Omron EtherCAT G5 Series User Manual
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Omron EtherCAT G5 Series User Manual

Omron EtherCAT G5 Series User Manual

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Sysmac Library
User's Manual
for EtherCAT
G5 Series Library
®
SYSMAC-XR004
W548-E1-05

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Summary of Contents for Omron EtherCAT G5 Series

  • Page 1 Sysmac Library User’s Manual for EtherCAT G5 Series Library ® SYSMAC-XR004 W548-E1-05...
  • Page 2 No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Neverthe- less, OMRON assumes no responsibility for errors or omissions.

  • Page 3: Introduction

    Keep this manual in a safe place where it will be available for reference during operation. Features of the Library The EtherCAT G5 Series Library is used to initialize the absolute encoder, back up and restore the parameters for an OMRON G5-series Servo Drive with built-in EtherCAT communications.

  • Page 4: Manual Structure

    Information on differences in specifications and functionality for CPU Units and Industrial PCs with different unit versions and for different versions of the Sysmac Studio are given. Note References are provided to more detailed or related information. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 5 Manual Structure Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 6: Table Of Contents

    Function Blocks ..................... 31 InitEncoder_G5............................32 Backup_G5 ..............................40 Restore_G5 ............................... 55 Appendix ......................... 69 Referring to Library Information ......................... 70 Referring to Function Block and Function Source Codes................73 Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 7 CONTENTS Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 8: Terms And Conditions Agreement

    Omron’s exclusive warranty is that the Products will be free from defects in materials and workman- ship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied.

  • Page 9: Application Considerations

    Disclaimers Performance Data Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor- mance is subject to the Omron’s Warranty and Limitations of Liability.

  • Page 10: Safety Precautions

    The filled circle symbol indicates operations that you must do. The specific operation is shown in the circle and explained in text. This example shows a general precaution for something that you must Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 11: Cautions

    Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits. Check the user program, data, and parameter settings for proper execution before you use them for actual operation. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 12: Precautions For Correct Use

    • Create a user program that will produce the intended device operation. • Check the user program for proper execution before you use it for actual operation. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 13: Related Manuals

    Features and system configuration mation, designing, installa- Introduction tion, and maintenance. Part names and functions Mainly hardware informa- tion is provided General specifications Installation and wiring Maintenance and inspection Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 14 Controller User’s trol with NJ/NY-series Con- ical control. Use this manual together with the NY532-5400 Manual trollers. NJ/NY-series G code Instructions Reference Manual (Cat. No. O031) when pro- gramming. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 15 An introduction of the CNC Operator, installation Operation Manual -RTNC0D the CNC Operator and how procedures, basic operations, connection opera- to use it. tions, and operating procedures for main func- tions are described. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 16: Revision History

    Revision code Date Revised content April 2015 Original production December 2015 Corrected mistakes. July 2016 Changed the manual name. November 2016 Changed the manual name. January 2019 Added compatible models. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 17: Procedure To Use Sysmac Libraries

    Procedure to Use Sysmac Libraries Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 18: Procedure To Use Sysmac Libraries Installed Using The Installer

    2 and later steps. • Set the project type to Standard Project or Library Project. • Set the device category to Controller. • Set the device version to 1.01 or later. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 19 Insert the Sysmac Library’s function blocks and functions into the circuit using one of the follow- ing two methods. • Select the desired function block or function in the Toolbox and drag and drop it onto the pro- gramming editor. Drug & Drop Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 20 When the device selected currently is an NJ/NX-series CPU Unit or an NY-series Industrial PC, the device icon is displayed in the Multiview Explorer. Select an old-version Sysmac Library and click the Delete Reference Button. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 21 Procedure to Use Sysmac Libraries Installed Using the Installer Add the desired Sysmac Library to the list and click the OK Button. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 22: Procedure To Use Sysmac Libraries Uploaded From A Cpu Unit Or An Industrial Pc

    Insert the Sysmac Library’s function blocks and functions into the circuit using one of the follow- ing two methods. • Select the desired function block or function in the Toolbox and drag and drop it onto the Lad- der Editor. Drug & Drop Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 23 Sysmac Libraries, unlike the case where you install then using the installer. Please install the manual and help files using the installer if you need them. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 24 Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 25: Common Specifications Of Function Blocks

    Common Specifications of Function Blocks Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 26: Common Variables

