OMRON NJ 501-1500 Machine Automation Controller, FH 3050 Vision System, FZ SLC15 Camera Connection Guide
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Machine Automation Controller NJ-series
EtherCAT
Connection Guide
OMRON Corporation
Vision System
(FH-series)
P577-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.
Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products.
EtherCAT
R
is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
Company names and product names in this document are the trademarks or registered trademarks of their respective companies.
Table of Contents
Applicable Devices and Device Configuration ........................................ 5
6.1. EtherCAT Communications Parameter Settings ................................. 8
6.2. Allocation for PDO Communications ................................................... 8
EtherCAT Connection Procedure ............................................................ 10
7.2. Setting Up the FH Sensor Controller .................................................. 11
7.4. Checking the EtherCAT Communications ......................................... 26
8.2. Initializing the FH Sensor Controller .................................................. 30
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.
W500
Model
NJ501-[][][][]
NJ301-[][][][]
Manual name
NJ-series CPU Unit Hardware User's Manual
NJ-series CPU Unit Software User's Manual W501
W505
NJ501-[][][][]
NJ301-[][][][]
NJ501-[][][][]
NJ301-[][][][]
W504 SYSMAC-SE2[][][]
2285550-0 FH-1[][][]/3[][][]
Z340 FH-1[][][]/3[][][]
Z341
Z342
Z343
FH-1[][][]/3[][][]
FH-1[][][]/3[][][]
FH-1[][][]/3[][][]
NJ-series CPU Unit Built-in EtherCAT
Manual
R
Port User's
Sysmac Studio Version 1 Operation Manual
Image Processing System Instruction Sheet
Vision Sensor FH/FZ5 Series Vision System
User's Manual
Vision Sensor FH/FZ5 Series Vision System
Processing Item Function Reference Manual
Vision Sensor FH/FZ5 Series Vision System
User's Manual (Communications Settings)
Vision Sensor FH/FZ5 Series Vision System
Operation Manual for Sysmac Studio
1
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 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 Machine Automation 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 Servo motors.
It is accessed from the NJ-series Machine Automation Controller in the following ways:
・
With device variables for EtherCAT slave I/O
・
With Axis Variables for Servo Drive and encoder input slave to which assigned as an axis
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 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 the 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.
The ESI files contain information unique to the EtherCAT slaves in XML format.
Installing an ESI file enables the Sysmac Studio to allocate slave process data and make other settings.
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 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 November 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.
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
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.
3
4．Overview
4. Overview
This document describes the procedure for connecting the Vision System (FH series) of
OMRON Corporation (hereinafter referred to as OMRON) to NJ-series Machine Automation
Controller (hereinafter referred to as the 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.
4
5．Applicable Devices and Device Configuration
5. Applicable Devices and Device Configuration
5.1. Applicable Devices
The applicable devices are as follows:
Manufac turer
Name
OMRON NJ-series CPU Unit
Model
OMRON FH Sensor Controller
OMRON 0.3 Megapixel Digital Camera
0.3 Megapixel Small Digital Camera
0.3 Megapixel Small Digital Pen-Shaped Camera
0.3 Megapixel High-Speed Camera
0.3 Megapixel High-Speed CMOS Camera
2 Megapixel Digital Camera
2 Megapixel High-Speed CMOS Camera
4 Megapixel High-Speed CMOS Camera
5 Megapixel Digital Camera
Intelligent Camera
Intelligent Compact Camera
Auto-Focus Camera
NJ501-[][][][]
NJ301-[][][][]
FH-1[][][]/ FH-1[][][]-[][]
FH-3[][][]/FH-3[][][]-[][]
FZ-SC/S
FZ-SFC/SF
FZ-SPC/SP
FZ-SHC/SH
FH-SC/SM
FZ-SC2M/S2M
FH-SC02/SM02
FH-SC04/SM04
FZ-SC5M2/S5M2
FZ-SLC15/SLC100
FZ-SQ010F/SQ050F/SQ100F/SQ100N
FZ-SZC15/SZC100
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 your OMRON representative.
5
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: Windows7)
NJ501-1500
(Built-in EtherCAT port)
FH Sensor Controller
FH-3050
Camera
FZ-SLC15
USB connected mouse
USB cable
Ethernet cable
Monitor
FZ-M08
Manufact urer
Name
OMRON CPU Unit
(Built-in EtherCAT port)
Model
NJ501-1500
OMRON Power Supply Unit
OMRON Sysmac Studio
－
－
NJ-PA3001
SYSMAC-SE2[][][]
Personal computer (OS: Windows7) －
USB cable
－
(USB 2.0 type B connector)
OMRON Ethernet cable
(with industrial Ethernet connector)
OMRON FH Sensor Controller
(Camera 2ch type)
OMRON Camera
OMRON Camera cable
OMRON Monitor (analog RGB monitor)
OMRON Monitor conversion cable
－
USB connected mouse
XS5W-T421-[]M[]-K
FH-3050
FZ-SLC15
FZ-VS
FZ-M08
FH-VMRGB
－
Version
Ver.1.06
Ver.1.07
Ver.5.00
6
5．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 cable and network wiring, refer to 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).
