CKD AX9000TS-U6 User manual

Machine Automation Controller NJ/NX-series
EtherNet/IPTM
Connection Guide
CKD Corporation
ABSODEX Driver
(AX9000TS/TH-U6)
P713-E1-01

About Intellectual Property Rights 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.
ODVA and EtherNet/IPTM are trademarks of ODVA.
EtherCAT®is registered trademark and patented technology, 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 guide are the 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. EtherNet/IP Settings.................................................................................. 8
6.1. Parameters............................................................................................ 8
6.2. Global Variables.................................................................................... 8
6.3. Tag Sets.............................................................................................. 11
7. EtherNet/IP Connection Procedure........................................................ 12
7.1. Work Flow............................................................................................ 12
7.2. CKD ABSODEX Driver Setup.............................................................. 14
7.3. Controller Setup................................................................................... 20
7.4. Network Settings ................................................................................. 30
7.5. EtherNet/IP Communication Status Check.......................................... 46
8. Initialization Method................................................................................ 52
8.1. Initializing a Controller ......................................................................... 52
8.2. Initializing a CKD ABSODEX Driver .................................................... 52
9. Revision History...................................................................................... 53

1
．
Related Manuals
1
1. Related Manuals
To ensure system safety, make sure to always read and follow the information provided in all
Safety Precautions and Precautions for Safe Use in the manuals for each device which is
used in the system.
The table below lists the manuals provided by CKD Corporation (hereinafter referred to as
"CKD") 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 W506 NJ/NX-series
CPU Unit Built-in EtherNet/IPTM Port
User's Manual
OMRON W504 SYSMAC-SE2□□□ Sysmac Studio Version 1
Operation Manual
OMRON 0969584-7 W4S1-05□
W4S1-03B Switching Hub W4S1-series
Users Manual
CKD SMF-2006-A AX9000TS/TH/XS INSTRUCTION MANUAL
ABSODEX AX SERIES
TS TYPE TH TYPE XS TYPE
CKD SMF-2012-A AX9000TS/TH-U6 Instruction Manual ABSODEX AX Series
TS type TH type EtherCAT specification
EtherNet/IP specification
CKD SMF-2005-A – INSTRUCTION MANUAL ABSODEX
AX Tools for Windows®
Common for TS-Type, TH-Type,
MU-Type and XS-Type Drivers

2
．
Terms and Definitions
2
2. Terms and Definitions
The terms and definitions used in this guide are given below.
Term
Explanation and Definition
node A node refers to a relay point, a junction point or an end point on an
EtherNet/IP network made up of devices having an EtherNet/IP port.
A device with one EtherNet/IP port is recognized as one node and two
EtherNet/IP ports as two nodes on an EtherNet/IP network.
tag A tag is a unit that is used to exchange data with tag data links.
Data is exchanged between the local network variables and remote
network variables specified in the tags or between specified I/O memory
areas.
tag set When a connection is established, from 1 to 8 tags (including Controller
status) is configured as a tag set. Each tag set represents the data that is
linked for a tag data link connection. Tag data links are therefore created
through a connection between one tag set and another tag set.
A tag set name has to be set for each tag set.
tag data links The standard EtherNet/IP implicit communications are called tag data
links. Tag data links enable cyclic tag data exchanges on an EtherNet/IP
network between Controllers or between Controllers and other devices.
connection A connection is used to exchange data as a unit within which data
concurrency is maintained.
connection type There are two kinds of connection types for tag data links.
One is a multi-cast connection, and the other is a unicast (point-to-point)
connection. The multi-cast connection sends an output tag set in one
packet to more than one node. The unicast connection separately sends
one output tag set to each node. Therefore, the multi-cast connection
can reduce the communications load if one output tag set is sent to more
than one node.
originator and target To perform tag data links, it is necessary to open connections between
nodes that perform tag data links. The node that requests the connection
is called the originator, and the node that receives the request is called
the target.
tag data link
parameters The information that is set to perform tag data links, including tags, tag sets and connections, is called tag data link parameters.
EDS file
A file that describes information unique to a device such as the number
of I/O points for an EtherNet/IP device.

3
．
Precautions
3
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 to always read and follow the information provided
in all Safety Precautions and Precautions for Safe Use in the manuals for each device
which 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, 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 October 2018. 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
4. Overview
This guide describes procedures for connecting a CKD ABSODEX Driver AX9000TS/TH-U6
(hereinafter referred to as the "ABSODEX Driver") to an OMRON NJ/NX-series Machine
Automation Controller (hereinafter referred to as the "Controller") via EtherNet/IP and for
checking the communication status.
Refer to Section 6. EtherNet/IP Settings and Section 7. EtherNet/IP Connection Procedure to
understand setting methods and key points to operate EtherNet/IP tag data links.

