Omron CK3E Series Guía del usuario

Programmable Multi-Axis Controller

Startup Guide

EtherCAT Coupler Unit

Safety CPU Unit

Safety I/O Units

(IDEv4)

CK3E-

□□□□

CK3M-CPU1

□

NY51

□

-A

□□□

O042-E1-01

About Copyrights and Trademarks

Microsoft product screen shots are reprinted with permission from Microsoft Corporation.

Windows is a registered trademark of Microsoft Corporation in the United States and other

countries.

EtherCAT® is a patented technology and registered trademark licensed by Beckhoff Automation

GmbH, Germany.

Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other

countries for OMRON factory automation products.

Company names and product names in this document are trademarks or registered trademarks

of their respective companies.

Contents

1. Related Manuals................................................................................. 4

2. Terms and Definitions........................................................................ 5

3. Precautions ........................................................................................ 6

4. Overview............................................................................................. 7

5. Applicable Devices and Device Configuration................................ 8

5.1. Applicable Devices............................................................................... 8

5.2. Device Configuration............................................................................ 9

6. EtherCAT Connection Procedure ................................................... 10

6.1. Workflow ............................................................................................ 10

6.2. EtherCAT Coupler Unit Settings......................................................... 12

6.3. Preparation for the Controller Setup................................................... 24

6.4. Installation of ESI Files....................................................................... 29

6.5. EtherCAT Communications Setup...................................................... 29

6.6. Controller Settings.............................................................................. 46

7. Appendix Saving and Loading a Project........................................ 51

7.1. Saving a Project................................................................................. 51

7.2. Loading and Downloading a Project................................................... 53

8. Appendix Troubleshooting.............................................................. 56

8.1. Factors Causing EtherCAT Communications To Be Unavailable, and Corrective Actions

........................................................................................................... 56

8.2. How to Check for Errors..................................................................... 57

9. Appendix ECAT[i] Structure Elements........................................... 60

10. Revision History............................................................................... 61

1. Related Manuals

To ensure system safety, always read and follow the information provided in all Safety

Precautions and Precautions for Safe Use in the manuals for the devices that are used in the

system.

The following shows the manuals for OMRON Corporation (hereafter referred to as OMRON)

and Delta Tau Data Systems, Inc (DT).

Manufacturer Manual No. Model Manual name

OMRON I610-E1 Model CK3E-110

CK3E-series Programmable Multi-Axis

Controller Hardware User’s Manual

OMRON O036-E2 Model CK3M-CPU11 CK3M-series Programmable Multi-Axis

Controller

Hardware User’s Manual

OMRON W580-E1 Model

NY512-A6001XX21391

Industrial PC Platform NY-series IPC

Programmable Multi-Axis Controller

Industrial Box PC Hardware User’s

Manual

OMRON W519-E1 Model NX-ECC203 EtherCAT® Coupler Unit User’s

Manual

OMRON Z930-E1 Model NX-SL

Model NX-SI

Model NX-SO

Safety Control Unit User’s Manual

OMRON W504-E1 Model

SYSMAC-SE2 Sysmac Studio Version 1 Operation

Manual

DT O014-E - Power PMAC User’s Manual

DT O015-E - Power PMAC Software Reference

Manual

DT O016-E - Power PMAC IDE Users Manual

2. Terms and Definitions

Term Explanation and Definition

Slave Slaves are devices connected to EtherCAT. There are various types of

slaves such as servo drivers handling position data and I/O terminals

handling the bit signals.

Object Represents information such as in-slave data and parameters.

PDO

communications

(Communications

using Process Data

Objects)

One type of EtherCAT communications in which process data objects

(PDOs) are used to exchange information cyclically and in realtime.

This is also called “process data communications”.

PDO Mapping The association of objects used for PDO communications.

PDO Entry PDO entries are the pointers to individual objects used for PDO

mapping.

ESI file

(EtherCAT Slave

Information file)

An ESI file contains information unique to the EtherCAT slaves in XML

format.

You can load ESI files into the Power PMAC IDE, to easily allocate

slave process data and make other settings.

ENI file

(EtherCAT Network

Information file)

An ENI file contains the network configuration information related to

EtherCAT slaves.

Power PMAC IDE This computer software is used to configure the Controller, create user

programs, and monitor the programs.

PMAC is an acronym for Programmable Multi-Axis Controller.

3. Precautions

(1) Understand the specifications of devices that are used in the system. Allow some margin

for ratings and performance. Provide safety measures, such as for installing a safety

circuit, in order to ensure safety and minimize the risk of abnormal occurrences.

(2) To ensure system safety, always read and follow the information provided in all Safety

Precautions and Precautions for Safe Use in the manuals for each device that is used in

the system.

(3) The user is encouraged to confirm the standards and regulations that the system must

conform to.

(4) It is prohibited to copy, reproduce, or distribute a part or the whole of this document

without the permission of OMRON Corporation.

(5) The information contained in this document is current as of April 2019.

It is subject to change without prior notice for improvement purposes.

The following notations are used in this document.

Indicates a potentially hazardous situation which, if not avoided,

may result in minor or moderate injury, or may result in serious

injury or death.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.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure correct operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operations easier.

