Connection Guide. SMC Corporation. EtherCAT(R) Machine Automation Controller NJ-series

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1 Machine Automation Controller NJ-series EtherCAT(R) Connection Guide SMC Corporation EtherCAT Direct input type Step Motor Controller (Servo 24VDC) (JXCE1) P677-E1-01

2 About Intellectual Property Rights and Trademarks Microsoft product screen shots reprinted with permission from Microsoft Corporation. Windows is a registered trademark of Microsoft Corporation in the USA and other countries. EtherCAT(R) is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products. Company names and product names in this guide are the trademarks or registered trademarks of their respective companies.

3 Table of Contents 1. Related Manuals Terms and Definitions Precautions Overview Applicable Devices and Device Configuration Applicable Devices Device Configuration EtherCAT Settings Parameter Device Variables EtherCAT Connection Procedure Work Flow SMC Motor Controller Setup Controller Setup EtherCAT Communication Status Check Initialization method Initializing Controller Revision History... 33

4 1.Related Manuals 1. Related Manuals To ensure system safety, make sure to always read and follow the information provided in all Safety Precautions and Precautions for Safe Use in the manuals for each device which is used in the system. The table below lists the manuals provided by SMC Corporation (hereinafter referred to as SMC) and OMRON Corporation (hereinafter referred to as OMRON), which pertain to this guide. Manufacturer Cat. No. Model Manual name OMRON W500 NJ501-[][][][] NJ301-[][][][] NJ101-[][][][] NJ-series CPU Unit Hardware User's Manual OMRON W501 NJ501-[][][][] NJ301-[][][][] NJ101-[][][][] NJ/NX-series CPU Unit Software User's Manual OMRON W505 NJ501-[][][][] NJ301-[][][][] NJ101-[][][][] NJ/NX-series CPU Unit Built-in EtherCAT(R) Port User's Manual OMRON W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual SMC JXC*-OMU0008 JXCE1 Operation Manual EtherCAT Direct input type Step Motor Controller (Servo 24VDC) SMC JXC*-OMU0010 JXC-W2 Operation Manual Controller setting kit Software (ACT Controller) SMC JXC*-OMU0016 JXC-W2 Operation Manual Controller setting kit install manual (bundled with CD-ROM) 1

5 2.Terms and Definitions 2. Terms and Definitions Term PDO 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 PDO communications is used for constant data exchange between a master and slaves. PDO data (i.e., I/O data that is mapped to PDOs) that is allocated in advance is input and output each EtherCAT process data communications cycle (i.e., the task period of primary periodic task). The NJ-series Machine Automation Controller uses PDO communications for commands to refresh I/O data in a fixed control period, including I/O data for slave units and the position control data for servomotors. It is accessed from NJ-series Machine Automation Controller in the following ways. With device variables for EtherCAT slave I/O With axis variables for a servo drive and an encoder input slave to which an axis is assigned SDO communications is used to read and write specified slave data from a master 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. There are various types of slaves such as servo drives that handle position data and I/O terminals that handle bit signals. A slave unit receives output data sent from a master, and sends input data to a master. A node address is an address to identify a unit connected to EtherCAT. An ESI file contains information unique to EtherCAT slave units in XML format. You can load an ESI file into the Sysmac Studio, to allocate EtherCAT slave process data and make other settings. 2

6 3.Precautions 3. Precautions (1) Understand the specifications of devices which are used in the system. Allow some margin for ratings and performance. Provide safety measures, such as installing a safety circuit, in order to ensure safety and minimize the risk of abnormal occurrence. (2) To ensure system safety, make sure to always read and follow the information provided in all Safety Precautions and Precautions for Safe Use in the manuals for each device which is used in the system. (3) The user is encouraged to confirm the standards and regulations that the system must conform to. (4) It is prohibited to copy, to reproduce, and to distribute a part or the whole of this guide without the permission of OMRON Corporation. (5) The information contained in this guide is current as of February It is subject to change for improvement without notice. The following notations are used in this guide. Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or may result in serious injury or death. Additionally there may be significant property damage. Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury or property damage. Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance. Additional Information Additional information to read as required. This information is provided to increase understanding or make operation easier. Symbol The filled circle symbol indicates operations that you must do. The specific operation is shown in the circle and explained in the text. This example shows a general precaution for something that you must do. 3