    The processing is executed when the variable changes to TRUE. Enable The processing is executed while the variable is TRUE. Abort BOOL Abort The processing is aborted. You can select the aborting method. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 27 BOOL input variable Abort to abort the processing of a function block. When Abort changes to TRUE, CommandAborted changes to TRUE and the execution of the function block is aborted. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 28 This section provides timing charts for a normal end, aborted execution, and errors.  Normal End Execute Done Busy CommandAborted Error ErrorID 16#0000 ErrorIDEx 16#00000000  Canceled Execution Execute Abort Busy CommandAborted Error ErrorID 16#0000 ErrorIDEx 16#00000000 Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 29  Aborted Execution Execute Done Busy CommandAborted Error ErrorID 16#0000 ErrorIDEx 16#00000000  Errors Execute Done Busy CommandAborted Error ErrorID 16#0000 ErrorID ErrorID ErrorID 16#0000 ErrorID ErrorIDEx 16#00000000 ErrorIDEx 16#00000000 ErrorIDEx Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 30 Timing Charts This section provides timing charts for a normal end and errors.  Normal End Enable Enabled Retained CalcRslt Retained Busy Error ErrorID 16#0000 ErrorIDEx 16#00000000 Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 31 Common Variables  Errors Enable Enabled Retained Retained CalcRslt Busy Error ErrorID 16#0000 16#0000 16#0000 ErrorID ErrorID ErrorID 16#0000 ErrorID ErrorIDEx 16#00000000 ErrorID ErrorID ErrorID ErrorID 16#00000000 Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 32: Precautions

    Execute-type function blocks cannot be re-executed by the same instance. If you do so, the output value will be the initial value. For details on re-execution, refer to the motion control user’s manual. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 33: Individual Specifications Of Function Blocks

    Individual Specifications of Function Blocks Function block name Name Page InitEncoder_G5 G5-series Servo Drive P.32 Absolute Encoder Initialize Backup_G5 G5-series Servo Drive P.40 Parameter Backup Restore_G5 G5-series Servo Drive P.55 Parameter Restore Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 34: Initencoder_G5

    Function block and function version 1.01 Compatible Models Item Name Model numbers Version Device G5-series Servo Drive R88D-KN-ECT Version 2.10 or later G5-series Servo Motor R88M-KT(-) (with absolute encoder) R88M-KS(-) R88M-KC(-) Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 35 *5. Refer to SDO Abort Codes in the instructions reference manual for a list of SDO abort codes. Real Times, durations, Bit strings Integers num- dates, and text strings bers Execute NodeAdr TimeOut Done Busy Error ErrorID ErrorIDEx Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 36 • If Execute remains TRUE even after execution of the function block is ended, the output values of Done and Error are held.  Timing Chart for Normal End Scan Execute Busy Done Error ErrorID #0000 #0000 #0000 #0000 ErrorIDEx #00000000 #00000000 #00000000 #00000000 Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 37 Slaves are given in the table in Message Communica- the order of slave node addresses. _EC_MBXSlavTbl tions Enabled Slave Array[1..512] OF BOOL TRUE: Message communications Table are possible. FALSE: Message communications are not possible. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 38 More than 32 EtherCAT com- that no more than 32 EtherCAT 16#1808 16#00000000 tions Resource munications instructions were communications instructions Overflow executed at the same time. are executed at the same time. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 39 *1. N = 192 for NJ501, NJ301 and NJ101. N = 512 for NX701.  Internal Variables Name Data type Default Comment INITENCODER_G5_instance OmronLib\EC_G5\InitEncoder_G5 OperatingEnd BOOL Processing completed Trigger BOOL FALSE Execution condition Operating BOOL Processing RS_instance InitEncoderBusy BOOL Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 40 Default Comment INITENCODER_G5_instance OmronLib\EC_G5\InitEncoder_G5 Trigger BOOL FALSE Execution condition Value of Trigger from previous LastTrigger BOOL FALSE task OperatingStart BOOL FALSE Processing started. Operating BOOL FALSE Processing InitEncoderBusy BOOL FALSE Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 41 IF (Operating=TRUE) THEN INITENCODER_G5_instance( Execute :=TRUE, NodeAdr:=1, TimeOut:=0, Busy=>InitEncoderBusy); IF (INITENCODER_G5_instance.Done=TRUE) THEN // Processing after normal end. Operating:=FALSE; END_IF; IF (INITENCODER_G5_instance.Error=TRUE) THEN // Processing after error end. Operating:=FALSE; END_IF; END_IF; Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 42: Backup_G5

