IAI Corporation - · PDF fileOperation pattern There are seven operation patterns 0 to 6...
Transcript of IAI Corporation - · PDF fileOperation pattern There are seven operation patterns 0 to 6...
Machine Automation Control ler NJ-series
EtherCAT(R) Connection Guide IAI Corporation
MSEP Controller
P608-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. EtherCAT Communications Parameter Settings ................................. 8
6.2. Allocation for PDO Communications ................................................... 9
7. EtherCAT Connection Procedure ............................................................. 11
7.1. Work Flow ........................................................................................... 11
7.2. Setting Up the IAI MSEP Controller .................................................. 12
7.3. Setting Up the Controller ................................................................... 25
7.4. Checking the EtherCAT Communications ......................................... 37
8. Initialization Method .................................................................................. 40
8.1. Initializing the Controller .................................................................... 40
8.2. Initializing the IAI MSEP Controller ................................................... 40
9. Revision History ........................................................................................ 41
1.Related Manuals
1
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
ME0299 MSEP-C-[]-[]I[]-([]I[])
-[][]-[]-0-[]-[]
MSEP-C/LC Controller Instruction Manual
ME0155 RCM-101-MW
RCM-101-USB
PC Software RCM-101-MW/RCM-101-USB
Operation Manual
2.Terms and Definitions
2
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 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 Servomotors.
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
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 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.
ESI file
(EtherCAT Slave
Information file)
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.
Operation pattern There are seven operation patterns 0 to 6 available for MSEP
Controller. Selectable operation modes differ depending on the
operation pattern you selected.
Operation mode Except for SEP I/O mode, an operation mode can be selected for each
slot of the MSEP Controller. The number of occupied bytes or functions
differs depending on the operation mode you selected.
3.Precautions
3
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.
The user is encouraged to confirm the standards and regulations that the system must
conform to.
(3) It is prohibited to copy, to reproduce, and to distribute a part or the whole of this
document without the permission of OMRON Corporation.
(4) The information contained in this document is current as of December 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 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.
4.Overview
4
4. Overview
This document describes the procedure for connecting MSEP Controller of IAI Corporation
(hereinafter referred to as IAI) to NJ-series Machine Automation Controller (hereinafter
referred to as the Controller) of OMRON Corporation (hereinafter referred to as OMRON) 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
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-[][][][]
IAI MSEP Controller MSEP-C-[]-[]I[]-([]I[])-EC-[]-0-[]-[]
IAI Actuator -
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 models 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 the device manufacturer. (IAI Corporation http://www.intelligentactuator.com/) This URL is the latest address at the time of this document creation. Contact each device manufacturer for the latest information.
Additional Information
Contact IAI Corporation for actuators connectable to MSEP Controllers.
5.Applicable Devices and Device Configuration
6
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 SYSMAC-SE2[][][] Ver.1.09
- Personal computer (OS: Windows 7)
-
- USB cable (USB 2.0 type B connector)
-
OMRON Ethernet cable (with industrial Ethernet connector)
XS5W-T421-[]M[]-K
IAI MSEP Controller MSEP-C-5-42PI-42PI-42PI-
42PI-42PI-EC-0-0
Rev. 0x00010007
IAI Actuator (pulse motor)
RCP2-SRA4R-I-35P-5-100
IAI Actuator cable CB-APSEP-MPA[][][]
IAI USB cable CB-SEL-USB010
IAI USB Conversion Unit RCB-CV-USB
IAI Communications cable CB-RCA-SIO050
IAI RC PC Software RCM-101-MW
RCM-101-USB
Ver. 9.05.00.00-E
IAI Gateway Parameter Setting Tool
(Included in RC PC
Software)
Ver.1.2.10.0
IAI ESI file ESI_IAI_Gateway_ECT_V_
1_07_Rev_0.xml
- 24 VDC power supply -
NJ501-1500 (Built-in EtherCAT port) Personal computer
(Sysmac Studio, RC PC Software, Gateway Parameter Setting Tool, installed. OS:Windows 7 )
MSEP Controller
Ethernet cable
USB cable + USB Conversion Unit + Communications cable
USB cable
Actuator
Actuator cable 24 VDC
power supply
5.Applicable Devices and Device Configuration
7
Precautions for Correct Use
Prepare the ESI file shown in this section beforehand.
