Download

Machine Automation Controller
NJ/NX-Series
CSM_NJ_NX-series_DS_E_3_2
New controller that covers functions
and high-speed processing required
for machine control and safety,
reliability and maintainability
NX701-@@@@
NJ501-@@@@
Features
• Integration of Logic and Motion in one CPU.
• Conforms to IEC 61131-3 (JIS B 3503) standard programming and PLCopen function blocks for Motion Control.
Programming with variables allows users to create complex programs efficiently.
• Fast and accurate control by synchronizing all EtherCAT devices, such as vision sensors, servo drives, and field
devices, with the PLC and Motion Engines.
• Offers speed without compromising on reliability and robustness expected from PLCs.
• Complete RAS functions: Transmission frame error check, timeout, bus diagnosis, Watchdog (WDT), memory
check, and topology check, etc.
• Ideal for large-scale, fast, and highly-accurate control with up to 256 axes. (NX701-@@@@)
• Ideal for large-scale, fast, and high-accurate control with up to 64 axes. (NJ501-@@@@)
• Ideal for small-scale control with up to 8 axes. (NJ301-@@@@)
• Ideal for simple machines. (NJ101-@@@@)
• Linear and circular interpolation.
• Electronic gear and cam synchronization.
• The Controller can be directly connected to a database. No special Unit, software, nor middleware is required.
(NJ501-@@[email protected])
• The NJ501 SECS/GEM CPU Unit has built-in the SECS/GEM communications functions which are the standards
in the semiconductor industry. (NJ501-1340)
• Parallel link robot control function. (NJ501-4@@0)
Sysmac is a trademark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products.
Microsoft, Windows, Windows Vista and SQL Server are registered trademarks of Microsoft Corporation in the United States and other countries.
Oracle and Oracle Database are trademarks or registered trademarks of Oracle Corporation and/or its affiliates in the United States and other countries.
IBM and DB2 are trademarks or registered trademarks of International Business Machines Corp., registered in the United States and other countries.
SEMI® is a trademark or registered trademark of Semiconductor Equipment and Materials International in the United States and other countries.
EtherCAT® is a registered trademark of Beckhoff Automation GmbH for their patented technology.
EtherNet/IPTM, DeviceNetTM are trademarks of the ODVA.
Other company names and product names in this document are the trademarks or registered trademarks of there respective companies.
1
NJ/NX-Series
Ordering Information
International Standards
• The standards are abbreviated as follows: U: UL, U1: UL(Class I Division 2 Products for Hazardous Locations), C: CSA, UC: cULus, UC1: cULus(Class I Division 2
Products for Hazardous Locations), CU: cUL, N: NK, L: Lloyd, CE: EU Directives, RCM: Regulatory Compliance Mark, RCM: RCM mark and KC: KC Registration.
• Contact your OMRON representative for further details and applicable conditions for these standards.
NX701 CPU Units
Product Name
Specifications
Program capacity
Memory capacity for variables
NX701 CPU
Units
Number of motion axes
Current (Power)
consumption
256
80 MB
Model
Standards
NX701-1700
4 MB:
Retained during power interruption
256 MB:
Not retained during power interruption
40 W (including SD
Memory Card and End
Cover)
128
UC1,
RCM,
CE, KC
NX701-1600
NJ-seires CPU Units
Current
consumption (A)
Specifications
Product name
I/O capacity /
maximum umber
of configuration Units
(Expansion Racks)
Program
capacity
Memory capacity for variables
NJ501 CPU Units
20 MB
2 MB: Retained during power
interruption
4 MB: Not retained during power
interruption
NJ301 CPU Units
2,560 points / 40 Units
(3 Expansion Racks)
Number of
motion axes
64
NJ501-1500
32
NJ501-1400
16
NJ501-1300
8
NJ301-1200
1.90
5 MB
0.5 MB: Retained during power
interruption
2 MB: Not retained during power
interruption
NJ101 CPU Units
Model
Standards
5 VDC 24 VDC
---
4
NJ301-1100
2
NJ101-1000
0
NJ101-9000
UC1, N,
L, CE,
RCM, KC
3 MB
2
NJ/NX-Series
Current
consumption (A)
Specifications
Product name
I/O capacity /
Number of Database SECS/GEM Number of
maximum umber Program Memory capacity
motion Connection Communication controlled 5 VDC 24 VDC
of configuration Units capacity
for variables
axes
function
robots
function
(Expansion Racks)
NJ-series Database
Connection
CPU Units
20 MB
3 MB
NJ-series
SECS/GEM
CPU Unit
2 MB: Retained
during power
interruption
4 MB: Not
retained during
power
interruption
0.5 MB: Retained
during power
interruption
2 MB: Not
retained during
power interruption
64
NJ501-1520
32
NJ501-1420
16
Yes
2
NJ101-1020
---
0
NJ101-9020
1.90
16
NJ-series
NJ Robotics
CPU Units
20 MB
Standards
NJ501-1320
No
2,560 points /
40 Units
(3 Expansion
Racks)
2 MB: Retained
during power
interruption
4 MB: Not
retained during
power
interruption
Model
Yes
UC1, N,
L, CE,
RCM, KC
--NJ501-1340
No
64
NJ501-4500
32
8 max.*
NJ501-4400
No
NJ501-4300
16
Yes
1
NJ501-4310
8 max.*
NJ501-4320
* The number of controlled robots varies according to the number of axes used for the system.
Automation Software Sysmac Studio
Please purchase a DVD and required number of licenses the first time you purchase the Sysmac Studio. DVDs and licenses are available
individually. Each model of licenses does not include any DVD.
Product name
Specifications
The Sysmac Studio is the software that provides an integrated environment for
setting, programming, debugging and maintenance of machine automation
controllers including the NJ/NX Series, EtherCAT Slave, and the HMI.
Sysmac Studio
Standard Edition
Ver.1.@@
Model
Standards
−
DVD
(Media only)
SYSMAC-SE200D
−
−
SYSMAC-SE201L
−
Number of
licenses
Media
Sysmac Studio runs on the following OS.
Windows XP (Service Pack 3 or higher, 32-bit version)/Windows Vista(32-bit
version)/Windows 7(32-bit/64-bit version)/Windows 8(32-bit/64-bit version)/
Windows 8.1(32-bit/64-bit version)/Windows 10(32-bit/64-bit version)
The Sysmac Studio Standard Edition DVD includes Support Software to set up
EtherNet/IP Units, DeviceNet slaves, Serial Communications Units, and Support
Software for creating screens on HMIs (CX-Designer).
For details, refer to the Sysmac Integrated Catalogue (P072).
1 license *
* Multi licenses are available for the Sysmac Studio (3, 10, 30, or 50 licenses).
3
NJ/NX-Series
SECS/GEM Configurator
Please purchase the required number of SECS/GEM Configurator licenses and a Sysmac Studio Standard Edition DVD the first time you purchase
the SECS/GEM Configurator.
The Sysmac Studio Standard Edition DVD includes the SECS/GEM Configurator. The license does not include the DVD.
Specifications
Product Name
Number of
licenses
Model
Media
Standards
The SECS/GEM Configurator is the software to make HSMS,
SECSII and GEM settings for NJ501 SECS/GEM CPU Units.
SECS/GEM
Configurator
Ver.1.@@
The SECS/GEM Configurator runs on the following OS.
Windows XP (Service Pack3 or higher, 32-bit edition), Windows
Vista (32-bit edition), or Windows 7 (32-bit or 64-bit edition)
1 license
---
WS02-GCTL1
---
The software is included in the Sysmac Studio Standard Edition
DVD.
Recommended EtherCAT and EtherNet/IP Communications Cables
Use Straight STP (shielded twisted-pair) cable of category 5 or higher with double shielding (braiding and aluminum foil tape) for EtherCAT.
For EtherCAT, use a shielded twisted-pair cable (double shielding with aluminum tape and braiding) of Ethernet category 5 (100BASETX) or higher, and use straight wiring.
For EtherNet/IP, required specification for the communications cables varies depending on the baud rate.
For 100BASE-TX/10BASE-T, use an STP (shielded twisted-pair) cable of Ethernet category 5 or higher. You can use either a straight or
cross cable.
