ethercat connection guide kollmorgen corporation (ak · a kollmorgen corporation servo drive...

Kollmorgen Corporation

Servo Drive

(AKD™)

Machine Automation Controller NJ-series

EtherCAT Connection Guide

No. FST-ZTH13079B

A

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.

EtherCATR 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 Setting and Motion Control Settings ....................................... 8

6.1. EtherCAT Communications Parameter Settings ................................. 8

6.2. Settings from the Sysmac Studio ....................................................... 11

7. EtherCAT Connection Procedure ............................................................ 12

7.1. Overview of the Connection Processing ........................................... 12

7.2. Work Flow .......................................................................................... 13

7.3. Preparation for Controller Setup ........................................................ 14

7.4. Setting Up the Kollmorgen Drive ....................................................... 22

7.5. Setting Up the Controller ................................................................... 28

7.6. Checking the Connection Status ....................................................... 51

8. Restrictions on Motion Control ............................................................... 56

8.1. List of Restrictions .......................................................................... 56

8.2. Axis Variables .................................................................................. 58

8.3. MC Instructions ............................................................................... 59

8.4. Others ............................................................................................... 61

9. Appendix 1 Procedure Using the Project File ........................................ 62

9.1. Overview of Connection Processing Using the Sysmac Studio ........ 62

9.2. Work Flow Using the Project File ...................................................... 63

9.3. Setting Up the Controller Using the Project File ............................... 64

10. Appendix 2 Project File ......................................................................... 73

10.1. PDO Mapping .................................................................................... 73

10.2. Program (ST Language) .................................................................... 75

11. Revision History .................................................................................... 78

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-[][][][] NJ-series CPU Unit Hardware User's Manual

W501 NJ501-[][][][] NJ-series CPU Unit Software User's Manual

W502 NJ501-[][][][] NJ-series Instructions Reference Manual

W503 NJ501-[][][][] NJ-series Troubleshooting Manual

W504 SYSMAC-SE2[][][] Sysmac Studio Version 1 Operation Manual

W507 NJ501-[][][][] NJ-series CPU Unit Motion Control User's Manual

W508 NJ501-[][][][] NJ-series Motion Control Instructions Reference

Manual

W505 NJ501-[][][][] NJ-series CPU Unit Built-in EtherCAT Port User's

Manual

I576 R88M-K[]

R88D-KN[]-ECT

AC Servo Motor/Servo Drives G5 Series with Built-in

EtherCAT Communications User's Manual

903-200000-00 AKDTM

Quick Start

903-200003-00 AKDTM

Installation Manual

903-200005-00 AKDTM

EtherCAT Communication

903-200004-00 AKDTM

CAN-BUS Communication

903-200006-00 AKDTM

User Guide

2．Terms and Definitions

2

2. Terms and Definitions

Term Explanation and Definition

PDO

Communications

Communications using process data objects (PDOs) to exchange

information in realtime with a fixed period.

PDO entry A structure unit of PDO mapping. A pointer to an object that is part of the

PDOs.

PDO mapping To use motion control functions, required objects must be mapped for the

PDO commnications.The PDO map is a list of required objects that is

prepared in advance.

Object Abstract representation of a particular component within a device,

which consists of data, parameters, and methods.

Function module One of the functional units of the software configuration of the CPU Unit.

Motion control

function module

One of the function modules. The MC Function Module performs motion

control based on commands from the motion control instructions that are

executed in the user program. (Abbreviation: MC Function Module)

EtherCAT master

Function module

One of the function modules. This function module controls the EtherCAT

slaves as the EtherCAT master.

PLC

Function module

One of the function modules. This function module executes the user

program, sends instructions to the Motion Control Function Module, and

provides an interface to the USB and SD Memory Card.

Motion control

instruction

A function block instruction that executes motion control. The Motion Control

Function Module supports instructions that are based on function blocks for

PLCopen motion control as well as instructions developed specifically for

the Motion Control Function Module. (Abbreviation: MC instruction)

PLCopen PLCopen is an association that promotes IEC 61131-3. It has its

headquarters in Europe and a world-wide membership. PLCopen

standardizes function blocks for motion control to define a program interface

for the languages specified in IEC 61131-3 (JIS B 3503).

The website of headquarters of PLCopen in Europe is

http://www.plcopen.org/.

Axis In a motion control system, the targets of motion control are called axes. An

axis can be an actual Servo Drive or other device or encoder connected

using EtherCAT or it can be a virtual Servo Drive or encoder within the MC

Function Module.

Axis variables Axis variables are system-defined variables for some of the axis parameters

and for the monitor information, such as the actual position and error

information, for the axes controlled by the MC Function Module. Axis

variables are structures with a data type of _sAXIS_REF.

ESI file

Setting information for EtherCAT is defined in EtherCAT slave information

(ESI) files. The ESI files are provided by the individual slave manufacturers.

Various EtherCAT communications settings are defined based on the ESI

definitions of connected slaves.

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, Precautions for Safe Use, and Precaution for Correct Use of manuals for

each device used in the system.

(3) The user is encouraged to confirm the standards and regulations that the system must

conform to.

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

document without the permission of OMRON Corporation.

(5) The information contained in this document is current as of September 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.

Symbol

4．Overview

4

4. Overview

This document describes the procedure for connecting the AKDTM

Servo Drive (hereinafter

referred to as Drive) of Kollmorgen Corporation (hereinafter referred to as Kollmorgen) to

NJ-series Machine Automation Controller (hereinafter referred to as Controller) of OMRON

Corporation via EtherCAT and provides the procedure for checking their connection.

Refer to Section 6 EtherCAT Setting and Motion Control Settings and Section 7. EtherCAT

Connection Procedure to understand the setting method and key points to operate motion

control devices with POD communications of EtherCAT. MC_Power of the motion control

instruction (hereinafter referred to as MC instruction) is used to check the operation in this

document. The MC_Power switches the Drive status to Servo On.

The operation of motion control differs depending on the device used. Make sure that you

understand 8. Restrictions on Motion Control before designing system.

The setting in 7.5. Setting Up the Controller and the program to check the operation are set in

advance in the Sysmac Studio project file (hereinafter referred to as "project file"). Refer to

Section 9. Appendix 1 Procedure Using the Project File for usage method of the project file.

Obtain the latest project file from OMRON.

Name File name Version

Project file

(extension: SMC).

Kollmorgen_AKD_ECAT_V100.smc Ver.1.00

The scope of this document covers the "connection check of motion control

devices connected via EtherCAT using the MC_Power instruction"

To use MC instructions and design a system not described in this document,

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.

Please note that some functions may differ between non-OMRON motion

control devices and OMRON AC Servo Drive (G5 series) when connecting to

the OMRON Controller. For example, there may be differences in the behaviors

of the MC Function Module or MC instructions may not be used. Make sure to

check 8. Restrictions on Motion Control in this document when designing an

actual system.

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-[][][][]

Kollmorgen AC Servo

System

Drive AKD TM

Servo Drive

Actuator AKD

TM Servo Systems

(AKM TM

Servomotor, etc)


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.


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.

(Kollmorgen Corporation http://www.kollmorgen.com)

This URL is the latest address at the time of this document creation. Contact each device

manufacturer for the latest information.


AKD TM

Servo Drive works with any servo motors and positioners of AKD TM

Servo Systems.

