Omron sysmac EtherNet/IP NJ Series Instruction Manual

Machine Automation Controller NJ/NX-series
EtherCAT®
Connection Guide
Weidmüller Interface
GmbH & Co. KG
Remote I/O System
(u-remote IP20)
P695-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 USA and 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. Parameter................................................................................................ 8
6.2. Module Configuration.............................................................................. 8
6.3. Device Variables...................................................................................... 9
7. EtherCAT Connection Procedure............................................................ 15
7.1. Work Flow ............................................................................................. 15
7.2. Weidmüller u-remote Setup .................................................................. 16
7.3. Controller Setup.................................................................................... 17
7.4. EtherCAT Communication Status Check.............................................. 30
8. Initialization Method.................................................................................. 34
8.1. Initializing a Controller........................................................................... 34
8.2. Initializing a Weidmüller u-remote......................................................... 34
9. Revision History........................................................................................ 35

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 Weidmüller Interface GmbH & Co. KG
(hereinafter referred to as "Weidmüller") 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
Weidmüller 1432790000 u-remote IP20 Remote-I/O-System u-remote
Manual (Original)
Weidmüller 2112220000 u-remote IP20 Remote-I/O-System u-remote
Web server manual

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 Machine Automation 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 Machine Automation 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 A generic name for a device that performs EtherCAT
communications with an EtherCAT master. There are various
types of slaves such as servo drives that handle position data
and I/O terminals that handle bit signals.
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 November 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 Weidmüller Remote I/O System u-remote
IP20 (hereinafter referred to as the "u-remote") to an OMRON NJ/NX-series Machine
Automation 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
NX701-17[][]
NX701-16[][]
NX1P2-11[][][][]
NX1P2-10[][][][]
NX1P2-90[][][][]
NJ501-[]5[][]
NJ501-[]4[][]
NJ501-[]3[][]
NJ301-12[][]
NJ301-11[][]
NJ101-10[][]
NJ101-90[][]
Weidmüller
Remote I/O System
u-remote IP20
Weidmüller
EtherCAT Fieldbus Coupler
UR20-FBC-EC
Weidmüller
I/O Module
(UR20 I/O Modules)
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 Weidmüller Interface GmbH & Co. KG for I/O Modules connectable to the EtherCAT
Fieldbus Coupler.

5．Applicable Devices and Device Configuration
6
5.2. Device Configuration
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.1.14
OMRON
Power Supply Unit
NJ-PA3001
OMRON Sysmac Studio SYSMAC-SE2[][][] Ver.1.18
- Personal computer
(OS: Windows 7) -
- USB cable
(USB 2.0 type B connector) -
OMRON Ethernet cable (with industrial
Ethernet connector)
XS5W-T421-[]M[]-K
Weidmüller
EtherCAT Fieldbus Coupler
UR20-FBC-EC
Rev.0x00000001
Weidmüller
I/O Modules
UR20-8DI-N-3W
UR20-4DO-PN-2A
UR20-16DI-P
UR20-4DI-P-TS
UR20-16DO-P
Weidmüller
ESI file (for EtherCAT
Fieldbus Coupler)
Weidmueller_UR20_FBC.xml
Weidmüller ESI file (for I/O Modules) Weidmueller_UR20_IO.xml
- Power supply for the system
and input modules (24 VDC) -
- Power supply for output
modules (24 VDC) -
Precautions for Correct Use
Prepare the ESI files listed above beforehand.
To obtain the ESI files, contact Weidmüller Interface GmbH & Co. KG.
NJ501-1500
(Built-in EtherCAT port)
u-remote
Ethernet
cable
Personal computer
(Sysmac Studio installed,
OS: Windows 7)
UR20-FBC-EC
├UR20-8DI-N-3W
├UR20-4DO-PN-2A
├UR20-16DI-P
├UR20-4DI-P-TS
└
UR20-16DO-P
Power supply for the system and input modules
USB cable
Power supply for output modules

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 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.
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 power supply specifications for the system and input modules and for output modules,
refer to the Remote-I/O-System u-remote Manual (Original) (1432790000).
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).

