Machine Automation Controller NJ/NX-series

EtherCAT ®

Connection Guide

IAI Corporation
Position Controller
(ACON / PCON / DCON / SCON Series)

P584-E1-03
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® 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 guide are the trademarks or registered trademarks
of their respective companies.
Table of Contents

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

2. Terms and Definitions................................................................................. 3
3. Precautions .................................................................................................. 4
4. Overview ...................................................................................................... 5
5. Applicable Devices and Device Configuration ........................................ 6
5.1. Applicable Devices .................................................................................. 6
5.2. Device Configuration ............................................................................... 7
6. EtherCAT Settings....................................................................................... 9
6.1. Parameters .............................................................................................. 9
6.2. Device Variables.................................................................................... 10
7. EtherCAT Connection Procedure ............................................................ 12
7.1. Work Flow ............................................................................................. 12
7.2. IAI Position Controller Setup ................................................................. 13
7.3. Controller Setup .................................................................................... 19
7.4. EtherCAT Communication Status Check .............................................. 31
8. Initialization Method.................................................................................. 35
8.1. Initializing a Controller ........................................................................... 35
8.2. Initializing an IAI Position Controller ..................................................... 35
9. Revision History ........................................................................................ 36
 1．Related Manuals

1. Related Manuals

To ensure system safety, make sure to always read and follow the information provided in all
Safety Precautions and Precautions for Safe Use in the manuals for each device which is
used in the system.
The table below lists the manuals provided by IAI Corporation (hereinafter referred to as "IAI")
and OMRON Corporation (hereinafter referred to as "OMRON"), which pertain to this guide.

Manufacturer Cat. No. Model Manual name

OMRON W500 NJ501-□□□□ NJ-series
NJ301-□□□□ CPU Unit Hardware
NJ101-□□□□ User's Manual
OMRON W535 NX701-□□□□ NX-series
CPU Unit Hardware
User's Manual
OMRON W593 NX102-□□□□ NX-series
NX102 CPU Unit
Hardware User's Manual
OMRON W578 NX1P2-□□□□ NX-series
NX1P2 CPU Unit
Hardware User's Manual
OMRON W501 NX701-□□□□ NJ/NX-series
NX102-□□□□ CPU Unit Software
NX1P2-□□□□ User's Manual
OMRON W505 NJ501-□□□□ NJ/NX-series
NJ301-□□□□ CPU Unit Built-in EtherCAT® Port
NJ101-□□□□ User's Manual
OMRON W504 SYSMAC-SE2□□□ Sysmac Studio Version 1
Operation Manual
IAI ME0273 ACON-C/CG/CA/CB/CGB EtherCAT® Operation Manual
PCON-C/CG/CA/CFA/CB
/CFB/CGB/CGFB
DCON-CA/CB/CGB
SCON-CA/CAL/CGAL/CB
/CGB (Servo Press)
IAI ME0176 ACON-C/CG ACON-C/CG
Controller Positioner Type
Operation Manual
IAI ME0326 ACON-CA/DCON-CA ACON-CA/DCON-CA Controller
Instruction Manual
IAI ME0343 ACON-CB/CGB ACON-CB Series Controller
DCON-CB/CGB DCON-CB Series Controller
Instruction Manual
IAI ME0170 PCON-C/CG/CF PCON-C/CG/CF
Controller Positioner Type
Operation Manual
IAI ME0289 PCON-CA/CFA PCON-CA/CFA Controller
Instruction Manual
1
 1．Related Manuals

Manufacturer Cat. No. Model Manual name

IAI ME0342 PCON-CB/CFB/CGB/CGFB PCON-CB Series Controller
Instruction Manual
IAI ME0243 SCON-CA/CAL/CGAL SCON-CA/CAL/CGAL Controller
Instruction Manual
IAI ME0340 SCON-CB/CGB SCON-CB Series Controller
Instruction Manual
IAI ME0155 RCM-101-MW/USB RC PC Software
RCM-101-MW, RCM-101-USB
Operation Manual
IAI ME0379 PSA-24 24V Power Supply Unit PSA-24
Instruction Manual

2
 2．Terms and Definitions

2. Terms and Definitions

The terms and definitions used in this guide are given below.

