Omron NX102 series

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Appendices

A-20

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

Right-click the EtherCAT master that is displayed in the edit pane and select Display ESI

Library.

The ESI Library Dialog Box is displayed.

Click the this folder link in the ESI Library Dialog Box.

The contents of the EsiFiles folder are displayed.

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

Omron NX102 series

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