Connection Guide IAI Corporation
Contents
1. 6 EtherCAT Settings 6 EtherCAT Settings This section describes the specifications such as communication parameters and variables that are set in this document Hereinafter the SCON CA Controller is referred to as the Destination Device or the Slave Unit in some descriptions 6 1 EtherCAT Communications Parameter Settings The communications parameter required connecting the Controller and the Destination Device via EtherCAT is given below SCON CA Controller Node address 1 Axis number 0 Operation mode 2 Half direct value mode I O format 3 Default setting 6 2 Allocation for PDO Communications The EtherCAT PDO communications data of the Destination Device are allocated to the Controller s device variables The device variables and the data types are shown below m Output area from Controller to Destination Device Device variable name Data type Meaning E001 Out Target Position 2003 01 DINT Target position E001 Out Positioning Band 2003 02 UDINT Positioning band E001 Out Velocity 2003 03 UINT Velocity Acceleration E001 Out Acceleration Deceleration 2003 04 UINT D celeriion Pressing current limit value E001 Out Pressing Current Limit 2003 05 UINT 6 EtherCAT Settings Device variable name Data type Meaning E001 Out Control signal 2003 06 WORD Control signal BOOL _ Positioning command BOOL Home return BOOL Pause BOOL Reset BOOL Servo ON command BOOL Jog inch switching switchin2. If an exclamation mark warning is displayed for the ESI file check the name of the ESI file and obtain the ESI file with a correct name If an exclamation mark warning is displayed even when the name of the ESI file is correct the file may be corrupted Contact the device manufacturer 21 7 EtherCAT Connection Procedure 7 3 2 Setting Up the EtherCAT Network Configuration Set up EtherCAT network configuration with the Sysmac Studio 1 Select Communications Setup Controller Simulation Tools Help from the Controller Menu _ I aunieatioisSeRBI Change Device Online Ctrl W 2 The Communications Setup w Connection type D j al og Box IS d isplayed Select a method tn connect with the Controller to use every time you go online Direct connection via USB W Virect connection via Etnernet r r r Remote connection via USB Select the Direct connection via 0 e Select one method from these options at every online connection 7 ll Direct connection via USB USB Option for Con nection Direct connection via Ethernet E Remote connection via USB type ll Ethernet connection via a hub x vw Remote IP Address C ck the OK B utto n Select a method to connect with the Controller to use every time you go online USB Communications Test Ethernet Communications Test Y Options ha Confirm the serial ID when going online ba Check forced refreshing when going offline Y Response Monitor Time Set the R
3. is opened allowing you to install the ESI file Copy the prepared ESI IAI CON_ECT_V_1_04_R ev 4 xmlto this folder 7 EtherCAT Connection Procedure 4 Configurations and Setup Node Address Network configuration Master lt Configurations and Setup Node Address Network configuration Master Import Slave Settings and Insert New Slave Clear All Settings Display ESI Library Omron 3G3AX MX2 ECT Omron 3G3AX RX ECT Omron ESNW ECT Omron E3X ECT i ti To add or delete an ESI file exit from this software and then add delete the file to fron The change will be applied after restarting this software Scorch ve 2 gg a Open DeviceParameters EsiFiles SystemEsiFiles di UserEsifiles J di xsd J TorsFiles Mew folder Organize Compatibility files ESI IAI CON ECT V 1 04 Rev 4 xml 20 12 Select Exit from the File Menu to exit the Sysmac Studio A dialog box is displayed confirming whether to save the project If you do not need to save click the No Button You need to restart the Sysmac Studio after installing the ESI file In the same way as steps 2 to 8 restart the Sysmac Studio and display the ESI Library Dialog 13 Box Click the Button of ESI IAI CON_ECT_V1_04 Re v_4 to confirm that RC ECT FMOD2 16Byte 16Byte Rev 0x00010004 is displayed Confirm that an exclamation mark warning is not displ
4. EM Carl fr BAD BALM ALAL BOL p di BORO boa Vi Fa Ed igbi viniti i a e 5 a E IL Mobal Vanse Y i fi y m Ta i L Fi L m BAL BA ko DOBH Ad i er amp bie HE a wl l a ai a sk ii V r il a OG wT Soba Waris eal Ware bad variis A r E f E E i DD D WHJ i i Fy oe bali forol HHJ 07 m Bl Pane OD N Yarutte Coming E ON e ee ee a EN Additional Information The device variables are named automatically from a combination of the device names and the port names For slave units the default device names start with an E followed by a sequential number Starting from 001 EN Additional Information In this document device variables are automatically named for a unit a slave Device variables can also be manually named for I O ports 7 EtherCAT Connection Procedure 7 3 4 Transferring the Project Data Transfer the project data from the Sysmac Studio to the Controller WARNING Always confirm safety at the Destination Device before you transfer a user program configuration data setup data device variables or values in memory used for CJ series Units from the Sysmac Studio The devices or machines may perform unexpected operation regardless of the operating mode of
