Orientalmotor NETC01-ECT User Manual

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Network converter EtherCAT compatible

NETC01-ECT

USER MANUAL

HM-60301

Thank you for purchasing an Oriental Motor product.

This manual describes product handling procedures and safety precautions.

•Please read it thoroughly to ensure safe operation.

•Always keep the manual where it is readily available.

1 Safety precautions ................................................. 3

2 Overview of the product ...................................... 5

2-1 System conguration ...................................................5

2-2 What is EtherCAT? .........................................................5

3 Introduction ............................................................ 7

4 Preparation ............................................................. 8

4-1 Checking the product ..................................................8

4-2 Names and functions of parts ...................................8

5 Installation ............................................................10

5-1 Location for installation ............................................ 10

5-2 Installation method .................................................... 10

5-3 Installing and wiring in compliance with

EMC Directive ............................................................... 11

6 Connection ............................................................ 13

6-1 Connection example ................................................. 13

6-2 Connecting the power supply and

grounding the

6-3 Connecting the RS-485 communication

cable ................................................................................ 14

6-4 Connecting the EtherCAT communication

cable ................................................................................ 15

6-5 Connecting the data setter ..................................... 15

NETC01-ECT

............................... 13

7 Guidance................................................................16

8 Setting ....................................................................21

8-1 Transmission rate of RS-485 communication ... 21

8-2 Node address of EtherCAT ....................................... 21

9 Basic function .......................................................22

9-1 Remote I/O list.............................................................. 22

9-2 Remote register list ....................................................23

9-3 Remote monitor list ...................................................27

9-4 Objects of the

9-5 Read, write, save of parameters ............................. 33

9-6 Basic operating procedures ....................................34

NETC01-ECT

................................ 30

10 Specications of RS-485 communication ........37

10-1 Operation mode .......................................................... 37

10-2 RS-485 communication conguration ................ 37

10-3 RS-485 communication process and

scan time ........................................................................ 37

10-4 RS-485 communication status ...............................39

11 Troubleshooting................................................... 40

11-1 Alarms .............................................................................40

11-2 EtherCAT communication error ............................. 41

11-3 Warning .......................................................................... 41

11-4 Relationship with the RS-485 communication

compatible product ................................................... 42

12 Inspection ..............................................................43

13 General specications .........................................44

14 Operation using the

14-1 Overview of the

14-2 Names and functions of parts ................................ 46

14-3 How to read the display ............................................46

14-4

OPX-2A

14-5 Screen transitions .......................................................48

14-6 Monitor mode .............................................................. 50

14-7 Parameter mode ..........................................................51

14-8 Copy mode .................................................................... 52

error display ............................................... 47

OPX-2A

............................ 45

........................................45

15 CoE communication area ...................................53

15-1 CoE communication area ......................................... 53

16 Accessories ............................................................ 61

▌

1 Safety precautions

The precautions described below are intended to prevent danger or injury to the user and other personnel through safe, correct use of the product. Use the product only after carefully reading and fully understanding these instructions.

Handling the product without observing the instructions that accompany a "Warning" symbol may result in serious injury or death.

Handling the product without observing the instructions that accompany a “Caution” symbol may result in injury or property damage.

General

•Do not use the product in explosive or corrosive environments, in the presence of ammable gases, locations subjected to splashing water, or near combustibles. This may cause re or injury.

•Assign qualied personnel the task of installing, wiring, operating/controlling, inspecting and troubleshooting the product. Failure to do so my result in re, injury or damage to equipment.

Connection

•Keep the input power voltage of the

•For the power supply use a DC power supply with reinforced insulation on its primary and secondary sides. Failure to do so may result in electric shock.

•Connect the cables securely according to the wiring diagram. Failure to do so may result in re.

•Do not forcibly bend, pull or pinch the cable. This may cause re. Applying stress to the connection area of the connectors may cause damage to the product.

NETC01-ECT

within the specied range. Failure to do so may result in re.

Safety precautions

Operation

•Turn o the and may cause injury or damage to equipment.

•When an alarm of the equipment.

NETC01-ECT

power in the event of a power failure. Or the motor may suddenly start when the power is restored

NETC01-ECT

is generated, stop the motor. Failure to do so may result in re, injury or damage to

Repair, disassembly and modication

•Do not disassemble or modify the branch or sales oce from which you purchased the product.

NETC01-ECT

. Doing so may cause injury. Refer all such internal inspections and repairs to the

General

•Do not use the

•Keep your ngers and objects out of the openings in the

NETC01-ECT

beyond its specications. This may cause injury or damage to equipment.

NETC01-ECT

. Failure to do so may result in re or injury.

Installation

•Install the

•Keep the area around the

•Leave nothing around the

NETC01-ECT

in an enclosure. Failure to do so may result in injury.

NETC01-ECT

free of combustible materials. Failure to do so may result in re or a skin burn(s).

that would obstruct ventilation. Failure to do so may result in damage to equipment.

Connection

•The power supply connector (CN1), EtherCAT communication input port (ECAT IN), EtherCAT communication output port (ECAT OUT), data edit connector (CN2) and RS-485 communication connector (CN6) of the When grounding the positive terminal of the power supply, do not connect any equipment (PC, etc.) whose negative terminal is grounded. Doing so may cause the

NETC01-ECT

and the equipment to short, damaging both.

NETC01-ECT

are not electrically insulated.

Operation

•Use the

•When operating the product, do so after making preparations that an emergency stop can be performed at any time. Failure to

•Set a suitable operation speed and acceleration/deceleration rate. Improper setting may cause loss of the motor synchronism

•Immediately when trouble has occurred, stop running and turn o the

NETC01-ECT

do may result in injury.

and moving the load to an unexpected direction, which may result in injury or damage to equipment.

injury.

in combination with the designated applicable product. Failure to do so may result in re.

NETC01-ECT

power. Failure to do so may result in re or

▐

Safety precautions

•Static electricity may cause the is input. Always use an insulated screwdriver to adjust the switches of the

NETC01-ECT

to malfunction or suer damage. Do not touch the

NETC01-ECT

Disposal

•To dispose of the components as industrial waste. Contact your nearest Oriental Motor oce if you have any questions.

NETC01-ECT

, disassemble it into parts and components as much as possible and dispose of individual parts/

NETC01-ECT

while the power

▌

2 Overview of the product

Overview of the product

The

NETC01-ECT

By converting the EtherCAT communication protocol of the upper level to the RS-485 communication protocol of the lower level, Oriental Motor RS-485 communication compatible products can be operated via EtherCAT communication. The RS-485 communication protocol of the lower level is Oriental Motor's own RS-485 communication protocol. Also, using a When the and

NETC01-ECT

is a communication converter between EtherCAT and RS-485 communication.

MEXE02

or accessory

is used, a communication cable for data setting software

. Be sure to purchase it.

OPX-2A

The NETC01-ECT

•For details about terms and explanations of EtherCAT communication, refer to the operating manual of the EtherCAT master device.

•The

NETC01-ECT

perform synchronization control via EtherCAT communication.

is not compatible with the Distributed Clocks of the EtherCAT communication specications, so it cannot

2-1 System conguration

Termination resistor

ON *

RS-485 communication

, the communication time can be monitored.

CC05IF-USB

(accessory) is needed to connect a PC

is operated as an I/O device on EtherCAT communication.

EtherCAT communication

Master device

RS-485

communication

compatible product

RS-485

communication

compatible product

2-2 What is EtherCAT?

EtherCAT is an open and high-speed industrial network system that conforms to Ethernet (IEEE 802.3). Since each node transmits Ethernet frames at high speed, it can achieve a short communication cycle time.

Object dictionary

The object dictionary consists of the data type objects, CoE communication objects, prole objects, and manufacturer-specic objects. The objects are assigned indexes of four-digit hexadecimal numbers and consisted of four areas described in the table below.

CoE Index Object dictionary area Description

0000h to 0FFFh Data type area Denition objects of data type.

1000h to 1FFFh CoE communications area Common area for devices to use CoE protocol.

2000h to 5FFFh Manufacturer-specic area

6000h to FFFFh Prole area

RS-485

communication

compatible product

Specic objects for devices that can be assigned freely by manufacturer. The

Objects dened by each prole. Example: CiA402 drive protocol, etc. The

NETC01-ECT

* The termination resistor for RS-485 communication is built into the product.

NETC01-ECT

uses this area.

does not use this area.

EtherCAT

communication

compatible product

EtherCAT

communication

compatible product

▐

Overview of the product

zAbout description of the type

The type represents the data type of objects. Abbreviations described in the table below are used in this manual.

Data type Abbreviation Description Range of value

Integer8 INT8 8-bit signed data

Integer16 INT16 16-bit signed data

Integer32 INT32 32-bit signed data

Unsigned8 U8 8-bit unsigned data 0 to 255

Unsigned16 U16 16-bit unsigned data 0 to 65,535

Unsigned32 U32 32-bit unsigned data 0 to 4,294,967,295

VisibleString STRING Character string

Manufacturer-specic area list

128 to 127

−

32,768 to 32,767

−

2,147,483,648 to 2,147,483,647

−

Objects used in the

CoE Index

Start End

2000h 21FFh

2200h 23FFh

2400h 25FFh

2600h 27FFh

2800h 29FFh

2A00h 2BFFh

2C00h 2FFFh

3000h 3BFFh

3C00h 3FFFh

4000h 4FFFh

5000h 5FFFh

NETC01-ECT

Sub-

index

PDO possible/

not possible

− −

−

− −

−

− −

are composed as follows.

Area name Description

Reserve This is a reserved area.

Possible Remote I/O (IN)

Possible Remote I/O (OUT)

Possible Remote register *

Possible Remote monitor *

Possible

NETC01-ECT

(RW) *

Reserve This is a reserved area.

NETC01-ECT

maintenance (W) *

Reserve This is a reserved area.

parameter

monitor (R),

This is an input area ( remote I/O. This area is used by NET-OUT of the RS-485 communication compatible product.

This is an output area (Master -> remote I/O. This area is used by NET-IN of the RS-485 communication compatible product.

This is an area for mapping the remote register area to the PDO to access the register. There are objects for each address number.

This is an area for mapping the remote monitor area to the PDO to monitor the status of the RS-485 communication compatible product. Multiple monitors can be performed to the same address number.

This is an area (Read/Write) for accessing to parameters of the

NETC01-ECT

This is an access area for performing monitor and maintenance of the command is executed by Read, and the maintenance command is executed by Write.

NETC01-ECT

-> Master) of

NETC01-ECT

. The monitor

) of

* You can access by the SDO when not mapping to the PDO.

Providing the ESI File

The ESI le (EtherCAT Slave Information le) is the one that describes the specic information of the EtherCAT slave products in XML format. By importing the ESI le to the EtherCAT Congration Tool of the PLC (programmable controller), the settings of EtherCAT communication can be performed before you receive the The ESI le can be downloaded from Oriental Motor Website Download Page.

▌

NETC01-ECT

3 Introduction

Before use

Only qualied personnel should work with the product. Use the product correctly after thoroughly reading the section "1 Safety precautions" on p.8. The product described in this manual has been designed and manufactured to be incorporated in general industrial equipment. Do not use for any other purpose. For the power supply of the its primary and secondary sides. Oriental Motor Co., Ltd. is not responsible for any damage caused through failure to observe this warning.

NETC01-ECT

Introduction

, use a DC power supply with reinforced insulation on

Operating Manuals for the

Operating manuals for the After reading the following manuals, keep them in a convenient place so that you can reference them at any time.

zNetwork converter EtherCAT compatible

This manual explains the function, installation and connection of the For the command code or remote I/O of the RS-485 communication compatible product that can be connected to the

, refer to the USER MANUAL or Function Edition of the corresponding RS-485 communication compatible product.

ECT

The OPERATING MANUAL and Function Edition does not come with the product. For details, contact your nearest Oriental Motor sales oce or download from Oriental Motor Website Download Page.

zNetwork converter EtherCAT compatible

NETC01-ECT

are listed below.

NETC01-ECT

USER MANUAL (this document)

NETC01-ECT

as well as operating method.

OPERATING MANUAL

NETC01-

(Supplied with the product)

This manual explains safety precautions, connector pin assignments and others.

zData setting software

This manual explains the parameter setting method and monitor function using the

MEXE02

OPERATING MANUAL

MEXE02

Notation on operating manual

The items under this heading contain important handling instructions that the user should observe to ensure safe use of the product.

The items under this heading contain related information and contents to gain a further understanding of the text in this manual.

CE Marking

Although this product is exempt from the Low Voltage Directive since the input power supply voltage is 24 VDC, perform the installation and connection as follows.

•This product is designed and manufactured to be incorporated in equipment. Install the product in an enclosure.

•For the power supply of the

•Overvoltage category: I

•Pollution degree: 2

•Degree of protection: IP20

NETC01-ECT

, use a DC power supply with reinforced insulation on its primary and secondary sides.

zEMC Directive

This product has received EMC compliance under the conditions specied in "Example of installation and wiring for the NETC01-ECT" on p.12. Since the conformity to the EMC Directive of the customer's equipment will vary depending on such factors as other control-system devices used together with the the customer must verify through EMC measurements of the nished equipment after installing all parts including the

ECT

NETC01-ECT

, as well as conguration of electrical components, wiring, and installation condition,

NETC01-

Applicable standards

EMI: EN 61000-6-4, EN 55011 group 1 class A EMS: EN 61000-6-2

Hazardous substances

The products do not contain the substances exceeding the restriction values of RoHS Directive (2011/65/EU).

▐

Preparation

4 Preparation

This chapter explains the items you should check, as well as the name and function of each part.

4-1 Checking the product

Verify that the items listed below are included. Report any missing or damaged items to the branch or sales oce from which you purchased the product. Verify the model number of the purchased product against the number shown on the package label.

NETC01-ECT

•

•CN1 connector (3 pins) .......................1 pc.

•RS-485 communication cable ..........2 pcs. [0.1 m (3.94 in.), 0.25 m (9.84 in.) each 1 pc.]

•OPERATING MANUAL........................... 1 copy

4-2 Names and functions of parts

....................................... 1 unit

RS-485

communication

Connect the RS-485

POWER LED (Green)

ALARM LED (Red)

C-DAT LED (Green)

C-ERR LED (Red)

RS-485 communication transmission

rate setting switch (SW1)

Data edit connector

(CN2)

Power supply input connector

(CN1)

RUN LED (Green)

ERR LED (Red)

Node address setting switches (ECAT ID ×1, ×10)

L/A LED (Green)

EtherCAT communication input port (ECAT IN)

L/A LED (Green)

EtherCAT communication output port (ECAT OUT)

DIN lever

connector (CN6)

communication cable.

