DELTA ELECTRICS, INC.

Transcription

1 Machine Automation Controller NJ-series EtherCAT(R) Connection Guide DELTA ELECTRICS, INC. EtherCAT Slave Remote module (R1-EC Series) P655-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 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 Settings Parameters Remote Module Configuration Device Variables EtherCAT Connection Procedure Work Flow DELTA ELECTRONICS Remote Module Setup Controller Setup EtherCAT Communication Status Check Initialization method Initializing Controller Revision History... 37

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 DELTA ELECTRONICS, INC. (hereinafter referred to as DELTA ELECTRONICS) and OMRON Corporation (hereinafter referred to as OMRON), which pertain to this document. 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 DELTA - R1-EC5500 R1-EC-5500 User Guide ELECTRONICS DELTA - R1-EC5621 R1-EC-5621 User Guide ELECTRONICS DELTA - R1-EC60[]2 R1-EC-60X2 User Guide ELECTRONICS DELTA - R1-EC7062 R1-EC-7062 User Guide ELECTRONICS DELTA - R1-EC8124 R1-EC-8124 User Guide ELECTRONICS DELTA ELECTRONICS - R1-EC9144 R1-EC-9144 User 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 This method is used for cyclic data exchange between a master unit and slave units. PDO data (i.e., I/O data that is mapped to PDOs) that is allocated in advance is refreshed periodically each EtherCAT process data communications cycle. (i.e., the period of primary periodic task) The NJ-series Machine Automation Controller uses 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 assigned as an axis This method is used to read and write the specified slave unit data from a master unit when required. The NJ-series Machine Automation Controller uses SDO communications for commands to read and write data, such as for parameter transfers, at specified times. The NJ-series Machine Automation Controller can read/write the specified slave data (parameters and error information, etc.) with the EC_CoESDORead (Read CoE SDO) instruction or the EC_CoESDOWrite (Write CoE SDO) instruction. There are various types of slaves such as servo drives that handle position data and I/O terminals that handle bit signals. The slave unit receives output data sent from the master, and sends input data to the master. A node address is an address to identify a unit connected to EtherCAT. An ESI file contains information unique to slave units in XML format. Installing an ESI file enables Sysmac Studio to allocate 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 document without the permission of OMRON Corporation. (5) The information contained in this document is current as of July It is subject to change for improvement without notice. The following notations are used in this document. 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 document describes the procedures for connecting DELTA ELECTRONICS EtherCAT Slave Remote Module R1-EC Series to OMRON NJ-series Machine Automation Controller (hereinafter referred to as Controller) via EtherCAT and for checking the 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. In this document, the EtherCAT slave unit that is configured of the I/O modules and EtherCAT to E-BUS Power Module combined together is called "Remote Module". 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-[][][][] DELTA ELECTRONICS EtherCAT Slave Remote Module EtherCAT to E-BUS Power Module Single-axis Pulse Output Module 16 Ports Digital Input Module 16 Ports Digital Output Module 4 Channel 16-bit Single-ended A/D Input Module 4 Channel 16-bit D/A Output Module R1-EC5500 R1-EC5621 R1-EC60[]2 R1-EC7062 R1-EC8124 R1-EC9144 Precautions for Correct Use In this document, 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 document describes the procedures for establishing the network connections. It does not provide information on operation, installation, wiring method, device functionality, or device operation, which is not related to the connection procedures. Refer to the manuals or contact the device manufacturer. Additional Information Contact DELTA ELECTRONICS, INC. for modules connectable to EtherCAT to E-BUS Power Module. 5

