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Appendices

A - 12

CJ-series EtherCAT Slave Units Operation Manual (W541)

TTIM(087) instruction Instruction that checks for a stop in bit toggling for a preset time amount that will

occur when the EtherCAT master enters PROGRAM mode. Refer to Timing Con-

siderations on page A-9.

FAL(006) instruction Instruction that creates a user-defined error when the EtherCAT master enters

PROGRAM mode.

ECAT_Master_PRG_Mode Bit to indicate that the EtherCAT master has entered PROGRAM mode.

Item Description

Introduction3
- Intended Audience3
- Applicable Products3
- Table of Contents4
Contents5
Manual Structure9
- Page Structure and Icons9
- Special Information10
- Precautions on Terminology10
Terms and Conditions Agreement11
- Warranty, Limitations of Liability11
- Application Considerations12
- Disclaimers12
Safety Precautions13
- Definition of Precautionary Information13
- Symbols13
- Warnings14
- Cautions16
Precautions for Safe Use17
Precautions for Correct Use20
Regulations and Standards21
- Conformance to EC Directives21
- Conformance to UL and CSA Standards21
- Conformance to Shipbuilding Standards22
- Conformance to KC Standards22
Unit Versions23
- Unit Versions and CX-Programmer Versions24
Related Manuals25
Terminology27
Revision History29
Sections in this Manual31
- Features and System Configuration33
Section 1 Features and System Configuration34
- Introduction to Ethercat34
  - How Ethercat Works34
  - Types of Ethercat Communications35
- Ethercat Slave Unit Features37
- System Configuration of CJ-Series Ethercat Slave Unit39
- Specifications41
Setting Procedures43
- Nomenclature and Installation45
Section 2 Nomenclature and Installation46
Nomenclature46
- Nomenclature and Functions46
- Indicators47
- Switch Settings50
Installing the Ethercat Slave Unit52
- System Configuration Precautions52
- Mounting to a CJ-Series PLC52
- Handling Precautions53
Ethercat Network Wiring54
- Installation Standards54
- Installation Precautions54
- Preparations for Installation55
- Pin Arrangements of Communications Connectors56
- Connecting Communications Cables and Connectors57
- Connecting Communications Cables to Units57
  - Memory Allocations59
Section 3 Memory Allocations60
Overview of the Memory Allocated to the Ethercat Slave Unit60
CIO Area Allocations61
- Overview of the Allocated CIO Area Words61
- Details of the Allocated CIO Area Words62
DM Area Allocations67
- Overview of the Allocated DM Area Words67
- Details of the Allocated DM Area Words67
I/O Communication Area Settings74
- The Unit Edit Parameters Dialog Box74
- Setting Procedure with the CX-Programmer77
  - Ethercat Communications81
Section 4 Ethercat Communications82
Structure of CAN Application Protocol over Ethercat (Coe)82
Ethercat Slave Information Files (ESI Files)83
Transitions of Communications States84
Process Data Objects (Pdos)85
- Introduction85
- PDO Mappings85
- Assigning Pdos87
Service Data Objects (Sdos)89
- Introduction89
- Abort Codes89
Communications Performance90
- I/O Response Time90
- SDO Message Response Time92
  - Troubleshooting93
Section 5 Troubleshooting94
- Error Notification and Checking Methods94
- Troubleshooting with Indicators97
  - Checking for Errors and Troubleshooting with the Indicators97
  - Corrective Actions When the CPU Unit's Indicators Are Lit or Flashing104
- Error Log Function105
- Troubleshooting with Emergency Messages108
  - Emergency Message Notification108
  - Emergency Error Codes108
- Troubleshooting with al Status110
  - Maintenance and Replacement111
Section 6 Maintenance and Replacement112
- Cleaning and Inspection112
  - Cleaning112
  - Inspection112
- Replacing Faulty Units114
  - Precautions114
  - Settings When Replacing Ethercat Slave Units114
Appendices115
- Example of Operations for Ethercat Slave Unit Communications116
- Programming Example to Detect Valid I/O Process Data122
- Process Data Exchange in PROGRAM Mode123
- A-4 Coe Objects127
- A-5 Creating I/O Tables138
A-6 FINS Commands143
- A-6-1 Introduction143
- A-6-2 Details on FINS Commands143
- Introduction143
- Details on FINS Commands143
A-7 Version Information147
Index149

Brand	Omron
Model	CJ1W- ECT21
Category	Computer Hardware
Language	English

Omron CJ1W- ECT21 User Manual

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