Omron sysmac EtherCAT NJ101 Series Instruction Manual

Machine Automation Controller NJ/NX-series
EtherCAT®
Connection Guide
Kashiyama Industries, LTD.
Dry Vacuum Pump
(EtherCAT Interface E-CAT02)
P745-E1-01

About Intellectual Property Rights and Trademarks
Microsoft product screen shot(s) used with permission from Microsoft.
Windows is a registered trademark of Microsoft Corporation in the USAand other countries.
EtherCAT® is a registered trademark and patented technology, licensed by BeckhoffAutomation
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 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................................................................................................ 8
6.2. Device Variable ....................................................................................... 9
7. EtherCAT Connection Procedure............................................................ 10
7.1. Work Flow ............................................................................................. 10
7.2. Kashiyama Dry Vacuum Pump Setup....................................................11
7.3. Controller Setup.................................................................................... 13
7.4. EtherCAT Communication Status Check.............................................. 25
8. Initialization Method.................................................................................. 28
8.1. Initializing a Controller........................................................................... 28
9. Revision History........................................................................................ 29

1．Related Manuals
1
1. Related Manuals
To ensure system safety, make sure you always read and follow the information provided in all
Safety Precautions and Precautions for Safe Use in the manuals for each device used in the
system.
The table below lists the manuals provided by Kashiyama Industries, LTD. (hereinafter
referred to as "Kashiyama") and OMRON Corporation (hereinafter referred to as "OMRON"),
which pertain to this guide.
Manufacturer Cat. No. Model Manual name
OMRON W500 NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NJ-series CPU Unit
Hardware User's Manual
OMRON W535 NX701-□□□□ NX-series CPU Unit
Hardware User's Manual
OMRON W593 NX102-□□□□ NX-series
NX102 CPU Unit
Hardware User's Manual
OMRON W578 NX1P2-□□□□ NX-series
NX1P2 CPU Unit
Hardware User's Manual
OMRON W501 NX701-□□□□
NX102-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
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
Kashiyama TDA-00135-01 E-CAT02 Kashiyama Dry Vacuum Pump
EtherCAT Communication Specification

2．Terms and Definitions
2
2. Terms and Definitions
The terms and definitions used in this guide are given below.
Term Explanation and Definition
PDO communications
(Process Data Objects
communications)
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
Machine Automation Controllers use 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 Machine
Automation Controllers in the following ways.
・With device variables for EtherCAT slave I/O
・With axis variables for a servo drive and encoder input slaves
to which an axis is assigned
SDO communications
(Service Data Objects
communications)
SDO communications is used to read and write specified slave
data from a master when required. The NJ/NX-series Machine
Automation Controllers use SDO communications for
commands to read and write data, such as for parameter
transfers, at specified times. The NJ/NX-series Machine
Automation Controllers can read/write the specified slave data,
such as parameters and error information, with the
EC_CoESDORead (Read CoE SDO) instruction or the
EC_CoESDOWrite (Write CoE SDO) instruction.
slave unit A generic name for a device that performs EtherCAT
communications with an EtherCAT master. There are various
types of slave units such as servo drives that handle position
data and I/O terminals that handle bit signals.
node address An address to identify a slave unit connected to EtherCAT.
ESI file
(EtherCAT slave information
file)
It contains information unique to EtherCAT slave units in XML
format. The ESI file can be loaded into 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 you always read and follow the information provided
in all Safety Precautions and Precautions for Safe Use in the 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 guide
without the permission of OMRON Corporation.
(5) The information contained in this guide is current as of May 2021. 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 Kashiyama Dry Vacuum Pump (with an
EtherCAT interface E-CAT02) (hereinafter referred to as the "Dry Vacuum Pump") and an
OMRON NJ/NX-series MachineAutomation Controller (hereinafter referred to as the
"Controller") via EtherCAT and for checking their communication status.
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-□□□□
NX102-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
Kashiyama Dry Vacuum Pump －
EtherCAT interface E-CAT02
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 connection. You cannot use devices with versions lower than
those 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 connection.
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 manufacturers of the applicable devices for other
information.
Additional Information
Contact Kashiyama Industries, LTD. for information on the models of Dry Vacuum Pumps that
can use the EtherCAT interface E-CAT02.