9 5.Applicable Devices and Device Configuration 5.2. Device Configuration The hardware components to reproduce the connection procedures in this document are as follows: Personal computer (Sysmac Studio installed, OS: Windows 7) USB cable NJ (Built-in EtherCAT port) Ethernet cable R1-EC5500+ R1-EC5621+ R1-EC6022+ R1-EC7062+ R1-EC8124+ R1-EC VDC power supply Manufacturer Name Model Version OMRON NJ-series CPU Unit NJ Ver.1.11 (Built-in EtherCAT port) OMRON Power Supply Unit NJ-PA3001 OMRON Sysmac Studio SYSMAC-SE2[][][] Ver Personal computer (OS: Windows 7) - - USB cable - (USB 2.0 type B connector) OMRON Ethernet cable XS5W-T421-[]M[]-K (with industrial Ethernet connector) DELTA ELECTRONICS EtherCAT to E-BUS Power Module R1-EC5500 Rev.0x DELTA ELECTRONICS Single-axis Pulse Output Module R1-EC5621 Rev.0x DELTA ELECTRONICS 16 Ports Digital Input Module R1-EC6022 Rev.0x DELTA ELECTRONICS 16 Ports Digital Output Module R1-EC7062 Rev.0x DELTA ELECTRONICS 4 Channel 16-bit Single-ended A/D Input Module R1-EC8124 Rev.0x DELTA ELECTRONICS 4 Channel 16-bit D/A Output Module R1-EC9144 Rev.0x DELTA ESI file (for EtherCAT to E-BUS ELECTRONICS Power Module) Delta R1-EC55xx.xml DELTA ESI file (for Single-axis Pulse Output ELECTRONICS Module) Delta R1-ECx62x.xml DELTA ESI file (for 16 Ports Digital Input ELECTRONICS Module) Delta R1-EC60x2.xml DELTA ESI file (for 16 Ports Digital Output ELECTRONICS Module) Delta R1-EC70x2.xml DELTA ESI file (for 4 Channel 16-bit ELECTRONICS Single-ended A/D Input Module) Delta R1-EC8124.xml DELTA ESI file (for 4 Channel 16-bit D/A ELECTRONICS Output Module) Delta R1-EC9144.xml - 24 VDC power supply (for Remote Module) - 6

10 5.Applicable Devices and Device Configuration Precautions for Correct Use Prepare the ESI files listed on the previous page beforehand. To obtain the ESI files, contact DELTA ELECTRONICS, INC. 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. 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 document 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 24 VDC power supply available for Remote Module, refer to the R1-EC-5500 User Manual. Additional Information The system configuration in this document 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 in Appendices of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504). 7

11 6.EtherCAT Settings 6. EtherCAT Settings This section describes the setting contents of the parameters and the device variables that are all defined in this document. Hereinafter, Remote Module is referred to as "Slave Unit" in some descriptions Parameters The parameters required for connecting Controller and Remote Module via EtherCAT are shown below. Name Item Module Set value Remote Node Address EtherCAT to E-BUS Power 1 Module Module Single-axis Pulse Output 2 Module 16 Ports Digital Input Module 3 16 Ports Digital Output Module 4 4 Channel 16-bit Single-ended 5 A/D Input Module 4 Channel 16-bit D/A Output 6 Module Enable Distributed Clock Single-axis Pulse Output Module Enabled (DC-Synchronous) Controller Period/Execution - Conditions 1(ms) Precautions for Correct Use When you use Single-axis Pulse Output Module with the distributed clock being enabled, set Period/Execution Conditions for Controller to 0.5, 1, or 2 ms since the support range of communication cycle for DC-Synchronous is between 0.5 and 2 ms. 8

12 6.EtherCAT Settings 6.2. Remote Module Configuration The Remote Module configuration to use in this document is shown below. The device variables described in 6.3. Device Variables are set according to the Remote Module configuration described here. Device name Module name Model number E001 EtherCAT to E-BUS Power Module R1-EC5500 E002 Single-axis Pulse Output Module R1-EC5621 E ports Digital Input Module R1-EC6022 E Ports Digital Output Module R1-EC7062 E005 4 Channel 16-bit Single-ended A/D Input Module R1-EC8124 E006 4 Channel 16-bit D/A Output Module R1-EC9144 E001 E002 E003 E004 E005 E006 9

