Omron NJ-series Instruction Manual

Machine Automation Controller NJ-series

EtherCAT

Connection Guide

OMRON Corporation

GRT1-ECT SmartSlice

P524-E1-01

About Intellectual Property Right and Trademarks

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

Windows is a registered trademark of Microsoft Corporation in the USA and other countries.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation

GmbH, Germany.

Company names and product names in this document are the trademarks or registered

trademarks of their respective companies.

Table of Contents

1. Related Manuals........................................................................................ 1

2. Terms and Definition................................................................................. 2

3. Remarks..................................................................................................... 3

4. Overview .................................................................................................... 5

5. Applicable Devices and Support Software.............................................. 6

5.1. Applicable Devices............................................................................. 6

5.2. Device Configuration.......................................................................... 7

6. EtherCAT Settings..................................................................................... 9

6.1. EtherCAT Communications Settings .................................................. 9

6.2. Assignment of EtherCAT Communications ........................................ 9

7. Connection Procedure.............................................................................11

7.1. Work Flow .........................................................................................11

7.2. Setting Up the SmartSlice ................................................................ 12

7.3. Setting Up the Controller.................................................................. 16

7.4. Connection Status Check................................................................. 28

8. Initialization Method................................................................................ 33

8.1. Controller ......................................................................................... 33

9. Revision History...................................................................................... 34

1. Related Manuals

The table below lists the manuals related to this document.

To ensure system safety, make sure to always read and heed the information provided in all

Safety Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for

each device which is used in the system.

Cat. No. Model Manual name

W500 NJ501-[][][][]

NJ301-[][][][]

NJ-series CPU Unit Hardware User's Manual

W501 NJ501-[][][][]

NJ301-[][][][]

NJ-series CPU Unit Software User's Manual

W505 NJ501-[][][][]

NJ301-[][][][]

NJ-series CPU Unit Built-in EtherCAT Port User's

Manual

W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual

W455 GRT1 series SmartSlice GRT1 Series Slice I/O Units Operation

Manual

W18E GRT1-ECT GRT1-series

EtherCAT Communication Unit Operation Manual

2. Terms and Definition

Ter ms Explanation and Definition

PDO

Communications

(Communications

using Process Data

Objects)

This method is used for cyclic data exchange between the master unit

and the slave units

PDO data (i.e., I/O data that is mapped to PDOs) that is allocated in

advance is refreshed periodically each EtherCAT process data

communications cycle (i.e., the period of primary periodic task).

The NJ-series Machine Automation Controller uses process data

communications for commands to refresh I/O data in a fixed control

period, including I/O data for EtherCAT Slave Units, and the position

control data for Servomotors.

It is accessed from the NJ-series Machine Automation Controller in the

following ways.

•With device variables for EtherCAT slave I/O

•With Axis Variables for Servo Drive and encoder input slaves to which

assigned as an axis.

SDO

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 (parameters and error information, etc.) with the

EC_CoESDORead (Read CoE SDO) instruction or the

EC_CoESDOWrite (Write CoE SDO) instruction.

Slave Unit There are various types of slaves such as Servo Drives that handle

position data and I/O terminals that control the bit signals.

The slave receives output data sent from the master, and transmits

input data to the master.

Node address An address to identify the unit connected to the EtherCAT.

ESI file

(EtherCAT Slave

Information file)

The ESI files contain information unique to the EtherCAT slaves in XML

format.

Install an ESI file into the Sysmac Studio, to allocate slave process data

and make other settings.

3. Remarks

(1) Understand the specifications of devices used in the system. Allow some margin for

ratings and performance. Provide safety measures, such as installing safety circuit in

order to ensure safety and minimize the risks of abnormal operation.

(2) To ensure system safety, always read and heed the information provided in all Safety

Precautions, Precautions for Safe Use, and Precaution for Correct Use of manuals for

each device used in the system.

(3) The users are encouraged to confirm the standards and regulations that the system must

conform to.

(4) It is prohibited to copy, to reproduce, and to distribute a part of or whole of this document

without the permission of OMRON Corporation.

(5) This document provides the latest information as of December 2012. The information

contained in this document is subject to change for improvement without notice.

3. Remarks

The following notation is used in this document.

Precautions for Safe Use

Indicates precautions on what to do and what not to do to ensure using the product safely.