It also works with actuators which are provided by manufactures except for Kollmorgen

Corporation. Contact Kollmorgen Corporation for detail information regarding available

actuators.

(Kollmorgen Corporation http://www.kollmorgen.com)

This URL is the latest address at the time of this document creation.


6

5.2. Device Configuration

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

follows.

Manufacturer Name Model Version

OMRON NJ-series CPU Unit NJ501-1500 Ver.1.05

OMRON Power Supply Unit NJ1W-PA3001

OMRON Sysmac Studio SYSMAC-SE2[][][] Ver.1.06

- Personal computer (OS: Windows7)

-

- USB cable (USB 2.0 type B connector)

-

OMRON Ethernet cable (with industrial Ethernet connector)

XS5W-T421-[]M[]-K

Kollmorgen Drive AKD-P00306-NAEC-0000 Rev.0x00000003

Kollmorgen Servo Motor AKM21E-ANCNR-00

Kollmorgen ESI file AKD_o_147.xml

Personal computer (Sysmac Studio installed, OS: Windows 7)

USB cable

NJ501-1500 (Built-in EtherCAT port)

Ethernet cable

AKD-P00306-NAEC-0000

AKM21E-ANCNR-00

Ethernet cable


7


Prepare the applicable ESI file beforehand.

To obtain the ESI file, contact Kollmorgen 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 specifications of the Ethernet cable and network wiring, refer to Section 4 EtherCAT

Network Wiring of the NJ-series CPU Unit Built-in EtherCATR Port User's Manual (Cat. No.

W505).


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

personal computer and NJ-series Cupful 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).

6．EtherCAT Setting and Motion Control Settings

8

6. EtherCAT Setting and Motion Control Settings

This section describes the specifications such as communication parameters and variables

that are defined in this document.

6.1. EtherCAT Communications Parameter Settings

6.1.1. EtherCAT Communications Setting

The node address of the Drive required for EtherCAT configuration is shown below.

The setting in this section is made in 7.5.1. Setting Up EtherCAT Network Configuration

and 7.5.2 PDO Map Setting.

Drive

Node address 1

Mode of operation 8 Position mode

Interpolation time period value (0x60C2: 01) 1 1ms (1 x 10-3

sec)

Interpolation time index (0x60C2: 02) -3 1ms (1 x 10-3

sec)

6.1.2. PDO Map Settings

The PDO entries (object) of the Drive required for EtherCAT configurations are shown

below. Specific objects can only be used in MC instructions for the Controller. The following

objects are only available for the Drive. Refer to 9.1. PDO Mapping for details.

There are 8 kinds of PDO mappings available: 1600 to 1603 for output, and 1A00 to 1A03

for input. Each entry can be allocated to any PDO mapping. Even though no PDO entry is

included in the PDO mapping, the mapping needs to be set as used.

The setting in this section is made in 7.5.2. PDO Map Settings.

■Output (Controller → Drive)


9

■Input (Controller ← Drive)

Make sure that the same object set in 6.1.2. PDO Map Settings and 6.1.4. Axis

Settings for PDO Entries is mapped.

For PDO entries without axis settings, PDO communications are performed

using unspecified values. This may cause unexpected operation of the motion

control device, resulting in injury.


Even-numbered and up to 8 bytes can only be used in a PDO entry for the Drive.

Accordingly, the PDO entries in this document are separately registered.

8 kinds of PDO mappings, 1600 to 1603 for output and 1A00 to 1A03 for input, must be set as

used even though no PDO entry is included in the PDO mapping.

6.1.3. Axis Settings for Motion Control

The axis settings of the Drive required for motion control are shown below.

The setting in this section is made in 7.5.3. Axis Settings for Motion Control.

Axes variable name

Axis number Display on Sysmac Studio

MC_Axis000 0 MC_Axis000(0)


10

6.1.4. Axis Settings for PDO Entries

The axis settings of the Drive required for motion control are shown below.

Refer to CAN-BUS Communication (903-200004-00) for details on each object.

The setting in this section is made in 7.5.3. Axis Settings for Motion Control.

■MC_Axis000(0)

* Details on allocation of digital input object (Index: 0x60FD)

Bit number 2 1 0

Name Home switch

Pos. limit switch

Neg. limit switch


11

6.2. Settings from the Sysmac Studio

The following figure shows the processing to perform motion control through EtherCAT

communications.

Make the following settings from the Sysmac Studio:

(1) EtherCAT Configuration and Settings: EtherCAT communications between the Drive

and Controller.

(2) PDO Map Settings: Data settings for motion control with the Controller.

(3) Motion Control Setup - Axis Settings: Axis variable settings (MC_Axis000) for MC

instructions.

Personal Computer (Sysmac Studio)

Project file

EtherCAT configuration info.

Device 1

Node address：01

Axis settings info.

Axis 1

Output

Input

Digital Input

Axis 2

Output

Input

Digital Input

User program

ESI file

Object

MC instruction / Axis variables

NJ-series CPU Unit

PLC Function Module

Motion control device MC function module

User program

Communications processing Command interpretation status

EtherCAT Communications

(PDO communications）

Control command

Travel distance feedback

EtherCAT Communications master module

PDO entry

（Object）

Command interpretation Data processing

Communications processing

MC instruction / Axis variables

MC instruction /Axis variables

Motor Encoder

Transferring the Project Data Installing the ESI File

ESI file

PDO map

Outputs PDO entry

Inputs PDO entry

(1) EtherCAT Configuration and

Setting

(3) Motion Control Setup - Axis Settings

(2) PDO Map Settings

Axis setting information

* This figure shows the configuration elements in each file/device related to this document only.

7．EtherCAT Connection Procedure

12

Personal computer

Controller Motion control device

7. EtherCAT Connection Procedure

This section describes the procedure for connecting the Controller to the Drive via EtherCAT.

This document explains the procedures for setting up the Controller and the Drive from the

factory default setting.

To prevent unexpected operations of the motion control device, make sure to

initialize the Controller before connecting the motion control device and

Controller with an Ethernet cable. Depending on the Controller status, turning

ON the power supply to the Controller may cause unexpected operation of the

motion control device, resulting in injury.

7.1. Overview of the Connection Processing

The following figure shows the connection process to perform motion control via EtherCAT

communications.

Transferring the Project Data

Sysmac Studio

(1)Initializing the Controller (2)Setting Up the EtherCAT Network Configuration (3)PDO Map Settings (4)Axis Settings for Motion Control (5)Creating a Operation Checking

Program and Task Settings (A series of settings (2) to (5) is called project data.)

ESI file

Installing the

ESI File


13

7.2. Work Flow

Take the following steps to connect to EtherCAT.

The procedure in 7.5. Setting Up the Controller can be simplified by using the project file.

Refer to 8.3. Setting Up the Controller Using the Project File for details.

7.3. Preparation for Controller Setup

Prepare to set up the Controller.

7.3.1. Starting the Sysmac Studio and Online Connection

Start the Sysmac Studio to connect to the Controller online.

↓

7.3.2. Initializing the Controller Initialize the Controller.

↓

7.3.3. Installing ESI Files Install the ESI file for the Drive in the Sysmac Studio.

↓

7.4. Setting Up the Kollmorgen Drive

Set up the Drive.