For 1000BASE-T, use an STP (double shielding with aluminum tape and braiding) cable of Ethernet category 5e or higher. You can use
either a straight or cross cable.
In the table, materials indicated available for EtherNet/IP 100BASE-TX are available for both of 100BASE-TX and 10BASE-T.
Cable with Connectors
Recommended
manufacturer
Item
Wire Gauge and Number of
Pairs: AWG27, 4-pair Cable
Cable Sheath material: LSZH *2
Cable color: Yellow *3
Standard type
Cable with Connectors on
Both Ends (RJ45/RJ45)
OMRON
Cable length (m)*1
0.3
XS6W-6LSZH8SS30CM-Y
0.5
XS6W-6LSZH8SS50CM-Y
1
XS6W-6LSZH8SS100CM-Y
2
XS6W-6LSZH8SS200CM-Y
3
XS6W-6LSZH8SS300CM-Y
5
Rugged type
Cable with Connectors on
Both Ends (RJ45/RJ45)
Products
for
EtherCAT
Wire Gauge and Number of
Pairs: AWG22, 2-pair
Cable
Rugged type
Cable with Connectors on
Both Ends (M12/RJ45)
Rugged type
Cable with Connectors on Both
Ends (M12 L/RJ45)
OMRON
OMRON
OMRON
Model
XS6W-6LSZH8SS500CM-Y
0.3
XS5W-T421-AMD-K
0.5
XS5W-T421-BMD-K
1
XS5W-T421-CMD-K
2
XS5W-T421-DMD-K
5
XS5W-T421-GMD-K
10
XS5W-T421-JMD-K
0.3
XS5W-T421-AMC-K
0.5
XS5W-T421-BMC-K
1
XS5W-T421-CMC-K
2
XS5W-T421-DMC-K
5
XS5W-T421-GMC-K
10
XS5W-T421-JMC-K
0.3
XS5W-T422-AMC-K
0.5
XS5W-T422-BMC-K
1
XS5W-T422-CMC-K
2
XS5W-T422-DMC-K
5
XS5W-T422-GMC-K
10
XS5W-T422-JMC-K
*1. Standard type cables length 0.2, 0.3, 0.5, 1, 1.5, 2, 3, 5, 7.5, 10, 15 and 20m are available.
Rugged type cables length 0.3, 0.5, 1, 2, 3, 5, 10 and 15m are available.
*2. The lineup features Low Smoke Zero Halogen cables for in-cabinet use and PUR cables for out-of-cabinet use.
*3. Cables colors are available in blue, yellow, or Green
Note: For details, refer to Cat.No.G019.
4
NJ/NX-Series
Cables / Connectors
Item
Recommended manufacturer
Products for EtherCAT or
EtherNet/IP
Wire Gauge and Number of Cables
(1000BASE-T/100BASE-TX)
Pairs: AWG24, 4-pair
Cable
RJ45 Connectors
Products for EtherCAT or
EtherNet/IP
(100BASE-TX)
Products for EtherNet/IP
(100BASE-TX)
Cables
Wire Gauge and Number of
RJ45 Assembly Connector
Pairs: AWG22, 2-pair
Cable
Wire Gauge and Number of Cables
Pairs: 0.5 mm, 4-pair Cable RJ45 Connectors
Model
Hitachi Cable, Ltd.
NETSTAR-C5E SAB 0.5
*1
Kuramo Electric Co.
KETH-SB *1
SWCC Showa Cable Systems Co.
FAE-5004 *1
Panduit Corporation
MPS588-C *1
Kuramo Electric Co.
KETH-PSB-OMR *2
JMACS Japan Co., Ltd.
PNET/B *2
× 4P
OMRON
XS6G-T421-1 *2
Fujikura Ltd.
F-LINK-E 0.5mm × 4P *3
Panduit Corporation
MPS588 *3
*1. We recommend you to use above cable for EtherCAT and EtherNet/IP, and RJ45 Connector together.
*2. We recommend you to use above cable for EtherCAT and EtherNet/IP, and RJ45 Assembly Connector together.
*3. We recommend you to use above cable For EtherNet/IP and RJ45 Connectors together.
Accessories
The following accessories come with the CPU Unit.
Specification
Item
NX-series
Battery
CJ1W-BAT01
End Cover
NX-END01 (must be attached to the right end of the CPU Rack)
End Plate
Fan Unit
---
NJ-series
CJ1W-TER01 (must be attached to the right end of the CPU Rack)
PFP-M (2 required)
NX-FAN01
SD Memory Card *
(Flash Memory 2 GB)
-----
HMC-SD291
* NJ501-@@20 or NJ101-@@20 or NJ501-1340 only.
5
NJ/NX-Series
General Specifications
Item
NX701-@@@@
NJ501-@@@@
Enclosure
Mounted in a panel
Grounding Method
Ground to less than 100 Ω
Dimensions
(height×depth×width)
100 mm × 100 mm × 132 mm 90 mm × 90 mm × 90 mm
Weight
880 g (including the End Cover)
Current Consumption
Power consumption
5 VDC, 1.90 A (including SD Memory Card and End Cover)
40 W (including SD Memory
Card and End Cover)
---
0 to 55°C
Ambient
Operating
Humidity
10% to 95%
(with no condensation)
Atmosphere
Must be free from corrosive gases.
Ambient
Storage
Temperature
-25 to 70°C
(excluding battery)
10% to 90% (with no condensation)
-20 to 75°C (excluding battery)
2,000 m or less
2 or less: Conforms to JIS B3502 and IEC 61131-2.
Noise Immunity
2 kV on power supply line (Conforms to IEC 61000-4-4.)
Overvoltage
Category
Category II: Conforms to JIS B3502 and IEC 61131-2.
EMC Immunity
Level
Zone B
Vibration
Resistance
Conforms to IEC 60068-2-6.
5 to 8.4 Hz with 3.5-mm amplitude, 8.4 to 150 Hz
Acceleration of 9.8 m/s2 for 100 min in X, Y, and Z directions (10 sweeps of 10 min each = 100 min total)
Shock
Resistance
Conforms to IEC 60068-2-27.
147 m/s2, 3 times in X, Y, and Z directions (100 m/s2 for Relay Output Units)
Life
2.5 years (at 25°C, Power ON
time rate 0% (power OFF))
Model
CJ1W-BAT01
Applicable Standards
NJ101-@@@@
550 g (including the End Cover)
Ambient
Operating
Temperature
Altitude
Operation
Environment Pollution Degree
Battery
---
NJ301-@@@@
Conforms to cULus,
EU Directives, RCM and
KC Registration.
5 years at 25°C
Conforms to cULus, NK, LR, EU Directives, RCM and KC Registration*.
* Supported only by the CPU Units with unit version 1.01 or later.
6
NJ/NX-Series
Performance Specifications
NX701-
Item
Processing
Time
1700
LD instruction
Instruction
Execution Times Math Instructions
(for Long Real Data)
Size
POU
definition
Program capacity *2
Number
POU
instance
Size
No Retain
Attribute *3 Number
Size
Programming
Variables
capacity
Data type
Memory for
CJ-Series Units
(Can be Specified with AT
Specifications
for Variables.)
Maximum
Number of
Connectable
Units
Retain
Attribute
*4
Number
Number
1600
[email protected]@0
NJ301-
@[email protected]
@[email protected]
1200
1100
1.1ns (1.7ns or less)
2.0ns (3.0ns or less)
3.2ns ns or more
24ns or more *1
42 ns or more
70 ns or more
80 MB
(1600 KS)
20 MB
(400 KS)
5 MB
(100 KS)
3 MB
(60 KS)
6,000
3,000
750
450
48,000
Using Sysmac Studio Ver. 1.05 or
lower : 6,000
Using Sysmac Studio Ver. 1.06 or
higher : 9,000
Using Sysmac Studio
Ver. 1.04 or lower :
1,500
Using Sysmac Studio
Ver. 1.05 or higher :
3,000
1,800
256 MB
4 MB
2 MB
360,000
90,000
22,500
4 MB
2 MB
0.5 MB
10,000
Using Sysmac Studio
Ver. 1.04 or lower :
2,500
Using Sysmac Studio
Ver. 1.05 or higher :
5,000
2000
1,000
40,000
8,000
CIO Area
---
6,144 words (CIO 0 to CIO 6143)
Work Area
---
512 words (W0 to W511)
Holding Area
---
1,536 words (H0 to H1535)
DM Area
---
32,768 words (D0 to D32767)
EM Area
---
32,768 words × 25 banks
(E0_00000 to E18_32767) *5
Maximum number of CJ/
NX unit per CPU Rack or
Expansion Rack
---
10 Units
Maximum number of
CJ unit on the system
---
40 Units
Maximum number of Expansion Racks
I/O Capacity
Power Supply
Unit for CPU
Rack and Expansion Racks
Motion
Control
Number of
Controlled
Axes
0
3 max.
