Omron 1S Series Startup Manual
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Omron 1S Series Startup Manual

Omron 1S Series Startup Manual

Programmable multi-axis controller (idev4)
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Programmable Multi-Axis Controller
Startup Guide
1S-series Servo Drivers
(IDEv4)
CK3E-□□□□
CK3M-CPU11
NY51□-A□□□
O039-E1-01

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  • Page 1 Programmable Multi-Axis Controller Startup Guide 1S-series Servo Drivers (IDEv4) CK3E-□□□□ CK3M-CPU11 NY51□-A□□□ O039-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 each device that is 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 all or part of this document without the permission of OMRON Corporation. (5) The information contained in this document is current as of March 2019. It is subject to change without prior notice for improvement purposes.

  • Page 7: Overview

    4. Overview This document describes the procedures used to operate the OMRON servo drivers (1S-series EtherCAT communication built-in type, hereafter referred to as Servo Driver) using the motion program for OMROM Programmable Multi-Axis Controller (hereafter referred to as the Controller), model CK3E-□□□□/CK3M-CPU11/NY51□-A□□□, as well as for checking the operation.

  • Page 8: Applicable Devices And Device Configuration

    This document describes the procedures to establish the network connections. It does not provide information on operations, installations, wiring methods, device functionalities, or device operations, which are not related to the connection procedures. For more information, refer to the manuals or contact your OMRON representative.

  • 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 procedures to connect the Controller and Servo Driver via EtherCAT, and to operate the motion control devices. The description assumes that the Controller is set to factory default. If an uninitialized Controller is used, the motion control devices may perform unexpected operations upon power-on depending on the Controller status, resulting in a personal injury to the user.
  • Page 11 ▼ 6.5.2 Motor Setup ▼ 6.5.3 Creation of Operation Check Programs ▼ 6.5.4 Project Data Transfer and Operation Check...

  • Page 12: Preparation For The Controller Setup

    6.2. Preparation for the Controller Setup Prepare the Controller settings. Install Power PMAC IDE on the computer in advance. 6.2.1. Creation of a New Project 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.
  • Page 13 From the File menu, select New then Project. Enter a project name, and select...
  • Page 14 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 15 Specify Servo Frequency. Select the Servo Frequency setting from 4 kHz, 2 kHz, or 1 kHz. 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. When complete, the “Save Complete”...
  • Page 16 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 17: Installation Of Esi Files

    Install the ESI file for Servo Driver 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 18 Depending on the Controller status, unexpected operations of the motion control devices may occur when the power to the Controller is turned on, resulting in a personal injury to the user. Pay attention to safety when the power is turned on. Precautions for Correct Use Before taking the following steps, make sure that the devices are connected via an Ethernet cable.
  • Page 19 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. Correspondence between the servo frequencies of the Controller and communication periods is as follows: 4 kHz : 250 us 2 kHz : 500 us...
  • Page 20 Make sure that the slave is displayed in the Solution Explorer. 6.4.2. Distributed Clock Setup Setting Distributed Clocks (DC) for Master In the Master0 (Deactivated) tab page, select Distributed Clocks tab.
  • Page 21 Select Master Shift (EtherCAT Master Time controlled by Reference Clock).
  • Page 22 Setting Distributed Clock (DC) for the Slave In the Solution Explorer, select the target slave and display the Distributed Clock tab page. Select the Overwrite Mode check box and specify Shift Time. Correspondence between the servo frequencies of the Controller and the Shift Time values is as follows: 4 kHz : 125 us 2 kHz : 250 us 1 kHz : 500 us...
  • Page 23 6.4.3. PDO Map Settings PDO entries without axis settings are subjected to PDO communications as indefinite values. For this reason, unexpected operations of the motion control devices may occur, resulting in a personal injury to the user. Only objects to be configured in Section 6.5.2. Motor Setup must be mapped to PDO entries.
  • Page 24 Setting PDO mapping (Outputs) Make sure that the 258th receive PDO Mapping 0x1701 check box is selected in the Outputs field. Clear the 273th receive PDO Mapping 0x1710 check box if it is selected in the Outputs field. 6.4.4. Creation of an EtherCAT Network Information File Select System –...
  • Page 25 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 directory in the Solution Explorer.