7
6．EtherCAT Settings
6. EtherCAT Settings
This section describes the specifications such as communication parameters and variables that are set in this document.
Hereinafter, the FH Sensor Controller is referred to as the "Destination Device" or "Slave Unit" in some descriptions.
6.1. EtherCAT Communications Parameter Settings
The communications parameter required connecting the Controller and the Destination
Device via EtherCAT is given below.
Node address
FH Sensor Controller
1
6.2. Allocation for PDO Communications
The EtherCAT PDO communications data of the Destination Device are allocated to the
Controller's device variables. The device variables and the data types are shown below.
■ Output area (from Controller to Destination Device)
Device variable name
E001_Line0_Command_Request
E001_Line0_Trigger
E001_Line0_Flow_Command_Request
E001_Line0_Error_Clear
E001_Line0_Result_Set_Request
E001_Line0_Command_Code
E001_Line0_Command_Parameter_0
E001_Line0_Command_Parameter_1
E001_Line0_Command_Parameter_2
E001_Line0_Command_Parameter_3
Data type
BOOL
BOOL
BOOL
Meaning
Request command execution
To Start image processing
Request flow command execution
BOOL
Clear Error Status bit
BOOL
Request to set result data
DWORD Command code
DINT
Parameter 0 for command
DINT
Parameter 1 for command
DINT
Parameter 2 for command
DINT
Parameter 3 for command
8
6．EtherCAT Settings
■ Input area (from Destination Device to Controller)
Device variable name Data type
E001_Observation
E001_Minor_Fault
BOOL
BOOL
Meaning
Observation levels of information
Minor Fault levels of information
E001_Line0_Command_Completion
BOOL
E001_Line0_Busy
E001_Line0_Trigger_Ready
BOOL
BOOL
E001_Line0_Total_Judgment
E001_Line0_Run_Mode
BOOL
BOOL
E001_Line0_Trigger_Ack
E001_Line0_Command_Ready
BOOL
BOOL
E001_Line0_Shutter_Output
BOOL
E001_Line0_Flow_Command_Completion BOOL
Completed command execution
In image processing
Possible to trigger ON
Total Judgment for inspections
Mode of Vision Sensor
Trigger ON was Received
Ready for command execution
E001_Line0_Flow_Command_Busy
E001_Line0_Flow_Command_Wait
E001_Line0_Error_Status
E001_Line0_Result_Notification
BOOL
BOOL
BOOL
BOOL
Completed shutter
Flow completed command execution
Flow command execution
Flow command wait
Error Occurred
Notification of reporting result data
E001_Line0_Command_Code_Echo_Back DWORD Command Code Echo Back
E001_Line0_Response_Code
DWORD Response Code
E001_Line0_Response_Data_0
E001_Line0_Error_Code
E001_Line0_DINT_Result_Data_0
DINT
Return value of command
DWORD Error Code
DINT
DINT Result Data 0 of image processing
E001_Line0_DINT_Result_Data_1
DINT
DINT Result Data 1 of image
E001_Line0_DINT_Result_Data_2
E001_Line0_DINT_Result_Data_3
E001_Line0_DINT_Result_Data_4
E001_Line0_DINT_Result_Data_5
E001_Line0_DINT_Result_Data_6
E001_Line0_DINT_Result_Data_7
DINT
DINT
DINT
DINT
DINT
DINT processing
DINT Result Data 2 of image processing
DINT Result Data 3 of image processing
DINT Result Data 4 of image processing
DINT Result Data 5 of image processing
DINT Result Data 6 of image processing
DINT Result Data 7 of image processing
9
7．EtherCAT Connection Procedure
7. EtherCAT Connection Procedure
This section describes the procedure for connecting the Controller to the FH Sensor Controller via EtherCAT.
This document explains the procedures for setting up the Controller and the FH Sensor
Controller from the factory default setting. For the initialization, refer to Section 8 Initialization
Method
.
7.1. Work Flow
Take the following steps to perform PDO communications of EtherCAT.
7.2. Setting Up the FH Sensor
Set up the FH Sensor Controller.
