Omron 3G3MX2 Series Instruction Manual

Machine Automation Controller NJ-series
EtherCAT
Connection Guide
OMRON Corporation
3G3MX2-Series Inverter
P521-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.............................................................................. 8
7.1. Work Flow.......................................................................................... 8
7.2. Setting Up the Inverter....................................................................... 9
7.3. Setting Up the Controller.................................................................. 16
7.4. Connection Status Check................................................................. 24
8. Initialization Method................................................................................ 30
8.1. Controller ......................................................................................... 30
8.2. Inverter............................................................................................. 30
9. Revision History...................................................................................... 31

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
I570 3G3MX2-A[][][][] MX2 User's Manual
I574 3G3AX-MX2-ECT Inverter MX2/RX Series EtherCAT Communication Unit User's
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 EtherCAT port built into the NJ-series CPU Unit 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.
Variables are used to access from the NJ-series CPU Unit 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 EtherCAT port built into the NJ-series CPU Unit uses SDO
communications for commands to read and write data, such as for
parameter transfers, at specified times.
You can read/write the following specified slave data with the
EC_CoESDORead (Read CoE SDO) instruction or the
EC_CoESDOWrite (Write CoE SDO) instruction.
•SDO data in slave units (parameters, error information, etc.)
Slave Unit 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 the EtherCAT network.
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 easily 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 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 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
contained in this document 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 Inverter (3G3MX2 series) of
OMRON Corporation (hereinafter referred to as OMRON) to the 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 Inverter 3G3MX2-A[][][][] 1.1 or later
OMRON EtherCAT Communications Unit 3G3AX-MX2-ECT
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:
Ethernet cable
Personal computer
(Sysmac Studio installed,
OS:Windows7 )
USB cable
NJ501-1500
(Built-in EtherCAT port) 3G3MX2-A2015 +
3G3AX-MX2-ECT
6
Manufacturer Name Model Version
OMRON CPU Unit
(Built-in EtherCAT port) NJ501-1500
OMRON Power Supply Unit NJ1W-PA3001
OMRON Sysmac Studio Ver.1.00
- Personal computer (OS:Windows7)
- USB cable
(USB 2.0 type B connector)
OMRON Ethernet cable
(with industrial Ethernet connector) XS5W-T421-[]M[]-K
OMRON Inverter 3G3MX2-A2015 V1.1
OMRON EtherCAT Communications Unit 3G3AX-MX2-ECT
Precautions for Correct Use
The connection line of EtherCAT communication cannot be shared with other network, 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.
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).

6. EtherCAT Settings
7
6. EtherCAT Settings
This section provides specifications such as communications parameters and variable names
that are set in this document.
6.1. EtherCAT Communications Settings
The following is the setting of the destination device.
3G3AX-MX2-ECT
(3G3MX2-A[][][][])
Node address 01
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.
■Output area (Controller →Destination device)
Destination device data Global variable name Data type
Operation command to Inverter E001_Command WORD
Output frequency E001_Frequency_reference INT
■Input area (Controller ←Destination device)
Destination device data Global variable name Data type
Status E001_Status WORD
Output frequency monitor E001_Output_frequency_monitor INT
■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

7. Connection Procedure
8
7. Connection Procedure
This section describes how to connect the Controller via EtherCAT.
This document explains the procedures for setting up the Controller and Inverter from the
factory default setting. For the initialization, refer to Section 8 Initialization Method.
7.1. Work Flow
The following is the procedure for connecting to EtherCAT.
7.2 Setting Up the Inverter Set up the Inverter.
↓
7.2.1 Hardware Settings Check the hardware switches on the Inverter.
↓
7.2.2 Parameter Setting Set the Inverter parameters.
↓
7.3 Setting Up the Controller Set up the Controller.
↓
7.3.1 Starting the Sysmac Studio and
Setting the EtherCAT network
configuration
Start the Automation Software Sysmac Studio and
set the EtherCAT network configuration.
↓
7.3.2 Setting the Global Variables Set global variables to use for the EtherCAT Slave
Unit.
↓
7.3.3 Transferring the Project Data Transfer the project data from the Sysmac Studio to
the Controller.
↓
7.4 Connection Status Check Check the connection status of the EtherCAT
network.
↓
7.4.1 Checking the Connection Status Check that the EtherCAT communications are
performed normally.
↓
7.4.2 Checking Data that are Sent and
Received Check that the correct data are sent and received.

