Omron CJ1W- ECT21 User manual

CJ1W-ECT21 EtherCAT Slave Unit

CJ or NJ Series

EtherCAT Connection

Quick Start Guide

Cat. No P236I-E-01

EtherCAT Slave Unit

Contents

1. Introduction .................................................................................................. 2

2. Applicable Devices ...................................................................................... 2

3. Setting Condition if using CJ as Slave ...................................................... 3

3.1. Communication settings..........................Error! Bookmark not defined.

3.2. The CJ Settings.......................................Error! Bookmark not defined.

3.3. EtherCAT Slave Unit Settings..................................................................3

3.4. EtherCAT Master Setting.........................................................................3

4. Setting up the EtherCAT Slave Devices, CJ ............................................. 4

4.1. Setting the CJ1W-ECT21 with CJ2..........................................................4

5. EtherCAT Master Setting Procedure ......................................................... 6

6. Checking the EtherCAT Communications ................................................ 9

6.1. Checking the Connection Status .............................................................9

7. Revision History ......................................................................................... 12

1. Introduction

This document shows the basic steps for connecting Omron CJ1W-ECT21 EtherCAT Slave Unit to a CJ

to make it a slave on an EtherCAT network. In this application, an Omron NJ is used as the EtherCAT

master.

2. Applicable Devices

The applicable devices are as follows.

Manufacture Type

OMRON CJ CPU Unit CJ2-□□□□

OMRON NJ CPU Unit

□□□

□□□□

OMRON

EtherCAT Slave Unit

CJ1W-ECT21

3. Setting Condition if using CJ as Slave

The following conditions are used in this example.

3.1. EtherCAT Slave Unit Settings

Set the I/O Communication Area Setting Table with the following values.

Name Setting value

Unit number 01

Node address 01

Name Setting value

OUT data area type CIO CIO

First word in OUT data area 0000 hex 0000 hex

OUT data area size 50 byte 50 byte

IN data area type CIO CIO

First word in IN data area 001A hex 001A

IN data area size 50 byte 50 byte

3.2. EtherCAT Master Setting

■PDO Mapping for EtherCAT Master

Name Setting value

Output

257th receiving PDO Mapping

Input 257

transmit PDO Mapping

4. Setting up the EtherCAT Slave Devices, CJ

4.1. Setting the CJ1W-ECT21 with CJ2

Set up the EtherCAT Slave Unit with CJ2.

With the power OFF, set the unit

number and node address with the

corresponding hardware switches.

・Unit number: 01

・Address：01

Mount the EtherCAT Slave Unit to

the CPU Rack.

Connect the communications

cable between the EtherCAT

master and EtherCAT Slave Unit.

Connect the CX-Programmer to

the CJ-series.

Turn ON the power supply to the

CJ-series PLC.

Place the CX-Programmer online

with the CJ-series CPU Unit.

Create the I/O table with

CX-Programmer

EtherCAT

Master

CJ2 + ECT21

Double click CJ1W-ECT21 to

open its parameters.

Set the I/O Communication Area

Setting Table.

OUT data area type: CIO Area

First word in OUT data area: 0

Out data area size: 50

IN data area type: CIO Area

First word IN data area: 1A Hex

IN data area size: 50 Byte

Transfer the I/O table, I/O

Communication Area Setting

Table and user program to the

CJ-series PLC.

After transferring the settings

using the EtherCAT Slave Unit

Edit Parameters Dialog Box, a

message will ask if you wish to

restart the EtherCAT Slave Unit.

Click the Yes Button. The

EtherCAT Slave Unit will be

restarted to enable the settings.

Check the I/O Communication

Area Reference Table in the Edit

Parameters Dialog Box.

Click the Compare Button. If the

compare is successful, click the

transfer [Unit to PC] Button to

update the I/O Communication

Area Reference Table values. If

the compare is unsuccessful,

transfer the settings again. Refer

to the CX-Programmer Operation

Manual (Cat. No. W446) for the

Edit Parameters Dialog Box

operation.

5. EtherCAT Master Setting Procedure

The setting procedure of the EtherCAT master is provided below. In this example, the EtherCAT master is an

Omron NJ. Refer to the Sysmac Studio Version 1 Operating Manual (Cat. No. W504) for Sysmac studio

operating procedures. The ESI files for OMRON EtherCAT slaves are already installed in the Sysmac Studio.

Update Sysmac Studio to get the ESI files for the most recent EtherCAT Slave Unit.

Note: To obtain ESI file of the ECT21 please call Omron Tech Support

Create a project in the Sysmac

Studio.

Create the EtherCAT network

configuration offline.

in the network configuration and

set the node address of the

EtherCAT Slave Unit

Set the PDO mapping of the

EtherCAT Slave Unit. Assign the

PDOs of the same size as the

setting value of the IN and OUT

data area size in the I/O

Communication Area Setting

Table of the EtherCAT Slave Unit.

PDO Mapping:

Output: 257th receive PDO

Input: 257th transmit PDO

Set the EtherCAT master

parameters if necessary.

Refer to the NJ/NX-series CPU

Unit Built-in EtherCAT Port User’s

Manual (Cat. No. W505) for details

on the parameters of the built-in

EtherCAT port of the NJ-series

CPU Unit.

Assign the I/O data that is

assigned in the PDO mapping

settings to device variables.

Refer to the NJ/NX-series CPU

Unit Software User’s Manual (Cat.

No. W501) for details on I/O ports

and device variables.

Create the user program using the

device variables.

Turn ON the power supply to the

NJ-series Controller.

Use the Sysmac Studio to set

communications with the

NJ-series Controller and go online

Download the network

configuration information and the

user program to the NJ-series

Controller.

Use the synchronization operation

of the Sysmac Studio to download

the data.

6. Checking the EtherCAT Communications

6.1. Checking the Connection Status

Check the connection status of EtherCAT.

If the I/O Communication Area

Setting Table, PDO mapping and

switch settings are configured

properly, EtherCAT

communications should occur.

Verify EtherCAT Communications

by checking the indicators and I/O

data exchange.

Using the I/O Map tab (Fig 1) in Sysmac Studio change the values of the Output variables. (Fig 4)

In CX-Programmer, open the Memory tab (Fig 2) and monitor the CIO area (Fig 3). Then see the

result (Fig 5)

Figure 1. Studio Explorer window, I/O Map

Figure 2.CX-Programmer, Memory tab

Figure 3.CX-Programmer, Monitor

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