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IAI XSEL-R Operation Manual

Ethercat programming type controller edition
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EtherCAT
Operation Manual Eighth Edition
Programming Type Controller Edition
Overview
EtherCAT
®
Specifications
Table-top Robot TTA
MSEL
Appendix
1
Chapter
2
Chapter
3
Chapter
4
Chapter
5
Chapter
6
Chapter

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Summary of Contents for IAI XSEL-R

  • Page 1 EtherCAT Operation Manual Eighth Edition Programming Type Controller Edition Overview Chapter EtherCAT ® Specifications Chapter Chapter Table-top Robot TTA Chapter MSEL Chapter Appendix Chapter...

  • Page 3: Please Read Before Use

    [Important]  This Operation Manual is original.  IAI shall not be liable whatsoever for any loss or damage arising from the result of using the product for any other purpose from what is noted in the manual.  The information contained in this Operation Manual is subject to change without notice for the purpose of production improvement.
  • Page 4 ME0309-8A...

  • Page 5: Table Of Contents

    Safety Guide ............................1 Caution in Handling ..........................8 1. Overview ............................9 2. EtherCAT ® Specifications......................11 3. XSEL-R(A)/S(A)/R(A)X/S(A)X/R(A)XD/S(A)XD ................13 3.1 Operation Modes and Functions ................... 13 3.2 Model ............................. 14 3.3 EtherCAT ® Interface ......................15 3.3.1 Names of the Parts ......................15 3.3.2 Monitor LED indications ....................
  • Page 6 6. Appendix ............................. 63 6.1 Troubleshooting ........................63 6.2 List of EtherCAT ® Related Parameters .................. 65 6.3 Network Setting File ......................70 6.4 Example for Connectivity Setting ..................71 6.4.1 Sysmac Studio Startup and PLC Communication Connectivity ........71 6.4.2 Installing Setting File for Network (ESI File)..............

  • Page 7: Safety Guide

    Safety Guide “Safety Guide” has been written to use the machine safely and so prevent personal injury or property damage beforehand. Make sure to read it before the operation of this product. Safety Precautions for Our Products The common safety precautions for the use of any of our robots in each operation. Operation Description Description...

  • Page 8: Operation Description

    Operation Description Description Transportation ● When carrying a heavy object, do the work with two or more persons or utilize equipment such as crane. ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers.
  • Page 9 Operation Description Description Installation (2) Cable Wiring and Start ● Use our company’s genuine cables for connecting between the actuator and controller, and for the teaching tool. ● Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not coil it around.
  • Page 10 Operation Description Description Installation (4) Safety Measures and Start ● When the work is carried out with 2 or more persons, make it clear who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
  • Page 11 Operation Description Description Trial ● When the work is carried out with 2 or more persons, make it clear Operation who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...
  • Page 12 Operation Description Description Maintenance ● When the work is carried out with 2 or more persons, make it clear and Inspection who is to be the “leader” and who to be the “follower(s)” and communicate well with each other to ensure the safety of the workers. ●...

  • Page 13: Alert Indication

    Alert Indication The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the warning level, as follows, and described in the Operation Manual for each model. Level Degree of Danger and Damage Symbol This indicates an imminently hazardous situation which, if the Danger Danger product is not handled correctly, will result in death or serious...

  • Page 14: Caution In Handling

    Caution in Handling 1. About Distribution Clock Synchronizing control can not be accomplished because this product does not support the EtherCAT ® Distribution Clock functionality. ME0309-8A...

  • Page 15: Overview

    EtherCAT ® , an open field network, expends IEEE802.3 EtherNet Standards, and enables the high-speed and high-accuracy global open network. You can connect XSEL-R*/S* controllers and TTA, MSEL to EtherCAT ® to build a system with minimum wiring. This instruction manual states the explanations for when using the EtherCAT ®...
  • Page 16 [System Configuration Example] Master (PLC) EtherCAT ® Unit Master IN/OUT XSEL-R*/S*-EC MSEL □CON Slave, etc. (EtherCAT ® Specification) Cauion ● Synchronizing control can not be accomplished because this product does not support the EtherCAT ® Distribution Clock functionality. ● Only daisy chain network topology is supported.

