Omron WAGO-I/O-SYSTEM Instruction Manual

Machine Automation Controller NJ-series
EtherCAT(R) Connection Guide
WAGO Kontakttechnik
GmbH & Co. KG
WAGO-I/O-SYSTEM Fieldbus Coupler
(750 Series)
P594-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(R)
is 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 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.................................................................................................. 3
4. Overview ...................................................................................................... 4
5. Applicable Devices and Device Configuration........................................ 4
5.1. Applicable Devices .............................................................................. 4
5.2. Device Configuration........................................................................... 5
6. EtherCAT Settings....................................................................................... 7
6.1. EtherCAT Communications Parameter Settings................................. 7
6.2. Allocation for PDO Communications................................................... 7
7. EtherCAT Connection Procedure.............................................................. 9
7.1. Work Flow............................................................................................ 9
7.2. Setting Up the WAGO-I/O-SYSTEM Fieldbus Coupler..................... 10
7.3. Setting Up the Controller....................................................................11
7.4. Checking the EtherCAT Communications......................................... 24
8. Initialization Method.................................................................................. 27
8.1. Initializing the Controller.................................................................... 27
9. Revision History........................................................................................ 28

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-[][][][]
NJ301-[][][][] NJ-series CPU Unit Hardware User's Manual
W501 NJ501-[][][][]
NJ301-[][][][]
NJ-series CPU Unit Software User's Manual
W505 NJ501-[][][][]
NJ301-[][][][] NJ-series CPU Unit Built-in EtherCAT Port User's Manual
W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual
750-354/000-001 EtherCAT（R）Fieldbus Coupler, ID Switch (Data Sheet)
750-354/000-001 WAGO-I/O-SYSTEM 750 Fieldbus Coupler EtherCAT(R)
with ID Address Selection Switch 750-354/000-001
100 Mbit/s, digital and analog signals (Manual)

2
．
Terms and Definitions
2
2. Terms and Definitions
Term 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 the PDO
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 slave 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 unit There are various types of slaves such as Servo Drives that handle
position data and I/O terminals that handle the bit signals.
The slave unit receives output data sent from the master, and sends
input data to the master.
Node address A node address is an address to identify a unit connected to EtherCAT.
ESI file
(EtherCAT Slave
Information file)
The ESI files contain information unique to the EtherCAT slaves in XML
format.
Installing an ESI file enables the Sysmac Studio to allocate 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 safety
circuit in order to ensure safety and minimize risks of abnormal 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 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 April 2014. It is subject to
change without notice for improvement.
The following notations are used in this document.
Indicates a potentially hazardous situation which, if not avoided,
will 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 Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
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.
Symbols
The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in text.
This example shows a general precaution for something that you must do.

4
．
Overview
4
4. Overview
This document describes the procedure for connecting WAGO-I/O-SYSTEM Fieldbus Coupler
(750-series) of WAGO Kontakttechnik GmbH & Co. KG (hereinafter referred to as WAGO) to
NJ-series Machine Automation Controller (hereinafter referred to as Controller) of OMRON
Corporation (hereinafter referred to as OMRON) via EtherCAT and provides the procedure for
checking their connection. Refer to Section 6 EtherCAT Settings and Section 7. EtherCAT
Connection Procedure to understand the setting method and key points to operate PDO
communications of EtherCAT.
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-[][][][]
WAGO WAGO-I/O-SYSTEM Fieldbus Coupler with ID
Address Selection Switch
750-354/000-001
Precautions for Correct Use
As applicable devices above, the devices with the models and versions listed in Section 5.2.
are actually used in this document to describe the procedure for connecting devices and
checking the connection.
You cannot use devices with versions lower than the versions listed in Section 5.2.
To use the above devices with versions not listed in Section 5.2 or versions higher than those
listed in Section 5.2, check the differences in the specifications by referring to the manuals
before operating the devices.
Additional Information
This document describes the procedure to establish the network connection. Except for the
connection procedure, it does not provide information on operation, installation or wiring
method. It also does not describe the functionality or operation of the devices. Refer to the
manuals or contact the device manufacturer.
(WAGO http://www.wago.com )
This URL is the latest address at the time of this document creation. Contact each device
manufacturer for the latest information.

