Omron NJ-series User manual

1
3rd Party Drive Setup
NJ/NX Series
EtherCAT Connection
Quick Start Guide

2
Contents
1. Related Manuals .......................................................................................... 3
2. Terms and Definitions ................................................................................ 5
3. Precautions ................................................................................................. 6
4. Overview ...................................................................................................... 7
5. Applicable Devices ..................................................................................... 7
5.1. Device Configuration .............................................................................. 7
6. 3rd Party PDO Axis Setup ........................................................................... 8
7. Revision History ........................................................................................ 12

3
1. Related Manuals
To ensure system safety, m a k e s u r e t o a l w a y s r ead and heed the i n f o r m a t i o n p r o v i d e d i n a l l
Safety Precautions and Precautions for Safe Use of manuals for each device which is used in
the system.
Cat. No.
Model
Manual name
W500
NJ501-1000
NJ301-1000
NJ101-0000
NJ-P03001
CJ1W-ID000/IA000
CJ1W-INT01
CJ1W-IDP01
CJ1W-OC000/OD000/O
A000
CJ1W-MD000
CJ1W-B7A00
NJ-series CPU Unit Hardware User's Manual
W501
NX701-1700
NX701-1600
NJ501-1500
NJ501-1400
NJ501-1300
NJ301-1200
NJ301-1100
NJ101-1000
NJ101-9000
NJ/NX-series CPU Unit Software User’s Manual
W504
SYSMAC-SE2000
Sysmac Studio Version 1 Operation Manual
W505
NX701-1700
NX701-1600
NJ501-1500
NJ501-1400
NJ501-1300
NJ301-1200
NJ301-1100
NJ101-1000
NJ101-9000
NJ-series CPU Unit Built-in EtherCAT(R) Port User's
Manual
W507
NX701-17
NX701-16
NX1P2-11
NX1P2-10
NX1P2-90
NJ501-5
Motion Control User’s Manual

4
NJ501-4
NJ501-3
NJ301-12
NJ301-11
NJ101-10

5
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.

6
3. Precautions
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.
To ensure system safety, make sure to always read and heed the information provided in all
Safety Precautions and Precautions for Safe Use of manuals for each device which is
used in the system.
The user is encouraged to confirm the standards and regulations that the system must
conform to.
It is prohibited to copy, to reproduce, and to distribute a part or the whole of this document
without the permission of OMRON Corporation.
The information contained in this document is current as of July 2015. 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 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 text.
This example shows a general precaution for something that you must do.

7
4. Overview
This document shows the basic steps for setting up a 3rd Party Drive in Sysmac Studio on an
EtherCAT network. In this application, an Omron NJ is used as the EtherCAT master.
5. Applicable Devices
The applicable devices are as follows.
Manufacture
Type
OMRON
NJ CPU Unit
NJ□□□-□□□□
OMRON
NX CPU Unit
NX□□□-□□□□
5.1. Device Configuration
The hardware components to reproduce the connection procedure of this document are as
follows:
Manufacturer
Name
Model
Version
OMRON
24 VDC power supply
-
OMRON
CPU Unit
(Built-in EtherCAT port)
NJ501-1500
Ver.1.10.02
OMRON
Power Supply Unit
NJ-PA3001
OMRON
Sysmac Studio
SYSMAC-SE2000
Ver.1.13
-
Personal computer
(OS: Windows 7 x64)
-
-
USB cable
(USB 2.0 type B connector)
-
OMRON
Ethernet cable (with industrial
Ethernet connector)
XS5W-T421-[]M[]-K
Ethernet cable
3rd Party Drive
USB cable
Personal computer
(Sysmac installed.
OS: Windows 7)
NJ501-1500
(Built-in EtherCAT port)
Power Supply

8
6. 3rd Party PDO Axis Setup
1.
Install 3rd Party ESI file Sysmac
Studio
1) Right click “Master” and
select Display ESI
Library.
2) Select this folder.
3) Add the 3rd party ESI files
to this folder.
4) Select Exit from the File
Menu to exit the Sysmac
Studio.
*After installing the ESI
file, Sysmac Studio needs
to be restarted.
C:\Program Files (x86)\OMRON\Sysmac Studio\IODeviceProfiles\EsiFiles\UserEsiFiles

9
5) Go to the ESI Library, the
added file will appear in
the ESI Library.
(In this example,
Parker_EtherCAT_PDrive)
2.
Add the device to the EtherCAT
Network by dragging it from the
Toolbox.
3.
Click the PDO map of the 3rd Party
device. Check that the
Controlword, Target Position,
Statusword, and Position actual
value are included in the PDO
map.

10
4.
Right click Axis Settings -> Add
-> Motion Control Axis.
5.
Select the new axis
MC_Axis000(0) and change the
following parameters in the Axis
Basic Settings tab.
Axis use: Used axis
Axis type: Servo axis
Output device 1: Node : 1PD-xxC
– Standard EtherCAT drive(E001)
6.
Select Detailed Settings.
Expand Output (Controller to
Device), and Input (Device to
Controller.

11
7.
Assign Output and Input to a Device and Process Data.
To use Omron’s Motion Control Library, a Device assignment and Process Data assignment to the
following are required for minimum functionality. Depending on the application, more assignments
are required.
This Example:
Output
1. Controlword
2. Target position
Input
22. Statusword
23. Position actual value
Process Data
1. Controlword: 6040h-00.0(2nd Receive PDO mapping_Controlword_6040_00)
2. Target position: 607Ah-00.0(2nd Receive PDO mapping Target Position_607A_00)
Process Data
22. Statusword: 6041h-00.0(2nd Transmit PDO mapping_Statusword_6041_00)
23. Position actual value: 6064h-00.0(2nd Transmit PDO mapping_Position_Actual_6064_00)
8.
Test using Motion Control function
block.

12
7. Revision History
Revision code
Date of revision
Revision reason and revision page
01
October 2016
First edition