Omron EJ1 EtherCAT User Manual
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Omron EJ1 EtherCAT User Manual

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EJ1 EtherCAT
Slave Unit
EJ1N-HFUC-ECT
User's Manual
Cat. No. H192-E1-01

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  • Page 1 EJ1 EtherCAT  Slave Unit EJ1N-HFUC-ECT User’s Manual Cat. No. H192-E1-01...
  • Page 2 No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe- less, OMRON assumes no responsibility for errors or omissions.

  • Page 3: Introduction

    Observe the following items when you use the EJ1 EtherCAT Slave Unit. • Allow only a specialist with knowledge of electrical systems to handle the EJ1 EtherCAT Slave Unit. • Read and understand this user’s manual completely and use the EJ1 EtherCAT Slave Unit correctly.

  • Page 4: Terms And Conditions Agreement

    Omron’s exclusive warranty is that the Products will be free from defects in materials and workman- ship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.

  • Page 5: Application Considerations

    Disclaimers Performance Data Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor- mance is subject to the Omron’s Warranty and Limitations of Liability.

  • Page 6: Safety Precautions

    • Disassembly Prohibition Indicates prohibitions when there is a possibility of injury, such as from electric shock, as the result of disassembly. • General Caution Mandatory Indicates non-specific general cautions, warnings, and dangers. Caution EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 7: Warnings And Cautions

    Always confirm safety at the destination node before you transfer Unit configuration infor- mation, parameters, settings, or other data from tools such as the Sysmac Studio. The devices or machines may operate unexpectedly, regardless of the operating mode of the controller. EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 8: Precautions For Safe Use

    ON the power supply. Use the correct wiring parts and tools when you wire the system. • Always turn OFF the external power supply to the Units before attempting any of the following. • Mounting, removing, or replacing the Unit • Setting the rotary switches EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 9 • If you disconnect the cable from an EtherCAT slave to disconnect it from the network, any current communications frames may be lost. If frames are lost, slave I/O data is not communicated, and the EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 10 Set the PDO communications consecutive timeout detection count setting in the EtherCAT master to at least 2. Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for details. • Make sure that the PDO recording area for EtherCAT communications is correct. EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 11: Precautions For Correct Use

    Precautions for Correct Use Precautions for Correct Use  Installation • Connect the EJ1 EtherCAT Slave Unit to the left side of a Basic Unit or an End Unit. • The EJ1 cannot be used linked to a CJ-series PLC.  Service Life •...

  • Page 12: Preparations For Use

    Install the product in a location that is not subject to liquid or foreign par- ticles entering the product. If sulfide, chlorine, or other corrosive gases are present, remove the source of the gas, install a fan, or use other countermeasures to protect the product. EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 13: Regulations And Standards

     Concepts EMC Directives OMRON devices that comply with EU Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards. Whether the products conform to the stan- dards in the system used by the customer, however, must be checked by the customer.

  • Page 14: Revision History

    A manual revision code appears as a suffix to the catalog number at the bottom of the back cover of the manual. Cat. No. H192-E1-01 Revision code Revision code Date Revised content October 2015 Original production EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 15: Related Manuals

    Related Manuals Related Manuals The manuals related to the EJ1 EtherCAT Slave Unit are configured as shown in the following tables. Refer to these manuals as required. Cat. No. Model number Manual name Application Description H192 EJ1N-HFUC-ECT EJ1 EtherCAT Learning the basic specifica- The following information is provided on Slave Unit User’s...

  • Page 16: G3Pw Power Controllers

    G3ZA on heater power with a • Setting RS-485 serial communi- continuous proportional out- G3PW-A220EC-S-FLK cations put or with RS-485 serial G3PW-A230EC-S-FLK • Basic functions communications (Compo- G3PW-A245EC-S-FLK Way/F) from an EJ1. G3PW-A260EC-S-FLK EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 17: Meanings Of Abbreviations And Terms

    One of the EJ1 Basic Units given above. communications unit num- An identification number in CompoWay/F communications for a Temperature Con- troller connected to an EJ1 EtherCAT Slave Unit. Set the communications unit number with rotary switch 1 and DIP switch 2 on each Basic Unit.
  • Page 18 Meanings of Abbreviations and Terms EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 19: Sections In This Manual

    Features and System Index Configuration Specifications and Procedures Part Names and EtherCAT Communications Overview Installation and Connection Using the EJ1 EtherCAT Slave Unit with PDO Communications Using the EJ1 EtherCAT Slave Unit with SDO Communications Troubleshooting Maintenance and Inspection Appendices...

