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Machine Automation Controller NJ-series

EtherCAT(R) Connection Guide

IAI

Corporation

SCON-CA/SCON-CAL Controller

P

58

5

-

E1-0

2

1
2
3
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Summary of Contents for SCON-CA

Page 1: ...Machine Automation Controller NJ series EtherCAT R Connection Guide IAI Corporation SCON CA SCON CAL Controller P585 E1 02 ...

Page 2: ...n in the USA and other countries 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 trademarks of their respective companies ...

Page 3: ...uration 6 6 EtherCAT Settings 8 6 1 Parameter Settings 8 6 2 Device Variables 9 7 EtherCAT Connection Procedure 11 7 1 Work Flow 11 7 2 Setting up the IAI SCON CA Controller 12 7 3 Setting up the Controller 19 7 4 Checking the EtherCAT Communications 30 8 Initialization Method 35 8 1 Initializing the Controller 35 8 2 Initializing the IAI SCON CA Controller 35 9 Revision History 36 ...

Page 4: ... as OMRON related to this document Manufacturer Cat No Model Manual name OMRON W500 NJ501 NJ301 NJ series CPU Unit Hardware User s Manual OMRON W501 NJ501 NJ301 NJ series CPU Unit Software User s Manual OMRON W505 NJ501 NJ301 NJ series CPU Unit Built in EtherCAT R Port User s Manual OMRON W504 SYSMAC SE2 Sysmac Studio Version 1 Operation Manual IAI ME0243 SCON CA SCON CAL SCON CA CAL CGAL Controll...

Page 5: ...O Communications Communications using Service Data Objects This method is used to read and write the specified slave unit data from the master unit when required The NJ series Machine Automation Controller uses SDO Communications for commands to read and write data such as for parameter transfers at specified times The NJ series Machine Automation Controller can read write the specified slave data...

Page 6: ... this document is current as of January 2015 It is subject to change without notice for improvement The following notation is used in this document Indicates a potentially hazardous situation which if not avoided will result in minor or moderate injury or may result in serious injury or death Additionally there may be significant property damage Indicates a potentially hazardous situation which if...

Page 7: ...es Machine Automation Controller hereinafter referred to as the Controller of OMRON via EtherCAT and provides the procedure for checking their connection Refer to Section 6 EtherCAT Settings and Section 7 EtherCAT Connection Procedure to understand the setting method and key points to operate PDO Communications of EtherCAT ...

Page 8: ...evices with models not listed in Section 5 2 or versions higher than those listed in Section 5 2 check the differences in the specifications by referring to the manuals before operating the devices Additional Information This document describes the procedure to establish the network connection It does not provide information on operation installation or wiring method which is not related to the co...

Page 9: ...B IAI Communication cable CB RCA SIO050 IAI Actuator RCS2 GD5N I 60 10 50 T2 P IAI Motor cable CB RCC MA010 IAI Encoder cable CB RCS2 PA010 IAI PC Interface Software for RC RCM 101 MW RCM 101 USB Ver 9 07 00 00 E IAI ESI file ESI_IAI_CON_ECT_V_1_07_ Rev_0 xml Precautions for Correct Use Prepare the ESI file shown in this section beforehand The latest ESI file can be downloaded from the IAI website...

Page 10: ...plicable In that case referring to the Sysmac Studio Version 1 Operation Manual Cat No W504 use the equivalent procedures described in this document Additional Information For specifications of the Ethernet cables and network wirings refer to Section 4 EtherCAT Network Wiring of the NJ series CPU Unit Built in EtherCAT R Port User s Manual Cat No W505 Additional Information The system configuratio...

Page 11: ...iptions 6 1 Parameter Settings The parameters required for connecting the Controller and the SCON CA Controller via EtherCAT are given below Name Setting item Set value Remarks SCON CA Controller Axis number 0 Operation mode changeover switch 1 OFF Positioner mode including fieldbus specification Fieldbus operation mode 2 Half direct value mode Fieldbus node address 1 Fieldbus communication speed ...

Page 12: ...rrent Limit Value E001_Out_Control_signal_2003_06 WORD Control Signal E001_Out_Bit00_DSTR BOOL Positioning Command E001_Out_Bit01_HOME BOOL Home return E001_Out_Bit02_STP BOOL Pause E001_Out_Bit03_RES BOOL Reset E001_Out_Bit04_SON BOOL Servo ON Command E001_Out_Bit05_JISL BOOL Jog inch switching E001_Out_Bit06_JVEL BOOL Jog speed inch distance switching E001_Out_Bit07_JOG_0 BOOL Jog E001_Out_Bit08...

