OMRON SYSMAC-XR011 User Manual

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Sysmac Library

User’s Manual for EtherCAT® 1S Series Library

SYSMAC-XR011

W571-E1-07

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 or an NY-series Industrial PC.

This manual contains information that is necessary to use the function blocks in the EtherCAT 1S Series Library. (“Function block” is sometimes abbreviated as “FB”.) 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.

This manual provides function block specifications. It does not describe application restrictions or combination restrictions for Controllers, Units, and components.

Refer to the user’s manuals for all of the products in the application before you use any of the products.

Keep this manual in a safe place where it will be available for reference during operation.

Features of the Library

The EtherCAT 1S Series Library is used to initialize the absolute encoder, back up and restore the parameters for an OMRON 1S-series Servo Drive with built-in EtherCAT communications.

You can use this library to reduce manpower of programming when implementing the processing for a Servo Drive.

Introduction

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.

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

For the model numbers and versions of an NJ/NX-series CPU Unit, NY-series Industrial PC, and the Sysmac Studio that this library supports, refer to Sysmac Library Version Information in the SYS-



MAC-XR

OMRON website (http://www.ia.omron.com/products/family/3459/download/catalog.html).

Sysmac Library Catalog (Cat. No. P102). This catalog can be downloaded from the

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Manual Structure

Precautions for Safe Use

Precautions for Correct Use

Additional Information

Version Information

Manual Structure

Special Information

Special information in this manual is classified as follows:

Precautions on what to do and what not to do to ensure safe usage of the product.

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

Additional information to read as required. This information is provided to increase understanding or make operation easier.

Information on differences in specifications and functionality for CPU Units and Industrial PCs with different unit versions and for different versions of the Sysmac Studio are given.

Note References are provided to more detailed or related information.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Manual Structure

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

CONTENTS

Introduction ..............................................................................................................1

Features of the Library................................................................................................................................. 1

Intended Audience....................................................................................................................................... 1

Applicable Products..................................................................................................................................... 1

Manual Structure ......................................................................................................2

Special Information......................................................................................................................................2

CONTENTS................................................................................................................4

Terms and Conditions Agreement ..........................................................................6

Warranty, Limitations of Liability .................................................................................................................. 6

Application Considerations .......................................................................................................................... 7

Disclaimers .................................................................................................................................................. 7

Safety Precautions ...................................................................................................8

Definition of Precautionary Information........................................................................................................ 8

Symbols....................................................................................................................................................... 8

Cautions....................................................................................................................................................... 9

Precautions for Correct Use..................................................................................10

Related Manuals ..................................................................................................... 11

Revision History .....................................................................................................14

Procedure to Use Sysmac Libraries .............................................................................................. 15

Procedure to Use Sysmac Libraries Installed Using the Installer .............................................................. 16

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC................................ 20

Common Specifications of Function Blocks ................................................................................ 23

Common Variables .................................................................................................................................... 24

Precautions................................................................................................................................................ 30

Individual Specifications of

Function Blocks...................................................................................................................... 31

InitEncoder_1S .......................................................................................................................................... 32

Backup_1S ................................................................................................................................................ 41

Restore_1S................................................................................................................................................ 55

MotorSetup_1S.......................................................................................................................................... 64

Restart_1S................................................................................................................................................. 73

EasyTuning_1S ......................................................................................................................................... 78

Appendix .......................................................................................................................................... 91

Referring to Library Information ................................................................................................................. 92

Referring to Function Block and Function Source Codes .......................................................................... 95

Objects to Back up and Restore................................................................................................................ 96

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

CONTENTS

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

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.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

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 OR IN LARGE QUANTITIES 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.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Safety Precautions

WARNING

Caution

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

Safety Precautions

Definition of Precautionary Information

The following notation is used in this user’s manual to provide precautions required to ensure safe usage of an NJ/NX-series Controller and an NY-series Industrial PC.

The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions.

The following notation is used.

Symbols

The circle and slash symbol indicates operations that you must not do.

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

This example indicates prohibiting disassembly.

The triangle symbol indicates precautions (including warnings).

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

This example indicates a precaution for electric shock.

The triangle symbol indicates precautions (including warnings).

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

This example indicates a general precaution.

The filled circle symbol indicates operations that you must do.

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

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

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Cautions

Safety Precautions

Caution

Read all related manuals carefully before you use this library.

Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits.

Check the user program, data, and parameter settings for proper execution before you use them for actual operation.

The Sysmac Library and manuals are assumed to be used by personnel that is given in Intended Audience in this manual. Otherwise, do not use them.

The sample programming shows only the portion of a program that uses the function or function block from the library.

When using sample programming in actual devices, also program safety circuits, device interlocks, I/O with other devices, and other control procedures.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Precautions for Correct Use

Using the Library

• When you use the library, functions or function blocks that are not described in the library manual may be displayed on the Sysmac Studio. Do not use functions or function blocks that are not described in the manual.

• Do not change the names and the contents of any object list.

• Setting the NoProductChk input variable to TRUE allows you to execute restore even when the product code in the backup data differs from the product code of the restore destination. Make sure that the restore destination is a 1S-series Servo Drive before you attempt to restore the parameters.

• Do not attempt to turn OFF the power supply to the Controller and EtherCAT slaves or stop the EtherCAT communications until the processing for this function block ends normally or ends in an error.

• After completion of Restore_1S function block, cycle the control power supply to the 1S-series Servo Drive to apply the restored parameters.

• When the model which was backed up differs from the model to be restored, confirm that the restore can be performed with the object list which was backed up, and then change NoproductChk of this function block to TRUE.

• Confirm that the models to be backed up are applicable models and versions before you perform the backup.

Using Sample Programming

• Create a user program that will produce the intended device operation.

• Check the user program for proper execution before you use it for actual operation.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Related Manuals

The following 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 NX102 CPU Unit Hardware User’s Manual

NX-series NX1P2 CPU Unit Hardware User’s Manual

NJ-series CPU Unit Hardware User’s Manual

NY-series IPC Machine Controller Industrial Panel PC Hardware User’s Manual

W535 NX701- Learning the basic specifi-

cations of the NX-series NX701 CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided

W593 NX102- Learning the basic specifi-

W578 NX1P2- Learning the basic specifi-

W500 NJ501-

NJ301-

NJ101-

W557 NY532- Learning the basic specifi-

cations of the NX102 CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.

cations of the NX-series NX1P2 CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided

Learning the basic specifications of the NJ-series CPU Units, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided

cations of the NY-series Industrial Panel PCs, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided

An introduction to the entire NX701 CPU Unit system is provided along with the following information on the CPU Unit.

Features and system configuration

Overview

Part names and functions

General specifications

Installation and wiring

Maintenance and inspection

An introduction to the entire NX102 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 CPU Unit system is provided along with the following information on the CPU Unit.

Features and system configuration

Overview

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

Overview

Part names and functions

General specifications

Installation and wiring

Maintenance and inspection

An introduction to the entire NY-series system is provided along with the following information on the Industrial Panel PC.

Features and system configuration

Introduction

Part names and functions

General specifications

Installation and wiring

Maintenance and inspection

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Related Manuals

Manual name Cat. No. Model numbers Application Description

NY-series IPC Machine Controller Industrial Box PC Hardware User's Manual

NJ/NX-series CPU Unit Software User’s Manual

NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Software User’s Manual

NJ/NX-series Instructions Reference Manual

NY-series Instructions Reference Manual

NJ/NX-series CPU Unit Motion Control User's Manual

NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Motion Control User’s Manual

NJ/NX-series Motion Control Instructions Reference Manual

NY-series Motion Control Instructions Reference Manual

NJ/NY-series NC Integrated Controller User’s Manual

W556 NY512- Learning the basic specifi-

cations of the NY-series Industrial Box PCs, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided

W501 NX701-

NX102-

NX1P2-

NJ501-

NJ301-

NJ101-

W558 NY532-

NY512-

W502 NX701-

NX102-

NX1P2-

NJ501-

NJ301-

NJ101-

W560 NY532-

NY512-

W507 NX701-

NX102-

NX1P2-

NJ501-

1-

NJ30

1-

NJ10

W559 NY532-

NY512-

W508 NX701-

NX102-

NX1P2-

NJ501-

NJ301-

NJ101-

W561 NY532-

NY512-

O030 NJ501-5300

NY532-5400

Learning how to program and set up an NJ/NX-series CPU Unit.

Mainly software information is provided

Learning how to program and set up the Controller functions of an NY-series Industrial PC

Learning detailed specifications on the basic instructions of an NJ/NX-series CPU Unit

Learning detailed specifications on the basic instructions of an NY-series Industrial PC

Learning about motion control settings and programming concepts of an NJ/NX-series CPU Unit.

Learning about motion control settings and programming concepts of an NY-series Industrial PC.

Learning about the specifications of the motion control instructions of an NJ/NX-series CPU Unit.

Learning about the specifications of the motion control instructions of an NY-series Industrial PC.

Performing numerical control with NJ/NY-series Controllers.

An introduction to the entire NY-series system is provided along with the following information on the Industrial Box PC.

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

Programming based on IEC 61131-3 language specifications

The following information is provided on NY-series Machine Automation Control Software.

Controller operation

Controller features

Controller settings

Programming based on IEC 61131-3 language specifications

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.

The settings and operation of the Controller and programming concepts for motion control are described.

The motion control instructions are described.

Describes the functionality to perform the numerical control. Use this manual together with the

NJ/NY-series G code Instructions Reference Manual (Cat. No. O031) when pro-

gramming.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Manual name Cat. No. Model numbers Application Description

G code Instructions Reference Manual

Sysmac Studio Version 1 Operation Manual

CNC Operator Operation Manual

AC Servomotors/Servo Drivers 1S-series with Built-in EtherCAT Communications User’s Manual

O031 NJ501-5300

NY532-5400

W504 SYSMAC

-SE2

O032 SYSMAC

-RTNC0D

I586 R88M-1

R88D-1SN-ECT

I621 R88M-1A

R88D-1SAN-ECT

Learning about the specifications of the G code/M code instructions.

Learning about the operating procedures and functions of the Sysmac Studio.

Learning an introduction of the CNC Operator and how to use it.

Learning how to use the Servomotors/Servo Drives with built-in EtherCAT Communications.

The G code/M code instructions are described. Use this manual together with the NJ/NY-series NC Integrated Controller User’s Manual (Cat. No. O030) when programming.

Describes the operating procedures of the Sysmac Studio.

An introduction of the CNC Operator, installation procedures, basic operations, connection operations, and operating procedures for main functions are described.

Describes the hardware, setup methods and functions of the Servomotors/Servo Drives with built-in EtherCAT Communications.

Related Manuals

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.

Cat. No.

Revision code Date Revised content

01 July 2016 Original production 02 November 2016 Changed the manual name. 03 March 2017 Compatible with R88D-1SN 04 January 2019 • Added compatible models.

05 April 2019 • Added compatible models.

06 July 2019 Added following function blocks:

07 October 2020 Compatible with R88D-1SN

W571-E1-07

• Compatible with R88D-1SN

• Compatible with 1S Series other than R88D-1SN

• MotorSetup_1S

•Restart_1S

• EasyTuning_1S

Revision code



-ECT Version 1.1



-ECT Version 1.2



-ECT Version 1.4



-ECT

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries Installed Using the Installer

Version Information

Precautions for Correct Use

Procedure to Use Sysmac Libraries Installed Using the Installer

This section describes the procedure to use Sysmac Libraries that you installed using the installer.

There are two ways to use libraries.

• Using newly installed Sysmac Libraries

• Using upgraded Sysmac Libraries

To use Sysmac Libraries, you need the Sysmac Studio version 1.14 or higher.

Using Newly Installed Libraries

1 Start the Sysmac Studio and open or create a new project in which you want to use Sysmac

Libraries.

If you create a new project, be sure to configure the settings as follows to enable the use of Sysmac Libraries. If you do not configure the following settings, you cannot proceed to the step 2 and later steps.

• Set the project type to Standard Project or Library Project.

• Set the device category to Controller.

• Set the device version to 1.01 or later.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries Installed Using the Installer

Precautions for Correct Use

Device

Drug & Drop

2 Select Project – Library – Show References.

If you have more than one registered device in the project, make sure that the device selected currently is an NJ/NX-series CPU Unit or an NY-series Industrial PC. If you do not select an NJ/NX-series CPU Unit or an NY-series Industrial PC as the device, Library References does not appear in the above menu. When the device selected currently is an NJ/NX-series CPU

Unit or an NY-series Industrial PC, the device icon is displayed in the Multiview Explorer.

3 Add the desired Sysmac Library to the list and click the OK Button.

The Sysmac Library file is read into the project.

Now, when you select the Ladder Editor or ST Editor, the function blocks and functions included in a Sysmac Library appear in the Toolbox.

For the procedure for adding and setting libraries in the above screen, refer to the Sysmac Stu- dio Version 1 Operation Manual (Cat. No. W504).

4 Insert the Sysmac Library’s function blocks and functions into the circuit using one of the follow-

ing two methods.

• Select the desired function block or function in the Toolbox and drag and drop it onto the programming editor.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries Installed Using the Installer

Precautions for Correct Use

Device

• Right-click the programming editor, select Insert Function Block in the menu, and enter the fully qualified name (\\name of namespace\name of function block).

After you upgrade the Sysmac Studio, check all programs and make sure that there is no error of the program check results on the Build Tab Page.

Select Project

– Check All Programs from the Main Menu.

Using Upgraded Libraries

1 Start the Sysmac Studio and open a project in which any old-version Sysmac Library is

included.

2 Select Project – Library – Show References.

If you have more than one registered device in the project, make sure that the device selected currently is an NJ/NX-series CPU Unit or an NY-series Industrial PC. Otherwise, Library References does not appear in the above menu. When the device selected currently is an

NJ/NX-series CPU Unit or an NY-series Industrial PC, the device icon is displayed in the Multiview Explorer.

3 Select an old-version Sysmac Library and click the Delete Reference Button.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries Installed Using the Installer

4 Add the desired Sysmac Library to the list and click the OK Button.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC

Version Information

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC

You can use Sysmac Libraries uploaded from a CPU Unit or an Industrial PC to your computer if they are not installed.

The procedure to use uploaded Sysmac Libraries from a CPU Unit or an Industrial PC is as follows.