Maximum number of I/O
Points on CJ-series Units
---
2,560 points max.
Model
NX-PA9001
NX-PD7001
[email protected]
AC Power
Supply
30 to 45 ms
30 to 45 ms
DC Power
Supply
5 to 20ms
22 to 25 ms
Power OFF
Detection
Time
9@@0
0.37ns or more
3.3ns (5.0ns or less)
5,000
32,768 words × 4 banks (E0_00000 to
E3_32767) *5
400
(on NX series EtherCAT
slave terminal)
Maximum number of
4,096
NX unit on the system (on NX series EtherCAT slave terminal)
Unit Configuration
NJ101
1@@0
Maximum Number of
Controlled Axes *6
256 axes
128 axes
64 axes
32 axes
16 axes
15 axes
15 axes
6 axes
Maximum number of
used real axes *7
256 axes
128 axes
64 axes
32 axes
16 axes
8 axes
4 axes
2 axes
Maximum Number of
Axes for Single-axis
Control *8
256 axes
128 axes
64 axes
32 axes
16 axes
15 axes
15 axes
6 axes
Maximum Number of
Axes for Linear Interpolation Axis Control
4 axes per axes group
Number of Axes for
Circular Interpolation
Axis Control
2 axes per axes group
---
Maximum Number of Axes Groups
64 groups
Motion Control Period
The same control period as that is used for the process data communications cycle for
EtherCAT.
32 groups
*1.
*2.
*3.
*4.
*5.
When the hardware revision for the Unit is A.
This is the capacity for the execution objects and variable tables (including variable names).
Words for CJ-series Units in the Holding, DM, and EM Areas are not included.
Words for CJ-series Units in the CIO and Work Areas are not included.
When the Spool function of the [email protected] is enabled, the DB Connection Service uses E9_0 to E18_32767 ([email protected]).
When the Spool function of the NJ101-@@20 is enabled, the DB Connection Service uses E1_0 to E3_32767 (NJ101-@@20).
*6 This is the total for all axis types.
The Maximum number of TCP socket service of the CPU Unit version 1.05 or earlier is 8 axes (NJ301-1200), 4 axes (NJ301-1100).
*7. This is the total number of axes that are set as servo axes or encoder axes and are also set as used axes.
*8. The Maximum Number of Axes for Single-axis Control of the CPU Unit version 1.05 or earlier is 8 axes (NJ301-1200), 4 axes (NJ301-1100).
7
NJ/NX-Series
NX701-
Item
Motion
Control
Cams
1700
Number of
Cam Data
Points
@[email protected]
@[email protected]
[email protected]@0
1200
1100
Maximum
Points
per Cam
Table
65,535 points
Maximum
Points for
All Cam
Tables
1,048,560 points
1,048,560 points
262,140 points
640 tables
640 tables
160 tables
Maximum Number of
Cam Tables
Peripheral
USB Port
NJ501-
1600
Position Units
Pulses, millimeters, micrometers, nanometers, degrees or inches
Override Factors
0.00% or 0.01% to 500.00%
Supported Services
Sysmac Studio connection
Physical Layer
USB 2.0-compliant B-type connector
Transmission Distance between Hub
and Node
5 m max.
Number of port
2
1
Physical Layer
10BASE-T/
100BASE-TX /
1000BASE-T
10Base-T or 100Base-TX
Frame length
1514 max.
Media Access Method
CSMA/CD
Modulation
Baseband
Topology
Star
Baud Rate
1Gbps (1000BASE-T)
Transmission Media
STP (shielded, twisted-pair) cable of Ethernet category 5, 5e or higher
Maximum Transmission Distance
between Ethernet Switch and Node
100m
NJ101
1@@0
9@@0
---
100 Mbps (100Base-TX)
Maximum Number of Cascade Connections There are no restrictions if Ethernet switch is used.
Built-in
EtherNet/IP
Port
Maximum Number of
Connections
256 / port
total 512
32
Packet interval *9
0.5 to 10,000 ms in
0.5-ms increments
Can be set for each
connection.
1 to 10,000 ms in 1.0-ms increments *10
Can be set for each connection. (Data will be refreshed at the set interval,
regardless of the number of nodes.)
Permissible
Communications Band
40,000 pps *11
including heartbeat
3,000 pps *11 *12 (including heartbeat)
Maximum Number of
Tag Sets
256 / port
total 512
32
Tag types
Network variables
Network variables, CIO, Work, Holding, DM, and EM Areas
Number of tags per
connection (i.e., per
tag set)
8 (7 tags if Controller status is included in the tag set.)
CIP service: Tag
Data Links (Cyclic
Communications) Maximum Link Data
Size per Node (total
size for all tags)
256 / port
total 512
256
Maximum number of tag 369,664 byte
19,200 bytes
Maximum Data Size
per Connection
1,444 byte
600 bytes
Maximum Number of
Registrable Tag Sets
256 / port
total 512
32 (1 connection = 1 tag set)
(1 connection = 1 tag set)
Maximum Tag Set
Size
1,444 bytes
(Two bytes are used if
Controller status is
included in the tag set.)
Multi-cast Packet Filter *13
Supported.
600 bytes
(Two bytes are used if Controller status is included in the tag set.)
*9. Data is updated on the line in the specified interval regardless of the number of nodes.
*10.The Packet interval of the CPU Unit version 1.02 or earlier is 10 to 10,000 ms in 1.0-ms increments.
*11.Means packets per second, i.e., the number of communications packets that can be sent or received in one second.
*12.The Permissible Communications Band of the CPU Unit version 1.02 or earlier is 1,000 pps.
*13.An IGMP client is mounted for the EtherNet/IP port. If an ethernet switch that supports IGMP snooping is used, filtering of unnecessary
multicast packets is performed.
Note: For robot control by NJ501-4@@0, use the G5 series AC Servo Drive with built-in EtherCAT communications, absolute encoder, and brake.
8
NJ/NX-Series
NX701-
Item
1700
Class 3 (number of
connections)
Built-in
EtherNet/IP
Port
Built-in
EtherCAT
Port
NJ501-
1600
128 / port total 256
(clients plus server)
@[email protected]
@[email protected]
32
Maximum
Number of
Servers
that Can
Communicate at One
Time
32 / port
total 64
32
Maximum number of TCP socket service
30
30 *14
Communications Standard
IEC 61158 Type12
EtherCAT Master Specifications
Class B (Feature Pack Motion Control compliant)
Physical Layer
100BASE-TX
Modulation
Baseband
Baud Rate
100 Mbps (100Base-TX)
Duplex mode
Auto
UCMM
(non-connection
type)
1200
1100
NJ101
1@@0
9@@0
32 (clients plus server)
Maximum
Number of
Clients that 32 / port
Can Comtotal 64
municate at
One Time
Cip Message
Service:
Explicit
Messages
[email protected]@0
30
Topology
Line, daisy chain, and branching
Transmission Media
Twisted-pair cable of category 5 or higher (double-shielded straight cable with aluminum tape and braiding)
Maximum Transmission Distance
between Nodes
100m
Maximum Number of Slaves
512
192
Range of node address
1-512
1-192
Maximum Process Data Size
Inputs: 11,472 bytes
Outputs: 11,472 bytes
Inputs: 5,736 bytes
Outputs: 5,736 bytes (However, the maximum number of process data frames is 4.)
