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).