↓

7.4.1. Hardware Settings Set the hardware switches on the Drive.

↓

7.4.2.Parameter Settings Set the Drive parameters.

↓

7.5. Setting Up the Controller Set up the Controller.

↓

7.5.1. Setting Up the EtherCAT Network Configuration

Set up EtherCAT network configuration with the Sysmac Studio.

↓

7.5.2. PDO Map Settings Set up the PDO mapping for MC function module.

↓


Set up the axis for MC function module.

↓

7.5.4 Creating an Operation Checking Program

Create a program to check the operation.

↓

7.5.5. Transferring the Project Data

Transfer the project data to the Controller.

↓

7.6. Checking the EtherCAT Communications

Confirm that the PDO communications of EtherCAT are performed normally.

↓

7.6.1.Checking the Connection Status

Confirm that the EtherCAT communications are performed normally.

↓

7.6.2 Check the Connection Using the Operation Checking Program

Confirm the Drive operation using the program to check the operation.


14



Install the Sysmac Studio and USB driver in the personal computer in advance.

Do not connect the Controller to the Ethernet cable when you perform the

operation. Depending on the Controller status, turning ON the power supply to

the Controller may cause unexpected operations of the motion control device,

resulting in injury.


Start the Sysmac Studio and connect it to the Controller online.

1 Connect the personal computer

to the Controller with a USB

cable.

Confirm that the Ethernet cable

is disconnected from PORT2

EtherCAT of the Controller.

USB

cable

Not connected

2 Turn ON the power supply to the

Controller.

3 Start the Sysmac Studio and

click the New Project.

* If a confirmation dialog box for

an access right is displayed at

start, select to start.

CPU Unit

End Cover

Power Supply Unit

Controller


15

4 The Project Properties Dialog

Box is displayed.

* In this document, New Project

is set as the project name.

Confirm that Category and

Device that you use are set in

the Select Device Field.

Select version 1.06 from the

pull-down list of Version.

5 Click the Create Button.

6 The New Project is displayed. The left pane is called Multiview Explorer, the right pane is called Toolbox and the middle pane is called Edit Pane.

7 Select Communications Setup from the Controller Menu.

Multiview Explorer

Edit Pane Toolbox


16

8 The Communications Setup Dialog Box is displayed. Select the Direct connection via USB Option for Connection Type. Click the OK Button.

9 Select Online from the

Controller Menu.

A confirmation dialog box is

displayed. Click the Yes Button.

* The displayed dialog depends on the status of the Controller used. Click the Yes Button to proceed with the processing.

10 When an online connection is established, a yellow bar is displayed on the top of the Edit Pane.

11 Select Mode - PROGRAM

Mode from the Controller Menu.


displayed as shown on the right.

Confirm that there is no problem

and click the Yes Button.

The Controller Status changes

to PROGRAM mode.


17


For details on online connections to a Controller, refer to Section 5 Online Connections to a Controller of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).


18

7.3.2. Initializing the Controller

Initialize the Controller.

All memory will be cleared after initialization. If there is necessary data in the Controller, save the data. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on operating the Sysmac Studio.

1 Select Clear All Memory from

the Controller Menu.

2 The Clear All Memory Dialog

Box is displayed. Click the OK

Button.


19

3 A confirmation dialog box is

displayed. Check the contents


4 A complete dialog box is


and click the OK Button.

5 Select Offline from the

Controller Menu. Confirm that

the yellow bar on the top of the

Edit Pane disappeared.

6 Turn OFF the power supply to the Controller.

7 Connect the Ethernet cable to

PORT2 EtherCAT of the

Controller.

* Make sure that the power

supply remains OFF.

USB

cable

Ethernet cable


20

7.3.3. Installing the ESI File

Install the ESI file for the Drive in the Sysmac Studio.

1 Double-click EtherCAT under

Configurations and Setup in the

Multiview Explorer.

2 The EtherCAT Tab is displayed

on the Edit Pane.

3

Right-click Master and select

Display ESI Library.

4 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.


21

5 The Explorer starts and a folder

is opened, allowing you to install

the ESI file. Copy the prepared

ESI file AKD_o_147.xml to this

folder.

6 Select Exit from the File Menu

to exit the Sysmac Studio.

A dialog box is displayed

confirming whether to save the

project. If you do not need to

save, click the No Button.

* You need to restart the

Sysmac Studio after installing

an ESI file.

7 Restart the Sysmac Studio (refer to steps 2 to 5 of 7.3.1. Starting the Sysmac Studio and Online Connection) and display the ESI Library Dialog Box by following steps 1 to 3 of this section. Click the + Button of AKD_o_147, and then confirm that AKD Rev: 0x00000002 (AKD EtherCAT Drive (CoE)) is 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.


22


Set up the Drive.

7.4.1. Hardware Settings

Set the hardware switches on the Drive.


Make sure that the power supply to the Drive is OFF when you make the setting.

1 Make sure that the power supply

to the Drive is OFF.

* If the power supply is turned

ON, settings may not be

applicable as described in the

following procedure.

2 Set the Rotary Switches S1 and

S2 to 0.

* Set the node address to 0.

Setting the value other than 0

causes the default value of

[X11] port address to change.

3 Connect the Ethernet cable to

the X5 communications

connector and connect it to the

Controller.

4 Connect the X11 port on the top

of the Drive to the Ethernet port

on the personal computer with

an Ethernet cable.

5 Connect the Drive to the Servo

Motor. Connect other necessary

cables.

EtherCAT IN port EtherCAT OUT port

Ethernet cable


23

7.4.2. Parameter Settings

Set the Drive parameters.

Install the Kollmorgen WorkBench to the personal computer beforehand to set parameters.


Refer to Installation Manual (903-200003-00) for how to install the tool.


Drive.

2 Start the Kollmorgen

WorkBench.

* The display differs depending

on the usage status.

3 Click the Connect Button.


24

4 The connected Drive is

displayed.

Select the Drive, and then click

the Connect Button.

* Perform steps 5 if the Drive is

not displayed.

5 If the Drive does not appear in

step 4, press the B1 Button on

top of the Drive for 10 seconds.

The IP address of the Drive

returns to the default.

6 When the connection is

established, the dialog box on

the right is displayed.


25

7 Confirm that the following

parameters are displayed under

Device Topology:

・Settings

・Communication

・Digital I/O

* If the parameter values above

are different, select the value

from the pull-down list.

8 Confirm the following settings

are made in Settings:

Command Source: 1-Field Bus

Operation Mode: 2-Position

Mode

If the settings are different,

select them from the pull-down

lists

9 Confirm that the following

setting is made in the

Communication:

Data Type: 2-EtherCAT


26

10 In Digital Inputs and Outputs,

select the following settings from

the pull-down lists of Mode:

DIN 2: 11 - Home Reference

DIN 3: 18 - Positive Limit

Switch

DIN 4: 19 - Negative Limit

Switch

Set Polarity as follows by

checking /unchecking the

checkboxes:

DIN 2: Active High

DIN 3: Active Low

DIN 4: Active Low

11 Select Parameters under Device

Topology.

The Parameters Settings Tab

Page is displayed on the right

Pane.

Select Fieldbuses.


27

12 The parameters in Fieldbuses

are displayed.

Select the value of

FBUS.PARAM05 of Fieldbus

parameter.

* The displayed value differs

depending on the device

status.

