Omron NJ-series Instruction Manual

Machine Automation Controller NJ-series
EtherCAT(R) Connection Guide
OMRON Corporation
Vision Sensor
(FQ-MS12[](-M)-ECT)
P610-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 USAand other countries.
EtherCAT(R)
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 document 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........................................ 4
5.1. Applicable Devices.............................................................................. 4
5.2. Device Configuration........................................................................... 5
6. EtherCAT Settings....................................................................................... 7
6.1. Setting the Vision Sensor Parameters................................................ 7
6.2. Device Variables.................................................................................. 8
7. EtherCAT Connection Procedure.............................................................. 9
7.1. Work Flow............................................................................................ 9
7.2. Hardware Settings of the Vision Sensor ........................................... 10
7.3. Setting Up the Controller................................................................... 12
7.4. Setting the Vision Sensor Parameters.............................................. 23
7.5. Checking the EtherCAT Communications......................................... 30
8. Initialization Method.................................................................................. 33
8.1. Initializing the Controller.................................................................... 33
8.2. Initializing the Vision Sensor ............................................................. 33
9. Revision History........................................................................................ 34

1
．
Related Manuals
1
1. Related Manuals
The table below lists the manuals related to this document.
To ensure system safety, make sure to always read and heed the information provided in all
Safety Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for
each device which is used in the system.
Cat.No. Model Manual name
W500 NJ501-[][][][]
NJ301-[][][][] NJ-series CPU Unit Hardware User's Manual
W501 NJ501-[][][][]
NJ301-[][][][] NJ-series CPU Unit Software User's Manual
W505 NJ501-[][][][]
NJ301-[][][][] NJ-series CPU Unit Built-in EtherCAT(R) Port User's Manual
W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual
Z314 FQ-MS12[] Vision Sensor FQ-M-series
Specialized Vision Sensor for Positioning User’s Manual

2
．
Terms and Definitions
2
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 MachineAutomation 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 MachineAutomation
Controller in the following ways.
・With device variables for EtherCAT slave I/O
・
WithAxis 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 MachineAutomation 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.

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 safety
circuit in order to ensure safety and minimize risks of abnormal occurrence.
(2) 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.
(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
document without the permission of OMRON Corporation.
(5) The information contained in this document is current as of July 2014. 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 must do.

4
．
Overview
4
4. Overview
This document describes the procedure for connecting Vision Sensor (FQ-MS12[](-M)-ECT,
hereinafter referred to as Vision Sensor) of OMRON Corporation (hereinafter referred to as
OMRON) to NJ-series Machine Automation Controller (hereinafter referred to as Controller)
via EtherCAT and provides the procedure for checking their connection.
Refer to Section 6 EtherCAT Settings and Section 7 EtherCAT Connection Procedure to
understand the setting method and key points to operate PDO Communications of EtherCAT.
5. Applicable Devices and Device Configuration
5.1. Applicable Devices
The applicable devices are as follows:
Manufacturer Name Model
OMRON NJ-series CPU Unit NJ501-[][][][]
NJ301-[][][][]
OMRON Vision Sensor
FQ-MS12[]-ECT
FQ-MS12[]-M-ECT
Precautions for Correct Use
As applicable devices above, the devices with the models and versions listed in Section
5.2.are actually used in this document to describe the procedure for connecting devices and
checking the connection.
You cannot use devices with versions lower than the versions listed in Section 5.2.
To use the above devices with versions 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 procedure to establish the network connection. It does not
provide information on operation, installation or wiring method which is not related to the
connection procedure. It also does not describe the functionality or operation of the devices.
Refer to the manuals or contact your OMRON representative.

