No. FST-ZTH13079B. Machine Automation Controller NJ-series. EtherCAT Connection Guide. Kollmorgen Corporation Servo Drive (AKD )

Transcription

1 No. FST-ZTH13079B Machine Automation Controller NJ-series EtherCAT Connection Guide Kollmorgen Corporation Servo Drive (AKD )

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 document 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 Setting and Motion Control Settings EtherCAT Communications Parameter Settings Settings from the Sysmac Studio EtherCAT Connection Procedure Overview of the Connection Processing Work Flow Preparation for Controller Setup Setting Up the Kollmorgen Drive Setting Up the Controller Checking the Connection Status Restrictions on Motion Control List of Restrictions Axis Variables MC Instructions Others Appendix 1 Procedure Using the Project File Overview of Connection Processing Using the Sysmac Studio Work Flow Using the Project File Setting Up the Controller Using the Project File Appendix 2 Project File PDO Mapping Program (ST Language) Revision History... 78

4 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. Cat. No. Model Manual name W500 NJ501-[][][][] NJ-series CPU Unit Hardware User's Manual W501 NJ501-[][][][] NJ-series CPU Unit Software User's Manual W502 NJ501-[][][][] NJ-series Instructions Reference Manual W503 NJ501-[][][][] NJ-series Troubleshooting Manual W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual W507 NJ501-[][][][] NJ-series CPU Unit Motion Control User's Manual W508 NJ501-[][][][] NJ-series Motion Control Instructions Reference Manual W505 NJ501-[][][][] NJ-series CPU Unit Built-in EtherCAT Port User's Manual I576 R88M-K[] R88D-KN[]-ECT AC Servo Motor/Servo Drives G5 Series with Built-in EtherCAT Communications User's Manual AKD TM Quick Start AKD TM Installation Manual AKD TM EtherCAT Communication AKD TM CAN-BUS Communication AKD TM User Guide 1

5 2.Terms and Definitions 2. Terms and Definitions Term PDO Communications PDO entry PDO mapping Object Function module Motion control function module EtherCAT master Function module PLC Function module Motion control instruction PLCopen Axis Axis variables ESI file Explanation and Definition Communications using process data objects (PDOs) to exchange information in realtime with a fixed period. A structure unit of PDO mapping. A pointer to an object that is part of the PDOs. To use motion control functions, required objects must be mapped for the PDO commnications.the PDO map is a list of required objects that is prepared in advance. Abstract representation of a particular component within a device, which consists of data, parameters, and methods. One of the functional units of the software configuration of the CPU Unit. One of the function modules. The MC Function Module performs motion control based on commands from the motion control instructions that are executed in the user program. (Abbreviation: MC Function Module) One of the function modules. This function module controls the EtherCAT slaves as the EtherCAT master. One of the function modules. This function module executes the user program, sends instructions to the Motion Control Function Module, and provides an interface to the USB and SD Memory Card. A function block instruction that executes motion control. The Motion Control Function Module supports instructions that are based on function blocks for PLCopen motion control as well as instructions developed specifically for the Motion Control Function Module. (Abbreviation: MC instruction) PLCopen is an association that promotes IEC It has its headquarters in Europe and a world-wide membership. PLCopen standardizes function blocks for motion control to define a program interface for the languages specified in IEC (JIS B 3503). The website of headquarters of PLCopen in Europe is In a motion control system, the targets of motion control are called axes. An axis can be an actual Servo Drive or other device or encoder connected using EtherCAT or it can be a virtual Servo Drive or encoder within the MC Function Module. Axis variables are system-defined variables for some of the axis parameters and for the monitor information, such as the actual position and error information, for the axes controlled by the MC Function Module. Axis variables are structures with a data type of _saxis_ref. Setting information for EtherCAT is defined in EtherCAT slave information (ESI) files. The ESI files are provided by the individual slave manufacturers. Various EtherCAT communications settings are defined based on the ESI definitions of connected slaves. 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 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) It is 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 September 2013.It is subject to change without notice for improvement. The following notation is used in this document. Indicates a potentially hazardous situation which, if not avoided, will 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 in property damage. Precautions for Safe Use Precautions on what to do and what not to do to ensure safe usage of the product. 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 3

7 4.Overview 4. Overview This document describes the procedure for connecting the AKD TM Servo Drive (hereinafter referred to as Drive) of Kollmorgen Corporation (hereinafter referred to as Kollmorgen) to NJ-series Machine Automation Controller (hereinafter referred to as Controller) of OMRON Corporation via EtherCAT and provides the procedure for checking their connection. Refer to Section 6 EtherCAT Setting and Motion Control Settings and Section 7. EtherCAT Connection Procedure to understand the setting method and key points to operate motion control devices with POD communications of EtherCAT. MC_Power of the motion control instruction (hereinafter referred to as MC instruction) is used to check the operation in this document. The MC_Power switches the Drive status to Servo On. The operation of motion control differs depending on the device used. Make sure that you understand 8. Restrictions on Motion Control before designing system. The setting in 7.5. Setting Up the Controller and the program to check the operation are set in advance in the Sysmac Studio project file (hereinafter referred to as "project file"). Refer to Section 9. Appendix 1 Procedure Using the Project File for usage method of the project file. Obtain the latest project file from OMRON. Name File name Version Project file (extension: SMC). Kollmorgen_AKD_ECAT_V100.smc Ver.1.00 The scope of this document covers the "connection check of motion control devices connected via EtherCAT using the MC_Power instruction" To use MC instructions and design a system not described in this document, 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. Please note that some functions may differ between non-omron motion control devices and OMRON AC Servo Drive (G5 series) when connecting to the OMRON Controller. For example, there may be differences in the behaviors of the MC Function Module or MC instructions may not be used. Make sure to check 8. Restrictions on Motion Control in this document when designing an actual system. 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 NJ501-[][][][] OMRON NJ-series CPU Unit NJ301-[][][][] Drive AKD TM Servo Drive AC Servo Kollmorgen AKD TM Servo Systems System Actuator (AKM TM Servomotor, etc) 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. (Kollmorgen Corporation This URL is the latest address at the time of this document creation. Contact each device manufacturer for the latest information. Additional Information AKD TM Servo Drive works with any servo motors and positioners of AKD TM Servo Systems. It also works with actuators which are provided by manufactures except for Kollmorgen Corporation. Contact Kollmorgen Corporation for detail information regarding available actuators. (Kollmorgen Corporation This URL is the latest address at the time of this document creation. 5

