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