5
．
Applicable Devices and Device Configuration
5
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-□□□□
CKD ABSODEX Driver AX9000TS-U6
AX9000TH-U6
CKD Actuator AX-T Series
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 device manufacturer.
Additional Information
Contact the device manufacturer for information on Actuators connectable to the ABSODEX
Drivers.

5
．
Applicable Devices and Device Configuration
6
5.2. Device Configuration
The hardware components to reproduce the connection procedures in this guide are as
follows:
Manufacturer
Name
Model
Version
OMRON
NX series CPU Unit
(Built-in EtherNet/IP ports)
NX102-1200
Ver.1.31
–
Power supply (24 VDC for the Controller)
–
OMRON
Switching hub
W4S1-05C
Ver.1.0
–
Switching hub power supply (24 VDC)
－
OMRON
Sysmac Studio
SYSMAC-SE2□□□
Ver.1.24
OMRON
Network Configurator
(provided in Sysmac
Studio package)
Ver.3.65
–
Personal computer (OS: Windows 10)
–
–
LAN cable (STP (shielded, twisted-pair)
cable of Ethernet category 5 or higher)
–
CKD ABSODEX Driver AX9000TS-U6
Ver.10.01
CKD
RS-232C cable
AX-RS232C-9P
CKD Actuator AX4009T
CKD
AXTools
–
Ver.2.22
CKD EDS file AX9000TS-U6.eds Ver.1.4
– External power supply
(24 VDC for the ABSODEX Driver) –
Precautions for Correct Use
Prepare beforehand the EDS file specified above.
To obtain the EDS file, contact CKD Corporation. Please note that you need the EDS file
relevant to your device. If you use the other model of the ABSODEX Driver (not the one
specified above), contact CKD Corporation and obtain the relevant EDS file.
Precautions for Correct Use
Update Sysmac Studio and Network Configurator to the versions specified above or to higher
versions. 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) and Network Configurator Online Help.
NX102-1200
(Built-in EtherNet/IP ports)
W4S1-05C
AX9000TS-U6
Personal computer
(Sysmac Studio, Network
Configurator and AXTools
installed,
OS: Windows 10)
LAN cable
Power
supply
LAN cable
AX4009T
External
power supply
AX-RS232C-9P
LAN cable
Switching hub power supply

5
．
Applicable Devices and Device Configuration
7
Additional Information
For information on power supply specifications of the Controller, refer to the NX-series
NX102 CPU Unit Hardware User's Manual (Cat. No. W593).
Additional Information
For information on power supply specifications of the switching hub, refer to the Switching
Hub W4S1-series Users Manual (Cat. No. 0969584-7).
Additional Information
For information on external power supply specifications for the ABSODEX Driver, refer to the
Instruction Manual ABSODEX AX Series TS type TH type EtherCAT specification
EtherNet/IP specification (SMF-2012-A).

6
．
EtherNet/IP Settings
8
6. EtherNet/IP Settings
This section describes the parameters, global variables and tag sets that are all defined in this
guide.
6.1. Parameters
The following parameters are required to connect the ABSODEX Driver and the Controller via
EtherNet/IP.
Setting item
Controller
PORT2 (EtherNet/IP)
(Node 1)
ABSODEX Driver
(Node 2)
IP address 192.168.1.1 192.168.1.2
Subnet mask 255.255.255.0 255.255.255.0
6.2. Global Variables
The Controller treats data in tag data links as global variables.
The following tables show the global variables and the related settings.
Name Data type Network
publish ABSODEX Driver data allocation Data size (byte)
EIP002_InputSignal_OUT BYTE[8] Output Input signal from Controller to
ABSODEX Driver 8
EIP002_MonitorCode_OUT DINT[3] Output Monitor codes 1 to 3 12
EIP002_Command_OUT DINT[3] Output Command data 12
EIP002_OutputSignal_IN BYTE[8] Input Output signal from ABSODEX
Driver to Controller 8
EIP002_MonitorData_IN DINT[3] Input Monitor data 1 to 3 12
EIP002_Response_IN DINT[3] Input Response data 12
Additional Information
For information on monitor codes and monitor data, refer to 3.4.1. Monitor Code of the
Instruction Manual ABSODEX AX Series TS type TH type EtherCAT specification
EtherNet/IP specification (SMF-2012-A).