9 5.Applicable Devices and Device Configuration 5.2. Device Configuration The hardware components to reproduce the connection procedure of this document are as follows. Personal computer (Sysmac Studio installed, OS: Windows 7) NJ (Built-in EtherCAT port) AKD-P00306-NAEC-0000 USB cable AKM21E-A NCNR-00 Ethernet cable Ethernet cable Manufacturer Name Model Version OMRON NJ-series CPU Unit NJ Ver.1.05 OMRON Power Supply Unit NJ1W-PA3001 OMRON Sysmac Studio SYSMAC-SE2[][][] Ver Personal computer (OS: - Windows7) - USB cable (USB 2.0 type B - OMRON connector) Ethernet cable (with industrial Ethernet connector) XS5W-T421-[]M[]-K Kollmorgen Drive AKD-P00306-NAEC-0000 Kollmorgen Servo Motor AKM21E-ANCNR-00 Kollmorgen ESI file AKD_o_147.xml Rev.0x

10 5.Applicable Devices and Device Configuration Precautions for Correct Use Prepare the applicable ESI file beforehand. To obtain the ESI file, contact Kollmorgen Corporation. 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 switching 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. 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 specifications of the Ethernet cable and network wiring, refer to Section 4 EtherCAT Network Wiring of the NJ-series CPU Unit Built-in EtherCAT R Port User's Manual (Cat. No. W505). Additional Information The system configuration in this document uses USB for the connection between the personal computer and NJ-series Cupful how to install a 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 Setting and Motion Control Settings 6. EtherCAT Setting and Motion Control Settings This section describes the specifications such as communication parameters and variables that are defined in this document EtherCAT Communications Parameter Settings EtherCAT Communications Setting The node address of the Drive required for EtherCAT configuration is shown below. The setting in this section is made in Setting Up EtherCAT Network Configuration and PDO Map Setting. Drive Node address 1 Mode of operation 8 Position mode Interpolation time period value (0x60C2: 01) 1 1ms (1 x 10-3 sec) Interpolation time index (0x60C2: 02) -3 1ms (1 x 10-3 sec) PDO Map Settings The PDO entries (object) of the Drive required for EtherCAT configurations are shown below. Specific objects can only be used in MC instructions for the Controller. The following objects are only available for the Drive. Refer to 9.1. PDO Mapping for details. There are 8 kinds of PDO mappings available: 1600 to 1603 for output, and 1A00 to 1A03 for input. Each entry can be allocated to any PDO mapping. Even though no PDO entry is included in the PDO mapping, the mapping needs to be set as used. The setting in this section is made in PDO Map Settings. Output (Controller Drive) 8

12 6.EtherCAT Setting and Motion Control Settings Input (Controller Drive) Make sure that the same object set in PDO Map Settings and Axis Settings for PDO Entries is mapped. For PDO entries without axis settings, PDO communications are performed using unspecified values. This may cause unexpected operation of the motion control device, resulting in injury. Precautions for Correct Use Even-numbered and up to 8 bytes can only be used in a PDO entry for the Drive. Accordingly, the PDO entries in this document are separately registered. 8 kinds of PDO mappings, 1600 to 1603 for output and 1A00 to 1A03 for input, must be set as used even though no PDO entry is included in the PDO mapping Axis Settings for Motion Control The axis settings of the Drive required for motion control are shown below. The setting in this section is made in Axis Settings for Motion Control. Axes variable name Axis number Display on Sysmac Studio MC_Axis000 0 MC_Axis000(0) 9

13 6.EtherCAT Setting and Motion Control Settings Axis Settings for PDO Entries The axis settings of the Drive required for motion control are shown below. Refer to CAN-BUS Communication ( ) for details on each object. The setting in this section is made in Axis Settings for Motion Control. MC_Axis000(0) * Details on allocation of digital input object (Index: 0x60FD) Bit number Home Pos. limit Neg. limit Name switch switch switch 10

14 6.EtherCAT Setting and Motion Control Settings 6.2. Settings from the Sysmac Studio The following figure shows the processing to perform motion control through EtherCAT communications. Make the following settings from the Sysmac Studio: (1) EtherCAT Configuration and Settings: EtherCAT communications between the Drive and Controller. (2) PDO Map Settings: Data settings for motion control with the Controller. (3) Motion Control Setup - Axis Settings: Axis variable settings (MC_Axis000) for MC instructions. Project file User program MC instruction / Axis variables Axis settings info. Axis 1 Output Input Digital Input Axis 2 Output Input Digital Input EtherCAT configuration info. Device 1 Node address:01 PDO map Outputs PDO entry Inputs PDO entry Personal Computer (Sysmac Studio) (3) Motion Control Setup - Axis Settings (1) EtherCAT Configuration and Setting (2) PDO Map Settings ESI file Object Transferring the Project Data NJ-series CPU Unit User program MC instruction / Axis variables MC instruction /Axis variables PLC Function Module MC function module Command interpretation Data processing EtherCAT Communications master module Communications processing Axis setting information PDO entry (Object) EtherCAT Communications (PDO communications) Installing the ESI File Motion control device Communications processing Command interpretation status ESI file Control command Travel distance feedback Motor Encoder * This figure shows the configuration elements in each file/device related to this document only. 11

15 7. EtherCAT Connection Procedure This section describes the procedure for connecting the Controller to the Drive via EtherCAT. This document explains the procedures for setting up the Controller and the Drive from the factory default setting. To prevent unexpected operations of the motion control device, make sure to initialize the Controller before connecting the motion control device and Controller with an Ethernet cable. Depending on the Controller status, turning ON the power supply to the Controller may cause unexpected operation of the motion control device, resulting in injury Overview of the Connection Processing The following figure shows the connection process to perform motion control via EtherCAT communications. Personal computer Sysmac Studio (1)Initializing the Controller (2)Setting Up the EtherCAT Network Configuration (3)PDO Map Settings (4)Axis Settings for Motion Control (5)Creating a Operation Checking Program and Task Settings (A series of settings (2) to (5) is called project data.) Transferring the Project Data Controller ESI file Installing the ESI File Motion control device 12

