.

Assign PDOs of the same size as the setting value. PDOs are not assigned by default to an EtherCAT
Slave Unit. An example is shown in the table below.

I/O communication area reference table

Name Offset Value

OUT data area size m + 9 64 hex (100 bytes) 258th receive PDO Mapping

IN data area size m + 12 32 hex (50 bytes) 257th transmit PDO Mapping

Refer to 3-3-2 Details of the Allocated DM Area Words on page 3-9 for the I/O Communication Area
Reference Table.

Refer to 4-4-2 PDO Mappings on page 4-5 for PDO Mapping of the EtherCAT Slave Unit.

PDO assignment

The IN and OUT data area size allocation for the EtherCAT Slave Unit must be the same size
as the PDO mapping for the EtherCAT master. Refer to 3-3-1 Overview of the Allocated DM
Area Words on page 3-9. If the sizes do not match, an error will occur.

4 - 8

CJ-series EtherCAT Slave Units Operation Manual (W541)

4 EtherCAT Communications

4-5 Service Data Objects (SDOs)

This section describes the service data objects that are supported by the EtherCAT Slave Unit.

4-5-1 Introduction

EtherCAT Slave Units support SDO communications.

The EtherCAT master can read and write data from and to entries in the object dictionary with SDO
communications to make parameter settings and monitor status.

Refer to A-4 CoE Objects on page A-13 for the objects that you can use with SDO communications.

4-5-2 Abort Codes

The following table lists the abort codes for the SDO communications errors.

Val ue Meaning

06010000 hex Unsupported access to an object.

06010002 hex Attempt to write to a read-only object.

06020000 hex The object does not exist in the object directory.

06040041 hex The object cannot be mapped to the PDO.

06040042 hex Number/length of mapped objects exceeds PDO length.

06070010 hex Data type does not match, length of service parameter does not match.

06090011 hex Missing subindex.

06090030 hex Value of parameter exceeded range (only for write access).

4-5 Service Data Objects (SDOs)

4

4-5-1 Introduction

CJ-series EtherCAT Slave Units Operation Manual (W541)

4 - 9

4 EtherCAT Communications

Tmaster

*1

COM PG

SYS I/O

Tcj_plc

COM PG

SYS I/O

2 x Tslave

Tcj_plc

Tcj_plc

Tslave

EtherCAT master
cycle

Tmaster

*1

Cycle of
process data
communication

Ttrans

Ttrans

EtherCAT slave
processing
cycle

2 x Tslave

COM: Overseeing processing
PG: Program execution
SYS: Peripheral processing
I/O: I/O refreshing

4-6 Communications Performance

This section describes the PDO I/O response times and the message response times for the EtherCAT
Slave Unit.

4-6-1 I/O Response Time

This section describes the method for calculating the maximum I/O response time of the EtherCAT
Slave Unit.

The I/O response time is the time from when the CJ-series CPU Unit processes the output data from
the EtherCAT master until the EtherCAT master inputs the processed result.

Timing Chart for I/O Response Time

A timing chart for the I/O response time is provided in the figure below. Use this timing chart with the
provided formula to determine the maximum I/O response time.

Tmaster

Tslave Processing time of the EtherCAT Slave Unit.

Tcj_plc Cycle time of the CJ-series CPU Unit.

Ttrans Transmission time of the EtherCAT master.

*1. The cycle time of the EtherCAT master is based on the assumption that the EtherCAT master cycle is the

Element Description

*1

same as the cycle of process data communication. Refer to the EtherCAT master manual about the relation­ship between these cycles.

Cycle time of the EtherCAT master.

4 - 10

CJ-series EtherCAT Slave Units Operation Manual (W541)

4 EtherCAT Communications

Maximum I/O Response Time = Tmaster + (4 x Tslave) + (2 x Tcj_plc) + (2 x Ttrans)

Tslave = 1.5 + (0.0007 x (IN data area size + OUT data area size))

I/O Refresh Time = A + (B x (IN data area size + OUT data area size))

Ttrans = ((1.24 x Number of EtherCAT slaves) + (0.09 x EtherCAT frame length in bytes)) / 1000

I/O Response Time Formula

A formula is provided below to calculate the I/O response time.

The elements used in the maximum I/O response time formula are described below. Units of these ele­ments are in ms.

 Tmaster

The cycle time of the EtherCAT master is assumed to be the same as the process data communica­tion cycle. Use the process data communication cycle that is set in the EtherCAT master.