13 6.EtherCAT Settings 6.3. Device Variables The PDO communications data with Remote Module are assigned to the Controller's device variables. The device variables and the data types are shown below. Output area (Controller to Remote Module) Module name Device variable name Data type Description Single-axis E002_2nd_Rx_PDO_mapping_ UINT Control word Pulse Output Module Controlword_6040_00 E002_2nd_Rx_PDO_mapping_ Target_position_607A_00 DINT Target position 16 Ports E004_Channel_1_Output_7000_01 BOOL Port 0 1 Output (Y00) Digital Output E004_Channel_2_Output_7010_01 BOOL GPIO 2 Output (Y01) Module E004_Channel_3_Output_7020_01 BOOL 3 Output (Y02) E004_Channel_4_Output_7030_01 BOOL 4 Output (Y03) E004_Channel_5_Output_7040_01 BOOL 5 Output (Y04) E004_Channel_6_Output_7050_01 BOOL 6 Output (Y05) E004_Channel_7_Output_7060_01 BOOL 7 Output (Y06) E004_Channel_8_Output_7070_01 BOOL 8 Output (Y07) E004_Channel_9_Output_7080_01 BOOL Port 1 9 Output (Y08) E004_Channel_10_Output_7090_01 BOOL GPIO 10 Output (Y09) E004_Channel_11_Output_70A0_01 BOOL 11 Output (Y10) E004_Channel_12_Output_70B0_01 BOOL 12 Output (Y11) E004_Channel_13_Output_70C0_01 BOOL 13 Output (Y12) E004_Channel_14_Output_70D0_01 BOOL 14 Output (Y13) E004_Channel_15_Output_70E0_01 BOOL 15 Output (Y14) E004_Channel_16_Output_70F0_01 BOOL 16 Output (Y15) 4 Channel E006_Rx_PDO_mapping_Analog_ou UINT Analog Output ch.0 16-bit D/A Output Module tput_ch0_6411_01 E006_Rx_PDO_mapping_Analog_ou UINT output Output ch.1 tput_ch1_6411_02 E006_Rx_PDO_mapping_Analog_ou UINT Output ch.2 tput_ch2_6411_03 E006_Rx_PDO_mapping_Analog_ou tput_ch3_6411_04 UINT Output ch.3 10

14 6.EtherCAT Settings Input area (Remote Module to Controller) Module name Device variable name Data type Description Single-axis Pulse Output Module 16 ports Digital Input Module 4 Channel 16-bit Single-ended A/D Input Module E002_2nd_Tx_PDO_mapping_ UINT Status word Statusword_6041_00 E002_2nd_Tx_PDO_mapping_ Position_actual_value_6064_00 DINT Position actual value E003_Channel_1_Input_6000_01 BOOL Port 0 1 Input (X00) E003_Channel_2_Input_6010_01 BOOL GPIO 2 Input (X01) E003_Channel_3_Input_6020_01 BOOL 3 Input (X02) E003_Channel_4_Input_6030_01 BOOL 4 Input (X03) E003_Channel_5_Input_6040_01 BOOL 5 Input (X04) E003_Channel_6_Input_6050_01 BOOL 6 Input (X05) E003_Channel_7_Input_6060_01 BOOL 7 Input (X06) E003_Channel_8_Input_6070_01 BOOL 8 Input (X07) E003_Channel_9_Input_6080_01 BOOL Port 1 9 Input (X08) E003_Channel_10_Input_6090_01 BOOL GPIO 10 Input (X09) E003_Channel_11_Input_60A0_01 BOOL 11 Input (X10) E003_Channel_12_Input_60B0_01 BOOL 12 Input (X11) E003_Channel_13_Input_60C0_01 BOOL 13 Input (X12) E003_Channel_14_Input_60D0_01 BOOL 14 Input (X13) E003_Channel_15_Input_60E0_01 BOOL 15 Input (X14) E003_Channel_16_Input_60F0_01 BOOL 16 Input (X15) E005_Tx_PDO_mapping_Analog_ UINT Analog Input ch.0 input_ch0_6401_01 input E005_Tx_PDO_mapping_Analog_ UINT Input ch.1 input_ch1_6401_02 E005_Tx_PDO_mapping_Analog_ UINT Input ch.2 input_ch2_6401_03 E005_Tx_PDO_mapping_Analog_ input_ch3_6401_04 UINT Input ch.3 Additional Information The device variables are named automatically from a combination of the device names and the port names. The default device names for each of the modules are "E" followed by a serial number that starts from

15 7. EtherCAT Connection Procedure This section describes the procedures for connecting Controller and Remote Module via EtherCAT. The explanation of procedure for setting up Controller given in this document is based on the factory default settings. For the initialization, refer to Section 8. Initialization Method Work Flow Take the following steps to perform PDO communications by connecting Controller and Remote Module via EtherCAT DELTA ELECTRONICS Remote Set up DELTA ELECTRONICS Remote Module. Module Setup Cable Connection Connect the cables to Remote Module Controller Setup Set up Controller Starting Sysmac Studio and Install the ESI files for Remote Module in Sysmac Studio. Installing the ESI Files Setting up the EtherCAT Set up the EtherCAT network configuration. Network Configuration Setting the Device Variables Set the parameters for Slave Unit and Controller, and set the device variables to use for Slave Unit Transferring the Project Data Transfer the project data from Sysmac Studio to Controller EtherCAT Communication Status Confirm that PDO communications performs normally via EtherCAT. Check Checking the Connection Status Check the connection status of the EtherCAT network Checking the Sent and Check that the correct data are sent and received. Received Data 12