7 4.Overview 4. Overview This guide describes the procedures for connecting SMC Direct input type Step Motor Controller (Servo 24VDC) (hereinafter referred to as Motor Controller) to OMRON NJ-series Machine Automation Controller (hereinafter referred to as Controller) via EtherCAT and for checking their communication status. Refer to Section 6. EtherCAT Settings and Section 7. EtherCAT Connection Procedure to understand setting methods and key points to perform PDO Communications via EtherCAT. 4

8 5.Applicable Devices and Device Configuration 5. Applicable Devices and Device Configuration 5.1. Applicable Devices The applicable devices are as follows: Manufacturer Name Model OMRON NJ-series CPU Unit NJ501-[][][][] NJ301-[][][][] NJ101-[][][][] SMC Motor Controller JXCE1[]-[] SMC Actuator - Precautions for Correct Use In this guide, the devices with models and versions listed in 5.2. Device Configuration are used as examples of applicable devices to describe the procedures for connecting the devices and checking their connections. You cannot use devices with versions lower than the versions listed in 5.2. To use the above devices with models not listed in 5.2. or versions higher than those listed in 5.2., check the differences in the specifications by referring to the manuals before operating the devices. Additional Information This guide describes the procedures for establishing the network connections. It does not provide information on operation, installation, wiring method, device functionality, or device operation, which is not related to the connection procedures. Refer to the manuals or contact the device manufacturer. Additional Information Contact SMC Corporation for actuators connectable to Motor Controller. 5

9 5.Applicable Devices and Device Configuration 5.2. Device Configuration The hardware components to reproduce the connection procedures in this guide are as follows: Personal computer (Sysmac Studio installed, OS: Windows 7) NJ (Built-in EtherCAT port) JXCE18- LEFS16B-100 LEFS16B-100 USB cable Ethernet cable LE-CP-1-S Motor Controller input power supply Manufacturer Name Model Version OMRON NJ-series CPU Unit NJ Ver.1.13 (Built-in EtherCAT port) OMRON Power Supply Unit NJ-PA3001 OMRON Sysmac Studio SYSMAC-SE2[][][] Ver Personal computer - (OS: Windows 7) - USB cable - (USB 2.0 type B connector) OMRON Ethernet cable (with industrial XS5W-T421-[]M[]-K Ethernet connector) SMC Motor Controller JXCE18-LEFS16B-100 Rev. 0x SMC Actuator LEFS16B-100 SMC Actuator cable LE-CP-1-S SMC ESI file SMC JXCE1_V10.xml - Motor Controller input power supply (24VDC) - Precautions for Correct Use Prepare the ESI file listed above beforehand. To obtain the ESI file, contact SMC Corporation. Precautions for Correct Use The connection line of EtherCAT communications cannot be shared with other Ethernet networks. Do not use devices for Ethernet such as a switching hub. Use an Ethernet cable (double shielding with aluminum tape and braiding) of Category 5 or higher, and use a shielded connector of Category 5 or higher. Connect the cable shield to the connector hood at both ends of the cable. 6

10 5.Applicable Devices and Device Configuration Precautions for Correct Use Update Sysmac Studio to the version specified in this Clause 5.2. or to a higher version. If you use a version higher than the one specified, the procedures and related screenshots described in Section 7. and subsequent sections may not be applicable. In that case, use the equivalent procedures described in this guide by referring to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504). Additional Information For specifications of Ethernet cables and network wiring, refer to Section 4. EtherCAT Network Wiring of the NJ/NX-series CPU Unit Built-in EtherCAT(R) Port User's Manual (Cat. No. W505). Additional Information For specifications of the Motor Controller input power supply, refer to the Operation Manual EtherCAT Direct input type Step Motor Controller (Servo 24VDC) (JXC*-OMU0008) and to the actuator specifications. Additional Information The system configuration in this guide uses USB for the connection between the personal computer and Controller. For information on how to install the USB driver, refer to A-1 Driver Installation for Direct USB Cable Connection of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504). 7