  • Page 26: 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 27 6.5.2. Motor Setup Configure the motor settings for the Controller. Select System – Motor in the Solution Explorer and right-click on it, then select Add a Motor…. Adding motor #1 Specify 1 for Motor Number and click the OK button. Select Amplifier.
  • Page 28 Setting motor Amplifier Specify the settings as shown on the right. Click the Accept button to apply the settings. Manufacturer Select OMRON Corporation. Part Number Select #x000000AB. 4.ECAT Slave Settings Enter a slave number into Slave Number. Select Encoder.
  • Page 29 Specify the settings as shown on the right. Click the Accept button to apply the settings. Control Type Select Cyclic Position. Primary Feedback Select ECAT. Select Hardware Interface.
  • Page 30 Specify the settings as shown on the right. Click the Accept button to apply the settings. Command Signal Channel Select #x607A(Target Position), and specify the motor control indication value for Target Position. Amplifier Enable Signal Output Channel Select #x6040(Controlword), and specify Controlword for the motor output.
  • Page 31 Creating the Motion program In the Solution Explorer, open Project name – PMAC Script Language – Motion Programs – prog1.pmc. In the programming area of the &1; prog1.pmc tab page, write a #1->8388608X; program as shown on the right. OPEN PROG 1 INC;...
  • Page 32 Creating the PLC program In the Solution Explorer, open Project name – PMAC Script Language – PLC Programs – plc1.plc. In the programming area of the open plc 1 plc1.plc tab page, write a while(sys.ecatMasterReady==0){}; program as shown on the right. ECAT[0].Enable=1;...
  • Page 33 Setting the start of the user program In the Solution Explorer, 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. The pp_disable.txt program is automatically executed when the Controller starts.
  • Page 34 In the programming area of the Motor[1].FatalFeLimit=0; Motor[1].AbortTa= -0.1; global definitions.pmh tab page, Motor[1].AbortTs= 0; write the set values to be set Motor[1].MaxSpeed= 5000; Motor[1].JogTa= -0.1; automatically upon power-on. Motor[1].JogTs= -1; Motor[1].JogSpeed= 1000; Motor[1].HomeVel= 1000; Example settings are shown on the right.
  • Page 35 6.5.4. Project Data Transfer and Operation Check Transfer the created project data to the Controller. When a project is transferred, the program starts automatically and the motor starts rotating. When the user program and “configuration and setting” data are transferred from Power PMAC IDE, devices or the machine may perform unexpected operations.
  • Page 36 Downloading a project Right-click the project name in the Solution Explorer on the upper right of the IDE screen, and select Build and Download All Programs to run the build and download. * The transferred project is not yet saved on the Controller at this stage.
  • Page 37 After you have confirmed an appropriate operation, save the project to the Controller. Run the save command from the Terminal tab page. * The save command stores the downloaded project in the Controller. This operation saves the settings to be executed automatically when the power to the Controller is turned on.

  • Page 38: 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 39 Saving a Project In the File menu, run Save All to save the project on the computer.

  • Page 40: 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 41 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 42 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 43: Appendix Using Safety Function

    8. Appendix Using Safety Function To use the STO function in EtherCAT communications, you need to configure the settings for the EtherCAT master and Safety CPU Unit. 8.1. Device Configuration The following shows an example of hardware components connected to the safety controller. Model NX-ECC203 Model CK3E-...
  • Page 44 ▼ 8.3.7 Output of Coupler I/O Allocations ▽ Prepare the Controller settings. 8.4 Preparation for the Controller Setup ▽ 8.5 Installation of ESI Files Install the ESI file for slaves into Power PMAC IDE. ▽ 8.6 EtherCAT Communications Setup Set up EtherCAT communications. ▼...

