Omron SYSMAC CJ2H-CPU6@-EIP Bedienungsanleitung

CJ Series

EtherCAT®Connection Guide

No.FST-ZTH130453A

OMRON Corporation

E3NW-ECT Digital Sensor Communication Unit

P562-E1-01

About Intellectual Property Right 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.

Ethernet is a registered trademark of Xerox Corporation.

EtherCAT®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

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

2. Terms and Definitions............................................................................... 1

3. Remarks..................................................................................................... 2

4. Overview .................................................................................................... 3

5. Applicable Devices and Support Software.............................................. 3

5.1. Applicable Devices............................................................................. 3

5.2. Device Configuration.......................................................................... 4

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

6.1. EtherCAT Communications Settings .................................................. 6

6.2. DS-Bus Communication Settings....................................................... 6

6.3. Allocations of I/O Memory Areas........................................................ 8

7. Connection Procedure............................................................................ 10

7.1. Work Flow ........................................................................................ 10

7.2. Setting Up the Digital Sensor Communication Unit...........................11

7.3. Setting Up the PLC .......................................................................... 13

7.4. Checking the EtherCAT Communications ........................................ 23

8. Initialization Method................................................................................ 29

8.1. Initializing the PLC ........................................................................... 29

9. Revision History...................................................................................... 31

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

W472 CJ2H-CPU6[]-EIP

CJ2H-CPU6[]

CJ2M-CPU[][]

CJ-series CJ2 CPU Unit Hardware User's Manual

W473 CJ2H-CPU6[]-EIP

CJ2H-CPU6[]

CJ2M-CPU[][]

CJ-series CJ2 CPU Unit Software User's Manual

W487 CJ1W-NC[]82 CJ-series Position Control Unit Operation Manual

W446 - CX-Programmer Operation Manual

E429 E3NW-ECT

E3NW-DS

EtherCAT®Digital Sensor Communication Unit

Operation Manual

2. Terms and Definitions

Term Explanation and Definition

Position Control Unit The Position Control Unit controls Servo Drives.

This Position Control Unit has two EtherCAT Functions:

Communications for Servo Drive control and Remote I/O master

function.

Communications for

Servo Drive control

This function performs monitoring, setting and control when G5-series

Servo Drives are connected.

Remote I/O master

function

This function updates the I/O data in the memory area allocated to the

connected slave units and PLC during each I/O refresh of the PLC when

compatible devices other than G5-series Servo Drives are connected.

Slave unit There are various types of slave units such as Servo Drives that handle

process data and I/O terminals that handle the bit signals.

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

input data to the master.

Node address An address to identify the unit connected to EtherCAT.

This Position Control Unit uses the node addresses 1 to 16 for

G5-series Servo Drives and node addresses 17 onwards for other slave

units (e.g., remote I/O).

3. Remarks

(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 users are encouraged to confirm the standards and regulations that the system must

conform to.

(4) It is prohibited to copy, to reproduce, and to distribute part or the whole of this document

without the permission of OMRON Corporation.

(5) The information contained in this document is current as of June 2013. It is subject to

change without notice for improvement.

The following notation is used in this document.

Indicates a potentially hazardous situation which, if not avoided,

will result in minor or moderate injury, or may result in serious

injury or death. Additionally there may be significant property

damage.

Indicates a potentially hazardous situation which, if not avoided,

may result in minor or moderate injury or in property damage.

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operation easier.

4. Overview

This document describes the procedure for connecting the Digital Sensor Communication Unit

(E3NW-ECT) of OMRON Corporation (hereinafter referred to as OMRON) to CJ-series

Programmable Controller + Position Control Unit (hereinafter referred to as the PLC) and

provides the procedure for checking their connection.

Refer to EtherCAT settings described in 7. Connection Procedure to understand the setting

method and key points to connect the devices via EtherCAT.

5. Applicable Devices and Support Software

5.1. Applicable Devices

The applicable devices are as follows:

Manufacturer Name Model

OMRON CJ2 CPU Unit CJ2[]-CPU[][]

OMRON Position Control Unit CJ1W-NC[]82

OMRON Digital Sensor Communication Unit E3NW-ECT

OMRON Distributed Sensor Unit E3NW-DS

OMRON Sensor Amplifiers

Smart Fiber Amplifier

Smart Laser Amplifier Unit

Smart Laser Amplifier Unit (CMOS Type)

E3NX-FA0

E3NC-LA0

E3NC-SA0

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. Applicable Devices and Support Software

5.2. Device Configuration

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

follows.