Page 13: ...nd a Miss E001_In_Bit06_Reserved_0 BOOL Unavailable E001_In_Bit07_BALM_ALML BOOL Absolute battery voltage low warning E001_In_Bit08_RMDS BOOL Operation Mode Status E001_In_Bit09_Reserved_0 BOOL Unavailable E001_In_Bit10_Reserved_0 BOOL Unavailable E001_In_Bit11_Reserved_0 BOOL Unavailable E001_In_Bit12_ZONE1 BOOL Zone 1 E001_In_Bit13_ZONE2 BOOL Zone 2 E001_In_Bit14_PWR BOOL Controller ready E001_I...

Page 14: ... Parameter Settings Set the parameters for the SCON CA Controller 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 SCON CA Controller in the Sysmac Studio 7 3 2 Setting up the EtherCAT Network Configuration Set up the EtherCAT network configuration 7 3 3 Setting the Device Variables Set the device variable...

Page 15: ...plicable as described in the following procedures 2 Check the position of the hardware switches and the connectors of the SCON CA Controller by referring to the right figure 3 Set the Axis Number Setting Switch ADRS to 0 EtherCAT R Input Port SIO Connector Motor Connector Power Supply Connector Brake Release Switch Encoder Connector Status LED RUN ERR System I O Connector FG Connection Terminal Re...

Page 16: ...cable Connect the Encoder Connector and the Actuator with the Encoder cable Actuator 6 Connect the Ethernet cable to the EtherCAT R Input Port 7 Connect 100 VAC power supply to the Motor AC power inputs and the Control AC power inputs of the Power Supply Connector For details on wiring refer to the SCON CA CAL CGAL Controller Instruction Manual ME0243 Pin No Signal name Description 1 L1 Motor AC p...

Page 17: ...No ME0155 1 Connect the SCON CA Controller to the Personal computer with a USB cable USB conversion unit and Communication cable Connect the USB cable to the USB port on the Personal computer Connect the Communication cable to the SIO Connector on the SCON CA Controller 2 Set the Operation Mode Setting Switch on the front of the SCON CA Controller to the MANU side 3 Turn ON the power supply to the...

Page 18: ... Then select the same port as the communications port No where the SCON CA Controller is connected under Ports COM LPT COM6 in this example To display the Device Manager right click My Computer and click Properties from the Windows Menu Then click Device Manager in the window that is displayed 6 When the software starts the Check for connected axes Dialog Box is displayed and then the SCON CA Cont...

Page 19: ...o step 10 8 Check the cable connections and the communications port No Select Application from the Setting Menu for the communications port No The Setting of application Dialog Box in step 5 is displayed Check the communications port No to use 9 Select Check for connected axes Controller from the Setting Menu 10 The Manual operation mode Select Dialog Box is displayed Select Teach 1 Safety speed e...

Page 20: ...tions to check and change the following parameters Fieldbus operation mode No 84 2 Default 0 Fieldbus node address No 85 1 Default 0 Fieldbus communication speed No 86 0 Default Network type No 87 6 Default Fieldbus input output format No 90 3 Default Any change made to the value appears in red e g If the value is changed from 0 to 2 2 is displayed in red 14 Select Load to CTL from the Parameter M...

Page 21: ...ialog Box is displayed as shown on the right Check the contents and click the Yes Button The right dialog box is displayed stating Restarting Controller 17 After the SCON CA Controller restarts set the Operation Mode Setting Switch on the front of the SCON CA Controller to the AUTO side The Operation Mode Setting Switch can be changed even when the power supply to the SCON CA Controller turns ON 1...

Page 22: ...uter the Destination Device and the Controller 2 Turn ON the power supply to the Controller and the SCON CA Controller 3 Start the Sysmac Studio If a confirmation dialog for an access right is displayed at start execute a selection to start 4 The Sysmac Studio starts Click the Connect to Controller Button 5 The Connect to Controller Dialog Box is displayed Select the Direct connection via USB Opti...

Page 23: ... When an online connection is established a yellow bar is displayed on the top of the Edit Pane The following panes are displayed in this window Left Multiview Explorer Top right Toolbox Bottom right Controller Status Pane Middle top Edit Pane The following tab pages are displayed at the middle bottom of the window Output Tab Page Build Tab Page Additional Information For details on online connect...

Page 24: ...the Edit Pane 11 Right click Master and select Display ESI Library 12 The ESI Library Dialog Box is displayed Click the this folder link When the Explorer starts click the Close Button to close the dialog box 13 The Explorer starts and a folder is opened allowing you to install the ESI file Copy the prepared ESI_IAI_CON_ECT_V_1_07_R ev_0 xml to this folder ...

Page 25: ...e ESI Library Dialog Box Click the Button of ESI_IAI_CON_ECT_V_1_07_R ev_0 to confirm that RC ECT FMOD2 16Byte 16Byte Rev 0x00010007 is displayed Confirm that an exclamation mark warning is not displayed Click the Close Button Precautions for Correct Use If an exclamation mark warning is displayed for the ESI file check the name of the ESI file and obtain the ESI file with a correct name If an exc...

