CONTENTS
4
CJ-series EtherCAT Slave Units Operation Manual (W541)
Section 5 Troubleshooting
5-1 Error Notification and Checking Methods........................................................................... 5-2
5-1-1 Error Notification Methods........................................................................................................... 5-2
5-1-2 How to Check for Errors.............................................................................................................. 5-3
5-1-3 Procedures to Check Errors........................................................................................................ 5-4
5-2 Troubleshooting with Indicators .......................................................................................... 5-5
5-2-1 Checking for Errors and Troubleshooting with the Indicators ..................................................... 5-5
5-2-2 Corrective Actions When the CPU Unit’s Indicators are Lit or Flashing....................................5-12
5-3 Error Log Function .............................................................................................................. 5-13
5-3-1 Error Log Data Specifications.................................................................................................... 5-13
5-3-2 Error Log Registration............................................................................................................... 5-14
5-3-3 FINS Commands for Error Logs................................................................................................5-14
5-3-4 Error Log Error Codes............................................................................................................... 5-15
5-4 Troubleshooting with Emergency Messages.................................................................... 5-16
5-4-1 Emergency Message Notification.............................................................................................. 5-16
5-4-2 Emergency Error Codes............................................................................................................ 5-16
5-5 Troubleshooting with AL Status......................................................................................... 5-18
Section 6 Maintenance and Replacement
6-1 Cleaning and Inspection ....................................................................................................... 6-2
6-1-1 Cleaning...................................................................................................................................... 6-2
6-1-2 Inspection.................................................................................................................................... 6-2
6-2 Replacing Faulty Units.......................................................................................................... 6-4
6-2-1 Precautions ................................................................................................................................. 6-4
6-2-2 Settings When Replacing EtherCAT Slave Units ........................................................................6-4
Appendices
A-1 Example of Operations for EtherCAT Slave Unit Communications..................................A-2
A-1-1 System Configuration..................................................................................................................A-2
A-1-2 Setting Condition.........................................................................................................................A-3
A-1-3 Flow of the Setting Procedure.....................................................................................................A-3
A-1-4 CJ1W-ECT21 Setting Procedure ................................................................................................A-4
A-1-5 EtherCAT Master Setting Procedure...........................................................................................A-5
A-1-6 Start EtherCAT Communication ..................................................................................................A-7
A-2 Programming Example To Detect Valid I/O Process Data .................................................A-8
A-3 Process Data Exchange in PROGRAM Mode......................................................................A-9
A-3-1 Detection Method and Timing Considerations ............................................................................A-9
A-3-2 Program Example for the EtherCAT Master..............................................................................A-10
A-3-3 Program Example for the EtherCAT Slave Unit ........................................................................A-11
A-4 CoE Objects .........................................................................................................................A-13
A-4-1 Object Dictionary Area ..............................................................................................................A-13
A-4-2 Data Type..................................................................................................................................A-13
A-4-3 Format of Objects......................................................................................................................A-13
A-4-4 Communication Objects ............................................................................................................A-14
A-4-5 PDO Mapping Objects ..............................................................................................................A-16
A-4-6 Sync Manager Communication Objects....................................................................................A-19
A-4-7 Device Profile Area ...................................................................................................................A-22
A-5 Creating I/O Tables ..............................................................................................................A-24
A-5-1 I/O Table Overview....................................................................................................................A-24
A-5-2 Connecting Programming Devices to the PLC..........................................................................A-24
A-5-3 Procedure for Creating I/O Tables.............................................................................................A-25
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