Omron CK3E Series User guide

Programmable Multi-Axis Controller
Startup Guide
EtherCAT Coupler Unit
Safety CPU Unit
Safety I/O Units
(IDEv4)
CK3E-
□□□□
CK3M-CPU1
□
1
NY51
□
-A
□□□
O042-E1-01

2
About Copyrights and Trademarks
Microsoft product screen shots are reprinted with permission from Microsoft Corporation.
Windows is a registered trademark of Microsoft Corporation in the United States and other
countries.
EtherCAT® is a patented technology and registered trademark 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 document are trademarks or registered trademarks
of their respective companies.

3
Contents
1. Related Manuals................................................................................. 4
2. Terms and Definitions........................................................................ 5
3. Precautions ........................................................................................ 6
4. Overview............................................................................................. 7
5. Applicable Devices and Device Configuration................................ 8
5.1. Applicable Devices............................................................................... 8
5.2. Device Configuration............................................................................ 9
6. EtherCAT Connection Procedure ................................................... 10
6.1. Workflow ............................................................................................ 10
6.2. EtherCAT Coupler Unit Settings......................................................... 12
6.3. Preparation for the Controller Setup................................................... 24
6.4. Installation of ESI Files....................................................................... 29
6.5. EtherCAT Communications Setup...................................................... 29
6.6. Controller Settings.............................................................................. 46
7. Appendix Saving and Loading a Project........................................ 51
7.1. Saving a Project................................................................................. 51
7.2. Loading and Downloading a Project................................................... 53
8. Appendix Troubleshooting.............................................................. 56
8.1. Factors Causing EtherCAT Communications To Be Unavailable, and Corrective Actions
........................................................................................................... 56
8.2. How to Check for Errors..................................................................... 57
9. Appendix ECAT[i] Structure Elements........................................... 60
10. Revision History............................................................................... 61

4
1. Related Manuals
To ensure system safety, always read and follow the information provided in all Safety
Precautions and Precautions for Safe Use in the manuals for the devices that are used in the
system.
The following shows the manuals for OMRON Corporation (hereafter referred to as OMRON)
and Delta Tau Data Systems, Inc (DT).
Manufacturer Manual No. Model Manual name
OMRON I610-E1 Model CK3E-110
CK3E-series Programmable Multi-Axis Controller Hardware User’s Manual
OMRON O036-E2 Model CK3M-CPU11 CK3M-series Programmable Multi-Axis
Controller
Hardware User’s Manual
OMRON W580-E1 Model
NY512-A6001XX21391
X
Industrial PC Platform NY-series IPC
Programmable Multi-Axis Controller
Industrial Box PC Hardware User’s
Manual
OMRON W519-E1 Model NX-ECC203 EtherCAT® Coupler Unit User’s
Manual
OMRON Z930-E1 Model NX-SL
Model NX-SI
Model NX-SO
Safety Control Unit User’s Manual
OMRON W504-E1 Model
SYSMAC-SE2 Sysmac Studio Version 1 Operation Manual
DT O014-E - Power PMAC User’s Manual
DT O015-E - Power PMAC Software Reference
Manual
DT O016-E - Power PMAC IDE Users Manual

5
2. Terms and Definitions
Term Explanation and Definition
Slave Slaves are devices connected to EtherCAT. There are various types of
slaves such as servo drivers handling position data and I/O terminals
handling the bit signals.
Object Represents information such as in-slave data and parameters.
PDO
communications
(Communications
using Process Data
Objects)
One type of EtherCAT communications in which process data objects
(PDOs) are used to exchange information cyclically and in realtime.
This is also called “process data communications”.
PDO Mapping The association of objects used for PDO communications.
PDO Entry PDO entries are the pointers to individual objects used for PDO
mapping.
ESI file
(EtherCAT Slave
Information file)
An ESI file contains information unique to the EtherCAT slaves in XML
format.
You can load ESI files into the Power PMAC IDE, to easily allocate
slave process data and make other settings.
ENI file
(EtherCAT Network
Information file)
An ENI file contains the network configuration information related to
EtherCAT slaves.
Power PMAC IDE This computer software is used to configure the Controller, create user
programs, and monitor the programs.
PMAC is an acronym for Programmable Multi-Axis Controller.

