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
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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
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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)
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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.
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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.
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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-ALC-V4
W393 CJ1G-CPU
W473 CJ2H-CPU6-EIP
W472 CJ2H-CPU6-EIP
W452 NSJ5-TQ(B)-G5D
W450 CP1H-X40D-
CXONE-ALD-V4
CJ1M-CPU
CJ1G-CPUP
CJ1G/H-CPUH
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)
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