NJ Programming Best Practices
Contents
1. Johnston Hall October 15 2014 NJ Best Practices V1 1 Contents KIM m 5 THE PURPOSE OF this paper eor e e Tee EE RYE VER Idea el sev Reacts osa ine Tr EN Vd Eon 5 Fastest Way to Get Started cicn iere men RE PORE RI E Metta Deed VER Pe CHE EET VRR ERE esse ERR LT En 6 Hardware and 1 0 Configuration esses nennen nennen nennen nnne sn nrns enters erret erri tense tenere n 7 Network Configuration Which Network to use ssssssesesseeeeee eene enne enne ener enne nnne nnn 7 NJ CPU dads qei dioja e N 7 NEtherCAT POLL oct mte rere rere eee nie eter ee en eb dA ete e dee cue 7 Rack Mounted EtherNet IP cards enter aeii aiena a idei iieii 7 EtherCAT and EtherNet IP cable colours eene nrnen enr nennen nnns 7 Assigning More CPU time to Communications ssesessesssesesseeseeeeeneee nennen nennen esent nennen nns 8 1 O Config FatlOfisnise ccce aite p Fr ee eee eri o ia e eee Dr nn n Vases ee en P D T ET RR de Pa 8 Selecting I O Cards and Power for them sss nennen enne trennt three nnne nns trnr en tnn nen 8 How to configure the I O bus power csccssccssecssecsssscsssceescseecseecssesueceaeceecesesseeescaecaaecsaeceaesasssaeseaeesaes 9 1 0 Power New and important nnne nn nennen a aaa 9 There are two basic ways to address the EtherCAT I O units eese 10 When adding a Junction unit splitt2. DC Sync J Exist 41 OMRON MX2 Inverter Drive The maximum packet size is 320 bits 40 bytes in and 320 bits out 40 bytes Sysmac Studio will show the data size for each MX2 42 OMRON Glossary EtherNet IP An Ethernet based communication system using the CIP protocol The NJ uses EtherNet IP For NJ to computer NJ to HMI NJ to NJ NJ to some IO and drives communications Global Variable This is a variable that should be accessible from many programs or devices Local I O O connected physically to the NJ CPU Local Variable A variable that is only accessible from the program it was declared in NA The Omron NA series of touch screens for use with NJ and CJ controllers NJ The Omron NJ series CPU s Remote I O I O connected to the CPU by a communication cable example EtherCAT Tags Instead of using fixed numbering system for I O the NJ uses a free allocation of memory and you give each I O or variable a name Task The NJ series controller runs several tasks Program and IO refresh in a time slice manner Each task gets so many microseconds us of time to execute then the processor moves on to the next task comes back to the current task later Revision History Rev 1 1 Added MX2 drive setup on EtherCAT October 15 2014 43 OMRON OMRON AUTOMATION AND SAFETY THE AMERICAS HEADQUARTERS Chicago IL USA 847 843 7900 800 556 6766 e www omron247 com OMRON CANADA INC HEAD OFFICE OMRON ARGENT
3. ANG Tasks tt i ciu trie he eese tO EH I HS S ys EEREEENRET SERES Pe SEE QUEEN M ve e eO 2 Hopes es 19 Primary Task 0 5ms to 4ms only one primary taSk ccccccccssscccessececeesssceceeseeeceseeeeeseaeeeeeeaeeesees 19 Tasks with Priority 16 17 and 18 One task for each priority 1 to 100ms esseseesss 19 Event Tasks with Priority 8 or 48 32 of them cccccccccsssccsesseceeeeseeeceesseececaeeeeeesaeeeeeesaeeeseeeeeeeees 19 I O Task Relationships nisatie ieten onirin inina lend gah rie traer on e ore ra D Ta ead eae ede ri rara dd 19 Storing Permanent Data on the NJ rient need anh en kane annee e anb a ee danke TEAS ee da vais 20 Reading Data from a File SD card located in SD slot on NJ CPU 20 File Readiarid Write erecto rrt p e t e cab ae POSER esed as Eder eru RE EU ua 20 Converting Read and Write text strings to variable data sssssseseseeeeneennenennnn nnn 21 Scan TIMES sche seeds EET 21 How does auto tune effect Scan Time nennen enne nnne en rn snnt ens 21 Adding and Removing EtherCAT 1 O ccsccccssssessecesseecsseeeesaececseeesseeceseecesaececaeeceaeeceseeeesaeeeeaaecesseceseeenas 22 Perder eatto 22 CRITICO P el iiacnces eteadsiuadensceccteausuncededecdvsstacanedielysctdaureadec E geceseivadsscbednes ounsdeedeedes 23 MX2 Inverter DINOS P 24 Mem IL 171 7 15 Em 26 Simula tiO esnea a A E EA E
4. E TaskExecTimeMeas z E Prg Test fun MyAxisCur ARRAY 0 4 OF MyAxis gt E3 RC MyAxisList AxisList B Prg manual op MyAxisNo FirstAxisNo E Prg manual op L MyMachineStsCur MyMachineSts E Prg synch op MyAxisNodeNumber ARRAY 0 4 OF INT E Prg Update op gt 3 Absolute Encoder gt Functions gt 33 Function Blocks E Data Tynes GetElPErrorBit BOOL ResetEIPErrorBit BOOL GetCJErrorBit BOOL bie Manager 1 melts ejm 1 View 2 Variable Manager li Show Usage 3 Inthe top left corner select the local phat Data Type Comment program T Ec 4 Left click on the EIER p usan t variable in question my eal 5 Right click and select B os m Move Variable to ImysRVi MC MoveVelocity anane Global Mi vv vcn D MyPulseoms SOOT SR Notes You can put the variables in alphabetical order by clicking on the Name title E Always on Top Delete Unused Variables Update Close You can delete unused variables on this screen 16 OMRON Global Variables for the NA HMI All global variables in the NJ program are visible in the NA variable table They do not need to be published Global Variables for the NS Screen You set the variables you need to Publish Only Input or Output You then go tools Export Global Variables CX Designer Publish Only means in and out 1 Bi databasetest1 2 SQL Sy
5. Project Controller Simulation Tools Help n Troubleshooting z Backup be Backup Controlle Export Global Variables gt Restore Controller Compare with Backup File Multiview Explorer Comments for Variables and Data Types NJ SQL Y Configurations and Setup ae EtherCAT Option gt CPU Expansion Racks Restore Variables and Memory EtherNet IP Connection Settings Backup Variables and Memory The controller data will be backed up to the computer When you click the Execute Button the processing will start Do you want to continue Backup Target File C Users JH14513 Documents New folder NJBackup dat The Backup processing may take several minutes to several tens of minutes The processing time can be shortened by reducing the target data v Target Data Controller v v v v v E EtherCAT slaves Ei CJ series Units Execute Cancel Notice that you can specify file name and location You can specify what to backup including EtherCAT slave configuration data This backup takes a long time 30 OMRON Backup Configuration on the NX Coupler This is a future capability Backup All on the Memory Card To Back up the Program no program tools W501 Section 9 1 2 Insert SD card Set DIP switch pins 1 Off 2 Off 3 On 4 Off Press the button beside the SD card slot for 3 second SD power indicator will flash On 3 seconds off 0 5 seconds unti
6. and tripping inputs NX PF0630 or NX PF0730 Pay attention to the maximum current on these modules PF630 is 4A and the PF730 is 10A Using the power supply connection I O units NX PC0010 NX PC0020 and NX PC0030 right beside the input or output card allows the 3 wire sensor cable sheath to be left on the wire right up to the input module Using the Shielding Power Supply Connection NX TBX01 allows the shielding wire to follow the analog signal wires right up to the input module Much neater and better shielding The Safety CPU and I O can be placed anywhere on the NX network But do not put the safety CPU on a node you may wish to disable and try not to put safety I O on nodes that you want to disable now and then The safety program can detect disabled nodes and not run that part of the program but it makes the program harder to write EtherCAT I O and Task Synchronization Omron EtherCAT I O is synchronous with the main task by default This is true even if the main task is set to 0 25us 0 5us in the slower CPU s You can attach an I O block to one of the other tasks which means it would be synchronous with that task The I O block servo can only be used in the task it was assigned to be synchronous with 11 OMRON EtherNet IP Port for EtherNet IP Remote I O The EtherNet IP port supports socket services no protocol UDP or TCP IP communications which is very useful for third party Ethernet products The same port supports Ethe