5
．
Applicable Devices and Device Configuration
5
5.2. Device Configuration
The hardware components to reproduce the connection procedure of this document are as
follows:
Manufacturer
Name
Model
Version
OMRON
CPU Unit
(Built-in EtherCAT port)
NJ501-1500
Ver.1.07
OMRON
Power Supply Unit
NJ-PA3001
OMRON
Sysmac Studio
SYSMAC-SE2[][][]
Ver.1.08
－
Personal computer
(OS: Windows 7)
－
－
USB cable
(USB 2.0 type B connector)
-
OMRON
Ethernet cable (with industrial
Ethernet connector)
XS5W-T421-[]M[]-K
WAGO
WAGO-I/O-SYSTEM Fieldbus
Coupler with ID Address Selection
Switch
750-354/000-001
Rev.
0x00010002
WAGO
Power supply module
750-602
WAGO
2-channel digital output module
750-501
WAGO
4-channel digital input module
750-407
WAGO End module
750-600
WAGO
ESI file
WAGO_750_354.xml
-
24 VDC power supply
-
Precautions for Correct Use
Prepare the ESI file shown in this section beforehand. The ESI file can be downloaded from
the WAGO website.
(WAGO
https://eshop.wago.com/JPBC/0_5StartPage.jsp?supplierAID=750-354%2F000-001&catalog
ID=WAGO01&zone=7)
Contact WAGO if the file is not available.
USB cable
NJ501-1500
(Built-in EtherCAT port)
750-354/000-001+
750-602+750-501+
750-407+750-600
Personal computer
(Sysmac Studio installed,
OS: Windows 7)
Ethernet cable
24 VDC
power supply
24 VDC
power supply

5
．
Applicable Devices and Device Configuration
6
Precautions for Correct Use
The connection line of EtherCAT communication cannot be shared with other Ethernet
networks.
Do not use devices for Ethernet such as a switching hub.
Use the cable (double shielding with aluminum tape and braiding) of Category 5 or higher,
and use the 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 the Sysmac Studio to the version specified in this section or higher version using the
auto update function.
If a version not specified in this section is used, the procedures described in Section 7 and
subsequent sections may not be applicable. In that case, use the equivalent procedures
described in the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).
Additional Information
For information on the specifications of the Ethernet cable and network wiring, refer to
Section 4 EtherCAT Network Wiring of 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 to the Controller.
For information on how to install a USB driver, refer to A-1 Driver Installation for Direct USB
Cable Connection of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).

6
．
EtherCAT Settings
7
6. EtherCAT Settings
This section describes the specifications such as communication parameters and variables
that are set in this document.
Hereinafter, the WAGO-I/O-SYSTEM Fieldbus Coupler is referred to as the "Destination
Device" or the "Slave Unit" in some descriptions.
6.1. EtherCAT Communications Parameter Settings
The communications parameter required connecting the Controller and the Destination
Device via EtherCAT is given below.
WAGO-I/O-SYSTEM
Fieldbus Coupler
Node address 1
Precautions for Correct Use
The Controller with the version described in this document cannot use the node address
setting with the rotary switches of the Destination Device. The node address for the
Destination Device can be set by Sysmac Studio.
6.2. Allocation for PDO Communications
The EtherCAT PDO communications data of the Destination Device are allocated to the
Controller's device variables. The device variables and the data types are shown below.
■Output area (from Controller to Destination Device)
Device variable name Data type Meaning
E001_Output_K_Bus_Cycle_Overrun_Flag_Di_F200_01 BOOL
K-Bus Cycle Overrun
Flag Disable
E001_Output_Input_Process_Data_Hold_Req_F200_02 BOOL
Input Process Data Hold
Request
E001_Output_Output_Process_Data_Hold_Re_F200_03 BOOL
Output Process Data
Hold Request
E001_Output_Output_Process_Data_Clear_R_F200_04 BOOL
Output Process Data
Clear Request
E001_Output_Diagnostics_Control_Word_F200_05 UINT
Diagnostics Control
Word
M1_Output_s_Channel_1_Data_7000_01 BOOL Output of Digital Output
Module (Slot1)
M1_Output_s_Channel_2_Data_7000_02 BOOL
M2_Output_s_Channel_1_Data_7000_01 BOOL Output of Digital Output
Module (Slot2)
M2_Output_s_Channel_2_Data_7000_02 BOOL

6
．
EtherCAT Settings
8
■Input area (from Destination Device to Controller)
Device variable name Data type Meaning
E001_Input_K_Bus_Cycle_Overrun_Flag_F100_01 BOOL
K-Bus Cycle Overrun
Flag
E001_Input_Input_Process_Data_Hold_Ack_F100_02 BOOL
Input Process Data
Hold Acknowledge
E001_Input_Output_Process_Data_Hold_Ac_F100_03 BOOL
Output Process Data
Hold Acknowledge
E001_Input_Output_Process_Data_Clear_A_F100_04 BOOL
Output Process Data
Clear Acknowledge
E001_Input_New_Message_Available_10F3_04 BOOL
Diagnostics History
Message Available
E001_Input_Diagnostics_Status_Word_F100_05 UINT
Diagnostics Status
Word
M3_Input_s_Channel_1_Data_6000_01 BOOL
Input of Digital Input
Module (Slot3)
M3_Input_s_Channel_2_Data_6000_02 BOOL
M3_Input_s_Channel_3_Data_6000_03 BOOL
M3_Input_s_Channel_4_Data_6000_04 BOOL