6．EtherCAT Settings
8
6. EtherCAT Settings
This section describes the parameter, module configuration and device variables that are all
defined in this guide.
Hereinafter, the u-remote is referred to as the "slave unit" in some descriptions.
6.1. Parameter
The parameter required to connect the Controller and the u-remote via EtherCAT is shown
below.
Name
Item
Set value
Remarks
u-remote Node address 1 The node address is set in Sysmac
Studio.
6.2. Module Configuration
The module configuration of the u-remote is shown below, which is checked in 7.3.3. Setting
the Device Variables.
Name Model Connected
position
Device
name
Module
Fieldbus coupler UR20-FBC-EC - E001 -
Digital input module UR20-8DI-N-3W 0 M1 UR20-8DI-N-3W (M1)
Digital output module UR20-4DO-PN-2A 1 M2 UR20-4DO-PN-2A (M2)
Digital input module UR20-16DI-P 2 M3 UR20-16DI-P (M3)
Digital input module with time stamp UR20-4DI-P-TS 3 M4 UR20-4DI-P-TS (M4)
Digital output module UR20-16DO-P 4 M5 UR20-16DO-P (M5)

6．EtherCAT Settings
9
6.3. Device Variables
The PDO communications data with the u-remote are allocated to the Controller's device
variables.
The device variable names and data types are shown below.
Additional Information
For details on the allocation of the input and output areas, refer to 5.3 EtherCAT fieldbus
coupler UR20-FBC-EC and 6 Detailed descriptions of I/O modules of the Remote-I/O-System
u-remote Manual (Original) (1432790000).
Additional Information
The device variables are automatically named from a combination of the device names and
the port names.
The default device names are "E" followed by a serial number starting from “001”.
For slave units with module configurations, the default device names are "M" followed by a
sequential number starting from "1".
■E001: UR20-FBC-EC output area (Controller to u-remote)
Device variable name Data
type
Bit
Description
E001_Mapping_RxPDO_Device_Contro_Controlbit_0_F200_01 BOOL 0 Controlbit 0
Device Control
E001_Mapping_RxPDO_Device_Contro_Controlbit_1_F200_02 BOOL 1 Controlbit 1
E001_Mapping_RxPDO_Device_Contro_Controlbit_2_F200_03 BOOL 2 Controlbit 2
E001_Mapping_RxPDO_Device_Contro_Controlbit_3_F200_04 BOOL 3 Controlbit 3
E001_Mapping_RxPDO_Device_Contro_Controlbit_4_F200_05 BOOL 4 Controlbit 4
E001_Mapping_RxPDO_Device_Contro_Controlbit_5_F200_06 BOOL 5 Controlbit 5
E001_Mapping_RxPDO_Device_Contro_Controlbit_6_F200_07 BOOL 6 Controlbit 6
E001_Mapping_RxPDO_Device_Contro_Controlbit_7_F200_08 BOOL 7 Controlbit 7
E001_Mapping_RxPDO_Device_Contro_Controlbit_8_F200_09 BOOL 8 Controlbit 8
E001_Mapping_RxPDO_Device_Contro_Controlbit_9_F200_0A BOOL 9 Controlbit 9
E001_Mapping_RxPDO_Device_Contro_Controlbit_10_F200_0B BOOL 10 Controlbit 10
E001_Mapping_RxPDO_Device_Contro_Controlbit_11_F200_0C BOOL 11 Controlbit 11
E001_Mapping_RxPDO_Device_Contro_Controlbit_12_F200_0D BOOL 12 Controlbit 12
E001_Mapping_RxPDO_Device_Contro_Controlbit_13_F200_0E BOOL 13 Controlbit 13
E001_Mapping_RxPDO_Device_Contro_Controlbit_14_F200_0F BOOL 14 Controlbit 14
E001_Mapping_RxPDO_Device_Contro_Controlbit_15_F200_10 BOOL 15 Controlbit 15

6．EtherCAT Settings
10
■E001: UR20-FBC-EC input area (u-remote to Controller)
Device variable name Data
type
Bit
Description
E001_Mapping_TxPDO_Device_Status_Summarized_module_diagnosis_F100_01 BOOL 0
Device Status
E001_Mapping_TxPDO_Device_Status_Errobit_1_F100_02 BOOL 1
E001_Mapping_TxPDO_Device_Status_Errorbit_2_F100_03 BOOL 2
E001_Mapping_TxPDO_Device_Status_Systembus_error_F100_04 BOOL 3
E001_Mapping_TxPDO_Device_Status_Errorbit_4_F100_05 BOOL 4
E001_Mapping_TxPDO_Device_Status_Errorbit_5_F100_06 BOOL 5
E001_Mapping_TxPDO_Device_Status_I_O_Configuration_error_F100_07 BOOL 6
E001_Mapping_TxPDO_Device_Status_Errorbit_7_F100_08 BOOL 7
E001_Mapping_TxPDO_Device_Status_Errorbit_8_F100_09 BOOL 8
E001_Mapping_TxPDO_Device_Status_Errorbit_9_F100_0A BOOL 9
E001_Mapping_TxPDO_Device_Status_Force_mode_active_F100_0B BOOL 10
E001_Mapping_TxPDO_Device_Status_Errorbit_11_F100_0C BOOL 11
E001_Mapping_TxPDO_Device_Status_Errorbit_12_F100_0D BOOL 12
E001_Mapping_TxPDO_Device_Status_Uout_error_F100_0E BOOL 13
E001_Mapping_TxPDO_Device_Status_Usys_error_F100_0F BOOL 14
E001_Mapping_TxPDO_Device_Status_Errorbit_15_F100_10 BOOL 15
【Device Status (Coupler status bits UR20-FBC-EC)】