To obtain the ESI file, contact IAI Corporation.
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 information on the specifications of the Ethernet cable and network wiring, 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
information on 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).
Additional Information
The system configuration in this document uses USB for the connection to the MSEP
Controller. For information on how to install a USB driver, refer to 1.3.3 How to Install the USB
Conversion Adapter Driver Software of the PC Software RCM-101-MW/RCM-101-USB
Instruction Manual (Cat. No. ME0155).
6.EtherCAT Settings
8
6. EtherCAT Settings
This section describes the specifications such as communication parameters and variables
that are set in this document.
Hereinafter, the MSEP Controller is referred to as the "Destination Device" or the "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.
■ MSEP Controller
Setting item Set value
Node address 1
Unit number 0
Operation pattern selection for each axis 6(Positioner Mode)
Operation mode for each slot Simple Direct Mode *1
*1 Except for SEP I/O mode, an operation mode of gateway can be selected for each slot.
However, all slots in this document are used in Simple Direct Mode.
When the operation mode of gateway is changed, I/O size will also be changed.
6.EtherCAT Settings
9
6.2. Allocation for PDO Communications
The PDO communications data for 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) Global variable Data type Meaning
E001_Out_OUT00_2003_01 UINT
MSEP Gateway Control Area *
1
Gateway Control 0
E001_Out_OUT01_2003_02 UINT Gateway Control 1
E001_Out_OUT02_2003_03 UINT Demand Command
E001_Out_OUT03_2003_04 UINT Data 0
E001_Out_OUT04_2003_05 UINT Data 1
E001_Out_OUT05_2003_06 UINT Data 2
E001_Out_OUT06_2003_07 UINT Data 3
E001_Out_OUT07_2003_08 UINT Occupied Domain
E001_Out_OUT08_2003_09 UINT Connected Axes Control
Area (Axis No.0) *
2
Target Position
E001_Out_OUT09_2003_0A UINT Target Position
E001_Out_OUT10_2003_0B UINT Specified Position No.
E001_Out_OUT11_2003_0C UINT Control Signal
E001_Out_OUT12_2003_0D UINT Connected Axes Control
Area (Axis No.1)*
2
Target Position
E001_Out_OUT13_2003_0E UINT Target Position
E001_Out_OUT14_2003_0F UINT Specified Position No.
E001_Out_OUT15_2003_10 UINT Control Signal
E001_Out_OUT16_2003_11 UINT Connected Axes Control
Area (Axis No.2)*
2
Target Position
E001_Out_OUT17_2003_12 UINT Target Position
E001_Out_OUT18_2003_13 UINT Specified Position No.
E001_Out_OUT19_2003_14 UINT Control Signal
E001_Out_OUT20_2003_15 UINT Connected Axes Control
Area (Axis No.3)*
2
Target Position
E001_Out_OUT21_2003_16 UINT Target Position
E001_Out_OUT22_2003_17 UINT Specified Position No.
E001_Out_OUT23_2003_18 UINT Control Signal
E001_Out_OUT24_2003_19 UINT Connected Axes Control
Area (Axis No.4)*
2
Target Position
E001_Out_OUT25_2003_1A UINT Target Position
E001_Out_OUT26_2003_1B UINT Specified Position No.
E001_Out_OUT27_2003_1C UINT Control Signal
E001_Out_OUT28_2003_1D UINT Connected Axes Control
Area (Reserved)*
2
-
E001_Out_OUT29_2003_1E UINT -
E001_Out_OUT30_2003_1F UINT -
E001_Out_OUT31_2003_20 UINT -
*1 This area can be assigned in any applicable mode.