5
．
Applicable Devices and Device Configuration
5
5.2. Device Configuration
The hardware components to reproduce the connection procedure of this document are as
follows:
Manufacturer
Name
Model
Version
OMRON
CPU Unit
(Built-in EtherCAT port)
NJ501-1500
Ver.1.08
OMRON
Power Supply Unit
NJ-PA3001
OMRON
Sysmac Studio*2
SYSMAC-SE2[][][]
Ver.1.09
-
Personal computer
(OS: Windows7)
-
-
USB cable
(USB 2.0 type B connector)
-
OMRON
Ethernet cables (with industrial Ethernet
connector(M12-RJ45))
<Two cables: for EtherCAT connection/ for
connecting Personal computer to Vision
Sensor>
FQ-WN[][][]
or,
FQ-MWNL[][][]
OMRON
Vision Sensor
FQ-MS120-M-ECT
Ver.1.5
OMRON
I/O cable
FQ-MWD[][][]
or,
FQ- MWDL[][][]
-
24 VDC power supply
-
*1: Use the Sysmac Studio on the Personal computer to set up or adjust the Vision Sensor via
Ethernet. You cannot set up or adjust the Vision Sensor through the Controller via EtherCAT.
*2: In the Vision Sensor FQ-M-series Specialized Vision Sensor for Positioning User’s Manual
(Cat.No.Z314), Sysmac Studio is called “Sysmac Studio Standard Edition”. This is to distinguish
it from "Sysmac Studio Vision Edition" (SYSMAC-VE001L) that provides the selected functions
that are required to set up the Vision Sensors from the Sysmac Studio.
Sysmac Studio Standard Edition (hereinafter referred to as Sysmac Studio) is used in this
document.
24 VDC
power supply
Personal computer
(Sysmac Studio installed,
OS：Windows 7)
USB cable
NJ501-1500
(Built-in EtherCAT port)
Ethernet cable
FQ-MS120-M-ECT
Ethernet cable *
1
I/O cable

5
．
Applicable Devices and Device Configuration
6
Precautions for Correct Use
The connection line of EtherCAT communication cannot be shared with other Ethernet
networks.
Do not use devices for Ethernet such as a switching hub.
Use the 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.
Precautions for Correct Use
Update the Sysmac Studio to the version specified in this section or higher version using the
auto update function.
If a version not specified in this section is used, the procedures described in Section 7 and
subsequent sections may not be applicable. In that case, use the equivalent procedures
described in the Sysmac Studio Version 1 Operation Manual (Cat.No.W504).
Additional Information
For specifications of the Ethernet cables and network wirings, refer to Section 4 EtherCAT
Network Wiring of the NJ-series CPU Unit Built-in EtherCAT(R) Port User's Manual
(Cat.No.W505).
Additional Information
The system configuration in this document uses USB for the connection to the Controller.
For how to install a USB driver, refer to A-1 Driver Installation for Direct USB Cable
Connection of the Sysmac Studio Version 1 Operation Manual (Cat.No.W504).

6
．
EtherCAT Settings
7
6. EtherCAT Settings
This section describes the specifications such as parameters and device variables for the
Vision Sensor that are set in this document.
Hereinafter, the Vision Sensor is referred to as the "Destination Device" or the "Slave Unit" in
some descriptions.
6.1. Setting the Vision Sensor Parameters
The parameter required connecting the Controller and the Vision Sensor via EtherCAT is
given below.
Setting item Set value
Node address setting switch 1
Output data size 259
th
+262
th
sending PDO mapping: 256 bytes

6
．
EtherCAT Settings
8
6.2. Device Variables
The PDO communications data for the Destination Device are allocated to the Controller's
device variables. The device variables and the data types are shown below.
■Output area (from Controller to Destination Device)
Global variable Data type Meaning
E001_Vision_Control_Flag DWORD Control signal
E001_EXE BOOL Command execution
E001_TRIG BOOL Measurement trigger
E001_ERCLR BOOL Clear error
E001_DSA BOOL Data output request
E001_Vision_Command DWORD Command code
E001_Vision_Command_Parameter1 UDINT Command parameter 1
E001_Vision_Command_Parameter2 UDINT Command parameter 2
E001_Vision_Command_Parameter3 DINT Command parameter 3
■Input area (from Destination Device to Controller)
Global variable Data type Meaning
E001_Vision_Status_Flag DWORD Status signal
E001_FLG BOOL Command completed
E001_BUSY BOOL Processing in progress
E001_READY BOOL TRIG signal input available
E001_OR BOOL Overall judgement output
E001_RUN BOOL Run mode
E001_ERR BOOL Error signal
E001_GATE BOOL Data output completed
E001_Vision_Response DWORD Command code echo back
E001_Vision_Response_Code DWORD Response code
E001_Vision_Response_Data1
DINT
Response data
E001_Vision_Extended_Data DINT Extended data
E001_Vision_Data_Output1 DINT Output data 1
E001_Vision_Data_Output2 DINT Output data 2
E001_Vision_Data_Output3 DINT Output data 3
：：：
E001_Vision_Data_Output63 DINT Output data 63
E001_Vision_Data_Output64 DINT Output data 64
■Details of the status allocation (from Destination Device to Controller)
Global variable
Data type
Destination device data
E001_Sysmac_Error_Status BYTE Sysmac error status
E001_Observation BOOL Observation error information
E001_Minor_Fault BOOL Minor fault level error information

