EtherCAT Remote I/O Terminal

GX-series
EtherCAT Slave Units
®

User’s Manual

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Digital I/O Units
Analog I/O Units
Encoder Input Units
IO-Link Master Unit

W488-E1-05
© OMRON, 2010
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
OMRON.
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. Nevertheless, OMRON assumes no responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.

Trademarks
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• Windows is a registered trademark of Microsoft Corporation in the USA.
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.

Other company names and product names that appear in this manual are the trademarks or registered trade-
marks of the relevant companies.
GX-series
EtherCAT Slave Units
User’s Manual
Revised July 2016
Introduction
Thank you for purchasing a GX-series EtherCAT Slave Unit.
This manual contains information you need to know to use the EtherCAT Slave Unit.
Before use, please make sure that you thoroughly read the manual and have a full understanding of the
products functions and performance.
After you finished reading this manual, please keep it in a convenient place.

Intended Readers
This manual is intended for the following individuals.

Those having electrical knowledge (certified electricians or individuals having equivalent knowledge)
and also being qualified for one of the following:
• Introducing FA equipment
• Designing FA systems
• Managing FA sites

GX-series EtherCAT Slave Unit User’s Manual 1

How to Read the Manual

Page Structure
This manual's page structure consists of the following.

Chapter title 4 Installation and Wiring

Clause title 4-4 Connecting an External Device

Indicates the clause title Connect an external device to the I/O terminal of a Slave Unit.
of the current page. The method of connection differs between Units with screw terminal blocks and Units with e-CON
connectors.

4-4-1 Connecting to a Screw Terminal Block

After mounting a crimp terminal to the cable of the external device to be connected, connect it to the
terminal block.

Section title 1 Mount the following crimp terminal to the signal line of the cable.

3.2 mm min. φ3.2 mm min.

6.0 mm max. 6.0 mm max.

Operation 2 Connect the signal line to the terminal block.

procedure number Tighten the terminal block screws to the appropriate tightening torque of 0.5 N • m.
The terminal block is removable; remove the left and right screws if it is necessary to remove
Indicates operation procedure. the terminal block to connect the signal line.

Icon Precautions for Correct Use

To remove the terminal block from the Slave Unit, loosen the left and right mounting screws
(Refer to the following section.) alternately. When mounting the terminal block as well, tighten the left and right screws
alternately.
If you tighten or loosen only one of the screws all the way without tightening or loosening the
other screw using an electric screwdriver, the terminal block will be distorted and cracked.

4 - 10 GX-series EtherCAT Slave Unit User’s Manual

4 Installation and Wiring

4-4-2 Connecting to e-CON Connector Terminals

Connect the dedicated e-CON connector to the cables of the external device to be connected and then
connect it to the connector terminal.
4-4 Connecting an External Device

Checking the e-CON connector and cable wire size

The wire size and sheath diameter of applicable cables vary by the type of e-CON connector.
Use the next table to check that the e-CON connectors to be used conform to the wire size and sheath
diameter of the cables of the connected device.
Clause title
Tyco Electronics connectors
Model Housing color Applicable wire range
Indicates the chapter title
3-1473562-4
1-1473562-4
Orange
Red
Sheath diameter: 0.6 to 0.9 mm
Sheath diameter: 0.9 to 1.0 mm
of the current page.
Cross-sectional area: 0.08 to
1473562-4 Yellow Sheath diameter: 1.0 to 1.15 mm
0.5 mm2
2-1473562-4
4-1473562-4
Blue
Green
Sheath diameter: 1.15 to 1.35 mm
Sheath diameter: 1.35 to 1.60 mm 4 Indexes
Sumitomo 3M connectors Indicates the chapter number
4-4-2 Connecting to e-CON Connector Terminals

Model Housing color Applicable wire range

37104-3101-000FL Red
AWG26 (0.14mm2) to AWG24 (0.2mm2) of the current page.
Sheath diameter: 0.8 to 1.0 mm
AWG26 (0.14mm2) to AWG24 (0.2mm2)
37104-3122-000FL Yellow
Sheath diameter: 1.0 to 1.2 mm
AWG26 (0.14mm2) to AWG24 (0.2mm2)
Section title
37104-3163-000FL Orange
Sheath diameter: 1.2 to 1.6 mm Indicates the section title
AWG22 (0.3mm2) to AWG20 (0.5mm2)
37104-2124-000FL Green
Sheath diameter: 1.0 to 1.2 mm
2)
of the current page.
AWG22 (0.3mm to AWG20 (0.5mm2)
37104-2165-000FL Blue
Sheath diameter: 1.2 to 1.6 mm
AWG22 (0.3mm2) to AWG20 (0.5mm2)
37104-2206-000FL Gray
Sheath diameter: 1.6 to 2.0 mm

Panasonic Electric Works connectors

Model Housing color Applicable wire range
AWG22 (0.3mm2) to AWG20 (0.5mm2)
AXF12142 Red
Sheath diameter: 1.2 to 2.0 mm
AWG28 (0.08mm2) to AWG24 (0.2mm2)
AXF12146 Yellow
Sheath diameter: 0.7 to 1.2 mm

OMRON connectors
Model Specification Applicable wire range
Spring AWG28 (0.08mm2) to AWG20 (0.5mm2)
XN2A-1430
clamp type Sheath diameter: 1.5 mm max.

Name of manuals GX-series EtherCAT Slave Unit User’s Manual 4 - 11

2 GX-series EtherCAT Slave Unit User’s Manual

 Icon
The meanings of the icons used in this manual are as follows.

Precautions for Safe Use

Indicates precautions on what to do and what not to do to ensure using the product safely.

Precautions for Correct Use

Indicates precautions on what to do and what not to do to ensure proper operation and
performance.

Reference
This explains useful tips and reference information when using the product.

GX-series EtherCAT Slave Unit User’s Manual 3

Structure of This Manual
This manual consists of the following chapters.

Chapters Contents
Explains about the EtherCAT features and the network
Chapter 1 EtherCAT Network
configuration.
Overviews the GX-series EtherCAT Slave Unit and its
Chapter 2 EtherCAT Slave Unit
various types.
Explains the setup method and usage procedures by using
Chapter 3 Basic Usage Procedures
simple system setup examples.
Explains how to install Slave Units, and how to connect and
Chapter 4 Installation and Wiring
wire the EtherCAT network and power supply.
Chapter 5 EtherCAT Communications Explains the details of EtherCAT communications.
Chapter 6 Basic Specifications of Slave Units Explains the common specifications for all Slave Units.
Gives an overview about the Digital I/O Slave Unit and
explains names and functions of components consisting
Chapter 7 Digital I/O Slave Unit
the Slave Unit. It also contains internal circuit diagrams,
wiring diagrams and mounting dimensions.
Gives an overview about the Analog I/O Slave Unit and
explains names and functions of components consisting
Chapter 8 Analog I/O Slave Unit
the Slave Unit. It also contains internal circuit diagrams,
wiring diagrams and mounting dimensions.
Gives an overview about the Encoder Input Slave Unit and
explains names and functions of components consisting
Chapter 9 Encoder Input Slave Unit
the Slave Unit. It also contains internal circuit diagrams,
wiring diagrams and mounting dimensions.
Gives an overview of the IO-Link Master Unit and explains
the names and functions of the components of the IO-Link
Chapter 10 IO-Link Master Unit
Master Unit. It also contains wiring diagrams, and mounting
dimensions.
Gives an overview about the Expansion Unit and explains
names and functions of components consisting the
Chapter 11 Expansion Unit
Expansion Unit. It also contains wiring diagrams and
mounting dimensions.
This contains troubleshooting and inspection methods
Chapter 12 Troubleshooting and Maintenance intended for individuals to handle abnormalities and
conduct regular inspections.
Appendix Appendix Contains the object overview and explains the precautions.

4 GX-series EtherCAT Slave Unit User’s Manual

Terms and Conditions Agreement

Read and understand this Manual

Please read and understand this catalog before purchasing the products. Please consult your OMRON
representative if you have any questions or comments.

Warranty, Limitations of Liability

Warranties
z Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and
workmanship 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.

z Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.

z Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the
non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an
amount equal to the purchase price of the non-complying Product; provided that in no event shall
Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the
Products unless Omron’s analysis confirms that the Products were properly handled, stored,
installed and maintained and not subject to contamination, abuse, misuse or inappropriate
modification. Return of any Products by Buyer must be approved in writing by Omron before
shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from
the use of Products in combination with any electrical or electronic components, circuits, system
assemblies or any other materials or substances or environments. Any advice, recommendations or
information given orally or in writing, are not to be construed as an amendment or addition to the
above warranty.

See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN
ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN
CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.

GX-series EtherCAT Slave Unit User’s Manual 5

 Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.

Application Considerations

Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a
complete determination of the suitability of the Product in combination with the end product, machine,
system, or other application or use. Buyer shall be solely responsible for determining appropriateness
of the particular Product with respect to Buyer’s application, product or system. Buyer shall take
application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.

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
performance is subject to the Omron’s Warranty and Limitations of Liability.

Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.

Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate;
however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

6 GX-series EtherCAT Slave Unit User’s Manual

Safety Precautions
Labels and Meanings to Ensure Safe Usage

To ensure safe usage of the EtherCAT Slave Unit, the precautions in this manual are displayed with the
following labels and symbols.
The precautions explained in this section describe important information regarding safety. These
precautions must be followed without fail.

Indicates a potentially hazardous

situation which, if not avoided, could
WARNING result in death or serious injury.
Additionally, there may be severe
property damage.

Indicates a potentially hazardous

situation which, if not avoided, may
Caution result in minor or moderate injury, or
property damage.

Symbols

This symbol indicates a prohibited item (an item you must not
do).

The specific instruction is indicated using text inside the .

The symbol shown to the left indicates "disassembly prohibited".

This symbol indicates caution (warnings included).

The specific instruction is indicated using text inside the .

The symbol shown to the left indicates "typical cautions".

This symbol means it is a compulsory item (an item that must

be done).

The specific instruction is indicated using text inside the .

The symbol shown to the left indicates "typical compulsory
items".

GX-series EtherCAT Slave Unit User’s Manual 7

 WARNING
Do not attempt to take any Unit apart and do not touch the interior of any Unit while
the power is being supplied. Also, do not turn ON the power supply while the cover
is open.
Doing any of these may result in electric shock.

Do not attempt to disassemble, repair, or modify any Units.

Doing any of these may result in electric shock.

Do not input voltages or currents exceeding the rated range to the Unit.
Using voltages or currents exceeding the rated range may cause Unit failure or fire.

Provide safety measures in external circuits (i.e., not in the Units), including the
following items, to ensure safety in the system if an abnormality occurs due to
malfunction of the PLC or another external factor affecting the PLC operation.
("PLC" includes CPU Units, other Units mounted in the PLC, and Remote I/O
Terminals.)
Not doing so may result in serious accidents.
Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures
must be provided in external control circuits, not in the Units.
The PLC will turn OFF all outputs when its self-diagnosis function detects any error
or when a severe failure alarm (FALS) instruction is executed. As a countermeasure
for such problems, external safety measures must be provided to ensure safety in
the system.
The Slave Unit outputs may remain ON or OFF due to deposits on or burning of the
output relays, or destruction of the output transistors. As a countermeasure for such
problems, external safety measures must be provided to ensure safety in the
system.
When the 24-VDC output (service power supply) is overloaded or short-circuited,
the voltage may drop and result in the outputs being turned OFF. As a
countermeasure for such problems, external safety measures must be provided to
ensure safety in the system.
Implement proper measures as part of your communications system or in your
program to ensure safety in the system even when a communications error or
malfunction occurs during remote I/O communication.

8 GX-series EtherCAT Slave Unit User’s Manual

 The CPU Unit refreshes I/O even when the program is stopped (i.e., even in
PROGRAM mode). Confirm safety thoroughly in advance before changing the
status of any part of memory allocated to I/O Units, Special I/O Units, or CPU Bus
Units. Any changes to the data allocated to any Unit specifically the Special I/O
Units/CPU Bus Units may result in unexpected operation of the loads connected to
the Unit.
• Transferring I/O memory data to the CPU Unit with a Programming Device (PC
tool).
• Changing present values in memory with a Programming Device.
• Force-setting/-resetting bits with a Programming Device.
• Transferring I/O memory files from a memory card or EM file memory to the CPU
Unit.
• Transferring I/O memory from a host computer or from another PLC on a network.

Fail-safe measures must be taken by the customer to ensure safety in the event of
incorrect, missing, or abnormal signals caused by broken signal lines, momentary
power interruptions, or other causes. Not doing so may result in serious accidents.

GX-series EtherCAT Slave Unit User’s Manual 9

Precautions for Safe Use
Observe the following precautions when using the Unit.

z Power Supply
• Always use the power supply voltage specified in this manual. An incorrect voltage may result in
malfunction or burning.
• Take appropriate measures to ensure that the specified power with the rated voltage and
frequency is supplied. Be particularly careful in places where the power supply is unstable. An
incorrect power supply may result in malfunction.
• Always turn OFF the power supply to the PLC, Slave Units and other Units before attempting any
of the following. Not turning OFF the power supply may result in malfunction or electric shock.
• Assembling any Units (Expansion Units).
• Removing or attaching the terminal blocks or connectors to Slave Unit.
• Replacing parts (e.g., relays).
• Setting the DIP switch or the node address switches
• Connecting cables or wiring the system.

z Installation
• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any
static build-up. Not doing so may result in malfunction or damage.
• Make sure that the terminal blocks, communications cables, and other items with locking devices
are properly locked into place. Improver locking may result in malfunction.
• Mount the Units securely using DIN track.
• Make sure that all Slave Unit mounting screws, cable connector screws, and switch cover screws
are tightened to the torque specified in this manuals. Incorrect tightening torque may result in
malfunction.
• Make sure that all terminal block screws are tightened to the torque specified in this manuals.
Incorrect tightening torque may result in fire, malfunction, or failure.
• Always use the specified communications cables and connectors.
• Do not exceed the ranges that are given in the specifications for the communications distance and
number of connected Units.
• When there are multiple systems, keep the cables unbundled and separated by at least 5 mm to
prevent unstable operation due to interference.

z Wiring
• Turn the power on after checking that the wiring and switch settings are correct.
• Use the correct wire tools to wire the Unit.
• Confirm the polarity of all terminals before wiring them.
• Do not allow foreign matter to enter the Units when wiring and installing the Units.
• Observe the following precautions when wiring the communications cable.
• Separate the communications cables from the power lines or high-tension lines.
• Do not bend the communications cables past their natural bending radius.
• Do not pull on the communications cables.
• Do not place heavy objects on top of the communications cables.
• Always lay communications cable inside ducts.
• Connect both ends of communications cable shielded wires to the connector hoods.
• Turn OFF the power of PLC and all the Slave Units before wiring the communication cables.

10 GX-series EtherCAT Slave Unit User’s Manual

 • Do not apply voltages to the Input Slave Units in excess of the rated input voltage. Excess voltage
or loads may result in burning.
• Do not apply voltages or connect loads to the Outputs Slave Units in excess of the maximum
switching capacity. Excess voltage or loads may result in burning.

z Handling
• When transporting the product, use special packing boxes, and protect it from being exposed to
excessive vibration or impact during transportation.
• Do not bend cables past their natural bending radius or pull on cables.
• Do not place heavy objects on top of the cables.
• After replacing Units, resume operation only after transferring to the new CPU Unit and/or Special
I/O Units the contents of the DM Area, HR Area, and other data required for resuming operation.
Not doing so may result in unexpected operation.
• Check the user program for proper execution before actually running it on the Unit. Not checking
the program may result in unexpected operation.
• When replacing relays or other parts, be sure to confirm that the ratings of the new part are
correct. Not doing so may result in malfunction or burning.
• Confirm that no adverse effect will occur in the system before attempting any of the following.
• Changing the operating mode of the CPU Unit (including changing the setting of the
Operating Mode at Startup)
• Changing the user program or settings
• Changing set values or present values
• Forced refreshing
• Always sufficiently check the safety at the connected devices before you change the settings of a
slave or Unit.
• Do not use thinner when cleaning. Use commercially available alcohol.
• Do not use high-pressure cleaning.
• EtherCAT communications are not always established immediately after the power supply is
turned ON. Use the system variables in the user program to confirm that communications are
established before attempting control operations.

z External Circuits
• Install external breakers and take other safety measures against short-circuiting in external wiring.

GX-series EtherCAT Slave Unit User’s Manual 11

Precautions for Correct Use
• Wire all connections correctly according to instructions in this manual.
Failure to install them may result in serious accidents.
• Do not operate the control system in the following locations:
• Location subject to direct sunlight.
• Locations subject to temperatures or humidity outside the range specified in the specifications.
• Locations subject to condensation as the result of severe changes in temperature.
• Location subject to corrosive or flammable gases.
• Location subject to dust (especially iron dust) or salts.
• Location subject to exposure to water, acid, oil, chemicals, etc. (General-purpose Slaves)
• Location subject to exposure to acid, oil, chemicals, etc. (Environment-resistive Slaves)
• Locations subject to shock or vibration.
• Locations close to power lines.
• Confirm voltage specifications when wiring communications, the power supply, and I/O crossovers.
Incorrect wire may result in malfunction.
• Wire all connections correctly according to instructions in this manual.
• Use the correct wiring materials to wire the Unit.
• Take appropriate and sufficient countermeasures when installing systems in the following locations:
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power supplies.
• Do not drop any Unit or subject any Unit to excessive shock or vibration. Otherwise, Unit failure or
malfunction may occur.
• When you attach the switch cover, make sure that the packing is not twisted. Also confirm that there
is no foreign matter adhering to the case and packing.
• Do not use the Unit continuously submerged in water.
• Do not disconnect the EtherCAT communications cables during operation. The outputs will become
unstable. However, for the built-in EtherCAT port on the NJ/NX-series CPU Unit, it is OK to
disconnect the communications cable from an EtherCAT Slave Terminal that has been disconnected
from communications in the software.

12 GX-series EtherCAT Slave Unit User’s Manual

Conformance to EU Directives
Applicable Directives

• EMC Directives
• Low Voltage Directive

Concepts

z EMC Directives
The OMRON products described in this manual are designed so that they individually comply with
the related EMC Directives 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 Directives (See note)*.
Whether the products conform to the standards in the system used by the customer, however,
cannot be checked by OMRON and must be checked by the customer. EMC-related performance of
the OMRON devices that comply with EU Directives will vary depending on the configuration, wiring,
and other conditions of the equipment or control panel on which the OMRON devices are installed.
The customer must, therefore, perform the final check to confirm that devices and the overall
machine conform to EMC standards.

* Note: Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility): EN 61131-2 and EN 61000-6-2
EMI (Electromagnetic Interference): EN 61131-2 and EN61000-6-4
(Radiated emission: 10-m regulations)

z Low Voltage Directive

Always ensure that devices operating at voltages of 50 to 1,000 VAC and 75 to 1,500 VDC meet the
required safety standards.
Applicable standard: EN 61131-2

Conformance to EU Directives
The OMRON products described in this manual comply with the related EU Directives. To ensure that
the machine or device in which the products are used complies with EU Directives, the products must
be installed as follows:

• The products must be installed within a control panel.

• A DC power supply with reinforced insulation or double insulation that can maintain a stable output
even if the input is interrupted for 10 ms must be used for communications power, internal power, and
I/O power. The OMRON S8JX-series Power Supply is recommended. (See note.)*
• Products complying with EU Directives also conform to the Emission Standards (EN 61131-2 and EN
61000-6-4). Radiated emission characteristics (10-m regulations) may vary depending on the
configuration of the control panel used, other devices connected to the control panel, wiring, and
other conditions. You must therefore confirm that the overall machine or equipment complies with EU
Directives.
• Conformance with the EU Directives was confirmed with a system configuration using I/O wiring
lengths of less than 30 m.

* Note: Conformance with the EMC Directive was confirmed when using the recommended power supply.

GX-series EtherCAT Slave Unit User’s Manual 13

 Conformance to KC Standards
Observe the following precaution if you use NX-series Units in Korea.

Class A Device (Broadcasting Communications Device for Office Use)

This device obtained EMC registration for office use (Class A), and it is intended to be used in places
other than homes. Sellers and/or users need to take note of this.

14 GX-series EtherCAT Slave Unit User’s Manual

Related Manuals
The following manuals also deal with EtherCAT. Refer to them for details.

Man No. Name of manuals Contents

Provides detailed specifications of parts, explains
GX-series EtherCAT Slave Units
W488 mounting and wiring, and provides a list of objects for the
User’s Manual
GX Series.
CJ Series Explains the setup and operation procedures of the
W487 Position Control Units EtherCAT Position Control Units (CJ1W-NCx81/x82) which
Operation Manual functions as a master.
CX-Programmer Explains the operations method of the Windows-based
W446
Operation Manual programming tool CX-Programmer.
Explains the overall NJ-series System and the following
items for the NJ501 CPU Units.
• Features and system configuration
• Overview
NJ-series CPU Unit Hardware • Part names and functions
W500
User’s Manual • General specifications
• Installation and wiring
• Maintenance and inspection
Use this manual together with the NJ-series CPU Unit
Software User’s Manual (Cat. No. W501).
Explains the following items for NJ-series CPU Units.
• CPU Unit operation
• CPU Unit functions
NJ-series CPU Unit Software
W501 • Initial settings
User’s Manual
• Languages and programming based on IEC 61131-3.
Use this manual together with the NJ-series CPU Unit
Hardware User’s Manual (Cat. No. W500).
Explains the built-in EtherCAT port.
An overview is provided and the configuration, functions,
and setup are described.
NJ-series CPU Unit Built-in
W505 Use this manual together with the NJ-series CPU Unit
EtherCAT® Port User’s Manual
Hardware User’s Manual (Cat. No. W500) and the
NJ-series CPU Unit Software User’s Manual (Cat. No.
W501).
Explains error management concepts and the individual
errors that are detected by the NJ-series System.
NJ-series Troubleshooting Use this manual together with the NJ-series CPU Unit
W503
Manual Hardware User’s Manual (Cat. No. W500) and the
NJ-series CPU Unit Software User’s Manual (Cat. No.
W501).
Sysmac Studio Version 1
W504 Explains the operating procedures of the Sysmac Studio.
Operation Manual
Provides an overview of IO-Link Systems and explains the
system configuration, communications specifications,
W570 IO-Link System User’s Manual
communications methods, I/O data, parameters, models,
Support Software, and troubleshooting.
Provides detailed specifications of parts, explains
NX-series IO-Link Master Unit
W567 mounting and wiring, and provides a list of NX objects for
User’s Manual
the NX-series Units.

GX-series EtherCAT Slave Unit User’s Manual 15

Version Upgrade Information
The following changes have been made in the upgrade from unit version 1.0 to 1.1 of the GX-series
Digital I/O Slaves, Analog I/O Slaves, and Encoder Input Slaves.

Item Unit version 1.0 Unit version 1.1

Emergency message Emergency message
Emergency message setting when the Slave Unit’s
notification is enabled at notification is not enabled
power supply is turned ON
startup. at startup.
Sysmac error status Not supported. Supported.
Saving node address settings Not supported. Supported.
Displaying the serial number Not supported. Supported.
Sysmac device
Conformance to ESI
functions
specifications (ETG.2000 S (R) Supported. Supported.
V1.0.1)
SII data checking Not supported. Supported.
Data attribute for Input Time Constant (3000 hex) for
Attribute: R Attribute: D
Digital I/O Slave Unit
Bit objects
• Digital I/O bit objects for Digital I/O Slave Units (3020
hex and 3220 hex) Not supported. Supported.
• Soft switches (bits) and status (bits) objects for
Encoder Input Slave Units (4021 hex and 4031 hex)

16 GX-series EtherCAT Slave Unit User’s Manual

GX-series EtherCAT Slave Unit User’s Manual 17
 Contents
Introduction............................................................................................................................... 1
Intended Readers........................................................................................................... 1
How to Read the Manual .......................................................................................................... 2
Page Structure................................................................................................................ 2
Icon................................................................................................................................. 3
Structure of This Manual ......................................................................................................... 4
Terms and Conditions Agreement .......................................................................................... 5
Read and understand this Manual ................................................................................. 5
Warranty, Limitations of Liability ..................................................................................... 5
Application Considerations............................................................................................. 6
Disclaimers..................................................................................................................... 6
Safety Precautions ................................................................................................................... 7
Labels and Meanings to Ensure Safe Usage ................................................................. 7
Symbols.......................................................................................................................... 7
Precautions for Safe Use ....................................................................................................... 10
Precautions for Correct Use.................................................................................................. 12
Conformance to EU Directives.............................................................................................. 13
Applicable Directives .................................................................................................... 13
Concepts ...................................................................................................................... 13
Conformance to EU Directives ..................................................................................... 13
Conformance to KC Standards..................................................................................... 14
Related Manuals ..................................................................................................................... 15
Version Upgrade Information ................................................................................................ 16

Chapter 1 EtherCAT Network............................................................. 1-1

1-1 Overview of EtherCAT Networks.......................................................................................... 1-2
1-1-1 Features of EtherCAT.................................................................................................. 1-2
1-1-2 Structure of EtherCAT ................................................................................................. 1-2
1-1-3 Communications types of EtherCAT ........................................................................... 1-4
1-1-4 Connection Examples of EtherCAT............................................................................. 1-5
1-2 Configuration Elements of EtherCAT Network ................................................................... 1-6
1-2-1 Configuration Devices of EtherCAT Network .............................................................. 1-6
1-2-2 Overview of Configuration Devices ............................................................................. 1-7

Chapter 2 EtherCAT Slave Unit ......................................................... 2-1

2-1 Overview of EtherCAT Slave Unit ........................................................................................ 2-2
2-1-1 Slave Units Usage....................................................................................................... 2-2
2-1-2 Features of GX-series EtherCAT Slave Units ............................................................. 2-2
2-2 Types of EtherCAT Slave Units ............................................................................................ 2-3
2-2-1 Slave Units List............................................................................................................ 2-3
2-2-2 Installation, I/O Connection, and Power Supply Methods for Each Slave Unit ........... 2-6

18 GX-series EtherCAT Slave Unit User’s Manual

Chapter 3 Basic Usage Procedures .................................................. 3-1
3-1 Setup Examples and Basic Procedure ................................................................................ 3-2
3-1-1 System Setting Examples ........................................................................................... 3-2
3-1-2 Basic Procedure .......................................................................................................... 3-3
3-2 Setting and Wiring Hardware ............................................................................................... 3-4
3-2-1 Mounting and Setting EtherCAT Master Unit .............................................................. 3-4
3-2-2 Mounting and Setting Slave Units ............................................................................... 3-4
3-2-3 Wiring Communications Cables .................................................................................. 3-4
3-2-4 Connecting Power Supplies ........................................................................................ 3-4
3-2-5 Wiring I/O Devices....................................................................................................... 3-4
3-3 Starting Communications ..................................................................................................... 3-5
3-3-1 Starting a System ........................................................................................................ 3-5
3-3-2 Setting EtherCAT Communications............................................................................. 3-5
3-3-3 Starting EtherCAT Communications ............................................................................ 3-5
3-4 Checking Operations ............................................................................................................ 3-6
3-4-1 Checking Unit Displays ............................................................................................... 3-6
3-4-2 Confirming Data Read and Write ................................................................................ 3-6
3-4-3 Setting Slave Unit Parameter ...................................................................................... 3-6

Chapter 4 Installation and Wiring...................................................... 4-1

4-1 Mounting Slave Units ............................................................................................................ 4-2
4-1-1 Mounting Preparation .................................................................................................. 4-2
4-1-2 Mounting Direction ...................................................................................................... 4-2
4-1-3 Mounting Method......................................................................................................... 4-2
4-1-4 Removal Method ......................................................................................................... 4-3
4-2 Connecting to EtherCAT Network ........................................................................................ 4-4
4-2-1 Precautions for Network Connection........................................................................... 4-4
4-2-2 Preparation for Connecting Network ........................................................................... 4-5
4-2-3 Connecting Communications Cables and Connectors................................................ 4-6
4-2-4 Connecting to Communications Cables ...................................................................... 4-7
4-3 Connecting to Unit Power Supply and I/O Power Supply.................................................. 4-8
4-3-1 Precautions at Supplying Unit Power and I/O Power .................................................. 4-8
4-3-2 Unit Power Supply Specifications................................................................................ 4-9
4-3-3 Connecting the Unit Power Supply.............................................................................. 4-9
4-3-4 Connecting the I/O Power Supply ............................................................................. 4-11
4-4 Connecting an External Device.......................................................................................... 4-13
4-4-1 Connecting to a Screw Terminal Block...................................................................... 4-13
4-4-2 Connecting to e-CON Connector Terminals .............................................................. 4-14
4-4-3 Connecting the M12 Connector................................................................................. 4-17

Chapter 5 EtherCAT Communications.............................................. 5-1

5-1 Structure of CAN application protocol over EtherCAT (CoE)............................................ 5-2
5-2 EtherCAT Slave Information File (ESI File) ......................................................................... 5-3
5-3 Communications State Transitions...................................................................................... 5-4
5-4 Process Data Objects (PDO)................................................................................................. 5-5
5-4-1 Overview ..................................................................................................................... 5-5
5-4-2 PDO Mapping Settings................................................................................................ 5-5
5-4-3 Sync Manager PDO Assignment Settings................................................................... 5-6
5-4-4 Fixed PDO Mapping .................................................................................................... 5-7

GX-series EtherCAT Slave Unit User’s Manual 19

 5-5 Service Data Object (SDO).................................................................................................. 5-10
5-5-1 Overview ................................................................................................................... 5-10
5-5-2 Abort Codes .............................................................................................................. 5-10
5-6 EtherCAT Master Unit - Slave Unit Communications ....................................................... 5-11
5-6-1 FREE RUN Mode ...................................................................................................... 5-11
5-6-2 DC Mode ................................................................................................................... 5-11
5-7 Emergency Messages ......................................................................................................... 5-13
5-7-1 Emergency Message Notification.............................................................................. 5-13
5-7-2 Diagnosis History ...................................................................................................... 5-14
5-8 Sysmac Device Functions .................................................................................................. 5-15

Chapter 6 Basic Specifications of Slave Units................................. 6-1

6-1 EtherCAT Communications Specifications......................................................................... 6-2
6-2 General Specifications .......................................................................................................... 6-3
6-3 Specifications of Common Areas ........................................................................................ 6-4
6-3-1 Status Indicators.......................................................................................................... 6-4
6-3-2 Node Address Setting Switches .................................................................................. 6-6
6-3-3 Communications Connectors ...................................................................................... 6-8
6-3-4 Unit Power Supply Connector ................................................................................... 6-11
6-3-5 I/O Power Supply Connector..................................................................................... 6-13

Chapter 7 Digital I/O Slave Unit ......................................................... 7-1

7-1 Digital I/O Slave Unit ............................................................................................................. 7-2
7-2 I/O Data Allocation (PDO Mapping)...................................................................................... 7-3
7-2-1 Input Data Allocation ................................................................................................... 7-3
7-2-2 Output Data Allocation ................................................................................................ 7-5
7-3 Functions of Digital I/O Slave Units ..................................................................................... 7-7
7-3-1 Input Filter ................................................................................................................... 7-7
7-3-2 Error Mode Output....................................................................................................... 7-8
7-4 Specifications for Each Slave Unit ...................................................................................... 7-9
7-4-1 2-tier Terminal Block Type 16-point Input Slave Unit GX-ID1611/ID1621 ................. 7-10
7-4-2 2-tier Terminal Block Type 16-point Output Slave Unit GX-OD1611/OD1621 ........... 7-14
7-4-3 2-tier Terminal Block Relay Type 16-point Output Slave Unit GX-OC1601............... 7-18
7-4-4 2-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit
GX-MD1611/MD1621 ................................................................................................ 7-22
7-4-5 3-tier Terminal Block Type 16-point Input Slave Unit GX-ID1612/ID1622 ................. 7-28
7-4-6 3-tier Terminal Block Type 16-point Output Slave Unit GX-OD1612/OD1622........... 7-33
7-4-7 3-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit
GX-MD1612/MD1622................................................................................................ 7-38
7-4-8 e-CON Connector Type 16-point Input Slave Unit GX-ID1618/ID1628..................... 7-44
7-4-9 e-CON Connector Type 16-point Output Slave Unit GX-OD1618/OD1628 .............. 7-48
7-4-10 e-CON Connector Type 8-point Input and 8-point Output Slave Unit
GX-MD1618/MD1628................................................................................................ 7-53
7-4-11 e-CON Connector Type 32-point Input Slave Unit GX-ID3218/ID3228..................... 7-59
7-4-12 e-CON Connector Type 32-point Output Slave Unit GX-OD3218/OD3228 .............. 7-64
7-4-13 e-CON Connector Type 16-point Input and 16-point Output Slave Unit
GX-MD3218/MD3228................................................................................................ 7-69
7-5 Mounting Dimensions ......................................................................................................... 7-75
7-5-1 2-tier Terminal Block Type ......................................................................................... 7-75
7-5-2 3-tier Terminal Block Type ......................................................................................... 7-76
7-5-3 e-CON Connector Type............................................................................................. 7-77

20 GX-series EtherCAT Slave Unit User’s Manual

Chapter 8 Analog I/O Slave Unit........................................................ 8-1
8-1 Analog I/O Slave Unit ............................................................................................................ 8-2
8-2 Overview of the Analog Input Slave Unit ............................................................................ 8-3
8-2-1 Input Range and Converted Data................................................................................ 8-3
8-2-2 I/O Data Allocation (PDO Mapping) ............................................................................ 8-6
8-3 Function of the Analog Input Slave Unit ............................................................................. 8-7
8-3-1 AD Conversion Available Point Setting ....................................................................... 8-7
8-3-2 Moving Average .......................................................................................................... 8-8
8-3-3 Disconnected Line Detection..................................................................................... 8-10
8-3-4 User adjustment ........................................................................................................ 8-10
8-4 Overview of the Analog Output Slave Unit ....................................................................... 8-12
8-4-1 Output Range and Converted Data........................................................................... 8-12
8-4-2 I/O Data Allocation (PDO Mapping) .......................................................................... 8-14
8-5 Function of the Analog Output Slave Unit ........................................................................ 8-15
8-5-1 DA Conversion Available Point Setting ..................................................................... 8-15
8-5-2 Analog Output Fault Action ....................................................................................... 8-16
8-5-3 User Adjustment........................................................................................................ 8-17
8-6 Overview of Each Slave Unit Type ..................................................................................... 8-18
8-6-1 4-point Input Slave Unit GX-AD0471......................................................................... 8-19
8-6-2 2-point Output Slave Unit GX-DA0271...................................................................... 8-23
8-7 Mounting Dimensions ......................................................................................................... 8-27

Chapter 9 Encoder Input Slave Unit.................................................. 9-1

9-1 Encoder Input Slave Unit ...................................................................................................... 9-2
9-2 I/O Data Allocation................................................................................................................. 9-3
9-2-1 Input Data Allocation ................................................................................................... 9-3
9-2-2 Output Data Allocation ................................................................................................ 9-6
9-3 Function of the Encoder Input Slave Units ......................................................................... 9-8
9-3-1 Count Mode................................................................................................................. 9-8
9-3-2 Circular Counter .......................................................................................................... 9-8
9-3-3 Input Signal Types....................................................................................................... 9-9
9-3-4 Encoder Direction Setting.......................................................................................... 9-11
9-3-5 Counter Reset ........................................................................................................... 9-12
9-3-6 Counter Preset .......................................................................................................... 9-13
9-3-7 Counter value latch ................................................................................................... 9-13
9-4 Specifications for Each Slave Unit .................................................................................... 9-14
9-4-1 Open collector input type GX-EC0211 ...................................................................... 9-15
9-4-2 Line Driver Input Type GX-EC0241........................................................................... 9-23
9-5 Mounting Dimensions ......................................................................................................... 9-30

Chapter 10 IO-Link Master Unit ......................................................... 10-1

10-1 What Is an IO-Link Master Unit? ........................................................................................ 10-2
10-1-1 Introduction................................................................................................................ 10-2
10-1-2 Connection Configuration for EtherCAT Communications Master Unit
and IO-Link Devices .................................................................................................. 10-2
10-2 I/O Data Allocations: PDO Mapping ................................................................................... 10-3
10-2-1 Allocating Input Data ................................................................................................. 10-3
10-2-2 Allocating Output Data .............................................................................................. 10-4

GX-series EtherCAT Slave Unit User’s Manual 21

 10-3 Functions of the IO-Link Master Unit................................................................................. 10-5
10-3-1 Basic Functions of IO-Link Master Units ................................................................... 10-5
10-3-2 Application Functions of IO-Link Master Units .......................................................... 10-6
10-4 Specifications ...................................................................................................................... 10-7
10-4-1 Specifications ............................................................................................................ 10-7
10-4-2 Part Names and Functions...................................................................................... 10-11
10-5 Mounting Dimensions ....................................................................................................... 10-15
10-6 Communications Performance ........................................................................................ 10-16
10-6-1 Maximum I/O Response Time ................................................................................. 10-16
10-6-2 Determining the IO-Link Communications Cycle..................................................... 10-18

Chapter 11 Expansion Unit ................................................................ 11-1

11-1 Overview of the Expansion Unit......................................................................................... 11-2
11-1-1 Connecting Expansion Units ..................................................................................... 11-2
11-1-2 I/O Power Supply ...................................................................................................... 11-3
11-2 Specifications of Expansion Unit....................................................................................... 11-4
11-2-1 8-point Input Expansion Unit XWT-ID08/ID08-1........................................................ 11-5
11-2-2 8-point Output Expansion Unit XWT-OD08/OD08-1 ................................................. 11-8
11-2-3 16-point Input Expansion Unit XWT-ID16/ID16-1.....................................................11-11
11-2-4 16-point Output Expansion Unit XWT-OD16/OD16-1 ............................................. 11-14
11-3 Mounting Dimensions ....................................................................................................... 11-17

Chapter 12 Troubleshooting and Maintenance................................ 12-1

12-1 Troubleshooting .................................................................................................................. 12-2
12-1-1 Errors that Can be Checked with Status Indicator and Actions to Take .................... 12-2
12-1-2 Errors Unique to Each Slave Unit.............................................................................. 12-7
12-1-3 Error Notification Methods and Types ..................................................................... 12-13
12-1-4 Sysmac Error Status Codes .................................................................................... 12-14
12-1-5 Emergency Error Code............................................................................................ 12-19
12-1-6 Application Layer Status Codes .............................................................................. 12-21
12-2 Equipment Maintenance ................................................................................................... 12-23
12-2-1 Cleaning .................................................................................................................. 12-23
12-2-2 Inspections .............................................................................................................. 12-23
12-2-3 Handling when Replacing Units .............................................................................. 12-24
12-2-4 Replacing the IO-Link Master Unit or IO-Link Devices............................................ 12-24

Chapter A Appendix............................................................................A-1
A-1 Object Dictionary...................................................................................................................A-2
A-1-1 Object Dictionary Area ................................................................................................A-2
A-1-2 Data Types ..................................................................................................................A-2
A-1-3 Object Description Format...........................................................................................A-3
A-1-4 Communication Objects ..............................................................................................A-4
A-1-5 PDO Mapping Object ..................................................................................................A-8
A-1-6 Sync Manager Communication Object......................................................................A-24
A-1-7 Manufacturer Specific Objects...................................................................................A-29
A-2 Current Consumption Summary ........................................................................................A-62
A-2-1 Digital I/O Slave Unit .................................................................................................A-62
A-2-2 Analog I/O Slave Unit ................................................................................................A-62
A-2-3 Encoder Input Slave Unit...........................................................................................A-62
A-2-4 IO-Link Master Unit ...................................................................................................A-63

22 GX-series EtherCAT Slave Unit User’s Manual

 A-2-5 Expansion Unit ..........................................................................................................A-63
A-3 Precautions with Connecting Two-wire DC Sensors .......................................................A-64
A-3-1 Relation between ON Voltage of a Unit with DC Inputs
and Sensor Residual Voltage ....................................................................................A-64
A-3-2 Relation between ON Current of a Unit with DC Inputs and Sensor Control Output.A-64
A-3-3 Relation between OFF Current of a Unit with DC Inputs
and Sensor Leakage Current ....................................................................................A-65
A-4 Wiring External Output Signal Lines .................................................................................A-66
A-5 I/O Power Supply Current ...................................................................................................A-67
A-6 Glossary ...............................................................................................................................A-69

INDEX

GX-series EtherCAT Slave Unit User’s Manual 23

24 GX-series EtherCAT Slave Unit User’s Manual
 1

EtherCAT Network
This chapter explains the overview of EtherCAT network.

1-1 Overview of EtherCAT Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-1 Features of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-2 Structure of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-3 Communications types of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1-1-4 Connection Examples of EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-5
1-2 Configuration Elements of EtherCAT Network . . . . . . . . . . . . . . . . . . . . . . 1-6
1-2-1 Configuration Devices of EtherCAT Network . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-2-2 Overview of Configuration Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

GX-series EtherCAT Slave Unit User’s Manual 1-1

1 EtherCAT Network

1-1 Overview of EtherCAT Networks

EtherCAT (Ethernet Control Automation Technology) is a high-performance industrial network system
based on Ethernet system and can realize faster and more efficient communications.
Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed.
Furthermore, even though EtherCAT is a unique protocol, it offers excellent general-purpose
applicability. For example, you can use Ethernet cables because EtherCAT utilizes standard Ethernet
technology for the physical layer. And the effectiveness of EtherCAT can be fully utilized not only in
large control systems that require high processing speeds and system integrity, but also in small and
medium control systems.

1-1-1 Features of EtherCAT

EtherCAT has the following features.

z Extremely high-speed communications with speed of 100 Mbps

It dramatically shortens the I/O response time from generation of input signals to transmission of
output signals. By fully utilizing the optimized Ethernet frame bandwidth to transfer data using a
high-speed repeat method, it is possible to efficiently transmit a wide variety of data.

z Extremely High Compatibility with Ethernet

EtherCAT is an open network with extremely high compatibility with conventional Ethernet systems.

1-1-2 Structure of EtherCAT

EtherCAT does not send data to individual slave nodes on the network, instead, it passes Ethernet
frames through all of the slave nodes.
When frame passes through a slave node, the slave node reads and writes data in the areas allocated
to it in the frames in a few nanoseconds.
Ethernet frames sent from the EtherCAT Master Unit go through all the EtherCAT Slave Units without
stopping on the way. Once they reach the final Slave Unit, they are sent back from the final Slave Unit,
pass through all Slave Units again, and return to the EtherCAT Master Unit.
With this structure, EtherCAT secures high-speed and real-time data transmission.

EtherCAT Slave Unit Slave Unit Slave Unit

Master Unit Data
OUT IN

• Reading output data addressed to the local Slave Units

• Writing input data

Ethernet frame

1-2 GX-series EtherCAT Slave Unit User’s Manual

 1 EtherCAT Network

1-1 Overview of EtherCAT

It is the "EtherCAT datagram" stored directly in an Ethernet frame that exchanges data regularly
between the EtherCAT Master Unit and Slave Units.
Each "EtherCAT datagram" is configured with header (data length, including address of one or more
Slave Units, etc.), data, working counter (check bit).

Networks
When an Ethernet frame is compared to a "train", an EtherCAT datagram can be considered as "railway
car."

Ethernet frame 1

1-1-2 Structure of EtherCAT

Ethernet Ethernet data (Maximum 1498 bytes) CRC
header

1...n EtherCAT datagram EtherCAT frame

EtherCAT
header

1st EtherCAT 2nd EtherCAT ..... n th EtherCAT

datagram datagram datagram

Header Data WKC

WKC : Working counter

GX-series EtherCAT Slave Unit User’s Manual 1-3

1 EtherCAT Network

1-1-3 Communications types of EtherCAT

EtherCAT provides the following two types of communication functions.
PDO communications are always updating data per communication cycle on EtherCAT, while SDO
communications are processed in between those updates.

Process data communications functions (PDO communications)

This communication function is used to transfer process data in real time in a fixed-cycle.
By mapping logical process data space to each node by the EtherCAT Master Unit, it achieves
fixed-cycle communications among the EtherCAT Master Unit and Slave Units.

EtherCAT Master Unit Slave Unit Slave Unit Slave Unit Slave Unit

Ethernet frame

Ethernet EtherCAT 1st EtherCAT 2nd EtherCAT 3rd EtherCAT . . . CRC

header header datagram datagram datagram

Logic process data

.
.
.

Data a
.
.
.

Data b

Data c

.
.
.

Mailbox communications functions (SDO communications)

It refers to message communications.
At any timing, the EtherCAT Master Unit transmits commands to Slave Units and the Slave Units return
responses to the EtherCAT Master Unit.
It performs the following data communications:
• Read and write process data
• Make Slave Unit setting
• Monitor Slave Unit state

1-4 GX-series EtherCAT Slave Unit User’s Manual

 1 EtherCAT Network

1-1 Overview of EtherCAT

1-1-4 Connection Examples of EtherCAT
This section explains the connection examples of EtherCAT network.

Networks
EtherCAT Master Unit

ID211
0 1 2 3 4 5 6 7
8 9 10 11 12 13 14 15

0
AD042
RUN
ERC
ERH
B1 A1
1
1
2
3 MACH 78

456
901
No.
4 x10 1 23

5
78
6

456
901
x10 0

1-1-4 Connection Examples of EtherCAT

23
7
8
9
10
11
12
13
14
15
COM

DC24V
7mA

Digital I/O Slave Unit

Servo Drive

ADR ADR
ADR

Servomotor

Inverter

IO-Link Master Unit

IO-Link device
IO-Link

GX-series EtherCAT Slave Unit User’s Manual 1-5

1 EtherCAT Network

1-2 Configuration Elements of EtherCAT

Network
This section explains the configuration devices and usages of EtherCAT network.

1-2-1 Configuration Devices of EtherCAT Network

The devices composing an EtherCAT network are shown in the figure below.

EtherCAT Master Unit

PC ID211
0 1 2 3 4 5 6 7
8 9 10 11 12 13 14 15
AD042
RUN
ERC
ERH

(Configuration Tool)
B1 A1
0
1
2
3 MACH 78

456
901
No.
4 x10 1 23

5
78
6
456
901
x10 0 23
7
8
9
10
11
12
13
14
15
COM

DC24V
7mA

RS-232C port connection

Peripheral port connection
ESI file
I/O power supply

Communications cable

Unit power supply

Analog I/O Slave Unit

Digital I/O Slave Unit

ADR ADR
ADR

IO-Link Master Unit

Communications Unit IO-Link

IO-Link
Servo Drive Inverter device

1-6 GX-series EtherCAT Slave Unit User’s Manual

 1 EtherCAT Network

1-2 Configuration Elements of

1-2-2 Overview of Configuration Devices

EtherCAT Network
The overview of each configuration device is as follows:

EtherCAT Master Unit

Administers the EtherCAT network, monitors the state of Slave Units, exchanges I/O data with Slave
Units. 1

EtherCAT Slave Unit

1-2-2 Overview of Configuration Devices

Outputs data received from the EtherCAT Master Unit through the EtherCAT network, or sends input
data to the EtherCAT Slave Unit through the EtherCAT network.
There are Digital I/O Slave Units, Analog I/O Slave Units, and an IO-Link Master Unit.

Communications Unit
By mounting to an inverter and other devices, it is possible to serve as a Slave Unit in the EtherCAT
network.

Configuration Tool
It is a PC software for making setting of the EtherCAT network and each Slave Unit.
It can be used either by connecting to the EtherCAT Master Unit or as a substitute of the EtherCAT
Master Unit.

Communications cable
Uses cables of Ethernet category 5 (100BASE-TX) or higher, with double-shield (aluminum tape and
braided shielding), which are connected straight.

ESI (EtherCAT Slave Information) file

Describes information specific to EtherCAT Slave Units in XML format.
By reading this file into the Configuration Tool, it is possible to perform various settings such as
mapping of Slave Units to I/O memory easily.

Unit power supply

Provides power for communications of each Slave Unit and internal operations.
Separate them from the I/O power supply when wiring.

I/O power supply

Provides power for input/output operations of external devices connected to Slave Units.
Separate from Unit power supply when wiring.

GX-series EtherCAT Slave Unit User’s Manual 1-7

1 EtherCAT Network

1-8 GX-series EtherCAT Slave Unit User’s Manual

 2
EtherCAT Slave Unit
This chapter explains the overview of EtherCAT Slave Unit.

2-1 Overview of EtherCAT Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-1 Slave Units Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-1-2 Features of GX-series EtherCAT Slave Units . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-2 Types of EtherCAT Slave Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-2-1 Slave Units List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-2-2 Installation, I/O Connection, and Power Supply Methods for Each Slave Unit . 2-6

GX-series EtherCAT Slave Unit User’s Manual 2-1

2 EtherCAT Slave Unit

2-1 Overview of EtherCAT Slave Unit

This section explains the overview of EtherCAT Slave Unit.

2-1-1 Slave Units Usage

Slave Units supported by this manual are largely classified into the following types by the their intended
purposes.

z Digital I/O Slave Unit

Inputs and outputs digital ON/OFF signals.

z Analog I/O Slave Unit

Performs AD or DA conversion for analog signals of 0 to 5 V, 4 to 20 mA, and so on and inputs or
outputs them.

z Encoder Input Slave Unit

Performs conversion for pulse input signals from an encoder.

z IO-Link Master Unit

An IO-Link Master Unit connects to IO-Link devices and general-purpose (i.e., non-IO-Link) devices
and it performs IO-Link communications, and input and output of digital ON/OFF signals.

z Expansion Unit
Mounted on a Digital I/O Slave Unit in order to expand the number of I/O points.
Note, however, Expansion Units can only be mounted on Digital I/O Slave Units with 2-tier terminal
block and 16 points.

2-1-2 Features of GX-series EtherCAT Slave Units

The GX-series EtherCAT Slave Units have the following features.

Optimum Functionality and Ease of Operation Based on Unified

Specifications
The GX-series EtherCAT Slave Units are Sysmac devices.* You can use them together with NJ-series
Controller, other Machine Automation Controllers, and the Sysmac Studio Automation Software to
achieve optimum functionality and ease of operation.
* “Sysmac devices” is a generic name for EtherCAT Slave Units and other OMRON control components that were
designed with the same communications and user interface specifications.

2-2 GX-series EtherCAT Slave Unit User’s Manual

 2 EtherCAT Slave Unit

2-2 Types of EtherCAT Slave Units

2-2 Types of EtherCAT Slave Units

This section explains the types of EtherCAT Slave Units and mounting, connection and power supply
methods.

2-2-1 Slave Units List

Digital I/O Slave Unit 2

Type Appearance I/O points Model Features

2-2-1 Slave Units List

Models with 16 inputs (NPN) GX-ID1611 • Equipped with a
2-tier removable screw
16 inputs (PNP) GX-ID1621
terminal terminal block
block 16 outputs (NPN) GX-OD1611 • Possible to mount an
Expansion Unit
16 outputs (PNP) GX-OD1621
Relay 16 outputs GX-OC1601

8 inputs and 8 outputs GX-MD1611 • Equipped with a

(NPN) removable screw
terminal block
8 inputs and 8 outputs GX-MD1621 • Expansion Unit cannot
(PNP) be mounted

Models with 16 inputs (NPN) GX-ID1612

3-tier 16 inputs (PNP) GX -ID1622
terminal 16 outputs (NPN) GX-OD1612
block 16 outputs (PNP) GX-OD1622
8 inputs and 8 outputs
GX-MD1612
(NPN)
8 inputs and 8 outputs
GX-MD1622
(PNP)

GX-series EtherCAT Slave Unit User’s Manual 2-3

2 EtherCAT Slave Unit

Type Appearance I/O points Model Features

e-CON 16 inputs (NPN) GX-ID1618 • Equipped with an
Connectors e-CON connector
• Expansion Unit cannot
16 inputs (PNP) GX-ID1628
be mounted

16 outputs (NPN) GX-OD1618

16 outputs (PNP) GX-OD1628
8 inputs and 8 outputs GX-MD1618
(NPN)
8 inputs and 8 outputs GX-MD1628
(PNP)
32 inputs (NPN) GX-ID3218

32 inputs (PNP) GX-ID3228

32 outputs (NPN) GX-OD3218

32 outputs (PNP) GX-OD3228

16 inputs and 16 outputs GX-MD3218

(NPN)

16 inputs and 16 outputs GX-MD3228

(PNP)

Analog I/O Slave Unit

Type Appearance I/O points Model Features

Models with 4 inputs GX-AD0471 • Equipped with a
screw removable screw
terminal terminal block
blocks 2 outputs GX-DA0271 • Possible to switch
input and output range
(voltage and current)

Encoder Input Slave Unit

Type Appearance I/O points Model Features

Models with 2 inputs (5 V and 24 V GX-EC0211 • Equipped with a
screw voltage input) removable screw
terminal terminal block
blocks 2 inputs (Line driver input) GX-EC0241 • With 2 latch inputs/1
reset input

2-4 GX-series EtherCAT Slave Unit User’s Manual

 2 EtherCAT Slave Unit

2-2 Types of EtherCAT Slave Units

IO-Link Master Unit

Type Appearance Number of ports Model Features

GX-type 8 GX-ILM08C High environmental
IO-Link resistance (IP67)
Master Unit

2
Expansion Unit

2-2-1 Slave Units List

Type Appearance I/O points Model Features
Models with 8 inputs (NPN) XWT-ID08 • Can be connected to
2-tier the following Digital I/O
8 inputs (PNP) XWT-ID08-1
terminal Slave Unit
block 8 outputs (NPN) XWT-OD08 GX-ID1611/ID1621/O
D1611/OD1621/OC16
8 outputs (PNP) XWT-OD08-1
01
16 inputs (NPN) XWT-ID16 • Can connect only 1
Expansion Unit per
16 inputs (PNP) XWT-ID16-1 Slave Unit
16 outputs (NPN) XWT-OD16

16 outputs (PNP) XWT-OD16-1

GX-series EtherCAT Slave Unit User’s Manual 2-5

2 EtherCAT Slave Unit

2-2-2 Installation, I/O Connection, and Power Supply Methods for Each
Slave Unit

Digital I/O Slave Unit

Slave Unit I/O Internal

External power
Type Model installation connection power
supply
method method supply
GX-ID1611
GX-ID1621
GX-OD1611
Models with 2-tier
GX-OD1621
terminal block
GX-OC1601
I/O power supply
GX-MD1611 M3 screw
must be supplied
GX-MD1621 terminal
externally for
GX-ID1612 block
connected devices.
GX-ID1622
Models with 3-tier GX-OD1612
terminal block GX-OD1622
GX-MD1612
GX-MD1622
GX-ID1618 Shared with unit
GX-ID1628 Shared with power supply*
DIN track unit power I/O power supply
GX-OD1618 supply must be supplied
GX-OD1628 externally for
connected devices.
Only inputs are
GX-MD1618
shared with unit
GX-MD1628
e-CON power supply.*
e-CON connectors
GX-ID3218 Connectors Shared with unit
GX-ID3228 power supply*
I/O power supply
GX-OD3218 must be supplied
GX-OD3228 externally for
connected devices.
Only inputs are
GX-MD3218
shared with unit
GX-MD3228
power supply.*
* Power for external I/O (sensors and actuators) is also supplied from the unit power supply.
For this reason, make sure to add current consumption of external I/O when examining output current of the unit
power supply.

Analog I/O Slave Unit

Slave Unit I/O Internal

External power
Type Model installation connection power
supply
method method supply
GX-AD0471 M3 screw Shared with
Models with screw
DIN track terminal unit power Not necessary
terminal blocks GX-DA0271 block supply

2-6 GX-series EtherCAT Slave Unit User’s Manual

 2 EtherCAT Slave Unit

2-2 Types of EtherCAT Slave Units

Encoder Input Slave Unit

Slave Unit I/O Internal

External power
Type Model installation connection power
supply
method method supply
GX-EC0211 I/O power supply
M3 screw Shared with
Models with screw must be supplied
DIN track terminal unit power
terminal blocks GX-EC0241 externally for
block supply
connected devices.

2
IO-Link Master Unit

Methods for Each Slave Unit

2-2-2 Installation, I/O Connection, and Power Supply
Slave Unit I/O Internal
External power
Type Model installation connection power
supply
method method supply
I/O power must be
M12 Shared with
GX-type IO-Link Screw supplied externally
GX-ILM08C Smartclick unit power
Master Unit mounting for connected
connectors supply
devices.

Expansion Unit

Slave Unit I/O Internal

External power
Type Model installation connection power
supply
method method supply

XWT-ID08 (−1)
Varies depending
on the type of
XWT-OD08 (−1) M3 screw Shared with mounted Digital I/O
Models with 2-tier
DIN track terminal unit power Slave Unit
terminal block
XWT-ID16 (−1) block supply (Refer to "11-1-2
I/O Power Supply"
in Page 11 - 3.)
XWT-OD16 (−1)

GX-series EtherCAT Slave Unit User’s Manual 2-7

2 EtherCAT Slave Unit

2-8 GX-series EtherCAT Slave Unit User’s Manual

Basic Usage Procedures
3
This chapter explains the procedure of using EtherCAT Slave Units based on specific
setting examples.

3-1 Setup Examples and Basic Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-1 System Setting Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3-1-2 Basic Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-2 Setting and Wiring Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-2-1 Mounting and Setting EtherCAT Master Unit . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-2-2 Mounting and Setting Slave Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-2-3 Wiring Communications Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-2-4 Connecting Power Supplies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-2-5 Wiring I/O Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-3 Starting Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3-3-1 Starting a System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3-3-2 Setting EtherCAT Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3-3-3 Starting EtherCAT Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5
3-4 Checking Operations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3-4-1 Checking Unit Displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3-4-2 Confirming Data Read and Write . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6
3-4-3 Setting Slave Unit Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6

GX-series EtherCAT Slave Unit User’s Manual 3-1

3 Basic Usage Procedures

3-1 Setup Examples and Basic

Procedure
This section explains the setup method by using simple system setting examples.

3-1-1 System Setting Examples

Connect each of the following Slave Units to the EtherCAT Master Unit and make the settings.

EtherCAT Master Unit

Digital I/O Slave Unit

GX-ID1611 (16 inputs)
+
Expansion Unit
XWT-ID16 (16 inputs)

Set the node address to 1.

