Omron Sysmac NJ-series Instruction Manual

Machine Automation Controller NJ-series
EtherCAT
Connection Guide
OMRON Corporation
E3X-ECT Sensor Communication Unit
(EtherCAT Slave)
P529-E1-01

Table of Contents
1. Related Manuals........................................................................................ 1
2. Terms and Definition................................................................................. 2
3. Remarks..................................................................................................... 3
4. Overview .................................................................................................... 5
5. Applicable Devices and Support Software.............................................. 5
5.1. Applicable Devices............................................................................. 5
5.2. Device Configuration.......................................................................... 6
6. EtherCAT Settings..................................................................................... 7
6.1. EtherCAT Communications Settings .................................................. 7
6.2. Allocating the Global Variables .......................................................... 7
7. Connection Procedure.............................................................................. 9
7.1. Work Flow .......................................................................................... 9
7.2. Setting Up the Sensor Communication Unit..................................... 10
7.3. Setting Up the Controller.................................................................. 12
7.4. Checking the Connection Status ...................................................... 23
8. Initialization Method................................................................................ 28
8.1. Controller ......................................................................................... 28
9. Revision History...................................................................................... 29

1. Related Manuals
1
1. Related Manuals
The table below lists the manuals related to this document.
To ensure system safety, make sure to always read and heed the information provided in all
Safety Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for
each device which is used in the system.
Cat.No. Model Manual name
W500 NJ501-[][][][] NJ-series CPU Unit Hardware User's Manual
W501 NJ501-[][][][] NJ-series CPU Unit Software User's Manual
W505 NJ501-[][][][] NJ-series CPU Unit Built-in EtherCAT Port User's Manual
W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual
E413 E3X-ECT E3X-ECT EtherCAT Sensor Communications Unit Operation
Manual

2. Terms and Definition
2
2. Terms and Definition
Terms Explanation and Definition
PDO
Communications
(Communications
using Process Data
objects)
This method is used for cyclic data exchange between the master unit
and the slave units.
PDO data (i.e., I/O data that is mapped to PDOs) that is allocated in
advance is refreshed periodically each EtherCAT process data
communications cycle (i.e., the period of primary periodic task).
The NJ-series Machine Automation Controller uses process data
communications for commands to refresh I/O data in a fixed control
period, including I/O data for EtherCAT Slave Units, and the position
control data for the Servomotors.
It is accessed from the NJ-series Machine Automation Controller in the
following ways.
•With device variables for EtherCAT slave I/O
•With Axis Variables for Servo Drive and encoder input slaves to which
assigned as an axis
SDO
Communications
(Communications
using Service Data
objects)
This method is used to read and write the specified slave unit data from
the master unit when required.
The NJ-series Machine Automation Controller uses SDO
communications for commands to read and write data, such as for
parameter transfers, at specified times.
The NJ-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 There are various types of slaves such as Servo Drives that handle
position data and I/O terminals that control the bit signals.
The slave receives output data sent from the master, and transmits
input data to the master.
Node address An address to identify the unit connected to EtherCAT.
ESI file
(EtherCAT Slave
Information file)
The ESI files contain information unique to the EtherCAT slaves in XML
format.
Install an ESI file into the Sysmac Studio, to allocate slave process data
and make other settings.

3. Remarks
3
3. Remarks
(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 safety
circuit in order to ensure safety and minimize risks for abnormally occurrence.
(2) To ensure system safety, always read and heed the information provided in all Safety
Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for
each device which is used in the system.
(3) The users are 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 of or whole part of this
document without the permission of OMRON Corporation.
(5) This document provides the latest information as of March 2013. The information on
this manual is subject to change for improvement without notice.
About Intellectual Property Right 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.
Company names and product names in this document are the trademarks or registered
trademarks of their respective companies.

3. Remarks
The following notation is used in this document.
Precautions for Safe Use
Indicates precautions on what to do and what not to do to ensure using the product safely.
Precautions for Correct Use
Indicates precautions on what to do and what not to do to ensure proper operation and
performance.
Additional Information
Provides useful information.
Additional information to increase understanding or make operation easier.
4

4. Overview
4. Overview
This document describes the procedure for connecting the Sensor Communication Unit
(E3X-ECT) of OMRON Corporation (hereinafter referred to as OMRON) to NJ-series Machine
Automation Controller (hereinafter referred to as Controller) on EtherCAT and provides the
procedure for checking their connection.
Refer to Section 7 Connection Procedure to understand the setting method and key points to
connect the devices via EtherCAT.
5. Applicable Devices and Support Software
5.1. Applicable Devices
The following devices can be connected.
Manufacturer Name Model Version
OMRON NJ series CPU Unit NJ501-[][][][] -
OMRON Sensor Communications Unit
(EtherCAT slave)
E3X-ECT -
OMRON Standard Fiber Sensor E3X-HD0 -
OMRON 2CH Fiber Sensor E3X-MDA0 -
OMRON High-function Fiber Sensor E3X-DA0-S -
OMRON Laser Amplifier E3C-LDA0 -
OMRON Proximity Sensor Amplifier E2C-EDA0 -
Additional Information
As applicable devices above, the devices listed in Section 5.2. are actually used in this
document to check the connection. When using devices not listed in Section 5.2, check the
connection by referring to the procedure in this document.
Additional Information
This document describes the procedure to establish the network connection. It does not
provide information about operation, installation nor wiring method of each device.
For details on above products (other than communication connection procedures), refer to
the manuals for the corresponding products or contact your OMRON representative.
5

