Machine Automation Controller NJ-series. EtherCAT(R) Connection Guide. Balluff GmbH. Network Interface (BNI ECT-508) P673-E1-01

Transcription

1 Machine Automation Controller NJ-series EtherCAT(R) Connection Guide Balluff GmbH Network Interface (BNI ECT-508) P673-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 Module Configuration Device Variables EtherCAT Connection Procedure Work Flow Balluff Network Interface Setup Controller Setup EtherCAT Communication Status Check Initialization method Initializing Controller Revision History... 32

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 Balluff GmbH (hereinafter referred to as Balluff) 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 OMRON E2E(Q)-[]-IL[] PROXIMITY SENSOR INDEX LIST OMRON E2E(Q)-[]-IL[] PROXIMITY SENSOR INSTRUCTION SHEET Balluff E BNI ECT Z015 BNI ECT Z015 IP67 Module 8IO-Link/Inputs/Outputs, 8 Inputs/Outputs User s Guide 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 December 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 Balluff Network Interface BNI ECT-508 (hereinafter referred to as Network Interface) 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. The OMRON E2E-series IO-Link Proximity Sensor (hereinafter referred to as Proximity Sensor) is used in this guide in order to check that Controller receives data from Network Interface. 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-[][][][] Balluff Network Interface BNI ECT-508 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. 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) BNI ECT Z015 M12 USB cable Ethernet cable Module/sensor power supply Actuator power supply E2E-X3B4-M1TJ-IL3 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 Proximity Sensor E2E-X3B4-M1TJ-IL3 Ver.1.00 Balluff Ethernet cable (connector/connectivity cable (straight/straight, M12, D-coded RJ45)) BCC M414-E819-8G-672-ES64 N9-*** (*** refers to cable length. (020: 2m, 050: 5m)) Balluff Network Interface BNI ECT Z015 Rev.0x Balluff ESI file Balluff BNI ECT Z015 ECS V3.0.0 IO-Link-Master.xml - Module/sensor power supply (24 VDC) - - Actuator power supply (24 VDC) - Precautions for Correct Use Prepare the ESI file listed above beforehand. To obtain the ESI file, contact Balluff GmbH. 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 module/sensor and actuator power supplies, refer to the BNI ECT Z015 IP67 Module 8 IO-Link/Inputs/Outputs, 8 Inputs/Outputs User s Guide (894449E). Additional Information The system configuration in this guide uses USB for the connection between 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, a module configuration, and device variables that are all defined in this guide. Hereinafter, Network Interface is referred to as "Slave Unit" in some descriptions Parameter The parameter required for connecting Controller and Network Interface via EtherCAT is shown below. Name Item Set value Remarks Network Interface Node address 1 The node address is set in Sysmac Studio Module Configuration The module configuration of Network Interface is shown below, which is set in Setting the Device Variables. Slot Position Device name Module Remarks IO-Link Ch.1 0 M1 IOL_I_2byte(M1) *1 Port 0 input data IO-Link Ch.2 1 M2 STD_IN_1bit(M2) *2 Port 1 data : : : : : IO-Link Ch.8 7 M8 STD_IN_1bit(M8) *2 Port7 data IO-Link Ch (reserved) 8 to Reserved Input Pin 2 16 The modules are not Short Circuit Pin 2 17 Short Circuit Pin (Not assigned) Sensor Short Circuit 19 Module Status 20 Inputs (reserved) 21 to Reserved assigned because these slots are not used in this guide. Output Pin 2 32 The modules are not Restart Pin (Not assigned) assigned because these slots are not used in this Restart Pin 4 34 guide. Display LEDs 35 M9 DISPLAY_LEDS(M9) Control of Display LEDs *1. The Proximity Sensor is connected to Port 0 in this guide; therefore, the module "IOL_I_2byte" is assigned to the slot "IO-Link Ch.1" according to the input data size (2 bytes) of Proximity Sensor. *2. The Ports from 1 to 7 are not used in this guide; therefore, the module "STD_IN_1bit" is assigned to the slots from "IO-Link Ch.2" to "IO-Link Ch.8". When you use Network Interface, assign modules to the slots from "IO-Link Ch.1" to "IO-Link Ch.8" according to an IO-link device actually connected to Network Interface. 8