6
3. Precautions
(1) Understand the specifications of devices that are used in the system. Allow some margin
for ratings and performance. Provide safety measures, such as for installing a safety
circuit, in order to ensure safety and minimize the risk of abnormal occurrences.
(2) To ensure system safety, always read and follow the information provided in all Safety
Precautions and Precautions for Safe Use in the manuals for each device that 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, reproduce, or distribute a part or the whole of this document
without the permission of OMRON Corporation.
(5) The information contained in this document is current as of April 2019.
It is subject to change without prior notice for improvement purposes.
The following notations are used in this document.
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 severe 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 correct operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operations easier.
Symbols
The filled circle symbol indicates operations that you must carry out.
The specific operation is shown in the circle and explained in text.
This example indicates a “general precaution” for something that you must
carry out.

7
4. Overview
This document describes the procedures used to connect the Safety CPU Unit and Safety I/O
Units (hereafter referred to as the Slave) attached to OMRON High EtherCAT Coupler Unit
model NX-ECC203 using OMRON Programmable Multi-Axis Controller model CK3E-□□□
□/ CK3M-CPU1□1/NY51□-A□□□(hereafter referred to as the Controller) and EtherCAT,
as well as for checking the connection.
Refer to Section 6. EtherCAT Connection Procedure to learn about the setting methods and
key points to perform PDO communications via EtherCAT.

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5. Applicable Devices and Device Configuration
5.1. Applicable Devices
The applicable devices are as follows:
Manufacturer Name Model
OMRON Programmable Multi-Axis Controller
Model CK3E-
□□□□
OMRON Programmable Multi-Axis Controller Model CK3M-CPU11
OMRON Programmable Multi-Axis Controller
Industrial Box PC Model NY51□-A□□□
OMRON EtherCAT Coupler Unit Model NX-ECC203
OMRON Safety CPU Unit Model NX-SL300
OMRON Safety I/O Units Model NX-SI□□□□
Model NX-SO□□□□
OMRON Digital I/O Units
Model NX-ID
□□□□
Model NX-IA□□□□
Model NX-OC□□□□
Model NX-OD□□□□
Model NX-MD□□□□
Precautions for Correct Use
Use model NX-ECC203 Version 1.5 or later for the EtherCAT Coupler Unit.
Models NX-ECC201 and NX-ECC202 cannot be used.
Precautions for Correct Use
In this document, the devices with models and versions listed in Section 5.2 are used as
examples of applicable devices to describe the procedures to connect the devices and check
their connections.
You cannot use devices with versions lower than the versions listed in Section 5.2.
To use the devices mentioned above with models not listed in Section 5.2 or versions higher
than those listed in Section 5.2, check the differences in the specifications by referring to the
manuals before operating the devices.
Additional Information
This document describes the procedures to establish the network connections. It does not
provide information on operations, installations, wiring methods, device functionalities, or
device operations, which are not related to the connection procedures. For more information,
refer to the manuals or contact your OMRON representative.

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5.2. Device Configuration
The hardware components to reproduce the connection procedures in this document are as
follows:
Manufacturer Name Model Version
OMRON
Programmable Multi-Axis
Controller
Model NY51□-A□□□ Ver.2.5 or later
OMRON EtherCAT Coupler Unit Model NX-ECC203
Ver.1.5
OMRON Safety CPU Unit Model NX-SL3500
Ver.1.0
OMRON
Safety Input Unit
Model NX-SID800
Ver.1.0
OMRON Safety Output Unit Model NX-SOD400
Ver.1.0
OMRON Digital Input Unit Model NX-ID5342
-
OMRON
Digital Output Unit
Model NX-OD3256
-
OMRON
Ethernet cable (with industrial
Ethernet connector)
Model
XS5W-T421-