 Tslave

The EtherCAT Slave Unit processing time can be calculated with the formula below.

4-6 Communications Performance

Units of IN and OUT data area size are in channels (CH).

 Tcj_plc

The PLC cycle time can be obtained by referring to the CPU Unit’s operation manual.

The I/O refresh time of the PLC is the maximum time required for I/O data to be exchanged between
the CPU Unit and the EtherCAT Slave Unit. The PLC cycle time is increased when an EtherCAT
Slave Unit is mounted as shown in the formula below.

Units of IN and OUT data area size are in channels (CH).

Use the values of A and B in table below for the CPU type that has the EtherCAT Slave Unit
mounted.

CPU type Value of A Value of B

CJ1M 0.3 0.0008

CJ2H 0.3 0.0024

CJ2M 0.3 0.0024

4

4-6-1 I/O Response Time

 Ttrans

The transmission time of the EtherCAT master can be calculated with the formula below.

The number of EtherCAT slaves represents the number of EtherCAT slaves that are present on the
same EtherCAT network. An EtherCAT Slave Unit is considered to be one EtherCAT slave.

The EtherCAT frame length in bytes represents the data byte size of the EtherCAT frame on the
same EtherCAT network.

CJ-series EtherCAT Slave Units Operation Manual (W541)

4 - 11

4 EtherCAT Communications

Send requesting

SDO

Cycle of
process data
communication

Tmaster

*1

EtherCAT master cycle

Receive

requesting SDO

Ts_resp

Response data

preparation completed

Tmaster

*1

4-6-2 SDO Message Response Time

This section describes the method for calculating the minimum SDO message response time of the
EtherCAT Slave Unit.

The message response time is the time from when the EtherCAT master sends the SDO data with the
mailbox until it receives the SDO response from the target EtherCAT Slave Unit.

Timing Chart for SDO Message Response Time

A timing chart for the SDO message response time is provided in the figure below. Use this timing chart
with the provided formula to determine the minimum SDO message response time.

Element Description

Tmaster

Ts_resp EtherCAT Slave Unit message response time is 2 ms.

*1. The cycle time of the EtherCAT master is based on the assumption that the EtherCAT master cycle is the

*1

same as the cycle of process data communication. Refer to the EtherCAT master manual about the relation­ship between these cycles.

Cycle time of the EtherCAT master.

Minimum SDO Message Response Time Formula

A formula is provided below to calculate the SDO message response time.

Minimum SDO Message Response Time = (((Ts_resp / Tmaster) + 1*1) x Tmaster) + (((data byte size of
response message / 512) + 1

*1. If Tmaster divides the Ts_resp evenly, there is no need to add 1 in the formula.

*2. If 512 divides the data byte size of the message response evenly, there is no need to add 1.

The elements used in the minimum SDO message response time formula are described below. Units of
these elements are in ms.

 Tmaster

The cycle time of the EtherCAT master is assumed to be the same as the process data communica­tion cycle. Use the process data communication cycle that is set in the EtherCAT master.

*2

) x Tmaster) + Tmaster

4 - 12

 Ts_resp

This is the time from when the message request is received until the EtherCAT Slave Unit completes
generating the response.

CJ-series EtherCAT Slave Units Operation Manual (W541)

Troubleshooting

There are several ways to check errors on an EtherCAT Slave Unit. If an error occurs,
refer to this section to troubleshoot the error.

5-1 Error Notification and Checking Methods . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-1-1 Error Notification Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-1-2 How to Check for Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5-1-3 Procedures to Check Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4

5-2 Troubleshooting with Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5-2-1 Checking for Errors and Troubleshooting with the Indicators . . . . . . . . . . . . . . 5-5

5-2-2 Corrective Actions When the CPU Unit’s Indicators are Lit or Flashing . . . . . 5-12

5-3 Error Log Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

5-3-1 Error Log Data Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

5-3-2 Error Log Registration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

5-3-3 FINS Commands for Error Logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14

5-3-4 Error Log Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15

5-4 Troubleshooting with Emergency Messages . . . . . . . . . . . . . . . . . . . . . . 5-16

5-4-1 Emergency Message Notification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5-4-2 Emergency Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16

5-5 Troubleshooting with AL Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-18

5

CJ-series EtherCAT Slave Units Operation Manual (W541)

5 - 1

5 Troubleshooting

EtherCAT master

CJ-series
CPU Unit

Notification to the master:
Emergency message
AL status

•

•

Notification to the CJ-series CPU Unit:
Unit status
Slave status

•

•

CJ-series
EtherCAT Slave Unit
CJ1W-ECT21

Indicators

5-1 Error Notification and Checking

Methods

This section describes error notification, checking methods and procedures when an error has occurred
in the EtherCAT Slave Unit.