11 6.EtherCAT Settings 6. EtherCAT Settings This section describes a parameter and device variables that are all defined in this guide. Hereinafter, Motor Controller is referred to as "Slave Unit" in some descriptions Parameter The parameter required for connecting Controller and Motor Controller via EtherCAT is shown below. Name Item Set value Motor Controller Node address (Rotary switches for address setting (EtherCAT ID)) Device Variables The PDO communications data with Motor Controller are allocated to the Controller's device variables. The device variables and the data types are shown below. Output area (Controller to Motor Controller) Device variable name Data type Motor Controller data assignment E001_Rx_PDO1_Mapping_Output_port_to_which_signal_7010_00 UINT Output port to which signals are allocated E001_Rx_PDO1_Mapping_Controlling_of_the_numerica_7011_00 UINT Controlling of Motor Controller/numerical data input flag E001_Rx_PDO1_Mapping_Start_flag_7012_00 USINT Start flag E001_Rx_PDO1_Mapping_Operation_Method_7020_00 USINT Movement mode E001_Rx_PDO1_Mapping_Speed_7021_00 UINT Speed [mm/s] E001_Rx_PDO1_Mapping_Target_position_7022_00 DINT Target position [0.01mm] E001_Rx_PDO1_Mapping_Acceleration_7023_00 UINT Acceleration [mm/s 2 ] E001_Rx_PDO1_Mapping_Deceleration_7024_00 UINT Deceleration [mm/s 2 ] E001_Rx_PDO1_Mapping_Pushing_force_7025_00 UINT Pushing force [%] E001_Rx_PDO1_Mapping_Trigger_LV_7026_00 UINT Trigger LV [%] E001_Rx_PDO1_Mapping_Pushing_speed_7027_00 UINT Pushing speed [mm/s] E001_Rx_PDO1_Mapping_Pushing_force_for_positioni_7028_00 UINT Moving force [%] E001_Rx_PDO1_Mapping_Area1_7029_00 DINT Area1 [0.01mm] E001_Rx_PDO1_Mapping_Area2_702A_00 DINT Area2 [0.01mm] E001_Rx_PDO1_Mapping_Positioning_width_702B_00 DINT In Position [0.01mm] 8

12 6.EtherCAT Settings Details of "Output port to which signals are allocated" Bit Name Description IN0 to The step data No. instruction the drive will be specified by the combination of IN0 to IN5 0 to 5 IN5 (binary digit). 6 and 7 - Normally, leave it OFF. 8 HOLD On hold 9 SVON The SVON signal turns the servo motor ON. 10 DRIVE When DRIVE is turned ON, the system scans the input IN0 to IN5 and starts the operation of the actuator. Then, when this signal is turned OFF, the number of the active step data will be output via the signals OUT0 to OUT5. 11 RESET The signal to reset the alarm and the operation. 12 SETUP When SVRE is ON, the SETUP operation (return to origin operation) will be performed. 13 JOG(-) Jogging to (-) direction. 14 JOG(+) Jogging to (+) direction. 15 FLGTH Switches the function (Jogging and Inching) of Jogging signal "JOG(+)" and "JOG(-)". Details of "Controlling of Motor Controller/numerical data input flag" Bit Name Description 0 (Unused) - 1 Flags for Motor Speed is restricted for all operations. Value for speed limit Speed restriction Controller varies depending on actuator type. 2 and 3 (Unused) - 4 Movement mode 5 Speed 6 Position 7 Acceleration 8 Deceleration 9 10 Numerical data input flag Pushing force Trigger LV 11 Pushing speed 12 Moving force 13 AREA 1 14 AREA 2 15 In-Position When the operation is commanded numerically, values can be changed while the set values are ON. Details of "Start flag" Bit Name Description 0 Start flag Data transmission flag during numerically instructed operation. Turn OFF during waiting for transmitting. Turn ON when transmitting numerical data to Motor Controller. 1 to 7 (Unused) - 9