*2 This is the allocation when axes No.0 to No.4 are set in Simple Direct Mode.
6.EtherCAT Settings
10
■ Input area (from Destination Device to Controller)
Global variable Data type Meaning
E001_In_IN00_2004_01 UINT
MSEP Gateway Response Area
*1
Gateway Status 0
E001_In_IN01_2004_02 UINT Gateway Status 1
E001_In_IN02_2004_03 UINT Response Command
E001_In_IN03_2004_04 UINT Data 0
E001_In_IN04_2004_05 UINT Data 1
E001_In_IN05_2004_06 UINT Data 2
E001_In_IN06_2004_07 UINT Data 3
E001_In_IN07_2004_08 UINT Occupied Domain
E001_In_IN08_2004_09 UINT Connected Axes Response
Area (Axis No.0)*
2
Current Position
E001_In_IN09_2004_0A UINT Current Position
E001_In_IN10_2004_0B UINT Completed Position No.
E001_In_IN11_2004_0C UINT Status signal
E001_In_IN12_2004_0D UINT Connected Axes Response
Area (Axis No.1)*
2
Current Position
E001_In_IN13_2004_0E UINT Current Position
E001_In_IN14_2004_0F UINT Completed Position No.
E001_In_IN15_2004_10 UINT Status Signal
E001_In_IN16_2004_11 UINT Connected Axes Response
Area (Axis No.2)*
2
Current Position
E001_In_IN17_2004_12 UINT Current Position
E001_In_IN18_2004_13 UINT Completed Position No.
E001_In_IN19_2004_14 UINT Status Signal
E001_In_IN20_2004_15 UINT Connected Axes Response
Area (Axis No.3)*
2
Current position
E001_In_IN21_2004_16 UINT Current Position
E001_In_IN22_2004_17 UINT Completed Position No.
E001_In_IN23_2004_18 UINT Status Signal
E001_In_IN24_2004_19 UINT Connected Axes Response
Area (Axis No.4)*
2
Current Position
E001_In_IN25_2004_1A UINT Current Position
E001_In_IN26_2004_1B UINT Completed Position No.
E001_In_IN27_2004_1C UINT Status signal
E001_In_IN28_2004_1D UINT Connected Axes Response
Area (Reserved)*
2
-
E001_In_IN29_2004_1E UINT -
E001_In_IN30_2004_1F UINT -
E001_In_IN31_2004_20 UINT -
*1 This area can be assigned in any applicable mode.
*2 This is the allocation when axes No.0 to No.4 are set in Simple Direct Mode.
Additional Information
Refer to 3.4. Fieldbus Type Address Map in Chapter 3. Operation of the MSEP-C/LC
Controller Instruction Manual (Cat No. ME0299) for details on allocation of the control and
response 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.
7.EtherCAT Connection Procedure
11
7. EtherCAT Connection Procedure
This section describes the procedure for connecting the Controller to the MSEP Controller via
EtherCAT.
This document explains the procedures for setting up the Controller and the MSEP 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 IAI MSEP Controller Set up the IAI MSEP Controller.
7.2.1. Hardware Settings Make the hardware settings of the MSEP Controller.
7.2.2. Parameter Settings Set the parameters for the MSEP Controller.
7.3. Setting Up the Controller Set up the Controller.
7.3.1. Starting the Sysmac Studio and
Installing the ESI File
Install the ESI file for the MSEP Controller in the
Sysmac Studio.
7.3.2. Setting Up the EtherCAT
Network Configuration
Set up the EtherCAT network configuration.
7.3.3. Setting the Device Variables Set the device variables used for the EtherCAT
Slave Unit.
7.3.4. Transferring the Project Data Transfer the project data from the Sysmac Studio to
the Controller.
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.
7.4.2 Checking the Data that are Sent
and Received
Confirm that the correct data are sent and received.
