Omron NJ501 series Instruction Manual

Machine Automation Controller NJ/NX-series

EtherCAT®

Connection Guide

CKD Corporation

ABSODEX driver

(AX9000TS/TH-U5)

P690-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 USAand other countries.

EtherCAT® 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 guide 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. Parameters.............................................................................................. 8

6.2. Device Variables...................................................................................... 9

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

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

7.2. CKD ABSODEX Driver Setup ............................................................... 12

7.3. Controller Setup.................................................................................... 18

7.4. EtherCAT Communication Status Check.............................................. 29

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

8.1. Initializing a Controller........................................................................... 33

8.2. Initializing a CKD ABSODEX Driver...................................................... 33

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

．

Related Manuals

1. Related Manuals

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

Safety Precautions and Precautions for Safe Use in the manuals for each device which is

used in the system.

The table below lists the manuals provided by CKD Corporation (hereinafter referred to as

"CKD") and OMRON Corporation (hereinafter referred to as "OMRON"), which pertain to this

guide.

Manufacturer Cat. No. Model Manual name

OMRON W500

NJ501-[]5[][]

NJ501-[]4[][]

NJ501-[]3[][]

NJ301-12[][]

NJ301-11[][]

NJ101-10[][]

NJ101-90[][]

NJ-series CPU Unit

Hardware User's Manual

OMRON W535

NX701-17[][]

NX701-16[][] NX-series

CPU Unit

Hardware User's Manual

OMRON W578

NX1P2-11[][][][]

NX1P2-10[][][][]

NX1P2-90[][][][]

NX-series

NX1P2 CPU Unit

Hardware User's Manual

OMRON W501

NX701-17[][]

NX701-16[][]

NX1P2-11[][][][]

NX1P2-10[][][][]

NX1P2-90[][][][]

NJ501-[]5[][]

NJ501-[]4[][]

NJ501-[]3[][]

NJ301-12[][]

NJ301-11[][]

NJ101-10[][]

NJ101-90[][]

NJ/NX-series

CPU Unit

Software User's Manual

OMRON W505 NJ/NX-series

CPU Unit Built-in EtherCAT® Port

User's Manual

OMRON W504 SYSMAC-SE2[][][] Sysmac Studio Version 1

Operation Manual

CKD SMF-2006-A AX9000TS/TH/XS INSTRUCTION MANUALABSODEX

AX SERIES

TS TYPE TH TYPE XS TYPE

CKD SMF-2012-A AX9000TS/TH-U5 Instruction Manual ABOSODEX AX

Series

TS type TH type EtherCAT specification

CKD SMF-2005-A - INSTRUCTION MANUALABSODEX

AX Tools for Windows®

Common for TS-Type, TH-Type,

MU-Type and XS-Type Drivers

．

Terms and Definitions

2. Terms and Definitions

Term Explanation and Definition

PDO communications

(Communications using

Process Data Objects)

PDO communications is used for constant data exchange

between a master and slaves.

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

allocated in advance is input and output each EtherCAT

process data communications cycle (i.e., the task period of

primary periodic task).

The NJ/NX-series MachineAutomation Controller uses PDO

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

control period, including I/O data for slave units and the position

control data for servomotors.

It is accessed from NJ/NX-series MachineAutomation

Controller in the following ways.

・With device variables for EtherCAT slave I/O

・With axis variables for a servo drive and an encoder input

slave to which an axis is assigned

SDO communications

(Communications using

Service Data Objects)

SDO communications is used to read and write specified slave

data from a master when required.

The NJ/NX-series MachineAutomation Controller uses SDO

communications for commands to read and write data, such as

for parameter transfers, at specified times.

The NJ/NX-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 bit signals.

A slave unit receives output data sent from a master, and sends

input data to a master.

Node address A node address is an address to identify a unit connected to

EtherCAT.

ESI file

(EtherCAT Slave Information

file)

An ESI file contains information unique to EtherCAT slave units

in XML format. You can load an ESI file into the Sysmac Studio,

to allocate EtherCAT slave process data and make other

settings.

．

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 a safety

circuit, in order to ensure safety and minimize the risk of abnormal occurrence.

(2) To ensure system safety, make sure to always read and follow the information provided in

all Safety Precautions and Precautions for Safe Use in the manuals for each device

which is 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 guide

without the permission of OMRON Corporation.

(5) The information contained in this guide is current as of May 2017. It is subject to change

for improvement without notice.

The following notations are used in this guide.

Indicates a potentially hazardous situation which, if not avoided,

may 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 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.

Symbol

The filled circle symbol indicates operations that you must do.

