Omron Sysmac NJ-series Instruction Manual

Machine Automation Controller NJ-series
EtherNet/IPTM
Connection Guide
OMRON Corporation
Displacement Sensor
(ZW-7000 series)
P653-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(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................................................................................................ 4
4. Overview .................................................................................................... 5
5. Applicable Devices and Device Configuration ....................................... 6
5.1. Applicable Devices ................................................................................ 6
5.2. Device Configuration ............................................................................. 7
6. EtherNet/IP Settings.................................................................................. 9
6.1. Parameters............................................................................................ 9
6.2. Data Types to Use for Tag Data Links................................................. 10
6.3. Global variables................................................................................... 11
6.4. Tag Sets.............................................................................................. 14
6.5. Tag Data Link Table ............................................................................ 14
7. EtherNet/IP Connection Procedure........................................................ 15
7.1. Work Flow............................................................................................ 15
7.2. Sensor Controller Setup ...................................................................... 16
7.3. Controller Setup................................................................................... 26
7.4. EtherNet/IP Communication Status Check.......................................... 43
8. Initialization method................................................................................ 48
8.1. Initializing Controller ............................................................................ 48
8.2. Initializing Sensor Controller................................................................ 48
9. Appendix: Procedure Using the Project File......................................... 49
9.1. Work Flow............................................................................................ 49
9.2. Controller Setup................................................................................... 50
10. Revision History...................................................................................... 52

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.
Cat. No. Model Manual name
W500 NJ501-[][][][]
NJ301-[][][][]
NJ101-[][][][]
NJ-series
CPU Unit
Hardware User's Manual
W501 NJ501-[][][][]
NJ301-[][][][]
NJ101-[][][][]
NJ/NX-series
CPU Unit
Software User's Manual
W506 NJ501-[][][][]
NJ301-[][][][]
NJ101-[][][][]
NJ/NX-series
CPU Unit Built-in EtherNet/IPTM Port
User's Manual
W504 SYSMAC-SE2[][][] Sysmac Studio Version 1
Operation Manual
0969584-7 W4S1-05[]
W4S1-03B Switching Hub W4S1-series
Users Manual
Z362 ZW-7000[] Displacement Sensor ZW-7000 series
Confocal Fiber Type
Displacement Sensor User’s Manual
Z363 ZW-7000[] Displacement Sensor ZW-7000 series
Confocal Fiber Type Displacement
Sensor User’s Manual for
Communications Settings

2
．
Terms and Definitions
2
2. Terms and Definitions
Term Explanation and Definition
Node A controller and a device are connected to an EtherNet/IP network via
EtherNet/IP ports. EtherNet/IP recognizes each EtherNet/IP port
connected to the network as one node.
When a device with two EtherNet/IP ports is connected to the
EtherNet/IP network, EtherNet/IP recognizes this device as two nodes.
EtherNet/IP achieves the communications between controllers or the
communications between a controller and a device by exchanging data
between these nodes connected to the network.
Tag A minimum unit of the data that is exchanged on the EtherNet/IP network
is called a tag. The tag is defined as a network variable or as a physical
address, and it is assigned to the memory area of each device.
Tag set In the EtherNet/IP network, a data unit that consists of two or more tags
can be exchanged. The data unit consisting of two or more tags for the
data exchange is called a tag set. Up to eight tags can be configured per
tag set for OMRON controllers.
Tag data link In EtherNet/IP, the tag and tag set can be exchanged cyclically between
nodes without using a user program.
This standard feature on EtherNet/IP is called a tag data link.
Connection A connection is used to exchange data as a unit within which data
concurrency is maintained. The connection consists of tags or tag sets.
Creating the concurrent tag data link between the specified nodes is
called a "connection establishment". When the connection is
established, the tags or tag sets that configure the connection are
exchanged between the specified nodes concurrently.
There are two ways to specify the connection: one is to specify a tag set
name (tag name), and the other is to specify an instance number of
Assembly Object. In Sysmac Studio, the connection is set by specifying
the instance number.
Connection type There are two kinds of connection types for the tag data link connection.
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, multi-cast connections can
decrease the communications load if one output tag set is sent to more
than one node.