  • Page 17: Ethercat ® Specifications

    2. EtherCAT Specifications ® Item Description Applicable Profile CoE (CAN application protcol over EtherCAT) Device Type I/O Device 0 to 65535 Node Address (Make setting from master) Baud Rate 100Mbps Communication Mode 100BASE-TX (Half-duplex) Cable Category 5e or more Connector RJ45×2 * Synchronizing control can not be accomplished because this product does not support the EtherCAT...
  • Page 18 ME0309-8A...

  • Page 19: Xsel-R(A)/S(A)/R(A)X/S(A)X/R(A)Xd/S(A)Xd

    3. XSEL-R(A)/S(A)/R(A)X/S(A)X/R(A)XD/S(A)XD 3.1 Operation Modes and Functions XSEL Controllers applicable for EtherCAT ® are applicable for the remote I/O control (*1) (256 points max. for each input and output). I/O port is controlled in one port unit. I/O port is a point to receive and send data located inside the controller.

  • Page 20: Model

    3.2 Model The model code of each of XSEL-R(A)/S(A)/R(A)X/S(A)X/R(A)XD/S(A)XD applicable for EtherCAT ® is as shown below. XSEL-R/S Series XSEL-RA/SA Series ● XSEL-R-□-EC-□ ● XSEL-RA-□-EC-□ ● XSEL-S-□-EC-□ ● XSEL-SA-□-EC-□ ● XSEL-RX-□-EC-□ ● XSEL-RAX-□-EC-□ ● XSEL-SX-□-EC-□ ● XSEL-SAX-□-EC-□ ● XSEL-RXD-□-EC-□ ● XSEL-RAXD-□-EC-□...

  • Page 21: Ethercat ® Interface

    3.3.1 3.3 EtherCAT ® Interface 3.3.1 Names of the Parts RUN  Monitor LEDs ERR  (XSEL-RA/SA Series)    EtherCAT ® Port (OUT) Link/Activity EtherCAT ® Port (IN) Link/Activity Monitor LEDs (XSEL-R/S Series) ME0309-8A...

  • Page 22: Monitor Led Indications

    3.3.2 3.3.2 Monitor LED indications Indication Color Meaning Status Normal Communication Status. Illuminating Both input and output are available for the process data. (EtherCAT ® communication in “OPERATION” condition) Under configuration condition in mailbox communication. Process data invalid. Blinking Green (EtherCAT ®...

  • Page 23: Wiring

    Wiring (example) PLC (EtherCAT ® Master Unit) EtherNet Cable * EtherNet EtherNet Cable * Cable * XSEL-R XSEL-S Other Slaves Connector Connector Connector Connector * EtherNet Cable: Straight cable of category 5e or more, 100m max. (Aluminum tape and braided double-shielded cable are recommended.) Note 1 Only the daisy chain is supported in the network topology.

  • Page 24: Setting

    3.5.1 Parameter Setting Check of Network Module Type ● For XSEL-R/S Series Confirm that the 1 digit of I/O Parameter No.225 Network I/F Module Control setting is showing “6” (EtherCAT ®...
  • Page 25 1) Network I/F Module 2 2) Expansion I/O unit 3) IA Net * 2) and 3) are for XSEL-R/S Series only Note If the automatic assignment is selected, the input port is assigned to an input port area (No. 0 to 299). The output port is assigned to the output port area (No. 300 to 599).
  • Page 26 3.5.1 I/O Port Top Number Setting Set the top port number of the port range used in I/O Parameters No.16 to 17. The values entered into these parameters must be evenly divisible by 8. Default Input Parameter name Unit Remarks (reference) Range -1 to 299,...

