Omron NJ-series Mode d’emploi

Machine Automation Controller NJ-series

EtherCAT(R) Connection Guide

OMRON Corporation

Vision Sensor

(FQ-MS12[](-M)-ECT)

P610-E1-01

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 USAand 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.

Table of Contents

1. Related Manuals.......................................................................................... 1

2. Terms and Definitions................................................................................. 2

3. Precautions.................................................................................................. 3

4. Overview ...................................................................................................... 4

5. Applicable Devices and Device Configuration........................................ 4

5.1. Applicable Devices.............................................................................. 4

5.2. Device Configuration........................................................................... 5

6. EtherCAT Settings....................................................................................... 7

6.1. Setting the Vision Sensor Parameters................................................ 7

6.2. Device Variables.................................................................................. 8

7. EtherCAT Connection Procedure.............................................................. 9

7.1. Work Flow............................................................................................ 9

7.2. Hardware Settings of the Vision Sensor ........................................... 10

7.3. Setting Up the Controller................................................................... 12

7.4. Setting the Vision Sensor Parameters.............................................. 23

7.5. Checking the EtherCAT Communications......................................... 30

8. Initialization Method.................................................................................. 33

8.1. Initializing the Controller.................................................................... 33

8.2. Initializing the Vision Sensor ............................................................. 33

9. Revision History........................................................................................ 34

．

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-[][][][]

NJ301-[][][][] NJ-series CPU Unit Hardware User's Manual

W501 NJ501-[][][][]

NJ301-[][][][] NJ-series CPU Unit Software User's Manual

W505 NJ501-[][][][]

NJ301-[][][][] NJ-series CPU Unit Built-in EtherCAT(R) Port User's Manual

W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual

Z314 FQ-MS12[] Vision Sensor FQ-M-series

Specialized Vision Sensor for Positioning User’s Manual

．

Terms and Definitions

2. Terms and Definitions

Term Explanation and Definition

PDO Communications

(Communications using

Process Data Objects)

This method is used for cyclic data exchange between the

master unit and the slave units.

PDO data (i.e., I/O data that is mapped to PDOs) that is

allocated in advance is refreshed periodically each EtherCAT

process data communications cycle (i.e., the period of primary

periodic task).

The NJ-series MachineAutomation Controller uses the PDO

Communications for commands to refresh I/O data in a fixed

control period, including I/O data for EtherCAT Slave Units, and

the position control data for the Servomotors.

It is accessed from the NJ-series MachineAutomation

Controller in the following ways.

・With device variables for EtherCAT slave I/O

・

WithAxis Variables for Servo Drive and encoder input slave to

which assigned as an axis

SDO Communications

(Communications using

Service Data Objects)

This method is used to read and write the specified slave unit

data from the master unit when required.

The NJ-series Machine Automation Controller uses SDO

Communications for commands to read and write data, such as

for parameter transfers, at specified times.

The NJ-series MachineAutomation 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.

Slave unit There are various types of slaves such as Servo Drives that

handle position data and I/O terminals that handle the bit

signals.

The slave unit receives output data sent from the master, and

sends input data to the master.

Node address A node address is an address to identify a unit connected to

EtherCAT.

．

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 and Precautions for Safe 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 July 2014. It is subject to

change without notice for improvement.

The following notations are used in this document.

Indicates a potentially hazardous situation which, if not

avoided, 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 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 text.

This example shows a general precaution for something that must do.

．

Overview

4. Overview

This document describes the procedure for connecting Vision Sensor (FQ-MS12[](-M)-ECT,

hereinafter referred to as Vision Sensor) of OMRON Corporation (hereinafter referred to as

OMRON) to NJ-series Machine Automation Controller (hereinafter referred to as Controller)

via EtherCAT and provides the procedure for checking their connection.

Refer to Section 6 EtherCAT Settings and Section 7 EtherCAT Connection Procedure to

understand the setting method and key points to operate PDO Communications of EtherCAT.

5. Applicable Devices and Device Configuration

5.1. Applicable Devices

The applicable devices are as follows:

Manufacturer Name Model

OMRON NJ-series CPU Unit NJ501-[][][][]

NJ301-[][][][]

OMRON Vision Sensor

FQ-MS12[]-ECT

FQ-MS12[]-M-ECT

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. It does not

provide information on operation, installation or wiring method which is not related to the

connection procedure. It also does not describe the functionality or operation of the devices.

Refer to the manuals or contact your OMRON representative.

．

Applicable Devices and Device Configuration

5.2. Device Configuration

The hardware components to reproduce the connection procedure of this document are as

follows:

Manufacturer

Name

Model

Version

OMRON

CPU Unit

(Built-in EtherCAT port)

NJ501-1500

Ver.1.08

OMRON

Power Supply Unit

NJ-PA3001

OMRON

Sysmac Studio*2

SYSMAC-SE2[][][]

Ver.1.09

Personal computer

(OS: Windows7)

USB cable

(USB 2.0 type B connector)

OMRON

Ethernet cables (with industrial Ethernet

connector(M12-RJ45))

<Two cables: for EtherCAT connection/ for

connecting Personal computer to Vision

Sensor>

FQ-WN[][][]

or,

FQ-MWNL[][][]

OMRON

Vision Sensor

FQ-MS120-M-ECT

Ver.1.5

OMRON

I/O cable

FQ-MWD[][][]

or,

FQ- MWDL[][][]

24 VDC power supply

*1: Use the Sysmac Studio on the Personal computer to set up or adjust the Vision Sensor via

Ethernet. You cannot set up or adjust the Vision Sensor through the Controller via EtherCAT.

*2: In the Vision Sensor FQ-M-series Specialized Vision Sensor for Positioning User’s Manual

(Cat.No.Z314), Sysmac Studio is called “Sysmac Studio Standard Edition”. This is to distinguish

it from "Sysmac Studio Vision Edition" (SYSMAC-VE001L) that provides the selected functions

that are required to set up the Vision Sensors from the Sysmac Studio.

Sysmac Studio Standard Edition (hereinafter referred to as Sysmac Studio) is used in this

document.

24 VDC

power supply

Personal computer

(Sysmac Studio installed,

OS：Windows 7)

USB cable

NJ501-1500

(Built-in EtherCAT port)

Ethernet cable

FQ-MS120-M-ECT

Ethernet cable *

I/O cable

．

Applicable Devices and Device Configuration

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 cables and network wirings, 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 to the Controller.

For 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).

．

EtherCAT Settings

6. EtherCAT Settings

This section describes the specifications such as parameters and device variables for the

Vision Sensor that are set in this document.

Hereinafter, the Vision Sensor is referred to as the "Destination Device" or the "Slave Unit" in

some descriptions.

6.1. Setting the Vision Sensor Parameters

The parameter required connecting the Controller and the Vision Sensor via EtherCAT is

given below.

Setting item Set value

Node address setting switch 1

Output data size 259

+262

sending PDO mapping: 256 bytes

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