▌

Preparation

Name Description Page

POWER LED (Green) This LED is lit while the power is input.

ALARM LED (Red)

C-DAT LED (Green)

C-ERR LED (Red) This LED is lit when an error was occurred via RS-485 communication.

RUN LED (Green) ERR LED (Red) L/A LED (Green)

Power supply connector (CN1) Connects a 24 VDC power supply. p.13

Data edit connector (CN2)

EtherCAT communication input port (ECAT IN)

EtherCAT communication output port (ECAT OUT)

RS-485 communication transmission rate setting switch (SW1)

Node address setting switched (ECAT ID ×1, ×10)

This LED blinks when an alarm generates. It is possible to check the generated alarm by counting the number of times the LED blinks.

This LED is lit while transmitting and receiving data via RS-485 communication.

These LEDs indicate the status of EtherCAT communication. p.41

Connects a PC in which the

OPX-2A

This is a connector to perform EtherCAT communication. Connect to the master device.

This is a connector to perform EtherCAT communication. Connect to the following slave.

Sets the transmission rate of RS-485 communication. Factory setting: 7

Sets the node address of the EtherCAT communication in the 0 to 255 (00h to FFh) range.

10: Set the upper

1: Set the lower

Factory setting: 1 (×10: 0, ×1: 1)

MEXE02

has been installed, or an accessory

−

p.40

−

p.15

p.14

p.21

▐

Installation

5 Installation

This chapter explains the installation location and installation method of the The installation and wiring methods in compliance with the EMC Directive are also explained.

5-1 Location for installation

The

NETC01-ECT

that provides easy access for inspection. The location must also satisfy the following conditions:

•Inside an enclosure that is installed indoors (provide vent holes)

•Operating ambient temperature 0 to +40 °C (+32 to +104 °F) (non-freezing)

•Operating ambient humidity 85% or less (non-condensing)

•Area that is free of explosive atmosphere or toxic gas (such as sulfuric gas) or liquid

•Area not exposed to direct sun

•Area free of excessive amount of dust, iron particles or the like

•Area not subject to splashing water (rain, water droplets), oil (oil droplets) or other liquids

•Area free of excessive salt

•Area not subject to continuous vibration or excessive shocks

•Area free of excessive electromagnetic noise (from welders, power machinery, etc.)

•Area free of radioactive materials, magnetic elds or vacuum

•1000 m (3300 ft.) or lower above sea level

has been designed and manufactured to be incorporated in equipment. Install it in a well-ventilated location

5-2 Installation method

Install the There must be a clearance of at least 50 mm (1.97 in.) in the horizontal and vertical directions, between the equipment within the enclosure. When installing two or more units of the to install them closely in the horizontal direction. Provide a minimum clearance of 50 mm (1.97 in.) in the vertical direction.

NETC01-ECT

Be sure to install the the

NETC01-ECT

position, its heat radiation eect will deteriorate.

to a 35 mm (1.38 in.) width DIN rail.

NETC01-ECT

is installed in the direction other than vertical

and enclosure or other

in parallel, it is possible

vertically (vertical position). If

NETC01-ECT

50 mm (1.97 in.) or more

zMounting to DIN rail

1. Pull down the DIN lever of the

2. Hold the

3. Secure both sides of the

DIN rail

NETC01-ECT

Hook

to the DIN rail, and push up the DIN lever to secure.

NETC01-ECT

DIN lever

NETC01-ECT

using end plates.

and lock it. Hang the hook at the rear to the DIN rail.

DIN rail

DIN lever

50 mm (1.97 in.) or more

End plate

▌

zRemoving from DIN rail

Pull the DIN lever down until it locks using a at tip screwdriver, and lift the bottom of the Use force of about 10 to 20 N (2.2 to 4.5 lb.) to pull the DIN lever to lock it. Excessive force may damage the DIN lever.

NETC01-ECT

to remove it from the rail.

5-3 Installing and wiring in compliance with EMC Directive

Installation

Eective measures must be taken against the EMI that the the EMS of the installation and wiring methods will enable the for the applicable standards. Oriental Motor conducts EMC measurements on the NETC01-ECT" on p.12. The user is responsible for ensuring the machine’s compliance with the EMC Directive, based on the installation and wiring explained below.

NETC01-ECT

itself, in order to prevent a serious functional impediment in the machinery. The use of the following

NETC01-ECT

to be compliant with the EMC directive. Refer to "CE Marking" on p.7

NETC01-ECT

may give to adjacent control-system equipment, as well as

in accordance with "Example of installation and wiring for the

Power supply

This network converter is a product of DC power supply input. Use a DC power supply (switching power supply etc.) that conforms to the EMC Directive.

Noise lter

•Connect a noise lter to the input side of the DC power supply in order to prevent the noise generated in the propagating externally through the power supply line.

•When using a power supply transformer, be sure to connect a noise lter to the AC input side of the power supply transformer.

•For a noise lter, use HF2010A-UPF (SOSHIN ELECTRIC CO.,LTD), FN2070-10-06 (Schaner EMC) or equivalent product.

•Install the noise lter as close to the AC input terminal of DC power supply as possible. Use cable clamps and other means to secure the AC input cables (AWG18: 0.75 mm2 or more) and output cables (AWG18: 0.75 mm2 or more) rmly to the surface of the enclosure.

•Connect the ground terminal of the noise lter to the grounding point, using as thick and short a wire as possible.

•Do not place the AC input cable parallel with the noise lter output cable. Parallel placement will reduce noise lter eectiveness if the enclosure's internal noise is directly coupled to the power supply cable by means of stray capacitance.

NETC01-ECT

from

How to ground

The cable used to ground the generated. Choose a large, thick and uniformly conductive surface for the grounding point.

NETC01-ECT

and noise lter must be as thick and short as possible so that no potential dierence is

Wiring the power supply cable and I/O signal cable

•Use a shielded cable of AWG22 (0.3 mm2) or more for the power supply cable of the possible.

•To ground the power supply cable, use a metal cable clamp or similar device that will maintain contact with the entire circumference of the cable. Attach a cable clamp as close to the end of the cable as possible, and connect it as shown in the gure.

Shielded cable

NETC01-ECT

, and keep it as short as

Cable clamp

Notes about installation and wiring

•Connect the dierence from developing between grounds.

•When relays or electromagnetic switches are used together with the system, use noise lters and CR circuits to suppress surges generated by them.

•Keep cables as short as possible without coiling and bundling extra lengths.

•Place the power cables such as the power supply cables as far apart [100 to 200 mm (3.94 to 7.87 in.)] as possible from the signal cables. If the power cables and signal cables have to cross, cross them at a right angle. Place the AC input cable and output cable of a noise lter separately from each other.

NETC01-ECT

and other peripheral control equipment directly to the grounding point so as to prevent a potential

▐

Installation

OPX-2A

Example of installation and wiring for the

RS-485 communication cable

RS-485 communication

compatible product

Noise

DC power

lter

supply

PEPE

Power supply cable

(Shielded cable)

Ground panel

NETC01-ECT

Shielded cable

EtherCAT communication cable (Shielded cable)

Master device

Precautions about static electricity

Static electricity may cause the the

NETC01-ECT

Always use an insulated screwdriver to change the switches of the

with care and do not come near or touch the

The NETC01-ECT uses parts that are sensitive to electrostatic charge. Before touching the NETC01ECT, turn off the power to prevent electrostatic charge from generating. If an electrostatic charge is impressed on the NETC01-ECT, the NETC01-ECT may be damaged.

NETC01-ECT

to malfunction or suer damage. While the

NETC01-ECT

is receiving power, handle

▌

6 Connection

RS-485 communication

Connection

This chapter explains the connection method of the grounding method.

6-1 Connection example

OPX-2A MEXE02

Data edit connector (CN2)

Power supply connector (CN1)

24 VDC

GND

NETC01-ECT

connector (CN6)

and power supply/communication cable, as well as the

RS-485 communication cable

ECAT IN

EtherCAT communication cable

6-2 Connecting the power supply and grounding the

Connecting the power supply

Connect the power supply cable (AWG22: 0.3 mm2) to the power supply connector (CN1) of the CN1 connector (3 pins).

Grounding the

Ground the Frame Ground terminal (FG) of the Ground using a wire of AWG24 to 16 (0.2 to 1.25 mm2), and do not share the protective earth terminal with a welder or any other power equipment.

CN1 connector pin assignments

Pin No. Name Description

1 + +24 VDC±10% 0.2 A or more

NETC01-ECT

Power supply GND

−

Frame Ground

NETC01-ECT

as necessary.

CN1 connector (supplied)

24 VDC

GND

NETC01-ECT

using the supplied

Power supply connector (CN1)

▐

Connection

7 mm (0.28 in.)

Power supply input

Connecting method

1. Strip the insulation cover of the lead wire by 7 mm (0.28 in.)

2. Insert each lead wire into the CN1 connector and tighten the screw using a screwdriver (connector screw size: M2). Tightening torque: 0.22 to 0.25 N·m (31 to 35 oz-in)

Flap tip screwdriver

Lead wire

CN1 connector

3. Insert the CN1 connector into power supply connector (CN1) and tighten the screws using a screwdriver (connector screw size: M2.5). Tightening torque: 0.4 N·m (56 oz-in)

•When connecting, pay attention to the polarity of the power supply. Reverse-polarity connection may cause damage to the

•Do not wire the power supply cable of the so may cause malfunction due to noise.

NETC01-ECT

in the same cable duct with other power lines. Doing

connector (CN1)

6-3 Connecting the RS-485 communication cable

Connect the compatible product using the supplied RS-485 communication cable. Connect the RS-485 communication cable to RS485 communication connector (CN6). Since RS-485 communication cables of two lengths are supplied, use either one of the two. You can also use a commercial LAN cable (shielded straight cable) to link drivers.

NETC01-ECT

and RS-485 communication

RS-485 communication connector (CN6)

▌

CN6 connector pin assignments

Pin No.

1 N.C. Not used (Do not connect anything.)

2 GND GND

3 TR+ RS-485 communication signal (+)

4 N.C. Not used

5 N.C. Not used

6 TR− RS-485 communication signal (−)

7 N.C. Not used

8 N.C. Not used

Signal

name

Description

RS-485 communication

compatible product

NETC01-ECT

•

* The GND line is used in common with CN1 (not insulated)

NETC01-ECT

internal circuit and termination resistor

1 N.C. 2 GND 3 TR+ 4 N.C. 5 N.C. 6 TR 7 N.C. 8 N.C.

120 Ω

0 V *

6-4 Connecting the EtherCAT communication cable

NETC01-ECT NETC01-ECT

Connection

Connect the master device and the ECAT IN on the

ECAT IN

EtherCAT communication cable *

ECAT OUT

Communication cannot be performed in a wrong connection. When connecting among the be sure to connect from the ECAT OUT to the ECAT IN.

6-5 Connecting the data setter

Connect the setting software to the data edit connector (CN2) on the

ECT

cable or communication cable for the data

OPX-2A

NETC01-ECT

* Keep the length of the EtherCAT communication cable to 100 m (330 ft.) or less.

NETC01-

using the EtherCAT communication cable.

Master device

ECAT IN

EtherCAT communication cable *

ECAT OUT

Data edit connector (CN2)

NETC01-ECT

units,

Cable for OPX-2A or communication cable for the data setting software

The power supply connector (CN1), EtherCAT communication input port (ECAT IN), EtherCAT communication output port (ECAT OUT), data edit connector (CN2) and RS-485 communication connector (CN6) of the

NETC01-ECT

do not connect any equipment (PC, etc.) whose negative terminal is grounded. Doing so may cause the

NETC01-ECT

are not electrically insulated. When grounding the positive terminal of the power supply,

and the equipment to short, damaging both.

▐

Guidance

7 Guidance

If you are new to the This chapter explains how to perform test operation via EtherCAT communication using the

Series built-in controller type as an example.

NETC01-ECT

, read this section to understand the operating methods along with the operation ow.

STEP1 Installation and connection



STEP2 Setting of

NETC01-ECT

Parameters are enabled after the power is cycled.



STEP3 Setting of driver



STEP4 Power cycle and check of LED

Parameters are enabled after the power is cycled.



STEP5 Operation of motor

zOperation condition

Here, the motor is supposed to be operated under the following conditions.

NETC01-ECT

•

•Number of divers connected: One

•Driver address number: 0

•Driver termination resistor: Enabled

node address: 1

NETC01-ECT

in combination with the

•Before operating the motor, check the condition of the surrounding area to ensure safety.

•Before starting guidance, import the ESI le to the EtherCAT Conguration Tool of the PLC and register the PLC conguration in advance. The ESI le can be downloaded from Oriental Motor Website Download Page.

The termination resistor for the the termination resistor.

NETC01-ECT

is built into the product. This product can be used without setting

▌

STEP 1 Check the installation and connection

AC power input driver

Guidance

*Necessary

24 VDC

power supply

CN1 connector

Connect to +24 V and 0 V

Connect to ENCODER

Cable for encoder

Connect to MOTOR

Cable for motor

*Necessary

Main power supply

Driver

24 VDC

power supply

+24 V 0 V

Connect to CN6 or CN7

RS-485 communication cable

NETC01-ECT

Communication cable for the data setting software

Connect to CN2

EtherCAT communication cable

MEXE02 (PC)

Master device

DC power input driver

Cable for encoder

*Necessary

24 VDC

power supply

Connect to CN6 or CN7

Connect to CN3

Connect to CN2

Cable for motor

24 VDC

power supply

RS-485 communication cable

Driver

NETC01-ECT

Communication cable for the data setting software

Connect to CN2

EtherCAT communication cable

MEXE02 (PC)

Master device

▐

Guidance

STEP 2 Set the parameters and switches of the

Set the parameters and switches of the

1. Turn on the power to the At this time, since parameters and switches are not set, the ALARM LED will be lit. Move on the next procedure, and set parameters and switches.

2. Start the Select the

MEXE02

NETC01-ECT

and set the parameters.

NETC01-ECT

3. Set the "Connection (axis #)" parameter of the driver connected to the The initial value in the "Connection (axis #0)" parameter is set to "Enable." When the connected driver is 1 unit and the address number of the driver is "0," it is not required to set the "Connection (axis #)" parameter.

MEXE02

tree view Parameter name Description Initial value

Connection (axis #0) Enables the address number of the driver

connected to the

Setting range

Disable Enable

System

Connection (axis #1)

Connection (axis #15)

NETC01-ECT

The initial value is "Enable."

