NJ-series EtherCAT Connection Guide GRT1-ECT SmartSlice
Contents
1. CPU Rack O CPU Rack Y EtherCAT Network Configurath set EtherCAT Ma Master m Nodel GHT tf bal Venables fobal Vanables siobal Vanables bal Venables lobal Vanables siobal Vanables fobal Venables Global Vanables siobal Vanables fest block of digital out W SEE 00001 First block of digital out W BOO 001 DO002 DOO03 Heat block of digital out W LK 00 D0003 poo Fest block of EE oo re ru Analog outputs INT ADO0O0 2 Analog outputs INT FOO amp O002 vx Commurnicshon Und Status Commurscation Unit Sta LUIS cisMIrOO Communication Unt Status 1 Dus Communication Error SmartShice I O Bus Comr F BOOL 001 Dus Commursation_Error_i Urut Warning SmartShoe YO Unit Wart BOOL Unit Warning 1 Umit Alum SmartShce VO Unit M BOO Urt Alarm 2 Unit Maintenance Unt Maintenance BOOL Unit Maintenance 2 gt m d a g g x lt g c E 5 gt Global Vanables siobal Vanables sobs Venables Global Vanables Global Vanables sobs Vanables Global Vanables lobal Vanables sobs Vanables bal Vanables lobal Vanables obal Vanables obs Vanables Global Vanables lobal Venables Yobsl Vanables lobal Vanables loba Vanables Restore Mocetor Automatic Restore More BOOL EM Restore Monitor 1 E00 umit Emor 1 Unit Error 1 Urt Error Commurecation Unit Err Retreshing VO Refreshing Dio01 First block of digital inp pe Fest block of digital inp 001 D0002 Fest block of digital inp2. 7 Register the output points of the connected SmartSlice Analog Ox700231E 3rd block of digital outputs DO510 l Ox700231F 3rd block of digital outputs DO511 Output Unit MIMI 3rd black nf cinital cadrade J DORI e rl Rm cc xr c i UX UJLELIG Ao OUTPUTS AULUS In this document unit number 5 0x7010 04 Analog outputs A0004 is allocated to the GRT1 DA2V a ILE se ELLA eu 0x7010 06 Analog outputs AOQ006 Analog Output Unit Thus there 0x7010 07 Analog outputs A0007 Ox 010 08 Analog outputs AOO008 are 2 output points Register 0x7010 09 Analog outputs AO009 0x7010 0A Analog outputs A0010 AOO001 to AOO002 0x7010 0B Analog outputs AO011 0x7010 0C Analog outputs AO012 Ox 010 0D Analog outputs AOU13 Ox7010 0E Analog outputs ADOL All output entries including VAR Mc Epi T AOOLS 0x7010 10 Analog outputs AO016 Par FV DR 1 TEILT ETT LT EI S R digital and analog outputs are displayed Scroll the screen and AO002 Data type INT select 0Ox 010 01 Analog Comment Analog outputs outputs AO001 and 0x7010 02 Analog outputs AO002 and click the OK Button 8 Set the digital input PDO entries included in 1st block of digital inputs DI001 to Select Input Block of digital Process LIS gas ae bu i utput it 11472 bit inputs DIOO01 to DI240 and click SelectionlinpuvOutput _Name__ _fleg_ th e Ad d P D O E ntry Output 2nd block o
3. 11 7T Connection Procedure 7 2 Setting Up the SmartSlice Set up the SmartSlice 7 2 1 Hardware Setting Set the hardware switches of the SmartSlice P Precautions for Correct Use Make sure that the power supply is OFF when you perform the settings 1 Make sure that the power supply to the SmartSlice is turned OFF If the power supply is turned ON settings may not be applicable as described in the following procedure 2 Refer to the right figure and check the hardware switches located on the front panel of the SmartSlice EtherCAT Communication Unit 6 8 L ln LI JIENTHUB E LI O No Name Function Se IN port B got EEN port 4 EtherCAT connector OUT port 5 Link Activity LED OUT port 12 7T Connection Procedure Set the Unit s address of the EtherCAT Slave Rotary switches Set a decimal node address between 0 and 99 Kd Indicators Refer to 7 4 1 bou c MUI the Connection bou c MUI for details DIP Switch Sets the I O allocation method and registers the I O Unit configuration information SW1 REGS Create enable registration table SW2 NC Not used set to OFF SW3 ADR Automatic restore SW4 BACK Backup trigger Connect the power supply for the Unit s internal circuits and the connected SmartSlice I O Units internal circuits I O power supply Connect the power supply for the terminals connected SmartSli
4. Input Outputl Aag 0x7000 02 BOOL DO002 First blocl EE NW 0 lt 700003 ibig BOCL 0003 First blod Output 2nd block of digital outputs DO241 to DO480 Editable R E Output 3rd block of digital outputs DO481 to DO512 Editable Output Block of analog outputs AO001 to AO064 Editable Input Communication Unit Status Input 1st block of digital inputs DIO01 to DI240 Editable Input 2nd block of digital inputs DI241 to DI480 Editable Input 3rd block of digital inputs DI481 to DI512 Editable Input Block of analog inputs AI001 to Al064 Editable Add PDO Entry Delete PDO Entry OK Camel Apply E Edit PDO Map Settings o PDO Map PDO entries included in Block of analog outputs AO001 to Process Data Size Input 16 bit 11472 bit Index Size lData typelPDO entry namel i Output 8 bit 11472 bit Selection Input Output Name Aag il Output 1st block of digital outputs DOO01 to DO240 Editable Output 2nd block of digital outputs DO241 to DO480 Editable __ Output 3rd block of digital outputs DO481 to DO512 Editable __ Outpif __ Block of analog outputs A001 to AO064 _ Editable Input Communication Unit Status Input 1st block of digital inputs DIO01 to DI240 Editable Input 2nd block of digital inputs DI241 to DI480 Editable Input 3rd block of digital inputs DI481 to DI512 Editable Input Block of analog inputs AI001 to Al064 Editable Add PDO Entry OK Cancel Apply 21 7 Connection Procedure