Digital I/O Slave Unit

GX-OD1611 (16 outputs)
+
Expansion Unit
XWT-OD16 (16 outputs)

Set the node address to 2.

Analog I/O Slave Unit

GX-AD0471 (4 inputs)

Set the node address to 5.

Encoder Input Slave

GX-EC0211 (2 inputs)

Set the node address to 6.

IO-Link Master Unit

GX-ILM08C

Set the node address to 7.

Although it is not shown in the figure above, supply the unit power and the I/O power separately.

3-2 GX-series EtherCAT Slave Unit User’s Manual

 3 Basic Usage Procedures

Reference

3-1 Setup Examples and Basic Procedure

The setting example explained here is the basic setting of GX-series EtherCAT Slave Units.
If more detailed settings are required in actual operation, refer to the manual of the EtherCAT
Master Unit or pages on this manual explaining the detail for each Slave Unit (Chapter 7 to
Chapter 11).
Moreover, if your system configuration includes Slave Units other than our products, make the
setting upon referring to the manual of the relevant Slave Units.

3-1-2 Basic Procedure

This is the flow of the procedures explained in the following sections.

Start
3

3-1-2 Basic Procedure

Mounting and Setting EtherCAT Master Unit Section 3-2-1
Setting and Wiring Hardware

Mounting and Setting Slave Units Section 3-2-2

Wiring Communications Cables Section 3-2-3

Connecting Power Supplies Section 3-2-4

Wiring I/O Devices Section 3-2-5

Starting Communications

Starting a System Section 3-3-1

Setting an EtherCAT Communications Section 3-3-2

Starting EtherCAT Communications Section 3-3-3

*1

Checking Unit Displays Section 3-4-1

Checking Operations

Confirming Data Read and Write Section 3-4-2

Setting Slave Unit Parameter Section 3-4-3

End

*1 If you use an IO-Link Master Unit, refer to the IO-Link System User’s Manual (W570) for IO-Link communications settings
and for information on starting IO-Link communications.

GX-series EtherCAT Slave Unit User’s Manual 3-3

3 Basic Usage Procedures

3-2 Setting and Wiring Hardware

Make settings and wiring of the EtherCAT Master Unit and Slave Units, and power supply.

3-2-1 Mounting and Setting EtherCAT Master Unit

Mount the EtherCAT Master Unit at the prescribed location and make settings of Unit No. and so on.
For the detailed explanation, refer to the manual of the EtherCAT Master Unit to be used.

3-2-2 Mounting and Setting Slave Units

Mount each Slave Unit at the prescribed location and make settings of node address and so on.
For details, refer to each item below.

z Mounting
"4-1 Mounting Slave Units" in page 4 - 2

z Setting
Pages in Chapter 6 to Chapter 11 which explain the general specification and details of each type of
Slave Units.

3-2-3 Wiring Communications Cables

Wire communications cables to the EtherCAT Master Unit and each Slave Unit.
For wiring method, refer to "4-2 Connecting to EtherCAT Network" in page 4 - 4.

3-2-4 Connecting Power Supplies

Connect the unit power supply to the EtherCAT Master Unit and Slave Units.
In addition, connect the I/O power supply to each Slave Unit as required.
For the connection method, refer to "4-3 Connecting to Unit Power Supply and I/O Power Supply" in
page 4 - 8 or the wiring diagram of each Slave Unit (in pages explaining the details).

3-2-5 Wiring I/O Devices

Connect input and output devices to each Slave Unit as required.
For the connection method, refer to "4-4 Connecting an External Device" in page 4 - 13 or the wiring
diagram of each Slave Unit (in pages explaining the details).

3-4 GX-series EtherCAT Slave Unit User’s Manual

 3 Basic Usage Procedures

3-3 Starting Communications

Start the system, allocate I/O data of Slave Units, and then start the EtherCAT communications.

3-3 Starting Communications

For operational state and details of it, refer to "5-3 Communications State Transitions" in page 5 - 4.
If you use an IO-Link Master Unit, refer to the IO-Link System User’s Manual (W570) for IO-Link
communications settings and for information on starting IO-Link communications.

3-3-1 Starting a System

Turn ON the power supply to each Unit.

(1) Unit power supply of EtherCAT Master Units

(2) Unit power supply of Slave Units (When the power is supplied, Slave Unit's [PWR] indicator is lit.) 3
(3) I/O power supply of Slave Units

3-3-1 Starting a System

Note that there are no restrictions on the order of turning ON the power supplies.

3-3-2 Setting EtherCAT Communications

The following communications are performed in EtherCAT.

z PDO communications (remote I/O communications)

Allocate I/O data of Slave Units to the EtherCAT Master Unit (PDO mapping) and perform PDO
communication (remote I/O communications).
For the detailed explanation of I/O data of each Slave Unit, refer to "I/O Data Allocation (PDO
Mapping)” in Chapter 7 to Chapter 9.
Note that the ESI file are used to allocate I/O data.
For the detailed explanation of the procedure, refer to the manual of the EtherCAT Master Unit to be
used and the manual of the Configuration Tool.

z SDO communications (message communications)

For the method of using, refer to the manual of the EtherCAT Master Unit to be used.
Refer to "Appendix A - 1 Object Dictionary" for the detailed explanation of objects implemented on
GX-series EtherCAT Slave Units.
Note that the SDO communications can be used in the pre-operational state or more.

3-3-3 Starting EtherCAT Communications

Shift to the operational state (EtherCAT communications possible) to start the EtherCAT
communications.
For how to shift to the operational state, refer to the manual of the EtherCAT Master Unit to be used.

GX-series EtherCAT Slave Unit User’s Manual 3-5

3 Basic Usage Procedures

3-4 Checking Operations

Confirm that the LED indicators of the EtherCAT Master Unit and Slave Units are normal status and that
I/O data is correctly read and written.
Moreover, make parameter settings for Slave Units as required.
If you use an IO-Link Master Unit, refer to the IO-Link System User’s Manual (W570) for the method to
confirm the operation of IO-Link communications.

3-4-1 Checking Unit Displays

z EtherCAT Master Unit
Refer to the manual of the EtherCAT Master Unit to be used.

z EtherCAT Slave Units

Check that the status indicator of each Slave Unit is as follows.

LED State
PWR ON
L/A IN Flickering
L/A OUT Flickering (turned OFF for the terminal Slave Unit only)
RUN ON
ERR OFF

3-4-2 Confirming Data Read and Write

Use the Configuration Tool to read IN data and OUT data of the EtherCAT Master Unit in order to
check that the I/O data is correctly read and written.

3-4-3 Setting Slave Unit Parameter

Make parameter settings for each Slave Unit as required via the SDO communications.
For the details of parameters that can be set, refer to the pages explaining details of each Slave Unit in
Chapter 7 to Chapter 9.

3-6 GX-series EtherCAT Slave Unit User’s Manual

Installation and Wiring
This chapter explains the mounting and wiring methods of the EtherCAT Slave Unit.

4-1 Mounting Slave Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-1-1 Mounting Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4-1-2 Mounting Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4-1-3 Mounting Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2
4-1-4 Removal Method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4-2 Connecting to EtherCAT Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2-1 Precautions for Network Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2-2 Preparation for Connecting Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5
4-2-3 Connecting Communications Cables and Connectors . . . . . . . . . . . . . . . . . . . 4-6
4-2-4 Connecting to Communications Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7
4-3 Connecting to Unit Power Supply and I/O Power Supply . . . . . . . . . . . . . 4-8
4-3-1 Precautions at Supplying Unit Power and I/O Power . . . . . . . . . . . . . . . . . . . . 4-8
4-3-2 Unit Power Supply Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-3-3 Connecting the Unit Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-3-4 Connecting the I/O Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4-11
4-4 Connecting an External Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4-4-1 Connecting to a Screw Terminal Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-13
4-4-2 Connecting to e-CON Connector Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14

GX-series EtherCAT Slave Unit User’s Manual 4-1

4 Installation and Wiring

4-1 Mounting Slave Units

This section describes the DIN Track mounting method for GX-series Digital I/O Slave Units, Analog I/O
Slave Units, and Encoder Input Slave Units.

4-1-1 Mounting Preparation

Prepare the following devices.

Product name Model Comment

PFP-50N Length 50 cm
35-mm DIN track PFP-100N Length 100 cm
PFP-100N2 Length 100 cm
End plate PFP-M 2 end plates are required for each Slave Unit.

4-1-2 Mounting Direction

There are no restrictions in the orientation unless otherwise specified in the instruction pages for the
Slave Unit.
Mounting is possible in any of the following 6 orientations.

Vertical direction

4-1-3 Mounting Method

1 Hook the top side of groove on backside of the Slave Unit to the top side of the DIN
track, lower the DIN track mounting hook, engage the Slave Unit to the track, and press
up the mounting hook to fix it.

4-2 GX-series EtherCAT Slave Unit User’s Manual

 4 Installation and Wiring

(2)
DIN track

4-1 Mounting Slave Units

(1)

DIN track mounting hook

2 Hook the bottom side of the end plate to the bottom side of the DIN track and then hook
4
the top side.
Attach an end plate on each side of the Unit.

4-1-4 Removal Method

(2)

(1)

End plate

Precautions for Safe Use

After the operation, make sure to check that the Slave Unit is securely mounted.

4-1-4 Removal Method

Loosen the screws on the end plate and remove the end plate from the DIN track. Then pull down the
DIN track mounting hook to release the lock. Pull out the Slave Unit straight toward you.

GX-series EtherCAT Slave Unit User’s Manual 4-3

4 Installation and Wiring

4-2 Connecting to EtherCAT Network

This section explains how to lay down EtherCAT network.

4-2-1 Precautions for Network Connection

Observe the precautions below when laying down the EtherCAT network.

Precautions at laying down network

• When laying down an EtherCAT network, take sufficient safety measures and construct the network
according to the standards. We recommend to request specialized constructors familiar with the
safety measures and standards to perform the laying operation.
• Do not lay down EtherCAT network devices near any devices generating noise.
If there is no choice but to lay them down in a noisy environment, make sure to take noise measures
such as housing each device in metal cases.

Precautions at laying down communications cables

• Check the following items for communications cables to be used.
• Are there any disconnected cables?
• Are any cables short-circuited?
• Are there any problems in connector connections?
• To connect a cable to communications connector of each device, insert it securely until the connector
of the communications cable is locked.
• Lay down and wire the communications cables separately from high-voltage electrical power lines.
• Do not lay down the cables near devices generating noise.
• Do not lay down the cables in high-temperature and high-humidity environment.
• Use the cables in locations without powder dust and oil mist.
• There is a limit to the bending radius of communications cables. Check the specification of
communications cables to be used for the information on bending radius.

4-4 GX-series EtherCAT Slave Unit User’s Manual

 4 Installation and Wiring

4-2-2 Preparation for Connecting Network

The following accessories are available for GX-series Digital I/O Slave Units, Analog I/O Slave Units,
and Encoder Input Slave Units.

4-2 Connecting to EtherCAT Network

Product name Comment
Twisted-pair cable 100BASE-TX (Category 5 or higher)
(Cables with connectors
Double-shield (aluminum tape + braided shielding)
below are also allowed.)
Category 5 or higher
RJ45 connector
Shielded

Refer to "6-3-3 Communications Connectors" in Page 6 - 8 for information on the communications

cables for an IO-Link Master Unit.

Precautions for Correct Use

• The maximum cable length between connected nodes is 100 m. Note that some cables do not
guarantee 100 m. In general, if the conductors are strand wire, the transmission performance
will be lower than solid wire and the operation at 100-m distance cannot be guaranteed.
4
Confirm details with the cable manufacturer.
• When selecting connectors, check that the cables to be used conform to connectors. Items to

4-2-2 Preparation for Connecting Network

be checked include conductor size, conductor wire type (solid wire/twisted wire, 2/4 pairs), and
outer diameter.

Reference

We recommend cables with double, aluminum tape and braded shielding, taking noise
resistance into consideration.

GX-series EtherCAT Slave Unit User’s Manual 4-5

4 Installation and Wiring

4-2-3 Connecting Communications Cables and Connectors

Connect a communications cable and a connector by wiring them straight as shown below.

Pin No. Wire color Wire color Pin No.

1 White-Green White-Green 1
2 Green Green 2
3 White-Orange White-Orange 3
4 Blue Blue 4
5 White-Blue White-Blue 5
6 Orange Orange 6
7 White-Brown White-Brown 7
8 Brown Brown 8
Connector Connector
hood Shielded cable * Shielded cable* hood

* Connect both ends of cable shielded wires to the connector hoods.

Reference

There are 2 types of wiring standards for Ethernet cables : "T568A" and "T568B."
The figure above shows a wiring method conforming to the standard "T568A". The wiring
method conforming to the standard "T568B" can also be used.

4-6 GX-series EtherCAT Slave Unit User’s Manual

 4 Installation and Wiring

4-2-4 Connecting to Communications Cables

EtherCAT networks allow free wiring in any connection forms. Connection before and after the
GX-series EtherCAT Slave Units shall be made in daisy chain connection.

Connect the communications cable from the EtherCAT Master Unit to the [CN IN] connector of the

4-2 Connecting to EtherCAT Network

Slave Units. Connect another the communications cable from the [CN OUT] connector of the first Slave
Unit to the [CN IN] connector of the next Slave Unit.
Note that nothing should be connected to the [CN OUT] connector of the Slave Unit at the terminal end
of the network.

EtherCAT Master Unit

4
Communications cable

4-2-4 Connecting to Communications Cables

[CN IN] connector
L1 [CN OUT] connector

L2

Slave Unit

Ln

Do not connect anything.

Terminal Slave Unit

Precautions for Correct Use

• The cable length between each Slave Unit (L1, L2, ... Ln) must be within 100 m.
• Connect cables securely until communications cable connectors click and are fixed in place.
• When you wire the communications cables, observe their specifications (bending radius and
so on) defined by the cable manufacturer.

GX-series EtherCAT Slave Unit User’s Manual 4-7

4 Installation and Wiring

4-3 Connecting to Unit Power Supply

and I/O Power Supply
The following power supplies are required to operate the EtherCAT network.

• Unit power supply: For communication and internal operation of Slave Units.
• I/O power supply: For input/output operation of external I/O devices of each Slave Unit.

This section explains how to supply the unit power supply and I/O power supply.

4-3-1 Precautions at Supplying Unit Power and I/O Power

When supplying the unit power supply and I/O power supply, take the followings into consideration for
allowable current of cables and connectors, voltage drop, and layout of power supplies.

z Consideration to cable voltage drop

The power supply voltage of a Slave Unit farthest to the power supply must be within the allowable
variation range.

z Supplying unit power supply and I/O power supply from multiple sources
When the unit power and I/O power are supplied from multiple power supplies instead of from one power
supply, the line current, voltage drop, and cable size can be reduced. Moreover, it is effective to secure
safety of the system at power supply errors.

z If power supply errors occur

Consideration on layout and grouping of power supplies differ by whether you want to stop the entire
system or not when a power supply error occurs.
If you want to avoid stopping the entire system, we recommend to set power supplies at several
locations and supply power to groups of Slave Units, or take similar measures.
This has also the effects of reducing voltage drop and cable size and so on.

4-8 GX-series EtherCAT Slave Unit User’s Manual

 4 Installation and Wiring

4-3 Connecting to Unit Power Supply and I/O Power Supply

4-3-2 Unit Power Supply Specifications
Use a general purpose power supply that satisfies the following specifications.

Item Specification
Output voltage 24 VDC ± 10%
Output ripple 600 mVp-p
Has the capacity to supply power more than the total current
Output current
consumption of each Slave Unit
Between output and AC power supply as well as between output and
Isolation
chassis ground

We recommend S8JX series power supplies made by OMRON for the unit power supply for Slave
Units.

Precautions for Correct Use

• The I/O power supply for the input section of the e-CON connector type Slave Units is shared
with the unit power supply. To calculate the output current of the unit power supply, be sure to
4
use "unit power supply current consumption" to which "input current" and "input connection
device supply current" have been added.

4-3-2 Unit Power Supply Specifications

• Use a power supply with sufficient capacity considering the inrush current at startup.

4-3-3 Connecting the Unit Power Supply

Connect a cable from the 24-VDC unit power supply to the unit power supply connector on each Slave
Unit, and supply power to individual Slave Units.

Digital I/O Slave Units, Analog I/O Slave Units, and Encoder Input
Slave Units

To 24-VDC unit
power supply

Unit power
supply cable

Pin terminal

+V −V
terminal terminal

Mount a pin terminal, or equivalent to the unit power supply cable so that it will not be displaced.

GX-series EtherCAT Slave Unit User’s Manual 4-9

 4 Installation and Wiring

z Recommended product
The following pin terminals are recommended for the unit power supply cables.

Model Applicable wire size Crimping tool Manufacturer

CRIMPFOX UD6
(Product No. 1204436) Phoenix Contact
AI0,5-10WH 0.5 mm/AWG20
or CRIMPFOX ZA3 Co., Ltd.
series
Crimper PZ1.5
H0.5/16 orange 0.5 mm/AWG20 Weidmueller Japan Co., Ltd.
(Product No. 900599)

Also, the following screwdriver is recommended for removing pin terminals.

Model Manufacturer
XW4Z-00C OMRON

IO-Link Master Unit

Supply the Unit power supply and the I/O power supply through the same power supply connector.
(Notes) Supply the Unit power supply and the I/O power supply from separate sources.

An M12 connector (A-coding, male) is used for the power supply connector.

The Unit power supply specifications are given below.

Item Specification
Unit power supply voltage 20.4 to 26.4 VDC (24 VDC −15%/+10%)

GX-ILM08C

Power supply connector

z Power Supply Connector

Pin No. Signal Description

1 UNT_P+ Unit power supply +
2 UNT_P− Unit power supply −
3 IO_P+ I/O power supply +
4 IO_P− I/O power supply −
5 --- Not used.

4 - 10 GX-series EtherCAT Slave Unit User’s Manual

 4 Installation and Wiring

4-3 Connecting to Unit Power Supply and I/O Power Supply

4-3-4 Connecting the I/O Power Supply

Digital I/O Slave Units, Analog I/O Slave Units, and Encoder Input
Slave Units
z Units with screw terminal blocks
It supplies the 24-VDC I/O power to the I/O power supply terminal on each Slave Unit.
For the locations of I/O power supply terminals, see the terminal layout diagrams for each Slave Unit
or wiring diagrams in Chapter 7 to Chapter 10.
Moreover, for how to connect power supplies to terminals, refer to "4-4-1 Connecting to a Screw
Terminal Block" in Page 4 - 13.

z Units with e-CON connectors

The following e-CON connector type Slave Units (Output Slave Units and output sections of
Input/Output Slave Units) are equipped with I/O power supply connectors to supply I/O power to
external devices.
4
• GX-OD1618/OD1628/MD1618 (output section only)/MD1628 (output section only)
• GX-OD3218/OD3228/MD3218 (output section only)/MD3228 (output section only)

4-3-4 Connecting the I/O Power Supply

To connect external devices to these Slave Units, supply the 24-VDC I/O power to the I/O power
supply connector.

+ V terminal
24-VDC
power supply
− G terminal

Mount a pin terminal, or equivalent to the power supply cable so that it will not be displaced.

GX-series EtherCAT Slave Unit User’s Manual 4 - 11

 4 Installation and Wiring

z Recommended product
The following pin terminals are recommended for the unit power supply cables.

Applicable wire
Model Crimping tool Manufacturer
size
CRIMPFOX UD6
(Product No. 1204436) Phoenix Contact
AI0,5-10WH 0.5 mm/AWG20
or CRIMPFOX ZA3 Co., Ltd.
series
Crimper PZ1.5
H0.5/16 orange 0.5 mm/AWG20 Weidmueller Japan Co., Ltd.
(Product No. 900599)

Also, the following screwdriver is recommended for removing pin terminals.

Model Manufacturer
XW4Z-00C OMRON

IO-Link Master Unit

Supply the Unit power supply and the I/O power supply through the same power supply connector.
(Notes) Supply the Unit power supply and the I/O power supply from separate sources.
An M12 connector (A-coding, male) is used for the power supply connector.

The I/O power supply specifications are given below.

Item Specification
I/O power supply 20.4 to 26.4 VDC (24 VDC −15%/+10%)

GX-ILM08C

Power supply connector

z Power Supply Connector

Pin No. Signal Description

1 UNT_P+ Unit power supply +
2 UNT_P− Unit power supply −
3 IO_P+ I/O power supply +
4 IO_P− I/O power supply −
5 --- Not used.

4 - 12 GX-series EtherCAT Slave Unit User’s Manual

 4 Installation and Wiring

4-4 Connecting an External Device

Connect an external device to the I/O terminal of a Slave Unit.
The method of connection differs between Units with screw terminal blocks and Units with e-CON
connectors.

4-4 Connecting an External Device

4-4-1 Connecting to a Screw Terminal Block
After mounting a crimp terminal to the cable of the external device to be connected, connect it to the
terminal block.

1 Mount the following crimp terminal to the signal line of the cable.

3.2 mm min. φ3.2 mm min.

6.0 mm max. 6.0 mm max.

4

4-4-1 Connecting to a Screw Terminal Block

2 Connect the signal line to the terminal block.
Tighten the terminal block screws to the appropriate tightening torque of 0.5 N • m.
The terminal block is removable; remove the left and right screws if it is necessary to remove
the terminal block to connect the signal line.

Precautions for Correct Use

To remove the terminal block from the Slave Unit, loosen the left and right mounting screws
alternately. When mounting the terminal block as well, tighten the left and right screws
alternately.
If you tighten or loosen only one of the screws all the way without tightening or loosening the
other screw using an electric screwdriver, the terminal block will be distorted and cracked.

GX-series EtherCAT Slave Unit User’s Manual 4 - 13

 4 Installation and Wiring

4-4-2 Connecting to e-CON Connector Terminals

Connect the dedicated e-CON connector to the cables of the external device to be connected and then
connect it to the connector terminal.

Checking the e-CON connector and cable wire size

The wire size and sheath diameter of applicable cables vary by the type of e-CON connector.
Use the next table to check that the e-CON connectors to be used conform to the wire size and sheath
diameter of the cables of the connected device.

z Tyco Electronics connectors

Model Housing color Applicable wire range
3-1473562-4 Orange Sheath diameter: 0.6 to 0.9 mm
1-1473562-4 Red Sheath diameter: 0.9 to 1.0 mm
Cross-sectional area: 0.08 to
1473562-4 Yellow Sheath diameter: 1.0 to 1.15 mm
0.5 mm2
2-1473562-4 Blue Sheath diameter: 1.15 to 1.35 mm
4-1473562-4 Green Sheath diameter: 1.35 to 1.60 mm

z Sumitomo 3M connectors
Model Housing color Applicable wire range
AWG26 (0.14mm to AWG24 (0.2mm2)
2)
37104-3101-000FL Red
Sheath diameter: 0.8 to 1.0 mm
AWG26 (0.14mm2) to AWG24 (0.2mm2)
37104-3122-000FL Yellow
Sheath diameter: 1.0 to 1.2 mm
AWG26 (0.14mm2) to AWG24 (0.2mm2)
37104-3163-000FL Orange
Sheath diameter: 1.2 to 1.6 mm
AWG22 (0.3mm2) to AWG20 (0.5mm2)
37104-2124-000FL Green
Sheath diameter: 1.0 to 1.2 mm
AWG22 (0.3mm2) to AWG20 (0.5mm2)
37104-2165-000FL Blue
Sheath diameter: 1.2 to 1.6 mm
AWG22 (0.3mm2) to AWG20 (0.5mm2)
37104-2206-000FL Gray
Sheath diameter: 1.6 to 2.0 mm

z Panasonic Electric Works connectors

Model Housing color Applicable wire range
AWG22 (0.3mm ) to AWG20 (0.5mm2)
2
AXF12142 Red
Sheath diameter: 1.2 to 2.0 mm
AWG28 (0.08mm2) to AWG24 (0.2mm2)
AXF12146 Yellow
Sheath diameter: 0.7 to 1.2 mm

z OMRON connectors
Model Specification Applicable wire range
Spring AWG28 (0.08mm2 ) to AWG20 (0.5mm2)
XN2A-1470
clamp type Sheath diameter: 1.5 mm max.

4 - 14 GX-series EtherCAT Slave Unit User’s Manual

 4 Installation and Wiring

Processing external devices cables

z Using Tyco Electronics, Sumitomo 3M or Panasonic Electric Works
connectors
Cables of connected devices are normally cut in semi-strip or strip specification as shown in the next
figures.

4-4 Connecting an External Device

Semi-strip specification Strip specification

When the cables are prepared this way, an e-CON connector cannot be attached. First cut the end
and remove the cable sheath as shown in the following diagram. (Do not strip the sheaths of the
core wires.)

20 mm min.
4

4-4-2 Connecting to e-CON Connector Terminals

Core wires Strip sheaths of core wires

z Using OMRON connectors

Align the cable with the STRIP GAUGE described on the side of the connector. Remove 7 to 8 mm
of the wiring sheath, and twist the exposed wires several times.

7 to 8 mm

GX-series EtherCAT Slave Unit User’s Manual 4 - 15

 4 Installation and Wiring

Inserting wires into the cable connector

Insert the cable wire of the extend device to the cable connector.
Make sure that the terminal numbers printed on the connector cover matches the colors of wires as
shown in the next table.

Terminal NPN Slave Unit PNP Slave Unit

number 3-wire sensor 2-wire sensor 3-wire sensor 2-wire sensor
1 Brown (red) − Brown (red) Brown (white)
2 − − − −
3 Blue (black) Blue (black) Blue (black) −
4 Black (white) Brown (white) Black (white) Blue (black)
Notes Wire colors have been changed according to revisions in the JIS standards for photoelectric sensors and
proximity sensors.
The colors in parentheses are the wire colors prior to the revisions.

z Using Tyco Electronics, Sumitomo 3M or Panasonic Electric Works

connectors

1 Insert the wire all the way to the wire insertion opening on the cover of the cable
connector.

2 Use a pliers, or equivalent to press the cover into the body. At this point, press the cover
straight in such that the cover is horizontal to the body.

z Using OMRON connectors

1 Use a flat-blade screwdriver to push the operation lever inside the connector's operation
opening until it locks, as shown in the following diagram.

Flat-blade
Screwdriver

Operation opening

4 - 16 GX-series EtherCAT Slave Unit User’s Manual

 4 Installation and Wiring

2 Insert the wire all the way to the back of the wire insertion opening.
Check that the sheath of the wire is inserted into the wire insertion opening, and that the end of
the conductor has passed through the connection part.

Connection part Wire sheath part Wire insertion opening

4-4 Connecting an External Device

3 Insert a screwdriver into the reset opening and pull back the operation lever lightly.
A click will be heard and the operation lever will return to its normal position.
4

4-4-3 Connecting the M12 Connector

Operation lever (white)
Reset opening

4 Lightly pull the wire to confirm that it is connected properly.

Precautions for Correct Use

To remove a wire, push in the operation lever, check that the operation lever has locked, and
then pull out the wire. Also, after removing the wire, always return the operation lever to its
normal position.

4-4-3 Connecting the M12 Connector

For SmartClick Connectors, insert the Connector all the way and turn it approx. 1/8 of a turn. Torque
management is not required.
For screw connections to M12 connectors, tighten the lock on the M12 connection sufficiently with your
hands (tightening torque: 0.39 to 0.49 N·m).
If the lock is not tightened sufficiently, the degree of protection may not be achieved and the connector
may become loose due to vibration. Never use pliers or other tools to tighten the lock. Doing so may
damage the connector.

GX-series EtherCAT Slave Unit User’s Manual 4 - 17

 4 Installation and Wiring

4 - 18 GX-series EtherCAT Slave Unit User’s Manual

EtherCAT Communications
This chapter explains the overview of EtherCAT communications.

5-1 Structure of CAN application protocol over EtherCAT (CoE) . . . . . . . . . . 5-2

5-2 EtherCAT Slave Information File (ESI File) . . . . . . . . . . . . . . . . . . . . . . . . . 5-3 5
5-3 Communications State Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-4
5-4 Process Data Objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-4-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-4-2 PDO Mapping Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-4-3 Sync Manager PDO Assignment Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-4-4 Fixed PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5-5 Service Data Object (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5-5-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5-5-2 Abort Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5-6 EtherCAT Master Unit - Slave Unit Communications . . . . . . . . . . . . . . . . 5-11
5-6-1 FREE RUN Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5-11
5-7 Emergency Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5-7-1 Emergency Message Notification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
5-7-2 Diagnosis History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-14
5-8 Sysmac Device Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-15

GX-series EtherCAT Slave Unit User’s Manual 5-1

5 EtherCAT Communications

5-1 Structure of CAN application

protocol over EtherCAT (CoE)
Normally, multiple protocols can be transferred by EtherCAT. But GX-series EtherCAT Slave Units use
"CAN application protocol over EtherCAT (CoE)", a communication interface to be applied for EtherCAT
devices, as the device profile of the open network standard "CAN application protocol."

The figure below shows the structure of CoE in GX-series EtherCAT Slave Units.

GX-series EtherCAT Slave Units

Application layer Slave application

Object dictionary

Communications PDO mapping

SDO (mailbox)
status transitions PDO (cyclic)

Registers Mailbox Process data

SyncManager FMMU

EtherCAT data link layer

EtherCAT physical layer

CAN application protocol has two types of object dictionaries, PDO (Process Data Object) and SDO
(Service Data Object) .
PDO is composed of object dictionaries that can be mapped. The process data is defined by PDO
mapping.
PDO is primarily used in PDO communications for regularly exchanging process data.
Moreover, SDO is able to read and write all object dictionaries and is used in non-fixed-cycle type SDO
(event type messages) communications.

By using the CoE interface to set object SDO and PDO dictionaries, EtherCAT can provide EtherCAT
devices with the same device profile as CAN application protocol.

5-2 GX-series EtherCAT Slave Unit User’s Manual

 5 EtherCAT Communications

5-2 EtherCAT Slave Information File

(ESI File)
An EtherCAT Slave Information (ESI) file contains the setting information of an EtherCAT Slave Unit.
Various EtherCAT communications setting can be defined from the ESI files of connected Slave Units

5-2 EtherCAT Slave Information File (ESI File)

and the network connection information.
ESI files are installed in the configuration tool to create network configuration information.
You can download the network configuration information to the EtherCAT Master Unit to configure the
EtherCAT network.

Configuration tool EtherCAT Master Unit

Network
configuration
information

ESI
files

EtherCAT Slave Units

Communications are started according to the

communications settings and the network
configuration in the ESI files that are installed.

GX-series EtherCAT Slave Unit User’s Manual 5-3

5 EtherCAT Communications

5-3 Communications State Transitions

The EtherCAT State Machine (ESM) indicates the state transition model of EtherCAT Slave Unit
communications control. It is controlled by EtherCAT Master Unit.

The following figure shows the communications state transitions from power ON.

Power ON

Initialization

Pre-Operational

Safe-Operational

Operational

SDO PDO
PDO
State communi transmiss Contents
reception
cations ion
Not Not Not Communications are being initialized.
Initialization (Init)
possible. possible. possible. Communications are not possible.
SDO (message) communications are
possible in this state.
Pre-Operational Not Not
Possible This state is entered after initialization has
(Pre-Op) possible. possible.
been completed. It is used to initialize
network settings.
In this state, PDO transmissions are possible
in addition to SDO (message)
Safe-Operational Not communications.
Possible Possible
(Safe-Op) possible. PDO sendings can be used to send
information such as status from the Slave
Unit.
Normal communication state
Operational (Op) Possible Possible Possible PDO communications can be used to control
the I/O data.

5-4 GX-series EtherCAT Slave Unit User’s Manual

 5 EtherCAT Communications

5-4 Process Data Objects (PDO)

5-4-1 Overview
The process data objects (PDO) are used for real-time data transfer via cyclic communications.
There are two types in PDO: RxPDO that receives data from the EtherCAT Master Unit and TxPDO that
sends the present value from a EtherCAT Slave Unit to the EtherCAT Master Unit.

5-4 Process Data Objects (PDO)

RxPDO
output data, operation command, and so on
EtherCAT EtherCAT
Master Slave
Unit Unit
TxPDO
input data, status, and so on

It is possible to hold multiple objects in the EtherCAT application layer so that various process data of
EtherCAT Slave Units can be transferred. The details of process data are described in PDO Mapping
Objects and Sync Manager PDO Assignment Objects. 5
GX-series EtherCAT Slave Units support PDO mapping for I/O control.

5-4-1 Overview
5-4-2 PDO Mapping Settings
The PDO mapping indicates the mapping for application objects (realtime process data) between the
object dictionary and PDO.
The number of mapped objects is described in sub-index 0 of the mapping table. In this mapping table,
indexes 1600 hex to 17FF hex are used for RxPDO and 1A00 hex to 1BFF hex are used for TxPDO.

GX-series EtherCAT Slave Unit User’s Manual 5-5

5 EtherCAT Communications

The figure below shows an example of PDO mapping.

Object dictionary
Mapping objects

Index Sub Object contents

1ZZZ hex 01 hex 6TTT hex TT hex 8
1ZZZ hex 02 hex 6UUU hex UU hex 8
1ZZZ hex 03 hex 6YYY hex YY hex 16

PDO-Length : 32 Bit
PDO_1 Object A Object B Object D

6TTT hex TT hex Object A

Application objects

6UUU hex UU hex Object B

6VVV hex VV hex Object C
6YYY hex YY hex Object D
6ZZZ hex ZZ hex Object E

5-4-3 Sync Manager PDO Assignment Settings

A sync manager channel consists of several PDOs. The sync manager PDO assignment objects
describe how these PDOs are related to the Sync Manager.
The number of PDOs is given in sub-index 0 of the sync manager PDO assignment table.
In this table, index 1C12 hex is for RxPDOs and 1C13 hex is for TxPDOs.

The figure below shows an example of sync manager PDO mapping.

Sync manager PDO
assignment objects

Index Sub Object contents

1C1Z hex 1 1A00 hex
1C1Z hex 2 1A01 hex
1C1Z hex 3 1A03 hex
Sync manager entity Z
PDO A PDO B PDO D

1A00 hex PDO A

Mapping objects

1A01 hex PDO B

1A02 hex PDO C
1A03 hex PDO D
1A04 hex PDO E
1A05 hex PDO F
1A06 hex PDO G

5-6 GX-series EtherCAT Slave Unit User’s Manual

 5 EtherCAT Communications

5-4-4 Fixed PDO Mapping

The tables below show the details of fixed PDO mapping for GX-series EtherCAT Slave Units.
Note that it is not possible to change fixed PDO details.

z PDO mapping for Digital I/O Slave Unit

Fixed PDO mapping of a Digital I/O Slave Unit is determined by the number of inputs and/or outputs
per Unit and whether or not Expansion Units are connected.

8 outputs of Slave Unit

8 outputs of Expansion Unit only

5-4 Process Data Objects (PDO)

Write output 16-bit (6300 hex)
16 outputs of Slave Unit only
16 outputs of Expansion Unit only
257th receive 16 outputs of Slave Unit and 8
PDO Mapping outputs of Expansion Unit (24
(1700 hex) outputs in total)
32 outputs of Slave Unit only Write output 32-bit (6320 hex)
16 outputs of Slave Unit and 16
outputs of Expansion Unit (32
outputs in total)
8 outputs of Slave Unit
8 outputs of Expansion Unit only
16 outputs of Slave Unit only 5
16 outputs of Expansion Unit only
258th receive 16 outputs of Slave Unit and 8

5-4-4 Fixed PDO Mapping

PDO Mapping outputs of Expansion Unit (24 Write output bits (3220 hex)
(1701 hex) inputs in total)
32 outputs of Slave Unit only
16 outputs of Slave Unit and 16
outputs of Expansion Unit (32
inputs in total)
8 inputs of Slave Unit
8 inputs of Expansion Unit only
Write output 16-bit (6100 hex)
16 inputs of Slave Unit only
16 inputs of Expansion Unit only
257th transmit 16 inputs of Slave Unit and 8
PDO Mapping inputs of Expansion Unit (24
(1B00 hex) inputs in total)
32 inputs of Slave Unit only Write output 32-bit (6120 hex)
16 inputs of Slave Unit and 16
inputs of Expansion Unit (32
inputs in total)
8 inputs of Slave Unit
8 inputs of Expansion Unit only
16 inputs of Slave Unit only
16 inputs of Expansion Unit only
258th transmit 16 inputs of Slave Unit and 8
PDO Mapping inputs of Expansion Unit (24 Read input bits (3020 hex)
(1B01 hex) inputs in total)
32 inputs of Slave Unit only
16 inputs of Slave Unit and 16
inputs of Expansion Unit (32
inputs in total)

GX-series EtherCAT Slave Unit User’s Manual 5-7

5 EtherCAT Communications

512th transmit
PDO Mapping Sysmac errors Sysmac Error (2002 hex)
(1BFF hex)

Reference

You cannot assign 1700 hex and 1701 hex or 1B00 hex and 1B01 hex at the same time.

z Analog I/O Slave Unit PDO Mappings

257th receive
PDO Mapping Write analog output 16-bit (6411 hex) *1
(1700 hex)
257th transmit
PDO Mapping Read analog input 16-bit (6401 hex) *2
(1B00 hex)
512th transmit
PDO Mapping Sysmac Error (2002 hex)
(1BFF hex)
*1 Analog Output Slave Unit only.
*2 Analog Input Slave Unit only.

z Encoder Input Slave Unit PDO Mappings

257th receive
PDO Mapping Instruction Bits (4020 hex)
(1700 hex)
258th receive
PDO Mapping Preset Value (4011 hex)
(1701 hex)
259th receive
PDO Mapping Instruction Flag (4021 hex)
(1702 hex)
257th transmit
PDO Mapping Position Value (4010 hex)
(1B00 hex)
258th transmit
PDO Mapping Latch Value A (4012 hex)
(1B01 hex)
259th transmit
PDO Mapping Latch Value B (4013 hex)
(1B02 hex)
260th transmit
PDO Mapping Status Bits (4030 hex)
(1B03 hex)
261th transmit
PDO Mapping Status Flag (4031 hex)
(1B04 hex)
512th transmit
PDO Mapping Sysmac Error (2002 hex)
(1BFF hex)

Reference

You cannot assign 1700 hex and 1702 hex or 1B03 hex and 1B04 hex at the same time.

5-8 GX-series EtherCAT Slave Unit User’s Manual

 5 EtherCAT Communications

z IO-Link Master Unit

1st receive PDO

Port1 Output Data (7000 hex)
Mapping (1600 hex)
2nd receive PDO
Port2 Output Data (7010 hex)
Mapping (1601 hex)
3rd receive PDO
Port3 Output Data (7020 hex)
Mapping (1602 hex)
4th receive PDO
Port4 Output Data (7030 hex)
Mapping (1603 hex)
5th receive PDO
Port5 Output Data (7040 hex)

5-4 Process Data Objects (PDO)

Mapping (1604 hex)
6th receive PDO
Port6 Output Data (7050 hex)
Mapping (1605 hex)
7th receive PDO
Port7 Output Data (7060 hex)
Mapping (1606 hex)
8th receive PDO
Port8 Output Data (7070 hex)
Mapping (1607 hex)
257th receive PDO
Digital Output Data (3100 hex)
Mapping (1700 hex)
1st transmit PDO
Port1 Input Data (6000 hex)
Mapping (1A00 hex)
2nd transmit PDO
Mapping (1A01 hex)
Port2 Input Data (6010 hex) 5
3rd transmit PDO
Port3 Input Data (6020 hex)
Mapping (1A02 hex)

5-4-4 Fixed PDO Mapping

4th transmit PDO
Port4 Input Data (6030 hex)
Mapping (1A03 hex)
5th transmit PDO
Port5 Input Data (6040H hex)
Mapping (1A04 hex)
6th transmit PDO
Port6 Input Data (6050 hex)
Mapping (1A05 hex)
7th transmit PDO
Port7 Input Data (6060 hex)
Mapping (1A06 hex)
8th transmit PDO
Port8 Input Data (6070 hex)
Mapping (1A07 hex)
257th transmit PDO
I/O Port Status (3000 hex)
Mapping (1B00 hex)
258th transmit PDO
Port1_2 I/O Port Error Status (3001 hex)
Mapping (1B01 hex)
259th transmit PDO
Port3_4 I/O Port Error Status (3002 hex)
Mapping (1B02 hex)
260th transmit PDO
Port5_6 I/O Port Error Status (3003 hex)
Mapping (1B03 hex)
261th transmit PDO
Port7_8 I/O Port Error Status (3004 hex)
Mapping (1B04 hex)
262th transmit PDO
Digital Input Data (3005 hex)
Mapping (1B05 hex)
511th transmit PDO
Diagnosis History (10F3 hex)
Mapping (1BFE hex)
512th transmit PDO
Sysmac Error Status (2002 hex)
Mapping (1BFF hex)

GX-series EtherCAT Slave Unit User’s Manual 5-9

 5 EtherCAT Communications

5-5 Service Data Object (SDO)

5-5-1 Overview
GX-series EtherCAT Slave Units support the SDO communications.
The EtherCAT Master Unit is able to make parameter settings and monitor status by reading and writing
data from and to entries in object dictionaries via the SDO communications.

5-5-2 Abort Codes

The table below shows abort codes of SDO communications errors.

Code Meaning
05030000 hex Toggle bit not changed
05040000 hex SDO protocol timeout
05040001 hex Client/Server command specifier not valid or unknown
05040005 hex Out of memory
06010000 hex Unsupported access to an object
06010001 hex Attempt to read a write only object
06010002 hex Attempt to write to a read only object
06020000 hex The object does not exist in the object directory.
06040041 hex The object cannot be mapped into the PDO.
06040042 hex The number and length of the objects to be mapped would exceed the PDO length.
06040043 hex General parameter incompatibility reason
06040047 hex General internal incompatibility in the device.
06060000 hex Access failed due to a hardware error.
06070010 hex Data type does not match, length of service parameter does not match.
06070012 hex Data type does not match, length of service parameter too high.
06070013 hex Data type does not match, length of service parameter too low.
06090011 hex Sub-index does not exist.
06090030 hex Value range of parameter exceeded (only for write access)
06090031 hex Value of parameter written too high
06090032 hex Value of parameter written too low
06090036 hex Maximum value is less than minimum value.
08000000 hex General error
08000020 hex Data cannot be transferred or stored to the application.
08000021 hex Data cannot be transferred or stored to the application because of local control.*1
Data cannot be transferred or stored to the application because of the present device
08000022 hex
state.
08000023 hex Object dictionary dynamic generation fails or no object dictionary is present.
*1 In this status, the Slave Unit operates locally and the EtherCAT Master Unit is unable to control it.

5 - 10 GX-series EtherCAT Slave Unit User’s Manual

 5 EtherCAT Communications

5-6 EtherCAT Master Unit - Slave Unit

Communications

5-6 EtherCAT Master Unit - Slave Unit Communications

This section explains the communication modes between the Master Unit and GX-series EtherCAT
Slave Unit.

5-6-1 FREE RUN Mode

In the FREE RUN mode, a Slave Unit operates asynchronously with the EtherCAT Master Unit.
The Digital I/O Slave Units and Analog I/O Slave Units operate in the FREE RUN mode.
Note that Slave Unit's internal processing time varies by the Slave Unit type, refer to the explanation on
each Slave Unit in Chapter 7 to Chapter 8.
(Digital I/O Slave Units: ON delay, OFF delay, Analog I/O Slave Units: Cycle time)

To calculate the input and output response time* of the entire system, refer to the relevant values in the
manual of the host system (EtherCAT Master or CPU Unit) to be used.
* This is the time which takes for an input signal from an Input Slave Unit to be processed by the PLC of the Master
Unit and output to an Output Slave Unit.
5
5-6-2 DC Mode

5-6-1 FREE RUN Mode

In the DC mode, a Slave Unit operates synchronously with the EtherCAT Master Unit.

A mechanism called distributed clock (DC), where the EtherCAT Master Unit and Slave Units share the
same clock, is used for synchronization.
Each of DC mode-ready Slave Units connected to EtherCAT shares the clock information.
By generating interrupt signals and executing input/output processing inside each Slave Unit according
to the clock, it becomes possible to synchronize the input/output timing with other Slave Units.

The DC mode supported by Encoder Input Slave Units is DC mode 1.

Set common clock information among the EtherCAT Master Unit and Slave Units
to match the time mutually.

EtherCAT
Master Unit Slave Unit

GX-series EtherCAT Slave Unit User’s Manual 5 - 11

 5 EtherCAT Communications

z Communications cycle
The communications cycle is determined by setting output frequency of Sync0 signal (interrupt
signal in DC mode 1).

125 μs, 250 μs, 500 μs, 1 ms, 2 ms, 4 ms

The settings are performed on the EtherCAT Master Unit side. For the setting method, refer to the
manual of the EtherCAT Master Unit to be used.

5 - 12 GX-series EtherCAT Slave Unit User’s Manual

 5 EtherCAT Communications

5-7 Emergency Messages

GX-series EtherCAT Slave Units are able to notify emergency messages to the EtherCAT Master Unit
by using the SDO communications if they detect errors.

5-7-1 Emergency Message Notification

It is possible to set whether or not to notify emergency messages via the SDO communications.
Target indexes are sub-index 05 hex: (Flags) in 10F3 hex (Diagnostic History).

5-7 Emergency Messages

The setting values are shown in the table below.

Set value Emergency message notification

0000 hex Not notify.
0001 hex Notify.

When the power to it is turned on, a Slave Unit always starts up in the "Not notify" setting. If you want to
use a Slave Unit in the "Notify" setting, set it to "Notify" each time you turn on the power.
Note that an emergency message cannot be sent during an EtherCAT communications errors are
5
occurring.

Precautions for Correct Use

5-7-1 Emergency Message Notification

For unit version 1.0 of the GX-series Digital I/O Slaves, Analog I/O Slaves, and Encoder Input
Slaves, the slaves will start when the slave power supply is turned ON and notification is
enabled.

An emergency message is composed of 8-byte data as shown below.

Byte 0 1 2 3 4 5 6 7
Emergency Error register
Contents Reserved. Sysmac error status code
error code (Object 1001 hex)

For contents of emergency message, refer to "12-1-5 Emergency Error Code" in page 12 - 19.
For contents of Sysmac error status codes, refer to "12-1-4 Sysmac Error Status Codes" in page 12 -
14.

GX-series EtherCAT Slave Unit User’s Manual 5 - 13

 5 EtherCAT Communications

5-7-2 Diagnosis History

Any GX-series EtherCAT Slave Unit other than the GX-ILM08C can save up to eight emergency
messages in non-volatile memory inside the Slave Unit. The saved messages can be read with SDO
communications.
Indexes to be read are sub-indexes 06 hex to 0D hex (Diagnosis messages 1 to 8) among 10F3 hex
(Diagnosis History).

Diagnosis history is stored from Diagnosis message 1. If 8 errors are stored in order up to Diagnosis
message 8, the 9th error onward are saved from Diagnosis message 1 again.

The GX-ILM08C can save a maximum of 64 error records in the error history. For details, refer to the
IO-Link System User’s Manual (Cat. No. W570).

History is saved even if emergency messages cannot be sent to the EtherCAT Master Unit due to
EtherCAT communications errors or emergency messages are set to "Not notify."
Errors that occur for non-volatile memory are not saved in the diagnosis history.

5 - 14 GX-series EtherCAT Slave Unit User’s Manual

 5 EtherCAT Communications

5-8 Sysmac Device Functions

“Sysmac devices” is the generic name of control component products that were designed with
communications and user interface specifications that are unified for OMRON control components.
This functions of these procedures are called Sysmac device functions.
The section explains the functions of Sysmac devices when they are used together with NJ-series
Controller or other Machine Automation Controllers, and Automation Software.
Starting with unit version 1.1, the GX-series Digital I/O Slaves, Analog I/O Slaves, and Encoder Input
Slaves are Sysmac devices and support Sysmac device functions.
Starting with unit version 1.0, the GX-series IO-Link Master Unit is a Sysmac device and supports

5-8 Sysmac Device Functions

Sysmac device functions.

z Sysmac error status

Slaves Units that are Sysmac devices systematically handle errors that occur in the Slave Unit. You
can therefore use the Sysmac Studio to check errors and confirm corrections by using the same
procedures for all Sysmac devices.
Errors are reported in 2002 hex-01 hex (Sysmac Error Status). To display errors that are detected by
a Slave Unit on the Sysmac Studio, you must map 2002 hex-01 hex (Sysmac Error Status) to a
PDO. In the Sysmac Studio default settings, 2002 hex-01 hex (Sysmac Error Status) is automatically
mapped to a PDO in the 512th Transmit PDO Mapping (1BFF hex) assignments. 5
Reference

5-7-2 Diagnosis History

• Refer to "A-1-7 Manufacturer Specific Objects" in page A - 29 for information on 2002 hex-01
hex (Sysmac Error Status).
• Refer to "12-1-4 Sysmac Error Status Codes" in page 12 - 14 for errors that are displayed on
the Sysmac Studio.

GX-series EtherCAT Slave Unit User’s Manual 5 - 15

 5 EtherCAT Communications

z Saving node address settings

If the node address switches are set to 00, the software setting is enabled and the node address that
is set on the Sysmac Studio is used.
To use the software setting, execute the Write Slave Node Address menu command on the Edit
Network Configuration Tab Page for EtherCAT. The software setting will be saved in non-volatile
memory in the Slave Unit.

• Software setting
The software setting that is set in the SII (slave information interface) in non-volatile memory in the
Slave Unit is used as the node address.

EtherCAT Master Unit

(1) When the power supply is OFF, set the node

EtherCAT (2) Non-volatile memory address switches to 00.
(4) (5) slave controller (2) From the master, write the node address to the
SII
SII in the Slave Unit.
(3) When the power supply to the Slave Unit is
Register: 0010 hex turned ON, the software writes the node
(3) address setting to register address 0012 hex.
Register: 0012 hex
(4) The EtherCAT Master Unit reads the setting in
register address 0012 hex.
(1) Node address
switches (5) The EtherCAT Master Unit writes the value of
address 0012 hex to address 0010 hex.
EtherCAT Slave Unit

• Node address switch setting

The value that is set on the node address switches on the Slave Unit is used as the node address.

EtherCAT Master Unit

(1) When the power supply is OFF, set the node

EtherCAT Non-volatile memory address switches.
(3) (4) slave controller
SII (2) When the power supply to the Slave Unit is
turned ON, the value that is set on the node
address switches is saved in register address
Register: 0010 hex
(2) 0012 hex.
Register: 0012 hex (3) The EtherCAT Master Unit reads the setting in
register address 0012 hex.
(1) Node address (4) The EtherCAT Master Unit writes the value of
switches address 0012 hex to address 0010 hex.
EtherCAT Slave Unit

5 - 16 GX-series EtherCAT Slave Unit User’s Manual

 5 EtherCAT Communications

z Displaying serial numbers

The serial number that is stored in non-volatile memory in the Slave Unit is given in 1018 hex-04 hex
(Serial number). Controllers that support Sysmac device functions can use serial numbers to verify
the network configuration.
To verify the configuration, set the Serial Number Check Method parameter to Setting = Actual
device on the Edit Network Configuration Tab Page for EtherCAT on the Sysmac Studio.
A Network Configuration Verification Error will occur if verification fails for the specified method.

Reference

This helps prevent forgetting to set the parameters because a slave device that was replaced is
detected.

5-8 Sysmac Device Functions

z Conformance to ESI specifications (ETG.2000 S (R) V1.0.1)
The ESI specifications define the contents of the EtherCAT slave information (ESI) files.
Controllers that support Sysmac device functions can use an optional function that is defined in the
ESI specifications to specify backup parameters in the Slave Units.
You can back up and restore the backup parameters that are defined in the Slave Units from the
Sysmac Studio.

z SII data checking

The SII (slave information interface) contains specific configuration information on the EtherCAT
slave that is written in non-volatile memory in the EtherCAT Slave Unit. 5
EtherCAT Slave Units that are Sysmac devices check the information in the SII at the Slave Units.

5-7-2 Diagnosis History

Precautions for Correct Use
Do not change the SII information with setting software that is produced by other companies.

GX-series EtherCAT Slave Unit User’s Manual 5 - 17

 5 EtherCAT Communications

5 - 18 GX-series EtherCAT Slave Unit User’s Manual

Basic Specifications of Slave
Units
This chapter explains EtherCAT communication specifications, Slave Units
performance specifications, and the specifications of common areas.

6-1 EtherCAT Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6-2 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6-3 Specifications of Common Areas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4 6
6-3-1 Status Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6-3-2 Node Address Setting Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6-3-3 Communications Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-8
6-3-4 Unit Power Supply Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6-11

GX-series EtherCAT Slave Unit User’s Manual 6-1

6 Basic Specifications of Slave Units

6-1 EtherCAT Communications

Specifications
This section provides the communications specifications of GX-series Digital I/O Slave Units, Analog
I/O Slave Units, and Encoder Input Slave Units.

Item Specification
Communication protocol Dedicated protocol for EtherCAT
Modulation Base band
Baud rate 100 Mbps
Physical layer 100BASE-TX (IEEE802.3)
RJ45 × 2 (Shielded)
Connectors CN IN: EtherCAT input
CN OUT: EtherCAT output
Topology Daisy chain
Category 5 or higher (cable with double, aluminum tape and braided shielding is
Communications media
recommended.)
Communications distance Distance between nodes (Slave Units): 100 m max.
Noise immunity Conforms to IEC 61000-4-4, 1 kV or higher
Node address setting
Set on decimal node address switches or with a Configuration Tool.
method
1 to 99: Node address switch setting
Node address range
1 to 65535: Set with Configuration Tool
PWR × 1
L/A IN (Link/Activity IN) × 1
Indicator L/A OUT (Link/Activity OUT) × 1
RUN × 1
ERR × 1
Process data Fixed PDO mapping
PDO size/node 2 bit to 256 byte
Mailbox Emergency messages, SDO requests, SDO responses, and SDO information
SYNCHRONIZATION Digital I/O Slave Unit and Analog I/O Slave Unit: Free Run mode (asynchronous)
mode Encoder Input Slave Unit: DC mode 1

6-2 GX-series EtherCAT Slave Unit User’s Manual

 6 Basic Specifications of Slave Units

6-2 General Specifications

This section provides the general specifications of GX-series Digital I/O Slave Units, Analog I/O Slave
Units, and Encoder Input Slave Units.

Item Specification
Unit power supply voltage 20.4 to 26.4 VDC (24 VDC −15% to +10%)
I/O power supply voltage 20.4 to 26.4 VDC (24 VDC −15% to +10%)
Noise immunity Conforms to IEC 61000-4-4, 2 kV (power line).
Malfunction 10 to 60 Hz with amplitude of 0.7 mm, 60 to 150Hz and 50 m/s2 in each
of X, Y, and Z directions for 80 minutes
Vibration resistance
<GX-OC1601 Relay Output Unit only>
10 to 55 Hz with double-amplitude of 0.7 mm
150 m/s2 with amplitude of 0.7 mm

6-2 General Specifications

Shock resistance <GX-OC1601 Relay Output Unit only>
100 m/s2 (3 times each in 6 directions on 3 axes)
Dielectric strength 600 VAC (between isolated circuits)
Insulation resistance 20 MΩ or more (between isolated circuits)
Ambient operating
−10 to 55 °C
temperature
Ambient operating
25% to 85% (with no condensation)
humidity
Ambient operating
No corrosive gases
atmosphere 6
Storage temperature −25 to 65 °C
Storage humidity 25% to 85% (with no condensation)
Terminal block screws M3 wiring screws: 0.5 N • m
tightening torque* M3 terminal block mounting screws: 0.5 N • m
Mounting method 35-mm DIN track mounting
* Applicable only to 2-tier terminal block and 3-tier terminal block type Slave Units.

GX-series EtherCAT Slave Unit User’s Manual 6-3

6 Basic Specifications of Slave Units

6-3 Specifications of Common Areas

This section explains the specifications of indicator, switches, and connectors commonly mounted in
each Slave Unit.

6-3-1 Status Indicators

It indicates the current state of an EtherCAT Slave Unit.

PWR

L/A IN

L/A OUT
RUN

ERR

[PWR] indicator
Indicates the unit power supply state.

Color State Contents

OFF Unit power OFF state
Green
ON The unit power (24 VDC) is supplied to the Slave Unit.

[L/A IN] indicator

Indicates the communication state (input side).

Color State Contents

OFF Link not established in physical layer
Green Flickering In operation after establishing link
ON Link established in physical layer

[L/A OUT] indicator

Indicates the communication state (output side).

Color State Contents

OFF Link not established in physical layer
Green Flickering In operation after establishing link
ON Link established in physical layer

6-4 GX-series EtherCAT Slave Unit User’s Manual

 6 Basic Specifications of Slave Units

[RUN] indicator
It indicates the operation state.

Color State Contents

OFF Init state
Blinking Pre-Operational state
Green
Single flash Safe-Operational state
ON Operational state
For details on each state, refer to "5-3 Communications State Transitions" in page 5 - 4.

[ERR] indicator

6-3 Specifications of Common Areas

It indicates the information of an error.

Color State Contents

OFF No error
Blinking Communications setting error
Single flash Synchronization error or communications data error
Red
Double flash Application WDT timeout
Flickering Boot error
ON PDI WDT timeout

6
Reference

The timing of each flashing state of indicator is as follows.

6-3-1 Status Indicators

50 ms

on
Flickering
off

on
Blinking
200 ms 200 ms
off

on
1000 ms
Single flash
200 ms 200 ms
off

on
1000 ms
Double flash
200 ms 200 ms 200 ms
off

GX-series EtherCAT Slave Unit User’s Manual 6-5

6 Basic Specifications of Slave Units

6-3-2 Node Address Setting Switches

Digital I/O Slave Units, Analog I/O Slave Units, and Encoder Input
Slave Units

These switches are used to set node addresses of Slave Units in the EtherCAT network (decimal).
Set the tens digit of the node address on the left switch and the ones digit on the right switch.
Setting range is 00 to 99. (Default setting: 00)

90 1 90 1
7 8

7 8
2 3

2 3
4 5 6 4 5 6

Setting the node address (× 1)

Setting the node address (× 10)

Note that the node address set values vary as shown below when the EtherCAT Master Unit is made by
OMRON or by other manufacturers.