    Function Block and Function Information Item Description Library file name OmronLib_EC_G5_V1_1.slr Namespace OmronLib\EC_G5 Function block and function number 00008 Source code published/not published Not published Function block and function version 1.01 Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 43 R88D-KN04L-ECT 200-VAC Input Drive R88D-KN01H-ECT R88D-KN02H-ECT R88D-KN04H-ECT R88D-KN08H-ECT R88D-KN10H-ECT R88D-KN15H-ECT R88D-KN20H-ECT R88D-KN30H-ECT R88D-KN50H-ECT R88D-KN75H-ECT R88D-KN150H-ECT 400-VAC Input Drive R88D-KN06F-ECT R88D-KN10F-ECT R88D-KN15F-ECT R88D-KN20F-ECT R88D-KN30F-ECT R88D-KN50F-ECT R88D-KN75F-ECT R88D-KN100F-ECT SD Memory Card HMC-SD Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 44 *2. If DirName is omitted, this specifies the root directory on the SD Memory Card. *3. You can use it to identify that communications processing is in progress. *4. For details, refer to Troubleshooting on page 48. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 45 Backup_G5 Real Times, durations, Bit strings Integers num- dates, and text strings bers Execute NodeAdr DirName OverWrite TimeOut Done Busy SdoBusy Error ErrorID ErrorIDEx Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 46 • To use this function block, you need to create in advance a directory named OM_ObjList\Drive in the root directory on the SD Memory Card and store object lists provided by OMRON in it. Be sure to store all the object lists. Then, access the object lists to back up the parameters with this function block.
  • Page 47 TRUE only for one task period after execution of the function block is ended. • If Execute remains TRUE even after execution of the function block is ended, the output values of Done and Error are held. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 48 • In backup or restore processing, the value of SdoBusy is TRUE when data objects are being sent. The value of SdoBusy is FALSE when data objects are not being sent due to the internal processing of the function block. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 49 Slaves are given in the table in Message Communica- the order of slave node addresses. _EC_MBXSlavTbl tions Enabled Slave Array[1..512] OF BOOL TRUE: Message communications Table are possible. FALSE: Message communications are not possible. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 50 The backup file exists on the Change the directory in which Already Exists SD Memory Card when Over- to store the backup file. Or, Write is FALSE. delete the existing backup file in advance. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 51 • Create a user program that will produce the intended device operation. • Check the user program for proper execution before you use it for actual operation. This sample programming backs up and then restores parameters for a Servo Drive. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 52 BOOL FALSE BackupTrigger BOOL FALSE Backup execution condition RestoreTrigger BOOL FALSE Restore execution condition TargetSlave UINT Target slave node Address TargetDirectory STRING[41] SD card directory TargetTimeOut UINT Time out value Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 53 Backup_G5 Name Data type Default Comment BackupBusy BOOL RestoreBusy BOOL BackupOperating BOOL Backup processing RestoreOperating BOOL Restore processing BackupOperatingEnd BOOL Backup processing completed RestoreOperatingEnd BOOL Restore processing completed RS_Backup_instance RS_Restore_instance Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 54 Backup_G5 Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 55 IF ( (BackupTrigger=TRUE) AND (BackupLastTrigger=FALSE) AND (_EC_MBXSlavTbl [TargetSlave]=TRUE) AND (MC_Axis000.Status.Disabled=TRUE) AND (_Card1Ready=TRUE) AND (BackupBusy=FALSE) AND (RestoreBusy=FALSE) ) THEN BackupOperatingStart:=TRUE; BackupOperating :=TRUE; END_IF; BackupLastTrigger:=BackupTrigger; // Initialize Backup_G5 instruction. IF (BackupOperatingStart=TRUE) THEN BACKUP_G5_instance( Execute :=FALSE); BackupOperatingStart:=FALSE; Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 56 IF (RestoreOperating=TRUE) THEN RESTORE_G5_instance( Execute :=TRUE, NodeAdr:=TargetSlave, DirName:=TargetDirectory, NoProductChk:=FALSE, TimeOut:=TargetTimeOut, Busy=>RestoreBusy); IF (RESTORE_G5_instance.Done=TRUE) THEN // Processing after normal end. RestoreOperating:=FALSE; END_IF; IF (RESTORE_G5_instance.Error=TRUE) THEN // Processing after error end. RestoreOperating:=FALSE; END_IF; END_IF; Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 57: Restore_G5