6
．
EtherNet/IP Settings
9
ABSODEX Driver input signal
Global variable
Bit
Description
EIP002_InputSignal_OUT[0]
0 to 3
Program number selection input (bits 0 to 3)
4
Program number setting input, second digit /
Program number selection input (bit 4)
5
Program number setting input, first digit /
Program number selection input (bit 5)
6
Reset input
7
Origin return command input
EIP002_InputSignal_OUT[1]
0
Start input
1
Servo-on input /
Program stop input
2
Ready return input /
Continuous rotation stop input
3
Answer input /
Position deviation counter reset input
4
Emergency stop input
5
Brake off input
6
Jog operation input (CW direction)
7
Jog operation input (CCW direction)
EIP002_InputSignal_OUT[2]
0 and 1
Reserved /
Travel unit selection input (bits 0 and 1)
2
Reserved /
Travel speed unit selection input
3
Table operation, data input operation
Switching input
4 to 7
Reserved
EIP002_InputSignal_OUT[3]
–
Reserved
EIP002_InputSignal_OUT[4]
0
Monitor output execution request
1
Command code execution request
2 to 7
Reserved
EIP002_InputSignal_OUT[5]
to
–
Reserved
EIP002_InputSignal_OUT[7]
Command data
Global variable
Description
EIP002_Command_OUT[0]
Command code
EIP002_Command_OUT[1]
Written data / A code or P code
EIP002_Command_OUT[2]
Data designation / F code

6
．
EtherNet/IP Settings
10
ABSODEX Driver output signal
Global variable
Bit
Description
EIP002_OutputSignal_IN[0]
0 to 7
M code output (bits 0 to 7)
EIP002_OutputSignal_IN[1]
0
In-position output
1
Positioning completion output
2
Start input wait output
3 and 4
Alarm output 1 and 2
5
Indexing-in-progress output 1 /
Origin position output
6
Indexing-in-progress output 2 /
Servo state output
7
Ready state output
EIP002_OutputSignal_IN[2]
0
Segment position strobe output
1
M code strobe output
2 to 7
Reserved
EIP002_OutputSignal_IN[3]
–
Reserved
EIP002_OutputSignal_IN[4]
0
Monitoring
1
Command code execution complete
2 to 7
Reserved
EIP002_OutputSignal_IN[5]
～
–
Reserved
EIP002_OutputSignal_IN[7]
Response data
Global variable
Description
EIP002_Response_IN[0]
Response code
EIP002_Response_IN[1]
Loaded data
EIP002_Response_IN[2]
Reserved
Additional Information
For more information on the allocations of the input and output areas, refer to 3.2.
Input/Output of the Instruction Manual ABSODEX AX Series TS type TH type EtherCAT
specification EtherNet/IP specification (SMF-2012-A).
Additional Information
With Sysmac Studio, two methods can be used to specify an array for a data type.
After specifying, (1) is converted to (2), and the data type is always displayed as (2).
(1)BOOL[16] / (2) ARRAY[0..15] OF BOOL
In this guide, the data type is simplified by displaying BOOL[16].
(The example above means a BOOL data type with sixteen array elements.)

6
．
EtherNet/IP Settings
11
6.3. Tag Sets
The tag sets to perform tag data links are shown below.
The data in the tag sets are assigned in ascending order of the following OUT No. and IN No.
Output area (Controller to ABSODEX Driver)
Tag set name Data size (byte)
EIP002_OUT 32
OUT No. Tag name (global variable name) Data size (byte)
1 EIP002_InputSignal_OUT 8
2 EIP002_MonitorCode_OUT 12
3 EIP002_Command_OUT 12
Input area (ABSODEX Driver to Controller)
Tag set name Data size (byte)
EIP002_IN
32
IN No. Tag name (global variable name) Data size (byte)
1 EIP002_OutputSignal_IN 8
2
EIP002_MonitorData_IN
12
3 EIP002_Response_IN 12

7
．
EtherNet/IP Connection Procedure
12
7. EtherNet/IP Connection Procedure
This section describes the procedures for connecting the ABSODEX Driver and the Controller
via EtherNet/IP. The procedures for setting up the ABSODEX Driver and the Controller in this
guide are based on the factory default settings.
For information on initialization, refer to Section 8. Initialization Method.
7.1. Work Flow
Take the following steps to connect the ABSODEX Driver and the Controller via EtherNet/IP
and perform tag data links.
7.2. CKD ABSODEX Driver Setup
Set up the CKD ABSODEX Driver.
↓
7.2.1. Cable Connection
Connect the cables to the ABSODEX Driver.
↓
7.2.2. Parameter Settings
Set the IP address of the ABSODEX Driver.
↓
7.3. Controller Setup
Set up the Controller.
↓
7.3.1. IP Address Settings
Start Sysmac Studio and set the IP address of the
Controller.
↓
7.3.2. Setting Global Variables
Set global variables to use for tag data links, and create
and export a CSV file in order to use the variables as
tags in Network Configurator.
↓
7.3.3. Transferring the Project
Data
Go online with Sysmac Studio and transfer the project
data to the Controller.
↓
7.4. Network Settings
Set EtherNet/IP tag data links.
↓
7.4.1. Starting Network
Configurator and Installing
the EDS File
Start Network Configurator and install the EDS file.
↓
7.4.2. Uploading the Network
Configuration
Go online with Network Configurator and upload the
network configuration.
↓