5. WARNING will result in minor or moderate injury or may result in serious injury or death Additionally there may be significant property damaoe a Indicates a potentially hazardous situation which if not avoided Caution may result in minor or moderate injury or property damage Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product P Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance EN Additional Information Additional information to read as required This information is provided to increase understanding or make operation easier Symbols The filled circle symbol indicates operabons that you must do The specific operabon is shown in the circle and explained in taxt This example shows a general precaution for something that you must do 4 Overview 4 Overview This document describes the procedure for connecting SCON CA Controller of IAI Corporation hereinafter referred to as IAI to NJ series Machine Automation Controller hereinafter referred to as the Controller of OMRON Corporation hereinafter referred to as OMRON via EtherCAT and provides the procedure for checking their connection Refer to Section 6 EtherCAT Settings and Section 7 EtherCAT Connection Procedure to understand the setting method and key points to operate PDO communications of EtherCAT 5 Applicable Devi
6. data simple Input warning outside the recommended range Warn If there are multiple serial ports on the personal computer display the Windows Device Servo monitor data file format Setting Manager Then select the The item to which attaches will be effective Same port as the after reconnecting or the reboot communications port No Change Password ox X cance Controller is connected under Ports COM amp LPT COME in this example File Action View Help e H mle gt JER Portable Devices a Ports COM amp LPT Manager right click My F Communications Port COM Computer click Properties OT Intel R Active Management Technology SOL COM3 from the Windows Menu D ini To display the Device Then click Device Manager in the window that is displayed 5 After the software starts the Check for connected axes Dialog Box is displayed and then the SCON CA Controller goes online Connected Checking After the software connection checks go through all axes up to the Axis No 15 in the right figure the Manual operation mode Select Dialog Box is displayed 7 EtherCAT Connection Procedure 6 The Manual operation mode On mode Select Dialog Box is displayed Select Teach 1 Safety speed effective PIO start prohibition for Manual operation mode and 2S Did 4 l DIST Manuel operation mode Teach Safety speed effective PIO start prohibition click
7. no problem and click the No The aing me E EE ene to RUN mode Do you want to continue Y N Button Do not return it to RUN mode 27 10 Confirm that the synchronized data is displayed with the color specified by Synchronized and that a message Is displayed stating The synchronization process successfully finished If there is no problem click the Close Button Amessage stating The synchronization process successfully finished is displayed if the Sysmac Studio project data and the data in the Controller match If the synchronization fails check the wiring and repeat from step 1 7 EtherCAT Connection Procedure Synchronization Cumputer Data Name Computer Update DaController Update Da Wonuciic Data Name Compare NJ501 14 12 2012 11 15 09 Legend Synchronized E Clear the present values of variables with Retain attribute Valid for Transfer to Controller E Do not transfer the program source Valid for Transfer to Controller All data will be re transferred when this option is changed amp Do not transfer Snecial I Int narameters and backup parameters of EtherCAT slaves out of synchronization scope The Synchronization process successfully finished Recompare Close 28 7 EtherCAT Connection Procedure j 7 4 Checking the EtherCAT Communications Confirm that the PDO communications of EtherCAT are performed normally 7 4 1 Checking the Connection Status Check the conne
8. 1 3 Setting Up the Controller rrrrrnnnnrrrrnnrrrnvrnnnnrvrnnnnnrnnnnansennnnnnnennnnn 18 7 4 Checking the EtherCAT Communications cccssecceeeeeeeeeeeeees 29 8 Initialization Method sss rssasenannnnnnnvnnne0nnn 0 naaa ao aa Aron nnnnrnnnnrr 34 8 1 Initializing the Controller 2D5 400 1i0nn00 34 8 2 Initializing the IAI SCON CA Controller cccccceseeeeeeeeeeeeeeeeeeeees 34 9 Revision History ss sssnnnnnnnnnnne a UMM a aa aaan nanana aa ARMM scenes nn nnvnnnnr 35 1 Related Manuals 1 Related Manuals The table below lists the manuals related to this document To ensure system safety make sure to always read and heed the information provided in all Safety Precautions Precautions for Safe Use and Precaution for Correct Use of manuals for each device which is used in the system W500 NJ501 000 NJ series CPU Unit Hardware User s Manual NJ301 000L W501 NJ501 1 000 NJ series CPU Unit Software User s Manual NJ301 000L W505 NJ501 NJ series CPU Unit Built in EtherCAT Port User s NJ301 1100 Manual W504 Sysmac Studio Version 1 Operation Manual ME0243 SCON CA IAI Corporation SCON CA Controller Instruction Manual ME0273 ACON Al Corporation PCON EtherCAT Operation Manual SCON CA ME0155 RCM 101 MW Al Corporation RCM 101 USB ROBO CYLINDER PC Software Operation Manual 2 Terms and Definitions 2 Terms and Definitions Term PD
9. C 3 Control AC power input On L2C 4 Control AC power input OM A fol NC 5 Unconnected o PE 6 Protective ground line 7 EtherCAT Connection Procedure 7 2 2 Parameter Settings Set the parameters for the SCON CA Controller Parameters are set by RC PC Software Install the software and USB Driver to the personal computer beforehand EN Additional Information For information on how to install a driver refer to ROBO CYLINDER PC Software Operation Manual Cat No ME0155 1 Connect the SCON CA Controller to the personal computer with a USB cable USB Conversion Unit and Communications cable Connect the USB cable to the USB port on the personal computer Connect the Communications cable to the SIO Connector on the SCON CA Controller 2 Set the Operation Mode Changeover Switch on the front of the SCON CA Controller to the MANU side 3 Turn ON the power supply to the SCON CA Controller and start fd the RC PC Software from the PC Interface Software f personal computer 7 EtherCAT Connection Procedure 4 The Setting of application Dialog Box is displayed only at the Setting of applicatio Port initial start after the software has been installed Baudrate bps Last Axis No Select the communications port Unit of display at pulse train mode No to be used in the Port Field ER Sr Start position of program Top of the program v and click the OK Buiton Display type of position
10. Help the Controller Menu Ctrl W Offline Ctrl S5hift W Synchronization 3 The Synchronization Dialog Box IS d Spl ayed Computer Data Name Computer Update DaController Update Dd Controller Data Name Compare Confirm that the data to transfer i f Legend Synchronized NJ501 in the right dialog is EE ED EEE EET E Clear the present values of variables with Retain attribute Valid for Transfer to Controller A E Do not transfer the program source Valid for Transfer to Controller All data will be re transferred when this option is changed se ected The n 3 cl ick th e amp Do not transfer Special Unit parameters and backup parameters of EtherCAT slaves out of synchronization scope Transfer To Controller Button After executing the Transfer To Controller the Sysmac Studio data is transferred to the Controller and the data is compared 9 A confirmation dialog box is displayed Confi rm that there IS Confirm that there is no problem if the controller operation is stopped The operating mode will be changed to PROGRAM mode Then EtherCAT slaves will be reset and forced refreshing will be cancelled no problem and click the Yes Do you want to continue V N Button A screen stating Synchronizing is displayed Synchronizing 21 Cancel A confirmation dialog box is Sysmac Studio displayed Confirm that there is Confirm that there is no problem if the controller operation is started
11. IAI SCON CA Controller For information on how to initialize the Al SCON CA Controller refer to Appendix 14 1 Parameter Factory Default Setting Initializing Method of the ROBO CYLINDER PC Software Operation Manual Cat No ME0155 34 9 Revision History 9 Revision History Revision Date of revision Revision reason and revision page code 01 Dec 16 2013 First edition mn t 35 Authorized Distributor
12. O communications Communications using Process Data Objects SDO Communications Communications using Service Data Objects Slave unit Node address ESI file EtherCAT Slave Information file Explanation and Definition This method is used for cyclic data exchange between the master unit and the slave units PDO data i e I O data that is mapped to PDOs that is allocated in advance is refreshed periodically each EtherCAT process data communications cycle i e the period of primary periodic task The NJ series Machine Automation Controller uses the PDO communications for commands to refresh I O data in a fixed control period including I O data for EtherCAT Slave Units and the position control data for the Servomotors It is accessed from the NJ series Machine Automation Controller in the following ways With device variables for EtherCAT slave I O With Axis Variables for Servo Drive and encoder input slave to which assigned as an axis This method is used to read and write the specified slave unit data from the master unit when required The NJ series Machine Automation Controller uses SDO communications for commands to read and write data such as for parameter transfers at specified times The NJ series Machine Automation Controller can read write the specified slave data parameters and error information etc with the EC CoESDORead Read CoE SDO instruction or the EC CoESDOWrite Write CoE SDO instruction
13. OMRON Machine Automation Controller NJ series EtherCAT Connection Guide IAI Corporation Controller SCON CA Network Connection Guide SYSTILAL See always in control About Intellectual Property Rights and Trademarks Microsoft product screen shots reprinted with permission from Microsoft Corporation Windows is a registered trademark of Microsoft Corporation in the USA and other countries EtherCATg is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products Company names and product names in this document are the trademarks or registered trademarks of their respective companies Table of Contents Wize Rel ed Manuals sansene aan 1 2 Terms and Definitions Lu 2 3 IPROCAUMOIS aS 3 4 DONE Re 4 5 Applicable Devices and Device Configuration rrnnnnrnnnnnennnnnnnnnnnennnnnnrr 5 Bl Applicable DEVICES saved 5 5 2 Device CONMMQUIAU ON anes 6 6 Eth rC AT Seuings acn aa a ii 8 6 1 EtherCAT Communications Parameter Settings rrrrnranrnvnrrnnnnnnn 8 6 2 Allocation for PDO Communications cccccseeceeeeeseeeeaaeeeeeesaeeeess 8 7 EtherCAT Connection Procedure rrsannurvnnnnnnnnnnnnnnnnnnannnnnnnnnnnnrnnnnnnnnnen 10 7 1 WOrK ae Ye 10 7 2 Setting Up the IAI SCON CA Controller srrrrnrrnnnrrvnnnnnrrvnnnnrrrnnnnnnrr 11
14. There are various types of slaves such as Servo Drives that handle position data and I O terminals that handle the bit signals The slave unit receives output data sent from the master and sends input data to the master A node address is an address to identify a unit connected to EtherCAT The ESI files contain information unique to the EtherCAT slaves in XML format Installing an ESI file enables the Sysmac Studio to allocate slave process data and make other settings 3 Precautions 3 Precautions 1 Understand the specifications of devices which are used in the system Allow some margin for ratings and performance Provide safety measures such as installing safety circuit in order to ensure safety and minimize risks of abnormal occurrence 2 To ensure system safety always read and heed the information provided in all Safety Precautions Precautions for Safe Use and Precaution for Correct Use of manuals for each device used in the system 3 The user is encouraged to confirm the standards and regulations that the system must conform to 4 Itis prohibited to copy to reproduce and to distribute a part or the whole of this document without the permission of OMRON Corporation 5 The information contained in this document is current as of December 2013 It is subject to change without notice for improvement The following notations are used in this document Indicates a potentially hazardous situation which if not avoided A
15. WR b14 They are 4011 in hexadecimal notation You can confirm that the Online Name Online value Modity _ Data type FALSE values of 1 dd EG E001 In Status Signal 2004 05 fnput Name displays the same value as you set in the previous step Click FALSE in the Modify Column of E001 Out Bit04 SON on the Name Online value Modify Data type ee TRUE PENE MO Ge dd Me Online value of E001 In Status Signal 2004 05 changed to 4000 that is the default shown in step 7 That means the Servo ON status is cleared 33 8 Initialization Method 8 Initialization Method This document explains the setting procedure from the factory default setting Some settings may not be applicable as described in this document unless you use the devices with the factory default setting 8 1 Initializing the Controller To initialize the settings of the Controller select Clear All Memory from the Controller Menu of the Sysmac Studio The Clear All Memory Dialog Box is displayed Check the contents and click the OK Button Clear All Memory This function initializes the target area of destination Controller Confirm the area to inttalize first and press the OK button CPU Unit Name new Controller 0 Model NJ501 1500 Area User Program User defined Valiables Controller Configurations and Setup Secunty Information Settings of Operation Authonty mtalization at the next online f Clear event log 8 2 Initializing the
16. a confirmation dialog for an access right is displayed at start select to start 4 The Project Properties Dialog Box is displayed In this document New Project is used as the Project name Confirm that the device you use is shown in the Category and Device Fields of Select Device Select version 1 06 from the pull down list of Version Although 1 06 is selected in this document for example select the version you actually USE B Click the Create Button 6 The New Project is displayed The left pane is called Multiview Explorer the right pane is called Toolbox and the middle pane is called Edit Pane 7 Double click EtherCAT under Configurations and Setup in the Multiview Explorer 7 EtherCAT Connection Procedure Version Fy Project Properties Project name Author m Open Project Comment Type Standard Project v ra End Import re aq Select Device Category Controller Device NJ501 Version 1 06 a License Create Multiview Edit Pane Explorer E New Project new Controller 0 Configurations and Setup gt CPU Expansion Racks ar LO Map 19 The EtherCAT Tab is displayed on the Edit Pane 9 Right click Master and select Display ESI Library 10 The ESI Library Dialog Box is displayed Click the this folder link When the Explorer starts close the dialog box by clicking the Close Button The Explorer starts and a folder 11
17. are Settings 7 2 2 Parameter Settings 7 3 Setting Up the Controller 7 3 1 Starting the Sysmac Studio and Installing the ESI File 7 3 2 Setting Up EtherCAT Network Configuration 7 3 3 Setting the Device Variables 7 3 4 Transferring the Project Data 7 4 Checking the EtherCAT Communications 7 4 1 Checking the Connection Status 7 4 2 Checking the Data that are Sent and Received Set up the IAI SCON CA Controller Set the hardware switches on the SCON CA Controller Set the parameters for the SCON CA Controller Set up the Controller Install the ESI file for the SCON CA Controller in the Sysmac Studio Set up the EtherCAT network configuration Set the device variables used for the EtherCAT Slave Unit Transfer the project data from the Sysmac Studio to the Controller Confirm that the PDO communications of EtherCAT are performed normally Check the connection status of the EtherCAT network Confirm that the correct data are sent and received 7 EtherCAT Connection Procedure 7 2 Setting Up the IAI SCON CA Controller Set up the IAI SCON CA Controller 7 2 1 Hardware Settings Set the hardware switches on the SCON CA Controller P Precautions for Correct Use Make sure that the power supply is OFF when you perform the setting up 1 Make sure that the power supply to the SCON CA Controller is OFF If the power supply is turned ON settings may not be applicable as describe
18. ayed Click the Close Button La Precautions for Correct Use 7 EtherCAT Connection Procedure File Edit View Insert Projec Close Save Ctrl 5 Save As Save As New Number Import Export Offline Comparison Page Settings Print Ctrl P Do you wish to save the Project before exiting i ESI Libra Yy B All ES files Omron 3G3AX MX2 ECT Omron 3IG3AX RX ECT Omron E3NW ECT Omron E3X ECT Omron FH 10000 0 Omron FQ MS12x x ECT Omron FZM1 XXX ECT Omron GX Analog IO Omron GX Digital IO Omron GX Encoder Omron GX JC Omron GX JC0O6 H Omron NX Coupler Omron R88 D KNrxx ECT Omron RE8D KMonc ECT L Omron ZW CE1x Omron GRT1 ECT Ver 0 ESI IAI COM ECT V 1 04 Rev 4 RC ECT FMODO 2Byte 2Byte Rev 0x00010004 RC ECT FMODO 2Byte 2Byte RO ECT EMOAMI IR Rute Rita Rowe WN RC FCT FMOD Rta RRutal ROH TMOL DZ Dy Te 32 DYte MEVIUKUUU LUU M E I MVL SIL Dy ley 32 Dy Te RC ECT FMODA 12Byte 12Byte Rev 0x00010004 RC ECT FMOD4 1 gt Byte 12Byte RC ECT FMOD5 8Byte SByte Rev 0x00010004 RC ECT FMOD5 8Byte SByte RC ECT FMOD6 16Byte 16Byte Rev 0x00010004 RC ECT FMOD6 16Byte 16Byte RC ECT FMOD7 12Byte 12Byte Rev 000010004 RC ECT FMOD 12Byte 12Byte RC ECT FMOD8 16Byte 16Byte Rev 000010004 RC ECT FMOD8 16Byte 16Byte To add or delete an ES file exit from this software and then add delete the file to from The change will be applied after restarting this software Close
19. ces and Device Configuration 5 Applicable Devices and Device Configuration i 5 1 Applicable Devices The applicable devices are as follows NJ301 IDUL IAI SCON CA Controller SCON CA EC P Precautions for Correct Use As applicable devices above the devices with the models and versions listed in Section 5 2 are actually used in this document to describe the procedure for connecting devices and checking the connection You cannot use devices with versions lower than the versions listed in Section 5 2 To use the above devices with versions not listed in Section 5 2 or versions higher than those listed in Section 5 2 check the differences in the specifications by referring to the manuals before operating the devices Additional Information This document describes the procedure to establish the network connection Except for the connection procedure it does not provide information on operation installation or wiring method It also does not describe the functionality or operation of the devices Refer to the manuals or contact the device manufacturer IAI Corporation http www intelligentactuator com This URL is the latest address at the time of this document creation Contact each device manufacturer for the latest information Additional Information Contact the device manufacturer for actuators connectable to SCON CA Controllers IAI Corporation http www intelligentactuator com 5 Applicable Devices a
20. ction status of the EtherCAT network 1 Confirm that the EtherCAT communications are performed normally by checking the LED indicators on the Controller The LED indicators in normal status are as follows NET RUN Lit green NET ERR Not lit LINK ACT Flashing yellow EANET RUN PORT1 EthverNeul EiherC AT NET RUN EtherGAT NET ERR EtherGAT LINK AET CI NET ERR LI UNBUACT RUN ERROR Link Activity Green Built in EtherNet IP port 100Base 1X 10Base T Built in EtherCAT port 100Base TX EtherCAT master indicators EiherlaAl communications are in progress VO data is being input and output Flashing Ether AT communications are established Communications is in one of the following states Only message communications 15 lunchon ing Only message communications and VO data input operations are functioning Mat lit ElherCAT communications ara slopped Power 15 OFF or the Unit 15 being reset There is a MAC address error communica tions controller error or other error Lit There is an unrecoverable enor such as hardware mor or an exception Flashing There is a recoverable error Mot lit There is no error I ee NK 15 DS a Jails A link is established and data is being sent and received The indicator flashes whenever dala 15 sent or received Net lit The link is nol established 29 2 Check the LED indicators on the SCON CA Controlle
21. d click the Yes Button Transmit the parameter to the controller ie Are you sure to continue The Confirmation Dialog Box does not appear if any change is made in the previous step Go to the next step 11 12 A Confirmation Dialog Box is displayed as shown on the right Check the contents and click the Yes Button The right dialog box is displayed stating Restarting Controller After the SCON CA Controller restarts set the Operation Mode Changeover Switch on the front of the SCON CA Controller to the AUTO side The Operation Mode Changeover Switch can be changed even when the power supply to the SCON CA Controller turns ON 7 EtherCAT Connection Procedure 7 EtherCAT Connection Procedure 7 3 Setting Up the Controller Set up the Controller 7 3 1 Starting the Sysmac Studio and Installing the ESI File Install the ESI file for the SCON CA Controller in the Sysmac Studio Install the Sysmac Studio and USB driver in the personal computer beforehand 1 Connect the Ethernet cable to the built in EtherCAT port PORT2 of the Controller and CPU Unit the USB cable to the peripheral USB cable lt End Cover USB port As shown in 5 2 Device Configuration connect Ethernet the personal computer Power Supply Unit cable SCON CA Controller and the Controller 2 Turn ON the power supply to the Controller 3 Start the Sysmac Studio Click the New Project Button If
22. d in the following procedure 2 Check the position of the Status Indicator hardware switches on the front LEDs Axis Number of the SCON CA Controller by Setting Switch Status LED referring to the right figure Operation Mode BE Changeover Switch EtherCAT Output Port OUT System I O Connector EtherCAT Input Port IN Regeneration Unit Connecting Connector Motor Connector Operation Mode Setting Switch Power Supply Connector FG Connection Terminal 3 Set the ADRS Axis Number Setting Switch to 0 4 Set the Operation Mode Changeover Switch 1 to OFF so that the positioner mode is set Do not set the Operation Mode Changeover Switch 2 to ON as it is used by the manufacturer for adjustment purposes Connect the Encoder Connector and Motor Connector to the actuator Connect the Ethernet cable to the EtherCAT Input Port IN Connect the power supply to the Power Supply Connector and turn ON the power supply 7 EtherCAT Connection Procedure Operation mode changeover switch OFF Positioner mode including field bus specification ON Pulse train control mode Note This switch becomes effective at Used by the manufacturer for adjustment purposes Do not turn it ON Changing the setting of the switch is invalid even in the power on status Power Supply Signal Connector Pin No yA i I L1 1 Motor AC power input et L2 2 L2 Motor AC power input LI
23. eed om a 060 Feie Erplt RUN Cur ratio 0 7 Address Alarm cade agt 1meserved AUTE Laag cell Bad rae Force FR H 0 00 Hode Calibration net emple Special input Home sensor Creep sensor OFF O L sSENSOP Reserved Belt sensor Reserved Reserved Enable SW Reserved Reserved Reserved Reserved Reserved G Confirm that the SON Field of Input 4x25 status is OFF and the Servo and Run Laws LiL En 0 00 Fields of Internal flags are not lit Speed mm s 0 00 Alarm code 000 Reserved Output OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ON OFF OFF 32 7 Confirm that the Online value of 10 7 EtherCAT Connection Procedure Name Online value Minty Data type E001 Out Bit04 SON is False and 001 out Bitos son eD TRUE FALSE click TRUE in the Modify Column on 4000 the Sysmac Studio nput Name The Online value of Name Online value Modify _ Data type FALSE E001 Out Bito4 SON changes to miles E001 In Status Signal 2004 05 True Confirm that the SON Field of Input Axis status Internal fla Location mm 0 00 changed to ON and the Servo and Run Fields of Internal flags are lit on SP 4 mm 3 0 00 fome Cmpit the RC PC Software Alarm code 000 Reserved AUTO Confirm that the following data of Output is ON PEND b0 SV b4 P
24. esponse Monitor Time in the communications with the Controller 2 CU OK Cancel 3 Select Online from the Controller Menu A confirmation dialog box is displayed Clickthe Yes Button Communications Setup Change Device The displayed dialog depends on the status of the Controller The CPU Unit has no name used Check the contents and Do you want to write the project name new_Controller_0 to the CPU Unit name Y N click the Yes Button to proceed with the processing Yes No EN Additional Information For details on online connections to a Controller refer to Section 5 Online Connections to a Controller of the Sysmac Studio Version 1 Operation Manual Cat No W504 4 When an online connection is established a yellow bar is displayed on the top of the Edit Pane Address Network configuration 22 B Right click Master on the EtherCAT Tab Page and select Compare and Merge with Actual Network Configuration A screen is displayed stating Get information is being executed 6 The Compare and Merge with Actual Network Configuration Pane is displayed Node address 1 and RC ECT FMOD2 16Byte 16Byt e Rev 0x00010004 are added to the Actual network configuration after the comparison Click the Apply actual network configuration Button 7 A confirmation dialog box is displayed Check the contents and click the Apply Button Node address 1 E001 and RC ECT FMOD2 16Byte 16B
25. g BOOL _ Jog BOOL Jog BOOL Unavailable selection 0 selection 1 E001 Out Bitt2 PUSH BOOL Push men specification Push direction specification E001 Out Bit13 DIR BOOL E001 Out Bit14 RMOD BOOL Operating mode selector E001 Out Bit15 BKRL BOOL Forced brake release m Input area from Destination Device to Controller Device variable name Data type Meaning E001 In Gurrent Position 2004 01 DINT Current position E001 In Command Current 2004 02 UDINT Command current E001 In Current Speed 2004 03 DINT Current speed E001 In Alarm Code 2004 04 UINT Alarm code E001 In Status Signal 2004 05 WORD Status signal completion BOOL Moving signal BOOL Alarm BOOL Pressing and a miss BOOL Unavailable voltage low warning BOOL Operation mode status BOOL Unavailable BOOL Unavailable BOOL Unavailable BOOL Zone 1 BOOL Zone2 BOOL Controller ready BOOL Emergency stop N 7 EtherCAT Connection Procedure EtherCAT Connection Procedure This section describes the procedure for connecting the Controller to the SCON CA Controller via EtherCAT This document explains the procedures for setting up the Controller and the SCON CA Controller from the factory default setting For the initialization refer to Section 8 Initialization Method 7 1 Work Flow Take the following steps to perform PDO communications of EtherCAT 7 2 Setting Up the IAI SCON CA Controller 7 2 1 Hardw
26. ing hub Use the cable double shielding with aluminum tape and braiding of Category 5 or higher and use the shielded connector of Category 5 or higher Connect the cable shield to the connector hood at both ends of the cable P Precautions for Correct Use Update the Sysmac Studio to the version specified in this section or higher version using the auto update function If a version not specified in this section is used the procedures described in Section 7 and subsequent sections may not be applicable In that case use the equivalent procedures described in the Sysmac Studio Version 1 Operation Manual Cat No W504 Additional Information For information on the specifications of the Ethernet cable and network wring refer to Section 4 EtherCAT Network Wiring of the NJ series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 Additional Information The system configuration in this document uses USB for the connection to the Controller For information on how to install a USB driver refer to A 7 Driver Installation for Direct USB Cable Connection of the Sysmac Studio Version 1 Operation Manual Cat No W504 Additional Information The system configuration in this document uses USB for the connection to the SCON CA Controller For information on how to install a USB driver refer to 7 3 3 How to Install the USB Conversion Adapter Driver Software of the ROBO CYLINDER PC Software Operation Manual Cat No ME0155
27. nd Device Configuration 5 2 Device Configuration The hardware components to reproduce the connection procedure of this document are as follows NJ501 1500 Personal computer Built in EtherCAT port ene ere Sysmac Studio RCM 101 MW USB installed OS Windows 7 Ethernet cable Motor cable USB cable Encoder cable RCS2 SA6C I 30 20 300 T2 Manufacturer Name 1 Model Version Built in EtherCAT port OMRON Power Supply Unit NJ PA3001 y OMRON Ver 1 07 OS Windows 7 USB cable USB 2 0 type B connector OMRON Ethernet cable with industrial XS5SW T421 M K Ethernet connector IAI SCON CA Controller SCON CA 30DI EC 0 1 Rev 0x00010004 IAI USB cable CB SEL USB010 IAI USB Conversion Unit RCB CVUSB es _ IAI Communications cable GCB RCA SI0050 gt IAI Actuator ROS2 SA6C 1 30 20 300 T2 IAI Motorcable CB RCCC MAAOQOH IAI Lu IAI RC PC Software RCM 101 MW Ver 9 03 06 v 4 xml P Precautions for Correct Use Prepare the applicable ESI file beforehand The latest ESI file can be downloaded from the IAI website http www intelligentactuator com field network configuration files To obtain the file contact Al Corporation 5 Applicable Devices and Device Configuration P Precautions for Correct Use The connection line of EtherCAT communication cannot be shared with other Ethernet networks Do not use devices for Ethernet such as a switch
28. pected operation regardless of the operating mode of the CPU Unit N Caution The Destination Device will run if you proceed to this section Confirm safety before operation If you cannot confirm safety do not proceed to this section after completing until Section 7 4 1 If you proceed to this section make sure to complete all the steps and place the Destination Device in the safe state 1 Select Watch Tab Page from the View Menu Output Tab Page Alt 3 Cross Reference Tab Page Alt 5 Build Tab Page Alt 6 2 The Watch Window1 Tab Page is A Build Tab Page i Output Tab Page Ea Watch Window P displayed in the lower section of the Online valuel Modify 1 Datatype Edit Pane 3 Enter the following names in the Name Watch Window1 Tab Page for monitoring E001 Out Bito4 SON ETE ooo E001 In Status Signal 2004 05 To enter a new name click the Input Name Column 31 7 EtherCAT Connection Procedure 4 Select Status from the Monitor Menu of the RC PC Software Parameter Setting Window p Stat If the RC PC Software has not pe been started refer to 7 2 2 i list Parameter Settings to start the E Velocity Current software and connect the SCON CA Controller again EA Status Aais No l eia EF ata ooo 5 The Status Dialog Box is displayed AXis Status y internal flags y Current Heework Location mm 060 Serra Current 2A 1 Type Sp
29. r The LED indicators in normal status are as follows RUN Lit green ERR Not lit Link Activity Flashing green The LED flash timing is the same as the Controller 7 EtherCAT Connection Procedure Link Activity Flashing green Initial status INIT status of EtherCAT R communication or the power is turned off OP operation mod communication PPRE OPERATION status of SAR communication SAFE OPERATION status Green Flashing single flash 8 EtherCAT R communication A communication part medal eror No error or the power is Configuration information setting error Information received from the ERR master cannot be configured Communication part circuit error Watchdog timer timeout Orange Lit ne part module Not lit Link condition is not detected or the power is turned off Link Link established No heavy Activity traffic on the ne Green Flashing 50ms Link established Heavy traffic ON OFF on the line Orange Flashing blinking Orange Flashing double flash 30 7 EtherCAT Connection Procedure 7 4 2 Checking the Data that are Sent and Received Confirm that the correct data are sent and received WARNING Always confirm safety at the Destination Device before you transfer a user program configuration data setup data device variables or values in memory used for CJ series Units from the Sysmac Studio The devices or machines may perform unex
