Omron NX1P2-11 Series, NX701-16 Series, NX1P2-10 Series, NJ501-*5 Series, NJ501-*4 Series User Manual
...
Machine Automation Controller
NJ/NX-series
CPU Unit Built-in EtherCAT® Port
User’s Manual
NX701-17
NX701-16
NX1P2-11
NX1P2-10
NX1P2-90
NJ501-5
NJ501-4
NJ501-3
NJ301-12
NJ301-11
NJ101-10
NJ101-90
CPU Unit
W505-E1-15
NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because
OMRON is constantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages
resulting from the use of the information contained in this publication.
Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
• Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of
Microsoft Corporation in the United States and other countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• The SD and SDHC logos are trademarks of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
Copyrights
Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Introduction
Thank you for purchasing an NJ/NX-series CPU Unit.
This manual contains information that is necessary to use the NJ/NX-series CPU Unit. Please read this
manual and make sure you understand the functionality and performance of the NJ/NX-series CPU
Unit before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of introducing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA systems.
• Personnel in charge of managing FA systems and facilities.
Introduction
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.
Applicable Products
This manual covers the following products.
• NX-series CPU Units
•NX701-17
•NX701-16
• NX1P2-11
• NX1P2-111
• NX1P2-10
• NX1P2-101
• NX1P2-90
• NX1P2-901
• NJ-series CPU Units
• NJ501-5
• NJ501-4
• NJ501-3
• NJ301-12
• NJ301-11
• NJ101-10
• NJ101-90
Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to Rele-
vant Manuals on page 2 and Related Manuals on page 22.
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
1
Relevant Manuals
Relevant Manuals
The following table provides the relevant manuals for the NJ/NX-series CPU Units.
Read all of the manuals that are relevant to your system configuration and application before you use
the NJ/NX-series CPU Unit.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu-
dio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.
Basic information
NX-series CPU Unit
Hardware User’s Manual
NX-series NX1P2 CPU Unit
Hardware User's Manual
Manual
NJ-series CPU Unit
Hardware User’s Manual
NJ/NX-series CPU Unit
Software User’s Manual
Built-in I/O and Option Board User's Manual
NX-series NX1P2 CPU Unit
NJ/NX-series
Instructions Reference Manual
NJ/NX-series CPU Unit
Motion Control User’s Manual
Motion Control Instructions Reference Manual
NJ/NX-series
Built-in EtherCAT Port User’s Manual
NJ/NX-series CPU Unit
NJ/NX-series CPU Unit
Built-in EtherNet/IP Port User’s Manual
User’s Manual
NJ-series Database Connection CPU Units
NJ-series SECS/GEM CPU Units
User’s Manual
NJ-series NJ Robotics
CPU Unit User’s Manual
Troubleshooting Manual
NJ/NX-series
Purpose of use
Introduction to the NX701 Controller
Introduction to the NX1P2 Controller
Introduction to NJ-series Controllers
Setting devices and hardware
Using motion control
Using EtherCAT
Using EtherNet/IP
Software settings
Using motion control
Using EtherCAT
Using EtherNet/IP
Using the database connection service
Using the GEM Services
Controlling robots
Using the NX1P2 Controller
Writing the user program
Using motion control
Using EtherCAT
Using EtherNet/IP
Using the database connection service
Using the GEM Services
Controlling robots
Programming error processing
Using the NX1P2 Controller
2
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Manual
Basic information
NX-series CPU Unit
Hardware User’s Manual
NX-series NX1P2 CPU Unit
Hardware User's Manual
NJ-series CPU Unit
Hardware User’s Manual
NJ/NX-series CPU Unit
Software User’s Manual
NX-series NX1P2 CPU Unit
Built-in I/O and Option Board User's Manual
NJ/NX-series
Instructions Reference Manual
NJ/NX-series CPU Unit
Motion Control User’s Manual
NJ/NX-series
Motion Control Instructions Reference Manual
Built-in EtherCAT Port User’s Manual
Purpose of use
Testing operation and debugging
Using motion control
Using EtherCAT
Using EtherNet/IP
Using the database connection service
Using the GEM Services
Controlling robots
Using the NX1P2 Controller
Learning about error management and
corrections
Maintenance
Using motion control
Using EtherCAT
Using EtherNet/IP
*1
Relevant Manuals
NJ/NX-series CPU Unit
NJ/NX-series CPU Unit
Built-in EtherNet/IP Port User’s Manual
NJ-series Database Connection CPU Units
User’s Manual
NJ-series SECS/GEM CPU Units
User’s Manual
NJ-series NJ Robotics
CPU Unit User’s Manual
NJ/NX-series
Troubleshooting Manual
*1 Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and an overview
of the error items. Refer to the manuals that are indicated with triangles for details on errors.