2
．
Terms and Definitions
3
Term Explanation and Definition
Originator and
Target To operate tag data links, one node requests the opening of a communications line called a "connection".
The node that requests to open the connection is called an "originator",
and the node that receives the request is called a "target".
Each communication data is called an ''originator variable'' and a ''target
variable''.
In Sysmac Studio, the instance number is specified in the target variable.
Tag data link
parameter A tag data link parameter is the setting data to operate tag data links. It includes the data to set tags, tag sets, and connections.
EDS file A file that describes the number of I/O points for the EtherNet/IP device
and the parameters that can be set via EtherNet/IP.
RPI This is an abbreviation for Requested Packet Interval.
RPI indicates the data I/O refresh cycle that is set for each connection
between the originator and the target.

3
．
Precautions
4
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
document without the permission of OMRON Corporation.
(5) The information contained in this document is current as of June 2016. It is subject to
change for improvement without notice.
The following notations are used in this document.
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
5
4. Overview
This document describes the procedures for connecting Displacement Sensor (hereinafter
referred to as Sensor Controller) to NJ Series Machine Automation Controller (hereinafter
referred to as Controller) via EtherNet/IP, both produced by OMRON Corporation (hereinafter
referred to as OMRON), and for checking their connections.
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.
Additional Information
Settings described in 7.3. Controller Setup are made in advance in the Sysmac Studio project
file (hereinafter referred to as project file) listed below. Refer to Section 9. Appendix:
Procedure Using the Project File for information on how to use the project file.
Obtain the project file with a latest version from OMRON Corporation.
Name File name Version
Sysmac Studio project file
(extension: csm2) P653_NJ_EIP_OMRON_ZW-70
00_EV100.csm2 Ver.1.00

5
．
Applicable Devices and Device Configuration
6
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-[][][][]
NJ101-[][][][]
OMRON Confocal Fiber Type
Displacement Sensor
Sensor Controller
Sensor Head
ZW-7000[]
ZW-S70[][]
Precautions for Correct Use
In this document, 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 document 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 your OMRON representative.

5
．
Applicable Devices and Device Configuration
7
5.2. Device Configuration
The hardware components to reproduce the connection procedures in this document are as
follows:
Manufacturer
Name
Model
Version
OMRON
NJ-series CPU Unit
(Built-in EtherNet/IP port)
NJ501-1500
Ver.1.10
OMRON
Power Supply Unit
NJ-PA3001
OMRON
Switching hub
W4S1-05C
Ver.1.0
-
24 VDC power supply
(for Switching hub)
-
OMRON
Sysmac Studio
SYSMAC-SE2[][][]
Ver.1.15
-
Personal computer (OS: Windows 7)
-
-
USB cable
(USB 2.0 type B connector)
-
-
LAN cable (STP (shielded,
twisted-pair) cable of Ethernet
category 5 or higher)
-
OMRON
Sensor Controller
ZW-7000
Ver.2.020
OMRON Sensor Head ZW-S7030
OMRON Calibration ROM (Supplied with Sensor
Head)
OMRON
24 VDC power supply
(for Sensor Controller)
(24 VDC, 2.5A, 60W)
S8VS-06024
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 document by referring to the Sysmac Studio Version
1 Operation Manual (Cat. No. W504).
ZW-7000
24 VDC power
supply
(for Sensor Controller)
ZW-S7030
USB cable
LAN cable
NJ501-1500
(Built-in EtherNet/IP port)
W4S1-05C
Personal computer
(Sysmac Studio installed,
OS: Windows 7)
LAN cable
24 VDC power
supply
(for Switching hub)
Calibration ROM

5
．
Applicable Devices and Device Configuration
8
Additional Information
For specifications of 24 VDC power supply available for Switching hub, refer to the Switching
Hub W4S1-series Users Manual (Cat. No. 0969584-7).
Additional Information
For specifications of 24 VDC power supply available for Sensor Controller, refer to the
Displacement Sensor ZW-7000 series Confocal Fiber Type Displacement Sensor User's
Manual (Cat. No. Z362).
Additional Information
The system configuration in this document uses USB for the connection between Personal
computer and Controller. For information on how to install the USB driver, refer to A-1 Driver
Installation for Direct USB Cable Connection in Appendices of the Sysmac Studio Version 1
Operation Manual (Cat. No. W504).