  • Page 27: Example For Parameter Settings

    16 ports of each input and output from the top of the standard I/O ports, and no other I/O port (for I/O board, etc.) is to be used. * The figure shown below is XSEL-R/S series. The setting should be the same for XSEL- RA/SA series.
  • Page 28 0: No Monitoring Network I/F Module 2 (Not to monitor condition of link to PLC 0 to 5 Error Monitoring (master)) 1: Monitoring Note 1: The commands with “Extended” in the parameter name should only be applied for XSEL-R/S. ME0309-8A...
  • Page 29 I/O ports and assigning the I/O board (48 ports for each input and output) to the standard I/O ports. * The figure shown below is XSEL-R/S series. The setting should be the same for XSEL- RA/SA series.
  • Page 30 0: No Monitoring Network I/F Module 2 (Not to monitor condition of link to PLC 0 to 5 Error Monitoring (master)) 1: Monitoring Note 1: The commands with “Extended” in the parameter name should only be applied for XSEL-R/S. ME0309-8A...
  • Page 31 , and also sharing the standard I/O ports with the I/O board (48 points of each input and output). * The figure shown below is XSEL-R/S series. The setting should be the same for XSEL- RA/SA series. (Except for I/O Parameter No. 225) Standard Input Port No.0 to 191...
  • Page 32 0: No Monitoring Network I/F Module 2 (Not to monitor condition of link to PLC 0 to 5 Error Monitoring (master)) 1: Monitoring Note 1: The commands with “Extended” in the parameter name should only be applied for XSEL-R/S. ME0309-8A...

  • Page 33: Standard I/O Ports Of Xsel Controller

    It is available to add special functions beside the general-purposed input and output in the standard I/O ports of XSEL Controllers. [Refer to XSEL-R/S/RX/SX/RXD/SXD Controller or XSEL-RA/SA/RAX/SAX/RAXD/SAXD controller Operation Manual for the details.] [Settings of Standard I/O Ports at Delivery]...

  • Page 34: I/O Port And Data Reading And Writing

    3.7 I/O Port and Data Reading and Writing The initial setting of SEL language commands for the operation of I/O (input and output) ports of XSEL Controller is set to execute reading and writing without the data being exchanged. Shown below is an example for the assignments on the EtherCAT ®...
  • Page 35 ●Reference How to Read and Write with Swapping Host 8 Bits with Lower 8 Bits for Every 16-Bit Data When conducting reading and writing with swapping the host 8 bits with lower 8 bits for every 16-bit data, set Format Type to 1 (Swap host 8 bits with lower 8 bits for every 16-bit data) with FMIO Command before executing an input and output port operation command such as IN Command and OUT Command in XSEL Controller.
  • Page 36 ME0309-8A...

  • Page 37: Operation Modes And Functions

    4. Table-top Robot TTA 4.1 Operation Modes and Functions Table-top Robot (TTA) applicable for EtherCAT ® are applicable for the remote I/O control (*1) (240 points max. for each input and output). I/O port is controlled in one port unit. I/O port is a point to receive and send data located inside the TTA.

  • Page 38: Model

    4.2 Model The model code of each of TTA applicable for EtherCAT is as shown below. ® • TTA-A□(SL/SH) (G)-WA-□-□-□-□-EC STS2 • TTA-C□(SL/SH) (G)-WA-□-□-□-□-EC • TTA-A□(SL/SH) (G)-WA-□-□-□-□-□-EC • TTA-C□(SL/SH) (G)-WA-□-□-□-□-□-EC RUN ERR • TTA-A□(SL/SH) (G)-WA-□-□-□-□-EC-EC • TTA-C□(SL/SH) (G)-WA-□-□-□-□-EC-EC Extension I/O Slot 1 (I/O2) Status LED EtherCAT ®...

  • Page 39: Ethercat ® Interface

    4.3.1 4.3 EtherCAT ® Interface 4.3.1 Names of the Parts Extension Slot 1 Extension Slot 1 EtherCAT ® Port EtherCAT ® Port (IN) (OUT) Extension Slot 2 Extension Slot 2 EtherCAT ® Port EtherCAT ® Port (OUT) (IN) Link/Activity Link/Activity Link/Activity Link/Activity ME0309-8A...

  • Page 40: Monitor Led Indications

    4.3.2 4.3.2 Monitor LED indications Indication Color Meaning Status Normal Communication Status. Illuminating Both input and output are available for the process data. (EtherCAT ® communication in “OPERATION” condition) Under configuration condition in mailbox communication. Process data invalid. Blinking Green (EtherCAT ®...

  • Page 41: Wiring

    4.4 Wiring 4.4.1 Wiring (example) Note 1 Only the daisy chain is supported in the network topology. Note 2 There are IN and OUT designated for the communication port for EtherCAT ® Be careful not to plug in the communication cable in the wrong way. Note 3 Terminal processing is not required.