7. base type String 256 Age of base type INT Height of base type REAL Male of base type BOOL IB Convert ASCI delimited data new Controller 0 Sysmac Studo WD a File Edit View Insert Project Controller Simulation Tools Help BERS ert ASCII delimited data 7 pms Programming ing 8ob5 823 8055 1823 RUET S v POUs SEEEN v amp Programs Y E3 Program0 SectionO 3 Functions Function Blocks w amp Data amp 2 Data Types i Global Variables iv gt Fa Tasks TextStringConverted Watchi Nema Online value l Modify Comment l Dat Q Program0 Textstring Converted Name STRING 256 Age INT Height om REAL Male BOOL Scan Times How a PID instruction Affects Scan Time My testing showed 10 loops ran an average of 218ys Peak was 315us How Auto Tune Affects Scan Time There is no scan time value for instructions on the NJ But testing at the factory has shown that initiating 90 auto tune loops at the same time added about 3ms to the scan time This could be a problem if you put them in the main task It is also important to know that you should not run a PID loop actually the auto tune PID loops in a scan that runs slower than 8ms My actual testing showed 10 loops auto tuning gave a scan time of 259us up from 218us for just the PID loop for about two seconds till the PID tuning was complete 21 OMRON Adding and Removing EtherCAT I O Adding NX I O Notes You cannot add an
8. create an octopus type connection which comes in useful if you wish to turn off or remove components from the network without disconnecting downward I O OMRON The NX I O is very price competitive and performance oriented NX I O is designed to update in a little as 250us Each NX I O group typically has a coupler at the left end to connect to EtherCAT and then up to 63 I O cards can be connected to each coupler This makes for a potentially very large I O system There are two power buses on this I O system One is for the I O logic After about ten I O cards this bus reaches its limit and a bus power feed module is required to break the bus and supply power to all modules to the right of the power feed module The NX I O also has I O power on its backplane Combined with I O power modules many OV 24V and shield connections can be brought to the front of the units eliminating the need for terminals and greatly increasing the neatness and density of the wiring How to Configure the I O Bus Power If there are less than 8 I O per coupler then you could assemble the I O configure the I O using Sysmac Studio connect to the NJ Compare and Merge with Actual Network Configuration to get the right version numbers of the I O Why 8 I O units per coupler you will likely not need bus power units with 8 I O or less If there are more than 8 I O units per coupler configure the I O using Sysmac Studio Sysmac Studio will show
9. in the NJ CPU Reading Data from a File SD card located in SD slot on NJ CPU File Read and Write FileOpen is used to open the file FileSeek can be used to point at a given line in the file FilePut and FileGet are used to write or read data to from the file Here is an example of a file write where the first instruction changes the variable of user data type to a string with commas between the variables the second box adds the carriage return line feed and the third box actually writes the data to a file As Soon as writing starts reset the write bit AddDelimeter converts the Structure Data to text and inserts a comma between the members CONCAT adds the lt CR gt lt LF gt FilePuts Writes the CSV string to the file WriteLineToCSV CSV_WriteRow AddDelimiter WriteDataStr WriteDataStr r i WriteLineToCSV 20 OMRON Converting Read and Write Text Strings to Variable Data The NJ has a very powerful instruction for interpreting data from a csv file The SubDelimiter function You can also take a variable of custom data type and convert to text ready to be sent to a file using the AddDelimiter function For example The first line of the file is Bob 5 182 3 True With the SubDelimiter instruction you create a variable with a custom data type like so Variable TextStringConverted which would be of type TextStringConvereted Struct Data Type TextStringConvereted Struct with members Name of
10. need to know the loads being connected to the I O I O power modules are also a great way to separate input output and analog power supplies Do not forget the shield unit which gives you a place to connect the shield wiring and you can put one beside each analog unit greatly improving the look of the wiring and reduce the time it takes to put extensions on the shield wiring to get it to a ground terminal OMRON There are Two Ways to Address the EtherCAT I O Units e One is to use the rotary switches on the I O to create I O addresses Note that O default is not valid Addresses 1 to 64 should be reserved for drives and servo units These can be reassigned to I O if drives and servos do not use them all Addresses 65 to 99 should be used for I O drives and servo units cannot use these addresses e The other way is to use Sysmac Studio to assign addresses Set the I O Unit s rotary switch to OO With this system the drives are still primarily 1 to 64 but the remote I O can go to 192 Both methods require that the units be wired communications in the correct order which is the same order as seen in the Sysmac Studio configuration screen e Drives can only be node numbers 1 to 99 Section 5 1 1 of 1576 Only node numbers 1 to 64 can be mapped to an axis When Adding a Junction Unit Splitter You need to assign an IP address manually There are no node number switches on the Junction Unit and Sysmac Studio will not assign one automa
11. use Y Programming Prohibit data backup to the SD Memory Card Do not use Instruction Error Output Do not use I O Configuration Selecting I O Cards and Power for them The NJ primarily supports many I O systems but the two main systems are The local CJ type I O and the remote NX style I O on EtherCAT The local CJ type I O includes communication cards digital I O and analog I O cards The communications cards make the NJ very versatile and include EtherNet IP which is also supports regular Ethernet with FIN s protocol PROFINET Master DeviceNet Master RS232 RS485 and RS422 dual port cards and CANOPEN cards The local I O cards use the older CJ type bus and the I O type cards offer no advantage over the NX I O in price performance or wiring density There is no real reason to use them other than the fact that you might already own them or you prefer to wire to terminals instead of insertion blocks The NX I O are synchronous to scan while the local I O can take several scans to reach the ladder processor The NX style I O connects to an EtherCAT coupler which in turn is connected by an Ethernet type cable very well shielded to the EtherCAT port on the NJ These couplers are typically daisy chained together on the EtherCAT network since each coupler has an in and out communications port A Junction Slave looks like an Ethernet switch but works in a very different way the two are not interchangeable can be used to
12. Bumpers Programmable Safety Controllers Light Curtains Safety Relays Safety Interlock Switches Note Specifications are subject to change 2014 Omron Electronics LLC Printed in U S A Printed on recycled paper amp