Maximum Process Data Size per Slave
Inputs: 1,434 bytes
Outputs: 1,434 bytes
Communications Cycle
Sync Jitter
Internal Clock
• Primary periodic
task: 125 μs,
250 μs to 8 ms (in
250-μs
increments)
• Priority-5 periodic
task: 125 μs,
250 μs to 100 ms
(in 250-μs
increments)
500/1,000/2,000/4,000 μs *15
64
1,000/2,000/4,000 μs
1 μs max.
At ambient temperature of 55°C: -3.5 to +0.5 min error per month
At ambient temperature of 25°C: -1.5 to +1.5 min error per month
At ambient temperature of 0°C: -3 to +1 min error per month
*14.The Maximum number of TCP socket service of the CPU Unit version 1.02 or earlier is 16.
*15.The Maximum Communications Cycle of the NJ301 CPU Unit version 1.02 or earlier is 1,000/2,000/4,000 μs.
The EtherCAT communications cycle of NJ501-4@@0 for robot control is 1 ms or less.
9
NJ/NX-Series
Function Specifications
Item
NX701-@@@@
Function
Periodically
Executed
Tasks
Tasks
Conditionally executed
tasks *1
Setup
POU (program
organization
units)
Programming
Languages
Maximum Number of
Periodic Tasks
4
Maximum number of
event tasks
32
Execution conditions
When Activate Event Task instruction is executed or when condition expression for
variable is met.
3
---
The execution interval and the percentage of the total user
program execution time are monitored for the system services
(processes that are executed by the CPU Unit separate from
task execution).
Programs
POUs that are assigned to tasks.
Function Blocks
POUs that are used to create objects with specific conditions.
Functions
POUs that are used to create an object that determine unique outputs for the inputs,
such as for data processing.
Types
Ladder diagrams *2 and structured text (ST)
A concept that is used to group identifiers for POU definitions.
External Access of Vari- Network Variables
ables
BOOL
Bit Strings
BYTE, WORD, DWORD, LWORD
Integers
INT, SINT, DINT,LINT, UINT, USINT, UDINT, ULINT
Real Numbers
REAL, LREAL
Durations
TIME
Dates
DATE
Times of Day
TIME_OF_DAY
Date and Time
DATE_AND_TIME
Derivative Data Types
Data Types
Structures
Unions
Enumerations
Array Specifications
The function which allows access from the HMI, host computers, or other Controllers
Boolean
Text Strings
Data Type Attributes
NJ101-@@@@
1
System Service Monitoring Settings
Data Types
Programming
NJ301-@@@@
Maximum Number of
Primary Periodic Tasks
Namespaces *3
Variables
NJ501-@@@@
I/O refreshing and the user program are executed in units that are called tasks. Tasks
are used to specify execution conditions and execution priority.
STRING
Structures, unions, enumerations
Function
A derivative data type that groups together data with different variable types.
Maximum Number of
Members
2048
Nesting Maximum
Levels
8
Member Data Types
Basic data types, structures, unions, enumerations, array variables
Specifying Member
Offsets
You can use member offsets to place structure members at any memory locations.*3
Function
A derivative data type that groups together data with different variable types.
Maximum Number of
Members
4
Member Data Types
BOOL, BYTE, WORD, DWORD, LWORD
Function
A derivative data type that uses text strings called enumerators to express variable
values.
Function
An array is a group of elements with the same data type. You specify the number
(subscript) of the element from the first element to specify the element.
Maximum Number of
Dimensions
3
Maximum Number of
Elements
65535
Array Specifications for
FB Instances
Supported.
Range Specifications
You can specify a range for a data type in advance. The data type can take only values
that are in the specified range.
Libraries
User libraries
*1. Supported only by the CPU Units with unit version 1.03 or later.
*2. Inline ST is supported. (Inline ST is ST that is written as an element in a ladder diagram.)
*3. Supported only by the CPU Units with unit version 1.01 or later.
10
NJ/NX-Series
Item
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
Control Modes
position control, velocity control, torque control
Axis Types
Servo axes, virtual servo axes, encoder axes, and virtual encoder axes
Positions that can be managed
Single-axis
Position
Control
Command positions and actual positions
Absolute Positioning
Positioning is performed for a target position that is specified with an absolute value.
Relative Positioning
Positioning is performed for a specified travel distance from the command current
position.
Interrupt Feeding
Positioning is performed for a specified travel distance from the position where an
interrupt input was received from an external input.
Cyclic synchronous
The function which outputs command positions in every control period in the position
absolute positioning *1 control mode.
Single-axis
Velocity
Control
Single-axis
Torque Control
Velocity Control
Velocity control is performed in Position Control Mode.
Cyclic Synchronous
Velocity Control
A velocity command is output each control period in Velocity Control Mode.
Torque Control
The torque of the motor is controlled.
Starting Cam Operation A cam motion is performed using the specified cam table.
Single-axis
Synchronized Control
Ending Cam Operation
The cam motion for the axis that is specified with the input parameter is ended.
Starting Gear Operation
A gear motion with the specified gear ratio is performed between a master axis and
slave axis.
Positioning Gear
Operation
A gear motion with the specified gear ratio and sync position is performed between a
master axis and slave axis.
Ending Gear Operation
The specified gear motion or positioning gear motion is ended.
Synchronous Positioning
Positioning is performed in sync with a specified master axis.
Master Axis Phase Shift The phase of a master axis in synchronized control is shifted.
Single-axis
Manual
Operation
Motion
Control
Single-axis
Auxiliary
Functions
for Singleaxis Control
*1.
*4.
*5.
*6.
Combining Axes
The command positions of two axes are added or subtracted and the result is output
as the command position.
Powering the Servo
The Servo in the Servo Drive is turned ON to enable axis motion.
Jogging
An axis is jogged at a specified target velocity.
Resetting Axis Errors
Axes errors are cleared.
Homing
A motor is operated and the limit signals, home proximity signal, and home signal are
used to define home.
Homing with parameter *1
Specifying the parameter, a motor is operated and the limit signals, home proximity
signal, and home signal are used to define home.
High-speed Homing
Positioning is performed for an absolute target position of 0 to return to home.
Stopping
An axis is decelerated to a stop at the specified rate.
Immediately Stopping
An axis is stopped immediately.
Setting Override Factors
The target velocity of an axis can be changed.
Changing the Current
Position
The command current position or actual current position of an axis can be changed to
any position.
Enabling External
Latches
The position of an axis is recorded when a trigger occurs.
Disabling External
Latches
The current latch is disabled.
Zone Monitoring
You can monitor the command position or actual position of an axis to see when it is
within a specified range (zone).
Enabling digital cam
switches *4
You can turn a digital output ON and OFF according to the position of an axis.
Monitoring Axis
Following Error
You can monitor whether the difference between the command positions or actual
positions of two specified axes exceeds a threshold value.
Resetting the Following
Error
The error between the command current position and actual current position is set to 0.
Torque Limit
The torque control function of the Servo Drive can be enabled or disabled and the
torque limits can be set to control the output torque.
Command position
compensation *5
The function which compensate the position for the axis in operation.
Start velocity *6
You can set the initial velocity when axis motion starts.
Supported only by the CPU Units with unit version 1.03 or later.
Supported only by the CPU Units with unit version 1.06 or later.
Supported only by the CPU Units with unit version 1.10 or later.
Supported only by the CPU Units with unit version 1.05 or later.
11
NJ/NX-Series
Item
Multi-axes
Coordinated Control
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
Absolute Linear Interpolation
Linear interpolation is performed to a specified absolute position.
Relative Linear Interpolation
Linear interpolation is performed to a specified relative position.
Circular 2D Interpolation
Circular interpolation is performed for two axes.
NJ101-@@@@
Axes Group Cyclic Synchronous Absolute Po- A positioning command is output each control period in Position Control Mode.*3
sitioning
Axes Groups
Auxiliary
Functions
for Multiaxes Coordinated Control
Cams
Common Items
Parameters
Motion
Control
Resetting Axes Group
Errors
Axes group errors and axis errors are cleared.
Enabling Axes Groups
Motion of an axes group is enabled.
Disabling Axes Groups
Motion of an axes group is disabled.
Stopping Axes Groups
All axes in interpolated motion are decelerated to a stop.