  • Page 42: Setting

    4.5.1 4.5 Setting Set to the TTA parameters in the controller by using a teaching tool. Place the front panel's AUTO/MANU switch in the MANU position. The versions of teaching tool compatible with EtherCAT ® are as follows: ● XSEL PC software : from V10.00.00.00 ●...
  • Page 43 I/O Port Assignment Classification Setting Check the I/O port assignment classification setting is “0” to I/O Parameter No.1. Default Input Parameter name Unit Remarks (reference) Range For reference I/O Port Allocation Type 0: Fixed Allocation only Number of I/O Port Setting When mounting in I/O2, set the number of ports to be used for I/O Parameters No.14 to 15.
  • Page 44 EtherCAT Board Use Setting ® When mounting in I/O2, set “1” (Monitoring: use EtherCAT ® board) to I/O Parameter No.18. When mounting in I/O3, set “1” (Monitoring: use EtherCAT ® board) to I/O Parameter No.235. Default Input Parameter name Unit Remarks (reference) Range...

  • Page 45: Example For Parameter Settings

    4.5.2 4.5.2 Example for Parameter Settings Example for when using only EtherCAT ® It is how to establish the setting when using EtherCAT ® to 240 ports of each input and output from the top of the I/O ports, and no other I/O port (for Standard I/O, Extension I/O2 etc.) is to be used.
  • Page 46 4.5.2 Default Parameter name Input Range Unit Remarks (reference) Bit 8 to 11: I/O3 Fieldbus Link Error / Input Port Data Select at PIO Power Supply Error (0: Clear, 1: Hold) Opti- Bit 16 to 27: 121 Network Attribute 2 C80000 FFFFFFFF onal...
  • Page 47 4.5.2 Example for when using Standard I/O and EtherCAT together ® This is a setting to use standard I/O board (16 points each for input and output) and EtherCAT ® on extension (I/O2) at 240 points of each for input and output. Standard I/O Board (I/O1) Extension I/O2 (I/O3) Extension I/O1 (I/O2)
  • Page 48 4.5.2 Default Parameter name Input Range Unit Remarks (reference) Bit 0 to 3: I/O2 Module Type 6: EtherCAT ® 225 Extension I/O Control to 37 Bit 4 to 7: I/O3 Module Type 0: Not Mounted 0: Make setting from master 226 I/O2 Fieldbus Node Address 0 to 65535 1 to 65535: Fix-Allocattion...
  • Page 49 4.5.2 Example for when using extension I/O2 only EtherCAT ® It is the setting when EtherCAT ® is used on 160 points for input and 200 points for output from the extension I/O2 (I/O3), and other input and output ports are not to be used (for standard I/O and extension I/O2).
  • Page 50 4.5.2 Default Parameter name Input Range Unit Remarks (reference) Bit 0 to 3: I/O2 Module Type 6: EtherCAT ® 225 Extension I/O Control reference Bit 4 to 7: I/O3 Module Type only 6: EtherCAT ® 0: Make setting from master 226 I/O2 Fieldbus Node Address 0 to 65535 1 to 65535: Fix-Allocattion...

  • Page 51: I/O Ports Of Tta

    4.6 I/O Ports of TTA It is available to add special functions beside the general-purposed input and output in the I/O ports. [Refer to TTA Controller Operation Manual 4.6 How to Use Internal DIO, Chapter 5 Parameter for the details.] ●...
  • Page 52 Type Port No. Function Type Port No. Function General-purpose input Alarm output [Software reset] Ready output [Servo ON] Emergency stop output [Auto program start] [Software interlock] [Pause reset] [Pause] External External General-purpose output (Ether (Ether ® ® General-purpose input [Home return] General-purpose input General-purpose output (Note) Number of I/O ports is input 000 to 299 (300 points max.), and output 300 to 599...

  • Page 53: I/O Port And Data Reading And Writing

    4.7 I/O Port and Data Reading and Writing The initial setting of SEL language commands for the operation of I/O (input and output) ports of TTA is set to execute reading and writing without the data being exchanged. Shown below is an example for the assignments on the EtherCAT ®...
  • Page 54 ●Reference How to Read and Write with Swapping Host 8 Bits with Lower 8 Bits for Every 16-Bit Data When conducting reading and writing with swapping the host 8 bits with lower 8 bits for every 16-bit data, set Format Type to 1 (Swap host 8 bits with lower 8 bits for every 16-bit data) with FMIO Command before executing an input and output port operation command such as IN Command and OUT Command in TTA.