Set value for node address

Node address
OMRON EtherCAT Master Unit EtherCAT Master Unit from another
switch setting
NJ501-1@00 or CJ1W-NC@82 manufacturer
Set value according to Configuration Tool Set value according to Configuration
00
(Default setting: 0, Setting range: 1 to 65,535) Tool (settings by these switches are
01 to 99 Setting on node address switches irrelevant)

Precautions for Correct Use

• The setting on the node address switches is read only once when the power is turned ON.
Even if the settings are changed after turning the power supply ON, they are not reflected in
the control. They become effective when the power supply is turned ON the next time.
• If node addresses overlap, an error occurs and the operation stops.
• If you set the node address switches to 00, the Slave Unit will not operate if the node address
setting made from the Configuration Tool is not changed from 0 to another value. If the node
address switches are set to 00, always use the Configuration Tool to change the node address
to a value between 1 and 65,535.

6-6 GX-series EtherCAT Slave Unit User’s Manual

 6 Basic Specifications of Slave Units

IO-Link Master Unit

The node address setting switches are used to set node address of the Slave Unit in the EtherCAT
network as a hexadecimal value.
Set the hexadecimal value of the EtherCAT node address of the IO-Link Master Unit on the rotary
switches in the following order starting from the rightmost switch: rightmost digit (x1), middle digit (x16),
and leftmost digit (x256).
The setting range is from 000 to FFF hex (0 to 4,095 decimal). (Default setting: 000)
GX-ILM08C

6-3 Specifications of Common Areas

F012 F012 F012
BCDE

BCDE

BCDE
3456

3456

3456
789A 789A 789A

Node address setting, ×1

Node address setting, ×16
Node address setting, ×256

6-3-2 Node Address Setting Switches

The valid node address set value varies as shown below when the EtherCAT Master Unit is made by
OMRON or by another manufacturer.
Valid set value for node address
Node address
EtherCAT Master Unit from another
switch setting OMRON EtherCAT Master Unit
manufacturer
Value set with Configuration Tool (Default
000
setting: 0, Setting range: 1 to 65,535) Value set with Configuration Tool (The
Setting on node address switches on the setting on these switches is ignored.)
001 to FFF
Unit

Precautions for Correct Use

• The setting on the node address switches is read only once when the power is turned ON. If
the setting is changed after turning ON the power supply, it is not reflected in control. It
becomes effective the next time the power supply is turned ON.
• If the same node address is allocated to more than one node, an error occurs and operation
stops (for an OMRON EtherCAT Master Unit).
• If you set the node address switches to 000, the Slave Unit will not operate if the node address
setting made from the Configuration Tool is not changed from 000 to another value. If the node
address switches are set to 000, always use the Configuration Tool to change the node
address to a value between 1 and 65,535. (This applies when an OMRON NJ/NX-series
EtherCAT Master Unit is used. If a master manufactured by another company is used, the set
value can be used as an ID.)

GX-series EtherCAT Slave Unit User’s Manual 6-7

6 Basic Specifications of Slave Units

6-3-3 Communications Connectors

The Connectors are used to connect the communications cables.

Digital I/O Slave Units, Analog I/O Slave Units, and Encoder Input
Slave Units

RJ45 connectors are used for the communications connectors as shown below.

CN1 1

8
CN2

The specifications are shown below.

• Electrical characteristics: Conforms to the IEEE 802.3 standard.

• Connector structure: RJ45 8-pin modular connector (conforms to ISO 8877)
• Terminal arrangement
Pin No. Signal name Abbreviation
1 Send data + TD +
2 Send data − TD −
3 Receive data + RD +
4 Not used −
5 Not used −
6 Receive data − RD −
7 Not used −
8 Not used −
Hood Frame ground FG

6-8 GX-series EtherCAT Slave Unit User’s Manual

 6 Basic Specifications of Slave Units

IO-Link Master Unit

M12 connectors (D-coding, female) are used for the communications connectors as shown below.

GX-ILM08C

6-3 Specifications of Common Areas

EtherCAT communications connector, OUT
EtherCAT communications connector, IN

6
The specifications are given below.
• Electrical specifications: Conform to IEEE 802.3 standards.

6-3-3 Communications Connectors

• Connector structure: M12 connectors (D-coding, female) x 2 (Both are shielded.)
• Terminal Arrangement
Pin No. Signal Abbreviation
1 Transmission data + TD+
2 Reception data + RD+
3 Transmission data − TD−
4 Reception data − RD−
Shield --- FG

GX-series EtherCAT Slave Unit User’s Manual 6-9

 6 Basic Specifications of Slave Units

• Recommended Cables with Connectors

X S5  - T 4 2  -  M  -  
― ― ――― ― ― ―
(1) (2) (3) (4) (5) (6) (7) (8)

(1) Connector Model

H: Cable with Connector on One End
W: Cable with Connectors on Both Ends

(2) Type
T: Ethernet (mating section: M12, D coding)

(3) Number of Pins

4: 4 pins

(4) Contact Plating

2: Gold-plated, 0.4 μm

(5) Cable Connection Direction (M12 Connector)

1: Straight
2: Right-angle

(6) Cable Length

A: 0.3 m
B: 0.5 m
C: 1 m
D: 2 m
E: 3 m
G: 5 m
J: 10 m
K: 15 m

(7) Connectors
0: M12 plug on one end
1: M12 socket on one end and M12 plug on the other end
2: M12 plugs on both ends
C: M12 plug on one end and RJ45 plug on the other end
D: RJ45 plugs on both ends
E: M12 socket on one end and RJ45 plug on the other end

(8) Cable
K: Standard cable
KR: Flexible cable

6 - 10 GX-series EtherCAT Slave Unit User’s Manual

 6 Basic Specifications of Slave Units

6-3-4 Unit Power Supply Connector

The Connector is used to connect the unit power supply (24 VDC).

Digital I/O Slave Units, Analog I/O Slave Units, and Encoder Input
Slave Units

Fixing screw

6-3 Specifications of Common Areas

Name Specification
+V −V +V 24 VDC
terminal terminal −V 0 VDC

• Connector type: Spring connection connector with fixing screw (2-pin)

• Supported pin terminal diameter: 0.25 mm2 to 0.5 mm2/AWG24 to AWG20
(Pin terminal with isolation sleeve used)

For types of recommended pin terminals, refer to "4-3-3 Connecting the Unit Power Supply" in page 4 -
9. 6

6-3-4 Unit Power Supply Connector

GX-series EtherCAT Slave Unit User’s Manual 6 - 11

 6 Basic Specifications of Slave Units

IO-Link Master Unit

Supply the Unit power supply and the I/O power supply through the same power supply connector.
(Notes) Supply the Unit power supply and the I/O power supply from separate sources.
An M12 connector (A-coding, male) is used for the power supply connector.
GX-ILM08C

Power supply connector

z Power Supply Connector

Pin No. Signal Description

1 UNT_P+ Unit power supply +
2 UNT_P− Unit power supply −
3 IO_P+ I/O power supply +
4 IO_P− I/O power supply −
5 --- Not used.

6 - 12 GX-series EtherCAT Slave Unit User’s Manual

 6 Basic Specifications of Slave Units

6-3-5 I/O Power Supply Connector

Connect I/O power supply for external device operation (24 VDC).

Digital I/O Slave Units, Analog I/O Slave Units, and Encoder Input
Slave Units

The I/O power supply connector is mounted on the following type of Slave Unit with e-CON connector
and output contacts.

GX-OD1618/OD1628/MD1618/MD1628/OD3218/OD3228/MD3218/MD3228

6-3 Specifications of Common Areas

V terminal
Name Specification
G terminal V 24 VDC
G 0 VDC

• Connector type: Spring connection connector with fixing screw (4-pin)

• Supported pin terminal diameter: 0.25 mm2 to 0.5 mm2/AWG24 to AWG20 6
(Pin terminal with isolation sleeve used)

6-3-5 I/O Power Supply Connector

For types of recommended pin terminals, refer to "4-3-4 Connecting the I/O Power Supply" in page 4 -
11.

IO-Link Master Units

I/O power is supplied through the power supply connector. Refer to "6-3-4 Unit Power Supply
Connector" in page 6 - 11.

GX-series EtherCAT Slave Unit User’s Manual 6 - 13

 6 Basic Specifications of Slave Units

6 - 14 GX-series EtherCAT Slave Unit User’s Manual

Digital I/O Slave Unit
This chapter explains the overview of the Digital I/O Slave Unit.

7-1 Digital I/O Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7-2 I/O Data Allocation (PDO Mapping) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7-2-1 Input Data Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7-2-2 Output Data Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7-3 Functions of Digital I/O Slave Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7-3-1 Input Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7
7-3-2 Error Mode Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-8
7-4 Specifications for Each Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9
7-4-1 2-tier Terminal Block Type 16-point Input Slave Unit GX-ID1611/ID1621 . . . 7-10 7
7-4-2 2-tier Terminal Block Type 16-point Output Slave Unit GX-OD1611/OD1621 7-14
7-4-3 2-tier Terminal Block Relay Type 16-point Output Slave Unit GX-OC1601 . . 7-18
7-4-4 2-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit
GX-MD1611/MD1621 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-22
7-4-5 3-tier Terminal Block Type 16-point Input Slave Unit GX-ID1612/ID1622 . . . . 7-28
7-4-6 3-tier Terminal Block Type 16-point Output Slave Unit GX-OD1612/OD1622 7-33
7-4-7 3-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit
GX-MD1612/MD1622 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-38
7-4-8 e-CON Connector Type 16-point Input Slave Unit GX-ID1618/ID1628 . . . . . 7-44
7-4-9 e-CON Connector Type 16-point Output Slave Unit GX-OD1618/OD1628 . . 7-48
7-4-10 e-CON Connector Type 8-point Input and 8-point Output Slave Unit
GX-MD1618/MD1628 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-53
7-4-11 e-CON Connector Type 32-point Input Slave Unit GX-ID3218/ID3228 . . . . . 7-59
7-4-12 e-CON Connector Type 32-point Output Slave Unit GX-OD3218/OD3228 . . 7-64
7-4-13 e-CON Connector Type 16-point Input and 16-point Output Slave Unit
GX-MD3218/MD3228 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-69
7-5 Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-75
7-5-1 2-tier Terminal Block Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-75
7-5-2 3-tier Terminal Block Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-76
7-5-3 e-CON Connector Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-77

GX-series EtherCAT Slave Unit User’s Manual 7-1

7 Digital I/O Slave Unit

7-1 Digital I/O Slave Unit

Digital I/O Slave Units refer to slaves with processing functions for digital I/O data (ON/OFF signals).
Moreover, this Slave Unit has the input filter function (input only) and the output setting function at
communications error (output only).

7-2 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

7-2 I/O Data Allocation (PDO Mapping)

I/O data of Digital I/O Slave Units are allocated to the input/output areas of the I/O memory of the
EtherCAT Master Unit, respectively.

For the detailed explanation of allocation method, refer to the manual of EtherCAT Master Unit to be
connected.

7-2-1 Input Data Allocation

The input data for a Digital I/O Slave Unit consists of the input data for the Slave Unit and the input data
for the Expansion Unit (when one is mounted). You can also assign the Sysmac error status. *1 The
input data is assigned in this order in byte increments.

7-2 I/O Data Allocation (PDO Mapping)

*1 Unit version 1.1 or later only.

Input data allocation example

z 8-point Input Slave Unit

Offset
(byte) 7 bit 0 bit

0 Input data of the Slave Unit (7 to 0 bit)

+1 Reserved

z 16-point Input Slave Unit 7

7-2-1 Input Data Allocation

Offset
(byte) 7 bit 0 bit

0 Input data of the Slave Unit (7 to 0 bit)

+1 Input data of the Slave Unit (15 to 8 bit)

z 32-point Input Slave Unit

Offset
(byte) 7 bit 0 bit

0 Input data of the Slave Unit (7 to 0 bit)

+1 Input data of the Slave Unit (15 to 8 bit)

+2 Input data of the Slave Unit (23 to 16 bit)

+3 Input data of the Slave Unit (31 to 24 bit)

z 8-point Expansion Unit

Offset
(byte) 7 bit 0 bit

0 Input data of the Expansion Unit (7 to 0 bit)

+1 Reserved

GX-series EtherCAT Slave Unit User’s Manual 7-3

7 Digital I/O Slave Unit

z 16-point Expansion Unit

Offset
(byte) 7 bit 0 bit

0 Input data of the Expansion Unit (7 to 0 bit)

+1 Input data of the Expansion Unit (15 to 8 bit)

z 16-point Input Slave Unit and 8-point Expansion Unit

Offset
(byte) 7 bit 0 bit

0 Input data of the Slave Unit (7 to 0 bit)

+1 Input data of the Slave Unit (15 to 8 bit)

+2 Input data of the Expansion Unit (7 to 0 bit)

+3 Reserved

z 16-point Input Slave Unit and 16-point Expansion Unit

Offset
(byte) 7 bit 0 bit

0 Input data of the Slave Unit (7 to 0 bit)

+1 Input data of the Slave Unit (15 to 8 bit)

+2 Input data of the Expansion Unit (7 to 0 bit)

+3 Input data of the Expansion Unit (15 to 8 bit)

z 16-point Input Slave Unit and Sysmac error status

Offset
(byte) 7 bit 0 bit

0 Input data of the Slave Unit (7 to 0 bit)

+1 Input data of the Slave Unit (15 to 8 bit)

+2 Sysmac error status (23 to 16 bit)

z 16-point Input Slave Unit, 16-point Expansion Unit, and Sysmac error status

Offset
(byte) 7 bit 0 bit

0 Input data of the Slave Unit (7 to 0 bit)

+1 Input data of the Slave Unit (15 to 8 bit)

+2 Input data of the Expansion Unit (23 to 16 bit)

+3 Input data of the Expansion Unit (31 to 24 bit)

Sysmac error status (39 to 32 bit)

7-4 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

z Sysmac error status

Offset
(byte) 7 bit 0 bit

0 Sysmac error status (7 to 0 bit)

7-2-2 Output Data Allocation

Output data of Digital I/O Slave Units consists of 2 types: Output data of the Slave Unit and output data
of Expansion Unit (if mounted). The data is allocated in this order in units of bytes.

Output data allocation example

z 8-point Output Slave Unit

7-2 I/O Data Allocation (PDO Mapping)

Offset
(byte) 7 bit 0 bit

0 Output data of the Slave Unit (7 to 0 bit)

+1 Reserved

z 16-point Output Slave Unit

Offset
(byte) 7 bit 0 bit

0 Output data of the Slave Unit (7 to 0 bit)

+1 Output data of the Slave Unit (15 to 8 bit) 7

z 32-point Output Slave Unit

7-2-2 Output Data Allocation

Offset
(byte) 7 bit 0 bit

0 Output data of the Slave Unit (7 to 0 bit)

+1 Output data of the Slave Unit (15 to 8 bit)

+2 Output data of the Slave Unit (23 to 16 bit)

+3 Output data of the Slave Unit (31 to 24 bit)

z 8-point Expansion Unit

Offset
(byte) 7 bit 0 bit

0 Output data of the Expansion Unit (7 to 0 bit)

+1 Reserved

GX-series EtherCAT Slave Unit User’s Manual 7-5

7 Digital I/O Slave Unit

z 16-point Expansion Unit

Offset
(byte) 7 bit 0 bit

0 Output data of the Expansion Unit (7 to 0 bit)

+1 Output data of the Expansion Unit (15 to 8 bit)

z 16-point Output Slave Unit and 8-point Expansion Unit

Offset
(byte) 7 bit 0 bit

0 Output data of the Slave Unit (7 to 0 bit)

+1 Output data of the Slave Unit (15 to 8 bit)

+2 Output data of the Expansion Unit (7 to 0 bit)

+3 Reserved

z 16-point Output Slave Unit and 16-point Expansion Unit

Offset
(byte) 7 bit 0 bit

0 Output data of the Slave Unit (7 to 0 bit)

+1 Output data of the Slave Unit (15 to 8 bit)

+2 Output data of the Expansion Unit (7 to 0 bit)

+3 Output data of the Expansion Unit (15 to 8 bit)

7-6 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

7-3 Functions of Digital I/O Slave Units

Digital I/O Slave Units have the following convenient functions, in addition to the I/O signal processing.

7-3-1 Input Filter

Overview of functions

z Purpose
This function prevents data changes and unstable data, which may be caused by fluctuation of input
data and unstable contact state due to chattering and noise.

7-3 Functions of Digital I/O Slave Units

z Applicable Slave Unit
Slave Units with digital inputs and Expansion Units (GX-IDxxxx, input section of GX-MDxxxx,
XWT-IDxx (−1))

z Details of functions
This function reads inputs (ON/OFF) within a certain set time and turn ON the inputs if they are all
same (all ON or all OFF), and turn them OFF if not.
Note that this function works for all inputs of Slave Units and Expansion Units at the same time.

When the input shifts from OFF to ON (or ON to OFF), it is read 4 times from that point at an interval
of 1/4 of the set time. When all read results are ON (or OFF), the input is turned ON (or OFF).

1 2 3 4 1 2 3 4
7
ON ON

7-3-1 Input Filter

OFF OFF

ON OFF OFF ON ON ON ON ON

Input data is OFF because all data Input data is ON because all data
is not ON during 4 readings. is ON during 4 readings.

Data set to be input Data set to be input

ON
ON

OFF OFF

ON delay time

The settable time of reading is 0 ms, 0.5 ms, 1 ms (default set value), 2 ms, 4 ms, 8 ms, 16 ms, or 32
ms.

GX-series EtherCAT Slave Unit User’s Manual 7-7

7 Digital I/O Slave Unit

Note that when this function is used, the timing when the contact actually turns ON (or OFF) is
delayed for the set time (ON delay time).
The ON delay time is expressed by "input delay time (time required to read input) + input filter time."
Moreover, if the input filter is used for the Expansion Units as well, the ON delay time becomes
longer because the input delay time is longer than when only Slave Unit is used.

Setting method
The settings are made using the SDO communication.
The target index is 3000 hex.
For the set values, refer to the information in the corresponding index of "Appendix A-1 Object
Dictionary" in Page A - 31.

7-3-2 Error Mode Output

Overview of functions

z Purpose
This function provides selection whether to hold or clear the outputs if signals from the EtherCAT
Master Unit cannot be received any longer due to communications errors.

z Applicable Slave Unit

Slave Units with digital outputs and Expansion Units (GX-ODxxxx, GX-OC1601, output section of
GX-MDxxxx, XWT-ODxx (−1))

z Details of functions
Sets whether to hold or clear the output at communications errors.
It is possible to make setting for each contact. (Default setting: Clear all outputs)

Setting method
The settings are made using the SDO communication.
The target index is set as follows according to the number of outputs of a single Slave Unit (including
Expansion Units mounted).

Total
Output Unit Expansion Unit
output Applicable index
capacity Output capacity
capacity
8 points −
8 points
− 8 points
6306 hex
16 points −
16 points
− 16 points
24 points 16 points 8 points
16 points 16 points 6326 hex
32 points
32 points −

For the set value, refer to the information of the corresponding index of "Appendix A-1 Object
Dictionary" in Page A - 37.

7-8 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

7-4 Specifications for Each Slave Unit

This section shows the specification of Digital I/O Slave Units, names and functions of each part,
internal circuit diagram, and wiring diagram.
Refer to the following corresponding page to each model.

Reference page
Internal
Type Model Names and Wiring
Specification circuits
functions diagram
diagram
GX-ID1611
7-10 7-11 7-12 7-13
GX-ID1621
GX-OD1611
2-tier terminal 7-14 7-15 7-16 7-17
GX-OD1621
block type
GX-OC1601 7-18 7-19 7-21 7-21

7-4 Specifications for Each Slave Unit

GX-MD1611
7-22 7-24 7-25 7-26
GX-MD1621
GX-ID1612
7-28 7-29 7-30 7-31
GX-ID1622
3-tier terminal GX-OD1612
7-33 7-34 7-35 7-36
block type GX-OD1622
GX-MD1612
7-38 7-40 7-41 7-42
GX-MD1622
GX-ID1618
7-44 7-45 7-46 7-47
GX-ID1628
GX-OD1618
7-48 7-49 7-50 7-51
GX-OD1628
GX-MD1618
e-CON connector GX-MD1628
7-53 7-55 7-56 7-57 7
type GX-ID3218
7-59 7-60 7-62 7-63
GX-ID3228
GX-OD3218
7-64 7-65 7-66 7-67
GX-OD3228
GX-MD3218
7-69 7-71 7-72 7-73
GX-MD3228

GX-series EtherCAT Slave Unit User’s Manual 7-9

 7 Digital I/O Slave Unit

7-4-1 2-tier Terminal Block Type 16-point Input Slave Unit

GX-ID1611/ID1621

Specification

Specification
Item
GX-ID1611 GX-ID1621
Input capacity 16 points
Internal I/O common NPN PNP
15 VDC min. (between each input 15 VDC min. (between each input
ON voltage
terminal and the V terminal) terminal and the G terminal)
5 VDC max. (between each input 5 VDC max. (between each input
OFF voltage
terminal and the V terminal) terminal and the G terminal)
OFF current 1.0 mA max.
6.0 mA max./input (at 24-VDC)
Input current
3.0 mA max./input (at 17-VDC)
ON delay 0.1 ms max.
OFF delay 0.2 ms max.
Without filter, 0.5 ms, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms, 32 ms
Input filter value
(Default setting: 1 ms)
Number of circuits per
16 inputs/common
common
Input indicators LED display (yellow)
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply
Unit power supply current
90 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Weight 180 g max.
Expansion functions Enabled
Short-circuit protection
No
function
Notes For the I/O power supply current value to V and G terminals, refer to "A-5 I/O Power Supply Current" in
Page A - 67.

7 - 10 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5)

(1)

(2)

(7) (6)

7-4 Specifications for Each Slave Unit

z Terminal arrangement diagram

10 to 18 V 1 3 5 7 9 11 13 15

1 to 9 G 0 2 4 6 8 10 12 14

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4. 7
(3) Status indicators
(4) Node Address setting Switches

7-4-1 2-tier Terminal Block Type 16-point Input Slave Unit GX-ID1611/ID1621
Indicates the state of an input contact (ON/OFF).
(5) Input indicators (0 to 15) Not lit: Contact OFF (input OFF state)
Lit in yellow: Contact ON (input ON state)
Connects external devices and the I/O power supply.
(6) Terminal block V, G: I/O power supply terminals
0 to 15: Input terminals
(7) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 7 - 11

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-ID1611 (NPN)

CN IN
TX+
TX− Photocoupler
RX+ V 24 VDC
RX−
0

Physical 1
• •
layer
• •
CN OUT
Internal circuits
Photocoupler • •
TX+
• •
TX−
• •
RX+
• •
RX−
• •

• •
•
• •
•

•
G
UNIT PS
DC-DC
+V converter
−V
(No-isolation
type)

z GX-ID1621 (PNP)

CN IN
TX+ V 24 VDC
TX− Photocoupler
RX+ 0
RX−
1
• •

Physical • •

layer • •
Internal circuits

CN OUT Photocoupler • •

TX+ • •

TX− • •

RX+ • •
RX− G
•

UNIT PS
DC-DC
+V converter
−V (No-isolation
type)

7 - 12 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Wiring diagram
z GX-ID1611 (NPN)

V 1 3 5 7 9 11 13 15

G 0 2 4 6 8 10 12 14

7-4 Specifications for Each Slave Unit

Blue (black)

Blue (black)
Black (white)
Brown (red)

Brown (white)

I/O power supply

(24 VDC)

NPN output 3-wire sensor 2-wire sensor

(Photoelectric sensor, (Limit switch, etc.)
proximity sensor)

z GX-ID1621 (PNP)

7-4-1 2-tier Terminal Block Type 16-point Input Slave Unit GX-ID1611/ID1621
V 1 3 5 7 9 11 13 15

G 0 2 4 6 8 10 12 14
Black (white)

Brown (white)
Blue (black)

Blue (black)
Brown (red)

I/O power supply

(24 VDC)

PNP output 3-wire sensor 2-wire sensor

(Photoelectric sensor, (Limit switch, etc.)
proximity sensor)

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

GX-series EtherCAT Slave Unit User’s Manual 7 - 13

 7 Digital I/O Slave Unit

7-4-2 2-tier Terminal Block Type 16-point Output Slave Unit

GX-OD1611/OD1621

Specification

Specification
Item
GX-OD1611 GX-OD1621
Output capacity 16 points
Rated current
0.5 A/output, 4.0 A/common
(ON current)
Internal I/O common NPN PNP
1.2 V max. 1.2 V max.
Residual voltage (0.5 ADC, between each output terminal (0.5 ADC, between each output terminal
and the G terminal) and the V terminal)
Leakage current 0.1 mA max.
ON delay 0.5 ms max.
OFF delay 1.5 ms max.
Number of circuits per
16 points/common
common
Output indicators LED display (yellow)
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply
Unit power supply current
90 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Weight 180 g max.
Expansion functions Enabled
Error Mode Output Select either hold or clear.
Short-circuit protection
No
function
Notes For the I/O power supply current value to V and G terminals, refer to "A-5 I/O Power Supply Current" in
Page A - 67.

7 - 14 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5)

(1)

(2)

(7) (6)

7-4 Specifications for Each Slave Unit

z Terminal arrangement diagram

10 to 18 V 1 3 5 7 9 11 13 15

1 to 9 G 0 2 4 6 8 10 12 14

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4. 7
(3) Status indicators
(4) Node Address setting Switches

7-4-2 2-tier Terminal Block Type 16-point Output Slave Unit GX-OD1611/OD1621
Indicates the state of an output contact (ON/OFF).
(5) Output indicators (0 to 15) Not lit: Contact OFF (output OFF state)
Lit in yellow: Contact ON (output ON state)
Connects external devices and the I/O power supply.
(6) Terminal block V, G: I/O power supply terminals
0 to 15: Output terminals
(7) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 7 - 15

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-OD1611 (NPN)

CN IN
TX+
Photocoupler

Voltage
TX−

drop
RX+
V 24 VDC
RX− 0
1
Physical • •
layer Internal circuits • •
CN OUT • •
TX+ • •
TX− Photocoupler • •
RX+
• •
RX−
• •

• •

• •

• •

• •
UNIT PS
DC-DC
+V converter G
-V (No-isolation •

type) •

z GX-OD1621 (PNP)

CN IN
TX+
TX−
RX+ V 24 VDC
RX− Photocoupler 0
Physical 1
• •
layer
• •
Internal circuits

CN OUT
• •
TX+
• •
TX−
• •
RX+
• •
RX−
Photocoupler • •

• •
Voltage

• •
drop

G
UNIT PS •
DC-DC •
+V converter •

−V (No-isolation
type)

7 - 16 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Wiring diagram
z GX-OD1611 (NPN)

V 1 3 5 7 9 11 13 15

G 0 2 4 6 8 10 12 14

7-4 Specifications for Each Slave Unit

I/O power supply
(24 VDC)

Solenoid valve, etc. Solenoid valve, etc.

z GX-OD1621 (PNP)

7-4-2 2-tier Terminal Block Type 16-point Output Slave Unit GX-OD1611/OD1621
V 1 3 5 7 9 11 13 15

G 0 2 4 6 8 10 12 14

I/O power supply

(24 VDC)

Solenoid valve, etc. Solenoid valve, etc.

Precautions for Correct Use

When using an inductive load, such as a solenoid valve, either use a built-in diode for absorbing
the counterelectromotive force or install an external diode. (Refer to "A-4 Wiring External Output
Signal Lines" in Page A - 66.)

GX-series EtherCAT Slave Unit User’s Manual 7 - 17

 7 Digital I/O Slave Unit

7-4-3 2-tier Terminal Block Relay Type 16-point Output Slave Unit
GX-OC1601

Specification

Item Specification
Output capacity 16 points
Mounted relays NY-5W-K-IE (Fujitsu Component) *
Resistance load
Rated load 250 VAC 2 A/output, common 8 A
30 VDC 2 A/output, common 8 A
Rated ON current 3 A/output
Maximum contact voltage 250 VAC, 125 VDC
Maximum contact current 3 A/output
Maximum switching
750 VAAC, 90 WDC
capacity
Minimum applicable load
5 VDC 1mA
(reference value)
Mechanical service life 20,000,000 operations min.
Electrical service life 100,000 operations min.
Number of circuits per
8 points/common
common
Output indicators LED display (yellow)
Isolation method Relay isolation
The relay drive power is supplied from the unit power
I/O power supply method
supply.
Unit power supply current 210 mA max. (for 20.4 to 26.4-VDC power supply
consumption voltage)
Weight 290 g max.
Expansion functions Enabled
Error Mode Output Select either hold or clear.
Short-circuit protection
No
function
* For the specification of individual relay, refer to the data sheet disclosed by manufacturers.

Precautions for Correct Use

• With a current of between 2 and 3 A (8 to 10 A per common), either ensure that the number of
points per common that simultaneously turn ON does not exceed 4 or ensure that the ambient
temperature does not exceed 45°C. There are no restrictions if the current does not exceed 2
A (8 A per common).
• The rated current is the value for assuring normal operation, but not for assuring durability of
the relays. The relay service life depends greatly on factors such as the operating
temperature, the type of load, and switching conditions. The actual relay must be checked
under actual operating conditions.

7 - 18 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5)

(1)

(2)

(8) (7) (6)

7-4 Specifications for Each Slave Unit

z Terminal arrangement diagram

10 to 18 1 3 5 7 8 10 12 14 COM1

1 to 9 0 2 4 6 COM0 9 11 13 15

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4. 7
(3) Status indicators
(4) Node Address setting Switches

7-4-3 2-tier Terminal Block Relay Type 16-point Output Slave Unit GX-OC1601
Indicates the state of an output contact (ON/OFF).
(5) Output indicators (0 to 15) Not lit: Contact OFF (output OFF state)
Lit in yellow: Contact ON (output ON state)
(6) Output relay Switches a contact.
Connects external devices and the I/O power supply.
(7) Terminal block COM0, COM1: Common terminals
0 to 15: Output terminals
(8) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 7 - 19

 7 Digital I/O Slave Unit

Reference

Replacing relays
To replace output section relays, first remove the cover using the following procedure.

(1)

(2)

(3)

(1) Grab the handle with a finger and bend it upward.

(2) The side deflects in the direction of the arrow and the hook is removed.
(3) Press down the relay socket lever in the arrow direction using a driver and so on.
The relay pops up from the socket and can be removed.

Reference

Relay actual measurement data

The graphs below show the actual measurement values of relay characteristics sampled from
the production lines. There is some variation in relay characteristics, so use this data for
reference only.

● Maximum switching capacity ● Durability curve

Contact current (A)

Number of operations (× 10 times)

500
5
300 120-VAC resistance load
30 VDC, t = 7ms
4

4 200
240 VAC, COSφ = 0.4
3
100 120 VAC, COSφ = 0.4
2 30 VDC/240 VAC
50 Resistance load
1 AC resistance load 30
20
0.5

10
0.4
DC resistance load 5
0.3 3 30 VDC, t = 40ms
2
0.2
100 to 200 VDC
t = 7 to 40ms
0.1
10 20 30 50 100 200 300 500 1000 0.1 0.2 0.3 0.5 1 3 4 5

Contact voltage (V) Contact current (A)

7 - 20 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Internal circuits diagram

NY-5W-K-IE
Photocoupler 5 VDC
CN IN 0
TX+
TX−
RX+
RX− 1
•

Physical •

layer •

Internal circuits
Photocoupler
CN OUT •
•
TX+ • •
TX− •
•
RX+ COM0
RX−
NY-5W-K-IE
Photocoupler 5 VDC
8

7-4 Specifications for Each Slave Unit

UNIT PS
DC-DC
+V converter 9
−V (No-isolation •
type) •

Photocoupler •

•
•
•
•
•
•
•
•
•
COM1

DC-DC converter
for relay drive
(No-isolation type)

7
Wiring diagram

7-4-3 2-tier Terminal Block Relay Type 16-point Output Slave Unit GX-OC1601

1 3 5 7 8 10 12 14 COM1

0 2 4 6 COM0 9 11 13 15

Load Load Load Load Load Load Load Load

AC power supply
Load Load Load Load Load Load Load Load (DC power supply
is also allowed)

GX-series EtherCAT Slave Unit User’s Manual 7 - 21

 7 Digital I/O Slave Unit

7-4-4 2-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit
GX-MD1611/MD1621

Specification

z Common to input section and output section

Specification
Item
GX-MD1611 GX-MD1621
Internal I/O common NPN PNP
I/O indicators LED display (yellow)
Unit power supply current
80 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Weight 190 g max.
Expansion functions No
Short-circuit protection
No
function

z Input section

Specification
Item
GX-MD1611 GX-MD1621
Input capacity 8 points
15 VDC min. (between each input 15 VDC min. (between each input
ON voltage
terminal and the V terminal) terminal and the G terminal)
5 VDC max. (between each input 5 VDC max. (between each input
OFF voltage
terminal and the V terminal) terminal and the G terminal)
OFF current 1.0 mA max.
6.0 mA max./input (at 24-VDC)
Input current
3.0 mA max./input (at 17-VDC)
ON delay 0.1 ms max.
OFF delay 0.2 ms max.
Without filter, 0.5 ms, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms, 32 ms
Input filter value
(Default setting: 1 ms)
Number of circuits per
8 points/common
common
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption

7 - 22 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

z Output section

Specification
Item
GX-MD1611 GX-MD1621
Output capacity 8 points
Rated output current 0.5 A/output, 2.0 A/common
1.2 V max. 1.2 V max.
Residual voltage (0.5 ADC, between each output terminal (0.5 ADC, between each output terminal
and the G terminal) and the V terminal)
Leakage current 0.1 mA max.
ON delay 0.5 ms max.
OFF delay 1.5 ms max.
Number of circuits per
8 points/common
common
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply

7-4 Specifications for Each Slave Unit

I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Error Mode Output Select either hold or clear.
Notes For the I/O power supply current value to V and G terminals ,refer to "A-5 I/O Power Supply Current" in
Page A - 67.

GX-MD1611/MD1621
7-4-4 2-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit

GX-series EtherCAT Slave Unit User’s Manual 7 - 23

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5) (6)

(1)

(2)

(8) (7)

z Terminal arrangement diagram

Left side (input) Right side (output)

12 to 22 V1 1 3 5 7 V2 1 3 5 7 NC

1 to 11 G1 0 2 4 6 G2 0 2 4 6 NC

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
Indicates the state of an input contact (ON/OFF).
(5) Input indicators (0 to 7) Not lit: Contact OFF (input OFF state)
Lit in yellow: Contact ON (input ON state)
Indicates the state of an output contact (ON/OFF).
(6) Output indicators (0 to 7) Not lit: Contact OFF (output OFF state)
Lit in yellow: Contact ON (output ON state)
Connects external devices and the I/O power supply.
<Left side>
V1, G1: Input side I/O power supply terminals
(7) Terminal block 0 to 7: Input terminals
<Right side>
V2, G2: Output side I/O power supply terminals
0 to 7: Output terminals
(8) DIN track mounting hook Fixes a Slave Unit to a DIN track.

7 - 24 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-MD1611 (NPN)

CN IN
TX+ Photocoupler
TX− V1 24 VDC
RX+ 0
RX− 1
• •

Physical Photocoupler • •

layer • •

CN OUT Internal circuits • •

TX+ G1
TX−
RX+ Photocoupler

Voltage
drop
RX− V2 24 VDC
0
1

7-4 Specifications for Each Slave Unit

• •

• •

UNIT PS • •
DC-DC Photocoupler • •
+V converter
• •
−V (No-isolation • •
type) • •

• •

G2

z GX-MD1621 (PNP)

CN IN
V1 24 VDC
TX+ Photocoupler
0
TX−
RX+ 1 7
RX− • •

• •

Physical Photocoupler • •

GX-MD1611/MD1621
7-4-4 2-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit
• •
layer • •
Internal circuits

CN OUT
G1
TX+
TX−
RX+ V2 24 VDC
RX− Photocoupler 0
1
• •

• •

• •
UNIT PS
DC-DC • •
+V converter Photocoupler • •

−V (No-isolation • •
Voltage
drop

type) G2

GX-series EtherCAT Slave Unit User’s Manual 7 - 25

 7 Digital I/O Slave Unit

Wiring diagram
z GX-MD1611 (NPN)

V1 1 3 5 7 V2 1 3 5 7 NC

G1 0 2 4 6 G2 0 2 4 6 NC
Black (white)

Brown (white)
Blue (black)

Blue (black)
Brown (red)

I/O power supply I/O power supply

(24 VDC) (24 VDC)
Solenoid valve, etc. Solenoid valve, etc.
NPN output 3-wire sensor 2-wire sensor
(Photoelectric sensor, (Limit switch, etc.)
proximity sensor)

z GX-MD1621 (PNP)

V1 1 3 5 7 V2 1 3 5 7 NC

G1 0 2 4 6 G2 0 2 4 6 NC
Black (white)

Brown (white)
Blue (black)

Blue (black)
Brown (red)

I/O power supply I/O power supply

(24 VDC) (24 VDC)
Solenoid valve, etc. Solenoid valve, etc.
PNP output 3-wire sensor 2-wire sensor
(Photoelectric sensor, (Limit switch, etc.)
proximity sensor)

7 - 26 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Precautions for Correct Use

• The V1 and V2 terminals as well as the G1 and G2 terminals of the I/O power supply are not
connected internally. Supply power separately for V1-G1 and V2-G2.
• When using an inductive load, such as a solenoid valve, either use a built-in diode for
absorbing the counterelectromotive force or install an external diode. (Refer to "A-4 Wiring
External Output Signal Lines" in Page A - 66.)
• Do not wire NC terminals.

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

7-4 Specifications for Each Slave Unit

7

GX-MD1611/MD1621
7-4-4 2-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit

GX-series EtherCAT Slave Unit User’s Manual 7 - 27

 7 Digital I/O Slave Unit

7-4-5 3-tier Terminal Block Type 16-point Input Slave Unit

GX-ID1612/ID1622

Specification

Specification
Item
GX-ID1612 GX-ID1622
Input capacity 16 points
Internal I/O common NPN PNP
15 VDC min. (between each input 15 VDC min. (between each input
ON voltage
terminal and the V terminal) terminal and the G terminal)
5 VDC max. (between each input 5 VDC max. (between each input
OFF voltage
terminal and the V terminal) terminal and the G terminal)
OFF current 1.0 mA max.
6.0 mA max./input (at 24-VDC)
Input current
3.0 mA max./input (at 17-VDC)
ON delay 0.1 ms max.
OFF delay 0.2 ms max.
Without filter, 0.5 ms, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms, 32 ms
Input filter value
(Default setting: 1 ms)
Number of circuits per
8 points/common
common
Input indicators LED display (yellow)
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply
Input device supply
100 mA/point
current
Unit power supply current
90 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Weight 370 g max.
Expansion functions No
Short-circuit protection
No
function
Notes For the I/O power supply current value to V and G terminals ,refer to "A-5 I/O Power Supply Current" in
Page A - 67.

7 - 28 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5)

(1)

(2)

(7) (6)

7-4 Specifications for Each Slave Unit

z Terminal arrangement diagram

1 to 9 NC 0 1 2 3 4 5 6 7 NC 8 9 10 11 12 13 14 15

10 to 18 V1 V1 V1 V1 V1 V1 V1 V1 V1 V2 V2 V2 V2 V2 V2 V2 V2 V2

19 to 27 G1 G1 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 G2 G2 G2 G2 G2 G2

No. Name Function

(1) Communications connectors
7
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators

7-4-5 3-tier Terminal Block Type 16-point Input Slave Unit GX-ID1612/ID1622
(4) Node Address setting Switches
Indicates the state of an input contact (ON/OFF).
(5) Input indicators (0 to 15) Not lit: Contact OFF (input OFF state)
Lit in yellow: Contact ON (input ON state)
Connects external devices and the I/O power supply.
<Left side>
V1, G1: I/O power supply terminals
(6) Terminal block 0 to 7: Input terminals
<Right side>
V2, G2: I/O power supply terminals
8 to 15: Input terminals
(7) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 7 - 29

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-ID1612 (NPN)

CN IN
TX+ V1 24 VDC
TX−
RX+ G1

Input circuit
RX− Photocoupler
V1
Physical
0 to 7
layer
CN OUT G1
TX+
Internal •
•
•
•

TX− circuits • •
V2 24 VDC
RX+
RX− G2

Input circuit
Photocoupler
V2

8 to 15
UNIT PS
DC-DC
+V converter • • G2
• •
• •
−V (No-isolation
type)

z GX-ID1622 (PNP)

CN IN
TX+ G1
TX−
RX+ V1 24 VDC
Input circuit

RX- Photocoupler
G1
Physical
layer 0 to 7
CN OUT Internal V1
• •
TX+ circuits •
•
•
•
TX− G2
RX+
RX− V2 24 VDC
Input circuit

Photocoupler
G2

8 to 15
UNIT PS
DC-DC
+V V2
converter •
•
•
•
• •
−V (No-isolation
type)

7 - 30 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Wiring diagram
z GX-ID1612 (NPN)

NC 0 1 2 3 4 5 6 7 NC 8 9 10 11 12 13 14 15

V1 V1 V1 V1 V1 V1 V1 V1 V1 V2 V2 V2 V2 V2 V2 V2 V2 V2

G1 G1 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 G2 G2 G2 G2 G2 G2

7-4 Specifications for Each Slave Unit

I/O power supply
Black (white)
Brown (white)

Blue (black)
Blue (black)

Brown (red)

(24 VDC)

2-wire sensor NPN output 3-wire sensor

(Limit switch, etc.) (Photoelectric sensor,
proximity sensor)

z GX-ID1622 (PNP)

7-4-5 3-tier Terminal Block Type 16-point Input Slave Unit GX-ID1612/ID1622
NC 0 1 2 3 4 5 6 7 NC 8 9 10 11 12 13 14 15

V1 V1 V1 V1 V1 V1 V1 V1 V1 V2 V2 V2 V2 V2 V2 V2 V2 V2

G1 G1 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 G2 G2 G2 G2 G2 G2

I/O power supply

Brown (white)

Black (white)
Blue (black)
Blue (black)

Brown (red)

(24 VDC)

2-wire sensor PNP output 3-wire sensor

(Limit switch, etc.) (Photoelectric sensor,
proximity sensor)

GX-series EtherCAT Slave Unit User’s Manual 7 - 31

 7 Digital I/O Slave Unit

Precautions for Correct Use

• The V1 and V2 terminals as well as the G1 and G2 terminals of the I/O power supply are not
connected internally. Supply power separately for V1-G1 and V2-G2.
• Do not wire NC terminals.

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

7 - 32 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

7-4-6 3-tier Terminal Block Type 16-point Output Slave Unit

GX-OD1612/OD1622

Specification

Specification
Item
GX-OD1612 GX-OD1622
Output capacity 16 points
Rated current (ON
0.5 A/output, 4.0 A/common
current)
Internal I/O common NPN PNP
1.2 V max. 1.2 V max.
Residual voltage (0.5 ADC, between each output terminal (0.5 ADC, between each output terminal

7-4 Specifications for Each Slave Unit

and the G terminal) and the V terminal)
Leakage current 0.1 mA max.
ON delay 0.5 ms max.
OFF delay 1.5 ms max.
Number of circuits per
8 points/common
common
Output indicators LED display (yellow)
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply
Output device supply
100 mA/point
current
Unit power supply current
90 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
7
consumption
Weight 370 g max.

7-4-6 3-tier Terminal Block Type 16-point Output Slave Unit GX-OD1612/OD1622
Expansion functions No
Error Mode Output Select either hold or clear.
Short-circuit protection
No
function
Notes For the I/O power supply current value to V and G terminals ,refer to "A-5 I/O Power Supply Current" in
Page A - 67.

GX-series EtherCAT Slave Unit User’s Manual 7 - 33

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5)

(1)

(2)

(7) (6)

z Terminal arrangement diagram

1 to 9 NC 0 1 2 3 4 5 6 7 NC 8 9 10 11 12 13 14 15

10 to 18 V1 V1 V1 V1 V1 V1 V1 V1 V1 V2 V2 V2 V2 V2 V2 V2 V2 V2

19 to 27 G1 G1 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 G2 G2 G2 G2 G2 G2

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
Indicates the state of an output contact (ON/OFF).
(5) Output indicators (0 to 15) Not lit: Contact OFF (output OFF state)
Lit in yellow: Contact ON (output ON state)
Connects external devices and the I/O power supply.
<Left side>
V1, G1: I/O power supply terminals
(6) Terminal block 0 to 7: Output terminals
<Right side>
V2, G2: I/O power supply terminals
8 to 15: Output terminals
(7) DIN track mounting hook Fixes a Slave Unit to a DIN track.

7 - 34 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-OD1612 (NPN)

Voltage
CN IN

drop
V1 24 VDC
TX+
TX− G1
RX+
RX−
V1

Physical
layer Output (0 to 7)
CN OUT Photocoupler
TX+ Internal
TX− G1
circuits • •
RX+ • •
• •

Voltage
RX−

drop
V2 24 VDC

G2

7-4 Specifications for Each Slave Unit

V2
UNIT PS
DC-DC
+V converter
Output (8 to 15)
−V (No-isolation
Photocoupler
type)
G2
• •
• •
• •

z GX-OD1622 (PNP)

CN IN V1 24 VDC
Voltage

TX+
7
drop

TX−
G1
RX+
RX− V1

7-4-6 3-tier Terminal Block Type 16-point Output Slave Unit GX-OD1612/OD1622
Physical Output (0 to 7)
layer
CN OUT G1
TX+ Internal •
•
•
•
• •
TX− circuits Photocoupler
RX+
V2 24 VDC
RX−
Voltage
drop

G2

V2
UNIT PS
DC-DC
+V converter Output (8 to 15)
−V (No-isolation G2
type) •
•
•
•
• •

Photocoupler

GX-series EtherCAT Slave Unit User’s Manual 7 - 35

 7 Digital I/O Slave Unit

Wiring diagram
z GX-OD1612 (NPN)

NC 0 1 2 3 4 5 6 7 NC 8 9 10 11 12 13 14 15

V1 V1 V1 V1 V1 V1 V1 V1 V1 V2 V2 V2 V2 V2 V2 V2 V2 V2

G1 G1 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 G2 G2 G2 G2 G2 G2
Blue (black)

I/O power supply

Brown (red)

Pink (white)

(24 VDC)

Solenoid valve, etc. NPN input 3-wire

external device
(Emitter of
photoelectric sensor)

z GX-OD1622 (PNP)

NC 0 1 2 3 4 5 6 7 NC 8 9 10 11 12 13 14 15

V1 V1 V1 V1 V1 V1 V1 V1 V1 V2 V2 V2 V2 V2 V2 V2 V2 V2

G1 G1 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 G2 G2 G2 G2 G2 G2
Blue (black)

I/O power supply

Brown (red)

Pink (white)

(24 VDC)

Solenoid valve, etc. PNP input 3-wire

external device
(Emitter of
photoelectric sensor)

7 - 36 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Precautions for Correct Use

• The V1 and V2 terminals as well as the G1 and G2 terminals of the I/O power supply are not
connected internally. Supply power separately for V1-G1 and V2-G2.
• Use a maximum current of 500 mA for each V1, V2, G1, and G2 terminals aside from the I/O
power supply terminals.
• When using an inductive load, such as a solenoid valve, either use a built-in diode for
absorbing the counterelectromotive force or install an external diode. (Refer to "A-4 Wiring
External Output Signal Lines" in Page A - 66.)
• Do not wire NC terminals.

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

7-4 Specifications for Each Slave Unit

7

7-4-6 3-tier Terminal Block Type 16-point Output Slave Unit GX-OD1612/OD1622

GX-series EtherCAT Slave Unit User’s Manual 7 - 37

 7 Digital I/O Slave Unit

7-4-7 3-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit
GX-MD1612/MD1622

Specification

z Common to input section and output section

Specification
Item
GX-MD1612 GX-MD1622
Internal I/O common NPN PNP
I/O indicators LED display (yellow)
Unit power supply current
90 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Weight 370 g max.
Expansion functions No
Short-circuit protection
No
function

z Input section

Specification
Item
GX-MD1612 GX-MD1622
Input capacity 8 points
15 VDC min. (between each input 15 VDC min. (between each input
ON voltage
terminal and the V terminal) terminal and the G terminal)
5 VDC max. (between each input 5 VDC max. (between each input
OFF voltage
terminal and the V terminal) terminal and the G terminal)
OFF current 1.0 mA max./input
6.0 mA max./input (at 24-VDC)
Input current
3.0 mA max./input (at 17-VDC)
ON delay 0.1 ms max.
OFF delay 0.2 ms max.
Without filter, 0.5 ms, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms, 32 ms
Input filter value
(Default setting: 1 ms)
Number of circuits per
8 points/common
common
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply
Input device supply
100 mA/point
current
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption

7 - 38 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

z Output section

Specification
Item
GX-MD1612 GX-MD1622
Output capacity 8 points
Rated output current 0.5 A/output, 2.0 A/common
1.2 V max. 1.2 V max.
Residual voltage (0.5 ADC, between each output terminal (0.5 ADC, between each output terminal
and the G terminal) and the V terminal)
Leakage current 0.1 mA max.
ON delay 0.5 ms max.
OFF delay 1.5 ms max.
Number of circuits per
8 points/common
common
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply

7-4 Specifications for Each Slave Unit

Output device supply
100 mA/point
current
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Error Mode Output Select either hold or clear.
Notes For the I/O power supply current value to V and G terminals ,refer to "A-5 I/O Power Supply Current" in
Page A - 67.

GX-MD1612/MD1622
7-4-7 3-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit

GX-series EtherCAT Slave Unit User’s Manual 7 - 39

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5) (6)

(1)

(2)

(8) (7)

z Terminal arrangement diagram

1 to 9 NC 0 1 2 3 4 5 6 7 NC 0 1 2 3 4 5 6 7

10 to 18 V1 V1 V1 V1 V1 V1 V1 V1 V1 V2 V2 V2 V2 V2 V2 V2 V2 V2

19 to 27 G1 G1 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 G2 G2 G2 G2 G2 G2

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
Indicates the state of an input contact (ON/OFF).
(5) Input indicators (0 to 7) Not lit: Contact OFF (input OFF state)
Lit in yellow: Contact ON (input ON state)
Indicates the state of an output contact (ON/OFF).
(6) Output indicators (0 to 7) Not lit: Contact OFF (output OFF state)
Lit in yellow: Contact ON (output ON state)
Connects external devices and the I/O power supply.
<Left side>
V1, G1: Input side I/O power supply terminals
(7) Terminal block 0 to 7: Input terminals
<Right side>
V2, G2: Output side I/O power supply terminals
0 to 7: Output terminals
(8) DIN track mounting hook Fixes a Slave Unit to a DIN track.

7 - 40 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-MD1612 (NPN)

CN IN
TX+ V1 24 VDC
TX− Photocoupler
RX+ G1

Input circuit
RX−
V1
Physical
layer 0 to 7
CN OUT G1
Internal •
TX+ •

TX−
circuits •
•
•
•

Voltage
drop
RX+ V2 24 VDC
RX−
G2

7-4 Specifications for Each Slave Unit

V2

UNIT PS 0 to 7
DC-DC
+V converter Photocoupler
−V (No-isolation G2
•
type) •
•
•
• •

z GX-MD1622 (PNP)

CN IN
V1 24 VDC
TX+
TX− G1
RX+
RX− Photocoupler V1 7
Input circuit

Physical 0 to 7
layer

GX-MD1612/MD1622
7-4-7 3-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit
CN OUT G1
TX+ Internal • •
• •
TX− circuits • •

RX+ V2 24 VDC
RX−
Voltage
drop

G2

V2

UNIT PS
DC-DC 0 to 7
+V converter
−V (No-isolation G2
type) Photocoupler •
•
•
•
• •

GX-series EtherCAT Slave Unit User’s Manual 7 - 41

 7 Digital I/O Slave Unit

Wiring diagram
z GX-MD1612 (NPN)

NC 0 1 2 3 4 5 6 7 NC 0 1 2 3 4 5 6 7

V1 V1 V1 V1 V1 V1 V1 V1 V1 V2 V2 V2 V2 V2 V2 V2 V2 V2

G1 G1 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 G2 G2 G2 G2 G2 G2

I/O power supply

Black (white)

I/O power
Blue (black)

Blue (black)
Blue (black)
Brown (white)

Brown (red)

Brown (red)

Pink (white)
(24 VDC) supply
(24 VDC)

2-wire sensor NPN output 3-wire Solenoid valve, etc. NPN input 3-wire
(Limit switch, etc.) sensor external device
(Photoelectric sensor, (Emitter of
proximity sensor) photoelectric sensor)

z GX-MD1622 (PNP)

NC 0 1 2 3 4 5 6 7 NC 0 1 2 3 4 5 6 7

V1 V1 V1 V1 V1 V1 V1 V1 V1 V2 V2 V2 V2 V2 V2 V2 V2 V2

G1 G1 G1 G1 G1 G1 G1 G1 G1 G2 G2 G2 G2 G2 G2 G2 G2 G2

I/O power supply

Blue (black)
Blue (black)
Brown (white)

I/O power
Brown (red)

Blue (black)
Black (white)

Brown (red)

Pink (white)

(24 VDC) supply

(24 VDC)

2-wire sensor PNP output 3-wire Solenoid valve, etc. PNP input 3-wire
(Limit switch, etc.) sensor external device
(Photoelectric sensor, (Emitter of
proximity sensor) photoelectric sensor)

7 - 42 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Precautions for Correct Use

• The V1 and V2 terminals as well as the G1 and G2 terminals of the I/O power supply are not
connected internally. Supply power separately for V1-G1 and V2-G2.
• Use a maximum current of 500 mA for each V1, V2, G1, and G2 terminals aside from the I/O
power supply terminals.
• When using an inductive load, such as a solenoid valve, either use a built-in diode for
absorbing the counterelectromotive force or install an external diode. (Refer to "A-4 Wiring
External Output Signal Lines" in Page A - 66.)
• Do not wire NC terminals.

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

7-4 Specifications for Each Slave Unit

7

GX-MD1612/MD1622
7-4-7 3-tier Terminal Block Type 8-point Input and 8-point Output Slave Unit

GX-series EtherCAT Slave Unit User’s Manual 7 - 43

 7 Digital I/O Slave Unit

7-4-8 e-CON Connector Type 16-point Input Slave Unit

GX-ID1618/ID1628

Specification

Specification
Item
GX-ID1618 GX-ID1628
Input capacity 16 points
Internal I/O common NPN PNP
15 VDC min. (between each input 15 VDC min. (between each input
ON voltage
terminal and the V terminal) terminal and the G terminal)
5 VDC max. (between each input 5 VDC max. (between each input
OFF voltage
terminal and the V terminal) terminal and the G terminal)
OFF current 1.0 mA max.
6.0 mA max./input (at 24-VDC)
Input current
3.0 mA max./input (at 17-VDC)
ON delay 0.1 ms max.
OFF delay 0.2 ms max.
Without filter, 0.5 ms, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms, 32 ms
Input filter value
(Default setting: 1 ms)
Number of circuits per
16 points/common
common
Input indicators LED display (yellow)
Isolation method No isolation
I/O power supply method Supplied from unit power supply
Input device supply
100 mA/point
current
Unit power supply current
150 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
e-CON connector
50 times
insertion durability
Weight 140 g max.
Expansion functions No
Short-circuit protection
Available (Operates at 50 mA/point min.)
function
Notes For the I/O power supply current value to V and G terminals ,refer to "A-5 I/O Power Supply Current" in
Page A - 67.

7 - 44 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5)

(1)

(2)

(7) (6)

7-4 Specifications for Each Slave Unit

z Terminal arrangement diagram
GX-ID1618 GX-ID1628
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7

1 V V V V V V V V 1 V0 V1 V2 V3 V4 V5 V6 V7

2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

3 G0 G1 G2 G3 G4 G5 G6 G7 3 G G G G G G G G

4 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 4 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7

8 9 10 11 12 13 14 15 8 9 10 11 12 13 14 15
7
1 V V V V V V V V 1 V8 V9 V10 V11 V12 V13 V14 V15

2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

7-4-8 e-CON Connector Type 16-point Input Slave Unit GX-ID1618/ID1628

3 G8 G9 G10 G11 G12 G13 G14 G15 3 G G G G G G G G

4 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 4 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
Indicates the state of an input contact (ON/OFF).
(5) Input indicators (0 to 15) Not lit: Contact OFF (input OFF state)
Lit in yellow: Contact ON (input ON state)
(6) I/O connectors (0 to 15) Connects an external device.
(7) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 7 - 45

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-ID1618 (NPN)

CN IN
TX+
TX−
RX+
RX− Photocoupler
V

Input circuit
NC
Physical Short-circuit
protection element G0
layer
IN0
Internal circuits
CN OUT
TX+
TX−
RX+
RX− Photocoupler
V

Input circuit
•
•
NC
Short-circuit •
protection element G1
IN1
UNIT PS
DC-DC
+V converter
−V (No-isolation
type)

z GX-ID1628 (PNP)

CN IN
TX+ Short-circuit V0
TX−
protection element
RX+ NC
RX− G
Photocoupler
IN0
Input circuit

Physical
layer
Internal circuits

CN OUT
TX+ Short-circuit
TX− protection element V1
RX+ NC
RX− G
Photocoupler
IN1
Input circuit

UNIT PS
DC-DC
+V converter
−V (No-isolation
type)

• •
• •
• •

7 - 46 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Wiring diagram
z GX-ID1618 (NPN)

V V V V V V V V

NC NC NC NC NC NC NC NC

G0 G1 G2 G3 G4 G5 G6 G7

IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7

V V V V V V V V

NC NC NC NC NC NC NC NC

G8 G9 G10 G11 G12 G13 G14 G15

7-4 Specifications for Each Slave Unit

IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15

Blue (black)
Brown (red)
Black (white)
Blue (black)
Brown (white)

2-wire sensor NPN output 3-wire sensor

(Limit switch, etc.) (Photoelectric sensor,
proximity sensor)

z GX-ID1628 (PNP)

7-4-8 e-CON Connector Type 16-point Input Slave Unit GX-ID1618/ID1628

V0 V1 V2 V3 V4 V5 V6 V7

NC NC NC NC NC NC NC NC

G G G G G G G G

IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7

V8 V9 V10 V11 V12 V13 V14 V15

NC NC NC NC NC NC NC NC

G G G G G G G G

IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15

Black (white)
Blue (black)
Brown (white)

Blue (black)
Brown (red)

2-wire sensor PNP output 3-wire sensor

(Limit switch, etc.) (Photoelectric sensor,
proximity sensor)

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

GX-series EtherCAT Slave Unit User’s Manual 7 - 47

 7 Digital I/O Slave Unit

7-4-9 e-CON Connector Type 16-point Output Slave Unit

GX-OD1618/OD1628

Specification

Specification
Item
GX-OD1618 GX-OD1628
Output capacity 16 points
Rated current (ON
0.5 A/output, 4.0 A/common
current)
Internal I/O common NPN PNP
1.2 V max. 1.2 V max.
Residual voltage (0.5 ADC, between each output terminal (0.5 ADC, between each output terminal
and the G terminal) and the V terminal)
Leakage current 0.1 mA max.
ON delay 0.5 ms max.
OFF delay 1.5 ms max.
Number of circuits per
16 points/common
common
Output indicators LED display (yellow)
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply
Output device supply
100 mA/point
current
Unit power supply current
80 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Current consumption from
10 mA max. (for power supply voltage of 20.4 to 26.4 VDC)
I/O power supply
e-CON connector
50 times
insertion durability
Weight 130 g max.
Expansion functions No
Error Mode Output Select either hold or clear.
Short-circuit protection
No
function
Notes For the I/O power supply current value to V and G terminals ,refer to "A-5 I/O Power Supply Current" in
Page A - 67.