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
3
Manual Structure
4-9
4 Installation and Wiring
NJ-series CPU Unit Hardware User’s Manual (W500)
stinU gnitnuoM 3-4
4
stnenopmoC rellortnoC gnitcennoC 1-3-4
4-3 Mounting Units
The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.
1 Join the Units so that the connectors fit exactly.
2 The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place.
Precautions for Correct UsePrecautions for Correct Use
4-3-1 Connecting Controller Components
Connector
Hook
Hook holes
Slider
Lock
Release
Move the sliders toward the back
until they lock into place.
Level 1 heading
Level 2 heading
Level 3 heading
Level 2 heading
A step in a procedure
Manual name
Special information
Level 3 heading
Page tab
Gives the current
headings.
Indicates a procedure.
Icons indicate
precautions, additional
information, or reference
information.
Gives the number
of the main section.
This illustration is provided only as a sample. It may not literally appear in this manual.
The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
the adjacent Unit connectors.
Manual Structure
Page Structure
The following page structure is used in this manual.
Special Information
Special information in this manual is classified as follows:
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
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.
4
Note References are provided to more detailed or related information.
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Precaution on Terminology
In this manual, “download” refers to transferring data from the Sysmac Studio to the physical Controller
and “upload” refers to transferring data from the physical Controller to the Sysmac Studio.
For the Sysmac Studio, synchronization is used to both upload and download data. Here, “synchronize”
means to automatically compare the data for the Sysmac Studio on the computer with the data in the
physical Controller and transfer the data in the direction that is specified by the user.
Manual Structure
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
5
Manual Structure
6
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Sections in this Manual
1A
2I
3
4
5
6
7
8
9
1A
2I
3
4
5
6
7
8
9
Introduction Appendices
Part Names and
Slave Settings
Index
EtherCAT Communications
EtherCAT Network Wiring
Setting Up EtherCAT Communications
with the Sysmac Studio
Process Data Communications
and SDO Communications
System-defined Variables That Are Related
to the Built-in EtherCAT Port
Example of Operations for EtherCAT Communications
Troubleshooting
Sections in this Manual
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
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CONTENTS
CONTENTS
Introduction ...............................................................................................................1
Intended Audience ........................................................................................................................................ 1
Applicable Products ...................................................................................................................................... 1
Relevant Manuals......................................................................................................2
Manual Structure.......................................................................................................4
Page Structure .............................................................................................................................................. 4
Special Information ....................................................................................................................................... 4
Precaution on Terminology ........................................................................................................................... 5
Sections in this Manual ............................................................................................7
Terms and Conditions Agreement .........................................................................12
Warranty, Limitations of Liability ................................................................................................................. 12
Application Considerations ......................................................................................................................... 13
Disclaimers ................................................................................................................................................. 13
Safety Precautions.................................................................................................. 14
Precautions for Safe Use........................................................................................15
Precautions for Correct Use...................................................................................16
Regulations and Standards....................................................................................17
Conformance to EU Directives .................................................................................................................... 17
Conformance to KC Standards ................................................................................................................... 18
Conformance to Shipbuilding Standards .................................................................................................... 18
Software Licenses and Copyrights ............................................................................................................. 18
Versions ...................................................................................................................19
Checking Versions ...................................................................................................................................... 19
Unit Versions of CPU Units and Sysmac Studio Versions ..........................................................................21
Related Manuals......................................................................................................22
Revision History......................................................................................................24
Section 1 Introduction
1-1 Introduction to EtherCAT ........................................................................................................ 1-2
1-1-1 EtherCAT Features ..................................................................................................................... 1-2
1-1-2 EtherCAT Communications......................................................................................................... 1-2
1-1-3 EtherCAT Features for NJ/NX-series CPU Units ........................................................................1-3
1-2 System Configuration and Configuration Devices............................................................... 1-4
1-2-1 System Configuration..................................................................................................................1-4
1-2-2 Determining the Network Configuration ......................................................................................1-8
1-3 Specifications of Built-in EtherCAT Port ............................................................................... 1-9
1-3-1 Performance Specifications ........................................................................................................ 1-9
1-4 Introduction of Communications ......................................................................................... 1-11
