Omron Sysmac EtherCAT NJ101 Series Manual de instrucciones

Machine Automation Controller NJ/NX-series

EtherCAT®

Connection Guide

Kashiyama Industries, LTD.

Dry Vacuum Pump

(EtherCAT Interface E-CAT02)

P745-E1-01

About Intellectual Property Rights and Trademarks

Microsoft product screen shot(s) used with permission from Microsoft.

Windows is a registered trademark of Microsoft Corporation in the USAand other countries.

EtherCAT® is a registered trademark and patented technology, licensed by BeckhoffAutomation

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 guide are trademarks or registered trademarks of

their respective companies.

Table of Contents

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

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

3. Precautions.................................................................................................. 3

4. Overview ...................................................................................................... 4

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

5.1. Applicable Devices.................................................................................. 5

5.2. Device Configuration............................................................................... 6

6. EtherCAT Settings....................................................................................... 8

6.1. Parameter................................................................................................ 8

6.2. Device Variable ....................................................................................... 9

7. EtherCAT Connection Procedure............................................................ 10

7.1. Work Flow ............................................................................................. 10

7.2. Kashiyama Dry Vacuum Pump Setup....................................................11

7.3. Controller Setup.................................................................................... 13

7.4. EtherCAT Communication Status Check.............................................. 25

8. Initialization Method.................................................................................. 28

8.1. Initializing a Controller........................................................................... 28

9. Revision History........................................................................................ 29

1．Related Manuals

1. Related Manuals

To ensure system safety, make sure you always read and follow the information provided in all

Safety Precautions and Precautions for Safe Use in the manuals for each device used in the

system.

The table below lists the manuals provided by Kashiyama Industries, LTD. (hereinafter

referred to as "Kashiyama") and OMRON Corporation (hereinafter referred to as "OMRON"),

which pertain to this guide.

Manufacturer Cat. No. Model Manual name

OMRON W500 NJ501-□□□□

NJ301-□□□□

NJ101-□□□□

NJ-series CPU Unit

Hardware User's Manual

OMRON W535 NX701-□□□□ NX-series CPU Unit

Hardware User's Manual

OMRON W593 NX102-□□□□ NX-series

NX102 CPU Unit

Hardware User's Manual

OMRON W578 NX1P2-□□□□ NX-series

NX1P2 CPU Unit

Hardware User's Manual

OMRON W501 NX701-□□□□

NX102-□□□□

NX1P2-□□□□

NJ501-□□□□

NJ301-□□□□

NJ101-□□□□

NJ/NX-series

CPU Unit

Software User's Manual

OMRON W505 NJ/NX-series

CPU Unit Built-in EtherCAT® Port

User's Manual

OMRON W504 SYSMAC-SE2□□□ Sysmac Studio Version 1

Operation Manual

Kashiyama TDA-00135-01 E-CAT02 Kashiyama Dry Vacuum Pump

EtherCAT Communication Specification

2．Terms and Definitions

2. Terms and Definitions

The terms and definitions used in this guide are given below.

Term Explanation and Definition

PDO communications

(Process Data Objects

communications)

PDO communications is used for constant data exchange

between a master and slaves. PDO data (i.e., I/O data that is

mapped to PDOs) that is allocated in advance is input and

output each EtherCAT process data communications cycle (i.e.,

the task period of primary periodic task). The NJ/NX-series

Machine Automation Controllers use PDO communications for

commands to refresh I/O data in a fixed control period, including

I/O data for slave units and the position control data for

servomotors. It is accessed from NJ/NX-series Machine

Automation Controllers in the following ways.

・With device variables for EtherCAT slave I/O

・With axis variables for a servo drive and encoder input slaves

to which an axis is assigned

SDO communications

(Service Data Objects

communications)

SDO communications is used to read and write specified slave

data from a master when required. The NJ/NX-series Machine

Automation Controllers use SDO communications for

commands to read and write data, such as for parameter

transfers, at specified times. The NJ/NX-series Machine

Automation Controllers can read/write the specified slave data,

such as parameters and error information, with the

EC_CoESDORead (Read CoE SDO) instruction or the

EC_CoESDOWrite (Write CoE SDO) instruction.

slave unit A generic name for a device that performs EtherCAT

communications with an EtherCAT master. There are various

types of slave units such as servo drives that handle position

data and I/O terminals that handle bit signals.

node address An address to identify a slave unit connected to EtherCAT.

ESI file

(EtherCAT slave information

file)

It contains information unique to EtherCAT slave units in XML

format. The ESI file can be loaded into Sysmac Studio, to

allocate EtherCAT slave process data and make other settings.