7 - 48 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5)

(1)

(2)

(7) (8) (6)

7-4 Specifications for Each Slave Unit

z Terminal arrangement diagram

0 1 2 3 4 5 6 7

1 V V V V V V V V

2 NC NC NC NC NC NC NC NC

3 G G G G G G G G
OUT OUT OUT OUT OUT OUT OUT OUT
4 0 1 2 3 4 5 6 7

8 9 10 11 12 13 14 15
7
1 V V V V V V V V

2 NC NC NC NC NC NC NC NC

7-4-9 e-CON Connector Type 16-point Output Slave Unit GX-OD1618/OD1628

3 G G G G G G G G

4 OUT OUT OUT OUT OUT OUT OUT OUT

8 9 10 11 12 13 14 15

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
Indicates the state of an output contact (ON/OFF).
(5) Output indicators (0 to 15) Not lit: Contact OFF (output OFF state)
Lit in yellow: Contact ON (output ON state)
(6) I/O connectors (0 to 15) Connects an external device.
(7) I/O power supply connector Supplies the I/O power.
(8) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 7 - 49

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-OD1618 (NPN)

V
V
G
CN IN G
TX+
TX−

Voltage
drop
RX+ V
RX− NC
Photocoupler G
Physical OUT0
layer
CN OUT
Internal circuits

TX+
TX−
RX+
RX−

Voltage
drop
V
•
•
NC
UNIT PS Photocoupler •
G
DC-DC
+V OUT1
converter
−V (No-isolation
type)

•
•
•

z GX-OD1628 (PNP)

V
V
CN IN G
TX+ G
TX−
RX+
V
RX−
NC
Photocoupler
G
Physical
layer OUT0
Internal circuits

Voltage

CN OUT
drop

TX+
TX−
RX+
RX−

V
•
•
NC
•
G
UNIT PS OUT1
DC-DC
+V converter Photocoupler
−V (No-isolation
type)
Voltage
drop

•
•
•

7 - 50 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Wiring diagram
z GX-OD1618 (NPN)

V V V V V V V V

NC NC NC NC NC NC NC NC

G G G G G G G G
V
OUT OUT OUT OUT OUT OUT OUT OUT
V 0 1 2 3 4 5 6 7

G
V V V V V V V V
G
NC NC NC NC NC NC NC NC

G G G G G G G G

7-4 Specifications for Each Slave Unit

OUT OUT OUT OUT OUT OUT OUT OUT
8 9 10 11 12 13 14 15

Pink (white)
Blue (black)
Brown (red)
I/O power supply
(24 VDC)

Solenoid valve, etc. NPN input 3-wire external device

(Emitter of photoelectric sensor)

z GX-OD1628 (PNP)

7-4-9 e-CON Connector Type 16-point Output Slave Unit GX-OD1618/OD1628

V V V V V V V V

NC NC NC NC NC NC NC NC

G G G G G G G G
V
OUT OUT OUT OUT OUT OUT OUT OUT
V 0 1 2 3 4 5 6 7

G
V V V V V V V V
G
NC NC NC NC NC NC NC NC

G G G G G G G G
OUT OUT OUT OUT OUT OUT OUT OUT
8 9 10 11 12 13 14 15
Blue (black)
Brown (red)
Pink (white)

I/O power supply

(24 VDC)

Solenoid valve, etc. PNP input 3-wire external device

(Emitter of photoelectric sensor)

GX-series EtherCAT Slave Unit User’s Manual 7 - 51

 7 Digital I/O Slave Unit

Precautions for Correct Use

• The I/O power supply connectors are equipped with two sets of V and G terminals. One set of
terminals is used for the I/O power supply for the unit, and the other set is used for the I/O
power supply to the next unit. Use a maximum current of 4 A per terminal.
• When using an inductive load, such as a solenoid valve, either use a built-in diode for
absorbing the counterelectromotive force or install an external diode. (Refer to "A-4 Wiring
External Output Signal Lines" in Page A - 66.)

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

7 - 52 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

7-4-10 e-CON Connector Type 8-point Input and 8-point Output Slave Unit
GX-MD1618/MD1628

Specification

z Common to input section and output section

Specification
Item
GX-MD1618 GX-MD1628
Internal I/O common NPN PNP
I/O indicators LED display (yellow)
Unit power supply current
120 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
e-CON connector

7-4 Specifications for Each Slave Unit

50 times
insertion durability
Weight 140 g max.
Expansion functions No
Short-circuit protection
Available at input section only (Operates at 50 mA/point min.)
function

z Input section

Specification
Item
GX-MD1618 GX-MD1628
Input capacity 8 points
15 VDC min. (between each input 15 VDC min. (between each input
ON voltage
terminal and the V terminal) terminal and the G terminal) 7
5 VDC max. (between each input 5 VDC max. (between each input
OFF voltage
terminal and the V terminal) terminal and the G terminal)

GX-MD1618/MD1628
7-4-10 e-CON Connector Type 8-point Input and 8-point Output Slave Unit
OFF current 1.0 mA max.
6.0 mA max./input (at 24-VDC)
Input current
3.0 mA max./input (at 17-VDC)
ON delay 0.1 ms max.
OFF delay 0.2 ms max.
Without filter, 0.5 ms, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms, 32 ms
Input filter value
(Default setting: 1 ms)
Number of circuits per
8 points/common
common
Isolation method No-isolation
I/O power supply method Supplied from unit power supply
Input device supply
100 mA/point
current
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption

GX-series EtherCAT Slave Unit User’s Manual 7 - 53

 7 Digital I/O Slave Unit

z Output section

Specification
Item
GX-MD1618 GX-MD1628
Output capacity 8 points
Rated output current 0.5 A/output, 2.0 A/common
1.2 V max. 1.2 V max.
Residual voltage (0.5 ADC, between each output terminal (0.5 ADC, between each output terminal
and the G terminal) and the V terminal)
Leakage current 0.1 mA max.
ON delay 0.5 ms max.
OFF delay 1.5 ms max.
Number of circuits per
8 points/common
common
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply
Output device supply
100 mA/point
current
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Error Mode Output Select either hold or clear.
Notes For the I/O power supply current value to V and G terminals ,refer to "A-5 I/O Power Supply Current" in
Page A - 67.

7 - 54 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Names and functions

(3) (4)

(5)

(6)
(1)

(2)

(8) (9) (7)

7-4 Specifications for Each Slave Unit

z Terminal arrangement diagram

GX-MD1618 GX-MD1628
Top side: input Bottom side: output Top side: input Bottom side: output
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7

1 V1 V1 V1 V1 V1 V1 V1 V1 1 V0 V1 V2 V3 V4 V5 V6 V7

2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

3 G0 G1 G2 G3 G4 G5 G6 G7 3 G1 G1 G1 G1 G1 G1 G1 G1

4 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 4 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7

8 9 10 11 12 13 14 15 8 9 10 11 12 13 14 15
7
1 V V V V V V V V 1 V ● V V V V V V V

GX-MD1618/MD1628
7-4-10 e-CON Connector Type 8-point Input and 8-point Output Slave Unit
2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

3 G G G G G G G G 3 G G G G G G G G
OUT OUT OUT OUT OUT OUT OUT OUT 4 OUT OUT OUT OUT OUT OUT OUT OUT
4 0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
Indicates the state of an input contact (ON/OFF).
(5) Input indicators (0 to 7) Not lit: Contact OFF (input OFF state)
Lit in yellow: Contact ON (input ON state)
Indicates the state of an output contact (ON/OFF).
(6) Output indicators (0 to 7) Not lit: Contact OFF (output OFF state)
Lit in yellow: Contact ON (output ON state)
Connects an external device.
<Top side>
(7) I/O connectors (0 to 15) For input device
<Bottom side>
For output device
(8) I/O power supply connector Supplies the I/O power. (For output device)
(9) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 7 - 55

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-MD1618 (NPN)

CN IN
TX+ Photocoupler
V1

Input circuit
TX−
RX+ • NC
RX−
Short-circuit •
•
G0
protection element
IN0
•
Physical •
•
layer Internal circuits
CN OUT
TX+
TX−
RX+
RX−

Voltage
drop
V
NC
Photocoupler G
OUT0
UNIT PS
DC-DC
+V converter
−V (No-isolation V
type) V
G
G

z GX-MD1628 (PNP)

CN IN
TX+ Photocoupler
Input circuit

TX−
RX+
RX−
Short-circuit V0
protection element
•
•
NC
Physical
•
G1
layer IN0
•
CN OUT
Internal circuits

•
•
TX+
V
TX−
RX+ V
RX− G
G

V
•
NC
UNIT PS Photocoupler •
•
DC-DC G
+V converter OUT0
Voltage

−V (No-isolation
drop

type)
•
•
•

7 - 56 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Wiring diagram
z GX-MD1618 (NPN)

V1 V1 V1 V1 V1 V1 V1 V1

NC NC NC NC NC NC NC NC

G0 G1 G2 G3 G4 G5 G6 G7
V
IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7
V

G
V V V V V V V V
I/O power supply G
(24 VDC) NC NC NC NC NC NC NC NC

G G G G G G G G

7-4 Specifications for Each Slave Unit

OUT OUT OUT OUT OUT OUT OUT OUT
0 1 2 3 4 5 6 7

Black (white)
Blue (black)

Pink (white)
Blue (black)
Brown (white)

Blue (black)
Brown (red)

Brown (red)
2-wire sensor Solenoid valve, etc. NPN input 3-wire NPN output 3-wire
(Limit switch, etc.) external device sensor
(Emitter of (Photoelectric sensor,
photoelectric sensor) proximity sensor)

z GX-MD1628 (PNP)
7

GX-MD1618/MD1628
7-4-10 e-CON Connector Type 8-point Input and 8-point Output Slave Unit
V0 V1 V2 V3 V4 V5 V6 V7

NC NC NC NC NC NC NC NC

G1 G1 G1 G1 G1 G1 G1 G1
V
IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7
V

G
V V V V V V V V
I/O power supply G
(24 VDC) NC NC NC NC NC NC NC NC

G G G G G G G G
OUT OUT OUT OUT OUT OUT OUT OUT
0 1 2 3 4 5 6 7
Blue (black)

Pink (white)
Blue (black)

Blue (black)
Black (white)
Brown (red)
Brown (white)

Brown (red)

2-wire sensor Solenoid valve, etc. PNP input 3-wire PNP output 3-wire
(Limit switch, etc.) external device sensor
(Emitter of (Photoelectric sensor,
photoelectric sensor) proximity sensor)

GX-series EtherCAT Slave Unit User’s Manual 7 - 57

 7 Digital I/O Slave Unit

Precautions for Correct Use

• The I/O power supply connectors are equipped with two sets of V and G terminals. One set of
terminals is used for the I/O power supply for the unit, and the other set is used for the I/O
power supply to the next unit. Use a maximum current of 4 A per terminal.
• When using an inductive load, such as a solenoid valve, either use a built-in diode for
absorbing the counterelectromotive force or install an external diode. (Refer to "A-4 Wiring
External Output Signal Lines" in Page A - 66.)

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

7 - 58 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

7-4-11 e-CON Connector Type 32-point Input Slave Unit

GX-ID3218/ID3228

Specification

Specification
Item
GX-ID3218 GX-ID3228
Input capacity 32 points
Internal I/O common NPN PNP
15 VDC min. (between each input 15 VDC min. (between each input
ON voltage
terminal and the V terminal) terminal and the G terminal)
5 VDC max. (between each input 5 VDC max. (between each input
OFF voltage
terminal and the V terminal) terminal and the G terminal)

7-4 Specifications for Each Slave Unit

OFF current 1.0 mA max.
6.0 mA max./input (at 24-VDC)
Input current
3.0 mA max./input (at 17-VDC)
ON delay 0.1 ms max.
OFF delay 0.2 ms max.
Without filter, 0.5 ms, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms, 32 ms
Input filter value
(Default setting: 1 ms)
Number of circuits per
32 points/common
common
Input indicators LED display (yellow)
Isolation method No isolation
I/O power supply method Supplied from unit power supply
Input device supply
100 mA/point
current 7
Unit power supply current
230 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption

7-4-11 e-CON Connector Type 32-point Input Slave Unit GX-ID3218/ID3228

e-CON connector
50 times
insertion durability
Weight 220 g max.
Expansion functions No
Short-circuit protection
Available (Operates at 50 mA/point min.)
function
Notes For the I/O power supply current value to V and G terminals ,refer to "A-5 I/O Power Supply Current" in
Page A - 67.

GX-series EtherCAT Slave Unit User’s Manual 7 - 59

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5)

(1)

(2)

(7) (6)

z Terminal arrangement diagram

• GX-ID3218
IN1 IN2
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7

1 V V V V V V V V 1 V V V V V V V V

2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

3 G0 G1 G2 G3 G4 G5 G6 G7 3 G0 G1 G2 G3 G4 G5 G6 G7

4 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 4 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7

8 9 10 11 12 13 14 15 8 9 10 11 12 13 14 15

1 V V V V V V V V 1 V V V V V V V V

2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

3 G8 G9 G10 G11 G12 G13 G14 G15 3 G8 G9 G10 G11 G12 G13 G14 G15

4 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 4 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15

• GX-ID3228
IN1 IN2
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7

1 V0 V1 V2 V3 V4 V5 V6 V7 1 V0 V1 V2 V3 V4 V5 V6 V7

2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

3 G G G G G G G G 3 G G G G G G G G

4 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 4 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7

8 9 10 11 12 13 14 15 8 9 10 11 12 13 14 15

1 V8 V9 V10 V11 V12 V13 V14 V15 1 V8 V9 V10 V11 V12 V13 V14 V15

2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

3 G G G G G G G G 3 G G G G G G G G

4 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 4 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15

7 - 60 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
Indicates the state of an input contact (ON/OFF).
Input indicators
(5) Not lit: Contact OFF (input OFF state)
(IN1 0 to 15, IN2 0 to 15)
Lit in yellow: Contact ON (input ON state)
(6) I/O connectors (0 to 15 × 2) Connects an external device.
(7) DIN track mounting hook Fixes a Slave Unit to a DIN track.

7-4 Specifications for Each Slave Unit

7

7-4-11 e-CON Connector Type 32-point Input Slave Unit GX-ID3218/ID3228

GX-series EtherCAT Slave Unit User’s Manual 7 - 61

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-ID3218 (NPN)

CN IN
TX+
TX−
RX+
RX− Photocoupler
V

Input circuit
NC
Physical Short-circuit
protection element G0
layer
IN0
Internal circuits
CN OUT
TX+
TX−
RX+
RX− Photocoupler
V

Input circuit
•
• NC
Short-circuit •
protection element G1
IN1
UNIT PS
DC-DC
+V converter
−V (No-isolation
type)

z GX-ID3228 (PNP)

CN IN
TX+ Short-circuit V0
TX−
protection element
RX+ NC
RX− G
Photocoupler
IN0
Input circuit

Physical
layer
CN OUT
Internal circuits

TX+ Short-circuit
TX− protection element V1
RX+ NC
RX− G
Photocoupler
IN1
Input circuit

UNIT PS
DC-DC
+V converter
−V (No-isolation
type)

• •
• •
• •

7 - 62 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Wiring diagram
z GX-ID3218 (NPN)

V V V V V V V V V V V V V V V V

NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G0 G1 G2 G3 G4 G5 G6 G7 G0 G1 G2 G3 G4 G5 G6 G7

IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7

V V V V V V V V V V V V V V V V

NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G8 G9 G10 G11 G12 G13 G14 G15 G8 G9 G10 G11 G12 G13 G14 G15

7-4 Specifications for Each Slave Unit

IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15

Black (white)

Blue (black)
Brown (white)

Blue (black)

Brown (red)

2-wire sensor NPN output 3-wire sensor

(Limit switch, etc.) (Photoelectric sensor, proximity sensor)

z GX-ID3228 (PNP)

7-4-11 e-CON Connector Type 32-point Input Slave Unit GX-ID3218/ID3228

V0 V1 V2 V3 V4 V5 V6 V7 V0 V1 V2 V3 V4 V5 V6 V7

NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G G G G G G G G G G G G G G G G

IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7

V8 V9 V10 V11 V12 V13 V14 V15 V8 V9 V10 V11 V12 V13 V14 V15

NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G G G G G G G G G G G G G G G G

IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15
Blue (black)
Brown (white)

Black (white)
Blue (black)

Brown (red)

2-wire sensor PNP output 3-wire sensor

(Limit switch, etc.) (Photoelectric sensor, proximity sensor)

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

GX-series EtherCAT Slave Unit User’s Manual 7 - 63

 7 Digital I/O Slave Unit

7-4-12 e-CON Connector Type 32-point Output Slave Unit

GX-OD3218/OD3228

Specification

Specification
Item
GX-OD3218 GX-OD3228
Output capacity 32 points
Rated current (ON
0.5 A/output, 4.0 A/common
current)
Internal I/O common NPN PNP
1.2 V max. 1.2 V max.
Residual voltage (0.5 ADC, between each output terminal (0.5 ADC, between each output terminal
and the G terminal) and the V terminal)
Leakage current 0.1 mA max.
ON delay 0.5 ms max.
OFF delay 1.5 ms max.
Number of circuits per
16 points/common
common
Output indicators LED display (yellow)
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply
Output device supply
100 mA/point
current
Unit power supply current
100 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Current consumption from
10 mA max. (for power supply voltage of 20.4 to 26.4 VDC)
I/O power supply
e-CON connector
50 times
insertion durability
Weight 210 g max.
Expansion functions No
Error Mode Output Select either hold or clear.
Short-circuit protection
No
function
Notes For the I/O power supply current value to V and G terminals ,refer to "A-5 I/O Power Supply Current" in
Page A - 67.

7 - 64 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5)

(1)

(2)

(7) (8) (6)

7-4 Specifications for Each Slave Unit

z Terminal arrangement diagram

OUT1 OUT2
0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7

1 V V V V V V V V 1 V V V V V V V V

2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

3 G G G G G G G G 3 G G G G G G G G
OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT
4 0 1 2 3 4 5 6 7 4 0 1 2 3 4 5 6 7

8 9 10 11 12 13 14 15 8 9 10 11 12 13 14 15 7
1 V V V V V V V V 1 V V V V V V V V

2 NC NC NC NC NC NC NC NC

7-4-12 e-CON Connector Type 32-point Output Slave Unit GX-OD3218/OD3228

NC 2 NC NC NC NC NC NC NC

3 G G G G G G G G 3 G G G G G G G G

4 OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT
8 9 10 11 12 13 14 15 4 8 9 10 11 12 13 14 15

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
Indicates the state of an output contact (ON/OFF).
Output indicators
(5) Not lit: Contact OFF (output OFF state)
(OUT1 0 to 15, OUT2 0 to 15)
Lit in yellow: Contact ON (output ON state)
(6) I/O connectors (0 to 15 × 2) Connects an external device.
(7) I/O power supply connectors ( × 2) Supplies the I/O power.
(8) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 7 - 65

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-OD3218 (NPN)

V
V
G
G

Voltage
CN IN

drop
V
TX+ NC
TX− Photocoupler Left side
G
RX+
RX−
OUT0
•
•
•

Physical
layer
Internal circuits

CN OUT
•
TX+ •
•
TX−
RX+
RX−
V
V
G
G
Voltage

UNIT PS
drop

DC-DC V
+V converter NC Right side
−V (No-isolation Photocoupler G
type) OUT0
•
•
•

•
•
•

z GX-OD3228 (PNP)

V
V
CN IN G
G
TX+
TX−
RX+ V Left side
RX− Photocoupler • NC
•
• G
OUT0
Physical
Voltage
drop

layer
Internal circuits

CN OUT •
•
TX+ •

TX−
RX+
RX− V
V
G
G

UNIT PS V Right side

DC-DC
+V Photocoupler • NC
converter •
• G
−V (No-isolation OUT0
type)
Voltage
drop

•
•
•

7 - 66 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Wiring diagram
z GX-OD3218 (NPN)

V V V V V V V V V V V V V V V V

NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G G G G G G G G G G G G G G G G
V V
OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT
V 0 1 2 3 4 5 6 7 V 0 1 2 3 4 5 6 7

G G
V V V V V V V V V V V V V V V V
G G
NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G G G G G G G G G G G G G G G G

7-4 Specifications for Each Slave Unit

OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT
8 9 10 11 12 13 14 15 8 9 10 11 12 13 14 15

Blue (black)
Brown (red)
Pink (white)
I/O power supply
(24 VDC)

Solenoid valve, etc. NPN input 3-wire external device

(Emitter of photoelectric sensor)

z GX-OD3228 (PNP)

V V V V V V V V V V V V V V V V

7-4-12 e-CON Connector Type 32-point Output Slave Unit GX-OD3218/OD3228

NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G G G G G G G G G G G G G G G G
V V
OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT
V 0 1 2 3 4 5 6 7 V 0 1 2 3 4 5 6 7

G G
V V V V V V V V V V V V V V V V
G G
NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G G G G G G G G G G G G G G G G
OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT OUT
8 9 10 11 12 13 14 15 8 9 10 11 12 13 14 15
Pink (white)
Blue (black)
Brown (red)

I/O power supply

(24 VDC)

Solenoid valve, etc. PNP input 3-wire external device

(Emitter of photoelectric sensor)

GX-series EtherCAT Slave Unit User’s Manual 7 - 67

 7 Digital I/O Slave Unit

Precautions for Correct Use

• The I/O power supply connectors on the left and right are equipped with two sets of V and G
terminals. One set of terminals is used for the I/O power supply for the unit, and the other set
is used for the I/O power supply to the next unit. Use a maximum current of 4 A per terminal.
• When using an inductive load, such as a solenoid valve, either use a built-in diode for
absorbing the counterelectromotive force or install an external diode. (Refer to "A-4 Wiring
External Output Signal Lines" in Page A - 66.)

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

7 - 68 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

7-4-13 e-CON Connector Type 16-point Input and 16-point Output Slave Unit
GX-MD3218/MD3228

Specification

z Common to input section and output section

Specification
Item
GX-MD3218 GX-MD3228
Internal I/O common NPN PNP
I/O indicators LED display (yellow)
Unit power supply current
150 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
e-CON connector

7-4 Specifications for Each Slave Unit

50 times
insertion durability
Weight 220 g max.
Expansion functions No
Short-circuit protection
Available at input section only (Operates at 50 mA/point min.)
function

z Input section

Specification
Item
GX-MD3218 GX-MD3228
Input capacity 16 points
15 VDC min. (between each input 15 VDC min. (between each input
ON voltage
terminal and the V terminal) terminal and the G terminal) 7
5 VDC max. (between each input 5 VDC max. (between each input
OFF voltage
terminal and the V terminal) terminal and the G terminal)

GX-MD3218/MD3228
7-4-13 e-CON Connector Type 16-point Input and 16-point Output Slave Unit
OFF current 1.0 mA max.
6.0 mA max./input (at 24-VDC)
Input current
3.0 mA max./input (at 17-VDC)
ON delay 0.1 ms max.
OFF delay 0.2 ms max.
Without filter, 0.5 ms, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms, 32 ms
Input filter value
(Default setting: 1 ms)
Number of circuits per
16 points/common
common
Isolation method No-isolation
I/O power supply method Supplied from unit power supply
Input device supply
100 mA/point
current
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption

GX-series EtherCAT Slave Unit User’s Manual 7 - 69

 7 Digital I/O Slave Unit

z Output section

Specification
Item
GX-MD3218 GX-MD3228
Output capacity 16 points
Rated output current 0.5 A/output, 2.0 A/common
1.2 V max. 1.2 V max.
Residual voltage (0.5 ADC, between each output terminal (0.5 ADC, between each output terminal
and the G terminal) and the V terminal)
Leakage current 0.1 mA max.
ON delay 0.5 ms max.
OFF delay 1.5 ms max.
Number of circuits per
16 points/common
common
Isolation method Photocoupler isolation
I/O power supply method Supply by I/O power supply
Output device supply
100 mA/point
current
I/O power supply current
10 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Error Mode Output Select either hold or clear.
Notes For the I/O power supply current value to V and G terminals ,refer to "A-5 I/O Power Supply Current" in
Page A - 67.

7 - 70 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Names and functions

(3) (4) (5) (6)

(1)

(2)

(9) (8) (7)

7-4 Specifications for Each Slave Unit

z Terminal arrangement diagram

Left side (input) Right side (output)

0 1 2 3 4 5 6 7 0 1 2 3 4 5 6 7

1 V V V V V V V V 1 V V V V V V V V

2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

3 G0 G1 G2 G3 G4 G5 G6 G7 3 G G G G G G G G

4 IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 4 OUT OUT OUT OUT OUT OUT OUT OUT
0 1 2 3 4 5 6 7

8 9 10 11 12 13 14 15 8 9 10 11 12 13 14 15 7
1 V V V V V V V V 1 V V V V V V V V

GX-MD3218/MD3228
7-4-13 e-CON Connector Type 16-point Input and 16-point Output Slave Unit
2 NC NC NC NC NC NC NC NC 2 NC NC NC NC NC NC NC NC

3 G8 G9 G10 G11 G12 G13 G14 G15 3 G G G G G G G G

4 IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 4 OUT OUT OUT OUT OUT OUT OUT OUT
8 9 10 11 12 13 14 15

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
Indicates the state of an input contact (ON/OFF).
(5) Input indicators (0 to 15) Not lit: Contact OFF (input OFF state)
Lit in yellow: Contact ON (input ON state)
Indicates the state of an output contact (ON/OFF).
(6) Output indicators (0 to 15) Not lit: Contact OFF (output OFF state)
Lit in yellow: Contact ON (output ON state)
Connects an external device.
<Left side>
(7) I/O connectors (1 to 16 × 2) For input device
<Right side>
For output device
(8) I/O power supply connector Supplies the I/O power. (For output device)
(9) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 7 - 71

 7 Digital I/O Slave Unit

Internal circuits diagram

z GX-MD3218 (NPN)

CN IN
TX+ Left side
TX− Photocoupler
V

Input circuit
RX+
RX− NC
Short-circuit
protection element G0
IN0
Physical
layer Internal circuits
CN OUT
TX+ •
•
TX− •

Voltage
drop
RX+
V
RX− •
•
• NC
Photocoupler G
OUT0
Right side
UNIT PS
DC-DC V
+V converter V
−V (No-isolation G
type) G

z GX-MD3228 (PNP)

CN IN
TX+
Photocoupler
Input circuit

TX−
RX+ Left side
RX− Short-circuit
protection element V0
• NC
•
Physical • G
layer IN0
•
Internal circuits

CN OUT •
•
TX+
TX−
RX+
RX− V
V
G
G

UNIT PS V
DC-DC •
NC Right side
+V Photocoupler •
converter •
G
−V (No-isolation OUT0
Voltage

type)
drop

•
•
•

7 - 72 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

Wiring diagram
z GX-MD3218 (NPN)

V V V V V V V V V V V V V V V V

NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G0 G1 G2 G3 G4 G5 G6 G7 G G G G G G G G
V
OUT OUT OUT OUT OUT OUT OUT OUT
IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 0 1 2 3 4 5 6 7
V

G
V V V V V V V V V V V V V V V V
G
NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G8 G9 G10 G11 G12 G13 G14 G15 G G G G G G G G

OUT OUT OUT OUT OUT OUT OUT OUT
IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 8 9 10 11 12 13 14 15

7-4 Specifications for Each Slave Unit

Blue (black)
Brown (red)
Pink (white)
Black (white)

Blue (black)
Brown (white)

Brown (red)
Blue (black)

I/O power supply

(24 VDC)
NPN input 3-wire Solenoid valve, etc.
2-wire sensor NPN output 3-wire
external device
(Limit switch, etc.) sensor (Emitter of photoelectric sensor)
(Photoelectric sensor,
proximity sensor)

z GX-MD3228 (PNP)

NC
V

NC
V

NC
V

NC
V

NC
V

NC
V

NC
V

NC
V

NC
V

NC
V

NC
V

NC
V

NC
V

NC
V

NC
V

NC
7
G0 G1 G2 G3 G4 G5 G6 G7 G G G G G G G G
V
OUT OUT OUT OUT OUT OUT OUT OUT
IN0 IN1 IN2 IN3 IN4 IN5 IN6 IN7 0 1 2 3 4 5 6 7

GX-MD3218/MD3228
7-4-13 e-CON Connector Type 16-point Input and 16-point Output Slave Unit
V

G
V V V V V V V V V V V V V V V V
G
NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC NC

G8 G9 G10 G11 G12 G13 G14 G15 G G G G G G G G

OUT OUT OUT OUT OUT OUT OUT OUT
IN8 IN9 IN10 IN11 IN12 IN13 IN14 IN15 8 9 10 11 12 13 14 15
Blue (black)
Brown (red)
Pink (white)
Black (white)

Blue (black)
Brown (white)

Brown (red)
Blue (black)

I/O power supply

(24 VDC)
PNP input 3-wire Solenoid valve, etc.
2-wire sensor PNP output 3-wire
external device
(Limit switch, etc.) sensor (Emitter of photoelectric sensor)
(Photoelectric sensor,
proximity sensor)

GX-series EtherCAT Slave Unit User’s Manual 7 - 73

 7 Digital I/O Slave Unit

Precautions for Correct Use

• The I/O power supply connectors are equipped with two sets of V and G terminals. One set of
terminals is used for the I/O power supply for the unit, and the other set is used for the I/O
power supply to the next unit. Use a maximum current of 4 A per terminal.
• When using an inductive load, such as a solenoid valve, either use a built-in diode for
absorbing the counterelectromotive force or install an external diode. (Refer to "A-4 Wiring
External Output Signal Lines" in Page A - 66.)

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors. The colors in parentheses are the wire colors prior to the revisions.

7 - 74 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

7-5 Mounting Dimensions

The mounting dimensions of a Digital I/O Slave Unit are shown below.

7-5-1 2-tier Terminal Block Type

z GX-ID1611/ID1621/OD1611/OD1621

135
52

50

7-5 Mounting Dimensions

3.14

73.9
57.1

(mm) 7

z GX-OC1601

7-5-1 2-tier Terminal Block Type

160
52

50
3.14

74.4
57.6

(mm)

GX-series EtherCAT Slave Unit User’s Manual 7 - 75

 7 Digital I/O Slave Unit

z GX-MD1611/MD1621

135
52

50
3.14

73.9
57.1

(mm)

7-5-2 3-tier Terminal Block Type

200
52

50
3.14

93.5
68.9

10.1 (mm)

7 - 76 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

7-5-3 e-CON Connector Type

z GX-ID1618/ID1628

115
52

50
3.14
43.85

7-5 Mounting Dimensions

(mm)

z GX-OD1618/OD1628/MD1618/MD1628

115

7-5-3 e-CON Connector Type

52

50
3.14
49.8

(mm)

GX-series EtherCAT Slave Unit User’s Manual 7 - 77

 7 Digital I/O Slave Unit

z GX-ID3218/ID3228

180
52

50
3.14
43.85

(mm)

z GX-OD3218/OD3228

180
52

50
3.14
49.8

(mm)

7 - 78 GX-series EtherCAT Slave Unit User’s Manual

 7 Digital I/O Slave Unit

z GX-MD3218/MD3228

52 180

50
3.14
49.8

(mm)

7-5 Mounting Dimensions

7

7-5-3 e-CON Connector Type

GX-series EtherCAT Slave Unit User’s Manual 7 - 79

 7 Digital I/O Slave Unit

7 - 80 GX-series EtherCAT Slave Unit User’s Manual

Analog I/O Slave Unit
This chapter explains the overview of the Analog I/O Slave Unit.

8-1 Analog I/O Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8-2 Overview of the Analog Input Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8-2-1 Input Range and Converted Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8-2-2 I/O Data Allocation (PDO Mapping) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-6
8-3 Function of the Analog Input Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8-3-1 AD Conversion Available Point Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-7
8-3-2 Moving Average . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-8
8-3-3 Disconnected Line Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8-3-4 User adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-10
8-4 Overview of the Analog Output Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . 8-12
8-4-1 Output Range and Converted Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-12
8-4-2 I/O Data Allocation (PDO Mapping) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-14
8-5 Function of the Analog Output Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8
8-5-1 DA Conversion Available Point Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-15
8-5-2 Analog Output Fault Action . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-16
8-5-3 User Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-17
8-6 Overview of Each Slave Unit Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-18
8-6-1 4-point Input Slave Unit GX-AD0471 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-19
8-6-2 2-point Output Slave Unit GX-DA0271 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-23
8-7 Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-27

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8 Analog I/O Slave Unit

8-1 Analog I/O Slave Unit

Analog I/O Slave Units refer to slaves with processing functions for analog I/O data (voltage
value/current value).
Other functions of the Slave Unit include the Moving Average and User Adjustment.

8-2 GX-series EtherCAT Slave Unit User’s Manual

 8 Analog I/O Slave Unit

8-2 Overview of the Analog Input Slave

Unit
Analog Input Slave Unit convert (AD conversion) analog input signals such as 1 to 5 V and 4 to 20 mA
to digital data (binary values) and store them in the EtherCAT Master Unit.

8-2-1 Input Range and Converted Data

Input analog signals are converted to digital data in the following manner using a set input range.
If the input data exceeds the data range for which conversion is possible, the converted data is fixed to
the maximum or minimum value of the range.

Input Range and Converted Data

8-2 Overview of the Analog Input Slave Unit

z Input range 0 to 5 V
Voltage of 0 to 5 V is converted to data from 0000 to 1F40 hex (0 to 8000). The input data range for
which conversion is possible is −0.25 to 5.25 V and here the output data is FE70 to 20D0 hex (−400
to 8400). When input data is a negative voltage, it is expressed as the two's complement
(hexadecimal) and the output data for a disconnected line is the same as for an input of 0 V (0000
hex).

Converted data
Hexadecimal (decimal)

20D0 (8400)
1F40 (8000)

8
0000 (0)

8-2-1 Input Range and Converted Data

−0.25 V
Voltage
0V 5 V 5.25 V
FE70 (−400)

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8 Analog I/O Slave Unit

z Input range 1 to 5 V
Voltage of 1 to 5 V is converted to data from 0000 to 1F40 hex (0 to 8000). The input data range for
which conversion is possible is 0.8 to 5.2 V and here the output data is FE70 to 20D0 hex (−400 to
+8400). If the input voltage drops below the input range to lower than 0.3 V due to disconnection
and so on, the disconnected line detection is activated and the data is set to 7FFF hex.

Converted data
Hexadecimal (decimal)

20D0 (8400)
1F40 (8000)

Clamp at 5.2 V or higher

7FFF

0000 (0) Voltage

FE70 (−400) 1V 5 V 5.2 V
0.8 V

0.3 V
(Disconnection in case it is less than 0.3 V)

z Input range 0 to 10 V
Voltage of 0 to 10 V is converted to data from 0000 to 1F40 hex (0 to 8000). The input data range for
which conversion is possible is −0.5 to 10.5 V and here the output data is FE70 to 20D0 hex (−400
to +8400). When input data is a negative voltage, it is expressed as the two's complement
(hexadecimal) and the output data for a disconnected line is the same as for an input of 0 V (0000
hex).

Converted data
Hexadecimal (decimal)

20D0 (8400)
1F40 (8000)

0000 (0)

−0.5 V
Voltage
0V 10 V 10.5 V
FE70 (−400)

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 8 Analog I/O Slave Unit

z Input range −10 to +10 V

Voltage of −10 to +10 V is converted to data from F060 to 0F40 hex (−4000 to +4000). The input
data range for which conversion is possible is −11 to +11 V and here the output data is EED0 to
1130 hex (−4400 to +4400). When input data is a negative voltage, it is expressed as the two's
complement (hexadecimal) and the output data for a disconnected line is the same as for an input of
0 V (0000 hex).

Converted data
Hexadecimal (decimal)

1130 (4400)
0FA0 (4000)

−11V −10V 0000 (0)

Voltage
0V 10 V 11 V

F060 (−4000)
EED0 (−4400)

8-2 Overview of the Analog Input Slave Unit

z Input range 4 to 20mA
Current of 4 to 20 mA is converted to data from 0000 to 1F40 hex (0 to 8000). The input data range
for which conversion is possible is 3.2 to 20.8 mA and here the output data is FE70 to 20D0 hex
(−400 to +8400). If the input current drops below the input range to lower than 1.2 mA due to
disconnection and so on, the disconnected line detection is activated and the data is set to 7FFF
hex.

Converted data
Hexadecimal (decimal)

20D0 (8400)
1F40 (8000)

Clamp at 20.8 mA or higher 8

7FFF

8-2-1 Input Range and Converted Data

0000 (0) Current
FE70 (−400) 4 mA 20 mA 20.8 mA
3.2 mA

1.2 mA
(Disconnection in case it is less than 1.2 mA)

Input range settings

The input range is set using the input range switch (DIP switch) of a Slave Unit or by SDO
communications.
When SDO communication is used for the setting, the target index is 3101 hex.
For the set value, refer to the corresponding index of "Appendix A-1 Object Dictionary" in Page A - 40.

For how to set with the input range switch, refer to "Names and functions" in Page 8 - 20.

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8 Analog I/O Slave Unit

8-2-2 I/O Data Allocation (PDO Mapping)

An Analog Input Slave Unit has input data for four channels and Sysmac error status. It is allocated to
the IN area of I/O memory of the EtherCAT Master Unit. *1
Refer to the manual of the EtherCAT Master Unit for allocation methods.
*1 Unit version 1.1 or later only.

Input data allocation

z Analog input data (for 4 channels)

Offset
(byte) 7 bit 0 bit

0
Analog input data for CH1
+1

+2
Analog input data for CH2
+3

+4
Analog input data for CH3
+5

+6
Analog input data for CH4
+7

z Analog input data (for 4 channels) and Sysmac error status

Offset
(byte) 7 bit 0 bit

0
Analog input data for CH1
+1

+2
Analog input data for CH2
+3

+4
Analog input data for CH3
+5
+6
Analog input data for CH4
+7

+8 Sysmac error status

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 8 Analog I/O Slave Unit

8-3 Function of the Analog Input Slave

Unit
An Analog Input Slave Units has the following convenient functions, in addition to the I/O signal
processing.

8-3-1 AD Conversion Available Point Setting

Overview of functions

z Purpose
This function sets to skip processing unused points, and enhances the speed of refresh cycles of
analog input.

8-3 Function of the Analog Input Slave Unit

z Details of functions
Normally in this Unit, the values for the four input points are converted in sequence. The setting can
be changed, so that unused points are not converted.
By reducing the number of conversion points, the conversion cycle speed is increased.

Whether AD conversion is enabled or disabled is settable for each point. (Default setting: Enable for
all channels)

Notes Regardless of this setting, an Analog Input Slave Unit uses four points of data allocation
area.

Setting method
8
Set by SDO communications.
The target index is 3100 hex.

8-3-1 AD Conversion Available Point Setting

For the set values, refer to the information in the corresponding index of "Appendix A-1 Object
Dictionary" in Page A - 40.

The table below shows the analog conversion time by the number of AD conversion available points.

Enabled
Conversion time [μs]
channel
1 point 500
2 points 1000
3 points 1500
4 points 2000

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8 Analog I/O Slave Unit

8-3-2 Moving Average

Overview of functions

z Purpose
The function averages the inputs if they fluctuates minutely due to noise and so on as shown in the
figure below, and obtains smooth input values.

Analog
input value
Actual input
Input after averaging processing

Time

z Details of functions
This function is used to calculate the average value of analog inputs during a period of up to 64 ms,
and generate it as converted data.
The setting is made with the Analogue Input Moving Average object. You can use the following
formula to calculate the sampling count from the setting of the Analogue Input Moving Average
object and the number of AD conversion available points. Digits below the decimal point are
rounded up.
Sampling count = Setting of the Analogue Input Moving Average [μs]/(Number of AD conversion
available points × 500 μs)
The processing that is performed inside the Unit is shown below for when the sampling count is 4.
At the initial calculation, the initial data is stored in all processing buffers to perform the moving
average processing.

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 8 Analog I/O Slave Unit

Analog conversion time

(number of AD conversion available points × 500 μs)
Actual analog
conversion data
D4

D3 D5
D2

D1

Time [ms]

Moving average Initial Initial Initial Initial

Moving average value = (D1 × 4) /4
calculation (Initial) data data data data

Moving average Initial 2nd time Initial Initial

Moving average value = ((D1 × 3) + D2) /4
calculation (2nd) data data data data

8-3 Function of the Analog Input Slave Unit

Moving average Initial 2nd time 3rd time Initial
Moving average value = ((D1 × 2) + D2 + D3) /4
calculation (3rd) data data data data

Moving average Initial 2nd time 3rd time 4th time

data data data data Moving average value = (D1 + D2 + D3 + D4) /4
calculation (4th)

Moving average 5th time 2nd time 3rd time 4th time
Moving average value = (D2 + D3 + D4 + D5) /4
calculation (5th) data data data data

Internal buffer

Setting method
Set by SDO communication.
The target index is 3132 hex. 8
For the details, refer to the information in the corresponding index of "Appendix A-1 Object Dictionary"
in Page A - 42.

8-3-2 Moving Average

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 8 Analog I/O Slave Unit

8-3-3 Disconnected Line Detection

Overview of functions

z Purpose
The function detects a disconnection of analog input signal line.
Note that this function is valid only when the input range is "1 to 5 V" or "4 to 20 mA."

z Details of functions
If any analog input signal line (voltage/current inputs) of the points that are enabled by the "AD
Conversion Available Point Setting" is disconnected, the disconnected line detection flag of that
point (target index: 3136 hex) is turned ON.
If the moving average is enabled, the function works to detect a disconnected line in moving
average processing results.
The AD converted data at disconnected line detection is 7FFF hex.

If the input returns to the convertible range again, this function is automatically cancelled and normal
conversion data is input.
The table below shows details of the disconnected line detection flag.

Bits State
0 1: CH1 disconnected / 0: CH1 normal
1 1: CH2 disconnected / 0: CH2 normal
2 1: CH3 disconnected / 0: CH3 normal
3 1: CH4 disconnected / 0: CH4 normal
4 to 15 Reserved

8-3-4 User adjustment

Overview of functions

z Purpose
If final input voltage and current deviates due to characteristics of input devices and methods of
connection, correct the "deviation" and adjust inputs.

z Details of functions
This function corrects conversion values of input voltages and currents at 2 points, 0% and 100%,
as shown in the figure below.

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 8 Analog I/O Slave Unit

Converted data

After correction

Before correction

0%
100% Voltage/current

The correctable range is from −5% to +5% each of the minimum and maximum input values.
The correctable range for each input range is as follows.

8-3 Function of the Analog Input Slave Unit

Input range Low limit High limit
0 to 5 V −0.25 to +0.25 V 4.75 to 5.25 V
1 to 5 V 0.8 to 1.2 V 4.8 to 5.2 V
0 to 10 V −0.5 to +0.5 V 9.5 to 10.5 V
−10 to +10 V −11 to −9.0 V 9.0 to 11 V
4 to 20 mA 3.2 to 4.8 mA 19.2 to 20.8 mA

Setting method
Set by SDO communication.
The target indexes are as follows.

• Upper limit correction: 3112 hex Analogue Input Adjustment High Execute (user adjustment 8
execution (upper limit))
• Lower limit correction: 3115 hex Analogue Input Adjustment Low Execute (user adjustment execution

8-3-4 User adjustment

(lower limit))

For the correction procedure, refer to the information in the corresponding index of "Appendix A-1
Object Dictionary" in Page A - 41.

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 8 Analog I/O Slave Unit

8-4 Overview of the Analog Output Slave

Unit
An Analog Output Slave Unit converts (DA conversion) digital data (binary value) stored in the
EtherCAT Master Unit to analog signals such as 1 to 5 V and 4 to 20 mA and output them.

8-4-1 Output Range and Converted Data

Digital data that is output is converted to analog data using a set output range as shown below.
If the output data exceeds the data range for which conversion is possible, the converted data is fixed at
the maximum or minimum value of the range.

Output Range and Converted Data

z Output range 0 to 5 V
Data from 0000 to 1F40 hex (0 to 8000) is converted to voltage from 0 to 5 V and output.
The output data range for which conversion is possible is FE70 to 20D0 hex (−400 to +8400) and
here the output data is −0.25 to +5.25 V.

Voltage

5.25 V
5V

0V
8000 FE70 (−400) Converted data
1F40 20D0 7FFF Hexadecimal (decimal)
−0.25 V 0000 (0) (8000) (8400)

z Output range 1 to 5 V
Data from 0000 to 1F40 hex (0 to 8000) is converted to voltage from 1 to 5 V and output.
The output data range for which conversion is possible is FE70 to 20D0 hex (−400 to +8400) and
here the output data is 0.8 to 5.2 V.

Voltage

5.2 V
5V

1V
0.8 V
0V Converted data
8000 FE70 0000 (0) 1F40 20D0 7FFF Hexadecimal (decimal)
(−400) (8000) (8400)

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 8 Analog I/O Slave Unit

z Output range 0 to 10 V
Data from 0000 to 1F40 hex (0 to 8000) is converted to voltage from 0 to 10 V and output.
The output data range for which conversion is possible is FE70 to 20D0 hex (−400 to +8400) and
here the output data is −0.5 to +10.5 V.

Voltage

10.5 V
10 V

0V
FE70
8000 (−400) Converted data
1F40 20D0 7FFF Hexadecimal (decimal)
−0.5 V 0000 (0)
(8000) (8400)

z Output range −10 to +10 V

8-4 Overview of the Analog Output Slave Unit

Data from F060 to 0FA0 hex (−4000 to +4000) is converted to voltage from −10 to +10 V and output.
The output data range for which conversion is possible is EED0 to 1130 hex (−4400 to +4400) and
here the output data is −11 to +11 V.
Negative voltages are specified as two's complements (hexadecimal).

Voltage
11 V
10 V

EED0 F060
8000 (−4400) (−4000) 0000 (0) Converted data
0V 0FA0 1130 7FFF Hexadecimal (decimal)
(4000) (4400)

-10 V
-11 V 8

8-4-1 Output Range and Converted Data

z Output range 4 to 20 mA
Data from 0000 to 1F40 hex (0 to 8000) is converted to voltage from 4 to 20 mA and output.
The output data range for which conversion is possible is FE70 to 20D0 hex (−400 to +8400) and
here the output data is 3.2 to 20.8 mA.

Current

20.8 mA
20 mA

4 mA
3.2mA
0 mA Converted data
8000 FE70 0000 (0) 1F40 20D0 7FFF Hexadecimal (decimal)
(−400) (8000) (8400)

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 8 Analog I/O Slave Unit

Output range setting

The output range is set using the output range setting switch (DIP switch) of a Slave Unit or by SDO
communications.
When SDO communication is used for the setting, the target index is 3201 hex.
For the set value, refer to the corresponding index of "Appendix A-1 Object Dictionary" in Page A - 43.

For how to set with the output range switch, refer to "Names and functions" in Page 8 - 23.

8-4-2 I/O Data Allocation (PDO Mapping)

An Analog Output Slave Unit has output data, and it is allocated to the OUT area of I/O memory of the
EtherCAT Master Unit.
Also, the Sysmac error status is allocated to the IN area of I/O memory of the EtherCAT Master Unit. *1
Refer to the manual of the EtherCAT Master Unit for allocation methods.
*1 Unit version 1.1 or later only.

Output data allocation

z Analog output data (for 2 channels)

Offset
(byte) 7 bit 0 bit

0
Analog output data for CH1
+1

+2
Analog output data for CH2
+3

Input data allocation

z Sysmac error status

Offset
(byte) 7 bit 0 bit

0 Sysmac error status

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 8 Analog I/O Slave Unit

8-5 Function of the Analog Output Slave

Unit
An Analog Output Slave Unit has the following convenient functions, in addition to the output signal
processing.

8-5-1 DA Conversion Available Point Setting

Overview of functions

z Purpose
This function sets to skip processing unused points, and enhances the speed of refresh cycles of

8-5 Function of the Analog Output Slave Unit

analog output.

z Details of functions
Normally in this Unit, the values for two input points are converted in sequence. The setting can be
changed, so that unused points are not converted.
By reducing the number of conversion points, the conversion cycle speed is increased.

Whether DA conversion is enabled or disabled is settable for each point. (Default setting: Enable all
channels)

Notes Regardless of this setting, an Analog Output Slave Unit uses two points of data allocation area.

Setting method
Set by SDO communications. 8
The target index is 3200 hex.
For the set values, refer to the information in the corresponding index of "Appendix A-1 Object

8-5-1 DA Conversion Available Point Setting

Dictionary" in Page A - 43.

The table below shows the analog conversion time by the number of DA conversion available points.

Enabled
Conversion time [μs]
channel
1 point 500
2 points 1000

Precautions for Correct Use

Do not disable all of the channels.

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 8 Analog I/O Slave Unit

8-5-2 Analog Output Fault Action

Overview of functions

z Purpose
This function outputs set values if a communications error occurs.

z Details of functions
It is possible to set a value to be output when a communications error occurs for each point.
Select an output value from the following 5 patterns.

Output pattern Contents

Hold Last State Holds and outputs the value immediately before the error occurred.
Outputs the values in the following table according to the output
Low Limit
range.
Outputs the values in the following table according to the output
High Limit
range.
User Count Outputs the value specified by users.
Zero Count
Outputs the 0000 hex values of each output range.
(Default setting)

• Output value corresponding to the output range and output pattern

Hold Last Low High Zero

Output range User Count
State Limit Limit Count
Specified value by a user
0 to 5 V −0.25 V 5.25 V 0V
from −0.25 to 5.25 V
Specified value by a user
1 to 5 V 0.8 V 5.2 V 1V
from 0.8 to 5.2 V
Specified value by a user
0 to 10 V Hold −0.5 V 10.5 V 0V
from −0.5 to 10.5 V
Specified value by a user
−10 to +10 V −11 V 11 V 0V
from −11 to 11 V
Specified value by a user
4 to 20 mA 3.2 mA 20.8 mA 4 mA
from 3.2 to 20.8 mA

Setting method
Set by SDO communications.
The target index is 3240 hex.
For the set values, refer to the information in the corresponding index of "Appendix A-1 Object
Dictionary" in Page A - 45.

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 8 Analog I/O Slave Unit

8-5-3 User Adjustment

Overview of functions

z Purpose
If final output voltage and current deviates due to characteristics of output devices and methods of
connection, correct the "deviation" and adjust outputs.

z Details of functions
This function corrects conversion values of output voltages and currents at 2 points, 0% and 100%,
as shown in the figure below.

Converted data

After correction

8-5 Function of the Analog Output Slave Unit

Before correction

0%
100 % Voltage/current

The correctable range is from −5% to +5% each of the minimum and maximum values of outputs.
The correctable range for each output range is as follows.

8
Output range Low limit High limit
0 to 5 V −0.25 to +0.25 V 4.75 to 5.25 V

8-5-3 User Adjustment

1 to 5 V 0.8 to 1.2 V 4.8 to 5.2 V
0 to 10 V −0.5 to +0.5 V 9.5 to 10.5 V
−10 to +10 V −11 to −9.0 V 9.0 to 11 V
4 to 20 mA 3.2 to 4.8 mA 19.2 to 20.8 mA

Setting method
Set by SDO communications.
The target indexes are as follows.

• Upper limit correction: 3212 hex Analogue Output Adjustment High Execute (user adjustment
execution (upper limit))
• Lower limit correction: 3215 hex Analogue Output Adjustment Low Execute (user adjustment
execution (lower limit))

For the correction procedure, refer to the information in the corresponding index of "Appendix A-1
Object Dictionary" in page A-44.

GX-series EtherCAT Slave Unit User’s Manual 8 - 17

 8 Analog I/O Slave Unit

8-6 Overview of Each Slave Unit Type

This section shows the specification of Analog I/O Slave Units, names and functions of each part,
internal circuit diagram, and wiring diagram.
Refer to the following corresponding page to each model.

Reference page
Internal
Type Model Names and Wiring
Specification circuits
functions diagram
diagram
4-point Input Slave
GX-AD0471 8-19 8-20 8-22 8-22
Unit
2-point Output
GX-DA0271 8-23 8-23 8-25 8-26
Slave Unit

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 8 Analog I/O Slave Unit

8-6-1 4-point Input Slave Unit

GX-AD0471

Specification

Specification
Item
Voltage input Current input
Input capacity 4 points (possible to set number of enabled points)
0 to 5 V
1 to 5 V
Input range 4 to 20 mA
0 to 10 V
−10 to +10 V
Input range setting Input range switch: Common to input CH1/CH2, common to input CH3/CH4
method SDO communications: Possible to set input CH1 to CH4 separately
Maximum signal input ±15 V ±30 mA
Input impedance 1 MΩ min. Approx. 250 Ω
Resolution 1/8000 (full scale)

8-6 Overview of Each Slave Unit Type

Overall 25°C ±0.3% FS ±0.4% FS
accuracy −10 to 55°C ±0.6% FS ±0.8% FS
500 μs/input
Analog conversion cycle
When 4 points are used: 2 ms max.
Other than ±10 V: 0000 to 1F40 hex full scale (0 to 8000)
AD converted data ±10 V: F060 to 0FA0 Hex full scale (−4000 to +4000)
AD conversion range: ±5% FS of the above data ranges.
Photocoupler isolation (between input and communications lines)
Isolation method
No isolation between input signal wires
Unit power supply current
120 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Weight 180 g max.
Accessories Four short-circuit metal fixtures (for current input) *
* Short-circuit metal fixtures are used for current input only, but store in a safe place when using for voltage inputs
8
as well.

8-6-1 4-point Input Slave Unit GX-AD0471

GX-series EtherCAT Slave Unit User’s Manual 8 - 19

 8 Analog I/O Slave Unit

Names and functions

(3) (4) (5)

(1)

(2)

(7) (6)

z Terminal arrangement diagram

V1 I1 V2 I2 V3 I3 V4 I4
NC
+ + + + + + + +

AG V1 AG V2 AG V3 AG V4 NC
− − − −

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
(5) Input range setting Switches DIP switches for setting input range (Refer to the following section.)
Terminal block for analog input signals
V1 to V4: Voltage input terminals
(6) Terminal block I1 to I4: Current input terminals
AG: Analog GND
NC: Not used
(7) DIN track mounting hook Fixes a Slave Unit to a DIN track.

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 8 Analog I/O Slave Unit

• Input range setting switches

Set input range by combination of individual DIP switches.
To enable settings of these switches, it is necessary to turn Pin8 (input range setting method) ON in
advance.

Pin No. Setting Specification

1
2 Setting of input CH1/CH2 range (common)
3 Set by combination of DIP switches (see the
4 next table)
5 Setting of input CH3/CH4 range (common)
6
Make sure to keep it OFF.
7 Always OFF The operation cannot be guaranteed when it is
set to ON.
OFF: Setting by SDO communications
8 Input range setting method
ON: Setting by the switches (Pin1 to Pin6)

8-6 Overview of Each Slave Unit Type

Precautions for Correct Use
• When setting a range with these switches, the same input ranges are set for inputs CH1 and
CH2 as well as inputs CH3 and CH4, respectively. To set a different range for inputs CH1 to
CH4, use the SDO communications to make the settings.
• Pin7 must be used in the OFF state.
• To set a range using these switches, make sure to turn Pin8 ON. If it is turned OFF, the DIP
switch settings will not be reflected.
• The settings of this switch are read only once when the power is turned ON.

• Setting of input CH1/CH2 range (Pin1 to Pin3)

Input range Pin1 Pin2 Pin3 8

0 to 5 V OFF OFF OFF
1 to 5 V ON OFF OFF

8-6-1 4-point Input Slave Unit GX-AD0471

0 to 10 V OFF ON OFF
−10 to +10 V ON ON OFF
4 to 20 mA OFF OFF ON

• Setting of input CH3/CH4 range (Pin4 to Pin6)

Input range Pin4 Pin5 Pin6

0 to 5 V OFF OFF OFF
1 to 5 V ON OFF OFF
0 to 10 V OFF ON OFF
−10 to +10 V ON ON OFF
4 to 20 mA OFF OFF ON

Precautions for Correct Use

Do not set the DIP switches or Pins other than as specified in the tables above.