13. INA SALES OFFICE Toronto ON Canada 416 286 6465 866 986 6766 www omron247 com Cono Sur 54 11 4783 5300 OMRON ELECTRONICS DE MEXICO HEAD OFFICE M xico DF 52 55 59 01 43 00 01 800 226 6766 mela omron com OMRON ELECTRONICS DE MEXICO SALES OFFICE OMRON CHILE SALES OFFICE Santiago 56 9 9917 3920 OTHER OMRON LATIN AMERICA SALES Apodaca N L 52 81 11 56 99 20 01 800 226 6766 mela omron com 54 11 4783 5300 OMRON ELETR NICA DO BRASIL LTDA HEAD OFFICE Sao Paulo SP Brasil 55 11 2101 6300 www omron com br OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands e 31 0 23 568 13 00 e www industrial omron eu Authorized Distributor P37I E 01 10 14 Version 1 1 Automation Control Systems e Machine Automation Controllers MAC Programmable Controllers PLC e Operator interfaces HMI Distributed I O Software Drives amp Motion Controls Servo amp AC Drives Motion Controllers amp Encoders Temperature amp Process Controllers Single and Multi loop Controllers Sensors amp Vision e Proximity Sensors Photoelectric Sensors Fiber Optic Sensors Amplified Photomicrosensors Measurement Sensors Ultrasonic Sensors Vision Sensors Industrial Components RFID Code Readers Relays Pushbuttons amp Indicators e Limit and Basic Switches Timers Counters Metering Devices Power Supplies Safety e Laser Scanners Safety Mats Edges and
14. NX I O bank online if it was not previously in the I O table You cannot add an NX I O card online You can add an NX I O bank disable it while online or offline remove the bank run the machine without it then put the NX I O bank back in online at a later time You can put a blank in the I O table and then add the I O card later This allows you to insert a known card into the bank at a later date To add an NX I O card you can add the card Compare and merge with a scan of the network or add it manually You need to compile the program and then download it to the NJ Otherwise you will keep getting an I O card not configured properly type error 22 G5 Servos Addressing Multiview Explorer new NJ501 0 v Configurations and Setup P d gt fe EtherCAT gt CPU Expansion Racks Unit Position Unit Ea v EtherCAT Network Configuratic gt F Controller Setup EtherCAT Master Master gt 42 Motion Control Setup L i Node5 gt NX ECC201 amp Cam Data Settings Nodel R amp 8D KNO1L ECT gt Event Settings Node2 R88D KNO1L ECT Task Settings Node3 R88D KNO1L ECT gt F Data Trace Settings Node4 R88D KNOI1L ECT gt Programming w CPU Expansion Racks CPU Rack 0 CPU Rack 0 Servos should be nodes 1 to 64 or the maximum number your NJ can handle The Motion Control Setup attaches the servos to axis so the order of the node numbers does not matter unless you want the node number to match the Ax
15. Oa A aa E 26 COMMISSIONING nerina a XE YR RE ERR a Eaa EENE aar ERR e RR TERR e RENE ne bra ER Eaa EEE EKE 27 Commissioning G5 Servos eene nennen nennen nene nnne ne nre senes senes senes senes essais si aaa 27 This is where you can set the G5 Drive Parameters sesssesssesesesee nennen enne nns 28 TUNDIDE ERRORI 29 Linn M 29 Locking the project down passwords and backups csccccesssscccessececeesseeecsesaeeecessececsesaececeesaeeecesaeeeeseaaes 30 Backup configuration on the NJ viseccccicscescsacceccteccecacecssccesenscectsessectsensscetsansseatteccccttaasedvesensccctseasectserseddisans 30 Backup to Laptop program and all I O setup enne nnne nnns 30 Backup configuration on the NX Coupler eese nnne snnt nasa nasse 31 Backup all on the memory card ccssccccecessssnececececeesesneaeeeeessseeeaeeeeeesseesesaeeeeescessesasaeeeeeessesaaaeaeeeesensees 31 To Back up the Program no program tools W501 Section 9 1 2 ssessssseseeeenerennenn n 31 To Restore the PrOgBralri iiec iit eit iip bin at ee Sede ee BRI E bd n rien Meas ted RE Eee rc qe ens ge REN Edid 31 The NJ program can also backup the program and data essen 31 Backup all on the computer ssseesesseeseseseeee eene nennen nennen enitn nnns sins n neta sanas essit signans rase ii 32 Password Bd faille ree 32 NJ Controlleks cotto ire e
16. Type Standard Project v ll Enable password protection for the project file Password Save Cancel 34 From then on when you try to open the project it will prompt you for the password EX Offline P New Project ro x Import lr Export A Online 4 Connect to Controller License S Projects 1 Redundant EtherCAT test NA Port Demo 1 MEETS Cancel Author Johnston Hall Created 7 23 2014 10 51 41 AM Last Modified 8 6 2014 3 22 40 PM Comment 12 version Compare Delete Open To get rid of the password go back to the edit properties for the project and disable the password protection 35 OMRON Transfer the Program Without Source Data so it Cannot be Uploaded This is the simplest way to prevent people from uploading your program out of the NJ Manual W501 section 9 4 2 Transfer to Controller The following data will be transferred Configurations and Setup EtherCAT CPU Expansion Racks I O Map Controller Setup Motion Control Setup Cam Data Settings Event Settings Task Settings Programming POUSs Data Library Options SOE ee TE ne Clear the nresent veluer of sorinbles Do not transfer the program source All data will be re transferred when this option is changed Z ee a Do not tarsiertesfeltemmgnt EAT DRE CJ series Special Unit parameters and EtherCAT slave backup parameters Slave Terminal Unit operation settings and NX Unit application d
17. ached to a motion profile does not have to be in the primary task This is set in Configurations and Setup Task Settings I O Control Task Settings under the EtherCAT master Multiview Explorer s Configurations and Setup new_NJ501_0 v gt fe EtherCAT gt 53 CPU Expansion Racks Unit Position Unit Task Name VO Map v EtherCAT Network Configuratic Lage Controller Setup EtherCAT Master Master gt 2 Motion Control Setup L Node5 gt NX ECC201 PrimaryTask Cam Data Settings Nodel R88D KNO1L ECT MT IE gt Event Settings 4 Node2 R88D KNO1L ECT PrimaryTask T Task Settings Node3 R88D KNO1L ECT PrimaryTask Lau EIC Node4 R88D KNO1L ECT PrimaryTask gt Programming w CPU Expansion Racks CPU Rack 0 CPU Rack 0 Tasks with Priority 16 17 and 18 One task for each priority 1 to 100ms These are periodic tasks and useful to reduce the load on the primary task Useful for slower communications programs HMI routines and slower push button type I O Event Tasks with Priority 8 or 48 32 of them At the moment these tasks are triggered by an instruction or when a variable expression is true There are no I O triggered even tasks at this time 1 O Task Relationships e l Ocan only be used in a program assigned to the same task as the I O e You would assign the program and I O to a slower task in order to keep the main task running fast and because the program you are running does not need to
18. amProfile2 Visi Trace Description gt Event Settings v B ChO Data selection 16 bit Actual Speed r min FULL x 7 Solid X I Task Settings V Ch1 Data selection 16 bt Position instruction speed r min FULL 7 soa xli w i None il 1 Data Trace Settings IV Ch2 Data selection 16 bit intemal position instruction r min FULL v 7 4 Solid vj _ None xl I Ch3 Data selection 16 bit Speed control instruction r min FULL 7 Solid z None E M A x 1bi SI1 input 5 Disabled Disabled Contact NO High Low FULL 0 Sod 1 gt None ll WE Functions 1bit SI2 input 7 Disabled Disabled Contact NO High Low FULL v H Sod 1 None E MySQRFunc 1bit SI3 input 8 Disabled Disabled Contact NO High Low FuL 2 sea 1 Nwe VY Function Blocks 1 bit Sl4 input 9 DEC Starting pointneighborhoodinpu High Low FULL 3 Sold v 1 None gt ist 1b SI5 input 1 EXT3 Extemal latch input 3 Contact High Low FULL v 4 H Sold 1 Wwe gt E usrMCReset FB 1 bit SI6 input 1 EXT2 Extemal latch input 2 Contact High Low FULL 5 Solid 1 x None M E usrMCMovejog_FB Parameter Settings General Settings Trigger Settings Cursors 28 OMRON Tuning The best way to tune a servo motor is to create a small program to move the motor back and forth about one turn Then go
