10
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
5-6 Downloading the Network Configuration Information ....................................................... 5-34
5-6-1 Downloading the Network Configuration Information from the Sysmac Studio......................... 5-34
5-7 Confirming Communications after Completing
EtherCAT Configuration and Settings ................................................................................. 5-36
Section 6 Process Data Communications and SDO
Communications
6-1 Process Data Communications (PDO Communications) .................................................... 6-2
6-1-1 Allocated Variables for Process Data Communications.............................................................. 6-2
6-1-2 Process Data Communications Refresh Timing.......................................................................... 6-4
6-1-3 Checking the Validity of the Process Data ..................................................................................6-7
6-1-4 System Response Time in Process Data Communications ...................................................... 6-12
6-1-5 I/O Operations for Major Fault Level Controller Errors and I/O Refreshing with
Specified Values........................................................................................................................ 6-16
6-2 SDO Communications...........................................................................................................6-20
6-2-1 EtherCAT Instructions ............................................................................................................... 6-20
6-2-2 Sample Programming ............................................................................................................... 6-21
6-2-3 Execution Timing of SDO Communications ..............................................................................6-22
6-2-4 Minimum Message Response Time for SDO Communications ................................................ 6-23
6-3 Instructions Used in EtherCAT Communications............................................................... 6-27
6-3-1 EtherCAT Instructions ............................................................................................................... 6-27
Section 7 System-defined Variables That Are Related to
the Built-in EtherCAT Port
7-1 System-defined Variables That Are Related to the Built-in EtherCAT Port ........................ 7-2
7-1-1 What Are System-defined Variables?.......................................................................................... 7-2
7-1-2 System-defined Variables ........................................................................................................... 7-3
7-1-3 EtherCAT Master Function Module, Category Name: _EC......................................................... 7-9
Section 8 Example of Operations for EtherCAT Communications
8-1 Example of Operations for EtherCAT Communications ...................................................... 8-2
8-1-1 System Configuration Example................................................................................................... 8-2
8-1-2 Wiring and Settings..................................................................................................................... 8-2
8-1-3 Setting the EtherCAT Network Configuration.............................................................................. 8-3
8-1-4 Programming............................................................................................................................... 8-5
8-1-5 Offline Debugging ....................................................................................................................... 8-5
8-1-6 Turning the Power ON ................................................................................................................ 8-5
8-1-7 Online Debugging ....................................................................................................................... 8-5
8-1-8 Downloading the Network Configuration Information and the User Program ............................. 8-5
8-1-9 Confirming the Start of Communications .................................................................................... 8-6
Section 9 Troubleshooting
9-1 Overview of Errors .................................................................................................................. 9-2
9-2 Troubleshooting ...................................................................................................................... 9-3
9-2-1 Diagnostic and Statistical Information......................................................................................... 9-3
9-2-2 Identifying an Error Slave and Cause of Error .......................................................................... 9-20
9-3 Precautions When Connecting or Disconnecting Slaves during Communications ....... 9-24
9-3-1 Procedure for Connecting and Disconnecting Slaves during Communications ........................ 9-24
9-3-2 Prohibition to Physically Disconnecting a Slave and Resetting an Error or Connecting a Slave at
the Same Time.......................................................................................................................... 9-24
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