5-1-1 Error Notification Methods

The EtherCAT Slave Unit uses the following methods to notify the CJ-series CPU Unit or EtherCAT
master that errors have occurred.

5 - 2

Type of error notification Overview Notification method

Emergency message The emergency message reports applica-

tion level errors.

The error code contains the CiA-defined
error code, and an additional error code in
the unique header area.

CJ-series EtherCAT Slave Units Operation Manual (W541)

When an error occurs, the EtherCAT
Slave Unit notifies the EtherCAT mas­ter.

Type of error notification Overview Notification method

EtherCAT master

Configuration Software:

• AL status

• Emergency message

CX-Programmer:

• Error log

CJ-series

CPU Unit

Indicators

AL status This status reports errors related to Ether-

CAT communications. The ETG-defined
method is used for the error detection and
error code.

Unit status, Slave status The status of the EtherCAT Slave Unit allo-

cated to CIO Area is notified.

Indicators These are the indicators on the EtherCAT

Slave Unit.

5-1-2 How to Check for Errors

Use the following methods to check the status of errors on the EtherCAT Slave Unit.

5 Troubleshooting

When an error occurs, the error is
written to the AL status register to
notify the EtherCAT master.

When an error occurs, the EtherCAT
Slave Unit notifies the CJ-series CPU
Unit.

---

5-1 Error Notification and Checking Methods

5

5-1-2 How to Check for Errors

CJ-series EtherCAT Slave Units Operation Manual (W541)

Checking method Information provided

Checking the indicators The indicators provide the status of the EtherCAT Slave Unit and the

level of the error.

5 - 3

5 Troubleshooting

Checking method Information provided

Displaying error log for CPU Bus Units
or Special I/O Units in the I/O table
with CX-Programmer

Checking the Unit status and slave

status areas

Checking with Configuration Software The Configuration Software provides the emergency message code

*1. Available information is specific to the EtherCAT master used and the functions of its Configuration Software.

The error log is recorded by the error log function of the EtherCAT
Slave Unit.

The error log can be read with FINS commands to the Unit.

These areas indicate the status of the EtherCAT Slave Unit and the
level of the error.

and AL status code

5-1-3 Procedures to Check Errors

The basic procedures to check errors are described below.

1 Check whether an error exists on the EtherCAT Slave Unit with the Configuration Software that

is connected to the EtherCAT master.

*1

.

2 If an error occurs in the EtherCAT Slave Unit, check the following items to determine the cause

of an error.

• Check indicators

• Check the error log and the status with the CX-Programmer that is connected to the PLC

5 - 4

CJ-series EtherCAT Slave Units Operation Manual (W541)

5 Troubleshooting

5-2 Troubleshooting with Indicators

Use the indicators to determine the error status of the EtherCAT Slave Unit. Refer to 2-1-2 Indicators on
page 2-3 for information on indicators.

5-2-1 Checking for Errors and Troubleshooting with the Indicators

This section provides information for checking errors and troubleshooting with the indicators on the
EtherCAT Slave Unit.

Indicators

Name Function

L/A IN The L/A IN indicator shows the link activity of the input port.

L/A OUT The L/A OUT indicator shows the link activity of the output port.

ECAT RUN The ECAT RUN indicator shows the operating status of EtherCAT communications for the

EtherCAT Slave Unit.

ECAT ERR The ECAT ERR indicator provides information on errors in the EtherCAT Slave Unit.

RUN The RUN indicator provides information on the operation of the EtherCAT Slave Unit.

ERC The ERC indicator provides information about errors of the EtherCAT Slave Unit.

ERH The ERH indicator provides information about errors of the CPU Unit.

5-2 Troubleshooting with Indicators

5

5-2-1 Checking for Errors and Troubleshooting with the Indicators

Indicator Timing Status

Here, the following abbreviations are used to describe the status of the indicators.

Abbreviation Indicator status

Lit Lit

Not Lit Not lit

FS This abbreviation indicates a flashing pattern other than flickering, blinking, single flash, and

double flash.