13 6.EtherCAT Settings Input area (Motor Controller to Controller) Device variable name Data type Motor Controller data assignment E001_Tx_PDO1_Mapping_Signal_allocated_to_the_inp_6010_00 UINT Signal allocated to the input port E001_Tx_PDO1_Mapping_Controller_information_flag_6011_00 UINT Motor Controller information flag E001_Tx_PDO1_Mapping_Current_position_6020_00 DINT Current position [0.01mm] E001_Tx_PDO1_Mapping_Current_speed_6021_00 UINT Current speed [mm/s] E001_Tx_PDO1_Mapping_Current_pushing_force_6022_00 UINT Current pushing force [%] E001_Tx_PDO1_Mapping_Target_position_6023_00 DINT Target position [0.01mm] E001_Tx_PDO1_Mapping_Alarm1_6030_01 USINT Alarm1 E001_Tx_PDO1_Mapping_Alarm2_6030_02 USINT Alarm2 E001_Tx_PDO1_Mapping_Alarm3_6030_03 USINT Alarm3 E001_Tx_PDO1_Mapping_Alarm4_6030_04 USINT Alarm4 Details of "Signal allocated to the input port" Bit Name Description 0 to 5 OUT0 to When the operation is started and DRIVE input is turned OFF, the step No. executed by OUT5 the DRIVE signal will be refreshed. 6 and BUSY This terminal is ON during the movement of the actuator (during the positioning operation, etc.). 9 SVRE When the servo motor is OFF, SVRE is OFF. Turns on when the servo motor is ON. 10 SETON When the actuator is in the SETON status (the position information is established) after returning to origin, this terminal is turned ON. When the actuator has not returned to origin, this terminal is turned OFF. 11 INP - Return to origin After stopping the actuator operation, the INP is turned ON when the actuator is within the range defined in the origin +/- Default In position in the basic parameter. - During positioning operation Turns ON when the current position is within "Step data position +/- positioning range". - During pushing operation Turns ON when the pushing force exceeds the value set in the step data Trigger LV. 12 AREA When the actuator is within the output range between Area1and Area2 in the step data, this terminal will turned ON. 13 WAREA When the actuator is within the output range between "W area1 and W area 2" of basic parameter, this terminal will turn ON. 14 ESTOP During activation of Teaching Box stop switch, this terminal is ON. During the normal operation, this is OFF. This is synchronized to the EMG stop signal input. 15 ALARM Alarm generated when abnormal conditions occur to the actuator or its controlling status. Details of "Controller information flag" Bit Name Description 0 to 3 (Unused) - 4 READY READY turns ON when no alarm is generated with Servo ON. READY flag turns ON. 5 to 15 (Unused) - Additional Information For details on allocations of input and output areas, refer to 9.1. Memory allocation of the Operation Manual EtherCAT Direct input type Step Motor Controller (Servo 24VDC) (JXC*-OMU0008). 10

14 6.EtherCAT Settings Additional Information The device variables are named automatically from a combination of the device names and the port names. The default device names are "E" followed by a serial number that starts from

15 7. EtherCAT Connection Procedure This section describes the procedures for connecting Controller and Motor Controller via EtherCAT. The explanation of the procedure for setting up Controller given in this guide is based on the factory default settings. For the initialization, refer to Section 8. Initialization Method Work Flow Take the following steps to connect Controller and Motor Controller via EtherCAT to perform PDO communications SMC Motor Controller Setup Set up SMC Motor Controller Hardware Settings Set the hardware switches on Motor Controller and connect the cables Controller Setup Set up Controller Starting Sysmac Studio and Install the ESI file for Motor Controller in Sysmac Studio. Installing the ESI File Setting up the EtherCAT Set up the EtherCAT network configuration. Network Configuration Setting the Device Variables Set the device variables to use for Slave Unit Transferring the Project Data Transfer the project data created in Sysmac Studio to Controller EtherCAT Communication Status Confirm that PDO communications performs normally via EtherCAT. Check Checking the Connection Status Check the connection status of the EtherCAT network Checking the Sent and Check that the correct data are sent and received. Received Data 12

16 7.2. SMC Motor Controller Setup Set up SMC Motor Controller Hardware Settings Set the hardware switches on Motor Controller and connect the cables. Precautions for Correct Use Make sure that the power supply is OFF when you set up. If it is ON, the settings described in the following steps and subsequent procedures may not be applicable. 1 2 Make sure that Motor Controller input power supply is powered OFF. Check the positions of the hardware switches and the connectors on Motor Controller by referring to the figure on the right. EtherCAT communication connector (IN) EtherCAT communication connector (OUT) EtherCAT ID Encoder connector Motor driving connector Power supply connector 13

17 3 Check that EtherCAT ID is set as follows: x100: 0 x10: 0 x1: 1 *The node address is set to 1. 4 Using Actuator cable, connect Actuator to Encoder connector and Motor driving connector on Motor Controller. Encoder connector Actuator cable Actuator 5 Connect an Ethernet cable to EtherCAT communication connector (IN). Ethernet cable Motor driving connector 14