NETC01-ECT

to "Enable" using the

Enable

Disable

MEXE02

▌

Guidance

AC input driver

DC input driver

4. Set the switches of the Set as the illustration below.

RS-485 transmission rate: 625 kbps

5. Turn o the

NETC01-ECT

•When multiple drivers are connected, set connection parameters as many as the drivers.

•To activate the changed "Connection (address number)" parameter, cycling the power supply is required.

•For the SW1, always set to "7." If the switch is set to the dial of "8" or higher, the communication switch setting error alarm will be generated when turning on the power. And do not set the switch to the dial of "0" to "6" because they cannot be used. (An alarm will not be generated.)

NETC01-ECT.

SW1: 7

power.

STEP 3 Set the switches of the driver

Set the following with the switches of the driver. For the protocol, select "OFF" (network converter). The status becomes as shown in the following gures after setting.

EtherCAT node address: 1

×10: 0

×1: 1



Setting contents Switch Factory setting

Protocol: Network converter Turn No.2 of SW1 OFF OFF

Address number: 0 Turn No.1 of SW1 OFF, set ID to 0 No.1: OFF, ID: 0

Termination resistor: ON

AC power input driver: Turn Nos.1 and 2 of TERM ON DC power input driver: Turn Nos.3 and 4 of SW1 ON

OFF



Function setting switch (SW1)

Address number setting switch (ID)

Transmission rate setting switch (BAUD)

Function setting switch (SW1)

No.2: Protocol No.1: Address number

Termination resistor setting switch (TERM.)

Address number setting switch (ID)

Transmission rate setting switch (BAUD)

No.2: ON No.1: ON

No.3, No.4: Termination resistor No.2: Protocol No.1: Address number

•For the address number, set the one with the "Connection (address number)" parameter of the set to "Enable."

•For the AZ Series, the transmission rate does not require to set. It is xed to 625,000 bps in the "Baudrate(GWv2)" parameter. The BAUD switch can point anywhere.

NETC01-ECT

▐

Guidance

NETC01-ECT

AC input driver

DC input driver

STEP 4 Cycle the power and check the LED



Check that the LED of the driver and

NETC01-ECT

are as shown in the gure.



Green lit Green lit

•When the C-DAT/C-ERR LED (red) of the driver or the C-ERR LED (red) of the Check the transmission rate of RS-485 communication or the address number.

•When the ERR LED (red) of the content.

NETC01-ECT

is blink: An EtherCAT communication error has been occurred. Check the error

Perform continuous operation via remote I/O of EtherCAT

STEP 5

communication

OFF

Green lit

OFF

NETC01-ECT



Green litGreen lit OFF

Green blinking

is lit:

CoE Index

2600h

Turn FW-POS of the address number 0 ON with the remote I/O of EtherCAT communication. Continuous operation for the operation data No.0 is started at the 1000 Hz of starting speed. Initial values of the remote I/O are as follows.

zMaster to

Sub-

index

NETC01-ECT

Name Type Access Description

−

I/O

Command

(lower)

I/O

Command

(upper)

U8 R Number of Sub-index: 2

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

U8 RW

NET-IN7 NET-IN6 NET-IN5 NET-IN4 NET-IN3 NET-IN2 NET-IN1 NET-IN0

ALM-RST FREE STOP ZHOME START M2 M1 M0

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

NET-IN15 NET-IN14 NET-IN13 NET-IN12 NET-IN11 NET-IN10 NET-IN9 NET-IN8

RV-POS FW-POS RV-JOG-P FW-JOG-P SSTART D-SEL2 D-SEL1 D-SEL0

STEP 6 Were you able to operate the motor properly?

How did it go? Were you able to operate the motor properly? If the motor does not function, check the following points:

•Is an alarm generated in the driver or

•Are the power supply, motor, and RS-485 communication cable connected securely?

•Are the protocol, address number, transmission rate and termination resistor set correctly?

•Is the "connection (address number)" parameter of the

•Is the C-DAT LED of

•Is the ERR LED of

•Is the L/A LED of Is the motor excited, or is the setting of the excitation method correct?

•Are the parameters of the driver set correctly?

•Is the operation stop signal input to the driver?

NETC01-ECT

turned o? Or is the C-ERR LED lit in red? (A RS-485 communication error has been occurred.)

blinks in red? (An EtherCAT communication error has been occurred. _p.41)

turnde o? Or is it blinks in green? (An EtherCAT communication error has been occurred. _p.41)

NETC01-ECT

set correctly?

▌

8 Setting

Setting

This chapter explains how to set the functions of the

Be sure to turn o the still on, the new switch settings will not become eective until the

RS-485 communication transmission rate setting switch (SW1)

NETC01-ECT

power before setting the switches. If the switches are set while the power is

NETC01-ECT

Node address setting switch (ECAT ID ×1, ×10)

8-1 Transmission rate of RS-485 communication

Set the transmission rate using the RS-485 communication transmission rate setting switch (SW1).

Factory setting 7 (625 kbps)

For the SW1, always set to "7." If the switch is set to the dial of "8" or higher, the communication switch setting error alarm will be generated when turning on the power. And do not set the switch to the dial of "0" to "6" because they cannot be used. (An alarm will not be generated.)

power is cycled.

8-2 Node address of EtherCAT

Set the node address of the When connecting two or more EtherCAT compatible products, do not set duplicate node address. Set the upper using the "ECAT ID ×10" and the lower using the "ECAT ID ×1."

NETC01-ECT

Setting range 0 to 255 (00h to FFh) Factory setting 1 (×10: 0, ×1: 1)

using the two node address setting switches (ECAT ID ×1 and ×10).

▐

Basic function

9 Basic function

This chapter explains the basic function and signals of the

9-1 Remote I/O list

The PDO mapping is possible for remote I/O. 16 axes of connectable units are assigned.

•Remote I/O status ................................. Mapping to TxPDO is possible.

•Remote I/O command......................... Mapping to RxPDO is possible.

CoE Index Name CoE Index Name

Axis No.

Axis 0 2400h Remote I/O Status (Axis 0) 2600h Remote I/O Command (Axis 0)

Axis 1 2401h Remote I/O Status (Axis 1) 2601h Remote I/O Command (Axis 1)

Axis 2 2402h Remote I/O Status (Axis 2) 2602h Remote I/O Command (Axis 2)

Axis 3 2403h Remote I/O Status (Axis 3) 2603h Remote I/O Command (Axis 3)

Axis 4 2404h Remote I/O Status (Axis 4) 2604h Remote I/O Command (Axis 4)

Axis 5 2405h Remote I/O Status (Axis 5) 2605h Remote I/O Command (Axis 5)

Axis 6 2406h Remote I/O Status (Axis 6) 2606h Remote I/O Command (Axis 6)

Axis 7 2407h Remote I/O Status (Axis 7) 2607h Remote I/O Command (Axis 7)

Axis 8 2408h Remote I/O Status (Axis 8) 2608h Remote I/O Command (Axis 8)

Axis 9 2409h Remote I/O Status (Axis 9) 2609h Remote I/O Command (Axis 9)

Axis 10 240Ah Remote I/O Status (Axis 10) 260Ah Remote I/O Command (Axis 10)

Axis 11 240Bh Remote I/O Status (Axis 11) 260Bh Remote I/O Command (Axis 11)

Axis 12 240Ch Remote I/O Status (Axis 12) 260Ch Remote I/O Command (Axis 12)

Axis 13 240Dh Remote I/O Status (Axis 13) 260Dh Remote I/O Command (Axis 13)

Axis 14 240Eh Remote I/O Status (Axis 14) 260Eh Remote I/O Command (Axis 14)

Axis 15 240Fh Remote I/O Status (Axis 15) 260Fh Remote I/O Command (Axis 15)

Response

(

NETC01-ECT

to master)

Remote I/O status

NETC01-ECT

Command

(Master to

NETC01-ECT

Remote I/O command

)

Remote I/O status

zStatus [

CoE Index

2400h

(2400h

240Fh)

NETC01-ECT

Sub-

index

I/O Status

to master]

Name Type Access Description

−

(lower)

(upper)

U8 R Number of Sub-index: 2

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

U8 R

NET-

OUT7

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

NET-

OUT15

NET-

OUT6

NET-

OUT14

NET-

OUT5

NET-

OUT13

NET-

OUT4

NET-

OUT12

NET-

OUT3

NET-

OUT11

NET-

OUT2

NET-

OUT10

NET-

OUT1

NET-

OUT9

NET-

OUT0

NET-

OUT8

▌

Remote I/O command

Basic function

zCommand [master to

CoE Index

2600h

(2600h

260Fh)

Sub-

index

NETC01-ECT

Name Type Access Description

−

I/O Command

(lower)

I/O Command

(upper)

U8 R Number of Sub-index: 2

U8 RW

]

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

NET-IN7 NET-IN6 NET-IN5 NET-IN4 NET-IN3 NET-IN2 NET-IN1 NET-IN0

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

NET-IN15 NET-IN14 NET-IN13 NET-IN12 NET-IN11 NET-IN10 NET-IN9 NET-IN8

For remote I/O assignment of the RS-485 communication compatible product, check the USER MANUAL or OPERATING MANUAL Function Edition of each product.

9-2 Remote register list

Remote register is for PDO mapping.

•Remote register command ........................Mapping to RxPDO is possible.

•Remote register response ...........................Mapping to TxPDO is possible.

With remote register, read/write for parameters of the RS-485 communication compatible product that is connected to the

NETC01-ECT

Axis No.

Axis 0 2800h Remote Register Command (Axis 0) 2900h Remote Register Response (Axis 0)

Axis 1 2801h Remote Register Command (Axis 1) 2901h Remote Register Response (Axis 1)

Axis 2 2802h Remote Register Command (Axis 2) 2902h Remote Register Response (Axis 2)

Axis 3 2803h Remote Register Command (Axis 3) 2903h Remote Register Response (Axis 3)

Axis 4 2804h Remote Register Command (Axis 4) 2904h Remote Register Response (Axis 4)

Axis 5 2805h Remote Register Command (Axis 5) 2905h Remote Register Response (Axis 5)

Axis 6 2806h Remote Register Command (Axis 6) 2906h Remote Register Response (Axis 6)

Axis 7 2807h Remote Register Command (Axis 7) 2907h Remote Register Response (Axis 7)

Axis 8 2808h Remote Register Command (Axis 8) 2908h Remote Register Response (Axis 8)

Axis 9 2809h Remote Register Command (Axis 9) 2909h Remote Register Response (Axis 9)

Axis 10 280Ah Remote Register Command (Axis 10) 290Ah Remote Register Response (Axis 10)

Axis 11 280Bh Remote Register Command (Axis 11) 290Bh Remote Register Response (Axis 11)

Axis 12 280Ch Remote Register Command (Axis 12) 290Ch Remote Register Response (Axis 12)

Axis 13 280Dh Remote Register Command (Axis 13) 290Dh Remote Register Response (Axis 13)

Axis 14 280Eh Remote Register Command (Axis 14) 290Eh Remote Register Response (Axis 14)

Axis 15 280Fh Remote Register Command (Axis 15) 290Fh Remote Register Response (Axis 15)

, maintenance command, and monitor can be performed.

CoE Index Name CoE Index Name

Command (Master to

NETC01-ECT

Remote register command

)

Response

(

NETC01-ECT

to master)

Remote register response

▐

Basic function

Remote register command

zCommand [master to

CoE Index

2800h

(2800h

280Fh)

zDescription of TRIG

Name Description Setting range

TRIG

Remote register response

zResponse [

CoE Index

2900h

(2900h

290Fh)

Sub-

index

1 Axis U8 R Reserved (not used)

2 Command U16 R Command code response

3 Data INT32 R Data response

4 Status U8 R

NETC01-ECT

Sub-

index

1 Axis U8 RW Reserved (not used)

2 Command U16 RW Command code

3 Data INT32 RW Data

4 TRIG U8 RW

This is a trigger to execute a command code. When TRIG is changed from 0 to 1, the command code is executed.

NETC01-ECT

Name Type Access Description

−

Name Type Access Description

−

to master]

U8 R Number of Sub-index: 4

]

U8 R Number of Sub-index: 4

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

− − − −

0: No action 1: Execute

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

− −

Command Error Axis Error STATUS TRIG_R

− − −

TRIG

zDescription of Status

Name Description Setting range

TRIG_R Indicates a response to the TRIG of the remote register command.

STATUS Detects an error when writing.

Axis Error Indicates an error of the address number.

Command Error Indicates an error of the command code. Reserved (0 xed)

0: TRIG undetected 1: TRIG detected

0: Normal 1: Error

▌

Basic function

Timing chart

zRead (normal time)

This explains how to read the position (travel amount) of the operation data No.0 using the AR Series.

1. Check the TRIG response (TRIG_R) is OFF.

2. Set the command code "0200h" of the position (travel amount) of the operation data No.0 to the command code (Command).

3. Turn the transmission request (TRIG) ON.

4. The TRIG response (TRIG_R) is turned ON, and the position (travel amount) of the operation data No.0 is returned to the data response (Data). If the command code is read properly, the transmission error (STATUS) remains OFF.

5. Check the TRIG response (TRIG_R) has been turned ON and turn the transmission request (TRIG) OFF.

6. The TRIG response (TRIG_R) is turned OFF. Continuously, the following command code can be read. The command code "0240h" of the speed of the operation data No.0 is read in the timing chart below.

Remote register

CoE

Index

2800h

Command

(address

number 0)

Sub-

index

4 (bit0)

Description

Command code (Command)

Transmission request (TRIG)

TRIG response (TRIG_R)

OFF

Timing chart

0200h 0240h

641

2900h

Response

(address

Data response (Data)

1000 3000

number 0)

4 (bit1)

Transmission error (STATUS)

OFF

zRead (error)

This explains the case that the undened command code was read using the AR Series.

1. Check the TRIG response (TRIG_R) is OFF.

2. Set the undened command code "0001h" to the command code (Command).

3. Turn the transmission request (TRIG) ON.

4. The TRIG response (TRIG_R) is turned ON. At this time, since the undened command code has been set, the transmission error (STATUS) is turned ON. The data in error is read because the transmission error was generated.

5. Turn the transmission request (TRIG) OFF in order to release the transmission error (STATUS). The TRIG response (TRIG_R) and transmission error (STATUS) are turned OFF.

Remote register

Command

CoE

Index

2800h

(address

number 0)

Sub-

index

4 (bit0)

Description

Command code (Command)

Transmission request (TRIG)

TRIG response (TRIG_R)

OFF

Timing chart

0001h

3 5

1 4

2900h

Response

(address

Data response (Data)

xxxxxxx

number 0)

4 (bit1)

Transmission error (STATUS)

OFF

▐

Basic function

zWrite (normal time)

This explains how to write the position (travel amount) to the operation data No.0 using the AR Series.