  • Page 55: Msel

    5. MSEL 5.1 Operation Modes and Functions MSEL applicable for EtherCAT ® are applicable for the remote I/O control (*1) (240 points max. for each input and output). I/O port is controlled in one port unit. I/O port is a point to receive and send data located inside the MSEL.

  • Page 56: Model

    5.2 Model The model code of each of MSEL applicable for EtherCAT is as shown below. ® ● MSEL-PC(F)-□-□-□-□-EC ● MSEL-PCX-□-□-□-□-EC ● MSEL-PG(F)-□-□-□-□-EC ● MSEL-PGX-□-□-□-□-EC Stautus LED EtherCAT Communication Connector 5.3 EtherCAT ® Interface 5.3.1 Name of the Parts EtherCAT Port EtherCATポート...

  • Page 57: Monitor Led Indications

    5.3.2 5.3.2 Monitor LED indications Indication Color Meaning Status Normal Communication Status. Illuminating Both input and output are available for the process data. (EtherCAT ® communication in “OPERATION” condition) Under configuration condition in mailbox communication. Process data invalid. Blinking Green (EtherCAT ®...

  • Page 58: Wiring

    5.4 Wiring 5.4.1 Wiring (example) Note 1 Only the daisy chain is supported in the network topology. Note 2 There are IN and OUT designated for the communication port for EtherCAT ® Be careful not to plug in the communication cable in the wrong way. Note 3 Terminal processing is not required.

  • Page 59: Setting

    5.5.1 5.5 Setting Set to the MSEL parameters in the controller by using a teaching tool. Place the front panel's AUTO/MANU switch in the MANU position. The versions of teaching tool compatible with EtherCAT ® are as follows: ● XSEL PC software : from V12.00.01.00 ●...
  • Page 60 5.5.1 I/O Port Assignment Classification Setting Check the I/O port assignment classification setting is “0” to I/O Parameter No.1. Default Input Parameter name Unit Remarks (reference) Range For reference I/O Port Allocation Type 0: Fixed Allocation only Number of I/O Port Setting Set the number of ports to be used for I/O Parameters No.14 to 15.
  • Page 61 5.5.1 Select the Input Port Data at Link Error (Remote I/O Communication) It is available to select if having the input port data of MSEL at link error to be cleared or to be held (remained). When the setting value is 0H for example, the MSEL input port data for the applicable network to use at a link error is 0.

  • Page 62: Example For Parameter Settings

    5.5.2 5.5.2 Example for Parameter Settings Example for the case standard I/O and EtherCAT are used at the same time ® This is a setting to use standard I/O board (16 points each for input and output) and EtherCAT ® on extension I/O1 (I/O2) at 240 points of each for input and output.
  • Page 63 5.5.2 Default Parameter name Input Range Unit Remarks (reference) Bit 28 to 31: 0 to Opti- I/O2 Fieldbus Link Error / Input Port 120 Network Attribute 1 640001 FFFFFFFF onal Data Select at PIO Power Supply Error (0: Clear, 1: Hold) Bit 16 to 27: Link Timeout Value at Fieldbus 0 to...

  • Page 64: I/O Ports Of Msel

    5.6 I/O Ports of MSEL It is available to add special functions beside the general-purposed input and output in the I/O ports. [Refer to MSEL Controller Operation Manual 2.2.5 PIO Circuit, Chapter 5 Parameter for the details.] ● I/O Port Setting at Delivery Typr Port No.
  • Page 65 Typr Port No. Function Typr Port No. Function Program start Alarm output Ready output Emergency-stop output General-purpose input Program number specification (BCD:1 / BIN:1) Program number specification External External (BCD:2 / BIN:2) Program number specification (Ether (Ether (BCD:4 / BIN:4) General-purpose output ®...