18 6 Connect Motor Controller input power supply to Power supply connector as shown on the right. *For information on the capacity of Motor Controller input power supply, refer to the actuator specifications. *For details on wiring Motor Controller input power supply, refer to 6. Details of Power Supply Plug of the Operation Manual EtherCAT Direct input type Step Motor Controller (Servo 24VDC) (JXC*-OMU0008). Motor Controller input power supply Power supply connector VDC V Power supply connector Pin Terminal Function Functional explanation No. 1 C24V Power supply (+) The positive control power The positive power for the actuator motor to be 2 M24V Motor power (+) supplied via Motor Controller. The positive power for Stop 3 EMG Stop (+) signal The negative common power 4 0V Common power (-) for M24V,C24V, EMG and BK RLS. 5 - NC N/A The positive power for lock 6 LK RLS Unlocking (+) release. 15

19 7.3. Controller Setup Set up Controller Starting Sysmac Studio and Installing the ESI File Install the ESI file for Motor Controller in Sysmac Studio. Install Sysmac Studio and the USB driver on your personal computer beforehand Connect the Ethernet cable to the built-in EtherCAT port (PORT2) on Controller, and connect a USB cable to the peripheral (USB) port. As shown in 5.2. Device Configuration, connect Personal computer and Motor Controller to Controller. Turn ON Controller and Motor Controller input power supply. Start Sysmac Studio. *If the User Account Control Dialog Box is displayed at start, make a selection to start Sysmac Studio. Sysmac Studio starts. Click Connect to Device. Personal computer USB cable Controller Power Supply Unit CPU Unit End Cover Ethernet cable Motor Controller 5 The Connect to Device Dialog Box is displayed. Select Direct connection via USB in the Connection type Field. Uncheck both Transfer from Device and Display the Troubleshooting Dialog Box in the Operation after Connection Field. Click Connect. 16

20 6 The dialog box on the right is displayed. Check the contents and click OK. 7 *The contents of the dialog box vary depending on the status of Controller. Check the contents and click on an appropriate button to proceed with the processing. The dialog box on the right is displayed. Check the contents and click OK. 8 The Auto Connect Project Dialog Box is displayed online. When an online connection is established, a yellow bar is displayed under the toolbar. Toolbox The following panes are displayed in this window. Left: Multiview Explorer Multiview Explorer Edit Pane Controller status Pane Top right: Toolbox Bottom right: Controller Status Pane Top middle: Edit Pane The following tabs are displayed in the bottom middle of this window. Output Tab Page Build Tab Page Output Tab Page Build Tab Page Additional Information For details on the online connections to Controller, refer to Section 6. Online Connections to a Controller of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504). 9 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. 17

21 10 The EtherCAT Tab Page is displayed in the Edit Pane. 11 Right-click Master and select Display ESI Library. 12 The ESI Library Dialog Box is displayed. Click the this folder link. When the Explorer starts, click Close to close the dialog box. 13 The Explorer starts, and a folder is opened, allowing you to install the ESI file. Copy the prepared SMC JXCE1_V10.xml to this folder. 18

22 14 Select Exit from the File Menu to exit Sysmac Studio. *You need to restart Sysmac Studio after installing the ESI file. A dialog box is displayed confirming whether to save the project. If you do not need to save it, click No. 15 In the same way as steps 3 to 11, restart Sysmac Studio and display the ESI Library Dialog Box. Click the + Button of SMC JXCE1_V10 to check that JXCE1 Rev:0x (JXCE1 EtherCAT Rev.1.1) is displayed. Check that an exclamation mark (warning) is not displayed. Click Close. Precautions for Correct Use 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. In that case, contact the device manufacturer. 19

23 Setting up the EtherCAT Network Configuration Set up the EtherCAT network configuration. 1 Right-click Master on the EtherCAT Tab Page of the Edit Pane and select Compare and Merge with Actual Network Configuration. *If the EtherCAT Tab Page is not displayed in the Edit Pane, take step 9 in Starting Sysmac Studio and Installing the ESI File to display. A screen is displayed stating "Get information is being executed". 2 The Compare and Merge with Actual Network Configuration Dialog Box is displayed. The node address 1 and JXCE1 Rev:0x are added to the Actual network configuration after the comparison. 3 Click Apply actual network configuration. The dialog box on the right is displayed. Check the contents and click Apply. The dialog box on the right is displayed. Check the contents and click Close. 20

24 4 As the node address 1 slave, E001 JXCE1 Rev:0x is added to the Network configuration on Sysmac Studio. 5 Check that the data above is added. Click Close. The node address 1 and E001 JXCE1 Rev:0x are added to the EtherCAT Tab Page of the Edit Pane. 21