Term Explanation and Definition

PDO communications PDO communications is used for constant data exchange
(Communications using between a master and slaves.
Process Data Objects) PDO data (i.e., I/O data that is mapped to PDOs) that is
allocated in advance is input and output each EtherCAT
process data communications cycle (i.e., the task period of
primary periodic task).
The NJ/NX-series Machine Automation Controllers use PDO
communications for commands to refresh I/O data in a fixed
control period, including I/O data for slave units and the position
control data for servomotors.
It is accessed from NJ/NX-series Machine Automation
Controllers in the following ways.
・With device variables for EtherCAT slave I/O
・With axis variables for a servo drive and an encoder input
slave to which an axis is assigned
SDO communications SDO communications is used to read and write specified slave
(Communications using data from a master when required.
Service Data Objects) The NJ/NX-series Machine Automation Controllers use SDO
communications for commands to read and write data, such as
for parameter transfers, at specified times.
The NJ/NX-series Machine Automation Controllers 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 A generic name for a device that performs EtherCAT
communications with an EtherCAT master. There are various
types of slave units such as servo drives that handle position
data and I/O terminals that handle bit signals.
node address A node address is an address to identify a slave unit connected
to EtherCAT.
ESI file An ESI file contains information unique to EtherCAT slave units
(EtherCAT Slave Information in XML format. The ESI file can be loaded into Sysmac Studio,
file) to allocate EtherCAT slave process data and make other
settings.

3
 3．Precautions

3. Precautions

(1) Understand the specifications of devices which are used in the system. Allow some
margin for ratings and performance. Provide safety measures, such as installing a safety
circuit, in order to ensure safety and minimize the risk of abnormal occurrence.
(2) To ensure system safety, make sure to always read and follow the information provided in
all Safety Precautions and Precautions for Safe Use in the manuals for each device
which is 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 guide
without the permission of OMRON Corporation.
(5) The information contained in this guide is current as of August 2018. It is subject to
change for improvement without notice.

The following notations are used in this guide.

Indicates a potentially hazardous situation which, if not avoided,

may 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 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 the text.
This example shows a general precaution for something that you must do.

4
 4．Overview

4. Overview

This guide describes procedures for connecting an IAI Position Controller (ACON, PCON,
DCON or SCON Series) to an OMRON NJ/NX-series Machine Automation Controller
(hereinafter referred to as the "Controller") via EtherCAT and for checking the communication
status.
Refer to Section 6. EtherCAT Settings and Section 7. EtherCAT Connection Procedure to
understand setting methods and key points to perform PDO communications via EtherCAT.

5
 5．Applicable Devices and Device Configuration

5. Applicable Devices and Device Configuration

5.1. Applicable Devices

The applicable devices are as follows:

Manufacturer Name Model

OMRON NJ/NX-series CPU Unit NX701-□□□□
NX102-□□□□
NX1P2-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
IAI Position Controller ACON-C/CG-□-EC-□
ACON-CA/CB/CGB-□-EC-□
PCON-C/CG-□-EC-□
PCON-CA/CFA-□-EC-□
PCON-CB/CFB-□-EC-□
PCON-CGB/CGFB-□-EC-□
DCON-CA/CB/CGB-□-EC-□
SCON-CA/CAL/CGAL-□-EC-□
SCON-CB/CGB-□-EC-□
SCON-CB/CGB-□F-EC-□
IAI Actuator –

Precautions for Correct Use

In this guide, the devices with models and versions listed in 5.2. Device Configuration are
used as examples of applicable devices to describe the procedures for connecting the
devices and checking their connection. You cannot use devices with versions lower than
those listed in 5.2. To use the above devices with models not listed in 5.2. or versions higher
than those listed in 5.2., check the differences in the specifications by referring to the
manuals before operating the devices.

Additional Information
This guide describes the procedures for establishing the network connection.
It does not provide information on operation, installation, wiring method, device functionality,
or device operation, which is not related to the connection procedures.
Refer to the manuals or contact the device manufacturer.

Additional Information
Contact the device manufacturer for information on Actuators connectable to the Position
Controllers.

6
 5．Applicable Devices and Device Configuration

5.2. Device Configuration

The hardware components to reproduce the connection procedures in this guide are as
follows:

Personal computer
(Sysmac Studio and NX102-1200 PCON-CB-35PWAI-EC-0-0-DN
PC Software for RC/EC (Built-in EtherCAT port)
installed,
OS: Windows 10） Power supply