1-4-1 Process Data Communications and SDO Communications ..................................................... 1-11
1-4-2 Other Functions......................................................................................................................... 1-11
1-5 EtherCAT Communications Procedure ............................................................................... 1-13
1-5-1 Overview ...................................................................................................................................1-13
8
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
CONTENTS
1-5-2 Details....................................................................................................................................... 1-14
Section 2 Part Names and Slave Settings
2-1 Part Names and Functions .....................................................................................................2-2
2-1-1 Built-in EtherCAT Port Indicators ................................................................................................ 2-2
2-1-2 Windows Used in Sysmac Studio ............................................................................................... 2-4
2-1-3 Connecting the Sysmac Studio................................................................................................... 2-7
2-2 Setting the Node Addresses of the EtherCAT Slaves .......................................................... 2-9
2-3 Features of Sysmac Devices ................................................................................................ 2-12
2-3-1 Sysmac Devices ....................................................................................................................... 2-12
2-3-2 Sysmac Device Features.......................................................................................................... 2-12
2-3-3 List of Sysmac Devices............................................................................................................. 2-15
2-3-4 Sysmac Device Features and EtherCAT Masters .................................................................... 2-16
Section 3 EtherCAT Communications
3-1 EtherCAT Communications Types and Settings .................................................................. 3-2
3-1-1 CoE (CAN Application Protocol over EtherCAT) ........................................................................ 3-2
3-1-2 Types of Communications .......................................................................................................... 3-5
3-1-3 Types of EtherCAT Variables...................................................................................................... 3-6
3-1-4 Settings Required for EtherCAT Communications...................................................................... 3-7
3-2 Programming EtherCAT Communications............................................................................ 3-8
3-3 State Transitions for EtherCAT Communications ................................................................ 3-9
3-3-1 Self Diagnosis at Startup ............................................................................................................ 3-9
3-3-2 Control States for EtherCAT Communications............................................................................ 3-9
3-3-3 CPU Unit Status in Relation to EtherCAT ..................................................................................3-11
Section 4 EtherCAT Network Wiring
4-1 Laying the EtherCAT Network ................................................................................................ 4-2
4-1-1 Supported Network Topologies................................................................................................... 4-2
4-1-2 Installation Precautions............................................................................................................... 4-4
4-1-3 Installing EtherCAT Communications Cables ............................................................................. 4-4
4-1-4 Connecting Communications Cables.......................................................................................... 4-8
4-1-5 Cable Connection Procedure...................................................................................................... 4-9
Section 5 Setting Up EtherCAT Communications with
the Sysmac Studio
5-1 Overview of Network Configuration Information.................................................................. 5-2
5-2 Creating the EtherCAT Network Configuration..................................................................... 5-3
5-3 Setting EtherCAT Slave Variables and Axes ......................................................................... 5-6
5-3-1 Registering Device Variables for All EtherCAT Slaves ............................................................... 5-6
5-3-2 Axis Settings for Servo Drives and Encoder Input Slaves ........................................................ 5-10
5-4 EtherCAT Master and Slave Parameter Settings ................................................................ 5-11
5-4-1 Setting EtherCAT Master ...........................................................................................................5-11
5-4-2 Setting EtherCAT Slaves .......................................................................................................... 5-16
5-5 Comparing and Merging EtherCAT Network Configurations ............................................ 5-24
5-5-1 Comparing and Merging with the Actual Network Configuration from the Sysmac Studio ....... 5-24
5-5-2 Automatically Creating the Network Configuration ................................................................... 5-28
5-5-3 Using the Sysmac Studio to Obtain Serial Numbers from the Actual
Network Configuration5-31
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
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CONTENTS
5-6 Downloading the Network Configuration Information ....................................................... 5-33
5-6-1 Downloading the Network Configuration Information from the Sysmac Studio......................... 5-33
5-7 Confirming Communications after Completing
EtherCAT Configuration and Settings5-35
Section 6 Process Data Communications and SDO
Communications
6-1 Process Data Communications (PDO Communications) .................................................... 6-2
6-1-1 Allocated Variables for Process Data Communications.............................................................. 6-2
6-1-2 Process Data Communications Refresh Timing..........................................................................6-4
6-1-3 Checking the Validity of the Process Data ..................................................................................6-7
6-1-4 System Response Time in Process Data Communications...................................................... 6-12
6-1-5 I/O Operations for Major Fault Level Controller Errors and I/O Refreshing with
Specified Values6-17
6-2 SDO Communications...........................................................................................................6-21
6-2-1 EtherCAT Instructions ...............................................................................................................6-21
6-2-2 Sample Programming ............................................................................................................... 6-22
6-2-3 Execution Timing of SDO Communications ..............................................................................6-23
