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.
4

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

5. Applicable Devices and Support Software
Additional Information
For information on the specifications of the Ethernet cable and network wring, refer to Section
4 EtherCAT Network Wiring in the NJ-series CPU Unit Built-in EtherCAT Port User's Manual
(Cat. No. W505).
Additional Information
The system configuration in this document uses USB for the connection between the
personal computer and the Controller. For information on 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).
8

6. EtherCAT Settings
9
6. EtherCAT Settings
This section provides specifications such as communications parameters and variable names
that are defined in this document.
Hereinafter, the SmartSlice is referred to as the “destination device” or “Slave Unit" in some
descriptions.
6.1. EtherCAT Communications Settings
The setting required for EtherCAT communications is as follows.
GRT1-ECT
Node address 01
6.2. Assignment of EtherCAT Communications
The following table shows the arrangement of the SmartSlice I/O Units.
Unit No. #1 #2 #3 #4 #5
Unit Type EtherCAT Unit Digital
Input
Unit
Digital
Input
Unit
Analog
Input
Unit
Digital
Output
Unit
Analog
Output
Unit
End
Unit
Model GRT1-ECT GRT1-I
D8
GRT1-I
D4
GRT1-
AD2
GRT1-
OD4
GRT1-
DA2V
GRT1-
END
I/O range setting of the Analog I/O Units
GRT1-AD2 GRT1-DA2V
I/O range 0 to 5V (Default) 0 to 5V (Default)
I/O range setting method ON: Set with the DIP switch. ON: Set with the DIP switch.
The device variables of the destination device are allocated to Controller's device variables.
The relationship between the device data and the device variables is shown below.
■Output area (Controller →Destination device)
Destination device data Device variable name Data type
#4 GRT1-OD4 Output 0 E001_DO001 BOOL
#4 GRT1-OD4 Output 1 E001_DO002 BOOL
#4 GRT1-OD4 Output 2 E001_DO003 BOOL
#4 GRT1-OD4 Output 3 E001_DO004 BOOL
#5 GRT1-DA2V Output 0 E001_AO001 INT
#5 GRT1-DA2V Output 1 E001_AO002 INT

6. EtherCAT Settings
10
■Input area (Controller ←Destination device)
Destination device data Global variable name Data type
#1 GRT1-ID8 Input 0 E001_DI001 BOOL
#1 GRT1-ID8 Input 1 E001_DI002 BOOL
#1 GRT1-ID8 Input 2 E001_DI003 BOOL
#1 GRT1-ID8 Input 3 E001_DI004 BOOL
#1 GRT1-ID8 Input 4 E001_DI005 BOOL
#1 GRT1-ID8 Input 5 E001_DI006 BOOL
#1 GRT1-ID8 Input 6 E001_DI007 BOOL
#1 GRT1-ID8 Input 7 E001_DI008 BOOL
#2 GRT1-ID4 Input 0 E001_DI009 BOOL
#2 GRT1-ID4 Input 1 E001_DI010 BOOL
#2 GRT1-ID4 Input 2 E001_DI011 BOOL
#2 GRT1-ID4 Input 3 E001_DI012 BOOL
#3 GRT1-AD2 Input 0 E001_AI001 INT
#3 GRT1-AD2 Input 1 E001_AI002 INT
■Details of the status allocation (Controller ←Destination device)
Destination device data Global variable name Data type
Communications Unit status E001_Communication_Unit_Status WORD
Slice I/O Bus
communication error flag E001_Bus_Communication_Error BOOL
Slice I/O Unit warning
flag E001_Unit_Warning BOOL
Slice I/O Unit alarm flag E001_Unit_Alarm BOOL
Unit maintenance flag E001_Unit_Maintenance BOOL
Automatic restore
monitor flag E001_Restore_Monitor BOOL
Communication Unit
error flag E001_Unit_Error BOOL
I/O refreshing flag E001_Refreshing BOOL

7. Connection Procedure
11
7. Connection Procedure
This section describes the procedure for connecting the Controller to the SmartSlice via
EtherCAT.
This document explains the procedures for setting up the Controller and SmartSlice from the
factory default setting. For the device initialization, refer to Section 8 Initialization Method.
7.1. Work Flow
The following is the procedure for connecting to the EtherCAT.
7.2. Setting Up the SmartSlice Set up the SmartSlice.
↓
7.2.1 Hardware Settings Set the hardware switches of the SmartSlice.
↓
7.3. Setting Up the Controller Set up the Controller.
↓
7.3.1 Starting the Sysmac Studio and
Setting EtherCAT Network
Configuration
Start the Sysmac Studio and set the EtherCAT
network configuration.
↓
7.3.2 Setting the Device Variables Set device variables to use 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. Connection Status Check Check the EtherCAT network connection status.
↓
7.4.1 Checking the Connection Status Confirm that EtherCAT communications are
performed normally.
↓
7.4.2 Checking Data that are Sent and
Received
Confirm that the correct data are sent and received.