To use Sysmac Libraries, you need the Sysmac Studio version 1.14 or higher.

1 Start the Sysmac Studio and create a new project in which you want to use Sysmac Libraries.

2 Connect the computer to the CPU Unit or the Industrial PC and place it online. 3 Upload POUs in which any Sysmac Library is used to the computer.

Now, when you select the Ladder Editor or ST Editor, the function blocks and functions included in the Sysmac Library used in the uploaded POUs appear in the Toolbox.

4 Insert the Sysmac Library’s function blocks and functions into the circuit using one of the follow-

ing two methods.

• Select the desired function block or function in the Toolbox and drag and drop it onto the Ladder Editor.

Drug & Drop

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC

Precautions for Correct Use

• Right-click the programming editor, select Insert Function Block in the menu, and enter the fully qualified name (\\name of namespace\name of function block).

• The Sysmac Studio installs library files of the uploaded Sysmac Stutio to the specified folder on the computer if they are not present. However, the Sysmac Studio does not install library files to the specified folder on the computer if they are present.

The specified folder here means the folder in which library files are installed by the installer.

• Note that uploading Sysmac Libraries from a CPU Unit or an Industrial PC does not install the manual and help files for the Sysmac Libraries, unlike the case where you install then using the installer. Please install the manual and help files using the installer if you need them.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Common Specifications of Function Blocks

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Common Variables

This section describes the specifications of variables (EN, Execute, Enable, Abort, ENO, Done, CalcRslt, Enabled, Busy, CommandAborted, Error, ErrorID, and ErrorIDEx) that are used for more than

one function or function block. The specifications are described separately for functions, for execute-type function blocks, and for enable-type function blocks.

Definition of Input Variables and Output Variables

Common input variables and output variables used in functions and function blocks are as follows.

Function/function

Var iabl e I/O

EN Input BOOL OK Execute The processing is executed while the

Execute OK Execute The processing is executed when the

Enable OK Run The processing is executed while the

Abort BOOL OK Abort The processing is aborted.

Data type

block type to use

Execute-

type

Enable-

type

Meaning DefinitionFunction block

Function

variable is TRUE.

variable changes to TRUE.

variable is TRUE.

You can select the aborting method.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Common Variables

Function/function

Variable I/O

ENO Output BOOL OK Done The variable changes to TRUE when the

Done BOOL OK Done The variable changes to TRUE when the

Busy BOOL OK OK Executing The variable is TRUE when the process-

CalcRslt LREAL OK Calculation

Enabled BOOL OK Enabled The variable is TRUE when the output is

Command Aborted

Error BOOL OK OK Error This variable is TRUE while there is an

ErrorID WORD OK OK Error Code An error code is output. ErrorIDEx DWORD OK OK Expansion

Data type

BOOL OK Command

block type to use

Execute-

type

Enable-

type

Function

Meaning DefinitionFunction block

Result

Aborted

Error Code

processing ends normally.

It is FALSE when the processing ends in an error, the processing is in progress, or the execution condition is not met.

processing ends normally.

It is FALSE when the processing ends in an error, the processing is in progress, or the execution condition is not met.

ing is in progress.

It is FALSE when the processing is not in progress.

The calculation result is output.

enabled. It is used to calculate the control amount for motion control, temperature control, etc.

The variable changes to TRUE when the processing is aborted.

It changes to FALSE when the processing is re-executed the next time.

error.

It is FALSE when the processing ends normally, the processing is in progress, or the execution condition is not met.

An expansion error code is output.

Execute-type Function Blocks

• Processing starts when Execute changes to TRUE.

• When Execute changes to TRUE, Busy also changes to TRUE. When processing is completed normally, Busy changes to FALSE and Done changes to TRUE.

• When continously executes the function blocks of the same instance, change the next Execute to TRUE for at least one task period after Done changes to FALSE in the previous execution.

• If the function block has a CommandAborted (Instruction Aborted) output variable and processing is aborted, CommandAborted changes to TRUE and Busy changes to FALSE.

• If an error occurs in the function block, Error changes to TRUE and Busy changes to FALSE.

• For function blocks that output the result of calculation for motion control and temperature control, you can use the BOOL input variable Abort to abort the processing of a function block. When Abort changes to TRUE, CommandAborted changes to TRUE and the execution of the function block is aborted.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Common Variables

Busy

Done

CommandAborted

Error

16#00000000

16#0000

ErrorID

ErrorIDEx

Execute

Busy

Abort

CommandAborted

Error

16#00000000

16#0000

ErrorID

ErrorIDEx

Execute

In-out variables

Input variables

• If Execute is TRUE and Done, CommandAborted, or Error changes to TRUE, Done, CommandAborted, and Error changes to FALSE when Execute is changed to FALSE.

• If Execute is FALSE and Done, CommandAborted, or Error changes to TRUE, Done,CommandAborted, and Error changes to TRUE for only one task period.

• If an error occurs, the relevant error code and expansion error code are set in ErrorID (Error Code) and ErrorIDEx (Expansion Error Code). The error codes are retained even after Error changes to FALSE, but ErrorID is set to 16#0000 and ErrorIDEx is set to 16#0000 0000 when Execute changes to TRUE.

Abcd_instance

Abcd

InOut_Val InOut_Val

Execute Done

Busy

CommandAborted

Error

ErrorID

ErrorIDEx

In-out variables

Output variables

Timing Charts

This section provides timing charts for a normal end, aborted execution, and errors.

 Normal End

 Canceled Execution

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

 Aborted Execution

Busy

Done

CommandAborted

Error

16#00000000

16#0000

ErrorID

ErrorIDEx

Execute

Busy

Done

CommandAborted

Error

16#0000 16#0000

ErrorID

16#00000000 16#00000000ErrorIDEx ErrorIDEx

ErrorIDEx

Execute

ErrorIDErrorIDErrorID ErrorID

 Errors

Common Variables

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Common Variables

Busy

Enabled

Error

16#00000000

16#0000

ErrorID

ErrorIDEx

Enable

CalcRslt

Retained

Enable-type Function Blocks

• Processing is executed while Enable is TRUE.

• When Enable changes to TRUE, Busy also changes to TRUE. Enabled is TRUE during calculation of the output value.

• If an error occurs in the function block, Error changes to TRUE and Busy and Enabled change to FALSE. When Enable changes to FALSE, Enabled, Busy, and Error change to FALSE.

Abcd_instance

In-out variables

Input variables

InOut_Val InOut_Val

Enable Enabled

Abcd

CalcRslt

Busy Error

ErrorID

ErrorIDEx

In-out variables

Output variables

• For function blocks that calculate the control amount for motion control, temperature control, etc., Enabled is FALSE when the value of CalcRslt (Calculation Result) is incorrect. In such a case, do not use CalcRslt. In addition, after the function block ends normally or after an error occurs, the value of CalcRslt is retained until Enable changes to TRUE. The control amount will be calculated based on the retained CalcRslt value, if it is the same instance of the function block that changed Enable to TRUE. If it is a different instance of the function block, the control amount will be calculated based on the initial value.

Timing Charts

This section provides timing charts for a normal end and errors.

 Normal End

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

 Errors

Busy

Enabled

Error

16#000016#0000 16#0000

ErrorID

ErrorIDEx

Enable

ErrorIDErrorIDErrorID ErrorID

16#00000000

ErrorIDErrorIDErrorID ErrorID

16#0000

CalcRslt

Retained

Common Variables

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Precautions

This section provides precautions for the use of this function block.

Nesting

You can nest calls to this function block for up to four levels.

For details on nesting, refer to the software user’s manual.

Instruction Options

You cannot use the upward differentiation option for this function block.

Re-execution of Function Blocks

Execute-type function blocks cannot be re-executed by the same instance.

If you do so, the output value will be the initial value.

For details on re-execution, refer to the motion control user’s manual.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Individual Specifications of

Function Blocks

Function block name Name Page

InitEncoder_1S 1S-series Servo Drive

Absolute Encoder Initialize

Backup_1S 1S-series Servo Drive

Parameter Backup

Restore_1S 1S-series Servo Drive

Parameter Restore

MotorSetup_1S 1S-series Servo Drive

Motor Replacement Detected

Restart_1S 1S-series Servo Drive

Function Block Restarts

EasyTuning_1S 1S-series Servo Drive

Easy tuning

P. 3 2

P. 4 1

P. 5 5

P. 6 4

P. 7 3

P. 7 8

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

InitEncoder_1S

TimeOut

NodeAdr

Execute

InitEncoder_1S_instance

\\OmronLib\EC_1S

\InitEncoder_1S

Error

ErrorID

ErrorIDEx

Busy

Done

InitEncoder_1S

The InitEncoder_1S function block initializes the absolute encoder (clears the multi-rotation counter for

Function block

InitEncoder_1S 1S-series Servo

the absolute encoder) for a 1S-series Servo Drive.

FB/

FUN

FB InitEncoder_1S_instance(

name

Name

Drive Absolute Encoder Initialize

Graphic expression ST expression

Execute, NodeAdr, TimeOut, Done, Busy, Error, ErrorID, ErrorIDEx);

Library Information

Item Description

Library file name OmronLib_EC_1S_V2_0.slr Namespace OmronLib\EC_1S Function block and function number 00042 Source code published/not published Not published Function block and function version 1.00

Compatible Models

Item Name Model numbers Ve r sion

Device 1S-series Servo Drive

R88D-1SN-ECT R88D-1SAN-ECT

Version 1.00 or later

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

InitEncoder_1S

Variables

Name Meaning I/O Description Valid range Unit Default

TRUE: Executes the instruction.

Execute Execute Input

FALSE: Does not execute the instruction.

NodeAdr

Slave Node Address

Input

TimeOut Timeout time Input

Node address of the Servo Drive to initialize

0: 2.0 s

1 to 65535: 0.1 to 6553.5 s TRUE: Normal end

Done Done Output

FALSE: Error end, execution in progress, or execution condition not met

TRUE: Execution processing is in

Busy Executing Output

progress.

FALSE: Execution processing is not in progress.

TRUE: Error end

Error Error Output

FALSE: Normal end, execution in progress, or execution condition not met

This is the error ID for an error

ErrorID Error Code Output

end.

The value is WORD#16#0 for a normal end. This is the error ID for an Expan-

ErrorIDEx

Expansion Error Code

Output

sion Unit Hardware Error.

The value is DWORD#16#0 for a normal end.

*1. The valid range is 1 to 192 for NJ-series CPU Units.

*2. For details, refer to Troubleshooting on page 37

TRUE or FALSE

1 to 512

--- FALSE

--- 1

0 to 65535 0.1 s

TRUE or FALSE

--- ---

(2.0 s)

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

InitEncoder_1S

Bo ole

Name

BOOL

Execute OK

NodeAdr OK

TimeOut OK Done OK Busy OK Error OK ErrorID OK ErrorIDEx OK

Bit strings Integers

BYTE

WORD

DWORD

LWORD

USINT

Real

num-

UINT

UDINT

ULINT

SINT

INT

DINT

LINT

bers

REAL

Times, durations,

dates, and text strings

LREAL

TIME

DATE

TOD

STRING

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Execute

Done

Busy

Error

ErrorID

ErrorIDEx

#0000

#00000000 #00000000 #00000000 #00000000

#0000 #0000 #0000

Execute

Done

Busy

Error

ErrorID

ErrorIDEx

#0000

#00000000 ErrorIDEx #00000000 ErrorIDEx

ErrorID #0000 ErrorID

Function

This function block initializes the absolute encoder (clears the multi-rotation counter for the absolute encoder) for the specified Servo Drive. When the Servo Drive changes to a Fault state (Error No. 27) after the initialization is completed, cycle the control power supply to the Servo Drive.

After sending the initialization command to the Servo Drive, the command part waits for the response for the time specified with TimeOut (Timeout). The value of ErrorIDEx is 0 for a normal end.

Timing Charts

The following figures show the timing charts for the function block.

• Busy (Executing) changes to TRUE when Execute changes to TRUE.

• Done changes to TRUE when the initialize process is ended.

• If an error occurs when execution of the function block is in progress, Error changes to TRUE and

•If Execute changes to FALSE before execution of the function block is ended, Done and Error are

•If Execute remains TRUE even after execution of the function block is ended, the output values of

InitEncoder_1S

Busy (Executing) changes to FALSE.

You can find out the cause of the error by accessing the values output to ErrorID (Error Code) and ErrorIDEx (Expansion Error Code).

TRUE only for one task period after execution of the function block is ended.

Done and Error are held.

 Timing Chart for Normal End

 Timing Chart for Error End

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

InitEncoder_1S

Related System-defined Variables

Name Meaning Data type Description

Message Communica-

_EC_MBXSlavTbl

*1. The valid is 192 for NJ-series CPU Units.

tions Enabled Slave Ta bl e

Additional Information

This function block initializes absolute encoders by writing 6a64 6165 hex to the object of servo parameter Index:4510 hex Subindex:F1 hex (Absolute Encoder Setup) with SDO mailbox communications.

Array[1..512

] OF BOOL

This table indicates the slaves that can perform message communications. Slaves are given in the table in the order of slave node addresses.

TRUE: Message communications are possible.

FALSE: Message communications are not possible.

Precautions for Correct Use

• Execution of this function block will be continued until processing is ended even if the value of Execute changes to FALSE or the execution time exceeds the task period. The value of Done changes to

TRUE when processing is ended. Use this to confirm normal ending of processing.

• This function block executes one EC_CoESDOWrite instruction or one EC_CoESDORead instruction within the part. Refer to the EC_CoESDOWrite instruction in the instructions reference manual for the maximum number of instructions that can be executed at the same time.

• After completion of the function block, the 1S-series Servo Drive changes to a Fault state. Cycle the control power supply to the Servo Drive.

• Execute the function block while the Servo is OFF.

• If the Servo Drive is assigned to the Motion Control Function Module, make sure that the Axis Disabled (_MC_AX[***].Status.Disabled) in the Axis Variable is TRUE before you execute the function block.

• Make sure that the Servo Drive is a compatible model before executing this function block.

• Sample programming shows only the portion of a program that uses the function or function block from the library.

• When using sample programming in actual devices, also program safety circuits, device interlocks, I/O with other devices, and other control procedures.

• Create a user program that will produce the intended device operation.

• Check the user program for proper execution before you use it for actual operation.