13 Turn ON the 8th bit of

FBUSPARAM05.

The value is displayed in

decimal. Set 264 that is obtained

by adding 256 (the 8th bit of 1

0000 0000 is ON) and 8 that

were originally set.

14 Click Save To Drive.

15 Select Exit from the File Menu.


28

7.5. Setting Up the Controller

Set up the Controller.

To use a project file, refer to 8.3. Setting Up the Controller Using the Project File.

Depending on the Controller status, turning ON the power supply to the

Controller may cause unexpected operation of the motion control device,

resulting in injury.

Confirm safety when the power is turned ON.

Always confirm safety before you reset the Controller or any components.


Confirm that each device is connected to the Ethernet cable before proceeding to the

following procedure. If it is not connected, turn OFF the power supply to each device, and

then connect the Ethernet cable.

7.5.1. Setting Up the EtherCAT Network Configuration

Set up EtherCAT network configuration with the Sysmac Studio.


Controller.


Controller Menu of the Sysmac

Studio.

3 The Sysmac Studio goes online.

Confirm that the EtherCAT Tab

Page is displayed on the Edit

Pane.

If not displayed, double-click

EtherCAT under

Configurations and Setup in

the Multiview Explorer.


29

4 Right-click Master on the

EtherCAT Tab Page of the Edit

Pane, and select Write Slave

Node Address.

* If the EtherCAT Tab is not

displayed on the Edit Pane,

display it by following step 6 of

7.3.1. Starting the Sysmac

Studio and Installing the ESI

File.

A screen is displayed stating

"Get information is being

executed"

5 The Slave Node Address Writing

Dialog Box is displayed. The

present value (setting node

address) and AKD Rev:

0x00000002 are displayed in

Actual network configuration.

* If the present value of the node

address is 0, and an error

is displayed.

6 Enter 1 for a node address in the

setting value field.

7 Confirm that there is no error in

the setting value and 1 is set.

Click the Write Button.


30

8 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.

9 Cycle the power supply to the

Drive and wait until the LED

indicator on front of the Drive

displays o2.

10 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"


31

11 The Compare and Merge with Actual Network Configuration Pane is displayed. Node address 1 and AKD Rev: 0x00000002 are added to the Actual network configuration after the comparison. Click the Apply actual network configuration Button.

12 A confirmation dialog box is displayed. Check the contents and click the Apply Button. Node address 1, E001 and AKD Rev: 0x00000002 are added to the Network configuration on Sysmac Studio. Confirm that they were added and click the Close Button.

13 Node address 1, E001, and AKD Rev: 0x00000002 are added to the EtherCAT Tab Page on the Edit Pane.


Controller Menu. When going

offline, the yellow bar on the top

of the Edit Pane disappears.


32

7.5.2. PDO Map Settings

Set up the PDO mapping for MC function module.

Make sure that the objects set in 7.5.3. Axis Settings for Motion Control are

mapped to PDOs.





The PDO entries (objects) available for MC Function Module are limited. Not all objects

supported by the destination device are used.

For details on the objects that can be used, refer to 9.1. PDO Mapping. This section describes the procedure for entering objects listed in 6.1.2. PDO Map Settings.

1 Select AKD Rev: 0x00000002

on the Edit Pane. Click the Edit

PDO Map Settings Button in

the PDO Map Settings Field on

the right Pane.


33

2 The Edit PDO Map Settings

Dialog Box is displayed.

Set all the Inputs other than

"Editable" ones to No option in

PDO Map.

* The PDO Map by default

setting is used for the

explanation in this document.

You can also select a mapping

different from the one in this

document.

3 Select the Input that is

"Editable".

The PDO entries included in

Inputs is displayed on the right

dialog box.


34

4 Click the Add PDO Entry

Button.



Among the objects listed in

6.1.2. PDO Map Settings, select

the following object that the

setting has not been made. Click

the OK Button.

・0x6064: 00

6 Confirm that the added object is

displayed.

7 In the same way, add the

following object:

・0x6077: 00

* Each PDO entry must be up to

8 bytes for the Drive.


35

8 Select the other Input that is

Editable in PDO Map.

Click the Add PDO Entry

Button. Among the objects listed

in 6.1.2. PDO Map Settings,

select the following objects that

the settings have not been

made.

・0x6061: 00

・0x60B9: 00

・0x60FD: 00


displayed.

* Each PDO entry must be

even-numbered byte for the

Drive.

Click the Add PDO Entry Button

to add the following object:

・0x2002: 01


displayed.



11 Select the other Input that is







made.

・0x60BA: 00

・0x60BC: 00


displayed.




36

13 Select all the rest of Editable

Inputs that have not been set in

PDO Map.

* No setting for PDO Entries is

required.

14 Set all the Outputs other than

Editable ones to No option in

PDO Map.


37

15 Select the Output that is

“Editable”.

The PDO entries included in

Outputs are displayed on the

right dialog box.


Button.



Among the objects listed in

6.1.2. PDO Map Settings, select

the following objects that the

settings have not been made.

Click the OK Button.

・0x6071: 00

・0x607A: 00


displayed.

18 Select the other Output that is







made.

・0x6060: 00

・0x20B8: 00

・0x60FF: 00


38


displayed.

To make the PDO entry an

even-numbered byte, click the

Add PDO Entry Button to add

the following object:

・0x0002: 00


displayed.

21 Select all the rest of Editable

Outputs that have not been set

in PDO Map.

* No setting for the PDO Entries

is required

22 Click the OK Button.


39

23 The contents set in steps 2 to 20

are displayed in PDO Map

Settings.

Click the Edit Setting

Parameters Button.

24 Change the values as shown below:

0x6060: 00: 8

0x60C2: 01: 1

0x60C2: 02: -3

* Set 8 to 0x6060: 00 that

indicates the Position Mode. The Drive can not change a mode with the EtherCAT communications. Be sure the Position Mode is used.

* Control period is set in

combination of 0x60C2: 01 and 0x60C2: 02. In the combination, the control period of 1 x 10

-3 sec.

indicates 1ms. The control period and Period/ Execution Conditions of Primary Task must be matched. The Period/ Execution Conditions are set in 7.5.4 Creating an Operation Checking Program.

25 Click the OK Button.


40


Set up the axis for MC function module.

Be sure to make the axis settings of all the objects set in 7.5.2. PDO Map

Settings.




1 Select Configurations and

Setup - Motion Control Setup

-Axis Settings in the Multiview

Explorer.

Right-click Axis Settings - Add

- Axis Settings from the menu.

2 MC_Axis000(0) is added under

Motion Control Setup - Axis

Settings.

Double-click MC_Axis000(0).

3 The MC_Axis000(0) Tab Page is

displayed on the Edit Pane.

Click the［］Axis Basic

Settings Button.


41

4 Enter or select the value from

the pull-down list as shown

below to make the Axis Basic

Settings on the MC_Axis000(0)

Tab Page.

・Axis number: 0

・Axis Use: Used Axis

・Axis Type: Servo Axis

・Feedback control: No control

loop

・Output device 1:

Node: 1 AKD(E001)

5 Click the Detailed Settings

Button.

The Detailed Settings is

expanded. Click three + symbols

next to the Function Names to

expand the configuration

elements.


42

6 The Detailed Settings is

expanded.