7. Connection Procedure
7.2. Setting Up the SmartSlice
Set up the SmartSlice.
7.2.1. Hardware Setting
Set the hardware switches of the SmartSlice.
Precautions for Correct Use
Make sure that the power supply is OFF when you perform the settings.
1
Make sure that the power supply
to the SmartSlice is turned OFF.
*If the power supply is turned
ON, settings may not be
applicable as described in the
following procedure.
2
Refer to the right figure and
check the hardware switches
located on the front panel of the
SmartSlice EtherCAT
Communication Unit.
No. Name Function
(1) EtherCAT connector
IN port
(2) Link/Activity LED IN
port
(3) Shielding Terminal
(4) EtherCAT connector
OUT port
(5) Link/Activity LED
OUT port
(6)
(2)
(3)
(4)
(5)
(7)
(8)
(9)
(10)
(1)
12

7. Connection Procedure
(6) Rotary switches Set the Unit's address of the EtherCAT
Slave.
Set a decimal node address between 0
and 99.
(7) Indicators Refer to 7.4.1. Checking the Connection
Status for details.
(8) DIP Switch Sets the I/O allocation method and
registers the I/O Unit configuration
information.
SW1 (REGS):Create/enable registration
table.
SW2 (NC):Not used, set to OFF
SW3 (ADR):Automatic restore
SW4 (BACK):Backup trigger
(9) Unit power supply
terminals
Connect the power supply for the Unit's
internal circuits and the connected
SmartSlice I/O Units' internal circuits.
(10) I/O power supply
terminals
Connect the power supply for the
connected SmartSlice I/O Units' external
I/O.
3
Set the rotary switches (node
address setting switches) to 01.
4
Confirm that all DIP switch pins
are set to OFF (default).
Pin 1 ON:Registered table is enabled
OFF:Registered table is disabled
OFF to ON:Register I/O unit table
ON to OFF:Clear registered I/O unit
table
Pin 2 OFF: Not used.
Pin 3 OFF: Automatic restore disabled.
OFF to ON:When the SmartSlice I/O
Units are replaced, the parameter
data that was backed up with the
BACK dipswitch is automatically
restored.
Pin 4 ON to OFF to ON in 3 s:
Parameter data of all connected
SmartSlice I/O Units is backed
up.
13

7. Connection Procedure
5
Set the DIP switch pins of the
Analog I/O Unit.
GRT1-AD2
Pins 1 to 3 :OFF (Default)
Pin 4 :ON
GRT1-DA2V
Pin 1 to 2 :OFF (Default)
Pin 3 :OFF (Fixed)
Pin 4 :ON
Pin No. Setting Specifications
1
2
3
Input Terminal: Input range
setting for Inputs 0 and 1.
Default setting:All pins OFF
4 Input range setting method OFF: Set using Setting Tool.
ON: Set using DIP switch. (The
DIP switch settings are
disabled when this pin is OFF,
i.e., when the Setting Tool is
used.)
Note Default setting:OFF
Pin No. Setting Specifications
1
2
Set the output range for
Outputs 0 and 1.
Default setting:All pins OFF
3 Reserved Fixed at OFF.
4 Set the range setting
method.
OFF: Set using Setting Tool.
ON: Set using DIP switch.
Default setting:OFF
6
Mount the Units from the left in
the following order.
GRT1-ECT
GRT1-ID8
GRT1-ID4
GRT1-AD2
GRT1-OD4
GRT1-DA2V
GRT1-END
*For information on how to
mount Units, refer to 3-1-1
Connecting the
Communications Unit and Slice
I/O Units in the SmartSlice
GRT1 Series Slice I/O Units
Operation Manual (Cat. No.
W455).
7
Connect the power cable to the
Unit power supply terminals and
I/O power supply terminals, and
connect the Ethernet cable to
the EtherCAT connector IN port.
DIP Switch
Used to set
Input/output
range.
14

7. Connection Procedure
8
Wire I/O for 7.4.2. Checking
Data That Are Sent and
Received.
Connect a switch between input
terminal 7 and G of GRT1-ID8.
Connect a switch between input
terminal 3 and G of GRT1-ID4.
Refer to the figure on the right
and connect DA output 0 of
GRT1-DA2V to AD input 0 of
GRT1-AD2.
*Wiring to the terminal block is
necessary for 7.4.2. Checking
Data That Are Sent and
Received. Please note that the
wiring is not necessary to
perform EtherCAT
communications.
GRT1-ID8 GRT1-ID4
0 1 0 1
2 3 V V
G G G G
4 5 2 3
6 7
V V
G G G G
GRT1-DA2V GRT1-AD2
RSV RSV RSV RSV
15
RSV RSV 0+ 0+
RSV RSV 0- 0-
V0+ V1+ AG AG
V0- V1- SHT0A SHT1A
RSV RSV SHT0B SHT1B

7. Connection Procedure
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 software 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,
SmartSlice to the Controller.
Turn ON the power supply to the
Controller.
2
Start the Sysmac Studio.
Click the New Project Button.
*If a dialog box is displayed at
start confirming the access
right, select an option to start.
USB Cable
NJ501-1500
End cover
Power Supply Unit
Ethernet
Cable
16

7. Connection Procedure
3
The Project Properties Dialog
Box is displayed.
*In this document, New Project
is set as the project name.
Confirm that the Category and
Device are correctly set in the
Select Device Field.
Select 1.03 from the Version
pull-down menu.
*Although version 1.03 is
selected in this document,
select the version you use.
4
Click the Create Button.
5
The New Project is displayed.
The left pane is called Multiview
Explorer, the right pane is called
Toolbox and the middle pane is
called Edit Pane.
6
Double-click EtherCAT under
Configurations and Setup in
the Multiview Explorer.
Edit PaneEdit Pane Toolbox
Multiview
Explorer
17