7.EtherCAT Connection Procedure
12
7.2. Setting Up the IAI MSEP Controller
Set up the IAI MSEP Controller.
7.2.1. Hardware Settings
Make the hardware settings of the MSEP 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 MSEP Controller is OFF.
* If the power supply is turned
ON, settings may not be
applicable as described in
the following procedures.
2
Check the position of the
hardware switches and the
connectors on the front panel of
the MSEP Controller by referring
to the right figure.
Front view of MSEP Controller (using 4 slots)
3
Connect the Power Line Input
Connector by referring to the
right figure.
FG Terminal Block
Power Line Input Connector
Model Code
Record Card
Drive Cutoff/Emergency Stop Input Connector
External Brake Input Connector Status LED
Status LEDs for Driver Operation Mode
Setting Switch
SIO Connector
System I/O
Fieldbus /PIO
Connector(EtherCAT)
Slot 3 Actuator Connector Upper side (7th axis) : Axis No.6 (AX6)
Lower side (8th axis) : Axis No.7 (AX7)
Slot 2 Actuator Connector Upper side (5th axis) : Axis No.4 (AX4) Lower side (6th axis) : Axis No.5 (AX5)
Slot 1 Actuator Connector Upper side (3rd axis) : Axis No.2 (AX2) Lower side (4th axis) : Axis No.3 (AX3)
Slot 0 Actuator Connector Upper side (1st axis) : Axis No.0 (AX0) Lower side (2nd axis) : Axis No.1 (AX1)
Absolute Battery
7.EtherCAT Connection Procedure
13
4
Connect the Actuator to the
Actuator Connector.
In this document, connect the
Actuator (pulse motor) to axis
No.0 (AX0) on Slot 0.
*In this document, connection is
checked by using the MSEP
Controller equipped with the 5
axes driver for pulse motor
while whose axes No.1 to No.4
(AX1 to AX4) are disconnected
to the Actuator.
*1: For a driver board for servomotor, "A" marks are
indicated.
MSEP-C-5-42PI-42PI-42PI-42PI-42PI-EC-0-0
5
Connect the Ethernet cable to
the IN side of the Fieldbus /PIO
connector(EtherCAT).
6
Connect the Personal computer
with a USB cable, USB
Conversion Unit, and
Communications cable.
7
Set the Operation Mode Setting
Switch on the front panel of the
MSEP Controller to the MANU
side.
*This setting allows you to set
parameters from the RC PC
Software.
8
Turn ON the power supply to the
MSEP Controller.
USB cable + USB Conversion Unit + Communications cable
MANU AUTO
MODE
Slot 0 Pulse motor
Slot 1 Pulse motor
Slot 2 Pulse motor
Driver board for pulse motor *1
IN
OUT
SIO
7.EtherCAT Connection Procedure
14
7.2.2. Parameter Settings Set the parameters for the MSEP Controller.
Precautions for Correct Use
Parameters are set by the RC PC Software along with the Gateway Parameter Setting Tool.
Install these software and USB Driver to the Personal computer beforehand.
For information on how to install drivers, refer to 1.3.3 How to Install the USB Conversion
Adapter Driver Software of the PC Software RCM-101-MW/RCM-101-USB Instruction
Manual (Cat. No. ME0155).
Precautions for Correct Use
For MSEP Controller, you must first make the initial setting for each connected axis, and then
set an operation mode of gateway.
Use the RC PC Software to make initial setting for each connected axis.
Use the Gateway Parameter Setting Tool to set an operation mode of gateway.
1
Start the RC PC Software from the
Personal computer.
2
The Setting of application Dialog
Box is displayed only at the initial
start after the software has been
installed.
Select the communications port
No. to use in the Port Field. Check
the contents and click the OK
Button.
*If there are multiple serial ports on the Personal computer, display the Windows Device Manager. Then select the same port as the communications port No. where the MSEP Controller is connected under Ports (COM & LPT)(COM6 in this example).