Immediately Stopping
Axes Groups
All axes in interpolated motion are stopped immediately.
Setting Axes Group
Override Factors
The blended target velocity is changed during interpolated motion.
Reading Axes Group
Positions
The command current positions and actual current positions of an axes group can be
read.*3
Changing the Axes in
an Axes Group
The Composition Axes parameter in the axes group parameters can be overwritten
temporarily.*3
Setting Cam Table
Properties
The end point index of the cam table that is specified in the input parameter is
changed.
Saving Cam Tables
The cam table that is specified with the input parameter is saved in non-volatile
memory in the CPU Unit.
Generating cam tables *7
The cam table that is specified with the input parameter is generated from the cam
property and cam node.
Writing MC Settings
Some of the axis parameters or axes group parameters are overwritten temporarily.
Changing axis parameters *7
You can access and change the axis parameters from the user program.
Count Modes
You can select either Linear Mode (finite length) or Rotary Mode (infinite length).
Unit Conversions
Acceleration/ Deceleration
Control
Auxiliary Functions
You can set the display unit for each axis according to the machine.
Automatic Acceleration/
Deceleration Control
Jerk is set for the acceleration/deceleration curve for an axis motion or axes group
motion.
Changing the Acceleration and Deceleration
Rates
You can change the acceleration or deceleration rate even during acceleration or
deceleration.
In-position Check
You can set an in-position range and in-position check time to confirm when
positioning is completed.
Stop Method
You can set the stop method to the immediate stop input signal or limit input signal.
Re-execution of Motion Control Instructions
You can change the input variables for a motion control instruction during execution
and execute the instruction again to change the target values during operation.
Multi-execution of Motion Control Instructions (Buffer Mode)
You can specify when to start execution and how to connect the velocities between
operations when another motion control instruction is executed during operation.
Continuous Axes Group Motions
(Transition Mode)
You can specify the Transition Mode for multi-execution of instructions for axes group
operation.
Monitoring
Functions
Software Limits
Software limits are set for each axis.
Following Error
The error between the command current value and the actual current value is
monitored for an axis.
Velocity, Acceleration Rate,
Deceleration Rate, Torque,
Interpolation Velocity, Interpolation Acceleration Rate,
And Interpolation Deceleration Rate
You can set and monitor warning values for each axis and each axes group.
Absolute Encoder Support
You can use an OMRON G5-Series Servomotor with an Absolute Encoder to eliminate
the need to perform homing at startup.
Input signal logic inversion *6
You can inverse the logic of immediate stop input signal, positive limit input signal,
negative limit input signal, or home proximity input signal.
External Interface Signals
The Servo Drive input signals listed on the right are used. Home signal, home
proximity signal, positive limit signal, negative limit signal, immediate stop signal, and
interrupt input signal
*3. Supported only by the CPU Units with unit version 1.01 or later.
*6. Supported only by the CPU Units with unit version 1.05 or later.
*7. Supported only by the CPU Units with unit version 1.08 or later.
12
NJ/NX-Series
Item
Unit (I/O)
Management
EtherCAT
Slaves
NX701-@@@@
Maximum Number of Slaves
Maximum number of Units
CJ-Series Units
Basic I/O
Units
Load Short-circuit Protection and I/O Disconnection Detection
Communications protocol
CIP Communi- Tag Data Links
cations SerMessage Communicavice
tions
EtherNet/IP Port
TCP/IP Applications
Supported
Services
Communications
EtherCAT Port
System
Management
*6.
*7.
*8.
*9.
NJ301-@@@@
64
192
---
NJ101-@@@@
40
Alarm information for Basic I/O Units is read.
A port for communications with various kinds of Support Software running on a
personal computer.
Peripheral USB Port
Operation
Management
512
NJ501-@@@@
TCP/IP, UDP/IP
Programless cyclic data exchange is performed with the devices on the EtherNet/IP
network.
CIP commands are sent to or received from the devices on the EtherNet/IP network.
Socket Services
Data is sent to and received from any node on Ethernet using the UDP or TCP
protocol.
Socket communications instructions are used.
FTP client *7
File can be read from or written to computers at other Ethernet nodes from the CPU
Unit. FTP client communications instructions are used.
FTP Server
Files can be read from or written to the SD Memory Card in the CPU Unit from
computers at other Ethernet nodes.
Automatic Clock Adjustment
Clock information is read from the NTP server at the specified time or at a specified
interval after the power supply to the CPU Unit is turned ON. The internal clock time in
the CPU Unit is updated with the read time.
SNMP Agent
Built-in EtherNet/IP port internal status information is provided to network management
software that uses an SNMP manager.
Process Data Communications
Control information is exchanged in cyclic communications between the EtherCAT
master and slaves.
SDO Communications
A communications method to exchange control information in noncyclic event
communications between EtherCAT master and slaves.
This communications method is defined by CoE.
Network Scanning
Information is read from connected slave devices and the slave configuration is
automatically generated.
DC (Distributed Clock)
Time is synchronized by sharing the EtherCAT system time among all EtherCAT
devices (including the master).
Packet Monitoring *8
The frames that are sent by the master and the frames that are received by the master
can be saved.The data that is saved can be viewed with WireShark or other
applications.
Enable/disable Settings for Slaves
The slaves can be enabled or disabled as communications targets.
Disconnecting/Connecting Slaves
SDO messages of the CAN application can be sent to slaves via EtherCAT.
Supported
Application
Protocol
SDO messages that conform to the CANopen standard can be sent to slaves via
EtherCAT.
CoE
Communications Instructions
The following
instructions are
supported.
CIP communications
instructions, socket
communications
instructions, SDO
message instructions,
no-protocol
communications
instructions *9, FTP
client instructions, and
Modbus RTU protcol
instructions *9
RUN Output Contacts
The output on the Power Supply Unit turns ON in RUN mode.
Event Logs
Function
Events are recorded in the logs.
Maximum
number of
events
System event log
2,048
Access event log
1,024
512
User-defined event log
1,024
512
The following instructions are supported.
CIP communications instructions, socket communications
instructions, SDO message instructions, no-protocol
communications instructions, protocol macro instructions, and
FTP client instructions *7, and Modbus RTU protcol instructions *9
1,024
512
Supported only by the CPU Units with unit version 1.05 or later.
Supported only by the CPU Units with unit version 1.08 or later.
For NJ301, Supported only by the CPU Units with unit version 1.10 or later.
Supported only by the CPU Units with unit version 1.11 or later.
13
NJ/NX-Series
Item
Online Editing
NX701-@@@@
Single
Forced Refreshing
Maximum
Number of
Forced Variables
---
64
MC Test Run *10
Motor operation and wiring can be checked from the Sysmac Studio.
Synchronizing
The project file in the Sysmac Studio and the data in the CPU Unit can be made the
same when online.
Rising/falling edge of contacts can be monitored.
When the trigger condition is met, the specified number of samples are taken and then
tracing stops automatically.
Continuous Trace
Data tracing is executed continuously and the trace data is collected by the Sysmac
Studio.
Maximum Number of Simultaneous
Data Trace
4
Maximum Number of Records
10,000
Sampling
Data Tracing
Maximum Number of
Sampled Variables
192 variables
2
48 variables
Timing of Sampling
Triggered Traces
Trigger conditions are set to record data before and after an event.
Trigger Conditions
When BOOL variable changes to TRUE or FALSE Comparison of non-BOOL variable
with a constant
Comparison Method: Equals (=), Greater than (>), Greater than or equals (≥),
Less Than (<), Less than or equals (≤), Not equal (≠)
Delay
Trigger position setting: A slider is used to set the percentage of sampling before and
after the trigger condition is met.
The operation of the CPU Unit is emulated in the Sysmac Studio.
Controller
Errors
Levels
User-defined errors
Levels
CPU Unit Names and Serial IDs
Protecting Soft- Protection
ware Assets and
Preventing Operating Mistakes
Major fault, partial fault, minor fault, observation, and information
User-defined errors are registered in advance and then records are created by
executing instructions.
8 levels
When going online to a CPU Unit from the Sysmac Studio, the CPU Unit name in the
project is compared to the name of the CPU Unit being connected to.
