Omron SCON-CA Connection Manual
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Omron SCON-CA Connection Manual

Omron SCON-CA Connection Manual

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Machine Automation Controller NJ-series
EtherCAT(R) Connection Guide
IAI Corporation
SCON-CA/SCON-CAL Controller
P585-E1-02

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Summary of Contents for Omron SCON-CA

  • Page 1 Machine Automation Controller NJ-series EtherCAT(R) Connection Guide IAI Corporation SCON-CA/SCON-CAL Controller P585-E1-02...
  • Page 2 EtherCAT(R) is registered trademark and patented technology, licensed by Beckhoff Automation 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...

  • Page 3: Table Of Contents

    6.2. Device Variables ..................9 EtherCAT Connection Procedure ............. 11 7.1. Work Flow ....................11 7.2. Setting up the IAI SCON-CA Controller ..........12 7.3. Setting up the Controller ............... 19 7.4. Checking the EtherCAT Communications..........30 Initialization Method .................. 35 8.1.

  • Page 4: Related Manuals

    Safety Precautions and Precautions for Safe Use of manuals for each device which is used in the system. The table below lists the manuals of IAI Corporation (hereinafter referred to as IAI) and OMRON Corporation (hereinafter referred to as OMRON) related to this document. Manufacturer Cat. No.

  • Page 5: Terms And Definitions

    2．Terms and Definitions 2. Terms and Definitions Term Explanation and Definition PDO Communications This method is used for cyclic data exchange between the (Communications using master unit and the slave units. Process Data Objects) 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).

  • Page 6: Precautions

    (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 January 2015. It is subject to change without notice for improvement.

  • Page 7: Overview

    4．Overview 4. Overview This document describes the procedure for connecting SCON-CA/SCON-CAL Controller of IAI to NJ-series Machine Automation Controller (hereinafter referred to as the Controller) of OMRON via EtherCAT and provides the procedure for checking their connection. Refer to Section 6. EtherCAT Settings and Section 7. EtherCAT Connection Procedure to...

  • Page 8: Applicable Devices And Device Configuration

    Refer to the manuals or contact the device manufacturer. (IAI Corporation http://www.intelligentactuator.com/) This URL is the latest address at the time of this document creation. Contact each device manufacturer for the latest information. Additional Information Contact IAI Corporation for actuators connectable to SCON-CA/SCON-CAL Controllers.

  • Page 9: Device Configuration

    Sysmac Studio SYSMAC-SE2[][][] Ver.1.10 Personal computer (OS: Windows 7) USB cable (USB 2.0 type B connector) OMRON Ethernet cable (with industrial XS5W-T421-[]M[]-K Ethernet connector) SCON-CA Controller SCON-CA-60I-EC-0-1 Rev.0x0001 0007 USB cable CB-SEL-USB010 USB conversion unit RCB-CV-USB Communication cable CB-RCA-SIO050 Actuator...
  • Page 10 Connection of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504). Additional Information The system configuration in this document uses USB for the connection to the SCON-CA Controller. For how to install a USB driver, refer to Section 1.3.3. How to Install the USB Conversion Adapter Driver Software of the PC Software RCM-101-MW, RCM-101-USB Operation Manual (ME0155).

  • Page 11: Ethercat Settings

    6. EtherCAT Settings This section describes the specifications such as parameters and device variables that are set in this document. Hereinafter, the SCON-CA Controller is referred to as the "Destination Device" or the "Slave Unit" in some descriptions. 6.1. Parameter Settings The parameters required for connecting the Controller and the SCON-CA Controller via EtherCAT are given below.

  • Page 12: Device Variables

    6．EtherCAT Settings 6.2. Device Variables The PDO communications data for 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 Description Data type Target Position...
  • Page 13 6．EtherCAT Settings ■Input area (from Destination Device to Controller) Device variable name Description Data type E001_In_Current_Position_2004_01 DINT Current Position E001_In_Command_Current_2004_02 UDINT Command Current Current Speed E001_In_Current_Speed_2004_03 DINT Alarm Code E001_In_Alarm_Code_2004_04 UINT Status Signal E001_In_Status_Signal_2004_05 WORD Positioning completion E001_In_Bit00_PEND BOOL signal E001_In_Bit01_HEND BOOL Home return completion...