FK Flickering

B Blinking

SF Single flash

DF Double flash

--- Undefined

CJ-series EtherCAT Slave Units Operation Manual (W541)

5 - 5

5 Troubleshooting

on

off

off

off

off

on

on

on

Flickering

Blinking

Single flash

Double flash

200 ms 200 ms

50 ms

1,000 ms

1,000 ms

200 ms

sm 002sm 002

200 ms 200 ms

The flashing patterns for flickering, blinking, single flash, and double flash are given below.

5 - 6

CJ-series EtherCAT Slave Units Operation Manual (W541)

5 Troubleshooting

Error Descriptions

 Errors Related to CPU Unit Data Exchange During Init State or Pre-Opera-

tional State

ECAT

RUN

Not
Lit

Not
Lit

Indicator

ECAT

ERR

Not
Lit

Not
Lit

ERC ERH RUN

Not

Lit Not

Lit

Lit Lit CPU Unit

FS Not

Lit

Lit

Error Cause Unit operation

Unit Num­ber Dupli­cation

CPU Unit
Faulty

I/O Table
Not Regis­tered

Faulty

EtherCAT
Slave Unit
Faulty

Error

log

(hex)

The same unit
number is set on
another Unit.

--- 000F Replace the CPU

The CPU Unit’s
I/O table is not
registered.

--- Operation

Operation
stops and error
is recorded in
the error log.

stops

0006 --- Set the unit num-

0006 Create the I/O

--- Replace the CPU

CIO

area

Countermea-

sures

bers correctly
and restart the
EtherCAT Slave
Unit.

Unit if the error
recurs after
restarting the
CPU Unit.

table.

Unit if the error
recurs when the
CPU Unit is
restarted.

Replace the
EtherCAT Slave
Unit if the same
error recurs
when the Unit is
mounted to
another CPU
Unit.

5-2 Troubleshooting with Indicators

5

5-2-1 Checking for Errors and Troubleshooting with the Indicators

CJ-series EtherCAT Slave Units Operation Manual (W541)

5 - 7

5 Troubleshooting

ECAT

RUN

*1

B

Indicator

ECAT

ERR

*1

B

ERC ERH RUN

Not

Lit --- CPU Unit

Lit

Not
Lit

Error Cause Unit operation

An emergency
code is sent if
EtherCAT Unit

Fatal Error

A fatal error
occurred in the
CPU Unit.

is in Pre-Oper-

Output
OFF Error

An Output OFF
condition occurred

ational state.

Error

log

(hex)

CIO

area

--- (n+12)

bit 01

Countermea-

sures

Clear the cause

*2

of the error, and
restart the CPU
Unit.

Clear the cause
of the error.

in the CPU Unit.

Lit CPU Unit

Watchdog
Timer
Error

CPU Unit
Service
Monitor­ing Error

An error occurred
in the CPU Unit.

Servicing from the
CPU Unit was not
completed within
the fixed interval.

The monitoring

An emergency
code is sent if
the EtherCAT
Slave Unit is in
Pre-Opera­tional state and
records the
error in the
error log.

0001 Replace the CPU

Unit.

0002 Check and cor-

rect the CPU
Unit’s operating
environment.

time is normally 11
s.

An error occurred
while exchanging
data with the CPU
Unit.

I/O
Refresh
Error

The I/O communi­cation area does
not exist in the
CPU Unit.

This can occur
when the I/O com­munication area is

0347 (n+12)

bit 01

(n+12)
bit 07

Check the I/O

*2

communication
area and change
to the correct
allocation and
restart the Ether­CAT Slave Unit.

set incorrectly,
when the Unit is
mounted to a dif­ferent CPU Unit
with a different
number of EM
banks or when EM
has been con­verted to file mem­ory.

I/O Bus
Error

An error occurred
while exchanging
data with the CPU
Unit.

000E --- Check and cor-

rect the CPU
Unit’s operating
environment and
then cycle power
to the PLC.

*1. If the EtherCAT master requests transition to Safe-Operational state or Operational state, the Unit remains in the Pre-Op-

erational state, the ECAT ERR and ECAT RUN indicators are blinking.

*2. If the EtherCAT master requests transition to Safe-Operational state or Operational state, the Unit remains in the Pre-Op-

erational state and the CIO area (n+12) bit 01 is ON.

5 - 8

CJ-series EtherCAT Slave Units Operation Manual (W541)