  • Page 45: Ethercat Coupler Unit Settings

    8.3. EtherCAT Coupler Unit Settings Configure the slave terminal settings for the EtherCAT Coupler Unit. Prepare a computer with Sysmac Studio installed. Windows computer Sysmac Studio Model NX-ECC203 Model NX-SL3500 Model NX-ID3417 Model NX-SID800 Model NX-OD3256 Model NX-SOD400 Additional Information For the setting procedures for the EtherCAT Coupler Unit and Safety CPU Unit, also refer to Programmable Multi-Axis Controller Startup Guide for EtherCAT®...
  • Page 46 Create a project in the Sysmac Studio. Enter Project name and other items of information. Select 1.10 for Version, then, click Create. 8.3.2. Network Configuration Settings Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Select EtherCAT Coupler Unit NX-ECC203 in the toolbox, and drag and drop it directly below the master in the EtherCAT...
  • Page 47 Right-click NX-ECC203 in the Multiview Explorer, and select Coupler Connection (USB) then Online. After you have confirmed the destination of the USB connection, click the OK button. Double-click NX-ECC203 in the Multiview Explorer to open the NX-ECC203 edit page. Right-click in the NX-ECC203 tab page and select Compare and Merge with Actual Unit Configuration from the menu.
  • Page 48 Right-click NX-ECC203 in the Multiview Explorer, and select Coupler Connection (USB) then Offline. Precautions for Correct Use You can read only the Unit configuration in the Slave Terminal by comparing and merging with the actual Unit configuration. You cannot read the I/O allocation information, Unit operation settings, and Unit application data.
  • Page 49 8.3.3. I/O Map Settings Configure the PDO mapping settings for Servo Driver. Select R88D-1SN01L-ECT, then click Edit PDO Map Settings. In the Edit PDO Map Settings page, select output 273th and input 273th, then click OK. In the Multiview Explorer, select Configurations and Setup, then I/O map tab page to open the I/O map pane.
  • Page 50 Right-click on EtherCAT Network, and select Create Device Variable from the menu. 8.3.4. Safety I/O Function Settings From the controller selection box in the Multiview Explorer, select the target Safety CPU Unit. Double-click Parameters under NX-SID800 of Configurations and Setup. Select an output device according to the type of external device that is...
  • Page 51 Double-click Parameters under NX-SOD400 of Configurations and Setup. Select an input device according to the type of external device that is connected to the safety output terminal from the tool box, and drag and drop it on to output terminal So00. 8.3.5.
  • Page 52 Select the tab for internal variables, and then register and edit the local variables. Name : s_StartReset DataType : SAFEBOOL Initial Value : TRUE Name : s_AutoReset DataType : SAFEBOOL Initial Value : TRUE Register and edit the local variables. Name : activate DataType : SAFEBOOL Initial Value : FALSE...
  • Page 53 Select Controller, then Online from the menu. The unit is in online connection with slave terminals. From the controller selection box in the Multiview Explorer, select a Controller Unit. In the edit page for slave terminals, right-click the Communications Coupler Unit, then select Coupler Connection (USB) –...
  • Page 54 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Right-click on Master, then select Export All Coupler’s I/O Allocations. 8.3.8. Changing to DEBUG Mode Select the Safety CPU Unit from the Controller Selection Box in the Multiview Explorer. Select Mode – DEBUG Mode from Controller Menu.
  • Page 55 The following transfer confirmation Dialog Box is displayed. Click the safety of the system and then click the Yes Button. The following password confirmation dialog box is displayed. When you use the DEBUG mode for the first time, or when the safety password is not specified, leave the Password field blank and click the OK button.

  • Page 56: Preparation For The Controller Setup

    8.3.10. Changing to RUN Mode Select Mode – RUN Mode from the Controller Menu. Click the Yes Button. Click the Yes Button. Click the OK Button. Click the OK Button. 8.4. Preparation for the Controller Setup Perform the procedure provided in 6.2 Preparation for the Controller Setup.

