Omron SCON-CA Instruction Manual

Machine Automation Controller NJ-series
EtherCAT(R) Connection Guide
IAI Corporation
SCON-CA/SCON-CAL Controller
P585-E1-02

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. Parameter Settings ................................................................................. 8
6.2. Device Variables ...................................................................................... 9
7. EtherCAT Connection Procedure.............................................................11
7.1. Work Flow .............................................................................................. 11
7.2. Setting up the IAI SCON-CA Controller ................................................ 12
7.3. Setting up the Controller ....................................................................... 19
7.4. Checking the EtherCAT Communications............................................. 30
8. Initialization Method.................................................................................. 35
8.1. Initializing the Controller ........................................................................ 35
8.2. Initializing the IAI SCON-CA Controller ................................................. 35
9. Revision History........................................................................................ 36

1
．
Related Manuals
1
1. Related Manuals
To ensure system safety, make sure to always read and heed the information provided in all
Safety Precautions and Precautions for Safe Use of manuals for each device which is used in
the system.
The table below lists the manuals of IAI Corporation (hereinafter referred to as IAI) and
OMRON Corporation (hereinafter referred to as OMRON) related to this document.
Manufacturer Cat. No. Model Manual name
OMRON W500 NJ501-[][][][]
NJ301-[][][][]
NJ-series CPU Unit Hardware User's Manual
OMRON W501 NJ501-[][][][]
NJ301-[][][][]
NJ-series CPU Unit Software User's Manual
OMRON W505 NJ501-[][][][]
NJ301-[][][][]
NJ-series CPU Unit Built-in EtherCAT(R) Port
User's Manual
OMRON W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual
IAI ME0243 SCON-CA
SCON-CAL
SCON-CA/CAL/CGAL Controller Instruction
Manual
IAI ME0273 SCON-CA
SCON-CAL
EtherCAT Operation Manual
IAI ME0155 RCM-101-MW
RCM-101-USB
PC Software RCM-101-MW, RCM-101-USB
Operation 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 Machine Automation
Controller in the following ways.
・With device variables for EtherCAT slave I/O
・
With Axis 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 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, make sure to always read and heed the information provided in
all Safety Precautions and Precautions for Safe Use of 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
document without the permission of OMRON Corporation.
(5) The information contained in this document is current as of January 2015. It is subject to
change without notice for improvement.
The following notation is 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 SCON-CA/SCON-CAL Controller of
IAI to NJ-series Machine Automation Controller (hereinafter referred to as the Controller) of
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-[][][][]
IAI SCON-CA Controller
SCON-CAL Controller
SCON-CA-[]-EC-[]
SCON-CAL-[]-EC-[]
IAI Actuator -
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 models 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 the device manufacturer.
(IAI Corporation http://www.intelligentactuator.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 IAI Corporation for actuators connectable to SCON-CA/SCON-CAL Controllers.

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.1.09
OMRON
Power Supply Unit
NJ-PA3001
OMRON
Sysmac Studio
SYSMAC-SE2[][][]
Ver.1.10
-
Personal computer
(OS: Windows 7)
-
-
USB cable
(USB 2.0 type B connector)
-
OMRON
Ethernet cable (with industrial
Ethernet connector)
XS5W-T421-[]M[]-K
IAI
SCON-CA Controller
SCON-CA-60I-EC-0-1
Rev.0x0001
0007
IAI
USB cable
CB-SEL-USB010
IAI
USB conversion unit
RCB-CV-USB
IAI
Communication cable
CB-RCA-SIO050
IAI
Actuator
RCS2-GD5N-I-60-10-50-T2-P
IAI
Motor cable
CB-RCC-MA010
IAI
Encoder cable
CB-RCS2-PA010
IAI
PC Interface Software for RC
RCM-101-MW
RCM-101-USB
Ver.9.07.00.
00-E
IAI
ESI file
ESI_IAI_CON_ECT_V_1_07_
Rev_0.xml
Precautions for Correct Use
Prepare the ESI file shown in this section beforehand.
The latest ESI file can be downloaded from the IAI website.
IAI Corporation http://www.intelligentactuator.com/field-network-configuration-files/
Contact IAI if the file is not available.
USB cable
NJ501-1500
(Built-in EtherCAT port)
Ethernet cable
SCON-CA-60I-EC-0-1
RCS2-GD5N-I-60-10-50-T2-P
Personal computer
(Sysmac Studio, PC
Interface Software for RC
installed, OS: Windows 7)
Motor cable
USB cable + USB conversion unit + Communication cable
Encoder cable