User Program Transfer
with No Restoration Information
You can prevent reading data in the CPU Unit from the Sysmac Studio.
CPU Unit Write Protection
You can prevent writing data to the CPU Unit from the Sysmac Studio or SD Memory
Card.
Overall Project File Pro- You can use passwords to protect .smc files from unauthorized opening on the
tection
Sysmac Studio.
Data Protection
Verification of Operation Authority
Number of Groups
Verification of User Program Execution ID
Storage Type
Application
4 *11
Sampling is performed for the specified task period, at the specified time, or when a
sampling instruction is executed.
Simulation
Self-diagnosis
8
Single Triggered Trace
Types
Debugging
SD Memory Card
Functions
NJ101-@@@@
64
Device Variables for CJseries Units and Variables with AT Specifications
Maximum number of contacts *1
Security
NJ301-@@@@
The user can force specific variables to TRUE or FALSE.
Device Variables for
EtherCAT Slaves
Differentiation monitoring *1
Reliability
Functions
NJ501-@@@@
Programs, function blocks, functions, and global variables can be changed online.
Different operators can change different POUs across a network.
You can use passwords to protect POUs on the Sysmac Studio.*3
Online operations can be restricted by operation rights to prevent damage to
equipment or injuries that may be caused by operating mistakes.
5
5 *12
5
The user program cannot be executed without entering a user program execution ID
from the Sysmac Studio for the specific hardware (CPU Unit).
SD Memory Card, SDHC Memory Card
Automatic transfer from SD Memory
Card *1
The data in the autoload folder on an SD Memory Card is automatically loaded when
the power supply to the Controller is turned ON.
Transfer program from SD Memory
Card *9
The user program on an SD Memory Card is loaded when the user changes systemdefined variable to TRUE.
SD Memory Card Operation
Instructions
You can access SD Memory Cards from instructions in the user program.
File Operations from the Sysmac Studio
You can perform file operations for Controller files in the SD Memory Card and read/
write standard document files on the computer.
SD Memory Card Life Expiration Detection
Notification of the expiration of the life of the SD Memory Card is provided in a
systemdefined variable and event log.
*1. Supported only by the CPU Units with unit version 1.03 or later.
*3. Supported only by the CPU Units with unit version 1.01 or later.
*9. Supported only by the CPU Units with unit version 1.11 or later.
*10.Cannot be used with the NJ101-9000.
*11.Maximum Number of Simultaneous Data Trace of the [email protected] CPU Unit with unit version 1.08 or later is 2.
*12.When the NJ501 CPU Units with unit version 1.00 is used, this value becomes two.
14
NJ/NX-Series
Item
Backup
functions
*1
SD Memory
Card backup
functions
Operation
Protection
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
Using front switch
You can use front switch to backup, compare, or restore data.
Using system-defined
variables
You can use system-defined variables to backup or compare data.
Memory Card Operations Dialog Box on
Sysmac Studio
Backup and verification operations can be performed from the SD Memory Card
Operations Dialog Box on the Sysmac Studio.
Using instruction *7
Backup operation can be performed by using instruction.
Prohibiting backing up
data to the SD Memory
Card
Prohibit SD Memory Card backup functions.
Sysmac Studio Controller backup functions
Backup, restore, and verification operations for Units can be performed from the
Sysmac Studio.
*1. Supported only by the CPU Units with unit version 1.03 or later.
*7. Supported only by the CPU Units with unit version 1.08 or later.
Function Specifications of DB Connection Function
Besides functions of the NJ501-@@@@ or NJ101-@@@@, functions supported by the NJ501-@@20 or [email protected] are as follows.
Description
Item
[email protected]
[email protected]
Supported port
Built-in EtherNet/IP port
Supported DB
Microsoft Corporation: SQL Server 2008/2008 R2/2012/2014 *1
Oracle Corporation: Oracle Database 10g /11g /12c *1
MySQL Community Edition 5.1/5.5/5.6 *2
International Business Machines Corporation (IBM): DB2 for Linux, UNIX and Windows 9.5/9.7/10.1/10.5
Firebird Foundation Incorporated: Firebird 2.1/2.5
The PostgreSQL Global Development Group: PostgreSQL 9.2/9.3/9.4 *1
Number of DB Connections (Number of databases that
can be connected at the same time)
3 connections max. *3
Supported operations
Instruction
The following operations can be performed by executing DB Connection Instructions in the NJ-series
CPU Units.
Inserting records (INSERT), Updating records (UPDATE), Retrieving records (SELECT), and Deleting
records (DELETE)
Number of columns in an INSERT opera- SQL Server: 1,024 columns max.
tion
Oracle: 1,000 columns max.
Number of columns in an UPDATE operation
SQL Server: 1,024 columns max.
Oracle: 1,000 columns max.
Number of columns in a SELECT operation
SQL Server: 1,024 columns max.
Oracle: 1,000 columns max.
Number of records in the output of a SELECT operation
65,535 elements max., 4 MB max.
Run mode of the DB Connection Service
Operation Mode or Test Mode
• Operation Mode: When each instruction is executed, the service actually accesses the DB.
• Test Mode: When each instruction is executed, the service ends the instruction normally without
accessing the DB actually.
Spool function
Used to store SQL statements when an error occurred and resend the statements when the
communications are recovered from the error.
Spool capacity
1 MB *4
192 KB *4
Operation Log function
The following three types of logs can be recorded.
• Execution Log: Log for tracing the executions of the DB Connection Service.
• Debug Log: Detailed log for SQL statement executions of the DB Connection Service.
• SQL Execution Failure Log: Log for execution failures of SQL statements in the DB.
DB Connection Service shutdown function
Used to shut down the DB Connection Service after automatically saving the Operation Log files into the
SD Memory Card.
*1.
*2.
*3.
*4.
SQL Server 2014, Oracle Database 12c and PostgreSQL 9.2/9.3/9.4 are supported by DBCon version 1.02 or higher.
The supported storage engines of the DB are InnoDB and MyISAM.
When two or more DB Connections are established, the operation cannot be guaranteed if you set different database types for the connections.
Refer to "NJ-series Database Connection CPU Units User's Manual(W527)" for the information.
15
NJ/NX-Series
Functions Supported by NJ501-1340
Besides functions of the NJ501-1300, functions supported by the NJ501-1340 are as follows.
Item
Description
Supported port
Built-in EtherNet/IP port
Supported standard *1
The Unit conforms to the following SEMI standards:
E37-0303, E37.1-0702, E5-0707, and E30-0307
Fundamental GEM requirement
State Model, Equipment Processing State, Host-initiated S1, F13/F14 Scenario, Event Notification, On-Line Identification, Error
Message, Control (Operator Initiated), Documentation
Additional GEM capability
Establish Communications, Dynamic Event Report Configuration, Variable Data Collection, Trace Data Collection, Status Data
Collection, Alarm Management, Remote Control, Equipment Constant, Process Recipe Management *1, Material Movement,
Equipment Terminal Service, Clock, Limit Monitoring, Spooling *2, Control (Host Initiated)
User-defined message
You can create non-GEM compliant communications messages and have host communications.
GEM specific instruction
The Unit supports 29 instructions to perform the following:
• Changing the GEM Service status.
• Setting HSMS communications.
• Reporting events and reporting alarms.
• Acknowledging host commands and enhanced remote commands.
• Changing equipment constants.
• Uploading and downloading process programs.
• Sending and acknowledging equipment terminal messages.
• Requesting to change time.
• Sending user-defined messages.
• Getting SECS communications log.
GEM Service log
Can record the following information.
• HSMS communications log: Keeps log of HSMS communications operations.
• SECS message log: Keeps log of SECS-II communications messages.
• Execution log: Keeps log of executions of GEM instructions. *2
Shutting down the GEM Service
Saves the spool data and GEM Service log records into an SD Memory Card and ends the GEM Service.
*1.E42 recipes, large process programs, and E139 recipes are not supported.
*2. The capability is not available when no SD Memory Card is mounted.
