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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 -


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.


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.


Contact IAI Corporation for actuators connectable to MSEP Controllers.


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


7


Prepare the ESI file shown in this section beforehand.

To obtain the ESI file, contact IAI Corporation.


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.


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).


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).


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).


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.


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_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


Area (Axis No.2)*

2

Target Position

E001_Out_OUT17_2003_12 UINT Target Position

E001_Out_OUT18_2003_13 UINT Specified Position No.



Area (Axis No.3)*

2

Target Position

E001_Out_OUT21_2003_16 UINT Target Position

E001_Out_OUT22_2003_17 UINT Specified Position No.



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.


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_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


Area (Axis No.2)*

2

Current Position

E001_In_IN17_2004_12 UINT Current Position

E001_In_IN18_2004_13 UINT Completed Position No.



Area (Axis No.3)*

2

Current position

E001_In_IN21_2004_16 UINT Current Position

E001_In_IN22_2004_17 UINT Completed Position No.



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.


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.


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.


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.


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


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


14

7.2.2. Parameter Settings Set the parameters for the MSEP Controller.


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).


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.


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.


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


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.


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).


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.


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




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).


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.


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


27

The initial window of the Gateway

Parameter Setting Tool is

displayed.

Click the Read Button.

28

The Confirmation Dialog Box is

displayed.


Yes Button.


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



23

33

Check the settings and click the

Write Button.

34




35



36




37





24

38



39

The Corresponding Operation

Pattern Dialog Box is displayed.


OK Button.

Select Exit from the File Menu to

exit the Gateway Parameter

Setting Tool.

40


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


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


26

5

A confirmation dialog box on the

right is displayed.


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.


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


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.


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.


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.


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.


30

5

The Slave Node Address Writing


Click the Write Button.

Then, a screen is displayed

stating "Writing node addresses

to slaves was successfully

completed".


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


Node address 1 and


Rev:0x00010007 are added to

the Actual network configuration

after the comparison.

Click the Apply actual network

configuration Button.


31

9

A confirmation dialog box is


and click the Apply Button.

The dialog box on the right is

displayed. Click the Close

Button.

10

Node address 1, E001, and



the Network configuration on

Sysmac Studio.

Confirm that the data above are

added, and click the Close

Button.

11

Node address 1, E001, and



the EtherCAT Tab Page on the

Edit Pane.


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.


33

5

Right-click Node1 and select

Create Device Variable.

6

The variable names and

variable types are automatically

set.


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.


In this document, device variables are automatically named for a unit (a slave).

Device variables can also be manually named for I/O ports.


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.


35

4

A confirmation dialog box is


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.


36

9


right is displayed. Confirm that

there is no problem and click the

Yes Button.

A screen stating "Synchronizing"

is displayed.


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.


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


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


39

6


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


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

2014

1214(-)P608-E1-01

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