*To display Device Manager, select Device Manager from Control Panel.
7.EtherCAT Connection Procedure
15
3
After the software starts, the
Check for connected axes Dialog
Box is displayed, and then the
MSEP Controller goes online.
In the Status Column, "Connected"
marks appear of the same number
as the drivers connected to the
MSEP Controller.
After connections for all axes are
checked (up to the Axis No. 15 in
the right figure), the Manual
operation mode Select Dialog Box
is displayed.
4
The Manual operation mode
Select Dialog Box is displayed.
Select Teach 1(Safety speed
effective/PIO start prohibition)
for Manual operation mode.
Click the OK Button.
5
If an online connection fails in step
3, the Alarm Dialog Box is
displayed.
Check the cable connections and
settings such as port number that
are displayed by selecting
Application from the Setting
Menu (refer to step 2 of this
section). Click the OK Button.
*To connect to the MSEP Controller again, select Controller - Check for connected axes from the Setting Menu by referring to the right figure.
7.EtherCAT Connection Procedure
16
6
In this document, only axis No.0 is
connected to the Actuator.
Accordingly, the Alarm Dialog Box
appears for other axes as they are
disconnected to the Actuator.
Confirm that there is no problem
and click the Yes Button to reset
the alarm.
Reset all axes where an error has
occurred.
7
In Tree view, confirm that axis
No.0 connected to the Actuator is
indicated in blue, which shows no
error has occurred.
The other axes disconnected to
the Actuator are indicated in red.
8
Make the initial settings of axes
connected to the MSEP Controller.
Select Controller - Initial setting
for SEP controller from the
Setting Menu.
9
The Select axis number Dialog
Box is displayed.
Select 0 from the pull-down list.
Click the OK Button.
Tree view
7.EtherCAT Connection Procedure
17
10
The IO pattern select Dialog Box is
displayed. Select Positioner Mode
and click the OK Button.
*If the operation mode of gateway is other than SEP I/O mode, all axes must be set to Positioner Mode.
11
A Confirmation Dialog Box is
displayed asking whether to
restart.
Check the contents and click the
Yes Button.
12
The MSEP Controller restarts.
* A restart is performed for each slot.
13
In the same way as steps 8 to 12,
set the operation pattern of all 5
axes to Positioner Mode.
14
Disable the axes disconnected to
the Actuator so that errors can be
reset.
In this document, 4 axes other
than axis No.0, which is connected
to the Pulse motor, are edited.
Select Edit from the Parameter
Menu.
7.EtherCAT Connection Procedure
18
15
Select the axis No. that you want
to edit its parameter.
Select Axis No. 01 and click the >
Button to move it from left to the
right box.
16
After Axis No. 01 is moved to the
right box, click the OK Button.
17
The Parameter Dialog Box for the
selected axis is displayed.
Scroll the screen to display the
parameter No.33 "Set disable axis
[0: Enable/ 1: Disable]".
The default is 0 (Enable).
7.EtherCAT Connection Procedure
19
18
Enter 1 in the Value Column for
the parameter No.33 "Set disable
axis [0: Enable/ 1: Disable]".
The change is indicated in red.
19
Select Load to CTL from the
Parameter Menu.
A Confirmation Dialog Box is
displayed. Check the contents and
click the Yes Button.
*The Confirmation Dialog Box does not appear if no change is made in the previous step. Go to the next step.
20
A Confirmation Dialog Box is
displayed. Check the contents and
click the Yes Button.
The right dialog box is displayed
stating "Restarting Controller".
21
In the same way as steps 15 to 20,
set the operation pattern of axes
No.2 to No.4, which are
disconnected to the Actuator, to 1
(Disable).
7.EtherCAT Connection Procedure
20
22
After parameters for all axes are
edited, they are indicated in blue,
which shows all axes errors have
been cleared.
