Michael Walsh

I was looking at FINS with an NX701 controller today and happened across this thread.  One additional thing to point out is that ONLY the database versions of the NX701 (NX701-1*20 processors) after version 1.16 support FINS.

I agree with this.  If you put -15000 in the output variable you should expect to see -10V out.  If you put 15000 in the output variable, you should expect to see 10V output.

This is a true statement, but this also might point to his problem.  He is using TCP Socket instructions in his code.  These questions need to be answered: Are you intending to use EtherNet/IP Comms?  If so, are you trying to use implicit or explicit communications?  Or are you intending to use raw TCP/IP Commands?  It looks like your code is using TCP/IP Commands, but your other comments imply that you are trying to use EtherNet/IP Communications.  These are two different things.

@willer I fixed the link above and you can get his program now.

One confirmation and one additional note with regards to FINS comms on NX controllers.  The NX7 could support FINS as of v1.16 as stated by @photovoltaic and ONLY port 2 supports FINS commands on the NX102.  I posted to make the point about port 2, but since the 1.16 point was here in this graphic as well, I thought that I would confirm.  Never doubted you @photovoltaic!  

Omron has an MQTT library of Function blocks.  I would recommend that you use them.   You can download the library here: https://www.ia.omron.com/product/tool/sysmac-library/index.html Your software does need to be registered to login.   I have also attached a document describing the process and some sample code. It shows how to do it using Mosquitto, but you should be able to go from there.     MQTT Sysmac Controllers and Mosquitto POC.pdf MQTT NX102 and NJ301.smc2

If you want to move the axis continuously at a specific speed, you need to use MC_MoveVelocity.  To stop it from moving use MC_Stop.

I agree with @lostcontrol.  You always want the source and destination unit numbers to be set to 0 for this type of communication.  The unit number would only be used if you were trying to communicate directly to a network card or other unit.  Unit # set to 0 is referring to communicating to the CPU, which is the desired result. One other note with regards to the routing table: If there is another network card in the PLC, it will have to have a routing table.  A routing table just assigns network numbers to each network. So, Ethernet could be net 1 and some other card could be net 2.

Use the reception counter Auxiliary Address to do your receive.  When the the reception completed flag turns on, use the Reception Counter word to determine how many bytes to receive.     So, using port 1, it would look like this:   I arbitrarily chose D200 for the reception area.  

I was trying to show you how I would set this up at least and I cannot find the EDS file.  Can you attach it and I will share how I would do it?  Of course that doesn't mean that it would work, if something is wrong with their EDS file, but I could show you how the setup should look at least. 

Sergei makes a good suggestion.  I might also set CR+LF as the end code and receive each part of the message separately (5 total messages, if I understand correctly).

I modified the PDO map for the drive to look like this for the input side: I am unsure about the ActPos_Abs being the correct selection as there are multiple options for actual position.  You may need to ask SEW.   And this for the output: I also enabled the distributed clock (right below the PDO Map Settings button).   And then I mapped them like this for the axis: When I do this, I still get the same error that you were getting.  So I kept digging.  I noticed that SEW's Control Word and Status Word were DINTs (32 bits), so instead I mapped PI0001 and PO001 to those and removed the control word and status word from the PDO map.  Then I attached those to the Axis settings like this:   When I download that, the error goes away.  Of course it will likely not work at this point, but it does show that the issue is that SEW's control Word and Status Word (both should be 16 bits as that is what WORD implies) are actually 32 bits.  So (SEW, ha!), I would ask SEW what the deal is with 32 bit Status and Control WORDs.  They may be able to somehow map one half of those 32 bits to both the PO001 and PI001 WORDs.    

Quick tip on this subject:  When searching the manuals, you will see it sometimes referred to as "PC Link" and other times as "PLC LInk".  All of the helpful information can be found searching for "PLC Link" with respect to examples and how to set it up. I think that your mistake is that you are assuming that PC Link unit 0 uses the first area (3100-3109 on CP1H and 200-209 on CP2E).  It does not.  That area is for the Master.  Node 0 starts at 3110 and 210.  So, your node #1 will actually be at 220 in the CP2E.   This example is taken from the CP2E Unit Software User's Manual:  

That is a tough one.  Do they need to be closer than 4mm (or perhaps it is 8mm if you need to account for 4mm for each axis) when jogging?  If not, just monitor the commanded position (as opposed to actual position) and don't if the difference between the two is ever less than 4mm (or 8mm) then stop them.  

Check out my response on this post: