NJ-series EtherCAT Connection Guide GX
Contents
1. Flickering Boot error ON PDI WOT timeout 20 7 Connection Procedure 7 4 2 Checking Data That Are Sent and Received Confirm that the correct data are sent and received Sufficiently confirm safety before you change the values of variables on a Watch Tab Page when the Sysmac Studio is online with the CPU Unit Incor rect operation may cause the devices that are connected to Output Units to operate regardless of the operating mode of the Controller 1 Select Watch Tab Page from the e View Menu Output Tab Page Alt 3 Cross Reference Tab Page Alt 5 Bulld Tab Page Alt 6 D The Watch Tab Page is displayed in the lower section of the Edit Pane Output Tab Page at Online valuel Modi A 3 Click the cell that states Input Name Name Online valuel_ Modify Datatype at the bottom of the Watch Tab EEES Page 21 7 Connection Procedure 4 Now characters can be entered Enter the device variable name Here enter E001_CH1_Output_16bit of CH1 analog output Type the first character E A list of device variables starting with E is displayed Scroll the list and select E001_CH1_Output_16bit E001 CH2_Output_16bit E001 Minor Fault E001 Observation EQOL Sysmac_Error Status Double click pa E001 CH1_Output_16bit Name E E001 CH1_Output 16bitis entered E001_CH1_Output_16bit in the Name Column Enter the set value in the Modify Online value Modify Datatype 5 Col2. Always confirm safety at the destination node before you transfer a user pro gram configuration data setup data device variables or values in memory used for CJ series Units from the Sysmac Studio The devices or machines may perform unexpected operation regardless of the operating mode of the CPU Unit 4 Select Online from the Controller Simulation Tools Help Controller Menu Communications Setup Ctrl Shift W When an online connection is established a yellow bar is Configurations and Setup displayed on the top of the Edit Pane 3 Select Synchronization trom SP the Controller Menu Ctl W Offline Ctr Shift W 4 The Synchronization Dialog Box iS displayed Computer Dala Name Computer Update Detontroller Update Da Controller Data Name Compare Confirm that the data to transfer NJ501 in the right figure is selected Then click the Transfer to Controller Button Legend Synchronired Clear the present values of vanables with Retain atinbute Vaid for Transfer to Controller Do not trancter the program source Wald for Transfer to Controller All data will be re transferred when this option is changed D Do not tranfer Special Unit parameters and backup parameters of EtherCAT slaves oul of synchronization scope o All date wall be bamferred because ihe controller has mo data Tranier To Controller 5 A confirmation dialog is Sysmac Studie displayed Click the Yes Button Conterm that tiene n oo
3. peoblen d the controller operation ri shoppeecl The operabino rocha anli bee changed fo PROCHAM mode Then herd sawer will be reset and forced netreshinwy wall be canc llerl Do you want to conte Y AN 17 A screen stating Synchronizing is displayed Confirm that the synchronized data is displayed with the color specified by Synchronized and that a message Is displayed stating The synchronization process successfully finished lf there is no problem click the Close Button If the synchronization fails check the wiring and repeat the procedure described in this section 7 Connection Procedure Synchronizing 4 ya irc Computer Data Name Computer Update DeControlle Update Ba Controller vow se Compare NI501 2011 09 01 F 1 08 48 l Legend Synchronired E i a the present values of vanables with Retain atinbute Vaid for Transfer to Controller E Do not trancter the program cource Wald for Transfer to Controller All data will be re trancferred when this option is changed 5 Do not irefer Special Umi parameter and backup parameters of ElherCaT slaves foul of synchronization scope The Synchronization process successfully finshed 18 7 Connection Procedure 7 4 Connection Status Check Check the connection status of the EtherCAT network 7 4 1 Checking the Connection Status Confirm that the EtherCAT communications are performed normally 1 Select Mode RUN Mode from t
4. 7 Connection Procedure 4 Right click the row for Node and GX DA0271 Then select o henra lions sac en Create Device Variable Pos Port Y CPU Expansion Racks CF CPU Rack 0 E EtherCAT Network Configuration El Master Ne Y GX DA0271 CH1 Output 1 CH2 Output J Sysmac Error Observatio Minor Faul search v Expand Collapse All Create Device Variable Set Reset Forced Refreshing The Variable names and Variable Types are automatically Mita CPU Rack O E iberCAT Network Configuration sel Fr M ster Hi T ADA Duipui 15b Oulputl fet Value i INT Aoa CA upu Iaei A Aoba va mb cH 3 Ou vlpul 1i Culpul Set Value W INT O o PE 5 ae i s Un Sysmac error status a w s J Giba Varnes Obarmiato Observation levels of information R BOO e aN E Minor Fa ae Minor Fault bevel of i reer l BOD EN Additional Information The device variable names are created automatically from a combination of the device names and the I O port names For slave units the default device names start with an E followed by a sequential number starting from 001 EN Additional Information A device variable name is automatically created for each slave unit in the example above A name can also be automatically created for each I O port Also you can set any device variables 16 7 Connection Procedure 7 3 3 Transferring Project Data Transfer the project data from the Sysmac Studio to the Controller A WARNING
5. NeTERR ERROR ag thas sa m Por lit There is no error Lin The link is established 4 link is established and data is being sent and EtherCAT a g received LINK ACT Link Activity The indicator flashes whenever data is sent or received Bar li The link is nol established 19 7 Connection Procedure 4 Check the LED indicators on the Analog I O Terminal LED indicators in normal status PWR Green ON L A IN Flickering RUN Green ON ERR OFF The LED indicators flash at the same timing as those of the Controller PWR L A IN LIA OUT RUN mee ERR PWR indicator Indicates the unit power supply state Color Contents OFF Unit er OFF state Green DN A aea 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 lickening In operation after establishing link ON mk established in physical layer j RUN indicator It indicates the operation state Color OFF Int state link Fre i Green inking _ Eee oneations aise __ ON Operational state For details on each state refer to 5 3 Communications State Transitions in page 5 4 li ERR indicator It indicates the information of an error rasa Single flash Synchronization error or communications data error Double flash Application WOT timeout a z
6. Network Configuration Start the Automation Software Sysmac Studio and set the EtherCAT network configuration Install the software and USB driver beforehand 1 Start the Sysmac Studio Click the New Project Button The Project Properties Dialog Box is displayed Click the Create Button t e i Open Project In this document New Project E is set as the project name E Offline H Project Properties New Project Project name 1 a Select Device a fel import Laleqory Controller Device HEDL Create 3 The New Project Pane is displayed e alaruzas x A a There are Menu Bar and Toolbar in the upper part of the pane The left pane is called Multiview Explorer the right pane is called Toolbox and the middle pane is called Edit Pane Multiview Edit Pane Explorer 4 Select Communications Setup from the Controller Menu Online Ctrl WW Offline Ctr Shift W 11 5 The Communications Setup Dialog Box is displayed Select the Direct connection via USB Option in the Connection Type Field Click the OK Button 6 Select Online from the Controller Menu A confirmation dialog is displayed Click the Yes Button A displayed dialog depends on the status of the Controller used Select the Yes Button or other button to proceed with the processing 7 When an online connection is established a yellow bar is displayed on the top of the Edit Pane EN Additional Information 7 Connect
7. OMRON Machine Automation Controller NJ series EtherCA IT Connection Guide OMRON Corporation GX series Analog I O Terminal Network Connection Guide lt MWSITNADO O always in control Table of Contents Wize Related Manuals unicas aaiae aeaieie 1 2 Terms and Definitlon alli 2 Oc REMAK AAA O E caetuteyodseeecanceuvecsmeerenacsecemvecss 3 Lo OVOKVICW ii AAA AR 5 5 Applicable Devices and Support Software cccssscssssseesseseeseseeseeeees 5 Sl Applicable DEVICES dedos 5 5 2 Device Configura lOs S 6 6 ElherCAT SeuinGs aa eee el eee 7 6 1 EtherCAT Communications SettingS ccccoocncncoccncnncononcnncnonnnnnnnnns 7 6 2 Allocating the Global Variables ocoooccccocccnnncoconnnnconononocononenoss 7 fi GONNECION Procedure 8 7 1 WV ORK PIO Wat dista 8 Les Setting Up the Analog I O Terminal ccccoooccnnccccncnncccnncnncnnanonccnnnnos 9 TO Setting Up the Controller aii a a 11 7 4 Connection Status CNE 19 8 Initialization Meth00 siii a c 23 8 1 A O A A wee sco oeeeas 23 95 REVISION FUSION cena ic 24 1 Related Manuals 1 Related Manuals The table below lists the manuals related to this document To ensure system safety make sure to always read and heed the information provided in all Safety Precautions Precautions for Safe Use and Precaution for Correct Use of manuals for each device which is used in the system Cat No Manual name W500 NJ501 110 NJ ser
8. ation on how to install a USB driver refer to A 7 Driver Installation for Direct USB Cable Connection of the Sysmac Studio Operation Manual Cat No W504 6 EtherCAT Settings 6 EtherCAT Settings This section provides specifications such as communications parameters and variable names that are set in this document 6 1 EtherCAT Communications Settings The following is the setting of the destination device GX DA0271 Node address 01 j 6 2 Allocating the Global Variables The device variables of the destination device are allocated to the Controller s global variables The relationship between the device data and the global variables is shown below Output area Controller Destination device Destination device data Global variable name Data type CH1 Analog output value E001_CH1_Output_16bit INT CH2 Analog output value E001_CH2_Output_16bit INT Details of the status allocation Controller Destination device Destination device data Global variable name Data type Sysmac Error Status E001_Sysmac_Error_Status BYTE Error information at E001 Observation BOOL observation level Error information at minor E001 Minor Fault BOOL fault level 7 Connection Procedure 7 Connection Procedure This section describes how to connect the Controller via EtherCAT This document explains the procedures for setting up the Controller and Analog l O Terminal from the factory default setting For the initialization re
9. ct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance EN Additional Information Provides useful information Additional information to increase understanding or make operation easier 4 Overview 4 Overview This document describes the procedure for connecting the Analog l O Terminal GX Series of OMRON Corporation hereinafter referred to as OMRON to the NJ series Machine Automation Controller hereinafter referred to as Controller on EtherCAT and provides the procedure for checking their connection Refer to Section 7 Connection Procedure to understand the setting method and key points to connect the devices via EtherCAT 5 Applicable Devices and Support Software f 5 1 Applicable Devices The following devices can be connected OMRON NJ5 series CPU Unit NJ501 0000 l OMRON Analog I O Terminal GX AD0471 1 1 GX DA0271 EN Additional Information As applicable devices above the devices listed in Section 5 2 are actually used in this document to check the connection When using devices not listed in Section 5 2 check the connection by referring to the procedure in this document EN Additional Information This document describes the procedure to establish the network connection It does not provide information about operation installation nor wiring method of each device For details on the above products other than communication connection procedures r
10. ed ON settings may not be applicable as described in the following procedure Refer to the right figure and check the hardware switches No Name Communications connectors Unit power supply connector 3 Status indicators Output range setting Switches Set the node address switches as follows x10 0 x1 1 Setting the node address x 1 Setting the node address 10 Set the node address to 01 4 Turn OFF pins 1 to 7 of the output range setting switch set them to bottom side and turn ON pin 8 set it to top side 5 Connect the Ethernet cable to communication connector CN 1 and turn ON the power supply 7 Connection Procedure 1 ouTPUT RANGE 3 CH1 1 2 Setting of output CH1 range 3 Set by combination of DIP switches see the 4 next table a Setting of output CH2 range 6 Make sure to keep it OFF T Always OFF The operation cannot be guaranteed when itis sel to ON Output range setting method O eas ON Setting by these switches Pini to Ping Oto 10 V 10 to 10 V 4to20mA Setting of output CH2 range Pin4 to Pin6 Output range __ Ping PS aa Ping 0to5V 1to5V ON OFF OFF Oto 10V OFF ON OFF 10 to 10 V ON ON OFF 4 to 20 mA OFF OFF JON 10 7 Connection Procedure j 7 3 Setting Up the Controller Set up the Controller 7 3 1 Starting the Sysmac Studio and Setting the EtherCAT
