NJ/NX Series EtherCAT Connection: 3rd Party Drive Setup Quick Start Guide
Brand: OMRON
1. Related Manuals
To ensure system safety, always read and heed the information provided in all Safety Precautions and Precautions for Safe Use of manuals for each device used in the system.
| Cat. No. | Model | Manual name |
|---|---|---|
| W500 | NJ501-1000 NJ301-1000 NJ101-0000 NJ-P03001 CJ1W-ID000/IA000 CJ1W-INT01 CJ1W-IDP01 CJ1W-OC000/OD000/0A000 CJ1W-MD000 CJ1W-B7A00 |
NJ-series CPU Unit Hardware User's Manual |
| W501 | NX701-1700 NX701-1600 NJ501-1500 NJ501-1400 NJ501-1300 NJ301-1200 NJ301-1100 NJ101-1000 NJ101-9000 |
NJ/NX-series CPU Unit Software User's Manual |
| W504 | SYSMAC-SE2000 | Sysmac Studio Version 1 Operation Manual |
| W505 | NX701-1700 NX701-1600 NJ501-1500 NJ501-1400 NJ501-1300 NJ301-1200 NJ301-1100 NJ101-1000 NJ101-9000 |
NJ-series CPU Unit Built-in EtherCAT(R) Port User's Manual |
| W507 | NX701-17 NX701-16 NX1P2-11 NX1P2-10 NX1P2-90 NJ501-5 NJ501-04 NJ501-3 NJ301-12 NJ301-11 NJ101-10 |
Motion Control User's Manual |
2. Terms and Definitions
| Term | 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 the PDO 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 slave 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 unit | There are various types of slaves such as Servo Drives that handle position data and I/O terminals that handle the bit signals. The slave unit receives output data sent from the master, and sends input data to the master. |
| Node address | A node address is an address to identify a unit connected to EtherCAT. |
| ESI file (EtherCAT Slave Information file) | The ESI files contain information unique to the EtherCAT slaves in XML format. Installing an ESI file enables the Sysmac Studio to allocate slave process data and make other settings. |
3. Precautions
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 of abnormal occurrence.
To ensure system safety, make sure to always read and heed the information provided in all Safety Precautions and Precautions for Safe Use of manuals for each device which is used in the system.
The user is encouraged to confirm the standards and regulations that the system must conform to.
It is prohibited to copy, to reproduce, and to distribute a part or the whole of this document without the permission of OMRON Corporation.
The information contained in this document is current as of July 2015. It is subject to change without notice for improvement.
The following notations are used in this document:
WARNING: Indicates a potentially hazardous situation which, if not avoided, will result in minor or moderate injury, or may result in serious injury or death. Additionally there may be significant property damage.
Caution: 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 text. This example shows a general precaution for something that you must do.
4. Overview
This document shows the basic steps for setting up a 3rd Party Drive in Sysmac Studio on an EtherCAT network. In this application, an Omron NJ is used as the EtherCAT master.
5. Applicable Devices
The applicable devices are as follows:
| Manufacture | Type |
|---|---|
| OMRON | NJ CPU Unit |
| OMRON | NX CPU Unit |
5.1. Device Configuration
The hardware components to reproduce the connection procedure of this document are as follows:
Personal computer (Sysmac installed. OS: Windows 7)
USB cable
NJ501-1500 (Built-in EtherCAT port)
Ethernet cable
3rd Party Drive
Power Supply
| Manufacturer | Name | Model | Version |
|---|---|---|---|
| OMRON | 24 VDC power supply | NJ501-1500 | Ver.1.10.02 |
| OMRON | CPU Unit (Built-in EtherCAT port) | NJ-PA3001 | Ver.1.13 |
| OMRON | Sysmac Studio | SYSMAC-SE2000 | |
| OMRON | Power Supply Unit | ||
| - | Personal computer (OS: Windows 7 x64) | ||
| - | USB cable (USB 2.0 type B connector) | ||
| OMRON | Ethernet cable (with industrial Ethernet connector) | XS5W-T421-[][]-K |
6. 3rd Party PDO Axis Setup
1. Install 3rd Party ESI file Sysmac Studio
1) Right click “Master” and select Display ESI Library.
2) Select this folder.
3) Add the 3rd party ESI files to this folder.
4) Select Exit from the File Menu to exit the Sysmac Studio.
*After installing the ESI file, Sysmac Studio needs to be restarted.
5) Go to the ESI Library, the added file will appear in the ESI Library. (In this example, Parker_EtherCAT_PDrive)
2. Add the device to the EtherCAT Network by dragging it from the Toolbox.
3. Click the PDO map of the 3rd Party device. Check that the Controlword, Target Position, Statusword, and Position actual value are included in the PDO map.
PDO Map Settings
Process Data Size: Input 160 [bit] / 11472 [bit] Output 96 [bit] / 11472 [bit]
PDO entries included in 2nd Receive PDO mapping
| Index | Size | IData type | PDO entry name |
|---|---|---|---|
| 0x6040:00 | 16 [bit] | UINT | Controlword |
| 0x607A:00 | 32 [bit] | DINT | Target Position |
| 0x6088:00 | 16 [bit] | UINT | Touch Probe Function |
| 0x60FE:01 | 32 [bit] | UDINT | Physical outputs |
PDO entries included in 2nd Transmit PDO mapping
| Index | Size | IData type | PDO entry name |
|---|---|---|---|
| 0x6041:00 | 16 [bit] | UINT | Statusword |
| 0x6064:00 | 32 [bit] | DINT | Position actual value |
| 0x60F4:00 | 16 [bit] | UINT | Following error |
| 0x60B9:00 | 16 [bit] | UINT | Touch Probe status |
| 0x60BA:00 | 16 [bit] | UINT | Touch Probe pos1 pos value |
| 0x60FD:00 | 16 [bit] | UINT | Touch Probe pos2 pos value |
| 0x60FD:00 | 16 [bit] | UINT | Error code |
7. Revision History
| Revision code | Date of revision | Revision reason and revision page |
|---|---|---|
| 01 | October 2016 | First edition |