5
．
Applicable Devices and Device Configuration
7
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 the Ethernet 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, referring to the Sysmac Studio
Version 1 Operation Manual (Cat. No. W504), use the equivalent procedures described in
this document.
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).
Additional Information
The system configuration in this document uses USB for the connection to the SCON-CA
Controller. For how to install a USB driver, refer to Section 1.3.3. How to Install the USB
Conversion Adapter Driver Software of the PC Software RCM-101-MW, RCM-101-USB
Operation Manual (ME0155).

6
．
EtherCAT Settings
8
6. EtherCAT Settings
This section describes the specifications such as parameters and device variables that are set
in this document.
Hereinafter, the SCON-CA Controller is referred to as the "Destination Device" or the "Slave
Unit" in some descriptions.
6.1. Parameter Settings
The parameters required for connecting the Controller and the SCON-CA Controller via
EtherCAT are given below.
Name
Setting item
Set value
Remarks
SCON-CA
Controller
Axis number 0 -
Operation mode changeover
switch 1
OFF Positioner mode including
fieldbus specification
Fieldbus operation mode 2 Half direct value mode
Fieldbus node address 1 -
Fieldbus communication speed 0 -
Network type 6 -
Fieldbus input/output format 3 Default setting

6
．
EtherCAT Settings
9
6.2. Device Variables
The PDO communications data for the Destination Device are allocated to the Controller's
device variables.
The device variables and the data types are shown below.
■Output area (from Controller to Destination Device)
Device variable name
Data type
Description
E001_Out_Target_Position_2003_01
DINT
Target Position
E001_Out_Positioning_Band_2003_02
UDINT
Positioning Band
E001_Out_Velocity_2003_03
UINT
Velocity
E001_Out_Acceleration_Deceleration_2003_04
UINT
Acceleration / Deceleration
E001_Out_Pressing_Current_Limit_2003_05
UINT
Pressing Current Limit Value
E001_Out_Control_signal_2003_06
WORD
Control Signal
E001_Out_Bit00_DSTR
BOOL
Positioning Command
E001_Out_Bit01_HOME
BOOL
Home return
E001_Out_Bit02_STP
BOOL
Pause
E001_Out_Bit03_RES
BOOL
Reset
E001_Out_Bit04_SON
BOOL
Servo ON Command
E001_Out_Bit05_JISL
BOOL
Jog/inch switching
E001_Out_Bit06_JVEL BOOL
Jog-speed/inch-distance
switching
E001_Out_Bit07_JOG_0
BOOL
- Jog
E001_Out_Bit08_JOG_0
BOOL
+ Jog
E001_Out_Bit09_Reserved_0
BOOL
Unavailable
E001_Out_Bit10_GSL0 BOOL
Servo gain parameter set
selection 0
E001_Out_Bit11_GSL1 BOOL
Servo gain parameter set
selection 1
E001_Out_Bit12_PUSH
BOOL
Push-motion specification
E001_Out_Bit13_DIR
BOOL
Push direction specification
E001_Out_Bit14_RMOD
BOOL
Operating mode selector
E001_Out_Bit15_BKRL
BOOL
Forced brake release