6．EtherCAT Settings
11
■M1 - M5: Module status input area (u-remote to Controller)
Device variable name Data
type Description
M1_Input_module_state_6000_09 USINT
Module status
M2_Input_Module_state_6000_01 USINT
M3_Input_Module_state_6000_11 USINT
M4_Input_Module_state_6000_01 USINT
M5_Input_Module_state_6000_01 USINT
【Module status messages】
■M1: UR20-8DI-N-3W input area (u-remote to Controller)
Device variable name Data
type Description
M1_Input_DI1_6000_01 BOOL DI0
M1_Input_DI2_6000_02 BOOL DI1
M1_Input_DI3_6000_03 BOOL DI2
M1_Input_DI4_6000_04 BOOL DI3
M1_Input_DI5_6000_05 BOOL DI4
M1_Input_DI6_6000_06 BOOL DI5
M1_Input_DI7_6000_07 BOOL DI6
M1_Input_DI8_6000_08 BOOL DI7
■M2: UR20-4DO-PN-2Aoutput area (Controller to u-remote)
Device variable name Data
type Description
M2_Output_Channel_1_Mode_7000_01 BOOL OP-mode DO0 (0 : Sinking, 1 : Sourcing)
M2_Output_Channel_2_Mode_7000_02 BOOL OP-mode DO1 (0 : Sinking, 1 : Sourcing)
M2_Output_Channel_3_Mode_7000_03 BOOL OP-mode DO2 (0 : Sinking, 1 : Sourcing)
M2_Output_Channel_4_Mode_7000_04 BOOL OP-mode DO3 (0 : Sinking, 1 : Sourcing)
M2_Output_DO1_7000_05 BOOL DO0
M2_Output_DO2_7000_06 BOOL DO1
M2_Output_DO3_7000_07 BOOL DO2
M2_Output_DO4_7000_08 BOOL DO3

6．EtherCAT Settings
12
■M3: UR20-16DI-P input area (u-remote to Controller)
Device variable name Data
type Description
M3_Input_DI1_6000_01 BOOL DI0
M3_Input_DI2_6000_02 BOOL DI1
M3_Input_DI3_6000_03 BOOL DI2
M3_Input_DI4_6000_04 BOOL DI3
M3_Input_DI5_6000_05 BOOL DI4
M3_Input_DI6_6000_06 BOOL DI5
M3_Input_DI7_6000_07 BOOL DI6
M3_Input_DI8_6000_08 BOOL DI7
M3_Input_DI9_6000_09 BOOL DI8
M3_Input_DI10_6000_0A BOOL DI9
M3_Input_DI11_6000_0B BOOL DI10
M3_Input_DI12_6000_0C BOOL DI11
M3_Input_DI13_6000_0D BOOL DI12
M3_Input_DI14_6000_0E BOOL DI13
M3_Input_DI15_6000_0F BOOL DI14
M3_Input_DI16_6000_10 BOOL DI15