3．Precautions

3. Precautions

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

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

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

(2) To ensure system safety, make sure you always read and follow the information provided

in all Safety Precautions and Precautions for Safe Use in the manuals for each device

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, to reproduce, and to distribute a part or the whole of this guide

without the permission of OMRON Corporation.

(5) The information contained in this guide is current as of May 2021. It is subject to change

for improvement without notice.

The following notations are used in this guide.

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 significant 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 proper operation and performance.

Additional Information

Additional information to read as required.

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

Symbol

The filled circle symbol indicates operations that you must do.

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

This example shows a general precaution for something that you must do.

4．Overview

4. Overview

This guide describes procedures for connecting a Kashiyama Dry Vacuum Pump (with an

EtherCAT interface E-CAT02) (hereinafter referred to as the "Dry Vacuum Pump") and an

OMRON NJ/NX-series MachineAutomation Controller (hereinafter referred to as the

"Controller") via EtherCAT and for checking their communication status.

Refer to Section 6. EtherCAT Settings and Section 7. EtherCAT Connection Procedure to

understand setting methods and key points to perform PDO communications via EtherCAT.

5．Applicable Devices and Device Configuration

5. Applicable Devices and Device Configuration

5.1. Applicable Devices

The applicable devices are as follows:

Manufacturer Name Model

OMRON NJ/NX-series CPU Unit NX701-□□□□

NX102-□□□□

NX1P2-□□□□

NJ501-□□□□

NJ301-□□□□

NJ101-□□□□

Kashiyama Dry Vacuum Pump －

EtherCAT interface E-CAT02

Precautions for Correct Use

In this guide, the devices with models and versions listed in 5.2. Device Configuration are

used as examples of applicable devices to describe the procedures for connecting the

devices and checking their connection. You cannot use devices with versions lower than

those listed in 5.2. To use the above devices with models not listed in 5.2 or versions higher

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

before operating the devices.

Additional Information

This guide describes the procedures for establishing the network connection.

It does not provide information on operation, installation, wiring method, device functionality,

or device operation, which is not related to the connection procedures.

Refer to the manuals or contact the manufacturers of the applicable devices for other

information.

Additional Information

Contact Kashiyama Industries, LTD. for information on the models of Dry Vacuum Pumps that

can use the EtherCAT interface E-CAT02.

5．Applicable Devices and Device Configuration

5.2. Device Configuration

The hardware components to replicate the connection procedures in this guide are as follows:

Manufacturer Name Model Version

OMRON NX-series CPU Unit

(built-in EtherCAT port) NX102-1200 Ver.1.42

－Power supply

(24 VDC for Controller) －

OMRON Sysmac Studio SYSMAC-SE2□□□ Ver.1.43

－PC (OS: Windows 10) －

－LAN cable (STP (shielded,

twisted-pair) cable of Ethernet

category 5 or higher)

－

OMRON Ethernet cable (with industrial

Ethernet connector) XS5W-T421-□M□-K

Kashiyama Dry Vacuum Pump －Rev.

0x00000100

EtherCAT Interface E-CAT02

Kashiyama Handheld Controller －

Kashiyama ESI file KASHIYAMA_ECAT02_Rel

ease_V0100.xml

Precautions for Correct Use

Contact Kashiyama Industries, LTD. to obtain the ESI file specified above before proceeding.

Precautions for Correct Use

The connection line of EtherCAT communications cannot be shared with other Ethernet

networks. Do not use devices for Ethernet such as an Ethernet switch. Use an Ethernet cable

(double shielding with aluminum tape and braiding) of Category 5 or higher, and use a

shielded connector of Category 5 or higher.

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

(Sysmac Studio installed,

OS: Windows 10)

NX102-1200

(built-in EtherCAT port)

Dry Vacuum Pump

(EtherCAT Interface E-CAT02)

Power

supply

Handheld

Controller

LAN cable

Ethernet cable

(e.g. SD series)

5．Applicable Devices and Device Configuration

Precautions for Correct Use

Update Sysmac Studio to the version 1.43 or to a higher version. If you use a version higher

than the one specified, the procedures and related screenshots described in Section 7 and

the subsequent sections may not be applicable. In that case, use the equivalent procedures

described in this guide by referring to the Sysmac Studio Version 1 Operation Manual (Cat.

No. W504).

Additional Information

For information on the specifications of Ethernet cables and the network wiring, refer to

Section 4. EtherCAT Network Wiring of the NJ/NX-series CPU Unit Built-in EtherCAT® Port

User's Manual (Cat. No. W505).

Additional Information

For information on the power supply specifications of the Controller, refer to the NX-series

NX102 CPU Unit Hardware User's Manual (Cat. No. W593).

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