This article describes how the Codesys Runtime installed on the EXOR ex707M communicates with OMRON’s NX502-1300 via Ethernet/IP. It exchanges data at a 1ms cycle and saves data to the Codesys internal memory at a 10ms cycle.

The saved data is then displayed using the EXOR JMobile Scatter Diagram.

Alright, let’s enjoy the FA!

Foreword

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Reference Link

EXOR#Part14_Connecting with Codesys and use the Alias features!

Codesys#Let’s Connect with OMRON via Ethernet/IP Tag Communication

Implementation

This article divides the implementation into three parts: the OMRON NX502-1300 side, the Codesys side, and the JMobile side.

OMRON side

We will start by configuring from the OMRON NX502-1300 side.

Global Variable Definition

Open Data → Global Variables from Sysmac Studio.

Define the Ethernet/IP tags to connect to the Codesys Runtime.

In this article, we will only use arrRealData, and set Network Publish to “Output” (OMRON NX502-1300 → Codesys Runtime).

IP Settings

Open Controller Setup→Built-in Ethernet/IP Port Settings and configure the IP address to match your actual network configuration.

Ethernet/IP Connection Settings

Next, we will establish the Ethernet/IP connection for the NX502-1300. Click Tools → Ethernet/IP Connection Settings.

This time, we will use PORT1 of the NX502-1300. Select Port1 → right-click → Edit.

Click “Registration All” to register the Output variable declared earlier as a global variable.

Program

Next, we will create a verification program.

VAR

This defines variables for the FOR Loop.

Code

This program is simulation code that generates eight REAL-type data points.

First, it adds 0.01 to the first element of the array, slowly counting up from 0 to 20. Once it exceeds 20, it resets to 0 and repeats.

Next, in the FOR loop, we set values for the remaining seven elements based on the first value. Each element has an offset of index × 100 added to the first value.

arrRealData[0]:= arrRealData[0]+0.01; IF arrRealData[0] >20.0 THEN arrRealData[0]:=0.0; END_IF; FOR iCounter:=0 TO 7 DO arrRealData[iCounter]:=arrRealData[0]+TO_REAL(iCounter)*100; END_FOR;

Download

Finally, download the project to the NX502-1300.

Codesys side

Next, we will build the Codesys Runtime side.

Download the EDS file

Download the EDS file for the NX5 from OMRON’s website.

https://www.fa.omron.co.jp/products/family/3900/download/software.html

Install the EDS file

Next, to install the OMRON NX5 EDS file in Codesys, click Tools > Device Repository.

Click Install and install the EDS file downloaded from OMRON’s website.

Add an Ethernet driver

To add an Etherent Driver to your Codesys project, right-click on Device and select Add Device.。

Select Ethernet and add the device.

Add Ethernet/IP Scanner Driver

Next, select Ethernet Driver, then right-click > Add Device.

Ethernet Interface Settings

Go to General→Network Interface to configure the Ethernet/IP interface.

Add NX502-1300

Next, to add the Ethernet/IP connection for OMRON’s NX502-1300, right-click the Ethernet/IP Scanner and select Add Device.

NX502-1300を選択し、Add Deviceで追加します。

IP Settings

Open the NX502-1300 and configure the IP address to match the actual device.

Ethernet/IP Connection Settings

Next, click Connections → Add Connections to add an Ethernet/IP connection.

Select Input Only (Tag Type).

Match the Symbolic Name field to the Output Tags set in Sysmac Studio.

Set PRI according to the actual application.

Match the T→O size to the variable size set in Sysmac Studio.

Mapping

Next, perform the mapping. Open the Ethernet/IP I/O Mapping and specify the starting address.In this example, specify %IB100.

Structure

eSystem

This defines system constants using a DINT-type enumeration (ENUM).

iDataTotalLength is set to 2999 as the total data length, and iTotalUnit is set to 7 as the total number of units.