30. the CPU Unit Precautions for Safe Use After you transfer the user program the CPU Unit restarts and communications with the EtherCAT slaves are cut off During that period the slave outputs behave according to the slave settings The time that communications are cut off depends on the EtherCAT network configuration Before you transfer the user program confirm that it will not adversely affect the device 1 Select Check All Programs from the Project Menu Project _ Controller Simulation Tor Check Selected Programs Shitt F 2 The Build Tab Page is displayed on the Edit Pane Confirm that 0 Errors and 0 Warnings are displayed 3 Select Rebuild Controller from Program Location Project Controller Simulation To the Project Menu Check All Programs F7 Check Selected Programs Shitt F Build Controller F 4 A confirmation dialog box is displayed Confirm that there is When you execute the Rebuild operation all programs will be rebuilt NO problem and click the Yes It may take time to complete the operation Do you wish to continue Button B Confirm that 0 Errors and 0 Warnings are displayed in the Build Tab Page Description Program Location 26 7 EtherCAT Connection Procedure G Select Online from the Controller Simulation Tools Help Controller Menu Communications Setup Change Device Ctrl Shift W 7 Select Synchronization from Controller Simulation Tools
31. the OK Button z CERON TENEN HO Axis No 0 PCON C FD 10 36 10 J ar 2 The RC PC Software starts 7 If the Alarm Dialog Box is displayed check the connection settings such as cable connections and port numbers After the error is cleared click the OK Button To connect to the SCON CA Controller again select Controller Check for connected axes from the eratior Setting Menu x Refer to the right figure Setting Window Help Application Controller as Check for connected axes A Disconnect 8 Select Edit from the Parameter Menu Position Monitor Setting Window Help 9 The parameter window is 10 7 EtherCAT Connection Procedure ea baramesta Nod displayed as shown on the right 2 Gs Scroll through the parameter pre options to check and change the 95 ss adress following parameters Fieldbus operation mode ET EEE EE ET EEE No 84 2 Default 0 Fieldbus node address No 85 7 Default 17 Fieldbus communication speed No 86 0 Default Network type No 87 6 Default Fieldbus Input output format No 90 3 Default When the set value Is changed it appears in red e g If the value is changed from 0 to 2 2 is displayed in red Select Load to CTL from the S Parameter Menu Position Monitor Setting Window H Fl Edit Load to CTL i BC Print A Confirmation Dialog Box is displayed as shown on the right Check the contents an
32. yed To manually set a variable name for the Slave Unit click a column under the Variable Column and enter a name in 8009 Reserved in Bit10 Reserved PPP REPT gt KA ZJ A IAPSA IDEEEELEEEEEEELEEEELEEETETET OD TF OA O 4 4 2 S Ei ae je i 2 pommes pr rm prp rpm rpm z 4 3 F PUA 5 24 7 EtherCAT Connection Procedure 4 Right click Node1 and select Create Device Variable Position Port Y amp EtherCAT Network Configuration Etherca Master Node1 Ile Copy Search v Expand Collapse All Create Device Variable B The variable names and variable types are automatically al Varden 3 5 A g r k i set i E Sobel viniti E I O01 Ou Aotita Dih aA 2005 04 Dui Pinter ment Lam 3003 05 T bi i Ps 001 Lt Centred ral FOOT OG Babel Warnes HOEL EMRE HOME otal Vanbakkji fobal Var 001 Dt E J ui HH 1 Cui EaSI RIS HOL AL Oi p DOL ut ha 000 Dul Bax gu L mee Dul BEG MEL JH Fi lt t T x b fobal arien Dol JOrn BAND STP Sobel Wandelt a OO MH a T E Oo S Jobal Wan fr amp Hd g kabal War 100 F POL Out baad BKAL Tin Cunt Paiton Jo OG EN 001 Da Command Curent 2004 07 J lobed ansaid i bal Fobal vi i bal vanati Je Var T Mmi demai T 04 08 jodi 00 100 po Jo
33. yt e Rev 0x00010004 are added to the Network configuration on Sysmac Studio Confirm that they were added and click the Close Button 8 Node address 1 E001 and RC ECT FMOD2 16Byte 16Byt e Rev 0x00010004 are added to the EtherCAT Tab Page on the Edit Pane 7 EtherCAT Connection Procedure Node Address Network confiour H Master Write Slave Node Address Compare and Merge with Actual Network Configuration Get Slave Senal Numbers i Get information Tome hese gach et Pover Supply linib are rot nxduded in the actual ne WE OOnhqureticen Do you apply the actual network configuration to the network configuration on Sysmac Studio Cancel Apply RC ECT FMOD2 16Byte 16Byte Rev 0x00010004 me Configurations and Setup Node Address Network configuration Master E001 RC ECT FMOD2 16Byte 16Byte Rev 0x00010004 23 7 EtherCAT Connection Procedure 7 3 3 Setting the Device Variables Set the device variables used for the EtherCAT Slave Unit 1 Select Offline from the Controller Menu Ctrl W The yellow bar on the top of the Edit Pane disappears 2 Double click I O Map under Configurations and Setup in the Multiview Explorer New Project new Controller 0 ea EtherCAT p 51 CPU Expansion Racks p E Controller Setup 3 The I O Map Tab is displayed on the Edit Pane Ev rom et ont Confirm that Node1 is displayed Er in the Position Column and the Slave Unit is displa
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