5．Applicable Devices and Device Configuration
6
5.2. Device Configuration
The hardware components to replicate the connection procedures in this guide are as follows:
Manufacturer Name Model Version
OMRON NX-series CPU Unit
(built-in EtherCAT port) NX102-1200 Ver.1.42
－Power supply
(24 VDC for Controller) －
OMRON Sysmac Studio SYSMAC-SE2□□□ Ver.1.43
－PC (OS: Windows 10) －
－LAN cable (STP (shielded,
twisted-pair) cable of Ethernet
category 5 or higher)
－
OMRON Ethernet cable (with industrial
Ethernet connector) XS5W-T421-□M□-K
Kashiyama Dry Vacuum Pump －Rev.
0x00000100
EtherCAT Interface E-CAT02
Kashiyama Handheld Controller －
Kashiyama ESI file KASHIYAMA_ECAT02_Rel
ease_V0100.xml
Precautions for Correct Use
Contact Kashiyama Industries, LTD. to obtain the ESI file specified above before proceeding.
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 an Ethernet switch. 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.
PC
(Sysmac Studio installed,
OS: Windows 10)
NX102-1200
(built-in EtherCAT port)
Dry Vacuum Pump
(EtherCAT Interface E-CAT02)
Power
supply
Handheld
Controller
LAN cable
Ethernet cable
(e.g. SD series)

5．Applicable Devices and Device Configuration
7
Precautions for Correct Use
Update Sysmac Studio to the version 1.43 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
the 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 information on the specifications of Ethernet cables and the 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 information on the power supply specifications of the Controller, refer to the NX-series
NX102 CPU Unit Hardware User's Manual (Cat. No. W593).

6．EtherCAT Settings
8
6. EtherCAT Settings
This section describes the parameter and device variables that are defined in this guide.
In the following sections, the Dry Vacuum Pump is referred to as the "slave unit" in some
descriptions.
6.1. Parameter
The following parameter is required to connect the Dry Vacuum Pump and the Controller via
EtherCAT.
Name Setting item
Setting
value
Remarks
Dry Vacuum Pump Node address 1 By the ID Selector (hardware switch)
Additional Information
The node address can also be set using Sysmac Studio.
Refer to 2-2 Setting the Node Addresses of the EtherCAT Slaves of the NJ/NX-series CPU
Unit Built-in EtherCAT® Port User's Manual (Cat. No. W505) for information on how to set the
node address using Sysmac Studio.