  • Page 20: Table Of Contents

    Unit Model Number ........................1-5 1-3-2 Overview of Functions......................... 1-5 Section 2 Specifications and Procedures Specifications ........................2-2 2-1-1 General Specifications ........................ 2-2 2-1-2 Function Specifications ....................... 2-2 2-1-3 EtherCAT Slave Communications Specifications................ 2-3 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 21 5-3-2 PDO Mapping Data List ......................5-7 PDO Mapping Data Details....................5-8 5-4-1 Output Notification Data (Communications Master to EJ1 EtherCAT Slave Unit) ...... 5-8 5-4-2 Input Notification Data (EJ1 EtherCAT Slave Unit to Communications Master) ....... 5-10 5-4-3 Sysmac Error Status ......................... 5-14 Writing User Programming ....................
  • Page 22 CONTENTS Section 6 Using the EJ1 EtherCAT Slave Unit with SDO Communi- cations Overview..........................6-2 Abort Codes ........................... 6-3 Section 7 Troubleshooting Error Notification Methods ....................7-2 Error List ..........................7-3 7-2-1 Errors Detected during Boot Process..................7-3 7-2-2 EtherCAT Communications Errors ....................7-4 7-2-3 Errors Detected during a Software Process................
  • Page 23 Features and System Configura- tion This section describes the features of the EJ1 EtherCAT Slave Unit and the system configuration in which the EJ1 EtherCAT Slave Unit is used. 1-1 Overview and Features ......... 1-2 1-1-1 Overview .

  • Page 24: Overview And Features

    Controllers as slaves on an EtherCAT network. You can send CompoWay/F commands from a user program through PDO communications to perform handshaking with an EJ1 EtherCAT Slave Unit in order to write/read values in EJ1 Basic Units con- nected to the EJ1 EtherCAT Slave Unit.

  • Page 25: System Configuration

    RS-485 cable to connect ports B between two EDUs. Note: Programmable Terminals (PTs) cannot be connected. A maximum of 15 Basic Units can be connected side by side next to an EJ1 EtherCAT Slave Unit to perform EtherCAT communications through the EJ1 EtherCAT Slave Unit.
  • Page 26 This Unit provides power to the connected Basic Units and Advanced Unit. The End Unit must be connected as the far right module when you use the EJ1 EtherCAT Slave Unit. You can con- nect up to 16 Units for one End Unit. However, you can connect only one Advanced Unit.

  • Page 27: Unit Models And Overview Of Functions

    This section introduces the EJ1 EtherCAT Slave Unit model number and provides an overview of the functions of the EJ1 EtherCAT Slave Unit. 1-3-1 Unit Model Number The model number and specifications for the EJ1 EtherCAT Slave Unit are given in the following table. Unit name Model number Specifications...
  • Page 28 1 Features and System Configuration 1 - 6 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 29: Specifications And Procedures

    This section provides the general specifications and individual Unit specifications, and describes how to use the EJ1 EtherCAT Slave Unit. 2-1 Specifications ..........2-2 2-1-1 General Specifications .

  • Page 30: Specifications

    Specifications This section gives the general specifications of the EJ1 EtherCAT Slave Unit. 2-1-1 General Specifications The following table gives the general specifications of the EJ1 EtherCAT Slave Unit. Item Specification Power supply voltage End Unit power supply: 24 VDC Allowable voltage range End Unit power supply: 20.4 to 26.4 VDC...

  • Page 31: Ethercat Slave Communications Specifications

    2 Specifications and Procedures 2-1-3 EtherCAT Slave Communications Specifications This section provides the EtherCAT slave communications specifications for the EJ1 EtherCAT Slave Unit. Item Specification Communications protocol EtherCAT protocol Communica- PDO com- Cyclic I/O is supported between the communications master and the following...