  • Page 14: Ethercat Connection Procedure

    7．EtherCAT Connection Procedure 7. EtherCAT Connection Procedure This section describes the procedure for connecting the Controller to the SCON-CA Controller via EtherCAT. This document explains the procedures for setting up the Controller and the SCON-CA Controller based on the factory default setting. For the initialization, refer to Section 8 Initialization Method.

  • Page 15: Setting Up The Iai Scon-Ca Controller

    Set up the IAI SCON-CA Controller. 7.2.1. Hardware Settings Set the hardware switches on the SCON-CA Controller and connect the cables. Precautions for Correct Use Make sure that the power supply is OFF when you perform the setting up. Make sure that the power supply to the SCON-CA Controller is OFF.
  • Page 16 Control AC power inputs name Motor AC power input of the Power Supply Connector. Motor AC power input Control AC power input For details on wiring, refer to the Control AC power input Unconnected SCON-CA/CAL/CGAL Protective ground line Controller Instruction Manual (ME0243).
  • Page 17 7．EtherCAT Connection Procedure 7.2.2. Parameter Settings Set the parameters for the SCON-CA Controller. Parameters are set by PC Interface Software for RC. Install the software and USB Driver to the Personal computer beforehand. Additional Information For information on how to install drivers, etc., refer to the PC Software RCM-101-MW, RCM-101-USB Operation Manual (Cat.
  • Page 18 Personal computer, display the Windows Device Manager. Then select the same port as the communications port No. where the SCON-CA Controller is connected under Ports (COM & LPT) (COM6 in this example). *To display the Device Manager, right-click My Computer and click Properties from the Windows Menu.
  • Page 19 7．EtherCAT Connection Procedure If the Alarm Dialog Box is displayed, check the cable connections and the communications port No.. Check the contents and click the OK Button, then perform steps 8 to 9. If the Alarm Dialog Box is not displayed, steps 8 to 9 are unnecessary.
  • Page 20 7．EtherCAT Connection Procedure The main screen is displayed. Select Edit from the Parameter Menu. The parameter edit window is displayed as shown on the right. Scroll through the parameter options to check and change the following parameters. ・Fieldbus operation mode (No.84): 2 (Default: 0) ・Fieldbus node address (No.85): 1 (Default: 0)
  • Page 21 Check the contents and click the Yes Button. The right dialog box is displayed stating "Restarting Controller". After the SCON-CA Controller restarts, set the Operation Mode Setting Switch on the front of the SCON-CA Controller to the AUTO side.