M

-K
OMRON
Sysmac Studio
SYSMAC-SE2

Ver.1.25
DT
Power PMAC IDE
-
Ver.4.2.1.19
Precautions for Correct Use
Prepare the ESI file described in this section in advance. Contact your OMRON
representative for information on how to procure the ESI file.
Precautions for Correct Use
Do not share the connection line of EtherCAT communications with other Ethernet networks.
Do not use devices for Ethernet such as a switching hub.
Use the Ethernet cable (double shielding with aluminum tape and braiding) of Category 5 or
higher, and use the shielded connector of Category 5 or higher.
Connect the cable shield to the connector hood at both ends of the cable.
Additional Information
This document describes model NY51□-A□□□ as an example. The same procedures can
apply to model CK3E-□□□□/ CK3M-CPU1□1.
Model NX-ECC203
Model NY51□-A□□□
Power PMAC IDE
Model NX-SL3500
Model NX-SID800
Model NX-SOD400
Model NX-ID5342
Model NX-OD3256
EtherCAT
communications

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6. EtherCAT Connection Procedure
This section describes the procedure for connecting the Controller with the Slave via
EtherCAT. The description assumes that the Controller is set to factory default.
6.1. Workflow
Take the following steps to operate the PDO communications via EtherCAT after connecting
the Controller with the Slave via EtherCAT.
6.2 EtherCAT Coupler Unit Settings Prepare to set the EtherCAT
Coupler Unit.
▼
6.2.1 Creation of a New Project
▼
6.2.2 Network Configuration Settings
▼
6.2.3 I/O Map Settings
▼
6.2.4 Safety I/O Function Settings
▼
0
Creation of Safety Programs
▼
6.2.6 Transfer via Connection to the Communications
Coupler Unit
▼
6.2.7 Output of Couple I/O Allocations
▼
6.2.8 Changing to DEBUG Mode
▼
6.2.9 Performing Safety Validation
▼
6.2.10 Changing to RUN Mode
▽
6.3 Preparation for the Controller Setup Prepare the Controller settings.
▼
6.3.1 Creation of a New Project
▼
6.3.2 Initial Settings of the Controller
▽

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6.4 Installation of ESI Files Install the ESI file for the Slave into
PowerPMAC IDE.
▽
6.5 EtherCAT Communications Setup Set up EtherCAT communications.
▼
6.5.1 Communications Setup for the EtherCAT Master
▼
6.5.2 Distributed Clock Setup
▼
6.5.3 Safety Controller Variable Settings
▼
6.5.4 PDO Map Settings
▼
6.5.5 Coupler I/O and Variable Allocations
▼
6.5.6 Creation of an EtherCAT Network Information
File
▽
6.6 Controller Settings Set up the Controller.
▼
6.6.1 EtherCAT Communications Check
▼
6.6.2 Writing the User Program
▼
6.6.3 Project Data Transfer

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6.2. EtherCAT Coupler Unit Settings
Configure the slave terminal settings for the EtherCAT Coupler Unit.
Prepare a computer with Sysmac Studio installed.
Creation of a New Project6.2.1.
1
Connect the coupler to the
computer using a USB cable.
2
Turn on the power to the
coupler and safety controller.
3
Start the Sysmac Studio.
* If the dialog for confirming
access rights appears upon
start-up, select starting of
Sysmac Studio.
4
Create a project in the Sysmac
Studio.
Project Properties
Enter Project name and other
items of information.
Select Device
Select controller for Category.
You can specify any Device
and Version. In this example,
select NJ501-1500 and 1.10.
Click Create.
Windows computer
Sysmac Studio
Model NX-ECC203
USB Cable
Model NX-SL3500
Model NX-SID800
Model NX-SOD400
Model NX-ID3417
Model NX-OD3256

