Omron FH Series Startup Manual
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Omron FH Series Startup Manual

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Programmable Multi-Axis Controller
Startup Guide
Vision System FH Series
(IDEv4)
CK3E-□□□□
CK3M-CPU1□1
NY51□-A□□□
O043-E1-01

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Summary of Contents for Omron FH Series

  • Page 1 Programmable Multi-Axis Controller Startup Guide Vision System FH Series (IDEv4) CK3E-□□□□ CK3M-CPU1□1 NY51□-A□□□ O043-E1-01...
  • Page 2 EtherCAT® is a patented technology and registered trademark 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 trademarks or registered trademarks...

  • Page 3: Table Of Contents

    Contents Related Manuals ................. 4 Terms and Definitions ................ 5 Precautions ..................6 Overview ..................... 7 Applicable Devices and Device Configuration ........ 8 5.1. Applicable Devices ................8 5.2. Device Configuration ................9 EtherCAT Connection Procedure ........... 10 6.1. Workflow .................... 10 6.2.

  • Page 4: Related Manuals

    To ensure system safety, always read and follow the information provided in all Safety Precautions and Precautions for Safe Use in the manuals for the devices that are used in the system. The following shows the manuals for OMRON Corporation (hereafter referred to as OMRON) and Delta Tau Data Systems, Inc (DT). Manufacturer Manual No.

  • Page 5: Terms And Definitions

    2. Terms and Definitions Term Explanation and Definition Slave Slaves are devices connected to EtherCAT. There are various types of slaves such as servo drivers handling position data and I/O terminals handling the bit signals. Object Represents information such as in-slave data and parameters. One type of EtherCAT communications in which Process Data Objects communications (PDOs) are used to exchange information cyclically and in real time.

  • Page 6: Precautions

    (4) It is prohibited to copy, reproduce, or 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 2019. It is subject to change without prior notice for improvement purposes.

  • Page 7: Overview

    4. Overview This document describes the procedures used to connect the OMRON Vision System FH Series model FH-1050/FH-1050- or model FH-3050/FH-3050- (hereafter referred to as the Slave) using OMRON Programmable Multi-Axis Controller model CK3E-□□□□/ CK3M-CPU11/NY51□-A□□□ (hereafter referred to as the Controller) and EtherCAT, as well as for checking the connection.

  • Page 8: Applicable Devices And Device Configuration

    5. Applicable Devices and Device Configuration 5.1. Applicable Devices The applicable devices are as follows: Manufacturer Name Model Model CK3E-□□□□ OMRON Programmable Multi-Axis Controller OMRON Programmable Multi-Axis Controller Model CK3M-CPU11 Model NY51□-A□□□ OMRON Programmable Multi-Axis Controller Industrial Box PC OMRON FH Sensor Controller Model FH-1/FH-1-...

  • Page 9: Device Configuration

    Power PMAC IDE Ver.4.2.1.19 Precautions for Correct Use Prepare the ESI file described in this section in advance. Contact your OMRON representative for information on how to procure the ESI file. Precautions for Correct Use Do not share the connection line of EtherCAT communications with other Ethernet networks.

  • Page 10: Ethercat Connection Procedure

    6. EtherCAT Connection Procedure This section describes the procedure for connecting the Controller with the Slave via EtherCAT. The description assumes that the Controller is set to factory default. 6.1. Workflow Take the following steps to operate the PDO communications via EtherCAT after connecting the Controller with the Slave via EtherCAT.
  • Page 11 Turn on the power to the Controller. Start Power PMAC IDE. * If the dialog for confirming access rights appears upon start-up, select starting of Power PMAC IDE. The Communication screen appears. Specify the IP address of the destination Controller and click Connect.
  • Page 12 From the File menu, select New then Project. Enter a project name and location, and select OK.
  • Page 13 6.2.2. Initial Settings of the Controller Configure the initial settings for the Controller. Precautions for Correct Use Configuring the initial settings clears all data in the Controller memory. Back up necessary data in advance. In the Terminal tab page, type the $$$*** command to reset the Controller to factory default.
  • Page 14 Specify Servo Frequency. Select the Servo Frequency setting from 4 KHz, 2 KHz, or 1 KHz. * Servo Frequency is set to 1 kHz for the example in this document. Click the Accept button. If you have changed the servo frequency setting, type the SAVE command in the Terminal tab page of Power PMAC IDE.
  • Page 15 In the Device Properties dialog box, select No Device for IP Address, then click the Apply button. This operation sets the Controller to the offline state. Restart the Controller. The servo frequency that has been set is reflected. Wait until the startup process of the Controller is complete.

  • Page 16: Installation Of Esi Files

    Install the ESI file for the Slave into Power PMAC IDE. Precautions for Correct Use Prepare the ESI file described in this section in advance. Contact your OMRON representative for information on how to procure the ESI file. From the EtherCAT menu of Power PMAC IDE, select ESI Manager.