5. i First block of digital inpr Fest block of digital inp d Fast block of digital px 001 00007 E001 01008 E00 D1009 First block of digital inp fest block of digital mp BOOL AIDO Araog S AID Analog inputs t UNT N First block of digital inp Fest block of digital inp Fest block of digital mp First block of digital inp 3 B e E DIAC Em D 00 00 Dida 00 Y 001_01006 001 01009 Do 00 D 00 00 00 00 00 00 00 LS 1 24 7T Connection Procedure 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 Additional Information Although the device variable names are automatically created by slaves in the example above they can be automatically created by I O ports Also you can set any device variables 25 7 Connection Procedure 7 3 3 Transferring Project Data Transfer the project data from the Sysmac Studio to the Controller WARNING Always confirm safety at the destination node before you transfer a user program 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 mo
6. to the peripheral USB port As shown in 5 2 Device Configuration connect the personal computer SmartSlice to the Controller Turn ON the power supply to the Controller D Start the Sysmac Studio Click the New Project Button If a dialog box is displayed at start confirming the access right select an option to start USB Cable NJ501 1500 Y End cover Ethernet Power Supply Unit Cable ET Offline P New Project m Open Project 16 3 The Project Properties Dialog Box is displayed In this document New Project is set as the project name Confirm that the Category and Device are correctly set in the Select Device Field Select 7 03 from the Version pull down menu Although version 1 03 is selected in this document select the version you use 4 Click the Create Button 5 The New Project is displayed The left pane is called Multiview Explorer the right pane is called Toolbox and the middle pane is called Edit Pane 6 Double click EtherCAT under Configurations and Setup in the Multiview Explorer 7 Connection Procedure E Project Properties Project name Pew Pr Author r Open Project Type Staeedaed Promt 4 Import i aa Select Device Category Controller Device ITE Version iae License E Oooo Version iz Project Properties ipu SERENA Open Project Type Standard Project Zr KT Select Device Category Controller
7. 08 1st block of digital inputs DIO09 1st block of digital inputs DIO10 1st block of digital inputs DIO11 1st block of digital inputs DIO12 Ist block of digital inputs DIO13 1st block of digital inputs DIO14 1st block of digital inputs DIO15 1st block of digital inputs DIO16 1st block of digital inputs DID17 1st block of digital inputs DIO18 1st block of digital inputs DIO19 0x6010 0D 0x6010 0E 0x6010 0F Ox6010 10 0x6010 11 0x6010 12 0x6010 13 eA DI A DIOOL Data type BOOL Comment First block of digital inputs Cancel PDO entries included in Block of analog inputs AI001 to AIO Process Data Size Input 64 bit 11472 bit Indev Size Data Amel PNO entry namel RIAM ME 0x6020 01 16 bi INT AIOO1 Analog in Hag il 0x6020 02 16 br INT AI002 Analog in 0024 Editable PDO Map Selection Input Output Name 2nd block of digital outputs DO241 to D0480 Editable 3rd block of digital outputs DO481 to DO512 Editable Output Output Output Block of analog outputs AO001 to AO064 Communication Unit Status 1st block of digita 1001 to D124 le 2nd block of digital inputs DI241 to DI480 Editable 3rd block of digital inputs DI481 to DI512 Editable Add PDO Entry Delete PDO Entry or Cancel Apply New Project new MJ501 0 ae Configurations and Setup b oo EtherCAT P 3 CPU Expansion Racks b 3 Controller Setup 23 7 Connection Procedure 12 The I O Map Ta
8. 6 2 Assignment of EtherCAT Communications The following table shows the arrangement of the SmartSlice I O Units UntNo 0 f j 82 83 a f 5 EtherCAT Unit Digital Digital Analog Digital Analog End Input Input Input Output Output Unit Unit Type Unit Unit Unit Unit Unit Model GRT1 ECT GRT1 1 GRT1 1 GRT1 GRT1 GRT1 GRT1 D8 D4 AD2 OD4 DA2V END I O range setting of the Analog I O Units I O range 0 to 5V Default 0 to 5V Default I O range setting method ON Set with the DIP switch ON Set with the DIP switch The device variables of the destination device are allocated to Controller s device variables The relationship between the device data and the device variables is shown below mOutput area Controller Destination device Destination device data Data type 4 GRT1 ODA Output 0 E001 DOO01 BOOL 4 GRT1 ODA Output 1 E001 DOO02 BOOL 6 EtherCAT Settings minput area Controller Destination device mDetails of the status allocation Controller Destination device Destination device data Global variable name Data type Communications Unit status E001 Communication Unit Status WORD Slice I O Bus dm mU E001 Bus Communication Error BOOL communication error flag Slice I O Unit warning l A E001_Unit_Warning BOOL ag Slice I O Unit alarm flag E001 Unit Alarm BOOL Unit maintenance flag E001 Unit Maintenance BOOL Communication Unit l E001 Unit Error B