6．EtherCAT Settings
13
■M4: UR20-4DI-P-TS input area (u-remote to Controller)
Device variable name Data
type Description
M4_Input_TS_1_Input_value_6000_01 USINT Input image 1 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_1_Running_Number_6000_02 USINT Running Number 1 (0 ... 127 rotating)
M4_Input_TS_1_μs_ticker_6000_03 UINT Time stamp 1 (0 ... 65535 μs rotating)
M4_Input_TS_2_Input_value_6000_04 USINT Input image 2 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_2_Running_Number_6000_05 USINT Running Number 2 (0 ... 127 rotating)
M4_Input_TS_2_μs_ticker_6000_06 UINT Time stamp 2 (0 ... 65535 μs rotating)
M4_Input_TS_3_Input_value_6000_07 USINT Input image 3 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_3_Running_Number_6000_08 USINT Running Number 3 (0 ... 127 rotating)
M4_Input_TS_3_μs_ticker_6000_09 UINT Time stamp 3 (0 ... 65535 μs rotating)
M4_Input_TS_4_Input_value_6000_0A USINT Input image 4 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_4_Running_Number_6000_0B USINT Running Number 4 (0 ... 127 rotating)
M4_Input_TS_4_μs_ticker_6000_0C UINT Time stamp 4 (0 ... 65535 μs rotating)
M4_Input_TS_5_Input_value_6000_0D USINT Input image 5 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_5_Running_Number_6000_0E USINT Running Number 5 (0 ... 127 rotating)
M4_Input_TS_5_μs_ticker_6000_0F UINT Time stamp 5 (0 ... 65535 μs rotating)
M4_Input_TS_6_Input_value_6000_10 USINT Input image 6 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_6_Running_Number_6000_11 USINT Running Number 6 (0 ... 127 rotating)
M4_Input_TS_6_μs_ticker_6000_12 UINT Time stamp 6 (0 ... 65535 μs rotating)
M4_Input_TS_7_Input_value_6000_13 USINT Input image 7 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_7_Running_Number_6000_14 USINT Running Number 7 (0 ... 127 rotating)
M4_Input_TS_7_μs_ticker_6000_15 UINT Time stamp 7 (0 ... 65535 μs rotating)
M4_Input_TS_8_Input_value_6000_16 USINT Input image 8 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_8_Running_Number_6000_17 USINT Running Number 8 (0 ... 127 rotating)
M4_Input_TS_8_μs_ticker_6000_18 UINT Time stamp 8 (0 ... 65535 μs rotating)
M4_Input_TS_9_Input_value_6000_19 USINT Input image 9 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_9_Running_Number_6000_1A USINT Running Number 9 (0 ... 127 rotating)
M4_Input_TS_9_μs_ticker_6000_1B UINT Time stamp 9 (0 ... 65535 μs rotating)
M4_Input_TS_10_Input_value_6000_1C USINT Input image 10 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_10_Running_Number_6000_1D USINT Running Number 10 (0 ... 127 rotating)
M4_Input_TS_10_μs_ticker_6000_1E UINT Time stamp 10 (0 ... 65535 μs rotating)
M4_Input_TS_11_Input_value_6000_1F USINT Input image 11 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_11_Running_Number_6000_20 USINT Running Number 11 (0 ... 127 rotating)
M4_Input_TS_11_μs_ticker_6000_21 UINT Time stamp 11 (0 ... 65535 μs rotating)
M4_Input_TS_12_Input_value_6000_22 USINT Input image 12 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_12_Running_Number_6000_23 USINT Running Number 12 (0 ... 127 rotating)
M4_Input_TS_12_μs_ticker_6000_24 UINT Time stamp 12 (0 ... 65535 μs rotating)
M4_Input_TS_13_Input_value_6000_25 USINT Input image 13 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_13_Running_Number_6000_26 USINT Running Number 13 (0 ... 127 rotating)
M4_Input_TS_13_μs_ticker_6000_27 UINT Time stamp 13 (0 ... 65535 μs rotating)
M4_Input_TS_14_Input_value_6000_28 USINT Input image 14 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_14_Running_Number_6000_29 USINT Running Number 14 (0 ... 127 rotating)
M4_Input_TS_14_μs_ticker_6000_2A UINT Time stamp 14 (0 ... 65535 μs rotating)
M4_Input_TS_15_Input_value_6000_2B USINT Input image 15 (Bit0 = DI0 ... Bit3 = DI3, Bit4 ... 7 reserved)
M4_Input_TS_15_Running_Number_6000_2C USINT Running Number 15 (0 ... 127 rotating)
M4_Input_TS_15_μs_ticker_6000_2D UINT Time stamp 15 (0 ... 65535 μs rotating)