16 7.2. DELTA ELECTRONICS Remote Module Setup Set up DELTA ELECTRONICS Remote Module Cable Connection Connect the cables to Remote Module. Precautions for Correct Use Make sure that the power supply is OFF when you set up. 1 Make sure that Remote Module is powered OFF. 2 3 *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 EtherCAT to E-BUS Power Module by referring to the figure on the right. Combine the modules with EtherCAT to E-BUS Power Module in the order of arrangement that is shown in the figure on the right. EtherCAT Communications Protocol Input Port EtherCAT Communications Protocol Output Port 24V Power Port No. Module name 1 EtherCAT to E-BUS Power Module 2 Single-axis Pulse Output Module 3 16 Ports Digital Input Module 4 16 Ports Digital Output Module 5 4 Channel 16-bit Single-ended A/D Input Module 6 4 Channel 16-bit D/A Output Module 13

17 4 Connect an Ethernet cable to EtherCAT Communications Protocol Input Port. Ethernet cable 5 Connect 24 VDC power supply to 24V Power Port. 24 VDC power supply (for Remote Module) 14

18 7.3. Controller Setup Set up Controller Starting Sysmac Studio and Installing the ESI Files Install the ESI files for Remote Module 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 Remote Module to Controller. Turn ON Controller and Remote Module. 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 Remote Module 5 The Connect to Device Dialog Box is displayed. Select Direct connection via USB in the Connection type Field. Uncheck both Upload the project and Display the Troubleshooting Dialog Box in the Operation after Connection Field. Click Connect. 15

19 6 A confirmation dialog box is displayed. Check the contents and click OK. 7 *The displayed dialog depends 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 Middle top: 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. 16

20 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 files. Copy the following prepared ESI files to this folder. Delta R1-EC55xx.xml Delta R1-ECx62x.xml Delta R1-EC60x2.xml Delta R1-EC70x2.xml Delta R1-EC8124.xml Delta R1-EC9144.xmll 17

21 14 Select Exit from the File Menu to exit Sysmac Studio. *You need to restart Sysmac Studio after installing the ESI files. 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 Delta R1-EC55xx to check that R1-EC5500 Rev:0x is displayed. Check that an exclamation mark (warning) is not displayed. 18

22 16 In the same way as step 15, click the + Buttons of the following ESI. Delta R1-EC60x2 Delta R1-EC70x2 Delta R1-EC8124 Delta R1-EC9144 Delta R1-ECx62x Check that the following data are displayed. R1-EC6022 Rev:0x R1-EC7062 Rev:0x R1-EC8124 Rev:0x R1-EC9144 Rev:0x R1-EC5621 Rev:0x Click Close. Precautions for Correct Use If an exclamation mark (warning) is displayed for any of these ESI files, check the name of the ESI file(s) and obtain the ESI file(s) with a correct name. If an exclamation mark (warning) is displayed even when the name of the ESI file(s) is correct, the file(s) may be corrupted. In that case, contact the device manufacturer. 19

23 Setting up the EtherCAT Network Configuration Set up the EtherCAT network configuration. When you power cycle Slave Unit in step 7, 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 Files to display. A screen is displayed stating "Get information is being executed". 2 3 The Slave Node Address Writing Dialog Box is displayed. R1- EC5500 Rev:0x is displayed in the Actual network configuration. Enter 1 in the Set value Column as a node address. 4 Check that no error is displayed and that the set value is 1. Click the + Button. 20

24 5 The modules except for R1- EC5500 are displayed. In the same way as steps 2 to 4, enter the following node addresses. R1-EC5621: 2 R1-EC6022: 3 R1-EC7062: 4 R1-EC8124: 5 R1-EC9144: 6 6 Click Write. 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. 7 Power cycle Slave Unit. 21