GX-series EtherCAT Slave Unit User’s Manual 8 - 21

 8 Analog I/O Slave Unit

Internal circuits diagram

V+
510 kΩ
I+
250 Ω
V−
510 kΩ

AG

Analog GND

Wiring diagram

Short-circuit *

V1+ I1+ V2+ I2+ V3+ I3+ V4+ I4+ NC

AG V1− AG V2− AG V3− AG V4− NC

Voltage input 0V

0V Current input

* Short-circuit the “V positive” terminal and “I positive” terminal at current input.

Use the attached short-circuit metal fixture to short-circuit these terminals.

Precautions for Correct Use

Do not wire NC terminals.

8 - 22 GX-series EtherCAT Slave Unit User’s Manual

 8 Analog I/O Slave Unit

8-6-2 2-point Output Slave Unit

GX-DA0271

Specification

Specification
Item
Voltage output Current output
Output capacity 2 points (possible to set number of enabled points)
0 to 5 V
1 to 5 V
Output range 4 to 20 mA
0 to 10 V
−10 to +10 V
Output range setting Output range switch, SDO communications:
method Possible to set outputs CH1 and CH2 separately.
External output allowable
5 kΩ min. 600 Ω max.
load resistance
Resolution 1/8000 (full scale)

8-6 Overview of Each Slave Unit Type

Overall 25°C ±0.4% FS
accuracy −10 to 55°C ±0.8%FS
500 μs/input
Analog conversion cycle
When 2 points are used: 1 ms max.
Other than ±10 V: 0000 to 1F40 hex full scale (0 to 8000)
DA converted data ±10 V: F060 to 0FA0 hex full scale (−4000 to +4000)
DA conversion range: ±5% FS of the above data ranges
Photocoupler isolation (between output and communications lines)
Isolation method
No isolation between output signal wires
Unit power supply current
150 mA max. (for 20.4 to 26.4-VDC power supply voltage)
consumption
Weight 190 g max.

8
Names and functions

(3) (4) (5) 8-6-2 2-point Output Slave Unit GX-DA0271

(1)

(2)

(7) (6)

GX-series EtherCAT Slave Unit User’s Manual 8 - 23

 8 Analog I/O Slave Unit

z Terminal arrangement diagram

V1 I1 V2 I2 NC
+ + + + NC NC NC NC

NC 1 NC 2 NC NC NC NC NC
− −

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "Specifications of Common Areas" in Page 6 - 4.
(3) Status indicators
(4) Node Address setting Switches
DIP switches for setting output range (Refer to the following
(5) Output range setting Switches
section.)
Terminal block for analog output signals
V1+, V2+: Voltage output positive terminals
(6) Terminal block I1+, I2+: Current output positive terminals
1−, 2−: Voltage/current output negative terminals
NC: Not used
(7) DIN track mounting hook Fixes a Slave Unit to a DIN track.

• Output range setting switches

Set output range by combination of individual DIP switches.
To enable settings of these switches, it is necessary to turn Pin8 (output range setting method) ON
in advance.

Pin No. Setting Specification

1
2 Setting of output CH1 range
3 Set by combination of DIP switches (see the
4 next table)
5 Setting of output CH2 range
6
Make sure to keep it OFF.
7 Always OFF The operation cannot be guaranteed when it is
set to ON.
OFF: Setting by SDO communications
8 Output range setting method
ON: Setting by these switches (Pin1 to Pin6)

Precautions for Correct Use

• Pin7 must be used in the OFF state.
• To set a range using these switches, make sure to turn Pin8 ON. If it is turned OFF, the DIP
switch settings will not be reflected.
• The settings of this switch are read only once when the power is turned ON.

8 - 24 GX-series EtherCAT Slave Unit User’s Manual

 8 Analog I/O Slave Unit

• Setting of output CH1 range (Pin1 to Pin3)

Output range Pin1 Pin2 Pin3

0 to 5 V OFF OFF OFF
1 to 5 V ON OFF OFF
0 to 10 V OFF ON OFF
−10 to +10 V ON ON OFF
4 to 20 mA OFF OFF ON

• Setting of output CH2 range (Pin4 to Pin6)

Output range Pin4 Pin5 Pin6

0 to 5 V OFF OFF OFF
1 to 5 V ON OFF OFF
0 to 10 V OFF ON OFF
−10 to +10 V ON ON OFF
4 to 20 mA OFF OFF ON

8-6 Overview of Each Slave Unit Type

Internal circuits diagram

I+
V+
−*

Analog GND

* Negative terminals of output CH1 and output CH2 are internally connected. 8

8-6-2 2-point Output Slave Unit GX-DA0271

GX-series EtherCAT Slave Unit User’s Manual 8 - 25

 8 Analog I/O Slave Unit

Wiring diagram

V1+ I1+ V2+ I2+ NC NC NC NC NC

NC 1− NC 2− NC NC NC NC NC

Output 1:
At voltage output
Output 2:
External At current output
device

External
device

Precautions for Correct Use

Do not wire NC terminals.

8 - 26 GX-series EtherCAT Slave Unit User’s Manual

 8 Analog I/O Slave Unit

8-7 Mounting Dimensions

The mounting dimensions of an Analog I/O Slave Unit are shown below.

135
52

50
3.14

73.9
57.1

8-7 Mounting Dimensions

(mm)

GX-series EtherCAT Slave Unit User’s Manual 8 - 27

 8 Analog I/O Slave Unit

8 - 28 GX-series EtherCAT Slave Unit User’s Manual

Encoder Input Slave Unit
This chapter explains the overview of Encoder Input Slave Unit.

9-1 Encoder Input Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9-2 I/O Data Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9-2-1 Input Data Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9-2-2 Output Data Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-6
9-3 Function of the Encoder Input Slave Units . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
9-3-1 Count Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
9-3-2 Circular Counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-8
9-3-3 Input Signal Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-9
9-3-4 Encoder Direction Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9-11
9-3-5 Counter Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-12
9-3-6 Counter Preset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
9-3-7 Counter value latch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
9-4 Specifications for Each Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9-4-1 Open collector input type GX-EC0211 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-15
9-4-2 Line Driver Input Type GX-EC0241 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-23
9-5 Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-30
9

GX-series EtherCAT Slave Unit User’s Manual 9-1

9 Encoder Input Slave Unit

9-1 Encoder Input Slave Unit

An Encoder Input Slave Unit has 5 V and 24 V open collector input function or line driver input function.
The open collector input can be measured up to 500 kHz and the line driver input up to 4 MHz.

9-2 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

9-2 I/O Data Allocation

I/O data of Encoder Input Slave Units are allocated to the input/output areas of the I/O memory of the
EtherCAT Master Unit, respectively.
Also, the Sysmac error status is allocated to the IN area of I/O memory of the EtherCAT Master Unit. *1
The ESI file are used to allocate I/O data.
For the detailed explanation of allocation method, refer to the manual of EtherCAT Master Unit to be
connected.
*1 Unit version 1.1 or later only.

9-2-1 Input Data Allocation

Encoder Input Slave Unit stores the counter present value, external latch value A, external latch value
B and the counter status as input data, and can allocate required data to Input area.
The details of each data type are as follows.

Data Size Detail

Counter present value 8 bytes Used to monitor counter data.
External latch value A 8 bytes Stores the counter value (latch value A) latched by external latch A.
External latch value B 8 bytes Stores the counter value (latch value B) latched by external latch B.
Counter status 2 bytes Status flag to check the counter status.
Sysmac error status *1 1 byte Status flags that show Slave Unit errors and connection confirmation.

*1 Unit version 1.1 or later only.

9-2 I/O Data Allocation

9
9-2-1 Input Data Allocation

GX-series EtherCAT Slave Unit User’s Manual 9-3

9 Encoder Input Slave Unit

The data allocation is as follows when using the default settings.

z Counter status + counter present value data + external latch A data + external
latch B data (size = 26 bytes)

Offset
(byte) D07 D06 D05 D04 D03 D02 D01 D00

0 CRUN1 CERR1 Reserved EXLB1 EXLA1 EXRES1 RACK1 PACK1

+1 CRUN2 CERR2 Reserved EXLB2 EXLA2 EXRES2 RACK2 PACK2

+2 (LL)

+3 (LH)
CH1 Present value data
+4 (HL)
+5 (HH)

+6 (LL)

+7 (LH)
CH2 Present value data
+8 (HL)

+9 (HH)

+10 (LL)
+11 (LH)
CH1 Latch A data
+12 (HL)

+13 (HH)

+14 (LL)

+15 (LH)
CH2 Latch A data
+16 (HL)

+17 (HH)

+18 (LL)

+19 (LH)
CH1 Latch B data
+20 (HL)
+21 (HH)

+22 (LL)

+23 (LH)
CH2 Latch B data
+24 (HL)

+25 (HH)

0 to +1: Counter status

9-4 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

z Counter status + counter present value data + external latch A data + external
latch B data + Sysmac error status (size = 27 bytes)

Offset
(byte) D07 D06 D05 D04 D03 D02 D01 D00

0 CRUN1 CERR1 Reserved EXLB1 EXLA1 EXRES1 RACK1 PACK1

+1 CRUN2 CERR2 Reserved EXLB2 EXLA2 EXRES2 RACK2 PACK2

+2 (LL)

+3 (LH)
CH1 Present value data
+4 (HL)
+5 (HH)

+6 (LL)

+7 (LH)
CH2 Present value data
+8 (HL)

+9 (HH)

+10 (LL)

+11 (LH)
CH1 Latch A data
+12 (HL)

+13 (HH)

+14 (LL)

+15 (LH)
CH2 Latch A data
+16 (HL)

+17 (HH)

9-2 I/O Data Allocation

+18 (LL)

+19 (LH)
CH1 Latch B data
+20 (HL)
+21 (HH)

+22 (LL)

+23 (LH)
CH2 Latch B data
+24 (HL)

+25 (HH) 9
+26 Sysmac error status 9-2-1 Input Data Allocation

0 to +1: Counter status

GX-series EtherCAT Slave Unit User’s Manual 9-5

9 Encoder Input Slave Unit

Abbreviations used for the counter status information description have the following meanings.

Abbreviation Status name Operation

Soft switch "Present value preset execution" completion flag
Present value preset
PACKn 0→1: Preset execution completed
execution completed
1→0: Soft switch "Present value preset execution" is set to 0
Soft switch "Present value internal reset execution" completion
Present value internal flag
RACKn
reset execution completed 0→1: Reset execution completed
1→0: Soft switch "Present value reset execution" is set to 0
1: Turned ON at reset generation by external input/phase Z
External reset generation
EXRESn 0: Soft switch "present value external reset generation flag
flag
clear" is changed from 0 to 1
1: Turned ON with external latch A event generation
External latch A
EXLAn 0: Soft switch "external latch A generation flag clear" is
generation flag
changed from 0 to 1
1: Turned ON with external latch B event generation
External latch B
EXLBn 0: Soft switch "external latch B generation flag clear" is
generation flag
changed from 0 to 1
Present value preset set 0: No setting error
CERRn
value error 1: Setting error generation
0: Counter stopped
CRUNn Counter operation state
1: Counter operating

9-2-2 Output Data Allocation

Encoder Input Slave Unit stores the soft switch and the preset command value as output data, and can
allocate required data to Output area.
The details of each data type are as follows.

Data Size Detail

Soft switch 4 bytes Used to control the Encoder Input Slave Unit.
Specifies the value to be written over the counter present value data
Preset command value 8 bytes
at preset execution.

9-6 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

The data allocation is as follows when using the default settings.

z Soft switch + preset command value (size = 12 bytes)

Offset
(byte) D07 D06 D05 D04 D03 D02 D01 D00

0 Reserved Reserved Reserved Reserved Reserved INPRES1 PSET1 CENB1

+1 Reserved EXLBC1 EXLAC1 EXRESC1 Reserved EXLBE1 EXLAE1 EXRESE1

+2 Reserved Reserved Reserved Reserved Reserved INPRES2 PSET2 CENB2

+3 Reserved EXLBC2 EXLAC2 EXRESC2 Reserved EXLBE2 EXLAE2 EXRESE2

+4 (LL)

+5 CH1 Preset command value (LH)

+6 (HL)

+7 (HH)

+8 (LL)

+9 CH2 Preset command value (LH)

+10 (HL)
+11 (HH)

0 to +3: Soft switch

Abbreviations used in soft switch description have the following meanings.

Abbreviati
Status name Operation Detection
on

9-2 I/O Data Allocation

Count possible/not 1: Count possible command
CENBn Level
possible 0: Count not possible command
0→1: Start preset of present value
Present value preset
PSETn 1→0: Clear present value preset execution completion Edge
execution
flag
0→1: Start resetting present value
Present value internal
INPRESn 1→0: Clear present value internal reset execution Edge
reset execution
completion flag
Present value external 1: Enabled 9
EXRESEn Level
reset enabled 0: Disabled
1: Enabled
EXLAEn External latch A enabled Level
9-2-2 Output Data Allocation

0: Disabled
1: Enabled
EXLBEn External latch B enabled Level
0: Disabled
Clear present value
EXRESCn external reset generation 0→1: Clear flag Edge
flag
Clear external latch A
EXLACn 0→1: Clear flag Edge
generation flag
Clear external latch B
EXLBCn 0→1: Clear flag Edge
generation flag

GX-series EtherCAT Slave Unit User’s Manual 9-7

9 Encoder Input Slave Unit

9-3 Function of the Encoder Input Slave

Units
This section explains the function of Encoder Input Slave Units.

9-3-1 Count Mode

The Count Mode is run by the Circular Counter.

9-3-2 Circular Counter

Set the maximum Circular Counter value and perform incremental/decremental count in the range from
0 to the maximum value or from the maximum value to 0.
The maximum value can be set in the range from 1 to 4,294,967,295 (FFFFFFFF hex).
Note that if 0 is set, the maximum value becomes FFFFFFFF hex.

1 ≤ maximum value ≤ 4,294,967,295 0

(00000001 hex ≤ maximum value ≤ 0xFFFFFFFF hex) (00000000 hex)

Count continuously

Incremental count Decremental count

counter value

If the counter value exceeds the maximum value, the counter value returns to 0 to continue count
operation.
If the counter value becomes less than 0, the counter value returns to the maximum value to continue
count operation.

Setting method
The settings are made using the SDO communications.
The target index is 4003 hex.
For the details, refer to the information in the corresponding index of "Appendix A-1 Object Dictionary"
in Page A - 47.

There are the following two methods to restart the counter.

• Cycle the power supply.
• Change the CENBn software switch (Count Possible/Not Possible) from 0 to 1.

9-8 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

Precautions for Safe Use

• If you change the maximum Circular Counter value when the counter is stopped or operating,
restart the counter to enable using the new maximum value in counter operation.
• If the set value is read without restarting, the set value after change can be read, but the actual
count operation is performed with the set value before change.

9-3-3 Input Signal Types

The input method of Encoder Input Slave Units is explained below.

Note that SDO communications are used for setting an input method. (Default setting: Phase A/B
phase difference pulse input (Multiplication × 4))
The target index is 4002 hex.
For the set values, refer to the information in the corresponding index of "Appendix A-1 Object
Dictionary" in Page A - 47.

z Phase A/B phase difference pulse input (Multiplication × 1/2/4)

(1) Multiplication × 1

9-3 Function of the Encoder Input Slave Units

Count at signal change of phase A when phase B signal is turned OFF.
The count is incremented at rise of phase A and decremented at fall of phase A.
(2) Multiplication × 2
It is used to heighten resolution of encoder input compared to Multiplication × 1.
The counter operation is performed at rise and fall of phase A signals.
The count is incremented if phase A is advanced from phase B and decremented if phase A is
delayed from phase B.
(3) Multiplication × 4
It is used to further heighten resolution of encoder input from Multiplication × 2.
The counter operation is performed at rise and fall of phase A/B signals.
The count is incremented if phase A is advanced from phase B and decremented if phase A is
delayed from phase B.

Incremental count Decremental count

9
Phase A
9-3-3 Input Signal Types

Phase B

Multiplication x 1 0 1 2 3 2 1

Counter value Multiplication x 2 0 1 2 3 4 5 6 5 4 3 2 1

Multiplication x 4 0 1 2 3 4 5 6 7 8 9 10 11 12 11 10 9 8 7 6 5 4 3 2 1

GX-series EtherCAT Slave Unit User’s Manual 9-9

 9 Encoder Input Slave Unit

When phase A/B phase difference pulse is input, the connection with external input devices
becomes as follows.

Encoder Input Slave Unit

Input A
A

Encoder Input B
B

Input Z
Z
(Reset Input)

z Code + pulse input

Input A is count pulse signal and input B is count direction control signal.
The count is incremented at rise of phase A when input B is ON and decremented at rise of phase A
when input B is OFF.

Incremental count Decremental count

Count pulse signal

Input A
Count direction
control signal
Input B

Counter value 0 1 2 3 4 5 6 7 8 7 6 5 4 3 2 1 0

When code and pulses are input, the connection with external input devices becomes as follows.

Encoder Input Slave Unit

Encoder or other
Input A
pulse generators Count pulse

Input B

Sensor or
Input Z
switch Count direction
control

z Incremental/decremental pulse input

The count is incremented at rise of input A pulse and decremented at rise of input B pulse.

Incremental count Decremental count

Input A

Input B

Counter value 0 1 2 3 4 5 6 7 8 7 6 5 4 3 2 1 0

9 - 10 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

When incremental/decremental pulses are input, the connection with external input devices
becomes as follows.

Encoder Input Slave Unit

Encoder or other
Input A
pulse generators Incremental
pulse

Input B

Encoder or other
Input Z
pulse generators Decremental
pulse

Precautions for Safe Use

• If the input method is changed while the counter is stopped or operating, restart (stop →
operate) the counter in order to reflect the change to the count operation.
• If the set value is read without restarting, the set value after change can be read, but the actual

9-3 Function of the Encoder Input Slave Units

count operation is performed with the set value before change.

9-3-4 Encoder Direction Setting

There are two following types for the encoder directions of an Encoder Input Slave Unit.
• Forward direction at CW (clockwise rotation seen from the shaft of the connected encoder)
• Forward direction at CCW (counterclockwise rotation seen from the shaft of the connected encoder)

CW CCW

Note that SDO communications are used to set encoder direction. (Default setting: Forward direction at
9-3-4 Encoder Direction Setting

CW)
The target index is 4001 hex.
For the set values, refer to the information in the corresponding index of "Appendix A-1 Object
Dictionary" in Page A - 46.

Precautions for Safe Use

• If you change the encoder direction setting when the counter is stopped or operating, restart
the counter to enable using the new encoder direction setting in counter operation.
• If the set value is read without restarting, the set value after change can be read, but the actual
count operation is performed with the set value before change.

GX-series EtherCAT Slave Unit User’s Manual 9 - 11

 9 Encoder Input Slave Unit

9-3-5 Counter Reset

It is possible to reset counter value for each channel using the elements shown below.

z Counter reset bit

The counter of each channel is reset to 0 by changing soft switch "present value internal reset
execution" allocated to each channel from 0 to 1 in the output data (Slave Unit → EtherCAT Master
Unit) area.

z External control input

The counter is reset to 0 at rise of the present value external reset input signal or phase Z input
signal.
However, it is necessary to set the soft switch "present value external reset enabled" to 1.

If the counter value is reset via input of the present value external reset or phase Z, the "external reset
generation flag" is turned ON. By changing "clear present value external reset generation flag" from 0 to
1, "external reset generation flag" is cleared, enabling the next reset reception.

The counter reset conditions are shown in the figure below.

Preset value
internal reset execution
[soft switch]

Present value O Reset

external reset input R execution
[signal input]
O
R
Phase Z signal
[signal input]
A
Present value N
external reset enabled D
[soft switch]

Present value external N

reset generation flag O
[soft switch]
T

Precautions for Safe Use

While the counter function is stopped, external reset is disabled.
For this reason, if the reset function is to be used while the counter function is stopped, use the
present value internal reset execution (soft switch).

9 - 12 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

9-3-6 Counter Preset

It is possible to preset counter value for each channel using the elements shown below.

z Counter preset bit

The counter present value is overwritten by "preset command value" by changing soft switch
"present value preset execution" allocated to each channel from 0 to 1 in the output data (Slave Unit
→ EtherCAT Master Unit) area.

z Preset command value

Set "preset command value" allocated to each channel in output data (Slave Unit → EtherCAT
Master Unit) area or via SDO communications. (Default setting: 0)
When SDO communications are used, the target index is 4011 hex.
For the details, refer to the information in the corresponding index of "Appendix A-1 Object
Dictionary" in Page A - 47.

9-3-7 Counter value latch

The counter value is latched for each channel using the elements shown below.

9-3 Function of the Encoder Input Slave Units

It is possible to latch two values at the same time.

z External control input (latch A)

The present counter value is acquired/stored at the rise of latch A of external control input.
However, it is necessary to set the soft switch "external latch A enabled" to "enabled." *

z External control input (latch B)

The present counter value is acquired/stored at the rise of latch B of external control input.
However, it is necessary to set the soft switch "external latch B enabled" to "enabled." *

For both latch A and B inputs, when latch is generated via latch input, the "external latch generation
flag" changes from 0 to 1 and the counter value is stored in objects (latch value A/latch value B) as
latch A/latch B data.
By changing "clear external latch generation flag" from 0 to 1, it is possible to clear the "external
latch generation flag."
When the "external latch generation flag" is cleared, the next latch input becomes enabled. 9

If it is desired to use latched counter values (latch values) in a ladder program, select PDO mapping
9-3-6 Counter Preset

to which latch data is allocated.

* To use SDO communications, acquire/store the present counter value at the rise of latch A/B of external
control input, regardless of the status of the soft switch "external latch A/B enabled."

GX-series EtherCAT Slave Unit User’s Manual 9 - 13

 9 Encoder Input Slave Unit

9-4 Specifications for Each Slave Unit

This section shows the specification of Encoder Input Slave Units, names and functions of each part,
internal circuit diagram, and wiring diagram.
Refer to the following corresponding page to each model.

Reference page
Internal
Type Model Names and Wiring
Specification circuits
functions diagram
diagram
Open collector
GX-EC0211 9-15 9-17 9-20 9-21
input type
Line driver
GX-EC0241 9-23 9-25 9-28 9-29
Input type

9 - 14 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

9-4-1 Open collector input type

GX-EC0211

Specification

z Slave Unit specifications

Item Specification
Counter point 2 points
Counter phase A
Counter phase B
Input signal Counter phase Z
Latch input (A/B)
Counter reset input
Counter enabled status
LED display (green)
display
Input indicators LED display (yellow)
Unit power supply current
130 mA max. (for 20.4 to 26.4 VDC power supply voltage)
consumption
Weight 390 g max.

9-4 Specifications for Each Slave Unit

z Pulse input specifications

Specification
Item
Counter phase A/B Counter phase Z
20.4 to 26.4 VDC 20.4 to 26.4 VDC
4.5 to 5.5 VDC 4.5 to 5.5 VDC
Input voltage (24 VDC −15 to (24 VDC −15 to
(5 VDC ± 5%) (5 VDC ± 5%)
+10%) +10%)
8.4 mA 8.6 mA 8.4 mA 8.6 mA
Input current
(at 24 VDC) (at 5 VDC) (at 24 VDC) (at 5 VDC)
ON voltage 19.6 V min. 4.5 V min. 18.6 V min. 4.5 V min.
OFF voltage 4 V max. 1.5 V max. 4 V max. 1.5 V max.
Input restriction resistance 2.7 kΩ 430 Ω 2.7 kΩ 430 Ω
Maximum response Single phase 500 kHz (phase difference
125 kHz 9
frequency Multiplication × 4, 125 kHz)
Filter switching NA NA 9-4-1 Open collector input type GX-EC0211

GX-series EtherCAT Slave Unit User’s Manual 9 - 15

 9 Encoder Input Slave Unit

z Pulse input timing specifications

Counter input phase A/B Counter input phase Z

Input pulse duty: 50%
C

B B G

ON
voltage
Terminal Terminal
input input OFF
OFF
voltage voltage
A A A A

Relationship between phase A and phase B at phase difference pulse input

ON
voltage
Phase A
OFF
voltage
A A
Terminal F F F F
input
E

ON
voltage
Phase B
OFF
voltage
A A

Timing condition
A B C D E F G
<0.3 μs >1 μs >2 μs >4 μs >8 μs >2 μs >4 μs

Precautions for Correct Use

In order to satisfy the counter input specifications, it is necessary to pay attention to the type of
output driver of the encoder to be used, the length of encoder cable, and frequency of count
pulse.

9 - 16 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

z Latch/reset input specifications

Specification
Item
Latch input (A/B) Reset input
Internal I/O common NPN
Input voltage 20.4 to 26.4 VDC (24 VDC −15 to +10%) 20.4 to 26.4 VDC (24 VDC −15 to +10%)
Input impedance 4.0 kΩ 3.3 kΩ
Input current 5.5 mA (at 24 VDC) 7 mA (at 24 VDC)
ON voltage/ON current 17.4 VDC min./3 mA min. 14.4 VDC min./3 mA min.
OFF voltage/OFF current 5 VDC max./1 mA max. 5 VDC max./1 mA max.
ON response time 3 μs max. 15 μs max.
OFF response time 3 μs max. 90 μs max.

Names and functions

(3) (4) (5)

(1)

9-4 Specifications for Each Slave Unit

(2)

(7) (6)

z Terminal/input display LED layout diagram

CH1 CH2

CH1 A1 B1 Z1 LA1 LB1 RST1 CH2 A2 B2 Z2 LA2 LB2 RST2

1 to 9 RSV RSV V1 V1 V1 RSV LA1 LB1 RST1 RSV RSV V1 V1 V1 RSV LA2 LB2 RST2
9
10 to 18 V1 V1 A24 B24 Z24 V2 V2 V2 V2 V1 V1 A24 B24 Z24 V2 V2 V2 V2
9-4-1 Open collector input type GX-EC0211

19 to 27 G1 G1 A5 B5 Z5 G2 G2 G2 G2 G1 G1 A5 B5 Z5 G2 G2 G2 G2

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" Page 6 - 4.
(3) Status indicators
(4) Node address switches
The indicators show the status of the inputs of each channel.
(5) Input indicators
For details, refer to the next section "Input indicators".
Connects external devices and the I/O power supply.
(6) Terminal block
For details, refer to the next section "Terminal block".
(7) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 9 - 17

 9 Encoder Input Slave Unit

• Input indicators

CH1 CH2
Name State Contents Name State Contents
Lit green. Counter operating Lit green. Counter operating
CH1 CH2
OFF Counter stopped OFF Counter stopped
Input A (phase A signal/count Input A (phase A signal/count
Lit Lit
pulse signal/incremental count pulse signal/incremental count
yellow. yellow.
signal) available signal) available
A1 A2
Input A (phase A signal/count Input A (phase A signal/count
OFF pulse signal/incremental count OFF pulse signal/incremental count
signal) not available signal) not available
Input B (phase B signal/count Input B (phase B signal/count
Lit direction control Lit direction control
yellow. signal/decremental count signal) yellow. signal/decremental count signal)
available available
B1 B2
Input B (phase B signal/count Input B (phase B signal/count
direction control direction control
OFF OFF
signal/decremental count signal) signal/decremental count signal)
not available not available
Lit Lit
Phase Z input available Phase Z input available
Z1 yellow. Z2 yellow.
OFF Phase Z input not available OFF Phase Z input not available
Lit Lit
External latch input A available External latch input A available
yellow. yellow.
LA1 LA2
External latch input A not External latch input A not
OFF OFF
available available
Lit Lit
External latch input B available External latch input B available
yellow. yellow.
LB1 LB2
External latch input B not External latch input B not
OFF OFF
available available
Lit Lit
External reset input available External reset input available
RST1 yellow. RST2 yellow.
OFF External reset input not available OFF External reset input not available

9 - 18 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

• Terminal block

Terminal
CH block Terminal name Contents
number
1 RSV -
2 RSV -
Encoder power supply input (power supply input at twisted-pair
3 V1
wiring)
Encoder power supply input (power supply input at twisted-pair
4 V1
wiring)
Encoder power supply input (power supply input at twisted-pair
5 V1
wiring)
6 RSV -
7 LA1/LA2 Latch A input
8 LB1/LB2 Latch B input
9 RST1/RST2 Reset input
10 V1 Encoder power supply input
11 V1 Encoder power supply output
CH1 12 A24 Phase A input (24 V)
CH2 13 B24 Phase B input (24 V)
14 Z24 Phase Z input (24 V)
15 V2 Sensor power supply input
16 V2 Sensor power supply output

9-4 Specifications for Each Slave Unit

17 V2 Sensor power supply output
18 V2 Sensor power supply output
19 G1 Encoder power supply input
20 G1 Encoder power supply output
21 A5 Phase A input (5 V)
22 B5 Phase B input (5 V)
23 Z5 Phase Z input (5 V)
24 G2 Sensor power supply input
25 G2 Sensor power supply output
26 G2 Sensor power supply output
27 G2 Sensor power supply output

9
9-4-1 Open collector input type GX-EC0211

GX-series EtherCAT Slave Unit User’s Manual 9 - 19

 9 Encoder Input Slave Unit

Internal circuits diagram

CN IN
V1
TX+
TX−
RX+ G1
RX− Photocoupler
V1

circuits
Input
Physical
layer A24
CN OUT 1.2 kΩ 1.5 kΩ
TX+
A5
TX−
RX+
430 Ω
RX− G1
Photocoupler
V1

circuits
Input
B24
UNIT PS
DC-DC 1.2 kΩ 1.5 kΩ
+V converter B5
−V
(No-isolation 430 Ω
type)
Internal circuits

Photocoupler
V1
circuits
Input

Z24
1.2 kΩ 1.5 kΩ
Z5
430 Ω
V2

G2
Photocoupler
V2
circuits
Input

LA/LB
2 kΩ 2 kΩ
G2
Photocoupler
V2
circuits
Input

RST
3.3 kΩ
G2

9 - 20 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

Wiring diagram

Sensor power supply

(24 VDC)

RSV RSV V1 V1 V1 RSV LA1 LB1 RST1 RSV RSV V1 V1 V1 RSV LA2 LB2 RST2

V1 V1 A24 B24 Z24 V2 V2 V2 V2 V1 V1 A24 B24 Z24 V2 V2 V2 V2

G1 G1 A5 B5 Z5 G2 G2 G2 G2 G1 G1 A5 B5 Z5 G2 G2 G2 G2

White: White:
Phase B Phase B
Black: Black:
Phase A Phase A
Orange: Orange:

9-4 Specifications for Each Slave Unit

Phase Z Brown: Phase Z
Brown:
Vcc Vcc

Blue: Blue:

Blue
Brown
Black
Blue
Black

Blue
Brown
Black
Blue
Black

0V 0V

Encoder power supply Latch Reset Latch Reset

(24 VDC or 5 VDC)
Blue
Black

Blue
Brown
Black
Encoder Latch Encoder Latch
(NPN open collector (NPN open collector
output type) Output output type) NPN output
2-wire sensor 3-wire sensor

9
9-4-1 Open collector input type GX-EC0211

GX-series EtherCAT Slave Unit User’s Manual 9 - 21

 9 Encoder Input Slave Unit

Sensor power supply

(24 VDC)

RSV RSV V1 V1 V1 RSV LA1 LB1 RST1 RSV RSV V1 V1 V1 RSV LA2 LB2 RST2

V1 V1 A24 B24 Z24 V2 V2 V2 V2 V1 V1 A24 B24 Z24 V2 V2 V2 V2

G1 G1 A5 B5 Z5 G2 G2 G2 G2 G1 G1 A5 B5 Z5 G2 G2 G2 G2

Blue
Black
Blue
Black

Blue
Brown
Black
Blue
Brown
Black
Black: Phase A Latch Reset
White: Phase B Phase Phase Phase
A B Z
Latch Reset
Blue
Black

Orange: Phase Z
Brown: Vcc

Blue
Brown
Black
Blue: 0V Latch

Encoder Output
2-wire sensor Latch
(NPN open collector
output type) NPN output
Encoder power supply 3-wire sensor
(24 VDC or 5 VDC)

Encoder
(NPN open collector
output type)

Precautions for Correct Use

• Use shielded cable and ground the shield to 100 Ω or less when wiring pulse input A/B/Z with
external control inputs.
• Wiring of pulse input A/B/Z shall be as short as possible and separated from wiring with many
noises such as power lines.
• Use stabilizing power supply separate from other inputs/outputs for Encoder Input Slave Units
as much as possible.
• Do not wire anything to RSV terminals.

9 - 22 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

9-4-2 Line Driver Input Type

GX-EC0241

Specification

z Slave Unit specifications

Item Specification
Counter point 2 points
Counter phase A
Counter phase B
Input signal Counter phase Z
Latch input (A/B)
Counter reset input
Counter enabled status
LED display (green)
display
Input indicators LED display (yellow)
Unit power supply current
100 mA max. (for 20.4 to 26.4 VDC power supply voltage)
consumption
Weight 390 g max.

9-4 Specifications for Each Slave Unit

z Pulse input specifications

Specification
Item
Counter phase A/B Counter phase Z
Input voltage EIA standard RS-422-A line driver level
Input impedance 120 Ω ±5%
gH level input voltage 0.1 V
gL level input voltage -0.1 V
Hysteresis voltage 60 mV
Maximum response Single phase 4 MHz (phase difference
1 MHz
frequency Multiplication × 4, 1 MHz)
Filter switching NA
9
9-4-2 Line Driver Input Type GX-EC0241

GX-series EtherCAT Slave Unit User’s Manual 9 - 23

 9 Encoder Input Slave Unit

z Pulse input timing specifications

Counter input phase A/B Counter input phase Z

Input pulse duty: 50%
C
B G
ON ON ON ON
voltage voltage
A/B (+) Z (+)
OFF
Terminal OFF voltage Terminal OFF
input ON input ON
A/B (−) Z (−)
OFF
OFF OFF voltage
A A A A

Relationship between phase A and phase B at phase difference pulse input

E
D
ON ON
voltage
A (+)
OFF
Phase A OFF voltage
ON
A (−)
OFF
A A
F F F F
Terminal
input
E
D
ON ON
voltage
B(+)
OFF
OFF voltage
Phase B ON
B (−)
OFF
A A

Timing condition
A B C D E F G
<25 ns >125 ns >250 ns >0.5 μs >1 μs >0.25 μs >0.5 μs

Precautions for Correct Use

In order to satisfy the counter input specifications, it is necessary to pay attention to the type of
output driver of the encoder to be used, the length of encoder cable, and frequency of count
pulse.

9 - 24 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

z Latch/reset input specifications

Specification
Item
Latch input (A/B) Reset input
Internal I/O common PNP
Input voltage 20.4 to 26.4 VDC (24 VDC −15 to +10%) 20.4 to 26.4 VDC (24 VDC −15 to +10%)
Input impedance 4.0 kΩ 3.3 kΩ
Input current 5.5 mA (at 24 VDC) 7 mA (at 24 VDC)
ON voltage/ON current 17.4 VDC min./3 mA min. 14.4 VDC min./3 mA min.
OFF voltage/OFF current 5 VDC max./1 mA max. 5 VDC max./1 mA max.
ON response time 3 μs max. 15 μs max.
OFF response time 3 μs max. 90 μs max.

Names and Functions

(3) (4) (5)

(1)

9-4 Specifications for Each Slave Unit

(2)

(7) (6)

z Terminal/input display LED layout diagram

CH1 CH2

CH1 A1 B1 Z1 LA1 LB1 RST1 CH2 A2 B2 Z2 LA2 LB2 RST2

9
1 to 9 RSV RSV RSV RSV RSV RSV LA1 LB1 RST1 RSV RSV RSV RSV RSV RSV LA2 LB2 RST2

10 to 18 V1 V1 A+ B+ Z+ V1 V1 V1 V1 V1 V1 A+ B+ Z+ V1 V1 V1 V1
9-4-2 Line Driver Input Type GX-EC0241

19 to 27 G1 G1 A− B− Z− G1 G1 G1 G1 G1 G1 A− B− Z− G1 G1 G1 G1

No. Name Function

(1) Communications connectors
(2) Unit power supply connector
Refer to "6-3 Specifications of Common Areas" Page 6 - 4.
(3) Status indicators
(4) Node address switches
The indicators show the status of the inputs of each channel.
(5) Input indicators
For details, refer to the next section "Input indicators".
Connects external devices and the I/O power supply.
(6) Terminal block
For details, refer to the next section "Terminal block".
(7) DIN track mounting hook Fixes a Slave Unit to a DIN track.

GX-series EtherCAT Slave Unit User’s Manual 9 - 25

 9 Encoder Input Slave Unit

• Input indicators

CH1 CH2
Name State Contents Name State Contents
Lit green. Counter operating Lit green. Counter operating
CH1 CH2
OFF Counter stopped OFF Counter stopped
Input A (phase A signal/count Input A (phase A signal/count
Lit Lit
pulse signal/incremental count pulse signal/incremental count
yellow. yellow.
signal) available signal) available
A1 A2
Input A (phase A signal/count Input A (phase A signal/count
OFF pulse signal/incremental count OFF pulse signal/incremental count
signal) not available signal) not available
Input B (phase B signal/count Input B (phase B signal/count
Lit direction control Lit direction control
yellow. signal/decremental count signal) yellow. signal/decremental count signal)
available available
B1 B2
Input B (phase B signal/count Input B (phase B signal/count
direction control direction control
OFF OFF
signal/decremental count signal) signal/decremental count signal)
not available not available
Lit Lit
Phase Z input available Phase Z input available
Z1 yellow. Z2 yellow.
OFF Phase Z input not available OFF Phase Z input not available
Lit Lit
External latch input A available External latch input A available
yellow. yellow.
LA1 LA2
External latch input A not External latch input A not
OFF OFF
available available
Lit Lit
External latch input B available External latch input B available
yellow. yellow.
LB1 LB2
External latch input B not External latch input B not
OFF OFF
available available
Lit Lit
External reset input available External reset input available
RST1 yellow. RST2 yellow.
OFF External reset input not available OFF External reset input not available

9 - 26 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

• Terminal block

Terminal
CH block Terminal name Contents
number
1 RSV -
2 RSV -
3 RSV -
4 RSV -
5 RSV -
6 RSV -
7 LA1/LA2 Latch A input
8 LB1/LB2 Latch B input
9 RST1/RST2 Reset input
10 V1 Internal circuit/sensor power supply input
11 V1 (Spare)
12 A+ Phase A input (+)
13 B+ Phase B input (+)
CH1
14 Z+ Phase Z input (+)
CH2
15 V1 (Spare)
16 V1 Sensor power supply output
17 V1 Sensor power supply output
18 V1 Sensor power supply output

9-4 Specifications for Each Slave Unit

19 G1 Internal circuit/sensor power supply input
20 G1 (Spare)
21 A- Phase A input (-)
22 B- Phase B input (-)
23 Z- Phase Z input (-)
24 G1 (Spare)
25 G1 Sensor power supply output
26 G1 Sensor power supply output
27 G1 Sensor power supply output

9
9-4-2 Line Driver Input Type GX-EC0241

GX-series EtherCAT Slave Unit User’s Manual 9 - 27

 9 Encoder Input Slave Unit

Internal circuits diagram

CN IN
TX+
TX− DC-DC
converter V1
RX+
RX− (No-isolation G1
Line type)
receiver
Physical
layer
A−
CN OUT
4.7 kΩ
TX+
TX− A+
RX+ 4.7 kΩ
RX−
B−
4.7 kΩ
B+
4.7 kΩ
UNIT PS
DC-DC Z−
Internal circuits

+V converter 4.7 kΩ
−V
(No-isolation
type) Z+
4.7 kΩ .
.
.
.
Photocoupler
G1
circuits
Input

LA/LB
2 kΩ 2 kΩ
V1
Photocoupler
G1
circuits
Input

RST
3.3 kΩ
V1

9 - 28 GX-series EtherCAT Slave Unit User’s Manual

 9 Encoder Input Slave Unit

Wiring diagram

Internal circuit /
sensor power supply
(24 VDC)

RSV RSV RSV RSV RSV RSV LA1 LB1 RST1 RSV RSV RSV RSV RSV RSV LA2 LB2 RST2

V1 V1 A+ B+ Z+ V1 V1 V1 V1 V1 V1 A+ B+ Z+ V1 V1 V1 V1

G1 G1 A− B− Z− G1 G1 G1 G1 G1 G1 A− B− Z− G1 G1 G1 G1

Encoder power supply

(5 VDC)

Blue: 0V

Blue
Brown
Black
Blue
Brown
Black

Black
Blue
Black

Blue

9-4 Specifications for Each Slave Unit

Brown: Vcc
Black: Phase A+ Black/Red: Phase A−
Latch Reset Phase Phase Phase Latch Reset
White: Phase B+ White/Red: Phase B− A B Z
Blue

Blue
Brown
Black
Black

Orange: Phase Z+ Orange/Red: Phase Z−

Latch Latch
Encoder
(Line driver Output NPN output
output type) 2-wire sensor 3-wire sensor

Encoder power supply

(5 VDC)

9
9-4-2 Line Driver Input Type GX-EC0241

Encoder
(Line driver
output type)

Precautions for Correct Use

• Use shielded cable and ground the shield to 100 Ω or less when wiring pulse input A/B/Z with
external control inputs.
• Wiring of pulse input A/B/Z shall be as short as possible and separated from wiring with many
noises such as power lines.
• Use stabilizing power supply separate from other inputs/outputs for Encoder Input Slave Units
as much as possible.
• Do not wire anything to RSV terminals.

GX-series EtherCAT Slave Unit User’s Manual 9 - 29

 9 Encoder Input Slave Unit

9-5 Mounting Dimensions

The mounting dimensions of an Encoder Input Slave Unit are shown below.

215
52

50
3.14

93.5
68.9

10.1 [mm]

9 - 30 GX-series EtherCAT Slave Unit User’s Manual

 10

IO-Link Master Unit

10-1 What Is an IO-Link Master Unit? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2

10-1-1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10-1-2 Connection Configuration for EtherCAT Communications Master Unit and IO-Link
Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-2
10-2 I/O Data Allocations: PDO Mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10-2-1 Allocating Input Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-3
10-2-2 Allocating Output Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-4
10-3 Functions of the IO-Link Master Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
10-3-1 Basic Functions of IO-Link Master Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-5
10-3-2 Application Functions of IO-Link Master Units . . . . . . . . . . . . . . . . . . . . . . . . 10-6
10-4 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10-4-1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-7
10-4-2 Part Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10-11
10-5 Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-15
10-6 Communications Performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16
10-6-1 Maximum I/O Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-16
10-6-2 Determining the IO-Link Communications Cycle . . . . . . . . . . . . . . . . . . . . . 10-18

GX-series EtherCAT Slave Unit User’s Manual 10 - 1

 10 IO-Link Master Unit

10-1 What Is an IO-Link Master Unit?

10-1-1 Introduction
An IO-Link Master Unit is a slave that has I/O processing functions for IO-Link communications with
IO-Link devices and I/O processing functions for digital I/O data (ON/OFF signals) with non-IO_Link
devices.
For an IO-Link Master Unit, processing functions can be assigned for each port to combine different
types of I/O processing functions.

Also, with IO-Link devices that support digital inputs with pin 2, the IO-Link Master Unit can
simultaneously perform both IO-Link communications and receive digital inputs.

10-1-2 Connection Configuration for EtherCAT Communications Master

Unit and IO-Link Devices
A GX-series IO-Link Master Unit connects to IO-Link devices and the EtherCAT Master Unit as shown
below.

EtherCAT communications master

EtherCAT EtherCAT

M12 M12
GX-series IO-Link Master Unit

Port 1 Port 2 IO-Link communications

(4 wires per device)
Port 3 Port 4
Port 5 Port 6
Port 7 Port 8

IO-Link devices*1 IO-Link devices*1

*1 Non-IO-Link devices can also be connected.

10 - 2 GX-series EtherCAT Slave Unit User’s Manual

 10 IO-Link Master Unit

10-2 I/O Data Allocations: PDO

10-2 I/O Data Allocations: PDO Mapping

Mapping
The data in the IO-Link Master Unit is allocated in the OUT and IN areas in the I/O memory of the
EtherCAT Master Unit.
Also, the Sysmac error status is allocated to the IN area of I/O memory of the EtherCAT Master Unit.
Refer to the manual of the EtherCAT Master Unit for allocation methods.
10
Precautions for Correct Use
Allocate the input and output data for IO-Link devices consecutively starting from data 01. A

10-2-1 Allocating Input Data

setting error will occur if any data is skipped or not in order.

10-2-1 Allocating Input Data

The IO-Link Master Unit has the following types of input data. You can allocate the required data in the
IN area. You can also allocate Sysmac error status.

Default I/O
Data name Size Details
allocation
I/O Port Status 2 bytes Yes Indicates whether input data (IO-Link input data, digital inputs from
pin 2, and digital input data) is enabled or disabled for each port.
Also indicates the status of the I/O power supply to the IO-Link
Master Unit.
I/O Port Error Status 8 bytes Yes Indicates the following errors for each port:
IO-Link communications error, short-circuit in I/O cable, device
configuration verification error, device I/O size error, PDO mapping
error, error-level device event, and information-level device event
Digital Input Data 2 bytes No Digital inputs with pin 2 in IO-Link Mode, or digital input data in SI
Mode.
Port 1 IO-Link Input Data 32 words × Yes (2 bytes This is the input data from IO-Link devices such as sensors that are
8 ports per port) connected to port 1 in IO-Link Mode.
· ·
· ·
· ·
Port 8 IO-Link Input Data This is the input data from IO-Link devices such as sensors that are
connected to port 8 in IO-Link Mode.
Sysmac Error Status 1 byte Yes Contains status flags that are used to check errors that occur and
confirm when they have been eliminated.

The following data is allocated for the default settings.

Input offset D15 D14 D13 D12 D11 D10 D09 D08 D07 D06 D05 D04 D03 D02 D01 D00
(words)
0 Not used. Sysmac Error Status
+1 D15: I/O Power ON Flag, D14: IO-Link Communications Input Data Enabled Flags
Module Processing Error, D08 to D13: Not used.
+2 Error Status for Port 2 Error Status for Port 1
+3 Error Status for Port 4 Error Status for Port 3
+4 Error Status for Port 6 Error Status for Port 5
+5 Error Status for Port 8 Error Status for Port 7
+6 Port 1 IO-Link Input Data 01 Upper Byte Port 1 IO-Link Input Data 01 Lower Byte
+7 Port 2 IO-Link Input Data 01 Upper Byte Port 2 IO-Link Input Data 01 Lower Byte
· · ·
· · ·
· · ·
+13 Port 8 IO-Link Input Data 01 Upper Byte Port 8 IO-Link Input Data 01 Lower Byte

GX-series EtherCAT Slave Unit User’s Manual 10 - 3

 10 IO-Link Master Unit

10-2-2 Allocating Output Data

The IO-Link Master Unit has the following types of output data. You can allocate the required data in the
OUT area.

Default I/O
Data name Size Details
allocation
Digital Output Data 2 bytes No This is the digital output data in SO Mode.
Port 1 IO-Link Output Data 32 words × 8 Yes (2 bytes per This is the output data from IO-Link devices such as
ports port) actuators that are connected to port 1 in IO-Link Mode.
· ·
· ·
· ·
Port 8 IO-Link Output Data This is the output data from IO-Link devices such as
actuators that are connected to port 8 in IO-Link Mode.

The following data is allocated for the default settings.

Output offset D15 D14 D13 D12 D11 D10 D09 D08 D07 D06 D05 D04 D03 D02 D01 D00
(words)
0 Port 1 IO-Link Output Data 01 Upper Byte Port 1 IO-Link Output Data 01 Lower Byte
+1 Port 2 IO-Link Output Data 01 Upper Byte Port 2 IO-Link Output Data 01 Lower Byte
· · ·
· · ·
· · ·
+7 Port 8 IO-Link Output Data 01 Upper Byte Port 8 IO-Link Output Data 01 Lower Byte

10 - 4 GX-series EtherCAT Slave Unit User’s Manual

 10 IO-Link Master Unit

10-3 Functions of the IO-Link

10-3 Functions of the IO-Link Master Unit

Master Unit
10-3-1 Basic Functions of IO-Link Master Units
The following are the basic functions of OMRON's IO-Link Master Units.
For details, refer to the IO-Link System User’s Manual (W570).
10
Function name Description
I/O data (process data) in the IO-Link devices is cyclically shared with

10-3-1 Basic Functions of IO-Link Master Units

the IO-Link Master Unit as the IO-Link communications master.
At the same time, this data and the status of the IO-Link Master Unit is
cyclically shared with the host communications master, with the IO-Link
Master Unit operating as the host communications slave.

Cyclic communications
„ Application Examples
Cyclic communications can be used to check the amount of detection
performance deterioration in devices, and to check changes in usage
conditions (e.g., amount of incident light for photoelectric sensors,
stability detection margins, and excessive proximity for proximity
sensors).
The host communications master can send messages (commands) to
Communic
the IO-Link Master Unit and receive the response from the IO-Link
ations
Master Unit.
The IO-Link Master Unit can also function as a gateway to send
messages (commands and responses) between the host
communications master and the IO-Link devices.
Refer to 6-3 Message Communications in the IO-Link System User’s
Message
Manual (Cat. No. W568).
communications
„ Application Examples
• During operation, you can change and adjust device parameters
(e.g., threshold settings, tuning execution, and ON-delay time
changes) from a program.
• During operation, you can check the internal status, such as the
operating times of devices.
You can select any of the following modes for each port:
IO-Link Mode, SIO (DI) Mode, SIO (DO) Mode, and Disable Port. This
Communications mode settings
allows you to combine IO-Link communications and digital I/O in a
single terminal or unit.
In IO-Link Mode, you can perform digital input with pin 2 while
Digital inputs for pin 2
performing IO-Link communications.
The IO-Link Master Unit automatically matches the specific baud rates
(COM1, COM2, or COM3) of the IO-Link devices to communicate with
Automatic baud rate setting for IO-Link
the IO-Link devices.
communications
Therefore, it is not necessary to set the baud rate of the connected
device for each port.
This function is used to verify the configuration of IO-Link devices that
are registered for connection to the IO-Link Master Unit (as set in the
Connected device verification IO-Link Device Configuration Settings or the IO-Link Device Information
Area) when the power supply is turned ON .
The user can enable or disable connected device verification.
This function detects IO-Link cable breaks, disconnections from IO-Link
IO-Link communications error
device ports, error-level device events, device configuration verification
detection
errors, and IO-Link device malfunctions.
Detection of short-circuits in I/O cables This function detects short-circuits in device cables.

GX-series EtherCAT Slave Unit User’s Manual 10 - 5

 10 IO-Link Master Unit

Function name Description

The host controller can use the Input Data Enabled Flags to determine
Input Data Enabled Flags
whether the IO-Link input data for IO-Link communications is valid.

10-3-2 Application Functions of IO-Link Master Units

The following table describes the application functions of OMRON's IO-Link Master Units.
For details, refer to the IO-Link System User’s Manual (W570).

Function name Description

This function turns OFF outputs from the IO-Link Master Unit when an
error occurs in host communications in IO-Link Mode or in an SIO
Load rejection during host
mode.
communications error
This prevents output operations with incorrect values from host
communications.
This function lets you read the total number of IO-Link communications
retries using the Sysmac Studio or a communications instruction sent to
Reading IO-Link total communications
the IO-Link Master Unit.
retries
You can use this function to determine communications status as
affected by I/O cable noise or other factors.
You can set a filter for digital inputs in SIO (DI) Mode or for digital inputs
with pin 2 in IO-Link Mode.
Digital input filter This lets you eliminate data corruption that can result from noise or
switch chattering. This function can also be used to implement an ON
delay and an OFF delay.
This function is used to back up parameter settings in IO-Link devices in
Backup and restoration of parameter the IO-Link Master Unit and then restore them to IO-Link devices.
settings in IO-Link devices This eliminates the need to set parameters again after replacing an
IO-Link device.
The event log records events (including errors) that occur in the IO-Link
Event log Master Unit and the IO-Link devices.
This enables partial troubleshooting for NJ/NX-series Controllers.

10 - 6 GX-series EtherCAT Slave Unit User’s Manual

 10 IO-Link Master Unit

10-4 Specifications

10-4 Specifications
This section gives the specifications and part names of the IO-Link Master Unit, describes its functions,
and provides wiring diagrams.

10-4-1 Specifications 10
z Communications Specifications

10-4-1 Specifications
The following table gives the EtherCAT communications specifications of the GX-ILM08C.

Item Specification
Communications
EtherCAT protocol
protocol
Modulation Baseband
Baud rate 100 Mbps
Physical layer 100BASE-TX (IEEE 802.3)
M12 (D-coding, female) × 2 (shielded)
Connectors CN IN: EtherCAT input
CN OUT: EtherCAT output
Category 5 or higher (cable with double, aluminum tape and braided shielding is
Communications media
recommended.)
Communications
Distance between nodes (Slave Units): 100 m max.
distance
Noise resistance Conforms to IEC 61000-4-4, 1 kV or higher.
Node address setting
Set on hexadecimal node address switches or with a Configuration Tool.
method
000 to FFF hex (0 to 4,095 decimal): Set on node address switches or with a
Node address range
Configuration Tool.
UNIT PWR × 1
IO PWR × 1
L/A IN (Link/Activity IN) × 1
Indicators
L/A OUT (Link/Activity OUT) × 1
RUN × 1
ERR × 1
Process data Variable PDO mapping
PDO size/node 2 to 270 bytes
Mailbox Emergency messages, SDO requests, SDO responses, and SDO information
Synchronization mode Free Run Mode (asynchronous)

GX-series EtherCAT Slave Unit User’s Manual 10 - 7

 10 IO-Link Master Unit

z General Specifications
The following table gives the general specifications of the GX-ILM08C.

Item Specification
Unit power supply
20.4 to 26.4 VDC (24 VDC −15%/+10%)
voltage
I/O power supply 20.4 to 26.4 VDC (24 VDC −15%/+10%)
Noise resistance Conforms to IEC 61000-4-4, 2 kV (power line).
Malfunction: 10 to 60 Hz with amplitude of 0.7 mm, 60 to 150 Hz and 50 m/s2 for 80
Vibration resistance
minutes each in X, Y, and Z directions
Shock resistance 150 m/s2 with amplitude of 0.7 mm
Dielectric strength 600 VAC (between isolated circuits)
Insulation resistance 20 MΩ min. (between isolated circuits)
Ambient operating
−10 to 55°C
temperature
Ambient operating
25% to 85% (with no condensation)
humidity
Ambient operating
No corrosive gases
atmosphere
Storage temperature −25 to 65°C
Storage humidity 25% to 85% (with no condensation)
Degree of protection IP67
Mounting M5 screw mounting
Mounting strength 100 N
Communications
30 N
connector strength
Connectors for EtherCAT communications: M12 (D-coding, female) × 2
Connector types Power supply connector: M12 (A-coding, male) × 1
I/O connectors: M12 (A-coding, female)*1 × 8
Round connectors (communications connector, power supply, and I/O): 0.39 to 0.49
Screw tightening N·m
torque*2 M5 (Unit mounted from the front):1.47 to 1.96 N·m
Cover for node address setting switches: 0.4 to 0.6 N·m
Applicable standards EU: EN 61131-2, RCM, KC, and IO-Link conformance
*1 Confirms to Class A when used as an IO-Link connector.
*2 For SmartClick Connectors, insert the Connector all the way and turn it approx. 1/8 of a turn. Torque
management is not required.

10 - 8 GX-series EtherCAT Slave Unit User’s Manual

 10 IO-Link Master Unit

z Unit Specifications

10-4 Specifications
The specifications for the GX-ILM08C are given below.

Item Specification
Unit name IO-Link Master Unit
Model GX-ILM08C
Number of IO-Link ports 8
COM1: 4.8 kbps
Communications
Baud rate COM2: 38.4 kbps
specifications
COM3: 230.4 kbps
10
Rated voltage 24 VDC (20.4 to 26.4 VDC)
Device power
Maximum load

10-4-1 Specifications
supply*1 in IO-Link 0.2 A/port
current
Mode or SIO (DI)
Short-circuit
Mode Yes
protection
Internal I/O common PNP
Rated voltage 24 VDC (20.4 to 26.4 VDC)
Input current 5 mA typical (at 24 VDC)
Digital inputs (in SIO ON voltage/ON
15 VDC min., 5 mA min.
(DI) Mode) current
OFF voltage 5 VDC max.
No filter, 0.25 ms, 0.5 ms, 1 ms (default), 2 ms, 4 ms, 8 ms, 16
Input filter time
ms, 32 ms, 64 ms, 128 ms, or 256 ms
Internal I/O common PNP
Output type Push-pull
Rated voltage 24 VDC (20.4 to 26.4 VDC)
Maximum load
Digital outputs (in 0.3 A/port
current
SIO (DIO) Mode)
Short-circuit
Provided.
protection
Leakage current 0.1 mA max.
Residual voltage 1.5 V max.
Internal I/O common PNP
Rated voltage 24 VDC (20.4 to 26.4 VDC)
Input current 2 mA (24 VDC)
Digital inputs for pin ON voltage/ON
15 VDC min., 2 mA min.
2 (in IO-Link Mode) current
OFF voltage 5 VDC max.
No filter, 0.25 ms, 0.5 ms, 1 ms (default), 2 ms, 4 ms, 8 ms, 16
Input filter time
ms, 32 ms, 64 ms, 128 ms, or 256 ms
Cable type Unshielded
Cable length 20 m max.
Electrostatic
Cable specifications
capacity between 3 nF max.
lines
Loop resistance 6 Ω max.
175 × 33 × 60 mm (W×H×D) (The height is 43 mm when the
Dimensions
connectors are included.)
Isolation method Photocoupler isolation
I/O power supply method Supplied from the power supply connector.
Unit power supply current consumption 60 mA
I/O power supply current consumption 100 mA
Weight 430 g

GX-series EtherCAT Slave Unit User’s Manual 10 - 9

10 IO-Link Master Unit

Item Specification

IN communications L+
connector Internal Isolation
C/Q I/O
circuits circuit
OUT communications DI connector
connector 1
L-
IO-Link
Non- circuits
Unit power supply isolated
24 V power L+
supply
Circuit layout Unit power supply circuits
C/Q I/O
0V DI connector
Power L- 8
supply
connector
I/O power
supply 24 V Non-isolated
power supply
I/O power circuits
supply 0 V

Installation orientation: 6 possible orientations

Installation orientation and restrictions
Restrictions: No restrictions
Protective functions Load short-circuit protection
*1 I/O power supply to devices:
This is the voltage and current value supplied to devices when the communications modes of the ports on the
IO-Link Master Unit are IO-Link Mode or SIO (DI) Mode.