1. Check the TRIG response (TRIG_R) is OFF.

2. Set the command code "1200h" of the position (travel amount) of the operation data No.0 to the command code (Command).

3. Set the position (travel amount) "1000 pulses" to the data (Data).

4. Turn the transmission request (TRIG) ON.

5. The TRIG response (TRIG_R) is turned ON. If the command code is written properly, the transmission error (STATUS) remains OFF.

6. Check the TRIG response (TRIG_R) has been turned ON and turn the transmission request (TRIG) OFF.

7. The TRIG response (TRIG_R) is turned OFF. Continuously, the following command code can be written. The command code "1240h" of the speed of the operation data No.0 is written in the timing chart below.

Remote register

Command

Response

CoE

Index

2800h

(address

number 0)

2900h

(address

number 0)

Sub-

index

4 (bit0)

4 (bit1)

Description

Command code (Command)

Data

Transmission request (TRIG)

TRIG response (TRIG_R)

Transmission error (STATUS)

OFF

1 5

Timing chart

1200h 1240h

1000 3000

zWrite (error)

This explains the case that the position (travel amount) that is out of the setting range was written using the AR Series. The range of the position (travel amount) of the operation data for the AR Series is −8,388,608 to +8,388,607.

1. Check the TRIG response (TRIG_R) is OFF.

2. Set the command code "1200h" of the position (travel amount) of the operation data No.0 to the command code (Command).

3. Set the position (travel amount) "9,999,999 pulses" that is out of the setting range to the data (Data).

4. Turn the transmission request (TRIG) ON.

5. The TRIG response (TRIG_R) is turned ON. At this time, since the position (travel amount) that is out of the setting range has been set, the transmission error (STATUS) is turned ON. The position (travel amount) is not written because the transmission error was generated.

6. Turn the transmission request (TRIG) OFF in order to release the transmission error (STATUS). The TRIG response (TRIG_R) and transmission error (STATUS) are turned OFF.

Remote register

Command

Response

▌

CoE

Index

2800h

(address

number 0)

2900h

(address

number 0)

Sub-

index

4 (bit0)

4 (bit1)

Description

Command code (Command)

Data

Transmission request (TRIG)

TRIG response (TRIG_R)

Transmission error (STATUS)

OFF

Timing chart

1200h

9,999,999

4 6

1 5

9-3 Remote monitor list

Remote monitor is an area for PDO mapping.

•Remote monitor command .......................Mapping to RxPDO is possible.

•Remote monitor response ..........................Mapping to TxPDO is possible.

Since 16 dedicated objects for monitor are provided, multiple monitors to one axis can be performed simultaneously. Refer to the following table for the CoE Index of the object area.

CoE Index Name CoE Index Name

Area

Monitor 0 2A00h Remote Monitor 0 Command 2B00h Remote Monitor 0 Response

Monitor 1 2A01h Remote Monitor 1 Command 2B01h Remote Monitor 1 Response

Monitor 2 2A02h Remote Monitor 2 Command 2B02h Remote Monitor 2 Response

Monitor 3 2A03h Remote Monitor 3 Command 2B03h Remote Monitor 3 Response

Monitor 4 2A04h Remote Monitor 4 Command 2B04h Remote Monitor 4 Response

Monitor 5 2A05h Remote Monitor 5 Command 2B05h Remote Monitor 5 Response

Monitor 6 2A06h Remote Monitor 6 Command 2B06h Remote Monitor 6 Response

Monitor 7 2A07h Remote Monitor 7 Command 2B07h Remote Monitor 7 Response

Monitor 8 2A08h Remote Monitor 8 Command 2B08h Remote Monitor 8 Response

Monitor 9 2A09h Remote Monitor 9 Command 2B09h Remote Monitor 9 Response

Monitor 10 2A0Ah Remote Monitor 10 Command 2B0Ah Remote Monitor 10 Response

Monitor 11 2A0Bh Remote Monitor 11 Command 2B0Bh Remote Monitor 11 Response

Monitor 12 2A0Ch Remote Monitor 12 Command 2B0Ch Remote Monitor 12 Response

Monitor 13 2A0Dh Remote Monitor 13 Command 2B0Dh Remote Monitor 13 Response

Monitor 14 2A0Eh Remote Monitor 14 Command 2B0Eh Remote Monitor 14 Response

Monitor 15 2A0Fh Remote Monitor 15 Command 2B0Fh Remote Monitor 15 Response

Command

(master to

NETC01-ECT

Remote monitor command

)

Response

(

NETC01-ECT

to master)

Remote monitor response

Basic function

Remote monitor command

zCommand [master to

CoE Index

2A00h (2A00h

2A0Fh)

Sub-

index

1 Axis U8 RW Address number

2 Command U16 RW Command code

3 Data INT32 RW Reserved (not used)

4 TRIG U8 RW

NETC01-ECT

Name Type Access Description

−

zDescription of TRIG

Name Description Setting range

TRIG

This is a trigger to execute the command code of monitor. When TRIG is changed from 0 to 1, the command code is executed.

]

U8 R Number of Sub-index: 4

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

− − − − − − −

0: No action 1: Execute

TRIG

▐

Basic function

Remote monitor response

CoE Index

2B00h

(2B00h

2B0Fh)

zResponse [

Sub-

index

1 Axis U8 R Address number response

2 Command U16 R Command code response

3 Data INT32 R Monitor data

4 Status U8 R

NETC01-ECT

Name Type Access Description

−

to master]

U8 R Number of Sub-index: 4

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

− − − −

Command Error Axis Error STATUS TRIG_R

zDescription of Status

Name Description Setting range

TRIG_R Indicates a response to the TRIG of the remote monitor command.

STATUS Detects an error when writing.

Axis Error Indicates an error of the address number.

Command Error

Indicates an error of the command code of monitor. Evaluates as an error if the command code other than monitor was input.

Timing chart

0: TRIG undetected 1: TRIG detected

0: Normal 1: Error

zMonitor (normal time)

This explains how to monitor the command position of the driver for the address number 2 using the AR Series. The monitor 0 is used for the monitor number.

1. Check the TRIG response (TRIG_R) is OFF.

2. Set the address number "2" of the driver to the address number (Axis).

3. Set the command code "2063h" of the command position to the command code (Command).

4. Turn the monitor request (TRIG) ON. The monitor is continued while the monitor request (TRIG) is being ON.

5. The TRIG response (TRIG_R) is turned ON, and the monitor value is returned to the monitor value (Data). At this time, if the command code has been read properly, the transmission error (STATUS) remains OFF.

6. Turn the monitor request (TRIG) OFF. The TRIG response (TRIG_R) is turned OFF, and the monitor is stopped.

Remote monitor

Command

CoE

Index

2A00h

(monitor 0)

Sub-

index

4 (bit0)

Description

Address number (Axis)

Command code (Command)

Monitor request (TRIG)

TRIG response (TRIG_R)

OFF

1 5

Timing chart

2 (dec)

2063h

Monitor value (Data)

Response

▌

2B00h

(monitor 0)

4 (bit1) Transmission error (STATUS)

4 (bit2)

Address number error (Axis Error)

OFF

100 101 102 103 104

zMonitor (error)

This explains the case that the command code was set to the driver that is not connected using the AR Series. The monitor 0 is used for the monitor number.

1. Check the TRIG response (TRIG_R) is OFF.

2. Set the address number "5" of the driver that is not connected to the address number (Axis).

3. Set the command code "2063h" of the command position to the command code (Command).

4. Turn the monitor request (TRIG) ON.

5. The TRIG response (TRIG_R) is turned ON. At this time, since the address number of the driver that is not connected has been set, the transmission error (STATUS) and address number error (Axis Error) are turned ON. Since the monitor error is generated, the monitor is not performed properly.

6. Turn the monitor request (TRIG) OFF in order to release the transmission error (STATUS). TRIG response (TRIG_R), transmission error (STATUS), and address number error (Axis Error) are turned OFF.

Basic function

Remote monitor

Command

Response

CoE

Index

2A00h

(monitor 0)

2B00h

(monitor 0)

Sub-

index

4 (bit0)

Description

Address number (Axis)

Command code (Command)

Monitor request (TRIG)

TRIG response (TRIG_R)

Monitor value (Data)

4 (bit1) Transmission error (STATUS)

4 (bit2)

Address number error (Axis Error)

OFF

1 5

OFF

Timing chart

5 (dec)

2063h

xxxxxxx

▐

Basic function

9-4 Objects of the

Object lists of parameters, monitor, and maintenance for the

NETC01-ECT

Parameter

CoE Index Sub-index Type Access

2CC4h 0

2D80h 0

2D81h 0

2D82h 0

2D83h 0

2D84h 0

2D85h 0

2D86h 0

2D87h 0

2D88h 0

2D89h 0

2D8Ah 0

2D8Bh 0

2D8Ch 0

2D8Dh 0

2D8Eh 0

2D8Fh 0

U8 RW Possible

PDO possible/

not possible

NETC01-ECT

Parameter name Setting range

Data setter edit

(address number 0)

(address number 1)

(address number 2)

(address number 3)

(address number 4)

(address number 5)

(address number 6)

(address number 7)

(address number 8)

(address number 9)

(address number 10)

(address number 11)

(address number 12)

(address number 13)

(address number 14)

(address number 15)

are as follows.

Connection

0: Disable

1: Enable

Initial value

1 A

1 B

0 B

Eective *

* A: Eective immediately, B: Eective after turning the power ON again

If the parameters that enters "B (Eective after turning the power ON again)" in the column of eective are changed, cycle the power of the maintenance command.

▌

NETC01-ECT

after executing "Batch non-volatile memory write (3E85h)" of the

Monitor command

Basic function

CoE Index Sub-index Type Access

3E00h 0 U8 R Tx possible Present alarm

3E01h 0 U8 R Tx possible Alarm record 1

3E02h 0 U8 R Tx possible Alarm record 2

3E03h 0 U8 R Tx possible Alarm record 3

3E04h 0 U8 R Tx possible Alarm record 4

3E05h 0 U8 R Tx possible Alarm record 5

3E06h 0 U8 R Tx possible Alarm record 6

3E07h 0 U8 R Tx possible Alarm record 7

3E08h 0 U8 R Tx possible Alarm record 8

3E09h 0 U8 R Tx possible Alarm record 9

3E0Ah 0 U8 R Tx possible Alarm record 10

3E0Bh 0 U8 R Tx possible Present warning

3E0Ch 0 U8 R Tx possible Warning record 1

3E0Dh 0 U8 R Tx possible Warning record 2

3E0Eh 0 U8 R Tx possible Warning record 3

3E0Fh 0 U8 R Tx possible Warning record 4

3E10h 0 U8 R Tx possible Warning record 5

3E11h 0 U8 R Tx possible Warning record 6

3E12h 0 U8 R Tx possible Warning record 7

3E13h 0 U8 R Tx possible Warning record 8

3E14h 0 U8 R Tx possible Warning record 9

3E15h 0 U8 R Tx possible Warning record 10

3E30h *1 0 U8 R Tx possible Converter status

3E3Bh 0 U16 R Tx possible RS-485 communication scantime

3E3Ch *2 0 U16 R Tx possible RS-485 communication connection request

3E3Dh *3 0 U16 R Tx possible RS-485 communication connection response

3E40h 0 U8 R Tx possible Communication error (remote monitor 0)

3E41h 0 U8 R Tx possible Communication error (remote monitor 1)

3E42h 0 U8 R Tx possible Communication error (remote monitor 2)

3E43h 0 U8 R Tx possible Communication error (remote monitor 3)

3E44h 0 U8 R Tx possible Communication error (remote monitor 4)

3E45h 0 U8 R Tx possible Communication error (remote monitor 5)

3E46h 0 U8 R Tx possible Communication error (remote monitor 6)

3E47h 0 U8 R Tx possible Communication error (remote monitor 7)

3E48h 0 U8 R Tx possible Communication error (remote monitor 8)

3E49h 0 U8 R Tx possible Communication error (remote monitor 9)

3E4Ah 0 U8 R Tx possible Communication error (remote monitor 10)

3E4Bh 0 U8 R Tx possible Communication error (remote monitor 11)

3E4Ch 0 U8 R Tx possible Communication error (remote monitor 12)

3E4Dh 0 U8 R Tx possible Communication error (remote monitor 13)

3E4Eh 0 U8 R Tx possible Communication error (remote monitor 14)

3E4Fh 0 U8 R Tx possible Communication error (remote monitor 15)

3E50h 0 U8 R Tx possible Communication error (remote register 0)

3E51h 0 U8 R Tx possible Communication error (remote register 1)

3E52h 0 U8 R Tx possible Communication error (remote register 2)

3E53h 0 U8 R Tx possible Communication error (remote register 3)

3E54h 0 U8 R Tx possible Communication error (remote register 4)

3E55h 0 U8 R Tx possible Communication error (remote register 5)

3E56h 0 U8 R Tx possible Communication error (remote register 6)

PDO possible/

not possible

Parameter name

▐

Basic function

CoE Index Sub-index Type Access

3E57h 0 U8 R Tx possible Communication error (remote register 7)

3E58h 0 U8 R Tx possible Communication error (remote register 8)

3E59h 0 U8 R Tx possible Communication error (remote register 9)

3E5Ah 0 U8 R Tx possible Communication error (remote register 10)

3E5Bh 0 U8 R Tx possible Communication error (remote register 11)

3E5Ch 0 U8 R Tx possible Communication error (remote register 12)

3E5Dh 0 U8 R Tx possible Communication error (remote register 13)

3E5Eh 0 U8 R Tx possible Communication error (remote register 14)

3E5Fh 0 U8 R Tx possible Communication error (remote register 15)

*1 CoE Index: 3E30h (Converter stetus)

The status of the

CoE

Index

3E30h 0 U8 R

*2 CoE Index: 3E3Ch (RS-485 communication connection request)

The setting status of the "Connection (address number)" parameter can be monitored.

CoE

Index

3E3Ch 0 U16 R

Sub-

index

Sub-

index

NETC01-ECT

Type Access Description

can be monitored.

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

− − − − −

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 0

bit[15] bit[14] bit[13] bit[12] bit[11] bit[10] bit[9] bit[8]

Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8

PDO possible/

not possible

Parameter name

S-BSY WNG ALM

*3 CoE Index: 3E3Dh (RS-485 communication connection response)

The communication status of RS-485 communication can be monitored.