11. efer to the manuals for the corresponding products or contact your OMRON representative 5 Applicable Devices and Support Software j 5 2 Device Configuration The hardware components to reproduce the connection procedure of this document are as follows NJ501 1500 Personal computer Built in EtherCAT port Sysmac Studio installed OS Windows7 7 ere Ey USB cable E ad A F eee i E USRRB SESS 5 OMRON CPU Unit NJ501 1500 Built in EtherCAT port OMRON NJ1W PA3001 OMRON Sysmac Studio SYSMAC SE2 1 1 Ver 1 00 Personal computer OS Windows7 gt mow isc USB 2 0 type B connector with industrial Ethernet connector OMRON Analog I O Terminal GX DA0271 V1 1 P Precautions for Correct Use The connection line of EtherCAT communication cannot be shared with other network such as Ethernet or EtherNet IP The switching hub for Ethernet cannot be used for EtherCAT Please use the cable of category 5 or higher double shielded with aluminum tape and braided shielding and the shielded connector of category 5 or higher EN Additional Information For information on the specifications of the Ethernet cable and network wring refer to Section 4 EtherCAT Network Wiring in the NJ series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 EN Additional Information The system configuration in this document uses USB for the connection between the personal computer and the NJ series CPU Unit For inform
12. etwork Master configuration of the Sysmac E i Studio Click the Close Button E001 GX DA0271 Rev 1 1 Node Address Network configuration on Sysmac Studio Node address 1 and E001 GX DA0271 Rev 1 1 are added Configurations and Setup to the EtherCAT Tab Page in the Edit Pane fee ter A ii Node Address Network configuration 7 3 2 Setting Global Variables 7 Connection Procedure Set global variables to use for the EtherCAT Slave Unit 1 Select Offline from the Controller Menu D Double click I O Map under Configurations and Setup on the Multiview Explorer or right click it and select Edit 3 The I O Map Tab Page is displayed on the Edit Pane Click a column under Variable to enter a new variable Ctrl W synchronization Ctrl M Mode New Project new _NJ501_0 Configurations and Setup Y cy EtherCAT gt O Nodel GA DAO271 gt E CPU Expansion Racks GN Edit ME er P 2 Motion Control Setup ef Cam Data Settings Event Settings E Task Settings k Data Trace Settings Programming 133J0 0X3 Mana 4 Configurations and Setup A F HC ice WW Data Ty vanse Wa i ion Port e CPU Expenon Had CF CRU Rack e MU fhe AT Network Configuration Er M s Hi GDA CHI QGutput 15baA Outputl Set Wal Wi CH Guipul Lobe Qulpul Set Value W Syma Emor a u pyama ermar sirius i Ob atin Otbrenation levels of information E ee Minor Fault bvth od infomation A 15
13. fer to Section 8 Initialization Method i 7 1 Work Flow The following is the procedure for connecting to the EtherCAT 7 2 Setting Up the Analog I O Terminal l 7 2 1 Hardware Settings l 7 3 Setting Up the Controller J 7 3 1 Starting the Sysmac Studio and Setting the EtherCAT network configuration y 7 3 2 Setting the Global Variables 7 3 3 Transferring the Project Data 7 4 Connection Status Check 7 4 1 Checking the Connection Status 7 4 2 Checking Data that are Sent and Received Set up the Analog I O Terminal Check the hardware switch settings of the Analog I O Terminal Set up the Controller Start the Automation Software Sysmac Studio and set the EtherCAT network configuration Set global variables to use for the EtherCAT Slave Unit Transfer the project data from the Sysmac Studio to the Controller Check the connection status of the EtherCAT network Confirm that the EtherCAT communications are performed normally Confirm that the correct data are sent and received 7 Connection Procedure j 7 2 Setting Up the Analog I O Terminal Set up the Analog l O Terminal 7 2 1 Hardware Setting Check the hardware switch settings of the Analog I O Terminal P Precautions for Correct Use Make sure that the power supply is OFF when you perform the settings Confirm that the power supply to the Analog I O Terminal is OFF If the power supply is turn