9. DO 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 NJ series Machine Automation Controller 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 Servomotors It is accessed from the NJ series Machine Automation Controller 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 NJ series Machine Automation Controller uses SDO communications for commands to read and write data such as for parameter transfers at specified times The NJ series Machine Automation Controller can read write the specified slave data parameters and error information etc with the EC CoESDORead Read CoE SDO instruction or the EC CoESDOWrite Write CoE SDO instruction There are various types of slaves such as Servo Drives that handle position data and I 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 The ESI files contain information unique to the Eth
10. Device NJ501 v 1500 Version 11 01 X D License Create le Configurations and Setup T Programming LI Pou T U Programs T Progam bunchors Y Function Blocks muc dog aea Multiview Edit Pane Explorer New Project new Controller b 531 CPU Expansion Racks FL Ia Map Toolbox 17 7 The EtherCAT Tab is displayed in the Edit Pane Select Controller Communications Setup The Communications Setup Dialog Box is displayed Select the Direct Connection via USB Option from Connection Type Click the OK Button 1 0 Select Online from the 11 Controller Menu A confirmation dialog is displayed Click the Yes Button The displayed dialog depends on the status of the Controller used Select the Yes Button to proceed with the processing When an online connection is established a yellow bar is displayed on the top of the Edit Pane EN Additional Information 7 Connection Procedure Configurations and Setup Node Address Network configu ration Change Device BI Conmuniaons eu Y Connection type Select a method to connect with the Controller to use every time you go online Direct connection via USB VEE Conmmejuun via cenet Remote connection via USB Ethemet connection via a hub Select one method from these options at every online connection E Direct connection via USB H Direct connection via Ethernet E Remote connection via USB E E
11. OMRON Machine Automation Controller NJ series EtherCAT Connection Guide OMRON Corporation GRT1 ECT SmartSlice Network Connection Guide SLHmMNAaL P524 E1 01 always in control 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 Table of Contents 12 Reldted Manuals 32 2050 55 si Ipae a cesis cicvara cose s dui us 1 2 TENMS and DeHhlllOl ccce rst x c cs rion aet ax ce Senec esa eoe e reos cea aso Ea vise Us 2 SEMBLE T UII 3 oll t 5 5 Applicable Devices and Support Software 6 5 1 ADDINCADIE IS I e i c cM T 6 5 2 Device ConfiguratloM seses a veau us 7 6 EIherCAT SCUINGS s t ranae Eie eoe e cia ek ota auo ea s Sella eer RE Ee seco RESP 9 6 1 EtherCAT Communications Settings eeeeeeeeeseeeeseees 9 6 2 Assignment of EtherCAT Communications ssseeesess 9 Tx CONNECHON ProcedUulo c otai ea Saa n oos a PA Rp ens ay eo aaar anann 11 7 1 WVU IC TOW PEERS 11 1 2 Setting Up the SmartSlice
12. OOL error flag min I O refreshing flag E001 Refreshing BOOL Automatic restore l l E001 Restore Monitor BOOL monitor flag 10 7 Connection Procedure 7T Connection Procedure This section describes the procedure for connecting the Controller to the SmartSlice via EtherCAT This document explains the procedures for setting up the Controller and SmartSlice from the factory default setting For the device initialization refer to Section 8 Initialization Method 7 1 Work Flow The following is the procedure for connecting to the EtherCAT 7 2 Setting Up the SmartSlice i 7 2 1 Hardware Settings i 7 3 Setting Up the Controller i 7 3 1 Starting the Sysmac Studio and Setting EtherCAT Network Configuration i 7 3 2 Setting the Device Variables i 7 3 3 Transferring the Project Data Es 7 4 Connection Status Check 1 7 4 1 Checking the Connection Status i 7 4 2 Checking Data that are Sent and Received Set up the SmartSlice Set the hardware switches of the SmartSlice Set up the Controller Start the Sysmac Studio and set the EtherCAT network configuration Set device variables to use for the EtherCAT Slave Unit Transfer the project data from the Sysmac Studio to the Controller Check the EtherCAT network connection status Confirm that EtherCAT communications are performed normally Confirm that the correct data are sent and received
13. Pre Operational state gomme state For details on each state refer to 2 5 Communication State Transitions in Page 2 7 il ERR indicator It indicates the information of an error Red No error omminicator seti ng emor I Kang Synchronization error or communication data error Single flash Double flash Application WDT timeout Flickering Boot error ON o PDI WDT timeout i L A indicators Indicates the communication state of the input side IN and output side OUT Color Green Contents OFF Link not established in physical layer Flickering j TS indicator Indicates the status of the SmartSlice O system NIA Green Red No power supply OFF Communication with SmartSlice VO Unit has not started Overcurrent detected Vies SmartSlice I O Unit added to the system every second Backup Restore function operating Flashing Restoring settings to SmartSlice I O Unit backup function every 0 5 second eren Communication with SmartSlice I O Unit established Non fatal communication error occurred Communication timeout Flashing Verification error occurred with registered table Different model unit detected after SmartSlice IO Unit replacement ON Fatal communication error occurred Utfor a Failure occurred while restoring settings to I O unit or downloading VO unit settings 29 7 Connection Procedu