6-2-4 Minimum Message Response Time for SDO Communications................................................6-24
6-3 Instructions Used in EtherCAT Communications............................................................... 6-28
6-3-1 EtherCAT Instructions ...............................................................................................................6-28
Section 7 System-defined Variables That Are Related to
the Built-in EtherCAT Port
7-1 System-defined Variables That Are Related to the Built-in EtherCAT Port........................ 7-2
7-1-1 What Are System-defined Variables? .........................................................................................7-2
7-1-2 System-defined Variables ........................................................................................................... 7-3
7-1-3 EtherCAT Master Function Module, Category Name: _EC.........................................................7-9
Section 8 Example of Operations for EtherCAT Communications
8-1 Example of Operations for EtherCAT Communications ...................................................... 8-2
8-1-1 System Configuration Example...................................................................................................8-2
8-1-2 Wiring and Settings.....................................................................................................................8-2
8-1-3 Setting the EtherCAT Network Configuration..............................................................................8-3
8-1-4 Programming...............................................................................................................................8-5
8-1-5 Offline Debugging .......................................................................................................................8-5
8-1-6 Turning the Power ON ................................................................................................................ 8-5
8-1-7 Online Debugging .......................................................................................................................8-5
8-1-8 Downloading the Network Configuration Information and the User Program .............................8-5
8-1-9 Confirming the Start of Communications.....................................................................................8-6
Section 9 Troubleshooting
10
9-1 Overview of Errors .................................................................................................................. 9-2
9-1-1 How to Check for Errors..............................................................................................................9-3
9-1-2 Errors Related to the EtherCAT Master Function Module........................................................... 9-7
9-2 Troubleshooting .................................................................................................................... 9-10
9-2-1 Error Table................................................................................................................................. 9-10
9-2-2 Error Descriptions ..................................................................................................................... 9-16
9-2-3 Resetting Errors ........................................................................................................................ 9-48
9-2-4 Diagnostic and Statistical Information ....................................................................................... 9-50
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
CONTENTS
9-3 Precautions When Connecting or Disconnecting Slaves during Communications ....... 9-67
9-3-1 Procedure for Connecting and Disconnecting Slaves during Communications........................ 9-67
9-3-2 Prohibition to Physically Disconnecting a Slave and Resetting an Error or
9-4 Replacing Slaves during Communications......................................................................... 9-68
9-4-1 Introduction............................................................................................................................... 9-68
9-4-2 Slave Replacement Methods.................................................................................................... 9-69
9-4-3 Backing Up Settings ................................................................................................................. 9-70
9-4-4 Restoring Settings .................................................................................................................... 9-71
9-4-5 Replacement Procedure........................................................................................................... 9-73
Appendices
A-1 EtherCAT Status in Relation to CPU Unit Status ..................................................................A-2
A-1-1 When the Power Supply Is Turned ON.......................................................................................A-2
A-1-2 CPU Unit Operating Modes........................................................................................................ A-3
A-1-3 Controller Errors Other Than Errors in the Built-in EtherCAT Master .........................................A-5
A-1-4 Others.........................................................................................................................................A-6
A-1-5 When the Power Supply Is Turned OFF.....................................................................................A-7
A-2 Monitoring Packets..................................................................................................................A-8
A-3 Multi-vendor Environments ..................................................................................................A-17
A-3-1 EtherCAT Slave Information File (ESI Files).............................................................................A-17
A-3-2 Connecting Slaves from Other Manufacturers to an OMRON Master......................................A-19
A-3-3 Installing ESI Files .................................................................................................................... A-19
A-3-4 Editing PDO Entry Tables ......................................................................................................... A-25
A-3-5 Settings for MDP-compatible Slaves from Other Manufacturers.............................................. A-28
A-4 Glossary .................................................................................................................................A-31
A-5 Version Information...............................................................................................................A-33
Connecting a Slave at the Same Time9-67
Index
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
11
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
12
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Terms and Conditions Agreement
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
13
Safety Precautions
Safety Precautions
Refer to the following manuals for safety precautions.
• NX-series CPU Unit Hardware User’s Manual (Cat No. W535)
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)
14
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Precautions for Safe Use
Refer to the following manuals for precautions for safe use.
• NX-series CPU Unit Hardware User’s Manual (Cat No. W535)
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)
Precautions for Safe Use
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
15
Precautions for Correct Use
Precautions for Correct Use
Refer to the following manuals for precautions for correct use.