CoE

Index

3E3Dh 0 U16 R

Sub-

index

Type Access Description

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

Axis 7 Axis 6 Axis 5 Axis 4 Axis 3 Axis 2 Axis 1 Axis 0

bit[15] bit[14] bit[13] bit[12] bit[11] bit[10] bit[9] bit[8]

Axis 15 Axis 14 Axis 13 Axis 12 Axis 11 Axis 10 Axis 9 Axis 8

1: Communicating properly 0: Communication error, or the "connection (address number)" parameter is set to "Disable."

zAlarm code list

Code Name Description

00h Alarm not present

47h EEPROM error The stored data in the

83h Communication switch setting error Transmission rate setting switch was out of the specication.

84h RS-485 communication error The RS-485 communication error has been detected three times consecutively.

F0h CPU error CPU malfunctioned.

NETC01-ECT

−

was damaged.

zWarning code list

Code Name Description

00h Warning not present

84h RS-485 communication error RS-485 communication error was detected.

85h RS-485 communication timeout

Even though the receiving cycle of RS-485 communication has passed, the response frame was not completed receiving.

−

▌

zCommunication error code list

Code Name Description Note

00h

85h Communication timeout

88h Command not yet dened. The unsupported command code was specied.

89h

8Ch Outside setting range

8Dh Command execute disable STATUS=1 was received from the slave axis.

Communication error not present

Execution is disabled due to user I/F communication in progress

− −

•The non-communication axis was accessed (TRIG=1) by remote register.

•The non-communication axis was specied to the Axis of remote monitor.

The command requested by the master could not be executed because the communicating with the

The value out of the setting range was specied in the Axis of remote monitor.

NETC01-ECT

OPX-2A

was

MEXE02

The factor is recorded in the communication error records of the slave.

Maintenance command

Basic function

−

CoE Index Sub-index Type Access

3E80h 0 U8 RW Possible Reset alarm

3E81h 0 U8 RW Possible Clear alarm records 0

3E82h 0 U8 RW Possible Clear warning records 0

3E84h 0 U8 RW Possible

3E85h 0 U8 RW Possible

3E86h 0 U8 RW Possible All data initialization 0

When 1 is written to the data, the command code is executed.

PDO possible/

not possible

9-5 Read, write, save of parameters

Read and write of parameters

When reading or writing the parameters of the

•When operating with the parameter mode or copy mode of the using the communication error (communication error code: 89h) occurs.

•When reading or writing parameters via EtherCAT communication, or when executing the maintenance command of the

NETC01-ECT

MEXE02

, you cannot execute read/write of the parameters via EtherCAT communication. If you execute, a

, you cannot read or write parameters using the

NETC01-ECT

Parameter name Setting range

Batch non-volatile memory read

Batch non-volatile memory write

, use any of EtherCAT communication,

, or when downloading or initializing the parameters

OPX-2A

MEXE02

0: Not reected 1: Reected

OPX-2A

, or

MEXE02

Initial value

Storage for parameters

Parameters are saved in the RAM or non-volatile memory. The parameters saved in the RAM is erased once the 24 VDC power supply is shut o, but the parameters in non-volatile memory is stored even if the 24 VDC power supply is shut o. When the 24 VDC power is supplied to the RS-485 communication compatible product, the parameters stored in the non-volatile memory are sent to the RAM, and the recalculation and setup for the parameters are executed in the RAM.

When the parameters are written to the RS-485 communication compatible product via EtherCAT communication, they are written in the RAM space. When saving in the non-volatile memory, execute "Batch non-volatile memory write (3E85h)" of the maintenance command for each EtherCAT communication axis and RS-485 communication axis. Batch non-volatile memory write can be executed by writing "1."

Do not turn o the 24 VDC power supply while writing in the non-volatile memory, and also do not turn o within 5 seconds after the completion of writing. Doing so may abort writing the data and cause an EEPROM error alarm to generate.

▐

Basic function

The non-volatile memory can be rewritten approximately 100,000 times.

9-6 Basic operating procedures

This section explains how to perform positioning operation and monitor function as basic operating procedures. This is an example of the operating procedure for controlling via EtherCAT communication using the communication compatible product is explained using the compatible mode of the AZ Series built-in controller type.

Positioning operation

zSetting example

•Driver address number (slave address): 0

•Operation data No.1

•Position (travel amount): 5000 steps

•Setting method of operation data for the AZ Series: Compatible command (setting per item)

zOperating procedure

1. Send the following remote register to set the position (travel amount) of the operation data No.1 to 5000 steps. When the TRIG is turned ON, the data set in the remote register is written.

NETC01-ECT

. The RS-485

[Remote register command of

CoE Index

2800h

(Address

number 0)

Sub-

Index

1 Axis U8 RW Reserved (not used)

2 Command U16 RW Command code: 1201h (position of operation data No.1)

3 Data INT32 RW Data: 5000 (travel amount: 5000 steps)

4 TRIG U8 RW

2. When the data writing is completed properly, the TRIG_R is turned ON. At this time, the STATUS remains OFF. Turn the TRIG OFF again after writing.

[Remote register response of

CoE Index

2900h

(Address

number 0)

Sub-

index

0 − U8 R Sub-index number: 4

1 Axis U8 R Reserved (not used)

2 Command U16 R Command code response: 1201h

3 Data INT32 R Data response: 5000

4 Status U8 R

•If the TRIG was turned ON, be sure to turn it OFF again.

•When the data is written with the TRIG, the data is saved in the RAM. If the data is saved in the non-volatile memory, execute the "Batch non-volatile memory (3E85h)" of the maintenance command.

NETC01-ECT

Item Type Access Description

−

NETC01-ECT

Item Type Access Description

]

U8 R Sub-index number: 4

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

− − − − − − −

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

− − − −

Command

Error

Axis

Error

TRIG

STATUS TRIG_R

▌

3. Send the following remote I/O to turn the M0 and START ON (9h). Positioning operation is started. If the motor rotates for 5000 steps, the positioning operation was successful.

Basic function

[Remote I/O of

CoE Index

2600h

(Address

number 0)

NETC01-ECT

Sub-

Index

]

Item Type Access Description

−

I/O Command

(lower)

I/O Command

(upper)

[NET-IN (initial value) of AZ Series]

CoE Index

2600h

(Address

number 0)

Sub-

Index

Item Type Access Description

−

I/O Command

(lower)

I/O Command

(upper)

Monitor function

zSetting example

•Driver address number (slave address): 0

•Operation data No.0 (the speed was set to 1000 [Hz])

•Monitor item: Feedback speed [Hz]

•Connected driver: AZ Series

U8 R Sub-index number: 2

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

U8 RW

U8 R Sub-index number: 2

U8 RW

NET-IN7 NET-IN6 NET-IN5

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

NETIN15

NET-IN7 NET-IN6 NET-IN5 NET-IN4 NET-IN3 NET-IN2 NET-IN1 NET-IN0

ALM-

RST

NET-IN15 NET-IN14 NET-IN13 NET-IN12 NET-IN11 NET-IN10 NET-IN9 NET-IN8

RV-POS FW-POS RV-JOG-P FW-JOG-P SSTART D-SEL2 D-SEL1 D-SEL0

NETIN14

FREE STOP ZHOME START M2 M1 M0

NETIN13

NET-

NET-IN3 NET-IN2 NET-IN1 NET-IN0

IN4

NETIN12

NETIN11

NETIN10

NET-IN9 NET-IN8

zOperating procedure

1. Send the following remote monitor command to turn the TRIG ON. The monitor of the feedback speed [Hz] of the address number 0 is started.

[Remote monitor command of

CoE Index

2A00h

(Address

number 0)

[Remote I/O of

CoE Index

2600h

(Address

number 0)

Sub-

Index

1 Axis U8 RW Address number: 0

2 Command U16 RW Command code: 2068h (monitor of feedback speed [Hz])

3 Data INT32 RW Reserved (not used)

4 TRIG U8 RW

2. Send the following remote I/O to turn the FW-POS (40h) of the address number 0 ON. Continuous operation in the forward direction is started.

NETC01-ECT

Sub-

Index

I/O Command

NETC01-ECT

Item Type Access Description

−

]

U8 R Sub-index number: 4

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

− − − − − − −

]

Item Type Access Description

−

(lower)

(upper)

U8 R Sub-index number: 2

U8 RW

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

NET-IN7 NET-IN6 NET-IN5 NET-IN4 NET-IN3 NET-IN2 NET-IN1 NET-IN0

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

NET-IN15 NET-IN14 NET-IN13 NET-IN12 NET-IN11 NET-IN10 NET-IN9 NET-IN8

TRIG

▐

Basic function

[NET-IN (initial value) of AZ Series]

CoE Index

2600h

(Address

number 0)

Sub-

Index

Item Type Access Description

−

I/O Command

(lower)

I/O Command

(upper)

3. If the data of the address number 0 is monitored by the remote monitor response, the communication was successful. The TRIG_R is turned ON while the monitor is performed properly. At this time, the STATUS remains OFF.

The monitor is continued to update while the TRIG of the remote monitor command is being ON.

U8 R Sub-index number: 2

NET-

IN4

NET-IN3 NET-IN2 NET-IN1 NET-IN0

U8 RW

NET-IN7 NET-IN6 NET-IN5

ALM-RST FREE STOP ZHOME START M2 M1 M0

NET-IN15 NET-IN14 NET-IN13 NET-IN12 NET-IN11 NET-IN10 NET-IN9 NET-IN8

RV-POS FW-POS RV-JOG-P FW-JOG-P SSTART D-SEL2 D-SEL1 D-SEL0

[Remote monitor response of

CoE Index

2B00h

(Address

number 0)

Sub-

Index

1 Axis U8 R Address number response: 0

2 Command U16 R Command code response: 2068h

3 Data INT32 R Monitor data: 1000

4 Status U8 R

4. Turn the TRIG OFF again to nish the monitor.

NETC01-ECT

Item Type Access Description

−

]

U8 R Sub-index number: 4

bit[7] bit[6] bit[5] bit[4] bit[3] bit[2] bit[1] bit[0]

− − − − Command Error Axis Error STATUS TRIG_R

▌

10 Specications of RS-485

[Monitor execution]

[Remote I/O execution]

communication

10-1 Operation mode

Specications of RS-485 communication

Up to 16 units of the RS-485 communication compatible product (slave) can be connected to the Set the address number connected eectively. For details, refer to "Parameter" on p.30.

If the number of the slave axis connected is changed, cycle the power.

10-2 RS-485 communication conguration

When communication between the processing is executed. When conguration processing is executed, the RS-485 communication compatible product to 200 ms. Therefore, for the RS-485 communication compatible product, the RS-485 communication timeout alarm will be generated in 200 ms after disconnecting the communication with the When the conguration processing is completed properly, RS-485 communication is started. If the communication is restarted after the power of the RS-485 communication compatible product was shut o or RS-485 communication was stopped by the RS-485 communication cable disconnection etc., the same conguration processing is executed.

NETC01-ECT

and RS-485 communication compatible product is started, conguration

NETC01-ECT

automatically set the "communication timeout" parameter of the

10-3 RS-485 communication process and scan time

There are two phases in the process of RS-485 communication, and the phase 1 and phase 2 are repeated. Phase 1: Executing remote I/O Phase 2: Executing monitor

Transmitting to and receiving from the

address number which "Connection (axis #)"

parameter is set to "1: Enable"

(maximum 16 times)

Transmitting and receiving when the TRIG

of remote monitor command is being ON

(maximum 16 times)

NETC01-ECT

(command)

RS-485 communication compatible (response)

In each phase, the item in which the condition in the following table is set to "1: Enable" or "ON" will be transmitted and received.

Add No.0

1 ms

(reference)

Add No.0

Add No.1

Add

No.15

Add

No.1

RS-485 communication scantime

Add

No.15

Mon

1 ms

(reference)

Mon

Add

No.0

Add

No.0

▐

Specications of RS-485 communication

RS-485 communication process phase Condition to transmit and receive the command

Phase 1: Executing remote I/O

Phase 2: Executing monitor

Address number 0 Connection (address number 0) = 1: Enable

Address number 1 Connection (address number 1) = 1: Enable

Address number 2 Connection (address number 2) = 1: Enable

Address number 3 Connection (address number 3) = 1: Enable

Address number 4 Connection (address number 4) = 1: Enable

Address number 5 Connection (address number 5) = 1: Enable

Address number 6 Connection (address number 6) = 1: Enable

Address number 7 Connection (address number 7) = 1: Enable

Address number 8 Connection (address number 8) = 1: Enable

Address number 9 Connection (address number 9) = 1: Enable

Address number 10 Connection (address number 10) = 1: Enable

Address number 11 Connection (address number 11) = 1: Enable

Address number 12 Connection (address number 12) = 1: Enable

Address number 13 Connection (address number 13) = 1: Enable

Address number 14 Connection (address number 14) = 1: Enable

Address number 15 Connection (address number 15) = 1: Enable

Monitor 0 2A00h: 4 TRIG=ON

Monitor 1 2A01h: 4 TRIG=ON

Monitor 2 2A02h: 4 TRIG=ON

Monitor 3 2A03h: 4 TRIG=ON

Monitor 4 2A04h: 4 TRIG=ON

Monitor 5 2A05h: 4 TRIG=ON

Monitor 6 2A06h: 4 TRIG=ON

Monitor 7 2A07h: 4 TRIG=ON

Monitor 8 2A08h: 4 TRIG=ON

Monitor 9 2A09h: 4 TRIG=ON

Monitor 10 2A0Ah: 4 TRIG=ON

Monitor 11 2A0Bh: 4 TRIG=ON

Monitor 12 2A0Ch: 4 TRIG=ON

Monitor 13 2A0Dh: 4 TRIG=ON

Monitor 14 2A0Eh: 4 TRIG=ON

Monitor 15 2A0Fh: 4 TRIG=ON

Parameter

Remote monitor

command

•In the phase 1, the following processes are performed. Start-stop of operation or control of excitation is performed by ON-OFF action for the remote I/O command assigned to the RS-

485 communication compatible product.

The status of the RS-485 communication compatible product is read to the remote I/O status.

•The command is transmitted and received in the order of the address number via RS-485 communication. If the "connection

(address number)" parameter of the performed.

•In phase 2, when the TRIG of the remote monitor command is being ON, transmission and reception of the command are

performed via RS-485 communication. When all of the monitor 0 to monitor 15 are being ON, transmission and reception of the command are performed 16 times via RS-485 communication.

•The number of transmission and reception of the command within the RS-485 communication scan time will be the sum total

of the following two numbers: one is the number that the "connection (address number)" parameter is set to "1: Enable," and the other is the number that the TRIG is ON. The RS-485 communication scan time is calculated by the formula ["the number of transmission and reception of the command" × 1 ms (reference value)].

