OMRON NJ -series Machine Automation Controller, ZW-7000 Series Displacement Sensor Connection Guide

Machine Automation Controller NJ-series
EtherCAT(R)
Connection Guide
OMRON Corporation
Displacement Sensor
(ZW-7000 Series)
P651-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 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.
Table of Contents
1.
Related Manuals ........................................................................................ 1
2.
Terms and Definitions ............................................................................... 2
3.
Precautions ................................................................................................ 3
4.
Overview .................................................................................................... 4
5.
Applicable Devices and Device Configuration ....................................... 5
5.1. Applicable Devices ................................................................................ 5
5.2. Device Configuration ............................................................................. 6
6.
EtherCAT Settings ..................................................................................... 8
6.1. Parameters ............................................................................................ 8
6.2. Device Variables .................................................................................... 9
7.
EtherCAT Connection Procedure ........................................................... 12
7.1. Work Flow ............................................................................................ 12
7.2. Sensor Controller Setup ...................................................................... 13
7.3. Controller Setup ................................................................................... 23
7.4. EtherCAT Communication Status Check ............................................. 32
8.
Initialization method ................................................................................ 36
8.1. Initializing Controller ............................................................................ 36
8.2. Initializing Sensor Controller ................................................................ 36
9.
Revision History ...................................................................................... 37
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.
Cat. No.
W500
W501
W505
W504
Model
Manual name
NJ501-[][][][]
NJ-series
NJ301-[][][][]
CPU Unit
NJ101-[][][][]
Hardware User's Manual
NJ501-[][][][]
NJ/NX-series
NJ301-[][][][]
CPU Unit
NJ101-[][][][]
Software User's Manual
NJ501-[][][][]
NJ/NX-series
NJ301-[][][][]
CPU Unit Built-in EtherCAT(R) Port
NJ101-[][][][]
User's Manual
SYSMAC-SE2[][][]
Sysmac Studio Version 1
Operation Manual
0969584-7
W4S1-05[]
Switching Hub
W4S1-03B
W4S1-series
Users Manual
Z362
ZW-7000[]
Displacement Sensor ZW-7000 series
Confocal Fiber Type
Displacement Sensor User’s Manual
Z363
ZW-7000[]
Displacement Sensor ZW-7000 series
Confocal Fiber Type Displacement
Sensor User’s Manual for
Communications Settings
1
2．Terms and Definitions
2. Terms and Definitions
Term
PDO communications
(Communications using
Process Data Objects)
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 the 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
SDO communications
(Communications using
Service Data Objects)
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.
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.
2
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 May 2016. 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
4．Overview
4. Overview
This document describes the procedures for connecting Confocal Fiber Type Displacement
Sensor (hereinafter referred to as Sensor Controller) to NJ-series Machine Automation
Controller (hereinafter referred to as Controller) via EtherCAT, both produced by OMRON
Corporation (hereinafter referred to as OMRON), and for checking their connections.
Refer to Section 6. EtherCAT Settings and Section 7. EtherCAT Connection Procedure to
understand setting methods and key points to perform PDO Communications via EtherCAT.
4
5．Applicable Devices and Device Configuration
5. Applicable Devices and Device Configuration
5.1. Applicable Devices
The applicable devices are as follows:
Manufacturer
OMRON
Name
NJ-series CPU Unit
Model
NJ501-[][][][]
NJ301-[][][][]
NJ101-[][][][]
OMRON
Confocal Fiber Type
Displacement Sensor
Sensor Controller
ZW-7000[]
Sensor Head
ZW-S70[][]
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 your OMRON representative.