5. Applicable Devices and Support Software
5.2. Device Configuration
The hardware components to reproduce the connection procedure of this document are as
follows.
E3X-ECT
Personal computer
(Sysmac Studio installed,
OS:Windows7)
6
Manufacturer Name Model Version
OMRON CPU Unit
(Built-in EtherCAT port)
NJ501-1500
OMRON Power Supply Unit NJ1W-PA3001
OMRON Sysmac Studio SYSMAC-SE2[][][] Ver.1.01
- Personal computer
(OS:Windows7)
- USB cable
(USB 2.0 type B connector)
OMRON Ethernet cable (with industrial
Ethernet connector)
XS5W-T421-[]M[]-K
OMRON Sensor Communications Unit
(EtherCAT slave)
E3X-ECT
OMRON Fiber Sensor E3X－HD0
Precautions for Correct Use
The connection line of EtherCAT communication cannot be shared with other networks, such
as Ethernet or EtherNet/IP.
The switching hub for Ethernet cannot be used for EtherCAT.
Please use the cable of Category 5 or higher, double-shielded with aluminum tape and
braided shielding and the shielded connector of Category 5 or higher.
Connect the cable shield to the connector hood at both ends of the cable.
Additional Information
For information on the specifications of the Ethernet cable and network wring, refer to Section
4 EtherCAT Network Wiring in the NJ-series CPU Unit Built-in EtherCAT Port User's Manual
(Cat. No. W505).
Additional Information
The system configuration in this document uses USB for the connection between the
personal computer and the NJ-series CPU Unit. For information on how to install a USB
driver, refer to A-1 Driver Installation for Direct USB Cable Connection of the Sysmac Studio
Operation Manual (Cat.No. W504).
USB cable
NJ501-1500
(Built-in EtherCAT port) E3X-HD0 (3 units)
Ethernet cable

6. EtherCAT Settings
7
6. EtherCAT Settings
This section describes the specifications such as communication parameters and variables
that are set in this document.
6.1. EtherCAT Communications Settings
The following is the setting of the destination device.
E3X-ECT
Node address 001
6.2. Allocating the Global Variables
The device variables of the destination device are allocated to the Controller's global
variables.
The relationship between the device data and the global variables is shown below.
■Input area (Controller ←Destination device)
Destination device data Global variable name Data type
Input bits 00 to 15 E001_Read_input_1st_word WORD
Sensor 1 output 1 E001_In_Bit00 BOOL
Sensor 1 output 2 E001_In_Bit01 BOOL
Sensor 2 output 1 E001_In_Bit02 BOOL
Sensor 2 output 2 E001_In_Bit03 BOOL
Sensor 3 output 1 E001_In_Bit04 BOOL
Sensor 3 output 2 E001_In_Bit05 BOOL
Sensor 4 output 1 E001_In_Bit06 BOOL
Sensor 4 output 2 E001_In_Bit07 BOOL
Sensor 5 output 1 E001_In_Bit08 BOOL
Sensor 5 output 2 E001_In_Bit09 BOOL
Sensor 6 output 1 E001_In_Bit00 BOOL
Sensor 6 output 2 E001_In_Bit11 BOOL
Sensor 7 output 1 E001_In_Bit12 BOOL
Sensor 7 output 2 E001_In_Bit13 BOOL
Sensor 8 output 1 E001_In_Bit14 BOOL
Sensor 8 output 2 E001_In_Bit15 BOOL

6. EtherCAT Settings
8
Destination device data Global variable name Data type
Input bits 16 to 31 E001_Read_input_2nd_word WORD
Sensor 9 output 1 E001_In_Bit16 BOOL
Sensor 9 output 2 E001_In_Bit17 BOOL
Sensor 10 output 1 E001_In_Bit18 BOOL
Sensor 10 output 2 E001_In_Bit19 BOOL
Sensor 11 output 1 E001_In_Bit20 BOOL
Sensor 11 output 2 E001_In_Bit21 BOOL
Sensor 12 output 1 E001_In_Bit22 BOOL
Sensor 12 output 2 E001_In_Bit23 BOOL
Sensor 13 output 1 E001_In_Bit24 BOOL
Sensor 13 output 2 E001_In_Bit25 BOOL
Sensor 14 output 1 E001_In_Bit26 BOOL
Sensor 14 output 2 E001_In_Bit27 BOOL
Sensor 15 output 1 E001_In_Bit28 BOOL
Sensor 15 output 2 E001_In_Bit29 BOOL
Sensor 16 output 1 E001_In_Bit30 BOOL
Sensor 16 output 2 E001_In_Bit31 BOOL
Sensor Communications Status
8 bits
E001_Sensor_Communication_
Status BYTE
Sensor communication
busy
E001_Sensor_Communication_
Busy BOOL
Sensor communication
error
E001_Sensor_Communication_
Error BOOL
Number of Sensors setting E001_Number_of_Sensors_Sett
ing USINT
Number of Sensors (incl.
dummy)
E001_Number_of_Sensors_with
_Dummy USINT
■Details of the status allocation (Controller ←Destination device)
Destination device data Global variable name Data type
Sysmac Error Status E001_Sysmac_Error_Status BYTE
Error information at
observation level E001_Observation BOOL
Error information at minor
fault level E001_Minor_Fault BOOL