7
．
EtherNet/IP Connection Procedure
13
7.4.3. Tag Registration
Import the created CSV file for use with Network
Configurator, and register tags and tag sets.
↓
7.4.4. Setting Connections
Set connections to associate the tag sets of the target
device with the tag sets of the originator device.
↓
7.4.5. Transferring the Tag Data
Link Parameters
Transfer the tag data link parameters to the Controller.
↓
7.5. EtherNet/IP Communication
Status Check
Confirm that the EtherNet/IP tag data links are
performed normally.
↓
7.5.1. Checking the Connection
Status
Check the EtherNet/IP connection status.
↓
7.5.2. Checking Sent and
Received Data
Check that correct data is sent and received.

7
．
EtherNet/IP Connection Procedure
14
7.2. CKD ABSODEX Driver Setup
Set up the CKD ABSODEX Driver.
7.2.1. Cable Connection
Connect the cables to the ABSODEX Driver.
Precautions for Correct Use
Before following the steps below, check the capacities of the main and control power supplies
and wire them by referring to the INSTRUCTION MANUALABSODEX AX SERIES TSTYPE
TH TYPE XS TYPE (SMF-2006-A).
Precautions for Correct Use
Make sure that the power supplies are all OFF before setting up.
If any of them are ON, the settings described in the following steps and subsequent
procedures may not be applicable.
1
Make sure that the following
power supplies are all OFF.
- Main and control power
supplies to ABSODEX Driver
- External power supply for
ABSODEX Driver
2
Check the position of the
connectors on ABSODEX Driver
by referring to the figure on the
right.
Main power
connector
Control
power
connector
Actuator
output terminal
RS-232C
connector
Resolver cable
connector
Safety function
terminal
EtherNet/IP
connector
Emergency stop
terminal
Brake terminal

7
．
EtherNet/IP Connection Procedure
15
3
Connect Actuator and Resolver
cable connector with a Resolver
cable.
Connect Actuator and Actuator
output terminal with a Motor
cable.
4
Connect Switching hub and
EtherNet/IP connector with a
LAN cable.
Connect Switching hub power
supply to Switching hub.
5
Connect the serial connector on
Personal computer and
RS-232C connector with an
RS-232C cable.
6
Check that the safety function is
invalidated.
Check that jumpers are
connected to Safety function
terminal.
*Since the intention of this guide
is to verify the network
connection, the safety function
is left invalid.
*Refer to 3.2.6. Wiring for Safety
Function of the INSTRUCTION
MANUAL ABSODEX AX
SERIES TS TYPE TH TYPE
XS TYPE (SMF-2006-A) for
wiring to Safety function
terminal.
*A jumper is connected to Safety function terminal to
invalidate the safety function when ABSODEX Driver is
shipped from the factory.
Actuator
Resolver cable
Motor cable
＋S1
＋S2
－S1
－S2
Personal
computer
RS-232C cable
Switching hub power supply
Switching hub
LAN cable

7
．
EtherNet/IP Connection Procedure
16
7
Connect External power supply
to Emergency stop terminal,
thereby disabling the emergency
stop of ABSODEX Driver.
*Refer to 2.3.1. Wiring of
Emergency Stop Input (TB3) of
the Instruction Manual
ABSODEX AX Series TS type
TH type EtherCAT specification
EtherNet/IP specification
(SMF-2012-A) for wiring of
Emergency stop terminal.
External
power supply

7
．
EtherNet/IP Connection Procedure
17
7.2.2. Parameter Settings
Set the IP address of the ABSODEX Driver.
The IP Address is set with AXTools.
Precautions for Correct Use
Refer to 5.5.4. Main Power Supply Sequence of the INSTRUCTION MANUAL ABSODEX AX
SERIES TS TYPE TH TYPE XS TYPE (SMF-2006-A) for information on the turn-on
sequence of the main and control power supplies to the ABSODEX Driver.
1
Turn ON the main and control
power supplies to ABSODEX
Driver.
2
Start AXTools.
3
The New Dialog Box is
displayed. Select Online.
Select the communication port
number to be used from the
pull-down list of Communication
port selection.
Click OK.
*If there is more than one serial
port on Personal computer,
display Windows Device
Manager and select the same
port number as the
communications port
(displayed under Ports (COM
&LPT)) where ABSODEX
Driver is connected (example:
COM1).