6．EtherCAT Settings
14
■M5: UR20-16DO-P output area (Controller to u-remote)
Device variable name Data
type Description
M5_Output_DO1_7000_01 BOOL DO0
M5_Output_DO2_7000_02 BOOL DO1
M5_Output_DO3_7000_03 BOOL DO2
M5_Output_DO4_7000_04 BOOL DO3
M5_Output_DO5_7000_05 BOOL DO4
M5_Output_DO6_7000_06 BOOL DO5
M5_Output_DO7_7000_07 BOOL DO6
M5_Output_DO8_7000_08 BOOL DO7
M5_Output_DO9_7000_09 BOOL DO8
M5_Output_DO10_7000_0A BOOL DO9
M5_Output_DO11_7000_0B BOOL DO10
M5_Output_DO12_7000_0C BOOL DO11
M5_Output_DO13_7000_0D BOOL DO12
M5_Output_DO14_7000_0E BOOL DO13
M5_Output_DO15_7000_0F BOOL DO14
M5_Output_DO16_7000_10 BOOL DO15

7．EtherCAT Connection Procedure
15
7. EtherCAT Connection Procedure
This section describes the procedures for connecting the Controller and the u-remote via
EtherCAT. The explanations of the procedures for setting up the Controller and the u-remote
given in this guide are based on the factory default settings.
For the initialization, refer to Section 8. Initialization Method.
7.1. Work Flow
Take the following steps to connect the Controller and the u-remote via EtherCAT to perform
PDO communications.
7.2. Weidmüller u-remote Setup Set up the Weidmüller u-remote.
↓
7.2.1. Hardware Settings Assemble and mount the I/O Modules to the
EtherCAT Fieldbus Coupler, and connect the
cables.
↓
7.3. Controller Setup
Set up the Controller.
↓
7.3.1. Starting Sysmac Studio and
Installing the ESI Files Install the ESI files for EtherCAT Fieldbus Coupler and for I/O Modules in Sysmac Studio.
↓
7.3.2. Setting up the EtherCAT
Network Configuration Set up the EtherCAT network configuration.
↓
7.3.3. Setting the Device Variables Check the configuration of the I/O Modules on the
EtherCAT Fieldbus Coupler, and set the device
variables to use for 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 performs
normally via EtherCAT.
↓
7.4.1. Checking the Connection Status Check the connection status of the EtherCAT
network.
↓
7.4.2. Checking Sent and Received
Data Check that correct data is sent and received.

7．EtherCAT Connection Procedure
16
7.2. Weidmüller u-remote Setup
Set up the Weidmüller u-remote.
7.2.1. Hardware Settings
Assemble and mount the I/O Modules to the EtherCAT Fieldbus Coupler, and connect the
cables.
Precautions for Correct Use
Make sure that the power supplies are OFF when you set up.
If either of them is ON, the settings described in the following steps and subsequent
procedures may not be applicable.
1
Make sure that Power supply for
the system and input modules
and Power supply for output
modules are OFF.
2
Assemble and mount I/O
Modules to EtherCAT Fieldbus
Coupler, as shown in the figure
on the right.
Check the position of
connectors on EtherCAT
Fieldbus Coupler by referring to
the figure on the right.
*Refer to 6.2. Module
Configuration for M1 to M5 I/O
Modules.
3
Connect an Ethernet cable to
EtherCAT IN X1 connector.
4
Connect Power supply for the
system and input modules and
Power supply for output
modules to Power supply
connector for the system and
input modules and Power supply
connector for output modules,
respectively.
EtherCAT fieldbus coupler (E001)
End bracket End bracket End plate
I/O modules (M1 – M5)
Power supply
connector for
the system and
input modules
Power supply
connector for
output modules
EtherCAT IN
X1 connector
EtherCAT OUT
X2 connector
Ethernet cable
Power supply for the system and
input modules
Power supply for output modules

7．EtherCAT Connection Procedure
17
7.3. Controller Setup
Set up the Controller.
7.3.1. Starting Sysmac Studio and Installing the ESI Files
Install the ESI files for EtherCAT Fieldbus Coupler and for I/O Modules in Sysmac Studio.
Install Sysmac Studio and the USB driver on your personal computer beforehand.
1
Connect the Ethernet cable to
the built-in EtherCAT port
(PORT2) on Controller, and
connect a USB cable to the
peripheral (USB) port.As shown
in 5.2. Device Configuration,
connect Personal computer and
u-remote to Controller.
2
Turn ON Controller, Power
supply for the system and input
modules and Power supply for
output modules to u-remote.
3
Start Sysmac Studio.
*If the User Account Control
Dialog Box is displayed at start,
make a selection to start
Sysmac Studio.
4
Sysmac Studio starts.
Click Connect to Device.
USB cable
End Cover
Power Supply Unit
Ethernet
cable
CPU Unit
Controller
u-remote
Personal
computer