{attribute ‘qualified_only’} {attribute ‘strict’} TYPE eSystem : ( iDataTotolLength := 2999 ,iTotolUnit := 7 )DINT ; END_TYPE

uArray1200Bytes

This is a UNION type definition that allows the same memory area to be accessed as both a BYTE array and a REAL array. It allocates 1200 bytes of memory. When you want to treat it as a BYTE array, access it via arrB; when you want to treat it as a REAL array, access it via arrR. Since REAL is 4 bytes, 1200 ÷ 4 = 300 elements.

TYPE uArray1200Bytes : UNION arrB: ARRAY[0..1199]OF BYTE; arrR: ARRAY[0..299]OF REAL; END_UNION END_TYPE

stMotorData

This is a structure for storing motor-related data. rCurrentValue is a REAL-type variable holding the current value. arrDataY stores the data history as a 3000-element REAL array using the eSystem.iDataTotalLength (2999) defined earlier.

TYPE stMotorData : STRUCT rCurrentValue :REAL; arrDataY:ARRAY[0..eSystem.iDataTotolLength]OF REAL; END_STRUCT END_TYPE

gGVLIO

This is the definition of a global variable that directly maps the UNION type defined earlier to the PLC’s input memory area. AT %IB100 reserves 1200 bytes starting at address 100 in the input byte area. This allows input data from external devices to be accessed as either BYTE or REAL.

{attribute ‘qualified_only’} VAR_GLOBAL data AT %IB100 :uArray1200Bytes; END_VAR

gData

This defines global variables for trend graphs and data logging.

arrDataX is an array storing time or index values for the X-axis, containing 3000 elements.

udtMotorDatas is an array containing the previously defined motor data structure for 8 units (0 to 7).

{attribute ‘qualified_only’} VAR_GLOBAL arrDataX:ARRAY[0..eSystem.iDataTotolLength]OF DINT; udtMotorDatas:ARRAY[0..eSystem.iTotolUnit]OF stMotorData; arrDataX2:ARRAY[0..299]OF DINT; arrDataY2:ARRAY[0..299]OF REAL; END_VAR

Task

Next, create a task for the logging program.

Since the type is Cyclic, the program p03Unit01Logging will run repeatedly every 10 milliseconds. Priority 1 is a relatively high setting, meaning it will be processed before other low-priority tasks.

No.	Item	Setting	Description
①	Priority	1	Task priority (0 is highest, 31 is lowest)
②	Interval	10	Execution cycle (10ms)
③	POU	p03Unit01Logging	Program to execute in this task

fbLogging

Next, create a function block for logging.

VAR

This is the variable definition section for the function block used for data logging.

FUNCTION_BLOCK fbLogging VAR_INPUT xStart :BOOL; rLogPeriod :REAL; rLogValue :REAL; strDateTime:STRING; ixlog :BOOL; END_VAR VAR_OUTPUT iLoggedIndex:INT; xDone:BOOL; xError:BOOL; xBusy:BOOL; END_VAR VAR_IN_OUT io:stMotorData; END_VAR VAR fbTON2:Standard.TON; iIndex:INT:=0; fbftrig:Standard.F_TRIG; fbrtrig:Standard.R_TRIG; END_VAR

Code

This is the execution section of the function block, which records data into an array at the specified interval.

//Start the Logging Period time,Real=>Time
IF xStart THEN
fbTON2.PT:=TO_TIME(rLogPeriod*1000);
END_IF;
//Timer
fbTON2(IN:=NOT fbTON2.Q AND xStart);

//
fbftrig(CLK:=xStart);
fbrtrig(CLK:=xStart);

IF fbrtrig.Q THEN
xBusy:=TRUE;
xError:=FALSE;
xDone:=FALSE;
iIndex:=0;
END_IF

IF fbftrig.Q THEN
xDone:=TRUE;
xBusy:=FALSE;
END_IF

IF
ixlog
AND xStart
AND iIndex <30000
THEN

io.arrDataY[iIndex]:=rLogValue;
iIndex:=iIndex+1;

END_IF

iLoggedIndex:=iIndex;

Timer Settings

Since rLogPeriod is in seconds, we multiply by 1000 to convert it to milliseconds.