5
5．Applicable Devices and Device Configuration
5.2. Device Configuration
The hardware components to reproduce the connection procedures in this document are as
follows:
NJ501-1500
(Built-in EtherCAT port)
Personal computer
(Sysmac Studio Installed,
OS: Windows 7）
ZW-7000
Ethernet cable
USB cable
W4S1-05C
LAN cable
24 VDC power supply
(for Sensor Controller)
ZW-S7030
Calibration ROM
24 VDC power supply
(for Switching hub)
Manufacturer
OMRON
Name
LAN cable
Model
NJ501-1500
OMRON
CPU Unit
(Built-in EtherCAT port)
Power Supply Unit
Sysmac Studio
Personal computer (OS: Windows 7)
USB cable (USB 2.0 type B connector)
LAN cable
(STP (shielded, twisted-pair) cable of
Ethernet category 5 or higher)
Switching hub
24 VDC power supply
(for switching hub)
Ethernet cable
(with industrial Ethernet connector)
Sensor Controller
OMRON
Sensor Head
ZW-S7030
OMRON
Calibration ROM
(Supplied with Sensor Head)
OMRON
24 VDC power supply
S8VS-06024
OMRON
OMRON
OMRON
OMRON
NJ-PA3001
SYSMAC-SE2[][][]
W4S1-05C
-
Version
Ver.1.10
Ver.1.15
Ver.1.00
XS5W-T421-[]M[]-K
ZW-7000
Rev.1.0
(for Sensor Controller)
(DC24V 2.5A 60W)
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 the Ethernet 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.
6
5．Applicable Devices and Device Configuration
Precautions for Correct Use
Update Sysmac Studio to the version specified in this Clause 5.2. or to a higher version.
If you use a version higher than the one specified, the procedures and related screenshots
described in Section 7. and subsequent sections may not be applicable.
In that case, use the equivalent procedures described in this 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 Sensor Controller, refer to the
Displacement Sensor ZW-7000 series Confocal Fiber Type Displacement Sensor User's
Manual (Cat. No. Z362).
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
6．EtherCAT Settings
6. EtherCAT Settings
This section describes the setting contents of parameters and device variables that are all
defined in this document.
Hereinafter, Sensor Controller is referred to as "Slave Unit" in some descriptions.
6.1. Parameters
The parameters required for connecting Controller and Sensor Controller via EtherCAT are
given below.
6.1.1.
Communication settings between Personal computer for setting and
Sensor Controller
The parameters for Sensor Controller are set using the Ethernet communications with
Personal Computer for settings.
The parameters required for connecting Personal computer for setting and Sensor Controller
via Ethernet are shown below.
Item
Personal Computer for setting
Sensor Controller
IP address
192.168.250.100
192.168.250.50 (Default)
Subnet mask
255.255.255.0
255.255.255.0 (Default)
6.1.2.
Setting of EtherCAT
The table below shows the settings to use the EtherCAT communications.
Device
Item
Set value
Remarks
Node
address
1
By
the
node
address
Sensor
setting switches
Controller
Fieldbus
EtherCAT (Default) Using Sysmac Studio.
GATE signal ON time
1ms (Default)
Using Sysmac Studio.
8
6．EtherCAT Settings
6.2. Device Variables
The PDO communications data with Sensor Controller are assigned to the Controller's device
variables.
The device variables and the data types are shown below.