Conformance to Fundamental GEM Requirements and Additional Capabilities
Fundamental GEM requirements
GEM-compliant
Additional capabilities
GEM-compliant
State Model
Establish Communications
Equipment Processing State
Dynamic Event Report Configuration
Host-initiated S1, F13/F14 Scenario
Variable Data Collection
Event Notification
On-Line Identification
Trace Data Collection
Yes
Yes
Status Data Collection
Alarm Management
Error Message
Remote Control
Control (Operator Initiated)
Equipment Constant
Documentation
Process program: Yes
E42 recipes: No
E139 recipes: No
Process Recipe Management
Material Movement
Equipment Terminal Service
Clock
Yes
Limit Monitoring
Spooling
Control (Host Initiated)
Functions Supported by NJ501-4@@@
Besides functions of the [email protected], functions supported by the NJ501-4@@@ are as follows.
NJ501-
Item
Robot control
functions
Axes groups
Auxiliary functions
4500
4400
4300
4310
4320
Multi-axes coordinated
control
Conveyer tracking
The robot is moved in synchronization with the conveyor during the
conveyor tracking operation.
Auxiliary functions for
multi-axes coordinated
control
Kinematics Setting
Set parameters for robot operation, such as arm length of Delta3 robot.
Monitoring functions
Work space function
Set the coordinate values for workspace check and check the
workspace during operation.
16
NJ/NX-Series
Version Information
Unit Versions
Units
Models
Unit Version
NX701 CPU Units
NX701-@@@@
From unit version 1.10 to 1.11
NJ501 CPU Units
NJ501-@@@@
From unit version 1.00 to 1.11
NJ301 CPU Units
NJ301-@@@@
From unit version 1.01 to 1.11
NJ101 CPU Units
NJ101-@@@@
Unit version 1.11
NJ501-@@20
Unit version 1.11
Unit version 1.10
Unit version 1.09
Unit version 1.08
Unit version 1.07
Unit version 1.05
[email protected]
Unit version 1.11
NJ-series Database
Connection CPU Units
NJ-series SECS/GEM CPU Unit
NJ501-1340
From unit version 1.09 to 1.11
NJ-series NJ Robotics CPU Units
NJ501-4@@0
From unit version 1.02 to 1.11
Unit Versions and Programming Devices
The following tables show the relationship between unit versions and Sysmac Studio versions.
Unit Versions and Programming Devices
Unit Version of CPU Unit
Corresponding version of Sysmac Studio
1.11
1.15
1.10 *1*2
1.14
1.13
1.12
1.09 *3
1.11
1.10
1.08
1.09
1.07
1.08
1.06
1.07
1.05 *4
1.06
1.04
1.05
1.03
1.04
1.02
1.03
1.01
1.02
1.01
1.00 *5
1.00
*1.
*2.
*3.
*4.
*5.
The NJ101-1020 or NJ101-9020 can be used with Sysmac Studio version 1.14 or higher.
The NX701-@@@@/NJ101-@@@@ CPU Unit can be used with Sysmac Studio version 1.13 or higher.
The NJ501-1340 CPU Unit can be used with Sysmac Studio version 1.11 or higher.
The [email protected] CPU Unit can be used with Sysmac Studio version 1.07 or higher.
There is no NJ301-@@@@ CPU Unit with unit version 1.00. Therefore, you cannot use an NJ301-@@@@ CPU Unit with Sysmac Studio version
1.01 or lower.
Note: 1. If you use a lower version of the Sysmac Studio, you can use only the functions of the unit version of the CPU Unit that corresponds to
the Sysmac Studio version.
If you use a CPU Unit with an earlier version, select the unit version of the connected CPU Unit or an earlier unit version in the Select
Device Area of the Project Properties Dialog Box on the Sysmac Studio. You can use only the functions that are supported by the unit
version of the connected CPU Unit.
2. The license number for a robot is required to use this CPU Unit. Contact your OMRON representative for details.
3. About the "Unit Versions, DBCon Versions and Programming Devices", refer to the NJ-series Database Connection CPU Units Catalog
(Cat. No. P088).
About the "Unit Versions, Robot Versions and Programming Devices", refer to the NJ-series Database Connection CPU Units Catalog
(Cat. No. P085).
Relationship between Hardware Revisions of CPU Units and Sysmac
Studio Versions
The following table shows how the hardware revisions of the NJ-series CPU Units correspond to Sysmac Studio versions. Use the corresponding version of Sysmac Studio or higher if you execute the Simulator in Execution Time Estimation Mode. You cannot select the relevant hardware revision if you use a lower version of the Sysmac Studio.
Model number
NJ501-@@@@
Hardware revision of CPU Unit
A
Corresponding version of Sysmac Studio
Ver.1.14 or higher
17
NJ/NX-Series
Functions That Were Added or Changed for Each Unit Version and Sysmac Studio version
Additions and Changes to Functional Specifications
The following table gives the unit version of the CPU Units and the Sysmac Studio version for each addition or change to the functional
specifications.
Addition/
change
Function
Tasks
Function
Conditionally executed tasks
Namespaces
Programming
Data types
Structure data types
Specifying member
offsets
Libraries
Motion control
Common items
Auxiliary functions
Unit (I/O) management
Communications
Addition
1.03
1.04
Addition
1.01
1.02
Addition
Change
1.01
1.02
1.03
1.01
1.02
Cyclic synchronous
absolute positioning
Addition
1.03
1.04
Homing with specified
parameters
Addition
1.03
1.04
Enabling digital cam
switches
Addition
1.06
1.07
Command position
compensation
Addition
1.10
1.12
Start velocity
Addition
1.05
1.06
Axes group cyclic
synchronous absolute
positioning
Addition
1.01
1.02
Reading axes group
positions
Addition
1.01
1.02
Changing the axes in a
group
Addition
1.01
1.02
Cams
Generating cam tables
Addition
1.08
1.09
Parameters
Changing axis
parameters
Addition
1.08
1.09
Addition
1.05
1.06
Addition
1.05
1.06
Addition
1.08
1.09
Addition
1.10
1.12
Change
1.08
1.11
1.09
1.15
Auxiliary function for
single-axis control
Multi-axes coordinated
control
Axes groups
Sysmac
Studio version
Addition
Single-axis position
control
Single axes
Unit version
Auxiliary functions for
multi-axes coordinated
control
Input signal logic inversion
NX Units
EtherNet/
IP port
TCP/IP
applications
EtherCAT port
Packet monitoring *
(NJ301-…………)
FTP client
Communications instructions
Debugging function
Differential monitoring
Addition
1.03
1.04
Reliability functions
Self diagnosis
Controller errors
Changing levels
Addition
1.03
1.04
Asset protection
and preventing incorrect
operation
Protection
Data protection
Addition
1.01
1.02
Security
Operation authority
verification
Number of groups
Change
1.01
1.02
SD Memory Cards
Application
Automatic transfer from SD Memory Card
Addition
1.03
1.04
Transfer program from SD Memory Card
Addition
1.11
1.15
CPU Unit front-panel DIP
switch
Addition
1.03
1.04
Specification with
system-defined variables
Addition
1.03
1.04
SD Memory Card
Window in Sysmac
Studio
Addition
1.03
1.04
Special instruction
Addition
1.08
1.09
Disabling backups to SD
Memory Cards
Addition
1.03
1.04
Addition
1.03
1.04
Backing up data
SD Memory Card backups
Operating methods
Protection
Sysmac Studio Controller backups
* This addition applies only to an NJ301-………… CPU Unit. The NJ501-………… and NJ101-………… CPU Units support packet monitoring with
all versions.
18
NJ/NX-Series
Performance Improvements for Unit Version Upgrades
This section introduces the functions for which performance was improved for each unit version of NJ-series CPU Unit and for each Sysmac Studio
version.