7
．
EtherCAT Connection Procedure
9
7. EtherCAT Connection Procedure
This section describes the procedure for connecting the Controller to the Vision Sensor via
EtherCAT.
This document explains the procedures for setting up the Controller and the Vision Sensor
from the factory default setting. For the initialization, refer to Section 8. Initialization Method.
7.1. Work Flow
Take the following steps to perform PDO Communications of EtherCAT.
7.2 Hardware Settings of the Vision
Sensor
Make the hardware settings of the Vision Sensor.
↓
7.2.1.Hardware Settings
Set the hardware switches on the Vision Sensor and
connect the cables.
↓
7.3.Setting Up the Controller
Set up the Controller.
↓
7.3.1.Starting the Sysmac Studio and
Setting the EtherCAT Network
Configuration
Start the Sysmac Studio and set the EtherCAT
network configuration.
↓
7.3.2.Setting the Device Variables
Set the device variables used for the EtherCAT
Slave Unit.
↓
7.3.3.Transferring the Project Data
Transfer the project data from the Sysmac Studio to
the Controller.
↓
7.4.Setting the Vision Sensor
Parameters
Set the parameters for the Vision Sensor.
↓
7.4.1.Parameter Settings
Set the Vision Sensor parameters from the Sysmac
Studio.
↓
7.5.Checking the EtherCAT
Communications
Confirm that the PDO Communications of EtherCAT
are performed normally.
↓
7.5.1.Checking the Connection Status
Check the connection status.
↓
7.5.2 Checking the Data that are Sent
and Received
Confirm that the correct data are sent and received.

7
．
EtherCAT Connection Procedure
10
7.2. Hardware Settings of the Vision Sensor
Make the hardware settings of the Vision Sensor.
7.2.1. Hardware Settings
Set the hardware switches on the Vision Sensor and connect the cables.
Precautions for Correct Use
Make sure that the power supply is OFF when you perform the setting up.
1
Make sure that the power supply
to the Vision Sensor is OFF.
*If the power supply is turned
ON, settings may not be
applicable as described in the
following procedures.
2
Check the position of the
hardware switches and the
connectors on the Vision Sensor
by referring to the right figure.
(Bottom view of Vision Sensor)
3
Set the Node address setting
switches as follows:
x10: 0
x1: 1
(Node address setting switches)
EtherCAT input connector (M12)
EtherCAT output connector (M12)
Node address
setting switches
I/O connector Ethernet connector (M12)

7
．
EtherCAT Connection Procedure
11
4
Connect the Controller to the
EtherCAT input connector with
an Ethernet cable.
Connect the Personal computer
to the Ethernet connector with
an Ethernet cable.
Connect the 24 VDC power
supply to the I/O connector with
an I/O cable.
Connect power supply
(24 V) to the brown I/O cable
(24V), and GND to the blue I/O
cable (GND).
(Bottom view of Vision Sensor)
(I/O cable)
Additional Information
For details on wiring I/O cables, refer to 2-4 Wiring of the Vision Sensor FQ-M-series
Specialized Vision Sensor for Positioning User’s Manual (Cat.No.Z314).
5
Turn ON the Personal computer
and 24 VDC power supply.
Ethernet cable
I/O cable
24 VDC
power supply
Controller
Ethernet cable
Personal computer