■Output area (Controller to Sensor Controller)
Device variable name
E001_Sensor_Head_Control_Signal1
E001_EXE
E001_SYNC
E001_ERCLR
E001_Sensor_Head_Control_Signal2
E001_TIMING
Data type
DWORD
BOOL
BOOL
BOOL
DWORD
BOOL
Meaning
Sensor Head Control Signal 1
Control command execution
Measurement
synchronous start
Error clear
Sensor Head Control Signal 2
Timing signal
E001_RESET
BOOL
Reset signal
E001_LIGHTOFF
BOOL
Light metering OFF
E001_ZERO_T1
BOOL
Zero reset execution signal of task 1
E001_ZERO_T2
BOOL
Zero reset execution signal of task 2
E001_ZERO_T3
BOOL
Zero reset execution signal of task 3
E001_ZERO_T4
BOOL
Zero reset execution signal of task 4
E001_ZEROCLR_T1
BOOL
Zero reset cancel signal of task 1
E001_ZEROCLR_T2
BOOL
Zero reset cancel signal of task 2
E001_ZEROCLR_T3
BOOL
Zero reset cancel signal of task 3
BOOL
DWORD
UINT
UINT
DINT
Zero reset cancel signal of task 4
Command code
Command parameter 1
Command parameter 2
Command parameter 3
E001_ZEROCLR_T4
E001_Command
E001_Command_Parameter1
E001_Command_Parameter2
E001_Command_Parameter3
9
6．EtherCAT Settings
■Input area (Sensor Controller to Controller)
Device variable name
E001_Sensor_Head_Status_Signal1
E001_FLG
E001_SYNCFLG
E001_READY
E001_RUN
E001_BANKOUT_A
E001_BANKOUT_B
E001_BANKOUT_C
E001_BANKOUT_D
E001_BANKOUT_E
E001_ERR
E001_Sensor_Head_Status_Signal2
E001_HOLDSTAT
E001_RESETSTAT
E001_LIGHT
E001_STABILITY
E001_ENABLE
E001_GATE
E001_OR
E001_TASKSTAT_T1
E001_TASKSTAT_T2
E001_TASKSTAT_T3
E001_TASKSTAT_T4
E001_ZEROSTAT_T1
E001_ZEROSTAT_T2
E001_ZEROSTAT_T3
E001_ZEROSTAT_T4
E001_HIGH_T1
E001_PASS_T1
E001_LOW_T1
E001_HIGH_T2
E001_PASS_T2
E001_LOW_T2
E001_HIGH_T3
E001_PASS_T3
E001_LOW_T3
E001_HIGH_T4
E001_PASS_T4
E001_LOW_T4
E001_Response
E001_Response_Code
E001_Response_Data1
E001_Output_Data_1
E001_Output_Data_2
E001_Output_Data_3
E001_Output_Data_4
Data type
DWORD
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
DWORD
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
DWORD
DWORD
DINT
DINT
DINT
DINT
DINT
Meaning
Sensor Head Status Signal 1
Control command completion
Measurement synchronization
completion
Ready
RUN screen
Current bank number bit0
Current bank number bit1
Current bank number bit2
Current bank number bit3
Current bank number bit4
Error signal
Sensor Head Status Signal 2
Hold execution status
Reset execution status
Light status
Measurement position
Measurement state
Data output completed
Overall judgement result
TASK status of task 1
TASK status of task 2
TASK status of task 3
TASK status of task 4
Zero reset status of task 1
Zero reset status of task 2
Zero reset status of task 3
Zero reset status of task 4
High output of task 1
Pass output of task 1
Low output of task 1
High output of task 2
Pass output of task 2
Low output of task 2
High output of task 3
Pass output of task 3
Low output of task 3
High output of task 4
Pass output of task 4
Low output of task 4
Command code
Response code
Response data
OUT1 measured value
OUT2 measured value
OUT3 measured value
OUT4 measured value
10
6．EtherCAT Settings
■Status area (Sensor Controller to Controller)
Device variable name
E001_Sysmac_Error_Status
E001_Observation
E001_Minor_Fault
Data type
BYTE
BOOL
BOOL
Meaning
Sysmac error status
Observation levels of information
Minor fault levels of information
Additional Information
Refer to 3-1 EtherCAT Connection of the Displacement Sensor ZW-7000 series Confocal
Fiber Type Displacement Sensor User's Manual for Communications Settings (Cat. No.
Z363) for details on assignments of input, output, and status areas.
Additional Information
The device variables are named automatically from a combination of the device names and
the port names.
The default device names are "E" followed by a serial number that starts from 001.
11
7．EtherCAT Connection Procedure
7. EtherCAT Connection Procedure
This section describes the procedures for connecting Controller and Sensor Controller via
EtherCAT. The explanations of procedures for setting up Controller and Sensor Controller
given in this document are based on the factory default settings.