25 Setting the Device Variables Set the device variables to use for Slave Unit. 1 Select Offline from the Controller Menu. 2 The yellow bar under the toolbar disappears. Select the device with node address 1 added on the EtherCAT Tab Page in Sub-Clause Check that the device name is E001. *The device name can be changed as desired. 3 4 Double-click I/O Map under Configurations and Setup in the Multiview Explorer. The I/O Map Tab Page is displayed in the Edit Pane. Check that Node1 is displayed in the Position Column and that the added Slave Unit is displayed in the Port Column. *To manually set a variable name for a slave unit, click an entry cell in the Variable Column and enter a name. 22

26 5 Right-click Node1 and select Create Device Variable. 6 The variable names and types are set. Additional Information The device variables are named automatically from a combination of the device names and the port names. The default device names are "E" followed by a serial number that starts from 001. Additional Information In this guide, device variables are automatically named for each unit (each slave). They can also be manually named for each port. 23

27 Transferring the Project Data Transfer the project data created in Sysmac Studio to Controller. When you transfer a user program, configuration data, setup data, device variables, or values in memory used for CJ-series Units from Sysmac Studio, the devices or machines may perform unexpected operation regardless of the operating mode of CPU Unit. Always confirm safety at the destination node before you transfer the project data. If you use EtherCAT slaves, check the specifications of those slaves in manuals or other documentation and confirm that the system will not be adversely affected before you transfer parameters. After you transfer the project data, the CPU Unit restarts, and communications with the slave unit is cut off. During the period, the outputs of the slave unit behave according to the slave unit settings. The time that communications is cut off depends on the EtherCAT network configuration. Before you transfer the project data, confirm that the slave unit settings will not adversely affect the device. 1 Select Check All Programs from the Project Menu. 2 The Build Tab Page is displayed. Check that "0 Errors" and "0 Warnings" are displayed. 3 Select Rebuild Controller from the Project Menu. 24

28 4 The dialog box on the right is displayed. Confirm that there is no problem, and click Yes. 5 Check that "0 Errors" and "0 Warnings" are displayed on the Build Tab Page. 6 Select Online from the Controller Menu. 7 When an online connection is established, a yellow bar is displayed under the toolbar. Select Synchronize from the Controller Menu. 8 The Synchronization Dialog Box is displayed. Check that the data to transfer (NJ501 shown on the right) is selected. Click Transfer To Controller. *After executing "Transfer To Controller", the Sysmac Studio data is transferred to Controller, and the data is synchronized. 25

29 9 The dialog box on the right is displayed. Confirm that there is no problem, and click Yes. A screen is displayed stating "Synchronizing". The dialog box on the right is displayed. Confirm that there is no problem, and click No. *Do not return to RUN mode. 10 Check that the synchronized data is displayed with the color specified by "Synchronized" and that a message is displayed stating "The synchronization process successfully finished". Confirm that there is no problem, and click Close. *A message is displayed stating "The synchronization process successfully finished" if the Sysmac Studio project data coincides with the Controller data. *If the synchronization fails, check the wiring and repeat from step 1. 26

30 7.4. EtherCAT Communication Status Check Confirm that PDO communications performs normally via EtherCAT Checking the Connection Status Check the connection status of the EtherCAT network. 1 Check with LED indicators on Controller that PDO communications via EtherCAT performs normally. The LED indicators in normal status are as follows: NET RUN: Green lit NET ERR: Not lit LINK/ACT: Yellow flashing 2 Check the LED indicators on Motor Controller. L/A1 The LED indicators in normal status are as follows: L/A1: Green flashing RUN: Green lit ERR: Not lit RUN ERR 27

31 Checking the Sent and Received Data Check that the correct data are sent and received. The procedure described here is to check that an alarm generated on Motor Controller is able to be reset by sending a reset command from Controller to Motor Controller. In order to do so, Controller sends a command for Motor Controller to perform the return to origin operation while the servo motor is OFF, so that an alarm is triggered on Motor Controller. In this procedure, the output of Motor Controller is performed, which may have a risk of unexpected operation of the devices. Ensure safety before you proceed with this operation check described here. If you cannot ensure safety, do not proceed. When you perform this operation check, make sure to complete all the steps and make the output of Motor Controller safe. If you wire the I/O in the state where the devices are powered ON, this may cause damage to the devices. Always read and follow the information provided in all safety precautions in the manuals for each device to be wired. If you change the variable values on a Watch Tab Page when Sysmac Studio is online with CPU Unit, the devices connected to the output unit may operate regardless of the operating mode of CPU Unit. Always ensure safety before you change the variable values on a Watch Tab Page when Sysmac Studio is online with CPU Unit. 1 Select Watch Tab Page from the View Menu. 2 Select the Watch1 Tab. 28

