Omron ZW-7000, ZW-5000, ZW-8000 User Manual

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Displacement Sensor ZW-8000/7000/5000 series

Confocal Fiber Type Displacement Sensor

User’s Manual for Communications Settings

ZW-8000@ ZW-7000@

ZW-5000@

Z363-E1-06

Introduction

Thank you for purchasing the ZW-8000/7000/5000 Series. This manual provides information regarding functions, performance and operating methods that are required for using the ZW-8000/7000/5000 Series. When using the ZW-8000/7000/5000 Series, be sure to observe the following:

• The ZW-8000/7000/5000 Series must be operated by personnel knowledgeable in electrical engineering.

• To ensure correct use, please read this manual thoroughly to deepen your understanding of the product.

• Please keep this manual in a safe place so that it can be referred to whenever necessary.

Terms and Conditions Agreement (Please Read)

User’s Manual for Communications Settings

Overview of Communication Specifications

Parallel I/O Connection

EtherCAT Connection

EtherNet/IP Connection

No-protocol Connection

Sensor Controller Operations

Confocal Fiber Type Disp

laceme

ZW-8000/7000/5000 Series

nt Sensor

Troubleshooting

Appendices

Terms and Conditions Agreement

Read and understand this Manual

Please read and understand this catalog before purchasing the products. Please consult your OMRO N representative if you have any questions or comments.

Warranties

• Exclusive Warranty

Omron’s e xc lus ive 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 NONINFRINGEMENT, 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 i

nfringeme obligation hereunder shall be, at Omro n’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 Prod to the purchase price of the non-comply ing Product; pro vid ed that in no event shall Omron be responsib le 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, mis use 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, syst em assemb li es or an y othe r materials or substa nces or en vironme nts . An y 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.

nt by the Products or otherwise of any intell ectual property right. (c) Buyer Remedy. Omron’s sole

uct, or (iii

) repay or credit Buyer an amount equal

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 l

is asserted.

iability

Suitability of Use

Omron Companies shall not be responsible f or conf ormity 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 f or determining appropriateness of the particular Product with respect t o 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

User’s Manual for Communications Settings

ZW-8000/7000/5000

OR IN LARGE QUANT ITIES 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.

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

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. Ho wever, some specifications of the Product may be changed without any notice. When i n 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, typog raphical or proofreading errors or omissions.

ZW-8000/7000/5000 User’s Manual for Communications Settings

Precautions on Safety

For details on the precautions on safety, refer to the following manual:

"Precautions on Safety" described in Displac ement Se nsor ZW-8000/7000/5000 series Confocal Fiber

Type Displacement Sensor User's Manual (Z362)

Precautions for Safe Use

For details on the precautions for safe use, refer to the following manual:

"Precautions for Safe Use" described in Displacement Sensor ZW-8000/7000/5000 series Confocal

Fiber Type Displacement Sensor User's Manual (Z362)

Precautions for Correct Use

For details on the precautions for correct use, refer to the following manual:

"Precautions for Correct Use" described in Displacemen t Sensor ZW-8000/7000/5000 series Confocal

Fiber Type Displacement Sensor User's Manual (Z362)

Editor's Note

● Meaning of Symbols

Menu items that are displa yed on the main or sub-display, and windows, dialog boxes and other GUI elements displayed on the personal computer are indicated enclosed by brackets [ ].

●

Visual Aids

Important

Note

Optional

Indicates points that are important to achie ve the full product performance, such as oper a tiona l precautions.

Indicates application procedures.

Indicates pages where related information can be found.

Indicates that the setting is optional in a configuration procedure.

Copyrights and Trademarks

• Sysmac is a trademark or registered trademark of OMRON corporation in Japan and other countries for our FA equipment products.

• Windows, Windows XP, Windows Vista, Windows 7, and Windows 8 are registered tr Corporation in the USA and other countries.

• EtherCAT

Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• Microsoft product screen shots reprinted with p

• Other system names and product names that appear in this manual are the trademarks or the respective companies.

is registered trademark and patented technology that is licensed by Beckhoff Automation GmbH,

ermission from

Microsoft Corporation.

ademarks of Microsoft

registered trademarks of

User’s Manual for Communications Settings

ZW-8000/7000/5000

Notice

• Photocopying, duplication, or copying of all or part of this manual without permission is prohibited.

• Please understand that the specifications and other contents of this manual are subject to change f without notice.

• Every effort has been made to ensure the accuracy of the contents of this manual, but if you should notice an mistake, questionable section, or the like in this manual, please contact an OMRON branch or sales office. If you do so, please also tell us the manual number, which is found at the end of the manual.

or improvement

ZW-8000/7000/5000 User’s Manual for Communications Settings

Relevant Manuals

The following table provides the relevant manuals for the ZW-8000/7000/5000 series Conf ocal Fiber Type Displacement Sensor. Read all of the manuals that are relevant to your system configuration and application before you use the ZW8000/7000/5000 series Confocal Fiber T ype Displacement Sensor. Most operations are performed from the Sysmac Studio Automation Software. Refer to the “Sysmac Studio V ersion 1 Operation Manual (Cat. No. W504)” for information on the Sysmac Studio.

Purpose of use Manual

Overview of ZW-8000/7000/5000 series

Setup and Wiring Basic Operation Function Setting Offline Setting Confirm the Menu List Connecting to the Sensor Controller Connecting to the Sensor Controller for

Communication Settings Overview of Communication Specifica-

tions Parallel I/O

EtherCAT EtherNet/IP No-protocol Specifications and External Dimen-

sions Processing Item List

System Data List Object Dictionary Update the Firmware Troubleshooting Error Messages

ZW-8000/7000/5000 series Confocal Fiber

Type Displacement Sensor User's Manual

●

ZW-8000/7000/5000 series Conf o cal Fiber

Type Displacement Sensor User's Manual

for Communications Settings

●

User’s Manual for Communications Settings

ZW-8000/7000/5000

Related Manuals

The related manuals are described the below tables. Please check the manuals.

Manual name Cat. No. Model numbers Application Description

Sysmac Studio Version 1 Operation Manual

Confocal Fiber Type Displacement Sensor ZW-8000/7000/5000 series User's Manual

Confocal Fiber Type Displacement Sensor ZW-8000/7000/5000 series User's Manual for Communication Settings (This manual)

W504 SYSMAC-SE2@@@ Learning about the operating

Z362 ZW-8000@

Z363 ZW-8000@

ZW-7000@ ZW-5000@

procedures and functions of the Sysmac Studio.

To learn how to set-up of Confocal Fiber Type Displacement Sensor of ZW-8000/7000/5000 series.

To learn how to use communication settings of Confocal Fiber Type Displacement Sensor of ZW8000/7000/5000 series.

Describes the operating procedures of the Sysmac Studio.

Describes how to set-up of Confocal Fiber Type Displacement Sensor of ZW8000/7000/5000 series.

Describes how to use communication settings of Confocal Fiber Type Displacement Sensor of ZW8000/7000/5000 series.

ZW-8000/7000/5000 User’s Manual for Communications Settings

User’s Manual for Communications Settings

ZW-8000/7000/5000

Editor's Note . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

Copyrights and Trademarks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Relevant Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6

Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7

1.Overview of Communication Specifications

1-1 Overview of Communication Specifications . . . . . . . . . . . . . . . . . . . 14

Overview of Communication Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . .14

1-2 Checking the System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . 15

System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

Connection Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

2.Parallel I/O Connection

2-1 Parallel I/O Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

I/O Signal Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20

Settings for Parallel Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

Settings for Analog Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

Settings for Judgment Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

Settings for Bank Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

Timing Chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

Table of Contents

3.EtherCAT Connection

3-1 EtherCAT Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Overview of EtherCAT Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44

Communication Methods for Measurement Sensor when Connect ed via EtherCAT 48

Setting Communications Specifications (EtherCAT Communications) . . . . . . .51

List of I/O Ports for Each Area (PDO Mapping) and Memory Assignments . . . 52

Timing Chart (EtherCAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75

Sample Ladder Program (EtherCAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .85

Sysmac Device Features (EtherCAT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .86

4.EtherNet/IP Connection

4-1 EtherNet/IP Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

ZW-8000/7000/5000 User’s Manual for Communications Settings

Introduction to EtherNet/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

Communication Methods for Measurement Sensor when Connect ed vi a EtherNe t/

IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .92

Setting Communications Specifications (EtherNet/IP) . . . . . . . . . . . . . . . . . . .95

Tag Data Link Setting Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .97

Memory Assignments and Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .100

Timing Chart (EtherNet/IP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

Sample Ladder Program (EtherNet/IP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .117

5.No-protocol Connection

5-1 No-protocol Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

Outline of No-protocol Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . .120

Setting Communications Specifications (Ethernet Co mmunications) . . . . . . .121

Setting Communications Specifications (RS-232C Communications) . . . . . .123

Setting for serial data output after application of measured valu e . . . . . . . . .124

Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .128

Command Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130

6.Sensor Controller Operations

6-1 Connecting Parallel I/O. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

Settings for Analog Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .160

Settings for Judgment Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .164

Settings for Processing When Measurem e nt Is No t Po ssi b le . . . . . . . . . . . . .166

Settings for Digital Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .169

Settings for Parallel Input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .171

Settings for TIMING Input Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172

Setting for Internal Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .173

6-2 Connecting with EtherCAT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

Setting Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .175

Setting GATE Signal ON Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .176

6-3 Connecting with EtherNet/IP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

Network Settings of the Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .177

Setting Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .178

6-4 Connecting by No-protocol Communications . . . . . . . . . . . . . . . . . 179

Initial Settings for No-protocol Communications . . . . . . . . . . . . . . . . . . . . . . .179

Setting Communications Specifications (RS-232C Communications) . . . . . .180

Setting Serial Data Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .181

Set the delimiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .182

7.Troubleshooting

7-1 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184

Errors for EtherCAT Connection (Sysmac Error Status) . . . . . . . . . . . . . . . . .184

Errors for EtherCAT Connection (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .196

User’s Manual for Communications Settings

ZW-8000/7000/5000

Errors for Ethernet or EtherNet/IP Connection . . . . . . . . . . . . . . . . . . . . . . . .197

Errors Common to All Communication States . . . . . . . . . . . . . . . . . . . . . . . . .198

7-2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

8.Appendices

8-1 Processing Item Data List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

8-2 System data list. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

8-3 Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

Object Dictionary Area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .214

Data type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .214

Description Format of Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .215

Communication Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .216

PDO Mapping Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .219

Sync Manager Communication Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .224

Manufacturer Unique Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .227

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278

Table of Contents

ZW-8000/7000/5000 User’s Manual for Communications Settings

User’s Manual for Communications Settings

ZW-8000/7000/5000

Overview of Communication Specifications

1-1 Overview of Communication Specifications . . . . . . . . . . . . . . . . . . . .14

1-2 Checking the System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . .15

1-1

Overview of Commu nication Specifications

Overview of Communication Specifications

This chapter provides a general description of the communication specifications and sensor control method, which is necessary to know before setting up the communication between the ZW-8000/7000/5000 series and an external device.

Overview of Communication Specifications

User’s Manual for Communications Settings

ZW-8000/7000/5000

1-2 Checking the System Configuration

This product is a displacement sensor of the confocal fiber type. The connection with an external de vice such as a PLC and a personal computer allows a measurement

command to be input and measurement results to be output from the external device.

Overview of Communication Specifications

ZW-8000/7000/5000 User’s Manual for Communications Settings

Checking the System Configuration

System Configuration

Connecting with EtherCAT (when the master is NX/NJ Series)

EtherCAT Master

Sysmac Studio Standard Edition

I/O control PLC

Trigger input sensor

24-V power supply

Power Cable

Parallel Cable

Connecting with EtherCAT (when the master is other than NX/NJ Series)

Sysmac Studio Displacement Sendor Edition

General-purpose Ethernet Cable

I/O control PLC

Trigger input sensor

24-V power supply

Power Cable

Parallel Cable

NX/NJ-series Machine Automation Controller

Special EtherCAT Cable (RJ45/RJ45)

Special EtherCAT Cable

(RJ45/RJ45)

EtherCAT Master

Programmable Controller with CJ2 CPU Unit

Special EtherCAT Cable (RJ45/RJ45)

Special EtherCAT Cable

(RJ45/RJ45)

General-purpose USB Cable General-purpose Ethernet Cable

ZW-8000@/7000@/5000@

Special EtherCAT Cable

ZW-8000@/7000@/5000@

Special EtherCAT Cable

Other EtherCAT slaves

(RJ45/RJ45)

Other EtherCAT slaves

(RJ45/RJ45)

EtherNet/IP and No-protocol Ethernet Connections

Sysmac Studio Displacement Sendor Edition

General-purpose Ethernet Cable

Industrial EtherNet/IP/ Ethernet Switching Hub

24-V power supply

Checking the System Configuration

Power Cable

Control signal input sensor

General-purpose Ethernet Cable

I/O control PLC

Control PLC, RC, or MC

Programmable Controller with CJ2 CPU Unit

General-purpose Ethernet Cable

Parallel Cable

NX/NJ-series Machine Automation Controller

ZW-8000@/7000@/5000@

User’s Manual for Communications Settings

ZW-8000/7000/5000

Connection Compatibility

Connected to ZW-8000@/7000@/ 5000@

EtherCAT --- Not compatible Compatible Compatible Compatible EtherNet/IP Not compatible --- Compatible Compatible Compatible Ethernet

(no-protocol) RS-232C

(no-protocol)

Other connection EtherCAT EtherNet/IP Ethernet

Compatible Compatible --- Compatible Compatible

Compatible Compatible Compatible --- Compatible

(no-protocol)

RS-232C (no-protocol)

Parallel I/O Cable

Important

• EtherCAT and EtherNet/IP connections cannot be used at the same time.

• Can be connected simultaneously via Ethernet with PC tools (Sysmac Studio, Sma

rtMonitorZW) and another device (PLC etc). Can be connected simultaneously via Ethernet with PC tools (Sysmac Studio, SmartMonitorZW) and another device (PLC etc). The port number for the PC tool is 9600 (fixed) and 9602 (fixed). When connecting different devices, set the port number to other than 9600 and 9602 (default value is 9601).

• When the measurement cycle is 40µs or less and ETherCA

Product Model Application ZW ZW-8000@/7000@/5000@ This Displacement Sensor performs measurements. PC Tool Sysmac Studio Standard

Special EtherCAT Cable * The Special EtherCAT Cable connects the Sensor to another Sensor or to

General-purpose Ethernet cable

Special RS-232C Cable For connecting to a PLC or

Industrial EtherNet/IP / Ethernet Switching Hub

Edition

• SYSMAC-SE200D (no licenses included (media only))

• SYSMAC-SE201L (1-license edition)

• SYSMAC-SE2@@L (multilicense editions (3, 10, 30, or 50 licenses))

Sysmac Studio Measurement Sensor Edition

• SYSMAC-ME00@L (1 or 3 licences)

--- Prepare commercially available Eth ernet cable

programmable terminal

•ZW-XPT2

For connecting to a PC

•ZW-XRS2

• W4S1-03B (3 ports type)

• W4S1-05B

• W4S1-05C (5 ports type)

This is the setup application. It is part of the Sysmac Studio Package and it runs on Windows. The Sysmac Studio comes in two different editions .

• Sysmac Studio Standard Edition

• Sysmac Studio Measurement Sensor Edition

another EtherCAT device.

satisfying the following requirements:

• Category 5e or more, 30 m or less

• RJ45 connector (8-pin modular jack)

• For direct connection: Select cross cable.

• For connection through an industrial switching hub: Select straight cable.

Connect the sensor with a PLC, programmab le terminal, or personal computer etc..

The Switching Hub connects multiple Sensors to one Touch Finder or one computer running PC Tool.

T is connected, analog output is not e

The Sysmac Studio provides an integrated development environment for the NX/NJ series Controllers and other Machine Automation Controllers and EtherCAT Slaves. It supports setup, programming, debugging, operation, and maintenance. The Sysmac Studio Standard Edition DVD includes Support Software for EtherNet/IP, DeviceNet, serial communications, and PT screen design (CX-Designer). Refer to the Sysmac catalog (Cat. No. P072) for details.