14. he Controller Simulation Tools Help Controller Menu ae Ctrl 1 Ctrl 44 Offline Ctr Shift VV Synchronization Ctrl M A confirmation dialog is displayed Click the OK Button Sysmac Studio Make sure a Controller startup will cause no problem Do you want to change to RUN Mode N RUN mode is displayed on the Controller Status Pane Controller Status ONLUNE 192 168 250 1 ERR ALMI RUN mode 3 Check the LED indicators on the Controller to confirm if EtherCAT communication is normally son EE A E T Ly ic ORO s USB por pss 4501 1500 a f performed E ga 100Base TX 10Base T a Built in EtherNet IP port Built in EtherCAT port 100Base TX EtherCAT master indicators LED indicators in normal status INET RUN Green ON N ET ERR OFF VO data is being input and output Flashing EtherCAT communications are established EtherCAT communications are in progress f f Communications is in one of the following LINK ACT Flickering states a ications ls f EtherCAT Only message communications is funcion NeTRUN RUN ann ing Only message communications and W O data input operations are functianing Not lit EtherCAT communications are stopped Power is OFF or the Unit is being reset There is a MAC address error communica bons controller error or other error Lit There is an unrecoverable error such as a hardware error or an exception
15. ies CPU Unit Hardware User s Manual W501 NJ501 1000 NJ series CPU Unit Software User s Manual W505 NJ501 000 NJ series CPU Unit Built in EtherCAT Port User s Manual W504 SYSMAC SE2 Sysmac Studio Version 1 Operation Manual W488 GX series EtherCAT Slave Units User s Manual 2 Terms and Definition 2 Terms and Definition Terms PDO Communications Communications using Process Data Objects SDO Communications Communications using Service Data Objects Slave Unit Node address ESI file EtherCAT Slave Information file Explanation and Definition This method is used for cyclic data exchange between the master unit and the slave units PDO data i e I O data that is mapped to PDOs that is allocated in advance is refreshed periodically each EtherCAT process data communications cycle i e the period of primary periodic task The EtherCAT port built into the NJ series CPU Unit uses process data communications for commands to refresh I O data in a fixed control period including I O data for EtherCAT Slave Units and the position control data for the Servomotors Variables are used to access from the NJ series CPU Unit in the following ways With device variables for EtherCAT slave I O With Axis Variables for Servo Drive and encoder input slaves to which assigned as an axis This method is used to read and write the specified slave unit data from the master unit when required The EtherCAT port built
16. into the NJ series CPU Unit uses SDO communications for commands to read and write data such as for parameter transfers at specified times You can read write the following specified slave data with the EC CoESDORead Read CoE SDO instruction or the EC CoESDOWrite Write CoE SDO instruction SDO data in slave units parameters error information etc There are various types of slaves such as Servo Drives that handle position data and l O terminals that control the bit signals The slave receives output data sent from the master and transmits input data to the master An address to identify the unit connected to the EtherCAT network The ESI files contain information unique to the EtherCAT slaves in XML format Install an ESI file into the Sysmac Studio to easily allocate slave process data and make other settings 3 Remarks 3 Remarks 1 Understand the specifications of devices which are used in the system Allow some margin for ratings and performance Provide safety measures such as installing safety circuit in order to ensure safety and minimize risks of abnormal occurrence 2 To ensure system safety always read and heed the information provided in all Safety Precautions Precautions for Safe Use and Precaution for Correct Use of manuals for each device which is used in the system 3 The users are encouraged to confirm the standards and regulations that the system must conform to 4 lt is prohibited to copy t
17. ion Procedure Y Remote IP Address Select a method to connect with the Controller to use every tene you go onkne USB Communications Test Ethernet Communications Test Y Ophorm E Confirm the serial ID when going online E Check forced refreshing when going offline Y Response Monitor Time Set the Response Monitor Time in the communications with the Controller fx Communications Setup Ctr Shitt W Sysmac Studio The CPU Unit has no name Do you want to write the project name new_NJ501_0 to the CPU Unit name Y N Configurations and Setup 5 Communications Setup ote paa Y Connechon type Select a methed te eannert uth the Controller to use every time you qo online For details on the online connections to a Controller refer to Section 5 Going Online with a Controller in the Sysmac Studio Version 1 0 Operation Manual Cat No W504 8 Select Mode PROGRAM Mode from the Controller Menu Ctri w Offline Ctrl Shitt W Synchronization Ctrl M Stop Monitoring set Reset b Forced Refreshing b 12 7 Connection Procedure 9 displayed Click the Yes Button Confirm that the controller status on the Toolbox is changed to the PROGRAM mode Make sure a Controller stop will cause no problem Do you want to change to PROGRAM Mode YN Controller Status ONLINE TOF TED ANI ERR ALM PROGRAM mode 10 Double click EtherCAT under Configurations and Setup in the Multiview Expl