16 7.2. Work Flow Take the following steps to connect to EtherCAT. The procedure in 7.5. Setting Up the Controller can be simplified by using the project file. Refer to 8.3. Setting Up the Controller Using the Project File for details Preparation for Controller Prepare to set up the Controller. Setup Starting the Sysmac Studio Start the Sysmac Studio to connect to the Controller and Online Connection online Initializing the Controller Initialize the Controller Installing ESI Files Install the ESI file for the Drive in the Sysmac Studio Setting Up the Kollmorgen Set up the Drive. Drive Hardware Settings Set the hardware switches on the Drive Parameter Settings Set the Drive parameters Setting Up the Controller Set up the Controller Setting Up the EtherCAT Network Configuration Set up EtherCAT network configuration with the Sysmac Studio PDO Map Settings Set up the PDO mapping for MC function module Axis Settings for Motion Set up the axis for MC function module. Control Creating an Operation Create a program to check the operation. Checking Program Transferring the Project Transfer the project data to the Controller. Data 7.6. Checking the EtherCAT Communications Checking the Connection Status Check the Connection Using the Operation Checking Program Confirm that the PDO communications of EtherCAT are performed normally. Confirm that the EtherCAT communications are performed normally. Confirm the Drive operation using the program to check the operation. 13

17 7.3. Preparation for Controller Setup Prepare to set up the Controller. Install the Sysmac Studio and USB driver in the personal computer in advance. Do not connect the Controller to the Ethernet cable when you perform the operation. Depending on the Controller status, turning ON the power supply to the Controller may cause unexpected operations of the motion control device, resulting in injury Starting the Sysmac Studio and Online Connection Start the Sysmac Studio and connect it to the Controller online. 1 Connect the personal computer to the Controller with a USB Controller CPU Unit cable. Confirm that the Ethernet cable USB cable End Cover is disconnected from PORT2 EtherCAT of the Controller. Power Supply Unit Not connected 2 Turn ON the power supply to the Controller. 3 Start the Sysmac Studio and click the New Project. * If a confirmation dialog box for an access right is displayed at start, select to start. 14

18 4 The Project Properties Dialog Box is displayed. * In this document, New Project is set as the project name. Confirm that Category and Device that you use are set in the Select Device Field. Select version 1.06 from the pull-down list of Version. 5 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. Multiview Explorer Edit Pane Toolbox 7 Select Communications Setup from the Controller Menu. 15

19 8 The Communications Setup Dialog Box is displayed. Select the Direct connection via USB Option for Connection Type. Click the OK Button. 9 Select Online from the Controller Menu. A confirmation dialog box is displayed. Click the Yes Button. * The displayed dialog depends on the status of the Controller used. Click the Yes Button to proceed with the processing When an online connection is established, a yellow bar is displayed on the top of the Edit Pane. Select Mode - PROGRAM Mode from the Controller Menu. A confirmation dialog box is displayed as shown on the right. Confirm that there is no problem and click the Yes Button. The Controller Status changes to PROGRAM mode. 16

20 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). 17

21 Initializing the Controller Initialize the Controller. All memory will be cleared after initialization. If there is necessary data in the Controller, save the data. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on operating the Sysmac Studio. 1 Select Clear All Memory from the Controller Menu. 2 The Clear All Memory Dialog Box is displayed. Click the OK Button. 18

22 3 A confirmation dialog box is displayed. Check the contents and click the Yes Button. 4 A complete dialog box is displayed. Check the contents and click the OK Button. 5 Select Offline from the Controller Menu. Confirm that the yellow bar on the top of the Edit Pane disappeared. 6 7 Turn OFF the power supply to the Controller. Connect the Ethernet cable to PORT2 EtherCAT of the Controller. * Make sure that the power supply remains OFF. USB cable Ethernet cable 19

23 Installing the ESI File Install the ESI file for the Drive in the Sysmac Studio. 1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. 2 The EtherCAT Tab is displayed on the Edit Pane. 3 Right-click Master and select Display ESI Library. 4 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. 20

24 5 6 The Explorer starts and a folder is opened, allowing you to install the ESI file. Copy the prepared ESI file AKD_o_147.xml to this folder. 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 an ESI file. 7 Restart the Sysmac Studio (refer to steps 2 to 5 of Starting the Sysmac Studio and Online Connection) and display the ESI Library Dialog Box by following steps 1 to 3 of this section. Click the + Button of AKD_o_147, and then confirm that AKD Rev: 0x (AKD EtherCAT Drive (CoE)) is displayed. Confirm that an exclamation mark (warning) is not displayed. Click the Close Button. 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. Contact the device manufacturer. 21

25 7.4. Setting Up the Kollmorgen Drive Set up the Drive Hardware Settings Set the hardware switches on the Drive. Precautions for Correct Use Make sure that the power supply to the Drive is OFF when you make the setting. 1 Make sure that the power supply to the Drive is OFF. 2 * If the power supply is turned ON, settings may not be applicable as described in the following procedure. Set the Rotary Switches S1 and S2 to 0. 3 * Set the node address to 0. Setting the value other than 0 causes the default value of [X11] port address to change. Connect the Ethernet cable to the X5 communications connector and connect it to the Controller. Ethernet cable EtherCAT IN port EtherCAT OUT port 4 Connect the X11 port on the top of the Drive to the Ethernet port on the personal computer with an Ethernet cable. 5 Connect the Drive to the Servo Motor. Connect other necessary cables. 22

26 Parameter Settings Set the Drive parameters. Install the Kollmorgen WorkBench to the personal computer beforehand to set parameters. Additional Information Refer to Installation Manual ( ) for how to install the tool. 1 2 Turn ON the power supply to the Drive. Start the Kollmorgen WorkBench. * The display differs depending on the usage status. 3 Click the Connect Button. 23

