Omron CJ1W- ECT21 User manual

CJ1W-ECT21 EtherCAT Slave Unit
CJ or NJ Series
EtherCAT Connection
Quick Start Guide
Cat. No P236I-E-01
EtherCAT Slave Unit

2
Contents
1. Introduction .................................................................................................. 2
2. Applicable Devices ...................................................................................... 2
3. Setting Condition if using CJ as Slave ...................................................... 3
3.1. Communication settings..........................Error! Bookmark not defined.
3.2. The CJ Settings.......................................Error! Bookmark not defined.
3.3. EtherCAT Slave Unit Settings..................................................................3
3.4. EtherCAT Master Setting.........................................................................3
4. Setting up the EtherCAT Slave Devices, CJ ............................................. 4
4.1. Setting the CJ1W-ECT21 with CJ2..........................................................4
5. EtherCAT Master Setting Procedure ......................................................... 6
6. Checking the EtherCAT Communications ................................................ 9
6.1. Checking the Connection Status .............................................................9
7. Revision History ......................................................................................... 12

1. Introduction
This document shows the basic steps for connecting Omron CJ1W-ECT21 EtherCAT Slave Unit to a CJ
to make it a slave on an EtherCAT network. In this application, an Omron NJ is used as the EtherCAT
master.
2. Applicable Devices
The applicable devices are as follows.
Manufacture Type
OMRON CJ CPU Unit CJ2-□□□□
OMRON NJ CPU Unit
NJ
□□□
-
□□□□
OMRON
EtherCAT Slave Unit
CJ1W-ECT21

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3. Setting Condition if using CJ as Slave
The following conditions are used in this example.
3.1. EtherCAT Slave Unit Settings
Set the I/O Communication Area Setting Table with the following values.
Name Setting value
Unit number 01
Node address 01
Name Setting value
OUT data area type CIO CIO
First word in OUT data area 0000 hex 0000 hex
OUT data area size 50 byte 50 byte
IN data area type CIO CIO
First word in IN data area 001A hex 001A
IN data area size 50 byte 50 byte
3.2. EtherCAT Master Setting
■PDO Mapping for EtherCAT Master
Name Setting value
Output
257th receiving PDO Mapping
Input 257
th
transmit PDO Mapping

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4. Setting up the EtherCAT Slave Devices, CJ
4.1. Setting the CJ1W-ECT21 with CJ2
Set up the EtherCAT Slave Unit with CJ2.
1
With the power OFF, set the unit
number and node address with the
corresponding hardware switches.
・Unit number: 01
・Address：01
2
Mount the EtherCAT Slave Unit to
the CPU Rack.
3
Connect the communications
cable between the EtherCAT
master and EtherCAT Slave Unit.
4
Connect the CX-Programmer to
the CJ-series.
5
Turn ON the power supply to the
CJ-series PLC.
6
Place the CX-Programmer online
with the CJ-series CPU Unit.
7
Create the I/O table with
CX-Programmer
EtherCAT
Master
CJ2 + ECT21

5
8
Double click CJ1W-ECT21 to
open its parameters.
Set the I/O Communication Area
Setting Table.
OUT data area type: CIO Area
First word in OUT data area: 0
Out data area size: 50
IN data area type: CIO Area
First word IN data area: 1A Hex
IN data area size: 50 Byte
9
Transfer the I/O table, I/O
Communication Area Setting
Table and user program to the
CJ-series PLC.
After transferring the settings
using the EtherCAT Slave Unit
Edit Parameters Dialog Box, a
message will ask if you wish to
restart the EtherCAT Slave Unit.
Click the Yes Button. The
EtherCAT Slave Unit will be
restarted to enable the settings.

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10
Check the I/O Communication
Area Reference Table in the Edit
Parameters Dialog Box.
Click the Compare Button. If the
compare is successful, click the
transfer [Unit to PC] Button to
update the I/O Communication
Area Reference Table values. If
the compare is unsuccessful,
transfer the settings again. Refer
to the CX-Programmer Operation
Manual (Cat. No. W446) for the
Edit Parameters Dialog Box
operation.
5. EtherCAT Master Setting Procedure
The setting procedure of the EtherCAT master is provided below. In this example, the EtherCAT master is an
Omron NJ. Refer to the Sysmac Studio Version 1 Operating Manual (Cat. No. W504) for Sysmac studio
operating procedures. The ESI files for OMRON EtherCAT slaves are already installed in the Sysmac Studio.
Update Sysmac Studio to get the ESI files for the most recent EtherCAT Slave Unit.
Note: To obtain ESI file of the ECT21 please call Omron Tech Support
1
Create a project in the Sysmac
Studio.

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2
Create the EtherCAT network
configuration offline.
3
Register the EtherCAT Slave Unit
in the network configuration and
set the node address of the
EtherCAT Slave Unit
4
Set the PDO mapping of the
EtherCAT Slave Unit. Assign the
PDOs of the same size as the
setting value of the IN and OUT
data area size in the I/O
Communication Area Setting
Table of the EtherCAT Slave Unit.
PDO Mapping:
Output: 257th receive PDO
Input: 257th transmit PDO

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5
Set the EtherCAT master
parameters if necessary.
Refer to the NJ/NX-series CPU
Unit Built-in EtherCAT Port User’s
Manual (Cat. No. W505) for details
on the parameters of the built-in
EtherCAT port of the NJ-series
CPU Unit.
6
Assign the I/O data that is
assigned in the PDO mapping
settings to device variables.
Refer to the NJ/NX-series CPU
Unit Software User’s Manual (Cat.
No. W501) for details on I/O ports
and device variables.
7
Create the user program using the
device variables.
8
Turn ON the power supply to the
NJ-series Controller.
9
Use the Sysmac Studio to set
communications with the
NJ-series Controller and go online
10
Download the network
configuration information and the
user program to the NJ-series
Controller.
Use the synchronization operation
of the Sysmac Studio to download
the data.

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6. Checking the EtherCAT Communications
6.1. Checking the Connection Status
Check the connection status of EtherCAT.
1
If the I/O Communication Area
Setting Table, PDO mapping and
switch settings are configured
properly, EtherCAT
communications should occur.
Verify EtherCAT Communications
by checking the indicators and I/O
data exchange.
2
Using the I/O Map tab (Fig 1) in Sysmac Studio change the values of the Output variables. (Fig 4)
In CX-Programmer, open the Memory tab (Fig 2) and monitor the CIO area (Fig 3). Then see the
result (Fig 5)
Figure 1. Studio Explorer window, I/O Map
Figure 2.CX-Programmer, Memory tab
Figure 3.CX-Programmer, Monitor