• NX-series CPU Unit Hardware User’s Manual (Cat No. W535)
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)
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NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Regulations and Standards
Conformance to EU Directives
Applicable Directives
• EMC Directives
• Low Voltage Directive
Concepts
EMC Directive
OMRON devices that comply with EU Directives also conform to the related EMC standards so that
they can be more easily built into other devices or the overall machine. The actual products have
been checked for conformity to EMC standards.*
Whether the products conform to the standards in the system used by the customer, however, must
be checked by the customer. EMC-related performance of the OMRON devices that comply with EU
Directives will vary depending on the configuration, wiring, and other conditions of the equipment or
control panel on which the OMRON devices are installed. The customer must, therefore, perform
the final check to confirm that devices and the overall machine conform to EMC standards.
* Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN 61131-2
EMI (Electromagnetic Interference): EN 61131-2 (Radiated emission: 10-m regulations)
Regulations and Standards
Low Voltage Directive
Always ensure that devices operating at voltages of 50 to 1,000 VAC and 75 to 1,500 VDC meet the
required safety standards. The applicable directive is EN 61010-2-201.
Conformance to EU Directives
The NJ/NX-series Controllers comply with EU Directives. To ensure that the machine or device in
which the NJ/NX-series Controller is used complies with EU Directives, the Controller must be
installed as follows:
• The NJ/NX-series Controller must be installed within a control panel.
• You must use the power supply in SELV specifications for the DC power supplies connected to
DC Power Supply Units and I/O Units.
• NJ/NX-series Controllers that comply with EU Directives also conform to the Common Emission
Standard (EN 61000-6-4). Radiated emission characteristics (10-m regulations) may vary
depending on the configuration of the control panel used, other devices connected to the control
panel, wiring, and other conditions.
You must therefore confirm that the overall machine or equipment complies with EU Directives.
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
17
Regulations and Standards
Conformance to KC Standards
Observe the following precaution if you use NX-series Units in Korea.
Class A Device (Broadcasting Communications Device for Office Use)
This device obtained EMC registration for office use (Class A), and it is intended to be used in places
other than homes.
Sellers and/or users need to take note of this.
Conformance to Shipbuilding Standards
The NJ/NX-series Controllers comply with the following shipbuilding standards. Applicability to the
shipbuilding standards is based on certain usage conditions. It may not be possible to use the product in some locations. Contact your OMRON representative before attempting to use a Controller on
a ship.
Usage Conditions for NK and LR Shipbuilding Standards
• The NJ/NX-series Controller must be installed within a control panel.
• Gaps in the door to the control panel must be completely filled or covered with gaskets or other
material.
• The following noise filter must be connected to the power supply line.
Noise Filter
Manufacturer Model
Cosel Co., Ltd. TAH-06-683
Software Licenses and Copyrights
This product incorporates certain third party software. The license and copyright information associated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
18
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Versions
ID information indication
Lot number Serial number Unit version
MAC address Hardware revision
LOT No. DDMYY xxxx Ver.1.
PORT1 : HW Rev.
PORT2 :
ID information indication
Lot number Serial number
Unit version
PORT1 :
PORT2 :
Ver.1. HW Rev.
LOT No. DDMYY xxxx
MAC address
Hardware
revision
Hardware revisions and unit versions are used to manage the hardware and software in NJ/NX-series
Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a
change in hardware or software specifications. Even when two Units or EtherCAT slaves have the
same model number, they will have functional or performance differences if they have different hardware revisions or unit versions.
Checking Versions
You can check versions on the ID information indications or with the Sysmac Studio.
Checking Unit Versions on ID Information Indications
The unit version is given on the ID information indication on the side of the product.
Versions
The ID information on an NX-series NX701- CPU Unit is shown below.
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
The ID information on an NX-series NX1P2- CPU Unit is shown below.
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
19
Versions
The ID information on an NJ-series NJ501- CPU Unit is shown below.
ID information indication
Unit model
NJ501
PORT1 MAC ADDRESS:
PORT2 MAC ADDRESS:
Lot No. DDMYY
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
-
Lot number Serial number MAC address
Unit version Hardware revision
Ver.1.
xxxx
HW Rev.
Checking Unit Versions with the Sysmac Studio
You can use the Sysmac Studio to check unit versions. The procedure is different for Units and for EtherCAT slaves.
Checking the Unit Version of an NX-series CPU Unit
You can use the Production Information while the Sysmac Studio is online to check the unit version
of a Unit. You can do this for the CPU Unit. For an NX1P2 CPU Unit, you can also check the unit
versions of the NX Units on the CPU Rack and Option Boards.
1
Right-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multiview Explorer and select Production Information.
The Production Information Dialog Box is displayed.