6．EtherCAT Settings
9
6.2. Device Variable
The process data to communicate with the Dry Vacuum Pump is assigned to the Controller's
device variables. The device variable names and data types are shown below.
Output area (Controller to Dry Vacuum Pump)
Device variable name Data type Description
E001_SDP_Default_RxPDO_Mapping_Roughing_Start_Stop_7000_01 BOOL Roughing Start
E001_SDP_Default_RxPDO_Mapping_Low_Speed_Idle_Sleep_G_7000_04
BOOL
Low Speed Mode
Input area (Dry Vacuum Pump to Controller)
Device variable name
Data type
Description
E001_SDP_Default_TxPDO_Mapping_Roughing_Run_Stop_6000_01 BOOL Roughing Run/Stop
E001_SDP_Default_TxPDO_Mapping_Booster_Run_Stop_6000_02 BOOL Booster Run/Stop
E001_SDP_Default_TxPDO_Mapping_Low_Speed_Idle_Sleep_G_6000_04
BOOL
Low Speed Mode
E001_SDP_Default_TxPDO_Mapping_Remote_Local_6000_05
BOOL
Remote/Local
E001_SDP_Default_TxPDO_Mapping_Warning_6000_09 BOOL Warning
E001_SDP_Default_TxPDO_Mapping_Alarm_6000_0A
BOOL
Alarm
E001_SDP_Default_TxPDO_Mapping_Emergency_Off_6000_0B
BOOL
Emergency Off
E001_SDP_Default_TxPDO_Mapping_N2_Flow_Low_6000_0C BOOL N2 Flow Low
E001_SDP_Default_TxPDO_Mapping_N2_Flow_6001_02 INT N2 Flow
E001_SDP_Default_TxPDO_Mapping_Exhaust_Pressure_6001_03
INT
Exhaust Pressure
E001_SDP_Default_TxPDO_Mapping_Roughing_Case_Temperature_6001_05 INT Roughing Case
Temperature
E001_SDP_Default_TxPDO_Mapping_Roughing_Current_6001_09 INT Roughing Current
E001_SDP_Default_TxPDO_Mapping_Roughing_Power_6001_0A
INT
Roughing Power
E001_SDP_Default_TxPDO_Mapping_Roughing_Speed_6001_0B
INT
Roughing Speed
E001_SDP_Default_TxPDO_Mapping_Booster_Case_Temperature_6002_05 INT Booster Case
Temperature
E001_SDP_Default_TxPDO_Mapping_Booster_Current_6002_09 INT Booster Current
E001_SDP_Default_TxPDO_Mapping_Booster_Power_6002_0A
INT
Booster Power
E001_SDP_Default_TxPDO_Mapping_Booster_Speed_6002_0B INT Booster Speed
Precautions for Correct Use
If you edit the PDO mappings in a PDO entry table (data type: BOOL), add padding (index:
0x0000:00) in order to adjust the data size of the PDO mappings to the byte boundary of 8
bits.
Additional Information
For more information on the assignments in the input and output areas, refer to 4.2 SDP
Default PDO Mapping of the Kashiyama Dry Vacuum Pump EtherCAT Communication
Specification (TDA-00135-01).
Additional Information
The device variables are automatically created by combining the device name and the port
name. The default device names are "E" followed by a serial number starting from "001".

7．EtherCAT Connection Procedure
10
7. EtherCAT Connection Procedure
This section describes the procedures for connecting the Controller and the Dry Vacuum
Pump via EtherCAT. The procedure for setting up the Controller in this guide is based on the
factory default settings. Refer to Section 8. Initialization Method for information on how to
initialize the Controller.
7.1. Work Flow
Take the following steps to connect the Controller and the Dry Vacuum Pump via EtherCAT
and perform PDO communications.
7.2. Kashiyama Dry Vacuum Pump
Setup
Set up the Kashiyama Dry Vacuum Pump.
↓
7.2.1. Hardware Settings
Set the hardware switches on the Dry Vacuum
Pump and connect the cable.
↓
7.3. Controller Setup
Set up the Controller.
↓
7.3.1. Starting Sysmac Studio and
Installing the ESI File
Start Sysmac Studio and install the ESI file of the
Dry Vacuum Pump.
↓
7.3.2. Setting the EtherCAT Network
Configuration
Set the EtherCAT network configuration.
↓
7.3.3. Setting Device Variables
Set device variables used for PDO
communications with the slave unit.
↓
7.3.4. Transferring the Project Data
Transfer the project data created in Sysmac Studio
to the Controller.
↓
7.4. EtherCAT Communication Status
Check
Confirm that PDO communications via EtherCAT is
performed normally.
↓
7.4.1. Checking the Connection Status
Check the EtherCAT connection status.
↓
7.4.2. Checking Sent and Received
Data
Check that correct data is sent and received.

7．EtherCAT Connection Procedure
11
7.2. Kashiyama Dry Vacuum Pump Setup
Set up the Kashiyama Dry Vacuum Pump.
7.2.1. Hardware Settings
Set the hardware switches on the Dry Vacuum Pump and connect the cable.
Precautions for Correct Use
Make sure the power supply is OFF before setting up. If it is ON, the settings described in the
following steps and subsequent procedures may not be applicable.
1
Make sure Dry Vacuum Pump is
powered OFF.
*For information on the power
supply connection to Dry
Vacuum Pump, refer to the
manuals of your Dry Vacuum
Pump.
2
Check the positions of the
hardware switches and
connectors on Dry Vacuum
Pump by referring to the figure
on the right
3
Set ID Selector as follows:
x100: 0
x10: 0
x1: 1
*The node address is set to 1.
ID Selector
EtherCAT Connector
x100
x10
x1
1
0
0
ID Selector