6
．
EtherNet/IP Settings
9
6. EtherNet/IP Settings
This section describes the setting contents of parameters, global variables, tag sets, and tag
data link table that are all defined in this document.
6.1. Parameters
The parameters that are set in this document are shown below.
6.1.1. Communication Settings of Personal Computer
The parameters for Sensor Controller are set using Ethernet communications with Personal
Computer for settings.
The parameters required for connecting Personal computer for setting and Sensor Controller
using Ethernet communications are shown below.
Item Personal computer for setting Sensor Controller
IP address 192.168.250.100 192.168.250.50 (Default)
Subnet mask 255.255.255.0 255.255.255.0
6.1.2. EtherNet/IP Communications Settings
The parameters required for connecting Controller to Sensor Controller via EtherNet/IP are
shown below.
Item Controller Sensor Controller Remarks
IP address
192.168.250.1
192.168.250.50 (Default)
Using Sysmac Studio.
Subnet mask 255.255.255.0 255.255.255.0 Using Sysmac Studio.
Fieldbus - EtherNet/IP Using Sysmac Studio.

6
．
EtherNet/IP Settings
10
6.2. Data Types to Use for Tag Data Links
The following data types are used for tag data links to communicate with Sensor Controller.
■Defining a data type for signal access (Union)
Data type to access control signals and status signals
Data type name
Data type
U_EIPFlag
UNION
F
BOOL[32]
W
DWORD
■Defining a data type for command area access (Structure)
Data type to access the command area
Data type name
Data type
Sensor Controller data
S_EIPOutput
STRUCT
-
SensorHeadControlFlag1
U_EIPFlag
Sensor head control signal1 (32 bit)
SensorHeadControlFlag2
U_EIPFlag
Sensor head control signal2 (32 bit)
SensorHeadControlReserve
U_EIPFlag
Extended area (32 bit)
CommandCode
DWORD
Command code (32 bit)
CommandParam1
UINT
Command parameter 1 (16 bit)
CommandParam2
UINT
Command parameter 2 (16 bit)
CommandParam3
DINT
Command parameter 3 (32 bit)
■Defining a data type for response and output area access (Structure)
Data type to access the response and output areas
Data type name
Data type
Sensor Controller data
S_EIPInput
STRUCT
-
SensorHeadStatusFlag1
U_EIPFlag
Sensor head status signal1 (32 bit)
SensorHeadStatusFlag2
U_EIPFlag
Sensor head status signal2 (32 bit)
SensorHeadStatusReserve
U_EIPFlag
Extended area (32 bit)
CommandCodeEcho
DWORD
Command code Echo (32 bit)
ResponseCode
UDINT
Response code (32 bit)
ResponseData
DINT
Response data (32 bit)
OutputData
DINT[8]
Output Data0 to 7 (32 bit)
Additional Information
For details on the union and structure types, refer to Memory Assignments and Commands in
4-1 EtherNet/IP Connection of the Displacement Sensor ZW-7000 series Confocal Fiber
Type Displacement Sensor User’s Manual for Communications Settings (Cat. No. Z363).
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 document, 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
11
6.3. Global variables
The Controller treats the data in tag data links as global variables.
The content of global variable settings is shown below.
■Output area (Controller to Sensor Controller)
Variable Data type Data size
EIPOutput S_EIPOutput 24 bytes
Sensor Controller data
Variable name
Base type
Sensor head control signal1
(Data type: U_EIPFlag)
EIPOutput.SensorHeadControlFlag1.F *1
BOOL[32]
EIPOutput.SensorHeadControlFlag1.W DWORD
Sensor head control signal2
(Data type: U_EIPFlag) EIPOutput.SensorHeadControlFlag2.F *
2
BOOL[32]
EIPOutput.SensorHeadControlFlag2.W DWORD
Extended area
(Data type: U_EIPFlag) EIPOutput.SensorHeadControlReserve.F BOOL[32]
EIPOutput.SensorHeadControlReserve.W DWORD
Command code EIPOutput.CommandCode DWORD
Command parameter 1 EIPOutput.CommandParam1 UINT
Command parameter 2 EIPOutput.CommandParam2 UINT
Command parameter 3 EIPOutput.CommandParam3 DINT
*1: Assignment of Sensor Head control signal1
Variable: EIPOutput.SensorHeadControlFlag1.F
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
EXE
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
ERCLR
EXE : Control command execution
ERRCLR : Error clear
*2: Assignment of Sensor Head control signal2
Variable: EIPOutput.SensorHeadControlFlag2.F
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
LIGHT
OFF
RESET TIMING
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
ZERO
CLR_T4
ZERO
CLR_T3
ZERO
CLR_T2
ZERO
CLR_T1
ZERO_
T4
ZERO_
T3
ZERO_
T2
ZERO_
T1
TIMING : Timing
RESET : Reset
LIGHTOFF : Light metering OFF
ZERO_Tn : TASK n Zero reset execution (n: 1 to 4)
ZEROCLR_Tn : TASK n Zero reset cancel (n: 1 to 4)