LAN cable Ethernet cable

USB cable
USB conversion adapter External device
communication cable

Power supply

Motor・Encoder
RCP6-RA4C-WA-35P-5-50-P3-R05 integrated cable

Manufacturer Name Model Version

OMRON NX series CPU Unit NX102-1200 Ver.1.31
(Built-in EtherCAT port)
– Power supply –
(24 VDC for the Controller)
OMRON Sysmac Studio SYSMAC-SE2□□□ Ver.1.24
OMRON Ethernet cable (with industrial XS5W-T421-□M□-K
Ethernet connector)
– LAN cable (STP (shielded, –
twisted-pair) cable of Ethernet
category 5 or higher)
– Personal computer –
(OS: Windows 10)
IAI Position Controller PCON-CB-35PWAI-EC-0- Rev.0x0001
0-DN 0008
IAI Actuator RCP6-RA4C-WA-35P-5-5
0-P3-R05
IAI Motor・Encoder integrated cable CB-CAN-MPA050-RB
IAI PC Software for RC/EC RCM-101-USB V13.00.01.0
0-JPN
IAI ESI file ESI_IAI_CON_ECT_V_1_
08_Rev_0.xml
IAI Power supply PSA-24
(24 VDC for the Position Controller)
IAI USB cable CB-SEL-USB030
IAI USB conversion adapter RCB-CV-USB
IAI External device communication CB-RCA-SI0050
cable

7
 5．Applicable Devices and Device Configuration

Precautions for Correct Use

Prepare beforehand the ESI file specified on the previous page.
To obtain the ESI file, contact IAI Corporation.

Precautions for Correct Use

The connection line of EtherCAT communications cannot be shared with other Ethernet
networks. Do not use devices for Ethernet such as a switching hub. Use an Ethernet cable
(double shielding with aluminum tape and braiding) of Category 5 or higher, and use a
shielded connector of Category 5 or higher.
Connect the cable shield to the connector hood at both ends of the cable.

Precautions for Correct Use

Update Sysmac Studio to the version 1.24 or to a higher version. If you use a version higher
than the one specified, the procedures and related screenshots described in Section 7. and
the subsequent sections may not be applicable. In that case, use the equivalent procedures
described in this guide by referring to the Sysmac Studio Version 1 Operation Manual (Cat.
No. W504).

Additional Information
For information on specifications of Ethernet cables and network wiring, refer to Section 4.
EtherCAT Network Wiring of the NJ/NX-series CPU Unit Built-in EtherCAT® Port User's
Manual (Cat. No. W505).

Additional Information
For information on power supply specifications of the Controller, refer to the NX-series NX102
CPU Unit Hardware User's Manual (Cat. No. W593).

Additional Information
The system configuration in this guide uses the USB conversion adapter for the connection
between the personal computer and the Position Controller. For information on installation of
the USB Conversion Adapter Driver Software, refer to 1.3.3 How to Install the USB
Conversion Adapter Driver Software of the RC PC Software RCM-101-MW, RCM-101-USB
Operation Manual (ME0155).

8
 6．EtherCAT Settings

6. EtherCAT Settings

This section describes the parameters and device variables that are all defined in this guide.
Hereinafter, the Position Controller is referred to as the "slave unit" in some descriptions.

6.1. Parameters
The following parameters of the Position Controller are required to connect to the Controller
via EtherCAT.

Position Controller Settings

By the axis number setting switch

Setting item Setting value Remarks
Axis number 0 0 is set in this guide.

By PC Software for RC/EC

No. Parameter name Setting value Remarks
84 Fieldbus operation mode 2 The Half Direct Value Mode is used in
this guide.
85 Fieldbus node address 1 This parameter must be set to 0 when a
node address is set with Sysmac Studio.
86 Fieldbus communication 0 This parameter automatically follows the
speed master’s communication speed.
87 Network type 6 The network module type is specified.
The default value cannot be changed.
90 Fieldbus input / output 3 The format set at factory is used.
format

Additional Information
Refer to the EtherCAT® Operation Manual (ME0273) for more information on the Position
Controller setting values related to EtherCAT.

9
 6．EtherCAT Settings

6.2. Device Variables

The process data of the Position Controller is assigned to the Controller's device variables.
The device variable names and data types are shown below.

Output area (Controller to Position Controller)

Device variable name Data type Description
E001_Out_Target_Position_2003_01 DINT Target position
E001_Out_Positioning_Band_2003_02 UDINT Positioning band
E001_Out_Velocity_2003_03 UINT Velocity
E001_Out_Acceleration_Deceleration_2003_04 UINT Acceleration / Deceleration
E001_Out_Pressing_Current_Limit_2003_05 UINT Pressing current limit value
E001_Out_Control_signal_2003_06 WORD Control signal
E001_Out_Bit00_DSTR BOOL Positioning command
E001_Out_Bit01_HOME BOOL Home return
E001_Out_Bit02_STP BOOL Pause
E001_Out_Bit03_RES BOOL Reset
E001_Out_Bit04_SON BOOL Servo ON command
E001_Out_Bit05_JISL BOOL Jog / inch switching
E001_Out_Bit06_JVEL BOOL Jog-speed / inch-distance switching
E001_Out_Bit07_JOG_0 BOOL -Jog
E001_Out_Bit08_JOG_0 BOOL +Jog
E001_Out_Bit09_Reserved_0 BOOL (Unavailable)
E001_Out_Bit10_GSL0 BOOL (Unavailable)
E001_Out_Bit11_GSL1 BOOL (Unavailable)
E001_Out_Bit12_PUSH BOOL Push-motion specification
E001_Out_Bit13_DIR BOOL Push direction specification
E001_Out_Bit14_RMOD BOOL Operating mode selector
E001_Out_Bit15_BKRL BOOL Forced brake release