Confirm that errors are cleared.
Select Exit from the File Menu to
exit the RC PC Software.
23
After the axis initial setting is
completed, set up the gateway.
Start the Gateway Parameter
Setting Tool from the Personal
computer.
24
The Setting of communications
Dialog Box is displayed only at the
initial start after the software has
been installed.
Select the communications port
No. to use in the Port Field and
click the OK Button.
*If there are multiple serial ports on the Personal computer, display the Windows Device Manager. Then select the same port as the communications port No. where the IAI device is connected under Ports (COM & LPT)(COM6 in this example).
*To display Device Manager, select Device Manager from Control Panel.
7.EtherCAT Connection Procedure
21
25
The SelectGwType Dialog Box is
displayed.
Select MSEP from the pull-down
list of Select Unit type and click the
OK Button.
26
The Connection Check Dialog Box
is displayed.
Confirm that 0 is displayed and
click the OK Button.
27
The initial window of the Gateway
Parameter Setting Tool is
displayed.
Click the Read Button.
28
The Confirmation Dialog Box is
displayed.
Check the contents and click the
Yes Button.
7.EtherCAT Connection Procedure
22
29
The Information Dialog Box is
displayed. Click the OK Button.
30
Confirm that Network Type
changes to EtherCAT.
Confirm that Address is 0.
Confirm that the * marks appear in
the Simple Column for all axes.
Also confirm that the Out and IN
Fields of Information indicate 64
byte (5 axes +1 axis for
reservation), respectively.
31
Select Unit No.(U) from the
Setting Menu.
32
The unit No. Dialog Box is
displayed. Confirm that 0 is
displayed in the Unit No. Field and
click the OK Button.
7.EtherCAT Connection Procedure
23
33
Check the settings and click the
Write Button.
34
A Confirmation Dialog Box is
displayed. Check the contents and
click the Yes Button.
35
The Information Dialog Box is
displayed. Click the OK Button.
36
A Confirmation Dialog Box is
displayed. Check the contents and
click the Yes Button.
37
A Confirmation Dialog Box is
displayed. Check the contents and
click the Yes Button.
7.EtherCAT Connection Procedure
24
38
The Information Dialog Box is
displayed. Click the OK Button.
39
The Corresponding Operation
Pattern Dialog Box is displayed.
Check the contents and click the
OK Button.
Select Exit from the File Menu to
exit the Gateway Parameter
Setting Tool.
40
Set the Operation Mode Setting
Switch on the front panel of the
MSEP Controller to the AUTO
side.
*The Operation Mode Setting Switch can be changed even while the power supply to the MSEP Controller turns ON.
MANU AUTO
MODE
7.EtherCAT Connection Procedure
25
7.3. Setting Up the Controller
Set up the Controller.
7.3.1. Starting the Sysmac Studio and Installing the ESI File
Install the ESI file for the MSEP Controller in the Sysmac Studio.
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
connect the USB cable to the
peripheral (USB) port.
As shown in 5.2. Device
Configuration, connect the
Personal computer, MSEP
Controller, and Controller.
2
Turn ON the power supply to the
Controller.
3
Start the Sysmac Studio.
Click the Connect to Controller
Button.
*If a confirmation dialog for an access right is displayed at start, select to start.
4
The Connect to Controller
Dialog Box is displayed.
Select the Direct connection via
USB Option for Connection
type.
Uncheck both the Upload the
project Check Box and the
Display the Troubleshooting
Dialog Box Check Box of
Operation after Connection.
Click the Connect Button.
USB cable
CPU Unit
End Cover
Power Supply Unit Ethernet cable
Controller
7.EtherCAT Connection Procedure
26
5
A confirmation dialog box on the
right is displayed.
Check the contents and click the
Yes Button.
*The displayed dialog depends on the status of the Controller used. Check the contents and click the OK or Yes Button to proceed with the processing.
6
A dialog box on the right is
displayed. Check the contents
and click the OK Button.