This license provides the functions that are required to set up ZW-8000/ 7000/5000 Series Vision Sensors from the Sysmac Studio. This model number is for the license only. You must also purchase the DVD for the Sysmac Studio Standard Edition Ver.1.22 or higher.

xecuted.

Overview of Communication Specifications

ZW-8000/7000/5000 User’s Manual for Communications Settings

Checking the System Configuration

Product Model Application EtherCAT Junction Slave • GX-JC03

(3 ports type)

•GX-JC06 (6 ports type)

Used to connect multiple sensors or PLCs using EtherCAT.

*: Refer to Displacement Sensor ZW-8000/7000/5000 series Confocal Fiber Type Displacement Sensor User's

Manual (Z362) "9-1 Specifications and External Dimensions".

Checking the System Configuration

User’s Manual for Communications Settings

ZW-8000/7000/5000

Parallel I/O Connection

2-1 Parallel I/O Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Parallel I/O Connection

2-1 Parallel I/O Connection

I/O Signal Functions

The following describes the functions of I/O signals.

Analog Output Terminals

Analog output

Name Description Analog voltage output This outputs the measured value from -10 V to +10 V as the voltage value.

Analog current output This outputs the measured value, from 20 mA to 4 mA as the current value.

32-pole expansion connector

Judgment output

Name Description HIGH output Judgment result HIGH (HIGH threshold value < measured value) is output. PASS Output Judgment result PASS (LOW threshold v alue ≤ measured value ≤ HIGH threshold value) is

LOW output Judgment result LOW (LOW threshold value > measured value) is output.

When measurement not possible: Approx. 10.8V (default value, can be selected by user) At alarm: Approx. 10.8V

When measurement not possible: Approx. 21 mA (default value, can be selected by user) At alarm: Approx. 21 mA

output.

ALARM output

Name Description ALARM output This turns ON when there is a system error.

BUSY output

Name Description BUSY output This turns ON during sampling with the hold function enabled.

It allows you to check whether or not the self-tr It also turns ON during bank switching. This signal is turned ON in FUNC mode.

ENABLE output

Name Description ENABLE output This turns ON when the sensor is ready for measurement.

Parallel I/O Connection

This output is interlocked with the ENABLE indicator.

igger is functioning correctly.

User’s Manual for Communications Settings

ZW-8000/7000/5000

SYNCFLG/TRIGBUSY output

Name Description SYNCFLG/TRIGBUSY output In the internal/PDO synchronized mode , this output sig nal operates a s SYNCFLG. This turns ON

when measurement synchronization processing is execut ed by SYNC input and the state changes to one where normal measurement values can be output. In the external synchronous measurement mode, t turns ON while a measurement by TRIG input is being performed. The next TRIG input cannot be turned ON until this turns OFF.

his output signal

operates as TRIGBUSY. This

STABILITY output

Name Description STABILITY output Turns ON when the 1 surface is in the measuring range.

LOGSTAT output

Name Description LOGSTAT output This turns ON while internal logging is in execution.

LOGERR output

Name Description LOGERR output Turns ON when memory for Internal logging is full and the executes Internal logging.

Parallel I/O Connection

TASKSTAT output

Name Description TASKSTA T output This turns ON when the measurement value is finalized.

ZERO input

Name Description ZERO input This is used to execute and clear a zero reset.

RESET input

Name Description RESET input This resets all executing measurements and outputs.

While a RESET is being input, judgment output conforms to the non-measurement setting. If this RESET input switches ON while the hold function is us hold function was set will be restored.

ed, the state in effect before the

TIMING input

Name Description TIMING input This timing input is for signal input from external devices. Use it for hold function timing.

ZW-8000/7000/5000 User’s Manual for Communications Settings

Parallel I/O Connection

LIGHT OFF input

Name Description LIGHT OFF input Turns OFF the light for measurement.

While LIGHT OFF is being input, the analog output and judgment output conform to the nonmeasurement sett

ing.

LOGGING input

Name Description LOGGING input This is used to start internal logging.

SYNC/TRIG input

Name Description SYNC input This is used to synchronize imaging between multiple ZW. With e x ternal synchronous

Important

When the Internal synchronous measurement mode is External synchronous measurement mode, updates each input signals by inputting the TRIG input signal. To be enabled each input signal, enter the TRIG input signal.

measurement mode selected, this signal works as TRIG input. For the following conditions, it performs as a SYNC input.

• [Fieldbus] setting: When either [OFF] or [EtherNet/IP] is selected.

• [Synchronous measurement mode] setting: When selected.

For the following conditions, it performs as a TRIG input.

• [Internal synchronous measurement mode] setting: When select [External synchronous measurement mode].

Inter

nal/PDO synchronized mode is

Settings for Parallel Input

Used for preventing chattering in parallel input and malfunction due to noise .

Item Setting item Setting value Description I/O settings Width of input signal

filter

5 μs/10 μs/20 μs/50 μs/ 100 μs/200 μs/500 μs/ 1000 μs 100 μs (default value)

Set the width of filter.

 Multi View Explore : [Bank Gr oup] | [(Bank Data Name)] (double click)

→ Edit pane : [I/O Settings] icon ( ) → I/O Setting Screen : [I/O Settings]

1 Set [Width of input signal filter].

Parallel I/O Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Example) When the filter setting value is 100μs (default value) As an ON state persists for 100μs, an ON or OFF state of TIMING signal is detected. Therefore, a delay in the detection of TIMING signal occurs for a period of time equivalent to the set filter value.

Without chattering

TIMING

With chattering

TIMING

OFF

ON state is detected as ON state persists for 100µs.

100µs

ON state is detected as ON state persists for 100µs.

100µs 100µs

OFF state is detected as OFF state persists for 100µs.

100µs

OFF state is detected as OFF state persists for 100µs.

Settings for Analog Output

The following describes the settings for outputting the current measurement results from the analog output of the analog output terminal block.

Setting the analog output destination

With analog output, the measurement re sults can be outp ut con v erted to a current from 4 to 20 mA or a v oltage from -10 to +10 V. Selects which to output, the current or the voltage.

Parallel I/O Connection

Important

The same output destination is set for all banks. The output destination cannot be set separately for individual banks.

Item Setting item Setting value Description Sensor settings Analog output Voltage output

(default value) Current output Current output

Voltage output

Note

The analog output destination can also be set with key operations on the Sensor Controller.

Setting the analog output destination p.160

1 Set the operating mode to the FUNC mode.

Displacement Sensor ZW-8000/7000/5000 series Confocal Fiber Type Displacement Sensor

User's Manual (Z362) "3-2 Switching operation modes"

ZW-8000/7000/5000 User’s Manual for Communications Settings

Parallel I/O Connection

 Multi View Explore : [Device Group] | [(Sensor Name)] | [System] |

[System Data] (double-click)

→ Edit pane : [Sensor settings] icon ( )

2 Select the output destination from [Analog

output].

Important

When satisfies the following conditions, the analog output is disabled. A clamp value is output.

• Measurement cycle is 40 µs or less.

• EtherCAT communication is selected in the Fieldbus.

Parallel I/O Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Assigning Analog Output

Set the task for which to output the result s as analog.

Item Setting item Setting value Description Analog output Output object None/TASK1/TASK2/TASK3/

TASK4

Select the task to output as analog.

1 Set the operating mode to the FUNC mode.

Displacement Sensor ZW-8000/7000/5000 series Confocal Fiber Type Displacement Sensor

User's Manual (Z362) "3-2 Switching operation modes"

 Multi View Explore : [Bank Gr oup] | [(Bank Data Name)] (double click)

→ Edit pane : [I/O Settings] icon ( ) → I/O Setting Screen : [Analog output]

2 Select the task from [Output object].

You can select from the above setting values. None/TASK1/TASK2/TASK3/TASK4

Parallel I/O Connection

Note

Analog output can also be assigned with key operations on the Sensor Controller.

Assigning Analog Output p.161

ZW-8000/7000/5000 User’s Manual for Communications Settings

Parallel I/O Connection

Setting Monitor Focus

With analog output, the relationship between the output value and measured value to be displ ayed can be set as desired to convert the measurement result to 4 to 20 mA current or -10 to +10 V voltage before output. Set the focus to match the connected external device. The output range can be set by entering the output value for the current or voltage values for any two points.

Example: When setting 4 mA output (1st point) for measured value of 0 mm and 20 mA output for measured

value of 1 mm (2nd point) (current output)

Output current (mA)

Point 1

Point 2

Measured value (mm)

Important

• Separate the two specified points by at least 1% of the rated measuring range of the connected Sensor Head or 40 μm.

• After executing functions that add/subtract the span and offset values to/from the measurement value

, execute the

monitor focus.

Item Setting item Setting value Description Monitor

focus

Monitor focus ON/OFF (default value) Sets monitor focus ON/OFF. Point1 Distance

Point2 Distance

value

Current output value

Voltage output value

value

Current output value

Voltage output value

-999.999999 to 999.999999 [mm] Sets the reference measured value for output.

4 (default value) to 20 [mA] When the analog output destination is set to current,

-10 (default value) to 10 [V] When the analog output destination is set to v oltage,

-999.999999 to 999.999999 [mm] Sets the reference measured value for output.

4 (default value) to 20 [mA] When the analog output destination is set to current,

-10 (default value) to 10 [V] When the analog output destination is set to v oltage,

The default setting diff ers depending on the Sensor Head.

sets the current to be output when the distance valu e is measured.

sets the voltage to be output when the distance value is measured.

The default setting diff ers depending on the Sensor Head.

sets the current to be output when the distance valu e is measured.

sets the voltage to be output when the distance value is measured.

Note

The monitor focus can also be set with key operations on the Sensor Controller.

Setting Monitor Focus p.161

Parallel I/O Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

1 Set the operating mode to the FUNC mode.

Displacement Sensor ZW-8000/7000/5000 series Confocal Fiber Type Displacement Sensor

User's Manual (Z362) "3-2 Switching operation modes"

 Multi View Explore : [Device Group] | [(Sensor Name)] | [Bank Group] |

[(Bank Data Name)] (double click)

→ Edit pane : [I/O Settings] icon ( ) → I/O Setting Screen : [Analog output]

2 Select ON from [Monitor Focus]. 3 Enter the [Distance] and [Output value] at

[Point1].

4 Likewise, enter the [Distance] and [Output

value] at [Point2].

Adjusting the analog output value

Parallel I/O Connection

Discrepancies may occur between the current value/voltage value output as analog set on the Sensor Controller and the current value/voltage value actually measured due to the conditions for the connected external device or other factors. The analog output adjustment function can be used to correct this discrepancy. The output values are corrected by entering the adjustment value for the current or voltage values for any two points.

Important

Set the output destination and select either current or voltage output beforehand. Also, connect the analog output signal line to an external ammeter or voltmeter.

Item Setting item Setting value Description Analog out-

put adjustment

Analog output adjustment ON/OFF (default value) Set analog output correction ON/OFF. Point1 Reference value

Point2 Reference value

(current/value) adjustment value -999 to 999 Sets the adjustment value when the reference value is

4 to 20 [mA]/-10 to 10 [V] Sets the current or voltage to be used as the correction

reference in the entry field on the left.

measured in the entry field on the right.

reference in the entry field on the left.

measured in the entry field on the right.

ZW-8000/7000/5000 User’s Manual for Communications Settings

Parallel I/O Connection

1 Set the operating mode to the FUNC mode.

Displacement Sensor ZW-8000/7000/5000 series Confocal Fiber Type Displacement Sensor

User's Manual (Z362) "3-2 Switching operation modes"

 Multi View Explore : [Device Group] | [(Sensor Name)] | [Bank Group] |

[(Bank Data Name)] (double click)

→ Edit pane : [I/O Settings] icon ( ) → I/O Setting Screen : [Analog output]

2 Select ON from [Analog output adjustment].

Important

This setting is allowable only when Online.

3 Click [Setting].

The “Analog Output Adjust” popup menu appears.

4 Enter the [Distance] and [Output value] at

[Point1], and click [Output].

5 Likewise, enter the [Distance] and [Output

value] at [Point2], and click [Output].

6 Click [Setting].

Note

Analog output values can also be adjusted with key operations on the Sensor Controller.

Adjusting the analog output value p.163

Parallel I/O Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Settings for Judgment Output

The following describes t he settings for outputting the judgment results from the judgmen t output of th e 32-pole extension connector.

Assigning judgment output

Set the task for which to output the judgment results. The judgment results for the selected task are output from the following output terminals of the 32-pole extension connector.

HIGH/PASS/LOW

Item Setting item Setting value Description Judgment Output object TASK1/TASK2/TASK3/TASK4 Select the task for which to output the judgment result.

1 Set the operating mode to the FUNC mode.

Displacement Sensor ZW-8000/7000/5000 series Confocal Fiber Type Displacement Sensor

User's Manual (Z362) "3-2 Switching operation modes"

 Multi View Explore : [Bank Group] | [(Bank Data Name)] (double click)

→ Edit pane : [I/O Settings] icon ( ) → I/O Setting Screen : [Judgment]

2 Select the task from [Output object].

Parallel I/O Connection

Note

Judgment output can also be assigned with key operations on the Sensor Controller.

Assigning judgment output p.164

ZW-8000/7000/5000 User’s Manual for Communications Settings

Parallel I/O Connection

Setting Operation at Judgment Output

Set the hysteresis width of the judgment upper/lower limit values and judgment output timing.

Refer to “4-4 Setting Threshold Value” described in Displacement Sensor ZW-8000/7000/5000 series Confocal Fiber T

Item Setting item Setting value Description Judgment

output

Hysteresis width 0 to 99.9999mm Sets the hysteresis value (difference between operating point and

ype Displacement Sensor User’s Manual (Z362).

recovery point) of the judgment upper/lower limit values when HIGH/ PASS/LOW judgment is unstable near the boundary.

HIGH threshold value

Measured value

LOW threshold value

Hysteresis (hysteresis width)

Action point Return point

HIGH output PASS output

LOW output

Satisfy the following conditions. HIGH threshold value ≥ HIGH threshold value - Hysteresis (hysteresis width) > LOW threshold value + Hysteresis (hysteresis width) ≥ LOW threshold value

ON OFF

Timer mode OFF (default value) Outputs the judgment as soon as the judgment result has been applied.

ON OFF

ON OFF ON OFF

Measured value

HIGH threshold value

LOW threshold value

HIGH output

PASS output

LOW output

Off Delay Delays the falling edge of the output s by the value set at [Timer Duration]

after the judgment result has been applied.

Measured value

HIGH threshold value

LOW threshold value

HIGH output

PASS output

LOW output

ON OFF

ON OFF ON OFF

: Timer time

Parallel I/O Connection

On Delay Delays the rising edge of the outputs by the value set at [Timer Duration]

after the judgment result has been applied.

HIGH threshold value

LOW threshold value

HIGH output

PASS output

LOW output

Measured value

ON OFF

ON OFF ON OFF

User’s Manual for Communications Settings

: Timer time

ZW-8000/7000/5000

Item Setting item Setting value Description Judgment

output

Timer mode One Shot When the judgment result is turned ON, output by the value set as [Timer

Timer time 1 (default value) to

5000 [ms]

Duration].

ON OFF

ON OFF ON OFF

Measured value

HIGH threshold value

LOW threshold value

HIGH output

PASS output

LOW output

Sets the timer duration when the timer mode is other than OFF.

1 Set the operating mode to the FUNC mode.

Displacement Sensor ZW-8000/7000/5000 series Confocal Fiber Type Displacement Sensor

User's Manual (Z362) "3-2 Switching operation modes"

 Multi View Explore : [Bank Group] | [(Bank Data Name)] (double click)

→ Edit pane : [I/O Settings] icon ( ) → I/O Setting Screen : [Judgment]

2 Set [Hysteresis Width]. 3 Select the judgment output timing to match

operation of the external device from [Timer mode].

4 Sets [Timer time].

: Timer time

Parallel I/O Connection

Note

The operations for judgment output can also be set with key operations on the Sensor Controller.

Setting Operation at Judgment Output p.165

Important

• The timer mode cannot be used when the measurement mode is external/PDO synchronous measurement mode.

• Timer time shall be a value rounded up by Measurement Cycle Time un

it.

• When 2 area mode is selected, minimum value shall be doubled Measurement Cycle.

ZW-8000/7000/5000 User’s Manual for Communications Settings

Parallel I/O Connection

Settings for Bank Control

This section describes the settings for controlling banks by using parallel I/O.

Selecting banks

The bank is selected in combinations of the bank select input signals (BANK_SEL1 to 3).

Bank selection input 1 (BANK_SEL1)

OFF OFF OFF BANK1 ON OFF OFF BANK2 OFF ON OFF BANK3 ON ON OFF BANK4 OFF OFF ON BANK5 ON OFF ON BANK6 OFF ON ON BANK7 ON ON ON BANK8

Bank selection input 2 (BANK_SEL2)

Bank selection input 3 (BANK_SEL3)

Selected bank

Important

• At most it takes about 100ms to switch banks.

• During bank switching, the BUSY output becomes ON.

• If the bank mode is set to [JUDGE], the bank cannot be switched at the external

signal input because the number of

banks increases to 32.

Outputting the currently selected bank number

The currently selected bank number is output. The output bank number depends on the combination of the bank number output signals (BANK_OUT1 to 3).

Bank number output 1 (BANK_OUT1)

OFF OFF OFF BANK1 ON OFF OFF BANK2 OFF ON OFF BANK3 ON ON OFF BANK4 OFF OFF ON BANK5 ON OFF ON BANK6 OFF ON ON BANK7 ON ON ON BANK8

Bank number output 2 (BANK_OUT2)

Bank number output 3 (BANK_OUT3)

Output bank

Parallel I/O Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Timing Chart

The following shows the timing charts when communication is performed with external devices.

Relationship between image capture duration and judgment output

Item Min. Max. T0 Measuring cycle 60 μs (ZW-8000@)

T1 Exposure time 1 μsT0 - 3 μs T2 Response time of jud gment output T3 Refresh cycle of judgment output T4 Response time of an alog output

T5 Refresh time of analog output

T6 Response delay time of Analog output − Output voltage: Approx 1.5 μs

*1 In 2 area mode, T0 is added to the values in the chart. *2 P = 0

μs (ZW-7000@/5000@)

100

μs (ZW-8000@)

(1) (2) (3)

T0T1

20 μs (ZW-7000@) 80 μs (ZW-5000@)

− 250 μs + P

− T + 200 μs

− 80 μs (ZW-7000@/5000@)

− TO (1 area mode)

Depends on the set conditions

200 μs (ZW-8000@)

2TO (2 area mode)

Current output: Approx 10 μs

Parallel I/O Connection

Exposure

Analog output

Judgment output

(HIGH/PASS/LOW)

Explanation of operations

(1) During each measuring cycle, the light source is lit and exposure is started. (2) After the end of exposure, measurement starts. (3) After the end of measurement, the judgment result and the analog output are updated.

ZW-8000/7000/5000 User’s Manual for Communications Settings

Parallel I/O Connection

Hold (peak/bottom/peak to peak/average)

Item Min. Max. T18 RESET Minimum input time 2 × T0 + C*1 + 1100 μs −

T19 TIMING - BUSY ON maximum response

T20 TIMING minimum input time

T21 TIMING - BUSY OFF maximum response

T22 BUSY OFF - maximum response time of

T23 RESET maximum response time and

T39

*1 C = Filter width of input signal *2 In 2 area mode, T0 is added to the values in the chart. *3 P = 0

100

TIMING input

RESET input

BUSY output

Judgment output

(HIGH/PASS/LOW)

Analog output

time

judgment/analog output

RESET OFF-TIMING ON minimum time TIMING OFF - RESET ON minimum time

μs (ZW-7000@/5000@)

μs (ZW-8000@)

(2) (3) (4)(5) (6)

T19 T20 T21

OFF

T22

− TO + C*1+ P*3 + 80 μs (When specify timing to measure mode is selected) 2 × TO + C (When specify timing to exposure mode is selected)

T0 + C*1+ 20 μs (Minimun OFF time is T0 + C μs.)

+ 60

−

− T0 + C*1+ P*3 + 300 μs

− 30 μs

− 2 × TO + C*1 + 3000 μs

TO + C*1+ 60 μs (When specify timing to measure mode is selected) 2 × TO + C (When specify timing to exposure mode is selected)

+ 60 μs

T18T39

T23

−

(8) (7) (9)(1)

T23

+ P*3 + 80 μs

Explanation of operations

(1) The TIMING input is turned ON. (2) During the TIMING input minimum time, when the TIMING input is ON, sampling is started and the BUSY

output is turned ON. (3) The TIMING input is turned OFF. (4) After the TIMING input turns OFF, sampling is ended and the Judgment result and Analog output are

updated. The BUSY output is also turned OFF. (5) After the Judgment result, and the analog output are updated. (6) The RESET input is turned ON. If the RESET input is turned ON during the RESET input minimum time, the

measured value is reset. (7) The judgment result and analog output are reset. (8) The RESET input is turned OFF. (9) After the RESET input is turned OFF, the TIMING input can be turned ON again.

Parallel I/O Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Important

RESET input

BUSY output

Judgment output

(HIGH/PASS/LOW)

Analog output

(1) (2) (4)(3)

OFF

(5)

T18

T24

T25

T22

• Judgment and Analog output may not be updated until BUSY is turned ON after Sampling procedure.

• When the setting for non-measurement is “CLAMP”, if the sampling value is an abnormal value or an undeter

, sampling is not executed. If sampling has been started, it is stopped. The output value is as follows.

value

• Hold the clamp value.

• To start and continue sampling even if a sampling value is an abnormal value or an undetermined value, set “KEEP” as the non-measurement setting.

*: After the star

t of measurement, if measurement results are not obtained the n

umber of times required to take the

average, the measurement result is not applied.

*: The RESET of (6) through (8) can be omitted. When performing T

IMING input consecutively

, make sure that the

interval between TIMING inputs is the minimum OFF time of T20 or longer.

Hold (auto peak/auto bottom/auto peak-to-peak)

Item Min. Max. T18 RESET minimum input time 2 × T0 + C*1 + 1100 μs − T22 BUSY-OFF maximum response time of

T24 BUSY OFF maximum response time T25 RESET - BUSY ON maximum response

*1 C = Filter width of input signal *2 In 2 area mode, T0 is added to the values in the chart.

judgment/analog output

time

− 0 μs (1 area mode)

− T23

TO (2 area mode)

mined

Parallel I/O Connection

Explanation of operations

(1) The RESET input is turned ON. If the RESET input is turned ON during the RESET input minimum time, the

measured value is reset. (2) Judgment result is reset. The BUSY output is turned OFF. (3) After judgement result is reset, Analog output is reset. (4) The RESET input is turned OFF. (5) The BUSY output is turned ON.

Important

• Judgment and Analog output may not be updated until BUSY is turned OFF after Sampling procedure.

• When the setting for non-measurement is “CLAMP”, if the sampling value is an abnormal value or an undeter

, sampling is not executed. If sampling has been started, it is stopped. The output value is as follows.

value

mined

• Hold the clamp value.

• The BUSY signal is turned OFF.

• To start and continue sampling even if a sampling value is an abnormal value or an undetermined value, set “KEE

*: After the star

average, the measurement result is not applied.

ZW-8000/7000/5000 User’s Manual for Communications Settings

P” as the non-measurement setting.

t of measurement, if measurement results are not obtained the n

umber of times required to take the

Parallel I/O Connection

Hold (sampling)

Item Min. Max. T18 RESET Minimum input time 2 × T0 + C*1 + 1100 μs − T19 TIMING - BUSY ON maximum response

T20 TIMING minimum input time

T22 BUSY-ON maximum response time of judg-

time

ment/analog output

T23 RESET maximum response time and

RESET OFF-TIMING ON minimum time

T39 TIMING OFF - RESET ON minimum time*2TO + C*1 + 60 μs

*1 C = Filter width of input signal *2 In 2 area mode, T0 is added to the values in the chart. *3 P = 0

μs (ZW-7000@/5000@)

100

μs (ZW-8000@)

− TO + C*1 + P*3 + 80 μs

T0 + C*1 + 20 μs (Minimum OFF time is T0 + C 60 μs.)

(When specify timing to measure mode is selected) 2 × TO + C (When specify timing to exposure mode is selected)

−

− 30 μs

− T0+C*1+3000 μs

(When specify timing to measure mode is selected) 2 × TO + C (When specify timing to measure mode is selected)

+ 60 μs

+ P*3+ 80 μs

TIMING input

RESET input

BUSY output

Judgment output

(HIGH/PASS/LOW)

Analog output

OFF

(1) (2) (3)

T22

T19

T20

T39

(4)

T18

T23

(6) (5)

T23

(7)

Explanation of operations

(1) The TIMING input is turned ON. (2) During the TIMING input minimum time, when the TIMING input is ON, sampling is started and the BUSY

output is turned ON. The measurement result is sampled and the judgment result is output. (3) After the Judgment result, and the analog output are updated. (4) The RESET input is turned ON. If the RESET input is turned ON during the RESET input minimum time, the

measured value is reset. (5) The judgment result and the analog output are reset. (6) The RESET input is turned OFF. (7) After the RESET input is turned OFF, the TIMING input can be turned ON again.

Important

• Judgment and Analog output may not be updated until BUSY is turned OFF after Sampling procedure.

• When the setting for non-measurement is “CLAMP”, if the sampling value is an abnormal value or an undeter

, sampling is not executed. The output value is as follows.

value

mined

• Hold the clamp value.

Parallel I/O Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

• The BUSY signal is not turned ON. *: After the start of measurement, if measurement results are not obtained the n

umber of times required to take the

average, the measurement result is not applied.

*: The RESET of (6) through (8) can be omitted. When performing T

IMING input consecutively

, make sure that the

interval between TIMING inputs is the minimum OFF time of T20 or longer.

Bank Switching

Item Min. Max. T7 Input response time − 200 ms T8 Bank switching time − 100 ms T9 Measurement start response time − Depends on the set conditions T10 Maximum response time of judgement ON − Depends on the set conditions

Parallel I/O Connection

(3) (4) (5)

T9 T10

BANK_SEL input

（BANK_SEL1/2/3）

BANK_OUT output

（BANK_OUT1/2/3）

BUSY output

ENABLE output

STABILITY output

JUDGMENT output

㸦HIGH/PASS/LOW㸧

TASKSTAT output

OFF

(1) (2)

Explanation of operations

(1) The BANK_SEL signal is switched to the bank nu mber to switch to. (2) After the input response time, the measurement stops and the B USY output is turned ON, The ENABLE

output, STABILITY output, HIGH/PASS/LOW output, and TASKSTAT output are turned OFF at the same

time. (3) After bank switching ends, the BUSY output is turned OFF and the BANK_ OUT output is switched. (4) Measurement is restarted and the ENABLE output, STABILITY output is turned ON. (5) When the measurement result is applied, the HIGH/PASS/LOW output and TASKSTAT output turn ON.

Important

Under the following conditions, the sensor controller display section does not change in conjunction with the output signal and will continue to display the previous measurement state.

• When external synchronization measurement mode is set and TRIG input is not on.

• When the PDO syn

chronous measurement mode is set and EtherCAT is not established.

ZW-8000/7000/5000 User’s Manual for Communications Settings

Parallel I/O Connection

LIGHT OFF

Item Min. Max. T9 LIGHT OFF - ENABLE OFF maximum response

T10 LIGHT OFF minimum input time T0 + C*1 + 20 μs

T11 LIGHT OFF - ENABLE ON maximum response time − 2 × T0 + C*1 + P*2 + 150 μs

*1 C = Filter width of input signal *2 P = 0

LIGHT OFF input

ENABLE output

time

μs (ZW-7000@/5000@)

100

μs (ZW-8000@)

OFF

(1) (2) (3) (4)

T10

T11

Explanation of operations

(1) The LIGHT OFF input is turned ON. (2) After the LIGHT OFF input is turned ON, the light source is turned OFF and the ENABLE output is turned

OFF. (3) The LIGHT OFF input is turned OFF. (4) After the LIGHT OFF input is turned OFF, the light source is turned ON and the ENABLE output is turned

ON.

− 2 × T0 + C*1 + P*2 + 300 μs

(Minimum OFF time is T0 +

+ 60 μs.)

−

Zero reset

Item Min. Max. T7 Input response time − 3 ms + T0 × 2 T13 ZERO input time 50 ms 0.8 s T14 ZERO input cancel time 1s −

(4)

T14

(5)

ZERO input

Judgment output

(HIGH/PASS/LOW)

OFF

(1) (2)

T13 T7

(3)

Explanation of operations

(1) The ZERO input is turned ON. (2) After the ZERO input time, the ZERO input is turned OFF. (3) After the ZERO input is turned OFF, the zero reset is executed and the judgment results refl ected in the

measurement results are output. (4) The ZERO input is turned ON. (5) After at least the cancel time of ZERO input has passed, the zero reset is cancelled.

Parallel I/O Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Operating Mode Switching

Item Min. Max. T3 Response time of an alog output − T0 + 20 μs T9 Measurement start response time − Depends on the set conditions

(1) (2) (3) (4)

MODE

BUSY output

ENABLE output

Judgment output

(HIGH/PASS/LOW)

Analog output

OFF

RUN FUN RUN

All OFF

CLAMP

Explanation of operations

(1) After the mode is switched from RUN to FUNC mode, the BUSY output and ENABLE output are turned

OFF. The judgment outputs all go OFF. (2) The response time of analog output after the BUSY output is turned ON, the analog output is output

clamped. (3) After the mode is switched from the FUNC mode to the RUN mode, the BUSY output is turned OFF. (4) Measurement is restarted and the ENABLE signal is turned ON, then the measurement results are output.

Parallel I/O Connection

Important

Under the following conditions, the sensor controller display section does not change in conjunction with the output signal and will continue to display the previous measurement state.

• When external synchronization measurement mode is set a

• When the PDO syn

chronous measurement mode is set and EtherCAT is not established.

nd TRIG input is not on.

ZW-8000/7000/5000 User’s Manual for Communications Settings

Parallel I/O Connection

Measurement cycle

Item Min. Max. T26 SYNC ON - SYNCFLG_ON maximum response

T27 SYNC_OFF - SYNCFLG_OFF maximum

T28 Response time when restart to capture after

T37 SYNCFLG_ON - SYNC_OFF time 0 μs − T38 Minimum SYNC cycle T0 + T26 + T27 + T37 −

*1 C = Filter width of input signal *2 P = 0

time

response time

SYNC input

μs (ZW-7000@/5000@)

200

μs (ZW-8000@)

SYNC input

(1) (3)(2) (4) (5)

T26

− T0 + C*1 + P*2 + 130 μs

− T0 + C*1 + P*2 + 250 μs

− T0 + C*1 + 70 μs

T27T37

SYNCFLG output

Image capture duration

measurement sensor 1

Image capture duration

measurement sensor 2

T28

T38

Explanation of operations

(1) Turns ON SYNC input (2) After SYNC input was turned ON, the image capture completion signals from the 2 measurement sensors

synchronize and a measurement is performed. (3) SYNCFLG output turns ON. (4) The SYNC input is turned OFF. (5) SYNCFLG output is turned OFF after SYNC input is turned OFF.

Example of minimum SYNC cycle

Measurement cycle T0 ZW-7000@/5000@ ZW-8000@

C = 5 μs C = 100 μs C = 5 μs C = 100 μs 20 μs 450 μs 640 μs 610 μs 800 μs 40 μs 510 μs 700 μs 670 μs 860 μs 60 μs 570 μs 760 μs 730 μs 920 μs 80 μs 630 μs 820 μs 790 μs 980 μs 160 μs 870 μs 1060 μs 1030 μs 1220 μs 250 μs 1140 μs 1330 μs 1300 μs 1490 μs 500 μs 1890 μs 2080 μs 2050 μs 2240 μs

Parallel I/O Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Internal logging

Item Min. Max. T6 LOGGING ON - LOGSTAT ON maximum

T7 LOGGING minimum input time T0 + C*1 + 20 μs − T8 LOGGING OFF - LOGSTAT OFF maximum

*1 C = Filter width of input signal

LOGGING input

LOGSTAT output

response time

(1)(2)

OFF

(3) (4)

Explanation of operations

(1) Turns ON LOGGING input. (2) Internal logging starts when LOGSTAT output is turned ON after LOGGING input is turned ON. (3) Turns OFF the LOGGING in pu t. (4) Finishes the Internal logging when LOGSTAT output is turned OFF after LOGGING input is turned OFF.

However, if an insufficient logging memory occurs, turns ON the LOGERR output. The LOGERR output is turns OFF simultaneously with the LOGGING input turned OFF.

− T0 + C*1 + 30 μs

− T0 + C*1 + 250 μs

Parallel I/O Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

Parallel I/O Connection

External synchronous measurement mode

Item Min. Max. T29 Minimum TRIG ON time C*1 + 20 μs − T30 Minimum TRIG OFF time C*1 + 60 μs − T31 Minimum TRIG cycle T29 + T30 − T32 TRIG - TRIGBUSY response − C*1 + 30 μs T33 TRIG_BUSY ON time T0 + 100 μs T0 + 200 μs T34 TRIG - Judgment output response − T0 + T2 + T29 T35 TRIG - Analog output response − T0 + T4 + T29 T36 TRIG-Measurement cycle start time − T29

*1 C = Filter width of input signal

(1) (2) (3) (4) (5)

T29 T31

T30

TRIG input

T33

T32

TRIG BUSY output

T35

Analog output

Judgment output

(H, P, L, TSAK_STAT)

T34

T36

Image capture duration

Explanation of operations

(1) Turns ON TRIG input. (2) TRIG BUSY output turns ON and capturing images is started to perform a measurement. (3) TRIG BUSY output turns OFF, allowing the next TRIG input to be received. (4) After the measurement has been completed, the judgement result and analog output are updated. (5) Image capture and measurement are not performed without TRIG input.

Example of minimum TRIG cycle

Measurement cycle T0 C = 5 μs C = 100 μs 20 μs 120 μs 280 μs 40 μs 140 μs 280 μs 80 μs 180 μs 280 μs 160 μs 260 μs 280 μs 250 μs 350 μs 350 μs 500 μs 500 μs 600 μs

Parallel I/O Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

EtherCAT Connection

3-1 EtherCAT Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

EtherCAT Connection

3-1 EtherCAT Connection

Overview of EtherCAT Networks

EtherCA T (Et hernet Control Automati on Technology) is a high-performance industrial network system based on Ethernet system and can realize faster and more efficient communications. Each node achieves a short communications cycle time by transmitting Ethernet frames at high speed. Furthermore, even though EtherCAT is a unique prot ocol, it offers excellent general-purpose applicability. For example, you can use Ethernet cables because EtherCAT utilizes standard Ethernet technology for the physical layer. And the effectiveness of EtherCAT can be fully utilized not only in large control systems that require high processing speeds and system integrity, but also in small and medium control systems.

Features of EtherCAT

EtherCAT has the followin g features.

● Extremely high

It dramatically shortens the I/O response time from generation of input signals to transmission of output signals. method, it is possible to efficiently transmit a wide variety of data.

●

EtherCAT is an open network with extremely high compatibility with conventional Ethernet systems.

By fully utilizing the optimized Ethernet frame bandwidth to transfer data using a high-speed repeat

Extremely High Compatibility with Ethernet

-speed communications with speed of 100 Mbps

Structure of EtherCAT

EtherCAT does not send data to individual slave nodes on the network, instead, it passes Ethernet frames through all of the slave nodes. When frame passes through a slave node, the slave node reads and writes data in the areas allocated t o it in the frames in a few nanoseconds. Ethernet frames sent from the EtherCAT Master Unit go through all the EtherCAT Slave Units without stopping on the way. Once they reach the final Slave Unit, they are sent back from the final Slave Unit, pass through all Slave Units again, and return to the EtherCAT Master Unit. With this structure, EtherCAT secures high-speed and real-time data transmission.

EtherCAT

Master Unit

Slave Unit Slave Unit

Data

OUT

Slave Unit

EtherCAT Connection

Ethernet frame

•

Reading output data addressed to the local Slave Units

• Writing input data

User’s Manual for Communications Settings

ZW-8000/7000/5000

It is the “EtherCAT datagram” stored directly in an Ethernet frame that exchanges data regularly between the EtherCAT Master Unit and Slave Units. Each “EtherCAT datagram” is configured with header (data length, including address of one or more Slave Units, etc.), data, working counter (check bit). When an Ethernet frame is compared to a “train”, an EtherCAT datagram can be considered as “railway car.”

Ethernet frame

Ethernet

header

EtherCAT

header

1st EtherCAT

datagram

Ethernet data (Maximum 1498 bytes)

2nd EtherCAT

datagram

1...n EtherCAT datagram

. . . . .

DataHeader

WKC

WKC : Working counter

CRC

EtherCAT frame

n th EtherCAT

datagram

EtherCAT Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

Communications Types of EtherCAT

EtherCAT provides the following two types of communication functions. PDO communications are always updating data per communication cycle on EtherCAT, while SDO communications are processed in between those upda tes.

●

Process data communications functions (PDO communications)

This communicat By mapping communications among the EtherCAT Master Unit and Slave Units.

ion function is used to transfer process data in real time in a fixed-cycle.

logical process data space to each node by the EtherCAT Master Unit, it achieves fixed-cycle

EtherCAT Master Unit

Ethernet frame

Logic process data

. . .

Data a

. .

. Data b Data c

Ethernet

header

Slave Unit

EtherCAT

header

1st EtherCAT

datagram

Slave Unit Slave Unit

2nd EtherCAT

datagram

3rd EtherCAT

datagram

Slave Unit

. . .

CRC

●

Mailbox communications functions (SDO communications)

It refers t At any timing,

o message communications.

the EtherCAT Master Unit transmits commands to Sla ve Units and the Slave Units return responses to the EtherCAT Master Unit. It performs the following data communications:

• Read and write process data

• Slave Unit Settings

• Monitoring the slave unit state

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● Synchronization with Distributed Clocks

A mechanism called a distributed clock (DC) is used to synchronize EtherCAT communications. The DC mode is use timing. In DC mode, the master and slav es are synchronized by sharing the same clock. Interruptions (Sync0) are generated in the slaves at precise intervals based on this clock. Displacement Sensor control is carried out at this precise timing.

Communications Cycle (DC Cycle) The communications cycle is determined by setting the Sync0 signal output cycle. Set the Output cycle 125µs, or longer. For details on the setting procedure, refer to "Sysmac Studio Version 1 Operation Manual" (W504).

d for ZW-8000/7000/5000 series to perform highly accurate control of measurement start

EtherCAT Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

Communication Meth ods f or Measure ment Sensor w hen Connecte d via EtherCAT

Communications between the EtherCAT master and the displacement sensor is performed over EtherCAT to enable control from the master by control signals and data output after measured values are applied. When the displacement sensor is connected to an NX/NJ series CPU Unit via EtherCAT, Sysmac Studio (standard edition) is used to register the ZW to the EtherCAT slave configuration on the network configuration edit pane. For details on registr ation methods , refer to Sysmac Studio Version 1 Operation Manual (W504) “4-2 Controller Configuration/Setting.”

Important

• Up to 32 measurement sensors can be connected via EtherCAT.

• If EtherCAT is set to enables to perform communications over EtherCAT disabled and EtherNet/IP communications is no longer possible.

Setting Communications Specific ations (EtherCAT Communications) p.51

Communications method using process data objects (PDO)

● Control of displacement sensors by control/status signals

With EtherCAT communications, process dat a objects (PDO) are used to p erfo rm PDO communications (cyclic communication the master to the displacement sensor, status signals from the displacement sensor to the master, and command responses to the I/O ports (or I/O memory)

*1: When connected to the NX/NJ series, “I/O ports” are used, and when connected to the CJ series, “I/O memory” is used. Explanations from

here on are for when the connection is to the NX/NJ series.

s). Control of the displacement sensor is performed by storing control signals/command from

(*1)

of the Controller.

, the EtherNet/IP communications setting is

Controller (master)

NX/NJ-series CPU Unit

I/O ports

Command area

Response area

Control signal, Commands



TIMING input



Current bank settings

command, etc.

Displacement Sensor (slave)

Response



HOLDSTAT output



Command Response, etc.

EtherCAT communications

The Controller sends the instruction to the displacement sensor over EtherCAT by switching the cont rol signal bit assigned with control to be executed to ON. The displacement sensor executes the instruction, and updates the status signal bit according to the result to return it over EtherCAT. ÅB When instructions are exec ute d by control commands, control commands are sent to the displacement sensor over EtherCAT by writing the control command, for example , to I/O port Command and then turning the control command execution (EXE) bit ON. The displacement sensor executes that control command, and returns the response to the Controller over EtherCAT. The Controller stores the response to I/O port Response, fo r example.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● Output of displacement sensor measurement data to output area

The measurement data of all tasks is automatically output from the displacement sensor to I/O port Measurement Value of Output data1 to 4 immediately after the measured value is applied. This enables the measurement results of all tasks to be easily handed over to the Controller.

Controller (master) Displacement sensor

NX/NJ-series CPU Unit

After applying measured value

I/O ports

(slave)

Output area

Data

Automatically output 4 measured data, etc.

EtherCAT communications

With EtherCAT communications, communications is performed via the I/O ports of the following four area on the Controller. Sysmac error status area I/O ports are used only when an NX/NJ series CPU unit is connected as the master.

Control by control/ status signals

(1) I/O ports of instruction

area

(2) I/O ports of response

area

Data output after applica-

(3) I/O ports of output area

tion of measured value

For error status (4) I/O ports of Sysmac

error status area

I/O ports to which the user writes control signals to be executed on the displacement sensor and control commands

I/O ports to which the displacement sensor writes the control signals written to the instruction area and the result of executing control commands

I/O ports to which the displacement sensor writes the output data accompanying measurement after application of the measured value

I/O ports to which the displacement sensor writes the error status

EtherCAT Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

Controller (master)

Command area I/O port

The following control commands are written to the Displacement Sensor.

Command

Displacement Sensor (slave)

The control commands written to the I/O ports in the Command Area are executed.

Command/ response communications

Data output after measurements

Error status

Response area I/O port

The execution results from the Displacement Sensor are written here.

Output area I/O port

Output data from the Displacement Sensor is written here.

I/O Ports in Sysmac Error Status Area

Error status information from the Displacement Sensor is written here.

Response

Execution

The results of execution are written to the I/O ports in the Response Area.

After applying measured value

Measurement results are written to the I/O ports in the Data Output Area.

Error status information is written to the I/O ports in the Sysmac Error Status Area.

●

Sysmac error status

Communications method using service data objects (SDO)

The ZW series supports SDO communications. SDO communications is used for set ting objects and monitoring the status of the ZW series. Objects can be set or the status monitored by reading and writing data to entries in the object dictionary of the host Controller.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Setting Communications Specifications (EtherCAT Communications)

Setting default settings for EtherCAT communications

Set the default settings for EtherCAT communications.

Item Description Range Fieldbus Select whether to use EtherNet/IP communications or EtherCAT

GATE signal ON time Set the output time of the GATE signal for notifying the timing that the

communications.

measured value was updated when hold is output.

OFF EtherNet/IP EtherCAT (default value)

0 to 100ms 1ms (default value)

 Multi View Explore : [Device Group] | [(Sensor Name)] | [System] |

[System Data] (double-click)

→ Edit pane : [Ethernet Communications Settings] icon ( )

1 Set the fieldbus settings.

Select [EtherCAT] at [Fieldbu s].

2 Set the output time of the GATE signal.

Set the value at [GATE signal ON time].

Note

The setting of default settings for EtherCAT communications can also be set by the operating keys on the Sensor Controller.

Setting Fieldbus p.175 Setting GATE Signal ON Time p.176

Important

• This setting contemns will be effected when launch the Sensor Controller.

• Save the setting data after changing this setting, and then restart to the Sensor Con

troller.

EtherCAT Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

List of I/O Ports for Each Area (PDO Mapping) and Memory Assignments

When connection destination is an NX/NJ series Controller

This section describes the respective I/ O ports of the instruction area, response area, output area, and Sysmac error status area.

● I/O ports of instruction area

Controller (master) → Displacement sensor (slave)

I/O port name Signal Signal name Function Sensor Head Control

Signal1

EXE EXE Control command

SYNC SYNC Measurement

ERCLR ERCLR Error clear Turns ON when the displacement sensor error signal

Sensor Head Control Signal2

TIMING TIMING Timing Turns ON when the user (Controller) instructs start of hold

RESET RESET Reset Turns ON when the user (Controller) instructs judgment

LIGHTOFF LIGHTOFF Light metering OFF Turns ON when the user (Controller) instructs logical beam

ZERO_T1 to 4 ZERO_T1 to 4 Zero reset execution Turns ON when the user (Controller) instructs execution of

ZEROCLR_T1 to 4 ZEROCLR_T1 to 4 Zero reset cancel Turns ON when the user (Controller) instructs zero reset

Sensor head control signal1

execution

synchronous start

Sensor head control signal2

T u rns ON when the user (Controller) in structs execution of control commands to the displacement sensor. (Turns ON after the control command code and parameters are set.)

Is returned to OFF on condition (input condition) that the user (Controller) turns the control command completion signal (FLG signal) from the displacement sensor ON.

Turns ON when the user (Controller) instructs measurement synchronization to the displacement sensor .

Is returned to OFF on condition (input condition) that the user (Controller) turns the measurement synchronization completion signal (SYNCFLG signal) ON.

(ERR signal) turns OFF. Is returned to OFF on condition (input condition) that the

user (Controller) turns the error signal (ERR signal) OFF.

sampling to the displaceme nt sensor. T urns OFF when the user (Contro ller) instructs end of hold

sampling to the displaceme nt sensor.

processing and output reset to the displacement sensor. If the hold function is used, the state in effect before the hold function was set will be restored.

Turns OFF when the user (Controller) ends judgment processing and output reset to the displacement sensor.

OFF to the displacement sensor. Turns OFF wh en th e u s e r (C on t roller) instruct s logical

beam ON to the displacement sensor.

zero reset of TASK1 to 4 to the displacement sensor. Is returned to OFF on condition (input condition) that the

user (Controller) turns the zero reset completion signal (ZEROSTAT signal) from the displacement sensor ON.

cancel of TASK1 to 4 to the displacement sensor. Is returned to OFF on condition (input condition) that the

user (Controller) turns the zero reset completion signal (ZEROSTAT signal) from the displacement sensor OFF.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

I/O port name Signal Signal name Function Command Command code Command code Stores the command code. Command Parameter 1

to 3

Parameter 1-3 Command parameter Stores the command parameter.

Note

• In the FUNC mode, control signals other than ERCLR and LIGHTOFF cannot be executed.

• Multiple control signals cannot be executed in the same cycle. Note, however, that when zero reset execution/ cancellation are performed simultaneously on multiple tasks, ZERO_T1 to 4 and ZEROCLR_T1 to 4 can be executed in the same cycle. Also, all control signals can be executed in the same cycle on ERCLR and LIGHTOFF.

• When the status of control signals differs from that of the input status of parallel I/O, processing is ex ecuted of one of the statuses is ON.

• SYNC can be used only in EtherCAT communications. It cannot be used in EtherNet/IP communications.

● I/O ports of response area

Displacement sensor (slave) → Controller (master)

I/O port name Signal Signal name Function Sensor Head Status

Signal1

FLG FLG Control command

SYNCFLG SYNCFLG Measurement

READY READY Ready Turns OFF when the displacement sensor cannot execute

SEQUENCE SEQUENCE Measurement e x ecution

RUN RUN Run screen Turns ON when the displacement sensor is in the RUN

ERR ERR Error Turns ON when a displacement sensor error is detected.

BANKOUT_A to E BANKOUT_A to E Current bank number This outputs the currently specified bank number.

Sensor Head Status Signal1

completion

synchronization completion

status

Turns ON when the displacement sensor completes control command execution. (T urns ON after the control comman d code, response co de and response status are stored.)