10
 6．EtherCAT Settings

Input area (Position Controller to Controller)

Device variable name Data type Description
E001_In_Current_Position_2004_01 DINT Current position
E001_In_Command_Current_2004_02 UDINT Command current
E001_In_Current_Speed_2004_03 DINT Current speed
E001_In_Alarm_Code_2004_04 UINT Alarm code
E001_In_Status_Signal_2004_05 WORD Status signal
E001_In_Bit00_PEND BOOL Positioning completion signal
E001_In_Bit01_HEND BOOL Home return completion
E001_In_Bit02_MOVE BOOL Moving signal
E001_In_Bit03_ALM BOOL Alarm
E001_In_Bit04_SV BOOL Operation preparation end
E001_In_Bit05_PSFL BOOL Pressing and a miss
E001_In_Bit06_Reserved_0 BOOL (Unavailable)
E001_In_Bit07_BALM_ALML BOOL Light error status
E001_In_Bit08_RMDS BOOL Operation mode status
E001_In_Bit09_Reserved_0 BOOL (Unavailable)
E001_In_Bit10_Reserved_0 BOOL (Unavailable)
E001_In_Bit11_Reserved_0 BOOL (Unavailable)
E001_In_Bit12_ZONE1 BOOL Zone 1
E001_In_Bit13_ZONE2 BOOL Zone 2
E001_In_Bit14_PWR BOOL Controller ready
E001_In_Bit15_EMGS BOOL Emergency stop

Additional Information
For more information on the assignment of the input and output areas, refer to 3.6
Communicating with the Master Station of the EtherCAT® Operation Manual (ME0273).

Additional Information
The device variables are automatically named from a combination of the device names and
the port names.
The default device names are "E" followed by a serial number starting from "001".

11
 7．EtherCAT Connection Procedure

7. EtherCAT Connection Procedure

This section describes the procedures for connecting the Controller and the Position
Controller via EtherCAT. The procedures for setting up the Controller and Position Controller
in this guide are based on the factory default settings.
For information on initialization, refer to Section 8. Initialization Method.

7.1. Work Flow

Take the following steps to connect the Controller and the Position Controller via EtherCAT
and perform PDO communications.

7.2. IAI Position Controller Setup Set up the IAI Position Controller.
↓
7.2.1. Hardware Settings Set the hardware switches on the Position Controller
and connect the cables.
↓
7.2.2. Parameter Settings Set parameters for the Position Controller.
↓
7.3. Controller Setup Set up the Controller.
↓
7.3.1. Starting Sysmac Studio and Install the ESI file for the Position Controller in Sysmac
Studio.
Installing the ESI File
↓
7.3.2. Setting the EtherCAT Set the EtherCAT network configuration.
Network Configuration
↓
7.3.3. Setting Device Variables Set device variables to use for the slave unit.
↓
7.3.4. Transferring the Project Data Transfer the project data created in Sysmac Studio to
the Controller.
↓
7.4. EtherCAT Communication Confirm that PDO communications via EtherCAT is
performed normally.
Status Check
↓
7.4.1. Checking the Connection Check the EtherCAT connection status.
Status
↓
7.4.2. Checking Sent and Received Check that correct data is sent and received.
Data

12
 7．EtherCAT Connection Procedure

7.2. IAI Position Controller Setup

Set up the IAI Position Controller.

7.2.1. Hardware Settings

Set the hardware switches on the Position Controller and connect the cables.

Precautions for Correct Use

Make sure that the power supply is OFF before setting up.
If it is ON, the settings described in the following steps and subsequent procedures may not
be applicable.

1 Make sure that Power supply for

Position Controller is OFF.

2 Check the position of the

hardware switches and
connectors on Position EtherCAT(R) Output Port
Controller by referring to the
EtherCAT(R) Input Port
figure on the right.
Operation Mode Axis Number
Setting Switch Setting Switch
SIO Connector

Motor・Encoder
Connector

Power Supply Connector

3 Set Axis Number Setting Switch

(ADRS) to 0. ADRS

4 Connect Motor・Encoder
Connector and Actuator with a
Motor・Encoder integrated
Motor・Encoder integrated cable
cable.

Actuator

13
 7．EtherCAT Connection Procedure

5 Connect an Ethernet cable to

EtherCAT(R) Input Port.