  • Page 57: Installation Of Esi Files

    8.5. Installation of ESI Files Perform the procedure provided in 6.3 Installation of ESI Files. 8.6. EtherCAT Communications Setup 8.6.1. Communications Setup for the EtherCAT Master Perform the procedure provided in 6.4.1 Communications Setup for the EtherCAT Master. 8.6.2. Synchronous Communications Setup Perform the procedure provided in 6.4.2 Distributed Clock Setup.
  • Page 58 8.6.3. Safety Controller Variable Settings (1) Checking the coupler I/O allocations Decompress the ZIP file you saved in 8.3.7 Output of Coupler I/O Allocations, open the expanded “CouplerMemoryMap.xml”, and check the contents. (2) Setting Input Data Register the following input data. - Slot1(NX-SL3500)Input Data Set1 - Slot1(NX-SL3500)Input Data Set2 Select a safety controller in the...
  • Page 59 [Slot1(NX-SL3500)Input Data Set1] Registering Node1/Unit2 (NX-SID800) Click New in the Variables tab page, and register 4 variables shown on the right. FSoE Slave CMD #x6020:01 USINT Group: Module 1(NX-SL3500).Input Data Set 1 Datatype: USINT Count: 1 Safety Input 1st Word #x6021:01 UINT FSoE Slave CRC_0...
  • Page 60 [Slot1(NX-SL3500)Input Data Set1] FSoE Master CMD #xE700:01 USINT Registering Node2 Group: Module 1(NX-SL3500).Input Data Set 1 Datatype : USINT Click New in the Variables tab Count : 1 page, and register 19 variables shown on the right. STO Command #x6640:00 BOOL BOOL BOOL...
  • Page 61 Checking Input Data Make sure that the settings (Input) in the Variables tab page are correct.
  • Page 62 (3) Setting Output Data Register the following output data. - Slot1(NX-SL3500)Output Data Set1 - Slot1(NX-SL3500)Output Data Set2 Select a safety controller in the Solution Explorer pane of Power PMAC IDE. Display the Variables tab page. [Slot1(NX-SL3500)Output Data Set1] FSoE Master CMD #x7020:01 USINT Registering Node1/Unit2...
  • Page 63 [Slot1(NX-SL3500)Output Data Set1] FSoE Slave CMD #xE600:01 USINT Registering Node2 Group: Module 1(NX-SL3500).Output Data Set 1 Datatype : USINT Click New in the Variables tab Count : 1 page, and register three variables shown on the right. STO Command #x6640:00 BOOL BOOL BOOL...
  • Page 64 Checking Output Data Make sure that the settings (Output) in the Variables tab page are correct. 8.6.4. PDO Map Settings In the Solution Explorer, select the target slave and display the PDO Mapping tab page. Setting PDO mapping (Inputs) Make sure that the 258th transmit PDO Mapping 0x1B01 , 273th transmit PDO Mapping 0x1B10 check boxes...
  • Page 65 Setting PDO mapping (Outputs) Make sure that the 258th receive PDO Mapping 0x1701 and 273th receive PDO Mapping 0x1710 check boxes are selected. 8.6.5. Coupler I/O and Variable Allocations (1) Checking the coupler I/O allocations Decompress the ZIP file you saved in 8.3.7 Output of Coupler I/O Allocations, open the expanded “CouplerCopyInfo.xml”, and check the contents.
  • Page 66 Expand Slave_1001 [NX-ECC203] – Module 1 (NX-SL3500).Input Data Set 1 in Inputs. Expand Slave_1001 [NX-ECC203] – Module 3 (NX-SOD400).Output Data Set Associate the following items: 1 in Outputs. Inputs Outputs Variable 4 FSoE Master CMD Select an Inputs item, then Variable 5 Safety Output 1st Word select the corresponding...

  • Page 67: Controller Settings

    Expand Slave_1001 [NX-ECC203] – Module 3 (NX-SOD800).Input Data Set 1 in Inputs. Expand Slave_1001 [NX-ECC203] – Module 1 (NX-SL3500).Output Data Set 1 in Outputs. Associate the following items: Inputs Outputs Select an Inputs item, then FSoE Slave CMD Variable 4 select the corresponding Safety Input 1st Word Variable 5...

  • Page 68: Appendix Troubleshooting

    9. Appendix Troubleshooting 9.1. 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 69: How To Check For Errors

    9.2. How to Check for Errors 9.2.1. Checking the EtherCAT Status You can check the EtherCAT status from Diagnosis Mode 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 71 9.2.2. 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 72  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 73: Appendix Ecat[I] Structure Elements

    10. 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 74: Revision History

    11. Revision History Revision Revised date Revised content code 5-Apr, 2019 First edition...
  • Page 75 Note: Do not use this document to operate the Unit. 2019 O039-E1-01 0419 (0419)

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