  • Page 66: I/O Port And Data Reading And Writing

    5.7 I/O Port and Data Reading and Writing The initial setting of SEL language commands for the operation of I/O (input and output) ports of MSEL is set to execute reading and writing without the data being exchanged. Shown below is an example for the assignments on the EtherCAT ®...
  • Page 67 ●Reference How to Read and Write with Swapping Host 8 Bits with Lower 8 Bits for Every 16-Bit Data When conducting reading and writing with swapping the host 8 bits with lower 8 bits for every 16-bit data, set Format Type to 1 (Swap host 8 bits with lower 8 bits for every 16-bit data) with FMIO Command before executing an input and output port operation command such as IN Command and OUT Command in MSEL.
  • Page 68 ME0309-8A...

  • Page 69: Appendix

    (2) When an alarm is issued, an alarm code gets output to the panel window of the IAI controller. 1) Based on the read alarm code, search the alarm description list in the operation manual for the each controller.
  • Page 70  Other Alarm Codes Related to EtherCAT® ● Message Level Error Error name Contents / Counteractions Fieldbus Error FBRS Link Error was detected. (FBRS Link Error) ● Cold Start Level Errors Error name Contents / Counteractions Extension I/O Port Assignment There is an error in a parameter related to the extended I/O port Parameter Error assignment.

  • Page 71: List Of Ethercat ® Related Parameters

    6.2 List of EtherCAT ® Related Parameters I/O Parameter of XSEL Default Input Parameter Name Unit Remarks (reference) Range 0: Fixed Allocation 1: Automatic Allocation * Priority of I/O Port Assignment (No.0 to 299/No.300 to 599) (Network I/F Module 1 → I/O slot 1 (I/O1) Mounting board * Assigned for the range of continuous I/O Port Allocation Type...
  • Page 72 Default Input Parameter Name Unit Remarks (reference) Range • At CC-Link : 1 to 64 • At DeviceNet : 0 to 63 Network I/F Module 1 0 to 65535 • At PROFIBUS : 0 to 125 Node Address ® • At EtherCAT : 0 to 65535 •...
  • Page 73 I/O Parameter of TTA Default Input Parameter Name Unit Remarks (reference) Range I/O Port Allocation Type reference 0: Fixed Allocation only I/O1 Fix-Allocated 0 + (Multiples of 8) -1 to 299 Input Port Start No. [Ineffective when -1 is selected] I/O1 Fix-Allocated 300 + (Multiples of 8) Output Port Start No.
  • Page 74 Default Input Parameter Name Unit Remarks (reference) Range • At CC-Link: (0: 156kbps, 1: 625kbps, 2: 2.5Mbps, 3: 5Mbps, 4: 10Mbps) • At DeviceNet: (0: 125kbps, 1: 250kbps, 2: 500kbps, 3: Automatically) • At EtherNet/IP: 227 I/O2 Fieldbus Baud Rate 0 to 9 (0: Autonegotiation, 1: 10Mbps (Half-duplex),...
  • Page 75 I/O Parameter of MSEL Default Input Parameter Name Unit Remarks (reference) Range I/O Port Allocation Type reference 0: Fixed Allocation only I/O2 Fieldbus 0 to 240 Multiples of 8 Number of Remote Input Ports I/O2 Fieldbus 0 to 240 Multiples of 8 Number of Remote Output Ports I/O2 Fix-Allocated 0 + (Multiples of 8) (0 to 299)

  • Page 76: Network Setting File

    6.3 Network Setting File It is necessary to use network setting file dedicated for controller. Please download from Download Support Page in IAI homepage. ME0309-8A...

  • Page 77: Example For Connectivity Setting

    6.4.1 6.4 Example for Connectivity Setting EtherCAT Master (NJ Series) Connectivity Setting ® Here describes the specifications of SEL controller EtherCAT ® type and the connectivity setting to the EtherCAT ® master manufactured by Omron (NJ series). 6.4.1 Sysmac Studio Startup and PLC Communication Connectivity Double-click "Sysmac Studio"...
  • Page 78 6.4.1 Complete dialog appears. Click OK. Auto Connect Project window should get displayed online. Once it gets online, a yellow frame should appear at the top in "Edit Window". Online ME0309-8A...