Ethernet cable

6 Connect Power supply to Power

Supply Connector.

*For information on power

supply specifications of
Position Controller, refer to
the PCON-CB Series
Controller Instruction Manual
(ME0342).
The IAI 24 VDC power
supply (PSA-24) is used in
this guide.

*The jumper wire that has

been factory-connected to
the MPI and MPO terminals
(a contact for cutting off the
motor driving source) is used
in this guide. Power supply
The power is supplied to the
EMG- terminal (input of
emergency stop status
signal) in order to inactivate
the emergency stop input to
Position Controller.
For details on wiring Power
Supply Connector, refer to
the PCON-CB Series
Controller Instruction Manual
(ME0342).

14
 7．EtherCAT Connection Procedure

7.2.2. Parameter Settings

Set parameters for the Position Controller.
Parameters are set by the PC Software for RC/EC.
Install beforehand the PC Software for RC/EC and USB Conversion Adapter Driver Software
on your personal computer.

Additional Information
For information on how to install the softwares, refer to 1.3 Installing the Software of the RC
PC Software RCM-101-MW, RCM-101-USB Operation Manual (ME0155).

1 To connect Position Controller

and Personal computer, use a
USB cable to connect between
the USB port on Personal
computer and USB conversion
adapter, and use an External
device communication cable to
connect between SIO Connector
on Position Controller and USB
conversion adapter.

2 Set Operation Mode Setting

Switch on the front panel of
Position Controller to the MANU
side.

3 Turn ON Position Controller.

4 Start PC Software for RC/EC.

15
 7．EtherCAT Connection Procedure

5 The Setting of communications

Dialog Box is displayed only at
the initial start after the software
has been installed. Select the
communications port number
from the pull-down list of Port,
and click OK.

*If there are multiple serial ports

on Personal computer, display
the Windows Device Manager.
Then, under Ports (COM &
LPT), check the
communications port number to
which Position Controller is
connected.
(COM4 in this example)

6 When the software starts, the

Check for connected axes
Window is displayed, and
Position Controller goes online.

Connection of all axes is

checked up to the last axis
number (example: Axis No. 15).
After that, the Manual operation
mode Select Window is
displayed.

7 The Manual operation mode

Select Window is displayed.
Select Teach 1 (Safety speed
effective / PIO start
prohibition) as the manual
operation mode, and click OK.

16
 7．EtherCAT Connection Procedure

8 The Main Window of PC

Software for RC/EC is
displayed.

*If the Alarm Dialog Box is

displayed as shown on the
right, check the settings such
as cable connections and port
numbers. After correcting the
settings, click OK.

*If you need to re-connect

Personal computer to Position
Controller, select Controller
– Check for connected axes
from the Setting Menu to go
back to step 6 for connection.
9 Select Edit from the Parameter
Menu.

10 The Parameter Edit Window for

Axis No. 0 is displayed.
Scroll through the list to check
and change the following
parameters.

・Fieldbus operation mode (No.84) :2

・Fieldbus node address (No.85) :1
・Fieldbus communication speed (No.86) : 0 (Default)
・Network type (No.87) : 6 (Default)
・Fieldbus input/output format (No.90) : 3 (Default)

*Any change made to the value appears in red.

17
 7．EtherCAT Connection Procedure

11 Select Load to CTL from the

Parameter Menu.

12 The Confirm Dialog Box is

displayed as shown on the right.
Check the contents and click
Yes.

*The Confirm Dialog Box does

not appear if no change is
made in step 10. Go to step 13.
13 The Confirm Dialog Box is
displayed as shown on the right.
Check the contents and click
Yes.

The dialog box on the right is

displayed stating "Restarting
Controller".

*If the Alarm Dialog Box is

displayed as shown on the
right, check the contents and
click Yes.

14 After power cycling Position

Controller, set Operation Mode
Setting Switch on the front panel
of Position Controller to the
AUTO. side

*The Operation Mode Setting

Switch can be set even when
Position Controller is ON.
15 Turn OFF Position Controller.

18
 7．EtherCAT Connection Procedure

7.3. Controller Setup

Set up the Controller.

7.3.1. Starting Sysmac Studio and Installing the ESI File

Install the ESI file for the Position Controller in Sysmac Studio.
Install Sysmac Studio on your personal computer beforehand.

Precautions for Correct Use

Make sure that the devices are powered OFF before connecting the cables.