6
．
EtherNet/IP Settings
12
■Input area (Sensor Controller to Controller)
Variable Data type Data size
EIPInput
S_EIPInput
56 bytes
Sensor Controller data
Variable name
Base type
Sensor Head status signal 1
(Data type: U_EIPFlag) EIPInput.SensorHeadStatusFlag1.F *
1
BOOL[32]
EIPInput.SensorHeadStatusFlag1.W DWORD
Sensor Head status signal 2
(Data type: U_EIPFlag) EIPInput.SensorHeadStatusFlag2.F *
2
BOOL[32]
EIPInput.SensorHeadStatusFlag2.W DWORD
Extended area
(Data type: U_EIPFlag) EIPInput.SensorHeadStatusReserve.F BOOL[32]
EIPInput.SensorHeadStatusReserve.W DWORD
Command code Echo EIPInput.CommandCodeEcho DWORD
Response code EIPInput.ResponseCode UDINT
Response data EIPInput.ResponseData DINT
Output Data 0
EIPInput.OutputData DINT[8]
Output Data 1
Output Data 2
Output Data 3
Reserved
Reserved
Reserved
Reserved
*1: Assignment of Sensor Head status signal1
Variable: EIPInput.SensorHeadStatusFlag1.F
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
BANK1
_E
BANK1
_D
BANK1
_C
BANK1
_B
BANK1
_A
RUN
READY
FLG
31
30
29
28
27
26
25
24
23
22
21
20
19
18
17
16
ERR
FLG : Control command completion
READY : Ready
RUN : Run screen
BANK1_A : Current bank number bit0
｜
BANK1_E : Current bank number bit4
ERR : Error

6
．
EtherNet/IP Settings
13
*2: Assignment of Sensor Head status signal2
Variable: EIPInput.SensorHeadStatusFlag2.F
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
TASK
STAT
_T4
TASK
STAT
_T3
TASK
STAT
_T2
TASK
STAT
_T1
OR GATE ENABLE
STABIL
ITY1 LIGHT RESET STAT HOLD STAT
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
LOW
_T4 PASS _T4 HIGH _T4 LOW _T3 PASS _T3 HIGH _T3 LOW _T2 PASS _T2 HIGH _T2 LOW _T1 PASS _T1 HIGH _T1
ZERO
STAT_
T4
ZERO
STAT_
T3
ZERO
STAT_
T2
ZERO
STAT_
T1
HOSDSTAT : Hold execution status
RESETSTAT : Reset execution state
LIGHT : Logical beam lighting state
STABILITY1 : Measurement position
ENABLE : Measurement state
GATE : Data output completed
OR : Overall judgment result
TASKSTAT_Tn : TASK n TASK status (n: 1 to 4)
ZEROSTAT_Tn : TASK n Zero reset state (n: 1 to 4)
HIGH_Tn : TASK n HIGH output (n: 1 to 4)
PASS_Tn : TASK n PASS output (n: 1 to 4)
LOW_Tn : TASK n LOW output (n: 1 to 4)
Additional Information
For details on command and response codes, refer to Memory Assignments and Commands
in 4-1 EtherNet/IP Connection of the Displacement Sensor ZW-7000 series Confocal Fiber
Type Displacement Sensor User’s Manual for Communications Settings (Cat. No. Z363).