  • Page 32: Application Procedures

    2 Specifications and Procedures Application Procedures This section provides the procedures to use the EJ1 EtherCAT Slave Unit. The hardware and setup procedures are given separately. 2-2-1 Hardware Setup Procedure Step Item Description Reference Connect the EJ1 Eth- Place the EJ1 EtherCAT Slave Unit on the far left, connect up to 15...

  • Page 33: Software Setup Procedure

    Precautions for Correct Use Do not send any CompoWay/F commands from the EtherCAT master to the EJ1 EtherCAT Slave Unit while you are changing EJ1 EtherCAT Slave Unit settings or Basic Unit settings from the CX-Thermo. 2 - 5...
  • Page 34 2 Specifications and Procedures 2 - 6 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 35 Part Names and EtherCAT Com- munications Overview This section gives the names of the parts of the EJ1 EtherCAT Slave Unit, describes the functions of the parts, and provides an overview of EtherCAT communications. 3-1 Part Names and Functions ........3-2 3-1-1 Appearance and Names of Parts on the Front Panel .

  • Page 36: Part Names And Functions

    3 Part Names and EtherCAT Communications Overview Part Names and Functions This section gives the names of the parts of the EJ1 EtherCAT Slave Unit and describes its external appearance. 3-1-1 Appearance and Names of Parts on the Front Panel ...

  • Page 37: Meanings Of Indicators

    3-1-3 Node Address Setting Switches The front panel rotary switches are used to set the node address of the EJ1 EtherCAT Slave Unit. There is a difference in setting the node addresses between an OMRON EtherCAT master and one made by another manufacturer.

  • Page 38: Ethercat Communications Connectors

    ) and second digit (×16 ) of the EtherCAT node address for the EJ1 EtherCAT Slave Unit. You can set the address to any value between 00 and FF hex (0 to 255 decimal). Note The default address setting is 00 hex.

  • Page 39: Ethercat Communications Overview

    If you use the CoE interface to set the object dictionary for PDOs and SDOs, you can provide EtherCAT devices with the same device profiles as the CAN application protocol. 3 - 5 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 40: Ethercat Slave Information File (Esi Files)

    ESI files are required to connect OMRON EtherCAT slaves to controllers from other companies. To connect an EJ1 EtherCAT Slave Unit to a controller from another company, install the ESI file for the EJ1 EtherCAT Slave Unit in the configuration software that you are using.

  • Page 41: State Transitions For Ethercat Communications

    3-2-3 State Transitions for EtherCAT Communications The state machine that is used to control communications for the EJ1 EtherCAT Slave Unit is controlled by the EtherCAT master. The state machine is based on the ESI definition information and network con- nection information of the connected EJ1 EtherCAT Slave Units.

  • Page 42: Process Data Objects (Pdos)

    Process data objects (PDOs) are used to transfer data during cyclic communications in realtime. There are two types of process data objects (PDOs): RxPDOs, which are used by the EJ1 EtherCAT Slave Unit to receive data from the EtherCAT master, and TxPDOs, which are used by the EJ1 Eth- erCAT Slave Unit to send data to the EtherCAT master.
  • Page 43 6TTT hex TT hex Object A UU hex 6UUU hex Object B VV hex 6VVV hex Object C 6YYY hex YY hex Object D 6ZZZ hex ZZ hex Object E 3 - 9 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 44: Service Data Objects (Sdos)

    The EJ1 EtherCAT Slave Unit also supports SDO communications. Use SDO communications to moni- tor object settings and the status of the EJ1 EtherCAT Slave Unit. The communications master can read and write data in entries in the object dictionary to make parameter settings and monitor status.

  • Page 45: Installation And Connection

    4-1 Installing the EJ1 EtherCAT Slave Unit ......4-2 4-2 EtherCAT Network Wiring ........4-3 4-2-1 Installation Precautions .

  • Page 46: Installing The Ej1 Ethercat Slave Unit

    The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders until they click into place. Mount the EJ1 EtherCAT Slave Unit and Basic Units to a DIN Rail. Use screws to attach the DIN Rail to the control panel in at least three places.