•The RS-485 communication scan time can be checked by any of the "RS-485 communication scan time (3E3Bh)" of the monitor

command of the

▌

NETC01-ECT, OPX-2A

NETC01-ECT

, or

is set to "0: Disable," RS-485 communication to the address number is not

MEXE02

10-4 RS-485 communication status

The status of RS-485 communication can be checked by the following methods.

•Check by the

•Check by the monitor command of the

Monitor commands Description

RS-485 communication connection request (3E3Ch)

RS-485 communication connection response (3E3Dh)

OPX-2A

MEXE02

NETC01-ECT

The setting status of the "Connection (address number)" parameter can be monitored. (

0: Disable 1: Enable

The communication status of RS-485 communication can be monitored. (

0: Communication error, or the "communication (address number)" parameter is set to "0: Disable."

1. Communicating properly

Specications of RS-485 communication

p.32)

▐

Troubleshooting

11 Troubleshooting

Alarms (protective function) as well as warnings (warning function) to output a notice before generating an alarm are provided in the

NETC01-ECT

11-1 Alarms

If an alarm occurs, ALM in the "converter status (3E30h)" of the monitor command of the ALARM LED is blink. The cause of the alarm can be checked by counting the number of times the ALARM LED blinks. The generating alarm can be checked by any of the monitor command of the records of up to ten most recent alarms starting from the latest one can be checked and cleared. RS-485 communication will be stopped depending on the type of the alarm.

NETC01-ECT, OPX-2A

NETC01-ECT

is turned ON (1), and the

, or

MEXE02

. The alarm

Example: Communication switch setting error (number of blinks: 7)

ON-OFF of about 200 ms is repeated 7 times.

Approx. 200 ms Approx. 1.4 sApprox. 200 ms

Interval

Alarm reset

Perform one of the reset operations specied below. Before resetting an alarm, always remove the cause of the alarm and ensure safety.

•Execute the "Reset alarm (3E80h)" command of the maintenance command of the

•Cycle the power

The CPU error (F0h) cannot reset by the "Reset alarm" of the maintenance command. To reset the alarm, cycle the power.

NETC01-ECT

Descriptions of alarms

No. of

ALARM

LED blinks

9 41h

Lit F0h

Alarm

code

83h

84h

86h

Alarm type Cause Remedial action

Communication switch setting error

RS-485

communication error

EEPROM

CPU

error

RS-485 communicaiton transmission rate setting switch (SW1) was out-of-specication.

The RS-485 communication error has been detected three times consecutively.

The stored data in the

was damaged.

ECT

malfunctioned. Cycle the power.

CPU

NETC01-

Set the switch to 7.

•Check the transmission rate of RS-485 communication.

•Check the connector or cable of RS485 communication.

Check whether the address number of the RS-485 communication compatible products has duplicated.

Initialize all data.

▌

11-2 EtherCAT communication error

200 ms 200 ms

This section describes the errors relating to EtherCAT communication and the blinking status about LED. The motor operation is stopped while the EtherCAT communication error generates. In addition, when the master device was stopped during operation, the motor operation is also stopped.

LEDs to indicate the status of EtherCAT communication

LED indicator LED status * Description

OFF Initialization state

RUN (Green)

ERR (Red)

L/A (Green)

* The timing to blink the LED is as follows.

Blinking Pre-Operational state

Single ash Safe-Operational state

Lit Operational state (normal condition)

OFF No communication error

Blinking Communication setting error

Single ash Communication data error

Double ash Communication watchdog timeout

OFF No link

Lit Link establishment

Flickering Operation in progress after link establishment

Troubleshooting

Blinking

Single ash

Double ash

Flickering

OFF

11-3 Warning

If a warning occurs, WNG in the "converter status (3E30h)" of the monitor command of the will continue to operate. Once the cause of the warning is removed, the warning is automatically reset, and WNG is also turned OFF. The generating warning can be checked by any of the monitor command of the records of up to ten most recent warnings starting from the latest one can be checked and cleared.

Warning code Warning type Cause Remedial action

84h

85h

200 ms 200 ms1000 ms

200 ms

50 ms 50 ms

RS-485 communication error

RS-485 communication timeout

1000 ms

200 ms

A RS-485 communication error was detected.

Even though the receiving cycle of RS485 communication was passed, the response frame was not completed receiving.

NETC01-ECT

NETC01-ECT, OPX-2A

•Check the transmission rate of RS-485 communication.

•Check the connector and cable of RS-485 communication.

•Check the power supply of the RS-485 communication compatible product.

is turned ON (1). The motor

, or

MEXE02

. The warning

▐

Troubleshooting

11-4 Relationship with the RS-485 communication compatible product

This section explains how to take measures when a trouble occurred in the system that was connected the 485 communication compatible product. Troubleshooting or remedial action varies depending on the status of the system.

System status

An alarm was generated in the

NETC01-ECT

Communication with the master device was cut o. (EtherCAT communication shows a disconnected status)

An error was occurred in RS485 communication or RS485 communication was disconnected.

The power supply of the

NETC01-ECT

while communicating via RS-485 communication.

was shut o

NETC01-ECT

An alarm is generated.

EtherCAT communication becomes a disconnected status. (No alarm is generated)

The RS-485 communication timeout warning or RS-485 communication error alarm is generated.

−

RS-485 communication compatible

product

The network converter error alarm is generated.

If the communication with the master device is disconnected while the motor is operated, the network bus error alarm is generated.

The RS-485 communication timeout warning or RS-485 communication error alarm is generated.

The RS-485 communication timeout error alarm is generated.

NETC01-ECT

Remedial action

Reset the alarm of the

. The alarm of the RS-485

ECT

communication compatible product is automatically reset.

Reset the alarm of the RS-485 communication compatible product.

Cycle the power of the RS-485 communication compatible product.

and RS-

NETC01-

▌

12 Inspection

It is recommended that periodic inspections for the items listed below are conducted after each operation of the motor. If an abnormal condition is noted, discontinue any use and contact your nearest Oriental Motor sales oce.

•Are any of the DIN rail mounting parts of the

•Are any of the connection parts of the

•Is there attachment of dust, etc., on the

•Are there any strange smells or appearances within the

NETC01-ECT

loose?

NETC01-ECT

Inspection

The

NETC01-ECT

damage semiconductor elements.

uses semiconductor elements. Handle the

NETC01-ECT

with care since static electricity may

▐

General specications

13 General specications

Environment specication

Operation environment Storage, shipping environment

Ambient temperature

Surrounding humidity 85% or less (non-condensing)

Altitude Up to 1000 m (3300 ft.) Up to 3000 m (10,000 ft.)

Surrounding atmosphere No corrosive gas, dust, water or oil

0 to +40 °C (+32 to +104 °F)

(non-freezing)

Insulation specication

25 to +70 °C (−13 to +158 °F)

−

(non-freezing)

Insulation resistance

Dielectric strength

FG terminal - Power supply terminals

100 MΩ or more when 500 VDC megger is applied.

Leak current 10 mA or less when 500 VAC 50/60 Hz is applied for 1 minute.

RS-485 communication specications

In conformance with EIA-485, shielded straight cable

Electrical characteristics

Communication mode Half duplex, Asynchronous mode (data: 8 bits, stop bit: 1 bit, parity: none)

Transmission rate 625,000 bps

Protocol 10-byte xed length frame, binary transmission

Maximum number of connected units

Use a twisted pair cable (TIA/EIA-568B CAT5e or higher is recommended) and keep the total wiring distance including extension to 50 m (164 ft.) or less.

16 unit

EtherCAT communication specications

Communication protocol Dedicated protocol for EtherCAT (CoE), prole type: CiA301 compatible

Transmission rate 100 Mbps

Communications synchronization Automatically set in accordance with the setting of the master device

Maximum number of byte Input: 300 bytes, output: 300 bytes

Physical layer 100BASE-TX (IEEE802.3)

Connector RJ45 ×2 (shielded), ECAT IN: EtherCAT input, ECAT OUT: EtherCAT output

Topology Daisy chain

Communications media Shielded straight cable of category 5 or higher

Communications distance Distance between nodes 100 m (330ft.) or less

Node address setting method Hexadecimal node address switches

Node address range 0 to 255

Synchronization mode Free Run mode (asynchronous)

▌

Operation using the OPX-2A

NETC01-ECT

14 Operation using the

This chapter explains the overview and operation using the

14-1 Overview of the

The In addition, the

NETC01-ECT

The

•Set parameters for the

•Monitor the communication time and status.

•Check and clear the alarm records.

•The parameters set in the

•The parameters saved in the

is a data setter that lets you set parameters and monitor the communication time.

OPX-2A

can be used for the following purposes:

OPX-2A

can be used to save the data of

OPX-2A

Copy one set to the NETC01-ECT.

NETC01-ECT

OPX-2A

can be copied to another

can be saved to the

OPX-2A

NETC01-ECT

OPX-2A

Data bank 0

Data bank 1

Data bank 2

Data bank 3

OPX-2A

. There are four destinations (data banks) to save data.

Set parameters.

Up to 4 sets of parameters can be saved.

NETC01-ECT

connected to the

OPX-2A

Notation

In this manual, keys are denoted by symbols, such as . In gures, a simplied illustration of the display and LED indicators is used, as shown below.

Edit lock function

Enable the edit lock function if you want to prevent parameters from being edited or cleared. Parameters cannot be changed or deleted while the edit lock function is enabled.

zSetting the edit lock function

In the top screen of each operation mode, press the key for at least 5 seconds. The display will show “LocK” and the edit lock function will be enabled.

The “LOCK” LED in the LED indicator area will also be lit.

“LOCK” lit

zCanceling the edit lock function

Again in the top screen of each operation mode, press the key for at least 5 seconds. The display will show “UnLocK” and the edit lock function will be cancelled.

The “LOCK” LED in the LED indicator area will turn o.

“LOCK” o

▐

Operation using the OPX-2A

• Numbers

Not usedLit in the parameter mode

14-2 Names and functions of parts

Display

This area shows the parameters, alarms, etc.

LED indicators

These LED indicators are used to indicate the mode of the OPX-2A and NETC01-ECT status.

Use this button to change the operation mode or move to the next upper level.

Use these buttons to change the selected item or set the parameters.

Use these buttons to increase or decrease the value or change the selected item.

Use these buttons to navigate through each parameter to a desired digit.

14-3 How to read the display

The display consists of 7-segment LEDs. (The number “5” and alphabet “S” are the same.)

1 2 3 4 5 6 7 8 9 0

• Alphabets

Use this button to select data or change the display item or move to the next lower level.

B C D E F G H I J K L

M N O P Q R S T U V W Y

• Signs

How to read the LED indicators

When the operation mode is changed or an alarm or warning generates, a corresponding LED will be lit. While the edit lock function is enabled, the condition is also indicated by the illumination of a corresponding LED.

Not used

Lit in the monitor mode

Lit when an alarm is present

Lit when a warning is present

▌

Not used Not used

Lit in the copy mode

Not used

Lit when the edit lock function is enabled

Operation using the OPX-2A

14-4

OPX-2A

Errors displayed on the

Error display Meaning Action

error display

are explained.

OPX-2A

A communication error occurred between the

NETC01-ECT

OPX-2A

and

•Check if the

•The may have damaged. Contact your nearest Oriental Motor sales oce.

OPX-2A

or the communication part of the

OPX-2A

is connected securely.

cable is disconnected or damaged.

NETC01-ECT

▐

Operation using the OPX-2A

14-5 Screen transitions

Top screen of the monitor mode

RS-485 communication scan time

RS-485communication status

Present alarm

Top screen of the parameter mode

Parameter selection [Example: Connection (address number 0)]

Parameter setting

Address number 0 to 7

Writing data is in progress

(blinking display)

Address number 8 to 15

Alarm record 1 (latest)

Alarm record 10 (oldest)

Clear alarm records

Present warning

Warning record 1 (latest)

Warning record 10 (oldest)

Clear warning records

Processing is in progress (blinking display)

•For the parameter mode and copy mode, if the key is pressed while processing the memory of the

NETC01-ECT

via EtherCAT communication, the screen cannot move to the lower level from the top screen

and "mEm-busy" is displayed. Be sure to wait until the memory processing is completed, before pressing the

key.

•The following limitations are present while the edit lock function is enabled. Parameter mode, copy mode: Although they are displayed on the screen, they are unable to operate.

Clearing the alarm and warning records: They are not displayed on the screen.

▌

Top screen of the copy mode

Download

Operation using the OPX-2A

Monitor mode

Verication

Upload

Data bank selection 0

Data bank selection 3

Data bank selection 2 Processing is in

Data bank selection 1 Processing is in

Data bank selection 0

Data bank selection 3

Processing is in progress (blinking display)

progress (blinking display)

Processing is in progress (blinking display)

Parameter initialization

Data bank selection 0

Data bank selection 3

Data bank selection 2

Data bank selection 1

Initialize all parameters

Verication result Matched

Verication result Unmatched

Processing is in progress (blinking display)

Data bank selection 2

Data bank selection 1 Processing is in

Processing is in progress (blinking display)

progress (blinking display)

Broken line indicates that data writing cannot be executed when internal processing is in progress via EtherCAT communication. "mEm-bUSy" is displayed even when the key is pressed.

▐

Operation using the OPX-2A

Connection request

14-6 Monitor mode

Overview of the monitor mode

zMonitoring the communication status

You can monitor the communication scan time and communication status.

zChecking alarms/warnings and clearing alarm/warning records

•If an alarm or warning generates, a corresponding alarm code or warning code will be displayed. You can check the code to identify the details of the alarm/warning.

•Up to ten most recent alarms/warnings can be displayed, starting from the latest one.

•You can clear the alarm/warning records.

Monitor items

zRS-485 communication scan time

The communication time between the

zRS-485 communication status

The communication status of the connected product can be checked.

NETC01-ECT

and connected product can be monitored in real time. (unit: ms)

•Address number 0 to 7

•Address number 8 to 15

zPresent alarm

When an alarm generates, a corresponding alarm code will be displayed. You can also check and clear alarm records.

Alarm code list

Alarm code Alarm type

83h Communication switch setting error

84h

86h

41h EEPROM error

F0h CPU error

RS-485 communication error

Connection request Lit: “Connection” parameter

01234567Address number:

is enabled. Unlit: “Connection” parameter is disabled.

Connection response Lit: Communicating properly Unlit: Communication error or “connection” paramete is disabled.

Lit: “Connection” parameter

89101112131415Address number:

is enabled. Unlit: “Connection” parameter is disabled.