1 Make sure that Power supply for

Controller is OFF. Controller
Connect Controller and Power
supply. Power supply

*For information on power

supply connection to the
Controller, refer to 5-4-1 Wiring
the Unit Power Supply of the
NX-series NX102 CPU Unit
Hardware User's Manual (Cat.
No. W593).
2 Connect Built-in EtherNet/IP
port (Port1) on Controller and Personal computer Controller
Personal computer with a LAN Built-in EtherNet/IP port (Port1)

cable. Connect Built-in

LAN cable Power supply
EtherCAT port (Port3) on
Controller and Position Ethernet cable Position
Controller with the Ethernet Built-in EtherCAT port (Port3) Controller

cable.

3 Turn ON Controller and Position

Controller.

4 Start Sysmac Studio.

*If the User Account Control

Dialog Box is displayed at start,
make a selection to start
Sysmac Studio.

19
 7．EtherCAT Connection Procedure

5 Sysmac Studio starts up.

Click Connect to Device.

6 The Connect to Device Screen

is displayed.
Select Controller from the
pull-down list in the Device Field
and Direct connection via
Ethernet in the Connection type
Field.
Uncheck both Transfer from
Device and Display the
Troubleshooting Dialog Box in
the Operation after Connection
Field.

Click Connect.

7 A confirmation dialog box is

displayed. Check the contents
and click OK.

*The contents of the dialog box

vary depending on the status of
Controller. Check the contents
and click on an appropriate
button to proceed with the
processing.
8 The dialog box on the right is
displayed. Check the contents
and click OK.

20
 7．EtherCAT Connection Procedure

9 The Auto Connect Project

Dialog Box is displayed online.
When an online connection is
established, a yellow line is
displayed under the toolbar. Toolbox

The following panes are

Multiview Controller
displayed in the window. Edit Pane
Explorer Status
Left: Multiview Explorer Pane
Top right: Toolbox
Bottom right: Controller Status Pane
Top middle: Edit Pane
Output Tab Build Tab
The following tabs are displayed Page Page
in the bottom middle of the
window.
Output Tab Page
Build Tab Page

Additional Information
For more information on online connections, refer to Section 6. Online Connections to a
Controller of the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).

10 Double-click EtherCAT under

Configurations and Setup in
the Multiview Explorer.

11 The EtherCAT Tab Page is

displayed in the Edit Pane.

21
 7．EtherCAT Connection Procedure

12 Right-click Master and select

Display ESI Library.

13 The ESI Library Dialog Box is

displayed.
Click the this folder link.

The Explorer starts up.

Click Close to close the dialog
box.

14 In the Explorer window, a linked

folder is opened, allowing you to
install the ESI file.
Copy the prepared ESI_IAI_
CON_ECT_V_1_08_Rev_0.xml
to the linked folder.
Close the Explorer window.

*If an access permission

confirmation dialog box is
displayed while copying the
ESI file, permit access to the
folder to continue.

22
 7．EtherCAT Connection Procedure

15 Select Exit from the File Menu

to exit Sysmac Studio.

*You need to restart Sysmac

Studio after installing the ESI
file.

A dialog box is displayed asking

you whether to save the project.
Click No if you do not wish to
save.

16 In the same way as steps 4 to

12, restart Sysmac Studio and
display the ESI Library Dialog
Box.
Click the + Button of
ESI_IAI_CON_ECT_V_1_08_R
ev_0 to check that
RC-ECT-FMOD2(16Byte/16Byt
e) Rev:0x00010008 is
displayed.

Check that there are no *The ESI differs depending on the fieldbus operation
mode. For Half Direct Value Mode (as the fieldbus
exclamation marks (errors)
operation mode), the ESI is
displayed. "RC-ECT-FMOD2(16Byte/16Byte) Rev:0x00010008".

Click Close.

Precautions for Correct Use

If an exclamation mark (error) 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 (error) is displayed even when
the name of the ESI file is correct, the file may be corrupted.
In that case, contact the device manufacturer.

23
 7．EtherCAT Connection Procedure

7.3.2. Setting the EtherCAT Network Configuration

Set the EtherCAT network configuration.

1 Right-click Master on the

EtherCAT Tab Page of the Edit
Pane, and select Compare and
Merge with Actual Network
Configuration.

*If the EtherCAT Tab Page is not

displayed in the Edit Pane,
follow step 10 of 7.3.1. Starting
Sysmac Studio and Installing
the ESI File to display.

A screen is displayed stating

"Get information is being
executed".

