Omron sysmac EtherNet/IP NJ Series Instruction Manual

Machine Automation Controller NJ/NX-series
EtherNet/IPTM
Connection Guide
ORIENTAL MOTOR CO., LTD.
αSTEP
EtherNet/IPTM Compatible Driver
(AZD-□EP)
P735-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.
ODVA and EtherNet/IPTM are trademarks of ODVA.
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.

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. EtherNet/IP Settings.................................................................................. 8
6.1. Parameters............................................................................................ 8
6.2. Global Variables.................................................................................... 9
6.3. Tag Sets.............................................................................................. 12
6.4. Connection Settings ............................................................................ 12
7. EtherNet/IP Connection Procedure........................................................ 13
7.1. Work Flow............................................................................................ 13
7.2. ORIENTAL MOTOR Driver Setup ....................................................... 15
7.3. Controller Setup................................................................................... 20
7.4. EtherNet/IP Communication Status Check.......................................... 36
8. Initialization Method................................................................................ 40
8.1. Initializing a Controller ......................................................................... 40
9. Revision History...................................................................................... 41

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 ORIENTAL MOTOR CO., LTD. (hereinafter
referred to as "ORIENTAL MOTOR") 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 W506 NJ/NX-series
CPU Unit Built-in EtherNet/IPTM Port
User's Manual
OMRON W504 SYSMAC-SE2□□□ Sysmac Studio Version 1
Operation Manual
OMRON 0969584-7 W4S1-05□
W4S1-03B Switching Hub W4S1-series
Users Manual
ORIENTAL
MOTOR HM-60372E AZD-□EP αSTEP AZ Series/ Motorized Actuator equipped with AZ
Series EtherNet/IP Compatible Driver
USER MANUAL
ORIENTAL
MOTOR HM-60262E AZD-□EP Stepping Motor and Driver Package αSTEP AZ Series/
Motorized actuator equipped the AZ
Series Function Edition

2．Terms and Definitions
2
2. Terms and Definitions
Term Explanation and Definition
node It refers to a relay point, a junction point or an end point on an
EtherNet/IP network made up of devices having an EtherNet/IP port.
A device with one EtherNet/IP port is recognized as one node and two
EtherNet/IP ports as two nodes on an EtherNet/IP network.
tag A unit that is used to exchange data with tag data links.
Data is exchanged between the local network variables and remote
network variables specified in the tags or between specified I/O memory
areas.
tag set When a connection is established, from 1 to 8 tags (including Controller
status) is configured as a tag set. Each tag set represents the data that
is linked for a tag data link connection. Tag data links are therefore
created through a connection between one tag set and another tag set.
A tag set name has to be set for each tag set.
tag data links The standard EtherNet/IP implicit communications are called tag data
links. Tag data links enable cyclic tag data exchanges on an
EtherNet/IP network between Controllers or between Controllers and
other devices.
connection It is used to exchange data as a unit within which data concurrency is
maintained.
connection type There are two kinds of connection types for tag data links.
One is a multi-cast connection, and the other is a unicast (point-to-point)
connection. The multi-cast connection sends an output tag set in one
packet to more than one node. The unicast connection separately sends
one output tag set to each node. Therefore, the multi-cast connection
can reduce the communications load if one output tag set is sent to
more than one node.
originator and target
To make tag data links, it is necessary to establish connections between
nodes that perform tag data links. The node that requests the
connection is called the originator, and the node that receives the
request is called the target.
tag data link
parameters The information that is set to make tag data links, including tags, tag sets and connections, is called tag data link parameters.

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 September 2019. 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 an ORIENTAL MOTORαSTEP EtherNet/IP
Compatible Driver AZD-□EP (hereinafter referred to as the "Driver") to an OMRON NJ/NX-
series Machine Automation Controller (hereinafter referred to as the "Controller") via
EtherNet/IP and for checking their communication status.
Refer to Section 6. EtherNet/IP Settings and Section 7. EtherNet/IP Connection Procedure to
understand setting methods and key points to operate EtherNet/IP tag data links.

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-□□□□
ORIENTAL MOTOR Driver AZD-AEP
AZD-CEP
AZD-KEP
ORIENTAL MOTOR Actuator ―
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.
Additional Information
Contact the device manufacturer for information on Actuators connectable to the Drivers.