Precautions for Correct Use

Indicates precautions on what to do and what not to do to ensure proper operation and

performance.

Additional Information

Provides useful information.

Additional information to increase understanding or make operation easier.

4. Overview

This document describes the procedure for connecting the SmartSlice (GRT1-ECT) of

OMRON Corporation (hereinafter referred to as OMRON) to NJ-series Machine Automation

Controller (hereinafter referred to as Controller) on the EtherCAT and provides the procedure

for checking their connection.

Refer to Section 7 Connection Procedure to understand the setting method and key points to

connect the devices via EtherCAT.

5. Applicable Devices and Support Software

5.1. Applicable Devices

The applicable devices are give below.

Manufacturer Name Model Version

OMRON NJ series CPU Unit NJ501-[][][][]

NJ301-[][][][]

OMRON SmartSlice EtherCAT

Communications Unit

GRT1-ECT

OMRON SmartSlice Slice I/O Unit

Digital Input Unit

Digital Output Unit

Analog Input Unit

Analog Output Unit

Temperature Input Unit

Counter Unit

Positioning Unit

Turnback Unit

I/O Power Feed Unit

I/O Power Connection Unit

GRT1-ID[](-1)

GRT1-IA4-[]

GRT1-OD[](-1)

GRT1-ROS2

GRT1-AD2

GRT1-DA2[]

GRT1-TS2P(K)

GRT1-CT1(-1)

GRT1-CP1-L

GRT1-TBR

GRT1-TBL

GRT1-PD2[]

GRT1-PD8(-1)

GRT1-PC8(-1)

Versions

listed in

Section 5.2

and higher

versions

Additional Information

As applicable devices above, the devices listed in Section 5.2. are actually used in this

document to check the connection. When using devices not listed in Section 5.2, check the

connection by referring to the procedure in this document.

Additional Information

This document describes the procedure to establish the network connection. It does not

provide information about operation, installation nor wiring method of each device.

For details on the products (other than communication connection procedures) listed above,

refer to the manuals for the corresponding products or contact your OMRON representative.

Additional Information

You can connect devices with the versions listed in Section 5.2 or higher versions.

For devices whose versions are not listed in Section 5.2, versions are not managed or there

is no version restriction.

To connect a device whose model number is not listed in Section 5.2, use the same version

of the device that is listed.

5. Applicable Devices and Support Software

5.2. Device Configuration

The hardware components to reproduce the connection procedure in this document are as

follows.

USB cable

NJ501-1500

(Built-in EtherCAT port)

Ethernet cable

Personal computer

(Sysmac Studio installed

OS: Windows7)

GRT1-ECT+

SmartSlice Units

Manufacturer Name Model Version

OMRON CPU Unit

(Built-in EtherCAT port)

NJ501-1500 Ver.1.03

OMRON Power Supply Unit NJ1W-PA3001

OMRON Sysmac Studio SYSMAC-SE2[][][] Ver.1.04

- Personal computer (OS:Windows7) -

- USB cable

(USB 2.0 type B connector)

OMRON Ethernet cable (with industrial

Ethernet connector)

XS5W-T421-[]M[]-K

OMRON SmartSlice EtherCAT

Communication Unit

GRT1-ECT Ver.2.1

OMRON SmartSlice Digital Input Unit GRT1-ID8

GRT1-ID4

OMRON SmartSlice Analog Input Unit GRT1-AD2

OMRON SmartSlice Digital Output Unit GRT1-OD4

OMRON SmartSlice Analog Output Unit GRT1-DA2V

OMRON SmartSlice End Unit GRT1-END

Precautions for Correct Use

The connection line of EtherCAT communication cannot be shared with other networks, such

as Ethernet or EtherNet/IP.

The switching hub for Ethernet cannot be used for EtherCAT.

Please use the cable of Category 5 or higher, double-shielded with aluminum tape and

braided shielding and the shielded connector of Category 5 or higher.

Connect the cable shield to the connector hood at both ends of the cable.

Precautions for Correct Use

Update the Sysmac Studio to the version specified in this section or higher version using the

auto update function.

If a version not specified in this section is used, the procedures described in Section 7 and

subsequent sections may not be applicable. In that case, use the equivalent procedures

described in the Sysmac Studio Version 1 Operation Manual (Cat.No. W504).

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