For the initialization, refer to Section 8. Initialization Method.
7.1. Work Flow
Take the following steps to perform the PDO communications by connecting Controller and
Sensor Controller via EtherCAT.
7.2. Sensor Controller Setup
Set up Sensor Controller.
↓
7.2.1. Hardware Settings
Set the hardware switches on Sensor Controller
and connect the cables.
↓
7.2.2. Parameter Settings
Set the parameters for Sensor Controller.
↓
7.3. Controller Setup
Set up Controller.
↓
7.3.1. Starting Sysmac Studio and
Setting up the EtherCAT
Start Sysmac Studio and Set up the EtherCAT
network configuration.
Network Configuration
↓
7.3.2. Setting the Device Variables
Set the device variables to use for Slave Unit.
↓
7.3.3. Transferring the Project Data
Transfer the project data from Sysmac Studio to
Controller
↓
7.4. EtherCAT Communication Status
Confirm that the PDO communications performs
normally via EtherCAT.
Check
↓
7.4.1. Checking the Connection Status
Check the connection status of the EtherCAT
network.
↓
7.4.2. Checking the Sent and
Check that the correct data are sent and received.
Received Data
12
7．EtherCAT Connection Procedure
7.2. Sensor Controller Setup
Set up Sensor Controller.
7.2.1.
Hardware Settings
Set the hardware switches on Sensor Controller and connect the cables.
Precautions for Correct Use
Make sure that the power supply is OFF when you set up.
1
2
Make sure that Sensor
Controller is powered OFF.
*If the power supply is turned
ON, the settings described in
the following steps and
subsequent procedures may
not be applicable.
Check the positions of the
hardware switches and the
Node address setting
switches (ID)
connectors on Sensor Controller
by referring to the figure on the
Ethernet
right.
connector
EtherCAT input
connector
ROM connector
Fiber adapter
24 V input terminal
block
3
Set Node address setting
switches (ID) as shown below.
x16: 0
x1: 1
*The node address is set to 1.
4
Connect Calibration ROM to
ROM connector.
13
7．EtherCAT Connection Procedure
5
Connect Fiber connector on
6
Connect Switching hub to
Sensor Head to Fiber adapter.
Personal computer and to
Ethernet connector on Sensor
Controller with LAN cables.
Connect 24 VDC power supply
LAN cable
LAN cable
(for Switching hub) to Switching
hub.
7
Connect an Ethernet cable to
8
Connect 24 VDC power supply
EtherCAT input connector.
24 VDC power supply
Ethernet cable
to 24 V input terminal block.
*For details on specifications of
24 VDC power supply available
for Sensor Controller, refer to
the Displacement Sensor
ZW-7000 series Confocal Fiber
Type Displacement Sensor
User's Manual (Cat. No. Z362).
24 VDC power supply
14
7．EtherCAT Connection Procedure
7.2.2.
Parameter Settings
Set the parameters for Sensor Controller.
The Parameters are set using Sysmac Studio.
Install Sysmac Studio on Personal computer beforehand.
Since Personal computer and Sensor Controller are connected with LAN cables, set the IP
address of Personal computer to 192.168.250.100.
Precautions for Correct Use
The parameters for Sensor Controller are checked using the Ethernet communications with
Personal computer.
Note that there may be some changes required for the Personal computer settings
depending on the state of Personal computer.
1
Turn ON Sensor Controller and
Switching hub.
15
7．EtherCAT Connection Procedure
2
Set the IP address of Personal
Dialog box in (2)
computer to 192.168.250.100.
*The IP address can be
changed in the following way.
(1)Start Personal computer and
log in using an administrator
account. From the Windows
Start menu, select Control
Panel - Network and
Internet - Network and
Sharing Center, and click
Change Adapter Settings.
Double-click Local Area
Connection.
*The procedure steps may be
different depending on the
environment settings of
Personal computer.
Dialog box in (3)
(2)The Local Area Connection
Status Dialog Box is
displayed. Click Properties.