USB cable

Personal computer

(CX-One installed,

OS:Windows 7)

Ethernet cable

CJ2M-CPU12 +

CJ1W-NCF82

DS-Bus

E3NX-FA0

E3NW-ECT +

E3NX-FA0

E3NW-DS +

Manufacturer Name Model Version

OMRON Position Control Unit CJ1W-NCF82 Ver.1.3

OMRON CPU Unit CJ2M-CPU12 Ver.2.0

OMRON Power Supply Unit CJ1W-PA202

OMRON CX-One CXONE-AL[][]C-V4

/AL[][]D-V4

Ver.4.[][]

OMRON CX-Programmer (Included in CX-One) Ver.9.43

－Personal computer

(OS: Windows7)

- USB cable -

OMRON Ethernet cable (with industrial

Ethernet connector)

XS5W-T421-[]M[]-K

OMRON Digital Sensor Communication

Unit

E3NW-ECT Ver.1.0

OMRON Distributed Sensor Unit E3NW-DS Ver.1.0

OMRON Fiber Amplifier E3NX-FA0 Ver.1.0

- DS-Bus communications cable -

Precautions for Correct Use

The connection line of EtherCAT communication cannot be shared with other Ethernet

networks.

Make sure to directly connect the PLC to the destination device with the Ethernet cable.

Please 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.

Precautions for Correct Use

Update the CX-Programmer 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 CX-Programmer Operation Manual (Cat. No. W466).

5. Applicable Devices and Support Software

Additional Information

For information on the specifications of the Ethernet cable and network wring, refer to 3-4

Wiring of the CJ-series Position Control Unit Operation Manual (Cat. No. W487).

Additional Information

The system configuration in this document uses USB for the connection between the

personal computer and PLC. For information on how to install the USB driver, refer to A-5

Installing the USB Driver in the CJ-series CJ2 CPU Unit Hardware User's Manual (Cat. No.

W472).

Additional Information

For details on the Inter-Unit DS-Bus network, refer to A-2 Using Distributed Sensor Units of

the EtherCAT®Digital Sensor Communication Unit Operation Manual (Cat. No. E429).

6. EtherCAT Settings

This section describes the procedure for connecting the PLC to the Digital Sensor

Communication Unit via EtherCAT.

6.1. EtherCAT Communications Settings

The settings required for communications between the PLC (Position Control Unit) and the

Digital Sensor Communication Unit are given below.

6.1.1. EtherCAT Communications Setting Contents

The settings required for EtherCAT communications are given below.

PLC (Position Control Unit) Digital Sensor

Communication Unit

Unit number 0 -

Node address - 017

Additional Information

The node addresses 17 onwards are set for CJ1W-NC[]82 when EtherCAT-compatible

devices other than G5-series Servo Drives are connected.

6.2. DS-Bus Communication Settings

The setting required for communications between the Digital Sensor Communication Unit and

the Distributed Sensor Unit is given below.

6.2.1. DS-Bus Communication Setting Contents

The settings required for communications through the Inter-Unit DS-Bus network are given

below.

Distributed Sensor Unit

Unit address 1

Termination setting ON

*The Sensor unit numbers are automatically assigned after turning ON the power supply to the

Digital Sensor Communication Unit and to the Distributed Sensor Unit.

In this document, one Fiber Amplifier is connected to the Digital Sensor Communication Unit

and another one to the Distributed Sensor Unit. The Sensor unit number 1 is assigned to the

Fiber Amplifier that is connected to the Digital Sensor Communication Unit, and the Sensor

unit number 2 is assigned to the Fiber Amplifier connected to the Distributed Sensor Unit.

Additional Information

For details on the Inter-Unit DS-Bus network, refer to A-2 Using Distributed Sensor Units of

the EtherCAT®Digital Sensor Communication Unit Operation Manual (Cat. No. E429).

6. EtherCAT Settings

6.2.2. Cable Wiring Diagram

For details on the cable wiring, refer to A-2-3 DS-Bus Network Wiring of the EtherCAT®Digital

Sensor Communication Unit Operation Manual (Cat. No. E429). Check the connector

configuration and pin assignment for wiring.

▪Connector configuration and pin assignment

<OMRON E3NW-ECT> Applicable connector: Terminal-block connector

Pin No Name Description I/O

1 D+

D+ terminal I/O

2 D-

D- terminal I/O

<OMRON E3NW-DS> Applicable connector: Terminal-block connector

Pin No Name Description I/O

1 + +V terminal -

2 - -V terminal -

3 D+

D+ terminal I/O

4 D-

D- terminal I/O

▪Cable/Pin arrangement

Digital Sensor Communication

Unit (E3NW-ECT)

Distributed Sensor Unit

(E3NW-DS)

Signal

name

Pin No. Pin No. Signal

name

D+ 1 1 +

DS-Bus

D- 2 2 -

3 D+

4 D-

DS-Bus

Terminal-block connector Terminal-block connector

Additional Information

For details on the recommended cables and ferrules, refer to A-2-3 DS-Bus Network Wiring

of the EtherCAT®Digital Sensor Communication Unit Operation Manual (Cat. No. E429).

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