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Omron NJ-series Connection Manual

Machine automation controller
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Download this manual See also: Troubleshooting Manual, User Manual
Machine Automation Controller NJ-series
EtherCAT(R) Connection Guide
Hivertec, Inc.
EtherCAT Slave for Motion Control
(HES-M4[][]/NJ)
P603-E1-01

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Summary of Contents for Omron NJ-series

  • Page 1 Machine Automation Controller NJ-series EtherCAT(R) Connection Guide Hivertec, Inc. EtherCAT Slave for Motion Control (HES-M4[][]/NJ) P603-E1-01...
  • 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

    Table of Contents Related Manuals ....................... 1 Terms and Definitions ...................... 2 Precautions ........................3 Overview ........................... 4 Applicable Devices and Device Configuration ............. 5 5.1. Applicable Devices ....................5 5.2. Device Configuration ....................6 EtherCAT Settings ......................8 6.1. EtherCAT Communications Parameter Settings ............

  • Page 4: Related Manuals

    NJ-series CPU Unit Hardware User's Manual NJ301-[][][][] W501 NJ501-[][][][] NJ-series CPU Unit Software User's Manual NJ301-[][][][] W505 NJ501-[][][][] NJ-series CPU Unit Built-in EtherCAT Port User's NJ301-[][][][] Manual W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual HES-M400/NJ EtherCAT Motion Slave EtherCAT series HES-M400 User’s Manual <Hardware>...

  • Page 5: Terms And Definitions

    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...

  • 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 April 2014. It is subject to change without notice for improvement.

  • Page 7: Overview

    4. Overview This document describes the procedure for connecting EtherCAT Slave for Motion Control (HES-M4[][]/NJ) of Hivertec, Inc. (hereinafter referred to as Hivertec) to NJ-series Machine Automation Controller (hereinafter referred to as Controller) of OMRON Corporation (hereinafter referred to as OMRON) via EtherCAT and provides the procedure for checking their connection.

  • Page 8: Applicable Devices And Device Configuration

    5．Applicable Devices and Device Configuration 5. Applicable Devices and Device Configuration 5.1. Applicable Devices The applicable devices are as follows: Manufacturer Name Model OMRON NJ-series CPU Unit NJ501-[][][][] NJ301-[][][][] Hivertec EtherCAT Slave for Motion HES-M4[][]/NJ Control Servomotor Stepping motor Servo amplifier...

  • Page 9: Device Configuration

    OS: Windows 7) cable 2-phase stepping motor USB cable 24 VDC 24 VDC power supply power supply Manufacturer Name Model Version OMRON CPU Unit NJ501-1500 Ver.1.07 (Built-in EtherCAT port) OMRON Power Supply Unit NJ-PA3001 OMRON Sysmac Studio SYSMAC-SE2[][][] Ver.1.08 Personal computer (OS: Windows 7) USB cable (USB 2.0 type B...
  • Page 10 Sysmac Studio Version 1 Operation Manual (Cat. No. W504). Additional Information For information on the specifications of the Ethernet cable and network wring, refer to Section 4 EtherCAT Network Wiring of 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 to the Controller.

  • Page 11: Ethercat Settings

    6．EtherCAT Settings 6. EtherCAT Settings This section describes the specifications such as communication parameters and variables that are set in this document. Hereinafter, the Hivertec EtherCAT Slave for Motion Control is referred to as the "Destination Device" or the "Slave Unit" in some descriptions. 6.1.
  • Page 12 6．EtherCAT Settings Device variable name Data type Meaning E001_Command_Area3_Z_Command3_7000_0B UINT Command data 3 (Z) Bits 47 to 32 Command data 3 (Z) Bits 63 to 48 E001_Command_Area3_Z_Command4_7000_0C UINT (Control word) E001_Command_Area4_U_Command1_7000_0D UINT Command data 4 (U) Bits 15 to 0 E001_Command_Area4_U_Command2_7000_0E UINT Command data 4 (U) Bits 31 to 16...
  • Page 13 6．EtherCAT Settings 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.

  • Page 14: Ethercat Connection Procedure

    7．EtherCAT Connection Procedure 7. EtherCAT Connection Procedure This section describes the procedure for connecting the Controller to the EtherCAT Slave for Motion Control via EtherCAT. This document explains the procedures for setting up the Controller and the EtherCAT Slave for Motion Control from the factory default setting. For the initialization, refer to Section 8 Initialization Method.