14. b is displayed on the Edit Pane NEM CPU Rack 0 Descnption R W Data Typ Variable Variable Comment wv EtherCAT Network Configurath Confirm that Node1 and the cere as GRT1 ECT Dowus fest block of digital out W it a0 i DO002 First block of digital out W Slave Unit is displayed in en riot bic of gal cia DOO04 fest block of digital out W HM A000 Analog outputs columns under Position A0002 eyes Commurncsbon Und Status Commurcation rnit Sta tus Communscation Error SmartShice 1 0 Bus Coens F Urt Warning SmartShoe YO Unit Wart Urut Alarm i pios Bene 8 1L Unit Maintenance Unet Maintenance To as sign your own varia ble Restore Monitor Automatic Restore Moni Unt Error Commurication Unit Err a Refreshing VO Refreshing f th k th peoot First block of digital inpx name tor the slave click the eene pera first block of digital inp corresponding area and enter a Feat Uoc of digital hys Fest block of digital inp xe D 06 fst block of digital mp n a m e x First block of digital inpx i X008 Fest block of digital inp Fest block of digital mp First block of digital inp First block of digital inp fest block of digital mp AlIDO1 Analog inputs AIDO2 Analog inputs Je BD 13 Right click Node1 and select Create Device Variable Search v Expand Collapse All Create Device Variable 1 4 The Variable names and Position Pont n RA Variable Ca Variable Type Variable Types are automatically p
15. cc ccccseccssccceeecseeceeesaeeeceeesaeeseeesees 12 7 3 Setting Up the Controller ccc ceccccccceeeceeeeseeeceeeseeeeseeeseeesaeeeaes 16 7 4 Connection Status CHeCK cccccccceccceecceeeeaeeeseeeseeeseeeeaeeseeeseeeeaes 28 6 oT OE Mrz Lio B MeCUNO t 33 8 1 CONTOIG t Hm 33 9 TRCVISION FISTORY cm 34 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 UU NJ series CPU Unit Hardware User s Manual NJ301 000L W501 NJ501 ETTE NJ series CPU Unit Software User s Manual W505 NJ501 0000 NJ series CPU Unit Built in EtherCAT Port User s W504 Sysmac Studio Version 1 Operation Manual W455 GRT1 series SmartSlice GRT1 Series Slice I O Units Operation W18E GRT1 ECT GRT 1 series J EtherCAT Communication Unit Operation 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 P
16. ce I O Units external I O omnmon GRT 1 ECT Unit power supply terminals Set the rotary switches node address setting switches to 01 Pin 1 ON Registered table is enabled OFF Registered table is disabled OFF to ON Register I O unit table ON to OFF Clear registered I O unit table Pin 2 OFF Not used Pin 3 OFF Automatic restore disabled OFF to ON When the SmartSlice I O Units are replaced the parameter data that was backed up with the BACK dipswitch is automatically restored Pin 4 ON to OFF to ON in 3 s Parameter data of all connected SmartSlice I O Units is backed up Confirm that all DIP switch pins are set to OFF default 13 7 Connection Procedure Set the DIP switch pins of the Analog I O Unit J i h A z S r p NN WI DIP Switch Used to set Input output range oloo OO Ol loojo ogoogo Olo oiool B i ill Oo GRT1 AD2 Pins 1 to 3 OFF Default Pin 4 ON OFF Set using Setting Tool ON Set using DIP switch The DIP switch settings are disabled when this pin is OFF i e when the Setting Tool is used GRT1 DA2V Note Default setting OFF Pin 1 to 2 OFF Default Setting Specifications Pin 3 OFF Fixed Set the output range for Default setting All pins OFF Outputs 0 and 1 Pin 4 ON Fixed at OFF Set the range setting OFF Setusing Setting Tool method ON Setusing DIP switch Default setting OFF Mount the Units from the left in the f
17. click 0x7000 04 1st block of digital outputs DOO04 5 Confirm that DO001 to DOO04 are registered in the PDO entries included in 1st block of digital outputs DOO01 to DO240 6 Next set the analog outputs Select Output Block of analog outputs AO001 to AO64 and click the Add PDO Entry Button 7 Connection Procedure ij Edit PDO Map Settings Ox 000 01 1st block of digital outputs DOOOL x 000 02 Ist block of digital outputs DO002 Ox 000 03 1st block of digital outputs DOOOS x 0Q0 04 1st block of digital outputs DOOQA UALR L5 DIK O ILA ULPU 0x7000 06 Ist block of digital outputs 0x7000 07 lst block of digital outputs DODO7 Ox 000 08 1st block of digital outputs DOO08 Ox 000 09 1st block of digital outputs DOO09 Ox 000 0A Ist block of digital outputs DOO10 Ox O00 0B 1st block of digital outputs DOO11 Ox 000 0C 1st block of digital outputs DO012 Ox7000 0D 1st block of digital outputs DO013 QOx 000 0E 1st block of digital outputs DOO14 Ox 000 0F 1st block of digital outputs DOO1S Ox 000 10 1st block of digital outputs DOO16 Ox 000 11 1st block of digital outputs DOO17 DOOO1 Data type BOOL Comment First block of digital outputs Edit PDO Map Settings o X PDO Map PDO entr iuaed in 1st block of digna U ts DOO01 Process Data Size Input 16 bit 11472 bit Index qu IData typel PDO entry name eT Tao ae Pe em 0x7000 01 BOOL DO001 Selection