Checking the Unit Version of an NJ-series CPU Unit
You can use the Production Information while the Sysmac Studio is online to check the unit version
of a Unit. You can do this for the CPU Unit, CJ-series Special I/O Units, and CJ-series CPU Bus
Units. You cannot check the unit versions of CJ-series Basic I/O Units with the Sysmac Studio.
Use the following procedure to check the unit version.
1
Double-click CPU/Expansion Racks under Configurations and Setup in the Multiview
Explorer. Or, right-click CPU/Expansion Racks under Configurations and Setup and select
Edit from the menu.
The Unit Editor is displayed.
2
Right-click any open space in the Unit Editor and select Production Information.
The Production Information Dialog Box is displayed.
Changing Information Displayed in Production Information Dialog Box
1
Click the Show Detail or Show Outline Button at the lower right of the Production Information
Dialog Box.
The view will change between the production information details and outline.
20
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Versions
Outline View Detail View
The information that is displayed is different for the Outline View and Detail View. The Detail View
displays the unit version, hardware version, and software versions. The Outline View displays only
the unit version.
Note The hardware revision is separated by “/” and displayed on the right of the hardware version. The hardware
revision is not displayed for the Unit that the hardware revision is in blank.
Checking the Unit Version of an EtherCAT Slave
You can use the Production Information while the Sysmac Studio is online to check the unit version
of an EtherCAT slave. Use the following procedure to check the unit version.
1
Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, rightclick EtherCAT under Configurations and Setup and select Edit from the menu.
The EtherCAT Tab Page is displayed.
2
Right-click the master on the EtherCAT Tab Page and select Display Production Information.
The Production Information Dialog Box is displayed.
The unit version is displayed after “Rev.”
Outline View Detail View
Unit Versions of CPU Units and Sysmac Studio Versions
The functions that are supported depend on the unit version of the NJ/NX-series CPU Unit. The version
of Sysmac Studio that supports the functions that were added for an upgrade is also required to use
those functions.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501-E1-02 or later) for the
relationship between the unit versions of the CPU Units and the Sysmac Studio versions, and for the
functions that are supported by each unit version.
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
21
Related Manuals
Related Manuals
The followings are the manuals related to this manual. Use these manuals for reference.
Manual name Cat. No. Model numbers Application Description
NX-series CPU Unit
Hardware User’s Manual
NX-series NX1P2 CPU
Unit Hardware User's
Manual
NJ-series CPU Unit
Hardware User’s Manual
NJ/NX-series CPU Unit
Software User’s Manual
NX-series NX1P2 CPU
Unit Built-in I/O and
Option Board User's
Manual
NJ/NX-series Instructions
Reference Manual
NJ/NX-series CPU Unit
Motion Control User’s
Manual
W535 NX701- Learning the basic specifi-
cations of the NX701 CPU
Units, including introductory information, designing,
installation, and maintenance.
Mainly hardware information is provided.
W578 NX1P2- Learning the basic specifi-
cations of the NX1P2 CPU
Units, including introductory information, designing,
installation, and maintenance.
Mainly hardware information is provided.
W500 NJ501-
NJ301-
NJ101-
W501 NX701-
NX1P2-
NJ501-
NJ301-
NJ101-
W579 NX1P2- Learning about the details
W502 NX701-
NX1P2-
NJ501-
NJ301-
NJ101-
W507 NX701-
NX1P2-
NJ501-
NJ301-
NJ101-
Learning the basic specifications of the NJ-series
CPU Units, including introductory information,
designing, installation, and
maintenance.
Mainly hardware information is provided.
Learning how to program
and set up an NJ/NXseries CPU Unit.
Mainly software information is provided.
of functions only for an NXseries NX1P2 CPU Unit
and an introduction of functions for an NJ/NX-series
CPU Unit.
Learning detailed specifications on the basic
instructions of an NJ/NXseries CPU Unit.
Learning about motion
control settings and programming concepts.
An introduction to the entire NX701 system is
provided along with the following information on
the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
An introduction to the entire NX1P2 system is
provided along with the following information on
the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
An introduction to the entire NJ-series system is
provided along with the following information on
the CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
The following information is provided on a Controller built with an NJ/NX-series CPU Unit.
• CPU Unit operation
• CPU Unit features
• Initial settings
gramming based on IEC 61131-3 lan-
• Pro
e specifications
guag
Of the functions for an NX1P2 CPU Unit, the following information is provided.
• Built-in I/O
• Serial Communications Option Boards
• Analog I/O Option Boards
An introduction of following functions for an
NJ/NX-series CPU Unit is also provided.
