Omron CJ1W- ECT21

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1 Features and System Configuration

1 - 6

CJ-series EtherCAT Slave Units Operation Manual (W541)

Interface with multiple networks such as EtherCAT and DeviceNet.

Integration with Other Networks

EtherCAT Slave Unit

EtherCAT master

DeviceNet Master Unit

DeviceNet network

EtherCAT network

DeviceNet slaves

CPU Unit

Main Page

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

Omron CJ1W- ECT21

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