  • Page 47: Ethercat Network Wiring

    Prepare the following devices. Product Remarks Twisted-pair cable (Cables with the following connec- 100BASE-TX (Category 5 or higher) tors can also be used.) Double shielding with aluminum tape and braiding RJ45 connectors Shielded 4 - 3 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 48: Recommended Ethercat Cables

    • For cables with two twisted pairs, refer to the datasheet for the connector. • After wiring, use a LAN cable tester to check the operation of the network wiring. 4 - 4 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 49: Wiring The Temperature Controllers

    30 V r.m.s. max. and 42.4 V peak max. or 60 VDC max. Recommended power supply: S8VM Series or S8VS Series (both manufactured by OMRON) • Select a Power Supply with a capacity that is suitable for the application conditions.
  • Page 50 4 Installation and Connection 4 - 6 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 51: Using The Ej1 Ethercat Slave Unit With Pdo Communications

    5-4 PDO Mapping Data Details ........5-8 5-4-1 Output Notification Data (Communications Master to EJ1 EtherCAT Slave Unit) ....5-8 5-4-2 Input Notification Data (EJ1 EtherCAT Slave Unit to Communications Master) .

  • Page 52: Ej1 Pdo Communications Overview

     Restarting a Port on the EJ1 EtherCAT Slave Unit To restart a port or clear the send and receive buffers in the EJ1 EtherCAT Slave Unit from the com- munications master, you can send control commands to control the EJ1 EtherCAT Slave Unit and then receive the response back for those commands.

  • Page 53: How Data Is Sent And Received With Pdo Communications

    Data was updated, and handshaking is performed when the EJ1 EtherCAT Slave Unit receives that notification. The data in the send buffer in the EJ1 EtherCAT Slave Unit is used to automatically generate a CompoWay/F command and send it to the destination Basic Unit via the lateral EJ1 bus.
  • Page 54 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications The EJ1 EtherCAT Slave Unit sends a notification through user programming that the Input Notification Data was updated, and handshaking is performed when the notification is received. CPU Unit EtherCAT master...

  • Page 55: Control Commands And Responses

    EtherCAT master to the send buffer in the EJ1 EtherCAT Slave Unit. The EJ1 EtherCAT Slave Unit is notified through user programming that the Output Notification Data was updated, and handshaking is performed when the EJ1 EtherCAT Slave Unit receives that notification.

  • Page 56: Pdo Mapping Data Overview

    5 Using the EJ1 EtherCAT Slave Unit with PDO Communications PDO Mapping Data Overview This section provides an overview of mapping data for the communications master of the EJ1 EtherCAT Slave Unit for PDO communications. The following section describes the types of PDO mapping data and provides a list of PDO entries.

  • Page 57: Pdo Mapping Data List

    5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5-3-2 PDO Mapping Data List The following table lists the PDO mapping data by PDO entry. Precautions for Correct Use Set the assignments to meet the following conditions for PDO mapping. If the following condi- tions are not met, it will not be possible to change the EtherCAT communications state to the Safe-Operational (Safe−Op) state to enable PDO communications.

  • Page 58: Pdo Mapping Data Details

    PDO mapping. However, the I/O port name column lists only the I/O port names. 5-4-1 Output Notification Data (Communications Master to EJ1 Ether- CAT Slave Unit) The following data is cyclically output from the communications master to the EJ1 EtherCAT Slave Unit. PDO entry name, I/O port Object name Size...
  • Page 59 EJ1 EtherCAT Slave Unit received the updated Output Notification Data. *: If the EJ1 EtherCAT Slave Unit detects that the Output SID was incremented (previous value + 1), it receives the Output Notification Data by itself. If the Output SID value is not equal to the previous value plus 1, the data is considered invalid and is not received.