7 Select Node: 1 AKD(E001) from

the pull-down menu of the

Device Field of 1. Controlword.

Select the following object from

the pull-down list of the Process

Data Field.

・6040h-00.0

8 In the same way, set Device and Process Data Fields as 6.1.4. Axis Settings for PDO Entries.

Select Not assigned for the device that Process Data is not assigned. Make the same setting

as Step 7 for other settings.

The setting results are as follows.


43

7.5.4. Creating an Operation Checking Program

Create a program to check the operation.

Refer to 9.2. Program (ST Language) for details on the ST (structured text) language

program.


44

1 Select Programming -

Programs - Program0 in the

Multiview Explorer. Right-click

Program0 and select Delete

from the menu.

* The default Program0 is

automatically created in the

ladder language. It is not used

in this document because a

ST language program is

manually created and used in

the following steps.

The Delete Dialog Box is

displayed. Click the Yes Button.

Program0 is deleted from

Programming in the Multiview

Explorer.

2 Right-click Programs under

Programming and select Add -

ST from the menu.

3 Double-click the added

Program0.

The Program0 Tab Page is



45

4 Write the program as shown in

the right figure in the

programming area on the

Program0 Tab Page.

Set the internal variables and

external variables as shown in

the right figure.

5 Double-click Task Settings

under Configurations and

Setup in the Multiview Explorer.

The Task Settings Tab Page is


Confirm the value of Period/

Execution Conditions. 1ms is set

in this document.

(* Section 01: Starting and stopping motion control device *) IF Input_Start AND NOT _EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress] AND _EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress] THEN IF NOT MC_Axis000.DrvStatus.ServoOn THEN Local_Power_Enable := TRUE; END_IF; ELSE Local_Power_Enable := FALSE; END_IF; (* Section 02: Error processing *) IF MC_Axis000.MFaultLvl.Active THEN Local_Power_Enable := FALSE; END_IF; (* Section 03: MC instruction executed *) MC_Power_instance( Axis := MC_Axis000, Enable := Local_Power_Enable, Status => Output_Power_Status, Busy => Output_Power_Busy, Error => Output_Power_Error, ErrorID => Output_Power_ErrorID);


46

6 Click the Program Assignment

Settings Button.

7 Click the + Button of Primary

Task.

Select Program0 from the

pull-down list.

Program0 is set.

8 Select Check All Programs from the Project Menu.

9 The Build Tab Page is displayed

on the Edit Pane.

Confirm that "0 Errors" and "0

Warnings" are displayed.

10 Select Rebuild Controller from the Project Menu.





47

12 Confirm that "0 Errors" and "0

Warnings" are displayed in the

Build Tab Page.


For information on how to handle errors and warnings that occur after a program check and

building, refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).


48



Always confirm safety at the destination node 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 is restarted. Communications

with the EtherCAT slaves are cut off for up to 45 seconds. During that period, the

slave outputs behave according to the slave settings. Before you transfer the

user program, confirm that it will not adversely affect the device.


Controller Menu.

When an online connection is

established, a yellow bar is

displayed on the top of the Edit

Pane.

2 Select Synchronization from



49

3 The Synchronization Dialog Box

is displayed.

Confirm that the data to transfer

(NJ501 in the right dialog box) is

selected. Then, click the

Transfer To Controller Button.

* After executing the Transfer

To Controller, the Sysmac

Studio data is transferred to

the Controller and the data are

compared.


displayed. Confirm that there is

no problem and click the Yes

Button.

A screen stating "Synchronizing"

is displayed.




Button


50

5 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.

6 Save the project data created in 7.5. Setting Up the Controller, if necessary. Select Save or Export from the File Menu. * Refer to Section 9. Appendix 1 Procedure Using the Project File for use of saved data.


51

7.6. Checking the Connection Status

Check the connection status of the EtherCAT network.

7.6.1. Checking the Connection Status


1 Confirm that the EtherCAT

communications are performed

normally by checking the LED

indicators on the Controller.

LED indicators in normal status:

[NET RUN]: Lit green

[NET ERR]: Not lit

[LINK/ACT]: Flashing yellow

2 Check the LED indicators on the

Drive.

The LED indicators in normal status

are shown on the right.

[LED 1]: Flashing green

[LED 2]: Lit orange

[LED 3]: Not lit


52

7.6.2. Check the Connection Using the Operation Checking Program

Confirm that the Drive operates normally using the operation checking program.

The MC_Power instruction is used in this program.






1 Confirm that the Controller Status is

RUN mode.

If not in RUN mode, select Mode -

RUN Mode from the Controller

Menu to change to RUN mode.

2 Select Watch Tab Page from the

View Menu.

3 The Watch1 Tab Page is displayed

on the Edit Pane.

4 Enter Program0 in the Name Field.


53

5 Click the Down Arrow Button on

the left of Program0. The variables

used in Program0 are displayed.

* The order of parameters change

depending on the operating

environment.

6 Click TRUE in the Modify Column of

Input_Start. The online value

changes to True from False.

* Execute the MC_Power

instruction.

7 Confirm that the online value of

each variable is as follows:

Local_Power_Enable: True

(Indicates the instruction is

ready for execution)

Output_Power_Busy: True


executing)

Output_Power_Error: False

(Indicates there is no error.)

Output_Power_ErrorID: 0000


Output_Power_Status: True

(Indicates the Driver is ready for

operation.)

* They indicate that the MC_Power

instruction is operating normally.


54

8 Confirm that

MC_Axis000.DrvStatus.ServoON is

True.

* This indicates that the power

supply to the Motor is ON.

9 Click FALSE in the Modify Field of

Input_Start. The online value

changes to False from True.

* End the MC_Power instruction.

10 Confirm that the online value of

each variable is as follows:

Local_Power_Enable: False

(Indicates the instruction is not

executed)

Output_Power_Busy: False


ready to be executed)

Output_Power_Error: False

(Indicates there is no error)

Output_Power_ErrorID: 0000


Output_Power_Status: False

(Indicates the Driver is not ready

for operation)

* They indicate that MC_Power

instruction ended normally.


55

11 Confirm that

MC_Axis000.DrvStatus.ServoON is

False.

* This indicates that the power

supply to the Motor is OFF.

Please note that some functions may differ between non-OMRON motion control devices and OMRON AC Servo Drive (G5 series) when connecting to the OMRON Controller. For example, there may be differences in the behaviors of the MC Function Module or MC instructions may not be used. Make sure to check 8. Restrictions on Motion Control in this document when designing an actual system.


56

8. Restrictions on Motion Control

Some functions of non-OMRON motion control devices may be different from those of

OMRON AC Servo Drive (hereinafter referred to as G5 series).

This section explains the restrictions when connecting the Kollmorgen Drive to the OMRON

Controller via EtherCAT with MC instructions.

8.1. List of Restrictions

The following table shows the restrictions on G5 series functionality when using Kollmorgen

Drives.

Functional

classification

Restriction level

Status of restricted functions Detail

s

Axis Variables

Different in behavior

The condition to turn ON DrvStatus.ILA (Drive Internal Limiting) is different from the G5 series.

8.2. Reference


While DrvStatus.ServoON (Servo ON) is cleared, the servo lock of the actual device cannot be cleared.

Not applicable

The following axis variable does not function when you set Home Input Signal to Z-phase as the homing setting.