(3)The Local Area Connection
Properties Dialog Box is
displayed. Select Internet
Protocol Version 4
(TCP/IPv4), and click
Properties.
*The display differs depending
on the configuration of
Personal computer.
(4)The Internet Protocol Version
4 (TCP/IPv4) Properties
Dialog Box is displayed.
Select Use the following IP
address, and set the IP
address to 192.168.250.100
and the subnet mask to
255.255.255.0.
Click OK.
Dialog box in (4)
(5)Click Close or OK to close all
the displayed dialog boxes.
16
7．EtherCAT Connection Procedure
3
4
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 New Project.
5
The Project Properties Dialog
6
Select Measurement Sensor
Box is displayed.
from the pull-down list of
Category in the Select Device
Field.
7
Check that the category and the
device in the Select Device Field
are set as shown below.
Category: Measurement
Sensor
Device: ZW
Click Create.
17
7．EtherCAT Connection Procedure
8
The Select Sensor Dialog Box is
displayed.
Select Specify a sensor and
enter the IP address to
192.168.250.50.
Click Confirm.
9
The information of Sensor
Controller and Sensor Head is
displayed. Check that the
information displayed there
indicates the connected devices.
Click OK.
*If Sensor Controller is not
specified, the IP address and
other settings may not be in the
factory default state. Refer to
the Displacement Sensor
ZW-7000 series Confocal Fiber
Type Displacement Sensor
User's Manual (Cat. No. Z362)
to check the values of IP
address and others.
18
7．EtherCAT Connection Procedure
10
The Sensor Controller project is
displayed online.
Sensing Monitor Pane
When an online connection is
established, the Edit Pane is
surrounded with a yellow frame.
The following panes are
displayed in this window.
Toolbox
Multiview
Explorer
Edit Pane
Left: Multiview Explorer
Center: Edit Pane
The following tab pages are
displayed in the Edit Pane.
Center: Sensing Monitor Pane
Right: Toolbox
11
Double-click
1:ZW-7000(2.0):Online under
Configurations and Setup DeviceGroup in the Multiview
Explorer.
12
The 1:ZW-7000(2.0):Online Tab
Page is displayed.
Click the Online Icon.
13
The Online view is displayed.
Click Setup in the Operation
mode Field.
14
The Operation mode Dialog Box
is displayed. Confirm that there
is no problem and click Yes.
19
7．EtherCAT Connection Procedure
15
Double-click System data under
Configurations and Setup DeviceGroup –
1:ZW-7000(2.0):Online System in the Multiview
Explorer.
16
The System data Tab Page is
displayed.
Click the Ethernet
communication settings Icon.
17
The Ethernet communication
settings view is displayed.
Check that the following fieldbus
settings are made.
Fieldbus: EtherCAT(Default)
GATE signal ON time:
1 ms (Default)
*If the fieldbus is not set to
EtherCAT, select EtherCAT
from the pull-down list of
Fieldbus.
18
Double-click
1:ZW-7000(2.0):Online under
Configurations and Setup DeviceGroup in the Multiview
Explorer.
20
7．EtherCAT Connection Procedure
19
The Online view is displayed on
the 1:ZW-7000(2.0):Online Tab
Page.
Click Save settings (sensor
internal memory) in the Save
settings Field.
20
The Save settings Dialog Box is
displayed. Check the contents
and click Yes.
21
Click Run in the Operation
mode Field.
The Operation mode Dialog Box
is displayed. Confirm that there
is no problem and click Yes.
22
Check that the Run Button in the
Operation mode Field becomes
dim.
Click Disconnect in the Sensor
connection Field.
The Disconnect Dialog Box is
displayed. Check the contents
and click Yes.
21
7．EtherCAT Connection Procedure
23
The online connection is
established, and the yellow
frame surrounding the Edit Pane
disappears.
24
Select Close from the File
Menu.
The New Project Dialog Box is
displayed.
Click No if you do not need to
save the project.