• Motion control functions
• EtherNet/IP communications functions
• EtherCAT communications functions
The instructions in the instruction set (IEC
61131-3 specifications) are described.
The settings and operation of the CPU Unit and
programming concepts for motion control are
described.
22
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Manual name Cat. No. Model numbers Application Description
NJ/NX-series
Motion Control Instructions Reference Manual
NJ/NX-series
CPU Unit
Built-in EtherCAT Port
User’s Manual
NJ/NX-series
CPU Unit
Built-in EtherNet/IP
User’s Manual
NJ-series
SECS/GEM CPU Units
User’s Manual
NJ-series NJ Robotics
CPU Unit User’s Manual
NJ/NX-series
Troubleshooting Manual
Sysmac Studio Version 1
Operation Manual
NX-series
EtherCAT Coupler Unit
User’s Manual
W508 NX701-
NX1P2-
NJ501-
NJ301-
NJ101-
W505 NX701-
NX1P2-
NJ501-
NJ301-
NJ101-
W506 NX701-
Port
W528 NJ501-1340 Using the GEM Services
W539 NJ501-4 Controlling robots with NJ-
W503 NX701-
W504 SYSMAC
W519 NX-ECC Learning how to use an
NX1P2-
NJ501-
NJ301-
NJ101-
NX1P2-
NJ501-
NJ301-
NJ101-
-SE2
Learning about the specifications of the motion control instructions.
Using the built-in EtherCAT
port on an NJ/NX-series
CPU Unit.
Using the built-in EtherNet/IP port on an NJ/NXseries CPU Unit.
with NJ-series Controllers.
series CPU Units.
Learning about the errors
that may be detected in an
NJ/NX-series Controller.
Learning about the operating procedures and functions of the Sysmac Studio.
NX-series EtherCAT Coupler Unit and EtherCAT
Slave Terminals.
The motion control instructions are described.
Information on the built-in EtherCAT port is provided.
This manual provides an introduction and provides information on the configuration, features,
and setup.
Information on the built-in EtherNet/IP port is
provided.
Information is provided on the basic setup, tag
data links, and other features.
Provides information on the GEM Services.
Describes the functionality to control robots.
Concepts on managing errors that may be
detected in an NJ/NX-series Controller and
information on individual errors are described.
Describes the operating procedures of the Sysmac Studio.
The following items are described: the overall
system and configuration methods of an EtherCAT Slave Terminal (which consists of an NXseries EtherCAT Coupler Unit and NX Units),
and information on hardware, setup, and functions to set up, control, and monitor NX Units
through EtherCAT.
Related Manuals
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
23
Revision History
W505-E1-15
Revision code
Cat. No.
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
Revision code Date Revised content
01 July 2011 Original production
02 March 2012 Added information on the NJ301-
03 May 2012 • Added information on functional support for unit version
04 August 2012 • Added information on functional support for unit version
05 February 2013 • Added information on functional support for unit version
06 April 2013 • Added information on functional support for unit version
07 June 2013 • Added information on functional support for unit version
08 September 2013 • Added information on functional support for unit version
09 December 2013 • Added information on functional support for unit version
10 July 2014 • Corrected mistakes.
11 January 2015 • Added information on functional support for unit version
12 April 2015 • Added information on the NX701-
13 April 2016 • Added information on functional support for unit version 1.11
14 October 2016 • Added information on the NX1P2-
15 April 2017 • Corrected mistakes.
and corrected mis-
takes.
1.02 of the CPU Units.
• Corrected mistakes.
1.03 of the CPU Units.
• Corrected mistakes.
1.04 of the CPU Units.
• Corrected mistakes.
1.05 of the CPU Units.
• Corrected mistakes.
1.06 of the CPU Units.
• Corrected mistakes.
1.07 of the CPU Units.
• Corrected mistakes.
1.08 of the CPU Units.
• Corrected mistakes.
1.10 of the CPU Units.
• Corrected mistakes.
• Added information on the NJ101-
• Corrected mistakes.
of the CPU Units.
• Corrected mistakes.
• Corrected mistakes.
.
.
.
24
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
Introduction
This section provides an overview of EtherCAT communications, describes the system
configuration and specifications, and provides operating procedures.