19. ata Do not transfer the EtherNet IP connection settings built in port and Unit Execute Close 36 OMRON CPU Unit Write Protection Simple Protection with No Password This is a simple protection from people over writing the program No password is used W501 section 9 4 3 First enable the protection in the NJ setup File Edit View Insert Project Controller Simulation Tools Help Offline Ctrl Shift W NJ SQL M gt Synchronization Ctrl M Transfer gt yc gt S CPU Expansion Racks I O Map Stop Monitoring d eae ae Set Reset Mfonnection Nz Connection I O linput Outl amp Cam Data Settings Forced Refreshing gt Event Settings MC Test Run gt Task Settings MC Monitor Table F Data Trace Settings gt Host Connection Setti p Controller Clock pace ace aaa Update CPU Unit Name SD Memory Card Setting of Operation Authority Execution CPU Unit Write Protection Then you can disable the protection in Sysmac Studio without a password 37 Multiview Explorer anal N Configurations and Setup SES JB Y Configurations and Setup EtherCAT gt S CPU Expansion Racks I O Map m Y 1 Controller Setup Startup mode Q RUN mode PROGRAM mode Y Operation Settings Y SD Memory Card Settings Built in EtherNet IP Port Setti gt 2 Motion Control Setup WESERSEWCGNWONOGRSSUN e Cam Data Settings ystem service Monitoring setungs g
20. atus gt Event Settings Observation Observation levels of information is read I Task Settings Minor Fault Minor Fault levels of information is read F Data Trace Settings vv CPU Expansion Racks gt Host Connection Setti CPU Rac CPU Rack 0 w Dronrammine The W type command word Bit 0 O stop 1 Forward Bit 1 O stop 1 Reverse Bit 7 1 Reset errors on ECAT unit and MX2 Rising Edge The W type Frequency Reference is in 0 01Hz units The R type Status Word Bit 0 O for stop or reverse 1 for forward Bit 1 O for stop or forward 1 for reverse Bit 3 Fault Bit 7 Warning Bit 9 O Local Digital Inputs controlled 1 Remote EtherCAT controlled Bit 12 O accel or decel 1 at set speed 24 OMRON Bit 15 O ok 1 EtherCAT communications lost The R type Output Frequency Monitor in 0 00Hz units Note If you put the drive in high speed mode the Frequency units will be 000 0Hz Configure the Drive In the drive set A001 04 option board A002 04 option board C102 03 Trip reset only you might need to set BO37 1 to see this parameter P012 can be 00 or 02 You cannot control motor 2 with the EtherCAT option board 25 OMRON Testing Offline Simulation Sysmac Studio can program the NJ and the HMI NA or NS Sysmac Studio can also run all three in simulation mode Simulation mode is useful for getting used to the NJ instruction set and to test the HMI abilities and communications to
21. e permanent setup data The structure is set out as follows e We mention networks which ones are available to the NJ e Then the I O is tackled With tag based programming you need to set up the I O to create the IO tag names Some basic rules are given for I O tag names since a lot of Omron programmers have not used them before Local and remote I O are discussed because local I O on an NJ has no advantage over EtherCAT remote I O e The next section talks about how to store permanent data within the program Normally this would be done in battery backed memory but with the SD memory card there are better options e Next are the tasks The NJ is a real time processor so it uses tasks instead of interrupts This can drastically change your programming style so it is important to understand before you program e The next section talks about how to add or remove IO to an already installed system This can affect how you set up the communications wiring for the system e Simulation tools for the NJ Especially for new users it will prove advantageous to test your program to see how the variables work before you write a lot of code e Then last of all is how to back up the program and add passwords OMRON Fastest Way to Get Started The NJ uses tag based programming which may require a slightly different startup procedure than what you used on the CJ platform similar to the Rockwell platform The Network configuration works a little differe
22. er essessesessseses esee eene nnne nnne nnne nennen nnn nnns 10 Physical Order and Location of I O Considerations eese 11 EtherCAT I O and Task Synchronization ccccccssccessscesssecsseeecsececsseesseeeseeccsuececseeceseecsseecesaeeeeaeeenees 11 EtherNet IP port for EtherNet IP Remote I O cccccccccesscccssceeseceessecseeecssesesaececseeceseeecaeeesaeeeeneeeeaes 12 Other Remote I O for the NJ ccccccccccccccsccccsssccccssssscccsssssccccsssucceessssceeesusuceessuceessesuceessasuceessasceessaeeseesaass 12 I O Labeling Conventions ccccccssccessecesscecesseecssececsseccaeecesseccsseeccaueceasecesseccsaeeecaaeceseecessecesaeeecaueceeseeents 13 For all users but especially Omron CJ Users sssessesseseeee eene ennemi ena 13 Especially for Rockwell Programmers sese seen eene enne nnns entere nennen 14 Creating Global Variables eee Pre ret renes e ere rra aee lett e Pon he ue Y eve Mu eed cs 16 To move a local variable to global Variable ccccccsssecccecsssssssseaeeeeecessesesaeeeecsseeseaaaeeeesessseseaaeesess 16 Global Variables for the NA 1 citer idee sec eerte EE MEER RES EE ERE RARE HRS ERER RE ER FORSE MER REN aD 17 Global Variables for the NS Screen ou eeecccessseceeseeeeeeeceeeeeeaaeceeaeeceaeeceaeeeesaeeeeaaeseeeeeeaeeeeaaeeeeaaeseeeeeeeeeens 17 Global Variables for EtherNet IP esee sen enter esses ense nennen sees en n 18 Programs
23. g to do is communications Omron allows you to assign a greater percentage of the CPU time to communications rather than the ladder and motion logic This is done by changing the System Service Monitoring Settings A couple of things to note 1 Communications are not serviced every scan default is 10ms 2 Communications are set as a percentage of the time used for ladder and motion 3 This setting increases the time spent on EtherNet IP ports and local IO and communications cards 4 As you increase the percentage or decrease the interval you will affect the tasks workload Use the task workload monitoring to make sure you are not overloading the tasks Microsoft SQL Server V5 Demo E A Configurations and Setup NJSQL Y v Configurations and Setup herCAT gt CPU Expansion Racks VO Map Y amp Controller Setup Operation Settings Y SD Memory Card Settings op Built in EtnierNet IP Port Settings Memory card diagnosis at startup Donotcheck Check gt i Motion Control Setup Ae Data Settings gt Event Settings System service execution interval w Operation Settings Startup mode RUN mode PROGRAM mode v System Service Monitoring Sattings t Task Settings System service execution time ratio fej Data Trace Settings Event Log Settings Y Host Connection Settings v DB Connection amp DB Connection Service Settings Security Settings gt DB Connection Settings Write protection at startup Do not
24. is number The servo will be referred to by an axis number and name in the program Servo motors used with the motion instructions must be attached to the main axis in the program for I O refresh The servo programs must always be in the primary task Adding to I O Table Just add the servo to the EtherCAT network like any other I O G5 servos can only be added to the EtherCAT network Servos to be used with the motion instructions can only be added to the EtherCAT network 23 OMRON MX2 Inverter Drive Add the Drive to I O Table There is a quick start manual P521 for starting an MX2 on EtherCAT Manual 1574 is the user manual for the MX2 EtherCAT module MX2 Drives should be node numbers 00 to 99 all the rotary switches will accept Go to Configurations and Setup EtherCAT and then go to the right side of the page and pick Frequency Inverter and then in the lower box pick 3G3AX MX2 ECT All vendors EET Groups All groups Master 1 Terminal Coupler Master Item name Value El Servo Drives E001 ja Model name 3G3AX MX2 ECT EI 3 Analog IO i Encoder Input E Measurement Sensor E Vision Sensor E Digital Type Sensor UE Product name 3G3AX MX2 ECT EtherCAT Communicati JO Map Revision 141 Le Controller Setup Node Address gt i Motion Control Setup Enable Disable Settings Cam Data Settings Serial Number gt Event Settings 0x5000 00 258th receive PDO Mapping C Ws Task Settings 0x5010 00 258