6
．
EtherCAT Settings
10
■Input area (from Destination Device to Controller)
Device variable name
Data type
Description
E001_In_Current_Position_2004_01
DINT
Current Position
E001_In_Command_Current_2004_02
UDINT
Command Current
E001_In_Current_Speed_2004_03
DINT
Current Speed
E001_In_Alarm_Code_2004_04
UINT
Alarm Code
E001_In_Status_Signal_2004_05
WORD
Status Signal
E001_In_Bit00_PEND BOOL
Positioning completion
signal
E001_In_Bit01_HEND
BOOL
Home return completion
E001_In_Bit02_MOVE
BOOL
Moving Signal
E001_In_Bit03_ALM
BOOL
Alarm
E001_In_Bit04_SV BOOL Operation preparation
end
E001_In_Bit05_PSFL
BOOL
Pressing and a Miss
E001_In_Bit06_Reserved_0
BOOL
Unavailable
E001_In_Bit07_BALM_ALML BOOL
Absolute battery voltage low
warning
E001_In_Bit08_RMDS
BOOL
Operation Mode Status
E001_In_Bit09_Reserved_0
BOOL
Unavailable
E001_In_Bit10_Reserved_0
BOOL
Unavailable
E001_In_Bit11_Reserved_0
BOOL
Unavailable
E001_In_Bit12_ZONE1
BOOL
Zone 1
E001_In_Bit13_ZONE2
BOOL
Zone 2
E001_In_Bit14_PWR
BOOL
Controller ready
E001_In_Bit15_EMGS
BOOL
Emergency stop
Additional Information
For details on the allocations of input and output areas, refer to Section 4.6. Communicating
with the Master Station of the EtherCAT Operation Manual (ME0273).
Additional Information
The device variables are named automatically from a combination of the device names and
the port names.
The default device names are “E" followed by a serial number that starts from 001.

7
．
EtherCAT Connection Procedure
11
7. EtherCAT Connection Procedure
This section describes the procedure for connecting the Controller to the SCON-CA Controller
via EtherCAT.
This document explains the procedures for setting up the Controller and the SCON-CA
Controller based on the factory default setting. For the initialization, refer to Section 8
Initialization Method.
7.1. Work Flow
Take the following steps to perform PDO Communications of EtherCAT.
7.2. Setting up the IAI SCON-CA
Controller
Set up the IAI SCON-CA Controller.
↓
7.2.1. Hardware Settings
Set the hardware switches on the SCON-CA
Controller and connect the cables.
↓
7.2.2. Parameter Settings
Set the parameters for the SCON-CA Controller.
↓
7.3. Setting up the Controller
Set up the Controller.
↓
7.3.1. Starting the Sysmac Studio and
Installing the ESI File
Install the ESI file for the SCON-CA Controller in the
Sysmac Studio.
↓
7.3.2. Setting up the EtherCAT
Network Configuration
Set up the EtherCAT network configuration.
↓
7.3.3. Setting the Device Variables
Set the device variables used for the EtherCAT
Slave Unit.
↓
7.3.4. Transferring the Project Data
Transfer the project data from the Sysmac Studio to
the Controller.
↓
7.4. Checking the EtherCAT
Communications
Confirm that the PDO communications of EtherCAT
are performed normally.
↓
7.4.1. Checking the Connection Status
Check the connection status of the EtherCAT
network.
↓
7.4.2. Checking the Sent and
Received Data
Confirm that the correct data are sent and received.

7
．
EtherCAT Connection Procedure
12
7.2. Setting up the IAI SCON-CA Controller
Set up the IAI SCON-CA Controller.
7.2.1. Hardware Settings
Set the hardware switches on the SCON-CA Controller and connect the cables.
Precautions for Correct Use
Make sure that the power supply is OFF when you perform the setting up.
1
Make sure that the power supply
to the SCON-CA Controller is
OFF.
*If the power supply is turned
ON, settings may not be
applicable as described in the
following procedures.
2
Check the position of the
hardware switches and the
connectors of the SCON-CA
Controller by referring to the
right figure.
3
Set the Axis Number Setting
Switch (ADRS) to 0.
EtherCAT(R) Input Port
SIO Connector
Motor Connector
Power Supply
Connector
Brake Release
Switch
Encoder Connector
Status LED
(RUN/ERR)
System I/O Connector
FG Connection
Terminal
Regeneration Unit
Connecting Connector
Brake Power Supply
Connector
EtherCAT(R) Output Port
Status Indicator LEDs
Axis Number Setting
Switch (ADRS)
Operation Mode
Changeover Switch
Absolute Battery
Connector
Operation Mode
Setting Switch