  • Page 15: Setting Up The Hivertec Ethercat Slave For Motion Control

    7．EtherCAT Connection Procedure 7.2. Setting Up the Hivertec EtherCAT Slave for Motion Control Set up the Hivertec EtherCAT Slave for Motion Control. 7.2.1. Hardware Settings Set the hardware switches on the EtherCAT Slave for Motion Control. Precautions for Correct Use Make sure that the power supply is OFF when you perform the setting up.
  • Page 16 7．EtherCAT Connection Procedure Connect the Ethernet cable to the Communication IN: connector. Ethernet cable Connect the Stepping motor to Connect to the Connector for motor output. Stepping motor Connect the 24 VDC power 24 VDC 24 VDC supply to the Slave power power power supply...

  • Page 17: Setting Up The Controller

    7．EtherCAT Connection Procedure 7.3. 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 the EtherCAT Slave for Motion Control in the Sysmac Studio. Install the Sysmac Studio and USB driver in the Personal computer beforehand. Connect the Ethernet cable to CPU Unit the built-in EtherCAT port...
  • Page 18 7．EtherCAT Connection Procedure The Connect to Controller Dialog Box is displayed. Select the Direct connection via USB Option for Connection type. Uncheck both of the Upload the project Check Box and the Display the Troubleshooting Dialog Box Check Box of Operation after Connection.
  • Page 19 7．EtherCAT Connection Procedure Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. The EtherCAT Tab is displayed on the Edit Pane. Right-click Master and select Display ESI Library. The ESI Library Dialog Box is displayed. Click the this folder link.
  • Page 20 7．EtherCAT Connection Procedure Select Exit from the File Menu to exit the Sysmac Studio. A dialog box is displayed confirming whether to save the project. If you do not need to save it, click the No Button. * You need to restart the Sysmac Studio after installing the ESI file.
  • Page 21 7．EtherCAT Connection Procedure 7.3.2. Setting Up the EtherCAT Network Configuration Set up the EtherCAT network configuration. Confirm that a yellow bar is displayed on the top of the Edit Pane which indicates an online connection is established. Right-click Master on the EtherCAT Tab Page, and select Compare and Merge with Actual Network Configuration.
  • Page 22 7．EtherCAT Connection Procedure Node address 1, E001 and HES-M400 Rev:0x00000000 are added to the Network configuration on Sysmac Studio. Confirm that the data above are added and click the Close Button. Node address 1, E001, and HES-M400 Rev:0x00000000 are added to the EtherCAT Tab Page on the Edit Pane.
  • Page 23 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 of the Edit Pane disappears. Select HES-M400 Rev:0x00000000 set in the previous steps in the EtherCAT Tab Page and confirm that Device name is E001.
  • Page 24 7．EtherCAT Connection Procedure Right-click Node1 and select Create Device Variable. The variable names and variable types are automatically 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 25 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 26 7．EtherCAT Connection Procedure Select Online from the Controller Menu. Select Synchronization from the Controller Menu. The Synchronization Dialog Box is displayed. Confirm that the data to transfer (NJ501 in the right dialog) is selected. Then, click the Transfer To Controller Button. * After executing the Transfer To Controller, the Sysmac Studio data is transferred to the...
  • Page 27 7．EtherCAT Connection Procedure Confirm that the synchronized data is displayed with the color specified by "Synchronized" and that a message is displayed stating "The synchronization process successfully finished". If there is no problem, click the Close Button. * A message stating "The synchronization process successfully finished"...

  • Page 28: Checking The Ethercat Communications

    7．EtherCAT Connection Procedure 7.4. Checking the EtherCAT Communications Confirm that the PDO communications of EtherCAT are performed normally. 7.4.1. Checking the Connection Status Check the connection status of the EtherCAT network. Confirm that the EtherCAT communications are performed normally by checking the LED indicators on the Controller.
  • Page 29 7．EtherCAT Connection Procedure 7.4.2. Checking the Data that are Sent and Received Confirm that the correct data are sent and received. 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 30: Initialization Method

    8．Initialization Method 8. Initialization Method This document explains the setting procedure from the factory default setting. Some settings may not be applicable as described in this document unless you use the devices with the factory default setting. 8.1. Initializing the Controller To initialize the settings of the Controller, select Clear All Memory from the Controller Menu of the Sysmac Studio.

  • Page 31: Revision History

    9．Revision History 9. Revision History Revision Date of revision Revision reason and revision page code April 1 , 2014 First edition...
  • Page 32 2014 P603-E1-01 1404**(-))

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