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 NX-series CPU Unit
(Built-in EtherNet/IP ports) NX102-1200 Ver.1.31
OMRON Switching hub W4S1-05C Ver.1.0
OMRON
Sysmac Studio
SYSMAC-SE2□□□
Ver.1.25
―Personal computer (OS: Windows 10) ―
―LAN cable (STP (shielded, twisted-pair)
cable of Ethernet category 5 or higher)
―
ORIENTAL
MOTOR Driver AZD-AEP Ver.1.1
ORIENTAL
MOTOR Motor AZM46AC
ORIENTAL
MOTOR Motor cable CC010VZF-M
ORIENTAL
MOTOR Encoder cable CC010VNF-E
ORIENTAL
MOTOR EDS file AZD-AEP.eds Ver.1.0
ORIENTAL
MOTOR Support software MEXE02 Ver.4.0.1.0
―USB cable
(USB 2.0-compliant, USB-Mini-B
connector)
―
―Power supply (24 VDC for Controller) ―
―Power supply (24 VDC for Switching hub) ―
―
Control power supply (24 VDC for Driver)
―
NX102-1200
(Built-in EtherNet/IP ports)
W4S1-05C
AZD-AEP
Personal computer
(Sysmac Studio and
MEXE02 installed,
OS: Windows 10）
LAN cable
AZM46AC
Power
supply
LAN cable
USB cable
LAN cable
Power supply
Control power supply
Main power supply
(single-phase 100-120V)

5．Applicable Devices and Device Configuration
7
Precautions for Correct Use
Contact ORIENTAL MOTOR CO., LTD. to obtain the EDS file specified on the previous
page before proceeding.
Please note that you need the EDS file relevant to your device. If you use models other than
the one specified on the previous page, contact ORIENTAL MOTOR CO., LTD and obtain
the relevant EDS file.
Precautions for Correct Use
Update Sysmac Studio to the version 1.25 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 power supply specifications of the Controller, refer to the NX-series
NX102 CPU Unit Hardware User's Manual (Cat. No. W593).
Additional Information
For information on the power supply specifications of the switching hub, refer to the Switching
Hub W4S1-series Users Manual (Cat. No. 0969584-7).
Additional Information
For information on the power supply specifications of the Driver, refer to the αSTEP AZ
Series/Motorized Actuator equipped with AZ Series EtherNet/IP Compatible Driver USER
MANUAL (HM-60372E).
Additional Information
The system configuration in this guide uses USB for the connection between the personal
computer and the Driver. For information on how to install the USB driver, refer to the
website of ORIENTAL MOTOR CO., LTD.

6．EtherNet/IP Settings
8
6. EtherNet/IP Settings
This section describes the parameters, global variables, tag sets and connection settings that
are all defined in this guide.
6.1. Parameters
The following parameters are required to connect the Driver and the Controller via
EtherNet/IP.
Name
Setting item
Setting value
Built-in EtherNet/IP port (PORT2)
on Controller (Node 1)
IP address
192.168.250.1
Subnet mask
255.255.255.0
Driver (Node 2)
IP address
192.168.250.2
Subnet mask
255.255.255.0
Input data size
56 bytes (fixed)
Output data size
40 bytes (fixed)
Additional Information
For more information on the setting values of the Driver, refer to the following parts of the
αSTEP AZ Series/Motorized Actuator equipped with AZ Series EtherNet/IP Compatible
Driver USER MANUAL (HM-60372E).
- 4. Implicit communication
- 5. Setting of IP address in 2. AC power input type or 3. DC power input type

6．EtherNet/IP Settings
9
6.2. Global Variables
The Controller treats global variables as tags for tag data links. The following tables show the
global variables and related settings.
Name Data type Network
publish Driver data assignment Data size
(Byte)
EIP002_IN WORD[28] Input Refer to Details of input data 56
EIP002_OUT WORD[20] Output Refer to Details of output data 40
Details of input data
Device variable name Data type Driver data assignment
EIP002_IN WORD[28]
EIP002_IN[0] WORD Remote I/O (R-OUT)
EIP002_IN[1] WORD Operation data number selection_R
EIP002_IN[2] WORD Fixed I/O (OUT)
EIP002_IN[3] WORD Present alarm
EIP002_IN[4] WORD Feedback position (lower)
EIP002_IN[5] WORD Feedback position (upper)
EIP002_IN[6] WORD Feedback speed [Hz] (lower)
EIP002_IN[7] WORD Feedback speed [Hz] (upper)
EIP002_IN[8] WORD Command position (lower)
EIP002_IN[9] WORD Command position (upper)
EIP002_IN[10] WORD Torque monitor
EIP002_IN[11] WORD CST operating current
EIP002_IN[12] WORD Information (lower)
EIP002_IN[13] WORD Information (upper)
EIP002_IN[14] WORD Reserved
EIP002_IN[15] WORD Read parameter ID_R
EIP002_IN[16] WORD Read/write status
EIP002_IN[17] WORD Write parameter ID_R
EIP002_IN[18] WORD Read data (lower)
EIP002_IN[19] WORD Read data (upper)
EIP002_IN[20] WORD Assignable monitor 0 (lower)
EIP002_IN[21] WORD Assignable monitor 0 (upper)
EIP002_IN[22] WORD Assignable monitor 1 (lower)
EIP002_IN[23] WORD Assignable monitor 1 (upper)
EIP002_IN[24] WORD Assignable monitor 2 (lower)
EIP002_IN[25] WORD Assignable monitor 2 (upper)
EIP002_IN[26] WORD Assignable monitor 3 (lower)
EIP002_IN[27] WORD Assignable monitor 3 (upper)