Connection response Lit: Communicating properly Unlit: Communication error or “connection” paramete is disabled.

Do not turn o the Doing so may damage the parameter.

Refer to p.40 for how to reset an alarm.

▌

NETC01-ECT

power while alarm records are being cleared (=while the display is blinking).

Operation using the OPX-2A

zPresent warning

When a warning generates, a corresponding warning code will be displayed. You can check and clear warning records.

Warning code list

Warning code Warning type

84h RS-485 communication error

85h RS-485 communication timeout

Do not turn o the Doing so may damage the parameter.

You can also clear the warning records by turning o the

NETC01-ECT

14-7 Parameter mode

When a parameter has been changed, the new parameter will become eective after the

Description of parameter

ID Parameter name Description Setting range Initial value

3456 Connection (address number 0)

3457 Connection (address number 1)

3458 Connection (address number 2)

3459 Connection (address number 3)

3460 Connection (address number 4)

3461 Connection (address number 5)

3462 Connection (address number 6)

3463 Connection (address number 7)

3464 Connection (address number 8)

3465 Connection (address number 9)

3466 Connection (address number 10)

3467 Connection (address number 11)

3468 Connection (address number 12)

3469 Connection (address number 13)

3470 Connection (address number 14)

3471 Connection (address number 15)

power while warning records are being cleared (=while the display is blinking).

NETC01-ECT

Sets whether to enable or disable the communication with the connected product.

power.

NETC01-ECT

power is cycled.

0: Disable 1: Enable

•If operations are limited by the edit lock function, parameters cannot be edited.

•The non-volatile memory can be rewritten approximately 100,000 times.

•If a non-existent parameter ID is entered, "id-Error" will be displayed for 1 second. Check the ID and enter the correct one.

▐

Operation using the OPX-2A

NETC01-ECT

14-8 Copy mode

zDownload

Parameters saved in the

NETC01-ECT

the description of the error will blink on the display. Download will not be performed and the display will return to the top screen of download. Refer to the following "Error of the copy mode" to display the error.

zUpload

Parameters saved in the

zVerication

Parameters in the the two sets of parameter match, “Good” will be shown. If the two do not match, “Error” will be shown. If a verication error occurs, a code indicating the description of the error will blink on the display. Verication will not be performed and the display will return to the top screen of verication. Refer to the following "Error of the copy mode" to display the error.

zInitializing parameters

Parameters saved in the

. If a download error occurs, a code indicating

OPX-2A

can be copied to the

OPX-2A

NETC01-ECT

can be veried against the corresponding parameters in the

NETC01-ECT

can be copied to the

can be restored to the initial values.

OPX-2A

Download OPX-2A parameters to the NETC01-ECT.

Upload NETC01-ECT parameters to the OPX-2A.

NETC01-ECT

. If the verication nds that

What happens when the key is pressed while the edit lock function is enabled

While the edit lock function is enabled, you cannot move to any lower level from the top screen of the copy mode. Pressing the Be sure to cancel the edit lock function before pressing the key. Refer to p.45 for the

procedure to cancel the edit lock function.

key will generate an error, and “LocK-Err” will be shown.

Error of the copy mode

If an error occurs in download or verication, the error code will blink on the display. At this time, the processing will not be executed and the display will return to the top screen.

Blinking display Description Action

Do not turn o the may damage the parameter.

NETC01-ECT

There is a discrepancy between the selected product series and the data being processed.

An error occurred while processing.

The specied data bank number does not contain data.

power while processing is in progress (=while the display is blinking). Doing so

•Check the product series.

•Check the data bank number on the

Execute the processing again. If the same error occurs, the parameters saved in the may have damaged. Upload and set the parameters of the

Check the data bank number.

OPX-2A

again.

OPX-2A

•If the key is pressed while processing the memory of the "mEm-busy" is displayed. Be sure to wait until the memory processing is completed, before pressing the key.

•When a parameter has been changed, the new parameter will become eective after the power is cycled. When parameters were changed by downloading, cycle the

▌

NETC01-ECT

power.

via EtherCAT communication,

CoE communication area

15 CoE communication area

15-1 CoE communication area

Mapping to PDO cannot be performed in CoE communication area.

CoE Index Sub-index Type Access Name and description Note

1000h 0 U32 R Device Type (=00000000h)

Error Register bit[7]: Manufacturer specic bit[6]:

−

1001h 0 U8 R

1008h 0 STRING R

1009h 0 STRING R

100Ah 0 STRING R

− − −

0 U8 R

1018h

1600h 0 to 160 PDO Mapping RW

1601h to 17FFh

1A00h 0 to 160 PDO Mapping RW

1A01h to 1BFFh

1C00h

1C10h to 1C11h

1C12h

1C13h

1C14h to 1C2Fh

1C30h to 1C31h

1 U32 R

2 U32 R Product Code: 5015 (=00001397h)

3 U32 R Revision Number: 0

4 U32 R Serial Number: 0 Not supported.

−

− − −

0 U8 R Number of Sync Manager channel to be used (=4)

1 U8 R Communication Type Sync Manager 0 (=1 mailbox output)

2 U8 R Communication Type Sync Manager 1 (=2 mailbox input)

3 U8 R Communication Type Sync Manager 2 (=3 process data output)

4 U8 R Communication Type Sync Manager 3 (=4 process data input)

− − −

− −

0 U8 R Number of Receive PDO Mapping (=1)

1 U16 R Receive PDO Mapping (=1600h)

− −

0 U8 R Number of Transmit PDO Mapping (=1)

1 U16 R Transmit PDO Mapping (=1A00h)

− − −

PDO Mapping

bit[5]: Device Prole specic bit[4]: Communication error bit[3]: Temperature error bit[2]: Voltage error bit[1]: Current error bit[0]: General error

Manufacture Device Name (product name) "

NETC01-ECT

Manufacturer Hardware Version "V.1.00"

Manufacturer Software Version "V.1.01"

Identity Object

Number of entries (number of sub-index) Value: 4

Vendor ID 000002BE h

1st receive PDO Mapping Refer to "RxPDO register initial setting value" for initial setting items.

Receive PDO Mapping Not supported.

−

1st transmit PDO Mapping Refer to "TxPDO register initial setting value" for initial setting items

Transmit PDO Mapping Not supported.

−

Sync Manager Communication Type

Sync Manager 0,1 PDO Assignment Not supported.

R Sync Manager 2 PDO Assignment

R Sync Manager 3 PDO Assignment

Sync Manager PDO Assignment Not supported.

Sync Manager 0,1 Synchronization Not supported.

Not supported.

"V.*.**" format

ORIENTAL MOTOR CO.,LTD.

▐

CoE communication area

CoE Index Sub-index Type Access Name and description Note

Sync Manager 2 Synchronization

Only FREERUN is supported.

Sync Manager 3 Synchronization

Only FREERUN is supported.

Sync Manager n Synchronization Not supported.

1C32h

1C33h

1C34h to 1C4Fh

− − −

0 U8 R Number of Sub-index (=5)

1 U16 R Synchronization Type (=0)

2 U32 R Cycle Time

3 U32 R Shift Time (=0)

4 U16 R Sync Modes Supported (=0x01 FREERUN)

5 U32 R Minimum Cycle Time (=0)

− − −

0 U8 R Number of Sub-index (=5)

1 U16 R Synchronization Type (=0)

2 U32 R Cycle Time

3 U32 R Shift Time (=0)

4 U16 R Sync Modes Supported (=0x01 FREERUN)

5 U32 R Minimum Cycle Time (=0)

− − −

RxPDO register initial setting value

CoE Index Sub-index Setting value Description Data length (bit) Data length (byte)

1600h

0 128 Number of register of PDO (maximum value: 160)

1 26000108h Axis 0 NET-IN Lower 8 1

2 26000208h Axis 0 NET-IN Upper 8 1

3 28000210h Axis 0 Register Command 16 2

4 28000320h Axis 0 Register Data 32 4

5 28000408h Axis 0 Register TRIG 8 1

6 26010108h Axis 1 NET-IN Lower 8 1

7 26010208h Axis 1 NET-IN Upper 8 1

8 28010210h Axis 1 Register Command 16 2

9 28010320h Axis 1 Register Data 32 4

10 28010408h Axis 1 Register TRIG 8 1

11 26020108h Axis 2 NET-IN Lower 8 1

12 26020208h Axis 2 NET-IN Upper 8 1

13 28020210h Axis 2 Register Command 16 2

14 28020320h Axis 2 Register Data 32 4

15 28020408h Axis 2 Register TRIG 8 1

16 26030108h Axis 3 NET-IN Lower 8 1

17 26030208h Axis 3 NET-IN Upper 8 1

18 28030210h Axis 3 Register Command 16 2

19 28030320h Axis 3 Register Data 32 4

20 28030408h Axis 3 Register TRIG 8 1

21 26040108h Axis 4 NET-IN Lower 8 1

22 26040208h Axis 4 NET-IN Upper 8 1

23 28040210h Axis 4 Register Command 16 2

24 28040320h Axis 4 Register Data 32 4

25 28040408h Axis 4 Register TRIG 8 1

26 26050108h Axis 5 NET-IN Lower 8 1

27 26050208h Axis 5 NET-IN Upper 8 1

28 28050210h Axis 5 Register Command 16 2

29 28050320h Axis 5 Register Data 32 4

30 28050408h Axis 5 Register TRIG 8 1

31 26060108h Axis 6 NET-IN Lower 8 1

32 26060208h Axis 6 NET-IN Upper 8 1

33 28060210h Axis 6 Register Command 16 2

34 28060320h Axis 6 Register Data 32 4

35 28060408h Axis 6 Register TRIG 8 1

− −

▌

CoE communication area

CoE Index Sub-index Setting value Description Data length (bit) Data length (byte)

36 26070108h Axis 7 NET-IN Lower 8 1

37 26070208h Axis 7 NET-IN Upper 8 1

38 28070210h Axis 7 Register Command 16 2

39 28070320h Axis 7 Register Data 32 4

40 28070408h Axis 7 Register TRIG 8 1

41 26080108h Axis 8 NET-IN Lower 8 1

42 26080208h Axis 8 NET-IN Upper 8 1

43 28080210h Axis 8 Register Command 16 2

44 28080320h Axis 8 Register Data 32 4

45 28080408h Axis 8 Register TRIG 8 1

46 26090108h Axis 9 NET-IN Lower 8 1

47 26090208h Axis 9 NET-IN Upper 8 1

48 28090210h Axis 9 Register Command 16 2

49 28090320h Axis 9 Register Data 32 4

50 28090408h Axis 9 Register TRIG 8 1

51 260A0108h Axis 10 NET-IN Lower 8 1

52 260A0208h Axis 10 NET-IN Upper 8 1

53 280A0210h Axis 10 Register Command 16 2

54 280A0320h Axis 10 Register Data 32 4

55 280A0408h Axis 10 Register TRIG 8 1

56 260B0108h Axis 11 NET-IN Lower 8 1

57 260B0208h Axis 11 NET-IN Upper 8 1

58 280B0210h Axis 11 Register Command 16 2

59 280B0320h Axis 11 Register Data 32 4

60 280B0408h Axis 11 Register TRIG 8 1

61 260C0108h Axis 12 NET-IN Lower 8 1

62 260C0208h Axis 12 NET-IN Upper 8 1

1600h

63 280C0210h Axis 12 Register Command 16 2

64 280C0320h Axis 12 Register Data 32 4

65 280C0408h Axis 12 Register TRIG 8 1

66 260D0108h Axis 13 NET-IN Lower 8 1

67 260D0208h Axis 13 NET-IN Upper 8 1

68 280D0210h Axis 13 Register Command 16 2

69 280D0320h Axis 13 Register Data 32 4

70 280D0408h Axis 13 Register TRIG 8 1

71 260E0108h Axis 14 NET-IN Lower 8 1

72 260E0208h Axis 14 NET-IN Upper 8 1

73 280E0210h Axis 14 Register Command 16 2

74 280E0320h Axis 14 Register Data 32 4

75 280E0408h Axis 14 Register TRIG 8 1

76 260F0108h Axis 15 NET-IN Lower 8 1

77 260F0208h Axis 15 NET-IN Upper 8 1

78 280F0210h Axis 15 Register Command 16 2

79 280F0320h Axis 15 Register Data 32 4

80 280F0408h Axis 15 Register TRIG 8 1

81 2A000108h Monitor 0 Axis 8 1

82 2A000210h Monitor 0 Command 16 2

83 2A000408h Monitor 0 TRIG 8 1

84 2A010108h Monitor 1 Axis 8 1

85 2A010210h Monitor 1 Command 16 2

86 2A010408h Monitor 1 TRIG 8 1

87 2A020108h Monitor 2 Axis 8 1

88 2A020210h Monitor 2 Command 16 2

89 2A020408h Monitor 2 TRIG 8 1

90 2A030108h Monitor 3 Axis 8 1

91 2A030210h Monitor 3 Command 16 2

▐

CoE communication area

CoE Index Sub-index Setting value Description Data length (bit) Data length (byte)

92 2A030408h Monitor 3 TRIG 8 1

93 2A040108h Monitor 4 Axis 8 1

94 2A040210h Monitor 4 Command 16 2

95 2A040408h Monitor 4 TRIG 8 1

96 2A050108h Monitor 5 Axis 8 1

97 2A050210h Monitor 5 Command 16 2

98 2A050408h Monitor 5 TRIG 8 1

99 2A060108h Monitor 6 Axis 8 1

100 2A060210h Monitor 6 Command 16 2

101 2A060408h Monitor 6 TRIG 8 1

102 2A070108h Monitor 7 Axis 8 1

103 2A070210h Monitor 7 Command 16 2

104 2A070408h Monitor 7 TRIG 8 1

105 2A080108h Monitor 8 Axis 8 1

106 2A080210h Monitor 8 Command 16 2

107 2A080408h Monitor 8 TRIG 8 1

108 2A090108h Monitor 9 Axis 8 1

109 2A090210h Monitor 9 Command 16 2

110 2A090408h Monitor 9 TRIG 8 1

111 2A0A0108h Monitor 10 Axis 8 1

112 2A0A0210h Monitor 10 Command 16 2

113 2A0A0408h Monitor 10 TRIG 8 1

114 2A0B0108h Monitor 11 Axis 8 1

115 2A0B0210h Monitor 11 Command 16 2

116 2A0B0408h Monitor 11 TRIG 8 1

117 2A0C0108h Monitor 12 Axis 8 1

118 2A0C0210h Monitor 12 Command 16 2

1600h

119 2A0C0408h Monitor 12 TRIG 8 1

120 2A0D0108h Monitor 13 Axis 8 1

121 2A0D0210h Monitor 13 Command 16 2

122 2A0D0408h Monitor 13 TRIG 8 1

123 2A0E0108h Monitor 14 Axis 8 1

124 2A0E0210h Monitor 14 Command 16 2

125 2A0E0408h Monitor 14 TRIG 8 1

126 2A0F0108h Monitor 15 Axis 8 1

127 2A0F0210h Monitor 15 Command 16 2

128 2A0F0408h Monitor 15 TRIG 8 1

129 0

130 0

131 0

132 0 − − −

133 0

134 0

135 0

136 0

137 0

138 0

139 0

140 0

141 0

142 0

143 0

144 0

145 0

146 0

147 0

− − −

−

− − −

− −

▌

CoE communication area

CoE Index Sub-index Setting value Description Data length (bit) Data length (byte)

