Omron NJ501 series Instruction Manual

Machine Automation Controller NJ/NX-series
EtherCAT®
Connection Guide
CKD Corporation
ABSODEX driver
(AX9000TS/TH-U5)
P690-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® 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 guide 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. Parameters.............................................................................................. 8
6.2. Device Variables...................................................................................... 9
7. EtherCAT Connection Procedure.............................................................11
7.1. Work Flow ..............................................................................................11
7.2. CKD ABSODEX Driver Setup ............................................................... 12
7.3. Controller Setup.................................................................................... 18
7.4. EtherCAT Communication Status Check.............................................. 29
8. Initialization Method.................................................................................. 33
8.1. Initializing a Controller........................................................................... 33
8.2. Initializing a CKD ABSODEX Driver...................................................... 33
9. Revision History........................................................................................ 34

1
．
Related Manuals
1
1. Related Manuals
To ensure system safety, make sure to always read and follow the information provided in all
Safety Precautions and Precautions for Safe Use in the manuals for each device which is
used in the system.
The table below lists the manuals provided by CKD Corporation (hereinafter referred to as
"CKD") and OMRON Corporation (hereinafter referred to as "OMRON"), which pertain to this
guide.
Manufacturer Cat. No. Model Manual name
OMRON W500
NJ501-[]5[][]
NJ501-[]4[][]
NJ501-[]3[][]
NJ301-12[][]
NJ301-11[][]
NJ101-10[][]
NJ101-90[][]
NJ-series CPU Unit
Hardware User's Manual
OMRON W535
NX701-17[][]
NX701-16[][] NX-series
CPU Unit
Hardware User's Manual
OMRON W578
NX1P2-11[][][][]
NX1P2-10[][][][]
NX1P2-90[][][][]
NX-series
NX1P2 CPU Unit
Hardware User's Manual
OMRON W501
NX701-17[][]
NX701-16[][]
NX1P2-11[][][][]
NX1P2-10[][][][]
NX1P2-90[][][][]
NJ501-[]5[][]
NJ501-[]4[][]
NJ501-[]3[][]
NJ301-12[][]
NJ301-11[][]
NJ101-10[][]
NJ101-90[][]
NJ/NX-series
CPU Unit
Software User's Manual
OMRON W505 NJ/NX-series
CPU Unit Built-in EtherCAT® Port
User's Manual
OMRON W504 SYSMAC-SE2[][][] Sysmac Studio Version 1
Operation Manual
CKD SMF-2006-A AX9000TS/TH/XS INSTRUCTION MANUALABSODEX
AX SERIES
TS TYPE TH TYPE XS TYPE
CKD SMF-2012-A AX9000TS/TH-U5 Instruction Manual ABOSODEX AX
Series
TS type TH type EtherCAT specification
CKD SMF-2005-A - INSTRUCTION MANUALABSODEX
AX Tools for Windows®
Common for TS-Type, TH-Type,
MU-Type and XS-Type Drivers

2
．
Terms and Definitions
2
2. Terms and Definitions
Term Explanation and Definition
PDO communications
(Communications using
Process Data Objects)
PDO communications is used for constant data exchange
between a master and slaves.
PDO data (i.e., I/O data that is mapped to PDOs) that is
allocated in advance is input and output each EtherCAT
process data communications cycle (i.e., the task period of
primary periodic task).
The NJ/NX-series MachineAutomation Controller uses PDO
communications for commands to refresh I/O data in a fixed
control period, including I/O data for slave units and the position
control data for servomotors.
It is accessed from NJ/NX-series MachineAutomation
Controller in the following ways.
・With device variables for EtherCAT slave I/O
・With axis variables for a servo drive and an encoder input
slave to which an axis is assigned
SDO communications
(Communications using
Service Data Objects)
SDO communications is used to read and write specified slave
data from a master when required.
The NJ/NX-series MachineAutomation Controller uses SDO
communications for commands to read and write data, such as
for parameter transfers, at specified times.
The NJ/NX-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 bit signals.
A slave unit receives output data sent from a master, and sends
input data to a master.
Node address A node address is an address to identify a unit connected to
EtherCAT.
ESI file
(EtherCAT Slave Information
file)
An ESI file contains information unique to EtherCAT slave units
in XML format. You can load an ESI file into the Sysmac Studio,
to allocate EtherCAT 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 a safety
circuit, in order to ensure safety and minimize the risk of abnormal occurrence.
(2) To ensure system safety, make sure to always read and follow the information provided in
all Safety Precautions and Precautions for Safe Use in the manuals for each device
which is 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 guide
without the permission of OMRON Corporation.
(5) The information contained in this guide is current as of May 2017. It is subject to change
for improvement without notice.
The following notations are used in this guide.
Indicates a potentially hazardous situation which, if not avoided,
may 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 the text.
This example shows a general precaution for something that you must do.