Symbols

The filled circle symbol indicates operations that you must carry out.

The specific operation is shown in the circle and explained in text.

This example indicates a “general precaution” for something that you must

carry out.

4. Overview

This document describes the procedures used to connect the Safety CPU Unit and Safety I/O

Units (hereafter referred to as the Slave) attached to OMRON High EtherCAT Coupler Unit

model NX-ECC203 using OMRON Programmable Multi-Axis Controller model CK3E-□□□

□/ CK3M-CPU1□1/NY51□-A□□□(hereafter referred to as the Controller) and EtherCAT,

as well as for checking the connection.

Refer to Section 6. EtherCAT Connection Procedure to learn about the setting methods and

key points to perform PDO communications via EtherCAT.

5. Applicable Devices and Device Configuration

5.1. Applicable Devices

The applicable devices are as follows:

Manufacturer Name Model

OMRON Programmable Multi-Axis Controller

Model CK3E-

□□□□

OMRON Programmable Multi-Axis Controller Model CK3M-CPU11

OMRON Programmable Multi-Axis Controller

Industrial Box PC Model NY51□-A□□□

OMRON EtherCAT Coupler Unit Model NX-ECC203

OMRON Safety CPU Unit Model NX-SL300

OMRON Safety I/O Units Model NX-SI□□□□

Model NX-SO□□□□

OMRON Digital I/O Units

Model NX-ID

□□□□

Model NX-IA□□□□

Model NX-OC□□□□

Model NX-OD□□□□

Model NX-MD□□□□

Precautions for Correct Use

Use model NX-ECC203 Version 1.5 or later for the EtherCAT Coupler Unit.

Models NX-ECC201 and NX-ECC202 cannot be used.

Precautions for Correct Use

In this document, the devices with models and versions listed in Section 5.2 are used as

examples of applicable devices to describe the procedures to connect the devices and check

their connections.

You cannot use devices with versions lower than the versions listed in Section 5.2.

To use the devices mentioned above with models not listed in Section 5.2 or versions higher

than those listed in Section 5.2, check the differences in the specifications by referring to the

manuals before operating the devices.

Additional Information

This document describes the procedures to establish the network connections. It does not

provide information on operations, installations, wiring methods, device functionalities, or

device operations, which are not related to the connection procedures. For more information,

refer to the manuals or contact your OMRON representative.

5.2. Device Configuration

The hardware components to reproduce the connection procedures in this document are as

follows:

Manufacturer Name Model Version

OMRON

Programmable Multi-Axis

Controller

Model NY51□-A□□□ Ver.2.5 or later

OMRON EtherCAT Coupler Unit Model NX-ECC203

Ver.1.5

OMRON Safety CPU Unit Model NX-SL3500

Ver.1.0

OMRON

Safety Input Unit

Model NX-SID800

Ver.1.0

OMRON Safety Output Unit Model NX-SOD400

Ver.1.0

OMRON Digital Input Unit Model NX-ID5342

OMRON

Digital Output Unit

Model NX-OD3256

OMRON

Ethernet cable (with industrial

Ethernet connector)

Model

XS5W-T421-



-K

OMRON

Sysmac Studio

SYSMAC-SE2



Ver.1.25

Power PMAC IDE

Ver.4.2.1.19

Precautions for Correct Use

Prepare the ESI file described in this section in advance. Contact your OMRON

representative for information on how to procure the ESI file.

Precautions for Correct Use

Do not share the connection line of EtherCAT communications with other Ethernet networks.

Do not use devices for Ethernet such as a switching hub.

Use the Ethernet cable (double shielding with aluminum tape and braiding) of Category 5 or

higher, and use the shielded connector of Category 5 or higher.

Connect the cable shield to the connector hood at both ends of the cable.

Additional Information

This document describes model NY51□-A□□□ as an example. The same procedures can

apply to model CK3E-□□□□/ CK3M-CPU1□1.

Model NX-ECC203

Model NY51□-A□□□

Power PMAC IDE

Model NX-SL3500

Model NX-SID800

Model NX-SOD400

Model NX-ID5342

Model NX-OD3256

EtherCAT

communications

6. EtherCAT Connection Procedure

This section describes the procedure for connecting the Controller with the Slave via

EtherCAT. The description assumes that the Controller is set to factory default.

6.1. Workflow

Take the following steps to operate the PDO communications via EtherCAT after connecting

the Controller with the Slave via EtherCAT.

6.2 EtherCAT Coupler Unit Settings Prepare to set the EtherCAT

Coupler Unit.

▼

6.2.1 Creation of a New Project

▼

6.2.2 Network Configuration Settings

▼

6.2.3 I/O Map Settings

▼

6.2.4 Safety I/O Function Settings

▼

Creation of Safety Programs

▼

6.2.6 Transfer via Connection to the Communications

Coupler Unit

▼

6.2.7 Output of Couple I/O Allocations

▼

6.2.8 Changing to DEBUG Mode

▼

6.2.9 Performing Safety Validation

▼

6.2.10 Changing to RUN Mode

▽

6.3 Preparation for the Controller Setup Prepare the Controller settings.

▼

6.3.1 Creation of a New Project

▼

6.3.2 Initial Settings of the Controller

▽

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