18. color specified by Synchronized and that a message is displayed stating The synchronization process successfully finished If there is no problem click the Close Button If the synchronization fails check the wiring and repeat the procedure from step 1 7 Connection Procedure Controller Simulation Tools Help Ctrl W Offline Ctrl Shift W Ctrl M Synchronization Synchronization Computer Data Name Computer Update DaController Update D4 Controller Data Name Compare Legend Synchronized E Clear the present values of variables with Retain attribute Valid for Transfer to Controller E Do not transfer the program source Valid for Transfer to Controller All data will be re transferred when this option is changed Ej Do not transfer Special Unit parameters and backup parameters of EtherCAT slaves out of synchronization scope Q All data will be transferred because the controller has no data Transfer To o ntro iler Close Confirm that there is no problem if the controller operation is stopped The operating mode will be changed to PROGRAM mode Then EtherCAT slaves will be reset and forced refreshing will be cancelled Do you want to continue Y N Synchronization Synchronizing 2196 Cancel Confirm that there is no problem if the controller operation is started The operating mode will be changed to RUN mode Do you want to continue Y N Synchronizatio
19. de of the CPU Unit Caution After you transfer the user program the CPU Unit is restarted and communications with the EtherCAT slaves are cut off for a maximum of 45 seconds During that period the slave outputs behave according to the slave settings Before you transfer the user program confirm that the system will not be adversely affected i E Check Selected Programs Shift F D The Build Tab Page is displayed C Bu in the Edit Pane me qs Confirm that 0 Errors and 0 Description Program Location Warnings are displayed 3 Select Rebuild Controller from ees the Project Menu Project Controller Simulation Too LM Check All Programs F f Check Selected Programs Shift F Build Controller F Warnings are displayed in the Build Tab Page Select Online from the Simulati 9 Controller Menu Controller Lon Manis Help viescniption Program Location Communications Setup Change Device Ctrl Shitt W 26 6 Select Synchronization from the Controller Menu The Synchronization Dialog Box is displayed Confirm that the data to transfer NJ501 in the right figure is selected Then click the Transfer to Controller Button A confirmation dialog is displayed Click the Yes Button A screen stating Synchronizing is displayed A confirmation dialog is displayed Click the Yes Button Confirm that the synchronized data is displayed with the
20. do to ensure using the product safely P Precautions for Correct 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 Symbols The circle and slash symbol indicates operations that you must not do The specific operation is shown in the circle and explained in text This example indicates prohibiting disassembly The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for electric shock The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a general precaution 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 4 Overview 4 Overview This document describes the procedure for connecting the SmartSlice GRT1 ECT of OMRON Corporation hereinafter referred to as OMRON to NJ series Machine Automation Controller hereinafter referred to as Controller on the EtherCAT and provides the procedure for checking their connection Refer to Section 7 Connection Procedure to understa
21. erCAT slaves in XML format Install an ESI file into the Sysmac Studio to allocate slave process data and make other settings 3 Remarks 3 Remarks 1 Understand the specifications of devices 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 the risks of abnormal operation 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 used in the system 3 The users are encouraged to confirm the standards and regulations that the system must conform to 4 Itis prohibited to copy to reproduce and to distribute a part of or whole of this document without the permission of OMRON Corporation 5 This document provides the latest information as of December 2012 The information contained in this document is subject to change for improvement without notice 3 Remarks The following notation is used in this document Indicates a potentially hazardous situation which if not avoided could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in minor or moderate injury or property damage lt gt Precautions for Safe Use Indicates precautions on what to do and what not to