2 The Compare and Merge with

Actual Network Configuration
Dialog Box is displayed.
The node address 1 and
RC-ECT-FMOD2(16Byte/16Byt
e) Rev:0x00010008 are added
to the Actual network
configuration after the
comparison.

Click Apply actual network

configuration.

3 The dialog box on the right is

displayed. Check the contents
and click Apply.

The dialog box on the right is

displayed. Check the contents
and click Close.

24
 7．EtherCAT Connection Procedure

4 As a node address 1 slave,

E001 RC-ECT-FMOD2(16Byte/
16Byte) Rev:0x00010008 is
added to the Network
configuration on Sysmac Studio.
Check that the data above is
added. Click Close.

5 The node address 1 and E001

RC-ECT-FMOD2(16Byte/16Byt
e) Rev:0x00010008 are added
to the EtherCAT Tab Page of the
Edit Pane.

25
 7．EtherCAT Connection Procedure

7.3.3. Setting Device Variables

Set device variables to use for the slave unit.

1 Select Offline from the

Controller Menu.

The yellow line under the toolbar

disappears.

2 Select the device with node

address 1 added to the
EtherCAT Tab Page in the
previous procedure 7.3.2.
Check that the device name is
E001.

*The 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 in the Edit Pane.
Check that Node1 is displayed
in the Position Column and that
the added slave unit is displayed
in the Port Column.

*To manually set a variable

name for the slave unit, click an
entry cell in the Variable
Column and enter a name.
5 Right-click Node1 and select
Create Device Variable.

26
 7．EtherCAT Connection Procedure

6 The variable names and types

are set.

Additional Information
The device variables are automatically named from a combination of the device names and
the port names.
The default device names are "E" followed by a serial number starting from "001".

Additional Information
In this guide, device variables are automatically named for each unit (each slave).
They can also be manually named for each port.

27
 7．EtherCAT Connection Procedure

7.3.4. Transferring the Project Data

Transfer the project data created in Sysmac Studio to the Controller.

Regardless of the operating mode of the CPU Unit, devices or machines may
perform unexpected operation when you transfer any of the following data from
Sysmac Studio: a user program, configuration data, setup data, device
variables or values in memory used for CJ-series Units.
Always confirm safety at the destination node before you transfer the project
data.

If you use EtherCAT slave units, check the specifications of those slave units in
manuals or other documentation and confirm that the system will not be
adversely affected before you transfer parameters.

After you transfer the project data, the CPU Unit is restarted, and
communications with the slave unit is cut off. During the period, the outputs of
the slave unit behave according to the slave unit settings. The time that
communications is cut off depends on the EtherCAT network configuration.
Before you transfer the project data, confirm that the slave unit settings will not
adversely affect the system.

1 Select Check All Programs

from the Project Menu.

2 The Build Tab Page is displayed.

Check that "0 Errors" and "0
Warnings" are displayed.

3 Select Rebuild Controller from

the Project Menu.

28
 7．EtherCAT Connection Procedure

4 The dialog box on the right is

displayed. Confirm that there is
no problem, and click Yes.

5 Check that "0 Errors" and "0

Warnings" are displayed on the
Build Tab Page.

6 Select Online from the

Controller Menu.

When an online connection is

established, a yellow line is
displayed under the toolbar.

7 Select Synchronize from the

Controller Menu.

8 The Synchronization Dialog Box

is displayed.
Check that the data to transfer
(example: NX102) is selected.
Click Transfer To Controller.

*After executing "Transfer To

Controller", the Sysmac Studio
data is transferred to
Controller, and the data is
synchronized.

29
 7．EtherCAT Connection Procedure

9 The dialog box on the right is

displayed. Confirm that there is
no problem, and click Yes.

A screen is displayed stating

"Synchronizing".

The dialog box on the right is

displayed. Confirm that there is
no problem, and click No.

*Do not return to RUN mode.

10 As shown in the figure on the

right, the font color that is used
to display the synchronized data
changes to the same color as
the one used to specify
"Synchronized".
Check that a message is
displayed stating "The
Synchronization process
successfully finished".
Confirm that there is no
problem, and click Close.

*When the Sysmac Studio

project data matches the
Controller data, a message is
displayed stating "The
Synchronization process
successfully finished".

*If the synchronization fails,

check the wiring and repeat
from step 1.

30
 7．EtherCAT Connection Procedure

7.4. EtherCAT Communication Status Check

Confirm that PDO communications via EtherCAT is performed normally.

7.4.1. Checking the Connection Status

Check the EtherCAT connection status.

1 Check with LED indicators on

Controller that PDO
communications via EtherCAT is
performed normally.