32 3 4 Click Input Name and enter the following variable names for monitoring. E001_Rx_PDO1_Mapping_Outp ut_port_to_which_signal_7010 _00 E001_Tx_PDO1_Mapping_Signal _allocated_to_the_inp_6010_0 0 Select Binary from the pull-down list of Display format for the variables you entered. 5 Check that the online values of the variables are as follows: E001_Rx_PDO1_Mapping_Outp ut_port_to_which_signal_7010 _00: E001_Tx_PDO1_Mapping_Signal _allocated_to_the_inp_6010_0 0: *The Motor Controller operates normally when the bit 15 (ALARM) of E001_Tx_PDO1_Mapping_ Signal_allocated_to_the_inp_6010 _00 is 0. Check that the LED indicators on Motor Controller display as follows: PWR LED: Green lit ALM LED: Not lit *The status shows that Motor Controller is in normal operation. 29

33 7 Enter in the Modify Column for E001_Rx_PDO1 _Mapping_Output_port_to_which_ signal_7010_00 on the Watch Tab Page of Sysmac Studio. The bit 12 (SETUP) in the Online value Column for E001_Rx_PDO1 _Mapping_Output_port_to_which_ signal_7010_00 changes to 1. 8 *The Controller sends a command for Motor Controller to perform the return to origin operation. Check that the bit 15 (ALARM) in the Online value Column for E001_Tx_PDO1_Mapping_Signal_ allocated_to_the_inp_6010_00 changes to *An alarm is generated on Motor Controller because in step 7, Controller sends the command for Motor Controller to perform the return to origin operation while the servo is OFF. Check that the LED indicators on Motor Controller display as below, which indicate that an alarm is being generated on Motor Controller. PWR LED: Not lit ALM LED: Red lit Enter in the Modify Column for E001_Rx_PDO1 _Mapping_Output_port_to_which_ signal_7010_00 on the Watch Tab Page of Sysmac Studio. The bit 12 (SETUP) in the Online value Column for E001_Rx_PDO1 _Mapping_Output_port_to_which_ signal_7010_00 changes to 0. *The Controller sends a command for Motor Controller to cancel the return to origin operation. 30

34 11 Enter in the Modify Column for E001_Rx_PDO1 _Mapping_Output_port_to_which_ signal_7010_00. The bit 11 (RESET) in the Online value Column for E001_Rx_PDO1 _Mapping_Output_port_to_which_ signal_7010_00 changes to *The Controller sends a command for Motor Controller to reset the alarm. Check that the bit 15 (ALARM) in the Online value Column for E001_Tx_PDO1_Mapping_Signal_ allocated_to_the_inp_6010_00 changes to *The alarm generated on Motor Controller is reset. Check that the LED indicators on Motor Controller display as below, which indicate that the alarm generated on Motor Controller is reset. PWR LED: Green lit ALM LED: Not lit Additional Information For details on the LED indicators, refer to 7.LED display of the Operation Manual EtherCAT Direct input type Step Motor Controller (Servo 24VDC) (JXC*-OMU0008). Additional Information For details on the alarm reset, refer to 15. Alarm for Motor Control of the Operation Manual EtherCAT Direct input type Step Motor Controller (Servo 24VDC) (JXC*-OMU0008). 31

35 8.Initialization method 8. Initialization method The setting procedures in this guide are based on the factory default settings. Some settings may not be applicable unless you use the devices with the factory default settings Initializing Controller To initialize the Controller settings, it is necessary to initialize CPU Unit. Change the operating mode of Controller to PROGRAM mode and select Clear All Memory from the Controller Menu in Sysmac Studio. The Clear All Memory Dialog Box is displayed. Check the contents and click OK. 32

36 9.Revision History 9. Revision History Revision Date of revision code 01 March 16, 2017 First edition Description of revision 33

37 34

38 2017 P677-E (-)

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