25. l it is done The SD power light will turn off when done Turn off all DIP switches To remove the memory card press the SD card PWR switch To Restore the Program Turn off the NJ and EtherCAT slaves Insert SD card 9 with backup program Set DIP switch to 1 Off 2 Off 3 On 4 On Turn on the NJ and EtherCAT slave power Backup file should be in the root directory The NJ Program Can Also Backup the Program and Data To backup the program and all configuration data to the SD card on the NJ CPU you will use the BackupToMemoryCard instruction You do not have control of the file name so you will have to change the directory name Note that restore uses the root directory 31 OMRON Backup All on the Computer Password Protection NJ Security Here is a good overview of the security options on an NJ Prevention Confirming Controller If the name or the serial ID is different between the project 6 2 6 Confirming of incor names and serial IDs and the Controller when an online connection is estab Serial IDs rect con lished a confirmation dialog box is displayed nections Prevention Operation authority veri Any of five levels of operation authority Administrator 8 3 1 Operation ofincor fication Designer Maintainer Operator and Observer can be set Authority Verification rect opera for access to the NJ series CPU Unit to restrict the opera tion tions that can be performed Write protection of the Yo
26. mron CJ Users The NJ does not use rack slot and I O numbering systems so the following is recommended for the tag names 1 For EtherCAT I O ect Ndxxx f yy zz xxx node f I for in and Q for out yy slot zz 1 O this is not how Sysmac Studio auto names the I O When you add IO to EtherCAT it will automatically show up in the I O map This includes servo drive NX I O vision and measurement sensors 2 ForEtherNet IP I O eip Ndxxx f yy zz xxx node f I for in and Q for out yy slot zz 1 O 3 For the HMI hmi please note that the create device variable automatic naming tool in Sysmac Studio adds the name of the NJ processor to the front of the variable names from the NJ in the NA variable mapping 4 For DeviceNet dn Ndxxx f yy zz xxx node f I for in and Q for out yy slot zz 1 O 5 For PROFINET pn_ lt Ndxxx f yy zz gt xxx node f l for in and Q for out yy slot zz 1 O 6 For PROFIBUS pb_ lt Ndxxx f yy zz gt xxx node f I for in and Q for out yy slot zz 1 O 13 OMRON Especially for Rockwell Programmers Some programmers add code at the beginning of the Rockwell program to capture the state of the I O at the beginning of the program execution and keeping the state of the I O the same for the entire execution of the program This is done because the I O and the program are not synchronous e Omron allows you to connect the I O to a task Programs are put in the tasks In this way the I O stat
27. n sensors etc At the bottom of the screen are some numbers you need to enter The Target Velocity Acceleration and Deceleration need to be set Set a value that will turn the motor at about 1 revolution per second That way the jog buttons just to the right can be used to test the motor to see if it turns does it turn the right direction etc e For testing you may find that turning the torque down on the motor setup to about 10 or 20 will go a long way to protecting the mechanical hardware till you get the direction speed end sensors and scaling correct e Take the time to make sure the end limits are at the correct end You can always trip them with a screw driver and make sure the drive stops moving in that direction 27 Auto Connect Project Configurations and Setup new Controller 0 X Node 88D Kr E002 MC Axis000 VAO MC Test Run X v Configurations and Setup Axis ready to execute Axis disabled w oe EtherCAT Standstill Discrete motion Continuous motion Homing Node3 GX MD1611 E001 P Node1 R88D KNO1L ECT E002 Run Mode a gt Node2 R88D KNO1L ECT E003 Offline Motion error list gt 5 CPU Expansion Racks LevellSourcelEvent Namel Details I O Map gt amp Controller Setup v 1 Motion Control Setup Countermeasure V amp Axis Settings and remedy MC AxisO00 VADO 0 3 MC Axis001 VA1 1 4 MC_Axis002_VA2 2 Test Run 4 MC_Axis003_SRV1 3 i MC Axis004 SRV2 4 Stopping Axes Group Settings Dri
28. nt You can add global variables at any time then change the variables Network Publish attribute to Publish input or output So you do not need to create all you Network variables before you program The largest change is the naming of the I O The NJ does not use addresses like the CJ Each I O is assigned a name To do this properly you need to create the IO table first Creating the I O table allows you to create the I O names which in turn create the Global I O variables you need to program OMRON Hardware and I O Configuration Network Configuration Which Network to Use NJ CPU Ethernet Port If the NJ CPU is to be connected to the office network then this is the best port to use e The NJ SQL version uses this port to talk to the SQL server e The FTP client and server services are attached to this port e The NJ NTP time service for the NJ Clock is on this port Other features of this port include e This is the only Ethernet port which supports programming of the NJ e This port supports socket services which allow you to communicate to devices that do not support Omron or CIP EtherNet IP protocols NJ EtherCAT Port Use the EtherCAT port for remote I O and connecting to servos drives vision systems and sensors All devices on the EtherCAT network made by Omron can be programmed using Sysmac Studio via the USB or Ethernet Ports on the CPU All data on this network is given highest priority and performance is in the o
29. ntire iom hotte eni ip ndr esI M OIM IO A LAE IEEE 32 au 38 fiveJer Jaep oe T LE M 39 Calculating Maximum EtherCAT I O ccccccssccesssecessecesseeessececsaeceseeceseccsaeesesaecseseeeeseecsseesesaeceeasecsaaeeaees 39 Sysmac Studio Warns you if SCAN time cannot be meet because of IO size esses 39 Sysmac Studio also warns you if the IO count is too high seesssesses sees 39 Ms 40 Go Servo DIVE EE 41 REVISIONS corais an O N NE 43 OMRON Disclaimer This startup guide does not replace the Omron manuals concerning the safe startup of equipment Summary The purpose of this paper Use this as a guideline when configuring and programming an NJ controller so that you get the most out of the system in the least amount of time The document is created from our programming experiences and may not be ideal for everyone but should provide a good start This document covers the following stages of programming Hardware and Programming Testing the Commis Project IO Selection program and sioning Backup and the I O and Configuration Lockdown Examples would be e Best addresses to use for servo and I O style remote IO e When to use remote or local I O not what you would think e How do l address the IO e Best addressing conventions for I O e How best to stor
30. on are only found in the data block they are not found in the PLC Tags area In Omron there are a couple of differences when using this type of instruction 1 All instructions are in the Sysmac Studio editor they do not have to be brought into the project All data types for all instructions are available at all times Sysmac Studio does not have data blocks You can create a structure and then create a variable global or local that uses that structure In Sysmac Studio a structure can be made up of internal variables and other structures 15 OMRON Creating Global Variables The best way to create global variables is to create them in the global variable area first When editing online create a global variable by adding it to the global variable area before using it in the program Johnston s NJ5 Demo with Absolute offset 7 v amp Data Motion variables tags are created automatically as shown on the first 5 lines below Cam variables are created automatically as shown on lines 11 to 13 below Local I O and EtherCAT O are created in the I O table go there to give them names The variables tags that you create here are for internal global use for variables used to connect the NA and NS HMIs and for EtherNet IP variables H Programming o mw Global Variables X3 gt Configurations and Setup E v A POUs v E Programs gt F3 Prg_Init B Prg_init_machine