Automatically turns OFF if the control command execution signal (EXE signal) from the user (Controller) turns OFF.

Turns ON when the displacement sensor executes measurement synchronization processing and the state changes to one where normal measured values can be output.

Automatically turns OFF if the measurement synchronization signal (SYNC signal) from the user (Controller) turns OFF.

control commands or measurement synchronization processing.

Turns ON when the displacement sensor can execute control commands or measurement synchronization processing.

Turns ON from OFF when the Vision Sensor starts to capture at the timing of the Sync0 of EtherCAT.

Turns OFF from ON when the output processing which outputs the measurement result to the output area is completed.

mode. Turns OFF when the displacement sensor is in the FUNC

mode.

Turns OFF when the displacement sensor is normal. After it turns ON, it never turns OFF until the error clear signal (ERCLR signal) from the user (Controller) turns ON.

It expresses the bank number in combinations of BANKOUTx_A to E. (For details of combinations, see .)

Note

EtherCAT Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

I/O port name Signal Signal name Function Sensor Head Status

Signal2

HOLDSTAT HOLDSTAT Hold execution status Turns ON when the displacement sensor is in the hold

RESETSTAT RESETSTAT Reset execution state Turns ON when the displacement sensor is in the reset

LIGHT LIGHT Logical beam lighting

STABILITY STABILITY Measurement position Turns ON when the measured value is in the measuring

ENABLE ENABLE Measurement state Turns ON when the displacement sensor is ready for

GATE GATE Data output completed Turns ON when the displacement sensor completes

OR OR Overall judgment result Turns ON when even one of the judgment result of the

HIGH_T1 to 4 HIGH_T1-4 HIGH output Turns ON when the judgment result of the displacement

PASS_T1 to 4 PASS_T1-4 PASS Output Turns ON when the judgment result of the displacement

LOW_T1 to 4 LOW_T1-4 LOW output Turns ON when the judgment result of the displacement

ZEROSTAT_T1 to 4 ZEROSTAT_T1-4 Zero reset state Turns ON when the displacement sensor TASK1 to 4 is in

T ASKSTAT_T1 to 4 TASK_STATUS1-4 T A SK status T urns ON when the measurement da ta is finaliz ed for each

Response Command code Command code The executed command code is returned. Response Code Response code Response code The response code of the executed command is stored. Response Data Response data Response data The response data of the executed command is stored.

Sensor Head Status Signal2

state

sampling period. Turns OFF when the displacement sensor is outside the

hold sampling period.

execution state. Turns OFF when the displacement sensor is in the reset

non-execution state. Turns ON when the logical beam is lit. Turns OFF when the logical beam is out.

range. Turns OFF when the measured value is outside the

measuring range.

measurement. T urns OFF when the displacement sensor cannot measure

(excessive or insufficient rece iv ed light, outside measuring range, Calibration ROM not mounted, during FUNC mode non-measurement).

control data output when hold is set. The displacement sensor automatically turns OFF one

Gate period after turning ON.

displacement sensor TASK1 to 4 is other than PASS. Turns OFF when all of the judgment result of the

displacement sensor TASK1 to 4 is PASS.

sensor TASK1 to 4 is HIGH (HIGH threshold < measured value).

Turns OFF when the judgment result of the displacement sensor TASK1 to 4 is other than HIGH.

sensor TASK1 to 4 is PASS (LOW threshold ≤ measured value ≤HIGH threshold).

Turns OFF when the judgment result of the displacement sensor TASK1 to 4 is other than PASS.

sensor TASK1 to 4 is LOW (LOW threshold > measured value).

Turns OFF when the judgment result of the displacement sensor TASK1 to 4 is other than LOW.

the zero reset execution state. T urns OFF when the displacement sensor TASK1 to 4 is in

the zero reset non-execution state.

TASK1 to 4.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Note

Bank number BANKOUTx_A BANKOUTx_B BANKOUTx_C BANKOUTx_D BANKOUTx_E BANK1 OFF OFF OFF OFF OFF BANK2 ON OFF OFF OFF OFF BANK3 OFF ON OFF OFF OFF BANK4ONONOFFOFFOFF BANK5 OFF OFF ON OFF OFF BANK6 ON OFF ON OFF OFF BANK7 OFF ON ON OFF OFF BANK8ONONONOFFOFF BANK9 OFF OFF OFF ON OFF BANK10 ON OFF OFF ON OFF BANK11 OFF ON OFF ON OFF BANK12 ON ON OFF ON OFF BANK13 OFF OFF ON ON OFF BANK14 ON OFF ON ON OFF BANK15OFFONONONOFF BANK16 ON ON ON ON OFF BANK17OFFOFFOFFOFFON BANK18 ON OFF OFF OFF ON BANK19 OFF ON OFF OFF ON BANK20 ON ON OFF OFF ON BANK21 OFF OFF ON OFF ON BANK22 ON OFF ON OFF ON BANK23 OFF ON ON OFF ON BANK24 ON ON ON OFF ON BANK25OFFOFFOFFON ON BANK26 ON OFF OFF ON ON BANK27 OFF ON OFF ON ON BANK28 ON ON OFF ON ON BANK29 OFF OFF ON ON ON BANK30 ON OFF ON ON ON BANK31OFFONONONON BANK32 ON ON ON ON ON

• The results of processing execution by parallel I/O also are reflected in the status signals.

• The table below shows the combinations of bank numbers and BANKOUTx_A to E. (BANK9 to 32 are used only in the judgment value mode. In the normal mode, BANKOUTx_D to E are OFF at all times.)

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

● I/O ports of output area

Displacement sensor (slave) → Controller (mas

I/O port name Signal Signal name Size of output data Function Output Data1 Output Data1 OUT1 data 4 bytes The Measurement result of OUT1 is

Output Data2 Output Data2 OUT2 data 4 bytes The Measurement result of OUT2 is

Output Data3 Output Data3 OUT3 data 4 bytes The Measurement result of OUT3 is

Output Data4 Output Data4 OUT4 data 4 bytes The Measurement result of OUT4 is

ter)

output.

● I/O ports of sysmac error status area

Displacement sensor (slave) → Controller (master) The Sysmac error status is mapped only when the connection destination is the NX/NJ series.

I/O port name Signal Signal name Function Sysmac Error Status Sysmac Error

Observation Observation Monitor error Turns ON when a monitor error occurs on the

Minor Fault Minor Fault Light fault level error T urns ON when a light fault level error occurs on the

Status

Sysmac error status Indicates the Sysmac error status.

displacement sensor.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Assigning Device Variables to I/O Ports (PDO Mapping)

When connected to an NX/NJ-series CPU Unit, the data for PDO communications in the Vision Sensor is displayed with I/O port names on the Sysmac Studio. You can assign device variables to the I/O ports in the Sysmac Studio I/O map to perform programming and monitoring.

 Multi View Explore (Connected to NX/NJ-series CPU Unit): [Configurations and Setup] |

[I/O Map] (Double-click)

EtherCAT Connection

Right-click a slave or I/O port in the I/O map and select [Create Device Variable]. The device variable name is automatically created as a combination of the device name and the I/O port name. You can also select an I/O port and enter a variable name in the [Variable] column.

You can also select a registered variable from the variable table to use as a device variable. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on registering device variables.

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

When the connection destination is a CJ series PLC

This section describes the respectiv e area assign ments of the instruction area, resp onse area and o utput area.

● Instruction area

PLC (master) → Displacement sensor (slave)

Top

channel

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Bit Description

SYNC EXE

ERCLR

Sensor Head Control signal1 (32bit)

Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved ZERO-

Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

CLR_T4

ZERO-

CLR_T3

ZERO-

CLR_T2

ZERO-

CLR_T1

+6 Command code +7

+8 Parameter 1

+9 Parameter 2

+10 Parameter 3 +11

LIGHT

RESET TIMING

OFF

ZERO_T4ZERO_T3ZERO_T2ZERO_

Sensor Head Control signal2 (32bit)

Data (parameter) (32bit)

Command code (32bit)

Data (parameter1) (16bit)

Data (parameter2) (16bit)

Data (parameter3) (32bit)

Signal Signal name Function EXE Control command execution Turns ON when the user (PLC) instructs execution of control commands t o the

displacement sensor. (Turns ON after the control command code and parameters are set.)

Is returned to OFF on condition (input condition) that the user (PLC) turns the control command completion signal (FLG signal) from the displacement sensor ON.

SYNC* Measurement synchronous

start

Turns ON when the user (Controller) instructs measurement synchronization to the displacement sensor.

Is returned to OFF on condition (input condition) that the user (Controller) turns the measurement synchronization completion signal (SYNCFLG signal) ON.

ERCLR Error clear Turns ON when the disp lacement sensor error si gnal (ERR signal) t urns OFF.

Is returned to OFF on condition (input condition) that the user (PLC) turns the error signal (ERR signal) OFF.

TIMING Timing Turns ON when the user (PLC) instructs start of hold sampling to the

displacement sensor. Turns OFF when the user (PLC) instructs end of hold sampling to the

displacement sensor.

RESET Reset Turns ON when the user (PLC) instructs judgment processing and output

reset to the displacement sensor. If the hold function is used, the state in effect before the hold function was set will be restored.

Turns OFF when the user (PLC) ends judgment processing and output reset to the displacement sensor.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Signal Signal name Function LIGHTOFF Light metering OFF Turns ON when the user (PLC) instructs logical beam OFF to the

displacement sensor. Turns OFF when the user (PLC) instructs logical beam ON to the

displacement sensor.

ZERO_T1 to 4 Zero reset execution Turns ON when the user (PLC) instructs execution of zero reset of TASK1 to 4

to the displacement sensor. Is returned to OFF on condition (input condition) that the user (PLC) turns the

zero reset completion signal (ZEROSTAT signal) from the displacement sensor ON.

ZEROCLR_T1 to 4 Zero reset cancel Turns ON when the user (PLC) instructs zero reset cancel of TASK1 to 4 to

the displacement sensor. Is returned to OFF on condition (input condition) that the user (PLC) turns the

zero reset completion signal (ZEROSTAT signal) from the displacement

sensor OFF. Command code Command code Stores the command co de. Parameter 1-3 Command parameter Stores the command parameter.

* SYNC signal's area is disabled in External synchronous measurement mode.

Note

• In the FUNC mode, control signals other than ERCLR and LIGHTOFF cannot be executed.

• When the status of control signals differs from that of the input status of parallel I/O, processing is ex ecuted of one of the statuses is ON.

• TRIG input signal, which is newly added to the ZW-8000/7000/5000 can be controlled from I/O signals. The input from PDO map is not possible.

EtherCAT Connection

● Response area

Displacement sensor (slave) → PLC (master)

Top

channel

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

BANK1_EBANK1_DBANK1_CBANK1_BBANK1_AReserved Reserved Reserved Reserved Reserved Reserved RUN SEQUENCEREADY

Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved ERR

Reserved Reserved Reserved Reserved TASKST

LOW_T4PASS_T4HIGH_T4LOW_T3P ASS _T3HIGH_T3LOW_T2P ASS _T2HIGH_T2LOW_T1P ASS _T1HIGH_T1ZERO

Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

AT_T4

T ASKST

AT_T3

TASKST

AT_ T2

+6 +7

+8 Response code Response +9

+10 Response data +11

Bit Description

SYNC

FLG

T AS KST

Reserved OR GATE ENABLE ST AB I

AT_T1

Command code

LITY

STAT_T4

LIGHT RESET

STAT

ZERO

ST AT_T3

ST AT_T2

HOLD ST AT

ZERO

STAT_T1

Sensor Head Status signal1 Reserved

Sensor Head Status signal2 (32bit)

Data (parameter) (32bit)

Response code (32bit)

data (32bit)

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

Signal Signal name Function FLG Control command completion Turns ON when the displacement sensor completes control command

SYNCFLG* Measurement

READY Ready Turns OFF when the displacement sensor cannot execute control commands

SEQUENCE Measurement execution

RUN Run screen Turns ON when the displacement sensor is in the RUN mode.

ERR Error Turns ON when a displacement sensor error is detected.

BANKOUT_A to E Current bank number This outputs the currently sp ecified bank number.

HOLDSTAT Hold execution status Turns ON when the displacement sensor is in the hold sampling period.

RESETSTAT Reset e xecution state Turns ON when the displacement sensor is in the reset execution state.

LIGHT Logical beam lighting state Turns ON when the logical beam is lit.

STABILITY Measurement position Turns ON when the measured value is in the measuring range.

ENABLE Measurement state Turns ON when the displacement sensor is ready for measurement.

GATE Data output completed Turns ON when the displacement sensor completes control data output when

OR Overall judgment result Turns ON when even one of the judgment result of the displacement sensor

HIGH_T1-4 HIGH output Turns ON when the judgment result of the displacement sensor TASK1 to 4 is

synchronization completion

status

execution. (Turns ON after the control command code, response code and response status are stored.)

Automatically turns OFF if the control command ex ecuti on signal (EXE signal) from the user (PLC) turns OFF.

Turns ON when the displacement sensor executes measurement synchronization processing and the state changes to one where normal measured values can be output.

Automatically turns OFF if the measurement synchronization signal (SYNC signal) from the user (Controller) turns OFF.

or measurement synchronization processing. Turns ON when the displacement sensor can execute control commands or

measurement synchronization processing. Turns ON from OFF or OFF from ON when the measurement results from

sync0 of EtherCAT are reflected in the PDO data of EtherCAT while in PDO synchronized mode.

Turns OFF when the displacement sensor is in the FUNC mode.

Turns OFF when the displacement sensor is normal. After it turns ON, it never turns OFF until the error clear sign al (ERCLR signal) from the user (Controller) turns ON.

It expresses the bank number in combinations of BANKOUTx_A to E. (For details of combinations, see Referenc e.)

T urns OFF when the displacement sensor is outsid e the hold sampling period.

Turns OFF when the displacement sensor is in the reset non-execution state.

Turns OFF when the logical beam is out.

Turns OFF when the measured value is outside the measuring range.

Turns OFF when the displacement sensor cannot measure (excessive or insufficient received light, outside measuring range, Calibration ROM not mounted, during FUNC mode non-measurement).

hold is set. The displacement sensor automatically turns OFF one Gate period after

turning ON.

TASK1 to 4 is other than PASS. Turns OFF when all of the judgment result of the displacement sensor TASK1

to 4 is PASS.

HIGH (HIGH threshold < measured value). Turns OFF when the judgment result of the displacement sensor TASK1 to 4

is other than HIGH.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Signal Signal name Function PASS_T1-4 P A SS Outpu t Turns ON when the judgment result of the displacement sensor TASK1 to 4 is

LOW_T1-4 LOW output Turns ON when the judgment result of the displacement sensor TASK1 to 4 is

ZEROSTAT_T1-4 Zero reset state Turns ON when the displacement sensor TASK1 to 4 is in the zero reset

TASKSTAT_T1-4 TASK status Turns ON when the measurement data is finalized for each TASK. Command code Command code The e xecuted command code is returned. Response code Response code The response code of the executed command is stored. Response data Response data The response data of the executed command is stored.

* SYNC signal's area is disabled in External synchronous measurement mode.

PASS (LOW threshold ≤ measured value ≤ HIGH threshold). Turns OFF when the judgment result of the displacement sensor TASK1 to 4

is other than PASS.

LOW (LOW threshold > measured value). Turns OFF when the judgment result of the displacement sensor TASK1 to 4

is other than LOW.

execution state. Turns OFF when the displacement sensor TASK1 to 4 is in the zero reset non-

execution state.

EtherCAT Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

Note

• The results of processing execution by parallel I/O also are reflected in the status signals.

• The table below shows the combinations of bank numbers and BANKOUTx_A to E. (BANK9 to 32 are used only in the judgment value mode. In the normal mode, BANK OUTx_D to E are OFF at all times.)

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● Output area

Displacement sensor (slave) → PLC (master)

Top

channel

Signal Signal name Function Output Data1 OUT1 data The Measurement result of OUT1 is output. Output Data2 OUT2 data The Measurement result of OUT2 is output. Output Data3 OUT3 data The Measurement result of OUT3 is output. Output Data4 OUT4 data The Measurement result of OUT4 is output.

