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).