7
．
EtherCAT Connection Procedure
13
4
Set the Operation Mode
Changeover Switch 1 to OFF.
(Operation Mode Changeover
Switch: Positioner mode
including fieldbus specification)
*Do not set the Operation Mode
Changeover Switch 2 to ON as
it is used by the manufacturer
for adjustment purposes.
(Operation Mode Changeover Switch)
5
Connect the Motor Connector
and the Actuator with the Motor
cable.
Connect the Encoder Connector
and the Actuator with the
Encoder cable.
Actuator
6
Connect the Ethernet cable to
the EtherCAT(R) Input Port.
7
Connect 100 VAC power supply
to the Motor AC power inputs
and the Control AC power inputs
of the Power Supply Connector.
For details on wiring, refer to the
SCON-CA/CAL/CGAL
Controller Instruction Manual
(ME0243).
Pin No Signal
name
Description
1
L1
Motor AC power input
2
L2
Motor AC power input
3
L1c
Control AC power input
4
L2c
Control AC power input
5
NC
Unconnected
6
PE
Protective ground line
Ethernet cable
Motor cable
Encoder cable

7
．
EtherCAT Connection Procedure
14
7.2.2. Parameter Settings
Set the parameters for the SCON-CA Controller.
Parameters are set by PC Interface Software for RC. Install the software and USB Driver to
the Personal computer beforehand.
Additional Information
For information on how to install drivers, etc., refer to the PC Software RCM-101-MW,
RCM-101-USB Operation Manual (Cat. No. ME0155).
1
Connect the SCON-CA
Controller to the Personal
computer with a USB cable,
USB conversion unit, and
Communication cable.
*Connect the USB cable to the
USB port on the Personal
computer. Connect the
Communication cable to the
SIO Connector on the
SCON-CA Controller.
2
Set the Operation Mode Setting
Switch on the front of the
SCON-CA Controller to the
MANU side.
3
Turn ON the power supply to the
SCON-CA Controller.
4
Start the PC Interface Software
for RC from the Personal
computer.
Personal
computer
USB cable
Communication
cable
USB conversion
unit
SIO connector

7
．
EtherCAT Connection Procedure
15
5
The Setting of application Dialog
Box is displayed only at the
initial start after the software has
been installed.
Select the communications port
No. to be used in the Port Field,
and click the OK Button.
*If there are multiple serial ports
on the Personal computer,
display the Windows Device
Manager. Then select the
same port as the
communications port No.
where the SCON-CA Controller
is connected under Ports
(COM & LPT) (COM6 in this
example).
*To display the Device
Manager, right-click My
Computer and click Properties
from the Windows Menu. Then
click Device Manager in the
window that is displayed.
6
When the software starts,
the Check for connected axes
Dialog Box is displayed, and
then the SCON-CA Controller
goes online.
The connected axes check
performs to the final axis (the
figure on the right indicates Axis
No.: 15) when you go online.

7
．
EtherCAT Connection Procedure
16
7
If the Alarm Dialog Box is
displayed, check the cable
connections and the
communications port No..
Check the contents and click the
OK Button, then perform steps 8
to 9.
If the Alarm Dialog Box is not
displayed, steps 8 to 9 are
unnecessary.
Proceed to step 10.
8
Check the cable connections
and the communications port
No..
*Select Application from the
Setting Menu for the
communications port No..
The Setting of application
Dialog Box in step 5 is
displayed. Check the
communications port No. to
use.
9
Select Check for connected
axes – Controller from the
Setting Menu.
10
The Manual operation mode
Select Dialog Box is displayed.
Select Teach 1 (Safety speed
effective/PIO start prohibition)
as the manual operation mode,
and click the
OK
Button.

7
．
EtherCAT Connection Procedure
17
11
The main screen is displayed.
12
Select Edit from the Parameter
Menu.
13
The parameter edit window is
displayed as shown on the right.
Scroll through the parameter
options to check and change the
following parameters.
・Fieldbus operation mode
(No.84): 2 (Default: 0)
・Fieldbus node address
(No.85): 1 (Default: 0)
・Fieldbus communication speed
(No.86): 0 (Default)
・Network type (No.87):
6 (Default)
・Fieldbus input/output format
(No.90): 3 (Default)
*Any change made to the value
appears in red. (e.g. If the
value is changed from 0 to 2, 2
is displayed in red).
14
Select Load to CTL from the
Parameter Menu.