fbTON2.PT := TO_TIME(rLogPeriod * 1000);

Self-reset timer

While xStart is ON, it will continue to generate pulses periodically.

fbTON2(IN := NOT fbTON2.Q AND xStart);

Startup Processing (Initialization)

IF fbrtrig.Q THEN xBusy := TRUE; iIndex := 0; // END_IF

Termination processing (falling edge)

IF fbftrig.Q THEN xDone := TRUE; xBusy := FALSE; END_IF

Data recording

IF ixlog AND xStart AND iIndex < 2999THEN io.arrDataY[iIndex] := rLogValue; iIndex := iIndex + 1; END_IF

Program

The final step is creating the program. This is a management program for logging data from eight motors in parallel, structured to record data simultaneously to each function block.

VAR

This is the variable definition section of the program that manages data logging for eight units.

PROGRAM p03Unit01Logging
VAR
xStartLog:BOOL;
fbLogging:ARRAY[0..eSystem.iTotolUnit] OF fbLogging;
xDone,xError,xBusy:ARRAY[0..eSystem.iTotolUnit] OF BOOL;
fbStartTimer:Standard.TON;
iIndex:ARRAY[0..eSystem.iTotolUnit]OF DINT;
iTotolData:DINT;
xInited:BOOL;
fbBlink :Util.BLINK;
iCounter: DINT;
iLoop: DINT;
xLoggingNotBusy: BOOL;
fbtrig4:Standard.R_TRIG;
rCurrentValue:REAL:=1.0;
END_VAR

Code

This is the main process that logs data for 8 units in parallel.

FOR iLoop :=0 TO eSystem.iTotolUnit DO
IF fbLogging[iLoop].xBusy THEN
xLoggingNotBusy:=FALSE;
END_IF
END_FOR
FOR iLoop :=0 TO 299 DO
gData.arrDataX2[iLoop]:=iLoop;
END_FOR
FOR iLoop :=0 TO eSystem.iDataTotolLength DO
gData.arrDataX[iLoop]:=iLoop;
END_FOR
//
fbtrig4(CLK:=gDebug.bInput.1 OR gSystem.xLogStart OR gHMI.arriSwitch[0]=1);
IF fbtrig4.Q AND NOT xLoggingNotBusy THEN
xStartLog:=TRUE;
END_IF;
IF gHMI.arriSwitch[0]=1 THEN
gHMI.arriSwitch[0]:=0;
END_IF

fbBlink(
ENABLE:=xStartLog
,TIMELOW:=T#0.5S
,TIMEHIGH:=T#0.5S
);

gDebug.bOutput.0:=fbBlink.OUT;

//init
IF NOT xInited THEN
xInited:=TRUE;
FOR iLoop :=0 TO eSystem.iTotolUnit DO
gData.arrDataX[iLoop]:=iLoop;
END_FOR
END_IF;

//Signal Simulation
gRetainParamaters.stMotors[0].rTotolLoggingTime:=30;
fbStartTimer(IN:=xStartLog,PT:=
TO_TIME(gRetainParamaters.stMotors[0].rTotolLoggingTime*1000)
);
IF fbStartTimer.Q THEN
xStartLog:=FALSE;
END_IF

//Logging
FOR iCounter:=0 TO eSystem.iTotolUnit DO
gData.udtMotorDatas[iCounter].rCurrentValue:=gGVLIO.data.arrR[iCounter];
rCurrentValue:=gData.udtMotorDatas[iCounter].rCurrentValue;

fbLogging[iCounter].ixlog:=TRUE;
fbLogging[iCounter](
xStart:=xStartLog
,ixlog:=
,rLogValue:=rCurrentValue
,io:=gData.udtMotorDatas[iCounter]
,strDateTime:=gSystem.strCurrentDateTime
,xDone=>xDone[iCounter]
,xError=>xError[iCounter]
,xBusy=>xBusy[iCounter]
,iLoggedIndex=>iIndex[iCounter]
);
fbLogging[iCounter].ixlog:=FALSE;
END_FOR;