Omron NX102 series

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Appendices

A-14

NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)

Inline ST

Processing after normal end

Instruction execution

Operating

1 // Processing after normal end

2 ;

Operating

EC_StopMon

Execute

EC_StopMon_instance

EC_SaveMon

Execute

EC_SaveMon_instance

EC_StartMon

Execute

EC_StartMon_instance

Done

Busy

Error

ErrorID

Done

Busy

Error

ErrorID

‘PacketFile’

EC_CopyMon

Execute

FileName

EC_CopyMon_instance

Done

Busy

Error

ErrorID

Done

Busy

Error

ErrorID

_Card1Ready

Main Page

Introduction3
- Intended Audience3
- Applicable Products3
Relevant Manuals4
- Nx7014
- Nx1P25
Manual Structure6
- Page Structure6
- Special Information6
- Precaution on Terminology7
Sections in this Manual9
- Table of Contents10
Terms and Conditions Agreement14
- Warranty, Limitations of Liability14
- Application Considerations15
- Disclaimers15
Safety Precautions16
Precautions for Safe Use17
Precautions for Correct Use18
Regulations and Standards19
- Conformance to EU Directives19
- Conformance to Shipbuilding Standards20
- Software Licenses and Copyrights20
Versions21
- Checking Versions21
- Unit Versions of CPU Units and Sysmac Studio Versions24
Related Manuals25
- Nj10125
- Nj10126
Revision History28
- W505-E128
- Nx10229
- Introduction31
Introduction to Ethercat32
- Ethercat Features32
- Ethercat Communications32
- Ethercat Features for NJ/NX-Series CPU Units33
System Configuration and Configuration Devices34
- System Configuration34
- Determining the Network Configuration38
Specifications of Built-In Ethercat Port39
- 1-3-1 Performance Specifications39
  - Nx1P239
  - Nj10140
Introduction of Communications42
- Process Data Communications and SDO Communications42
- Other Functions42
Ethercat Communications Procedure44
- Overview44
- Details45
  - Part Names and Slave Settings49
Section 2 Part Names and Slave Settings50
Part Names and Functions50
- Built-In Ethercat Port Indicators50
- Windows Used in Sysmac Studio52
- Connecting the Sysmac Studio55
Setting the Node Addresses of the Ethercat Slaves57
Features of Sysmac Devices60
- Sysmac Devices60
- Sysmac Device Features60
- List of Sysmac Devices63
- Sysmac Device Features and Ethercat Masters64
Section 3 Ethercat Communications68
- Ethercat Communications68
Ethercat Communications Types and Settings68
- Coe (CAN Application Protocol over Ethercat)68
- Types of Communications71
- Types of Ethercat Variables72
- Settings Required for Ethercat Communications73
Programming Ethercat Communications74
State Transitions for Ethercat Communications75
- Self Diagnosis at Startup75
- Control States for Ethercat Communications75
- CPU Unit Status in Relation to Ethercat77
  - Ethercat Network Wiring79
Section 4 Ethercat Network Wiring80
Laying the Ethercat Network80
- Supported Network Topologies80
- Installation Precautions82
- Installing Ethercat Communications Cables82
- Connecting Communications Cables86
- Cable Connection Procedure87
  - Setting up Ethercat Communications with the Sysmac Studio89
Section 5 Setting up Ethercat Communications with90
Overview of Network Configuration Information90
Creating the Ethercat Network Configuration91
Setting Ethercat Slave Variables and Axes94
- Registering Device Variables for All Ethercat Slaves94
- Axis Settings for Servo Drives and Encoder Input Slaves98
Ethercat Master and Slave Parameter Settings99
- Setting Ethercat Master99
- Setting Ethercat Slaves104
Comparing and Merging Ethercat Network Configurations112
- Comparing and Merging with the Actual Network Configuration from the Sysmac Studio112
- Automatically Creating the Network Configuration117
- Using the Sysmac Studio to Obtain Serial Numbers from the Actual Network Configuration120
Downloading the Network Configuration Information122
- Downloading the Network Configuration Information from the Sysmac Studio122
Confirming Communications after Completing Ethercat Configuration and Settings124
Process Data Communications (PDO Communications)128
- Allocated Variables for Process Data Communications128
- Process Data Communications Refresh Timing130
- Checking the Validity of the Process Data133
- System Response Time in Process Data Communications138
- I/O Operations for Major Fault Level Controller Errors and I/O Refreshing with Specified Values142
SDO Communications146
- Ethercat Instructions146
- Sample Programming147
- Execution Timing of SDO Communications148
- Minimum Message Response Time for SDO Communications149
Instructions Used in Ethercat Communications153
- Ethercat Instructions153
7-1 System-Defined Variables that Are Related to the Built-In Ethercat Port156
- What Are System-Defined Variables156
- System-Defined Variables that Are Related to the Built-In Ethercat Port156
- System-Defined Variables157
- Ethercat Master Function Module, Category Name: _EC163
  - Example of Operations for Ethercat Communications173
8-1 Example of Operations for Ethercat Communications174
- System Configuration Example174
- Wiring and Settings174
- Setting the Ethercat Network Configuration175
- Programming177
- Offline Debugging177
- Turning the Power on177
- Online Debugging177
- Downloading the Network Configuration Information and the User Program177
- Confirming the Start of Communications178
  - Troubleshooting179
Overview of Errors180
- How to Check for Errors181
- Errors Related to the Ethercat Master Function Module181
Troubleshooting182
- Diagnostic and Statistical Information182
- Error Table182
- Error Descriptions182
- Resetting Errors182
- Identifying an Error Slave and Cause of Error200
Precautions When Connecting or Disconnecting Slaves During Communications204
- Procedure for Connecting and Disconnecting Slaves During Communications204
- Prohibition to Physically Disconnecting a Slave and Resetting an Error or Connecting a Slave at the same Time204
- Precautions When Connecting or Disconnecting Slaves During204
- Communications204
- Procedure for Connecting and Disconnecting Slaves During204
Replacing Slaves During Communications205
- Introduction205
- Slave Replacement Methods206
- Backing up Settings207
- Restoring Settings208
- Replacement Procedure210
Appendices215
Ethercat Status in Relation to CPU Unit Status216
- A-1-1 When the Power Supply Is Turned on216
- When the Power Supply Is Turned on216
- A-1-2 CPU Unit Operating Modes217
- A-1-3 Controller Errors Other than Errors in the Built-In Ethercat Master219
- A-1-4 Others220
- A-1-5 When the Power Supply Is Turned off221
Monitoring Packets222
Multi-Vendor Environments231
- A-3-1 Ethercat Slave Information File (ESI Files231
- Ethercat Slave Information File (ESI Files231
- Connecting Slaves from Other Manufacturers to an OMRON Master233
- Installing ESI Files233
- A-3-4 Editing PDO Entry Tables239
- A-3-5 Settings for MDP-Compatible Slaves from Other Manufacturers244
Glossary247
Version Information249

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