The LED indicators in normal status

are as follows:
NET RUN: Green lit
NET ERR: Not lit
LINK/ACT: Yellow flashing
Built-in EtherCAT (Port 3)
Status Indicators

*The NJ-series Controllers also

have the same LED indicator
status.
2 Check the LED indicators on
Position Controller.

The LED indicators in normal status

are as follows:
RUN: Green lit
ERR: Not lit
Link/Activity: Green flickering

31
 7．EtherCAT Connection Procedure

7.4.2. Checking Sent and Received Data

Check that correct data is sent and received.

In this procedure, the output of the Position Controller is performed, which may
have a risk of unexpected operation of the devices connected to the Position
Controller.
Ensure safety before you proceed with this operation check described here.
If you cannot ensure safety, do not proceed. When you perform this operation
check, make sure to complete all the steps and make the output of the Position
Controller safe.

If you change the variable values on a Watch Tab Page when Sysmac Studio is
online with the CPU Unit, the devices connected to the Controller may operate
regardless of the operating mode of the CPU Unit.
Always ensure safety before you change the variable values on a Watch Tab
Page when Sysmac Studio is online with the CPU Unit.

1 Select Watch Tab Page from the

View Menu.

2 The Watch (Project)1 Tab Page is

displayed.

3 Click Input Name in the Name

Column and enter the following
variables for monitoring.
E001_Out_Bit04_SON
E001_In_Status_Signal_2004_05

4 With PC Software for RC/EC, select

Status from the Monitor Menu.

*If PC Software for RC/EC is closed,

start the software and re-connect
to Position Controller by referring
to 7.2.2. Parameter Settings.

32
 7．EtherCAT Connection Procedure

5 The Status Monitor Window is

displayed. Check that SON of Input
is OFF, and that Servo and RUN of
Internal flags are not lit.

6 On the Watch Tab Page of Sysmac

Studio, click TRUE in the Modify
Column for E001_Out_Bit04_SON.

Check that the online value of

E001_Out_Bit04_SON changes to
True and E001_In_Status_Signal_
2004_5 to 4011.

7 Check the Status Monitor Window

of PC Software for RC/EC.

The window shows that SON of

Input changes to ON, and that
Servo and RUN of Internal flags are
lit. They indicate the same status as
that in step 6.

Check that the following bits of

Output change to ON.
・Bit 00: No.00 PEND
・Bit 04: No.04 SV
・Bit 14: No.14 PWR
The output data represents 4011 in
hexadecimal notation, which is the
same as the online value of
E001_In_Status_Signal_2004_05
displayed in step 6.

33
 7．EtherCAT Connection Procedure

8 On the Watch Tab Page of Sysmac

Studio, click FALSE in the Modify
Column for E001_Out_Bit04_SON.

Check that the online value of

E001_Out_Bit04_SON changes to
False and E001_In_Status_Signal_
2004_5 to 4000.

9 Check the Status Monitor Window

of PC Software for RC/EC.

The window shows that SON of

Input changes to OFF, and that the
Servo and RUN Fields of Internal
flags are not lit. They indicate the
same status as that in step 8.

Check that the following bit of

Output is ON.
・Bit 14: No.14 PWR
The output data represents 4000 in
hexadecimal notation, which is the
same as the online value of
E001_In_Status_Signal_2004_05
displayed in step 8.

34
 8．Initialization Method

8. Initialization Method

The setting procedures in this guide are based on the factory default settings.
Some settings may not be applicable unless you use the devices with the factory default
settings.

8.1. Initializing a Controller

To initialize a Controller, clear all memory of a CPU Unit.
Change the operating mode of Controller to PROGRAM mode and select Clear All Memory
from the Controller Menu in Sysmac Studio. The Clear All Memory Dialog Box is displayed.
Check the contents and click OK.

8.2. Initializing an IAI Position Controller

For information on how to initialize an IAI Position Controller, refer to 16.1 Parameter (Factory
Default Setting) Initializing Method of the RC PC Software RCM-101-MW, RCM-101-USB
Operation Manual (ME0155).

35
 9．Revision History

9. Revision History

Revision Date of revision Description of revision

code
01 December, 2013 First edition
02 January, 2015 Added applicable models PCON-CA, ACON-CA, and
DCON-CA.
Made changes accompanying the upgrades of the ACON and
PCON Controllers (ESI file changed from V1.04 to V1.07).
Made changes accompanying the upgrade of the Controllers
and version-up of Sysmac Studio.
03 December, 2018 Added applicable models.
Made changes accompanying the firmware update of the
Position Controllers.
Made changes accompanying the upgrade of the Controllers
and version-up of Sysmac Studio.

36
 2013-2018

P584-E1-03 1218(1213)