27 4 The connected Drive is displayed. Select the Drive, and then click the Connect Button. * Perform steps 5 if the Drive is not displayed. 5 6 If the Drive does not appear in step 4, press the B1 Button on top of the Drive for 10 seconds. The IP address of the Drive returns to the default. When the connection is established, the dialog box on the right is displayed. 24

28 7 Confirm that the following parameters are displayed under Device Topology: Settings Communication Digital I/O * If the parameter values above are different, select the value from the pull-down list. 8 Confirm the following settings are made in Settings: Command Source: 1-Field Bus Operation Mode: 2-Position Mode 9 If the settings are different, select them from the pull-down lists Confirm that the following setting is made in the Communication: Data Type: 2-EtherCAT 25

29 10 In Digital Inputs and Outputs, select the following settings from the pull-down lists of Mode: DIN 2: 11 - Home Reference DIN 3: 18 - Positive Limit Switch DIN 4: 19 - Negative Limit Switch 11 Set Polarity as follows by checking /unchecking the checkboxes: DIN 2: Active High DIN 3: Active Low DIN 4: Active Low Select Parameters under Device Topology. The Parameters Settings Tab Page is displayed on the right Pane. Select Fieldbuses. 26

30 12 The parameters in Fieldbuses are displayed. Select the value of FBUS.PARAM05 of Fieldbus parameter. * The displayed value differs depending on the device status. 13 Turn ON the 8th bit of FBUSPARAM05. The value is displayed in decimal. Set 264 that is obtained by adding 256 (the 8th bit of is ON) and 8 that were originally set. 14 Click Save To Drive. 15 Select Exit from the File Menu. 27

31 7.5. Setting Up the Controller Set up the Controller. To use a project file, refer to 8.3. Setting Up the Controller Using the Project File. Depending on the Controller status, turning ON the power supply to the Controller may cause unexpected operation of the motion control device, resulting in injury. Confirm safety when the power is turned ON. Always confirm safety before you reset the Controller or any components. Precautions for Correct Use Confirm that each device is connected to the Ethernet cable before proceeding to the following procedure. If it is not connected, turn OFF the power supply to each device, and then connect the Ethernet cable Setting Up the EtherCAT Network Configuration Set up EtherCAT network configuration with the Sysmac Studio. 1 2 Turn ON the power supply to the Controller. Select Online from the Controller Menu of the Sysmac Studio. 3 The Sysmac Studio goes online. Confirm that the EtherCAT Tab Page is displayed on the Edit Pane. If not displayed, double-click EtherCAT under Configurations and Setup in the Multiview Explorer. 28

32 4 Right-click Master on the EtherCAT Tab Page of the Edit Pane, and select Write Slave Node Address. * If the EtherCAT Tab is not displayed on the Edit Pane, display it by following step 6 of Starting the Sysmac Studio and Installing the ESI File. A screen is displayed stating "Get information is being executed" 5 The Slave Node Address Writing Dialog Box is displayed. The present value (setting node address) and AKD Rev: 0x are displayed in Actual network configuration. * If the present value of the node address is 0, and an is displayed. error 6 Enter 1 for a node address in the setting value field. 7 Confirm that there is no error in the setting value and 1 is set. Click the Write Button. 29

33 8 The Slave Node Address Writing Dialog Box is displayed. Click the Write Button. 9 Then, a screen is displayed stating "Writing node addresses to slaves was successfully completed" Check the contents and click the Close Button. Cycle the power supply to the Drive and wait until the LED indicator on front of the Drive displays o2. 10 The EtherCAT Tab Page is displayed again. Right-click Master and select Compare and Merge with Actual Network Configuration. A screen is displayed stating "Get information is being executed" 30

34 11 The Compare and Merge with Actual Network Configuration Pane is displayed. Node address 1 and AKD Rev: 0x are added to the Actual network configuration after the comparison. Click the Apply actual network configuration Button. 12 A confirmation dialog box is displayed. Check the contents and click the Apply Button. Node address 1, E001 and AKD Rev: 0x are added to the Network configuration on Sysmac Studio. Confirm that they were added and click the Close Button. 13 Node address 1, E001, and AKD Rev: 0x are added to the EtherCAT Tab Page on the Edit Pane. 14 Select Offline from the Controller Menu. When going offline, the yellow bar on the top of the Edit Pane disappears. 31

35 PDO Map Settings Set up the PDO mapping for MC function module. Make sure that the objects set in Axis Settings for Motion Control are mapped to PDOs. For PDO entries without axis settings, PDO communications are performed using unspecified values. This may cause unexpected operation of the motion control device, resulting in injury. Additional Information The PDO entries (objects) available for MC Function Module are limited. Not all objects supported by the destination device are used. For details on the objects that can be used, refer to 9.1. PDO Mapping. This section describes the procedure for entering objects listed in PDO Map Settings. 1 Select AKD Rev: 0x on the Edit Pane. Click the Edit PDO Map Settings Button in the PDO Map Settings Field on the right Pane. 32

36 2 The Edit PDO Map Settings Dialog Box is displayed. Set all the Inputs other than "Editable" ones to No option in PDO Map. * The PDO Map by default setting is used for the explanation in this document. You can also select a mapping different from the one in this document. 3 Select the Input that is "Editable". The PDO entries included in Inputs is displayed on the right dialog box. 33

37 4 Click the Add PDO Entry Button. 5 The Edit PDO Map Settings Dialog Box is displayed. Among the objects listed in PDO Map Settings, select the following object that the setting has not been made. Click the OK Button. 0x6064: 00 6 Confirm that the added object is displayed. 7 In the same way, add the following object: 0x6077: 00 * Each PDO entry must be up to 8 bytes for the Drive. 34

