Omron ZW Series User guide

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ZW Series
For EtherCAT
BECKHOFF PLC
＋
Vision Sensor
Start-up Guide
Rev.A
OMRON Corporation
Application Sensors Division
Development Department

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目次
Contents
1. Introduction..........................................................................1
1.1. Outline ............................................................................1
1.2. Object reader..................................................................2
2. Target product......................................................................3
2.1. Target product.................................................................3
2.2. Equipment configuration.................................................5
3. Start-up procedure...............................................................7
3.1. Start-up procedure..........................................................7
3.2. Prerequisite ....................................................................8
4. Configuration of EtherCAT .................................................9
4.1. Hardware configuration of ZW......................................10
4.2. Setting of TwinCAT....................................................... 11
4.3. Confirmation of communication status.........................42
5. Reference............................................................................44
6. Caution................................................................................45
6.1. Explanation about the indications ................................45
7. Revison history..................................................................46

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Refusal
（1）Apart of the factors of this, start-up guide or everything is copied, reproduced without
permission, and it is prohibited to reprint.
（2）Because the specifications etc. might be changed without a previous notice for the factors of this,
start-up guide for the improvement. Please acknowledge it beforehand.
About the copyright and the trademark
・EtherCAT is registered trademark and patented technology, licensed by BeckhoffAutomation
GmbH, Germany.
・
The system name and the description of product published in the other and the text are the
trademarks or registered trademarks of each company respectively.

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1. Introduction
1.1. Outline
This material explains the configuration steps required for the launch of ZW series and
BECKHOFF TwinCAT that you connected to in EtherCAT.
The man-hour of the start-up can be greatly reduced by using this material when starting up.
Detailed setup steps are not described for the following items. It describes to “5. Reference
information”. Please refer to the information.
•Setting method of FQ-M measurement items.
•Setting method and manner of operation ladder program with Twin CAT PLC Control.
•Communication command using EtherCAT.
Reference
What is EtherCAT?
EtherCAT is a super-high-speed fieldbus of the Ethernet base.
The communications zone of 100Mbps full duplex is used to its maximum, and it controls at
high speed of the motor driver such as the servo drivers and inverters.
In addition, not only the driver control but also a real-time control of various I/O like the sensor
and analog I/O, etc. : 1 It achieves it by the horn communication.
Moreover, an accurate synchronous control of accuracy 1μs or less is possible by sharing
time information among connected slaves.

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1.2. Object reader
This material connects displacement sensor ZW with positional control NC unit with EtherCAT,
and targets wanting do the measurement processing control by the memory driving.

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2. Target product
2.1. Target product
Confocal Fiber Type displacement sensor
Name Model Version
ZW Controller for Displacement Sensor ZW-CE10
ZW-CE10T
ZW-CE15
ZW-CE15T
ZW Sensor Head for Fiber Coaxial
displacement sensor ZW-S07
ZW-S20
ZW-S30
ZW-S40
Cable Name Model Version
EtherCAT Communication cable *1
(RJ45/RJ45) XS6W-6LSZH8SS□□□CM-Y
XS5W-T421-□MD-K
EtherCAT Communication cable *1
(M12/RJ45, M12 L/RJ45) XS5W-T421-□MC-K
XS5W-T422-□MC-K
*1：EtherCAT Communication cable specification
•Ethernet twisted-pair cable：STP of CAT5 or more.
•Wiring is straight.
•The shielded is a double cover of the aluminum tape and the braid.
•The shielded of the cable is connected with the shielded of both ends and the connector. (both
ends grounding)
Moreover, please use the cable length between TwinCAT and ZW, between ZW and ZW within
100m.

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Peripheral Name Model Version
TwinCAT －
2.11 R3, Build
2238
PLC unit (Beckhoff)
Name Model Version
Basic CPU Module CX1030-0123 -
DVI/USB CX1030-N010 -
Ethernet×2 CX1030-N000 -
Power Supply CX1100-0014 -
EtherCAT Master unit EK1110 -

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2.2. Equipment configuration
2.2.1. Equipment configuration
This material has described the start-up procedure when the following equipment
configuration is assumed to be an example.
①PC(TwinCAT) - ZW
Precautions for correct use
There are times when it does not work by the network adapter and the PC is going to be used
for the TwinCAT.
Please use it after confirming that the TwinCAT to operate on the network adapter and your
PC.

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②PC(TwinCAT) – PLC – ZW
BECKHOFF PLC: Power input method
* When using the TwinCAT, ESI file for ZW will be required separately.
Please download from the following website.
http://www.fa.omron.co.jp/member/product/tool/23/esi/index.htm
＜
FQ-M Sensor (EtherCAT Slave)
＞
It corresponds to the slave of EtherCAT network.
＜
PC
＞
EtherCAT network and the EtherCAT master are set.