25
Turn OFF Sensor Controller and
26
Remove the LAN cable from
Switching hub.
Ethernet connector.
22
7．EtherCAT Connection Procedure
7.3. Controller Setup
Set up Controller.
7.3.1. Starting Sysmac Studio and Setting up the EtherCAT Network
Configuration
Start Sysmac Studio and Set up the EtherCAT network configuration.
1
Connect the Ethernet cable to
the built-in EtherCAT port
Personal
computer
(PORT2) on Controller, and
connect a USB cable to the
Controller
CPU Unit
End Cover
USB cable
peripheral (USB) port.
As shown in 5.2. Device
Configuration, connect Personal
computer and Sensor Controller
Power Supply Unit
Ethernet cable
Sensor Controller
to Controller.
2
Turn ON Controller and Sensor
3
Click Connect to Device in the
Controller.
startup window of Sysmac
Studio.
4
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.
23
7．EtherCAT Connection Procedure
5
A confirmation dialog box is
displayed. Check the contents
and click OK.
6
*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.
7
The Auto Connect Project
Dialog Box is displayed online.
When an online connection is
established, a yellow bar is
displayed under the toolbar.
Toolbox
The following panes are
displayed in this window.
Left: Multiview Explorer
Multiview
Explorer
Edit Pane
Top right: Toolbox
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 online connections to Controller, refer to Section 6. Online Connections to a
Controller of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).
8
Double-click EtherCAT under
Configurations and Setup in
the Multiview Explorer.
24
7．EtherCAT Connection Procedure
9
10
The EtherCAT Tab Page is
displayed in the Edit Pane.
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".
11
The Compare and Merge with
Actual Network Configuration
Dialog Box is displayed.
Node address 1 and ZW-7000
Rev:1.0 are added to the Actual
network configuration after the
comparison.
Click Apply actual network
configuration.
12
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.
25
7．EtherCAT Connection Procedure
13
As a node address 1 slave,
E001 ZW-7000 Rev:1.0 is added
to the Network configuration on
Sysmac Studio.
Check that the data above is
added. Click Close.
14
Node address 1 and E001
ZW-7000 Rev:1.0 are added to
the EtherCAT Tab Page in the
Edit Pane.
26
7．EtherCAT Connection Procedure
7.3.2.
Setting the Device Variables
Set the device variables to use for Slave Unit.
1
Select Offline from the
Controller Menu.
The yellow bar under the toolbar
disappears.
2
Select the device with node
address 1 added on the
EtherCAT Tab Page in
Sub-Clause 7.3.1.
Check that the device name is
E001.
*Device name can be changed
as desired.
3
Double-click I/O Map under
Configurations and Setup in
the Multiview Explorer.
4
The I/O Map Tab Page is
displayed in the Edit Pane.
Check that Node1 is displayed
in the Position Column and that
the added Slave Unit is
displayed in the Port Column.
*To manually set a variable
name for a slave unit, click an
entry cell in the Variable
Column and enter a name.
27
7．EtherCAT Connection Procedure
5
6
Right-click Node1 and select
Create Device Variable.
The variable names and types
are set.
Additional Information
The device variables are named automatically from a combination of the device names and
the port names.
The default device names are "E" followed by a serial number that starts from 001.
Additional Information
In this document, device variables are automatically named for a unit (a slave).
Device variables can also be manually named for ports.
28
7．EtherCAT Connection Procedure
7.3.3.
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
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, which may perform unexpected operation.
Always confirm safety before you perform the synchronization.
1
Select Check All Programs
2
The Build Tab Page is displayed.
from the Project Menu.
Check that "0 Errors" and "0
Warnings" are displayed.
3
Select Rebuild Controller from
the Project Menu.
29
7．EtherCAT Connection Procedure
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.
When an online connection is
established, a yellow bar is
displayed under the toolbar.
7
Select Synchronize from the
8
The Synchronization Dialog Box
Controller Menu.
is displayed.