38 8 9 Select the other Input that is Editable in PDO Map. Click the Add PDO Entry Button. Among the objects listed in PDO Map Settings, select the following objects that the settings have not been made. 0x6061: 00 0x60B9: 00 0x60FD: 00 Confirm that the added object is displayed. * Each PDO entry must be even-numbered byte for the Drive. 10 Click the Add PDO Entry Button to add the following object: 0x2002: 01 Confirm that the added object is displayed. * Each PDO entry must be up to 8 bytes for the Drive. 11 Select the other Input that is Editable in PDO Map. Click the Add PDO Entry Button. Among the objects listed in PDO Map Settings, select the following objects that the settings have not been made. 0x60BA: 00 0x60BC: Confirm that the added object is displayed. * Each PDO entry must be up to 8 bytes for the Drive. 35

39 13 Select all the rest of Editable Inputs that have not been set in PDO Map. * No setting for PDO Entries is required. 14 Set all the Outputs other than Editable ones to No option in PDO Map. 36

40 15 Select the Output that is Editable. The PDO entries included in Outputs are displayed on the right dialog box. Click the Add PDO Entry Button. 16 The Edit PDO Map Settings Dialog Box is displayed. Among the objects listed in PDO Map Settings, select the following objects that the settings have not been made. Click the OK Button. 0x6071: 00 0x607A: Confirm that the added object is displayed. 18 Select the other Output that is Editable in PDO Map. Click the Add PDO Entry Button. Among the objects listed in PDO Map Settings, select the following objects that the settings have not been made. 0x6060: 00 0x20B8: 00 0x60FF: 00 37

41 19 Confirm that the added object is displayed. 20 To make the PDO entry an even-numbered byte, click the Add PDO Entry Button to add the following object: 0x0002: 00 Confirm that the added object is displayed. 21 Select all the rest of Editable Outputs that have not been set in PDO Map. * No setting for the PDO Entries is required 22 Click the OK Button. 38

42 23 The contents set in steps 2 to 20 are displayed in PDO Map Settings. Click the Edit Setting Parameters Button. 24 Change the values as shown below: 0x6060: 00: 8 0x60C2: 01: 1 0x60C2: 02: -3 * Set 8 to 0x6060: 00 that indicates the Position Mode. The Drive can not change a mode with the EtherCAT communications. Be sure the Position Mode is used. * Control period is set in combination of 0x60C2: 01 and 0x60C2: 02. In the combination, the control period of 1 x 10-3 sec. indicates 1ms. The control period and Period/ Execution Conditions of Primary Task must be matched. The Period/ Execution Conditions are set in Creating an Operation Checking Program. 25 Click the OK Button. 39

43 Axis Settings for Motion Control Set up the axis for MC function module. Be sure to make the axis settings of all the objects set in PDO Map Settings. For PDO entries without axis settings, PDO communications are performed using unspecified values. This may cause unexpected operation of the motion control device, resulting in injury. 1 Select Configurations and Setup - Motion Control Setup -Axis Settings in the Multiview Explorer. Right-click Axis Settings - Add - Axis Settings from the menu. 2 MC_Axis000(0) is added under Motion Control Setup - Axis Settings. Double-click MC_Axis000(0). 3 The MC_Axis000(0) Tab Page is displayed on the Edit Pane. Click the[ Settings Button. ]Axis Basic 40

44 4 Enter or select the value from the pull-down list as shown below to make the Axis Basic Settings on the MC_Axis000(0) Tab Page. Axis number: 0 Axis Use: Used Axis Axis Type: Servo Axis Feedback control: No control loop Output device 1: Node: 1 AKD(E001) 5 Click the Detailed Settings Button. The Detailed Settings is expanded. Click three + symbols next to the Function Names to expand the configuration elements. 41

45 6 The Detailed Settings is expanded. 7 Select Node: 1 AKD(E001) from the pull-down menu of the Device Field of 1. Controlword. Select the following object from the pull-down list of the Process Data Field. 6040h In the same way, set Device and Process Data Fields as Axis Settings for PDO Entries. Select Not assigned for the device that Process Data is not assigned. Make the same setting as Step 7 for other settings. The setting results are as follows. 42

46 Creating an Operation Checking Program Create a program to check the operation. Refer to 9.2. Program (ST Language) for details on the ST (structured text) language program. 43

47 1 Select Programming - Programs - Program0 in the Multiview Explorer. Right-click Program0 and select Delete from the menu. * The default Program0 is automatically created in the ladder language. It is not used in this document because a ST language program is manually created and used in the following steps. The Delete Dialog Box is displayed. Click the Yes Button. 2 Program0 is deleted from Programming in the Multiview Explorer. Right-click Programs under Programming and select Add - ST from the menu. 3 Double-click the added Program0. The Program0 Tab Page is displayed on the Edit Pane. 44

48 4 Write the program as shown in the right figure in the programming area on the Program0 Tab Page. (* Section 01: Starting and stopping motion control device *) IF Input_Start AND NOT _EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress] AND _EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress] THEN IF NOT MC_Axis000.DrvStatus.ServoOn THEN Local_Power_Enable := TRUE; END_IF; ELSE Local_Power_Enable := FALSE; END_IF; (* Section 02: Error processing *) IF MC_Axis000.MFaultLvl.Active THEN Local_Power_Enable := FALSE; END_IF; (* Section 03: MC instruction executed *) MC_Power_instance( Axis := MC_Axis000, Enable := Local_Power_Enable, Status => Output_Power_Status, Busy => Output_Power_Busy, Error => Output_Power_Error, ErrorID => Output_Power_ErrorID); Set the internal variables and external variables as shown in the right figure. 5 Double-click Task Settings under Configurations and Setup in the Multiview Explorer. The Task Settings Tab Page is displayed on the Edit Pane. Confirm the value of Period/ Execution Conditions. 1ms is set in this document. 45

49 6 Click the Program Assignment Settings Button. 7 Click the + Button of Primary Task. Select Program0 from the pull-down list. Program0 is set. 8 Select Check All Programs from the Project Menu The Build Tab Page is displayed on the Edit Pane. Confirm that "0 Errors" and "0 Warnings" are displayed. Select Rebuild Controller from the Project Menu. 11 A confirmation dialog box is displayed. Check the contents and click the Yes Button. 46