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Network Configuration Settings6.2.2.
1
Double-click EtherCAT under
Configurations and Setup in
the Multiview Explorer.
2
Select EtherCAT Coupler Unit
NX-ECC203 in the toolbox, and
drag and drop it directly below
the master in the EtherCAT
Configuration Edit tab page.
3
Right-click NX-ECC203 in the
Multiview Explorer, and select
Coupler Connection (USB)
then Online.
After you have confirmed the
destination of the USB
connection, click the OK button.
4
Double-click NX-ECC203 in the
Multiview Explorer to open the
NX-ECC203 edit page.
Right-click in the NX-ECC203
tab page and select Compare
and Merge with Actual Unit
Configuration from the menu.

14
5
Click Apply Actual Unit
Configuration to apply the
actual unit configuration.
Precautions for Correct Use
You can read only the Unit configuration in the Slave Terminal by comparing and merging
with the actual Unit configuration. You cannot read the I/O allocation information, Unit
operation settings, and Unit application data.
I/O Map Settings6.2.3.
1
Right-click NX-ECC203 in the
Multiview Explorer, and select
Coupler Connection (USB)
then Offline.

15
2
In the Multiview Explorer, select
Configurations and Setup,
then I/O map tab page to open
the I/O map pane.
Right-click on NX-ECC203, and
select Create Device Variable
from the menu.
3
From the controller selection box
in the Multiview Explorer, select
the target Safety CPU Unit.
Double-click I/O map to open
the Safety I/O map tab page.
4
Right-click on EtherCAT
Network, and select Create
Device Variable from the menu.

16
Safety I/O Function Settings6.2.4.
1
From the controller selection box
in the Multiview Explorer, select
the target Safety CPU Unit.
Double-click Safety Slave Unit
Parameter Settings under
NX-SID800 of Configurations
and Setup.
2
Select Output Single-channel
Semi-conductor from the toolbox
Input device: Semi-conductor
output type, and drag and drop it
on to the input terminal.
3
Double-click Safety Slave Unit
Parameter Settings under
NX-SO400 of Configurations
and Setup.

17
4
Select Single Channel (without
test pulse) from the toolbox
Output device, and drag and
drop it on to the output terminal.
Creation of Safety Programs6.2.5.
1
Registering programs
Right-click Programs under
Programming – POUsin the
Multiview Explorer, and select
Add – Programs from the
menu.
2
Drag a SF_CTU from the
ToolBox to a new network where
the words Start Here are
displayed.
3
Select the tab for internal
variables, and then register and
edit the local variables.
Name : reset
Data Type: SAFEBOOL
Initial Value: FALSE
Name : pv
Data Type: SAFEINT
Initial Value: 5

18
4
Select parameters on on the
FBD network and directly enter
the variable names.
CU : N2_Si00_Logical_Value
Reset : reset
PV : pv
Q: N3_So00_Output_Value
Transfer via Connection to the Communications Coupler Unit6.2.6.
1
From the controller selection box
in the Multiview Explorer, select
a Safety CPU Unit.
2
Select Controller, then
Communications Setup from
the menu.
Select Connect via Coupler in
the Communications Setup
dialog box, then click the OK
button.
3
Select Controller, then Online
from the menu.
The unit is in online connection
with slave terminals.

19
4
From the controller selection box
in the Multiview Explorer, select
a Controller Unit.
5
In the edit page for slave
terminals, right-click the
Communications Coupler Unit,
then select Coupler
Connection (USB) – Transfer
to Computer.
Click Configuration
information + Unit operation
setting + Unit application data.

20
Output of Couple I/O Allocations6.2.7.
1
Select Controller, then Offline
from the menu.
2
Double-click EtherCAT under
Configurations and Setup in
the Multiview Explorer.
Right-click on Master, then
select Export All Coupler’s I/O
Allocations.
Changing to DEBUG Mode6.2.8.
1
Select the Safety CPU Unit from
the Controller Selection Box in
the Multiview Explorer.
2
Select Mode – DEBUG Mode
from Controller Menu.