7. Connection Procedure
7.2. Setting Up the Inverter
Set up the Inverter.
7.2.1. Hardware Setting
Check the hardware switches on the Inverter.
Precautions for Correct Use
Make sure that the power supply is OFF when you perform the settings.
9

7. Connection Procedure
1
Mount the EtherCAT
Communications Unit to the
Inverter.
*For details on how to mount the
EtherCAT Communications
Unit, 2-4 Mounting and Wiring
for the EtherCAT
Communication Unit in the
Inverter MX2/RX Series
EtherCAT Communications Unit
User's Manual (Cat.No. I574).
Removing the optional board cover from the Inverter front panel
1. Loosen the mounting screw (x 1) from the optional board cover of the
Inverter front panel.
2. Remove the optional board cover.
Mounting the EtherCAT Communication Unit onto the Inverter
1. Mount the EtherCAT Communication Unit onto the location where the
Inverter optional board cover that you removed was attached. Check
that the connector is firmly connected.
(Notes) When the EtherCAT Communication Unit is mounted, the main
circuit and control circuit terminals of the Inverter are hidden. For
this reason, be sure to wire the main circuit and control circuit
terminals before mounting the EtherCAT Communication Unit.
2. Tighten the mounting screw of the EtherCAT Communication Unit.
Tighten the bottom right screw of the EtherCAT Communication Unit
with the specified torque
(46 N•cm, 4.7 kgf•cm).
Connecting the ground cable of the EtherCAT Communication Unit
1. Ground the FG cable of the EtherCAT Communication Unit.
Cut the ground wire of the unit's FG cable to an appropriate length and
ground it to the closest possible ground location. Also refer to the
Inverter manual.
10

7. Connection Procedure
2
Refer to the right figure and
check the hardware switches on
the EtherCAT Communications
Unit.
3
Set the node address setting
switches to "01".
*Set the node address to "1".
4
Connect the communications
cable to Communications
connector (IN).
In this document, OUT side is not used.
11

7. Connection Procedure
7.2.2. Parameter Setting
Set the Inverter parameters.
1
Turn ON the power supply to the
Inverter.
*Set the parameters by using
the digital operator on the front
of the Inverter.
Display Various parameters, frequency/set
value and other data are
displayed (red).
RUN key Runs the Inverter. Take note that
this key is enabled only when the
RUN command destination is the
Digital Operator.
STOP/RESET
Key
This key decelerates the Inverter
to a stop. (Although the
STOP/RESET key is enabled
even when a RUN command is
issued to a destination other than
the Digital Operator (factory
default), it can be disabled by a
Setting (b087).)
If the Inverter is already tripped,
the trip will be reset (return from
the tripping).
Mode key Parameter is displayed: Move to
the beginning of the next function
group.
Data is displayed: Cancel the
setting and return to the
parameter display.
Individual input mode: Move the
blinking digit to the left.
Regardless of the displayed
screen, pressing and holding this
key (for 1 second or more)
displays the data for Output
Frequency Monitor (d001).
Increment key
Decrement key
These keys are used to
increment/decrement a parameter
or set data. Pressing and holding
each key increases the
incrementing/decrementing
speed.
Pressing the Increment and
Decrement keys together
activates the "Individual Input
MODE" where each digit can be
edited independently.
Enter key Parameter is displayed: Move to
the data display.
Data is displayed: Confirm/store
the setting (in the EEPROM) and
return to the parameter display.
Individual input mode: Move the
blinking digit to the right.
12