7
The Auto Connect Project
Dialog Box is displayed online.
When an online connection is
established, a yellow bar is
displayed on the Pane.
The left pane is called Multiview
Explorer, the top right pane is
called Toolbox, the bottom right
pane is called Controller Status
Pane, and the top middle pane
is called Edit Pane, and the
bottom middle pane is called
Output Tab Page.
Additional Information
For details on online connections to a 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.
Controller Status Pane
Toolbox
Edit Pane
Multiview Explorer
Output Tab Page
7.EtherCAT Connection Procedure
27
9
The EtherCAT Tab Page is
displayed on the Edit Pane.
10
Right-click Master and select
Display ESI Library.
11
The ESI Library Dialog Box is
displayed.
Click the this folder link.
When the Explorer starts, close
the dialog box by clicking the
Close Button.
12
The Explorer starts and a folder
is opened, allowing you to install
the ESI file.
Copy the prepared
ESI_IAI_Gateway_ECT_V_1_0
7_Rev_0.xml to this folder.
7.EtherCAT Connection Procedure
28
13
Select Exit from the File Menu
to exit the Sysmac Studio.
*You need to restart the Sysmac Studio after installing the ESI file.
A dialog box is displayed
confirming whether to save the
project. If you do not need to
save it, click the No Button.
14
In the same way as steps 3 to
10, restart the Sysmac Studio
and display the ESI Library
Dialog Box.
Click the + Button of
ESI_IAI_Gateway_ECT_V_1_0
7_Rev_0 to confirm that the
Rev:0x00010007 devices are
displayed.
Confirm that an exclamation
mark (warning) is not displayed.
Click the Close Button.
Precautions for Correct Use
If an exclamation mark (warning) is displayed for the ESI file, check the name of the ESI file
and obtain the ESI file with a correct name. If an exclamation mark (warning) is displayed
even when the name of the ESI file is correct, the file may be corrupted. Contact the device
manufacturer.
7.EtherCAT Connection Procedure
29
7.3.2. Setting Up the EtherCAT Network Configuration
Set up the EtherCAT network configuration.
1
Right-click Master on the
EtherCAT Tab Page of the Edit
Pane, and select Write Slave
Node Address.
A screen is displayed stating
"Get information is being
executed".
2
The Slave Node Address Writing
Dialog Box is displayed. The
present value (setting node
address) and
RCGW-ECT(64Byte/64Byte)
Rev:0x00010007 are displayed
in the Actual network
configuration.
*If the present value of the node
address is 0, an error is displayed.
3
Enter 1 in the Set value Field for
a node address.
4
Confirm that there is no error in
the set value and 1 is set.
Click the Write Button.
7.EtherCAT Connection Procedure
30
5
The Slave Node Address Writing
Dialog Box is displayed.
Click the Write Button.
Then, a screen is displayed
stating "Writing node addresses
to slaves was successfully
completed".
Check the contents and click the
Close Button.
6
Cycle the power supply to the
Slave Unit.
7
The EtherCAT Tab Page is
displayed again.
Right-click Master and select
Compare and Merge with
Actual Network Configuration.
A screen is displayed stating
"Get information is being
executed".
8
The Compare and Merge with
Actual Network Configuration
Dialog Box is displayed.
Node address 1 and
RCGW-ECT(64Byte/64Byte)
Rev:0x00010007 are added to
the Actual network configuration
after the comparison.
Click the Apply actual network
configuration Button.
7.EtherCAT Connection Procedure
31
9
A confirmation dialog box is
displayed. Check the contents
and click the Apply Button.
The dialog box on the right is
displayed. Click the Close
Button.
10
Node address 1, E001, and
RCGW-ECT(64Byte/64Byte)
Rev:0x00010007 are added to
the Network configuration on
Sysmac Studio.
Confirm that the data above are
added, and click the Close
Button.