  • Page 79: Installing Setting File For Network (Esi File)

    6.4.2 6.4.2 Installing Setting File for Network (ESI File) From the menu bar in Auto Connect Project window, click "Controller" → "Offline" to set the status offline. In Auto Connect Project window, click Configurations and Setup from "Multiview Explorer". Double-click "EtherCAT" in "Configurations and Setup". ME0309-8A...
  • Page 80 6.4.2 EtherCAT window should be shown in "Edit Window". Right-click "Master" and select "Display ESI Library". Click Install (File) in ESI Library window. ME0309-8A...
  • Page 81 6.4.2 Select the ESI file that was downloaded from the IAI homepage and click Open. "Execute Installation" dialog should appear. Confirm the content and click Yes. "Installation Complete" dialog should appear. Click OK. The installed ESI file should get added in ESI Library window.

  • Page 82: Setup Of Ethercat Network Configuration

    6.4.3 6.4.3 Setup of EtherCAT Network Configuration [1] How to Set up Online (Merge Actual Network Configuration) In "EtherCAT" tab in Auto Connect Project window, right-click "Master". Click Compare and Merge with Actual Network Configuration. Click Apply actual network configuration. Apply actual network configuration window should appear.
  • Page 83 6.4.3 The slave should be added to "Network configuration on Sysmac Studio" in Compare and Merge with Actual Network Configuration window. Confirm that it is added and click Close. The slave should be added in "EtherCAT" tab in Auto Connect Project window. ME0309-8A...
  • Page 84 6.4.3 [2] How to Set up Offline (To be selected from the tool box) Click "SEL Controller" from "Groups" in "Toolbox" in Auto Connect Project window. Double-click the applicable device in the list at the bottom of "Toolbox", or drag & drop to "Master"...
  • Page 85 6.4.3 When the node address of the slave is to be assigned fixed (SEL controller I/O Parameter No. 226 = 1 to 65535), select Slave in "EtherCAT" tab and change "Node Address" in the parameter setting window so it matches with the value in I/O Parameter No.

  • Page 86: Changing Pdo Mapping Setting

    6.4.4 6.4.4 Changing PDO Mapping Setting For the controllers with their setting in Parameter No. 121 "Network Atrbt2" Bits 28-31 "EtherCAT PDO Mapping Classification" = 0 (Variable), it is necessary to match the input and output settings in the master and slave. Bits 28-31 = 0 (will not be shown upper 4 bits are 0)
  • Page 87 6.4.4 Edit the process data size of input and output in "Edit PDO Map Settings" window. ■ When the input of the process data size do not match with the setting in I/O Parameter No. 15 "Number of ports used for I/O1 fieldbus remote output" of controller.
  • Page 88 6.4.4 (2) Once the input of the process data size matches with I/O Parameter No. 15 "Number of ports used for I/O1 fieldbus remote output" in SEL Controller, click Apply. ME0309-8A...
  • Page 89 6.4.4 ■ When the output of the process data size do not match with the setting in I/O Parameter No. 14 "Number of ports used for I/O1 fieldbus remote input" of controller. Two values do not match (1) Select "Output" from the PDO mapping list, and delete the PDO entries till the output of the process data size matches with I/O Parameter No.
  • Page 90 6.4.4 (2) Once the input of the process data size matches with I/O Parameter No. 14 " Number of ports used for I/O1 fieldbus remote input " in SEL Controller, click Apply. Once the process data size in both the input and the output matches with the number of used ports in the slave, click OK to finish the edit.

  • Page 91: Data Transfer To Plc

    6.4.5 6.4.5 Data Transfer to PLC Confirm that it is in the state of PLC and online. If it is online, a yellow frame should be displayed at the top in "Edit Window". If it is offline, click "Controller" → "Online" from the menu bar in Auto Connect Project window to set it online.
  • Page 92 6.4.5 As the Transfer execution confirmation window appears, confirm that there is no problem if PLC operation stops, and click Yes. As the Operation mode change confirmation window appears, confirm that there is no problem if PLC operation stops, and click Yes. Confirm that "Synchronization"...

  • Page 93: Change History

    Change History Revision Date Description of Revision First edition 2012.09 Second edition 2012.11 Contents changed in I/O Parameters No.226 (Setting establishment not necessary for node address) Third edition 2013.07 Missing Fourth edition 2015.12 Applicable models added (TTA) Contents revised for description Fifth edition 2016.03 MSEL added...

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