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 +0 Output Data 1 +1 +2 Output Data 2 +3 +4 Output Data 3 +5 +6 Output Data 4 +7

Bit Description

Note

For assigning of OUT1 to OUT4, refer to the following:

Output data 0 (32bit)

Output data 1 (32bit)

Output data 2 (32bit)

Output data 3 (32bit)

EtherCAT Connection

Refer to Displacement Sensor ZW-8000/7000/5000 series Confocal Fiber Type Displacement Sensor User's Manual (Z362) "4-5 I/O Settings".

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

I/O Memory Assignment Method (PDO Mapping)

If you connect the Displacement Sensor to a CJ-series PLC, the OMRON CJ1W-NC@82 Position Control Unit is used as the EtherCAT master. Thi s section describes the assignments in the I/O memory of the PLC for the Command, Response, and Data Output Areas for the Vision Sensor. The areas for the Vision Sensor correspond t o the areas for the Position Control Un it as s ho w n in t he following table.

Vision Sensor area Position Control Unit area Maximum number of words Command area Remote I/O Output Memory Area 12 Response area Remote I/O Input Memory Area 12 Output area Remote I/O Input Memory Area 8

The I/O memory assignment method is described below.

1. Network Settings

Double-click [I/O Table and Unit Setup] in the CX-Programmer, right-click CJ1W-NC@82, and select [Edit SIO Unit Parameters].

2. Setting Common Parameters

The Support Software for Position Control Units will start. Set the areas and the first words for the Remote I/O Output Memory Area, the Axis Status Memory Area, and the Remote I/O Input Memory Area.

3. Checking the Remote I/O Area

Select [Network] and then click the [Remote I/O Assignm ent] Tab to check the I/O addresses that are set for remote I/O. (You can manually change the input offset and output offset.) In the f oll owin g e xample , CIO 3800 i s set as the first word of the remote I/O output area and CIO 3900 is set as the first word of the remote I/O input area.

First address in the response and data output areas of the ZW

First address in the command areas of the ZW

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

In the case in the figure above, the memory map will be as follows.

CIO3800

CIO3811 CIO3812

CIO3823

Position Control Unit to ZW

Node 17 ZW command area (12 words)

Node 18 ZW command area (12 words)

CIO3900

CIO3911 CIO3912

CIO3919 CIO3920

CIO3931 CIO3932

CIO3939

ZW to Position Control Unit

Node 17 ZW response area (12 words)

Node 17 ZW data output area (8 words)

Node 18 ZW command area (12 words)

Node 18 ZW data output area (8 words)

Refer to the CJ-series Position Control Units Operation Manual (Cat. No. W487) for details on I/O memory assignment methods.

EtherCAT Connection

If you connect more than one ZW Sensor to an OMRON Position Control Unit, the following addresses in the memory map are assigned in order for the I/O areas. Set the node address setting switc hes on the Sensors to 0 to automatically set up the network. Node addresses 17 and higher will be automatically set for the remote I/O.

For the Position Control Unit, the areas are set only for node 17 (which has the first area for each of the three memory areas). To access data from another node from a ladder program, add the correct offset from the first word of the first area for node 17 and access the resulting address.

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

Command List

This list explains each of the commands used by EtherCAT.

● Utility commands

Command area

Top channel (Hex)

+7 +6

0010 3011 Data save Saves the current system data and bank

0010 E000 Sensor Head calibration Calibrate the Sensor Head. p.68 0010 F010 Restart Restarts the displacement sensor. p.68

Command name Function Reference

data to the main unit.

p.67

● Bank control command

Command area

Top channel (Hex)

+7 +6

0030 8000 Current bank settings Replace the current bank number by the

Command name Function Reference

specified bank number.

p.69

● Data acquisition/setting commands

Command area

Top channel (Hex)

+7 +6

0040 1000 Processing unit data acquisition Acquires the measurement data and

0050 1000 Processing unit data setting Change the setting data of the processing

0040 4000 System data acquisition Acquires the system data. p.73 0050 4000 System data settings Sets the system data. p.74

Command name Function Reference

setting data of the processing unit.

unit.

p.71

p.72

(Pages)

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Command details

● Data save (command code: 3011 0010)

Command (Controller → displacement sensor)

Command area

Top channel

+6 0011 0000 0001 0001 Command code (32-bit) +7 0000 0000 0001 0000

15-12 11-8 7-4 3-0

Bit Description

Response (Controller ← displacement sensor)

Response area

Top channel

+6 0011 0000 0001 0001 Command code (32-bit) +7 0000 0000 0001 0000

+8 0000 0000 0000 0000 Response code (32-bit) +9 0000 0000 0000 0000

+8 0000 0000 0000 0001 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0010 Response code (32-bit) +9 1111 1111 1111 1111

15-12 11-8 7-4 3-0

Bit Description

Stores the command code targeted for a response.

Command execution result OK

Command execution result NG (no corresponding command)

Command execution result NG (wrong parameter)

EtherCAT Connection

+8 0000 0000 0000 0100 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 1000 Response code (32-bit) +9 1111 1111 1111 1111

ZW-8000/7000/5000 User’s Manual for Communications Settings

Command execution result NG (processing execution erro r)

Command execution result NG (mode error)

EtherCAT Connection

● Sensor head calibration (command code: E000 0010)

Command (Controller → displacement

sensor)

Command area

Top channel

+6 1110 0000 0000 0000 Command code (32-bit) +7 0000 0000 0001 0000

15-12 11-8 7-4 3-0

Bit Description

Response (Controller ← displacement sensor)

Response area

top channel

+6 1110 0000 0000 0000 Command code (32-bit) +7 0000 0000 0001 0000

+8 0000 0000 0000 0000 Response code (32-bit) +9 0000 0000 0000 0000

+8 0000 0000 0000 0001 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0010 Response code (32-bit) +9 1111 1111 1111 1111

15-12 11-8 7-4 3-0

Bit Description

Stores the command code targeted for a response.

Command execution result OK

Command execution result NG (no corresponding command)

Command execution result NG (wrong parameter)

+8 0000 0000 0000 0100 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 1000 Response code (32-bit) +9 1111 1111 1111 1111

Command execution result NG (processing execution erro r)

Command execution result NG (mode error)

● Restart (command code: F010 0010)

Command (Controller → displacement sensor)

Command area

Top channel

+6 1111 0000 0001 0000 Command code (32-bit) +7 0000 0000 0001 0000

15-12 11-8 7-4 3-0

Bit Description

Response (Controller ← displacement sensor)

Response area

Top channel

There is no response since the Controller is restarted.

15-12 11-8 7-4 3-0

Bit Description

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● Current bank setting (command code: 8000 0030)

This is set to 0 when bank 1 is switched to.

Command (Controller → displacement sensor)

Command area

Top channel

+6 1000 0000 0000 0000 Command code (32-bit) +7 0000 0000 0011 0000 +8 0000 0000 0000 0000 Bank number (16-bit: value obtained by

15-12 11-8 7-4 3-0

Bit Description

subtracting 1 from bank number)

Note

Response (Controller ← displacement sensor)

Response area

Top channel

+6 1000 0000 0000 0000 Command code (32-bit) +7 0000 0000 0011 0000

+8 0000 0000 0000 0000 Response code (32-bit) +9 0000 0000 0000 0000

+8 0000 0000 0000 0001 Response code (32-bit) +9 1111 1111 1111 1111

15-12 11-8 7-4 3-0

Bit Description

Stores the command code targeted for a response.

Command execution result OK

Command execution result NG (no corresponding command)

EtherCAT Connection

+8 0000 0000 0000 0010 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0100 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 1000 Response code (32-bit) +9 1111 1111 1111 1111

Command execution result NG (wrong parameter)

Command execution result NG (processing execution erro r)

Command execution result NG (mode error)

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

Response (Controller ← displacement sensor)

Response area

Top channel

+6 1000 0000 0000 0000 Command code (32-bit) +7 0000 0000 0011 0000

+8 0000 0000 0000 0000 Response code (32-bit) +9 0000 0000 0000 0000

+8 0000 0000 0000 0001 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0010 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0100 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 1000 Response code (32-bit) +9 1111 1111 1111 1111

15-12 11-8 7-4 3-0

Bit Description

Stores the command code targeted for a response.

Command execution result OK

Command execution result NG (no corresponding command)

Command execution result NG (wrong parameter)

Command execution result NG (processing execution erro r)

Command execution result NG (mode error)

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● Processing unit data acquisition (command code: 1000 0040)

Command (Controller → displacement sensor)

Command area

Top channel

+6 0001 0000 0000 0000 Command code (32-bit) +7 0000 0000 0100 0000 +8 0000 0000 0000 0000 Unit number (16-bit)

15-12 11-8 7-4 3-0

Bit Description

8-1 Processing Item Data List p.202

+9 0000 0000 0000 0000 Data number (16-bit)

8-1 Processing Item Data List p.202

Response (Controller ← displacement sensor)

Response area

Top channel

+6 0001 0000 0000 0000 Command code (32-bit) +7 0000 0000 0100 0000

+8 0000 0000 0000 0000 Response code (32-bit) +9 0000 0000 0000 0000 +10 0000 0000 0000 0000 Response data (32-bit) +11 0000 0000 0000 0000

15-12 11-8 7-4 3-0

Bit Description

Stores the command code targeted for a response.

Command execution result OK

Acquired data

EtherCAT Connection

+8 0000 0000 0000 0001 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0010 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0100 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 1000 Response code (32-bit) +9 1111 1111 1111 1111

Command execution result NG (no corresponding command)

Command execution result NG (wrong parameter)

Command execution result NG (processing execution erro r)

Command execution result NG (mode error)

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

● Processing unit data setting (command code: 1000 0050)

Command (Controller → displacement sensor)

Command area

Top channel

+6 0001 0000 0000 0000 Command code (32-bit) +7 0000 0000 0101 0000 +8 0000 0000 0000 0000 Unit number (16-bit)

15-12 11-8 7-4 3-0

Bit Description

8-1 Processing Item Data List p.202

+9 0000 0000 0000 0000 Data number (16-bit)

8-1 Processing Item Data List p.202

+10 0000 0000 0000 0000 Setting data (UDINT) +11 0000 0000 0000 0000

Response (Controller ← displacement sensor)

Response area

Top channel

+6 0001 0000 0000 0000 Command code (32-bit) +7 0000 0000 0101 0000

+8 0000 0000 0000 0000 Response code (32-bit) +9 0000 0000 0000 0000

15-12 11-8 7-4 3-0

Bit Description

Stores the command code targeted for a response.

Command execution result OK

+8 0000 0000 0000 0001 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0010 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0100 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 1000 Response code (32-bit) +9 1111 1111 1111 1111

Command execution result NG (no corresponding command)

Command execution result NG (wrong parameter)

Command execution result NG (processing execution erro r)

Command execution result NG (mode error)

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● System data acquisition (command code: 4000 0040)

Command (Controller → displacement sensor)

Command area

Top channel

+6 0100 0000 0000 0000 Command code (32-bit) +7 0000 0000 0100 0000 +8 0000 0000 0000 0000 See data number (16-bit).

15-12 11-8 7-4 3-0

Bit Description

8-2 System data list p.212

Response (Controller ← displacement sensor)

Response area

Top channel

+6 0100 0000 0000 0000 Command code (32-bit) +7 0000 0000 0100 0000

+8 0000 0000 0000 0000 Response code (32-bit) +9 0000 0000 0000 0000 +10 0000 0000 0000 0000 Response data (32-bit) +11 0000 0000 0000 0000

+8 0000 0000 0000 0001 Response code (32-bit) +9 1111 1111 1111 1111

15-12 11-8 7-4 3-0

Bit Description

Stores the command code targeted for a response.

Command execution result OK

Acquired data

Command execution result NG (no corresponding command)

EtherCAT Connection

+8 0000 0000 0000 0010 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0100 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 1000 Response code (32-bit) +9 1111 1111 1111 1111

Command execution result NG (wrong parameter)

Command execution result NG (processing execution erro r)

Command execution result NG (mode error)

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

● System data setting (command code: 4000 0050)

Command (Controller → displacement sensor)

Command area

Top channel

+6 0100 0000 0000 0000 Command code (32-bit) +7 0000 0000 0101 0000 +8 0000 0000 0000 0000 Data number (16-bit)

15-12 11-8 7-4 3-0

Bit Description

8-2 System data list p.212

+9 0000 0000 0000 0000 Fixed at “0” +10 0000 0000 0000 0000 Setting data (32-bit) +11 0000 0000 0000 0000

Response (Controller ← displacement sensor)

Response area

Top channel

+6 0100 0000 0000 0000 Command code (32-bit) +7 0000 0000 0101 0000

+8 0000 0000 0000 0000 Response code (32-bit) +9 0000 0000 0000 0000

+8 0000 0000 0000 0001 Response code (32-bit) +9 1111 1111 1111 1111

15-12 11-8 7-4 3-0

Bit Description

Stores the command code targeted for a response.

Command execution result OK

Command execution result NG (no corresponding command)

+8 0000 0000 0000 0010 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 0100 Response code (32-bit) +9 1111 1111 1111 1111

+8 0000 0000 0000 1000 Response code (32-bit) +9 1111 1111 1111 1111

EtherCAT Connection

Command execution result NG (wrong parameter)

Command execution result NG (processing execution erro r)

Command execution result NG (mode error)

User’s Manual for Communications Settings

ZW-8000/7000/5000

Timing Chart (EtherCAT)

● Basic operation of PDO synchronized mode

Interrupted process from Sensor Controller

Exposure timing

Output area Updating timing

Response area

(1) Controller sends the interrupted process of Sync0. (2) All of the Displacement Sensors which receiv es the si gnal of step 1 st art to measure in synchronization with

the Exposure end timing.

(3) When the Displacement Sensor receives the next interrupted process of Sync0, turns the SEQUENCE

output ON from OFF.

(4) When the Displacement Sensor receives the interrupted process of Sync0 which is imme diately after the

completion of the measurement process, all of the Displacement Sensor start to the next measurement. At that time, SEQUENCE output has held ON.

(5) When updates the measurement result of the step 2. the Displacement Sensor turns the SEQUENCE

output OFF from ON.

(6) When all of the Displacement Sensors start the measurement when receive the interrupted process of

Sync0 while the SEQUENCE output has held OFF, turns SEQUENCE output ON from OFF at the received timing of the next interrupted process of Sync0.

Sync0

Displacement Sensor 1

Displacement Sensor 2

Displacement Sensor 1

Displacement Sensor 2

Displacement Sensor 1 SEQUENCE output

Displacement Sensor 2 SEQUENCE output

(2)(3) (4) (5) (6)(1)

EtherCAT Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

When the ON/OFF switching timing of the SEQUENCE output differs between Displacement Sensor 1 and

(1) (2) (3) (5)(4)

Displacement Sensor 1 SYNCFLG output

Displacement Sensor 2 SYNCFLGE output

Displacement Sensor 1

SEQUENCE output

SYNC inputCommand

area

Response area

OFF

Displacement Sensor 2 SEQUENCE output

OFF

Displacement Sensor 2, synchronization may be deviating, so turn the SYNC input to ON from OFF and execute synchronous measurement.

(1) The Controller changes the state of the SYNC input signal from OFF to ON. (2) Synchronization of the displacement sensor ends. (3) The Controller makes sure that the SYNCFLG output signal has turned ON, and then changes the state of

the SYNC input signal from ON to OFF.

(4)The Displacement Sensor makes sure that the SYNC input signal has turned OFF, and then automatically

changes the state of the SYNCFLG output signal to OFF.

(5) The rising edge and falling edge of the SEQUENCE signal of the Displacement Sensor are synchronized.

Important

• Set the all of the Displacement Sensor's Measurement cycle to same.

• When the Synchronization of the Exposure start timing is necessary, set the Exposure mode to Manual. The delay of the PDO communication cycle when from the Displacement Se

•

nsor starts the measurement after receiving of the interrupted process of Sync0 until sends the measurement result to output area is the following: The cycle is while SEQUENCE output is turned ON + 1 cycle When you need the synchronization with a data which except the Displacement Sensor sla

ve output, ref

values.

