Omron Sysmac NJ-series Manual de instrucciones

Machine Automation Controller NJ-series

EtherCAT

Connection Guide

OMRON Corporation

E3X-ECT Sensor Communication Unit

(EtherCAT Slave)

P529-E1-01

Table of Contents

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

2. Terms and Definition................................................................................. 2

3. Remarks..................................................................................................... 3

4. Overview .................................................................................................... 5

5. Applicable Devices and Support Software.............................................. 5

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

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

6. EtherCAT Settings..................................................................................... 7

6.1. EtherCAT Communications Settings .................................................. 7

6.2. Allocating the Global Variables .......................................................... 7

7. Connection Procedure.............................................................................. 9

7.1. Work Flow .......................................................................................... 9

7.2. Setting Up the Sensor Communication Unit..................................... 10

7.3. Setting Up the Controller.................................................................. 12

7.4. Checking the Connection Status ...................................................... 23

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

8.1. Controller ......................................................................................... 28

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

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. Model Manual name

W500 NJ501-[][][][] NJ-series CPU Unit Hardware User's Manual

W501 NJ501-[][][][] NJ-series CPU Unit Software User's Manual

W505 NJ501-[][][][] NJ-series CPU Unit Built-in EtherCAT Port User's Manual

W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual

E413 E3X-ECT E3X-ECT EtherCAT Sensor Communications Unit Operation

Manual

2. Terms and Definition

Terms Explanation and Definition

PDO

Communications

(Communications

using Process Data

objects)

This method is used for cyclic data exchange between the master unit

and the slave units.

PDO data (i.e., I/O data that is mapped to PDOs) that is allocated in

advance is refreshed periodically each EtherCAT process data

communications cycle (i.e., the period of primary periodic task).

The 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 the 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

SDO

Communications

(Communications

using Service Data

objects)

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.

Slave 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.

Node address An address to identify the unit connected to EtherCAT.

ESI file

(EtherCAT Slave

Information file)

The ESI files contain information unique to the EtherCAT slaves in XML

format.

Install an ESI file into the Sysmac Studio, to allocate slave process data

and make other settings.

3. Remarks

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

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

circuit in order to ensure safety and minimize risks for abnormally occurrence.

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

Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for

each device which is used in the system.

(3) The users are encouraged to confirm the standards and regulations that the system must

conform to.

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

document without the permission of OMRON Corporation.

(5) This document provides the latest information as of March 2013. The information on

this manual is subject to change for improvement without notice.

About Intellectual Property Right and Trademarks

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

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

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

GmbH, Germany.

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

trademarks of their respective companies.

3. Remarks

The following notation is used in this document.

Precautions for Safe Use

Indicates precautions on what to do and what not to do to ensure using the product safely.

Precautions for Correct Use

Indicates precautions on what to do and what not to do to ensure proper operation and

performance.

Additional Information

Provides useful information.

Additional information to increase understanding or make operation easier.

4. Overview

This document describes the procedure for connecting the Sensor Communication Unit

(E3X-ECT) of OMRON Corporation (hereinafter referred to as OMRON) to NJ-series Machine

Automation Controller (hereinafter referred to as Controller) on EtherCAT and provides the

procedure for checking their connection.

Refer to Section 7 Connection Procedure to understand the setting method and key points to

connect the devices via EtherCAT.

5. Applicable Devices and Support Software

5.1. Applicable Devices

The following devices can be connected.

Manufacturer Name Model Version

OMRON NJ series CPU Unit NJ501-[][][][] -

OMRON Sensor Communications Unit

(EtherCAT slave)

E3X-ECT -

OMRON Standard Fiber Sensor E3X-HD0 -

OMRON 2CH Fiber Sensor E3X-MDA0 -

OMRON High-function Fiber Sensor E3X-DA0-S -

OMRON Laser Amplifier E3C-LDA0 -

OMRON Proximity Sensor Amplifier E2C-EDA0 -

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 above products (other than communication connection procedures), refer to

the manuals for the corresponding products or contact your OMRON representative.

5. Applicable Devices and Support Software

5.2. Device Configuration

The hardware components to reproduce the connection procedure of this document are as

follows.