12 6.EtherCAT Settings Additional Information For more information on the module configuration of Network Interface, refer to Configuring IO-Link module in 5.3. Integration into Project Planning Software of the BNI ECT Z015 IP67 Module 8 IO-Link/Inputs/Outputs, 8 Inputs/Outputs User s Guide (894449E) Device Variables The PDO communications data with Network Interface are allocated to the Controller's device variables. The device variables and the data types are shown below. Output area (Controller to Network Interface) Device name Device variable name Data type Description M9_Outputs_for_Display_LEDs_ BOOL Display LED Red LED M9 Led_red_2A01_01 M9_Outputs_for_Display_LEDs_ BOOL Display LED Green LED Led_green_2A01_02 Input area (Network Interface to Controller) Device name Device variable name Data type Description E001_IO_Link_DeviceState_Inputs_ USINT IO-Link State Port 0 IO_Link_State_Ch_1_F100_01 E001 : : : E001_IO_Link_DeviceState_Inputs_ IO_Link_State_Ch_8_F100_08 USINT IO-Link State Port 7 M1_TxPDO_input_byte_0_6000_01 BYTE Port 0 input data 01 Input data of M1 M1_TxPDO_input_byte_1_6000_02 BYTE Port 0 input data 02 Proximity Sensor M2 M2_Digital_Input_Bit_Bit_0_ BYTE Port 1 input data Digital_Input_Bit_Bit_0_6000_01 : : : : M8 M8_Digital_Input_Bit_Bit_0_ BYTE Port 7 input data Digital_Input_Bit_Bit_0_6000_01 Additional Information For details on allocations of input and output areas, refer to 5.4 Bit mapping and function in 5. Integration of the BNI ECT Z015 IP67 Module 8 IO-Link/Inputs/Outputs, 8 Inputs/Outputs User s Guide (894449E). 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. For Slave Units with module configurations, the default device names start with an "M" followed by a sequential number starting from "1". 9

13 6.EtherCAT Settings Input data of Proximity Sensor (Data to be stored in the device variable M1_TxPDO_input_byte_0_6000_01 listed in the table for the input area) (Data to be stored in the device variable M1_TxPDO_input_byte_1_6000_02 listed in the table for the input area) 10

14 7. EtherCAT Connection Procedure This section describes the procedures for connecting Controller and Network Interface via EtherCAT. The explanation of 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 Network Interface via EtherCAT to perform PDO communications Balluff Network Interface Setup Set up Balluff Network Interface Hardware Settings Connect the cables to Network Interface Controller Setup Set up Controller Starting Sysmac Studio and Install the ESI file for Network Interface 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 11

15 7.2. Balluff Network Interface Setup Set up Balluff Network Interface Hardware Settings Connect the cables to Network Interface. Precautions for Correct Use Make sure that the power supply is OFF when you set up. 1 Make sure that Network Interface is powered OFF. 2 *If it is ON, the settings described in the following steps and subsequent procedures may not be applicable. Check the position of the connectors on Network Interface by referring to the figure on the right. EtherCAT-Port1 IN Power supply input Port0 3 Connect an Ethernet cable to EtherCAT-Port1 IN on Network Interface. M12 Ethernet cable 12

16 4 5 Connect Actuator power supply and Module/sensor power supply to Power supply input. *For information on connecting power supplies of Network Interface, refer to 3.3. Electrical connection of the BNI ECT Z015 IP67 Module 8 IO-Link/Inputs /Outputs, 8 Inputs/Outputs User s Guide (894449E). Connect Proximity Sensor to Port 0 on Network Interface. Power supply input Pin Function Description 1 0V GND Actuator supply 2 0V GND module / sensor supply 3 FE Functional ground 4 +24V Actuator supply 5 +24V Module / sensor supply Module/sensor power supply Actuator power supply Port 0 Port 1 Port 2 Port 3 Port 4 Port 5 Port 6 Port 7 13

17 7.3. Controller Setup Set up Controller Starting Sysmac Studio and Installing the ESI File Install the ESI file for Network Interface in Sysmac Studio. Install Sysmac Studio and the USB driver on 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 Network Interface to Controller. Turn ON Controller and Network Interface. 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 Ethernet cable End Cover Network Interface 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. 14

18 6 A confirmation dialog box 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 Top right: Toolbox Multiview Explorer Edit Pane Controller status Pane 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. 15

19 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 Balluff BNI ECT Z015 ECS V3.0.0 IO-Link-Master.xml to this folder. 16

20 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 Balluff BNI ECT Z015 ECS V3.0.0 IO-Link-Master to check that BNI ECT Z015Rev:0x (BNI ECT Z015 (BNI0077)) 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. 17

21 Setting up the EtherCAT Network Configuration Set up the EtherCAT network configuration. When you power cycle Slave Unit in step 6, the device may perform unexpected operation. Always confirm safety before you power cycle Slave Unit. 1 Right-click Master on the EtherCAT Tab Page of the Edit Pane, and select Write Slave Node Address. *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 3 The Slave Node Address Writing Dialog Box is displayed. BNI ECT Z015 Rev:0x is displayed in the Actual network configuration. Enter 1 as a node address in the Set value Column. 18

22 4 Check that no error is displayed and that the set value is 1. Click Write. 5 The Slave Node Address Writing Dialog Box is displayed. Check the contents and click Write. A screen is displayed stating "Slave Node Address Writing is being executed". The dialog box on the right is displayed. Check the contents and click Close. 6 7 Power cycle Slave Unit. Right-click Master on the EtherCAT Tab Page of the Edit Pane and select Compare and Merge with Actual Network Configuration. A screen is displayed stating "Get information is being executed". 19