  • Page 60: Input Notification Data (Ej1 Ethercat Slave Unit To Communications Master)

    *1. The Output SID is not reset if the port is restarted. 5-4-2 Input Notification Data (EJ1 EtherCAT Slave Unit to Communica- tions Master) The following data is cyclically input from the communications EJ1 EtherCAT Slave Unit to the commu- nications master. PDO entry, Object name...
  • Page 61 *5. How to Use Output SID Responses in User Programming: Perform the following processing in user programming. • If the received Output SID Response matches the previously incremented Output SID, it means that the EJ1 EtherCAT Slave Unit received the sent data.
  • Page 62 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications  Port Status The port status provides information on the communications state, as given in the following table. Bit posi- Parameter I/O port name Function Value Default tion name Send Data Exist...
  • Page 63 *1. If an EJ1 bus communications error occurs, the EJ1 EtherCAT Slave Unit may still be receiving a CompoWay/F response. Allow at least 32 ms after detecting an EJ1 bus communications error before executing the next out- put data notification.

  • Page 64: Sysmac Error Status

    5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Bit posi- Parameter I/O port name Value Default tion name Receive Data Error Receive Data 0: No error Flag Error Flag 1: There is an error. This flag resets to 0 (no errors) when a correct response is received.

  • Page 65: Writing User Programming

    See if the Input SID was incremented to confirm when the Input Notification Data is updated. Set the Input SID Response to the above Input SID to notify the EJ1 EtherCAT Slave Unit that the Input Notification Data was received.

  • Page 66: Handshaking With The Ej1 Ethercat Slave Unit With User Programming

    (i.e., there is still more data to receive). Repeat steps 5 and 6 for the next data reception. Set the Input SID Response to the Input SID from step 5 above to notify the EJ1 EtherCAT Slave Unit that the Input Notification Data was received.

  • Page 67: Procedures For Sending Control Commands And Receiving Responses

    Input Data Type. If the Control Command Response Flag is 1 (ON), there is a control command response. Set the Input SID Response to the Input SID from step 4 above to notify the EJ1 EtherCAT Slave Unit that the Input Notification Data was received.

  • Page 68: Example Procedures For Sending Compoway/F Commands And Receiving Responses

    5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Example Procedures for Sending CompoWay/F Commands and Receiving Responses This section provides example procedures for sending CompoWay/F commands and receiving responses. Whether or not the data must be sent or received in parts depends on whether the Output Data or Input Data exceeds the assigned PDO mapping size.
  • Page 69 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Com- EJ1 EtherCAT Slave Unit processing muni- Communications master processing Step Process (EJ1 EtherCAT Slave Unit firmware pro- cations (processing in user programming) direc- cessing) tion Input response 1. The communications master outputs the →...
  • Page 70 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Com- EJ1 EtherCAT Slave Unit processing muni- Communications master processing Step Process (EJ1 EtherCAT Slave Unit firmware pro- cations (processing in user programming) direc- cessing) tion Confirmation of 1. The communications master receives ←...

  • Page 71: Example Of Sending And Receiving Data In Parts

    5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5-6-2 Example of Sending and Receiving Data in Parts If the Output Data or Input Data exceeds the assigned PDO mapping size, the Output Data or Input Data is divided to be sent or received.
  • Page 72 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Com- EJ1 EtherCAT Slave Unit processing muni- Communications master processing Step Process (EJ1 EtherCAT Slave Unit firmware pro- cations (processing in user programming) direc- cessing) tion Output response 1. The communications master receives ←...
  • Page 73 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Com- EJ1 EtherCAT Slave Unit processing muni- Communications master processing Step Process (EJ1 EtherCAT Slave Unit firmware pro- cations (processing in user programming) direc- cessing) tion Checking sending 1. The communications master receives ←...
  • Page 74 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Com- EJ1 EtherCAT Slave Unit processing muni- Communications master processing Step Process (EJ1 EtherCAT Slave Unit firmware pro- cations (processing in user programming) direc- cessing) tion First input 1. The communications master outputs the →...

  • Page 75: Setting Compoway/F Frames

    EJ1 EtherCAT Slave Unit to a Basic Unit) from user programming and the information that is set auto- matically in the Input Data (i.e., the data received by the EJ1 EtherCAT Slave Unit from the Basic Unit).  Output Data Contents...
  • Page 76 No response is returned for broadcasting. No response is returned for any communications unit number other than the above one. Text: Included in The sub-address is not used with the EJ1 EtherCAT Slave Unit. Sub-address the Output Data Always set it to 3030 hex.