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3Start-up procedure
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3. Start-up procedure
3.1. Start-up procedure
This article describes the steps for using Fieldbus of the ZW "EtherCAT", connecting the ZW
and TwinCAT (BECKHOFF).
＜What can be identified using this material＞
(1) How to set up confirmation to use the EtherCAT function
Confirmation of ZW and TwinCAT System Manager
Reference
This document is described for instructions on how to connect to establish communication. It
is not described
how to wire the operation of procedures other than connection, and
installation. This document is not also described with respect to the operation and function of
the device. Please refer to the instruction manual, please contact OMRON.

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3Start-up procedure
8
3.2. Prerequisite
It has been described on the assumption that it is not connected to the stage apparatus and
the like, the actual check the operation without a load.
Precausions for safe use
If you are used to connect to the actual device, you can read the user's manual, etc., please
be sure to familiarize information knowledge of equipment, safety, all of the Notes.
Note that the documentation for each product, please refer to "5.References".
Precausions for correct use
If you want to use FQ-M by connecting it to an actual device, please set to match the device.

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4. Configuration of EtherCAT
Please follow the steps below to set each device.
Installation Please refer to each hardware manual User's
Manual.
▼
Connection Please refer to each hardware manual User's
Manual.
▼
4.1. Hardware configuration of ZW Configure the hardware switch on the ZW.
▼
4.2. Setting of TwinCAT Setting of the EtherCAT communication using
TwinCAT.
▼
4.3.
Confirmation of communication
status Confirmation of the communication status.

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4.1. Hardware configuration of ZW
Operate the EtherCAT address setup volume of ZW, you can set the node address.
4.1.1. Setting of ZW node address
Operate the EtherCAT address setup volume of ZW, and then set the node address.
The example in this document, use the "01".
Precausions for correct use
The operation of the EtherCAT address setup volume, please operate the power is turned
OFF state of ZW.
Reference
It uses "01" to "0
9" in the manual setting only if in case where the number of connected
equipment is changed, you want to specify the node number to force.
In this case, please set number and slave are other EtherCAT connection so that they do not
overlap.

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4.2. Setting of TwinCAT
Use the following procedure, setting of TwinCAT, and the EtherCAT communication settings.
①Installation of software
4.2.1 How to install TwinCAT Install TwinCAT.
▼
4.2.2 How to add the ESI file
Install the ESI file in TwinCAT, after installation,
TwinCAT recognize the ZW Sensor.
▼
4.2.3
How to install the
EtherCAT driver
software
Install the EtherCAT network adapter driver to use.
Please install this procedure only once on a computer to use.
Depending on the system configuration, please set the following steps of ②or ③.
②PC(TwinCAT) – ZW connection
4.2.4
How to connect
TwinCAT and ZW Connect TwinCAT and ZW.
③PC(TwinCAT) – Beckhoff PLC – ZW connection
4.2.5
How to connect
BECKHOFF PLC and
ZW
Connect Beckhoff PLC and ZW
④Reading or writing ZW’s data using TwinCAT
4.2.6 Reading ZW’
s data
using TwinCAT Refer to the variable data of PDO mapping of ZW.
▼
4.2.7 Writing ZW’s data using
TwinCAT Write the variable data of PDO mapping of ZW.

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4.2.1. How to install TwinCAT
1
Start the installer of TwinCAT.*1
2
Select the language. After select,
click [Weiter] button.
It will be described in "Englisch" is
selected at the time or later.
3
Message screen language
selection is displayed.
Click [Next] button.
*1：You can get a trial version of TwinCAT from the following website.
http://www.beckhoff.com/english.asp?twincat/tcatdow.htm?

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4
"License Agreement" will be
displayed.
Click [Yes] button.
5
Enter the "User Name" and
"Company Name".
After entering, click [Next] button.
6
Select the installation level.
Select “TwinCAT NC PTP – PTP
Motion Control”
, and then click
[Next] button.
7
Select the type.
After selecting, click [Next] button.
This document is chosen “30 days
demo version”
. (30 days have
passed, please purchase the full
version if you wanto to use.)

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8
Select the features you wanto
install.
After selecting, click [Next] button.
There is no need to change the
content check.
9
Select folder where setup will
install files.
After selecting, click [Next] button.
10
Select a program folder.
After selecting, click [Next] button.
11
Click [Finish] button to complete
the setup.
* Please re-
boot your PC before
using the TwinCAT.

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4.2.2. How to add the ESI file.
1
Add ZW for ESI file(*1) at
"TwinCAT ¥ Io ¥ EtherCAT" folder.
2
Please add the latest version of
ESI file.
*1：You can get the latest version of ESI file from the following website.
http://www.fa.omron.co.jp/member/product/tool/23/esi/download.htm
TwinCAT\Io\EtherCAT
Omron_ZW-CE1x-ECT

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4.2.3. How to install the EtherCAT driver software.
1
Start the "TwinCAT System
Manager" from the Start Menu.
2
After starting, the menu [Options] -
select the [Show Real Time Ethernet
Conpatible Devices ...].
3
Driver installation screen appears.
Select the network adapter that you
want to use, and then click [Install]
button.
It can not be used if the network
adapter is displayed in the "Disabled
Devices".
4
Network adapter is displayed in
"Installed and ready to use devices,"
the driver installation is complete.

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