• An error will occur in the following cases. Error will change to TRUE.

a) The EtherCAT master is not in a state that allows message communications.

b) The slave specified with NodeAdr does not exist.

c) The slave specified with NodeAdr is not in a state that allows communications.

d) The slave is not in a state that allows writing of parameters.

e) The number of EtherCAT communications instructions such as EC_CoESDOWrite exceeded the

maximum number of instructions that can be executed at the same time.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

InitEncoder_1S

Troubleshooting

Error code

16#0000 16#00000000 Normal End --- --16#0400 16#00000000 Input Value Out

16#1800 16#00000000 EtherCAT Com-

16#1801 16#00000000 EtherCAT Slave

16#1802 16#00000000 EtherCAT Time-

16#1803 16#00000000 Reception Buf-

16#1804 SDO Abort

16#1808 16#00000000 Communica-

16#3C2C 16#00000001 VendorID Not

*1. An SDO abort code is shown here. Refer to SDO Abort Codes in the instructions reference manual for a list of SDO abort

codes.

Expansion

error code

Status Description Correction

of Range

munications Error

Does Not Respond

out

fer Overflow

SDO Abort Error The cause of this error

Code

tions Resource Overflow

Matched

16#00000003 Initialization Fail-

ure

16#00000004 Unsupported

Device

The value of NodeAdr is out of range.

The EtherCAT network is not in a usable status.

The target slave does not exist.

The target slave is not in an operating condition.

Communications with the target slave timed out.

The receive data from an EtherCAT slave overflowed the receive buffer.

depends on the specifications of the EtherCAT slave.

More than 32 EtherCAT communications instructions were executed at the same time.

The device is not supported by this function block (A non-OMRON device is specified). The encoder initialization was not completed within one minute.

The device is not supported by this function block.

Set the value of NodeAdr cor- rectly.

Check the operation status of the EtherCAT network by checking the status of the EtherCAT master. Use this information to correct the cause of the problem. Specify an existing node address.

Check the status of the target EtherCAT slave. Make sure that the target slave is in a usable status.

Check the operating status of the target slave and correct the cause of the problem.

Set the size of the reception buffer to a value larger than the size of the receive data from the slave.

Refer to the manual for the EtherCAT slave and correct the problem.

Correct the user program so that no more than 32 EtherCAT communications instructions are executed at the same time.

Check that the specified device is a 1S-series Servo Drive.

Execute the function block again. The encoder was located near the position of one rotation at the start of the initialization and fell in a state of a multi-rotation due to vibration etc. This may be assumed as an initialization failure when the Servo Drive checks the completion of the initialization.

Replace the 1S-series Servo Drive.

Check that the specified device is a 1S-series Servo Drive.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

InitEncoder_1S

Sample Programming

Conditions

This sample programming initializes the absolute encoder for a Servo Drive.

• The target Servo Drive is Node 1.

• The target Servo Drive is assigned to axis 0 in the Motion Control Function Module.

• The timeout time is 2 s (default).

Processing

1 Make sure that the target slave is in a state that allows communications, that axis 0 is disabled,

and that the same instance is not being executed.

2 Execute INITENCODER_1S_instance.

 Internal Variables

Name Data type Default Comment

INITENCODER_1S_instance OmronLib\EC_1S\InitEncoder_1S OperatingEnd BOOL Processing completed Trigger BOOL FALSE Execution condition Operating BOOL Processing RS_instance RS InitEncoderBusy BOOL

 External Variables

Variable Data type Constant Comment

_EC_MBXSlavTbl

MC_Axis000 _sAXIS_REF  Servo off

*1. N = 192 for NJ501, NJ301 and NJ101. N = 512 for NX701.

ARRAY[1..N

] OF BOOL



Message Communications Enabled Slave Ta bl e

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

InitEncoder_1S

 Internal Variables

Name Data type Default Comment

INITENCODER_1S_instance OmronLib\EC_1S\InitEncoder_1S Trigger BOOL FALSE Execution condition

LastTrigger BOOL FALSE

OperatingStart BOOL FALSE Processing started. Operating BOOL FALSE Processing InitEncoderBusy BOOL FALSE

 External Variables

Variable Data type Constant Comment

_EC_MBXSlavTbll

ARRAY[1..N

] OF BOOL



MC_Axis000 _sAXIS_REF  Servo off

*1. N = 192 for NJ501, NJ301 and NJ101. N = 512 for NX701.

Message Communications Enabled Slave Table

Value of Trigger from previous task

// Detect when Trigger changes to TRUE. IF ( (Trigger=TRUE) AND (LastTrigger=FALSE) AND (_EC_MBXSlavTbl[1]=TRUE) AND MC_Axis000.Status.Disabled=TRUE) AND(InitEncoderBusy=FALSE) ) THEN OperatingStart:=TRUE; Operating :=TRUE; END_IF; LastTrigger:=Trigger; // Initialize InitEncoder_1S instruction. IF (OperatingStart=TRUE) THEN INITENCODER_1S_instance( Execute :=FALSE); OperatingStart:=FALSE; END_IF; // Execute Backup_1S instruction.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

InitEncoder_1S

IF (Operating=TRUE) THEN INITENCODER_1S_instance( Execute :=TRUE, NodeAdr:=UINT#1, TimeOut:=UINT#0, Busy=>InitEncoderBusy); IF (INITENCODER_1S_instance.Done=TRUE) THEN // Processing after normal end. Operating:=FALSE; END_IF; IF (INITENCODER_1S_instance.Error=TRUE) THEN // Processing after error end. Operating:=FALSE; END_IF; END_IF;

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

NodeAdr

DirName

OverWrite

TimeOut

Execute

Backup_1S_instance

\\OmronLib\EC_1S

\Backup_1S

Busy

SdoBusy

Error

ErrorID

ErrorIDEx

Done

The Backup_1S function block backs up the parameters for a 1S-series Servo Drive and stores them

Function block

Backup_1S 1S-series Servo

as a backup file on the SD Memory Card inserted in the Controller.

name

Name

Drive Parameter Backup

Backup_1S

FB/

FUN

FB Backup_1S_instance(

Graphic expression ST expression

Execute, NodeAdr, DirName, OverWrite, TimeOut, Done, Busy, SdoBusy, Error, ErrorID, ErrorIDEx);

Library Information

Item Description

Library file name OmronLib_EC_1S_V2_0.slr Namespace OmronLib\EC_1S Function block and function number 00043 Source code published/not published Not published Function block and function version 1.00

Compatible Models

Item Name Model numbers Ver sion

Device 1S-series Servo Drive R88D-1SN-ECT Version 1.00 or later

R88D-1SAN-ECT

SD Memory Card HMC-SD

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

Variables

Name Meaning I/O Description Va lid ra nge Unit Default

TRUE: Executes the instruction.

Execute Execute Input

FALSE: Does not execute the instruction.

NodeAdr

Slave Node Address

Input Specifies the node address.

Specifies the directory on the SD

DirName Directory Name Input

Memory Card. The backup file(s) stored in this directory will be restored.

OverWrite Overwrite Enable Input

TimeOut Timeout Time Input

TRUE: Enables overwrite.

FALSE: Prohibits overwrite. 0: 2.0 s

1 to 65535: 0.1 to 6553.5 s TRUE: Normal end

Done Done Output

FALSE: Error end, execution in progress, or execution condition not met

TRUE: Execution processing is in

Busy Executing Output

progress.

FALSE: Execution processing is not in progress. This flag is TRUE when an SDO communications command is

sent to a 1S-series Servo Drive.

SdoBusy

Processing Sdo Communications

Output

TRUE: Error end

Error Error Output

FALSE: Normal end, execution in progress, or execution condition not met

This is the error ID for an error

ErrorID Error Code Output

end.

The value is WORD#16#0 for a normal end. This is the error ID for an Expan-

ErrorIDEx

Expansion Error Code

Output

sion Unit Hardware Error.

The value is DWORD#16#0 for a normal end.

*1. The valid range is 1 to 192 for NJ-series CPU Units.

*2. If DirName is omitted, this specifies the root directory on the SD Memory Card.

*3. You can use it to identify that communications processing is in progress.

*4. For details, refer to Troubleshooting on page 48.

TRUE or FALSE

1 to 512

40 bytes max. ---

TRUE or FALSE

0 to 65535 0.1 s

TRUE or FALSE

--- FALSE

--- 1

--- FALSE

(2.0 s)

--- ---

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

Name

ole

BOOL

Bit strings Integers

BYTE

WORD

DWORD

LWORD

USINT

UINT

UDINT

ULINT

SINT

INT

DINT

Execute OK

NodeAdr OK

DirName OK OverWrite OK TimeOut OK Done OK Busy OK SdoBusy OK Error OK ErrorID OK ErrorIDEx OK

LINT

Real

num-

bers

REAL

Times, durations,

dates, and text strings

LREAL

TIME

DATE

TOD

STRING

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

Function

• The Backup_1S function block reads parameters for the 1S-series Servo Drive at the node address

• To use this function block, you need to create in advance a directory named OM_ObjList\Drive in the

• Object lists that are provided by OMRON are installed in ‘C:\OMRON\Data\Attachement’ when

• A backup file is binary data that has the name “BackupFile_Node

• If the directory specified with DirName (Directory Name) does not exist, the function block creates a

specified with NodeAdr (Node Address) when Execute changes to TRUE and creates a backup file in the directory specified with DirName (Directory Name) on the SD Memory Card.

root directory on the SD Memory Card and store object lists provided by OMRON in it. Be sure to store all the object lists. Then, access the object lists to back up the parameters with this function block.

installing libraries. Uncompress a ZIP file for an applicable series and store the files in the SD Memory Card.

.Bin”. Here,  is a

slave node address in decimal (e.g., 00001 for Node 1).

new directory with the specified directory name. If DirName (Directory Name) is omitted, the function block assumes that the root directory on the SD Memory Card is specified.

CPU Unit or Industrial PC

1S-series Servo Drive

Parameters

SD Memory Card

Root directory

Directory: OM_ObjList

Directory: Drive

ObjList_R88D-1SN01H-ECT_Rev00010000.bin

. . . . .

EtherCAT

Directory: DirName

BackupFile_Node00001.bin

Node1 Node10 Node100

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

Execute

Done

Busy

SdoBusy

Error

ErrorID

ErrorIDEx

#0000

#00000000 #00000000 #00000000 #00000000

#0000 #0000 #0000

Execute

Done

Busy

SdoBusy

Error

ErrorID

ErrorIDEx

#0000

#00000000 ErrorIDEx #00000000 ErrorIDEx

ErrorID #0000 ErrorID

 Procedure

1 Create a directory named OM_ObjList\Drive in the root directory on the SD Memory Card and

store all the object lists provided by OMRON in it.

2 Execute the function block.

For NodeAdr (Slave Node Address), specify the node address of the backup target slave.

If necessary, set DirName (Directory Name) and TimeOut (Timeout Time).

3 A backup file is created in the directory specified with DirName (Directory Name) when execu-

Timing Charts

The following figures show the timing charts for the function block.

• Busy (Executing) changes to TRUE when Execute changes to TRUE.

• When backup file creation is ended, Done changes to TRUE.

• If an error occurs when execution of the function block is in progress, Error changes to TRUE and

•If Execute changes to FALSE before execution of the function block is ended, Done and Error are

•If Execute remains TRUE even after execution of the function block is ended, the output values of

tion of the function block is ended.

Busy (Executing) changes to FALSE.

You can find out the cause of the error by accessing the values output to ErrorID (Error Code) and ErrorIDEx (Expansion Error Code).

TRUE only for one task period after execution of the function block is ended.

Done and Error are held.

 Timing Chart for Normal End

 Timing Chart for Error End

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

Related System-defined Variables

Name Meaning Data type Description

_Card1Ready

_EC_MBXSlavTbl

*1. The valid is 192 for NJ-series CPU Units.

SD Memory Card Ready Flag

Message Communications Enabled Slave Ta bl e

BOOL

Array[1..512

] OF BOOL

TRUE when the SD Memory Card is recognized. It is FALSE when the SD Memory Card is not recognized.

TRUE: Can be used.

FALSE: Cannot be used. This table indicates the slaves that

can perform message communications. Slaves are given in the table in the order of slave node addresses.

TRUE: Message communications are possible.

FALSE: Message communications are not possible.

Additional Information

• An object list is binary data that stores, by the revision number of EtherCAT slaves, SDO parameter information (Index, Subindex, and Complete Access) for the backup target parameters.

• For information on the characters that can be used in DirName, refer to Specifications of Supported SD Memory Cards, Folders, and Files in the software user’s manual.

• In backup or restore processing, the value of SdoBusy is TRUE when data objects are being sent. The value of SdoBusy is FALSE when data objects are not being sent due to the internal processing of the function block.

• If you turn OFF the power supply to the 1S-series Servo Drive when replacing a 1S-series Servo Drive or when applying the restored parameters, an EtherCAT slave communications error will occur.

• The EtherCAT slave communications error does not occur, if you perform EtherCAT slave disconnection before turning OFF the power supply to the 1S-series Servo Drive.

• Refer to Objects to Back up and Restore on page 96 for details on the objects to back up and restore.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Precautions for Correct Use

TRUE when processing is ended. Use this to confirm normal ending of processing.

• This function block executes one EC_CoESDORead instruction within the part. Refer to the EC_CoESDORead instruction in the instructions reference manual for the maximum number of instructions that can be executed at the same time.

• This function block executes one FileWriteVar instruction within the part. Refer to the FileWriteVar instruction in the instructions reference manual for the maximum number of instructions that can be executed at the same time.

• Do not change the names and the contents of any object list.

• Sample programming shows only the portion of a program that uses the function or function block from the library.

• When using sample programming in actual devices, also program safety circuits, device interlocks, I/O with other devices, and other control procedures.

• Create a user program that will produce the intended device operation.

• Check the user program for proper execution before you use it for actual operation.

• An error will occur in the following cases. Error will change to TRUE.

a) No object list exists.

b) The EtherCAT master is not in a state that allows message communications.

c) The slave specified with NodeAdr does not exist.

d) The slave specified with NodeAdr is not in a state that allows communications.

e) The slave is not in a state that allows reading of parameters.

f) The number of EtherCAT communications instructions such as EC_CoESDORead exceeded the

maximum number of instructions that can be executed at the same time.

g) SD Memory Card access failed (no SD Memory Card inserted, write protection enabled, etc.).

h) The number of SD Memory Card related instructions such as FileWriteVar exceeded the maxi-

mum number of instructions that can be executed at the same time.

Backup_1S

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

Troubleshooting

Error code

16#0000 16#00000000 Normal End --- --16#0400 16#00000000 Input Value Out

16#1400 16#00000000 SD Memory

16#1401 16#00000000 SD Memory

16#1402 16#00000000 SD Memory

16#1403 16#00000000 File Does Not

16#1405 16#00000000 File Already in

16#1409 16#00000000 That File Name

16#140A 16#00000000 Write Access

16#140B 16#00000000 Too Many Files

Expansion error code

Status Description Correction

of Range

The value of NodeAdr is out of range.

The directory name specified

Set the value of NodeAdr correctly.

Set DirName correctly. with DirName contains one or more characters that cannot be used. The directory name specified with DirName is too long.

Check the length of the direc-

tory name specified with Dir-

Name and set it to within the

valid range.

Insert an SD Memory Card cor-

rectly.

Replace the SD Memory Card

with one that operates nor-

Card Access Failure

An SD Memory Card is either not inserted or is not inserted properly.

The SD Memory Card is broken.

mally. The SD Memory Card slot is

broken.

If this error persists even after

making the above two correc-

tions, replace the CPU Unit or

the Industrial PC.

Remove write protection from

the SD Memory Card. Slide the

small switch on the side of the

Card Write-protected

An attempt was made to write to a write-protected SD Memory Card.

SD Memory Card from the

LOCK position to the writable

position.

Card Insufficient Capacity

The SD Memory Card ran out of free space.

Replace the SD Memory Card

for one with sufficient available

capacity. Object lists are not stored. Check the SD Memory Card

Exist

and store correct object lists on

it.

Correct the user program so

that this function block is exe-

cuted only when the Busy out-

put variable for all other

Use

An instruction attempted to read or write a file already being accessed by another instruction.

instructions for the same file is

FALSE.

Change the directory in which

to store the backup file. Or,

delete the existing backup file

Already Exists

The backup file exists on the SD Memory Card when Over- Write is FALSE.

in advance.

Remove write protection from

the file or directory specified for

the function block. Or, change

Denied

The file or directory specified for the function block to write is write-protected.

the file name of the file to write.

Correct the user program to

decrease the number of open

files.

Open

The maximum number of open files was exceeded when opening a file for the function block.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

Error code

16#140E 16#00000000 SD Memory

16#1800 16#00000000 EtherCAT Com-

16#1801 16#00000000 EtherCAT Slave

16#1802 16#00000000 EtherCAT Time-

16#1803 16#00000000 Reception Buf-

16#1804 SDO Abort

16#1808 16#00000000 Communica-

16#3C2D 16#00000001 VendorID Not

*1. Refer to SDO Abort Codes in the instructions reference manual for a list of SDO abort codes.

Expansion

error code

Code

16#00000002 ProductCode

16#00000003 Unsupported

Status Description Correction

Card Access Failed

munications Error

Does Not Respond

out

fer Overflow

SDO Abort Error The cause of this error

tions Resource Overflow

Matched

Not Matched

Device

The SD Memory Card is broken.

The SD Memory Card slot is broken.

The EtherCAT network is not in a usable status.

The target slave does not exist. Specify an existing node

The target slave is not in an operating condition.

Communications with the target slave timed out.

The receive data from an EtherCAT slave overflowed the receive buffer.

depends on the specifications of the EtherCAT slave.

More than 32 EtherCAT communications instructions were executed at the same time.

The VendorID in object lists does not match the VendorID of the backup target node.

The ProductCode in object lists does not match the ProductCode of the backup target node.

The device is not supported by this function block.

Replace the SD Memory Card.

If this error occurs even after making the above correction, replace the CPU Unit or the Industrial PC. Check the operation status of the EtherCAT network by checking the status of the EtherCAT master. Use this information to correct the cause of the problem.

address. Check the status of the target

EtherCAT slave. Make sure that the target slave is in a usable status.

Check the operating status of the target slave and correct the cause of the problem. Set the size of the reception buffer to a value larger than the size of the receive data from the slave.

Refer to the manual for the EtherCAT slave and correct the problem.

Correct the user program so that no more than 32 EtherCAT communications instructions are executed at the same time. Use object lists that match the VendorID of the backup target node.

Use object lists that match the ProductCode of the backup target node.

Check that the specified device is a 1S-series Servo Drive.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

Sample Programming

This sample programming backs up and then restores parameters for a Servo Drive.

Conditions

• The target 1S-series Servo Drive is Node 1.

• The target 1S-series Servo Drive is assigned to axis 0 in the Motion Control Function Module.

• The backup file is created in the TestDir directory.

• The backup file is write-protected (default).

• The timeout time is 2 s (default).

Backup Processing

1 Make sure that the target slave is in a state that allows communications, that axis 0 is disabled,

that the same instance is not being executed, and that parameters are not being restored to the same node.

2 Execute BACKUP_1S_instance.

Restore Processing

1 Make sure that the Servo is OFF for axis 0 and disconnect the target slave from the network. 2 Turn OFF the power supply to the target slave and replace the target slave. 3 Connect the target slave to the network again. 4 Make sure that the target slave is in a state that allows communications, that axis 0 is disabled,

that the same instance is not being executed, and that parameters are not being backed up from the same node.

5 Execute RESTORE_1S_instance. 6 After completion of the restore processing, disconnect the target slave from the network, cycle

the control power supply to the target slave, and connect the target slave to the network again.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

 Internal Variables

Name Data type Default Comment

BACKUP_1S_instance OmronLib\EC_1S\Backup_1S RESTORE_1S_instance OmronLib\EC_1S\Restore_1S InitTrigger BOOL FALSE BackupTrigger BOOL FALSE Backup execution condition RestoreTrigger BOOL FALSE Restore execution condition TargetSlave UINT 1 Target slave node Address TargetDirectory STRING[41] '' SD card directory TargetTimeOut UINT 0 Time out value BackupBusy BOOL RestoreBusy BOOL BackupOperating BOOL Backup processing RestoreOperating BOOL Restore processing BackupOperatingEnd BOOL Backup processing completed RestoreOperatingEnd BOOL Restore processing completed RS_Backup_instance RS RS_Restore_instance RS

 External Variables

Name Data type Constant Comment

_EC_MBXSlavTbl

ARRAY[1..N

] OF BOOL



_Card1Ready BOOL  SD Memory Card Ready Flag

*1. N = 192 for NJ501, NJ301 and NJ101. N = 512 for NX701.

Message Communications Enabled Slave Table

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

 Internal Variables

Name Data type Default Comment

BackupLastTrigger BOOL FALSE

RestoreLastTrigger BOOL FALSE

BackupOperating BOOL FALSE Backup processing RestoreOperating BOOL FALSE Restore processing BackupOperatingStart BOOL FALSE Backup processing started RestoreOperatingStart BOOL FALSE Restore processing started

Value of BackupTrigger from previous task

Value of RestoreTrigger from previous task

 External Variables

Variable Data type Constant Comment

_EC_MBXSlavTbl

ARRAY[1..N

] OF BOOL



_Card1Ready BOOL  SD Memory Card Ready Flag

*1. N = 192 for NJ501, NJ301 and NJ101. N = 512 for NX701.

// Backup and Resotre parameters setting. IF InitTrigger=FALSE THEN TargetSlave:=UINT#1; TargetDirectory:='TestDir'; TargetTimeOut:=UINT#0; InitTrigger:=TRUE; END_IF; // Detect when BackupTrigger changes to TRUE. IF ( (BackupTrigger=TRUE) AND (BackupLastTrigger=FALSE) AND (_EC_MBXSlavTbl[TargetSlave]=TRUE) AND (_Card1Ready=TRUE) AND (BackupBusy=FALSE) AND (RestoreBusy=FALSE) ) THEN BackupOperatingStart:=TRUE; BackupOperating :=TRUE; END_IF; BackupLastTrigger:=BackupTrigger; // Initialize Backup_1S instruction. IF (BackupOperatingStart=TRUE) THEN BACKUP_1S_instance( Execute :=FALSE); BackupOperatingStart:=FALSE; END_IF; // Execute Backup_1S instruction. IF (BackupOperating=TRUE) THEN BACKUP_1S_instance(

Message Communications Enabled Slave Ta bl e

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Backup_1S

Execute :=TRUE, NodeAdr:=TargetSlave, DirName:=TargetDirectory, OverWrite:=FALSE, TimeOut:=TargetTimeOut, Busy=>BackupBusy); IF (BACKUP_1S_instance.Done=TRUE) THEN // Processing after normal end. BackupOperating:=FALSE; END_IF; IF (BACKUP_1S_instance.Error=TRUE) THEN // Processing after error end. BackupOperating:=FALSE; END_IF; END_IF; // Detect when RestoreTrigger changes to TRUE. IF ( (RestoreTrigger=TRUE) AND (RestoreLastTrigger=FALSE) AND (_EC_MBXSlavTbl[TargetSlave]=TRUE) AND (_Card1Ready=TRUE) AND (BackupBusy=FALSE) AND (RestoreBusy=FALSE) ) THEN RestoreOperatingStart:=TRUE; RestoreOperating :=TRUE; END_IF; RestoreLastTrigger:=RestoreTrigger; // Initialize Restore_1S instruction. IF (RestoreOperatingStart=TRUE) THEN RESTORE_1S_instance( Execute :=FALSE); RestoreOperatingStart:=FALSE; END_IF; // Execute Restore_1S instruction. IF (RestoreOperating=TRUE) THEN RESTORE_1S_instance( Execute :=TRUE, NodeAdr:=TargetSlave, DirName:=TargetDirectory, NoProductChk:=FALSE, TimeOut:=TargetTimeOut, Busy=>RestoreBusy); IF (RESTORE_1S_instance.Done=TRUE) THEN // Processing after normal end. RestoreOperating:=FALSE; END_IF; IF (RESTORE_1S_instance.Error=TRUE) THEN // Processing after error end. RestoreOperating:=FALSE; END_IF; END_IF;

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restore_1S

TimeOut

NodeAdr

DirName

NoProductChk

Execute

Restore_1S_instance

\\OmronLib\EC_1S

\Restore_1S

Busy

SdoBusy

Error

ErrorID

ErrorIDEx

Done

The Restore_1S function block restores the backup file(s) created by the Backup_1S function block on

Function block

Restore_1S 1S-series Servo

the SD Memory Card inserted in the Controller to a 1S-series Servo Drive.

name

Name

Drive Parameter Restore

Restore_1S

FB/

FUN

FB Restore_1S_instance(

Graphic expression ST expression

Execute, NodeAdr, DirName, NoProductChk, TimeOut, Done, Busy, SdoBusy, Error, ErrorID, ErrorIDEx);

Library Information

Item Description

Library file name OmronLib_EC_1S_V2_0.slr Namespace OmronLib\EC_1S Function block and function number 00044 Source code published/not published Not published Function block and function version 1.00

Compatible Models

Item Name Model numbers Ve rsio n

Device 1S-series Servo Drive R88D-1SN-ECT Version 1.00 or later

R88D-1SAN-ECT

SD Memory Card HMC-SD

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restore_1S

Variables

Name Meaning I/O Description Va lid ra nge Unit Default

TRUE: Executes the instruction.

Execute Execute Input

FALSE: Does not execute the instruction.

NodeAdr

Slave Node Address

Input Specifies the node address.

Specifies the directory on the SD

DirName Directory Name Input

Memory Card. The backup file(s) stored in this directory will be restored. Specifies whether or not to execute restore when the product code in the backup data differs

NoProductChk

Product Code Check

Input

from the product code of the restore destination.

TRUE: Executes restore.

FALSE: Prohibits restore.

TimeOut Timeout Time Input

0: 2.0 s

1 to 65535: 0.1 to 6553.5 s TRUE: Normal end

Done Done Output

FALSE: Error end, execution in progress, or execution condition not met

TRUE: Execution processing is in

Busy Executing Output

progress.

FALSE: Execution processing is not in progress. This flag is TRUE when an SDO communications command is

sent to a 1S-series Servo Drive.

SdoBusy

Processing Sdo Communications

Output

TRUE: Error end

Error Error Output

FALSE: Normal end, execution in progress, or execution condition not met

This is the error ID for an error

ErrorID Error Code Output

end.

The value is WORD#16#0 for a normal end. This is the error ID for an Expan-

ErrorIDEx

Expansion Error Code

Output

sion Unit Hardware Error.

The value is DWORD#16#0 for a normal end.

*1. The valid range is 1 to 192 for NJ-series CPU Units.

*2. If DirName is omitted, this specifies the root directory on the SD Memory Card.

*3. You can use it to identify that communications processing is in progress.

*4. For details, refer to Troubleshooting on page 62.

TRUE or FALSE

1 to 512

40 bytes max. ---

TRUE or FALSE

0 to 65535 0.1 s

TRUE or FALSE

--- FALSE

--- 1

--- FALSE

(2.0 s)

--- ---

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restore_1S

Name

ole

BOOL

Bit strings Integers

BYTE

WORD

DWORD

LWORD

USINT

UINT

UDINT

ULINT

SINT

INT

DINT

Execute OK

NodeAdr OK

DirName OK NoProductChk OK TimeOut OK Done OK Busy OK SdoBusy OK Error OK ErrorID OK ErrorIDEx OK

LINT

Real

num-

bers

REAL

Times, durations,

dates, and text strings

LREAL

TIME

DATE

TOD

STRING

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restore_1S

CPU Unit or Industrial PC

BackupFile_Node00001.bin

BackupFile_Node00010.bin

BackupFile_Node00100.bin

EtherCAT

SD Memory Card

Root directory

Directory: DirName

1S-series Servo Drive

Node1 Node10 Node100

Parameters

Function

• When Execute changes to TRUE, the Restore_1S function block restores the backup file(s) in the

• Before you restore a file, use the Backup_1S function block to create one or more backup files.

• The backup file stored at the node address specified with NodeAdr (Node Address) is the restore tar-

• If DirName (Directory Name) is omitted, the function block assumes that the root directory on the SD

• This function block will perform restore if the revision of the backup source device is either the same

• To restore backup data to a node at a different node address from that of the backup source device,

• To restore backup data when the model of the backup source device differs from the model of the

directory specified with DirName (Directory Name) on the SD Memory Card to the 1S-series Servo Drive specified with NodeAdr (Node Address).

get. For example, if NodeAdr is UINT#1, the file “BackupFile_Node00001.Bin” is the restore target.

Memory Card is specified.

as or older than the revision of the restore destination device. If the revision of the backup source device is newer than the revision of the restore destination device, an error will occur.

change the node address portion of the backup file name to the node address of the restore destination device.

restore destination device, set NoProductChk to TRUE. This enables you to execute restore even if you change the model of your Servo Drive. If the parameters in the backup file do not exist in the restore destination device, an SDO Abort error will occur.

 Procedure

1 Execute the function block.

For NodeAdr (Slave Node Address), specify the node address of the restore target slave.

If necessary, set DirName (Directory Name) and TimeOut (Timeout Time).

2 The backup file in the directory specified with DirName (Directory Name) is restored to the

1S-series Servo Drive when execution of the function block is ended.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restore_1S

Execute

Done

Busy

SdoBusy

Error

ErrorID

ErrorIDEx

#0000

#00000000 #00000000 # 00000000 #00000000

#0000 #0000 #0000

Execute

Done

Busy

SdoBusy

Error

ErrorID

ErrorIDEx

#0000

#00000000 ErrorIDEx #00000000 ErrorIDEx

ErrorID #00 00 ErrorID

Timing Charts

The following figures show the timing charts for the function block.

• Busy (Executing) changes to TRUE when Execute changes to TRUE.

• Done changes to TRUE when restore is ended.

• If an error occurs when execution of the function block is in progress, Error changes to TRUE and Busy (Executing) changes to FALSE.

You can find out the cause of the error by accessing the values output to ErrorID (Error Code) and ErrorIDEx (Expansion Error Code).

•If Execute changes to FALSE before execution of the function block is ended, Done and Error are TRUE only for one task period after execution of the function block is ended.

•If Execute remains TRUE even after execution of the function block is ended, the output values of Done and Error are held.

 Timing Chart for Normal End

 Timing Chart for Error End

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restore_1S

Related System-defined Variables

Name Meaning Data type Description

_Card1Ready

_EC_MBXSlavTbl

*1. The valid is 192 for NJ-series CPU Units.

SD Memory Card Ready Flag

Message Communications Enabled Slave Ta bl e

BOOL

Array[1..512

] OF BOOL

TRUE when the SD Memory Card is recognized. It is FALSE when the SD Memory Card is not recognized.

TRUE: Can be used.

FALSE: Cannot be used. This table indicates the slaves that

can perform message communications. Slaves are given in the table in the order of slave node addresses.

TRUE: Message communications are possible.

FALSE: Message communications are not possible.

Additional Information

• For information on the characters that can be used in DirName, refer to Specifications of Supported SD Memory Cards, Folders, and Files in the software user’s manual.

• If you turn OFF the power supply to the 1S-series Servo Drive when replacing a 1S-series Servo Drive or when applying the restored parameters, an EtherCAT slave communications error will occur.

• The EtherCAT slave communications error does not occur, if you perform EtherCAT slave disconnection before turning OFF the power supply to the 1S-series Servo Drive.

• Refer to Objects to Back up and Restore on page 96 for details on the objects to back up and restore.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Precautions for Correct Use

TRUE when processing is ended. Use this to confirm normal ending of processing.

• This function block executes one EC_CoESDOWrite instruction or one EC_CoESDORead within the part. Refer to the EC_CoESDOWrite instruction in the instructions reference manual for the maximum number of instructions that can be executed at the same time.

• This function block executes one FileReadVar instruction within the part. Refer to the FileReadVar instruction in the instructions reference manual for the maximum number of instructions that can be executed at the same time.

• After completion of Restore_1S function block, cycle the control power supply to the 1S-series Servo Drive to apply the restored parameters.

• An error will occur in the following cases. Error will change to TRUE.

a) The EtherCAT master is not in a state that allows message communications.

b) The slave specified with NodeAdr does not exist.

c) The slave specified with NodeAdr is not in a state that allows communications.

d) The model specified in the backup file differs from the model of the restore destination device

and NoProductChk is FALSE.

e) The slave is not in a state that allows writing of parameters.

f) The number of EtherCAT communications instructions such as EC_CoESDOWrite exceeded the

maximum number of instructions that can be executed at the same time.

g) SD Memory Card access failed (no SD Memory Card inserted, a file is being accessed, etc.).

h) The number of SD Memory Card related instructions such as FileReadVar exceeded the maxi-

mum number of instructions that can be executed at the same time.

Restore_1S

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restore_1S

Troubleshooting

Error code

16#0000 16#00000000 Normal End --- --16#0400 16#00000000 Input Value Out

16#1400 16#00000000 SD Memory

16#1403 16#00000000 File Does Not

16#1405 16#00000000 File Already in

16#140B 16#00000000 Too Many Files

16#140E 16#00000000 SD Memory

16#1800 16#00000000 EtherCAT Com-

16#1801 16#00000000 EtherCAT Slave

Expansion error code

Status Description Correction

of Range

The value of NodeAdr is out of range.

The directory name specified

Set the value of NodeAdr correctly.

Set DirName correctly. with DirName contains one or more characters that cannot be used. The directory name specified with DirName is too long.

Check the length of the direc-

tory name specified with Dir-

Name so that it is within the

valid range.

Insert an SD Memory Card cor-

rectly.

Replace the SD Memory Card

with one that operates nor-

Card Access Failure

An SD Memory Card is either not inserted or is not inserted properly.

The SD Memory Card is broken.

mally. The SD Memory Card slot is

broken.

If this error persists even after

making the above two correc-

tions, replace the CPU Unit or

the Industrial PC.

Specify the directory in which a

backup file exists specified in

this function block.

Correct the user program so

that this function block is exe-

cuted only when the Busy out-

put variable for all other

Exist

Use

There is no backup file to restore in the directory specified with DirName.

An instruction attempted to read or write a file already being accessed by another instruction.

instructions for the same file is

FALSE.

Correct the user program to

decrease the number of open

files.

Replace the SD Memory Card.

If this error occurs even after

making the above correction,

Open

Card Access Failed

The maximum number of open files was exceeded when opening a file for the function block. The SD Memory Card is broken.

The SD Memory Card slot is broken.

replace the CPU Unit or the

Industrial PC.

munications Error

The EtherCAT network is not in a usable status.

Check the operation status of

the EtherCAT network by

checking the status of the Eth-

erCAT master. Use this infor-

mation to correct the cause of

the problem. The target slave does not exist. Specify an existing node

Does Not Respond

The target slave is not in an operating condition.

address.

Check the status of the target

EtherCAT slave. Make sure

that the target slave is in a

usable status.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restore_1S

Error code

16#1802 16#00000000 EtherCAT Time-

16#1803 16#00000000 Reception Buf-

16#1804 SDO Abort

16#1808 16#00000000 Communica-

16#3C2E 16#00000001 Unit Not

*1. Refer to SDO Abort Codes in the instructions reference manual for a list of SDO abort codes.

Expansion

error code

Code

16#00000002 Backup Data

16#00000003 Revision Not

16#00000004 Unsupported

Status Description Correction

out

fer Overflow

SDO Abort Error The cause of this error

tions Resource Overflow

Matched

Disabled

Matched

Device

Communications with the target slave timed out.

The receive data from an EtherCAT slave overflowed the receive buffer.

depends on the specifications of the EtherCAT slave.

More than 32 EtherCAT communications instructions were executed at the same time.

The model of the restore destination does not match the model specified in the backup file.

The backup file is not created correctly. The revision number of the restore destination is older than the revision number in the backup file.

The device is not supported by this function block.

Check the operating status of the target slave and correct the cause of the problem.

Set the size of the reception buffer to a value larger than the size of the receive data from the slave. Refer to the manual for the EtherCAT slave and correct the problem.

Correct the user program so that no more than 32 EtherCAT communications instructions are executed at the same time.

Set the model of the restore destination so that it matches the model specified in the backup file.

Create again the backup file correctly. Specify the Servo Drive with a revision number that is either the same as or newer than the revision number in the backup file as the restore destination.

Check that the specified device is a 1S-series Servo Drive.

Sample Programming

Refer to the sample programming for the following instructions: Backup_1S on page 41.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

MotorSetup_1S

Execute Done

NodeAdr Busy

TimeOut Error

ErrorID

ErrorIDEx

MotorSetup_1S_instance

\\OmronLib\EC_1S\MotorSetup_1S

MotorSetup_1S

The MotorSetup_1S function block resets the Motor Replacement Detected (Error No. 95.05) for a

Function block

MotorSetup_1S Reset the Motor

1S-series Servo Drive.

name

Replacement Detected

Name

FB/

FUN

FB MotorSetup_1S_instance(

Graphic expression ST expression

Execute,

NodeAdr,

TimeOut,

Done,

Busy,

Error,

ErrorID,

ErrorIDEx);

Library Information

Item Description

Library file name OmronLib_EC_1S_V2_0.slr Namespace OmronLib\EC_1S Function block and function number 00173 Source code published/not published Not published Function block and function version 1.00

Compatible Models

Item Name Model numbers Ve r sion

Device 1S-series Servo Drive

R88D-1SN-ECT R88D-1SAN-ECT

Version 1.00 or later

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

MotorSetup_1S

Variables

Name Meaning I/O Description Valid range Unit Default

TRUE: Executes the instruction.

Execute Execute Input

FALSE: Does not execute the instruction.

NodeAdr

Slave Node Address

Input

TimeOut Timeout Time Input

Specifies the node address for resetting.

0: 2.0s

1 to 65535: 0.1 to 6553.5s TRUE: Normal end

Done Done Output

FALSE: Error end, execution in progress, or execution condition not met

TRUE: Execution processing is in

Busy Executing Output

progress.

FALSE: Execution processing is not in progress.

TRUE: Error end

Error Error Output

FALSE: Normal end, execution in progress, or execution condition not met

This is the error ID for an error

ErrorID Error Code Output

end.

The value is WORD#16#0 for a normal end. This is the error ID for an

ErrorIDEx

Expansion Error Code

Output

Expansion Unit Hardware Error.

The value is DWORD#16#0 for a normal end.

*1. The valid range is 1 to 192 for NJ-series CPU Units.

*2. For details, refer to Troubleshooting on page 68

Name

ole

BOOL

Bit strings Integers

BYTE

WORD

DWORD

LWORD

USINT

UINT

UDINT

ULINT

SINT

INT

TRUE or FALSE

1 to 512

0 to 65535 0.1s

TRUE or FALSE

Real

num-

LINT

bers

REAL

DINT

FALSE

---

(2.0s)

---

―

Times, durations,

dates, and text strings

LREAL

TIME

DATE

TOD

STRING

Execute OK

NodeAdr OK

TimeOut OK Done OK Busy OK Error OK ErrorID OK ErrorIDEx OK

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

MotorSetup_1S

Function

This function block resets the Motor Replacement Detected for the specified Servo Drive. Use this function block when the Motor Replacement Detected (Error Display No. 95.05) occurs because of replacing a Servo Drive or a Servomotor.

You cannot reset The Motor Replacement Detected only this function block. When this function block changes done, you need execute the Unit Restart or cycle the control power supply of the Servo Drive.

After sending the reset command to the Servo Drive, this function block waits for the response only for the time specified with TimeOut (Timeout). It waits that the reset process ends after receiving the response from the Servo Drive. This function block becomes Normal End when the reset process ends, Done changes to TRUE.

This function block becomes Error End when the reset process does not end within one minute, Error changes to TRUE.

Timing Charts

The following figures show the timing charts for the function block.

• Busy (Executing) changes to TRUE when Execute changes to TRUE.

• Done changes to TRUE when the reset process is ended.

• If an error occurs when execution of the function block is in progress, Error changes to TRUE and Busy (Executing) changes to FALSE. You can find out the cause of the error by accessing the values output to ErrorID (Error Code) and ErrorIDEx (Expansion Error Code).

• If Execute changes to FALSE before execution of the function block is ended, Done and Error are TRUE only for one task period after execution of the function block is ended.

• If Execute remains TRUE even after execution of the function block is ended, the output values of Done and Error are held.

 Timing Chart for Normal End

Scan

Execute

Busy

Done

Error

ErrorID

ErrorIDEx

1234567891011

#0000

#00000000 #00000000 #00000000 #00000000

 Timing Chart for Error End

Scan

Execute

Busy

Done

Error

ErrorID

1234567891011

#0000

#0000 #0000 #0000

ErrorID #00 00 ErrorID

ErrorIDEx

#00000000 ErrorIDEx #00000000 ErrorIDEx

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Additional Information

• This function block resets the Motor Replacement Detected by writing 7465 736d hex to the object of servo parameter Index: 4410 hex/Subindex:F1 hex (Motor Setup) with SDO mailbox communications.

Precautions for Correct Use

• Execute the function block while the Servo is OFF.

• Make sure that the Servo Drive is a compatible model before executing this function block.

• Sample programming shows only the portion of a program that uses the function or function block from the library.

• When using sample programming in actual devices, also program safety circuits, device interlocks, I/O with other devices, and other control procedures.

• Create a user program that will produce the intended device operation.

• Check the user program for proper execution before you use it for actual operation.

• An error will occur in the following cases. Error will change to TRUE.

a) The EtherCAT master is not in a state that allows message communications.

b) The slave specified with NodeAdr does not exist.

c) The slave specified with NodeAdr is not in a state that allows communications.

d) The slave is not in a state that allows writing of parameters.

e) The number of EtherCAT communications instructions such as EC_CoESDOWrite and

EC_CoESDORead exceeded the maximum number of instructions that can be executed at the same time.

MotorSetup_1S

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

MotorSetup_1S

Troubleshooting

Error code

16#0000 16#00000000 Normal End --- --16#0400 16#00000000 Input Value Out

16#1800 16#00000000 EtherCAT

16#1801 16#00000000 EtherCAT Slave

16#1802 16#00000000 EtherCAT

16#1803 16#00000000 Reception Buffer

16#1804 SDO Abort

16#1808 16#00000000 Communications

16#3CEE 16#00000001 VendorID Not

16#3CEE 16#00000003 Reset Failure The Motor Replacement

16#3CEE 16#00000004 Unsupported

*1. An SDO abort code is shown here. Refer to SDO Abort Codes in the instructions reference manual for a list of SDO abort

codes.

Expansion error code

Code

Status Description Correction

of Range

Communications Error

The value of NodeAdr is out of range.

The EtherCAT network is not in a usable status.

Set the value of NodeAdr correctly.

Check the operation status of the EtherCAT network by checking the status of the EtherCAT master. Use this information to correct the cause of the problem.

Does Not Respond

The target slave does not exist.

The target slave is not in an operating condition.

Specify an existing node address.

Check the status of the target EtherCAT slave. Make sure that the target slave is in a usable status.

Timeout

Communications with the target slave timed out.

Check the operating status of the target slave and correct the cause of the problem.

The receive data from an

Overflow

EtherCAT slave overflowed the receive buffer.

SDO Abort Error The cause of this error

depends on the specifications of the

Set the size of the reception buffer to a value larger than the size of the receive data from the slave.

Refer to the manual for the EtherCAT slave and correct the problem.

EtherCAT slave.

Correct the user program so that no more than 32 EtherCAT communications instructions are executed at the same time.

Check that the specified device is a 1S-series Servo Drive.

Resource Overflow

Matched

More than 32 EtherCAT communications instructions were executed at the same time.

The device is not supported by this function block (A non-OMRON device is specified).

Execute the function block again. Detected resetting was not completed within one minute.

Device

The device is not supported by this function block.

Check that the specified device is

a 1S-series Servo Drive.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Sample Programming

MotorSetup_1S

Conditions

This sample programming resets the Motor Replacement Detected for a Servo Drive.

• The target Servo Drive is Node 1.

• The target Servo Drive is assigned to axis 0 in the Motion Control Function Module.

• The timeout time is 2 s (default).

• The Motor Replacement Detected (Error No. 95.05) has been occurring by replacement of Servomotor or Servo Drive.

Processing

1 Make sure that the Motor Replacement Detected (Error No. 95.05) occurs, the target slave is in

a state that allows communications, that axis 0 is disabled.

2 For reset the Motor Replacement Detected, execute MOTORSETUP_1S_instance. 3 For restart Servo Drive, execute RESTART_1S_instance. 4 For reset the EtherCAT Slave Communications Error, execute ResetECError and

ResetMCError.

 Internal Variables

Name Data type Default Comment

Trigger BOOL Execution

condition

IsMotorReplacement Detected

IsSuccess BOOL Indicates whether

SysmacMinorFault _sSDO_ACCESS (Index := 16#2004,

ReadDat ARRAY[0..61] OF BYTE Raw data of Minor

i DINT Index for 'FOR'

ErrorCodes ARRAY[0..4] OF UDINT Event Code of

FoundPos UINT Dummy

BOOL Indicates whether

a 'Motor Replacement Detected' has occurred

the process was successful

Object Dictionary Subindex := 0, IsCompleteAccess := True)

of Sysmac Minor

Fault for Complete

Access

Fault(Need

convert)

instruction

occurring Minor

Fault

variable(Required

to use ArySearch)

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

MotorSetup_1S

EC_COESDOREAD_insta nce

MOTORSETUP_1S_ instance RESTART_1S_instance OmronLib\EC_1S\Restart_1S

RESETECERROR_ instance

RESETMCERROR_ instance

Name Data type Default Comment

EC_CoESDORead

OmronLib\EC_1S\MotorSetup_1S

ResetECError

ResetMCError

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

MotorSetup_1S

 Internal Variables

Name Data type Default Comment

Trigger BOOL Execution

condition

IsMotorReplacement Detected

IsSuccess BOOL Indicates whether

SysmacMinorFault _sSDO_ACCESS (Index := 16#2004,

ReadDat ARRAY[0..61] OF BYTE Raw data of Minor

i DINT Index for 'FOR'

ErrorCodes ARRAY[0..4] OF UDINT Event Code of

FoundPos UINT Dummy

R_TRIG_instance R_TRIG EC_COESDOREAD_

instance MOTORSETUP_1S_ instance RESTART_1S_instance OmronLib\EC_1S\Restart_1S RESETECERROR_ instance RESETMCERROR_ instance

BOOL Indicates whether

a 'Motor

Replacement

Detected' has

occurred

the process was

successful

Object Dictionary Subindex := 0, IsCompleteAccess := True)

of Sysmac Minor

Fault for Complete

Access

Fault(Need

convert)

instruction

occurring Minor

Fault

variable(Required

to use ArySearch)

EC_CoESDORead

OmronLib\EC_1S\MotorSetup_1S

ResetECError

ResetMCError

R_TRIG_instance (Clk:=EC_COESDOREAD_instance.Done); //Read all occurring Minor Faults. EC_COESDOREAD_instance( Execute:=Trigger, NodeAdr:=UINT#1, SdoObj:=SysmacMinorFault, ReadDat:=ReadDat); IF R_TRIG_instance.Q THEN FOR i:=0 TO 4 BY 1 DO AryByteTo(ReadDat[2+12*i],UINT#4,_eBYTE_ORDER#_LOW_HIGH,ErrorCodes[i]); END_FOR; IsMotorReplacementDetected := ArySearch( In:=ErrorCodes[0], Size:=UINT#5, Key:=UDINT#16#387C0000, InOutPos:=FoundPos);

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

MotorSetup_1S

END_IF; //Only when the 'Motor Replacement Detected' has occurred, execute the MotorSetup_1S. MOTORSETUP_1S_instance( Execute:=R_TRIG_instance.Q AND IsMotorReplacementDetected, NodeAdr:=UINT#1); RESTART_1S_instance( Execute:=MOTORSETUP_1S_instance.Done, NodeAdr:=UINT#1); //When the unit restart is complete, execute ResetMCError and ResetECError. RESETECERROR_instance(Execute:=RESTART_1S_instance.Done); RESETMCERROR_instance(Execute:=RESETECERROR_instance.Done); //It is a success if neither ECError nor MCError occurs. IsSuccess:= NOT GetECError() AND NOT GetMCError();

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restart_1S

Execute Done

NodeAdr Busy

TimeOut Error

ErrorID

ErrorIDEx

Restart_1S_instance

\\OmronLib\EC_1S\Restart_1S

Restart_1S

Function block

name

Name

Restart_1S 1S-series Servo

FB/

FUN

Graphic expression ST expression

FB Restart_1S_instance(

Drive Restart

Library Information

Item Description

Library file name OmronLib_EC_1S_V2_0.slr Namespace OmronLib\EC_1S Function block and function number 00174 Source code published/not published Not published Function block and function version 1.00

The Restart_1S function block restarts a 1S-series Servo Drive.

Execute, NodeAdr, TimeOut, Done, Busy, Error, ErrorID, ErrorIDEx);

Compatible Models

Item Name Model numbers Ver sion

Device 1S-series Servo Drive

R88D-1SN-ECT R88D-1SAN-ECT

Version 1.00 or later

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restart_1S

Variables

Name Meaning I/O Description Valid range Unit Default

TRUE: Executes the instruction.

Execute Execute Input

FALSE: Does not execute the instruction.

NodeAdr

Slave Node Address

Input

TimeOut Timeout time Input

Node address of the Servo Drive to restart

0 : 2.0s

1 to 65535: 0.1 to 6553.5s TRUE: Normal end

Done Done Output

FALSE: Error end, execution in progress, or execution condition not met

TRUE: Execution processing is in

Busy Executing Output

progress.

FALSE: Execution processing is not in progress.

TRUE: Error end

Error Error Output

FALSE: Normal end, execution in progress, or execution condition not met

This is the error ID for an error

ErrorID Error Code Output

end.

The value is WORD#16#0 for a normal end. This is the error ID for an Expan-

ErrorIDEx

Expansion Error Code

Output

sion Unit Hardware Error.

The value is DWORD#16#0 for a normal end.

*1. The valid range is 1 to 192 for NJ-series CPU Units.

*2. For details, refer to Troubleshooting on page 77

Name

ole

BOOL

Bit strings Integers

BYTE

WORD

DWORD

LWORD

USINT

UINT

UDINT

ULINT

SINT

INT

TRUE or FALSE

1 to 512

0 to 65535 0.1s

TRUE or FALSE

Real

num-

LINT

bers

REAL

DINT

FALSE

---

(2.0s)

---

Times, durations,

dates, and text strings

LREAL

TIME

DATE

TOD

STRING

Execute OK

NodeAdr OK

TimeOut OK Done OK Busy OK Error OK ErrorID OK ErrorIDEx OK

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Execute

Scan

Busy

Done

Error

ErrorID

ErrorIDEx

#0000

1234567891011

#00000000 #00000000 #00000000 #00000000

#0000 #0000 #0000

1234567891011

Execute

Scan

Busy

Done

Error

ErrorID

ErrorIDEx

#0000

#00000000 ErrorIDEx #00000000 ErrorIDEx

ErrorID #00 00 ErrorID

Function

This function block executes unit restart for the specified Servo Drive.

Use this function block when you need the Unit Restart such as cases after the absolute encoder initialization or the Motor Replacement Detected resetting.

After sending the unit restart command to the Servo Drive, this function block waits for the response only for the time specified with TimeOut (Timeout). After the function block receives the response from the Servo Drive, it waits that the Servo Drive re-start is done. This function block becomes Normal End when the Unit Restart completes, Done changes to TRUE.

Timing Charts

The following figures show the timing charts for the function block.

• Busy (Executing) changes to TRUE when Execute changes to TRUE.

• Done changes to TRUE when the Unit Restart completes.

• If an error occurs when execution of the function block is in progress, Error changes to TRUE and

• If Execute changes to FALSE before execution of the function block is ended, Done and Error are

• If Execute remains TRUE even after execution of the function block is ended, the output values of

Restart_1S

Busy (Executing) changes to FALSE. You can find out the cause of the error by accessing the values output to ErrorID (Error Code) and ErrorIDEx (Expansion Error Code)

TRUE only for one task period after execution of the function block is ended.

Done and Error are held.

 Timing Chart for Normal End

 Timing Chart for Error End

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restart_1S

Additional Information

• This function block restarts Servo Drive by writing 7465 7365 7261 hex to the object of servo parameter Index:2400 hex Subindex:01 hex (Unit Restart) with SDO mailbox communications.

Precautions for Correct Use

• Execute the function block while the Servo is OFF.

• Make sure that the Servo Drive is a compatible model before executing this function block.

• If the specified Servo Drive is assigned to an Axis Variable, the EtherCAT Slave Communication Error Occurs after this function block execution. To reset it, execute ResetMCError or MC_Reset.

• After the initialization process completes, the Servo Drive is not in a state that allows message communications. To start message communications, execute the ResetECError.

• An error will occur in the following cases. Error will change to TRUE.

a) The EtherCAT master is not in a state that allows message communications.

b) The slave specified with NodeAdr does not exist.

c) The slave specified with NodeAdr is not in a state that allows communications.

d) The slave is not in a state that allows writing of parameters.

e) The number of EtherCAT communications instructions such as EC_CoESDOWrite exceeded the

maximum number of instructions that can be executed at the same time.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Restart_1S

Troubleshooting

Error code

16#0000 16#00000000 Normal End --- --16#0400 16#00000000 Input Value Out

16#1800 16#00000000 EtherCAT

16#1801 16#00000000 EtherCAT Slave

16#1802 16#00000000 EtherCAT

16#1803 16#00000000 Reception Buffer

16#1804 SDO Abort

16#1808 16#00000000 Communications

16#3CEF 16#00000001 VendorID Not

16#3CEF 16#00000004 Unsupported

*1. An SDO abort code is shown here. Refer to SDO Abort Codes in the instructions reference manual for a list of SDO abort

codes.

Expansion

error code

Code

Status Description Correction

of Range

Communications Error

The value of NodeAdr is out of range.

The EtherCAT network is not in a usable status.

Set the value of NodeAdr correctly.

Check the operation status of the EtherCAT network by checking the status of the EtherCAT master. Use this information to correct the cause of the problem.

Does Not Respond

The target slave does not exist.

The target slave is not in an operating condition.

Specify an existing node address.

Check the status of the target EtherCAT slave. Make sure that the target slave is in a usable status.

Timeout

Communications with the target slave timed out.

Check the operating status of the target slave and correct the cause of the problem.

The receive data from an

Overflow

EtherCAT slave overflowed the receive buffer.

SDO Abort Error The cause of this error

depends on the specifications of the

Set the size of the reception buffer to a value larger than the size of the receive data from the slave.

Refer to the manual for the EtherCAT slave and correct the problem.

EtherCAT slave.

Correct the user program so that no more than 32 EtherCAT communications instructions are executed at the same time.

Check that the specified device is a 1S-series Servo Drive.

Resource Overflow

Matched

More than 32 EtherCAT communications instructions were executed at the same time.

The device is not supported by this function block (A non-OMRON device is specified).

Device

The device is not supported by this function block.

Check that the specified device is a 1S-series Servo Drive.

Sample Programming

Refer to Sample Programming of MotorSetup_1S on page 64

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

EasyTuning_1S

Abort

NodeAdr

TuningCriteria

SaveToEEPROM

Execute

EasyTuning_1S_instance

\\OmronLib\EC_1S_EasyTuning\EasyTuning_1S

TuningResults

Busy

CommandAborted

Error

ErrorID

Done

ErrorIDEx

EasyTuning_1S

The EasyTuning_1S function block tunes an axis by executing the easy tuning for a 1S-series Servo

Function block

EasyTuning_1S 1S-series Servo

Drive.

name

Name

Drive Easy Tuning

FB/

FUN

FB EasyTuning_1S_instance(

Graphic expression ST expression

Execute, NodeAdr, TuningCriteria, SaveToEEPROM, Abort, Done, TuningResults, Busy, CommandAborted, Error, ErrorID, ErrorIDEx);

Library Information

Item Description

Library file name OmronLib_EC_1S_EasyTuning_V1_0.slr Namespace OmronLib\EC_1S_EasyTuning Function block and function number 00236 Source code published/not published Not published Function block and function version 1.00

Compatible Models

Item Name Model numbers Ve r sion

Device 1S-series Servo Drive

R88D-1SN-ECT R88D-1SAN-ECT

Version 1.00 or later

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

EasyTuning_1S

Variables

Name Meaning I/O Description Valid range Unit Default

TRUE: Executes the instruction.

Execute Execute Input

FALSE: Does not execute the instruction.

NodeAdr

Tuning Criteria

Slave Node Address

Input

Tuning criteria Input

Node address of the Servo Drive to tune gain parameters

Tuning methods and criteria inputs TRUE: Saves results to

SaveToEE PROM

Save to EEPROM Input

EEPROM.

FALSE: Does not save results to EEPROM.

TRUE: Aborts the execution.

Abort Abort Input

FALSE: Does not abort the execution.

TRUE: Normal end

Done Done Output

FALSE: Error end, execution in progress, or execution condition not met

Tuning Results

Tuning Results Output Displays tuning results. --- ---

TRUE: Execution processing is in

Busy Executing Output

progress.

FALSE: Execution processing is not in progress.

TRUE: Execution processing is

Command Aborted

Output

aborted.

FALSE: Execution processing is not aborted.

TRUE: Error end

Error Error Output

FALSE: Normal end, execution in progress, or execution condition not met This is the error ID for an error

ErrorID Error Code Output

end.

The value is WORD#16#0 for a normal end.

This is the error ID for an

ErrorIDEx

Expansion Error Code

Output

Expansion Unit Hardware Error.

The value is DWORD#16#0 for a normal end.

*1. The valid range is 1 to 192 for NJ-series CPU Units.

*2. For details, refer to Troubleshooting on page 87

Depends on data type.

1 to 512

--- FALSE

--- 1

--- --- ---

Depends on data type.

--- FALSE

---

Depends on data type.

---

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

EasyTuning_1S

Structures

The data type of the TuningCriteria input variable to this function block is

OmronLib\EC_1S_EasyTuning\sTUNING_CRITERIA. The table below gives the specifications.

Name Meaning Description Data Type

TuningCriteria Tuning criteria OmronLib\EC_1S_

EstimateInertia Ratio

Compensate Friction

Compensate UnbalancedLoad

AdjustNotchFilter Adjust Notch

ObtainBest StabilizationTime

Update Estimated Inertia Ratio

Update Compensate Friction

Update Compensate Unbalanced Load

Filter

Obtain Best Stabilization Time

TRUE: The amount of load inertia is automatically estimated and the setting of Inertia Ratio (3001 hex - 01 hex) is updated based on the result.

FALSE: The Drive's present setting of Inertia Ratio (3001 hex - 01 hex) is maintained.

TRUE: The load friction is automatically estimated and the torque compensation settings (Viscous Friction Coefficient (3310 hex - 01 hex), Positive Dynamic Friction Compensation (3310 hex - 03 hex), and Negative Dynamic Friction Compensation (3310 hex - 04 hex)) are updated based on the result.

FALSE: The torque compensation values (Viscous Friction Coefficient (3310 hex - 01 hex), Positive Dynamic Friction Compensation (3310 hex - 03 hex), and Negative Dynamic Friction Compensation (3310 hex - 04 hex)) are set to 0 to disable the friction compensation.

TRUE: The amount of unbalanced load is automatically estimated and the setting of the torque compensation value (Unbalanced Load Compensation (3310 hex - 02 hex)) are updated based on the result.

FALSE: The torque compensation value (Unbalanced Load Compensation (3310 hex - 02 hex)) is set to 0 to disable the friction compensation.

TRUE: The resonance frequency of the load is automatically estimated and the settings of Notch Filters (3321 hex to 3324 hex) are updated based on the result. After the tuning, Adaptive Notch Filter (3320 hex - 01 hex) is set to Disabled. FALSE: The Drive's present settings of Adaptive Notch Filter (3320 hex - 01 hex) and Notch Filters (3321 hex to 3324 hex) are maintained.

TRUE: Although vibration occurs while auto tuning is being performed, the function block automatically sets the stabilization time as short as possible within the range that does not cause micro vibration in the Drive.

FALSE: Set the stabilization time that is applied as the tuning completion condition.

EasyTuning\ sTUNING_ CRITERIA

BOOL Depends

Valid

range

--- ---

on data type

on data type.

Unit Default

--- TRUE

--- FALSE

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

EasyTuning_1S

Name Meaning Description Data Type

StabilizationTime Stabilization

Time Criterion

VibrationLevel Vibration

Detection Level Criterion

PositionWindow Position

Window

FocusOnOvershoot Focus on

Overshoot

LinearMovement Interpolation

Linear Movement Interpolation

Stabilization Time Criterion if ObtainBestStabilizationTime is FALSE.

This parameter is not used if ObtainBestStabilizationTime is TRUE.

Adjust the gain so that the torque vibration does not exceed this setting value. Set the percentage to the rated torque of the motor.

Set the in-position width used for measuring the stabilization time. This setting value is applied to the Positioning Completion Notification Positioning Window (3B51 hex - 01 hex).

TRUE: Focus on overshoot suppression

Priority is given to suppression of overshoot in the tuning.

FALSE: Focus on positioning

Priority is given to reducing the stabilization time. Depending on the device and tuning conditions, overshoot may occur.

TRUE: Linear

1st order interpolation is applied.

FALSE: Smooth

2nd order interpolation is applied.

UINT Depends

REAL 0 to 500 % 1

UDINT 1 to

BOOL Depends

*1. Available in R88D-1SAN-ECT or R88D-1SN-ECT Version 1.2 and later.

Valid

range

on data type.

21474836 47

on data type.

Unit Default

ms 100

--- FALSE

--- TRUE

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

EasyTuning_1S

The data type of the TuningResults input variable to this function block is

OmronLib\EC_1S_EasyTuning\sTUNING_RESULTS. The table below gives the specifications.

Name Meaning Description Data Type

TuningResults OmronLib\EC_1S_

EasyTuning\sTUNI

NG_RESULTS

TuningStep Tuning Step Number of current Tuning step. USINT

AllTrials All Trials All measurement results. ARRAY[0..32] OF

OmronLib\EC_1S_

EasyTuning\ sTRIALS

Stabilization Time

Overshoot Overshoot Gives the overshoot. REAL Depends

Speed Proportional Gain1

Position Proportional Gain1

Estimated InertiaRatio

Estimated Unbalanced Load

Estimated Dynamic Friction

Estimated ViscousFriction

CommandTime Command

TactTime Tact Time Gives the tact time. UDINT Depends

Command Speed

MotorSpeed Motor Speed Gives the motor Velocity. UDINT Depends

NotchFilter Frequency3

NotchFilter Frequency4

FinalTrial Final Trial Gives the adopted trial number. Refer-

*1. For details, refer to TuningStep on page 84.

Stabilization Time

Speed Proportional Gain 1

Position Proportional Gain 1

Estimated Inertia Ratio

Estimated Unbalanced Load

Estimated Viscous Friction

Time

Command Speed

ch Filter

No Frequency 3

Notch Filter Frequency 4

Gives the stabilization time. UDINT Depends

Gives the 1st velocity proportional gain.

Gives the 1st position proportional gain.

Gives the Inertia Ratio Estimate Value. UDINT Depends

Gives the Unbalanced Load Estimate Value.

Gives the Dynamic Friction Compensation Estimate Value.

Gives the Viscous Friction Estimate Value.

Gives the command time. UDINT Depends

Gives the command Velocity. UDINT Depends

Gives the notch frequency of the 3rd resonance suppression notch filter.

Gives the notch frequency of the 4th resonance suppression notch filter.

ence only while Done is TRUE.

REAL Depends

REAL 50 to 5000 Hz 0

USINT Depends

Valid

range

--- --- ---

--- ---

on data type.

Unit Default

Hz 0

ms 0

r/min 0

--- 0

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Name

ole

BOOL

Bit strings Integers

BYTE

WORD

DWORD

LWORD

USINT

UINT

UDINT

ULINT

SINT

INT

DINT

Execute OK

NodeAdr OK

TuningCriteria Structure sTUNING_CRITERIA

SaveToEEPROM

OK Abort OK Done OK TuningResults Structure sTUNING_RESULTS Busy OK Command

Aborted

Error OK ErrorID OK ErrorIDEx OK

LINT

Real

num-

bers

REAL

EasyTuning_1S

Times, durations,

dates, and text strings

LREAL

TIME

DATE

TOD

STRING

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

EasyTuning_1S

Function

• This function block perform the easy tuning for the 1S-series Servo Drive at the node address specified with NodeAdr (Node Address). You can obtain a result equivalent to that of the easy tuning performed in Setting and Tuning Wizard on Sysmac Studio. Use this function block if you want to perform the easy tuning without Sysmac Studio.However, this function block does not support a damping control. If you need the damping control, use Sysmac Studio.

• To perform a tuning with this function block, you need to operate an axis by motion control instructions. Execute motion control instructions intermittently until Done changes to TRUE. The motion control instruction must fulfill the following conditions. Otherwise, errors may occur or you obtain invalid tuning results.

a) Instruction type: Positioning

b) Time from a motion control start to a positioning completion: Within 10 seconds

c) Time from a positioning completion to the next motion control start: 100ms or more

• You can abort tuning process by changing the value of Abort to TRUE. If this function block is re-executed after the aborting, the tuning process performed all over again. If you need re-execute this function block, make sure Abort is FALSE before change the value of Execute to TRUE.

• Specify parameters for tuning, using TuningCriteria.

• You can select if the tuning results are saved in a Servo Drive with SaveToEEPROM (Save to EEPROM).

a) If an input value is TRUE, the results are saved to the EEPROM of the Servo Drive at the timing

when the value of Done changes to TRUE. If the value of CommandAborted or Error is TRUE, the results are not saved.

b) If an input value is FALSE, the tuning results are not saved to the EEPROM of the Servo Drive. If

you cut off the power supply or execute the Unit Restart to the Servo Drive without saved, the results are lost. If you need to save the tuning results manually, execute Store Parameters by writing 6576 6173 hex to Index:1010 hex/Subindex:01 hex (Store Parameters) with EC_CoESDOWrite.

• TuningResults gives the tuning progress status and the final result.

a) TuningStep gives the tuning progress status. When you attempt to know the meaning of the Tun-

ingStep, refer to TuningStep that will be mentioned later.

b) AllTrials gives the latest 33 tuning results. When the function block performs the 34th tuning, the

oldest result is removed. Member variable of AllTrials is the same parameter as that of Auto Tune Monitor given in an easy tuning of Sysmac Studio. When you attempt to know the meaning of the parameter, refer to Easy Tuning (Single Drive) of SYSMAC-SE2 Functions Operation Manual (I589-E1).

c) FinalTrial gives the element number in AllTrials that is adopted tuning result.

 Sysmac Studio Drive

TuningStep

TuningStep of output variable show the following meanings.

Step Description

0 Tuning not started yet 1 Waiting the positioning command 10 Estimating Load Characteristics 20 Tuning gain and filter settings 30 Boosting feed-forward gains 40 Completed successfully 45 Canceled execution by user 50 Stopped execution due to error

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

EasyTuning_1S

Execute

Scan

Abort

Done

Busy

CommandAborted

Error

ErrorID

ErrorIDEx

1234567891011

#0000 #0000 #0000 #0000

#00000000 #00000000 #00000000 #00000000

Execute

Scan

Abort

Done

Busy

CommandAborted

Error

ErrorID

ErrorIDEx

1234567891011

#0000 #0000

#00000000 #00000000

Timing Charts

The following figures shows the timing charts for the function block.

• Busy (Executing) changes to TRUE when Execute changes to TRUE.

• Done changes to TRUE when the tuning process is succeeded.

• If the value of Abort is changed from FALSE to TRUE, the tuning process is stopped and CommandAborted changes to TRUE.

• If Execute changes to FALSE before execution of the function block is ended, Done and Error are TRUE only for one task period after execution of the function block is ended.

• If Execute remains TRUE even after execution of the function block is ended, the output values of Done and Error are held.

 Timing Chart for Normal End

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

 Timing Chart for Canceled Execution

EasyTuning_1S

 Timing Chart for Error End

Scan

Execute

bort

Done

Busy

CommandAborted

Error

1234567891011

ErrorID

ErrorIDEx

#00000000 ErrorIDEx #00000000 ErrorIDEx

Precautions for Correct Use

• This function block executes four EtherCAT communications instructions at maximum within the part. EtherCAT communications instructions have concurrent executions restriction. Create a user program not to violate this restriction. Refer to the EC_CoESDOWrite instruction in the instructions reference manual for the maximum number of instructions that can be executed at the same time.

• Do not use or open the screens of Sysmac Studio drive functions when you use this function block.

• Make sure that the Servo Drive is a compatible model before executing this function block.

• Sample programming shows only the portion of a program that uses the function or function block from the library.

• When using sample programming in actual devices, also program safety circuits, device interlocks, I/O with other devices, and other control procedures.

• Create a user program that will produce the intended device operation.

• Check the user program for proper execution before you use it for actual operation.

• An error will occur in the following cases. Error will change to TRUE.

a) The EtherCAT master is not in a state that allows message communications.

b) The slave specified with NodeAdr does not exist.

c) The slave specified with NodeAdr is not in a state that allows communications.

d) The slave is not in a state that allows writing of parameters.

e) The number of EtherCAT communications instructions such as EC_CoESDOWrite exceeded the

maximum number of instructions that can be executed at the same time.

#0000 ErrorID #0000 ErrorID

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Troubleshooting

Error code

16#0000 16#00000000 Normal End --- --16#1800 16#00000000 EtherCAT

16#1801 16#00000000 EtherCAT Slave

16#1802 16#00000000 EtherCAT Time

16#1803 16#00000000 Reception Buffer

16#1804 SDO Abort

16#1808 16#00000000 Communications

16#3D1F 16#00000001 VibrationLevel

16#3D1F 16#00000002 PositionWindow

16#3D1F 16#00000003 2nd Order

16#3D1F 16#00000005 Load

16#3D1F 16#00000006 Drive Error

16#3D1F 16#00000007 Vibration

16#3D1F 16#00000008 Torque

Expansion

error code

Code

Status Description Correction

The EtherCAT network is not

Communications

in a usable status.

Error

The target slave does not Does Not Respond

exist.

The target slave is not in an

operating condition.

Communications with the out

target slave timed out.

The receive data from an Overflow

EtherCAT slave overflowed

the receive buffer. SDO Abort Error The cause of this error

depends on the

specifications of the

EtherCAT slave.

More than 32 EtherCAT Resource Overflow

communications instructions

were executed at the same

time.

The value of VibrationLevel value Out of

is out of range. Range

The value of value Out of Range

PositionWindow is out of

range.

The specified Servo Drive Interpolation is not Supported

does not support the 2nd

order interpolation.

Failed in estimating load Characteristic

characteristics. Estimation Failure

The specified servo drive Detected

detected warning or error.

Vibration was detected. Increase the StabilizationTime. Detected

Torque saturation was Saturation

detected. Detected

EasyTuning_1S

Check the operation status of the EtherCAT network by checking the status of the EtherCAT master. Use this information to correct the cause of the problem.

Specify an existing node address.

Check the status of the target EtherCAT slave. Make sure that the target slave is in a usable status.

Check the operating status of the target slave and correct the cause of the problem.

Set the size of the reception buffer to a value larger than the size of the receive data from the slave.

Refer to the manual for the EtherCAT slave and correct the problem.

Correct the user program so that no more than 32 EtherCAT communications instructions are executed at the same time.

Set the value of VibrationLevel correctly.

Set the value of PositionWindow correctly.

When setting FALSE: Smooth to LinearMovementInterpolation, use R88D-1SAN-ECT or R88D-1SN-ECT Version 1.2 and later.

Check that the error is not applied to Conditions that interfere with the Load Characteristic Estimation function, referring to instruction manual for the target Servo Drive.

Remove the cause of the warning and errors.

Reduce motor acceleration / deceleration.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

EasyTuning_1S

Error code

16#3D1F 16#00000009 VendorID Not

16#3D1F 16#0000000A Unsupported

16#3D1F 16#0000000B Criteria Not

*1. An SDO abort code is shown here. Refer to SDO Abort Codes in the instructions reference manual for a list of SDO abort

codes.

Expansion error code

Status Description Correction

Check that the specified device is a 1S-series Servo Drive.

Matched

Device

Found

The device is not supported by this function block (A non-OMRON device is specified).

The device is not supported by this function block. The criteria cannot be found. Relieve the TuningCriteria.

Sample Programming

This sample programming executes Easy Tuning for a Servo Drive.

Conditions

• The target Servo Drive is Node 1.

• The target Servo Drive is assigned to axis 0 in the Motion Control Function Module.

Processing

1 Make sure that the Sysmac Studio drive functions are not used and not displayed its screens. 2 Make sure that the target slave is in a state that allows communications. 3 Execute EASYTUNING_1S_instance to start Easy Tuning. 4 Check that Busy of EASYTUNING_1S_instance changes to TRUE and execute

MC_POWER_instance and MC_MOVE_RELATIVE_instance.

5 Reverse movement starts in three seconds after Done of MC_MOVE_RELATIVE_instance

changes to TRUE.

6 Check that Done of EASYTUNING_1S_instance changes to TRUE.

 Internal Variables

Name Data type Default Comment

StartMove BOOL EASYTUNING_1S_in-

stance StartTuning BOOL MC_POWER_instance MC_Power MC_MOVERELATIVE_

instance Distance LREAL 30 Velocity LREAL 100 Acceleration LREAL 1000 Deceleration LREAL 1000 TON_instance TON

OmronLib\EC_1S_EasyTuning\EasyTuning_1S

MC_MoveRelative

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

EasyTuning_1S

 External Variables

Name Data type Constant Comment

MC_Axis000 _sAXIS_REF 

 Global Variables

Name Data type Default AT Constant Comment

MC_Axis000 _sAXIS_REF MC://_MC_AX[0] 

 Internal Variables

Name Data type Default Comment

StartMove BOOL EASYTUNING_1S_ instance StartTuning BOOL MC_POWER_instance MC_Power MC_MOVERELATIVE_ instance Distance LREAL 30 Velocity LREAL 100 Acceleration LREAL 1000 Deceleration LREAL 1000 TON_instance TON

 External Variables

Name Data type Constant Comment

MC_Axis000 _sAXIS_REF 

OmronLib\EC_1S_EasyTuning\EasyTuning_1S

MC_MoveRelative

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

EasyTuning_1S

 Global Variables

MC_Axis000 _sAXIS_REF MC://_MC_AX[0] 

//First, make "EasyTuning_1S" Busy by setting "StartTuning" to TRUE. EASYTUNING_1S_instance( Execute:=StartTuning, NodeAdr:=MC_Axis000.Cfg.NodeAddress ); //Next, start Axis operation by setting "StartMove" to TRUE. MC_POWER_instance( Axis:=MC_Axis000, Enable:=StartMove ); MC_MOVERELATIVE_instance( Axis:=MC_Axis000, Execute:=MC_POWER_instance.Status AND (NOT TON_instance.Q), Distance:=Distance, Velocity:=Velocity, Acceleration:=Acceleration, Deceleration:=Deceleration ); //After completing the positioning operation, wait for a while and start the next axis operation. TON_instance( In:=MC_MOVERELATIVE_instance.Done, PT:=TIME#3s ); IF TON_instance.Q THEN Distance := Distance * -1; END_IF;

Name Data type Default AT Constant Comment

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Appendix

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Referring to Library Information

When you make an inquiry to OMRON about the library, you can refer to the library information to identify the library to ask about.

The library information is useful in identifying the target library among the libraries provided by OMRON or created by the user.

The library information consists of the attributes of the library and the attributes of function blocks and functions contained in the library.

• Attributes of libraries

Information for identifying the library itself

• Attributes of function blocks and functions

Information for identifying the function block and function contained in the library

Use the Sysmac Studio to access the library information.

Attributes of Libraries, Function Blocks and Functions

The following attributes of libraries, function blocks and functions are provided as the library information.

 Attributes of Libraries

No.

(1) Library file name The name of the library file (2) Library version The version of the library (3) Author The name of creator of the library

(4) Comment

*1. These numbers correspond to the numbers shown on the screen images in the next section, Referring

to Attributes of Libraries, Function Blocks and Functions on page 93.

*2. It is provided in English and Japanese.

 Attributes of Function Blocks and Functions

No.

(5) FB/FUN name The name of the function block or function (6) Name space The name of name space for the function block or function (7) FB/FUN version The version of the function block or function (8) Author The name of creator of the function block or function (9) FB/FUN number The function block number or function number

(10) Comment

*1. These numbers correspond to the numbers shown on the screen images in the next section, Referring

to Attributes of Libraries, Function Blocks and Functions on page 93.

*2. It is provided in English and Japanese.

Attribute Description

The description of the library

Attribute Description

The description of the function block or function

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Referring to Library Information

(2)Library version

(1)Library file name

(3)Library author

(4)Library comment

(5)FB/FUN name

(7)FB/FUN version

(8)FB/FUN author

(10)FB/FUN comment

(6)Name space

Referring to Attributes of Libraries, Function Blocks and Functions

You can refer to the attributes of libraries, function blocks and functions of the library information at the following locations on the Sysmac Studio.

• Library Reference Dialog Box

• Toolbox Pane

• Ladder Editor

(a) Library Reference Dialog Box

When you refer to the libraries, the library information is displayed at the locations shown below.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Referring to Library Information

(5)

FB/FUN name (6)Name space

(1)

Library file name

(9)

FB/FUN number

(10)

FB/FUN comment

(7)

FB/FUN version

(8)

FB/FUN author

(b) Toolbox Pane

Select a function block and function to display its library information at the bottom of the Toolbox Pane.

The text “by OMRON” which is shown on the right of the library name (1) indicates that this library was provided by OMRON.

Place the mouse on a function block and function to display the library information in a tooltip.

(6)

Name space (5)FB/FUN name

(9)

FB/FUN number

(10)

FB/FUN comment

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Referring to Function Block and Function Source Codes

Precautions for Correct Use

Referring to Function Block and Function Source Codes

You can refer to the source codes of function blocks and functions provided by OMRON to customize them to suit the user’s environment.

User function blocks and user functions can be created based on the copies of these source codes.

The following are the examples of items that you may need to customize.

• Customizing the size of arrays to suit the memory capacity of the user’s Controller

• Customizing the data types to suit the user-defined data types

Note that you can access only function blocks and functions whose Source code published/not published is set to Published in the library information shown in their individual specifications.

Use the following procedure to refer to the source codes of function blocks and functions.

1 Select a function block or function in the program.

2 Double-click or right-click and select To Lower Layer from the menu.

The source code is displayed.

For function blocks and functions whose source codes are not published, the following dialog box is displayed in the above step 2. Click the Cancel button.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Objects to Back up and Restore

The following table gives the objects to back up and restore. Refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications User’s Manual (Cat. No. I586) or the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Communications and Safety Functionality User’s Manual (Cat. No. I621) for details on objects.

Index(Hex) Subindex(Hex) Name

2200 00 Communications Error Setting 2201 00 Sync Not Received Timeout Setting 3000 - Basic Functions

01 Motor Rotation Direction Selection 03 Control Method Selection

3001 - Machine

01 Inertia Ratio 02 Backlash Compensation Selection 03 Backlash Compensation Amount 04 Backlash Compensation Time Constant

3011 - Position Command Filter

01 FIR Filter Enable 02 FIR Filter Moving Average Time 03 IIR Filter Enable 04 IIR Filter Cutoff Frequency

3012 - Damping Control

01 Damping Filter 1 Selection 02 Damping Filter 2 Selection

3013 - Damping Filter 1

01 1st Frequency 02 1st Damping Time Coefficient 03 2nd Frequency 04 2nd Damping Time Coefficient 05 3rd Frequency 06 3rd Damping Time Coefficient 07 4th Frequency 08 4th Damping Time Coefficient

3014 - Damping Filter 2

01 1st Frequency 02 1st Damping Time Coefficient 03 2nd Frequency 04 2nd Damping Time Coefficient 05 3rd Frequency 06 3rd Damping Time Coefficient 07 4th Frequency 08 4th Damping Time Coefficient

3021 - Velocity Command Filter

01 Acceleration Time 02 Deceleration Time 03 IIR Filter Enable 04 Filter Cutoff Frequency

3031 - Velocity Limit in Torque Control

01 Velocity Limit Value

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Index(Hex) Subindex(Hex) Name

3041 - Command Dividing Function

01 Operation Selection in csv 10

Interpolation method selection in csp

3112 - ODF Velocity Feed-forward

01 Gain 02 LPF Enable 03 LPF Cutoff Frequency

3113 - ODF Torque Feed-forward

01 Gain 02 LPF Enable 03 LPF Cutoff Frequency

3120 - TDF Position Control

01 Command Following Gain 10

Command Following Gain selection

Command Following Gain 2

3121 - TDF Velocity Control

01 Command Following Gain 10

Command Following Gain selection

Command Following Gain 2

3212 - Gain Switching in Position Control

01 Mode Selection 02 Delay Time 03 Speed 04 Time

3213 - 1st Position Control Gain

01 Proportional Gain

3214 - 2nd Position Control Gain

01 Proportional Gain

3222 - Gain Switching in Velocity Control

01 Mode Selection

3223 - 1st Velocity Control Gain

01 Proportional Gain 02 Integral Gain

3224 - 2nd Velocity Control Gain

01 Proportional Gain 02 Integral Gain

3232 - Filter Switching in Torque Control

01 Mode Selection

3233 - 1st Torque Command Filter

01 Enable 02 Cutoff Frequency

3234 - 2nd Torque Command Filter

01 Enable 02 Cutoff Frequency

3310 - Torque Compensation

01 Viscous Friction Coefficient 02 Unbalanced Load Compensation 03 Positive Dynamic Friction Compensation 04 Negative Dynamic Friction Compensation

*1. R88D-1SN-ECT: Version 1.1 and later

*2. R88D-1SN-ECT: Version 1.2 and later

Objects to Back up and Restore

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Objects to Back up and Restore

Index(Hex) Subindex(Hex) Name

3320 - Adaptive Notch Filter

01 Adaptive Notch Selection 03 Resonance Detection Threshold

3321 - 1st Notch Filter

01 Enable 02 Frequency 03 Q-value 04 Depth

3322 - 2nd Notch Filter

01 Enable 02 Frequency 03 Q-value 04 Depth

3323 - 3rd Notch Filter

01 Enable 02 Frequency 03 Q-value 04 Depth

3324 - 4th Notch Filter

01 Enable 02 Frequency 03 Q-value 04 Depth

3330 - Torque Limit

01 Switching Selection 02 Max Torque 03 Positive Torque Limit Value 04 Negative Torque Limit Value 05 Positive Torque Limit Value 2 06 Negative Torque Limit Value 2

3A00 - Homing

01 Zero Position Range

3B10 - Drive Prohibition

01 Enable 02 Stop Selection

3B11 - Software Position Limit

01 Enable Selection 02 Stop Selection

3B21 - Deceleration Stop

01 Torque

3B40 - Zone Notification 1

01 Lower Limit 02 Upper Limit

3B41 - Zone Notification 2

01 Lower Limit 02 Upper Limit

3B52 - Positioning Completion Notification 2

01 Position Window 02 Notification Condition

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

OMRON SYSMAC-XR011 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Features of the Library

Intended Audience

Applicable Products

Manual Structure

Special Information

CONTENTS

Terms and Conditions Agreement

Warranty, Limitations of Liability

Application Considerations

Disclaimers

Safety Precautions

Definition of Precautionary Information

Symbols

Cautions

Precautions for Correct Use

Related Manuals

Revision History

Procedure to Use Sysmac Libraries

Procedure to Use Sysmac Libraries Installed Using the Installer

Using Newly Installed Libraries

Using Upgraded Libraries

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC

Common Specifications of Function Blocks

Common Variables

Definition of Input Variables and Output Variables

Execute-type Function Blocks

Enable-type Function Blocks

Precautions

Nesting

Instruction Options

Re-execution of Function Blocks

InitEncoder_1S

Library Information

Compatible Models

Variables

Function

Related System-defined Variables

Additional Information

Precautions for Correct Use

Troubleshooting

Sample Programming

Backup_1S

Library Information

Compatible Models

Variables

Function

Related System-defined Variables

Additional Information

Precautions for Correct Use

Troubleshooting

Sample Programming

Restore_1S

Library Information

Compatible Models

Variables

Function

Related System-defined Variables

Additional Information

Precautions for Correct Use

Troubleshooting

Sample Programming

MotorSetup_1S

Library Information

Compatible Models

Variables

Function

Additional Information

Precautions for Correct Use

Troubleshooting

Sample Programming

Restart_1S

Library Information

Compatible Models

Variables

Function