Controller
↓
7.2.1. Hardware Settings
↓
7.2.2. Parameter Settings
↓
Set the hardware switches on the FH Sensor
Controller.
Set the parameters for the FH Sensor Controller.
Set up the Controller.
7.3. Setting Up the Controller
↓
7.3.1. Starting the Sysmac Studio and
Setting the EtherCAT Network
Configuration
↓
↓
↓
7.3.2. Setting the Device Variables
7.3.3. Transferring the Project Data
7.4. Checking the EtherCAT
Start the Sysmac Studio and set the EtherCAT network configuration.
Set the device variables used for the EtherCAT
Slave Unit.
Transfer the project data from the Sysmac Studio to the Controller.
Confirm that the PDO communications of EtherCAT are performed normally.
Communications
↓
7.4.1 Checking the Connection Status Check the connection status of the EtherCAT
↓
7.4.2 Checking the Data that are Sent and Received network.
Confirm that the correct data are sent and received.
10
7．EtherCAT Connection Procedure
7.2. Setting Up the FH Sensor Controller
Set up the FH Sensor Controller.
7.2.1. Hardware Settings
Set the hardware switches on the FH Sensor Controller.
Precautions for Correct Use
Make sure that the power supply is OFF when you perform the setting up.
1
Make sure that the power supply to the FH Sensor Controller is
OFF.
2
* If the power supply is turned
ON, settings may not be applicable as described in the following procedure.
Check the position of the switches on the FH Sensor
Controller by referring to the right figure.
G: EtherCAT address setup volume [ADR]
Connector name
B Ethernet connector
C USB connector
D RS-232C connector
E DVI-I connector
I connector (IN)
EtherCAT communication connector (OUT)
J Encoder connector
K Camera connector
L
Power supply terminal connector
Description
Install the SD memory card. Do not plug or unplug the SD card during measurement operation.Otherwise measurement time may be affected or data may be destroyed.
Connect an Ethernet device.
Connect a USB device. Do not plug or unplug it during measurement.Measurement time might be affected otherwise.
Connect an external device such as a programmable controller.
Connect a monitor.
Connect the controller to external devices such as a sync sensor and PLC.
Used to set a station address as an EtherCAT communication device.
Connect the opposed EtherCAT device.
Connect the opposed EtherCAT device.
Connect an encoder.
Connect cameras.
Connect a DC power supply. Wire the controller independently on other devices. Wire the ground line. Be sure to ground the controller alone. Perform wiring using the attached power supply connector as referring to the description of wiring that connector.
11
3
Set the EtherCAT address setup volume [ADR] as follows:
X10: 0
X1: 1
* Set the address to 01.
7．EtherCAT Connection Procedure
12
7．EtherCAT Connection Procedure
7.2.2. Parameter Settings
1
Set the parameters for the FH Sensor Controller.
Check the position of the connectors on the FH Sensor
Controller by referring to the right figure.
H: Connect the Ethernet cable to the EtherCAT communication connector.
K: Connect the camera cable to the camera connector.
E: Connect the DVI-I connector to the monitor connected with the monitor conversion cable.
C: Connect the mouse to the
USB connector.
L: Connect the power supply cable to the power supply terminal connector.
Connector name
B Ethernet connector
C USB connector
D RS-232C connector
E DVI-I connector
Description
Install the SD memory card. Do not plug or unplug the SD card during measurement operation.Otherwise measurement time may be affected or data may be destroyed.
Connect an Ethernet device.
Connect a USB device. Do not plug or unplug it during measurement.Measurement time might be affected otherwise.
Connect an external device such as a programmable controller.
Connect a monitor.
Connect the controller to external devices such as a sync sensor and PLC.
Used to set a station address as an EtherCAT communication device.
Connect the opposed EtherCAT device.
Connect the opposed EtherCAT device.
Connect an encoder.
Connect cameras.
Connect a DC power supply. Wire the controller independently on other devices. Wire the ground line. Be sure to ground the controller alone. Perform wiring using the attached power supply connector as referring to the description of wiring that connector.
2
3
Turn ON the power supply to the
FH Sensor Controller.
The Language setting Dialog
Box is displayed on the monitor connected to the FH Sensor
Controller only at the initial start.
Select English and click the OK
Button.
The dialog box on the right is displayed. Click the Yes Button.
I connector (IN)
EtherCAT communication connector (OUT)
J Encoder connector
K Camera connector
L
Power supply terminal connector
13
4
Select System Settings from the Tool Menu.
5
Select System
Settings
-Startup-Startup
setting
. The Language setting
Dialog Box is displayed. Select the Communication Tab.
