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GX-series

EtherCAT Slave Units

User’s Manual

Revised October 2018

Table of Contents

Default Chapter7
- Icon7
Structure of this Manual9
Terms and Conditions Agreement9
- Application Considerations10
Safety Precautions11
Precautions for Safe Use14
Precautions for Correct Use16
Regulations and Standards17
- Conformance to UL and CSA Standards18
Related Manuals20
Version Upgrade Information20
- Table of Contents22
Section 1 Ethercat Network28
- Overview of Ethercat Networks28
- Configuration Elements of Ethercat Network32
  - Configuration Devices of Ethercat Network32
  - Overview of Configuration Devices33
    - Ethercat Slave Unit35
Section 2 Ethercat Slave Unit36
- Overview of Ethercat Slave Unit36
  - Slave Units Usage36
  - Features of GX-Series Ethercat Slave Units36
- Types of Ethercat Slave Units37
Setup Examples and Basic Procedure44
- System Setting Examples44
- Basic Procedure45
Setting and Wiring Hardware46
- Mounting and Setting Ethercat Master Unit46
- Mounting and Setting Slave Units46
- Wiring Communications Cables46
- Connecting Power Supplies46
- Wiring I/O Devices46
Starting Communications47
- Starting a System47
- Setting Ethercat Communications47
- Starting Ethercat Communications47
Checking Operations48
- Checking Unit Displays48
- Confirming Data Read and Write48
- Setting Slave Unit Parameter48
  - Installation and Wiring49
Mounting Slave Units50
- Mounting Preparation50
- Mounting Direction50
- Mounting Method50
- Removal Method51
Connecting to Ethercat Network52
- Precautions for Network Connection52
- Preparation for Connecting Network53
- Connecting Communications Cables and Connectors54
- Connecting to Communications Cables55
Connecting to Unit Power Supply and I/O Power Supply56
- Precautions at Supplying Unit Power and I/O Power56
- Unit Power Supply Specifications57
- Connecting the Unit Power Supply57
- Connecting the I/O Power Supply59
Connecting an External Device61
- Connecting to a Screw Terminal Block61
- Connecting to E-CON Connector Terminals62
- Connecting the M12 Connector65
  - Ethercat Communications67
Structure of CAN Application Protocol over Ethercat (Coe)68
Ethercat Slave Information File (ESI File)69
Communications State Transitions70
Process Data Objects (PDO)71
- Overview71
- PDO Mapping Settings71
- Sync Manager PDO Assignment Settings72
- Fixed PDO Mapping73
Service Data Object (SDO)76
- Overview76
- Abort Codes76
- Ethercat Master Unit - Slave Unit Communications77
  - FREE RUN Mode77
  - DC Mode77
- Emergency Messages79
  - Emergency Message Notification79
  - Diagnosis History80
- Sysmac Device Functions81
Section 6 Basic Specifications of Slave Units86
- Ethercat Communications Specifications86
- General Specifications87
- Specifications of Common Areas88
- 7-1 Digital I/O Slave Unit101
Section 7 Digital I/O Slave Unit101
- I/O Data Allocation (PDO Mapping)101
  - Input Data Allocation101
  - Output Data Allocation103
- Functions of Digital I/O Slave Units105
  - Input Filter105
  - Error Mode Output106
- Specifications for each Slave Unit107
- Mounting Dimensions173
- 8-1 Analog I/O Slave Unit181
Section 8 Analog I/O Slave Unit181
- Overview of the Analog Input Slave Unit181
  - Input Range and Converted Data181
  - I/O Data Allocation (PDO Mapping)184
- Function of the Analog Input Slave Unit185
Overview of the Analog Output Slave Unit190
- Output Range and Converted Data190
- I/O Data Allocation (PDO Mapping)192
Function of the Analog Output Slave Unit193
- DA Conversion Available Point Setting193
- Analog Output Fault Action194
- User Adjustment195
Overview of each Slave Unit Type196
- 4-Point Input Slave Unit GX-AD0471197
- 2-Point Output Slave Unit GX-DA0271201
Mounting Dimensions205
- Encoder Input Slave Unit208
9-1 Encoder Input Slave Unit209
I/O Data Allocation209
- Input Data Allocation209
- Output Data Allocation212
Function of the Encoder Input Slave Units214
- Count Mode214
- Circular Counter214
- Input Signal Types215
- Encoder Direction Setting217
- Counter Reset218
- Counter Preset219
- Counter Value Latch219
Specifications for each Slave Unit220
- Open Collector Input Type GX-EC0211221
- Line Driver Input Type GX-EC0241229
Mounting Dimensions236
- IO-Link Master Unit237
What Is an IO-Link Master Unit238
- Introduction238
- Devices238
- Support Software to be Used239
I/O Data Allocations: PDO Mapping240
- Allocating Input Data240
- Allocating Output Data242
Functions of the IO-Link Master Unit243
Specifications245
- Part Names and Functions249
Mounting Dimensions253
Communications Performance254
- Maximum I/O Response Time254
- Determining the IO-Link Communications Cycle256
Connected Device Specifications and Models257
- Expansion Unit261
Section 11 Expansion Unit262
- Overview of the Expansion Unit262
  - Connecting Expansion Units262
  - I/O Power Supply263
- Specifications of Expansion Unit264
- Mounting Dimensions279
Section 12 Troubleshooting and Maintenance282
- Troubleshooting282
- Equipment Maintenance303
- Appendix305
- Object Dictionary306
- Current Consumption Summary378
- Precautions with Connecting Two-Wire DC Sensors380
- Wiring External Output Signal Lines382
- I/O Power Supply Current383
- Glossary385
- Version Information387
Index389

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