6．EtherNet/IP Settings
10
The bit assignments of "Remote I/O (R-OUT)" and "Fixed I/O (OUT)" are shown below.
Assignment
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Remote I/O (R-OUT)
(Initial assignment)
140
：TLC
138
：IN-POS
134
：MOVE
157
：TIM
162
：AREA2
161
：AREA1
160
：AREA0
136
：SYS-BSY
129
：
ALM-A
135
：
INFO
132
：
READY
144
：
HOME-END
32
：
START_R
66
：
M2_R
65
：
M1_R
64
：
M0_R
Fixed I/O (OUT)
TLC
ETO
-MON
STOP_R
DCMD
-FULL
EXE
-ERR
SET
-ERR
TRIG
-MODE_R
TRIG_R
ALM
-A
DCMD
-RDY
READY
HOME
-END
START_R
IN
-POS
MOVE
SEQ
-BSY
Details of output data
Device variable name Data type Driver data assignment
EIP002_OUT WORD[20]
EIP002_OUT[0] WORD Remote I/O (R-IN)
EIP002_OUT[1] WORD Operation data number selection
EIP002_OUT[2] WORD Fixed I/O (IN)
EIP002_OUT[3] WORD Direct data operation operation type
EIP002_OUT[4] WORD Direct data operation position (lower)
EIP002_OUT[5] WORD Direct data operation position (upper)
EIP002_OUT[6] WORD Direct data operation operating speed (lower)
EIP002_OUT[7] WORD Direct data operation operating speed (upper)
EIP002_OUT[8] WORD Direct data operation starting/changing rate (lower)
EIP002_OUT[9] WORD Direct data operation starting/changing rate (upper)
EIP002_OUT[10] WORD Direct data operation stopping deceleration (lower)
EIP002_OUT[11] WORD Direct data operation stopping deceleration (upper)
EIP002_OUT[12] WORD Direct data operation operating current
EIP002_OUT[13] WORD Direct data operation forwarding destination
EIP002_OUT[14] WORD Reserved
EIP002_OUT[15] WORD Read parameter ID
EIP002_OUT[16] WORD Write request
EIP002_OUT[17] WORD Write parameter ID
EIP002_OUT[18] WORD Write data (lower)
EIP002_OUT[19] WORD Write data (upper)
The bit assignments of "Remote I/O (R-IN)" and "Fixed I/O (IN)" are shown below.
Assignment
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Remote I/O (R-IN)
(Initial assignment)
Not used
Fixed I/O (IN)
RV
-POS
FW
-POS
RV
-JOG-P
FW
-JOG-P
Reserved
ETO
-CLR
TRIG
-MODE
TRIG
ALM
-RST
FREE
STOP
ZHOME
START
Reserved
RV
-JOG
FW
-JOG

6．EtherNet/IP Settings
11
Additional Information
For more information on the Driver data assignments for tag data links, refer to 4-1 Implicit
message format of the αSTEP AZ Series/Motorized Actuator equipped with AZ Series
EtherNet/IP Compatible Driver USER MANUAL (HM-60372E).
Additional Information
With Sysmac Studio, two methods can be used to specify an array for a data type.
After specifying, (1) is converted to (2), and the data type is always displayed as (2).
(1) BOOL[16] / (2) ARRAY[0..15] OF BOOL
In this guide, the data type is simplified by displaying BOOL[16].
(The example above means a BOOL data type with sixteen array elements.)

6．EtherNet/IP Settings
12
6.3. Tag Sets
The tag sets for tag data links are shown below.
The following data in the input and output tag sets are set.
Input area (Driver to Controller)
Tag set name Data size (Byte)
EIP002_IN 56
IN No. Tag name (global variable name) Data size (Byte)
1 EIP002_IN 56
Output area (Controller to Driver)
Tag set name
Data size (Byte)
EIP002_OUT 40
OUT No. Tag name (global variable name) Data size (Byte)
1
EIP002_OUT
40
6.4. Connection Settings
The connection settings (i.e. tag data link table) are shown below.
The values boxed in red are taken from the values defined in the Driver's EDS file.
Connection
Name
Connection I/O Type RPI (ms) Timeout Value
default_001
Exclusive Owner
50.0
RPI x 4
Input /
Output
Target Device
(Driver)
Originator Device
(Controller)
Connection
Type
Target Variable
(Instance number)
Size
(Byte)
Originator Variable
(Tag set name)
Size
(Byte)
Input 100 56 EIP002_IN 56
Point to Point
connection
Output 101 40 EIP002_OUT 40
Point to Point
connection