31. peration Settings See PITE EO Forced Refreshing v i Motion Control Setup MC Test Run 1 Axis Settings 5 Axes Group Settings amp Cam Data Settings gt Event Settings t Task Settings F Data Trace Settings v Host Connection Setti v 8 DB Connection 5 DB Connection S Y DB Connection S NJEXPRESS gt Programming ID for User Program Execution Temporary Release of Display Change Prohibition Passwords Note Administrator password cannot be bypassed or recovered W501 section 9 4 33 To Set and Reset the Project Password When you open the projects you will see this page Go to the left of the project name to edit the project properties as shown below and left click EZ Offline 9p New Project Ly Online Connect to Controller C3 License A Projects mapaa therCAT test iV FUIL weno 1 v Microsoft SQL Server V5 Demo 1 07 for NA Microsoft SQL Server V5 Demo 1 07 for NA 2 Microsoft SQL Server V5 Demo 1 07 for NA 1 NJ SQL Library IAG Tete Author Johnston Hall Created 7 23 2014 10 51 41 AM Last Modified 7 28 2014 10 49 29 PM Comment 12 version Compare Delete Open Next you will get this window so you can enter the password A Offline P New Project rO gd Import Qa gnd Export A Online 4 Connect to Controller 799 License i Project Properties Project name Microsoft SQL Server V5 Demo 1 07 for NAS Author Johnston Hall 12 version Comment
32. rNet IP communications Omron uses EDS files for I O The polling rate for each I O is set independently down to 1ms The EtherNet IP I O is synchronous with the main task but may not refresh every execution of the main task The I O will not change state during the main tasks execution Configuring EtherNet IP IO Starting with version 1 10 Sysmac Studio can configure EtherNet IP connections i 26 L ns Export Global Variables Comments for Variables and Data Types gt NJ SQL v Import ST Program MEE EDEN EE EtherNet iP Connection Settings gt Programming Option Y Connection Connections Max 0 32 m Target Device IConnection Nz Connection I O Input Out Target Variable Size Byte Onginator Variable Size Byte IConnection Multiview Explorer Other Remote I O for the NJ Most of the CJ communications cards work on the NJ and make the NJ very versatile and include EtherNet IP which also supports regular Ethernet with FIN s protocol PROFINET Master DeviceNet Master RS232 RS485 and RS422 dual port cards and CANOPEN cards The NJ Ethernet port also supports socket services which allow the user to build his own protocol and talk to third party devices which do not support EIP or Omron protocols The UDP and TCP IP sockets are very useful for Ethernet communications to bar code readers vision systems and printers 12 OMRON I O Labeling Conventions For All Users but Especially O
33. rder of 0 5 to 2ms to communicate with all the devices on this network Rack Mounted EtherNet IP Cards These CJ1W EIP21 cards are high performance EtherNet IP cards with and are best used to connect to other EtherNet IP devices They offer fast connection 0 5ms up to 256 connections each and up to 1444 byte packets You can add up to 3 of these cards You cannot program the NJ through these ports Please note that even though the EtherNet IP card can log at 0 5ms it cannot talk to the NJ CPU that fast e Ideal for connect to OS32C DM Safety Scanners e Best for NJ to NJ or NJ to CJ connections e Will connect to third party EtherNet IP devices e Can be used for HMI connections e Supports older Omron FINS communications for use with older screens and SCADA EtherCAT and EtherNet IP Cable Colours EtherNet IP EtherCAT cable colours e Blue for EtherCAT because the external cables only come in blue The Omron XS5W cables are rated for outside the control panel and are well made Third party Ethernet cables have been problematic to this point in time on our EtherCAT devices The cable family for inside the panels is the XS6W part numbers e Yellow for EtherNet IP because yellow is easy to get made locally Locally made cables have been OK for EtherNet IP outside the panel Inside the panel we recommend the XS5W or XS6W cables OMRON Assigning More CPU Time to Communications There are times when a lot of the work the CPU is tryin
34. rocessor is to put them all in one variable or array and store them to the SD card using a program in the NJ This method offers a couple of advantages over other methods 1 The data is stored on the SD card and will not be lost even if the CPU dies 2 Youcan store several versions of the data which allows you to go back and retrieve previous versions if the current version seems incorrect To do this you should make part of the file name a date stamp 3 The program can also be stored on the same SD card By putting the SD card in a new processor the program setup and backed up data can be restored without using Sysmac Studio 4 You can remove the SD card to copy the files to your laptop 5 Youcan transfer the files out of the SD card using FTP from a remote laptop 6 Using an event input you can make the NJ transfer the file automatically via FTP to a server so you have a record of all the changes You may want to add operator name to the file 7 Youcan read the data back into the variable area using code and a button on the operator screen 14 OMRON Especially for Siemens Programmers There is a difference in specifying structured variables In the Siemens Portal V13 software when you are trying to use a TUSEND instruction or one like it your structured variable must be created as a data block under the program blocks This happens because some of the data types required by the TUSEND type instructi
35. run that fast An example is a remote push button station The I O and task could run as slow as 100ms nobody would notice Another example would be the code to control the HMI A third example would be a lot of math for setup calibration e Why assign IO to a slower task So that it does not change state halfway through the task If the I O is refreshed with a faster task the I O can change state every time that task runs Programmers typically do not like an IO changing state partially through a program 19 OMRON Storing Permanent Data on the NJ The best way to store permanent data on the NJ is to put it in one variable and then store it on the memory card using the File read and Write commands Store the current data to a fixed file name That way you know which file to read to get the data back By creating another file with the date as part of the filename you can have a history of setup data which may come in handy if you the data becomes contaminated Sysmac Studio can look at the files then you can just rename the file you want so the CPU can read it When you upgrade the firmware version of the CPU and sometimes the program you can lose permanent data on the CPU The file memory card SD card can then be also be put in a new CPU and the variables restored The memory card can also have a backup program with the program and NJ and I O configuration data The next chapter shows how to send data to and from the SD card