・DrvStatus.Home (Home Input)

MC Instructions


If an immediate stop is used as a parameter for the MC_TouchProbe (Enable External Latch) instruction, the stop operation differs from G5 series.

8.3. Reference

Not applicable

MC_Home instruction does not function as intended when selecting the Home Input Signal to Z-phase by using the No Home Proximity Input/Holding Home Input Homing Operation Mode.

Not applicable

The automatic torque limit function of the MC_Home instruction does not function.

Not applicable

Instructions used other than in the position control mode such as MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) or MC_TorqueControl do not function for the Drive.

Others


The ON/OFF condition of Statusword(6041h).bit 12: Target value ignored differs from G5 series.

8.4. Reference

Not applicable

MC Test Run does not operate.

Usage restriction

Since there are differences in start-up time, EtherCAT communications may not always start automatically.

Usage restriction

The control period must be registered.

Usage restriction

There is a restriction on PDO entries that can be registered.

Make sure to sufficiently check the differences before using functions that are

"Different in behavior" of the MC Function Module from those of OMRON AC

Servo Drive (hereinafter G5 series). Do not use the "Not applicable" MC

instructions. Using any of them may cause unexpected operation, resulting in

injury.


57


58

8.2. Axis Variables

This section explains the restrictions on Axis Variables.

8.2.1. DrvStatus.ILA (Drive Internal Limiting)

This variable shows the status of bit 11 (internal limit active) of the Status word (6041 hex)

mapped to a PDO. The condition for DrvStatus.ILA to change to TRUE is explained below.

Motion control device Conditions for DrvStatus.ILA to change to TRUE

Kollmorgen Drive Among functions defined as Warning, any case that applies 7.4.2.2 Object 6041h: Status word (DS402) of CAN-BUS Communication (903-200004-00)

OMRON G5 series

When any of the following restricted functions of the Servo Drive are operating.

・Torque limit

・Speed limit

・Driving prohibition input

・Software limit

8.2.1. DrvStatus.ServoON (Servo ON)

DrvStatus.ServoON becomes True after turning ON the Servo of the Kollmorgen Drive with

a MC instruction. After turning OFF the Servo with a MC instruction, DrvStatus. ServoON

becomes False, however, the servo lock of the actual device is not cleared.

8.2.2. DrvStatus.Home (Home Input)

Since the ON/OFF status of Z-phase cannot be allocated to the process data for the

Kollmorgen Drive, the MC function module cannot obtain the signal status of the Z-phase.

When phase Z is set to the home signal, the value of DrvStatus.Home is always FALSE.


In the Homing mode other than No home proximity input/holding home input, the operation

runs normally if the Z-phase is set to the Home signal. This is because the MC function

module has no need to determine the signal status of the Z-phase.


59

8.3. MC Instructions

This section explains the restrictions on the MC instructions.

8.3.1. Immediate Stop Function of MC_TouchProbe (Enable External Latch)

When the trigger input condition mode is set to _mcDrive (Drive mode) and the stop setting

is set to _mcImmediateStop for an input of the MC_TouchProbe instruction, there are

differences in the stop operations after completion of latch.

Motion control device Stop operation after completion of latch

Kollmorgen Drive

An immediate stop is made by performing the MC Function Module processing. (When the MC Function Module receives the latch completion status from

the motion control device, the command position is output at the maximum speed using the latch position (RecordedPosition) as the target position.)

* Compared to G5 series, an immediate stop starts slightly slower, and a travel distance to return to the target position is longer.

OMRON G5 series The immediate stop function is achieved when a latch signal changes to TRUE by using bits 6 and 14 of the Touch probe function (60B8 hex) which are unique to G5 series.

8.3.2. No home proximity input/holding home input of MC_Home.

In the MC_Home instruction for No home proximity input/holding home input, the MC

function module commands appropriate operations based on the status of Home signal.

Since the ON/OFF status of Z-phase cannot be allocated to the process data for the

Kollmorgen Drive, the MC function module cannot obtain the signal status of the Z-phase.

As a result, MC_Home instruction for No home proximity input/holding home input does not

operate according to specifications.


In the Homing mode other than No home proximity input/holding home input, the operation

runs normally if the Z-phase is set to the Home signal. This is because the MC function

module has no need to determine the signal status of the Z-phase.

8.3.3. Automatic Torque Limit Function of MC_Home

The automatic torque limit function (function using bits 11 and 12 PCL/NCL of Controlword

(6040 Hex)) of the MC_Home instruction is unique to G5 series. Non-OMRON motion

control devices do not support this function. Therefore, the automatic torque limit function

cannot be used for the homing operation.


Use MC_SetTorqueLimit to execute torque limits when performing the homing.

8.3.4. MC Instructions Other Than Position Control (position) Mode

Kollmorgen Drives can not change the control mode with the EtherCAT communications.


60

Instructions that require the mode change from the position control mode such as

MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) or MC_TorqueControl can

not be used.


61

8.4. Others

This section explains other restrictions.

8.4.1. Target value ignored (command value not to be acknowledged)

Statusword(6041 Hex). Bit 12: Target value ignored means a motion control device

cannot acknowledge the command value from the Controller. This object is specified in

CiA402 device profile. However, each company has its own specifications for the

occurrence condition and operations. Therefore, there are differences in the conditions for

Target Value Ignored to be FALSE and behaviors when it is FALSE.

Motion control device Condition for Target value ignored to be FALSE *1

Kollmorgen Drive When the command update within driver is not permitted (when command is prohibited) during CSP/CSV/CST mode *2

OMRON G5 series

Target Value Ignored changes to FALSE in the following conditions. *3

・After the drive prohibit input changes to TRUE until a deceleration stop is

performed

・When a warming regarding CSP/CSV/CST Mode occurs

(e.g., when the change value of Target Position exceeds the motor maximum velocity)

・When an attempt is made to change the control mode, a data setting

warning occurs and the current control mode remains without changing the control mode

*1: "Target value ignored changes to FALSE" means that Statusword (6041 Hex). Bit 12 (Target value ignored) changes to FALSE.

*2: For details, refer to Kollmorgen AKDTM

EtherCAT Communnication_Manual_en-us(Part Number 903-200005-00). *3: For details, refer to Statusword (6041 hex) in A-1-12 Servo Drive Profile Object of the AC Servomotors/Servo

Drives G5 Series with Built-in Ether-CAT Communications User's Manual (Cat. No. I576).

8.4.2. MC Test Run

The MC test run is a unique function of control G5 series. This cannot be used by

non-OMRON motion control devices.

8.4.3. Power ON Operation

It takes about 20 seconds for the Kollmorgen Drive to perform EtherCAT Communications

after the power supply is turned ON. A communication failure between the Kollmorgen

Drive and the NJ-series Controller can possibly be occurred and a node address may be

lost during that time. In such a case, set the node address again.

Turning ON the power supply to the Controller after the Kollmorgen Drive is ready, which

avoids these possible problems.

8.4.4. Control period

When using Kollmorgen Drives, the control period of the EtherCAT communications must

be registered. Refer to step 23 Edit Setting Parameters in 7.5.2. PDO Map Settings for the

setting.

8.4.5. PDO entry

Even-numbered and up to 8 bytes can only be used in a PDO entry for Kollmorgen Drives.