  • Page 17: Ethercat Communications Setup

    6.4. EtherCAT Communications Setup Set up EtherCAT communications. Precautions for Correct Use Before taking the following steps, make sure that the devices are connected via an Ethernet cable. If they are not connected, turn OFF the power to the devices, and connect the Ethernet cable.
  • Page 18 In the Master tab page, specify a communication period for Cycle Time [us]. * You must specify the communication period in accordance with the servo frequency of the Controller. 1000 us is set in this document. Select System – EtherCAT in the Solution Explorer and right-click on Master0 (Deactivated), then select Scan...
  • Page 19 Make sure that the slave is displayed in the Solution Explorer.
  • Page 20 6.4.2. Distributed Clock Setup Setting Distributed Clocks (DC) for Master In the Master0 (Deactivated) tab page, select Distributed Clocks tab. Select Master Shift (EtherCAT Master Time controlled by Reference Clock). Setting Distributed Clock (DC) for the Slave In the Solution Explorer, select the target slave and display the Distributed Clock tab page.
  • Page 21 Select the Overwrite Mode check box and specify Shift Time. Correspondence between the servo frequencies the Controller and Shift Time values is as follows: 4 kHz : 125 us 2 kHz : 250 us 1 kHz : 500 us 6.4.3. PDO Map Settings In the Solution Explorer, select the target slave and display the PDO...
  • Page 22 Setting PDO mapping (Inputs) Check the Inputs field to make sure that the 512th transmit PDO Mapping 0x1BFF check box is not selected. Setting PDO mapping (Outputs) You do not need to configure the settings as there are no settings that can be changed.
  • Page 23 6.4.4. Creation of an EtherCAT Network Information File Select System – EtherCAT in the Solution Explorer and right-click on Master0 (Deactivated), then select Load Mapping to PowerPMAC. An eni.xml file is added under the Configuration directory in the Solution Explorer. An ECATMap.pmh file is added under the PMAC Script Language/Global Includes...

  • Page 24: Controller Settings

    6.5. Controller Settings 6.5.1. EtherCAT Communications Check Take the following steps to ensure that EtherCAT communications are available. From the Terminal tab page, run the ECAT[0].Enable=1 command to start EtherCAT communications. In the Terminal tab page or Watch Window make sure that the ECAT[0].Enable value turns to 1.
  • Page 25 6.5.2. Writing the User Program Create programs to be used to check operations. A specific language is used for the operation check programs. Refer to Power PMAC User’s Manual and Power PMAC Software Reference Manual for details. In the Solution Explorer pane, open Project name –...
  • Page 26 Setting the start of the user program In the Solution Explorer pane, open Project name – Configuration – pp_disable.txt. In the programming area of the pp_disable.txt tab page, add the enable plc 1; program shown on the right to the last line.
  • Page 27 In the Terminal tab page or Watch Window, make sure that the ECAT[0].Enable value is 0. If the value is 1, run the ECAT[0].Enable=0 command from the Terminal tab page to stop EtherCAT communications. Downloading a project Right-click the project name in the Solution Explorer pane on the upper right of the IDE screen, and select Build and...
  • Page 28 The program starts running when it has been downloaded successfully. EtherCAT communications are in the OP state. Make sure that measurement is carried out. * If measurement is not carried out, check that the ECAT[0].Enable value is 1 in the Terminal tab page or Watch Window.

  • Page 29: Appendix Saving And Loading A Project

    7. Appendix Saving and Loading a Project The following describes the procedures to save a Power PMAC IDE project on the computer, and to reuse it. 7.1. Saving a Project Creating a Configuration File Create a Configuration File to save parameters you have changed.
  • Page 30 Saving a Project In the File menu, run Save All to save the project on the computer.

  • Page 31: Loading And Downloading A Project

    7.2. Loading and Downloading a Project Start Power PMAC IDE, and connect to the Controller. In the Terminal tab page, type the $$$*** command to reset the Controller settings to factory default. In the File menu, Click Open – Project/Solution to load the project that you saved.
  • Page 32 Right-click the project name in the Solution Explorer, and select Build and Download All Programs to run the build and download. When the download process is complete, make sure that there are no errors in the Output Window. Stopping a program If a program is running, execute the following command from the Terminal tab page to stop the...
  • Page 33 Saving the downloaded settings and programs After the download process is complete and you make sure that there are no errors in the Output Window, run the save command from the Terminal tab page. * The save command stores the downloaded project in the Controller.

  • Page 34: Appendix Troubleshooting

    8. Appendix Troubleshooting 8.1. Factors Causing EtherCAT Communications To Be Unavailable, and Corrective Actions Description Factor Corrective Action The link is not established. The Ethernet cable is broken or If the Ethernet cable is broken the specified cable is not being or if the specified cable was not used.

  • Page 35: How To Check For Errors

    8.2. How to Check for Errors 8.2.1. Checking the EtherCAT Status You can check the EtherCAT status from System Setup of Power PMAC IDE. Right-click on Master0 (Deactivated) under EtherCAT in the Solution Explorer, then select Diagnosis Mode to open the Diagnosis Mode page You can check the status of the slaves in the Diagnosis Mode page.
  • Page 36 8.2.2. Checking the Controller Status In the Status page of Power PMAC IDE, you can check the status of the motor, coordinate system, and system. To display the Status page, click Status on the toolbar.  Global Status You can check system errors such as the WDT error.
  • Page 37  Motor Status You can check deviation errors, limit errors, and other states of the motor.  Coordinate Status You can check deviation errors, limit errors and other states of the coordinate system.

  • Page 38: Appendix Ecat[I] Structure Elements

    9. Appendix ECAT[i] Structure Elements The Controller uses motion controller technology developed by Delta Tau Data Systems, Inc., (hereafter referred to as DT) in the U.S., however, the ECAT[i] structure elements differ from those of DT controllers. The following table shows the major changes that have been made from DT controllers.

  • Page 39: Revision History

    10. Revision History Revision Revised date Revised content code 5-Apr, 2019 First edition...
  • Page 40 Note: Do not use this document to operate the Unit. 2019 O043-E1-01 0419 (0419)

This manual is also suitable for:

Ck3e seriesCk3m-cpu1 1 seriesNy51 a series

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