50 12 Confirm that "0 Errors" and "0 Warnings" are displayed in the Build Tab Page. Additional Information For information on how to handle errors and warnings that occur after a program check and building, refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504). 47

51 Transferring the Project Data Transfer the project data to the Controller. Always confirm safety at the destination node 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 the CPU Unit. After you transfer the user program, the CPU Unit is restarted. Communications with the EtherCAT slaves are cut off for up to 45 seconds. During that period, the slave outputs behave according to the slave settings. Before you transfer the user program, confirm that it will not adversely affect the device. 1 Select Online from the Controller Menu. 2 When an online connection is established, a yellow bar is displayed on the top of the Edit Pane. Select Synchronization from the Controller Menu. 48

52 3 The Synchronization Dialog Box is displayed. Confirm that the data to transfer (NJ501 in the right dialog box) is selected. Then, click the Transfer To Controller Button. * After executing the Transfer To Controller, the Sysmac Studio data is transferred to the Controller and the data are compared. 4 A confirmation dialog box is displayed. Confirm that there is no problem and click the Yes Button. A screen stating "Synchronizing" is displayed. A confirmation dialog box is displayed. Confirm that there is no problem and click the Yes Button 49

53 5 6 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. * A message 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. Save the project data created in 7.5. Setting Up the Controller, if necessary. Select Save or Export from the File Menu. * Refer to Section 9. Appendix 1 Procedure Using the Project File for use of saved data. 50

54 7.6. Checking the Connection Status Check the connection status of the EtherCAT network Checking the Connection Status Confirm that the EtherCAT communications are performed normally. 1 Confirm that the EtherCAT communications are performed normally by checking the LED indicators on the Controller. LED indicators in normal status: [NET RUN]: Lit green [NET ERR]: Not lit [LINK/ACT]: Flashing yellow 2 Check the LED indicators on the Drive. The LED indicators in normal status are shown on the right. [LED 1]: Flashing green [LED 2]: Lit orange [LED 3]: Not lit 51

55 Check the Connection Using the Operation Checking Program Confirm that the Drive operates normally using the operation checking program. The MC_Power instruction is used in this program. Always confirm safety at the destination node 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 the CPU Unit. 1 Confirm that the Controller Status is RUN mode. If not in RUN mode, select Mode - RUN Mode from the Controller Menu to change to RUN mode. 2 Select Watch Tab Page from the View Menu. 3 4 The Watch1 Tab Page is displayed on the Edit Pane. Enter Program0 in the Name Field. 52

56 5 Click the Down Arrow Button on the left of Program0. The variables used in Program0 are displayed. * The order of parameters change depending on the operating environment. 6 Click TRUE in the Modify Column of Input_Start. The online value changes to True from False. * Execute the MC_Power instruction. 7 Confirm that the online value of each variable is as follows: Local_Power_Enable: True (Indicates the instruction is ready for execution) Output_Power_Busy: True (Indicates the instruction is executing) Output_Power_Error: False (Indicates there is no error.) Output_Power_ErrorID: 0000 (Indicates there is no error.) Output_Power_Status: True (Indicates the Driver is ready for operation.) * They indicate that the MC_Power instruction is operating normally. 53

57 8 Confirm that MC_Axis000.DrvStatus.ServoON is True. * This indicates that the power supply to the Motor is ON. 9 Click FALSE in the Modify Field of Input_Start. The online value changes to False from True. * End the MC_Power instruction. 10 Confirm that the online value of each variable is as follows: Local_Power_Enable: False (Indicates the instruction is not executed) Output_Power_Busy: False (Indicates the instruction is ready to be executed) Output_Power_Error: False (Indicates there is no error) Output_Power_ErrorID: 0000 (Indicates there is no error.) Output_Power_Status: False (Indicates the Driver is not ready for operation) * They indicate that MC_Power instruction ended normally. 54

58 11 Confirm that MC_Axis000.DrvStatus.ServoON is False. * This indicates that the power supply to the Motor is OFF. Please note that some functions may differ between non-omron motion control devices and OMRON AC Servo Drive (G5 series) when connecting to the OMRON Controller. For example, there may be differences in the behaviors of the MC Function Module or MC instructions may not be used. Make sure to check 8. Restrictions on Motion Control in this document when designing an actual system. 55

59 8. Restrictions on Motion Control Some functions of non-omron motion control devices may be different from those of OMRON AC Servo Drive (hereinafter referred to as G5 series). This section explains the restrictions when connecting the Kollmorgen Drive to the OMRON Controller via EtherCAT with MC instructions List of Restrictions The following table shows the restrictions on G5 series functionality when using Kollmorgen Drives. Function al classifica tion Axis Variables MC Instructio ns Others Restriction level Different in behavior Different in behavior Not applicable Different in behavior Not applicable Not applicable Not applicable Different in behavior Not applicable Usage restriction Usage restriction Usage restriction Status of restricted functions The condition to turn ON DrvStatus.ILA (Drive Internal Limiting) is different from the G5 series. While DrvStatus.ServoON (Servo ON) is cleared, the servo lock of the actual device cannot be cleared. The following axis variable does not function when you set Home Input Signal to Z-phase as the homing setting. DrvStatus.Home (Home Input) If an immediate stop is used as a parameter for the MC_TouchProbe (Enable External Latch) instruction, the stop operation differs from G5 series. MC_Home instruction does not function as intended when selecting the Home Input Signal to Z-phase by using the No Home Proximity Input/Holding Home Input Homing Operation Mode. The automatic torque limit function of the MC_Home instruction does not function. Instructions used other than in the position control mode such as MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) or MC_TorqueControl do not function for the Drive. The ON/OFF condition of Statusword(6041h).bit 12: Target value ignored differs from G5 series. MC Test Run does not operate. Since there are differences in start-up time, EtherCAT communications may not always start automatically. The control period must be registered. There is a restriction on PDO entries that can be registered. Detail s 8.2. Refer ence 8.3. Refer ence 8.4. Refer ence Make sure to sufficiently check the differences before using functions that are "Different in behavior" of the MC Function Module from those of OMRON AC Servo Drive (hereinafter G5 series). Do not use the "Not applicable" MC instructions. Using any of them may cause unexpected operation, resulting in injury. 56