10 - 10 GX-series EtherCAT Slave Unit User’s Manual

 10 IO-Link Master Unit

10-4 Specifications
10-4-2 Part Names and Functions
(8)

(1) (2)

(5)

(3) (6)
10

(7)

10-4-2 Part Names and Functions

(4) (4)

(8)

No. Name Function

EtherCAT communications EtherCAT cable connection: IN side
(1)
connector, IN M12 connector (D-coding, female)
EtherCAT communications EtherCAT cable connection: OUT side
(2)
connector, OUT M12 connector (D-coding, female)
Connects to Unit power supply and I/O power supply cable.
(3) Power supply connector
M12 connector (A-coding, male)
Connect to IO-Link sensor cables (IO-Link connector type: Class
(4) I/O connectors A)
M12 connectors (A-coding, female)
(5) Node address setting switches Used to set the EtherCAT node address.
Indicate the current status of the EtherCAT Slave Unit.
(6) Status indicators
(RUN, ERR, L/A IN, L/A OUT, UNIT PWR, and I/O PWR)
Indicate the I/O status.
(7) I/O indicators
(C/E and C/Q)
(8) Mounting holes Used to mount the Unit with M5 screws.

GX-series EtherCAT Slave Unit User’s Manual 10 - 11

10 IO-Link Master Unit

Status Indicators

z L/A IN Indicator
This indicator shows the input communications status.
For the indicator specifications, refer to "6-3-1 Status Indicators" in Page 6 - 4.

z L/A OUT Indicator

This indicator shows the output communications status.
For the indicator specifications, refer to "6-3-1 Status Indicators" in Page 6 - 4.

z RUN Indicator
This indicator shows the operating status of EtherCAT communications.
For the indicator specifications, refer to "6-3-1 Status Indicators" in Page 6 - 4.

z ERR Indicator
This indicator provides information on errors.
For the indicator specifications, refer to "6-3-1 Status Indicators" in Page 6 - 4.

z UNIT PWR Indicator

This indicator shows the Unit power supply status.

Color Status Meaning

Lit. The Unit power (24 VDC) is currently supplied.
Green
Not lit. The Unit power is not currently supplied.

z IO PWR Indicator
This indicator shows the I/O power supply status.

Color Status Meaning

Lit. The I/O power (24 VDC) is currently supplied.
Green
Not lit. The I/O power is not currently supplied.

10 - 12 GX-series EtherCAT Slave Unit User’s Manual

 10 IO-Link Master Unit

10-4 Specifications
I/O Indicators

10

10-4-2 Part Names and Functions

z C/E Indicator
These indicator show the IO-Link communications status and error status.

Label Color Status Meaning

IO-Link communications are in progress during operation in
Lit.
IO-Link Mode.
• IO-Link communications are stopped during operation in
Green IO-Link Mode.
Not lit. • Operation is currently performed in SIO (DI) or SIO (DO)
Mode.
• The port is disabled.
A
Flashing (1-s There is an IO-Link communications error during operation in
intervals) IO-Link Mode.
• There are no IO-Link communications errors during operation
Red in IO-Link Mode.
Not lit. • Operation is currently performed in SIO (DI) or SIO (DO)
Mode.
• The port is disabled.

z C/Q Indicator
These indicator show the digital I/O status.

Label Color Status Meaning

• The pin-2 input signal is ON during operation in IO-Link Mode.
Lit. • The I/O signal is ON during operation in SIO (DI) Mode or SIO
(DO) Mode.
• The pin-2 input signal is OFF during operation in IO-Link
B Yellow
Mode.
Not lit. • The I/O signal is OFF during operation in SIO (DI) Mode or
SIO (DO) Mode.
• The port is disabled.

GX-series EtherCAT Slave Unit User’s Manual 10 - 13

10 IO-Link Master Unit

I/O Connectors

Port 1 Port 2

Port 3 Port 4

Port 5 Port 6

Port 7 Port 8

Power Supply Connector

Pin Signal Description

1 UNT_P+ Unit power supply +
2 UNT_P− Unit power supply −
3 I/O_P+ I/O power supply +
4 I/O_P− I/O power supply −

I/O Connectors

Pin Signal Description

1 L+ Device power supply +
2 DI Digital input
3 L− Device power supply −
4 C/Q IO-Link communications/signal wires
5 n/a Not used.

10 - 14 GX-series EtherCAT Slave Unit User’s Manual

 10 IO-Link Master Unit

10-5 Mounting Dimensions

10-5 Mounting Dimensions
The mounting dimensions of the IO-Link Master Unit are shown below.

z GX-ILM08C
60
10
175

(mm)

Height: 33 (43 mm when the connectors are included)

GX-series EtherCAT Slave Unit User’s Manual 10 - 15

10 IO-Link Master Unit

10-6 Communications Performance

This section describes the I/O response times of the GX-series IO-Link Master Unit.

The I/O response time is the time required for the following processing: The CPU Unit processes an
external signal input to one EtherCAT slave, and another EtherCAT (CoE) slave outputs the processed
result as an external signal.

10-6-1 Maximum I/O Response Time

This section describes the maximum I/O response time of the GX-series IO-Link Master Unit.

For the timing charts and calculation methods for EtherCAT slaves, refer to System Response Time in
Process Data Communications in the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual
(Cat. No. W505).

The following EtherCAT slave parameters are necessary to calculate I/O response times.
• Slave input response time: Specific input response time for EtherCAT slave
• Slave output response time: Specific output response time for EtherCAT slave

The parameter values and calculation methods for the GX-series IO-Link Master Unit are given below.

z Input Data
I/O data type IO-Link input data from
Digital input data for pin 2 Digital input data in SIO
IO-Link communications
Parameter in IO-Link Mode (DI) Mode
in IO-Link Mode
0.134 × Pin_size*1
+ 0.012 × (Total size (in 0.134 × Pin_size*1
bytes) of IO-Link input data
+ 0.012 × (Total size (in bytes) of IO-Link input data from
from IO-Link
IO-Link communications from port 1 to port 8) + 5.02 +
communications from port 1
Input filter time [ms]
to port 8) + 5.02+ IO-Link
communications cycle*2 [ms]
Example: When the IO-Link
input data sizes of the
Example: When the IO-Link
IO-Link devices (sensors)
input data sizes of the Example: When port 1
Slave input for port 1 through port 4 are
IO-Link devices (sensors) through port 7 are used by
response time all 2 bytes, the IO-Link input
for port 1 through port 4 are IO-Link devices with an
data sizes of the IO-Link
all 2 bytes, the IO-Link input IO-Link input data size of 2
devices (sensors) for port 5
data sizes of the IO-Link bytes and port 8 is used by a
through port 8 are all 4
devices (sensors) for port 5 non-IO-Link device (sensor)
bytes, and the IO-Link
through port 8 are all 4 with no input filter: 0.134 ×
communications cycle for
bytes, and no input filter is 2 bytes × 4 devices + 0.012
those IO-Link devices
used: 0.134 × 4 bytes × 4
(sensors) is 2.1 [ms]: 0.134 × Total of 14 bytes + 5.02 =
× 4 bytes × 4 devices + devices + 0.012 × Total of 6.26 [ms]
24 bytes + 5.02 = 7.452 [ms]
0.012 × Total of 24 bytes +
5.02 + 2.1 = 9.552 [ms]
*1 Pin_size: The larger of the total IO-Link input data sizes for IO-Link communications between ports 1 and 4 and
ports 5 and 8.

10 - 16 GX-series EtherCAT Slave Unit User’s Manual

 10 IO-Link Master Unit

10-6 Communications
*2 For information on how to determine the IO-Link communications cycle, refer to "10-6-2 Determining the
IO-Link Communications Cycle" in Page 10 - 18Determining the IO-Link Communications Cycle.

Performance
z Output Data
I/O data type IO-Link output data from IO-Link
Digital output data in SIO (DO) Mode
Parameter communications in IO-Link Mode
0.091 × Pout_size*1 + 0.001 × (Total size (in 0.091 × Pout_size*1 + 0.001 × (Total size (in
bytes) of IO-Link output data from IO-Link bytes) of IO-Link output data from IO-Link 10
communications from port 1 to port 8) + communications from port 1 to port 8) +
3.04 + IO-Link communications cycle*2 [ms] 3.04 [ms]

10-6-1 Maximum I/O Response Time

Example: When the IO-Link output data
sizes of the IO-Link devices (actuators) for
Slave output port 1 through port 4 are all 2 bytes, the Example: When port 1 through port 7 are
response time IO-Link output data sizes of the IO-Link used by IO-Link devices with an IO-Link
devices (actuators) for port 5 through port 8 output data size of 2 bytes and port 8 is
are all 4 bytes, and the IO-Link used by a non-IO-Link device (actuator):
communications cycle for those IO-Link 0.091 × 2 bytes × 4 devices + 0.001 × Total
devices (actuators) is 2.1 [ms]: 0.091 × 4 of 14 bytes + 3.04 = 3.782 [ms]
bytes × 4 devices + 0.001 × Total of 24
bytes + 3.04 + 2.1 = 6.62 [ms]
*1 Pout_size: The larger of the total IO-Link output data sizes for IO-Link communications between ports 1 and 4
and ports 5 and 8.
*2 For information on how to determine the IO-Link communications cycle, refer to "10-6-2 Determining the
IO-Link Communications Cycle" in Page 10 - 18.

GX-series EtherCAT Slave Unit User’s Manual 10 - 17

10 IO-Link Master Unit

10-6-2 Determining the IO-Link Communications Cycle

The IO-Link communications cycle depends on the baud rate of the IO-Link devices, as described
below.
Refer to the instruction manuals for individual IO-Link devices for the IO-Link device baud rates.

When the IO-Link Device Baud Rate Is COM3 (230.4 kbps)

The IO-Link communications cycle depends on whether the minimum cycle time of the IO-Link devices
is less than or equal to 1.1 ms or greater than 1.1 ms, as described below.
• When the minimum cycle time of the IO-Link devices is less than or equal to 1.1 ms
IO-Link communications cycle is 2.1 [ms] and does not change.
• When the minimum cycle time of the IO-Link devices is greater than 1.1 ms
The IO-Link communications cycle = (Minimum cycle time of the IO-Link devices*) +1.0 [ms]

When the IO-Link Device Baud Rate IO-Link Device Is COM2 (38.4
kbps) or COM1 (4.8 kbps)
The IO-Link communications cycle will be as described below.
The IO-Link communications cycle = (Minimum cycle time of the IO-Link devices*) [ms]
* You can check the minimum cycle times for the IO-Link devices in the instruction manuals for the IO-Link
devices.
Or, you can place the CX-ConfiguratorFDT online and check the cycle time in Read Device Configuration in the
Diagnosis Tab Page for the IO-Link Master Unit, as shown in the following screen capture.

10 - 18 GX-series EtherCAT Slave Unit User’s Manual

 11
Expansion Unit
This chapter overviews the Expansion Unit.

11-1 Overview of the Expansion Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2

11-1-1 Connecting Expansion Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-2
11-1-2 I/O Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-3
11-2 Specifications of Expansion Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
11-2-1 8-point Input Expansion Unit XWT-ID08/ID08-1 . . . . . . . . . . . . . . . . . . . . . . . .11-5
11-2-2 8-point Output Expansion Unit XWT-OD08/OD08-1 . . . . . . . . . . . . . . . . . . . . .11-8
11-2-3 16-point Input Expansion Unit XWT-ID16/ID16-1 . . . . . . . . . . . . . . . . . . . . . . 11-11
11-2-4 16-point Output Expansion Unit XWT-OD16/OD16-1 . . . . . . . . . . . . . . . . . . .11-14
11-3 Mounting Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-17

GX-series EtherCAT Slave Unit User’s Manual 11 - 1

 11 Expansion Unit

11-1 Overview of the Expansion Unit

One Expansion Unit can be added to a Digital I/O Slave Unit (GX-ID 1611/ID1621/
OD1611/OD1621/OC1601) (2-tier terminal block type16-point Slave Unit)
The use of Expansion Units enables flexible I/O capacity expansion.
This section explains how to connect the Expansion Unit and supply the unit power.
The Expansion Unit provides the same functions available through the Digital I/O Slave Unit.
For details, refer to "7-3 Functions of Digital I/O Slave Units" in page 7 - 7.

11-1-1 Connecting Expansion Units

1 Remove the cover from the right side of the Digital I/O Slave Unit.
(1) Depress the catch and remove one side of the cover.
(2) Pull out the cover to remove it entirely.

(1) (2)

2 Connect the Expansion Unit to the Slave Unit.

Press the Expansion Unit and Digital I/O Slave Unit together until they click into place with the
connectors properly mated.

Precautions for Correct Use

Always turn the main power OFF when connecting the Expansion Unit.

11 - 2 GX-series EtherCAT Slave Unit User’s Manual

 11 Expansion Unit

11-1 Overview of the Expansion Unit

11-1-2 I/O Power Supply
The I/O power supply method when an Expansion Unit is connected differs in cases. In some cases I/O
power can be supplied only to Slave Unit.
In the other cases, it must be supplied to both the Slave Unit and the Expansion Unit.
These differences depend on the I/O combination. Refer to the following table for the correct supply.

Expansion Unit Input Output

XWT-ID08(-1) XWT-ID16(-1) XWT-OD08(-1) XWT-OD16(-1)

Slave Unit
GX-ID1611 Power is supplied only to the Slave Unit.
Power is supplied to both the Slave Unit 11
Input Power supply to the Expansion Unit is not
GX-ID1621 and Expansion Unit.
required.

11-1-2 I/O Power Supply

GX-OD1611
Power is supplied to both the Slave Unit Power is supplied to both the Slave Unit
Output GX-OD1621
and Expansion Unit. and Expansion Unit.
GX-OC1601

GX-series EtherCAT Slave Unit User’s Manual 11 - 3

 11 Expansion Unit

11-2 Specifications of Expansion Unit

The chart below shows the Expansion Unit specifications, component names and functions, internal
circuits and wiring diagram.
Refer to the following corresponding page to each model.

Reference page
Internal
Model Names and Wiring
Specification circuits
functions diagram
diagram
XWT-ID08
11-5 11-5 11-6 11-7
XWT-ID08-1
XWT-OD08
11-8 11-8 11-9 11-10
XWT-OD08-1
XWT-ID16
11-11 11-11 11-12 11-13
XWT-ID16-1
XWT-OD16
11-14 11-14 11-15 11-16
XWT-OD16-1

11 - 4 GX-series EtherCAT Slave Unit User’s Manual

 11 Expansion Unit

11-2 Specifications of Expansion Unit

11-2-1 8-point Input Expansion Unit
XWT-ID08/ID08-1

Specification

Specification
Item
XWT-ID08 XWT-ID08-1
Internal I/O common NPN PNP
I/O capacity 8 inputs 11
15 VDC min. (between each input 15 VDC min. (between each input
ON voltage
terminal and the V terminal) terminal and the G terminal)

11-2-1 8-point Input Expansion Unit XWT-ID08/ID08-1

5 VDC max. (between each input 5 VDC max. (between each input
OFF voltage
terminal and the V terminal) terminal and the G terminal)
OFF current 1.0 mA max.
6.0 mA max./input (at 24-VDC)
Input current
3.0 mA max./input (at 17-VDC)
ON delay time 1.5 ms max.
OFF delay time 1.5 ms max.
Number of circuits per
8 inputs/common
common
Isolation method Photocoupler isolation
Input indicators LED display (yellow)
Weight 80g max.

Names and functions

(1)

IN

(2)

(4) (3)

z Terminal arrangement diagram

6 to 10 V 1 3 5 7

1 to 5 G 0 2 4 6

GX-series EtherCAT Slave Unit User’s Manual 11 - 5

 11 Expansion Unit

No. Name Function

Indicates the state of each input contact (ON/OFF).
(1) Input indicators (0 to 7) Not lit: Contact OFF (input OFF state)
Lit in yellow: Contact ON (input ON state)
(2) Slave connector Connects the connector on the right side of the Slave Unit.
Connects external devices and the I/O power supply.
(3) Terminal block V, G: I/O power supply terminals
0 to 7: Input terminals
(4) DIN track mounting hook Fixes a Slave Unit to a DIN track.

Internal circuits diagram

z XWT-ID08 (NPN)

Photocoupler
V 24 VDC
0
1
Internal circuits

• •

Photocoupler • •

• •

• •

• •

• •

• •

• •

• •

•
G
•

z XWT-ID08-1 (PNP)

V 24 VDC
Photocoupler
0
1
• •

• •
Internal circuits

• •

• •
Photocoupler
• •

• •

• •

G
•

11 - 6 GX-series EtherCAT Slave Unit User’s Manual

 11 Expansion Unit

11-2 Specifications of Expansion Unit

Wiring diagram
z XWT-ID08 (NPN)

V 1 3 5 7

G 0 2 4 6
11

11-2-1 8-point Input Expansion Unit XWT-ID08/ID08-1

Blue (black)
Black (white)

Blue (black)
Brown (red)

Brown (white)

I/O power supply

(24 VDC)

NPN output 3-wire 2-wire sensor

sensor (Limit switch, etc.)
(Photoelectric sensor,
proximity sensor)

z XWT-ID08-1 (PNP)

V 1 3 5 7

G 0 2 4 6
Black (white)

Brown (white)
Blue (black)

Blue (black)
Brown (red)

I/O power supply

PNP output 3-wire 2-wire sensor

sensor (Limit switch, etc.)
(Photoelectric sensor,
proximity sensor)

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors.
The colors in parentheses are the wire colors prior to the revisions.

GX-series EtherCAT Slave Unit User’s Manual 11 - 7

 11 Expansion Unit

11-2-2 8-point Output Expansion Unit

XWT-OD08/OD08-1

Specification

Specification
Item
XWT-OD08 XWT-OD08-1
Internal I/O common NPN PNP
I/O capacity 8 outputs
Rated output current 0.5 A/output, 2.0 A/common
1.2 V max. 1.2 V max.
Residual voltage (0.5 ADC, between each output terminal (0.5 ADC, between each output terminal
and the G terminal) and the V terminal)
Leakage current 0.1 mA max.
ON delay time 0.5 ms max.
OFF delay time 1.5 ms max.
Number of circuits per
8 inputs/common
common
Isolation method Photocoupler isolation
Output indicators LED display (yellow)
Error Mode Output Select either hold or clear.
Weight 80g max.

Names and functions

(1)

0UT

(2)

(4) (3)

z Terminal arrangement diagram

6 to 10 V 1 3 5 7

1 to 5 G 0 2 4 6

11 - 8 GX-series EtherCAT Slave Unit User’s Manual

 11 Expansion Unit

11-2 Specifications of Expansion Unit

No. Name Function
Indicates the state of each output contact (ON/OFF).
(1) Output indicators (0 to 7) Not lit: Contact OFF (output OFF state)
Lit in yellow: Contact ON (output ON state)
(2) Slave connector Connects the connector on the right side of the Slave Unit.
Connects external devices and the I/O power supply.
(3) Terminal block V, G: I/O power supply terminals
0 to 7: Output terminals
(4) DIN track mounting hook Fixes a Slave Unit to a DIN track.

Internal circuits diagram 11

z XWT-OD08 (NPN)

11-2-2 8-point Output Expansion Unit XWT-OD08/OD08-1

Voltage
drop

Photocoupler
V 24 VDC
0
1
Internal circuits

• •

• •

• •

• •
Photocoupler • •

• •

• •

• •

• •

• •

• •

G
•

z XWT-OD08-1 (PNP)

V 24 VDC
Photocoupler 0
1
• •
Internal circuits

• •

• •

• •

• •

• •
Photocoupler
• •

• •
Voltage
drop

G
•

GX-series EtherCAT Slave Unit User’s Manual 11 - 9

11 Expansion Unit

Wiring diagram
z XWT-OD08 (NPN)

V 1 3 5 7

G 0 2 4 6

I/O power supply

(24 VDC)

Solenoid valve, etc. Solenoid valve, etc.

z XWT-OD08-1 (PNP)

V 1 3 5 7

G 0 2 4 6

I/O power supply

(24 VDC)

Solenoid valve, etc. Solenoid valve, etc.

Precautions for Correct Use

When using an inductive load, such as a solenoid valve, either use a built-in diode for absorbing
the counterelectromotive force or install an external diode. (Refer to "A-4 Wiring External Output
Signal Lines" in page A - 66.)

11 - 10 GX-series EtherCAT Slave Unit User’s Manual

 11 Expansion Unit

11-2 Specifications of Expansion Unit

11-2-3 16-point Input Expansion Unit
XWT-ID16/ID16-1

Specification

Specification
Item
XWT-ID16 XWT-ID16-1
Internal I/O common NPN PNP
I/O capacity 16 inputs 11
15 VDC min. (between each input 15 VDC min. (between each input
ON voltage
terminal and the V terminal) terminal and the G terminal)

11-2-3 16-point Input Expansion Unit XWT-ID16/ID16-1

5 VDC max. (between each input 5 VDC max. (between each input
OFF voltage
terminal and the V terminal) terminal and the G terminal)
OFF current 1.0 mA max.
6.0 mA max./input (at 24-VDC)
Input current
3.0 mA max./input (at 17-VDC)
ON delay time 1.5 ms max.
OFF delay time 1.5 ms max.
Number of circuits per
16 inputs/common
common
Isolation method Photocoupler isolation
Input indicators LED display (yellow)
Weight 120g max.

Names and functions

(1)

IN

(2)

(4) (3)

z Terminal arrangement diagram

10 to 18 V 1 3 5 7 9 11 13 15

1 to 9 G 0 2 4 6 8 10 12 14

GX-series EtherCAT Slave Unit User’s Manual 11 - 11

11 Expansion Unit

No. Name Function

Indicates the state of each input contact (ON/OFF).
(1) Input indicators (0 to 15) Not lit: Contact OFF (input OFF state)
Lit in yellow: Contact ON (input ON state)
(2) Slave connector Connects the connector on the right side of the Slave Unit.
Connects external devices and the I/O power supply.
(3) Terminal block V, G: I/O power supply terminals
0 to 15: Input terminals
(4) DIN track mounting hook Fixes a Slave Unit to a DIN track.

Internal circuits diagram

z XWT-ID16 (NPN)

Photocoupler
V 24 VDC
0
1
Internal circuits

• •

• •
Photocoupler
• •

• •

• •

• •

• •

• •
•
• •
•

•
G

z XWT-ID16-1 (PNP)

V 24 VDC
Photocoupler
0
1
• •

• •
Internal circuits

• •

• •
Photocoupler
• •

• •

• •

G
•

11 - 12 GX-series EtherCAT Slave Unit User’s Manual

 11 Expansion Unit

11-2 Specifications of Expansion Unit

Wiring diagram
z XWT-ID16 (NPN)

V 1 3 5 7 9 11 13 15

G 0 2 4 6 8 10 12 14
11

11-2-3 16-point Input Expansion Unit XWT-ID16/ID16-1

Black (white)

Brown (white)
Blue (black)

Blue (black)
Brown (red)

I/O power supply

(24 VDC)

NPN output 3-wire sensor 2-wire sensor

(Photoelectric sensor, (Limit switch, etc.)
proximity sensor)

z XWT-ID16-1 (PNP)

V 1 3 5 7 9 11 13 15

G 0 2 4 6 8 10 12 14
Black (white)

Brown (white)
Blue (black)

Blue (black)
Brown (red)

I/O power supply

(24 VDC)

PNP output 3-wire 2-wire sensor

sensor (Limit switch, etc.)
(Photoelectric sensor,
proximity sensor)

Reference

Wire colors have been changed according to revisions in the JIS standards for photoelectric and
proximity sensors.
The colors in parentheses are the wire colors prior to the revisions.

GX-series EtherCAT Slave Unit User’s Manual 11 - 13

11 Expansion Unit

11-2-4 16-point Output Expansion Unit

XWT-OD16/OD16-1

Specification

Specification
Item
XWT-OD16 XWT-OD16-1
Internal I/O common NPN PNP
I/O capacity 16 outputs
Rated output current 0.5 A/output, 4.0 A/common
1.2 V max. 1.2 V max.
Residual voltage (0.5 ADC, between each output terminal (0.5 ADC, between each output terminal
and the G terminal) and the V terminal)
Leakage current 0.1 mA max.
ON delay time 0.5 ms max.
OFF delay time 1.5 ms max.
Number of circuits per
16 inputs/common
common
Isolation method Photocoupler isolation
Output indicators LED display (yellow)
Error Mode Output Select either hold or clear.
Weight 120g max.

Names and functions

(1)

OUT

(2)

(4) (3)

z Terminal arrangement diagram

10 to 18 V 1 3 5 7 9 11 13 15

1 to 9 G 0 2 4 6 8 10 12 14

11 - 14 GX-series EtherCAT Slave Unit User’s Manual

 11 Expansion Unit

11-2 Specifications of Expansion Unit

No. Name Function
Indicates the state of each output contact (ON/OFF).
(1) Output indicators (0 to 15) Not lit: Contact OFF (output OFF state)
Lit in yellow: Contact ON (output ON state)
(2) Slave connector Connects the connector on the right side of the Slave Unit.
Connects external devices and the I/O power supply.
(3) Terminal block V, G: I/O power supply terminals
0 to 15: Output terminals
(4) DIN track mounting hook Fixes a Slave Unit to a DIN track.

Internal circuits diagram 11

z XWT-OD16 (NPN)

11-2-4 16-point Output Expansion Unit XWT-OD16/OD16-1

Photocoupler
Voltage
drop

V 24 VDC
0
1
Internal circuits

• •

• •

• •

• •
Photocoupler
• •

• •

• •

• •

• •

• •

• •

G
•

z XWT-OD16-1 (PNP)

V 24 VDC
Photocoupler
0
1
• •
Internal circuits

• •

• •

• •

• •

• •

Photocoupler • •

• •
Voltage

• •
drop

G
•

GX-series EtherCAT Slave Unit User’s Manual 11 - 15

11 Expansion Unit

Wiring diagram
z XWT-OD16 (NPN)

V 1 3 5 7 9 11 13 15

G 0 2 4 6 8 10 12 14

I/O power supply

(24 VDC)

Solenoid valve, etc. Solenoid valve, etc.

z XWT-OD16-1 (PNP)

V 1 3 5 7 9 11 13 15

G 0 2 4 6 8 10 12 14

I/O power supply

(24 VDC)

Solenoid valve, etc. Solenoid valve, etc.

Precautions for Correct Use

When using an inductive load, such as a solenoid valve, either use a built-in diode for absorbing
the counterelectromotive force or install an external diode. (Refer to "A-4 Wiring External Output
Signal Lines" in page A - 66.)

11 - 16 GX-series EtherCAT Slave Unit User’s Manual

 11 Expansion Unit

11-3 Mounting Dimensions

11-3 Mounting Dimensions

The mounting dimensions of the Expansion Unit are shown below.

z XWT-ID08/ID08-1/OD08/OD08-1

13 66 43.9

11
50

29.9
3.1

49.7 (mm)

z XWT-ID16/ID16-1/OD16/OD16-1

12 94 43.9

0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
50

29.9
3.1

49.7 (mm)

GX-series EtherCAT Slave Unit User’s Manual 11 - 17

11 Expansion Unit

11 - 18 GX-series EtherCAT Slave Unit User’s Manual

Troubleshooting and Maintenance
12
This chapter explains actions to be taken at errors, troubleshooting, and equipment
maintenance.

12-1 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-2

12-1-1 Errors that Can be Checked with Status Indicator and Actions to Take . . . . . 12-2
12-1-2 Errors Unique to Each Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-7
12-1-3 Error Notification Methods and Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-13
12-1-4 Sysmac Error Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-14
12-1-5 Emergency Error Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-19
12-1-6 Application Layer Status Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-21
12-2 Equipment Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23
12-2-1 Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23
12-2-2 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-23
12-2-3 Handling when Replacing Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12-24

GX-series EtherCAT Slave Unit User’s Manual 12 - 1

 12 Troubleshooting and Maintenance

12-1 Troubleshooting

12-1-1 Errors that Can be Checked with Status Indicator and Actions to
Take

Errors can be notified by status indicators on Slave Units.

In this section, the states of status indicator are indicated using the following abbreviations.

Abbreviation Definition
On ON
Off OFF
F Flickering (ON (50 ms) - OFF (50 ms) flashing)
B Blinking (ON (200 ms) - OFF (200 ms) flashing)
SF Single flash (ON (200 ms) - OFF (1000 ms) flashing)
DF Double flash (ON (200 ms) - OFF (200 ms) - ON (200 ms) - OFF (1000 ms) flashing)
− Unknown

For details on definition of each state, refer to "6-3-1 Status Indicators" in page 6 - 4.

z Errors of Slave Unit

[L/A IN]
[PWR] [RUN] [ERR]
[L/A OUT] Description Cause Actions
indicator indicator indicator
LED
PDO communications
EtherCAT EtherCAT or both PDO and SDO
On F On Off communication communication is communications are
is in progress. being executed. being executed.
State is normal.
After removing the
following factors of
power supply shutdown,
restart the Slave Unit
according to the
specification of
connected EtherCAT
Master Unit.
• Are the power supply
The power is not
Power supply cables wired
Off Off Off Off properly supplied
error correctly?
to the Slave Unit.
• Are the power supply
cables disconnected?
• Is the power supply
voltage within the
specification range?
• Is the power supply
capacity sufficient?
• Is the power supply
malfunctioning?

12 - 2 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

[L/A IN]
[PWR] [RUN] [ERR]
[L/A OUT] Description Cause Actions
indicator indicator indicator
LED
On If the error does not
clear even after the
A hardware failure power is turned ON
F occurred. again, the Slave Unit
On − Off Hardware error hardware is damaged.

12-1 Troubleshooting
Replace the Slave Unit.
The Expansion
Check the Expansion
B Unit is
Unit connection.
disconnected.
Check the switch
A range setting settings then restart the
Illegal switch switch or other Slave Unit according to
setting switch setting is the specification of
illegal. connected EtherCAT 12
Master Unit.
Use the Configuration

12-1-1 Errors that Can be Checked with Status Indicator and Actions to Take
Tool or SDO
communications to
Non-volatile A non-volatile restore the default data
memory data memory data error and restart the Slave
error occurred. Unit according to the
On − − B specification of
connected EtherCAT
Master Unit.
Sync manager The sync manager Change to the correct
setting error setting is illegal. settings.
If the problem is not
resolved even after the
measures described
A hardware failure above are taken, the
Hardware error
occurred. Slave Unit hardware
may be damaged.
Replace the applicable
Slave Unit.

GX-series EtherCAT Slave Unit User’s Manual 12 - 3

 12 Troubleshooting and Maintenance

z Errors of EtherCAT Network

[L/A IN]
[PWR] [RUN] [ERR]
[L/A OUT] Description Cause Actions
indicator indicator indicator
LED
Operation standby
Link
status after
On On − − established in −
establishing link in
physical layer
physical layer.
After checking the
following items, restart
the Slave Unit according
to the specification of
connected EtherCAT
Master Unit.
• Is the
communications
cable wired correctly?
A link in physical • Are any cables
layer has not been disconnected or loose
established. in the part that
connects to the
connector?
• Is the cable length
appropriate?
• Is the
communications
cable of the
recommended
Link not
specification?
On Off − − established in
Check that EtherCAT
physical layer
Master Unit is operating
correctly. If using an
OMRON EtherCAT
Master Unit, check the
The host master EtherCAT Master Unit
has not been mode and Slave Unit
started. node addresses. If
using EtherCAT Master
Unit from another
manufacturer, refer to
the user's manual for
that Master Unit.
If the problem is not
resolved even after the
measures described
A hardware failure above are taken, the
occurred. Slave Unit hardware
may be damaged.
Replace the applicable
Slave Unit.

12 - 4 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

[L/A IN]
[PWR] [RUN] [ERR]
[L/A OUT] Description Cause Actions
indicator indicator indicator
LED
After checking the
following items, restart
the Slave Unit according
to the specification of
connected EtherCAT

12-1 Troubleshooting
Master Unit.
[Item about
communication cable]
• Is the
communications
cable wired correctly?
• Are any cables
disconnected or loose
in the part that 12
A communications connects to the
error occurred. connector?

12-1-1 Errors that Can be Checked with Status Indicator and Actions to Take
• Is the cable length
appropriate?
• Is the
communications
cable of the
recommended
specification?
[Item about power
Process data
supply]
communica-
• Is the power supply
tions timeout *
voltage within the
On − − DF specification range?
• Is the power supply
capacity sufficient?
• If there are devices in
the vicinity that
generate noise, take
necessary measures
against the noise to
protect the EtherCAT
Master Unit and Slave
Units and the
communications
Malfunction due to cable.
noise • The noise resistance
deteriorates if a cable
other than those of
the recommended
specification is used.
Use the
communications
cable of the
recommended
specification.
Check to see if the
Communications
cable is disconnected or
Link in physical cable
loose in the part that
later OFF disconnection
connects to the
occurred.
connector.

GX-series EtherCAT Slave Unit User’s Manual 12 - 5

 12 Troubleshooting and Maintenance

[L/A IN]
[PWR] [RUN] [ERR]
[L/A OUT] Description Cause Actions
indicator indicator indicator
LED
It is commanded
from the EtherCAT
Safe-
Master Unit to shift
On − SF − Operational
to the
state
Safe-Operational
state.
If the trouble occurred
It is commanded
during operating the
from the EtherCAT
Pre- system, check the state
Master Unit to shift
On − B − Operational of the connected
to the
state EtherCAT Master Unit.
Pre-Operational
state.
It is commanded
from the EtherCAT
On − Off − Init state
Master Unit to shift
to the Init state.
* Due to the EtherCAT specification, a communication timeout does not occur with those Slave Units that only
handle input data.

The GX-series Slaves that have only input data are listed below.
• GX-AD0471
• GX-ID1611
• GX-ID1611+XWT-ID08
• GX-ID1611+XWT-ID16
• GX-ID1611+XWT-ID08-1
• GX-ID1611+XWT-ID16-1
• GX-ID1621
• GX-ID1621+XWT-ID08
• GX-ID1621+XWT-ID16
• GX-ID1621+XWT-ID08-1
• GX-ID1621+XWT-ID16-1
• GX-ID1612
• GX-ID1622
• GX-ID1618
• GX-ID1628
• GX-ID3218
• GX-ID3228

z Errors of Encoder Input Slave Unit

[L/A IN]
[PWR] [RUN] [ERR]
[L/A OUT] Description Actions
indicator indicator indicator
LED
After checking the following items,
restart the Slave Unit according to
Synchronization
the specification of connected
On − B B frequency (Sync0
EtherCAT Master Unit.
frequency) setting error
• Set the correct synchronization
frequency.

12 - 6 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

[L/A IN]
[PWR] [RUN] [ERR]
[L/A OUT] Description Actions
indicator indicator indicator
LED
After checking the following items,
restart the Slave Unit according to
the specification of connected
EtherCAT Master Unit.
• Is the communications cable

12-1 Troubleshooting
Synchronization error (at
On − B SF wired correctly?
synchronization start)
• Is the communications cable
exposed to excessive noise?
• Review set time of Sync Not
Received Timeout Setting
(synchronization error setting).
After checking the following items,
restart the Slave Unit according to
the specification of connected 12
EtherCAT Master Unit.
Communications • Is the communications cable
On − SF SF

12-1-2 Errors Unique to Each Slave Unit

synchronization error wired correctly?
• Is the communications cable
exposed to excessive noise?
• Review set time of
Communication Error Setting .
After checking the following items,
restart the Slave Unit according to
the specification of connected
EtherCAT Master Unit.
• Is the communications cable
wired correctly?
Synchronization error (in
On − SF SF • Is the communications cable
operation)
exposed to excessive noise?
• Review set time of
Communication Error Setting .
If this does not improve, the Slave
Unit hardware may be damaged.
Replace the applicable Slave Unit.

12-1-2 Errors Unique to Each Slave Unit

Slave Unit type Symptom Cause Measures

Some functions are not
The functions enabled by Turn ON Slave Unit power
All models other than reflected even after
recycling the power were supply again after
Encoder Input Slave Units parameters have been
changed. changing the setting.
set.

GX-series EtherCAT Slave Unit User’s Manual 12 - 7

 12 Troubleshooting and Maintenance

Slave Unit type Symptom Cause Measures

The number of I/O points
increase or decrease
I/O communications
when Expansion Units are
stopped after mounting or
mounted or removed. The Allocate I/O data again to
removing an Expansion
number of I/O points may the EtherCAT Master Unit.
Slave Units to which Unit and turning ON the
not conform to the I/O
Expansion Units can be power.
data assigned to the
mounted
EtherCAT Master Unit.
The [PWR] indicator lights Turn OFF the power
Expansion Units cannot
red after mounting or supply before mounting or
be mounted or removed
removing an Expansion removing Expansion
online.
Unit online. Units.
The I/O power is not Check that the I/O power
supplied. is supplied.
Set the I/O power supply
I/O power supply voltage
voltage within the rated
is outside the rated range.
voltage.
Although a connected Wiring with the connected Check the wiring with the
device is ON, nothing is device is incorrect. connected device.
input and Slave Unit's
Terminal block screws are
input indicator does not Check if terminal block
loosened. (Terminal block
turn ON either. screws are loosened.
type only)
Slave Units with digital A connected device is Check the wiring with the
inputs disconnected. connected device.
A connected device is Replace the connected
defective. device.
A connected device is ON
Check if a
and Slave Unit's input A communications error
communications error
indicator is turned ON, but occurred.
occurred.
nothing is input.
Set the input filter value to
There is a delay with the
0. Alternatively, change
ON and OFF timing for An input filter may be set.
the input filter to an
input values.
appropriate value.

12 - 8 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

Slave Unit type Symptom Cause Measures

The I/O power is not Check that the I/O power
supplied. is supplied.
Set the I/O power supply
I/O power supply voltage
voltage within the rated
is outside the rated range.
voltage.
When the output is ON, Wiring with the connected Check the wiring with the
nothing is output although device is incorrect. connected device.

12-1 Troubleshooting
the output indicator is Terminal block screws are
Check if terminal block
turned ON. loosened. (Terminal block
screws are loosened.
type only)
A connected device is Check the wiring with the
disconnected. connected device.
Slave Units with digital
A connected device is Replace the connected
outputs
defective. device.
Although the output is ON,
nothing is output and Check if a
12
A communications error
Slave Unit's output communications error
occurred.
indicator does not turn ON occurred.

12-1-2 Errors Unique to Each Slave Unit

either.
Cannot hold outputs when The Unit is set to clear Change the setting to hold
communications errors outputs at outputs at
occur. communications errors. communications errors.
Cannot clear outputs The Unit is set to hold Change the setting to
when communications outputs at clear outputs at
errors occur. communications errors. communications errors.
The analog data values
are different from The user adjustment error Execute user adjustment
expected or the analog is too large. again.
data error is too large.
Even if the I/O range
Setting changes are not
setting is changed,
reflected unless the unit Turn ON the unit power
expected analog input
Analog I/O Slave Units power supply is turned ON supply again after
value is not set.
again after making changing the setting.
Alternatively, expected
changes.
analog value is not output.
The Pin8 is turned OFF (to
The I/O range cannot be Turn Pin8 ON (to allow the
allow the setting via SDO
set with the range setting setting via range setting
communications). This is
switch. the default setting.
switch).

GX-series EtherCAT Slave Unit User’s Manual 12 - 9

12 Troubleshooting and Maintenance

Slave Unit type Symptom Cause Measures

Restore the sensor
The disconnection The sensor is connection.
indication does not clear. disconnected. Check the connected
sensor and input type.
Disconnection can not be
Disconnection is not detected for ranges other Check that the input range
detected. than 1 to 5 V and 4 to 20 is correct.
mA.
The connected sensor Check the type of
does not conform to the connected sensor and the
A disconnection is
input range set on the range setting on the Slave
detected even though it is
Unit. Unit again.
not disconnected.
The user adjustment error Execute user adjustment
Analog input Slave Unit is too large. again.
Reduce the number of
The number of AD
The conversion cycle is points if some inputs are
conversion points is set to
too long. unnecessary, and execute
maximum (4 points).
conversion again.
Enter a voltage (current)
within the compensation
range with the input
Attempted to make device and make
User adjustment is not adjustment with inputs adjustment again.
accepted. outside the compensation If a voltage (current) within
range. the compensation range
cannot be entered, check
the method being used to
connect the input device.
Cannot hold expected
The output value that is Change the setting to hold
outputs when
set for communications outputs for
communications errors
errors is incorrect. communications errors.
occur.
Reduce the number of
The number of DA
The conversion cycle is points if some outputs are
conversion points is set to
too long. unnecessary, and execute
maximum (2 points).
conversion again.
Analog output Slave Unit Use a voltage (current)
within the setting range to
make adjustment again.
Attempted to make
If the final output cannot
User adjustment is not adjustment with values
be adjusted within the
accepted. outside the compensation
correctable range, check
range.
the method being used to
connect to the output
device.

12 - 10 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

Slave Unit type Symptom Cause Measures

Check wiring of input A
Input wiring is wrong.
and input B.
The I/O power is not Check that the I/O power
supplied. is supplied.
Set the I/O power supply
I/O power supply voltage
voltage within the rated
is outside the rated range.
The count pulse cannot be voltage.

12-1 Troubleshooting
detected. A connected device is Check the wiring with the
disconnected. connected device.
A connected device is Replace the connected
defective. device.
Set the correct counter
The setting of counter
input method and restart
input method is wrong.
the Slave Unit.
The pulse frequency
exceeds the maximum
Set the pulse frequency 12
frequency of the Slave
within the Slave Unit
Unit specification.
specification or the mode
The pulse is not counted Or, the frequency exceeds

12-1-2 Errors Unique to Each Slave Unit

maximum value.
accurately. the maximum value of set
mode.
Set the correct counter
The setting of counter
input method and restart
input method is wrong.
the Slave Unit.
Input wiring is wrong. Check input wiring.
The soft switch "present Set the soft switch
value external reset "present value external
enabled" is set to 0 reset enabled" to 1
Encoder Input Slave Unit The counter value is not
(disabled). (enabled).
reset even the present
value external reset signal Change to count possible
or phase Z pulse are Counting is not possible. status. If it is necessary to
input. (The count value cannot reset because counting is
be reset with external not possible, reset with
input when counting is not the soft switch "present
possible.) value internal reset
execution."
Change the soft switch
After resetting the counter "clear present value
Although the soft switch
value externally, the external reset generation
"present value external
"external reset generation flag" from 0 to 1.
reset enabled" is enabled,
flag" changes from 0 to 1. At the rise from 0 to 1, the
the counter value cannot
After that, external reset "external reset generation
be reset even if signals
cannot be performed until flag" changes from 1 to 0
are input.
the flag is cleared. and external reset is
enabled.
The counter value cannot
The soft switch "external Set the soft switch
be latched even if external
latch A/B enabled" is set "external latch A/B
control input (latch A/B)
to 0 (disabled). enabled" to 1 (enabled).
signals are input.
Change the soft switch
After latching the counter
Although the soft switch "clear external latch A/B
value, the "external latch
"external latch A/B generation flag" from 0 to
A/B generation flag"
enabled" is enabled, the 1. At the rise from 0 to 1,
changes from 0 to 1. After
counter value cannot be the "external latch A/B
that, it is not possible to
latched even if signals are generation flag" changes
latch until the flag is
input. from 1 to 0 and latch is
cleared.
enabled.

GX-series EtherCAT Slave Unit User’s Manual 12 - 11

12 Troubleshooting and Maintenance

Slave Unit type Symptom Cause Measures

When the count is
enabled, execute the
Parameters that are
Some functions are not count enable command
enabled at the timing that
reflected even after after the count disable
the count status changes
parameters have been command. When the
from disabled to enabled
set. count is disabled, execute
were changed.
the count enable
command.
Reset the preset
command value to equal
Encoder Input Slave Unit to or less than the
maximum Circular
At preset execution,
Counter value and
"present value preset It is attempted to preset
execute the preset again.
execution completion" is with a counter value
Moreover, "present value
not turned ON, but greater than the maximum
preset set value error" is
"present value preset set Circular Counter value.
turned OFF when the
value error" is turned ON.
present value internal
reset is executed or
external reset is
generated.

12 - 12 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

12-1-3 Error Notification Methods and Types

This section describes the notification methods for errors that occur in the Slave Units.
EtherCAT Master Unit

ID211
0 1 2 3 4 5 6 7
AD042
RUN
8 9 10 11 12 13 14 15 ERC
ERH
B1 A1
0
1
2
3 MACH 78

456
9 01
No.
4

12-1 Troubleshooting
x10 1
23

5
78
6

456
9 01
x10 0
23
7
8
9
10
11
12
13
14
15
COM

DC24V
7mA

Master notified.

Sysmac error status

EtherCAT Slave Unit Error occurs. 12

Diagnosis
Emergency message history

12-1-3 Error Notification Methods and Types

Application layer status

Error notification
Description Notification method Page
type
Notification is provided when an error is "12-1-4
Error status is received by the
Sysmac error detected in the application. These errors Sysmac Error
TxPDO and the master is
status are displayed only on the OMRON Status Codes"
notified of errors every cycle.
Sysmac Studio Support Software. in page 12 - 14
Notification is provided of
"12-1-5
application-level errors. Either
Emergency The slave notifies the master Emergency
CiA-defined error codes are used or
messages when an error occurs. Error Code" in
error codes are added to vendor-specific
page 12 - 19
areas.
"12-1-6
Notification is provided of errors in
The master is notified by writing Application
Application layer EtherCAT communications. The error
to the application layer status Layer Status
status notification method and error codes that
register when an error occurs. Codes" in
are defined by ETG are used.
page 12 - 21

GX-series EtherCAT Slave Unit User’s Manual 12 - 13

12 Troubleshooting and Maintenance

12-1-4 Sysmac Error Status Codes

A table that describes the error event codes that are displayed on the Sysmac Studio is given below.
This function is supported by unit version 1.1 or later of the GX-series Digital I/O Slave Units, Analog
I/O Slave Units, and Encoder Input Slave Units and unit version 1.0 or later of the GX-series IO-Link
Master Unit.

Error List
The errors (i.e., events) that can occur in the GX-series EtherCAT Slave Unit are given on
the following pages. Event levels are given as following in the tables:
Maj: Major fault level
Prt: Partial fault level
Min: Minor fault level
Obs: Observation
Info: Information
Refer to the NJ-series Troubleshooting Manual (Cat. No. W503) for all of the event codes that may
occur in an NJ-series Controller.

Level
Event code Event name Meaning Assumed cause Reference
Maj Prt Min Obs Info
04A00000 hex Expansion An Expansion Unit • The Expansion Unit is √ 12-16
Unit Hardware was disconnected disconnected.
Error during operation or • The Expansion Unit is faulty.
a signal between
the Slave Unit and
Expansion Unit was
broken.
04A20000 hex Slave A hardware error • The Slave Unit is faulty. √ 12-16
Hardware occurred in the
Error Slave Unit.
14A00000 hex Non-volatile An error occurred in • Noise √ 12-17
Memory the control
Checksum parameters.
Error
24610000 hex Switch Setting The setting switch • The analog range that is set on √ 12-17
Error is set out of range. the switch is outside the setting
range.
64CC0000 hex I/O An I/O signal line is • I/O signal wiring is √ 12-18
Disconnection disconnected. disconnected or has a faulty
Detected connection.
• An I/O signal line is
disconnected.
84A00000 hex Slave Unit A verification error • An error occurred in the control √ 12-18
Verification occurred for the SII. board.
Error
04A10000 hex Non-volatile An error occurred in • Non-volatile memory is faulty. √ 12-19
Memory non-volatile
Hardware memory.
Error

12 - 14 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

Error Descriptions
This section describes the information that is given for individual errors.

z Controller Error Descriptions

The items that are used to describe individual errors (events) are described in the following copy of
an error table.

12-1 Troubleshooting
Event name Gives the name of the error. Event code Gives the code of the error.
Meaning Gives a short description of the error.
Source Gives the source of the error. Source details Gives details on Detection timing Tells when the
the source of the error is detected.
error.
Error attributes Level Tells the level of Recovery Gives the Log category Tells which log
influence on recovery the error is saved
control.*1 method.*2 in.*3 12
Effects User program Tells what will Operation Provides special information on the operation that results
happen to from the error.
execution of the

12-1-4 Sysmac Error Status Codes

user program.*4
Indicators Gives the status of the built-in EtherNet/IP port and built-in EtherCAT port indicators. Indicator status is given only for
errors in the EtherCAT Master Function Module and the EtherNet/IP Function Module.
System-defined Variable name Data type Meaning
variables
Lists the variable names, data types, and meanings for system-defined variables that provide direct error notification,
that are directly affected by the error, or that contain settings that cause the error.
Cause and Assumed cause Correction Prevention
correction Lists the possible causes, corrections, and preventive measures for the error.
Attached This is the attached information that is displayed by the Sysmac Studio or an NS-series PT.
information
Precautions/Rem Provides precautions, restrictions, and supplemental information.
arks

*1 One of the following:

Major fault: Major fault level
Partial fault: Partial fault level
Minor fault: Minor fault level
Observation
Information
*2 One of the following:
Automatic recovery: Normal status is restored automatically when the cause of the error is removed.
Error reset: Normal status is restored when the error is reset after the cause of the error is removed.
Cycle the power supply: Normal status is restored when the power supply to the Controller is turned OFF and then back
ON after the cause of the error is removed.
Controller reset: Normal status is restored when the Controller is reset after the cause of the error is removed.
Depends on cause: The recovery method depends on the cause of the error.
*3 One of the following:
System: System event log
Access: Access event log
*4 One of the following:
Continues: Execution of the user program will continue.
Stops: Execution of the user program stops.
Starts: Execution of the user program starts.

GX-series EtherCAT Slave Unit User’s Manual 12 - 15

12 Troubleshooting and Maintenance

z Error Descriptions
Event name Expansion Unit Hardware Error Event code 04A00000 hex
Meaning An Expansion Unit was disconnected during operation or a signal between the Slave Unit and Expansion Unit was
broken.
Source EtherCAT Master Function Module Source details Slave Detection Continuously
timing
Error attributes Level Minor fault Recovery Error reset (after Log category System
cycling Slave Unit
power)
Effects User program Continues Operation The Slave Unit where the error occurred performs the
error output operation (fail-safe).
LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
--- --- ---
System-defined Variable Data type Name
variables
None --- ---
Cause and Assumed cause Correction Prevention
correction The Expansion Unit was Turn OFF the power supply, mount Do not allow the Expansion Unit to be
disconnected during operation. the Expansion Unit, and turn the disconnected during operation.
power supply back ON.
A signal between the Slave Unit and Turn OFF the power supply, mount None
Expansion Unit was broken. the Expansion Unit, and turn the
power supply back ON.
If cycling the power supply does not
correct the problem, replace the
Expansion Unit.
Attached None
information
Precautions/ The emergency error code is 5020 hex.
Remarks

Event name Slave Hardware Error Event code 04A20000 hex

Meaning A hardware error occurred in the EtherCAT communications section.
Source EtherCAT Master Function Module Source details Slave Detection Continuously
timing
Error attributes Level Minor fault Recovery Error reset (after Log category System
cycling Slave Unit
power)
Effects User program Continues Operation The Slave Unit where the error occurred performs the
error output operation (fail-safe).
LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
--- --- ---
System-defined Variable Data type Name
variables
None --- ---
Cause and Assumed cause Correction Prevention
correction The Slave Unit is faulty. If cycling the power supply does not None
correct the problem, replace the
Slave Unit.
Attached None
information
Precautions/ The emergency error codes are 7030 hex and 7100 hex.
Remarks

12 - 16 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

Event name Non-volatile Memory Checksum Error Event code 14A00000 hex
Meaning An error occurred in the control parameters.
Source EtherCAT Master Function Module Source details Slave Detection When
timing establishing
communications
after turning ON
power to the
Slave Unit

12-1 Troubleshooting
Error attributes Level Minor fault Recovery Error reset (after Log category System
cycling Slave Unit
power)
Effects User program Continues Operation The Slave Unit’s I/O communications stop and the outputs
turn OFF.
LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
--- Flashes at 1-s intervals. ---
System-defined Variable Data type Name
variables
None --- --- 12
Cause and Assumed cause Correction Prevention
correction Noise Return the control parameters to their Implement noise countermeasures.

12-1-4 Sysmac Error Status Codes

default settings using restore
parameters (1011 hex) of the
EtherCAT Slave Unit.
Attached None
information
Precautions/ The emergency error code is 6330 hex.
Remarks

Event name Switch Setting Error Event code 24610000 hex

Meaning The setting switch is set out of range.
Source EtherCAT Master Function Module Source details Slave Detection When
timing establishing
communications
after turning ON
power to the
Slave Unit
Error attributes Level Minor fault Recovery Error reset (after Log category System
cycling Slave Unit
power)
Effects User program Continues Operation The Slave Unit’s I/O communications stop and the outputs
turn OFF.
LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
OFF Flashes at 1-s intervals. ---
System-defined Variable Data type Name
variables None --- ---
Cause and Assumed cause Correction Prevention
correction
The analog range that is set on the Make sure that switch settings are Make sure that switch settings are
switch is outside the setting range. within the specified range. correct.
Attached None
information
Precautions/ The emergency error code is 5600 hex.
Remarks

GX-series EtherCAT Slave Unit User’s Manual 12 - 17

12 Troubleshooting and Maintenance

Event name I/O Disconnection Detected Event code 64CC0000 hex

Meaning An I/O signal line is disconnected.
Source EtherCAT Master Function Module Source details Slave Detection Continuously
timing after
communications
are established
Error attributes Level Minor fault Recovery Error reset (after Log category System
resetting Slave
Unit errors)
Effects User program Continues Operation The relevant I/O will not operate.
LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
--- Flashes at 1-s intervals. ---
System-defined Variable Data type Name
variables
None --- ---
Cause and Assumed cause Correction Prevention
correction I/O signal wiring is disconnected or Connect the I/O signal wiring Connect the I/O signal wiring
has a faulty connection. securely. securely. Check for vibration and
shock.
An I/O signal line is disconnected. Replace the I/O signal line. None
Attached Attached information 1: Detected channel (for Analog I/O Unit)
information
Precautions/ The emergency error code is 2130 hex.
Remarks

Event name Slave Unit Verification Error Event code 84A00000 hex
Meaning A verification error occurred for the SII.
Source EtherCAT Master Function Module Source details Slave Detection When
timing establishing
communications
after turning ON
power to the
Slave Unit
Error attributes Level Minor fault Recovery Error reset (after Log category System
cycling Slave Unit
power)
Effects User program Continues Operation The Slave Unit where the error occurred does not go to
Pre-operational state.
LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
--- --- ---
System-defined Variable Data type Name
variables
None --- ---
Cause and Assumed cause Correction Prevention
correction
An error occurred in the control If cycling the power supply does not None
board. correct the problem, replace the
Slave Unit.
Attached None
information
Precautions/ The emergency error code is 6140 hex.
Remarks

12 - 18 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

Event name Non-volatile Memory Hardware Error Event code 04A10000 hex
Meaning An error occurred in non-volatile memory.
Source EtherCAT Master Function Module Source details Slave Detection When
timing establishing
communications
after turning ON
power to the
Slave Unit

12-1 Troubleshooting
Error attributes Level Observation Recovery --- Log category System
Effects User program Continues Operation Writing to non-volatile memory is not possible.
LED EtherCAT NET RUN EtherCAT NET ERR EtherCAT LINK/ACT
--- --- ---
System-defined Variable Data type Name
variables
None --- ---
Cause and Assumed cause Correction Prevention
correction Non-volatile memory failure. Replace the EtherCAT Slave Unit. None 12
Attached None
information

12-1-5 Emergency Error Code

Precautions/ The emergency error code is 5530 hex.
Remarks

12-1-5 Emergency Error Code

The table below shows types of emergency error codes used in GX-series EtherCAT Slave Units and
corresponding error contents.

Error codes common to GX-series EtherCAT Slave Units

Notification to
Error Diagnosis
Name of error Contents EtherCAT Measures
code history
Master Unit
A timeout was
detected when writing
Non-volatile
data to non-volatile Not
5530 hex Memory Can be notified Write the data again.
memory during saved
Hardware Error
EtherCAT
communications.
At turning ON the If the error occurs
power supply, a even after restarting
Slave Unit
verification error Cannot be the power supply, the
6140 hex Verification Saved
occurred on the Slave notified Slave Unit is
Error Unit information stored damaged. Replace the
in the Slave Unit. Slave Unit.

GX-series EtherCAT Slave Unit User’s Manual 12 - 19

12 Troubleshooting and Maintenance

Notification to
Error Diagnosis
Name of error Contents EtherCAT Measures
code history
Master Unit
A non-volatile memory
data error occurred.
Initialize non-volatile
memory from a
Configuration Tool or
Non-volatile
An error occurred in with SDO
Memory
6330 hex non-volatile memory Saved Can be notified communications, and
Checksum
data in the Slave Unit. then restart the Slave
Error
Unit.
(Target indexes: 1011
hex Restore default
parameters
(parameter restore))
If the error occurs
A hardware error even after restarting
Slave occurred in the Cannot be the power supply, the
7030 hex Saved
Hardware Error EtherCAT notified Slave Units is
communications area. damaged. Replace the
Slave Units.

Error codes unique to Digital I/O Slave Unit

Notification to
Error Diagnosis
Name of error Contents EtherCAT Measures
code history
Master Unit
The Expansion Unit is
disconnected. Check
the Expansion Unit
connection.
Expansion Unit Expansion Unit
5020 hex Saved Cannot be notified If the error is displayed
Hardware Error hardware errors
again, the Expansion
Unit is damaged.
Replace the
Expansion Unit.