22. f digital outputs DO241 to DO480 Editable Output 3rd block of digital outputs DO481 to DO512 Editable Input Communication Unit Status Input 2nd block of digital inputs DI241 to DI480 Editable Input 3rd block of digital inputs DI481 to DI512 Editable Input Block of analog inputs AIO01 to Al064 Editable Add PDO Entry OK Cancel Apply 22 9 Register the input points of the connected SmartSlice Digital Input Unit In this document unit number 1 is allocated to the GRT1 ID8 Digital Input Unit and unit number 2 is allocated to GRT1 ID4 Digital Input Unit Thus there is a total of 12 input points Register D OO1 to DIO12 Select the entries from 0x6010 01 1st block of digital inputs DIOO1 to 0x6010 0C 1st block of digital inputs DIO 12 and click the OK Button 10 Set analog inputs in the same way In Input Block of analog inputs Al001 to Al64 register 0x6020 01 Analog inputs AIOO1 and 0x6020 02 Analog inputs AI002 Confirm that all inputs are registered and click the OK Button Double click I O Map under Configurations and Setup on the Multiview Explorer 11 7 Connection Procedure Edit PDO Map Settings 1st block of digital inputs DIOO1 1st block of digital inputs DIO02 1st block of digital inputs DIO03 1st block of digital inputs DIO04 1st block of digital inputs DIO05 1st block of digital inputs DIO06 1st block of digital inputs DIOO7 1st block of digital inputs DIOO
23. ing some settings may not be applicable as described in this procedure 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 This function initializes the target area of destination Controller Confirm the area to initialize first and press the OK button CPU Unit Name new NJ501 0 Model NJ501 1500 Area User Program User defined Valiables Controller Configurations and Setup Security Information Settings of Operation Authority initialization at the next online liM Clear event log 33 9 Revision History 9 Revision History Revision Date of revision Revision reason and revision page code 01 Jan 31 2013 First edition 34 Authorized Distributor
24. le Disable Settings Serial Number PDO Map Settings Distributed Clock Enable Reference Clo Setting Parameters GRT1 ECT GRT1 ECT EtherCAT Communication Unit f 2 0 Enabled 0x00000000 v OxF100 01 Communieation t init Ctatiic Cn Not exist Backup Parameter Settings Process Data Size Input 16 bit 11472 bit Output 0 bit 11472 bit Name Alan Il 2nd block of digital outputs DO241 to DO480 3rd block of digital outputs DO481 to DO512 Block of analog outputs AO001 to AO064 Communication Unit Status 1st block of digital inputs DIOO1 to DI240 2nd block of digital inputs DI241 to DI480 3rd block of digital inputs DI481 to DI512 Block of analog inputs AIO01 to Al064 Editable Editable Editable Editable Editable Editable Editable Add PDO Entry OK IndexlSizel Data typelPDO entry namelComment Cancel Edit PDO Map Settings PDO entries included in 1st block of digital outputs DO001 20 4 Register the output points of the connected SmartSlice Digital Output Unit In this document unit number 4 is allocated to the GRT1 OD4 Digital Output Unit Thus there are 4 output points Register DOOO 1 to DO004 Select items from 0x7000 01 1st block of digital outputs DOO01 to 0x 000 04 1st block of digital outputs DO004 and click the OK Button To select multiple items select 0x7000 01 1st block of digital outputs DO001 hold down the Shift Key then
25. n Computer Data Name Computer Update DaController Update D tonuu P7 Name Compare NJ501 14 12 2012 11 15 09 Legend Synchronized E Clear the present values of variables with Retain attribute Valid for Transfer to Controller E Do not transfer the program source Valid for Transfer to Controller All data will be re transferred when this option is changed EK Do not transfer 777 7 zm and backup parameters of EtherCAT slaves out of synchronization scope The Synchronization process successfully finished Recompare 2 7 Connection Procedure T 4 Connection Status Check Check the EtherCAT network connection status 7 4 1 Checking the Connection Status Confirm that EtherCAT communications are performed normally 1 Check the LED indicators on the Controller to confirm that the EtherCAT communications are NET RUN PORT EiherMet p METERS I DIAC T performed normally EtherwneniF cheat LED indicators in normal status NET RUN Lit green NET ERR Not lit LINK ACT Flashing yellow EtherC AT NET RUM EthaerC AT NET ERR EtherC AT LINK ACT MET HUN PORT EtherGaAtT LE user MET ERR RUN ERROR Link Activity T t Built in EtherNet IP port 3 E ie Green gz Yellow if d B P Fla shing oat lit 100Base T X 10Base T Built in EtherCAT port 100Base TX EtherCAT master indicators EtherCAT commu
26. nd the setting method and key points to connect the devices via EtherCAT 9 5 Applicable Devices and Support Software Applicable Devices and Support Software 5 1 Applicable Devices ER The applicable devices are give below NJ301 TIET Communications Unit OMRON SmartSlice Slice I O Unit Digital Input Unit GRT 1 ID 1 GRT1 IA4 Digital Output Unit GRT 1 OD 1 Versions GRT1 ROS2 listed in Analog Input Unit GRT1 AD2 Section 5 2 Analog Output Unit GRT1 DA2 and higher Temperature Input Unit GRT1 TS2P K versions GRT1 CT1 1 GRT1 CP1 L GRT1 TBR Counter Unit Positioning Unit Turnback Unit GRT1 TBL GRT1 PD2 GRT1 PD8 1 GRT1 PC8 1 I O Power Feed Unit I O Power Connection Unit 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 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 products other than communication connection procedures listed above refer to the manuals for the corresponding products or contact your OMRON representative Additional Information You can connect devices with the versions listed in Section 5 2 o