7．EtherNet/IP Connection Procedure
13
7. EtherNet/IP Connection Procedure
This section describes the procedures for connecting the Driver and the Controller via
EtherNet/IP. 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 initialization.
7.1. Work Flow
Take the following steps to connect the Driver and the Controller via EtherNet/IP and operate
tag data links.
7.2. ORIENTAL MOTOR Driver Setup
Set up the ORIENTAL MOTOR Driver.
↓
7.2.1. Hardware Settings
Set the hardware switches on the Driver and
connect the cables.
↓
7.2.2. Parameter Settings
Set the IP address of the Driver.
↓
7.3. Controller Setup
Set up the Controller.
↓
7.3.1. IP Address Settings
Start Sysmac Studio and set the IP address of the
Controller.
↓
7.3.2. Installing the EDS File
Install the EDS file.
↓
7.3.3. Registering the Target Device
Register the target device.
↓
7.3.4. Setting Global Variables
Set global variables to use for tag data links.
↓
7.3.5. Registering Tags
Register tags and tag sets.
↓
7.3.6. Setting Connections
Set connections to associate the target variables
with the originator variables.
↓
7.3.7. Transferring the Project Data
Place Sysmac Studio online and transfer the
connection settings and project data to the
Controller.
↓

7．EtherNet/IP Connection Procedure
14
7.4. EtherNet/IP Communication
Status Check
Confirm that the EtherNet/IP tag data links are in
normal operation.
↓
7.4.1. Checking the Connection
Status Check the EtherNet/IP connection status.
↓
7.4.2. Checking Sent and Received
Data Check that correct data is sent and received.

7．EtherNet/IP Connection Procedure
15
7.2. ORIENTAL MOTOR Driver Setup
Set up the ORIENTAL MOTOR Driver.
7.2.1. Hardware Settings
Set the hardware switches on the Driver and connect the cables.
Precautions for Correct Use
Make sure the power supplies are OFF before setting up.
If either of them is ON, the settings described in the following steps and subsequent
procedures may not be applicable.
1
Make sure Control power supply
and Main power supply for
Driver are OFF.
2
Check the positions of the
hardware switches and
connectors on Driver by
referring to the figure on the
right.
3
Check that IP address setting
switches on Driver are set to 0.
x16: 0 (default)
x1: 0 (default)
If not, set the value as
mentioned above.
*You can set the IP address
using the support software
MEXE02 or DHCP when IP
address setting switches are 0.
Control power supply
input terminals (CN1)
Encoder
connector (CN2)
Motor
connector (CN3)
Main power supply
input terminals (CN4)
USB communication
connector
IP address
setting switches
EtherNet/IP
communication
connectors
(CN5, CN6)

7．EtherNet/IP Connection Procedure
16
4
Connect Motor to Encoder
connector (CN2) on Driver with
the encoder cable and to
Motor connector (CN3) on
Driver with the motor cable.
5
Connect Switching hub and
EtherNet/IP communication
connector (CN5) on Driver with
a LAN cable.
Connect Power supply to
Switching hub.
6
Connect Control power supply
to Control power supply input
terminals (CN1) on Driver.
Connect Main power supply
(single-phase 100-120V) to
Main power supply input
terminals (CN4) on Driver.
*For details on the power supply
connection, refer to 4
Connection of the αSTEP AZ
Series/Motorized Actuator
equipped with AZ Series
EtherNet/IP Compatible Driver
USER MANUAL (HM-60372E).
Switching hub
LAN cable
EtherNet/IP
communication
connector (CN5)
Motor
Encoder
connector (CN2)
Motor
connector (CN3)
Control power supply
input terminals (CN1)
Main power supply
input terminals (CN4)
Control power supply
Power
supply
Main power supply
(single-phase 100-120V)

7．EtherNet/IP Connection Procedure
17
7.2.2. Parameter Settings
Set the IP address of the Driver.
The IP address is set using the MEXE02. Install the MEXE02 and USB driver on your personal
computer before proceeding.
Additional Information
For information on how to install the MEXE02 and USB driver, refer to the website of
ORIENTAL MOTOR CO., LTD.
1
Connect Driver and Personal
computer with a USB cable.
2
Start MEXE02.
3
Turn ON Control power supply
for Driver.
*Do not turn ON Main power
supply for Driver.
4
Click Select a product
displayed in the middle of the
MEXE02 window.
5
The (a2) Select Product Tab
Page is displayed on the left
side of the MEXE02 window.
Driver connected to Personal
computer is displayed under
Products being connected to
PC.
Click (New).
Driver
Personal
computer
USB cable