7
．
EtherCAT Connection Procedure
12
7.3. Setting Up the Controller
Set up the Controller.
7.3.1. Starting the Sysmac Studio and Setting the EtherCAT Network
Configuration
Start the Sysmac Studio and set the EtherCAT network configuration.
Install the Sysmac Studio and USB driver in the Personal computer beforehand.
1
Connect the Ethernet cable to
the built-in EtherCAT port
(PORT2) of the Controller and
connect the USB cable to the
peripheral (USB) port.
As shown in 5.2.Device
Configuration, connect the
Personal computer, Vision
Sensor, and Controller.
2
Turn ON the power supply to the
Controller.
3
Start the Sysmac Studio.
*If a confirmation dialog for an
access right is displayed at
start, execute a selection to
start.
4
Click the Connect to Controller
Button.
USB cable
CPU Unit
End Cover
Power Supply Unit
Ethernet
cable
Controller

7
．
EtherCAT Connection Procedure
13
5
The Connect to Controller
Dialog Box is displayed.
Select the Direct connection via
USB Option of Connection type.
Uncheck both the Upload the
project Check Box and the
Display the Troubleshooting
Dialog Box Check Box of
Operation after Connection.
Click the
Connect
Button.
6
Check the contents and click the
OK Button if a confirmation
dialog box on the right is
displayed.
*The displayed dialog depends
on the status of the Controller
used. Check the contents and
click the OK or Yes Button to
proceed with the processing.
7
A dialog box on the right is
displayed. Check the contents
and click the OK Button.

7
．
EtherCAT Connection Procedure
14
8
The Auto Connect Project
Dialog Box is displayed online.
When an online connection is
established, a yellow bar is
displayed on the top of the Edit
Pane.
This window consists of the
following panes.
Left : Multiview Explorer
Top right : Toolbox
Bottom right:
Status Monitor Pane
Middle top: Edit Pane
The following tab pages are
displayed at the middle bottom
of the window.
Output Tab Page
Build Tab Page
Watch (Project) Tab Page
Additional Information
For details on online connections to a Controller, refer to Section 5 Online Connections to a
Controller of the Sysmac Studio Version 1 Operation Manual (Cat.No.W504).
9
Double-click EtherCAT under
Configurations and Setup in
the Multiview Explorer.
10
The EtherCAT Tab Page is
displayed in the Edit Pane.
Status
Monitor Pane
Toolbox
Edit Pane
Multiview
Explorer
Output
Tab Pane
Build
Tab Pane
Watch (Project)
Tab Page

7
．
EtherCAT Connection Procedure
15
11
Right-click Master and select
Compare and Merge with
Actual Network Configuration.
A screen is displayed stating
"Get information is being
executed".
12
The Compare and Merge with
Actual Network Configuration
Dialog Box is displayed.
Node address 1 and
FQ-MS12x-M-ECT Rev:1.0 are
added to the Actual network
configuration after the
comparison.
Click the Apply actual network
configuration Button.
13
A confirmation dialog box is
displayed. Check the contents
and click the Apply Button.
The dialog box on the right is
displayed. Click the Close
Button.

7
．
EtherCAT Connection Procedure
16
14
Node address 1, E001, and
FQ-MS12x-M-ECT Rev:1.0 are
added to the Network
configuration on Sysmac Studio.
Confirm that the data above are
added and click the Close
Button.
15
Node address 1, E001, and
FQ-MS12x-M-ECT Rev:1.0 are
added to the EtherCAT Tab
Page on the Edit Pane.

7
．
EtherCAT Connection Procedure
17
7.3.2. Setting the Device Variables
Set the device variables used for the EtherCAT Slave Unit.
1
Select Offline from the
Controller Menu.
The yellow bar on the top of the
Edit Pane disappears.
2
Select FQ-MS12x-M-ECT
Rev:1.0 in the EtherCAT Tab
Page.
Confirm that the Device name is
E001.
*Device name can be changed
as desired.
3
Click the Edit PDO Map
Settings Button.
*If the Edit PDO Map Settings
Button is not displayed, scroll
the pane by using the scroll bar
until it appears.
4
The Edit PDO Map Settings
Window is displayed.
Select Input 262th transmit
PDO Mapping and click the OK
Button.