25 8 Right-click Master on the EtherCAT Tab Page in the Edit Pane and select Compare and Merge with Actual Network Configuration. A screen is displayed stating "Get information is being executed". 9 The Compare and Merge with Actual Network Configuration Dialog Box is displayed. The node addresses and the modules are added to the Actual network configuration as shown below. 1: R1-EC5500 Rev:0x : R1-EC5621 Rev:0x : R1-EC6022 Rev:0x : R1-EC7062 Rev:0x : R1-EC8124 Rev:0x : R1-EC9144 Rev:0x Click Apply actual network configuration. 22

26 10 A confirmation dialog box is displayed. Check the contents and click Apply. The confirmation dialog box on the right is displayed. Check the contents and click Close. 11 As a node address 1 module, E001 R1-EC5500 Rev:0x is added to the Network configuration on Sysmac Studio. 12 After checking that the data above are added, Click the + Button. As node addresses 2 to 6 modules, the following device names, models, and revisions are displayed in the Network configuration on Sysmac Studio. 2: E002 R1-EC5621 Rev:0x : E003 R1-EC6022 Rev:0x : E004 R1-EC7062 Rev:0x : E005 R1-EC8124 Rev:0x : E006 R1-EC9144 Rev:0x After checking that the data above are added. Click Close. Node address 1 and E001 R1-EC5500 Rev:0x are added to the EtherCAT Tab Page in the Edit Pane. After checking that the data above are added, Click the + Button. 23

27 14 As node addresses 2 to 6 modules, the following device names, models, and revisions are displayed on the EtherCAT Tab Page in the Edit Pane. 2: E002 R1-EC5621 Rev:0x : E003 R1-EC6022 Rev:0x : E004 R1-EC7062 Rev:0x : E005 R1-EC8124 Rev:0x : E006 R1-EC9144 Rev:0x

28 Setting the Device Variables Set the parameters for Slave Unit and Controller, and 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 E *The device name can be changed as desired. The same applies to the devices with node addresses 2 to 6. Select the node address 2 module, and select Enabled (DC-Synchronous) from the pull-down list of Enable Distributed Clock. 4 5 Double-click Task Settings under Configurations and Setup in the Multiview Explorer. The Task Settings Tab Page is displayed in the Edit Pane. Check that Period/ Execution Conditions is 1ms. Double-click I/O Map under Configurations and Setup in the Multiview Explorer. 25

29 6 The I/O Map Tab Page is displayed in the Edit Pane. Check that Node1 to Node6 are displayed in the Position Column and that the added modules are 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. : 7 Select EtherCAT Network Configuration. Right-click EtherCAT Network Configuration and select Create Device Variable. 26

30 8 The variable names and types of Node2 to Node6 are set. *There is no variable set for Node 1. : Additional Information The device variables are named automatically from a combination of the device names and the port names. The default device names for each of the modules are "E" followed by a serial number that starts from 001. Additional Information In this document, device variables are automatically named for the whole Remote Module. Device variables can also be manually named for each unit or port. 27

31 Transferring the Project Data Transfer the project data from 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. After you transfer the project data, CPU Unit restarts, and communications with the slaves is cut off. During the period, the slave outputs behave according to the slave settings. The time that communications is cut off depends on the EtherCAT network configuration. Before you transfer the project data, confirm that the slave settings will not adversely affect the device. The Slave Unit will be reset after performing the synchronization in step 7 and subsequent steps, and the device may perform unexpected operation. Always confirm safety before you perform the synchronization. 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. 28

32 3 Select Rebuild Controller from the Project Menu. 4 A confirmation dialog box is displayed. Confirm that there is no problem, and click Yes. 5 Check that "0 Errors" and "0 Warnings" are displayed on the Build Tab Page. 6 Select Online from the Controller Menu. 7 When an online connection is established, a yellow bar is displayed under the toolbar. Select Synchronize from the Controller Menu. 8 The Synchronization Dialog Box is displayed. Check that the data to transfer (NJ501 in the right dialog box) is selected. Then, click Transfer To Controller. *After executing the Transfer To Controller, the Sysmac Studio data is transferred to Controller, and the data is compared. 29

33 9 A confirmation dialog box is displayed. Confirm that there is no problem, and click Yes. A screen is displayed stating "Synchronizing". A confirmation dialog box 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. 30

34 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 Remote Module. The LED indicators in normal status are as follows: Power Indicator: Green lit Status Indicator: Yellow lit Power Indicator Status Indicator 31