The specific operation is shown in the circle and explained in the text.

This example shows a general precaution for something that you must do.

．

Overview

4. Overview

This guide describes procedures for connecting a CKDABSODEX DriverAX9000TS/TH-U5

(hereinafter referred to as the "ABSODEX Driver") to an OMRON NJ/NX-series Machine

Automation Controller (hereinafter referred to as the "Controller") via EtherCAT and for

checking their communication status.

The explanations given in this guide assume the use of NJ-series Controllers.

Refer to Section 6. EtherCAT Settings and Section 7. EtherCAT Connection Procedure to

understand setting methods and key points to perform PDO Communications via EtherCAT.

．

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/NX-series CPU Unit

NX701-17[][]

NX701-16[][]

NX1P2-11[][][][]

NX1P2-10[][][][]

NX1P2-90[][][][]

NJ501-[]5[][]

NJ501-[]4[][]

NJ501-[]3[][]

NJ301-12[][]

NJ301-11[][]

NJ101-10[][]

NJ101-90[][]

CKD ABSODEX Driver AX9000TS/TH-U5

CKD Actuator AX-T Series

Precautions for Correct Use

In this guide, the devices with models and versions listed in 5.2. Device Configuration are

used as examples of applicable devices to describe the procedures for connecting the

devices and checking their connections.

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

To use the above devices with models not listed in 5.2. or versions higher than those listed in

5.2., check the differences in the specifications by referring to the manuals before operating

the devices.

Additional Information

This guide describes the procedures for establishing the network connections.

It does not provide information on operation, installation, wiring method, device functionality,

or device operation, which is not related to the connection procedures.

Refer to the manuals or contact the device manufacturer.

Additional Information

Contact CKD Corporation for Actuators connectable to theABSODEX Driver.

．

Applicable Devices and Device Configuration

5.2. Device Configuration

This guide describes the connection procedures using an NJ-series Controller.

The hardware components to reproduce the connection procedures in this guide are as

follows:

Manufacturer

Name

Model

Version

OMRON

NJ-series CPU Unit

(Built-in EtherCAT port)

NJ501-1500

Ver.1.13

OMRON

Power Supply Unit

NJ-PA3001

OMRON

Sysmac Studio

SYSMAC-SE2[][][]

Ver.1.17

Personal computer

(OS: Windows 7)

USB cable

(USB 2.0 type B connector)

OMRON

Ethernet cable (with industrial

Ethernet connector)

XS5W-T421-[]M[]-K

CKD

RS-232C cable

AX-RS232C-9P

CKD

ABSODEX Driver

AX9000TS-U5

Rev.0x0000

0001

CKD

Actuator

AX4009T

CKD

AXTools

V2.13

CKD

ESI file

CKD_ABSODEX_ECAT_161

206.xml

External power supply (24 VDC)

Precautions for Correct Use

Prepare the ESI file listed above beforehand.

To obtain the ESI file, contact CKD Corporation.

Precautions for Correct Use

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

networks.

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

Use an Ethernet cable (double shielding with aluminum tape and braiding) of Category 5 or

higher, and use a 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

AX9000TS-U5

AX4009T

Personal computer

(Sysmac Studio and

AXTools installed,

OS: Windows 7)

AX-RS232C-9P

External power supply

．

Applicable Devices and Device Configuration

Precautions for Correct Use

Update Sysmac Studio to the version specified in this Clause 5.2. or to a higher version.

If you use a version higher than the one specified, the procedures and related screenshots

described in Section 7. and subsequent sections may not be applicable.

In that case, use the equivalent procedures described in this guide by referring to the Sysmac

Studio Version 1 Operation Manual (Cat. No. W504).

Additional Information

For specifications of Ethernet cables and network wiring, refer to Section 4. EtherCAT

Network Wiring of the NJ/NX-series CPU Unit Built-in EtherCAT® Port User's Manual (Cat.

No. W505).

Additional Information

For external power supply specifications, refer to the Instruction Manual ABSODEX AX

Series TS type TH type EtherCAT specification (SMF-2012-A).

Additional Information

The system configuration in this guide uses USB for the connection between the personal

computer and the Controller. For information on how to install the USB driver, refer to A-1

Driver Installation for Direct USB Cable Connection of the Sysmac Studio Version 1

Operation Manual (Cat. No. W504).

For NX1P2 Controllers, there is no need to install the USB driver because they do not have a

USB port.

Additional Information

The NX1P2 Controller, if used, should be connected to your personal computer with an

Ethernet cable. For information on how to connect the cable, refer to 6-2 Going Online with a

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

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