36. sma Rus JL Backup databasetesti 2 C xportlobal Variables IF Network Configurator H Programming Comments for Variables and Data Types gt CXDesgnr SQL Import ST Program INCALDOI CU 3 Functions Name ipsc alue Y Function Blocks DWORD Database Clc Lookup Request DT Lookup Request OMRON Now you go to CX Designer and import the global variables amp Brokendine Graph Group Setting wo FE Data Block Setting pes 27 E String Table Setting x2 Password m ES General Tex A Laycut Frame Action Meco Output A Found Results Validation Results A Process Results Find Unused Symbols Next Clear search result E mm a at f AutoGen2 CHANNEL None x Output x i STRING 51 Rig c clickinere and select mnes ee ane Nu Engrave_Cre BOO Symbol Table g B b Global Variables for EtherNet IP Data Link You define a global variable under Programming Data Global Variables If you are using EtherNet IP data link then you must specify input if it is being used as an input or output It cannot be both 18 OMRON Programming Programs and Tasks Primary Task 0 5ms to 4ms only one primary task e All motion commands must be in the primary task e All motion drives and servo amplifiers must be in the primary task A drive not att
37. t gt Nodel R88D KNO1L ECT F Input 264 bits gt Node2 R88D KNO1L ECT t ISelectionlInput OutputlI O entry mapping namelFlag gt Node3 R88D KNO1L ECT E C gt Node4 R88D KNOIL ECT t Input 505th Transmit P b Node6 3G3AX MX2 ECT E gt CPU Expansion Racks H new NJ501 0 v Inde Input 512th Transmit PDO 40 OMRON G5 Servo Drive The maximum packet size is 240 bits in 30 bytes and 192 bits out 24 bytes And Sysmac Studio shows how many bytes are being used by the G5 servo drive ax A Configurations and Setup new NJSO1 0 M Node Address Network configuration Configurations and Setup Item name v EtherCAT Device name Model name R88D KNO1L ECT Product name R88D KNO1L ECT G5 Series ServoDrive Motor Revision 21 Node Address R88D KNOLL ECT Rev 2 1 Enable Disable Settings Enabled 7 E003 RESD KNOIL ECT Rev2 1 Serial Number 00000000 CPU Expansion Racks f 004 fleas R88D KNOLL ECT Rev2 1 Y amp Controller Setup E006 F3 Operation Settings 3G3AX MX2 ECT Rev 1 1 GF Built PDO entries included in 512th transmit PDO Mapping Index Size Datatypel PDO entry name Comment ctionlInput Outputl No option Output Ast receive PDO Mapping Editable Output 258th receive PDO Mapping Output 259th receive PDO Mapping Output 260th receive PDO Mapping Output 261th receive PDO Mapping Output 262th receive PDO Mapping Edit PDO Map Settings Enabled
38. t Event Settings System service execution interval 10 figs E Task Settings System service execution time ratio 1065 E7 Data Trace Settings v Event Log Settings gt Host Connection Settings Memory card diagnosis at startup Do not check Check Instruction Error Output Do not use v Security Settings Write protection at startup O Do not use Prohibit data backup to the SD Memory Cara O DO not Use User Program Execution ID Set CPU to Program Prevents Wrong Program Transfer W501 User Manual Section 9 4 4 Every program has a user program execution ID You can transfer the ID into the NJ so that it will only run that program You can view edit the program The most likely use of this feature is when more than one NJ is in the project and there is a possibility of the user transferring the wrong NJ program to the wrong NJ CPU Unit Names Each CPU remembers it s name and serial ID If you try to transfer the wrong program the first thing the download will tell you is that the name or serial ID does not match You can continue but you now know that this is not the CPU you sent the program to last time Function Blocks A future enhancement NA HMI Program At this time the NA program cannot be uploaded and therefore password protection is not needed 38 OMRON Appendix A Calculating Maximum EtherCAT I O We know Maximum number of slaves is 192 The maximum bytes per slave is 1434 bytes in and 1434 b
39. th receive PDO Mapping F R 0x5100 00 258th transmit PDO Mapping Data Trace Settings PDO Map Settings 0x5110 00 258th transmit PDO Mapping GMT gt Host Connection Setti 0x2002 01 512th transmit PDO Mapping i Edit PDO Map Settings p Seting TET Enable Distributed Clock z Reference Clock Exist Y Programs panes Y E3 Program0 Setting Parameters Section 3 Functions Backup Parameter Settings amp Function Blocks Edit Setting Parameters Setting Edit Backup Parameter Settings Configure the Drive I O Then you go to Configurations and Setup I O Map You will find the MX2 and see a list of variables available for the MX2 To use these variables in your program you must give a tag name in the Variable column Multiview Explorer 4 A Configurations and Setup new_Controller_0 E I Position Port Description R W Data Type Variable YY Configurations and Setup w EtherCAT Network Configuration W D EtherCAT EtherCA ester Node1 3G3AX M Node 3G3AX MX2 ECT gt S CPU Expansion Racks Command This object gives an operation command to the inverter VO Map Frequency reference This object gives an output frequency command to the inverter gt amp Controller Setup Status This object gives the present state of the unit gt 2 Motion Control Setup Output frequency monitor This object gives the output frequency of the inverter amp Cam Data Settings Y Sysmac Error Status Indicate Sysmac error st
40. the NJ The NA is much more capable at moving all the NJ data types back and forth so if you are using an NS the simulation is great for testing the data types Sysmac Studio can even make the simulations talk to each other NJ to NS or NJ to NA Sysmac Studio directly programs the NJ and NA and the variables are automatically mapped from NJ to NA With the NS you need to export and import the variables It is important to note that the NJ simulation can run in continuous single scan or even with breakpoints 26 OMRON Commissioning Commissioning G5 Servos To test the servo this is the screen we want where we can manually control the motor to test speed calibration and direction Configurations and Setup new_Controller_0 gt Node3 GX MD1611 E001 v Node R88D KNO1L ECT E002 Test Run Mode Parameters gt Node2 R88D KNO1L ECT E003 Offline gt SS CPU Expansion Racks Feedback control VO Map Input device 1 Input device 2 Input device 3 Output device 1 Output device 2 Output device 3 gt Detailed Settings Axis number Axis use Axis type gt Controller Setup v i Motion Control Setup v amp Axis Settings MC Axienn wan rm iz MC Ax i MC Ax k MC Ax COPY i MC Ax t Axes Grou Y amp Cam Data Set gt CamProit CamProhilt E CamProfile Event Settings Start MC Test Run You should get a screen like this one that shows you the status of your end limits and origi
41. tically Node Address Network confiquration Master Master Item name Device name Model name Product name Revision Enable Disable Settings Serial Number PDO Map Settings Enable Distributed Clock Enabled DC for synchronization a E TE Please note that the 6 port Junction NJ5Master1 Slave uses two node addresses as o seen in green at left The 3 port GX MD1611 Rev L0 Junction Slave is circled in orange and only has one node address KNO1L ECT Rev 2 1 E SIR Internal Port GX JCO6 X4 X5 X6 Sub WW Ws aW xc E003 R88D KNO1L ECT Rev 2 1 10 OMRON Once you have set the addresses you should click on the NJ then right click and select Write Slave Node address Configurations and Setup Node Address Network configuration NJ5Masteri Item name idel name iduct name mber of Slaves O Communications Cycle Time al Cable Length soft Operation Setting iit Time for Slave Startup Import Slave Settings and Insert New Slave O communications timeout detection count Asion Check Method ial Number Check Method Clear All Settings Display ESI Library Physical Order and Location of I O Considerations On the EtherCAT network order typically does not matter but within the coupler by grouping inputs outputs and analog I O you can give each of them their own power supply This reduces noise into the analog circuits from the digital circuits and stops outputs from causing spikes
