Omron NJ Series User Manual

Appendices
A-70
NJ-series CPU Unit Software User’s Manual (W501)
Note The values of all system-defined variables that are related to errors in EtherCAT communications do not change until the
cause of the error is removed and then the error in the Controller is reset with the troubleshooting functions of the Sys-
mac Studio or the ResetECError instruction.
 Functional Classification: EtherCAT Communications Status
Variable name _EC_MsgErr
Meaning EtherCAT Message Error Global/local Global
Function TRUE when a message is sent to a slave that does not support messages or when there is an error in the format
of the response to a message that was sent to a slave.
Data type BOOL Range of values TRUE or FALSE
R/W access R Retained Not retained. Network Publish Published.
Usage in user program Possible. Related instruc-
tions
CoE messages (Read CoE SDO)
• EC_CoESDORead
CoE messages (Write CoE SDO)
• EC_CoESDOWrite
Variable name _EC_SlavEmergErr
Meaning Emergency Message Detected Global/local Global
Function TRUE if the master detects an emergency message that was sent by a slave.
Data type BOOL Range of values TRUE or FALSE
R/W access R Retained Not retained. Network Publish Published.
Usage in user program Possible. Related instruc-
tions
Reset EtherCAT Controller Error
• ResetECError
Variable name _EC_CommErrTbl
Meaning Communications Error Slave Table Global/local Global
Function Slaves are given in the table in the order of slave node addresses.
The corresponding slave element is TRUE if the master detected an error for the slave.
Data type Array [1..192] OF BOOL Range of values TRUE or FALSE
R/W access R Retained Not retained. Network Publish Published.
Usage in user program Possible. Related instruc-
tions
Reset EtherCAT Controller Error
• ResetECError
Variable name _EC_RegSlavTbl
Meaning Registered Slave Table Global/local Global
Function This table indicates the slaves that are registered in the network configuration information.
Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave is registered.
Data type Array [1..192] OF BOOL Range of values TRUE or FALSE
R/W access R Retained Not retained. Network Publish Published.
Usage in user program Possible. Related instruc-
tions
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Omron NJ Series Specifications

General

Program Capacity	Up to 128 MB
SD Card Slot	Yes
Power Supply Voltage	24 VDC
Motion Control	Yes
USB Ports	1
Operating Temperature	0°C to 55°C
Communication Interfaces	Ethernet/IP, EtherCAT, USB
Safety Function	Optional
Storage Temperature	-20°C to 75°C
Communication Ports	USB
Dimensions	Varies by model
Weight	Varies by model