  • Page 22: 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 SCON-CA Controller in the Sysmac Studio. Install the Sysmac Studio and USB driver in the Personal computer beforehand. Connect the Ethernet cable to the...
  • Page 23 7．EtherCAT Connection Procedure Check the contents and click the OK Button if a confirmation dialog box on the right is displayed. *The displayed dialog depends on the status of the Controller used. Check the contents and click the OK or Yes Button to proceed with the processing.
  • Page 24 7．EtherCAT Connection Procedure Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. The EtherCAT Tab Page is displayed in the Edit Pane. Right-click Master and select Display ESI Library. The ESI Library Dialog Box is displayed. Click the this folder link.
  • Page 25 7．EtherCAT Connection Procedure Select Exit from the File Menu to exit the Sysmac Studio. *After installing the ESI file, the Sysmac Studio needs to be restarted. A dialog box asking to save the project is displayed. If no need to save it, click the No Button. In the same way as steps 3 to 11, restart the Sysmac Studio and display the ESI Library...
  • Page 26 7．EtherCAT Connection Procedure 7.3.2. Setting up the EtherCAT Network Configuration Set up the EtherCAT network configuration. Right-click Master on the EtherCAT Tab Page, and select Compare and Merge with Actual Network Configuration. *If the EtherCAT Tab Page is not displayed on the Edit Pane, take step 9 in 7.3.1.
  • Page 27 7．EtherCAT Connection Procedure As a node address 1 slave, E001 RC-ECT-FMOD2(16Byte/16Byt e) Rev.0x00010007 is added to the Network configuration on the Sysmac Studio. Confirm that the data above are added, and click the Close Button. Node address 1 and E001 RC-ECT-FMOD2(16Byte/16Byt e) Rev.0x00010007 slave are added to the EtherCAT Tab...
  • Page 28 7．EtherCAT Connection Procedure 7.3.3. Setting the Device Variables Set the device variables used for the EtherCAT Slave Unit. Select Offline from the Controller Menu. The yellow bar on the top disappears. Select RC-ECT-FMOD added in the previous section on the EtherCAT Tab Page.
  • Page 29 7．EtherCAT Connection Procedure Right-click Node1 and select Create Device Variable. The variable names and variable types are set. Additional Information The device variables are named automatically from a combination of the device names and the port names. The default device names are “E" followed by a serial number that starts from 001. Additional Information In this document, device variables are automatically named for a unit (a slave).
  • Page 30 7．EtherCAT Connection Procedure 7.3.4. Transferring the Project Data Transfer the project data from the Sysmac Studio to the Controller. Always confirm safety at the Destination Device before you transfer a user program, configuration data, setup data, device variables, or values in memory used for CJ-series Units from the Sysmac Studio.
  • Page 31 7．EtherCAT Connection Procedure A confirmation dialog box on the right is displayed. Confirm that there is no problem and click the Yes Button. Check that "0 Errors" and "0 Warnings" are displayed in the Build Tab Page. Select Online from the Controller Menu.
  • Page 32 7．EtherCAT Connection Procedure A confirmation dialog box on the right is displayed. Confirm that there is no problem and click the Yes Button. A screen stating "Synchronizing" is displayed. A confirmation dialog box on the right is displayed. Confirm that there is no problem and click the No Button.

  • Page 33: Checking The Ethercat Communications

    NET RUN: Green lit NET ERR: Not lit LINK/ACT: Yellow flashing Check the LED indicators on the SCON-CA Controller. Status LED (RUN/ERR) The LED indicators in normal status EtherCAT(R) Output Port are as follows: Link/Activity LED (Output)
  • Page 34 Tab Page when the Sysmac Studio is online with the CPU Unit. The connected devices may operate regardless of the operating mode of the Controller. In the procedure of this section, the SCON-CA Controller will run. Confirm safety before operation. If you cannot confirm safety, do not proceed to this section after completing until Section 7.4.1.
  • Page 35 *If the PC Interface Software for RC has not been started, refer to 7.2.2. Parameter Settings to start the software and connect the SCON-CA Controller again. The Status Dialog Box is displayed. Confirm that the SON Field of Input is OFF, and the Servo and RUN...
  • Page 36 7．EtherCAT Connection Procedure Click TRUE in the Modify Column of E001_Out_Bit04_SON. The Online value of E001_Out_Bit04_SON changes to True. Confirm that the SON Field of Input changed to ON, and the Servo and Run Fields of Internal flags are lit on the PC Interface Software for RC.
  • Page 37 7．EtherCAT Connection Procedure Confirm that the SON Field of Input is OFF, and the Servo and RUN Fields of Internal flags are not lit. Check the Status Column of Output. Confirm that the following data of Output is OFF. PEND (0th bit of E001_In_Status_Signal_2004_05）...

  • Page 38: Initialization Method

    OK Button. 8.2. Initializing the IAI SCON-CA Controller For information on how to initialize the IAI SCON-CA Controller, refer to Appendix 14.1. Parameter (Factory Default Setting) Initializing Method of the PC Software RCM-101-MW, RCM-101-USB Operation Manual (Cat. No. ME0155).

  • Page 39: Revision History

    December 19, 2013 First edition January 26, 2015 Applicable model SCON-CAL added. Revisions due to up-grade of the SCON-CA Controller (ESI file changed from V1.04 to V1.07). Revisions due to up-grade of the Controller and version-up of the Sysmac Studio.
  • Page 40 2015 P585-E1-02 0115-(1213)

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