Omron SCON-CA Instruction Manual

Machine Automation Controller NJ-series

EtherCAT(R) Connection Guide

IAI Corporation

SCON-CA/SCON-CAL Controller

P585-E1-02

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. 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

．

Related Manuals

1. Related Manuals

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

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

the system.

The table below lists the manuals of IAI Corporation (hereinafter referred to as IAI) and

OMRON Corporation (hereinafter referred to 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 Controller Instruction

Manual

IAI ME0273 SCON-CA

SCON-CAL

EtherCAT Operation Manual

IAI ME0155 RCM-101-MW

RCM-101-USB

PC Software RCM-101-MW, RCM-101-USB

Operation Manual

．

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 Machine Automation

Controller in the following ways.

・With device variables for EtherCAT slave I/O

・

With Axis 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 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 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.

．

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, make sure to always read and heed the information provided in

all Safety Precautions and Precautions for Safe Use of 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

document without the permission of OMRON Corporation.

(5) The information contained in 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 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 text.

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

．

Overview

4. Overview

This document describes the procedure for connecting SCON-CA/SCON-CAL Controller of

IAI to NJ-series 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.

．

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-[][][][]

IAI SCON-CA Controller

SCON-CAL Controller

SCON-CA-[]-EC-[]

SCON-CAL-[]-EC-[]

IAI Actuator -

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 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

connection procedure. It also does not describe the functionality or operation of the devices.

Refer to the manuals or contact the device manufacturer.

(IAI Corporation http://www.intelligentactuator.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 IAI Corporation for actuators connectable to SCON-CA/SCON-CAL Controllers.

．

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.1.09

OMRON

Power Supply Unit

NJ-PA3001

OMRON

Sysmac Studio

SYSMAC-SE2[][][]

Ver.1.10

Personal computer

(OS: Windows 7)

USB cable

(USB 2.0 type B connector)

OMRON

Ethernet cable (with industrial

Ethernet connector)

XS5W-T421-[]M[]-K

IAI

SCON-CA Controller

SCON-CA-60I-EC-0-1

Rev.0x0001

0007

IAI

USB cable

CB-SEL-USB010

IAI

USB conversion unit

RCB-CV-USB

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.

IAI Corporation http://www.intelligentactuator.com/field-network-configuration-files/

Contact IAI if the file is not available.

USB cable

NJ501-1500

(Built-in EtherCAT port)

Ethernet cable

SCON-CA-60I-EC-0-1

RCS2-GD5N-I-60-10-50-T2-P

Personal computer

(Sysmac Studio, PC

Interface Software for RC

installed, OS: Windows 7)

Motor cable

USB cable + USB conversion unit + Communication cable

Encoder cable

．

Applicable Devices and Device Configuration

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 the Ethernet 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.

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

For 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).

Additional Information

The system configuration in this document uses USB for the connection to the SCON-CA

Controller. For how to install a USB driver, refer to Section 1.3.3. How to Install the USB

Conversion Adapter Driver Software of the PC Software RCM-101-MW, RCM-101-USB

Operation Manual (ME0155).

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