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NX102 series
Omron NX102 series User Manual
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Appendices
A-14
NJ/NX-series CPU Unit Built-
in EtherCA
T Port User
’s Manual (W505)
Inline ST
Processing after normal end
Instruction ex
ecution
C
Operating
1 // Processing after normal end
2 ;
Operating
C
EC_StopMon
Execute
EC_StopMon_instance
EC_Sav
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Execute
EC_Sav
eMon_instance
EC_Star
tMon
Execute
EC_Star
tMon_instance
Done
Busy
Error
ErrorID
Done
Busy
Error
ErrorID
‘P
acketFile’
EC_CopyMon
Execute
FileName
EC_CopyMon_instance
Done
Busy
Error
ErrorID
Done
Busy
Error
ErrorID
_Card1Ready
227
229
Table of Contents
Introduction
3
Intended Audience
3
Applicable Products
3
Relevant Manuals
4
Nx701
4
Nx1P2
5
Manual Structure
6
Page Structure
6
Special Information
6
Precaution on Terminology
7
Sections in this Manual
9
Table of Contents
10
Terms and Conditions Agreement
14
Warranty, Limitations of Liability
14
Application Considerations
15
Disclaimers
15
Safety Precautions
16
Precautions for Safe Use
17
Precautions for Correct Use
18
Regulations and Standards
19
Conformance to EU Directives
19
Conformance to Shipbuilding Standards
20
Software Licenses and Copyrights
20
Versions
21
Checking Versions
21
Unit Versions of CPU Units and Sysmac Studio Versions
24
Related Manuals
25
Nj101
25
Nj101
26
Revision History
28
W505-E1
28
Nx102
29
Introduction
31
Introduction to Ethercat
32
Ethercat Features
32
Ethercat Communications
32
Ethercat Features for NJ/NX-Series CPU Units
33
System Configuration and Configuration Devices
34
System Configuration
34
Determining the Network Configuration
38
Specifications of Built-In Ethercat Port
39
1-3-1 Performance Specifications
39
Nx1P2
39
Nj101
40
Introduction of Communications
42
Process Data Communications and SDO Communications
42
Other Functions
42
Ethercat Communications Procedure
44
Overview
44
Details
45
Part Names and Slave Settings
49
Section 2 Part Names and Slave Settings
50
Part Names and Functions
50
Built-In Ethercat Port Indicators
50
Windows Used in Sysmac Studio
52
Connecting the Sysmac Studio
55
Setting the Node Addresses of the Ethercat Slaves
57
Features of Sysmac Devices
60
Sysmac Devices
60
Sysmac Device Features
60
List of Sysmac Devices
63
Sysmac Device Features and Ethercat Masters
64
Section 3 Ethercat Communications
68
Ethercat Communications
68
Ethercat Communications Types and Settings
68
Coe (CAN Application Protocol over Ethercat)
68
Types of Communications
71
Types of Ethercat Variables
72
Settings Required for Ethercat Communications
73
Programming Ethercat Communications
74
State Transitions for Ethercat Communications
75
Self Diagnosis at Startup
75
Control States for Ethercat Communications
75
CPU Unit Status in Relation to Ethercat
77
Ethercat Network Wiring
79
Section 4 Ethercat Network Wiring
80
Laying the Ethercat Network
80
Supported Network Topologies
80
Installation Precautions
82
Installing Ethercat Communications Cables
82
Connecting Communications Cables
86
Cable Connection Procedure
87
Setting up Ethercat Communications with the Sysmac Studio
89
Section 5 Setting up Ethercat Communications with
90
Overview of Network Configuration Information
90
Creating the Ethercat Network Configuration
91
Setting Ethercat Slave Variables and Axes
94
Registering Device Variables for All Ethercat Slaves
94
Axis Settings for Servo Drives and Encoder Input Slaves
98
Ethercat Master and Slave Parameter Settings
99
Setting Ethercat Master
99
Setting Ethercat Slaves
104
Comparing and Merging Ethercat Network Configurations
112
Comparing and Merging with the Actual Network Configuration from the Sysmac Studio
112
Automatically Creating the Network Configuration
117
Using the Sysmac Studio to Obtain Serial Numbers from the Actual Network Configuration
120
Downloading the Network Configuration Information
122
Downloading the Network Configuration Information from the Sysmac Studio
122
Confirming Communications after Completing Ethercat Configuration and Settings
124
Process Data Communications (PDO Communications)
128
Allocated Variables for Process Data Communications
128
Process Data Communications Refresh Timing
130
Checking the Validity of the Process Data
133
System Response Time in Process Data Communications
138
I/O Operations for Major Fault Level Controller Errors and I/O Refreshing with Specified Values
142
SDO Communications
146
Ethercat Instructions
146
Sample Programming
147
Execution Timing of SDO Communications
148
Minimum Message Response Time for SDO Communications
149
Instructions Used in Ethercat Communications
153
Ethercat Instructions
153
7-1 System-Defined Variables that Are Related to the Built-In Ethercat Port
156
What Are System-Defined Variables
156
System-Defined Variables that Are Related to the Built-In Ethercat Port
156
System-Defined Variables
157
Ethercat Master Function Module, Category Name: _EC
163
Example of Operations for Ethercat Communications
173
8-1 Example of Operations for Ethercat Communications
174
System Configuration Example
174
Wiring and Settings
174
Setting the Ethercat Network Configuration
175
Programming
177
Offline Debugging
177
Turning the Power on
177
Online Debugging
177
Downloading the Network Configuration Information and the User Program
177
Confirming the Start of Communications
178
Troubleshooting
179
Overview of Errors
180
How to Check for Errors
181
Errors Related to the Ethercat Master Function Module
181
Troubleshooting
182
Diagnostic and Statistical Information
182
Error Table
182
Error Descriptions
182
Resetting Errors
182
Identifying an Error Slave and Cause of Error
200
Precautions When Connecting or Disconnecting Slaves During Communications
204
Procedure for Connecting and Disconnecting Slaves During Communications
204
Prohibition to Physically Disconnecting a Slave and Resetting an Error or Connecting a Slave at the same Time
204
Precautions When Connecting or Disconnecting Slaves During
204
Communications
204
Procedure for Connecting and Disconnecting Slaves During
204
Replacing Slaves During Communications
205
Introduction
205
Slave Replacement Methods
206
Backing up Settings
207
Restoring Settings
208
Replacement Procedure
210
Appendices
215
Ethercat Status in Relation to CPU Unit Status
216
A-1-1 When the Power Supply Is Turned on
216
When the Power Supply Is Turned on
216
A-1-2 CPU Unit Operating Modes
217
A-1-3 Controller Errors Other than Errors in the Built-In Ethercat Master
219
A-1-4 Others
220
A-1-5 When the Power Supply Is Turned off
221
Monitoring Packets
222
Multi-Vendor Environments
231
A-3-1 Ethercat Slave Information File (ESI Files
231
Ethercat Slave Information File (ESI Files
231
Connecting Slaves from Other Manufacturers to an OMRON Master
233
Installing ESI Files
233
A-3-4 Editing PDO Entry Tables
239
A-3-5 Settings for MDP-Compatible Slaves from Other Manufacturers
244
Glossary
247
Version Information
249
Other manuals for Omron NX102 series
Firmware Update Instruction
44 pages
Network Connection Guide
48 pages
4
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Omron NX102 series Specifications
General
Brand
Omron
Model
NX102 series
Category
Controller
Language
English
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