18. o reproduce and to distribute a part of or whole part of this document without the permission of OMRON Corporation 5 This document provides the latest information as of February 2013 The information contained in this document is subject to change for improvement without notice About Intellectual Property Right and Trademarks Microsoft product screen shots reprinted with permission from Microsoft Corporation Windows is a registered trademark of Microsoft Corporation in the USA and other countries EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Company names and product names in this document are the trademarks or registered trademarks of their respective companies 3 Remarks The following notation is used in this document Indicates a potentially hazardous situation which if not avoided WARNING could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which it not avoided may result in minor or moderate injury or property damage The filled circle symbol indicates operations that you must do The specific operation is shown in the circle and explained in text This example shows a general precaution for something that you must do Precautions for Safe Use Indicates precautions on what to do and what not to do to ensure using the product safely P Precautions for Corre
19. orer Or right click EtherCAT under Configurations and Setup and select Edit New Project new _NJ501_0 The EtherCAT Tab Page is 11 displayed in the Edit Pane Node Address Network configuration Master Right click the Master Icon and 12 select Compare and Merge with Actual Network Configuration A screen is displayed stating Get information is being executed A Configurations and Setup Node Address Network confiauration Master White Slave Node Address Compare and Merge with Actual Network Configuration Get Slave Senal Numbers Display Diagnosis Statistics Information Display Production Information Display Packet Monitor Display ESI Library Get information 13 7 Connection Procedure The Compare and Merge with E apa TIO i 13 Actual Network Configuration Pane is displayed Node address 1 and GX DA0271 Rev 1 1 are added to the actual network configuration of the comparison result Click the Apply actual network configuration Button A confirmation dialog box is 14 15 i Fal Apply actual network configuration displayed Click the Apply Button The network configuration on Sysmac Studio is replaced with the actual network configuration The variable and other settings will be deleted Apply Cancel Fal Compare and Merge with Actual Network Configuration Confirm that node address 1 and E001 GX DA0271 Rev 1 1 are added to the n
20. umn E001_CH1_Output_16bit 4 Here enter 4000 Half of resolution 1 8000 Name Online v uel Modity Data type 1 V2 12 TEE Peeve ndiii Confirm that the online value is changed to 4000 6 Use a digital multimeter to confirm that the CH1 voltage output value is near 2 5 V 22 8 Initialization Method 8 Initialization Method This document explains the setting procedure from the factory default setting If the device settings have been changed from the factory default setting some settings may not be applicable as described in this procedure i 8 1 Controller To initialize the settings of the Controller select Clear All Memory from the Controller Menu of the Sysmac Studio Clear All Memory Clear All Memory This function initializes the target area of destination Controller Confirm the area to initialize first and press the OK button CPU Unit Name new NI501 0 Model NJ501 1500 Area User Program User defined Valiables Controller Configurations and Setup secunty Information settings of Operation Authonty initialization at the next online E Clear event log 23 9 Revision History 9 Revision History Revision Date of revision Revision reason and revision page code 01 Feb 28 2013 First edition 24 Authorized Distributor
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