6
．
EtherNet/IP Settings
14
6.4. Tag Sets
The content of tag set settings to operate tag data links is shown below.
The data in the tag sets are assigned with the following OUT No. and IN No.
■Output area (Controller to Sensor Controller)
Originator variable (tag set name) Data size (byte)
EIP050_OUT 24
OUT No. Global variable name (tag name) Data size (byte)
1 EIPOutput 24
■Input area (Sensor Controller to Controller)
Originator variable (tag set name) Data size (byte)
EIP050_IN 56
IN No. Global variable name (tag name) Data size (byte)
1 EIPInput 56
6.5. Tag Data Link Table
The content of tag data link table settings (connection settings) is shown below.
The values marked with red squares are taken from the values defined in the EDS file for
Sensor Controller.
Connection Name
Connection I/O Type
RPI (ms)
Timeout Value
default_001 Consume Data
From/Produce Data To 50.0 RPI x 4
Connection I/O
Type Input / Output
Target Variable
(Sensor
Controller set
value: instance
number)
Size
(Byte) Originator Variable (Tag set name) Size (Byte) Connection Type
Consume
Data
From/Produce
Data To
Input 101 56 EIP050_IN 56
Multi-cast
connection
Output 100 24 EIP050_OUT 24
Point to
Point
connection
Precautions for Correct Use
The RPI and the timeout value are left as default values in this document.
When you set connections, change them according to your usage environment.

7
．
EtherNet/IP Connection Procedure
15
7. EtherNet/IP Connection Procedure
This section describes the procedures for connecting Sensor Controller and Controller on the
EtherNet/IP network. The explanations of procedures for setting up Controller and Sensor
Controller given in this document 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 operate tag data links by connecting Sensor Controller and
Controller via EtherNet/IP.
7.2. Sensor Controller Setup
Set up Sensor Controller.
↓
7.2.1. Hardware Settings Connect cables and others to Sensor Controller.
↓
7.2.2. Parameter Settings
Set the parameters for Sensor Controller.
↓
7.3. Controller Setup
Set up Controller.
↓
7.3.1. IP Address Settings
Set the IP address of Controller.
↓
7.3.2. Target Device Registration
Register the target device.
↓
7.3.3. Setting the Global Variables
Set the global variables to use for tag data links.
↓
7.3.4. Tag Registration
Register the tags and the tag sets.
↓
7.3.5. Setting the Connections
Set the target variables and the originator
variables, and then set the connections.
↓
7.3.6. Transferring the Project Data
Connect online and transfer the connection
settings and the project data to Controller.
↓
7.4. EtherNet/IP Communication Status
Check
Confirm that the EtherNet/IP tag data links operate
normally.
↓
7.4.1. Checking the Connection Status
Check the connection status of the EtherNet/IP
network.
↓
7.4.2. Checking the Sent and
Received Data
Check that the correct data are sent and received.

7
．
EtherNet/IP Connection Procedure
16
7.2. Sensor Controller Setup
Set up Sensor Controller.
7.2.1. Hardware Settings
Connect cables and others to Sensor Controller.
Precautions for Correct Use
Make sure that the power supply is OFF when you set up.
1
Make sure that Sensor
Controller is powered OFF.
*If it is ON, the settings
described in the following steps
and subsequent procedures
may not be applicable.
2
Check the position of
connectors on Sensor Controller
by referring to the figure on the
right.
3
Connect Calibration ROM to
ROM connector.
4
Connect Fiber connector on
Sensor Head to Fiber adapter.
Fiber adapter
ROM connector
Ethernet
connector
24V input terminal
block

7
．
EtherNet/IP Connection Procedure
17
5
Connect Switching hub to
Personal computer and to
Ethernet connector on Sensor
Controller with LAN cables.
Connect 24 VDC power supply
(for Switching hub) to Switching
hub.
LAN cable LAN cable
24VDC power supply
6
Connect 24 VDC power supply
to 24 V input terminal block.
*For details on specifications of
24 VDC power supply available
for Sensor Controller, refer to
the Displacement Sensor
ZW-7000 series Confocal Fiber
Type Displacement Sensor
User's Manual (Cat. No. Z362).
24VDC power supply