35 Checking the Sent and Received Data Check that the correct data are sent and received. In this procedure, the output of Remote Module is performed, which may have a risk of unexpected operation of Remote Module. Take adequate safety precautions 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 Remote Module safe. If you wire the I/O in the state where the devices are powered ON, doing so may cause damage to the devices. Always read and follow the information provided in all safety precautions in the manuals for each device to be wired. If you change the variable values on a Watch Tab Page when Sysmac Studio is online with CPU Unit, the devices connected to the output unit may operate regardless of the operating mode of CPU Unit. Always ensure safety before you change the variable values on a Watch Tab Page when Sysmac Studio is online with CPU Unit 1 Select Watch Tab Page from the View Menu. 2 Select the Watch1 Tab. 32

36 3 Click Input Name and enter the following variable names for monitoring. E003_Channel_1_Input_6000_01 E003_Channel_2_Input_6010_01 E003_Channel_3_Input_6020_01 E003_Channel_4_Input_6030_01 E003_Channel_5_Input_6040_01 E003_Channel_6_Input_6050_01 E003_Channel_7_Input_6060_01 E003_Channel_8_Input_6070_01 E004_Channel_1_Output_7000_01 E004_Channel_2_Output_7010_01 E004_Channel_3_Output_7020_01 E004_Channel_4_Output_7030_01 E004_Channel_5_Output_7040_01 E004_Channel_6_Output_7050_01 E004_Channel_7_Output_7060_01 E004_Channel_8_Output_7070_01 4 Click TRUE for E004_Channel_1_Output_7000_01 in the Modify Column. The online value of E004_Channel_1_Output_7000_01 changes to True. Likewise, set the online values of the following variables to True. E004_Channel_3_Output_7020_01 E004_Channel_5_Output_7040_01 E004_Channel_7_Output_7060_01 33

37 5 Check that the LED indicators on 16 Ports Digital Output Module are as follows: Y00: Green lit Y02: Green lit Y04: Green lit Y06: Green lit Y00 (Port 0 GPIO 1 Output) Y02 (Port 0 GPIO 3 Output) Y04 (Port 0 GPIO 5 Output) Y06 (Port 0 GPIO 7 Output) 6 Click FALSE for E004_Channel_1_Output_7000_01 in the Modify Column. The online value of E004_Channel_1_Output_7000_01 changes to False. Likewise, set the online values of the following variables to False. E004_Channel_3_Output_7020_01 E004_Channel_5_Output_7040_01 E004_Channel_7_Output_7060_01 7 Check that the LED indicators on 16 Ports Digital Output Module are as follows: Y00: Not lit Y02: Not lit Y04: Not lit Y06: Not lit 34

38 8 9 Turn ON Port 0 GPIO 1 Input (X00), 3 Input (X02), 5 Input (X04), and 7 Input (X06) on 16 Ports Digital Input Module. Check that the LED indicators on 16 Ports Digital Input Module are as follows: X00: Green lit X02: Green lit X04: Green lit X06: Green lit *For details on wiring for 16 Ports Digital Input Module, refer to the R1-EC-60X2 User Guide. Check that the online values of the following variables are True. E003_Channel_1_Input_6000_01 E003_Channel_3_Input_6020_01 E003_Channel_5_Input_6040_01 E003_Channel_7_Input_6060_01 X00 (Port 0 GPIO 1 Input) X02 (Port 0 GPIO 3 Input) X04 (Port 0 GPIO 5 Input) X06 (Port 0 GPIO 7 Input) Turn OFF Port 0 GPIO 1 Input (X00), 3 Input (X02), 5 Input (X04), and 7 Input (X06) on 16 Ports Digital Input Module. Check that the LED indicators on 16 Ports Digital Input Module are as follows: X00: Not lit X02: Not lit X04: Not lit X06: Not lit Check that the online values of the following variables are False. E003_Channel_1_Input_6000_01 E003_Channel_3_Input_6020_01 E003_Channel_5_Input_6040_01 E003_Channel_7_Input_6060_01 35

39 8.Initialization method 8. Initialization method The setting procedures in this document 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. 36

40 9.Revision History 9. Revision History Revision Date of revision code 01 July 14, 2016 First edition Description of revision 37

41 38

42 2016 P655-E (-)