If more than 8 bytes are needed, two or more PDO entries must be used.

If you use the NJ-series Controller, select all of 1600 to 1603 and 1A00 to 1A03. Refer to

the settings in 7.5.2. PDO Map Settings for details.

9．Appendix 1 Procedure Using the Project File

62

Personal computer

Controller Motion control device

9. Appendix 1 Procedure Using the Project File

This section describes the procedure when using the project files listed in 4. Overview or

created in 7.5. Setting Up the Controller.

9.1. Overview of Connection Processing Using the Sysmac Studio

The following figure outlines the connection process to perform motion control via EtherCAT

communications using the project file.

Configuration file

Opening the project file

Sysmac Studio project file

Transferring the Project Data

Sysmac Studio

ESI file

Installing the

ESI File

Checking the EtherCAT Configuration and Setting


63

9.2. Work Flow Using the Project File

Take the following steps to connect to EtherCAT using the project file.

Refer to each appropriate section excluding 8.3. Setting Up the Controller Using the Project

File enclosed in red.



↓


Start the Sysmac Studio to connect to the Controller online.

↓

7.3.2. Initializing the Controller Initialize the Controller.

↓

7.3.3. Installing ESI Files Install the ESI file for the Drive in the Sysmac Studio.

▽


Set up the Kollmorgen Drive.

↓

7.4.1 Hardware Settings Set the hardware switches on the Drive.

↓

7.4.2.Parameter Settings Set the Drive parameters.

▽

8.3. Setting Up the Controller Using the Project File

Set up the Controller using the project file.

↓

8.3.1. Opening the Project File Import the project file to the Sysmac Studio.

↓

8.3.2. Checking the EtherCAT Network Configuration

Check the EtherCAT network configuration with the Sysmac Studio.

↓



↓

7.6. Checking the Connection Status

Check the connection status of the EtherCAT network.

↓

7.6.1.Checking the Connection Status


↓

7.6.2 Check the Connection Using the Operation Checking Program

Confirm that the Drive operates normally using the operation checking program.


64

9.3. Setting Up the Controller Using the Project File

Set up the Controller using the project file.

Perform 7.3. Preparation for Controller Setup and 7.4. Setting Up the Kollmorgen Drive before

following the settings.

9.3.1. Opening the project file

Import the project file to the Sysmac Studio.

1 Select Import from the File

Menu.

2 The Import File Dialog Box is

displayed. Select

Kollmorgen_AKD_ECAT_V100.

smc (project file) and click the

Open Button.

* Obtain the project file from

OMRON.

3 The New Project Dialog Box is

displayed asking whether to

save the project. Click the No

Button.


65

4 The Kollmorgen_AKD_ECAT_V100 Window is displayed. If the Output Tab Page is displayed as shown in the right figure, then the installed ESI file is not correct and does not correspond to the project file. Obtain the correct ESI file and repeat the procedure in 7.3.4. Installing the ESI File.


66

9.3.2. Checking the EtherCAT Network Configuration

Check the EtherCAT network configuration with the Sysmac Studio.


Controller.

2 Double-click EtherCAT under

Configurations and Setup in

the Multiview Explorer.

3 The EtherCAT Tab Page is


Node address 1, E001 and AKD

Rev: 0x00000002 are displayed

as a slave.


Controller Menu.

5 The Sysmac Studio goes online.


67

6 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"

7 The Compare and Merge with

Actual Network Configuration

Pane is displayed.

Confirm that the comparison

result is Matched.

Click the Close Button to close

the dialog box.

* If Matched is not displayed as

the comparison result, follow

the Precautions for Correct

Use in this section.


Controller Menu. Confirm that

the yellow bar on the top of the

Edit Pane disappeared.


68

9 Select Check All Programs from the Project Menu.

10 The Build Tab Page is displayed

on the Edit Pane.

Confirm that "0 Errors" and "0

Warnings" are displayed.

11 Select Rebuild Controller from the Project Menu.




Button.

13 Confirm that "0 Errors" and "0

Warnings" are displayed in the

Build Tab Page.


If Matched is not displayed as the comparison result, do not click the Apply actual

network configuration Button on the Compare and Merge with Actual Network

Configuration Pane.

If you click the Apply actual network configuration Button, the settings including PDO map

settings and axis settings of the project file will be cleared (initialized).if you accidentally click

the button, repeat the procedure from 8.3. Setting Up the Controller Using the Project File.

If an error occurs, refer to the following troubleshooting steps.

■Error 1 (ESI file error)

If the following dialog box is displayed, a correct ESI file for the Drive is not installed. Obtain

the correct ESI file from the device manufacturer and repeat the procedure from 7.3.3.

Installing ESI Files.

■Error 2 (There is a node address mismatch)


69

When the node addresses do not match as shown below, repeat the procedure from 7.4.

Setting Up the Kollmorgen Drive.

■Error 3 (There is a revision mismatch)

When the revisions do not match as shown below, contact the device manufacturer to see if

the ESI file is correct for the Drive. Confirm that no adverse effect will occur due to the

revisions and continue the operation.








After you transfer the user program, the CPU Unit is restarted. Communications

with the EtherCAT slaves are cut off for up to 45 seconds. During that period, the

slave outputs behave according to the slave settings. Before you transfer the

user program, confirm that the system will not be adversely affected.


70


Controller Menu.

2 Select Synchronization from


3 The Synchronization Dialog Box

is displayed.

Confirm that the data to transfer

(NJ501 in the right dialog box) is

selected. Then, click the

Transfer To Controller Button.

* After executing the Transfer

To Controller, the Sysmac

Studio data is transferred to

the Controller and the data are

compared.


71




Button.

The dialog box stating

synchronizing is displayed.




Button.

5 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 2.


72

* To check the operation, perform the procedure in 7.6. Checking the Connection Status after

following the steps in this section.

10．Appendix 2 Project File

73

10. Appendix 2 Project File

This section explains the project file that checks the operation of the motion control device

used in this document.

10.1. PDO Mapping

To use motion control functions, you need to select objects required for these functions from

the objects defined in the ESI file for the device and to map them. A list of objects that are

mapped to the PDOs is the PDO mapping and their configuration elements are the PDO

entries. With some motion control devices, there are restrictions on PDO mapping. Thus,

objects must be selected according to the functions to use.

The relationship of objects required for Kollmorgen Drives is explained below.


For details on PDO map settings and information on the setting procedure and instructions

related to motion control, refer to the NJ-series CPU Unit Motion Control User's Manual (Cat.

No. W507) and the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508).

・Required objects

The following objects must be set to use MC Function Module instructions for axis. The

table below lists PDO entry names and indexes of objects mapped to PDOs. Even if only

one of the required objects is not set, a Required Process Data Object Not Set error (error

code: 3460 hex) will occur.

I/O Index PDO entry name

Output

0x6040 Control word

0x607A Target position

0x6060 Modes of operation

Input

0x6041 Status word

0x6064 Position actual value

0x6061 Modes of operation display


74

・Objects Required for Specific Instructions

There are objects that you must set to use specific instructions. Refer to the following

tables and map the required objects. There are no additional object settings required for

operation for any instructions that are not listed in the following table.