7. Connection Procedure
2
After turning ON the power
supply, the panel displays as
shown on the right.
Use the procedure on the right
to set the parameter.
[A001] Frequency Reference
Selection 1: 04
[A002] RUN Command
Selection 1: 04
*Set "04" (optional board).
*When the power supply is
turned ON, the data of d001
(Output frequency monitor) is
displayed.
(In the case of factory default
value)
00.00
a001
a002
04
a001
a002
02
a004
a002
Press the Increment Key two times.
Press the Enter Key.
Press the Increment Key once.
A
002 parameter is displayed.
The parameter is displayed again.
Press the Enter Key.
Change the data to "04".
The initial data is displayed.
The parameter is displayed again.
Press the Enter Key.
Change the data to "04".
Press the Increment Key twice.
The initial data is displayed.
Press the Enter Key.
A
001 parameter is displayed.
Press the Mode Key 3 times.
A
fter turning ON the power
supply, the panel displays as
shown on the left.
13

7. Connection Procedure
3
Use the procedure on the right
to set the display selection.
[b037] Display selection: 01
*Set "01" (Individual display of
functions).
*The parameters on the
following step are not displayed
when the factory default setting
(04: Basic display) is used.
a002
b001
b037
04
01
b037
The parameter is displayed.
Press the Increment Key three times.
Press the Enter Key.
Press the Increment Key four times.
b037 parameter is displayed.
The parameter is displayed again.
Press the Enter Key.
Change the data to "01".
The initial data is displayed.
b001 parameter is displayed.
Press the Mode Key once.
14

7. Connection Procedure
4
Use the procedure on the right
to set the parameter.
[C102] Reset selection: 03.
*Set "03" (Trip reset only).
b037
c001
c102
00
03
c102
The parameter is displayed.
Press the Mode Key once.
C001 parameter is displayed.
Press the Increment Key to
move to C102.
C102 parameter is displayed.
Press the Enter Key.
The initial data is displayed.
Press the Increment Key three
times.
Change the data to "03".
Press the Enter
Key.
The parameter is displayed again.
5
Cycle the power supply to the
Inverter.
15

7. Connection Procedure
7.3. Setting Up the Controller
Set up the Controller.
7.3.1. Starting the Sysmac Studio and Setting the EtherCAT Network
Configuration
Start the Automation Software Sysmac Studio and set the EtherCAT network configuration.
Install the software and USB driver beforehand.
1
Start the Sysmac Studio.
Click the New Project Button.
16
2
The Project Properties Dialog
Box is displayed. Click the
Create Button.
*In this document, New Project
is set as the project name.
3
The New Project Pane is
displayed.
There are Menu Bar and Toolbar
in the upper part of the pane.
The left pane is called Multiview
Explorer, the right pane is called
Toolbox and the middle pane is
called Edit Pane.
Menu Bar Toolbar
Multiview
Explorer Edit Pane Toolbox
4
Select Communications Setup
from the Controller Menu.

7. Connection Procedure
Additional Information
For details on the online connections to a Controller, refer to Section 5 Going Online with a
Controller in the Sysmac Studio Version 1.0 Operation Manual (Cat. No. W504).
5
The Communications Setup
Dialog Box is displayed.
Select the Direct connection via
USB Option in the Connection
Type Field.
Click the OK Button.
17
6
Select Online from the
Controller Menu.
A confirmation dialog is
displayed. Click the Yes Button.
*A displayed dialog depends on
the status of the Controller
used. Select the Yes Button or
other button to proceed with the
processing.
7
When an online connection is
established, a yellow bar is
displayed on the top of the Edit
Pane.
8
Select Mode - PROGRAM
Mode from the Controller Menu.

7. Connection Procedure
9
A confirmation dialog is
displayed. Click the Yes Button.
Check that the controller status
on the Toolbox was changed to
the PROGRAM mode.
10
Double-click EtherCAT under
Configurations and Setup in the
Multiview Explorer.
Or, right-click EtherCAT under
Configurations and Setup and
select Edit.
11
The EtherCAT Tab Page is
displayed in the Edit Pane.
12
Right-click the Master Icon and
select Compare and Merge
with Actual Network
Configuration.
A screen is displayed stating
"Get information is being
executed".
18