Page 26: ... Sysmac Studio and Installing the ESI File to display A screen is displayed stating Get information is being executed 2 The Compare and Merge with Actual Network Configuration Dialog Box is displayed Node address 1 and RC ECT FMOD2 16Byte 16Byt e Rev 0x00010007 are added to the Actual network configuration after the comparison Click the Apply actual network configuration Button 3 A confirmation di...

Page 27: ... 16Byte 16Byt e Rev 0x00010007 is added to the Network configuration on the Sysmac Studio Confirm that the data above are added and click the Close Button 5 Node address 1 and E001 RC ECT FMOD2 16Byte 16Byt e Rev 0x00010007 slave are added to the EtherCAT Tab Page on the Edit Pane ...

Page 28: ...n on the EtherCAT Tab Page Check that the device name is E001 The device name can be arbitrarily changed 3 Double click I O Map under Configurations and Setup in the Multiview Explorer 4 The I O Map Tab Page is displayed on the Edit Pane Confirm that Node1 is displayed in the Position Column and the Slave Unit added in the Port Column is displayed To manually set a variable name for the Slave Unit...

Page 29: ... 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 Device variables can also be manually named for ports ...

Page 30: ... CPU Unit restarts and communications with the EtherCAT slaves are cut off During that period the slave outputs behave according to the slave settings The time that communications are cut off depends on the EtherCAT network configuration Before you transfer the user program confirm that it will not adversely affect the device A slave will be reset after performing the synchronization in step 7 and...

Page 31: ...t Online from the Controller Menu A yellow bar is displayed on the top of the Edit Pane 7 Select Synchronization from the Controller Menu 8 The Synchronization Dialog Box is displayed Confirm that the data to transfer NJ501 in the right dialog box is selected Then click the Transfer To Controller Button After executing the Transfer To Controller the Sysmac Studio data is transferred to the Control...

Page 32: ...ck the No Button Do not return to RUN mode 10 Confirm that the synchronized data is displayed with the color specified by Synchronized and 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 is displayed if the Sysmac Studio project data coincides with the ...

Page 33: ...ia EtherCAT are performed normally by checking the LED indicators on the Controller The LED indicators in normal status are as follows NET RUN Green lit NET ERR Not lit LINK ACT Yellow flashing 2 Check the LED indicators on the SCON CA Controller The LED indicators in normal status are as follows RUN Green lit ERR Not lit Link Activity Input Green flickering EtherCAT R Output Port Link Activity LE...

Page 34: ...ration If you cannot confirm safety do not proceed to this section after completing until Section 7 4 1 If you proceed to this section make sure to complete all the steps and place the Destination Device in the safe state 1 Select Watch Tab Page from the View Menu 2 Select the Watch1 Tab 3 As shown below enter the following name of the variables for monitoring Click the Input Name in the Name Colu...

Page 35: ... for RC If the PC Interface Software for RC has not been started refer to 7 2 2 Parameter Settings to start the software and connect the SCON CA Controller again 6 The Status Dialog Box is displayed 7 Confirm that the SON Field of Input is OFF and the Servo and RUN Fields of Internal flags are not lit ...

Page 36: ...face Software for RC Check the Status Column of Output Confirm that the following data of Output is ON PEND 0th bit of E001_In_Status_Signal_2004_05 SV 4th bit of E001_In_Status_Signal_2004_05 PWR 14th bit of E001_In_Status_Signal_2004_05 10 Confirm that the Online value of E001_In_Status_Signal_2004_05 displays the same value as confirmed in the step 9 11 Click FALSE in the Modify Column of E001_...

Page 37: ...mn of Output Confirm that the following data of Output is OFF PEND 0th bit of E001_In_Status_Signal_2004_05 SV 4th bit of E001_In_Status_Signal_2004_05 Confirm that the following data of Output is ON PWR 14th bit of E001_In_Status_Signal_2004_05 13 Confirm that the Online value of E001_In_Status_Signal_2004_05 displays the same value as confirmed in the step 12 ...

Page 38: ...itializing the Controller To initialize the settings of the Controller select Clear All Memory from the Controller Menu of the Sysmac Studio The Clear All Memory Dialog Box is displayed Check the contents and click the OK Button 8 2 Initializing the IAI SCON CA Controller For information on how to initialize the IAI SCON CA Controller refer to Appendix 14 1 Parameter Factory Default Setting Initia...

Page 39: ...n reason and revision page 01 December 19 2013 First edition 02 January 26 2015 Applicable model SCON CAL added Revisions due to up grade of the SCON CA Controller ESI file changed from V1 04 to V1 07 Revisions due to up grade of the Controller and version up of the Sysmac Studio ...

Page 40: ...2015 0115 1213 P585 E1 02 ...

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