Omron NJ-series Instruction Manual

Machine Automation Controller NJ-series

EtherCAT(R) Connection Guide

Hivertec, Inc.

EtherCAT Slave for Motion Control

(HES-M4[][]/NJ)

P603-E1-01

About Intellectual Property Rights 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(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.

Table of Contents

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

2. Terms and Definitions......................................................................................................2

3. Precautions....................................................................................................................... 3

4. Overview ........................................................................................................................... 4

5. Applicable Devices and Device Configuration............................................................. 5

5.1. Applicable Devices...................................................................................................5

5.2. Device Configuration................................................................................................6

6. EtherCAT Settings............................................................................................................ 8

6.1. EtherCAT Communications Parameter Settings......................................................8

6.2. Allocation for PDO Communications........................................................................8

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

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

7.2. Setting Up the Hivertec EtherCAT Slave for Motion Control..................................12

7.3. Setting Up the Controller........................................................................................14

7.4. Checking the EtherCAT Communications..............................................................25

8. Initialization Method....................................................................................................... 27

8.1. Initializing the Controller.........................................................................................27

8.2. Initializing the Hivertec EtherCAT Slave for Motion Control...................................27

9. Revision History............................................................................................................. 28

1．Related Manuals

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

HES-M400/NJ

EtherCAT Motion Slave EtherCAT series

HES-M400 User’s Manual <Hardware>

HES-M400/NJ

EtherCAT Motion Slave EtherCAT series

HES-C400 HES-M400 User’s Manual <Software>

HES-M400/NJ

EtherCAT Motion Slave EtherCAT series

User’s Manual <Introduction>

HES-M400/NJ

EtherCAT Motion Slave EtherCAT series

User’s Manual <Operation>

HLS-C400/NJ

For OMRON Machine Automation Controller NJ Series

Function Blocks for Hivertec EtherCAT Slave

HLS-C400/NJ User’s Manual

2．Terms and Definitions

2. Terms and Definitions

Term

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 the PDO

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 the Servomotors.

It is accessed from the NJ-series MachineAutomation Controller in the

following ways.

・With device variables for EtherCAT slave I/O

・WithAxis Variables for Servo Drive and encoder input slave 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 MachineAutomation 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 handle the bit signals.

The slave unit receives output data sent from the master, and sends

input data to the master.

Node address

A node address is an address to identify a unit connected to EtherCAT.

ESI file

(EtherCAT Slave

Information file)

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

format.

Installing an ESI file enables the Sysmac Studio to allocate slave

process data and make other settings.

3．Precautions

3. Precautions

(1) Understand the specifications of devices which are 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 risks of abnormal occurrence.

(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 user is 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 or the whole of this

document without the permission of OMRON Corporation.

(5) The information contained in this document is current as of April 2014. It is subject to

change without notice for improvement.

The following notations are used in this document.

Indicates a potentially hazardous situation which, if not avoided,

could result in death or serious injury. Additionally, there may be

severe property damage.

Indicates a potentially hazardous situation which, if not avoided,

may result in minor or moderate injury, or property damage.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operation easier.

Symbols

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

do.

4．Overview

4. Overview

This document describes the procedure for connecting EtherCAT Slave for Motion Control

(HES-M4[][]/NJ) of Hivertec, Inc. (hereinafter referred to as Hivertec) to NJ-series Machine

Automation Controller (hereinafter referred to as Controller) of OMRON Corporation

(hereinafter referred to as 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.

5．Applicable Devices and Device Configuration

5. Applicable Devices and Device Configuration

5.1. Applicable Devices

The applicable devices are as follows:

Manufacturer

Name

Model

OMRON

NJ-series CPU Unit

NJ501-[][][][]

NJ301-[][][][]

Hivertec

EtherCAT Slave for Motion

Control

HES-M4[][]/NJ

Servomotor

Stepping motor

Servo amplifier

Stepping motor drive

Precautions for Correct Use

As applicable devices above, the devices with the models and versions listed in Section 5.2.

are actually used in this document to describe the procedure for connecting devices and

checking the connection.

You cannot use devices with versions lower than the versions listed in Section 5.2.

To use the above devices with versions 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. Except for the

connection procedure, it does not provide information on operation, installation or wiring

method. It also does not describe the functionality or operation of the devices. Refer to the

manuals or contact the device manufacturer.

(Hivertec, Inc. http://www.hivertec.com/)

This URL is the latest address at the time of this document creation. Contact each device

manufacturer for the latest information.

Additional Information

Contact the device manufacturer for servomotors and stepping motors connectable to the

EtherCAT Slave for Motion Control.

(Hivertec, Inc. http://www.hivertec.com/)

5．Applicable Devices and Device Configuration

5.2. Device Configuration

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

follows:

Manufacturer

Name

Model

Version

OMRON

CPU Unit

(Built-in EtherCAT port)

NJ501-1500

Ver.1.07

OMRON

Power Supply Unit

NJ-PA3001

OMRON

Sysmac Studio

SYSMAC-SE2[][][]

Ver.1.08

Personal computer

(OS: Windows 7)

USB cable (USB 2.0 type B

connector)

OMRON

Ethernet cable (with industrial

Ethernet connector)

XS5W-T421-[]M[]-K

Hivertec

EtherCAT Slave for Motion

Control

HES-M400/NJ

Rev.

0x00000000

Hivertec

ESI file

Hivertec

HESM400_111.xml

Stepping motor/2-phase stepping

motor (bipolar wiring: drive phase

current 0.5 to 2 (A/phase))

24 VDC power supply

Precautions for Correct Use

Prepare the ESI file shown in this section beforehand.

To obtain the ESI file, contact Hivertec.

Precautions for Correct Use

The connection line of EtherCAT communication cannot be shared with other Ethernet

networks.

Do not use devices for Ethernet such as a switching hub.

Use the cable (double shielding with aluminum tape and braiding) of Category 5 or higher,

and use the shielded connector of Category 5 or higher.

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

USB cable

NJ501-1500

(Built-in EtherCAT port)

Ethernet

cable

HES-M400/NJ

Stepping motor/

2-phase stepping motor

Personal computer

(Sysmac Studio, Installed,

OS: Windows 7)

24 VDC

power supply

24 VDC

power supply

5．Applicable Devices and Device Configuration

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).

Additional Information

For information on the specifications of the Ethernet cable and network wring, refer to Section

4 EtherCAT Network Wiring of the NJ-series CPU Unit Built-in EtherCAT Port User's Manual

(Cat. No. W505).

Additional Information

The system configuration in this document uses USB for the connection to the Controller.

For information on how to install a USB driver, refer to A-1 Driver Installation for Direct USB

Cable Connection of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).

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