7．EtherCAT Connection Procedure
12
4
Connect an Ethernet cable to
EtherCAT Connector (IN).
Ethernet cable
EtherCAT Connector

7．EtherCAT Connection Procedure
13
7.3. Controller Setup
Set up the Controller.
7.3.1. Starting Sysmac Studio and Installing the ESI File
Start Sysmac Studio and install the ESI file of the Dry Vacuum Pump.
1
Make sure Dry Vacuum Pump
and Power supply for Controller
are OFF.
2
Connect PC and Built-in
EtherNet/IP port (PORT1) on
Controller with a LAN cable.
Connect the other end of the
Ethernet cable (which at one
end has been connected to Dry
Vacuum Pump) to Built-in
EtherCAT port (PORT3) on
Controller.
Connect Power supply to
Controller.
*For information on the power
supply connection to Controller,
refer to 5-4-1 Wiring the Unit
Power Supply of the NX-series
NX102 CPU Unit Hardware
User's Manual (Cat. No.
W593).
3
Start Sysmac Studio.
*If the User Account Control
Dialog Box appears at start,
make a selection to start
Sysmac Studio.
4
Sysmac Studio starts up.
Click New Project.
Ethernet cable
Built-in EtherCAT port
(PORT3)
Built-in EtherNet/IP port
(PORT1)
Controller
LAN cable
Power
supply
PC
Dry Vacuum Pump

7．EtherCAT Connection Procedure
14
5
The Project Properties Screen
appears. Select items
appropriate for your Controller
from the pull-down list in each
field of Select Device.
Click Create.
The following Controller is used
in this guide.
・Category: Controller
・Device: NX102-1200
・Version: 1.42
*In this guide, "New Project" is
used as the project name.
6
The New Project Window
appears.
The following panes are
displayed in the window.
Left: Multiview Explorer
Upper right: Toolbox
Lower right: Controller Status Pane
Upper middle: Edit Pane
The following tabs are displayed
in the lower middle of the
window.
Output Tab Page
Build Tab Page
7
Double-click EtherCAT under
Configurations and Setup in
the Multiview Explorer.
8
The EtherCAT Tab Page
appears in the Edit Pane.
Controller
Status
Pane
Toolbox
Edit Pane
Multiview
Explorer
Output Tab
Page
Build Tab
Page

7．EtherCAT Connection Procedure
15
9
Right-click Master and select
Display ESI Library from the
menu.
10
The ESI Library Dialog Box
appears.
Click Install (File).
11
The Open Dialog Box appears.
Select the prepared ESI file
KASHIYAMA_ECAT02_Release
_V0100.xml and click Open.
12
The dialog box on the right
appears. Check the message
and click Yes.

7．EtherCAT Connection Procedure
16
13
The dialog box on the right
appears when the ESI file
installation is completed.
Check the message and click
OK.
14
Click the +sign to the left of
KASHIYAMA_ECAT02_Release
_V0100 in the ESI Library Dialog
Box, and check that E-CAT02
Rev:0x00000100 (E-CAT02) is
displayed.
Check that there are no
exclamation marks (errors).
Click Close.
Precautions for Correct Use
If an exclamation mark (error) appears to the left of the ESI file, check the name of the ESI
file, and then obtain the ESI file with a correct name. If an exclamation mark (error) still
appears even when the name of the ESI file is correct, the file may be corrupted.
In that case, contact Kashiyama Industries, LTD.

7．EtherCAT Connection Procedure
17
7.3.2. Setting the EtherCAT Network Configuration
Set the EtherCAT network configuration.
1
Turn ON Controller and Dry
Vacuum Pump.
2
Select Communications Setup
from the Controller Menu.
3
The Communications Setup
Dialog Box appears.
Check that Direct connection via
Ethernet is selected in the
Connection type Field.
Click OK.
4
Select Online from the
Controller Menu.
*If the dialog box on the right
appears, check the message
and click OK. Then select
Online again.
*If the dialog box on the right
appears, check the message
and click Yes.
*The message of the dialog box
varies with the Controller
status. Check the message
and click on an appropriate
button to proceed with the
processing.
5
When an online connection is
established, a yellow line
appears under the toolbar.