9 Troubleshooting
9-26
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
9-3 Precautions When Connecting or
Disconnecting Slaves during
Communications
Always use the following procedure to turn OFF the slave power supply or connect/disconnect cables
during EtherCAT master communications.*
* This includes the pre-operational, safe-operational, and operational states.
Step 1. Use the Sysmac Studio or an instruction to send a command to disconnect the slave.
Step 2. Confirm that the slave was disconnected normally.
Step 3. Turn OFF the power supply to the slave or disconnect the cable.
If you turn OFF the power supply or disconnect the cable without performing steps 1 and 2, the slaves
that are operating may be adversely affected.
If you perform the following operation a or b at the same time as operation c, a Slave Initialization Error
will occur.
a) Turn OFF the power supply to the slave or disconnect the cable.
b) Turn ON the power supply to the slave or connect the cable.
c) Reset an error in the EtherCAT Master Function Module or connect the slave.*
* This can happen when the Reset EtherCAT Error (ResetECError) instruction or Connect EtherCAT Slave (EC_-
ConnectSlave) instruction is cyclically executed in the user program.
If you perform these operations at the same time, the EtherCAT master may access a slave with a dif-
ferent node address than the specified node address, or other unexpected operations may occur.
Therefore, never turn OFF the power supply to the slave or disconnect the cable at the same time as
you reset an error or connect a slave.
9-3-1 Procedure for Connecting and Disconnecting Slaves during
Communications
9-3-2 Prohibition to Physically Disconnecting a Slave and Resetting an
Error or Connecting a Slave at the Same Time
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