Error codes unique to Analog I/O Slave Unit

Notification to
Error Diagnosis
Name of error Contents EtherCAT Measures
code history
Master Unit
Check the slave
I/O
A broken analog input Not voltage or current input
2130 hex Disconnection Can be notified
line was detected. saved line to see if it is
Detected
broken.
Set the range setting
Switch Setting A range setting switch Not
5600 hex Can be notified switch correctly and
Error setting is illegal. saved
restart the Slave Unit.

12 - 20 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

Notification to
Error Diagnosis
Name of error Contents EtherCAT Measures
code history
Master Unit
If the error is still
Slave displayed after
Hardware error in the
Hardware Error restarting the power
7100 hex analog conversion Saved Cannot be notified
(analog supply, the Slave Unit
area
hardware error) is damaged. Replace

12-1 Troubleshooting
the Slave Unit.

Error Codes Specific to the IO-Link Master Unit

Refer to the IO-Link System User’s Manual (W570) for the emergency error codes that are detected by
the IO-Link Master Unit.
12
12-1-6 Application Layer Status Codes

12-1-6 Application Layer Status Codes

The AL status codes that are used by the GX-series EtherCAT Slave Units are described in the
following table.

AL status codes of GX-series EtherCAT Slave Units

Notification
AL status Diagnosis
Name of error Contents to EtherCAT Measures
code history
Master Unit
Initialize non-volatile
Non-volatile An error was detected in
Can be memory (execute restore
0001 hex Memory Control non-volatile memory data Saved
notified parameter), and then
Data Error in the Slave Unit.
restart the Slave Unit.
Illegal State
Transition An illegal state transition Not Can be
0011 hex None
Request request was received. saved notified
Received
Error State A transition request to an
Not Can be
0012 hex Transition unknown state was None
saved notified
Received received.
A verification error
If cycling the power
occurred in the slave
Slave Unit supply does not solve
information stored in the Can be
0014 hex Verification Saved the problem, the Slave
Slave Units when the notified
Error Unit has failed. Replace
power supply was turned
the Slave Unit.
ON.
An incorrect setting was Check the mailbox
Mailbox Setting Not Can be
0016 hex detected in the mailbox of settings in the Master
Error saved notified
the Sync Manager. Unit.
A timeout was detected
Process Data Not Can be Check the WDT settings
001B hex for an I/O data
WDT Error saved notified in the Master Unit.
transmission frame.
An error was detected in
Check the Sync
RxPDO Setting the RxPDO settings (e.g., Not Can be
001D hex Manager settings in the
Error a logic setting error in the saved notified
Master Unit.
Sync Manager).

GX-series EtherCAT Slave Unit User’s Manual 12 - 21

12 Troubleshooting and Maintenance

Notification
AL status Diagnosis
Name of error Contents to EtherCAT Measures
code history
Master Unit
An error was detected in
Check the Sync
TxPDO Setting the TxPDO settings (e.g., Not Can be
001E hex Manager settings in the
Error a logic setting error in the saved notified
Master Unit.
Sync Manager).
PDO WDT An incorrect PDO WDT Not Can be Check the WDT settings
001F hex
Setting Error setting was detected. saved notified in the Master Unit.
An incorrect TxPDO
TxPDO setting was made (e.g., an Check the TxPDO
Not Can be
0024 hex Assignment index, subindex, or size assignment settings in
saved notified
Error that is out of range was the Master Unit.
registered).
An incorrect RxPDO
RxPDO setting was made (e.g., an Check the RxPDO
Not Can be
0025 hex Assignment index, subindex, or size assignment settings in
saved notified
Error that is out of range was the Master Unit.
registered).
Check the
The SYNC0 interrupt
Synchronization Not Can be synchronization settings.
002C hex stopped during operation
Error saved notified (Encoder Input Slave
in Operational state.
Units only)
Check the
No SYNC0 signals have
SYNC Signal Not Can be synchronization settings.
002D hex been received since
Not Received saved notified (Encoder Input Slave
entering DC mode.
Units only)

12 - 22 GX-series EtherCAT Slave Unit User’s Manual

 12 Troubleshooting and Maintenance

12-2 Equipment Maintenance

This section describes routine equipment maintenance, in particular cleaning methods, inspection

12-2 Equipment Maintenance

methods, and handling methods when replacing Slave Units.

12-2-1 Cleaning
Perform the following cleaning regularly to ensure the equipment is kept in the best condition possible.
• Wipe the equipment over with a soft, dry cloth when doing daily cleaning.
• If dirt remains even after wiping with a soft, dry cloth, wipe over with a cloth that has been wet with a
sufficiently diluted detergent (2%) and wrung dry.
• Units will become stained if items such as rubber or vinyl products or adhesive tape are left on the
Unit for a long period. Remove such items during regular cleaning. 12

12-2-1 Cleaning
Precautions for Correct Use
Never use benzene, thinners, or other volatile solvents, or chemical cloths.
The unit coating may change if these products are used.

12-2-2 Inspections
Always perform periodic inspections to ensure the equipment is kept in the best possible condition.
Periodic inspections should occur every 6 months to a year.
Periodic inspections should occur more frequently, however, for Units that are used in environments
subject to high temperatures, high humidity, or a lot of dust.

Materials required for inspections

The following materials are required to perform periodic inspections.

z Materials used regularly

• Phillips screwdrivers and flat-blade screwdrivers
• Screwdrivers for communications connectors
• Testers (or digital voltmeters)
• Industrial alcohol and pure cotton cloth

z Materials sometimes required

• Synchroscope
• Pen oscilloscope
• Thermometer and hygrometer

GX-series EtherCAT Slave Unit User’s Manual 12 - 23

12 Troubleshooting and Maintenance

Inspection item
Periodically inspect the following items to ensure that they do not deviate from the criteria.
If the items deviate from the criteria, adjust the environment so the criteria are met or adjust the Unit
itself.

Inspection Inspection
Inspection details Criteria
item method
Are the ambient and in-panel
−10 to 55°C Thermometer
temperatures appropriate?
Environment Is the ambient and in-panel humidity 25 to 85% (with no
Hygrometer
appropriate? condensation)
Has dust collected? No dust Visual inspection
Has the Slave Unit been secured? No looseness Phillips screwdriver
Are the communications cable
No looseness Visual inspection
Installation connectors inserted properly?
Are the external wiring screws loose? No looseness Phillips screwdriver
Are the connection cables damaged? No visible damage Visual inspection

12-2-3 Handling when Replacing Units

Networks are constructed from an EtherCAT Master Unit and Slave Units.
If a Unit is malfunctioning, the entire network will be affected. The malfunctioning Unit must be replaced
quickly.
To restore network functions as quickly as possible, it is recommended that spare Units are kept on
hand ready to replace malfunctioning Units immediately.

Precautions when replacing Units

Heed the following precautions when replacing nodes after a periodic inspection has revealed a
problem.
• Check that the new Unit does not have errors after replacement.
• If returning malfunctioning devices for repair, attach a detailed description of the malfunction to the
device and send the device to the OMRON representative listed at the end of this manual or to your
OMRON representative.
• If contacts are defective, wipe them with a clean pure cotton cloth that has been soaked in industrial
alcohol.

Settings after Unit replacement

After replacing a Unit, make the switch and other settings the same as before the Unit was replaced.

12-2-4 Replacing the IO-Link Master Unit or IO-Link Devices

Refer to the IO-Link System User’s Manual (W570) for information on replacing an IO-Link Master Unit.

12 - 24 GX-series EtherCAT Slave Unit User’s Manual

Appendix

A-1 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

A-1-1 Object Dictionary Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A-1-2 Data Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
A-1-3 Object Description Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-3
A-1-4 Communication Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-4
A-1-5 PDO Mapping Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-8
A-1-6 Sync Manager Communication Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-24
A-1-7 Manufacturer Specific Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-29
A-2 Current Consumption Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-62
A-2-1 Digital I/O Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-62
A-2-2 Analog I/O Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-62
A-2-3 Encoder Input Slave Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-62
A-2-4 IO-Link Master Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-63
A-2-5 Expansion Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-63
A-3 Precautions with Connecting Two-wire DC Sensors . . . . . . . . . . . . . . . . A-64
A-3-1 Relation between ON Voltage of a Unit with DC Inputs and Sensor Residual
Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-64
A-3-2 Relation between ON Current of a Unit with DC Inputs and Sensor Control Output . A-64
A-3-3 Relation between OFF Current of a Unit with DC Inputs and Sensor Leakage
Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-65
A-4 Wiring External Output Signal Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-66
A-5 I/O Power Supply Current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-67
A-6 Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-69

GX-series EtherCAT Slave Unit User’s Manual A-1

A Appendix

A-1 Object Dictionary

A-1-1 Object Dictionary Area

The CAN application protocol over EtherCAT (CoE) protocol uses the object dictionary of CAN
application protocol as its base. Each object is assigned with an index of four-digit hexadecimal value.
The indexes are configured in the areas below.

Indexes Area Contents

0000 hex-0FFF hex Data Type area Definitions of data types
Definitions of variables that can be used by all
1000 hex-1FFF hex CoE Communications area
servers for designated communications
2000 hex-2FFF hex Manufacturer Specific area 1 Variables defined for all OMRON products
Variables defined for GX-series EtherCAT Slave
3000 hex-5FFF hex Manufacturer Specific area 2
Units
Variables defined for CiA401 generic I/O module
device profiles (profile specifying the CAN
6000 hex-9FFF hex Device Profile area
application protocol interface for devices with digital
I/Os and analog I/Os)
A000 hex-FFFF hex Reserved area Area reserved for future use

A-1-2 Data Types

This profile uses the following data types.

Data Types Code Size Range

Boolean BOOL 1 bit true(1), false(0)
Unsigned8 U8 1 byte 0 to 255
Unsigned16 U16 2 bytes 0 to 65535
Unsigned32 U32 4 bytes 0 to 4294967295
Integer8 INT8 1 byte −128 to 127
Integer16 INT16 2 bytes −32768 to 32767
Integer32 INT32 4 bytes −2147483648 to 2147483647
ARRAY[0..1] OF BYTE − 2 bytes −
Visible string VS − −

A-2 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

A-1-3 Object Description Format

In this manual, objects are described in the following format.

Object description format

<Index> <Object name>

Range: <Setting range> Unit: <Unit> Default: <Default setting> Attribute: <Data attribute>
Size: <Size> Access: <Access> PDO map: <Possible/Not possible>

A-1 Object Dictionary

Object description format with sub-indexes

<Index> <Object name>

Sub-index 0
Range: <Setting range> Unit: <Unit> Default: <Default setting> Attribute: <Data attribute>
Size: <Size> Access: <Access> PDO map: <Possible/Not possible>
•
• A
•
Sub-index N

A-1-3 Object Description Format

Range: <Setting range> Unit: <Unit> Default: <Default setting> Attribute: <Data attribute>
Size: <Size> Access: <Access> PDO map: <Possible/Not possible>

The following values are indicated within the pointed brackets <>.

Indexes : An object index given by a four-digit hexadecimal number

Object name : The object name
Range : The possible range of settings
Unit : Physical unit
Default : Default value set before product shipment
Attribute : The data attribute of a writable object
The data attribute is given in the following format.
†* (†: Indicates the timing when a change is applied.)
(*: Indicates whether the data is saved to non-volatile memory.)

Timing When a Change Is Applied

A: Enabled at any time.
B: Enabled when moving from count stop status to operation status (Encoder Input
Slave Units only).
C: Enabled when moving from Pre-Operational state to Safe-Operational state.
D: Enabled when moving from Pre-Operational state to Init state.
R: Enabled when power is reset.
-: Read-only

Saving to Non-volatile Memory

With asterisk (*): Saved to non-volatile memory.
Without asterisk (*): Not saved to non-volatile memory.
Size : The object size is given in bytes
Access : Indicates whether the object is read only, or read and write
RO: Read only
RW: Read and write
PDO map : Indicates the PDO mapping possibility

GX-series EtherCAT Slave Unit User’s Manual A-3

A Appendix

A-1-4 Communication Objects

1000 hex Device Type
Range: − Unit: − Default: 00****** hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
• Indicates the CoE device profile number.
Bits Name Contents
0-15 Device profile number Differ by Slave Unit types*
16-23 Type Differ by Slave Unit types*
25-31 Mode 0: Manufacturer specific

1001 hex Error Register

Range: − Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
• Indicates the error type that occurs in a Slave Unit.
• The error kind is allocated in each bit as follows.
It becomes "0:There is no error" and "1:The error is occurring".
Bits Name Bits Name
0 Generic error 4 Communications error
1 Current error 5 Device profile specific error
2 Voltage error 6 (Reserved)
3 Temperature error 7 Manufacturer specific error

• GX-series Units do not use bits 1 to 7.

1008 hex Manufacturer Device Name

Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 20 bytes (VS) Access: RO PDO map: Not possible
• Indicates the Slave Unit model number.

1009 hex Manufacturer Hardware Version

Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 20 bytes (VS) Access: RO PDO map: Not possible
• Indicates the version of the Slave Unit hardware.

100A hex Manufacturer Software Version

Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 20 bytes (VS) Access: RO PDO map: Not possible
• Indicates the version of the Slave Unit software.

* The default settings of device type, device name, hardware version, and software version vary by the Slave Unit
Types.
Model Manufacturer Manufacturer
Manufacturer device
DeviceType hardware software
Slave Unit Expansion Unit name
version version
− 00010191 hex GX-ID1611/GX-ID1621
GX-ID1611+ID08(-1)/
XWT-ID08 (−1) 00010191 hex
GX-ID1621+ID08(-1)
GX-ID1611+ID16(-1)/ "V1.00 "
GX-ID1611 XWT-ID16 (−1) 00010191 hex space (20 hex) of
GX-ID1621+ID16(-1) (space (20 hex)
/ID1621 20 characters
GX-ID1611+OD08(-1)/ of 15 characters)
XWT-OD08 (−1) 00030191 hex
GX-ID1621+OD08(-1)
GX-ID1611+OD16(-1)/
XWT-OD16 (−1) 00030191 hex
GX-ID1621+OD16(-1)

A-4 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

Model Manufacturer Manufacturer

Manufacturer device
DeviceType hardware software
Slave Unit Expansion Unit name
version version
− 00020191 hex GX-OD1611/GX-OD1621
GX-OD1611+ID08(-1)/
XWT-ID08 (−1) 00030191 hex
GX-OD1621+ID08(-1)
GX-OD1611+ID16(-1)/
GX-OD1611 XWT-ID16 (−1) 00030191 hex
GX-OD1621+ID16(-1)
/OD1621
GX-OD1611+OD08(-1)/
XWT-OD08 (−1) 00020191 hex
GX-OD1621+OD08(-1)
GX-OD1611+OD16(-1)/
XWT-OD16 (−1) 00020191 hex
GX-OD1621+OD16(-1)
− 00020191 hex GX-OC1601

A-1 Object Dictionary

XWT-ID08 (−1) 00030191 hex GX-OC1601+ID08(-1)
GX-OC1601 XWT-ID16 (−1) 00030191 hex GX-OC1601+ID16(-1)
XWT-OD08 (−1) 00020191 hex GX-OC1601+OD08(-1)
XWT-OD16 (−1) 00020191 hex GX-OC1601+OD16(-1)
"GX-MD1611 "
GX-MD1611 /"GX-MD1621 "
− 00030191 hex
/MD1621 (space (20 hex) of 11
characters)
"GX-ID1612 "
GX-ID1612 /"GX-ID1622 " A
− 00010191 hex
/ID1622 (space (20 hex) of 11
characters)

A-1-4 Communication Objects

"GX-OD1612 "
GX-OD1612 /"GX-OD1622 "
- 00020191 hex
/OD1622 (space (20 hex) of 11
characters)
"GX-MD1612 "
GX-MD1612 /"GX-MD1622 "
− 00030191 hex
/MD1622 (space (20 hex) of 11 "V1.00 "
space (20 hex) of
characters) (space (20 hex)
20 characters
"GX-ID1618 " of 15 characters)
GX-ID1618 /"GX-ID1628 "
− 00010191 hex
/ID1628 (space (20 hex) of 11
characters)
"GX-OD1618 "
GX-OD1618 /"GX-OD1628 "
− 00020191 hex
/OD1628 (space (20 hex) of 11
characters)
"GX-MD1618 "
GX-MD1618 /"GX-MD1628 "
− 00030191 hex
/MD1628 (space (20 hex) of 11
characters)
"GX-ID3218 "
GX-ID3218 /"GX-ID3228 "
− 00010191 hex
/ID3228 (space (20 hex) of 11
characters)
"GX-OD3218 "
GX-OD3218 /"GX-OD3228 "
− 00020191 hex
/OD3228 (space (20 hex) of 11
characters)
"GX-MD3218 "
GX-MD3218 /"GX-MD3228 "
− 00030191 hex
/MD3228 (space (20 hex) of 11
characters)
"GX-AD0471 "
GX-AD0471 − 00040191 hex (space (20 hex) of 11
characters)
"GX-DA0271 "
GX-DA0271 − 00080191 hex (space (20 hex) of 11
characters)

GX-series EtherCAT Slave Unit User’s Manual A-5

A Appendix

Model Manufacturer Manufacturer

Manufacturer device
DeviceType hardware software
Slave Unit Expansion Unit name
version version
"GX-EC0211 "
GX-EC0211 − 00010000 hex (space (20 hex) of 11
characters)
"GX-EC0241 " "V1.00 "
space (20 hex) of
GX-EC0241 − 00010000 hex (space (20 hex) of 11 (space (20 hex)
20 characters
characters) of 15 characters)
"GX-ILM08C "
GX-ILM08C − 00001389 hex (space (20 hex) of 11
characters)

1011 hex Restore Default Parameters

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Restore Default Parameters
Range: − Unit: − Default: 00000001 hex Attribute: A
Size: 4 bytes (U32) Access: RW PDO map: Not possible
• Resets the parameters to their default values.
• The parameter is reset only when a specific value is written to sub-index 1. This prevents parameter
values from being accidentally overwritten.
• The specific value is "load".

MSB LSB
d a o l
64 hex 61 hex 6F hex 6C hex

• The ABORT code is displayed if a value other than the specific is written.
• A value 0000 0001 hex (command valid) is indicated when reading.

1018 hex Identity Object

Sub-index 0: Number of entries
Range: − Unit: − Default: 04 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Vendor ID
Range: − Unit: − Default: 00000083 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: Product Code
Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 3: Revision Number
Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 4: Serial Number
Range: − Unit: − Default: Each Unit Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible

• Indicates the device information.

• Sub-index 1(Vendor ID) gives the manufacturer identifier.
• Sub-index 2 (Product Code) gives the value assigned to each Slave Unit type.
• Sub-index 3 (Revision Number) gives the Unit revision number.
Bits 0 to 15: Minor revision number of the device
Bits 16 to 31: Major revision number of the device
• Sub-index 4 (Serial Number) gives a serial number for each product.

A-6 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

• Unit version 1.0 of the GX-series Digital I/O Slaves, Analog I/O Slaves, and Encoder Input Slaves will
always give 00000000 hex as the serial number.
* The table below shows the identity object values by Slave Unit types.
Model Revision Model Revision
Product Product
Type Number Number
Slave Unit Expansion Unit Code (hex) Slave Unit Expansion Unit Code (hex)
(hex) (hex)
− 0000000E 00010000 − 00000017 00010000
XWT-ID08 0000000F 00010000 XWT-ID08 00000018 00010000
XWT-ID08-1 00000013 00010000 XWT-ID08-1 0000001C 00010000
XWT-ID16 00000010 00010000 XWT-ID16 00000019 00010000
GX-ID1611 XWT-ID16-1 00000014 00010000 GX-ID1621 XWT-ID16-1 0000001D 00010000
XWT-OD08 00000011 00010000 XWT-OD08 0000001A 00010000

A-1 Object Dictionary

XWT-OD08-1 00000015 00010000 XWT-OD08-1 0000001E 00010000
XWT-OD16 00000012 00010000 XWT-OD16 0000001B 00010000
XWT-OD16-1 00000016 00010000 XWT-OD16-1 0000001F 00010000
− 00000020 00010000 − 00000029 00010000
XWT-ID08 00000021 00010000 XWT-ID08 0000002A 00010000
XWT-ID08-1 00000025 00010000 XWT-ID08-1 0000002E 00010000
XWT-ID16 00000022 00010000 XWT-ID16 0000002B 00010000
2-tier terminal GX-OD1611 XWT-ID16-1 00000026 00010000 GX-OD1621 XWT-ID16-1 0000002F 00010000
block XWT-OD08 00000023 00010000 XWT-OD08 0000002C 00010000
XWT-OD08-1 00000027 00010000 XWT-OD08-1 00000030 00010000
XWT-OD16 00000024 00010000 XWT-OD16 0000002D 00010000 A
XWT-OD16-1 00000028 00010000 XWT-OD16-1 00000031 00010000
− 00000046 00010000

A-1-4 Communication Objects

XWT-ID08 00000047 00010000
XWT-ID08-1 0000004B 00010000
XWT-ID16 00000048 00010000
GX-OC1601 XWT-ID16-1 0000004C 00010000
XWT-OD08 00000049 00010000
XWT-OD08-1 0000004D 00010000
XWT-OD16 0000004A 00010000
XWT-OD16-1 0000004E 00010000
GX-MD1611 − 00000032 00010000 GX-MD1621 − 00000033 00010000
GX-ID1612 − 00000034 00010000 GX-ID1622 − 00000035 00010000
3-tier terminal
GX-OD1612 − 00000036 00010000 GX-OD1622 − 00000037 00010000
block
GX-MD1612 − 00000038 00010000 GX-MD1622 − 00000039 00010000
GX-ID1618 − 0000003A 00010000 GX-ID1628 − 0000003B 00010000
GX-OD1618 − 0000003C 00010000 GX-OD1628 − 0000003D 00010000
e-CON GX-MD1618 − 0000003E 00010000 GX-MD1628 − 0000003F 00010000
Connectors GX-ID3218 − 00000040 00010000 GX-ID3228 − 00000041 00010000
GX-OD3218 − 00000042 00010000 GX-OD3228 − 00000043 00010000
GX-MD3218 − 00000044 00010000 GX-MD3228 − 00000045 00010000
Analog I/O
GX-AD0471 − 0000004F 00010000 GX-DA0271 − 00000050 00010000
Slave Unit
Encoder Input
GX-EC0211 − 00000051 00010000 GX-EC0241 − 00000052 00010000
Slave Unit
IO-Link
GX-ILM08C − 000000BF 00010000
Master Unit

10F3 hex Diagnosis History

Sub-index 0: Number of entries
Range: − Unit: − Default: 0D hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Maximum Messages
Range: − Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 2: Newest Message
Range: − Unit: − Default: − Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 5: Flags
Range: 0000 hex- 0001 hex Unit: − Default: 0000 hex Attribute: −

GX-series EtherCAT Slave Unit User’s Manual A-7

A Appendix

Size: 2 bytes (U16) Access: RW PDO map: Not possible

Sub-index 6 to 13: Diagnosis Message 1-8
Range: − Unit: − Default: − Attribute: −
Size: 23 bytes (VS) Access: RO PDO map: Not possible
• This object indicates up to 8 diagnosis histories. It also sets whether to notify emergency messages
or not.
• Sub-index 1 (Maximum Messages) gives the number of error messages.
• Sub-index 2 (Newest Messages) gives the sub-index number the latest message in the diagnosis
history.
• Sub-index 5 (Flags) is the control flag of diagnosis history. It specifies whether or not to notify error
messages via emergency messages. Setting 0001 hex means to notify. It is set to 0001 hex
(Emergency notify) when power is turned ON. At startup, the setting is 0000 hex (no emergency
notification).
• Sub-indexes 6 to 13 (Diagnosis messages 1 to 8) indicate the diagnosis history.
From sub-index 6 (Diagnosis message 1) to sub-index 13 (Diagnosis message 8) are stored 8 errors.
The 9th error and onward are stored from the sub-index 6 (Diagnosis message 1) again.

A-1-5 PDO Mapping Object

Indexes 1600 hex to 17FF hex are used for Receive PDO mapping, and indexes 1A00 hex to 1BFF hex
are used for Transmit PDO mapping. Sub-indexes after sub-index 1 provide information about the
application object being mapped.

31 16 15 8 7 0
Sub
Indexes Bit length
Indexes
MSB LSB

Bits 0 to 7 : Bit length of the mapped object.

(For example, for 32 bits, 20 hex is given.)
Bits 8 to 15 : Sub-index of the mapped object.
Bits 16 to 31 : Index of the mapped object.

The following indexes describes the specific objects by Slave Unit types.

Digital I/O Slave Unit

1700 hex 257th receive PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
• This object gives the mapping for an application that uses digital output functions.

A-8 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

1701 hex 258th receive PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Range: − Unit: − Default: 32200101 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped
Range: − Unit: − Default: 32200201 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible

A-1 Object Dictionary

Sub-index 3: 3rd Output Object to be mapped
Range: − Unit: − Default: 32200301 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 4: 4th Output Object to be mapped
Range: − Unit: − Default: 32200401 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 5: 5th Output Object to be mapped
Range: − Unit: − Default: 32200501 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 6: 6th Output Object to be mapped
A
Range: − Unit: − Default: 32200601 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible

A-1-5 PDO Mapping Object

Sub-index 7: 7th Output Object to be mapped
Range: − Unit: − Default: 32200701 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 8: 8th Output Object to be mapped
Range: − Unit: − Default: 32200801 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 9: 9th Output Object to be mapped
Range: − Unit: − Default: 32200901 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 10: 10th Output Object to be mapped
Range: − Unit: − Default: 32200A01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 11: 11th Output Object to be mapped
Range: − Unit: − Default: 32200B01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 12: 12th Output Object to be mapped
Range: − Unit: − Default: 32200C01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 13: 13th Output Object to be mapped
Range: − Unit: − Default: 32200D01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 14: 14th Output Object to be mapped
Range: − Unit: − Default: 32200E01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 15: 15th Output Object to be mapped
Range: − Unit: − Default: 32200F01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 16: 16th Output Object to be mapped
Range: − Unit: − Default: 32201001 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 17: 17th Output Object to be mapped
Range: − Unit: − Default: 32201101 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 18: 18th Output Object to be mapped
Range: − Unit: − Default: 32201201 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible

GX-series EtherCAT Slave Unit User’s Manual A-9

A Appendix

Sub-index 19: 19th Output Object to be mapped

Range: − Unit: − Default: 32201301 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 20: 20th Output Object to be mapped
Range: − Unit: − Default: 32201401 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 21: 21th Output Object to be mapped
Range: − Unit: − Default: 32201501 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 22: 22th Output Object to be mapped
Range: − Unit: − Default: 32201601 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 23: 23th Output Object to be mapped
Range: − Unit: − Default: 32201701 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 24: 24th Output Object to be mapped
Range: − Unit: − Default: 32201801 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 25: 25th Output Object to be mapped
Range: − Unit: − Default: 32201901 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 26: 26th Output Object to be mapped
Range: − Unit: − Default: 32201A01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 27: 27th Output Object to be mapped
Range: − Unit: − Default: 32201B01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 28: 28th Output Object to be mapped
Range: − Unit: − Default: 32201C01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 29: 29th Output Object to be mapped
Range: − Unit: − Default: 32201D01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 30: 30th Output Object to be mapped
Range: − Unit: − Default: 32201E01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 31: 31th Output Object to be mapped
Range: − Unit: − Default: 32201F01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 32: 32th Output Object to be mapped
Range: − Unit: − Default: 32202001 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
• This object gives the mapping for an application that uses digital output functions.

1B00 hex 257th transmit PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
• This object gives the mapping for an application that uses digital input functions.

A - 10 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

* The default settings of the 257th transmit PDO Mapping and the 257th receive PDO Mapping are given below.
Model 257th Receive PDO Mapping 257th Transmit PDO Mapping
Type Number of Number of
Slave Unit Expansion Unit 1st object 1st object
objects objects
− − − 01 hex 61000110 hex
XWT-ID08 (−1) − − 01 hex 61200120 hex
GX-ID1611/ID1621 XWT-ID16 (−1) − − 01 hex 61200120 hex
XWT-OD08 (−1) 01 hex 63000110 hex 01 hex 61000110 hex
XWT-OD16 (−1) 01 hex 63000110 hex 01 hex 61000110 hex
− 01 hex 63000110 hex − −
XWT-ID08 (−1) 01 hex 63000110 hex 01 hex 61000110 hex
2-tier terminal GX-OD1611/OD1621 XWT-ID16 (−1) 01 hex 63000110 hex 01 hex 61000110 hex
block XWT-OD08 (−1) 01 hex 63200120 hex − −

A-1 Object Dictionary

XWT-OD16 (−1) 01 hex 63200120 hex − −
− 01 hex 63000110 hex − −
XWT-ID08 (−1) 01 hex 63000110 hex 01 hex 61000110 hex
GX-OC1601 XWT-ID16 (−1) 01 hex 63000110 hex 01 hex 61000110 hex
XWT-OD08 (−1) 01 hex 63200120 hex − −
XWT-OD16 (−1) 01 hex 63200120 hex − −
GX-MD1611/MD1621 − 01 hex 63000110 hex 01 hex 61000110 hex
GX-ID1612/ID1622 − − − 01 hex 61000110 hex
3-tier terminal
GX-OD1612/OD1622 − 01 hex 63000110 hex − −
block
GX-MD1612/MD1622 − 01 hex 63000110 hex 01 hex 61000110 hex A
GX-ID1618/ID1628 − − − 01 hex 61000110 hex
GX-OD1618/OD1628 − 01 hex 63000110 hex − −

A-1-5 PDO Mapping Object

e-CON GX-MD1618/MD1628 − 01 hex 63000110 hex 01 hex 61000110 hex
Connectors GX-ID3218/ID3228 − − − 01 hex 61200120 hex
GX-OD3218/OD3228 − 01 hex 63200120 hex − −
GX-MD3218/MD3228 − 01 hex 63000110 hex 01 hex 61000110 hex

GX-series EtherCAT Slave Unit User’s Manual A - 11

A Appendix

1B01 hex 258th transmit PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: − Unit: − Default: 30200101 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 2: 2nd Input Object to be mapped
Range: − Unit: − Default: 30200201 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 3: 3rd Input Object to be mapped
Range: − Unit: − Default: 30200301 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 4: 4th Input Object to be mapped
Range: − Unit: − Default: 30200401 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 5: 5th Input Object to be mapped
Range: − Unit: − Default: 30200501 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 6: 6th Input Object to be mapped
Range: − Unit: − Default: 30200601 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 7: 7th Input Object to be mapped
Range: − Unit: − Default: 30200701 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 8: 8th Input Object to be mapped
Range: − Unit: − Default: 30200801 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 9: 9th Input Object to be mapped
Range: − Unit: − Default: 30200901 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 10: 10th Input Object to be mapped
Range: − Unit: − Default: 30200A01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 11: 11th Input Object to be mapped
Range: − Unit: − Default: 30200B01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 12: 12th Input Object to be mapped
Range: − Unit: − Default: 30200C01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 13: 13th Input Object to be mapped
Range: − Unit: − Default: 30200D01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 14: 14th Input Object to be mapped
Range: − Unit: − Default: 30200E01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 15: 15th Input Object to be mapped
Range: − Unit: − Default: 30200F01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 16: 16th Input Object to be mapped
Range: − Unit: − Default: 30201001 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 17: 17th Input Object to be mapped
Range: − Unit: − Default: 30201101 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 18: 18th Input Object to be mapped
Range: − Unit: − Default: 30201201 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible

A - 12 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

Sub-index 19: 19th Input Object to be mapped

Range: − Unit: − Default: 30201301 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 20: 20th Input Object to be mapped
Range: − Unit: − Default: 30201401 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 21: 21th Input Object to be mapped
Range: − Unit: − Default: 30201501 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 22: 22th Input Object to be mapped
Range: − Unit: − Default: 30201601 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible

A-1 Object Dictionary

Sub-index 23: 23th Input Object to be mapped
Range: − Unit: − Default: 30201701 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 24: 24th Input Object to be mapped
Range: − Unit: − Default: 30201801 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 25: 25th Input Object to be mapped
Range: − Unit: − Default: 30201901 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible A
Sub-index 26: 26th Input Object to be mapped
Range: − Unit: − Default: 30201A01 hex Attribute: −

A-1-5 PDO Mapping Object

Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 27: 27th Input Object to be mapped
Range: − Unit: − Default: 30201B01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 28: 28th Input Object to be mapped
Range: − Unit: − Default: 30201C01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 29: 29th Input Object to be mapped
Range: − Unit: − Default: 30201D01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 30: 30th Input Object to be mapped
Range: − Unit: − Default: 30201E01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 31: 31th Input Object to be mapped
Range: − Unit: − Default: 30201F01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 32: 32th Input Object to be mapped
Range: − Unit: − Default: 30202001 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
• This object gives the mapping for an application that uses digital input functions.

GX-series EtherCAT Slave Unit User’s Manual A - 13

A Appendix

* The default settings (Number of objects) of the 258th transmit PDO Mapping and the 258th receive PDO
Mapping are given below.
258th Receive PDO 258th Transmit PDO
Model
Type Mapping Mapping
Slave Unit Expansion Unit Number of objects Number of objects
− − 10 hex
XWT-ID08 (−1) − 20 hex
GX-ID1611/ID1621 XWT-ID16 (−1) − 20 hex
XWT-OD08 (−1) 10 hex 10 hex
XWT-OD16 (−1) 10 hex 10 hex
− 10 hex −
XWT-ID08 (−1) 10 hex 10 hex
GX-OD1611/OD1621 XWT-ID16 (−1) 10 hex 10 hex
2-tier terminal block
XWT-OD08 (−1) 20 hex −
XWT-OD16 (−1) 20 hex −
− 10 hex −
XWT-ID08 (−1) 10 hex 10 hex
GX-OC1601 XWT-ID16 (−1) 10 hex 10 hex
XWT-OD08 (−1) 20 hex −
XWT-OD16 (−1) 20 hex −
GX-MD1611/MD1621 − 10 hex 10 hex
GX-ID1612/ID1622 − − 10 hex
3-tier terminal block GX-OD1612/OD1622 − 10 hex −
GX-MD1612/MD1622 − 10 hex 10 hex
GX-ID1618/ID1628 − − 10 hex
GX-OD1618/OD1628 − 10 hex −
e-CON GX-MD1618/MD1628 − 10 hex 10 hex
Connectors GX-ID3218/ID3228 − − 20 hex
GX-OD3218/OD3228 − 20 hex −
GX-MD3218/MD3228 − 10 hex 10 hex

A - 14 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

Analog I/O Slave Unit

1700 hex 257th receive PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Range: − Unit: − Default: 64110110 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped

A-1 Object Dictionary

Range: − Unit: − Default: 64110210 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
• This object gives the mapping for an analog output application. It is mapped only to Analog Output
Slave Units.

1B00 hex 257th transmit PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: 04 hex Attribute: −
A
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped

A-1-5 PDO Mapping Object

Range:− Unit: − Default: 64010110 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Input Object to be mapped
Range: − Unit: − Default: 64010210 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 3: 3rd Input Object to be mapped
Range: − Unit: − Default: 64010310 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 4: 4th Input Object to be mapped
Range: − Unit: − Default: 64010410 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
• This object gives the mapping for an analog input application. It is mapped only to Analog Input Slave
Units.

GX-series EtherCAT Slave Unit User’s Manual A - 15

A Appendix

Encoder Input Slave Unit

1700 hex 257th receive PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Range: − Unit: − Default: 40200110 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped
Range: − Unit: − Default: 40200210 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible

• Mapping for soft switch command from the EtherCAT Master Unit to Slave Units.

1701 hex 258th receive PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Range: − Unit: − Default: 40110120 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped
Range: − Unit: − Default: 40110220 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
• Mapping for preset command value setting.

A - 16 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

1702 hex 259th receive PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: 20 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Range: − Unit: − Default: 40210101 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 2: 2nd Output Object to be mapped
Range: − Unit: − Default: 40210201 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible

A-1 Object Dictionary

Sub-index 3: 3rd Output Object to be mapped
Range: − Unit: − Default: 40210301 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 4: 4th Output Object to be mapped
Range: − Unit: − Default: 40210401 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 5: 5th Output Object to be mapped
Range: − Unit: − Default: 40210501 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 6: 6th Output Object to be mapped
A
Range: − Unit: − Default: 40210601 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible

A-1-5 PDO Mapping Object

Sub-index 7: 7th Output Object to be mapped
Range: − Unit: − Default: 40210701 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 8: 8th Output Object to be mapped
Range: − Unit: − Default: 40210801 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 9: 9th Output Object to be mapped
Range: − Unit: − Default: 40210901 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 10: 10th Output Object to be mapped
Range: − Unit: − Default: 40210A01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 11: 11th Output Object to be mapped
Range: − Unit: − Default: 40210B01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 12: 12th Output Object to be mapped
Range: − Unit: − Default: 40210C01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 13: 13th Output Object to be mapped
Range: − Unit: − Default: 40210D01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 14: 14th Output Object to be mapped
Range: − Unit: − Default: 40210E01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 15: 15th Output Object to be mapped
Range: − Unit: − Default: 40210F01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 16: 16th Output Object to be mapped
Range: − Unit: − Default: 40211001 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 17: 17th Output Object to be mapped
Range: − Unit: − Default: 40211101 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 18: 18th Output Object to be mapped
Range: − Unit: − Default: 40211201 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible

GX-series EtherCAT Slave Unit User’s Manual A - 17

A Appendix

Sub-index 19: 19th Output Object to be mapped

Range: − Unit: − Default: 40211301 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 20: 20th Output Object to be mapped
Range: − Unit: − Default: 40211401 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 21: 21th Output Object to be mapped
Range: − Unit: − Default: 40211501 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 22: 22th Output Object to be mapped
Range: − Unit: − Default: 40211601 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 23: 23th Output Object to be mapped
Range: − Unit: − Default: 40211701 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 24: 24th Output Object to be mapped
Range: − Unit: − Default: 40211801 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 25: 25th Output Object to be mapped
Range: − Unit: − Default: 40211901 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 26: 26th Output Object to be mapped
Range: − Unit: − Default: 40211A01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 27: 27th Output Object to be mapped
Range: − Unit: − Default: 40211B01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 28: 28th Output Object to be mapped
Range: − Unit: − Default: 40211C01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 29: 29th Output Object to be mapped
Range: − Unit: − Default: 40211D01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 30: 30th Output Object to be mapped
Range: − Unit: − Default: 40211E01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 31: 31th Output Object to be mapped
Range: − Unit: − Default: 40211F01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 32: 32th Output Object to be mapped
Range: − Unit: − Default: 40212001 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
• This mapping is for soft switch commands from the EtherCAT Master Unit to Slave Units.

1B00 hex 257th transmit PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range:− Unit: − Default: 40100120 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Input Object to be mapped
Range: − Unit: − Default: 40100220 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible

• The mapping is for reading counter present values.

A - 18 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

1B01 hex 258th transmit PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range:− Unit: − Default: 40120120 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Input Object to be mapped
Range: − Unit: − Default: 40120220 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
• Mapping for preset command value setting.

A-1 Object Dictionary

1B02 hex 259th transmit PDO Mapping
Sub-index 0: Number of objects
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range:− Unit: − Default: 40130120 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible A
Sub-index 2: 2nd Input Object to be mapped
Range: − Unit: − Default: 40130220 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible

A-1-5 PDO Mapping Object

• Mapping for latch value A/B reading.

1B03 hex 260th transmit PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range:− Unit: − Default: 40300108 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 2: 2nd Input Object to be mapped
Range: − Unit: − Default: 40300208 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
• Mapping for status notification from a Slave Unit to the EtherCAT Master Unit.

GX-series EtherCAT Slave Unit User’s Manual A - 19

A Appendix

1B04 hex 261th transmit PDO Mapping

Sub-index 0: Number of objects
Range: − Unit: − Default: 10 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: − Unit: − Default: 40310101 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 2: 2nd Input Object to be mapped
Range: − Unit: − Default: 40310201 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 3: 3rd Input Object to be mapped
Range: − Unit: − Default: 40310301 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 4: 4th Input Object to be mapped
Range: − Unit: − Default: 40310401 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 5: 5th Input Object to be mapped
Range: − Unit: − Default: 40310501 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 6: 6th Input Object to be mapped
Range: − Unit: − Default: 40310601 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 7: 7th Input Object to be mapped
Range: − Unit: − Default: 40310701 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 8: 8th Input Object to be mapped
Range: − Unit: − Default: 40310801 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 9: 9th Input Object to be mapped
Range: − Unit: − Default: 40310901 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 10: 10th Input Object to be mapped
Range: − Unit: − Default: 40310A01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 11: 11th Input Object to be mapped
Range: − Unit: − Default: 40310B01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 12: 12th Input Object to be mapped
Range: − Unit: − Default: 40310C01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 13: 13th Input Object to be mapped
Range: − Unit: − Default: 40310D01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 14: 14th Input Object to be mapped
Range: − Unit: − Default: 40310E01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 15: 15th Input Object to be mapped
Range: − Unit: − Default: 40310F01 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
Sub-index 16: 16th Input Object to be mapped
Range: − Unit: − Default: 40311001 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Not possible
• This mapping is for status notification from a Slave Unit to the EtherCAT Master Unit.

A - 20 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

IO-Link Master Unit

1600 hex 1st receive PDO Mapping
Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Range: 70000110 hex Unit: − Default: 70000110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
···

A-1 Object Dictionary

Sub-index 16: 16th Output Object to be mapped
Range: 70001010 hex Unit: − Default: 70001010 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
···
1607 hex 8th receive PDO Mapping
Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Range: 70700110 hex Unit: − Default: 70700110 hex Attribute: − A
Size: 4 bytes (U32) Access: RW PDO map: Not possible
···

A-1-5 PDO Mapping Object

Sub-index 16: 16th Output Object to be mapped
Range: 70701010 hex Unit: − Default: 70701010 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

1700 hex 257th receive PDO Mapping

Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Output Object to be mapped
Range: 31000110 hex Unit: − Default: 31000110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

GX-series EtherCAT Slave Unit User’s Manual A - 21

A Appendix

1A00 hex 1st transmit PDO Mapping

Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: 60000110 hex Unit: − Default: 60000110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
···
Sub-index 16: 16th Input Object to be mapped
Range: 60001010 hex Unit: − Default: 60001010 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
···
1A07 hex 8th transmit PDO Mapping
Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: 60700110 hex Unit: − Default: 60700110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
···
Sub-index 16: 16th Input Object to be mapped
Range: 60701010 hex Unit: − Default: 60701010 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

1B00 hex 257th transmit PDO Mapping

Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: 30000110 hex Unit: − Default: 30000110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

1B01 hex 258th transmit PDO Mapping

Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: 30010110 hex Unit: − Default: 30010110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

1B02 hex 259th transmit PDO Mapping

Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: 30020110 hex Unit: − Default: 30020110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

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 A Appendix

1B03 hex 260th transmit PDO Mapping

Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: 30030110 hex Unit: − Default: 30030110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

1B04 hex 261th transmit PDO Mapping

Sub-index 0: Number of objects in this PDO

A-1 Object Dictionary

Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: 30040110 hex Unit: − Default: 30040110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

1B05 hex 262th transmit PDO Mapping

Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: − A
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped

A-1-5 PDO Mapping Object

Default: 30050110 hex Unit: − Range: 30050110 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

1BFE hex 511th transmit PDO Mapping

Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: 10F30401 hex Unit: − Default: 10F30401 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index 2: 2nd Input Object to be mapped
Range: 00000007 hex Unit: − Default: 00000007 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

1BFF hex 512th transmit PDO Mapping

Sub-index 0: Number of objects in this PDO
Range: 00 to 10 hex Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range: 20020108 hex Unit: − Default: 20020108 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible

GX-series EtherCAT Slave Unit User’s Manual A - 23

A Appendix

All Slave Units

1BFF hex 512th transmit PDO Mapping
Sub-index 0: Number of objects in this PDO
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: 1st Input Object to be mapped
Range:− Unit: − Default: 20020108 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
• This object gives the mapping for notification of errors that are detected in the Slave Unit.
• The mapping includes 2002 hex-01 hex (Sysmac Error Status).
• When connected to an NJ-series Machine Automation Controller (NJ501-1@00), 1C13 hex (Sync
manager 3 PDO assignment) is assigned to this object.
This object is automatically assigned in the default settings of the Sysmac Studio.
• For the GX-series Digital I/O Slave Units, Analog I/O Slave Units, and Encoder Input Slave Units, this
object can be set for unit version 1.1 or later.
• For the GX-series IO-Link Master Unit, this object can be set for unit version 1.0 or later.

A-1-6 Sync Manager Communication Object

The communication memory of EtherCAT is set by the objects from 1C00 hex to 1C13 hex.

1C00 hex Sync Manager Communication Type

Sub-index 0: Number of used SM channels
Range: − Unit: − Default: 04 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Communication Type Sync Manager 0
Range: − Unit: − Default: 01 hex Attribute: −
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 2: Communication Type Sync Manager 1
Range: − Unit: − Default: 02 hex Attribute: −
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 3: Communication Type Sync Manager 2
Range: - Unit: - Default: 03 hex Attribute: -
Size: 4 bytes (U8) Access: RO PDO map: Not possible
Sub-index 4: Communication Type Sync Manager 3
Range: - Unit: - Default: 04 hex Attribute: -
Size: 4 bytes (U8) Access: RO PDO map: Not possible
• The sync manager has the following settings.
• SM0 : Mailbox receive (EtherCAT Master Unit to Slave Unit)
• SM1 : Mailbox transmit (EtherCAT Slave Unit to Master Unit)
• SM2 : Process data output (EtherCAT Master Unit to Slave Unit)
• SM3 : Process data input (EtherCAT Slave Unit to Master Unit)

1C10 hex Sync Manager 0 PDO Assignment

Sub-index 0: Number of assigned PDOs
Range: 00 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
• It indicates the number of PDO mappings used by this sync manager.
• Mailbox reception sync manager does not have PDOs.

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 A Appendix

1C11 hex Sync Manager 1 PDO Assignment

Sub-index 0: Number of assigned PDOs
Range: 00 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
• It indicates the number of PDO mappings used by this sync manager.
• Mailbox transmit sync manager does not have PDOs.

1C12 hex Sync Manager 2 PDO Assignment

Sub-index 0: Number of assigned PDOs
Range: 00 hex to 08 hex Unit: − Default: Differ by Slave Unit types* Attribute: −

A-1 Object Dictionary

Size: 1 byte (U8) Access: RW* PDO map: Not possible
Sub-index 1 to 8: 1st-8th PDO Mapping Object Index of assigned PDO
Range: 1600 hex to 17FF hex Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 2 bytes (U16) Access: RW* PDO map: Not possible
* "RO" is set if there is no RxPDO.
• It indicates the RxPDOs used by this sync manager.

1C13 hex Sync Manager 3 PDO Assignment A

Sub-index 0: Number of assigned PDOs
Range: 00 hex to 08 hex Unit: − Default: Differ by Slave Unit types* Attribute: −

A-1-6 Sync Manager Communication Object

Size: 1 byte (U8) Access: RW* PDO map: Not possible
Sub-index 1 to 8: 1st-8th PDO Mapping Object Index of assigned PDO
Range: 1A00 hex to 1BFF hex Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 2 bytes (U16) Access: RW* PDO map: Not possible
* "RO" is set if there is no TxPDO.
• It indicates the TxPDOs used by this sync manager.

* The default settings for Sync Manager 2 PDO Assignment and Sync Manager 3 PDO Assignment are different
for OMRON software and software from other companies. The default settings are given in the following table.

GX-series EtherCAT Slave Unit User’s Manual A - 25

A Appendix

Default Settings for OMRON Software

• Digital I/O Slave Unit
Sync manager 2 PDO Sync manager 3 PDO
Model
assignment assignment
Number of Number of
Assigned Assigned
Slave Unit Expansion Unit assigned assigned
PDO 1 PDO 1
RxPDOs TxPDOs
− 00 hex − 01 hex 1B00 hex
XWT-ID08 (−1) 00 hex − 01 hex 1B00 hex
GX-ID1611/ID1621 XWT-ID16 (−1) 00 hex − 01 hex 1B00 hex
XWT-OD08 (−1) 01 hex 1700 hex 01 hex 1B00 hex
XWT-OD16 (−1) 01 hex 1700 hex 01 hex 1B00 hex
− 01 hex 1700 hex 00 hex −
XWT-ID08 (−1) 01 hex 1700 hex 01 hex 1B00 hex
GX-OD1611/OD1621 XWT-ID16 (−1) 01 hex 1700 hex 01 hex 1B00 hex
XWT-OD08 (−1) 01 hex 1700 hex 00 hex −
XWT-OD16 (−1) 01 hex 1700 hex 00 hex −
− 01 hex 1700 hex 00 hex −
XWT-ID08 (−1) 01 hex 1700 hex 01 hex 1B00 hex
GX-OC1601 XWT-ID16 (−1) 01 hex 1700 hex 01 hex 1B00 hex
XWT-OD08 (−1) 01 hex 1700 hex 00 hex −
XWT-OD16 (−1) 01 hex 1700 hex 00 hex −
GX-MD1611
− 01 hex 1700 hex 01 hex 1B00 hex
/MD1621
GX-ID1612
− 00 hex − 01 hex 1B00 hex
/ID1622
GX-OD1612
− 01 hex 1700 hex 00 hex −
/OD1622
GX-MD1612
− 01 hex 1700 hex 01 hex 1B00 hex
/MD1622
GX-ID1618
− 00 hex − 01 hex 1B00 hex
/ID1628
GX-OD1618
− 01 hex 1700 hex 00 hex −
/OD1628
GX-MD1618
− 01 hex 1700 hex 01 hex 1B00 hex
/MD1628
GX-ID3218
− 00 hex − 01 hex 1B00 hex
/ID3228
GX-OD3218
− 01 hex 1700 hex 00 hex −
/OD3228
GX-MD3218
− 01 hex 1700 hex 01 hex 1B00 hex
/MD3228

• Analog I/O Slave Unit

Sync manager 2 PDO Sync manager 3 PDO
assignment assignment
Model Number of Number of
Assigned Assigned
assigned assigned
PDO 1 PDO 1
RxPDOs TxPDOs
GX-AD0471 00 hex − 01 hex 1B00 hex
GX-DA0271 01 hex 1700 hex 00 hex −

• Encoder Input Slave Unit

Sync manager 2 PDO assignment Sync manager 3 PDO assignment
Number Assigned PDO Number Assigned PDO
Model of of
assigned 1 2 assigned 1 2 3 4
RxPDOs TxPDOs
GX-EC0211
02 hex 1700 hex 1701 hex 04 hex 1B03 hex 1B00 hex 1B01 hex 1B02 hex
/EC0241

A - 26 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

• IO-Link Master Unit

Sync manager 2 PDO Sync manager 3 PDO
assignment assignment
Model Number of Number of
Assigned Assigned
assigned assigned
PDO 1 PDO 1
RxPDOs TxPDOs
GX-ILM08C 09 hex 1600 hex 10 hex 1A00 hex
1601 hex 1A01 hex
1602 hex 1A02 hex
1603 hex 1A03 hex
1604 hex 1A04 hex
1605 hex 1A05 hex
1606 hex 1A06 hex

A-1 Object Dictionary

1607 hex 1A07 hex
1700 hex 1B00 hex
1B01 hex
1B02 hex
1B03 hex
1B04 hex
1B05 hex
1BFE hex
1BFF hex

A-1-6 Sync Manager Communication Object

GX-series EtherCAT Slave Unit User’s Manual A - 27

A Appendix

Default Settings for Software from Other Companies

• Digital I/O Slave Unit
Sync manager 2 PDO Sync manager 3 PDO
Model
assignment assignment
Number of Number of
Assigned Assigned
Slave Unit Expansion Unit assigned assigned
PDO 1 PDO 1
RxPDOs TxPDOs
− 00 hex − 01 hex 1B01 hex
XWT-ID08 (−1) 00 hex − 01 hex 1B01 hex
GX-ID1611/ID1621 XWT-ID16 (−1) 00 hex − 01 hex 1B01 hex
XWT-OD08 (−1) 01 hex 1701 hex 01 hex 1B01 hex
XWT-OD16 (−1) 01 hex 1701 hex 01 hex 1B01 hex
− 01 hex 1701 hex 00 hex −
XWT-ID08 (−1) 01 hex 1701 hex 01 hex 1B01 hex
GX-OD1611/OD1621 XWT-ID16 (−1) 01 hex 1701 hex 01 hex 1B01 hex
XWT-OD08 (−1) 01 hex 1701 hex 00 hex −
XWT-OD16 (−1) 01 hex 1701 hex 00 hex −
− 01 hex 1701 hex 00 hex −
XWT-ID08 (−1) 01 hex 1701 hex 01 hex 1B01 hex
GX-OC1601 XWT-ID16 (−1) 01 hex 1701 hex 01 hex 1B01 hex
XWT-OD08 (−1) 01 hex 1701 hex 00 hex −
XWT-OD16 (−1) 01 hex 1701 hex 00 hex −
GX-MD1611
− 01 hex 1701 hex 01 hex 1B01 hex
/MD1621
GX-ID1612
− 00 hex − 01 hex 1B01 hex
/ID1622
GX-OD1612
− 01 hex 1701 hex 00 hex −
/OD1622
GX-MD1612
− 01 hex 1701 hex 01 hex 1B01 hex
/MD1622
GX-ID1618
− 00 hex − 01 hex 1B01 hex
/ID1628
GX-OD1618
− 01 hex 1701 hex 00 hex −
/OD1628
GX-MD1618
− 01 hex 1701 hex 01 hex 1B01 hex
/MD1628
GX-ID3218
− 00 hex − 01 hex 1B01 hex
/ID3228
GX-OD3218
− 01 hex 1701 hex 00 hex −
/OD3228
GX-MD3218
− 01 hex 1701 hex 01 hex 1B01 hex
/MD3228

• Analog I/O Slave Unit

Sync manager 2 PDO Sync manager 3 PDO
assignment assignment
Model Number of Number of
Assigned Assigned
assigned assigned
PDO 1 PDO 1
RxPDOs TxPDOs
GX-AD0471 00 hex − 01 hex 1B00 hex
GX-DA0271 01 hex 1700 hex 00 hex −

• Encoder Input Slave Unit

Sync manager 2 PDO assignment Sync manager 3 PDO assignment
Number Assigned PDO Number Assigned PDO
Model of of
assigned 1 2 assigned 1 2 3 4
RxPDOs TxPDOs
GX-EC0211
02 hex 1702 hex 1701 hex 04 hex 1B04 hex 1B00 hex 1B01 hex 1B02 hex
/EC0241

A - 28 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

• IO-Link Master Unit

Sync manager 2 PDO Sync manager 3 PDO
assignment assignment
Model Number of Number of
Assigned Assigned
assigned assigned
PDO 1 PDO 1
RxPDOs TxPDOs
GX-ILM08C 09 hex 1600 hex 10 hex 1A00 hex
1601 hex 1A01 hex
1602 hex 1A02 hex
1603 hex 1A03 hex
1604 hex 1A04 hex
1605 hex 1A05 hex
1606 hex 1A06 hex

A-1 Object Dictionary

1607 hex 1A07 hex
1700 hex 1B00 hex
1B01 hex
1B02 hex
1B03 hex
1B04 hex
1B05 hex
1BFE hex
1BFF hex

Precautions for Correct Use

A
You cannot assign 1700 hex and 1701 hex or 1B00 hex and 1B01 hex for Digital I/O Slave Units

A-1-7 Manufacturer Specific Objects

at the same time. You cannot assign 1700 hex and 1702 hex or 1B03 hex and 1B04 hex for
Encoder Input Slave Units at the same time. When using the OMRON Support Software, only
1700 hex and 1B00 hex can be set for Digital I/O Slave Units and only 1700 hex and 1B03 hex
can be set for Encoder Input Slave Units.

A-1-7 Manufacturer Specific Objects

This section explains the CiA401 generic I/O module device profile implemented in GX-series
EtherCAT Slave Units and the objects specially mounted in GX-series EtherCAT Slave Units.

All Slave Units

z Manufacturer Specific area 1

2100 hex Error History Clear

Range: − Unit: − Default: 00000000 hex Attribute: A
Size: 4 bytes (U32) Access: RW PDO map: Not possible

• This object clears diagnosis history of 10F3 hex (Diagnosis History).

• It clears the history only when specific values are written. The specific value is "elcl".

MSB LSB
l c l e
6C hex 63 hex 6C hex 65 hex
Writing values other than this is invalid.

2002 hex Sysmac Error

Sub-index 0: Number of entries
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Sysmac Error Status
Range: − Unit: − Default: 00 hex Attribute: −

GX-series EtherCAT Slave Unit User’s Manual A - 29

A Appendix

Size: 1 byte (U8) Access: RO PDO map: Possible

Sub-index 2: Sysmac Error Status Clear
Range: − Unit: − Default: 00 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible
• The mapping is used for Sysmac error status notification and to clear Sysmac error status.
• Sub-index 1: Sysmac Error Status
• This object is for notification of errors that are detected in the Slave Unit.
• When connected to an NJ-series Machine Automation Controller (NJ501-1@00), map this object
to a PDO.
• Sub-index 2: Sysmac Error Status Clear
• This object is used by the Controller (a Sysmac device) to reset errors that occur in Slave Units.
• For the GX-series Digital I/O Slave Units, Analog I/O Slave Units, and Encoder Input Slave Units, this
object can be set for unit version 1.1 or later.
• For the GX-series IO-Link Master Unit, this object can be set for unit version 1.0 or later.

Reference

In the default Sysmac Studio settings, sub-index 1 (Sysmac Error Status) is automatically
mapped to a PDO because 1BFF hex (512th transmit PDO Mapping) is assigned.

A - 30 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

2200 hex Communication Error Setting

Unit: number of
Range: 00 hex to 0F hex Default: 01 hex Attribute: C*
sequences
Size: 1 byte (U8) Access: RW PDO map: Not possible
• Object mounted only on Slave Units operating in the DC mode.
• The number of sequences for detecting communications errors is set with this object.
• The setting range is from 00 to 0F hex and the number of detections is "the set number of times + 1."
• Rewriting value is possible at operation in the DC mode, but the operation is performed with the value
set when shifting from the pre-operational state to safe-operational state. Note that at this point, the
rewritten value is read.

