Omron NJ-series Instruction Manual

Machine Automation Controller NJ-series
EtherCAT
Connection Guide
OMRON Corporation
GRT1-ECT SmartSlice
P524-E1-01

About Intellectual Property Right 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.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
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 Definition................................................................................. 2
3. Remarks..................................................................................................... 3
4. Overview .................................................................................................... 5
5. Applicable Devices and Support Software.............................................. 6
5.1. Applicable Devices............................................................................. 6
5.2. Device Configuration.......................................................................... 7
6. EtherCAT Settings..................................................................................... 9
6.1. EtherCAT Communications Settings .................................................. 9
6.2. Assignment of EtherCAT Communications ........................................ 9
7. Connection Procedure.............................................................................11
7.1. Work Flow .........................................................................................11
7.2. Setting Up the SmartSlice ................................................................ 12
7.3. Setting Up the Controller.................................................................. 16
7.4. Connection Status Check................................................................. 28
8. Initialization Method................................................................................ 33
8.1. Controller ......................................................................................... 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 Port User's
Manual
W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual
W455 GRT1 series SmartSlice GRT1 Series Slice I/O Units Operation
Manual
W18E GRT1-ECT GRT1-series
EtherCAT Communication Unit Operation Manual

2. Terms and Definition
2
2. Terms and Definition
Ter ms 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 Machine Automation Controller uses process data
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 Servomotors.
It is accessed from the NJ-series Machine Automation Controller in the
following ways.
•With device variables for EtherCAT slave I/O
•With Axis Variables for Servo Drive and encoder input slaves 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 Machine Automation 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 control the bit signals.
The slave receives output data sent from the master, and transmits
input data to the master.
Node address An address to identify the unit connected to the EtherCAT.
ESI file
(EtherCAT Slave
Information file)
The ESI files contain information unique to the EtherCAT slaves in XML
format.
Install an ESI file into the Sysmac Studio, to allocate slave process data
and make other settings.

3. Remarks
3
3. Remarks
(1) Understand the specifications of devices 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 the risks of abnormal operation.
(2) To ensure system safety, 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 used in the system.
(3) The users are 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 of or whole of this document
without the permission of OMRON Corporation.
(5) This document provides the latest information as of December 2012. The information
contained in this document is subject to change for improvement without notice.

3. Remarks
The following notation is used in this document.
Precautions for Safe Use
Indicates precautions on what to do and what not to do to ensure using the product safely.
Precautions for Correct Use
Indicates precautions on what to do and what not to do to ensure proper operation and
performance.
Additional Information
Provides useful information.
Additional information to increase understanding or make operation easier.
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4. Overview
5
4. Overview
This document describes the procedure for connecting the SmartSlice (GRT1-ECT) of
OMRON Corporation (hereinafter referred to as OMRON) to NJ-series Machine Automation
Controller (hereinafter referred to as Controller) on the EtherCAT and provides the procedure
for checking their connection.
Refer to Section 7 Connection Procedure to understand the setting method and key points to
connect the devices via EtherCAT.

5. Applicable Devices and Support Software
5. Applicable Devices and Support Software
5.1. Applicable Devices
The applicable devices are give below.
Manufacturer Name Model Version
OMRON NJ series CPU Unit NJ501-[][][][]
NJ301-[][][][]
OMRON SmartSlice EtherCAT
Communications Unit
GRT1-ECT
OMRON SmartSlice Slice I/O Unit
Digital Input Unit
Digital Output Unit
Analog Input Unit
Analog Output Unit
Temperature Input Unit
Counter Unit
Positioning Unit
Turnback Unit
I/O Power Feed Unit
I/O Power Connection Unit
GRT1-ID[](-1)
GRT1-IA4-[]
GRT1-OD[](-1)
GRT1-ROS2
GRT1-AD2
GRT1-DA2[]
GRT1-TS2P(K)
GRT1-CT1(-1)
GRT1-CP1-L
GRT1-TBR
GRT1-TBL
GRT1-PD2[]
GRT1-PD8(-1)
GRT1-PC8(-1)
Versions
listed in
Section 5.2
and higher
versions
Additional Information
As applicable devices above, the devices listed in Section 5.2. are actually used in this
document to check the connection. When using devices not listed in Section 5.2, check the
connection by referring to the procedure in this document.
Additional Information
This document describes the procedure to establish the network connection. It does not
provide information about operation, installation nor wiring method of each device.
For details on the products (other than communication connection procedures) listed above,
refer to the manuals for the corresponding products or contact your OMRON representative.
Additional Information
You can connect devices with the versions listed in Section 5.2 or higher versions.
For devices whose versions are not listed in Section 5.2, versions are not managed or there
is no version restriction.
To connect a device whose model number is not listed in Section 5.2, use the same version
of the device that is listed.
6

5. Applicable Devices and Support Software
5.2. Device Configuration
The hardware components to reproduce the connection procedure in this document are as
follows.
USB cable
NJ501-1500
(Built-in EtherCAT port)
Ethernet cable
Personal computer
(Sysmac Studio installed
OS: Windows7)
GRT1-ECT+
SmartSlice Units
Manufacturer Name Model Version
OMRON CPU Unit
(Built-in EtherCAT port)
NJ501-1500 Ver.1.03
OMRON Power Supply Unit NJ1W-PA3001
OMRON Sysmac Studio SYSMAC-SE2[][][] Ver.1.04
- Personal computer (OS:Windows7) -
- USB cable
(USB 2.0 type B connector)
-
OMRON Ethernet cable (with industrial
Ethernet connector)
XS5W-T421-[]M[]-K
OMRON SmartSlice EtherCAT
Communication Unit
GRT1-ECT Ver.2.1
OMRON SmartSlice Digital Input Unit GRT1-ID8
GRT1-ID4
OMRON SmartSlice Analog Input Unit GRT1-AD2
OMRON SmartSlice Digital Output Unit GRT1-OD4
OMRON SmartSlice Analog Output Unit GRT1-DA2V
OMRON SmartSlice End Unit GRT1-END
Precautions for Correct Use
The connection line of EtherCAT communication cannot be shared with other networks, such
as Ethernet or EtherNet/IP.
The switching hub for Ethernet cannot be used for EtherCAT.
Please use the cable of Category 5 or higher, double-shielded with aluminum tape and
braided shielding and 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).
7