23 8 The Compare and Merge with Actual Network Configuration Dialog Box is displayed. The node address 1 and BNI ECT Z015 Rev:0x are added to the Actual network configuration after the comparison. 9 Click Apply actual network configuration. A confirmation dialog box is displayed. Check the contents and click Apply. The dialog box on the right is displayed. Check the contents and click Close. 10 As the node address 1 slave, E001 BNI ECT Z015 Rev:0x is added to the Network configuration on Sysmac Studio. 11 Check that the data above is added. Click Close. The node address 1 and E001 BNI ECT Z015 Rev:0x are added to the EtherCAT Tab Page of the Edit Pane. 20

24 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 Click Edit Module Configuration. The Node1: BNI ECT Z015 (E001) Tab Page is displayed. 4 Click the empty cell in the Module Column for the position 0. *If modules are not being assigned to the slots from "IO-Link Ch.1" to IO-Link Ch.8", an exclamation mark (warning) is displayed to the left of Node1. 21

25 5 Right-click IOL_I_2byte in the Toolbox and click Insert. 6 Select the registered module and check that the device name is as follows: 0, IOL_I_2byte: M1 *The device name can be changed as desired. 7 *The device name you set is used at the beginning of a device variable name. In the same way as steps 4 to 6, set the modules for the positions from 1 to 7. 1, STD_IN_1bit : M2 2, STD_IN_1bit : M3 3, STD_IN_1bit : M4 4, STD_IN_1bit : M5 5, STD_IN_1bit : M6 6, STD_IN_1bit : M7 7, STD_IN_1bit : M8 : 8 9 *When the modules are assigned to all the slots from "IO-Link Ch.1" to "IO-Link Ch.8", the exclamation mark (warning) displayed to the left of Node1 disappears. In the same way as steps 4 to 6, set the module for the position , DISPLAY_LEDS : M9 Double-click I/O Map under Configurations and Setup in the Multiview Explorer. 22

26 10 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. 11 Right-click Node1 and select Create Device Variable. 12 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. For Slave Units with module configurations, the default device names start with an "M" followed by a sequential number starting from "1". 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 Synchronization 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 Network Interface. The LED indicators in normal status are as follows: RUN: Green lit ERR: Not lit 100: Yellow lit L/A1: Green lit 27

31 Checking the Sent and Received Data Check that the correct data are sent and received. In this procedure, the output of Network Interface 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 Network Interface 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 Additional Information For details on Proximity Sensor operation and indication, refer to the PROXIMITY SENSOR INSTRUCTION SHEET ( ). 1 Select Watch Tab Page from the View Menu. 2 Select the Watch1 Tab. 28

32 3 4 5 Click Input Name and enter the following variable names for monitoring. M1_TxPDO_input_byte_0_6000_ 01 M1_TxPDO_input_byte_1_6000_ 02 M9_Outputs_for_Display_LEDs_ Led_red_2A01_01 Set the following display formats of the variables set in step 3, respectively. Decimal Binary Boolean Click TRUE in the Modify Column for M9_Outputs_for_Display_LEDs _Led_red_2A01_01. The online value changes to True. 6 The display LEDs on Network Interface are lit red. 7 8 Click FALSE in the Modify Column for M9_Outputs_for_Display_LEDs _Led_red_2A01_01 to change the online value to False. The display LEDs on Network Interface turn OFF. 9 Make sure that there is no sensing object in front of Proximity Sensor and that Operation indicator is not lit. Operation indicator (Orange) is not lit. 29

33 10 Check that the online values on the Watch Tab Page of Sysmac Studio are as shown below. M1_TxPDO_input_byte_0_6000_ 01: 62 M1_TxPDO_input_byte_1_6000_ 02: (Bit 0 is 0.) *The value of the monitor output varies depending on the surrounding environment of the location where Proximity Sensor is mounted. *Refer to 6.3. Device Variables for each of the variables. 11 *You can check that the control output of Port 0 is OFF. It is the same status as Proximity Sensor described in step 9. Place Sensing object in front of Proximity Sensor and check that Operation indicator is lit orange. Sensing object Operation indicator (Orange) is lit. 12 Check that the online values on the Watch Tab Page of Sysmac Studio are as shown below. M1_TxPDO_input_byte_0_6000_ 01: 188 M1_TxPDO_input_byte_1_6000_ 02: (Bit 0 is 1.) *The value of the monitor output varies depending on the surrounding environment of the location where Proximity Sensor is mounted. *Refer to 6.3. Device Variables for each of the variables. *You can check that the control output of Port 0 is ON. It is the same status as Proximity Sensor described in step

34 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. 31

35 9.Revision History 9. Revision History Revision Date of revision code 01 April 7, 2017 First edition Description of revision 32

36 2017 P673-E (-)