6
The Communication module select Dialog Box is displayed.
Select EtherCAT from the
Fieldbus pull-down list. Then, click the Apply Button.
* The data set in the System
Settings Dialog Box as shown on the right becomes enabled after the settings are saved, and then the FH Sensor
Controller is restarted.
7
Click the Close Button to close the System Settings Dialog Box.
8
Select Data save from the
Function Menu.
7．EtherCAT Connection Procedure
14
9
The Data save Dialog Box is displayed. Click the OK Button.
10
Select System restart from the
Function Menu.
7．EtherCAT Connection Procedure
11
The System restart Dialog Box is displayed. Click the OK
Button.
15
7．EtherCAT Connection Procedure
7.3. Setting Up the Controller
Set up the Controller.
7.3.1. Starting the Sysmac Studio and Setting the EtherCAT Network
Configuration
Start the Sysmac Studio and set the EtherCAT network configuration.
Install the Sysmac Studio and USB driver in the personal computer beforehand.
1
Connect the Ethernet cable to the built-in EtherCAT port
(PORT2) of the Controller and
Controller
CPU Unit
USB cable
End Cover the USB cable to the peripheral
(USB) port. As shown in 5.2.
Device Configuration
, connect the personal computer, FH
Sensor Controller, and the
Power Supply Unit
Ethernet cable
Controller.
2
Turn ON the power supply to the
Controller.
3
Start the Sysmac Studio.
Click the New Project Button.
* If a confirmation dialog for an access right is displayed at start, select to start.
16
4
The Project Properties Dialog
Box is displayed.
* In this document, New Project is used as the Project name.
Confirm that the device you use is shown in the Category and
Device
Fields of Select Device.
Select version 1.06 from the pull-down list of Version.
* Although 1.06 is selected in this document for example, select the version you actually use.
5
Click the Create Button.
7．EtherCAT Connection Procedure
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
17
7
Double-click EtherCAT under
Configurations and Setup
in the Multiview Explorer.
8
The EtherCAT Tab is displayed on the Edit Pane.
9
Select Communications Setup from the Controller Menu.
10
The Communications Setup
Dialog Box is displayed.
Select the Direct connection via
USB
Option for Connection
Type.
Click the OK Button.
11
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. Check the contents and click the Yes Button to proceed with the processing.
12
When an online connection is established, a yellow bar is displayed on the top of the Edit
Pane.
7．EtherCAT Connection Procedure
18
7．EtherCAT Connection Procedure
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).
13
Right-click Master on the
EtherCAT Tab Page, and select
Compare and Merge with
Actual Network Configuration
.
A screen is displayed stating
"Get information is being executed".
14
The Compare and Merge with
Actual Network Configuration
Pane is displayed.
Node address 1 and FH-3050
Rev.1.0 are added to the Actual
15
network configuration after the comparison.
Click the Apply actual network
configuration
Button.
A confirmation dialog box is displayed. Check the contents and click the Apply Button.
Node address 1, E001, and
FH-3050 Rev.1.0 are added to the Network configuration on
Sysmac Studio.
Confirm that they were added and click the Close Button.
19
16
Node address 1, E001, and
FH-3050 Rev:1.0 are added to the EtherCAT Tab Page in the
Edit Pane.
7．EtherCAT Connection Procedure
20
7．EtherCAT Connection Procedure
7.3.2. Setting the Device Variables
Set the device variables used for the EtherCAT Slave Unit.
1
Select Offline from the
Controller Menu.
2
The yellow bar on the top of the
Edit Pane disappears.
Double-click I/O Map under
Configurations and Setup
in the Multiview Explorer.
3
4
The I/O Map Tab is displayed on the Edit Pane.
Confirm that Node1 is displayed in the Position Column and the
Slave Unit is displayed.
* To manually set a variable name for the Slave Unit, click a column under the Variable
Column and enter a name.
Right-click Node1 and select
Create Device Variable
.
21
7．EtherCAT Connection Procedure
5
The variable names and variable types are automatically set.
Additional Information
The device variables are named automatically from a combination of the device names and the port names.
For slave units, the default device names start with an "E" followed by a sequential number starting 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 I/O ports.
22
7．EtherCAT Connection Procedure
7.3.3. Transferring the Project Data
Transfer the project data from the Sysmac Studio to the Controller.
Always confirm safety at the Destination Device 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.
Precautions for Safe Use
After you transfer the user program, the CPU Unit restarts and communications with the
EtherCAT slaves are cut off. During that period, the slave outputs behave according to the slave settings. The time that communications are cut off depends on the EtherCAT network configuration.
Before you transfer the user program, confirm that it will not adversely affect the device.