1-1 Introduction to EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-1 EtherCAT Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-2 EtherCAT Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-1-3 EtherCAT Features for NJ/NX-series CPU Units . . . . . . . . . . . . . . . . . . . . . . . 1-3
1-2 System Configuration and Configuration Devices . . . . . . . . . . . . . . . . . . . 1-4
1-2-1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1-2-2 Determining the Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
1-3 Specifications of Built-in EtherCAT Port . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1-3-1 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-9
1-4 Introduction of Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-11
1-4-1 Process Data Communications and SDO Communications . . . . . . . . . . . . . .1-11
1-4-2 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1-11
1-5 EtherCAT Communications Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1-5-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13
1-5-2 Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-14
1
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
1-1
1 Introduction
IN
OUT
Slave
• Output data addressed to the local node is read.
• Input data is written.
Ethernet frames
EtherCAT master
Slave
data
Slave
1-1 Introduction to EtherCAT
EtherCAT (Ethernet Control Automation Technology) is a high-performance industrial network system
that enables faster and more efficient communications based on Ethernet. Each node achieves a short
communications cycle time by transmitting Ethernet frames at high speed. Furthermore, even though
EtherCAT is a unique protocol, it offers excellent general-purpose applicability. For example, you can
use Ethernet cables because EtherCAT utilizes standard Ethernet technology for the physical layer.
And the effectiveness of EtherCAT can be fully utilized not only in large control systems that require
high processing speeds and system integrity, but also in small and medium control systems.
1-1-1 EtherCAT Features
EtherCAT provides the following features.
High-speed Communications at 100 Mbps
The I/O response time from signal input to signal output has been significantly reduced. By fully utilizing
the optimized Ethernet frame bandwidth to transmit data using a high-speed repeat method, it is possible to efficiently transmit a wide variety of data.
1-1-2 EtherCAT Communications
EtherCAT does not send data to individual slave nodes on the network, instead, it passes Ethernet
frames through all of the slave nodes.
When frame passes through a slave node, the slave node reads and writes data in the areas allocated
to it in the frames in a few nanoseconds.
The Ethernet frames transmitted by the EtherCAT master pass through all EtherCAT slaves without
stopping. The last slave returns all of the frames, which again pass through all of the slaves before
returning to the EtherCAT master.
This mechanism ensures high speed and realtime data transmission.
1-2
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
1-1-3 EtherCAT Features for NJ/NX-series CPU Units
EtherCAT in the NJ/NX-series CPU Units has the following features.
Synchronization of the CPU Unit Processing Period and the
EtherCAT Communications Cycle
The period of sequence processing and motion processing in the CPU Unit matches the process data
communications cycle of EtherCAT.
This enables high-precision sequence control and motion control with a stable fixed period.
Also, with the NX701 CPU Unit, slaves to be synchronized can be divided into two groups with different
process data communications cycles. This means that slaves are separately processed in one group
that needs high-speed communications and the other that needs not.
Accessing Data with Device Variables without Considering
Addresses
1 Introduction
1-1 Introduction to EtherCAT
1
1-1-3 EtherCAT Features for NJ/NX-series CPU Units
EtherCAT slaves are accessed using device variables that are assigned to the I/O ports of the EtherCAT slaves. Various types of data in Servo Drive and the encoder input slaves are accessed using
structure-type Axis Variables prepared in advance.
This enables access to slaves on EtherCAT without regard to addresses.
Optimum Functionality and Ease of Operation Based on Unified
Specifications
You can use the NJ/NX-series Machine Automation Controllers together with Sysmac devices* and the
Sysmac Studio Automation Software to achieve optimum functionality and ease of operation.
* “Sysmac devices” is a generic name for EtherCAT slaves and other OMRON control components that were
designed with the same communications and user interface specifications.
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
1-3
1 Introduction
1-2 System Configuration and
Configuration Devices
1-2-1 System Configuration
The EtherCAT network configuration and configuration devices are shown below.
Sysmac Studio
Input port
EtherCAT Junction Slave
Output ports
ESI files
.xml
I/O power supply
NJ/NX-series CPU Unit
Built-in EtherCAT port
Communications cable
EtherCAT Slave
Terminal
(EtherCAT slave)
ADR
ADR
EtherCAT master
Unit power supply
EtherCAT Junction Slave
Digital I/O Slave
(EtherCAT Slave)
ADR
1-4
Analog I/O Slave
(EtherCAT slave)
Servo Drive (EtherCAT slave) Inverter (EtherCAT slave)
Outlines of the configuration devices are given below.
EtherCAT Master
The EtherCAT master manages the network, monitors the status of slaves, and exchanges I/O data
with slaves. There is one output port.
Output Port
The output port transmits EtherCAT communications data to other devices. When you connect the
output port to another device, always connect it to the input port on the other device. Normal communications will not be possible if you connect to the output port on another device.
NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (W505)
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