7
．
EtherCAT Connection Procedure
9
7. EtherCAT Connection Procedure
This section describes the procedure for connecting the Controller to the WAGO-I/O-SYSTEM
Fieldbus Coupler via EtherCAT.
This document explains the procedures for setting up the Controller and the
WAGO-I/O-SYSTEM Fieldbus Coupler from the factory default setting.
For the initialization, refer to Section 8 Initialization Method.
7.1. Work Flow
Take the following steps to perform PDO communications of EtherCAT.
7.2. Setting Up the WAGO-I/O-SYSTEM
Fieldbus Coupler
Set up the WAGO-I/O-SYSTEM Fieldbus Coupler.
↓
7.2.1. Hardware Settings
Set the hardware switches on the
WAGO-I/O-SYSTEM Fieldbus Coupler.
↓
7.3. Setting Up the Controller
Set up the Controller.
↓
7.3.1. Starting the Sysmac Studio and
Installing the ESI File
Install the ESI file for the WAGO-I/O-SYSTEM
Fieldbus Coupler in the Sysmac Studio.
↓
7.3.2. Setting Up the EtherCAT
Network Configuration
Set up the EtherCAT network configuration.
↓
7.3.3. Setting the Device Variables
Set the device variables used for the EtherCAT
Slave Unit.
↓
7.3.4. Transferring the Project Data
Transfer the project data from the Sysmac Studio to
the Controller.
↓
7.4. Checking the EtherCAT
Communications
Confirm that the PDO communications of EtherCAT
are performed normally.
↓
7.4.1. Checking the Connection Status
Check the connection status of the EtherCAT
network.
↓
7.4.2 Checking the Data that are Sent
and Received
Confirm that the correct data are sent and received.

7
．
EtherCAT Connection Procedure
10
7.2. Setting Up the WAGO-I/O-SYSTEM Fieldbus Coupler
Set up the WAGO-I/O-SYSTEM Fieldbus Coupler.
7.2.1. Hardware Settings
Set the hardware switches on the WAGO-I/O-SYSTEM Fieldbus Coupler.
Precautions for Correct Use
Make sure that the power supply is OFF when you perform the setting up.
1
Connect the Power supply
module, Digital input module,
Digital output module, and End
module to the Fieldbus Coupler
so that the WAGO-I/O-SYSTEM
is created.
In this document, two sets of
2-channel digital output modules
and one 4-channel digital input
module are connected as an I/O
Unit as shown on the right.
* If the power supply is turned
ON, settings may not be
applicable as described in the
following procedures.
2
Check the position of the
hardware switches on the front
panel of the
WAGO-I/O-SYSTEM Fieldbus
Coupler by referring to the right
figure.
3
Set all the Address Selection
Switches to OFF.
* The actual node address is set
by Sysmac Studio.
4
Connect the Ethernet cable to
the Fieldbus connection (X1 IN).
5
Connect the 24 VDC power
supply to the System supply and
to the Field supply.
Address Selection
Switch
Status LEDs
Fieldbus
Fieldbus connection
(X1 IN)
Digital output module
Fieldbus Coupler
End module
Power supply module
Digital input module
System supply
Field supply
Fieldbus connection
(X1 OUT)

7
．
EtherCAT Connection Procedure
11
7.3. Setting Up the Controller
Set up the Controller.
7.3.1. Starting the Sysmac Studio and Installing the ESI File
Install the ESI file for the WAGO-I/O-SYSTEM Fieldbus Coupler in the Sysmac Studio.
Install the Sysmac Studio and USB driver in the Personal computer beforehand.
1
Connect the Ethernet cable to
the built-in EtherCAT port
(PORT2) of the Controller and
connect the USB cable to the
peripheral (USB) port.
As shown in 5.2. Device
Configuration, connect the
Personal computer,
WAGO-I/O-SYSTEM Fieldbus
Coupler, and Controller.
2
Turn ON the power supply to the
Controller and the System
supply and the Field supply to
the WAGO-I/O-SYSTEM
Fieldbus Coupler.
3
Start the Sysmac Studio.
Click the Connect to Controller
Button.
* If a confirmation dialog for an
access right is displayed at
start, select to start.
USB cable
End Cover
Power Supply Unit
Ethernet
cable
CPU Unit
Controller