• If PDO communication is not started while all Displacement Sensors are set the same and measurement is e, synchronization may deviate (the SEQUENCE signal ON/OFF switching timings differ). In this case, the

possibl Controller needs to turn the SYNC input signal from OFF to ON to OFF and execute synchronous measurement. In PDO synchronized mode, even if the SYNC input signal is turned to ON from OFF< the TASKSTAT signal does not turn OFF.

• A synchronous delay may be occurred during run mode depe

nding on the combination of the P

DO communication cycle and the measurement cycle of the Displacement Sensor. To avoid these delay, consider 2 cycles of the PDO communication and measurement by referring the below table. Additionally, we recommend that you to check all of th timing to same

e Displacement Sensors are set the SEQUENCE output

er to this

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Note

Cycle delay of the PDO communication

PDO communication cycle (us) 125 250 500 750 1000 1250 1500 1750

2 cycle 35 or shorter 160 or

shorter

410 or shorter 660 or

shorter

910 or shorter

1160 or shorter

1410 or shorter

1660 or

shorter 3 cycle 85 to 160 210 to 410 460 to 910 710 to 1410 960 to 1600 1210 to 1600 1460 to 1600 − 4 cycle 210 to 285 460 to 660 960 to 1410 1460 to 1600 −−−− 5 cycle 335 to 410 710 to 910 1460 to 1600 −−−−− 6 cycle 460 to 535 960 to 1160 −−−−−− 7 cycle 585 to 660 1210 to 1410 −−−−−− 8 cycle 710 to 785 1460 to 1600 −−−−−− 9 cycle 835 to 910 −− −−−−− 10 cycle 960 to 1035 −− −−−−− 11 cycle 1085 to

1160

−− −−−−−

12 cycle 1210 to

1285

−− −−−−−

13 cycle 1335 to

1410

14 cycle 1460 to

1535

−− −−−−−

15 cycle 1585 to

1660

−− −−−−−

Refer to the following information for measurement cycles without occurrences of synchronization deviation.

■ ZW-7000@/5000@

EtherCAT Connection

• There is no condition which the PDO communication cycle delay until the output area is updated becomes 1 cycle.

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

• Descried as − means a condition which any measurement cycle delays do not occur.

Note

Cycle delay of the PDO communication

PDO communication cycle (μs) 125 250 500 750 1000 1250 1500 1750

2 cycle × 60 310 or

shorter

560 or shorter

810 or shorter

1060 or shorter

1310 or shorter

1560 or

shorter

3 cycle 60 160 to 310 410 to 810 660 to 1310 910 to 1810 1160 to 2310 1410 to 2810 1660 to 3310 4 cycle 160 to 185 410 to 560 910 to 1310 1410 to 2060 1910 to 2810 2410 to 3560 2910 to 4310 3410 to 5060 5 cycle 285 to 310 660 to 810 1410 to 1810 2160 to 2810 2910 to 3810 3660 to 4810 4410 to 5810 5160 to 6810 6 cycle 410 to 435 910 to 1060 1910 to 2310 2910 to 3560 3910 to 4810 4910 to 6060 5910 to 7310 6910 to 7500 7 cycle 535 to 560 1160 to 1310 2410 to 2810 3660 to 4310 4910 to 5810 6160 to 7310 7410 to 7500

−

8 cycle 660 to 685 1410 to 1560 2910 to 3310 4410 to 5060 5910 to 6810 7410 to 7500

−−

9 cycle 785 to 810 1660 to 1810 3410 to 3810 5160 to 5810 6910 to 7500

−−−

10 cycle 910 to 935 1910 to 2060 3910 to 4310 5910 to 6560

−− − −

11 cycle 1035 to 1060 2160 to 2310 4410 to 4810 6660 to 7310

−− − −

12 cycle 1160 to 1185 2410 to 2560 4910 to 5310 7410 to 7500

−− −−

13 cycle 1285 to 1310 2660 to 2810 5410 to 5810

−−− −−

14 cycle 1410 to1435 2910 to 3060 5910 to 6310

−−− −−

15 cycle 1535 to1560 3160 to 3310 6410 to 6810

−−− −−

Refer to the following information for measurement cycles without occurrences of synchronization deviation.

■ ZW-8000@

• X indicates no condition

• With ZW-8000@, the following formulas can be used to calculate measurement cycles without occurrences of synchronization deviation when the PDO communication cycle delay is 16 cycles or more.

Measurement cycle lower limit [μs] = PDO communication cycle Measurement value upper limit [μs] = PDO communication cycle

× (PDO cycle delay - 1) - 90

× PDO cycle delay - 190

• There is no condition which the PDO communication cycle delay until the output area is updated becomes 1 cycle.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● Control command execution

OFF

(1) (2) (4) (5) (6)(3) (7)

Command Area

Response Area

Command Code

Command Parameter

EXE input

Command Code

READY output

Response Code

Response Data

FLG output

(1) The command code and command parameter are set from the Controller. (2) The EXE input signal state is changed from OFF to ON. Exe cution is instructed to t he displacement sensor. (3) When the displacement sensor receives the execution instruction, the READY output signal turns OFF and

the command is executed.

(4) When the displacement sensor completes execution, the command code, response code and response

data are set. (5) The FLG output signal turns ON. (6) The Controller makes sure that the FLG output signal has t urned ON, and then returns the EXE input signal

to OFF. (7) The displacement sensor makes sure that the EXE input signal has turned OFF, and the FLG and READY

output signals automatically turn OFF and ON, respectively.

EtherCAT Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

● Measurement synchronization

Command Area

Exposure timing

Response Area

SYNC input

Displacement sensor 1

Displacement Sensor 2

SYNCFLG output

READY output

OFF

(2)

(1)

(3) (4)

(6)

(5)

(1) The Controller changes the state of the SYNC input signal from OFF to ON. (2) When receives the

SYNC input signal, the displacement sensor turns off the READY output signal, and

starts the measurement synchronization processing. (3) All displacement sensors that have received the SYNC input signal are synchronized with the end of

exposure and measurement is resumed. (4) After the end of synchronization, the displ acement sens or changes the st ate of the SYNCFLG output signal

from OFF to ON. (5) The Controller makes sure that the SYNCFLG output signal has turned ON, and then changes the state of

the SYNC input signal from ON to OFF. (6) The displacement sensor makes sure that the SYNC input signal has turned OFF, and the SYNCFLG and

READY output signals automatically turn OFF and ON, respectively.

Important

• Set measurement cycle the same for all displacement sensors for which measurement is to be synchronized.

• If the synchronization with the exposure start timing is necessary, set the Exposur

• By way of reference, the time from acceptance of the SYNC input up to when S

e mode to Manual.

YNCFLG output turns ON becomes

“currently set measurement cycle + PDO communication cycle x 3”.

• After multiple displacement sensors are synchronized, they g

radually go out of sync. At most 1 μs of difference generates EtherCAT communication between the slave. Input SYNC input signals periodically. The maximum deviation time can be calculated with the following formula.

Difference in EtherCAT + specified Mea

surement cycle × Ave

Difference of EtherCAT + specified Measurement cycle × Average × 24p

rage number of repetitions × 24 ppm

Example: Measurement cycle: 400 μs, average number of repetitions: 64

1 μs + 400 μs × 64 × 24/1000000 = 1.614 μs The maximum deviation time will be 1.614 μs.

• The displacement sensor starts resetting the filtering process after receiving a

SYNC signal. If the aver

age number

is set to 128 times, please note that the measurement value will not be finalized until the measurement is done 128

times. You can check whether the measurement value is finalized if either of HIGH, PASS or LOW signal turns on in the response area, or TASK_ENABLE signal turns ON.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● Execution of hold (peak/bottom/peak to peak/average) and reset of hol d value

Command Area

Output area

TIMING input

RESET input

HOLDSTAT output

RESETSTAT output

GATE output

Output Data

OFF

(1) (2) (4) (5) (6)(3) (7) (8) (9) (10)

(1) The Controller changes the state of the TIMING input signal from OFF to ON. At the rising edge of the

TIMING input

signal, the displacement sensor starts sampling.

(2) At start of sampling, the displacement sensor changes the state of the HOLDSTAT output signal from OFF

to ON.

(3) The Controller turns the state of the TIMING input signal from ON to OFF. At the falling edge of the TIMING

input signal, the displacement sensor end sampling.

(4) At end of sampling, the displacement sensor chan ges t he stat e o f the HOLDSTAT output signal from ON to

OFF.

(5) When the hold value is applied, the displacement senso r changes the st ate of th e GATE output signal from

OFF to ON. The Controller makes sure that the GATE output signal has turned ON, and then captures the output data.

(6) The displacement sensor turns OFF after the GATE signal ON duration has elapsed since the GATE output

signal turned ON.

(7) The Controller changes the state of the RESET input signal from OFF to ON. At the rising edge of the

RESET input signal, the displacement sensor starts the measured value reset period.

(8) At the start of the measured value reset period, the displacement sensor changes the state of the

RESETSTAT output signal from OFF to ON. Measurement value is reset.

(9) The Controller changes the state of the RESET input signal from ON to OFF. At the falling edge of the

RESET input signal, the displacement sensor end the measured value reset period.

(10) At the end of the measured value reset period, the displacement sensor changes the state of the

RESETSTAT output signal from ON to OFF.

EtherCAT Connection

Important

When hold is being performed by multiple tasks, HOLDSTAT output signal turns ON when even one task enters the sampling period and GATE output signal turns ON when the measured value is applied.

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

● Execution of hold (auto peak, auto bottom, auto peak to peak) and reset of hold value

Command Area

Output area

RESET input

HOLDSTAT output

RESETSTAT output

GATE output

Output Data

OFF

(2) (3) (4) (5) (6)(1)

(1) When the peak value is applied, the displacement sens or changes the state of the GATE output signal from

OFF to ON. The

Controller makes sure that the GATE output signal has turned ON, and then captures the

output data.

(2) The displacement sensor turns OFF after the GATE signal ON duration has elapsed since the GATE output

signal turned ON.

(3) The Controller turns the state of the RESET input signal from OFF to ON. At the rising edge of the RESET

input signal, the displacement sensor starts the measured value reset period.

(4) At the start of the measured value reset period, the displacement sensor changes the state of the

HOLDSTAT output signal from ON to OFF and the RESETSTAT from OFF to ON. Meas urement value is reset.

(5) The Controller changes the state of the RESET input signal from ON to OFF. At the falling edge of the

RESET input signal, the displacement sensor end the measured value reset period.

(6) At the end of the measured value reset period, the displacement sensor changes the state of the

HOLDSTAT output signal from OFF to ON and the RESETSTAT from ON to OFF.

Important

When hold is being performed by multiple tasks, HOLDSTAT output signal turns ON when even one task enters the sampling period and GATE output signal turns ON when the measured value is applied.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● Execution of hold (sample) and reset of hold value

OFF

(1)

(2)

(3) (4) (5) (6) (7) (8) (9) (10)

Command Area

Output area

TIMING input

RESET input

HOLDSTAT output

RESETSTAT output

GATE output

Output Data

(1) The Controller changes the state of the TIMING input signal from OFF to ON. At the rising edge of the

TIMING input

signal, the displacement sensor starts sampling.

(2) At start of sampling, the displacement sensor changes the state of the HOLDSTAT output signal from OFF

to ON.

(3) When the hold value is applied, the displacement senso r changes the st ate of th e GATE output signal from

OFF to ON. The Controller makes sure that the GATE output signal has turned ON, and then captures the output data.

(4) The displacement sensor turns OFF after the GATE signal ON duration has elapsed since the GATE output

signal turned ON.

(5) The Controller turns the state of the TIMING input signal from ON to OFF. At the falling edge of the TIMING

input signal, the displacement sensor end sampling.

(6) At end of sampling, the displacement sensor chan ges t he stat e o f the HOLDSTAT output signal from ON to

OFF.

(7) The Controller changes the state of the RESET input signal from OFF to ON. At the rising edge of the

RESET input signal, the displacement sensor starts the measured value reset period.

(8) At the start of the measured value reset period, the displacement sensor changes the state of the

RESETSTAT output signal from OFF to ON. Measurement value is reset.

(9) The Controller changes the state of the RESET input signal from ON to OFF. At the falling edge of the

RESET input signal, the displacement sensor end the measured value reset period.

(10) At the end of the measured value reset period, the displacement sensor changes the state of the

RESETSTAT output signal from ON to OFF.

EtherCAT Connection

Important

When hold is being performed by multiple tasks, HOLDSTAT output signal turns ON when even one task enters the sampling period and GATE output signal turns ON when the measured value is applied.

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

● Measurement light source out

Command Area

Response area

LIGHTOFF input

LIGHT output

OFF

(2) (3) (4)(1)

(1) The Controller changes the state of the LIGHTOFF input signal from OFF to ON. At the rising edge of the

LIGHTOFF

input signal, the displacement sensor turns the measurement light source out.

(2) At measurement light source out, the displacement sensor changes the state of the LIGHT output signal

from ON to OFF.

(3) The Controller turns the state of the LIGHTOFF input signal from ON to OFF. At the falling edge of the

LIGHTOFF input signal, the displacement sensor lights the measurement light source.

(4) At measurement light source on, the displacement sensor returns the LIGHT output signal to ON.

●

Zero reset execution/zero reset cancel

Command Area

Response area

ZERO input

ZEROCLR input

ZEROSTAT output

OFF

(2) (3) (4) (5) (6)(1)

(1) The Controller changes the state of the ZERO_T1 to 4 input signal s from OFF to ON. The displacement

sensor makes sure that ZERO_T1 to 4 input signals have turned ON, and then executes the zero reset.

(2) At execution of zero reset, the displacement sensor changes the state of the ZEROSTAT_T1 to 4 output

signal from OFF to ON.

(3) The Controller makes sure that t he ZEROSTA T_T1 to 4 output signals ha v e turned ON, and then returns the

ZERO_T1 to 4 input signals to OFF.

(4) The Controller changes the state of the ZEROCLR_T1 to 4 input signals from OFF to ON. The

displacement sensor makes sure tha t ZEROCLR_T1 to 4 input signals hav e turned ON, and then executes

the zero reset cancel. (5) At the zero reset cancel, the displacement sensor returns the ZEROSTAT_T1 to 4 output signals to ON. (6) The Controller makes sure that the ZEROSTAT_T1 to 4 output signals have turned OFF, and then returns

the ZEROCLR_T1 to 4 input signals to OFF.

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Sample Ladder Program (EtherCAT)

● Command/Response Communications

The following sample program is used to perform replacement the current bank number. The replacement the current bank number command (lower bytes: #8000, upper bytes: #0030) is sent to the Displacement Sensor.

First RUN Period Flag

DINT#16#00308000

Control Command

Execution condition

Control Command

Completed

(E001_FLG)

Completed

(E001_FLG)

Command

Execution Ready

(E001_READY)

MOVE

ENO

Out

Command Execution Bit

(E001_EXE)

Command Execution Bit

(E001_EXE)

Sets the replacement the current bank number command.

E001_Command

Turns ON Command Execution Bit.

When the control command is completed, the Command Execution Bit is turned OFF.

Important

Create the ladder program to control the EXE signal so that it does not turn ON while the READY signal is ON. If not, a EXE input error will occur and the ERR signal will turn ON.

EtherCAT Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

Sysmac Device Features (EtherCAT)

The control device product designed according to standardized communications and user interface specifications for OMR O N control devices are called a Sysmac Device. And the features available with such a Device is called Sysmac Device Features. This section describes the features the ZW series Displacement Sensor provides when combined with a Machine Automation Controller such as NX/NJ series and automation software.

Sysmac Error Status

Because, in Sysmac Devices , errors th at ma y oc cur in slaves are systematized, you can chec k the cau ses and remedies for errors with a common procedure. The status of an error can be monitored in the Sysmac Error Status (2002-01 hex). To display the error status detected by the FQ-M series Vision Sensor in Sysmac St udio, the Sysmac Error Status (2002-01 hex) must be mapped to the PDO. Sysmac Studio, by default, uses th e 512th t ra nsmit PDO Mappin g assignme nt to ma p the Sysmac Error Status (2002-01 hex) automatically to the PDO.