60 57

61 8.2. Axis Variables This section explains the restrictions on Axis Variables DrvStatus.ILA (Drive Internal Limiting) This variable shows the status of bit 11 (internal limit active) of the Status word (6041 hex) mapped to a PDO. The condition for DrvStatus.ILA to change to TRUE is explained below. Motion control device Kollmorgen Drive OMRON G5 series Conditions for DrvStatus.ILA to change to TRUE Among functions defined as Warning, any case that applies Object 6041h: Status word (DS402) of CAN-BUS Communication ( ) When any of the following restricted functions of the Servo Drive are operating. Torque limit Speed limit Driving prohibition input Software limit DrvStatus.ServoON (Servo ON) DrvStatus.ServoON becomes True after turning ON the Servo of the Kollmorgen Drive with a MC instruction. After turning OFF the Servo with a MC instruction, DrvStatus. ServoON becomes False, however, the servo lock of the actual device is not cleared DrvStatus.Home (Home Input) Since the ON/OFF status of Z-phase cannot be allocated to the process data for the Kollmorgen Drive, the MC function module cannot obtain the signal status of the Z-phase. When phase Z is set to the home signal, the value of DrvStatus.Home is always FALSE. Additional Information In the Homing mode other than No home proximity input/holding home input, the operation runs normally if the Z-phase is set to the Home signal. This is because the MC function module has no need to determine the signal status of the Z-phase. 58

62 8.3. MC Instructions This section explains the restrictions on the MC instructions Immediate Stop Function of MC_TouchProbe (Enable External Latch) When the trigger input condition mode is set to _mcdrive (Drive mode) and the stop setting is set to _mcimmediatestop for an input of the MC_TouchProbe instruction, there are differences in the stop operations after completion of latch. Motion control device Stop operation after completion of latch An immediate stop is made by performing the MC Function Module processing. (When the MC Function Module receives the latch completion status from the motion control device, the command position is output at the Kollmorgen Drive maximum speed using the latch position (RecordedPosition) as the target position.) * Compared to G5 series, an immediate stop starts slightly slower, and a travel distance to return to the target position is longer. The immediate stop function is achieved when a latch signal changes to OMRON G5 series TRUE by using bits 6 and 14 of the Touch probe function (60B8 hex) which are unique to G5 series No home proximity input/holding home input of MC_Home. In the MC_Home instruction for No home proximity input/holding home input, the MC function module commands appropriate operations based on the status of Home signal. Since the ON/OFF status of Z-phase cannot be allocated to the process data for the Kollmorgen Drive, the MC function module cannot obtain the signal status of the Z-phase. As a result, MC_Home instruction for No home proximity input/holding home input does not operate according to specifications. Additional Information In the Homing mode other than No home proximity input/holding home input, the operation runs normally if the Z-phase is set to the Home signal. This is because the MC function module has no need to determine the signal status of the Z-phase Automatic Torque Limit Function of MC_Home The automatic torque limit function (function using bits 11 and 12 PCL/NCL of Controlword (6040 Hex)) of the MC_Home instruction is unique to G5 series. Non-OMRON motion control devices do not support this function. Therefore, the automatic torque limit function cannot be used for the homing operation. Additional Information Use MC_SetTorqueLimit to execute torque limits when performing the homing MC Instructions Other Than Position Control (position) Mode Kollmorgen Drives can not change the control mode with the EtherCAT communications. 59

63 Instructions that require the mode change from the position control mode such as MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) or MC_TorqueControl can not be used. 60

64 8.4. Others This section explains other restrictions Target value ignored (command value not to be acknowledged) Statusword(6041 Hex). Bit 12: Target value ignored means a motion control device cannot acknowledge the command value from the Controller. This object is specified in CiA402 device profile. However, each company has its own specifications for the occurrence condition and operations. Therefore, there are differences in the conditions for Target Value Ignored to be FALSE and behaviors when it is FALSE. Motion control device Condition for Target value ignored to be FALSE *1 When the command update within driver is not permitted (when command Kollmorgen Drive is prohibited) during CSP/CSV/CST mode *2 Target Value Ignored changes to FALSE in the following conditions. *3 After the drive prohibit input changes to TRUE until a deceleration stop is performed When a warming regarding CSP/CSV/CST Mode occurs OMRON G5 series (e.g., when the change value of Target Position exceeds the motor maximum velocity) When an attempt is made to change the control mode, a data setting warning occurs and the current control mode remains without changing the control mode *1: "Target value ignored changes to FALSE" means that Statusword (6041 Hex). Bit 12 (Target value ignored) changes to FALSE. *2: For details, refer to Kollmorgen AKD TM EtherCAT Communnication_Manual_en-us(Part Number ). *3: For details, refer to Statusword (6041 hex) in A-1-12 Servo Drive Profile Object of the AC Servomotors/Servo Drives G5 Series with Built-in Ether-CAT Communications User's Manual (Cat. No. I576) MC Test Run The MC test run is a unique function of control G5 series. This cannot be used by non-omron motion control devices Power ON Operation It takes about 20 seconds for the Kollmorgen Drive to perform EtherCAT Communications after the power supply is turned ON. A communication failure between the Kollmorgen Drive and the NJ-series Controller can possibly be occurred and a node address may be lost during that time. In such a case, set the node address again. Turning ON the power supply to the Controller after the Kollmorgen Drive is ready, which avoids these possible problems Control period When using Kollmorgen Drives, the control period of the EtherCAT communications must be registered. Refer to step 23 Edit Setting Parameters in PDO Map Settings for the setting PDO entry Even-numbered and up to 8 bytes can only be used in a PDO entry for Kollmorgen Drives. If more than 8 bytes are needed, two or more PDO entries must be used. If you use the NJ-series Controller, select all of 1600 to 1603 and 1A00 to 1A03. Refer to the settings in PDO Map Settings for details. 61