A-1 Object Dictionary

Note: With the default setting of 01 hex, an error is detected if communications errors occur twice in a row.

2201 hex Sync Not Received Timeout Setting

Range: 0000 hex to 0258 hex Unit: s Default: 0000 hex Attribute: C*
Size: 2 bytes (U16) Access: RW PDO map: Not possible

• Object mounted only on Slave Units operating in the DC mode.

• This object is used to set the standby time until the first synchronization interrupt signal (SYNC0) is A
input after shifting to the safe-operational state (state where a DC mode is confirmed).
• If the first interrupt signal (SYNC0) is not input at all within this setting time, a synchronization error

A-1-7 Manufacturer Specific Objects

occurs.
• The setting range is from 0000 hex to 0258 hex (600s) and operation is performed at 120s when
0000 hex is set.
• Rewriting value is possible at operation in the DC mode, but the operation is performed with the value
set when shifting from the pre-operational state to safe-operational state. Note that at this point, the
rewritten value is read.

Digital I/O Slave Unit

z Manufacturer Specific area 2

3000 hex Input Time Constant

Sub-index 0: Filter Constant
Range: 00 hex to 07 hex Unit: − Default: 02 hex Attribute: D*
Size: 1 byte (U8) Access: RW PDO map: Not possible

• Sets the input filter.

• It is implemented in all Slave Units with input points (including Expansion Units if they are
connected).

Set
Filter set value [ms]
value
00 hex 0
01 hex 0.5
02 hex 1
03 hex 2
04 hex 4
05 hex 8
06 hex 16
07 hex 32

GX-series EtherCAT Slave Unit User’s Manual A - 31

A Appendix

3020 hex Read input bits

Sub-index 0: Number of input bits
Range: 00 hex to 32 hex Unit: − Default: Differ by Slave Unit types Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Input Bit00
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 2: Input Bit01
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 3: Input Bit02
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 4: Input Bit03
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 5: Input Bit04
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 6: Input Bit05
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 7: Input Bit06
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 8: Input Bit07
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 9: Input Bit08
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 10: Input Bit09
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 11: Input Bit10
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 12: Input Bit11
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 13: Input Bit12
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 14: Input Bit13
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 15: Input Bit14
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 16: Input Bit15
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 17: Input Bit16
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 18: Input Bit17
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible

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 A Appendix

Sub-index 19: Input Bit18

Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 20: Input Bit19
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 21: Input Bit20
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 22: Input Bit21
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible

A-1 Object Dictionary

Sub-index 23: Input Bit22
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 24: Input Bit23
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 25: Input Bit24
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible A
Sub-index 26: Input Bit25
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −

A-1-7 Manufacturer Specific Objects

Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 27: Input Bit26
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 28: Input Bit27
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 29: Input Bit28
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 30: Input Bit29
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 31: Input Bit30
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
Sub-index 32: Input Bit31
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (BOOL) Access: RO PDO map: Possible
• The digital input values are stored in 1-bit units.
• Unit version 1.1 or later is required to set this object.

GX-series EtherCAT Slave Unit User’s Manual A - 33

A Appendix

3220 hex Read output bits

Sub-index 0: Number of output bits
Range: 00 hex to 32 hex Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Output Bit00
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 2: Output Bit01
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 3: Output Bit02
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 4: Output Bit03
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 5: Output Bit04
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 6: Output Bit05
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 7: Output Bit06
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 8: Output Bit07
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 9: Output Bit08
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 10: Output Bit09
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 11: Output Bit10
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 12: Output Bit11
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 13: Output Bit12
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 14: Output Bit13
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 15: Output Bit14
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 16: Output Bit15
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 17: Output Bit16
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 18: Output Bit17
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible

A - 34 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

Sub-index 19: Output Bit18

Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 20: Output Bit19
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 21: Output Bit20
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 22: Output Bit21
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible

A-1 Object Dictionary

Sub-index 23:Output Bit22
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 24: Output Bit23
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 25: Output Bit24
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible A
Sub-index 26: Output Bit25
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A

A-1-7 Manufacturer Specific Objects

Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 27: Output Bit26
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 28: Output Bit27
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 29: Output Bit28
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 30: Output Bit29
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 31: Output Bit30
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 32: Output Bit31
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
• The digital output values are stored in 1-bit units.
• Unit version 1.1 or later is required to set this object.

GX-series EtherCAT Slave Unit User’s Manual A - 35

A Appendix

z Device Profile area

6000 hex Read input 8bit

Sub-index 0: Number of inputs 8bit
Range: 00 hex to 04 hex Unit: − Default: Differ by Slave Unit types* Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Read input 1st byte
Range: 00 hex to FF hex Unit: − Default: − Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible*
Sub-index 2: Read input 2nd byte
Range: 00h to FFh Unit: − Default: − Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 3: Read input 3rd byte
Range: 00 hex to FF hex Unit: − Default: − Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 4: Read input 4th byte
Range: 00 hex to FF hex Unit: − Default: − Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible

• Digital input values are stored in units of 1 byte (8 bits).

• It is implemented in all Slave Units with input points (including Expansion Units if they are
connected).

6100 hex Read input 16bit

Sub-index 0: Number of inputs 16bit
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Read input 1st word
Range: 0000 hex to FFFF hex Unit: − Default: − Attribute: −
Size: 2 bytes (U16) Access: RO PDO map: Possible
• Digital input values are stored in units of 2 byte (16 bits).

6120 hex Read input 32bit

Sub-index 0: Number of inputs 32bit
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Read input 1st double word
Range: 00000000 hex to
Unit: − Default: − Attribute: −
FFFFFFFF hex
Size: 4 bytes (U32) Access: RO PDO map: Possible
• Digital input values are stored in units of 4 byte (32 bits).

A - 36 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

6200 hex Write output 8bit

Sub-index 0: Number of outputs 8bit
Range: 00 hex to 04 hex Unit: − Default: Differ by Slave Unit types** Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: Write output 1st byte
Range: 00 hex to FF hex Unit: − Default: − Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible*
Sub-index 2: Write output 2nd byte
Range: 00 hex to FF hex Unit: − Default: − Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 3: Write output 3rd byte

A-1 Object Dictionary

Range: 00 hex to FF hex Unit: − Default: − Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 4: Write output 4th byte
Range: 00 hex to FF hex Unit: − Default: − Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible
• Digital output values are controlled in units of 1 byte (8 bits).
• It is implemented in all Slave Units with output points (including Expansion Units if they are
connected).
A
6300 hex Write output 16bit

A-1-7 Manufacturer Specific Objects

Sub-index 0: Number of outputs 16bit
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Write output 1st word
Range: 0000 hex to FFFF hex Unit: − Default: − Attribute: A
Size: 2 bytes (U16) Access: RW PDO map: Possible
• Digital output values are controlled in units of 2 byte (16 bits).

6306 hex Error mode output 16bit

Sub-index 0: Number of outputs 16bit
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Error mode output 1st word
Range: 0000 hex to FFFF hex Unit: − Default: 0000 hex Attribute: A*
Size: 2 bytes (U16) Access: RW PDO map: Not possible
• Sets whether the data is cleared to 0 or retained at an error occurrence or at a node stop, in units of 2
bytes (16 bits).

Bits 15 14 • • • • • 1 0
Contents OUT15 OUT14 • • • • • OUT1 OUT0
setting setting setting setting

Setting 0: Clear to 0, 1: Retain the value at error occurrence

6320 hex Write output 32bit

Sub-index 0: Number of outputs 32bit
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Write output 1st double word
Range: 00000000 hex to
Unit: − Default: − Attribute: A
FFFFFFFF hex
Size: 4 bytes (U32) Access: RW PDO map: Not possible

• Digital output values are stored in units of 4 bytes (32 bits).

GX-series EtherCAT Slave Unit User’s Manual A - 37

A Appendix

6326 hex Error mode output 32bit

Sub-index 0: Number of outputs 32bit
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Error mode output 1st double word
Range: 00000000 hex to Unit: − Default: 00000000 hex
Attribute: A*
FFFFFFFF hex
Size: 4 bytes (U32) Access: RW PDO map: Possible
• Sets whether the data is cleared to 0 or retained at an error occurrence or at a node stop, in units of 4
bytes (32 bits).

Bits 31 30 • • • • • 1 0
Contents OUT31 OUT30 • • • • • OUT1 OUT0
setting setting setting setting

Setting 0: Clear to 0, 1: Retain the value at error occurrence

A - 38 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

Objects of Device Profile areas that are implemented in a Digital I/O Slave Unit is determined by the
number of inputs and/or outputs per Slave Unit and whether or not Expansion Units are connected.
The following table shows the objects of Device Profile area that are implemented in Digital I/O Slave
Unit and the number of sub-indexes.

Number of supported sub-indexes

Model
No: Not supported
3020 3220 6000 6100 6120 6200 6300 6306 6320 6326
Indexes
hex hex hex hex hex hex hex hex hex hex
Type
Slave Unit Expansion Unit Object Error Error
Read Write Read Read Read Write Write Write
Name mode mode
input output input input input output output output
I/O units output output
bits bits 8-bit 16-bit 32-bit 8-bit 16-bit 32-bit
capacity 16-bit 32-bit

A-1 Object Dictionary

− 16 inputs 17 No 3 2 No No No No No No
XWT-ID08 ( −1) 24 inputs 33 No 5 No 2 No No No No No
GX-ID1611 XWT-ID16 ( −1) 32 inputs 33 No 5 No 2 No No No No No
/ID1621 16 inputs and
XWT-OD08 ( −1) 8 outputs
17 17 3 2 No 3 2 2 No No
16 inputs and
XWT-OD16 ( −1) 16 outputs
17 17 3 2 No 3 2 2 No No
8 inputs and
XWT-ID08 ( −1) 16 outputs
17 17 3 2 No 3 2 2 No No
16 inputs and
XWT-ID16 ( −1) 17 17 3 2 No 3 2 2 No No
GX-OD1611 16 outputs
2-tier
terminal
/OD1621 − 16 outputs No 17 No No No 3 2 2 No No A
block XWT-OD08 ( −1) 24 outputs No 33 No No No 5 No No 2 2
XWT-OD16 ( −1) 32 outputs No 33 No No No 5 No No 2 2

A-1-7 Manufacturer Specific Objects

8 inputs and
XWT-ID08 ( −1) 16 outputs
17 17 3 2 No 3 2 2 No No
16 inputs and
XWT-ID16 ( −1) 16 outputs
17 17 3 2 No 3 2 2 No No
GX-OC1611
− 16 outputs No 17 No No No 3 2 2 No No
XWT-OD08 ( −1) 24 outputs No 33 No No No 5 No No 2 2
XWT-OD16 ( −1) 32 outputs No 33 No No No 5 No No 2 2
GX-MD1611 8 inputs and
− 8 outputs 17 17 3 2 No 3 2 2 No No
/MD1621
GX-ID1612
− 16 inputs 17 No 3 2 2 No No No No No
/ID1622
3-tier
GX-OD1612
terminal − 16 outputs No 17 No No No 3 2 2 No No
/OD1622
block
GX-MD1612 8 inputs and
− 8 outputs 17 17 3 2 No 3 2 2 No No
/MD1622
GX-ID1618
− 16 inputs 17 No 3 2 2 No No No No No
/ID1628
GX-OD1618
− 16 outputs No 17 No No No 3 2 2 No No
/OD1628
GX-MD1618 8 inputs and
− 8 outputs 17 17 3 2 No 3 2 2 No No
e-CON /MD1628
Connectors GX-ID3218
− 32 inputs 33 No 5 No 2 No No No No No
/ID3228
GX-OD3218
− 32 outputs No 33 No No No 5 No No 2 2
/OD3228
GX-MD3218 16 inputs and
− 16 outputs 17 17 3 2 No 3 2 2 No No
/MD3228

GX-series EtherCAT Slave Unit User’s Manual A - 39

A Appendix

Analog Input Slave Unit

z Manufacturer Specific area 2

3100 hex Analogue Input Available Channel Choice

Range: 0000 hex to 000F hex Unit: − Default: 000F hex Attribute: R*
Size: 2 bytes (U16) Access: RW PDO map: Not possible

• Sets whether to have AD conversion for each point.

Bits Setting description

0 1: CH1 enabled, 0: CH1 disabled
1 1: CH2 enabled, 0: CH2 disabled
2 1: CH3 enabled, 0: CH3 disabled
3 1: CH4 enabled, 0: CH4 disabled
4 to 15 Reserved *

* Bits 4 to 15 are set to 0 and these values cannot be changed.

3101 hex Analogue Input Range

Sub-index 0: Number of channel
Range: − Unit: − Default: 04 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 4: CH1-4 Input Range
Range: 00 hex, 01 hex, 02 hex, 03 hex,
Unit: − Default: 01 hex Attribute: R*
07 hex
Size: 1 byte (U8) Access: RW PDO map: Not possible
• Sets the input range for each point.
• The settable values are as follows. No other values can be set.

Set
Range
value
00 hex 10 to +10 V
01 hex 0 to 5 V
02 hex 0 to 10 V
03 hex 4 to 20 mA
07 hex 1 to 5 V

3110 hex Analogue Input Adjustment High Value

Sub-index 0: Number of channel
Range: − Unit: − Default: 04 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 4: CH1-4 Adjustment High Value
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (INT16) Access: RO PDO map: Not possible

• Stores the upper limit of user adjustment.

A - 40 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

3112 hex Analogue Input Adjustment High Execute

Sub-index 0: Number of channel
Range: − Unit: − Default: 04 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 4: CH1-4 Adjustment High Execute
Range: − Unit: − Default: 00000000 hex Attribute: A
Size: 4 bytes (U32) Access: RW PDO map: Not possible
• This object executes user adjustment. It writes upper adjustment value.
• To adjust, enter a voltage (or current) equivalent to 100% from a connected device to the terminal of
input point you want to adjust. (Set the input range in advance.)

A-1 Object Dictionary

• If you reset, it returns to the default setting.
• The value is adjusted or reset only when the specific value is written to sub-indexes 1 to 4. This
prevents erroneous execution and resetting. The specific values are:
"save" for execution, "rset" for resetting.

MSB LSB
e v a s
65 hex 76 hex 61 hex 73 hex
t e s r A
74 hex 65 hex 73 hex 72 hex

A-1-7 Manufacturer Specific Objects

Writing values other than the above is invalid.

• A value 0000 0000 hex is indicated when reading.

3113 hex Analogue Input Adjustment Low Value

Sub-index 0: Number of channel
Range: − Unit: − Default: 04 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 4: CH1-4 Adjustment Low Value
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (INT16) Access: RO PDO map: Not possible
• Stores the lower limit of user adjustment.

GX-series EtherCAT Slave Unit User’s Manual A - 41

A Appendix

3115 hex Analogue Input Adjustment Low Execute

Sub-index 0: Number of channel
Range: − Unit: − Default: 04 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 4: CH1-4 Adjustment Low Execute
Range: − Unit: − Default: 00000000 hex Attribute: A
Size: 4 bytes (U32) Access: RW PDO map: Not possible
• This object executes user adjustment. It writes lower adjustment value.
• To adjust, enter a voltage (or current) equivalent to 0% from a connected device to the terminal of the
input point you want to adjust. (Set the input range in advance.)
• If you reset, it returns to the default setting.
• The value is adjusted or reset only when the specific value is written to sub-indexes 1 to 4. This
prevents erroneous execution and resetting. The specific values are:
"save" for execution, "rset" for resetting.

MSB LSB
e v a s
65 hex 76 hex 61 hex 73 hex
t e s r
74 hex 65 hex 73 hex 72 hex

Writing values other than the above is invalid.

• A value 0000 0000 hex is indicated when reading.

3132 hex Analogue Input Moving Average

Sub-index 0: Number of channel
Range: − Unit: − Default: 04 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 4: CH1-4 Moving Average
Range: 0000 hex to FA00 hex Unit: μs Default: 0000 hex Attribute: R*
Size: 2 bytes (U16) Access: RW PDO map: Not possible
• This object sets moving average setting value of each point.

3136 hex Analogue Input Disconnection Status

Sub-index 0: Number of channel
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Disconnection Status
Range: 0000 hex to 000F hex Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (INT16) Access: RO PDO map: Not possible
• This object detects disconnection on each point.

Bits State
0 1: CH1 disconnected, 0: CH1 normal
1 1: CH2 disconnected, 0: CH2 normal
2 1: CH3 disconnected, 0: CH3 normal
3 1: CH4 disconnected, 0: CH4 normal
4 to 15 Reserved

A - 42 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

z Device Profile area

6401 hex Read Analogue Input 16bit

Sub-index 0: Number of channel
Range: − Unit: − Default: 04 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 4: CH1-4 Input 16bit
Range: * Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (INT16) Access: RO PDO map: Possible
* This is equal to the set input range.

• This object indicates input of each point.

A-1 Object Dictionary

Analog Output Slave Unit

z Manufacturer Specific area 2

3200 hex Analogue Output Available Channel Choice A

Range: 0001 hex to 0003 hex Unit: − Default: 0003 hex Attribute: R*
Size: 2 bytes (U16) Access: RW PDO map: Not possible

A-1-7 Manufacturer Specific Objects

• Sets whether to have DA conversion for each point.
• Do not disable all channels.

Bits D/A conversion enabled channel

0 1: CH1 enabled, 0: CH1 disabled
1 1: CH2 enabled, 0: CH2 disabled
2 to 15 Reserved

3201 hex Analogue Output Range

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Output Range
Range: 00 hex, 01 hex, 03 hex, 04 hex,
Unit: − Default: 04 hex Attribute: R*
06 hex
Size: 1 byte (U8) Access: RW PDO map: Not possible
• Sets the output range for each point.
• The settable values are as follows. No other values can be set.

Set
Range
value
00 hex 4 to 20 mA
01 hex 0 to 10 V
03 hex −10 to +10 V
04 hex 0 to 5 V
06 hex 1 to 5 V

GX-series EtherCAT Slave Unit User’s Manual A - 43

A Appendix

3210 hex Analogue Output Adjustment High Value

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Adjustment High Value
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 2 byte (INT16) Access: RO PDO map: Not possible
• Stores the upper limit of user adjustment. The user upper adjustment value is stored.

3212 hex Analogue Output Adjustment High Execute

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Adjustment High Execute
Range: − Unit: − Default: 00000000 hex Attribute: A
Size: 4 bytes (U32) Access: RW PDO map: Not possible
• This object executes user adjustment. It writes upper adjustment value.
• Execute the command when a count value which makes the actual output voltage 100% is written by
the EtherCAT Master Unit to the data area of the point to adjust. (Adjustment at 100% is highly
recommended, but a lower value is acceptable.)
• If you reset, it returns to the default setting.
• The values is adjusted or reset only when the specific value is written to sub-indexes 1 to 2. This
prevents erroneous execution and resetting. The specific values are:
"save" for execution, "rset" for resetting.

MSB LSB
e v a s
65 hex 76 hex 61 hex 73 hex
t e s r
74 hex 65 hex 73 hex 72 hex

Writing values other than the above is invalid.

• A value of 0000 0000 hex is indicated when reading.

Notes: Always adjust the lower limit first. If the lower limit is adjusted without adjusting the upper limit 100%, the
lower limit adjustment may have an error.

3213 hex Analogue Output Adjustment Low Value

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Adjustment Low Value
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 2 byte (INT16) Access: RO PDO map: Not possible
• Stores the lower limit of user adjustment.

A - 44 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

3215 hex Analogue Output Adjustment Low Execute

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Adjustment Low Execute
Range: − Unit: − Default: 00000000 hex Attribute: A
Size: 4 bytes (U32) Access: RW PDO map: Not possible
• This object executes user adjustment. It writes lower adjustment value.
• Be sure to execute the command only when a count value which makes the actual output voltage 0%
is written by the EtherCAT Master Unit to the data area of the point to adjust. (Always adjust at 0%.)

A-1 Object Dictionary

• If you reset, it returns to the default setting.
• The value is adjusted or reset only when the specific value is written to sub-indexes 1 to 2. This
prevents erroneous execution and resetting. The specific values are:
"save" for execution, "rset" for resetting.

MSB LSB
e v a s
65 hex 76 hex 61 hex 73 hex
t e s r
A
74 hex 65 hex 73 hex 72 hex
Writing values other than the above is invalid.

A-1-7 Manufacturer Specific Objects

• A value of 0000 0000 hex is indicated when reading.

3240 hex Analogue Output Fault Action

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Error Mode
Range: 00 hex, 01 hex, 02 hex, 03 hex,
Unit: − Default: 04 hex Attribute: R*
04 hex
Size: 1 byte (U8) Access: RW PDO map: Not possible

• Selects a value to output at a communications error for each point.

Set
Range
value
00 hex Hold Last State (Hold and output.)
01 hex Low Limit (Output the lower limit.)
02 hex High Limit (Output the upper limit.)
03 hex User Count (Output a user specified value.)
04 hex Zero Count (Output a value of 0000 hex in the setting range.)

GX-series EtherCAT Slave Unit User’s Manual A - 45

 A Appendix

3241 hex Analogue Output Fault Value

Sub-index 0: (Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Error Mode
Range: * Unit: − Default: 0000 hex Attribute: R*
Size: 1 byte (INT16) Access: RW PDO map: Not possible
* This is equal to the set output range.

• Sets an analog value to output at a communications error.

• The setting is enabled only when "User Count (Output a user specified value) is selected in the 3240
hex "Analogue Output Fault Action" (analog output mode at errors).

z Device Profile area

6411 hex Write Analogue Output 16bit

Sub-index 0: Number of channel
Range: − Unit: − Default: 05 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Input 16bit
Range: * Unit: − Default: 0000 hex Attribute: A
Size: 2 bytes (INT16) Access: RW PDO map: Possible
* This is equal to the set output range.

• Sets the output for each point.

Encoder Input Slave Unit

z Manufacturer Specific area 2

4000 hex Count Mode

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Count Mode
Range: − Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible

• It stores the Count Mode.

• The Count Mode is fixed to 00 hex (Circular Counter).

4001 hex Encoder Direction

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Pulse Direction
Range: 0 (false), 1 (true) Unit: − Default: 0 (false) Attribute: B*
Size: 1 bit (BOOL) Access: RW PDO map: Not possible
• Set the count direction.

Set value Count direction

0 (false) Forward direction at CW (clockwise rotation seen from the shaft of the connected encoder)
1 (true) Forward direction at CCW (counterclockwise rotation seen from the shaft of the connected encoder)

A - 46 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

4002 hex Encoder Input Setting

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Pulse Input Setting
Range: 00 hex to 04 hex Unit: − Default: 02 hex Attribute: B*
Size: 1 byte (U8) Access: RW PDO map: Not possible
• Set the input method.

Set value Range

A-1 Object Dictionary

00 hex Phase A/B pulse (Multiplication × 1 cycle)
01 hex Phase A/B pulse (Multiplication × 2 cycle)
02 hex Phase A/B pulse (Multiplication × 4 cycle)
03 hex Code + pulse (Multiplication × 1 cycle)
04 hex Incremental/decremental pulse

4003 hex Max Count Setting

Sub-index 0: Number of channel
A
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Max Count Setting

A-1-7 Manufacturer Specific Objects

Range: 00000000 hex to
Unit: − Default: 00000000 hex Attribute: B*
FFFFFFFF hex
Size: 4 byte (U32) Access: RW PDO map: Not possible
• This object is used to specify the maximum value of the counter.
• It operates as FFFFFFFF hex if 0 is set.

4010 hex Position Value

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Position Value
Range: 00000000 hex to
Unit: − Default: 00000000 hex Attribute: −
FFFFFFFF hex
Size: 4 byte (U32) Access: RO PDO map: Possible
• The present counter value is stored.

4011 hex Preset Value

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Preset Value
Range: 00000000 hex to
Unit: − Default: 00000000 hex Attribute: A
FFFFFFFF hex
Size: 4 byte (U32) Access: RW PDO map: Possible

• This object is used to specify the preset command value.

GX-series EtherCAT Slave Unit User’s Manual A - 47

A Appendix

4012 hex Latch Value A

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Latch Value A
Range: 00000000 hex to
Unit: − Default: 00000000 hex Attribute: −
FFFFFFFF hex
Size: 4 byte (U32) Access: RO PDO map: Possible
• The value of latch A is stored.

4013 hex Latch Value B

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Latch Value B
Range: 00000000 hex to
Unit: − Default: 00000000 hex Attribute: −
FFFFFFFF hex
Size: 4 byte (U32) Access: RO PDO map: Possible

• The value of latch B is stored.

4020 hex Instruction Bits

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Instruction Bits
Range: − Unit: − Default: 0000 hex Attribute: A
Size: 2 byte (U16) Access: RW PDO map: Possible

• The soft switch setting is specified.

4021 hex Instruction Flag

Sub-index 0: Number of channel
Range: 00 hex to 32 hex Unit: − Default: 32 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: CH1 Count Possible
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 2: CH1 Present Value Preset Execution
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 3: CH1 Present Value Reset Execution
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 9: CH1 Present Value Ext Reset Enabled
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 10: CH1 Ext Latch A Enabled
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 11: CH1 Ext Latch B Enabled
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 13: CH1 Clear Present Value Ext Reset
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 14: CH1 Clear Ext Latch A
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible

A - 48 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

Sub-index 15: CH1 Clear Ext Latch B

Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 17: CH2 Count Possible
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 18: CH2 Present Value Preset Execution
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 19: CH2 Present Value Reset Execution
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible

A-1 Object Dictionary

Sub-index 25: CH2 Present Value Ext Reset Enabled
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 26: CH2 Ext Latch A Enabled
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 27: CH2 Ext Latch B Enabled
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible A
Sub-index 29: CH2 Clear Present Value Ext Reset
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A

A-1-7 Manufacturer Specific Objects

Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 30: CH2 Clear Ext Latch A
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 31: CH2 Clear Ext Latch B
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
• The soft switch settings are specified.
• Unit version 1.1 or later is required to set this object.

4030 hex Status Bits

Sub-index 0: Number of channel
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-indexes 1 to 2: CH1-2 Status Bits
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Possible

• Status bit is stored.

GX-series EtherCAT Slave Unit User’s Manual A - 49

A Appendix

4031 hex Status Flag

Sub-index 0: Number of channel
Range: 00 hex to 16 hex Unit: − Default: 16 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: CH1 Present Value Preset Execution Completed
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 2: CH1 Present Value Reset Execution Completed
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 3: CH1 Ext Reset Flag
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 4: CH1 Ext Latch A Flag
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 5: CH1 Ext Latch B Flag
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 7: CH1 Present Value Preset Set Value Error
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 8: CH1 Counter Operation State
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 9: CH2 Present Value Preset Execution Completed
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 10: CH2 Present Value Reset Execution Completed
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 11: CH2 Ext Reset Flag
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 12: CH2 Ext Latch A Flag
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 13: CH2 Ext Latch B Flag
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 15: CH2 Present Value Preset Set Value Error
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
Sub-index 16: CH2 Counter Operation State
Range: 00 hex to 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (BOOL) Access: RW PDO map: Possible
• The status bits are stored.
• Unit version 1.1 or later is required to set this object.

A - 50 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

IO-Link Master Unit

z Manufacturer-specific Area 2
3000 hex I/O Port Status
Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: I/O Port Status
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (U16) Access: RO PDO map: Not possible

A-1 Object Dictionary

3001 hex Port1_2 I/O Port Error Status
Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port1_2 I/O Port Error Status
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (U16) Access: RO PDO map: Not possible A

3002 hex Port3_4 I/O Port Error Status

A-1-7 Manufacturer Specific Objects

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port3_4 I/O Port Error Status
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (U16) Access: RO PDO map: Not possible

3003 hex Port5_6 I/O Port Error Status

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port5_6 I/O Port Error Status
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (U16) Access: RO PDO map: Not possible

3004 hex Port7_8 I/O Port Error Status

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port7_8 I/O Port Error Status
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (U16) Access: RO PDO map: Not possible

3005 hex Digital Input Data

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Digital Input Data
Range: − Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (U16) Access: RO PDO map: Not possible

GX-series EtherCAT Slave Unit User’s Manual A - 51

A Appendix

3100 hex Digital Output Data

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Digital Output Data
Range: − Unit: − Default: 0000 hex Attribute: A
Size: 2 bytes (U16) Access: RW PDO map: Possible

3201 hex IO-Link Device Verification Setting

Sub-index 0: Number of entries
Range: − Unit: − Default: 08 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port1 Device Verification Setting
Range: 00 to 02 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 2: Port2 Device Verification Setting
Range: 00 to 02 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 3: Port3 Device Verification Setting
Range: 00 to 02 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 4: Port4 Device Verification Setting
Range: 00 to 02 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 5: Port5 Device Verification Setting
Range: 00 to 02 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 6: Port6 Device Verification Setting
Range: 00 to 02 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 7: Port7 Device Verification Setting
Range: 00 to 02 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 8: Port8 Device Verification Setting
Range: 00 to 02 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible

A - 52 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

3202 hex Backup Setting

Sub-index 0: Number of entries
Range: − Unit: − Default: 08 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port1 Backup Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 2: Port2 Backup Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 3: Port3 Backup Setting

A-1 Object Dictionary

Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 4: Port4 Backup Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 5: Port5 Backup Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 6: Port6 Backup Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
A
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 7: Port7 Backup Setting

A-1-7 Manufacturer Specific Objects

Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 8: Port8 Backup Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible

3203 hex Restore Setting

Sub-index 0: Number of entries
Range: − Unit: − Default: 08 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port1 Restore Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 2: Port2 Restore Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 3: Port3 Restore Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 4: Port5 Restore Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 5: Port5 Restore Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 6: Port6 Restore Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 7: Port7 Restore Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 8: Port8 Restore Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible

GX-series EtherCAT Slave Unit User’s Manual A - 53

A Appendix

3204 hex Load Rejection Output Setting

Sub-index 0: Number of entries
Range: − Unit: − Default: 08 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port1 Load Rejection Output Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 2: Port2 Load Rejection Output Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 3: Port3 Load Rejection Output Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 4: Port4 Load Rejection Output Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 5: Port5 Load Rejection Output Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 6: Port6 Load Rejection Output Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 7: Port7 Load Rejection Output Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 8: Port8 Load Rejection Output Setting
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible

3205 hex Input Filter Setting

Sub-index 0: Number of entries
Range: − Unit: − Default: 08 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port1 Input Filter Value Setting
Range: 00 to 0B hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 2: Port2 Input Filter Value Setting
Range: 00 to 0B hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 3: Port3 Input Filter Value Setting
Range: 00 to 0B hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 4: Port4 Input Filter Value Setting
Range: 00 to 0B hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 5: Port5 Input Filter Value Setting
Range: 00 to 0B hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 6: Port6 Input Filter Value Setting
Range: 00 to 0B hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 7: Port7 Input Filter Value Setting
Range: 00 to 0B hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 8: Port8 Input Filter Value Setting
Range: 00 to 0B hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible

A - 54 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

3209 hex Backup Data Clear Trigger

Sub-index 0: Number of entries
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Command
Range: 00 hex or 01 hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 2: Result
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (U16) Access: RO PDO map: Not possible

A-1 Object Dictionary

320A hex Message timeout for IO-Link device
Sub-index 0: Number of entries
Range: − Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Session Timeout
Range: 00 to FF hex Unit: − Default: 03 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible
A
4000 hex Port1 Message for IO-Link device

A-1-7 Manufacturer Specific Objects

Sub-index 0: Number of entries
Range: − Unit: − Default: 11 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Control
Range: 00 hex, 02 hex or 03 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 2: Status
Range: 00 to 05 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 3: Index
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: R
Size: 2 bytes (U16) Access: RW PDO map: Not possible
Sub-index 4: Subindex
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 5: Length
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 6: Data
Range: 0 to (all 232 bytes = 0xFF) Unit: − Default: 0 Attribute: R
Size: 232 bytes (ARRAY[0..231] OF BYTE) Access: RW PDO map: Not possible
Sub-index 7: Errorcode
Range: 0000 to FFFF hex Unit: − Default: 00 hex Attribute: −
Size: 2 bytes (U16) Access: RO PDO map: Not possible
Sub-index 10: Timeout
Range: 0000 to FFFF hex Unit: − Default: 00 hex Attribute: R
Size: 2 bytes (U16) Access: RW PDO map: Not possible
Sub-index 11: Sequence No
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
···

GX-series EtherCAT Slave Unit User’s Manual A - 55

A Appendix

4070 hex Port8 Message for IO-Link device

Sub-index 0: Number of entries
Range: − Unit: − Default: 11 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Control
Range: 00 to 03 hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 2: Status
Range: 00 to 05 hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 3: Index
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: R
Size: 2 bytes (U16) Access: RW PDO map: Not possible
Sub-index 4: Subindex
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 5: Length
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 6: Data
Range: 0 to (all 232 bytes = 0xFF) Unit: − Default: 0 Attribute: R
Size: 232 bytes (ARRAY[0..231] OF BYTE) Access: RW PDO map: Not possible
Sub-index 7: Errorcode
Range: 0000 to FFFF hex Unit: − Default: 00 hex Attribute: −
Size: 2 bytes (U16) Access: RO PDO map: Not possible
Sub-index 10: Timeout
Range: 0000 to FFFF hex Unit: − Default: 00 hex Attribute: R
Size: 2 bytes (U16) Access: RW PDO map: Not possible
Sub-index 11: Sequence No
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible

A - 56 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

6000 hex Port1 Input Data

Sub-index 0: Number of entries
Range: − Unit: − Default: 10 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port1 Input Data01
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (ARRAY[0..1] OF BYTE) Access: RO PDO map: Possible
···
Sub-index 16: Port1 Input Data16
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (ARRAY[0..1] OF BYTE) Access: RO PDO map: Possible

A-1 Object Dictionary

···
6070 hex Port8 Input Data
Sub-index 0: Number of entries
Range: − Unit: − Default: 10 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port8 Input Data01
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (ARRAY[0..1] OF BYTE) Access: RO PDO map: Possible
···
Sub-index 16: Port8 Input Data16
A
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (ARRAY[0..1] OF BYTE) Access: RO PDO map: Possible

A-1-7 Manufacturer Specific Objects

7000 hex Port1 Output Data
Sub-index 0: Number of entries
Range: − Unit: − Default: 10 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port1 Output Data01
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (ARRAY[0..1] OF BYTE) Access: RW PDO map: Possible
···
Sub-index 16: Port1 Output Data16
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (ARRAY[0..1] OF BYTE) Access: RW PDO map: Possible
···
7070 hex Port8 Output Data
Sub-index 0: Number of entries
Range: − Unit: − Default: 10 hex Attribute: −
Size: 1 byte (ARRAY[0..1] OF BYTE) Access: RO PDO map: Not possible
Sub-index 1: Port8 Output Data01
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (ARRAY[0..1] OF BYTE) Access: RW PDO map: Possible
···
Sub-index 16: Port8 Output Data16
Range: 0000 to FFFF hex Unit: − Default: 0000 hex Attribute: −
Size: 2 bytes (ARRAY[0..1] OF BYTE) Access: RW PDO map: Possible

GX-series EtherCAT Slave Unit User’s Manual A - 57

A Appendix

8000 hex Port1 IO-Link Device Configuration Data

Sub-index 0: Number of entries
Range: − Unit: − Default: 28 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 4: Device ID
Range: 00000000 to 00FFFFFF hex Unit: − Default: 00000000 hex Attribute: R
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index 5: Vendor ID
Range: 00000000 to 0000FFFF hex Unit: − Default: 00000000 hex Attribute: R
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index 20: IO-Link Revision
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 24: Process Data In Length
Range: 00 to 20 hex Unit: − Default: 02 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 25: Process Data Out Length
Range: 00 to 20 hex Unit: − Default: 02 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 28: Master Control
Note: Set the communications mode.
Range: 00 to 03 hex Unit: − Default: 03 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
···
8070 hex Port8 IO-Link Device Configuration Data
Sub-index 0: Number of entries
Range: − Unit: − Default: 28 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 4: Device ID
Range: 00000000 to 00FFFFFF hex Unit: − Default: 00000000 hex Attribute: R
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index 5: Vendor ID
Range: 00000000 to 0000FFFF hex Unit: − Default: 00000000 hex Attribute: R
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index 20: IO-Link Revision
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 24: Process Data In Length
Range: 00 to 20 hex Unit: − Default: 02 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 25: Process Data Out Length
Range: 00 to 20 hex Unit: − Default: 02 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 28: Master Control
Note: Set the communications mode.
Range: 00 to 03 hex Unit: − Default: 03 hex Attribute: R
Size: 1 byte (U8) Access: RW PDO map: Not possible

8001 hex Port1 Serial Number Configuration Data

Range: - Unit: - Default: - Attribute: R
Size: 16 bytes (VS) Access: RW PDO map: Not possible
···
8071 hex Port8 Serial Number Configuration Data
Range: - Unit: - Default: - Attribute: R
Size: 16 bytes (VS) Access: RW PDO map: Not possible

A - 58 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

9000 hex Port1 IO-Link Device Information Area

Sub-index 0: Number of entries
Range: − Unit: − Default: 25 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 4: Device ID
Range: 00000000 to 00FFFFFF hex Unit: − Default: 00000000 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 5: Vendor ID
Range: 00000000 to 0000FFFF hex Unit: − Default: 00000000 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 20: IO-Link Revision

A-1 Object Dictionary

Range: 00 to FF hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 22: Cycle Time
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 24: Process Data In Length
Range: 00 to 20 hex Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 25: Process Data Out Length
Range: 00 to 20 hex Unit: − Default: 02 hex Attribute: −
A
Size: 1 byte (U8) Access: RO PDO map: Not possible
···

A-1-7 Manufacturer Specific Objects

9070 hex Port8 IO-Link Device Information Area
Sub-index 0: Number of entries
Range: − Unit: − Default: 25 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 4: Device ID
Range: 00000000 to 00FFFFFF hex Unit: − Default: 00000000 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 5: Vendor ID
Range: 00000000 to 0000FFFF hex Unit: − Default: 00000000 hex Attribute: −
Size: 4 bytes (U32) Access: RO PDO map: Not possible
Sub-index 20: IO-Link Revision
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 22: Cycle Time
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 24: Process Data In Length
Range: 00 to 20 hex Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 25: Process Data Out Length
Range: 00 to 20 hex Unit: − Default: 02 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible

9001 hex Port1 Serial Number Information Area

Range: - Unit: - Default: - Attribute: -
Size: 16 bytes (VS) Access: RO PDO map: Not possible
···
9071Hex Port8 Serial Number Information Area
Range: - Unit: - Default: - Attribute: -
Size: 16 bytes (VS) Access: RO PDO map: Not possible

GX-series EtherCAT Slave Unit User’s Manual A - 59

A Appendix

A000 hex Port1 IO-Link Master Object

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port1 Lost Frames
Note: This is the total number of IO-Link communications retries.
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible

A010 hex Port2 IO-Link Master Object

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port2 Lost Frames
Note: This is the total number of IO-Link communications retries.
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible

A020 hex Port3 IO-Link Master Object

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port3 Lost Frames
Note: This is the total number of IO-Link communications retries.
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible

A030 hex Port4 IO-Link Master Object

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port4 Lost Frames
Note: This is the total number of IO-Link communications retries.
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible

A040 hex Port5 IO-Link Master Object

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port5 Lost Frames
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible

A050 hex Port6 IO-Link Master Object

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port6 Lost Frames
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible

A - 60 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

A060 hex Port7 IO-Link Master Object

Sub-index 0: Number of entries
Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port7 Lost Frames
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible

A070 hex Port8 IO-Link Master Object

Sub-index 0: Number of entries

A-1 Object Dictionary

Range: − Unit: − Default: 01 hex Attribute: −
Size: 1 byte (U8) Access: RO PDO map: Not possible
Sub-index 1: Port8 Lost Frames
Range: 00 to FF hex Unit: − Default: 00 hex Attribute: A
Size: 1 byte (U8) Access: RW PDO map: Not possible

A-1-7 Manufacturer Specific Objects

GX-series EtherCAT Slave Unit User’s Manual A - 61

A Appendix

A-2 Current Consumption Summary

A-2-1 Digital I/O Slave Unit

Unit power supply current Unit power supply current

Model Model
consumption consumption
80 mA max. at 24 VDC 80 mA max. at 24 VDC
GX-ID1611 GX-ID1621
90 mA max. at 20.4 VDC 90 mA max. at 20.4 VDC
80 mA max. at 24 VDC 80 mA max. at 24 VDC
GX-OD1611 GX-OD1621
90 mA max. at 20.4 VDC 90 mA max. at 20.4 VDC
180 mA max. at 24 VDC
GX-OC1601
210 mA max. at 20.4 VDC
80 mA max. at 24 VDC 80 mA max. at 24 VDC
GX-MD1611 GX-MD1621
80 mA max. at 20.4 VDC 80 mA max. at 20.4 VDC
80 mA max. at 24 VDC 80 mA max. at 24 VDC
GX-ID1612 GX -ID1622
90 mA max. at 20.4 VDC 90 mA max. at 20.4 VDC
80 mA max. at 24 VDC 80 mA max. at 24 VDC
GX-OD1612 GX-OD1622
90 mA max. at 20.4 VDC 90 mA max. at 20.4 VDC
80 mA max. at 24 VDC 80 mA max. at 24 VDC
GX-MD1612 GX-MD1622
90 mA max. at 20.4 VDC 90 mA max. at 20.4 VDC
150 mA max. at 24 VDC 150 mA max. at 24 VDC
GX-ID1618 GX-ID1628
150 mA max. at 20.4 VDC 150 mA max. at 20.4 VDC
70 mA max. at 24 VDC 70 mA max. at 24 VDC
GX-OD1618 GX-OD1628
80 mA max. at 20.4 VDC 80 mA max. at 20.4 VDC
110 mA max. at 24 VDC 110 mA max. at 24 VDC
GX-MD1618 GX-MD1628
120 mA max. at 20.4 VDC 120 mA max. at 20.4 VDC
220 mA max. at 24 VDC 220 mA max. at 24 VDC
GX-ID3218 GX-ID3228
230 mA max. at 20.4 VDC 230 mA max. at 20.4 VDC
90 mA max. at 24 VDC 90 mA max. at 24 VDC
GX-OD3218 GX-OD3228
100 mA max. at 20.4 VDC 100 mA max. at 20.4 VDC
140 mA max. at 24 VDC 140 mA max. at 24 VDC
GX-MD3218 GX-MD3228
150 mA max. at 20.4 VDC 150 mA max. at 20.4 VDC

A-2-2 Analog I/O Slave Unit

Unit power supply current Unit power supply current

Model Model
consumption consumption
110 mA max. at 24 VDC 140 mA max. at 24 VDC
GX-AD0471 GX-DA0271
120 mA max. at 20.4 VDC 150 mA max. at 20.4 VDC

A-2-3 Encoder Input Slave Unit

Unit power supply current Unit power supply current

Model Model
consumption consumption
100 mA max. at 24 VDC 90 mA max. at 24 VDC
GX-EC0211 GX-EC0241
130 mA max. at 20.4 VDC 100 mA max. at 20.4 VDC

A - 62 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

A-2-4 IO-Link Master Unit

Model Unit power supply current consumption

GX-ILM08C 60 mA max. (for 24 VDC)

A-2-5 Expansion Unit

A-2 Current Consumption

Unit power supply current Unit power supply current
Model Model
consumption consumption
XWT-ID08 5 mA max. XWT-ID08-1 5 mA max.

Summary
XWT-OD08 5 mA max. XWT-OD08-1 5 mA max.
XWT-ID16 10 mA max. XWT-ID16-1 10 mA max.
XWT-OD16 10 mA max. XWT-OD16-1 10 mA max.

A-2-4 IO-Link Master Unit

GX-series EtherCAT Slave Unit User’s Manual A - 63

A Appendix

A-3 Precautions with Connecting

Two-wire DC Sensors
When using a two-wire DC sensor with a DC input type Slave Unit, check that the following conditions
have been met. Failure to meet these conditions may result in operating errors.

A-3-1 Relation between ON Voltage of a Unit with DC Inputs and Sensor

Residual Voltage
VON ≤ VCC - VR

VCC: I/O power supply voltage (The allowable power supply voltage range is 20.4 to 26.4 V, so 20.4 V will be
used here to allow for the worst possible conditions.)
VON: ON voltage for a Unit with DC inputs
VR: Sensor's output residual voltage

It is sometimes possible to satisfy the above equation by adjusting the I/O power supply voltage (VCC)
to 26.4 V.

A-3-2 Relation between ON Current of a Unit with DC Inputs and Sensor

Control Output
IOUT (min) ≤ ION ≤ IOUT (max)

IOUT: Sensor control output (load current)

ION: ON current of a Unit with DC inputs

ION is calculated as follows:

ION = (VCC - VR - VF) / RIN

VF: Internal residual voltage of a Unit with DC inputs

RIN: Input impedance of a Unit with DC inputs

When ION is smaller than IOUT (min), connect a bleeder resistor R.

The bleeder resistor constant can be calculated using the following equation.

R ≤ (VCC - VR) / (IOUT (min) - ION)

Power W ≥ (VCC − VR) 2 / R × 4 [allowable margin]

2-wire DC input
VR R RIN
sensor type slave

VCC

A - 64 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

A-3-3 Relation between OFF Current of a Unit with DC Inputs and

Sensor Leakage Current
IOFF ≥ Ileak
IOFF: OFF current of a Unit with DC inputs
Ileak: Sensor's leakage current

Connect a bleeder resistor if the sensor's leakage current is greater than the OFF current of a Unit with
DC inputs.

Connecting Two-wire DC
The bleeder resistor constant can be calculated using the following equation.

A-3 Precautions with

R ≤ (IOFF × RIN + VF) / (Ileak - IOFF)
Power W ≥ (VCC − VR) 2 / R × 4 [allowable margin]

Inputs and Sensor Leakage Current

A-3-3 Relation between OFF Current of a Unit with DC

GX-series EtherCAT Slave Unit User’s Manual A - 65

A Appendix

A-4 Wiring External Output Signal Lines

Observe the following points when wiring external output signal lines.
• To absorb reverse electromotive force when an inductive load is connected to an output signal,
connect a diode near the inductive load.

Output Inductive
transistor load Diode

Output Unit
(with output transistor)

Connect a diode in a DC circuit.

Output Signal Noise Countermeasure

A - 66 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

A-5 I/O Power Supply Current

The I/O power supply current to be supplied to the V and G terminals of each Digital I/O Slave Unit is
provided by the following equation.

The points to which I/O power must be supplied are divided into small blocks. The I/O power supply

A-5 I/O Power Supply Current

currents supplied to these points are calculated in block units.
For example, in a GX-ID1612 Unit, the points are divided into two blocks. One includes 8 points on the
left: Inputs 0 to 7. The other contains 8 points on the right: Inputs 8 to 15. Currents are calculated for
each block.

z Input Slave Unit

I/O power supply current supplied to V and G terminals =(Current consumption of Input Slave Unit
from I/O power supply) + (Input current of
Input Slave Unit × Number of inputs used)
+ (Total current consumption of connected
input devices)* A
* This value does not apply when two-wire input devices are connected.
Use the following formula when two-wire input devices are connected:
I/O power supply current supplied to V and G terminals = (Current consumption of Input Slave Unit from I/O
power supply) + (Input current of Input Slave Unit
× Number of inputs used)

Example:
The following example is for when seven, three-wire sensors with a current consumption of 30 mA
each are connected to the GX-ID1612.
The GX-ID1612 specifications are,
• Input current of 6.0 mA max./point (at 24 VDC)
• I/O power supply current consumption of 10 mA max. (at 20.4 to 26.4 VDC).
Therefore,
I/O power supply current supplied to V and G terminals =10 mA + (6 mA × 7 points) + (30 mA × 7
points) = 262 mA

z Output Slave Unit

I/O power supply current supplied to V and G terminals =(Current consumption of Output Slave Unit
from I/O power supply) + (Total load
current of the connected loads) + (Total
current consumption of connected output
devices)*1

*1 This value does not apply when two-wire output devices are connected.
Use the following formula when two-wire output devices are connected:
I/O power supply current supplied to V and G terminals = (Current consumption of Output Slave Unit from
I/O power supply) + (Total load current of the
connected loads)
*2 Compare the value from the above formula to the rated current (common) of the Output Slave Unit and use
the smaller value.

Example:
The following example is for when five relays with a load current of 20 mA each are connected to the
GX-OD1612.
The GX-OD1612 specifications are,

GX-series EtherCAT Slave Unit User’s Manual A - 67

A Appendix

• Rated output current of 4.0 mA/common

• I/O power supply current consumption of 10 mA max. (at 20.4 to 26.4 VDC).
Also, relays are two-wire output devices, so there is no output device current consumption.
Therefore,
I/O power supply current supplied to V and G terminals =10 mA + (20 mA × 5 points) =
110 mA < 4.0 A/common

A - 68 GX-series EtherCAT Slave Unit User’s Manual

 A Appendix

A-6 Glossary
Use the following list of EtherCAT terms for reference.

Abbrevia-
Term Description
tion
Status for indicating information on errors that occur in an application
AL status (application layer status) −
on a slave.
CAN application protocol over
CoE A CAN application protocol service implemented on EtherCAT.
EtherCAT
CiA is the international users' and manufacturers' group that
CAN in Automation CiA

A-6 Glossary
develops and supports higher-layer protocols.
Collection of device dependent information and functionality
device profile − providing consistency between similar devices of the same device
type.
Clock distribution mechanism used to synchronize EtherCAT Slave
distributed clocks DC
Units and the EtherCAT Master Units.
EtherCAT slave controller ESC A controller for EtherCAT slave communication. A
An XML file that contains setting information for an EtherCAT Slave
EtherCAT slave information ESI
Unit.
EtherCAT state machine ESM An EtherCAT communication state machine.
The ETG is a global organization in which OEM, End Users and
EtherCAT Technology Group ETG Technology Providers join forces to support and promote the further
technology development.
index − Address of an object within an application process.
The EtherCAT network configuration information held by the
network configuration information −
EtherCAT master.
Abstract representation of a particular component within a device,
object −
which consists of data, parameters, and methods.
Data structure addressed by Index and Sub-index that contains
object dictionary OD description of data type objects, communication objects and
application objects.
A state in EtherCAT communications where SDO communications
operational −
and I/O are possible.
PDO communications − An acronym for process data communications.
A state in EtherCAT communications where only SDO
pre-operational −
communications are possible without being able to perform I/O.
Collection of application objects designated to be downloaded
Process data −
cyclically or acyclically for the purpose of measurement and control.
One type of EtherCAT communications that uses process data
process data communications − objects (PDOs) to exchange information in realtime with a fixed
cycle. This is also called PDO communications.
Structure described by mapping parameters containing one or
Process data object PDO
several process data entities.
Receive PDO RxPDO A process data object received by an EtherCAT Slave Unit.
A state in EtherCAT communications where only SDO
safe operational − communications and reading input data from slaves are possible.
Outputs from slaves are not performed.
One type of EtherCAT communications that uses service data
SDO communications −
objects (SDOs) for communicating information when required.
CoE asynchronous mailbox communications where all objects in the
service data object SDO
object dictionary can be read and written.
Slave Information Interface SII Slave information that is stored in non-volatile memory in the slave.
subindex − Sub-address of an object within the object dictionary.

GX-series EtherCAT Slave Unit User’s Manual A - 69

A Appendix

Abbrevia-
Term Description
tion
Collection of control elements to coordinate access to concurrently
sync manager SM
used objects.
Transmit PDO TxPDO A process data object sent from an EtherCAT Slave Unit.

A - 70 GX-series EtherCAT Slave Unit User’s Manual

INDEX
A External control input ...........................................9-12, 9-13
External latch A enabled .................................................9-7
Abort codes ...................................................................5-10 External latch A generation flag ......................................9-6
Analog I/O slave ..............................................................2-2 External latch B enabled .................................................9-7
Application object ............................................................5-5 External latch B generation flag ......................................9-6
External latch value A .....................................................9-3
C External reset generation flag .........................................9-6

C/E indicator ...............................................................10-13

F
C/Q indicator ...............................................................10-13
CAN application protocol ................................................5-2 Fixed PDO mapping .......................................................5-7
Clear external latch A generation flag .............................9-7
Clear external latch B generation flag .............................9-7 I
Clear present value external reset generation flag .........9-7
CN IN connector .............................................................4-7 I/O power supply ..................................... 1-7, 3-4, 4-8, 4-11
Code + pulse input ........................................................9-10 I/O power supply connector ..........................................4-11
CoE .................................................................................5-2 I/O power supply terminal .............................................4-11
Communications cable ................1-7, 3-4, 4-4, 4-6, 4-7, 6-8 Incremental/decremental pulse input ............................9-10
Communications error ...................................................8-16 Initialization .....................................................................5-4
Communications Unit ......................................................1-7 Input range ......................................................................8-3
Configuration Tool ............................................ 1-7, 3-6, 6-6 Input range switch ..................................................8-5, 8-21
Correctable range ............................................... 8-11, 8-17 IO PWR indicator ........................................................10-12
Count possible/not possible ............................................9-7 IO-Link Master Unit
Counter operation state ..................................................9-6 communications cables ...........................................6-10
Counter present value .....................................................9-3 communications connectors ......................................6-9
Counter preset bit .........................................................9-13 communications performance ...............................10-16
Counter reset bit ...........................................................9-12 connecting the I/O power supply .............................4-12
Counter status .................................................................9-3 connecting the Unit power supply ...........................4-10
Crimp terminal ...............................................................4-13 current consumption ............................................... A-63
function ....................................................................10-5
D I/O Data allocations
PDO mapping .................................................10-3
IO-Link communications cycle ..............................10-18
Daisy chain connection ...................................................4-7
manufacturer-specific area ..................................... A-51
Diagnosis history ...........................................................5-14
model ........................................................................2-7
Digital I/O slave ...............................................................2-2
mounting dimensions ............................................10-15
DIN track .........................................................................4-2
node address setting switches ..................................6-7
DIN track mounting hook ................................................4-2
object dictionary (PDO mapping object) ................. A-21
Disconnected line detection .................................... 8-4, 8-5
outline ......................................................................10-2
Disconnected line detection flag ...................................8-10
part names and functions ......................................10-11
specifications ...........................................................10-7
E
unit power supply connector ...................................6-12

e-CON connectors ........................................................4-14

Encoder Input Slave Unit ................................................2-2
L
End plate .........................................................................4-2
ERR indicator ..............................................................10-12 L/A IN indicator ...........................................................10-12
ERR LED ........................................................................6-5 L/A IN Indicator ...............................................................6-4
ESI file ..................................................................... 1-7, 3-5 L/A OUT indicator .......................................................10-12
ESM ................................................................................5-4 L/A OUT Indicator ...........................................................6-4
EtherCAT Master ............................................................1-7
EtherCAT Master Unit .....................................................3-4 M
EtherCAT slave ...............................................................1-7
EtherCAT telegram .........................................................1-3 M12 Connector .............................................................4-17
Expansion Unit ................................................................2-2 Mapping table .................................................................5-5
Maximum Circular Counter value ...................................9-8

GX-series EtherCAT Slave Unit User’s Manual 1

 N Tightening torque ......................................................... 4-13
Twisted-pair cable .......................................................... 4-5
Node address .......................................................... 3-4, 6-6 TxPDO ........................................................................... 5-5

O U

Object dictionary ...................................................... 5-2, 5-5 Unit No. .......................................................................... 3-4

ON delay time ................................................................. 7-8 Unit power supply .............................1-7, 3-4, 4-8, 4-9, 6-11
Operational ..................................................................... 5-4 Unit power supply cable ................................................. 4-9
Operational state ............................................................ 3-5 Unit power supply connector .......................................... 4-9
Output range ................................................................ 8-12 UNIT PWR indicator ................................................... 10-12
Output range setting switch .......................................... 8-14
Output range switch ..................................................... 8-24 W

P Wire size ...................................................................... 4-14

Wiring standards ............................................................ 4-6
PDO ......................................................................... 5-2, 5-5
PDO communications ..................................................... 3-5
PDO mapping ............................................3-5, 5-2, 5-5, 5-6
PDO mapping object ...................................................... 5-5
Phase A/B phase difference pulse input ........................ 9-9
Pin terminal .................................................................... 4-9
Pre-operational ............................................................... 5-4
Pre-operational state ...................................................... 3-5
Present value external reset enabled ............................. 9-7
Present value internal reset execution ........................... 9-7
Present value internal reset execution completed .......... 9-6
Present value preset execution ...................................... 9-7
Present value preset execution completed .................... 9-6
Present value preset set value error .............................. 9-6
Preset command value .......................................... 9-6, 9-13
PWR LED ....................................................................... 6-4

RJ45 connector .............................................................. 4-5

RUN indicator ............................................................. 10-12
RUN Indicator ................................................................. 6-5
RxPDO ........................................................................... 5-5

Safe-operational state .................................................... 5-4

SDO ................................................................................ 5-2
SDO communications .....................................3-5, 3-6, 5-10
Sheath diameter ........................................................... 4-14
Soft switch ...................................................................... 9-6
Status indicator ............................................................. 12-2
Sync manager channel ................................................... 5-6
Sync manager PDO assignment object .................. 5-5, 5-6
Sync manager PDO assignment table ........................... 5-6
Sync manager PDO mapping ......................................... 5-6
Sysmac Device Functions ............................................ 5-15
Sysmac error status ..................................................... 5-15

Terminal block .............................................................. 4-13

2 GX-series EtherCAT Slave Unit User’s Manual

 Revision History

A manual revision code appears as a suffix to the catalog number on the front cover of the manual.

Cat. No. W488-E1-05

Revision code

The following table outlines the changes made to the manual during each revision. Page numbers refer to the
previous version.
Revision code Date Revised content
01 August 2010 Original production
02 September 2010 Added Encoder Input Slave Units GX-EC02xx.
03 July 2011 Added functions for change to unit version 1.1 and corrected errors.
04 November 2013 Added descriptions and corrected mistakes.
05 July 2016 Added GX-ILM08C IO-Link Master Unit.

GX-series EtherCAT Slave Unit User’s Manual Revision-1

Revision-2 GX-series EtherCAT Slave Unit User’s Manual
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