Note

• For the Sysmac Error status (2002-01 hex), refer to 8-3 Object Dictionary p.214.

• For errors displayed in Sysmac Studio, refer to

Saving the Node Address Setting

NJ-series Troubleshooting Manual (Cat. No. W503).

When the node address switch setting is “00” (Software Setup mode), the node address value you set in Sysmac Studio is enabled. If the node address switches are set to any other v alue , the v alue that is set on the s witches is used as the node address.

In the Software Setup mode, in Sysmac Studio, execute [Wr

ite Slave Node Address]

on the [EtherCAT Edit] screen to

save the slave node address setting in the nonvolatile memory of the ZW series Displacement Sensor.

● Software Setting

The set value saved as Slave Information Interface (SII) information in the nonvolatile memory of the slave is the node address.

EtherCAT master

(1) The Node Address Switch is set to “00” at

power OFF.

(2) Write a node address set value to Slave SII

from the master.

(3) The value of the node address setting is applied

to Register: 0012 hex by the software, when the slave power is ON.

(4) EtherCAT master reads the set value of

(5) EtherCAT master writes the value of 0012 hex

address to 0010 hex address as the node address value.

(4) (5)

EtherCAT

Slave Controller

EtherCAT Slave

(2)

(1)

Nonvolatile

memory

(3)

Node Address

Switch

SII

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● Node Address Switch Setting

The value set on the node address switches is the node address.

EtherCAT master

(1) The Node Address Switch is set at power OFF. (2) The value of Node Address Switch is applied to

(3) EtherCAT master reads the set value of

(4) EtherCAT master writes the value of 0012 hex

address to 0010 hex address as the node address value.

(3) (4)

EtherCAT

Slave Controller

EtherCAT Slave

Nonvolatile

memory

(2)

Node Address

(1)

SII

Switch

Serial Number Display

The serial number saved in the nonvolatile memory of the Displacement Sensor is displayed in the Serial Number (1018-04 hex). Controllers that support Sysmac Device F eatures can use this serial number to check the network configuration. To enable this check, in Sysmac Studio, set [Serial No. Check Condition] to [Set Value = Actual Unit] on the [EtherCAT Edit] screen. If the set condition is not met, a Network Configuration Check Error will occur.

Note

This network configuration check detects any slave devices that have been replaced, which p forgetting to set parameters on those slaves.

revents you from

Compliance with ESI Specification (ETG.2000 S (R) V1.0.1)

EtherCAT Connection

The ESI Specification is a set of specifications that define the entries required in an EtherCAT Slave Information (ESI) file.

SII Data Check

The Slave Information Interface (SII) is an interface area in the nonvolatile memory of an EtherCAT slave that stores the configuration information specific to that EtherCAT slave. Sysmac Device EtherCAT slaves check the SII information from the slave side. If one of these slaves finds that SII information with which it cannot operate was written, it generates an SII Check Error (Error No. 88.3).If this error persi sts even after turning OFF and then ON the power again, contact your OMRON sales representative.

Important

Do not use third-party or any other configuration tools to edit the SII information.

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherCAT Connection

MEMO

EtherCAT Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

EtherNet/IP Connection

4-1 EtherNet/IP Connection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .90

EtherNet/IP Connection

4-1 EtherNet/IP Connection

Introduction to EtherNet/IP

EtherNet/IP is an industrial multi-vendor network that uses Ethernet. The EtherNet/IP specifications are open standards managed by the ODVA (Open DeviceNet Vendor Association). EtherNet/IP is used b y a wide range of industrial devices. Because EtherNet/IP uses standard Ethernet technology, various general-purpose Ethernet devices can be used in the network. EtherNet/IP has mainly the following features.

● High-speed, High-capacity Data Exchange through Tag Data Links

The EtherNet/IP protocol supports implicit communications, which allows cyclic communications called tag data links with EtherNet

● Tag Data Links at Specified Communications Cycle for Each Application Regardless of the Number

of Nodes

ag data links (cyclic communications) operate at the cyclic period that is specified for each application, regardless of the n connection. The communications refresh cycle will not increase even if the number of nodes is increased, i.e., the concurrency of the connection’s data is maintained. Because the refresh cycle can be set for each connection, each application can communicate at its ideal refresh cycle. For example, interprocess interlocks can be transferred at high speed, while the production commands and the status monitor information are transferred at low speed.

/IP devices.

umber of nodes. Data is e xchanged o ver the network at the refresh cycle that is set for each

Important

On a network to which many devices are connected, performance may drop (e.g., responses may be delayed or packets lost) or communications errors may occur when there is temporarily high traffic on the network. Test the operation under actual conditions before you start actual operation of the system.

EtherNet/IP Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Data Exchange with EtherNet/IP

Data is exchanged cyclically between Ethernet devices on the EtherNet/IP network using tag data links as shown below.

Target

Displacement Sensor

Output tag set name:

Input_101

Tag: Input_101

Input tag set name:

Output_100

Tag: Output_100

Connection from

ZW to PLC

Connection from

ZW to PLC

Originator

PLC

Input tag set name: A

Tag: D0

Output tag set name: B

Tag: D100

Connection

Ethernet (EtherNet/IP)

● Data Exchange Method

To exchan One of the nodes re

ge data, a connection is opened between two EtherNet/IP devices.

quests the connection to open a connection with a remote node. The node that requests the connec tion is called the originator, and the node that receives the request is called the target.

EtherNet/IP Connection

● Dat

a Exchange Memory Locations

The memory locations that are used to exchange data across a connection are speci fied as tags. You can specify memory addresses or variables for tags. A group of tags consists of an output tag set and an input tag set.

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherNet/IP Connection

Communication Methods for Measurement Sensor when Connected via EtherNet/IP

PLC

Displacement Sensor

Command area

Response area

I/O memory or variables

(communications areas)

CPU Unit

EtherNet/IP (tag data links)

OK, etc.

• TIMING input

• Bank number switching, etc.

Command Response

Input connection to Sensor

Output connection to PLC

You can use EtherNet/IP tag data links to communicate between the PLC and the Displacement Sensor to perform control via command/response communications or to output data after measurements. ZW-8000

To connect to OMRON Controllers and communicate t hrough EtherNet /IP, you use the Network Configur ator to set up tag data links (i.e., tags, tag sets, and connection settings). Refer to the following manuals for details on the tag data link settings that are made with the Network Configurator.

• NJ-series CPU Unit Built-in EtherNet/IP Port User’s Manual (Cat. No. W506)

• CS/CJ-series EtherNet/IP Units Operation Manual (Cat. No. W465)

• CJ-series EtherNet/IP Units Operation Manual for NJ-series CPU Unit (Cat. No. W495)

● Command/Response Communications

With EtherNet/IP communications, cyclic tag data link comm unications are perf ormed with the connections tha t are set between t Command/response control signals are handled by storing control commands from the PLC to the Displacement Sensor and responses from the Displacement Sensor to the PLC in the I/O memory of the PLC. This allows you to control the ope ration of the Displacement Sensor (e.g., perform continuous measurements or change the scene) without using special communications instructions.

• Input Connection to Sensor (PLC to Displacement Sensor)

• Output Connection to PLC (Displacement Sensor to PLC)

@/7000@/5000@ is supported EtherNet/IP V er. CT12 conformance test.

Types of Communications

he PLC and Displacement Sensor.

The commands that are stored in the I/O memory of the PLC are sent to the Displacement Sensor.

Responses from the Displacement Sensor to the control commands are stored in the PLC I/O memory addresses

ariables that are specified for the response area.

or v

To send a control command, you write a cont rol command to t he comman d area (i .e ., a variable or I/O memory address in the PLC) that is specified for the output tag, and then turn ON the Command Execution (EXE) Bit. As a result, the control command is sent through the input connection from the PLC to the Displacement Sensor. A control command does not need to be sent to execute measurements for the TRIG bit. The measurement is ex ecuted simply by turning ON the TRIG bit.

The Displacement Sensor executes the control command and sends a response back to the PLC through the output connection from the Displacement Sensor to the PLC. The PLC stores the response in the response area (i.e ., I/O memory addresses or v ariable) th at is specif ied f or the input tag in the PLC.

EtherNet/IP Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

● Data Output after Measurements

Immediately after the measured va lue has been applied, the measured value data of each task is output automatically to the specified I/O memory of the PLC specified to the input tag.

PLC

EtherNet/IP built-in unit

I/O memory or variables

(communications areas)

Output area

Output connection to PLC

Data

Automatic output of measured value data of each task

Displacement Sensor

EtherNet/IP (tag data links)

To output data, specify the I/O memory area or a variable (output area) on the PLC for storing that data in advance to the input tag.

EtherNet/IP Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherNet/IP Connection

Types of Communications Areas

For EtherNet/IP communications, the following three communications areas are used in the PLC to perform communications.

Areas Used for the Different Control Methods

Command/ response communications

Data output method after application of measured value

Output Tag Set

Input connection to Sensor

Output connection to PLC

The following control commands are written to the Displacement Sensor.

• Control inputs

• Command code

• Command parameters

Input Tag Set Output Tag Set

The execution results from the Displacement Sensor are written here.

(1) Command area This is the area to which you write control commands for the

(2) Response area This is the area to which the Displacement Sensor writes the

(3) Output area The area to which the displacement sensor writes the measured

PLC

Output Tags

(1) Command area

Input Tags

(2) Response area

(3) Output area

Displacement Sensor to execut e.

results of control commands executed from the command area.

value data of each task after application of the measure d value.

Displacement Sensor

Input Tag Set

Command

Response

The control commands that are written to the Command Area are executed.

Execution

Measurement results are written to the response area in the PLC.

• Control outputs

• Command code

• Response code

• Response data

After applying measured value

24 bytes

24bytes

Output data from the Displacement Sensor is written here.

*1 The response area (2) and output area (3) are assigned to continuous memory addresses or to a variable.

EtherNet/IP Connection

Measurement results are written to the output area.

User’s Manual for Communications Settings

32bytes

ZW-8000/7000/5000

Connectable Controller Models

Series CPU Unit Interface

Built-in port in CPU Unit EtherNet/IP Unit SYSMAC NX NX701 Compatible --SYSMAC NJ NJ501, NJ301, or NJ101 Compatible CJ1W-EIP21 SYSMAC CJ2 CJ2H or CJ2M Compatible (model with built-in

SYSMAC CJ1 CJ1H or CJ1G --- CJ1W-EIP21

CJ1M --- CJ1W-EIP21

SYSMAC CS CS1H, CS1D, or CS1G --- CS1W-EIP21

port only)

CJ1W-EIP21

Setting Communications Specifications (EtherNet/IP)

Network Settings of the Sensor

This section describes how to set the network settings in the Displacement Sensor.

 Multi View Explore : [Device group] | Sensor name | [System] | [System data] (Double-click)

→ Edit Pane : [Ethernet communication settings] Icon | [Ethernet settings]

The following items can be set .

Item Description Setting range IP address Set the IP address of the Displacement Sensor. a.b.c.d

Subnet mask Set the subnet mask. 0.0.0.0 to 255.255.255.255

Default Gateway Sets the default gateway. 0.0.0.0 to 255.255.255.255

a: 1 to 223, b: 0 to 255, c: 0 to 255, d: to 254 (Default: 192.168.250.50)

(Default: 255.255.255.0)

(Default: 0.0.0.0)

EtherNet/IP Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherNet/IP Connection

Note

The network settings of the sensor can also be set with key operations on the Sensor Controller.

Network Settings of the Sensor p.177

Setting EtherNet/IP communication

 Multi View Explore : [Device group] | Sensor name | [System] |

[System data] (Double-click)

→ Edit pane : [Ethernet Commu

nications Settings] icon ( )

1 Select [EtherNet/IP] at [Fieldbus].

2 Set the output time of GATE signal.

Enter the value in [GATE signal ON time].

Important

To enable the settings, restart the Controller.

Note

The setting of default settings for EtherNet/IP communications can also be set by the operating keys on the Sensor Controller.

Setting Fieldbus p.175

Setting GATE Signal ON Time p.176

EtherNet/IP Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Tag Data Link Setting Methods

This section describes how to set data links for EtherNet/IP. The communications areas in the PL C for which data links are created to the Sens or are speci fi ed as t ag s and tag sets, and the connections are set for tag data link communications. Tags, tag sets, and connections are set from the Network Configurator. Refer to the following manuals for details on the tag data link settings that are made with the Network Configurator.

• NJ-series CPU Unit Built-in EtherNet/IP Port User’s Manual (Cat. No. W506)

• CS/CJ-series EtherNet/IP Units Operation Manual (Cat. No. W465)

• CJ-series EtherNet/IP Units Operation Manual for NJ-series CPU Unit (Cat. No. W495)

Important

To connect the ZW to an NJ/CJ-series CPU Unit, install the EDS file that defines the connection

• ZW in the Network Configurator. Download the EDS file from the OMRON website.

• After tag data links are set, the Displacement Sensor will automatically be restarted to enable the setting

information for the

Tags, Tag Sets, and Connection Settings

The communications areas in the PLC are set as tag data link connections as shown in the following table.

• Tag and Tag Set Settings in the PLC

Parameter Settings

Command area Response area and output area Type of tags and tag set Output tag set Input tag set Tag and tag set names I/O memory addresses or variable names I/O memory addresses or variable names Data size 24 bytes 56 bytes (total size of response area and output area)

*1 Specify the I/O memory address of the first word in the response area.

The output area is assigned immediately after the response area. If you specify a variable name, the variable is assigned for both the response area and output area. Refer to Accessing Communications Areas Using Variables with NX/NJ-series Controllers on p. 105 for information on how to access the signals in the communications areas from the user program when variables are assigned.

EtherNet/IP Connection

ZW-8000/7000/5000 User’s Manual for Communications Settings

EtherNet/IP Connection

● Settings in the ZW (Device Parameter Settings)

Parameter name Value Setting range 001 Input Size The total size of response area and output area 56 002 Output Size The data size of command area 24

003 RPI

* The packet interval (RPI) is set in the connection settings between the PLC and the Sensor. No setting is required here.

The requested packet interval 10000

1 Right-click the ZW in the network on the Network Configurator and select [Parameter] - [Edit]. 2 The Edit Device Parameters Dialog Box will be displayed. Make the required settings.

EtherNet/IP Connection

User’s Manual for Communications Settings

ZW-8000/7000/5000

Omron ZW-7000, ZW-5000, ZW-8000 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Terms and Conditions Agreement

Precautions on Safety

Precautions for Safe Use

Precautions for Correct Use

Editor's Note

Copyrights and Trademarks

Notice

Relevant Manuals

Related Manuals

Table of Contents

1.Overview of Communication Specifications

2.Parallel I/O Connection

3.EtherCAT Connection

4.EtherNet/IP Connection

5.No-protocol Connection

6.Sensor Controller Operations

7.Troubleshooting

8.Appendices

Overview of Communication Specifications

Overview of Commu nication Specifications

Overview of Communication Specifications

1-2 Checking the System Configuration

System Configuration

Connection Compatibility

Parallel I/O Connection

2-1 Parallel I/O Connection

I/O Signal Functions

Settings for Parallel Input

Settings for Analog Output

Settings for Judgment Output

Settings for Bank Control

Timing Chart

EtherCAT Connection

3-1 EtherCAT Connection

Overview of EtherCAT Networks

Communication Meth ods f or Measure ment Sensor w hen Connecte d via EtherCAT

Setting Communications Specifications (EtherCAT Communications)

List of I/O Ports for Each Area (PDO Mapping) and Memory Assignments

Timing Chart (EtherCAT)

Sample Ladder Program (EtherCAT)

Sysmac Device Features (EtherCAT)

EtherNet/IP Connection

4-1 EtherNet/IP Connection

Introduction to EtherNet/IP

Communication Methods for Measurement Sensor when Connected via EtherNet/IP

Setting Communications Specifications (EtherNet/IP)

Tag Data Link Setting Methods