    Function Block and Function Information Item Description Library file name OmronLib_EC_G5_V1_1.slr Namespace OmronLib\EC_G5 Function block and function number 00009 Source code published/not published Not published Function block and function version 1.01 Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 58 R88D-KN04L-ECT 200-VAC Input Drive R88D-KN01H-ECT R88D-KN02H-ECT R88D-KN04H-ECT R88D-KN08H-ECT R88D-KN10H-ECT R88D-KN15H-ECT R88D-KN20H-ECT R88D-KN30H-ECT R88D-KN50H-ECT R88D-KN75H-ECT R88D-KN150H-ECT 400-VAC Input Drive R88D-KN06F-ECT R88D-KN10F-ECT R88D-KN15F-ECT R88D-KN20F-ECT R88D-KN30F-ECT R88D-KN50F-ECT R88D-KN75F-ECT R88D-KN100F-ECT SD Memory Card HMC-SD Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 59 *2. If DirName is omitted, this specifies the root directory on the SD Memory Card. *3. You can use it to identify that communications processing is in progress. *4. For details, refer to Troubleshooting on page 62. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 60 Restore_G5 Real Times, durations, Bit strings Integers num- dates, and text strings bers Execute NodeAdr DirName NoProductChk TimeOut Done Busy SdoBusy Error ErrorID ErrorIDEx Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 61 If necessary, set DirName (Directory Name) and TimeOut (Timeout Time). The backup file in the directory specified with DirName (Directory Name) is restored to the G5-series Servo Drive when execution of the function block is ended. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 62 • If Execute remains TRUE even after execution of the function block is ended, the output values of Done and Error are held.  Timing Chart for Normal End Scan Execute Done Busy SdoBusy Error ErrorID #0000 #0000 #0000 #0000 ErrorIDEx #00000000 #00000000 #00000000 #00000000 Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 63 SD Memory Card access failed (no SD Memory Card inserted, a file is being accessed, etc.). h) The number of SD Memory Card related instructions such as FileReadVar exceeded the maxi- mum number of instructions that can be executed at the same time. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 64 The directory name specified Check the length of the direc- with DirName is too long. tory name specified with Dir- Name so that it is within the valid range. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 65 *1. Refer to SDO Abort Codes in the instructions reference manual for a list of SDO abort codes. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 66 3116 hex 3117 hex 3118 hex 3119 hex 3120 hex 3121 hex 3122 hex 3123 hex 3124 hex 3125 hex 3126 hex 3127 hex 3200 hex 3201 hex 3202 hex Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 67 3406 hex 3407 hex 3410 hex 3411 hex 3416 hex 3417 hex 3418 hex 3419 hex 3421 hex 3432 hex 3433 hex 3434 hex 3435 hex 3436 hex 3437 hex Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 68 3700 hex 3701 hex 3703 hex 3704 hex 3705 hex 3706 hex 3758 hex 3759 hex 3781 hex 3800 hex 3801 hex 3803 hex 3818 hex 605B hex 605C hex Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 69 C: Updated after the control power is reset, or after a Config command is executed via EtherCAT communications. D: Changeable only when the EtherCAT communications state is Pre-Operational (Pre-Op). R: Updated when the control power supply is reset. Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 70 Restore_G5 Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 71: Appendix

    Appendix Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)

  • Page 72: Referring To Library Information

    Referring to Library Information Referring to Library Information When you make an inquiry to OMRON about the library, you can refer to the library information to iden- tify the library to ask about. The library information is useful in identifying the target library among the libraries provided by OMRON or created by the user.
  • Page 73 When you refer to the libraries, the library information is displayed at the locations shown below. (3)Library author (1)Library file name (2)Library version (4)Library comment (6)Name (5)FB/FUN name space (8)FB/FUN author (10)FB/FUN comment (7)FB/FUN version Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 74 Select a function block and function to display its library information at the bottom of the Toolbox Pane. The text “by OMRON” which is shown on the right of the library name (1) indicates that this library was provided by OMRON.

  • Page 75: Referring To Function Block And Function Source Codes

    Referring to Function Block and Function Source Codes You can refer to the source codes of function blocks and functions provided by OMRON to customize them to suit the user’s environment. User function blocks and user functions can be created based on the copies of these source codes.
  • Page 76 Referring to Function Block and Function Source Codes Sysmac Library User’s Manual for EtherCAT G5 Series Library (W548)
  • Page 78 The Netherlands Hoffman Estates, IL 60169 U.S.A. Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 © OMRON Corporation 2015-2019 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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