65 9.Appendix 1 Procedure Using the Project File 9. Appendix 1 Procedure Using the Project File This section describes the procedure when using the project files listed in 4. Overview or created in 7.5. Setting Up the Controller Overview of Connection Processing Using the Sysmac Studio The following figure outlines the connection process to perform motion control via EtherCAT communications using the project file. Configuration file Sysmac Studio project file Opening the project file Personal computer Checking the EtherCAT Configuration and Setting Sysmac Studio Transferring the Project Data Controller ESI file Installing the ESI File Motion control device 62

66 9.Appendix 1 Procedure Using the Project File 9.2. Work Flow Using the Project File Take the following steps to connect to EtherCAT using the project file. Refer to each appropriate section excluding 8.3. Setting Up the Controller Using the Project File enclosed in red Preparation for Controller Prepare to set up the Controller. Setup Starting the Sysmac Studio Start the Sysmac Studio to connect to the Controller and Online Connection online Initializing the Controller Initialize the Controller Installing ESI Files Install the ESI file for the Drive in the Sysmac Studio Setting Up the Kollmorgen Set up the Kollmorgen Drive. Drive Hardware Settings Set the hardware switches on the Drive Parameter Settings Set the Drive parameters Setting Up the Controller Set up the Controller using the project file. Using the Project File Opening the Project File Import the project file to the Sysmac Studio Checking the EtherCAT Network Configuration Transferring the Project Data 7.6. Checking the Connection Status Checking the Connection Status Check the Connection Using the Operation Checking Program Check the EtherCAT network configuration with the Sysmac Studio. Transfer the project data to the Controller. Check the connection status of the EtherCAT network. Confirm that the EtherCAT communications are performed normally. Confirm that the Drive operates normally using the operation checking program. 63

67 9.Appendix 1 Procedure Using the Project File 9.3. Setting Up the Controller Using the Project File Set up the Controller using the project file. Perform 7.3. Preparation for Controller Setup and 7.4. Setting Up the Kollmorgen Drive before following the settings Opening the project file Import the project file to the Sysmac Studio. 1 Select Import from the File Menu. 2 The Import File Dialog Box is displayed. Select Kollmorgen_AKD_ECAT_V100. smc (project file) and click the Open Button. * Obtain the project file from OMRON. 3 The New Project Dialog Box is displayed asking whether to save the project. Click the No Button. 64

68 9.Appendix 1 Procedure Using the Project File 4 The Kollmorgen_AKD_ECAT_V100 Window is displayed. If the Output Tab Page is displayed as shown in the right figure, then the installed ESI file is not correct and does not correspond to the project file. Obtain the correct ESI file and repeat the procedure in Installing the ESI File. 65

69 9.Appendix 1 Procedure Using the Project File Checking the EtherCAT Network Configuration Check the EtherCAT network configuration with the Sysmac Studio Turn ON the power supply to the Controller. Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. The EtherCAT Tab Page is displayed on the Edit Pane. Node address 1, E001 and AKD Rev: 0x are displayed as a slave. Select Online from the Controller Menu. 5 The Sysmac Studio goes online. 66

70 9.Appendix 1 Procedure Using the Project File 6 The EtherCAT Tab Page is displayed again. Right-click Master and select Compare and Merge with Actual Network Configuration. A screen is displayed stating "Get information is being executed" 7 The Compare and Merge with Actual Network Configuration Pane is displayed. Confirm that the comparison result is Matched. Click the Close Button to close the dialog box. 8 * If Matched is not displayed as the comparison result, follow the Precautions for Correct Use in this section. Select Offline from the Controller Menu. Confirm that the yellow bar on the top of the Edit Pane disappeared. 67

71 9.Appendix 1 Procedure Using the Project File 9 Select Check All Programs from the Project Menu The Build Tab Page is displayed on the Edit Pane. Confirm that "0 Errors" and "0 Warnings" are displayed. Select Rebuild Controller from the Project Menu A confirmation dialog box is displayed. Confirm that there is no problem and click the Yes Button. Confirm that "0 Errors" and "0 Warnings" are displayed in the Build Tab Page. Precautions for Correct Use If Matched is not displayed as the comparison result, do not click the Apply actual network configuration Button on the Compare and Merge with Actual Network Configuration Pane. If you click the Apply actual network configuration Button, the settings including PDO map settings and axis settings of the project file will be cleared (initialized).if you accidentally click the button, repeat the procedure from 8.3. Setting Up the Controller Using the Project File. If an error occurs, refer to the following troubleshooting steps. Error 1 (ESI file error) If the following dialog box is displayed, a correct ESI file for the Drive is not installed. Obtain the correct ESI file from the device manufacturer and repeat the procedure from Installing ESI Files. Error 2 (There is a node address mismatch) 68

72 9.Appendix 1 Procedure Using the Project File When the node addresses do not match as shown below, repeat the procedure from 7.4. Setting Up the Kollmorgen Drive. Error 3 (There is a revision mismatch) When the revisions do not match as shown below, contact the device manufacturer to see if the ESI file is correct for the Drive. Confirm that no adverse effect will occur due to the revisions and continue the operation Transferring the Project Data Transfer the project data to the Controller. Always confirm safety at the destination node 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 the CPU Unit. After you transfer the user program, the CPU Unit is restarted. Communications with the EtherCAT slaves are cut off for up to 45 seconds. During that period, the slave outputs behave according to the slave settings. Before you transfer the user program, confirm that the system will not be adversely affected. 69

73 9.Appendix 1 Procedure Using the Project File 1 Select Online from the Controller Menu. 2 Select Synchronization from the Controller Menu. 3 The Synchronization Dialog Box is displayed. Confirm that the data to transfer (NJ501 in the right dialog box) is selected. Then, click the Transfer To Controller Button. * After executing the Transfer To Controller, the Sysmac Studio data is transferred to the Controller and the data are compared. 70

74 9.Appendix 1 Procedure Using the Project File 4 A confirmation dialog box is displayed. Confirm that there is no problem and click the Yes Button. The dialog box stating synchronizing is displayed. A confirmation dialog box is displayed. Confirm that there is no problem and click the Yes Button. 5 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. * A message 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 2. 71