4
NX-series EtherCAT Coupler Unit User’s Manual (W519)
6-2-3 Vibration and Shock.................................................................................................................. 6-25
6-2-4 Atmosphere .............................................................................................................................. 6-25
6-2-5 Electrical Environment .............................................................................................................. 6-26
6-2-6 Grounding................................................................................................................................. 6-31
Section 7 Wiring
7-1 EtherCAT Network Wiring ..................................................................................................... 7-2
7-1-1 Installation Precautions............................................................................................................... 7-2
7-1-2 Preparations for Installation ........................................................................................................ 7-3
7-1-3 Pin Arrangement of Communications Connectors on the EtherCAT Coupler Unit ..................... 7-4
7-1-4 Connecting Communications Cables and Connectors ............................................................... 7-5
7-1-5 Connecting Communications Cables.......................................................................................... 7-6
7-2 Connecting the Power Supply and Ground Wires ............................................................. 7-8
7-2-1 Wiring the EtherCAT Coupler Unit .............................................................................................. 7-8
7-2-2 Wiring the Power Supply to the EtherCAT Slave Terminal ......................................................... 7-9
7-2-3 Grounding the EtherCAT Slave Terminal.................................................................................... 7-9
7-2-4 Precautions for Wiring the EtherCAT Slave Terminal Together
with Computers and other Peripheral Devices7-13
7-2-5 Wiring to the Screwless Clamping Terminal Block.................................................................... 7-14
7-3 Connecting USB Cable ....................................................................................................... 7-26
7-4 Wiring External Signal Lines .............................................................................................. 7-28
Section 8 EtherCAT Communications
8-1 Structure of CAN Application Protocol over EtherCAT (CoE)........................................... 8-2
8-2 EtherCAT Slave Information Files (ESI Files) ..................................................................... 8-3
8-3 Transitions of Communications States ............................................................................... 8-4
8-4 Process Data Objects (PDOs)............................................................................................... 8-5
8-4-1 Introduction................................................................................................................................. 8-5
8-4-2 PDO Mappings ........................................................................................................................... 8-6
8-4-3 Assigning PDOs.......................................................................................................................... 8-8
8-5 Service Data Objects (SDOs)................................................................................................ 8-9
8-5-1 Introduction................................................................................................................................. 8-9
8-5-2 Abort Codes................................................................................................................................ 8-9
8-6 Communications between an EtherCAT Master and Slaves ........................................... 8-10
8-6-1 Communications Modes for Communications between an EtherCAT Master and Slaves ....... 8-10
8-6-2 Communications Modes for EtherCAT Slave Terminals ........................................................... 8-10
8-6-3 Communications Cycle ............................................................................................................. 8-10
Section 9 Setting Up Slave Terminals
9-1 Settings and Setting Procedures ......................................................................................... 9-2
9-1-1 Items to Set................................................................................................................................. 9-2
9-1-2 Slave Terminal Parameters......................................................................................................... 9-2
9-1-3 Variable Assignment Settings ..................................................................................................... 9-3
9-1-4 Setting Procedures ..................................................................................................................... 9-3
9-2 Setting Slave Terminal Parameters...................................................................................... 9-4
9-2-1 Items to Set................................................................................................................................. 9-4
9-2-2 Settings as an EtherCAT Slave .................................................................................................. 9-6
9-2-3 Setting the Unit Configuration Information.................................................................................. 9-8
9-2-4 I/O Allocation Information ......................................................................................................... 9-13
9-2-5 Unit Operation Settings............................................................................................................. 9-23
9-2-6 Unit Application Data ................................................................................................................ 9-25
9-2-7 Sysmac Studio Functions Used as Required ........................................................................... 9-25
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