148 0

149 0

150 0

151 0 − − −

152 0

153 0

1600h

Total data length 1664 208

154 0

155 0

156 0 − − −

157 0

158 0

159 0

160 0

− − −

TxPDO register initial setting value

CoE Index Sub-index Setting value Description Data length (bit) Data length (byte)

0 147 PDO register number (maximum value: 160) − −

1 24000108h Axis 0 NET-OUT Lower 8 1

2 24000208h Axis 0 NET-OUT Upper 8 1

3 29000210h Axis 0 Register Command 16 2

4 29000320h Axis 0 Register Data 32 4

5 29000408h Axis 0 Register Status 8 1

6 24010108h Axis 1 NET-OUT Lower 8 1

7 24010208h Axis 1 NET-OUT Upper 8 1

8 29010210h Axis 1 Register Command 16 2

9 29010320h Axis 1 Register Data 32 4

10 29010408h Axis 1 Register Status 8 1

11 24020108h Axis 2 NET-OUT Lower 8 1

12 24020208h Axis 2 NET-OUT Upper 8 1

13 29020210h Axis 2 Register Command 16 2

14 29020320h Axis 2 Register Data 32 4

15 29020408h Axis 2 Register Status 8 1

16 24030108h Axis 3 NET-OUT Lower 8 1

17 24030208h Axis 3 NET-OUT Upper 8 1

1A00h

18 29030210h Axis 3 Register Command 16 2

19 29030320h Axis 3 Register Data 32 4

20 29030408h Axis 3 Register Status 8 1

21 24040108h Axis 4 NET-OUT Lower 8 1

22 24040208h Axis 4 NET-OUT Upper 8 1

23 29040210h Axis 4 Register Command 16 2

24 29040320h Axis 4 Register Data 32 4

25 29040408h Axis 4 Register Status 8 1

26 24050108h Axis 5 NET-OUT Lower 8 1

27 24050208h Axis 5 NET-OUT Upper 8 1

28 29050210h Axis 5 Register Command 16 2

29 29050320h Axis 5 Register Data 32 4

30 29050408h Axis 5 Register Status 8 1

31 24060108h Axis 6 NET-OUT Lower 8 1

32 24060208h Axis 6 NET-OUT Upper 8 1

33 29060210h Axis 6 Register Command 16 2

34 29060320h Axis 6 Register Data 32 4

35 29060408h Axis 6 Register Status 8 1

36 24070108h Axis 7 NET-OUT Lower 8 1

▐

CoE communication area

CoE Index Sub-index Setting value Description Data length (bit) Data length (byte)

37 24070208h Axis 7 NET-OUT Upper 8 1

38 29070210h Axis 7 Register Command 16 2

39 29070320h Axis 7 Register Data 32 4

40 29070408h Axis 7 Register Status 8 1

41 24080108h Axis 8 NET-OUT Lower 8 1

42 24080208h Axis 8 NET-OUT Upper 8 1

43 29080210h Axis 8 Register Command 16 2

44 29080320h Axis 8 Register Data 32 4

45 29080408h Axis 8 Register Status 8 1

46 24090108h Axis 9 NET-OUT Lower 8 1

47 24090208h Axis 9 NET-OUT Upper 8 1

48 29090210h Axis 9 Register Command 16 2

49 29090320h Axis 9 Register Data 32 4

50 29090408h Axis 9 Register Status 8 1

51 240A0108h Axis 10 NET-OUT Lower 8 1

52 240A0208h Axis 10 NET-OUT Upper 8 1

53 290A0210h Axis 10 Register Command 16 2

54 290A0320h Axis 10 Register Data 32 4

55 290A0408h Axis 10 Register Status 8 1

56 240B0108h Axis 11 NET-OUT Lower 8 1

57 240B0208h Axis 11 NET-OUT Upper 8 1

58 290B0210h Axis 11 Register Command 16 2

59 290B0320h Axis 11 Register Data 32 4

60 290B0408h Axis 11 Register Status 8 1

61 240C0108h Axis 12 NET-OUT Lower 8 1

62 240C0208h Axis 12 NET-OUT Upper 8 1

63 290C0210h Axis 12 Register Command 16 2

1A00h

64 290C0320h Axis 12 Register Data 32 4

65 290C0408h Axis 12 Register Status 8 1

66 240D0108h Axis 13 NET-OUT Lower 8 1

67 240D0208h Axis 13 NET-OUT Upper 8 1

68 290D0210h Axis 13 Register Command 16 2

69 290D0320h Axis 13 Register Data 32 4

70 290D0408h Axis 13 Register Status 8 1

71 240E0108h Axis 14 NET-OUT Lower 8 1

72 240E0208h Axis 14 NET-OUT Upper 8 1

73 290E0210h Axis 14 Register Command 16 2

74 290E0320h Axis 14 Register Data 32 4

75 290E0408h Axis 14 Register Status 8 1

76 240F0108h Axis 15 NET-OUT Lower 8 1

77 240F0208h Axis 15 NET-OUT Upper 8 1

78 290F0210h Axis 15 Register Command 16 2

79 290F0320h Axis 15 Register Data 32 4

80 290F0408h Axis 15 Register Status 8 1

81 2B000108h Monitor 0 Axis 8 1

82 2B000210h Monitor 0 Command 16 2

83 2B000320h Monitor 0 Data 32 4

84 2B000408h Monitor 0 TRIG 8 1

85 2B010108h Monitor 1 Axis 8 1

86 2B010210h Monitor 1 Command 16 2

87 2B010320h Monitor 1 Data 32 4

88 2B010408h Monitor 1 TRIG 8 1

89 2B020108h Monitor 2 Axis 8 1

90 2B020210h Monitor 2 Command 16 2

91 2B020320h Monitor 2 Data 32 4

92 2B020408h Monitor 2 TRIG 8 1

▌

CoE communication area

CoE Index Sub-index Setting value Description Data length (bit) Data length (byte)

93 2B030108h Monitor 3 Axis 8 1

94 2B030210h Monitor 3 Command 16 2

95 2B030320h Monitor 3 Data 32 4

96 2B030408h Monitor 3 TRIG 8 1

97 2B040108h Monitor 4 Axis 8 1

98 2B040210h Monitor 4 Command 16 2

99 2B040320h Monitor 4 Data 32 4

100 2B040408h Monitor 4 TRIG 8 1

101 2B050108h Monitor 5 Axis 8 1

102 2B050210h Monitor 5 Command 16 2

103 2B050320h Monitor 5 Data 32 4

104 2B050408h Monitor 5 TRIG 8 1

105 2B060108h Monitor 6 Axis 8 1

106 2B060210h Monitor 6 Command 16 2

107 2B060320h Monitor 6 Data 32 4

108 2B060408h Monitor 6 TRIG 8 1

109 2B070108h Monitor 7 Axis 8 1

110 2B070210h Monitor 7 Command 16 2

111 2B070320h Monitor 7 Data 32 4

112 2B070408h Monitor 7 TRIG 8 1

113 2B080108h Monitor 8 Axis 8 1

114 2B080210h Monitor 8 Command 16 2

115 2B080320h Monitor 8 Data 32 4

116 2B080408h Monitor 8 TRIG 8 1

117 2B090108h Monitor 9 Axis 8 1

118 2B090210h Monitor 9 Command 16 2

119 2B090320h Monitor 9 Data 32 4

1A00h

120 2B090408h Monitor 9 TRIG 8 1

121 2B0A0108h Monitor 10 Axis 8 1

122 2B0A0210h Monitor 10 Command 16 2

123 2B0A0320h Monitor 10 Data 32 4

124 2B0A0408h Monitor 10 TRIG 8 1

125 2B0B0108h Monitor 11 Axis 8 1

126 2B0B0210h Monitor 11 Command 16 2

127 2B0B0320h Monitor 11 Data 32 4

128 2B0B0408h Monitor 11 TRIG 8 1

129 2B0C0108h Monitor 12 Axis 8 1

130 2B0C0210h Monitor 12 Command 16 2

131 2B0C0320h Monitor 12 Data 32 4

132 2B0C0408h Monitor 12 TRIG 8 1

133 2B0D0108h Monitor 13 Axis 8 1

134 2B0D0210h Monitor 13 Command 16 2

135 2B0D0320h Monitor 13 Data 32 4

136 2B0D0408h Monitor 13 TRIG 8 1

137 2B0E0108h Monitor 14 Axis 8 1

138 2B0E0210h Monitor 14 Command 16 2

139 2B0E0320h Monitor 14 Data 32 4

140 2B0E0408h Monitor 14 TRIG 8 1

141 2B0F0108h Monitor 15 Axis 8 1

142 2B0F0210h Monitor 15 Command 16 2

143 2B0F0320h Monitor 15 Data 32 4

144 2B0F0408h Monitor 15 TRIG 8 1

145 3E3B0010h RS-485 Communication Scan Time 16 2

146 3E3D0010h RS-485 Communication Reply 16 2

147 3E300008h Converter Status 8 1

148 00000000h

− − −

▐

CoE communication area

CoE Index Sub-index Setting value Description Data length (bit) Data length (byte)

149 00000000h

150 00000000h

151 00000000h

152 00000000h

153 00000000h

1A00h

Total data length 2216 277

154 00000000h

155 00000000h

156 00000000h

157 00000000h

158 00000000h

159 00000000h

160 00000000h

−

− − −

−

− − −

− −

▌

16 Accessories

Data setter

Accessories

The data setter lets you set parameters for your

Model:

OPX-2A

NETC01-ECT

with ease and also functions as a monitor.

Communication cable for the data setting software

Be sure to purchase the communication cable for the data setting software when connecting a driver to the PC in which the data setting software This is a set of a PC interface cable and USB cable. The cable is connected to the USB port on the PC.

Model:

The

MEXE02

nearest Oriental Motor sales oce.

MEXE02

CC05IF-USB

can be downloaded from Oriental Motor Website Download Page. For details, check out our web site or contact your

has been installed.

[5 m (16.4 ft.)]

RS-485 communication cable

You can connect the RS-485 communication compatible products.

Model:

CC001-RS4 CC002-RS4

[0.1 m (3.94 in.)] [0.25 m (9.84 in.)]

▐

•Unauthorized reproduction or copying of all or part of this manual is prohibited.

• Please contact your nearest Oriental Motor oce for further information.

If a new copy is required to replace an original manual that has been damaged or lost, please contact your nearest Oriental Motor branch or sales oce.

•Oriental Motor shall not be liable whatsoever for any problems relating to industrial property rights arising from use of any information, circuit, equipment or device provided or referenced in this manual.

•Characteristics, specications and dimensions are subject to change without notice.

•While we make every eort to oer accurate information in the manual, we welcome your input. Should you nd unclear descriptions, errors or omissions, please contact the nearest oce.

•

EtherCAT® is registered trademark and patented technology, licensed by Beckho Automation GmbH, Germany. Other product names and company names mentioned in this manual may be registered trademarks or trademarks of their respective companies and are hereby acknowledged. The third-party products mentioned in this manual are recommended products, and references to their names shall not be construed as any form of performance guarantee. Oriental Motor is not liable whatsoever for the performance of these third-party products.

is a registered trademark or trademark of Oriental Motor Co., Ltd., in Japan and other countries.

Technical Support Tel:(800)468-3982 8:30 A.M. to 5:00 P.M., P.S.T. (M-F) 7:30 A.M. to 5:00 P.M., C.S.T. (M-F)

www.orientalmotor.com

Tel:+55-11-3266-6018 www.orientalmotor.com.br

Schiessstraße 74, 40549 Düsseldorf, Germany Technical Support Tel:00 800/22 55 66 22

www.orientalmotor.de

Tel:01256-347090 www.oriental-motor.co.uk

Tel:01 47 86 97 50 www.orientalmotor.fr

Tel:02-93906346 www.orientalmotor.it

Singapore Tel:1800-8420280

www.orientalmotor.com.sg

Tel:1800-806161 www.orientalmotor.com.my

Tel:1800-888-881 www.orientalmotor.co.th

Tel:+91-80-41125586 www.orientalmotor.co.in

Tel:0800-060708 www.orientalmotor.com.tw

Tel:400-820-6516 www.orientalmotor.com.cn

Korea Tel:080-777-2042

www.inaom.co.kr

Hong Kong Branch Tel:+852-2427-9800

4-8-1 Higashiueno, Taito-ku, Tokyo 110-8536 Japan Tel:03-6744-0361 www.orientalmotor.co.jp

Orientalmotor NETC01-ECT User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1 Safety precautions

2 Overview of the product

2-2 What is EtherCAT?

3 Introduction

4 Preparation

4-1 Checking the product

4-2 Names and functions of parts

5 Installation

5-1 Location for installation

5-2 Installation method

5-3 Installing and wiring in compliance with EMC Directive

6 Connection

6-1 Connection example

6-3 Connecting the RS-485 communication cable

6-4 Connecting the EtherCAT communication cable

6-5 Connecting the data setter

7 Guidance

8 Setting

8-1 Transmission rate of RS-485 communication

8-2 Node address of EtherCAT

9 Basic function

9-1 Remote I/O list

9-2 Remote register list

9-3 Remote monitor list

9-5 Read, write, save of parameters

9-6 Basic operating procedures

10-1 Operation mode

10-3 RS-485 communication process and scan time

10-4 RS-485 communication status

11 Troubleshooting

11-1 Alarms

11-2 EtherCAT communication error

11-3 Warning

11-4 Relationship with the RS-485 communication compatible product

12 Inspection

Operation using the OPX-2A

14-2 Names and functions of parts

14-3 How to read the display

14-5 Screen transitions

14-6 Monitor mode

14-7 Parameter mode

14-8 Copy mode

15 CoE communication area

15-1 CoE communication area

16 Accessories