7
．
EtherCAT Connection Procedure
12
4
The Connect to Controller
Dialog Box is displayed.
Select the Direct connection via
USB Option for Connection
type.
Uncheck both of the Upload the
project Check Box and the
Display the Troubleshooting
Dialog Box Check Box of
Operation after Connection.
Click the Connect Button.
5
A confirmation dialog box on the
right is displayed. Check the
contents and click the OK
Button.
* The displayed dialog depends
on the status of the Controller
used. Check the contents and
click the Yes or OK Button to
proceed with the processing.
6
A confirmation dialog box is
displayed. Check the contents
and click the OK Button.
7
The Auto Connect Project
Dialog Box is displayed online.
When an online connection is
established, a yellow bar is
displayed on the Pane.
The left pane is called Multiview
Explorer, the top right pane is
called Toolbox, the bottom right
pane is called Status Monitor
Plane, and the middle pane is
called Edit Pane.
Additional Information
For details on online connections to a Controller, refer to Section 5 Online Connections to a
Controller of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).
Status
Monitor
Plane
Multiview
Explorer
Edit Pane
Toolbox

7
．
EtherCAT Connection Procedure
13
8
Double-click EtherCAT under
Configurations and Setup in
the Multiview Explorer.
9
The EtherCAT Tab is displayed
on the Edit Pane.
10
Right-click Master and select
Display ESI Library.
11
The ESI Library Dialog Box is
displayed. Click the this folder
link.
When the Explorer starts, close
the dialog box by clicking the
Close Button.
12
The Explorer starts and a folder
is opened, allowing you to install
the ESI file. Copy the prepared
WAGO_750_354.xml to this
folder.

7
．
EtherCAT Connection Procedure
14
13
Select Exit from the File Menu
to exit the Sysmac Studio.
A dialog box is displayed
confirming whether to save the
project. If you do not need to
save it, click the No Button.
* You need to restart the
Sysmac Studio after installing
the ESI file.
14
In the same way as steps 3 to
10, restart the Sysmac Studio
and display the ESI Library
Dialog Box.
Click the +Button of
WAGO_750_354 to confirm that
750-354/000-001
Rev:0x00010002(750-354/000-
001 EtherCAT fieldbus coupler)
device is displayed.
Confirm that an exclamation
mark (warning) is not displayed.
Click the
Close
Button
Precautions for Correct Use
If an exclamation mark (warning) is displayed for the ESI file, check the name of the ESI file
and obtain the ESI file with a correct name. If an exclamation mark (warning) is displayed
even when the name of the ESI file is correct, the file may be corrupted. Contact the device
manufacturer.

7
．
EtherCAT Connection Procedure
15
7.3.2. Setting Up the EtherCAT Network Configuration
Set up the EtherCAT network configuration.
1
Confirm that a yellow bar is
displayed on the top of the Edit
Pane which indicates an online
connection is established.
2
Right-click Master on the
EtherCAT Tab Page of the Edit
Pane, and select Write Slave
Node Address.
* If the EtherCAT Tab Page is
not displayed on the Edit Pane,
display it by following step 8 of
7.3.1. Starting the Sysmac
Studio and Installing the ESI
File.
A screen is displayed stating
"Get information is being
executed".
3
The Slave Node Address Writing
Dialog Box is displayed.
The present value (setting node
address) and 750-354/000-001
Rev:0x00010002 are displayed
in the Actual network
configuration.
* If the present value of the node
address is 0, an error is
displayed.
4
Enter 1in the Set value Field for
a node address.

7
．
EtherCAT Connection Procedure
16
5
Confirm that there is no error in
the set value and 1 is set.
Click the Write Button.
6
The Slave Node Address Writing
Dialog Box is displayed.
Click the Write Button.
Then, a screen is displayed
stating "Writing node addresses
to slaves was successfully
completed".
Check the contents and click the
Close Button.
7
Cycle the power supply to the
Slave Unit.
8
The EtherCAT Tab Page is
displayed again. Right-click
Master and select Compare
and Merge with Actual
Network Configuration.
A screen is displayed stating
"Get information is being
executed".
9
The Compare and Merge with
Actual Network Configuration
Dialog Box is displayed.
Node address 1 and
750-354/000-001
Rev:0x00010002 are added to
the Actual network configuration
after the comparison.
Click the Apply actual network
configuration
Button.

7
．
EtherCAT Connection Procedure
17
10
A confirmation dialog box on the
right is displayed.
Check the contents and click the
Apply Button.
A result confirmation dialog box
is displayed.
Click the Close Button.
Node address 1, E001 and
750-354/000-001
Rev:0x00010002 are added to
the Network configuration on
Sysmac Studio.
Confirm that the data above are
added and click the Close
Button.
11
Node address 1, E001, and
750-354/000-001
Rev:0x00010002 are added to
the EtherCAT Tab Page on the
Edit Pane.