1
Select Check All Programs from the Project Menu.
2
The Build Tab Page is displayed on the Edit Pane.
Confirm that "0 Errors" and "0
Warnings" are displayed.
3
Select Rebuild Controller from the Project Menu.
4
A confirmation dialog box is displayed. Confirm that there is no problem and click the Yes
Button.
5
Confirm that "0 Errors" and "0
Warnings" are displayed in the
Build Tab Page.
23
6
Select Online from the
Controller Menu.
7
Select Synchronization from the Controller Menu.
8
The Synchronization Dialog Box is displayed.
Confirm that the data to transfer
(NJ501 in the right dialog) 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.
9
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 No
Button.
7．EtherCAT Connection Procedure
24
10
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.
7．EtherCAT Connection Procedure
25
7．EtherCAT Connection Procedure
7.4. Checking the EtherCAT Communications
Confirm that the PDO communications of EtherCAT are performed normally.
7.4.1. Checking the Connection Status
Check the connection status of the EtherCAT network.
1
Confirm that the EtherCAT communications are performed normally by checking the LED indicators on the Controller.
The LED indicators in normal status are as follows:
[NET RUN]: Lit green
[NET ERR]: Not lit
[LINK/ACT]: Flashing yellow
26
7．EtherCAT Connection Procedure
2
Check the LED indicators on the FH
Sensor Controller.
The LED indicators in normal status are as follows:
[POWER]: Lit green
[ERROR]: Not lit
[ECAT RUN]: Lit green
[LINK/ACT IN]: Flashing green
[ECAT ERR]: Not lit
(FH Sensor Controller)
LED name Description Description
① POWER LED Lit while power is ON.
② ERROR LED
③ RUN LED
④ ACCESS LED
Lit when an error has occurred.
Lit while the controller is in Measurement Mode.
Lit while the memory is accessed.
⑤ SD POWER LED
⑥ SD BUSY LED
⑦ EtherCAT RUN LED
Lit while power is supplied to the SD card and the card is usable.
Blinks while the SD memory card is accessed.
Lit while EtherCAT communications are usable.
⑧ EtherCAT LINK/ACT IN LED
⑨ EtherCAT LINK/ACT OUT LED
⑩ EtherCAT ERR LED
⑪ EtherNet NET RUN1 LED
⑫ EtherNet NET LINK/ACK1 LED
⑬ EtherNet NET RUN2 LED
⑭ EtherNet NET LINK/ACK2 LED
Lit when connected with an EtherCAT device, and blinks while performing communications.
Lit when connected with an EtherCAT device, and blinks while performing communications.
Lit when EtherCAT communications have become abnormal.
Lit while EtherCAT communications are usable.
Lit when connected with an Ethernet device, and blinks while performing communications.
Lit when Ethernet communications are usable.
Lit when connected with an Ethernet device, and blinks while performing communications.
27
7．EtherCAT Connection Procedure
7.4.2. Checking the Data that are Sent and Received
Confirm that the correct data are sent and received.
Always confirm safety at the Destination Device 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
Select Watch Tab Page from the
View Menu.
2
The Watch Window1 Tab Page is displayed in the lower section of the
Edit Pane.
3
Enter the following names in the
Watch Window1 Tab Page for monitoring.
Click a Name Column to enter a new name.
E001_Line0_Trigger
E001_Line0_Busy
E001_Line0_Trigger_Ack
E001_Line0_Trigger_Ready
4
Confirm that the Online value of
E001_Line0_Trigger
is False and click TRUE in the Modify Column.
Confirm that the Online value changes to True.
5
After the measurement is completed, OK is displayed on the dialog box.
28
6
Confirm that the Online value of
E001_Line0_Trigger_Ack
is True.
7．EtherCAT Connection Procedure
29
8．Initialization Method
8. Initialization Method
This document explains the setting procedure from the factory default setting.
Some settings may not be applicable as described in this document unless you use the devices with the factory default setting.
8.1. Initializing the Controller
To initialize the settings of the Controller, select Clear All Memory from the Controller Menu of the Sysmac Studio. The Clear All Memory Dialog Box is displayed. Check the contents and click the OK Button.
8.2. Initializing the FH Sensor Controller
For how to initialize the FH Sensor Controller, refer to Initializing the Controller in Section 1
Before Operation
of the Vision Sensor FH/FZ5 Series Vision System User's Manual
(Cat.No.Z340).
30
9．Revision History
9. Revision History
Revision code
01
Date of revision
Nov. 26, 2013 First edition
Revision reason and revision page
31
32
P577-E1-01
2013
1113(-)
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