Omron NJ-series Instruction Manual

Machine Automation Controller NJ-series
EtherCAT(R) Connection Guide
Hivertec, Inc.
EtherCAT Slave for Motion Control
(HES-M4[][]/NJ)
P603-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 USA and 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............................................................. 5
5.1. Applicable Devices...................................................................................................5
5.2. Device Configuration................................................................................................6
6. EtherCAT Settings............................................................................................................ 8
6.1. EtherCAT Communications Parameter Settings......................................................8
6.2. Allocation for PDO Communications........................................................................8
7. EtherCAT Connection Procedure................................................................................. 11
7.1. Work Flow............................................................................................................... 11
7.2. Setting Up the Hivertec EtherCAT Slave for Motion Control..................................12
7.3. Setting Up the Controller........................................................................................14
7.4. Checking the EtherCAT Communications..............................................................25
8. Initialization Method....................................................................................................... 27
8.1. Initializing the Controller.........................................................................................27
8.2. Initializing the Hivertec EtherCAT Slave for Motion Control...................................27
9. Revision History............................................................................................................. 28

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
-
HES-M400/NJ
EtherCAT Motion Slave EtherCAT series
HES-M400 User’s Manual <Hardware>
-
HES-M400/NJ
EtherCAT Motion Slave EtherCAT series
HES-C400 HES-M400 User’s Manual <Software>
-
HES-M400/NJ
EtherCAT Motion Slave EtherCAT series
User’s Manual <Introduction>
-
HES-M400/NJ
EtherCAT Motion Slave EtherCAT series
User’s Manual <Operation>
-
HLS-C400/NJ
For OMRON Machine Automation Controller NJ Series
Function Blocks for Hivertec EtherCAT Slave
HLS-C400/NJ 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 Machine Automation 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 MachineAutomation 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 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.
ESI file
(EtherCAT Slave
Information file)
The ESI files contain information unique to the EtherCAT slaves in XML
format.
Installing an ESI file enables the Sysmac Studio to allocate slave
process data and make other settings.

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, Precautions for Safe Use, and Precaution for Correct 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 April 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,
could result in death or serious injury. 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 proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Symbols
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 you must
do.

4．Overview
4
4. Overview
This document describes the procedure for connecting EtherCAT Slave for Motion Control
(HES-M4[][]/NJ) of Hivertec, Inc. (hereinafter referred to as Hivertec) to NJ-series Machine
Automation Controller (hereinafter referred to as Controller) of OMRON Corporation
(hereinafter referred to as OMRON) 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
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-[][][][]
Hivertec
EtherCAT Slave for Motion
Control
HES-M4[][]/NJ
-
Servomotor
Stepping motor
-
-
Servo amplifier
Stepping motor drive
-
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. Except for the
connection procedure, it does not provide information on operation, installation or wiring
method. It also does not describe the functionality or operation of the devices. Refer to the
manuals or contact the device manufacturer.
(Hivertec, Inc. http://www.hivertec.com/)
This URL is the latest address at the time of this document creation. Contact each device
manufacturer for the latest information.
Additional Information
Contact the device manufacturer for servomotors and stepping motors connectable to the
EtherCAT Slave for Motion Control.
(Hivertec, Inc. http://www.hivertec.com/)

5．Applicable Devices and Device Configuration
6
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.1.07
OMRON
Power Supply Unit
NJ-PA3001
OMRON
Sysmac Studio
SYSMAC-SE2[][][]
Ver.1.08
-
Personal computer
(OS: Windows 7)
-
-
USB cable (USB 2.0 type B
connector)
-
OMRON
Ethernet cable (with industrial
Ethernet connector)
XS5W-T421-[]M[]-K
Hivertec
EtherCAT Slave for Motion
Control
HES-M400/NJ
Rev.
0x00000000
Hivertec
ESI file
Hivertec
HESM400_111.xml
-
Stepping motor/2-phase stepping
motor (bipolar wiring: drive phase
current 0.5 to 2 (A/phase))
-
-
24 VDC power supply
-
Precautions for Correct Use
Prepare the ESI file shown in this section beforehand.
To obtain the ESI file, contact Hivertec.
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.
USB cable
NJ501-1500
(Built-in EtherCAT port)
Ethernet
cable
HES-M400/NJ
Stepping motor/
2-phase stepping motor
Personal computer
(Sysmac Studio, Installed,
OS: Windows 7)
24 VDC
power supply
24 VDC
power supply

5．Applicable Devices and Device Configuration
7
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 information on the specifications of the Ethernet cable and network wring, refer to Section
4 EtherCAT Network Wiring of 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 to 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).