  • Page 77: Storing Output Data And Input Data In Array Variables

    5 Using the EJ1 EtherCAT Slave Unit with PDO Communications 5-7-2 Storing Output Data and Input Data in Array Variables If the communications master is an NJ/NX-series CPU Unit, the Output Data and Input Data are set in array variables of four bytes each.

  • Page 78: Setting The Pdo Mappings For I/O Data

    PDO sizes, refer to the Guidelines for Determining the Output Data and Input Data PDO Map- ping Sizes on page 5-31 later in this manual. How to set the PDO mapping sizes when an EJ1 EtherCAT Slave Unit is registered to the EtherCAT network configuration is described next.
  • Page 79 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications Click the EJ1N-HFUC-ECT in the EtherCAT network configuration. The following dialog box is displayed. Click the Edit PDO Map Settings Button. The following dialog box is displayed. 5 - 29...
  • Page 80 Output Notification Data will be 90 bytes. Click the OK Button or Apply Button in the Edit PDO Map Settings Dialog Box. The PDO entries are added to the EJ1 EtherCAT Slave Unit settings. 5 - 30 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 81 5 Using the EJ1 EtherCAT Slave Unit with PDO Communications  Guidelines for Determining the Output Data and Input Data PDO Mapping Sizes The PDO mapping sizes for Output Data and Input Data are determined based on the cases given in the following table.

  • Page 82: Assigning Device Variables

    I/O ports on the I/O Map Tab Page of the Sysmac Studio to access PDO entries from user program- ming. Area (1), below, gives the I/O port names for the EJ1N-HFUC-ECT EJ1 EtherCAT Slave Unit. You can right-click on any of these I/O ports and select Create Device Variable to assign device vari- ables.

  • Page 83: Using The Ej1 Ethercat Slave Unit With Sdo Communications

    Using the EJ1 EtherCAT Slave Unit with SDO Communications This section describes how to read and write data in the EJ1 EtherCAT Slave Unit by using SDO communications from the communications master. 6-1 Overview ........... . . 6-2 6-2 Abort Codes .

  • Page 84: Overview

    6 Using the EJ1 EtherCAT Slave Unit with SDO Communications Overview The EJ1 EtherCAT Slave Unit supports SDO message communications. The communications master can read and write data in entries in the object dictionary with SDO com- munications to make parameter settings and monitor status when necessary.

  • Page 85: Abort Codes

    6 Using the EJ1 EtherCAT Slave Unit with SDO Communications Abort Codes The following table lists the abort codes for SDO communications errors. Value Meaning 06010000 hex Unsupported access to an object 06010002 hex Attempt to write to a read-only object.
  • Page 86 6 Using the EJ1 EtherCAT Slave Unit with SDO Communications 6 - 4 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 87: Troubleshooting

    This section describes the notification and confirmation methods and checking proce- dures when an error occurs in an EJ1 EtherCAT Slave Unit. 7-1 Error Notification Methods ........7-2 7-2 Error List .

  • Page 88: Error Notification Methods

    This section describes how the communications master and other devices are notified when an error occurs in an EJ1 EtherCAT Slave Unit. Use the following methods to check the status of errors in the EJ1 EtherCAT Slave Unit. EtherCAT master...

  • Page 89: Error List

    7 Troubleshooting Error List This section provides a list of errors that can occur in the EJ1 EtherCAT Slave Unit. 7-2-1 Errors Detected during Boot Process Indicators Operation Master notified? Detec- Possible cor- ECAT EtherCAT State Emer- Error name Description...

  • Page 90: Ethercat Communications Errors

    *2. This error is detected as a Slave Application Error (event code: 84280000 hex) in an NJ/NX-series CPU Unit. The AL status code that the EJ1 EtherCAT Slave Unit reports to the master is stored as Sub Info 1 of the Slave Application Error (event code: 84280000 hex).