27. nector hood at both ends of the cable P Precautions for Correct Use Update the Sysmac Studio to the version specified in this section or higher version using the auto update function If a version not specified in this section is used the procedures described in Section 7 and subsequent sections may not be applicable In that case use the equivalent procedures described in the Sysmac Studio Version 1 Operation Manual Cat No W504 5 Applicable Devices and Support Software 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 Additional Information The system configuration in this document uses USB for the connection between the personal computer and the Controller For information on how to install a USB driver refer to A 1 Driver Installation for Direct USB Cable Connection of the Sysmac Studio Version 1 Operation Manual Cat No W504 6 EtherCAT Settings 6 EtherCAT Settings This section provides specifications such as communications parameters and variable names that are defined in this document Hereinafter the SmartSlice is referred to as the destination device or Slave Unit in some descriptions 6 1 EtherCAT Communications Settings The setting required for EtherCAT communications is as follows GRT1 ECT Node address 01
28. nications are in progress VO data is being input and output EtherCAT communications are established Communications is in one of the following states Only message communications is function ing Only message communications and VO data input operations are functianing Flashing Mot lit EtherCAT communications are stopped Power is OFF or the Unit is being reset There is a MAC address error communica tions controller errar or olher erre Lit There is an unrecoverable error such as a hardware error or an exception There is a recoverable error There i5 n error Lit Tha link is established Flashing A link is established and data being sent and received The indicator flashes whenever data is sent or received Nat lit The link is nol established 28 2 Check the LED indicators of the omartSlice LED indicators in normal status UNIT PWR Lit green I O PWR Lit green RUN Lit green ERR Not lit L A Flashing TS Lit green The LED indicators flash at the same timing as those of the Controller 7 Connection Procedure II RUN UNITPWR ER ERR M TS VO PWR ES UNIT PWR i indicator Indicates the unit power supply state Color Green VO PWR indicator Indicates the I O power supply state Color Green ll RUN indicator Indicates the operation state Color Green Contents OFF Init state Blinking
29. ode address 1 and E001 GRT1 ECT Rev 2 0 are added to the EtherCAT Tab Page in the Edit Pane 7 Connection Procedure Node amp R aurcz iMehenrb onc diem Write Slave Mode Address Compare and Merge with Actual Network Configuration Get Slave Senal Numbers Apply actual ork confiquratio The network configuration on Sysmac Studio is replaced with the actual network configuration The variable and other settings will be deleted Apply Cancel Node AddresslMetwork configuration on Sysmac Studio ei 001 GRT1 ECT Rev 2 0 Node Address Network configuration Master gm E001 GRT1 ECT Rev 2 0 19 7 3 2 Setting the Device Variables Set the device variables used for the EtherCAT Slave Unit 1 Select Offline from the Controller Menu The yellow bar on the top of the Edit Pane disappears 2 Select E001 from the EtherCAT Tab Page of the Edit Pane The PDO map settings are displayed on the right side of the Pane 3 The Edit PDO Map Settings Window is displayed Set digital outputs Select Output 1st block of digital outputs DOOO01 to DO240 and click the Add PDO Entry Button 7 Connection Procedure Citrl W Noor 422rece Nathuark guration SE Item name Value E001 1 Bi Edit PDO Map Setting PDO Map Selection Innut Ohuitristl Output Output Output Input Input Input Input Input i E00 e 7 Mod A ee roduct Revision name Node Address Enab
30. ollowing order GRT1 ECT GRT1 ID8 GRT1 ID4 GRT1 AD2 GRT1 OD4 GRT1 DA2V GRT1 END For information on how to mount Units refer to 3 1 1 Connecting the Communications Unit and Slice IO Units in the SmartSlice GHT1 Series Slice I O Units Operation Manual Cat No W455 7 Connect the power cable to the Unit power supply terminals and I O power supply terminals and connect the Ethernet cable to the EtherCAT connector IN port 14 7T Connection Procedure 8 Wire I O for 7 4 2 Checking GRT1 ID8 GRT1 ID4 Data That Are Sent and Received Connect a switch between input terminal 7 and G of GRT1 ID8 Connect a switch between input terminal 3 and G of GRT1 ID4 Refer to the figure on the right and connect DA output 0 of GRT1 DA2V GRT1 AD2 GRT1 DA2V to AD input O of Wiring to the terminal block is RSV Rsv Leve necessary for 7 4 2 Checking vo T vis Data That Are Sent and Received Please note that the wiring is not necessary to RSV perform EtherCAT communications 15 7 Connection Procedure 7 3 Setting Up the Controller Set up the Controller 7 3 1 Starting the Sysmac Studio and Setting the EtherCAT Network Configuration Start the Sysmac Studio and set the EtherCAT network configuration Install the software and USB driver in the personal computer beforehand 1 Connect the Ethernet cable to the built in EtherCAT port PORT2 of the Controller and connect the USB cable