42. to the Data Trace Settings and add a data trace Add the MC_Axis001_VA1 Act Pos MC_Axis001_VA1 Act Trq MC Axis001 VA1 Cmd Pos variables Turn the trace on and now you can see how the servo is performing Configurations and Setup new_Controller_0 v l Y Configurations and Setup therCAT AER Nodez GX AMLE Y Drive Online Settings v Nodei R88D KNO1L ECT E002 Test Run Mada OTT Online On Off gt Node2 R8 n ffline gt CPU Expansio Parameters VO Map Alarms gt 3 Controller set Vata Trace v Reset Drive gt i Motion C SM AutoTuning Y Cam Data Seti Absolute Encoder Clear Alarms The alarm status of the Drive is cleared T CamProfile FFT 7 CamProfile Damping Control CamProfile a ES v Motor Information gt Event Settings H Task Settings Offline VS RSSMK10030SS Data Trace Settings Drive Mode Run Test Run Y Programming v A POUs gt E Programs Auto Tune This is how you can auto tune Auto tune works best on screw type drive systems Low backslap and stiff You can watch the auto tune this way same as above but select Data Trace instead of Auto Tuning You could also just use the Data Trace you setup above 29 Locking the Project Down Passwords and Backups Backup Configuration on the NJ Backup to Laptop Program and All I O Setup Go online with NJ Notice that you can backup program and memory or just the variables File Edit View Insert
43. u can prevent the Sysmac Studio from overwriting data 8 3 3 Write Protection CPU Unit in the CPU Unit of the CPU Unit Prevention Authentication of user You can ensure that a user program cannot be operated 8 3 2 Authentication of of the theft program execution IDs on another CPU Unit even if copied User Program Execu of assets tion IDs User program transfer The program source code is not transferred If this option 7 4 2 Performing with no restoration infor is selected programs are not displayed even if uploaded Online Debugging mation from another computer However variables and settings are transferred even if this option is selected Password protection for You can set password protection for project files to protect 3 3 9 Password Pro tection for Project Files Data protection You can set passwords for individual POUs programs 8 3 4 Data Protection functions and function block definitions to prohibit dis playing changing and copying them 32 Operation Authority Verification Basically you can limit the access of the user to the program online edit etc based on the user login This is described in section 8 3 1 of the manual W504 This is where you set the user rights r Communications Setup Change Device zu Online Ctri W Multiview Explorer NJ SQL Transfer wv Configurations and Setup 58 EtherCAT Mode Ss CPU Expansion Racks VO Map v amp Controller Setup T O
44. us will not change during the execution of a program The task and the I O refresh will become synchronous The above Rockwell code is not needed e Typically all I O is attached to the main task and therefore by default is synchronous with the main task and all programs in it For more information see Programs and Tasks I O Task Relationships later in this manual Some programmers add timers at the beginning of the program to capture the state of the I O and put filters on the I O Similar to the point above this adds the filter option at the same time File Edit View Insert Project Controller Simulation Tools Help Microsoft SQL Server V5 Demo Configurations and Setup NJ SQL zi SE zv All paramet v Configurations and Setup S parameters Item name EN ims v EtherCAT Input Filter Setting Input Filter Mode Setting Enable ON Filter and OFF Filter v e Assign the I O block to the task that contains the program that will use the I O to fix the first problem e Each I O has a filter setup in the I O setup area When looking at the I O go into the Edit Unit Operation Settings area Typical settings are from no filter 0 25us O 5us up to 256ms This removes the need for the timers e Note that you can have just an Off filter You can use this to catch a pulse and hold it On until the NJ has time to scan the I O The best way to store permanent data like Recipes or setup parameters on an NJ p
45. ve status 7 V amp Cam Data Settings Command current position EEE degree Positive limit input Home input T CamProfiled r CamProfilel Actual current position I degree Negative limit input Servo ready T CamProfile2 Command current velocity EMME degree s Immediate stop input Main power gt Event Settings Actual current velocity 0oERMESE Home proximity input Drive error input LOBEE Settings ata Trace Settings ZI gt i Programs v Functions ECESE 7 Go EE If you click one of the below buttons after E MySQRFunc clicking the Apply Button jogging will be Function Blocks Acceleration A 360 degree s 2 performed only while the button is held E3 MyINVbitFB Deceleration ASME EET down E usrMCPower_FB E usrMCReset_FB Stopping Error stopping Home defined In home position Latch input 1 Drive warning input Latch input 2 This is where you can set the G5 Drive Parameters Auto Connect Project 1 A Co nfigurations and Setup EI NN p EEREOEIEESIEENE occ oco RENI a F Q HYS I wm r EM iS v Configurations and Setup t LD D ui A 9 4 8 Soe ng v therCAT Node3 GX MD1611 E001 A Ea Q E Parameters Node2 R88D KNO1L ECT E003 Offline CPU Expansion Racks VO Map gt F Controller Setup gt i Motion Control Setup M Cam Data Settings T CamProfileO SSE T CamProfile1 T T C
46. you when to add bus power couplers to the system by showing a yellow triangle under the I O cards where there is not enough power on the backplane Please note that you must pay attention to the version numbers of the I O After configuring the I O and attaching the I O to the NJ then Compare and Merge with Actual Network Configuration to confirm the right version numbers of the I O Now you can name the I O and configure the servo drives Be sure to Rebuild Controller and download the program to the NJ after you Compare and Merge with Actual Network Otherwise you will get an error because the I O Tag names have not been updated in the NJ I O Power New and Important The I O has two basic inputs for power Unit Power and I O Power By using separate power supplies for these two inputs you increase the noise resistance of the system I O can create noise that will reduce the ruggedness of the bus Some customers prefer to wire the inputs with the device power and keep the outputs on their own power supply The disadvantage to inputs being on the same power as the bus is that a short on an input can cause the bus to go down or become intermittent making the job of finding the short much more difficult I O power also travels on the backplane I O current can only be determined when you know what the I O is Each IP Power Supply unit can feed 4 amps to the backplane some can deliver 10 amps To determine how many of these units you will
47. ytes out The maximum bytes per master is 5736 bytes in and 5736 bytes out Sysmac Studio Warns you if Scan Time Cannot be Met Due to I O Size Item name gt CPU Expansion Racks Set the primary period to 1009 us or longer MOGE nane VO Map E002 Product name gt amp Controller Setup NX ECC201 Rev 1 2 Revision gt i5 Motion Control Setup E003 Node Address amp Cam Data Settings NX ECC201 Rev 1 2 Enable Disable Settings Event Settings NX ECC201 Rev 12 Serial Number Ws Task Settings E005 PDO Map Settings Data Trace Settings NX ECC201 Rev 1 2 t Enable Distributed Cod v i POU NX ECC201 Rev 1 2 Reference Clock m E007 v E Programs NX ECC201 Rev 1 2 v 3 Program0 Section0 3 Functions Setting Parameters Backup Parameter Settings Slave Terminal Configuration Sysmac Studio Warns you if the I O Count is Too High 39 OMRON NX Coupler The number of I O on each coupler is configurable so there is no fixed I O size for each coupler Sysmac Studio is good at showing us how many bytes and I O have been used on each NX EtherCAT coupler as shown below OS32C AGC V20_1 new NJ501 0 Sysmac Studio cc aE OS32C AGC V20 1 Confi ti di Set WU Allocation Status 1 I O data size Input 120 1024 bytes Output 88 1024 bytes v Configurations and Setu E p X 2 Number of I O entry mappings Input 16 255 Output 13 255 Ww 75 EtherCAT gt Node5 NX ECC201 E005 I O Entry Mapping Lis
Download Pdf Manuals
Related Search