  • Page 91: Errors Detected During A Software Process

    I: Init state, I → P: During transition from Init state to Pre-Op state, P: Pre-Op state, P → S: During transition from Pre-Op state to Safe-Op state, S: Safe-Op state, S → O: During transition from Safe-Op to Op state, O: Op state, and −: Undefined 7 - 5 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 92: Error Notifications Based On The Sysmac Error Status

    The Sysmac Error Status is assigned to a TxPDO to provide cyclic notifications of the level of current errors in the EJ1 EtherCAT Slave Unit to the communications master. This allows you to use the same operation to check errors and corrections with an NJ/NX-series CPU Unit and the Sysmac Studio.

  • Page 93: Checking And Responding To Event Codes

    When an error occurs, you can view all current errors according to their Sysmac Error Status level through the communications master. You can check the errors that are managed by the EJ1 EtherCAT Slave Unit through the Sysmac Error Status.

  • Page 94: Error Notifications Provided With Emergency Messages

    The EJ1 EtherCAT Slave Unit reports emergency messages to the communications master by using SDO communications if it detects an error at the application level. When the power supply to the EJ1 EtherCAT Slave Unit is turned ON, the EJ1 EtherCAT Slave Unit will always start with emergency message notifications enabled.

  • Page 95: Error Notifications Based On The Al Status

    EtherCAT communications with the EJ1 EtherCAT Slave Unit. If an AL status error occurs in the EJ1 EtherCAT Slave Unit, it is detected as a Slave Application Error (event code: 8428 0000 hex) in an NJ/NX-series CPU Unit.
  • Page 96 Correct the settings, and then down- ping Error load the settings to the communications • An incorrect RxPDO was set, e.g., master again. the index, subindex, or size was outside of the allowable range. 7 - 10 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 97: Maintenance And Inspection

    Maintenance and Inspection This section describes how to clean, inspect, and maintain an EJ1 EtherCAT Slave Unit. 8-1 Cleaning and Inspection ........8-2 8-1-1 Cleaning .

  • Page 98: Cleaning And Inspection

    This section describes the cleaning and inspection methods recommended as regular maintenance. 8-1-1 Cleaning Clean the EJ1 EtherCAT Slave Unit regularly as described below in order to keep the network in opti- mal operating condition. • Wipe the equipment over with a soft, dry cloth when performing daily cleaning.

  • Page 99: Inspection Items

    Are the connectors of the communica- No looseness Visual inspection tions cables fully inserted? Are the external wiring screws tight? No looseness Phillips screwdriver Are the connecting cables undamaged? No externally visible dam- Visual inspection 8 - 3 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 100: Replacing Units

    8 Maintenance and Inspection Replacing Units The EJ1 EtherCAT Slave Unit is part of an EtherCAT network. The entire network is affected when a Unit is faulty, so a faulty Unit must be repaired or replaced quickly. We recommend having spare Units available to restore network operation as quickly as possible.

  • Page 101: Appendices

    Appendices The appendices provide additional information for the EJ1 EtherCAT Slave Unit, such as dimensions and object lists. A-1 Dimensions ........... A-2 A-1-1 EJ1N-HFUC-ECT .

  • Page 102: A-1 Dimensions

    Appendices A-1 Dimensions A-1-1 EJ1N-HFUC-ECT 120 max. (Unit: mm) A - 2 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 103: A-2 Sample Programming

    The following PDO sizes are set from the Sysmac Studio as the default values. Data I/O entry name Size [bytes] Input Data Input Data 01 to 05 Output Data Output Data 01 to 05 A - 3 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 104 Data offset when sending or receiving data in parts outSid USINT Output SID inSid USINT Input SID sendString STRING[256] CompoWay/F command text string to send rcvString STRING[256] Received CompoWay/F response text string A - 4 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 105 SID • nextSid Function nextSid:=currentSid+1; Add 1 to the given SID. IF(nextSid=USINT#0)THEN If the resulting SID from the above nextSid:=1; calculation is 0, set the SID to 1. END_IF; A - 5 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 106: A-2-2 Sending Compoway/F Commands And Receiving Responses

    Go to step ELSE If the received data is not the final data, state:=50; go to step END_IF; Processing after error. 50: //Error occurs. Processing after normal end. 60: //Normal end END_CASE; A - 6 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 107 The following programming sample sends a FINS-mini echoback test to communications unit number 0. In this sample, the test data is long and must be sent and received in parts through data exchange with the EJ1 EtherCAT Slave Unit using PDO communications. CASE state OF 0: //Set the CompoWay/F command.

