Omron 3G3RX-V1 Series Instruction Manual

Machine Automation Controller NJ-series
EtherCAT
Connection Guide
OMRON Corporation
3G3RX-V1-Series Inverter
P527-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. Assignment of EtherCAT Communications ........................................ 7
7. Connection Procedure.............................................................................. 8
7.1. Work Flow .......................................................................................... 8
7.2. Setting Up the Inverter ....................................................................... 9
7.3. Setting Up the Controller.................................................................. 15
7.4. Connection Status Check................................................................. 23
8. Initialization Method................................................................................ 29
8.1. Controller ......................................................................................... 29
8.2. Inverter............................................................................................. 29
9. Revision History...................................................................................... 30

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
I578 3G3RX-V1 series High-function General-purpose Inverter 3G3RX-V1 User’s
Manual
I574 3G3AX-MX2-ECT
3G3AX-RX-ECT
MX2 series/RX-V1 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 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 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 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 of abnormal operation
(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 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 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 (3G3RX-V1 series) 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-[][][][]
NJ301-[][][][]
-
OMRON Inverter 3G3RX-A[][][][]-V1 2.0
OMRON EtherCAT Communications
Unit
3G3AX-RX-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 the products (other than communication connection procedures) listed above,
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 in this document are as
follows.
3G3RX-A2055-V1 +
3G3AX-RX-ECT
Ethernet cable
Personal computer
(Sysmac Studio installed,
OS:Windows7)
NJ501-1500
(Built-in EtherCAT port)
USB cable
Manufacturer Name Model Version
OMRON CPU Unit
(Built-in EtherCAT port)
NJ501-1500 Ver.1.01
OMRON Power Supply Unit NJ1W-PA3001
OMRON Sysmac Studio SYSMAC-SE2[][][] Ver.1.03
- 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 3G3RX-A2055-V1 V2.0
OMRON EtherCAT Communications Unit 3G3AX-RX-ECT
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).
6

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 Inverter is referred to as "destination device" in some descriptions.
6.1. EtherCAT Communications Settings
The setting required for EtherCAT communications is as follows.
3G3RX-A2055-V1
Node address 01
6.2. Assignment of EtherCAT Communications
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 Device 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 Set the hardware switches on the Inverter.
↓
7.2.2. Parameter Setting Set the parameter of the Inverter.
↓
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 Device Variables Set the device variables used 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. Checking the Connection Status Check the EtherCAT network connection status.
↓
7.4.1 Checking the Connection Status Confirm that EtherCAT communications are
performed normally.
↓
7.4.2 Checking Data that are Sent and
Received
Confirm that the correct data are sent and received.