Omron NJ-series Manuale utente

3rd Party Drive Setup

NJ/NX Series

EtherCAT Connection

Quick Start Guide

Contents

1. Related Manuals .......................................................................................... 3

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

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

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

5. Applicable Devices ..................................................................................... 7

5.1. Device Configuration .............................................................................. 7

6. 3rd Party PDO Axis Setup ........................................................................... 8

7. Revision History ........................................................................................ 12

1. Related Manuals

To ensure system safety, m a k e s u r e t o a l w a y s r ead and heed the i n f o r m a t i o n p r o v i d e d i n a l l

Safety Precautions and Precautions for Safe Use of manuals for each device which is 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/O

A000

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

Motion Control User’s Manual

NJ501-4

NJ501-3

NJ301-12

NJ301-11

NJ101-10

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.

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.

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

NJ□□□-□□□□

OMRON

NX CPU Unit

NX□□□-□□□□

5.1. Device Configuration

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

follows:

Manufacturer

Name

Model

Version

OMRON

24 VDC power supply

OMRON

CPU Unit

(Built-in EtherCAT port)

NJ501-1500

Ver.1.10.02

OMRON

Power Supply Unit

NJ-PA3001

OMRON

Sysmac Studio

SYSMAC-SE2000

Ver.1.13

Personal computer

(OS: Windows 7 x64)

USB cable

(USB 2.0 type B connector)

OMRON

Ethernet cable (with industrial

Ethernet connector)

XS5W-T421-[]M[]-K

Ethernet cable

3rd Party Drive

USB cable

Personal computer

(Sysmac installed.

OS: Windows 7)

NJ501-1500

(Built-in EtherCAT port)

Power Supply

6. 3rd Party PDO Axis Setup

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.

C:\Program Files (x86)\OMRON\Sysmac Studio\IODeviceProfiles\EsiFiles\UserEsiFiles

5) Go to the ESI Library, the

added file will appear in

the ESI Library.

(In this example,

Parker_EtherCAT_PDrive)

Add the device to the EtherCAT

Network by dragging it from the

Toolbox.

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.

Right click Axis Settings -> Add

-> Motion Control Axis.

Select the new axis

MC_Axis000(0) and change the

following parameters in the Axis

Basic Settings tab.

Axis use: Used axis

Axis type: Servo axis

Output device 1: Node : 1PD-xxC

– Standard EtherCAT drive(E001)

Select Detailed Settings.

Expand Output (Controller to

Device), and Input (Device to

Controller.

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