E3X-ECT

Personal computer

(Sysmac Studio installed,

OS:Windows7)

Manufacturer Name Model Version

OMRON CPU Unit

(Built-in EtherCAT port)

NJ501-1500

OMRON Power Supply Unit NJ1W-PA3001

OMRON Sysmac Studio SYSMAC-SE2[][][] Ver.1.01

- Personal computer

(OS:Windows7)

- USB cable

(USB 2.0 type B connector)

OMRON Ethernet cable (with industrial

Ethernet connector)

XS5W-T421-[]M[]-K

OMRON Sensor Communications Unit

(EtherCAT slave)

E3X-ECT

OMRON Fiber Sensor E3X－HD0

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 connector hood at both ends of the cable.

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 NJ-series CPU Unit. For information on how to install a USB

driver, refer to A-1 Driver Installation for Direct USB Cable Connection of the Sysmac Studio

Operation Manual (Cat.No. W504).

USB cable

NJ501-1500

(Built-in EtherCAT port) E3X-HD0 (3 units)

Ethernet cable

6. EtherCAT Settings

This section describes the specifications such as communication parameters and variables

that are set in this document.

6.1. EtherCAT Communications Settings

The following is the setting of the destination device.

E3X-ECT

Node address 001

6.2. Allocating the Global Variables

The device variables of the destination device are allocated to the Controller's global

variables.

The relationship between the device data and the global variables is shown below.

■Input area (Controller ←Destination device)

Destination device data Global variable name Data type

Input bits 00 to 15 E001_Read_input_1st_word WORD

Sensor 1 output 1 E001_In_Bit00 BOOL

Sensor 1 output 2 E001_In_Bit01 BOOL

Sensor 2 output 1 E001_In_Bit02 BOOL

Sensor 2 output 2 E001_In_Bit03 BOOL

Sensor 3 output 1 E001_In_Bit04 BOOL

Sensor 3 output 2 E001_In_Bit05 BOOL

Sensor 4 output 1 E001_In_Bit06 BOOL

Sensor 4 output 2 E001_In_Bit07 BOOL

Sensor 5 output 1 E001_In_Bit08 BOOL

Sensor 5 output 2 E001_In_Bit09 BOOL

Sensor 6 output 1 E001_In_Bit00 BOOL

Sensor 6 output 2 E001_In_Bit11 BOOL

Sensor 7 output 1 E001_In_Bit12 BOOL

Sensor 7 output 2 E001_In_Bit13 BOOL

Sensor 8 output 1 E001_In_Bit14 BOOL

Sensor 8 output 2 E001_In_Bit15 BOOL

6. EtherCAT Settings

Destination device data Global variable name Data type

Input bits 16 to 31 E001_Read_input_2nd_word WORD

Sensor 9 output 1 E001_In_Bit16 BOOL

Sensor 9 output 2 E001_In_Bit17 BOOL

Sensor 10 output 1 E001_In_Bit18 BOOL

Sensor 10 output 2 E001_In_Bit19 BOOL

Sensor 11 output 1 E001_In_Bit20 BOOL

Sensor 11 output 2 E001_In_Bit21 BOOL

Sensor 12 output 1 E001_In_Bit22 BOOL

Sensor 12 output 2 E001_In_Bit23 BOOL

Sensor 13 output 1 E001_In_Bit24 BOOL

Sensor 13 output 2 E001_In_Bit25 BOOL

Sensor 14 output 1 E001_In_Bit26 BOOL

Sensor 14 output 2 E001_In_Bit27 BOOL

Sensor 15 output 1 E001_In_Bit28 BOOL

Sensor 15 output 2 E001_In_Bit29 BOOL

Sensor 16 output 1 E001_In_Bit30 BOOL

Sensor 16 output 2 E001_In_Bit31 BOOL

Sensor Communications Status

8 bits

E001_Sensor_Communication_

Status BYTE

Sensor communication

busy

E001_Sensor_Communication_

Busy BOOL

Sensor communication

error

E001_Sensor_Communication_

Error BOOL

Number of Sensors setting E001_Number_of_Sensors_Sett

ing USINT

Number of Sensors (incl.

dummy)

E001_Number_of_Sensors_with

_Dummy USINT

■Details of the status allocation (Controller ←Destination device)

Destination device data Global variable name Data type

Sysmac Error Status E001_Sysmac_Error_Status BYTE

Error information at

observation level E001_Observation BOOL

Error information at minor

fault level E001_Minor_Fault BOOL

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