Check that the data to transfer
(NJ501 in the right dialog box) is
selected. Then, click Transfer
To Controller.
*After executing Transfer To
Controller, the Sysmac Studio
data is transferred to
Controller, and the data is
compared.
30
7．EtherCAT Connection Procedure
9
A confirmation dialog box is
displayed. Confirm that there is
no problem and click Yes.
A screen stating "Synchronizing"
is displayed.
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".
If there is no problem, click
Close.
*A message stating "The
synchronization process
successfully finished" is
displayed if the Sysmac Studio
project data coincides with the
Controller data.
*If the synchronization fails,
check the wiring and repeat
from step 1.
31
7．EtherCAT Connection Procedure
7.4. EtherCAT Communication Status Check
Confirm that the PDO communications performs normally via EtherCAT.
7.4.1.
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 Sensor
Controller.
The LED indicators in normal status
are as follows:
ECAT RUN: Green lit
L/A IN: Green flickering
ECAT ERROR: Not lit
32
7．EtherCAT Connection Procedure
7.4.2.
Checking the Sent and Received Data
Check that the correct data are sent and received.
In this document, the system data acquisition command and the number of digits displayed
past decimal point for command parameters are set to device variables in the output area
where Controller is output to Sensor Controller, and response data (the number of digits
displayed past decimal point) from Sensor Controller are checked, which are stored in device
variables in the input area.
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.
Adequately 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
2
Select the Watch1 Tab.
3
Click Input Name and enter the
View Menu.
following variable names for
monitoring.
E001_EXE
E001_FLG
E001_Command
E001_Command_Parameter1
E001_Response
E001_Response_Code
E001_Response_Data1
4
Check that the display formats of
the variables you set in step 3 are
as follows:
E001_EXE:Boolean
E001_FLG:Boolean
E001_Command:Hexadecimal
E001_Command_Parameter1:
Decimal
E001_Response:Hexadecimal
E001_Response_Code:
Hexadecimal
E001_Response_Data1:Decimal
33
7．EtherCAT Connection Procedure
5
Enter 0040 4000 for
E001_Command in the Modify
Column.
0040 4000 is displayed for
E001_Command in the Online value
Column.
6
*The command code 0040 4000
(system data acquisition) is set.
In the same way as step 5, set 900
for E001_Command_Parameter1 in
the Modify Column.
7
*The system data number 900
(Number of digits displayed past
decimal point) is set.
Check that the online value of
E001_FLG is False.
Click TRUE for E001_EXE in the
Modify Column.
True is displayed for E001_EXE in
the Online value Column.
When the command execution is
complete, True is displayed for
E001_FLG in the Online value
Column.
8
When the process ends normally,
the online values of the response
variables are shown below.
E001_Response: 0040 4000
(Execution command code)
E001_Response_Code:
0000 0000 (Execution result
(normal))
E001_Response_Data1: 1 (The
number of digits displayed past
decimal point is 1. (Default))
Additional Information
For details on commands, refer to 3-1 EtherCAT Connection of the Displacement Sensor
ZW-7000 series Confocal Fiber Type Displacement Sensor User's Manual for
Communications Settings (Cat. No. Z363).
34
7．EtherCAT Connection Procedure
Additional Information
For details on system data, refer to 8-2 System data list of the Displacement Sensor
ZW-7000 series Confocal Fiber Type Displacement Sensor User's Manual for
Communications Settings (Cat. No. Z363).
35
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.
8.1. 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.
8.2. Initializing Sensor Controller
For information on how to initialize Sensor Controller, refer to Initializing Settings in 4-6 Setting
Measurement Mode of the Sensor in 4.Settings for Function of the Displacement Sensor
ZW-7000 series Confocal Fiber Type Displacement Sensor User's Manual (Cat. No. Z362).
36
9．Revision History
9. Revision History
Revision
Date of revision
Description of revision
code
A
May 13, 2016
First edition
37
38
2016
P651-E1-01
016-(-)
">