31. r higher versions For devices whose versions are not listed in Section 5 2 versions are not managed or there is no version restriction To connect a device whose model number is not listed in Section 5 2 use the same version of the device that is listed 5 Applicable Devices and Support Software 5 2 Device Configuration The hardware components to reproduce the connection procedure in this document are as follows Personal computer NJ501 1500 GRT1 ECT Sysmac Studio installed Built in EtherCAT port SmartSlice Units OS Windows7 a THiISIDE Ex USB cable Manufacturer Name Model Version OMRON CPU Unit NJ501 1500 Ver 1 03 Built in EtherCAT port OMRON Power Supply Unit NJ1W PA3001 OMRON Sysmac Studio SYSMAC SE2J Ver 1 04 Personal computer OS Windows7 uii EM ON USB 2 0 type B connector OMRON Ethernet cable with industrial XS5W TA421 M K Pet Ethernet connector Communication Unit GRT1 ID4 OMRON GRT1 AD2 pur audi OMRON GRT1 OD4 Lee OMRON GRT1 DA2V eee OMRON GRT1 END mei P Precautions for Correct Use The connection line of EtherCAT communication cannot be shared with other networks 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 Connect the cable shield to the con
32. re 7 4 2 Checking Data That Are Sent and Received Confirm that the correct data are sent and received WARNING Always confirm safety at the destination node before you transfer a user program 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 Caution Always turn OFF the power supply to the devices and confirm safety before I O wiring Read the safety related descriptions in manuals for the devices which you wire and make sure to wire in an appropriate state 1 Select Watch Tab Page from the View Insert Project Controller Simulatioi View Menu Output Tab Page Alt 3 Cross Reference Tab Page Alt 5 2 The Watch Tab Page 1 Tab Page is displayed in the lower section of the Edit Pane 3 Enter the following names to Name that says Input Name E001_0004 E001 DIO08 Online value Modify Datatype monitor in the Watch Tab Page 1 To enter a new name click the column E001 DI012 Input Name E001 AO001 E001 AIO1 4 If the online value for E001 DOO04 Name lOnline value Modify Data type is False click TRUE in the Modify GE m Column Confirm that the online value is Name Online value Modify 1 Data type changed to True FALSE 5 Confirm that the operation LED indicator 3 of GRT1 OD4 is lit 30 6 Turn ON the
33. switch connected between input terminal 7 and G of GRT1 ID8 The operation LED indicator 7 is lit 7 Confirm that the online value of E001 DIOO8 changes from False to True 8 Turn ON the switch connected between input terminal 3 and G of GRT1 ID4 The operation LED indicator 3 is lit 7 Connection Procedure Name IOnline valuel Modity Data type E001 DOO04 True FALSE BOOL Foo1 DIO08 TRUE FALSE Name Online value Modity Data type E001 DODO04 Tue FALSE BOOL EO01 DIOO8 TRUE FALSE 31 7 Connection Procedure Confirm that the online value of Name lOnline valuel Modity E001_DI0012 changes from False FALSE to True True TRUE FALSE False TRUE FALSE Name lOnline valuel Modify FALSE True TRUE FALSE True TRUE FALSE 1 O Enter 3000 in the Modify Column of ETT lOnline valuel Modify E001 AOO001 300 EOD1 AIDOl1 m The online value of E001 AOO001 changes to 3000 Name lOnline value Modify E001 AO001 Data type BOOL BOOL Data type BOOL BOOL Data type INT Data type GRT1 DA2V analog output 0 E001_AI001 2999 Confirm that 3000 or a value close to it is set as the online value of E001 AIOO01 Here 2999 is set E001 AIO001 GRT1 AD2 analog input 0 INT 32 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 sett
34. thernet connection via a hub v Remote IP Address Select a method to connect with the Controller to use every time you go online USB Communications Test Ethernet Communications Test Y Options A Confirm the serial ID when going online ba Check forced refreshing when going offline Y Response Monitor Time Set the Response Monitor Time in the communications with the Controller s 014 Cancel Communications Setup Change Device Ctrl Shift W The CPU Unit has no name Do you want to write the project name new NJ501 0 to the CPU Unit name Y N er For details on the online connections to a Controller refer to Section 5 Going Online with a Controller in the Sysmac Studio Version 1 Operation Manual Cat No W504 18 12 13 14 15 Right click Master on the EtherCAT Tab Page of the Edit Pane and select the Compare and Merge with Actual Network Configuration A screen is displayed stating Get information is being executed The Compare and Merge with Actual Network Configuration Pane is displayed Node address 1 and GRT1 ECT Rev 2 0 are added to the actual network configuration of the comparison result Click the Apply actual network configuration Button A confirmation dialog box is displayed Click the Apply Button Node address 1 and E001 GRT1 ECT Rev 2 0 are added to the network configuration of the Sysmac Studio Click the Close Button N
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