  • Page 108: A-2-3 Restart Port

    This programming sample restarts a port. Restarting a port is used to clear the send and receive buffers and the Input SID of EJ1 EtherCAT Slave Unit when resuming operation of the EtherCAT master controller after it has been paused during a CompoWay/F command send or receive operation.

  • Page 109: A-3 Coe Objects

    Appendices A-3 CoE Objects This section describes the CoE objects that are implemented by the EJ1 EtherCAT Slave Unit. A-3-1 Object Dictionary Area CAN application protocol over EtherCAT (CoE) is based on the object dictionary for the CAN applica- tion protocol. All objects are assigned 4-digit hexadecimal indexes. The objects are structured in the fol- lowing areas.

  • Page 110: A-3-3 Communications Objects

    Appendices A-3-3 Communications Objects The following table lists the communications objects for the EJ1 EtherCAT Slave Unit. PDO mapping Access N/A: Not map- Sub- pable Com- Index index Object name Read only Data Type Data range Initial value R: RxPDO...

  • Page 111: A-3-4 Pdo Mapping Objects

    Appendices A-3-4 PDO Mapping Objects The following table lists the PDO mapping objects for the EJ1 EtherCAT Slave Unit.  PDO Mapping Objects: Output Notification Data PDO mapping Access N/A: Not map- Sub- pable Com- Index index Object name Read only...
  • Page 112 70001220 hex, 70001320 hex, 70001420 hex, 70001520 hex, 70001620 hex, 70001720 hex, 70001820 hex, 70001920Hex Assign data from objects in the 7000 hex range for PDO mapping of Output Notification Data. A - 12 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 113 01 hex 01 hex Entries Sysmac Error UNSIGNED32 20020108 hex 2002 0108 hex Status: Assign data from objects in the 6000 hex range for PDO mapping of Input Notification Data. A - 13 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 114: A-3-5 Sync Manager Communications Objects

    Send PDO UNSIGNED16 0000 hex 1B00 hex Mapping 1B00 hex or Assignment 1 1BFF hex Send PDO UNSIGNED16 0000 hex 1BFF hex Mapping 1B00 hex or Assignment 2 1BFF hex A - 14 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 115: Manufacturer-Specific Object 1

    2. The logs are cleared when 1 (TRUE) is written to Sysmac Error Status Clear (02 hex) in the Sysmac Error (2002 hex). 3. The following table gives the format of each log. A - 15 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 116 UNSIGNED32 Event code (stored in little endian) Reserved area UNSIGNED32 Reserved area UNSIGNED32 Refer to Event Code List on page 7-7 under Section 7 Troubleshooting for details on event codes. A - 16 EJ1 EtherCAT Slave Unit User’s Manual (H192)

  • Page 117: A-3-7 Device Profile Area

    0000 hex Type Output Sub Info UNSIGNED16 0000 hex Output Data UNSIGNED16 0000 hex Length [bytes] 06 to 19 Output Data 01 ARRAY [0..3] 00000000 hex to 20 OF BYTE A - 17 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 118 Appendices A - 18 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 119 Index I - 1 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 120 Restart Port ............5-2, 5-10, A-8 Final Data Reception Flag ........5-12, 5-13 final send data ..............5-9 Safe-Op ................3-7 Safe-Operational ............3-7 SDO ................3-10 G3ZA ................1-4 SDO communications ..........1-5, 6-2 I - 2 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 121 Send Data Exists Flag ..........5-12 setting the PDO mappings for I/O data ......5-28 storing output data and input data in array variables ..5-27 Sysmac Error status ........5-7, 5-14, 7-6 with SDO communications ..........6-1 I - 3 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 122 Index I - 4 EJ1 EtherCAT Slave Unit User’s Manual (H192)
  • Page 124 The Netherlands Hoffman Estates, IL 60169 U.S.A. Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 © OMRON Corporation 2015 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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