[Output setting]

Instruction name

Index/PDO entry name

0x60FF 0x6071 0x60B8 0x60E0 0x60E1

Target velocity

Target torque

Touch probe function

Positive torque limit

value

Negative torque limit

value

MC_Home ○*1

MC_MoveFeed ○*2

MC_MoveLink ○*3

MC_TorqueControl ○

MC_SetTorqueLimit ○ ○

MC_TouchProbe ○*2

MC_SyncMoveVelocity ○

*1. Setting is not required for Limit Inputs Only, Proximity Reverse Turn/Holding Time, or Zero Position Preset Homing Operation Mode.

*2. Setting is required when Mode is set to Drive Mode. *3. Setting is required when LinkOption (Synchronization Start Condition) is set to

_mcTriggerDetection and Mode is set to Drive Mode. [Input setting]

Instruction name

Index/PDO entry name

0x6077 0x60B9 0x60BA 0x60BC 0x60FD

Torque actual value

Touch probe status

Touch probe pos1 pos

value

Touch probe pos2 pos

value Digital input

MC_Home ○*1 ○*

1 ○*

2

MC_MoveFeed ○*3 ○*

4 ○*

5

MC_MoveLink ○*6 ○*

7 ○*

8

MC_TorqueControl ○

MC_TouchProbe ○*3 ○*

4 ○*

5

*1. Setting is not required for Limit Inputs Only, Proximity Reverse Turn/Holding Time, or Zero Position Preset Homing Operation Mode.

*2. Setting is not required for Zero Position Preset Homing Operation Mode. *3. Setting is required when Mode is set to Drive Mode. *4. Setting is required when Mode is set to Drive Mode and LatchID is set to _mcLatch1

(Latch 1). *5. Setting is required when Mode is set to Drive Mode and LatchID is set to _mcLatch2

(Latch 2). *6. Setting is required when LinkOption (Synchronization Start Condition) is set to

_mcTriggerDetection and Mode is set to Drive Mode. *7. Setting is required when LinkOption (Synchronization Start Condition) is set to

_mcTriggerDetection, Mode is set to Drive Mode, and LatchID is set to _mcLatch1 (Latch 1).

*8. Setting is required when LinkOption (Synchronization Start Condition) is set to _mcTriggerDetection, Mode is set to Drive Mode, and LatchID is set to _mcLatch2 (Latch 2).


75

10.2. Program (ST Language)

This section explains the program that checks the operation.

10.2.1. MC_Power Motion Control Instruction

This section explains the MC_Power instruction used in operation checking program.

・MC_Power Instruction

Switch the Driver to the operation-ready status.

Instruction Name ST expression

MC_Power Servo ON

MC_Power_instance ( Axis : = Parameter, Enable : = Parameter, Status => Parameter, Busy => Parameter, Error => Parameter, ErrorID => Parameter);

・Input variable

Input variable

Name Data type Valid range Default setting

Description

Enable Enabled

BOOL TRUE,FALSE

FALSE The device is ready for operation when Enable is TRUE, and not ready when it is FALSE.

・Output variables

Input variable

Name Data type Valid range Description

Status Servo ON

BOOL TRUE,FALSE

TRUE when the device is ready for operation.

Busy Executing

BOOL TRUE,FALSE

TRUE when the instruction is acknowledged.

Error Errors BOOL TRUE,FALSE

TRUE while there is an error.

ErrorID Error code

WORD *1

It contains the error code when an error occurs. A value of 16#0000*2 indicates normal execution.

*1: Refer to A-1 Error Codes in the NJ-series Motion Control Instructions Reference Manual (Cat. No. W508).

*2: 16#0000 indicates 0000 in hexadecimal.

・In-out Variables

Input variable

Name Data type Valid range Description

Axis Axis _sAXIS_REF - Specifies the axis. *1. *1 *1: Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio. (The default axis

variable names are MC_Axis***.).


76

10.2.2. List of Variables

The variables used in the operation checking program are listed below.

・Internal variables

Variable name Data type Explanation

Input_Start BOOL This flag is used to execute/stop the function provided by this software component. TRUE during execution. FALSE during stop.

MC_Power_instance MC_Power This is an instance to execute the MC_Power module control instruction (function block).

Local_Power_Enable BOOL This variable is assigned to the Enable input variable of the MC_Power instruction. The device is ready for operation when Enable is TRUE, and not ready when it is FALSE.

Output_Power_Status BOOL This variable is assigned to the Status (Servo ON) output variable of the MC_Power instruction. TRUE when the device is ready for operation.

Output_Power_Busy BOOL This variable is assigned to the Busy (Executing) output variable of the MC_Power instruction. TRUE when the instruction is acknowledged.

Output_Power_Error BOOL This variable is assigned to the Error output variable of the MC_Power instruction. TRUE while there is an error.

Output_Power_ErrorID WORD This variable is assigned to the ErrorID output variable of the MC_Power instruction. It contains the error code when an error occurs. A value of 16#0000*1 indicates normal execution.

*1: 16#0000 indicates 0000 in hexadecimal.

・External variables

Variable name Name Data type Explanation

_EC_PDSlavTbl Process Data Communicating Slave Table

ARRAY[1,,192] OF BOOL

This is a table that indicates the slaves which are performing process data communications. Slaves are given in the table in the order of slave node addresses. The corresponding element is TRUE if process data of the corresponding slave is enabled (operational) for both slave inputs and outputs.

_EC_CommErrTbl Communications Error Slave Table

ARRAY[1,,192] OF BOOL

Slaves are given in the table in the order of slave node addresses. The corresponding slave element is TRUE if the master detected an error for the slave.

MC_Axis000 Axis 0 _sAXIS_REF Axis variable of axis 0.

DrvStatus Servo Drive Status

_sAXIS_REF_STA_DRV

Indicates the drive status.

ServoON Servo ON BOOL TRUE while the power to the motor is ON.


77

10.2.3. Details on Programs

This section explains details on the operation checking program.

・Processing

Section Processing name

Processing

Section 01 Start flag processing

Sets/resets the start flag for MC_Power_instance when Input_Start is set/reset. The start flag is set using the system variable when the process data communications are normally performed.

Section 02 Error processing

Checks the system variable and detects if an error in the minor fault level occurred. It stops the execution of MC_Power when an error occurs.

Section 03 Execute MC_Power

Executes MC_Power_instance.

・Source code

(* Section 01:Starting and stopping Motion control device*)

IF Input_Start

AND NOT

_EC_CommErrTbl[MC_Axis000.Cfg.NodeAddress]

AND _EC_PDSlavTbl[MC_Axis000.Cfg.NodeAddress]

THEN

IF NOT MC_Axis000.DrvStatus.ServoOn THEN

Local_Power_Enable:= TRUE;

END_IF;

ELSE Local_Power_Enable:= FALSE;

END_IF;

(* Section 02: Error processing

*)

IF MC_Axis000.MFaultLvl.Active THEN

Local_Power_Enable:= FALSE;

END_IF;

(* Section 03:MC instruction executed *)

MC_Power_instance(

Axis := MC_Axis000,

Enable := Local_Power_Enable,

Status => Output_Power_Status,

Busy => Output_Power_Busy,

Error => Output_Power_Error,

ErrorID => Output_Power_ErrorID);

11．Revision History

78

11. Revision History

Revision

code

Date of revision Revision reason and revision page

01 First edition

02 Oct. 23, 2013 Reviewed by Kollmorgen

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