11
Node address 1, E001, and
RCGW-ECT(64Byte/64Byte)
Rev:0x00010007 are added to
the EtherCAT Tab Page on the
Edit Pane.
7.EtherCAT Connection Procedure
32
7.3.3. Setting the Device Variables
Set the device variables used for the EtherCAT Slave Unit.
1
Select Offline from the
Controller Menu.
The yellow bar on the top of the
Edit Pane disappears.
2
Select
RCGW-ECT(64Byte/64Byte)Re
v:0x00010007 set in the
previous step in the EtherCAT
Tab Page and confirm that
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 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.
7.EtherCAT Connection Procedure
33
5
Right-click Node1 and select
Create Device Variable.
6
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.
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 I/O ports.
7.EtherCAT Connection Procedure
34
7.3.4. 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.
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.
A slave will be reset after performing the synchronization in step 7 and
subsequent steps. Always confirm safety before you reset a slave.
1
Select Check All Programs
from the Project Menu.
2
The Build Tab Page is displayed.
Confirm that "0 Errors" and "0
Warnings" are displayed.
3
Select Rebuild Controller from
the Project Menu.
7.EtherCAT Connection Procedure
35
4
A confirmation dialog box is
displayed. Check the contents
and click the Yes Button.
5
Confirm that "0 Errors" and "0
Warnings" are displayed in the
Build Tab Page.
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 is compared.
7.EtherCAT Connection Procedure
36
9
A confirmation dialog box on the
right is displayed. Confirm that
there is no problem and click the
Yes Button.
A screen stating "Synchronizing"
is displayed.
A confirmation dialog box on the
right is displayed.
Confirm that there is no problem
and click the No Button.
*Do not return to RUN mode.
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
37
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
2
Check the LED indicators on the
MSEP Controller.
The LED indicators in normal status
are as follows:
[RUN]: Lit green
[ERR]: Not lit
[Link/Activity]:Flashing
Link/Activity LED EtherCAT(R) IN Link/Activity LED EtherCAT(R) OUT
7.EtherCAT Connection Procedure
38
7.4.2. Checking the Data that are Sent and Received
Confirm that the correct data are sent and received.
Sufficiently confirm safety before you change the values of variables on a Watch
Tab Page when the Sysmac Studio is online with the CPU Unit. The devices
that are connected to output units may operate regardless of the operating
mode of the Controller.
1
Select the Watch (Project) Tab
Page.
2
Enter the following names in the
Watch (Project) Tab Page for
monitoring. Click a column under
the Name Column to enter a new
name.
E001_In_IN00_2004_01
3
Select Binary from the pull-down
list of Display format of the variable
you set.
4
Confirm that the Operation Mode
Setting Switch on the front panel of
the MSEP Controller is set to the
AUTO side.
5
Confirm that the Online value of bit 12 is 0. *Setting of E001_In_IN00_2004_01(Gateway Status Signal 0) of bit 12 (MOD bit) is as follows:
・For the Operation mode setting
switch on the front panel of the MSEP Controller.
0: when AUTO side. 1: when MANU side.
MANU AUTO
MODE
7.EtherCAT Connection Procedure
39
6
Set the Operation Mode Setting
Switch on the front of the MSEP
Controller to the MANU side.
7
Confirm that the Online value of
E001_In_IN00_2004_01 of bit 12
changes to 1.
8
Return the Operation Mode Setting
Switch on the front of the MSEP
Controller to the AUTO side.
MANU AUTO
MODE
MANU AUTO
MODE
8.Initialization Method
40
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 IAI MSEP Controller
For information on how to initialize the IAI MSEP Controller, refer to 16.1. Parameter (Factory
Default Setting) Initializing Method of the PC Software RCM-101-MW/RCM-101-USB
Instruction Manual (Cat. No. ME0155).
9.Revision History
41
9. Revision History
Revision
code
Date of revision Revision reason and revision page
01 December 27, 2014 First edition