Omron Sysmac EtherNet/IP NJ Series Instruction Manual

Machine Automation Controller NJ/NX-series

EtherCAT®

Connection Guide

Weidmüller Interface

GmbH & Co. KG

Remote I/O System

(u-remote IP20)

P695-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® 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. Parameter................................................................................................ 8

6.2. Module Configuration.............................................................................. 8

6.3. Device Variables...................................................................................... 9

7. EtherCAT Connection Procedure............................................................ 15

7.1. Work Flow ............................................................................................. 15

7.2. Weidmüller u-remote Setup .................................................................. 16

7.3. Controller Setup.................................................................................... 17

7.4. EtherCAT Communication Status Check.............................................. 30

8. Initialization Method.................................................................................. 34

8.1. Initializing a Controller........................................................................... 34

8.2. Initializing a Weidmüller u-remote......................................................... 34

9. Revision History........................................................................................ 35

1．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 Weidmüller Interface GmbH & Co. KG

(hereinafter referred to as "Weidmüller") 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

Weidmüller 1432790000 u-remote IP20 Remote-I/O-System u-remote

Manual (Original)

Weidmüller 2112220000 u-remote IP20 Remote-I/O-System u-remote

Web server manual

2．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 Machine Automation 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 Machine Automation 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 A generic name for a device that performs EtherCAT

communications with an EtherCAT master. There are various

types of slaves such as servo drives that handle position data

and I/O terminals that handle bit signals.

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.

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 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 November 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.

4．Overview

4. Overview

This guide describes procedures for connecting a Weidmüller Remote I/O System u-remote

IP20 (hereinafter referred to as the "u-remote") to an OMRON NJ/NX-series Machine

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

checking their communication status.

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.

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/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[][]

Weidmüller

Remote I/O System

u-remote IP20

Weidmüller

EtherCAT Fieldbus Coupler

UR20-FBC-EC

Weidmüller

I/O Module

(UR20 I/O Modules)

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 Weidmüller Interface GmbH & Co. KG for I/O Modules connectable to the EtherCAT

Fieldbus Coupler.

5．Applicable Devices and Device Configuration

5.2. Device Configuration

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.1.14

OMRON

Power Supply Unit

NJ-PA3001

OMRON Sysmac Studio SYSMAC-SE2[][][] Ver.1.18

- Personal computer

(OS: Windows 7) -

- USB cable

(USB 2.0 type B connector) -

OMRON Ethernet cable (with industrial

Ethernet connector)

XS5W-T421-[]M[]-K

Weidmüller

EtherCAT Fieldbus Coupler

UR20-FBC-EC

Rev.0x00000001

Weidmüller

I/O Modules

UR20-8DI-N-3W

UR20-4DO-PN-2A

UR20-16DI-P

UR20-4DI-P-TS

UR20-16DO-P

Weidmüller

ESI file (for EtherCAT

Fieldbus Coupler)

Weidmueller_UR20_FBC.xml

Weidmüller ESI file (for I/O Modules) Weidmueller_UR20_IO.xml

- Power supply for the system

and input modules (24 VDC) -

- Power supply for output

modules (24 VDC) -

Precautions for Correct Use

Prepare the ESI files listed above beforehand.

To obtain the ESI files, contact Weidmüller Interface GmbH & Co. KG.

NJ501-1500

(Built-in EtherCAT port)

u-remote

Ethernet

cable

Personal computer

(Sysmac Studio installed,

OS: Windows 7)

UR20-FBC-EC

├UR20-8DI-N-3W

├UR20-4DO-PN-2A

├UR20-16DI-P

├UR20-4DI-P-TS

└

UR20-16DO-P

Power supply for the system and input modules

USB cable

Power supply for output modules

5．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 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.

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 power supply specifications for the system and input modules and for output modules,

refer to the Remote-I/O-System u-remote Manual (Original) (1432790000).

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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