4
．
Overview
4
4. Overview
This guide describes procedures for connecting a CKDABSODEX DriverAX9000TS/TH-U5
(hereinafter referred to as the "ABSODEX Driver") to an OMRON NJ/NX-series Machine
Automation Controller (hereinafter referred to as the "Controller") via EtherCAT and for
checking their communication status.
The explanations given in this guide assume the use of NJ-series Controllers.
Refer to Section 6. EtherCAT Settings and Section 7. EtherCAT Connection Procedure to
understand setting methods and key points to perform PDO Communications via 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/NX-series CPU Unit
NX701-17[][]
NX701-16[][]
NX1P2-11[][][][]
NX1P2-10[][][][]
NX1P2-90[][][][]
NJ501-[]5[][]
NJ501-[]4[][]
NJ501-[]3[][]
NJ301-12[][]
NJ301-11[][]
NJ101-10[][]
NJ101-90[][]
CKD ABSODEX Driver AX9000TS/TH-U5
CKD Actuator AX-T Series
Precautions for Correct Use
In this guide, the devices with models and versions listed in 5.2. Device Configuration are
used as examples of applicable devices to describe the procedures for connecting the
devices and checking their connections.
You cannot use devices with versions lower than the versions listed in 5.2.
To use the above devices with models not listed in 5.2. or versions higher than those listed in
5.2., check the differences in the specifications by referring to the manuals before operating
the devices.
Additional Information
This guide describes the procedures for establishing the network connections.
It does not provide information on operation, installation, wiring method, device functionality,
or device operation, which is not related to the connection procedures.
Refer to the manuals or contact the device manufacturer.
Additional Information
Contact CKD Corporation for Actuators connectable to theABSODEX Driver.

5
．
Applicable Devices and Device Configuration
6
5.2. Device Configuration
This guide describes the connection procedures using an NJ-series Controller.
The hardware components to reproduce the connection procedures in this guide are as
follows:
Manufacturer
Name
Model
Version
OMRON
NJ-series CPU Unit
(Built-in EtherCAT port)
NJ501-1500
Ver.1.13
OMRON
Power Supply Unit
NJ-PA3001
OMRON
Sysmac Studio
SYSMAC-SE2[][][]
Ver.1.17
-
Personal computer
(OS: Windows 7)
-
-
USB cable
(USB 2.0 type B connector)
-
OMRON
Ethernet cable (with industrial
Ethernet connector)
XS5W-T421-[]M[]-K
CKD
RS-232C cable
AX-RS232C-9P
CKD
ABSODEX Driver
AX9000TS-U5
Rev.0x0000
0001
CKD
Actuator
AX4009T
CKD
AXTools
-
V2.13
CKD
ESI file
CKD_ABSODEX_ECAT_161
206.xml
-
External power supply (24 VDC)
-
Precautions for Correct Use
Prepare the ESI file listed above beforehand.
To obtain the ESI file, contact CKD Corporation.
Precautions for Correct Use
The connection line of EtherCAT communications cannot be shared with other Ethernet
networks.
Do not use devices for Ethernet such as a switching hub.
Use an Ethernet cable (double shielding with aluminum tape and braiding) of Category 5 or
higher, and use a 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
AX9000TS-U5
AX4009T
Personal computer
(Sysmac Studio and
AXTools installed,
OS: Windows 7)
AX-RS232C-9P
External power supply

5
．
Applicable Devices and Device Configuration
7
Precautions for Correct Use
Update Sysmac Studio to the version specified in this Clause 5.2. or to a higher version.
If you use a version higher than the one specified, the procedures and related screenshots
described in Section 7. and subsequent sections may not be applicable.
In that case, use the equivalent procedures described in this guide by referring to the Sysmac
Studio Version 1 Operation Manual (Cat. No. W504).
Additional Information
For specifications of Ethernet cables and network wiring, refer to Section 4. EtherCAT
Network Wiring of the NJ/NX-series CPU Unit Built-in EtherCAT® Port User's Manual (Cat.
No. W505).
Additional Information
For external power supply specifications, refer to the Instruction Manual ABSODEX AX
Series TS type TH type EtherCAT specification (SMF-2012-A).
Additional Information
The system configuration in this guide uses USB for the connection between the personal
computer and the Controller. For information on how to install the USB driver, refer to A-1
Driver Installation for Direct USB Cable Connection of the Sysmac Studio Version 1
Operation Manual (Cat. No. W504).
For NX1P2 Controllers, there is no need to install the USB driver because they do not have a
USB port.
Additional Information
The NX1P2 Controller, if used, should be connected to your personal computer with an
Ethernet cable. For information on how to connect the cable, refer to 6-2 Going Online with a
Controller of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).