Function
Performance value
Number of POU instances
(NJ501-…………)
Program capacity
Quantities
Programming
---
1.06 or higher
6,000
---
1.05 or lower
1,500
2,400
1,500
Memory capacity for
variables
Motion Control
Number of controlled
axes
Variables with a Retain
attribute
Number of variables*1
(NJ301-…………)
Maximum number of controlled axes*2*3*4
(NJ301-…………)
Maximum number of axes for single-axis control*4*5
(NJ301-…………)
Packet interval
CIP service: Tag
data links (cyclic
Built-in EtherNet/IP communications)
port
Permissible communications band
Number of TCP sockets
Built-in EtherCAT
port
Communications cycle*7
(NJ301-…………)
Sysmac Studio version
9,000
3,000
Number of POU instances
(NJ301-…………)
Unit version
5,000
2,500
1.04 or later
1.03 or earlier
1.04 or later
1.05 or higher
1.04 or lower
1.05 or higher
1.04 or lower
1.05 or higher
1.04 or lower
2,500
1.03 or earlier
---
15 axes
1.06 or later
1.07 or higher
8 axes (NJ301-1200)
Other than the above combination
4 axes (NJ301-1100)
15 axes
1.06 or later
1.07 or higher
8 axes (NJ301-1200)
Other than the above combination
4 axes (NJ301-1100)
Can be set for each
connection.
1 to 10,000 ms in
1-ms increments
1.03 or higher
Can be set for each
connection.
10 to 10,000 ms in
1-ms increments
1.02 or lower
3,000 pps*6 (including
heartbeat)
1.03 or higher
1,000 pps (including
heartbeat)
1.02 or lower
30
1.03 or higher
16
1.02 or lower
500, 1,000, 2,000, or
4,000 μs
1.03 or higher
1,000, 2,000, or
4,000 μs
1.02 or lower
---
---
---
---
*1. The performance improvement applies only to an NJ301-………… CPU Unit. The maximum number of variables with a Retain attributes for the
NJ501-………… is 10,000.
*2. This is the total for all axis types.
*3. The performance improvement applies only to an NJ301-………… CPU Unit. The maximum numbers of controlled axes for the NJ501-…………
are as follows:
NJ501-1500: 64 axes, NJ501-1400: 32 axes, and NJ501-1300: 16 axes
*4. There is no change in the maximum number of used real axes.
*5. The performance improvement applies only to an NJ301-………… CPU Unit. The maximum numbers of axes for single-axis control for the
NJ501-………… are as follows:
NJ501-1500: 64 axes, NJ501-1400: 32 axes, and NJ501-1300: 16 axes
*6. Here, pps means “packets per second” and indicates the number of packets that can be processed in one second.
*7. The performance improvement applies only to an NJ301-………… CPU Unit. You can use 500, 1,000, 2,000 or 4,000 μs communications cycle
with an NJ501-………… CPU Unit, and 1,000, 2,000 or 4,000 μs communications cycle with an NJ101-………… CPU Unit.
19
NJ/NX-Series
Components and Functions
NX-series CPU Unit
DIP switch
Battery
RUN
ERROR
BUSY
SHTDWN
Peripheral USB port
SD Memory Card
power supply switch
SD PWR
SD BUSY
PORT1
EtherNet/IP
NET RUN
NET ERR
LINK/ACT
PORT2
EtherNet/IP
NET RUN
Built-in EtherNet/IP port (port1)
PORT3
EtherCAT
NET RUN
NET ERR
NET ERR
LINK/ACT
LINK/ACT
Built-in EtherNet/IP port (port 2)
Operation status indicators
Built-in EtherCAT port (Port 3)
NJ-series CPU Unit
CPU Unit operation indicators
Peripheral (USB) port
SD Memory Card connector
Built-in EtherNet/IP port operation
indicators
DIP switch
(inside the battery
compartment)
Built-in EtherNet/IP port
Built-in EtherCAT port
Battery Compartment
Built-in EtherCAT port operation indicators
20
NJ/NX-Series
Dimensions
(Unit: mm)
NX701 CPU Units (NX701-@@@@)
4.5
RUN
ERROR
BUSY
SHTDWN
SD PWR
SD BUSY
100
PORT1
EtherNet/IP
NET RUN
NET ERR
LINK/ACT
PORT2
EtherNet/IP
NET RUN
PORT3
EtherCAT
NET RUN
NET ERR
NET ERR
LINK/ACT
LINK/ACT
100
132
When a cable is connected (such as a communications cable)
100
130 to 155 *1
*1. This is the dimension from the back of the Unit to the
communications cables.
130 mm: When an MPS588-C Connector is used.
155 mm: When an XS6G-T421-1 Connector is used.
*2. This dimension depends on the specifications of the
commercially available USB cable. Check the
specifications of the USB cable that is used.
*2
NJ-series CPU Units
2.7
90
2.7
90
90
21
NJ/NX-Series
Related Manuals
Cat. No.
Model number
Manual
Application
Description
W513
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
NJ Series Startup
Guide (CPU Unit)
Using the NJ-series CPU Unit
for the first time
The startup procedures for using an NJ-series
CPU Unit and the basic operating instructions
for the Sysmac Studio are described with a
simple sequence control example.
W514
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
NJ Series Startup
Guide (Motion
Control)
Using the motion control
function module of the NJ
series for the first time
The startup procedures for setting axis
parameters and performing simple one-axis
positioning and two-axis linear interpolation with
an NJ-series CPU Unit and the operating
instructions for the Sysmac Studio are
described.
Learning the basic
specifications of the NXseries CPU Units, including
introductory information,
designing, installation, and
maintenance.
Mainly hardware information
is provided.
An introduction to the entire NX-series system is
provided along with the following information on
a Controller built with a CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
Use this manual together with the NJ/NX-series
CPU Unit Software User’s Manual (Cat. No.
W501).
Learning the basic
specifications of the NJ-series
CPU Units, including
introductory information,
designing, installation, and
maintenance
Mainly hardware information
is provided.
An introduction to the entire NJ-series system is
provided along with the following information on
a Controller built with an CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
Use this manual together with the NJ-series
CPU Unit Software User’s Manual (Cat. No.
W501).
Learning how to program and
set up an NJ/NX-series CPU
Unit
Mainly software information is
provided.
The following information is provided on a
Controller built with an NJ/NX-series CPU Unit.
• CPU Unit operation
• CPU Unit features
• Initial settings
• Programming language specifications and
programming with the IEC 61131-3 standard.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500).
Learning about motion control
settings and programming
concepts
The settings and operation of the CPU Unit and
programming concepts for motion control are
described.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501).
W535
W500
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
NX-series CPU Unit
Hardware User’s
Manual
NJ-series CPU Unit
Hardware User’s
Manual
W501
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
W507
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
W505
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
NJ/NX-series CPU
Unit Built-in EtherCAT
Port User’s Manual
Using the built-in EtherCAT
port on an NJ/NX-series CPU
Unit
Information on the built-in EtherCAT port is
provided. This manual provides an introduction
and provides information on the configuration,
features, and setup.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501).
W539
NJ501-4@@@
NJ-series Robotics
CPU Units User's
Manual
Using the robot control with
NJ-series Controllers.
Describes the robot control.
Use this manual together with the NJ/NX-series
CPU Unit Motion Control User’s Manual (Cat.
No. W507) and the NJ/NX-series Motion Control
Instructions Reference Manual (Cat. No. W508).
W527
NJ501-@@20
NJ101-@@20
NJ-series Database
Connection CPU
Units User’s Manual
Learning about the functions
and application procedures of
the NJ-series DB Connection
function.
Describes the functions and application
procedures of the NJ-series DB Connection
function.
W528
NJ501-1340
NJ-series
Learning about the SECS/
SECS/GEM CPU Unit GEM CPU Unit and how to
User's Manual
use it.
Functional outline, GEM instructions, settings
with the GEM Configurator and so on are
provided.
W506
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
NJ/NX-series CPU
Using the built-in EtherNet/IP
Unit Built-in EtherNet/ port on an NJ/NX-series CPU
IP Port User’s Manual Unit
Information on the built-in EtherNet/IP port is
provided. Information is provided on the basic
setup, tag data links, FINS communications
(non-disclosure), and other features.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501).
W502
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
NJ/NX-series
Instructions
Reference Manual
NJ/NX-series CPU
Unit Software User’s
Manual
NJ/NX-series CPU
Unit Motion Control
User’s Manual
Learning about the
specifications of the
instruction set that is provided
by OMRON
The instructions in the instruction set (IEC
61131-3 specifications) are described.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501).
22
NJ/NX-Series
Cat. No.
Model number
Manual
Application
Description
W508
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
NJ/NX-series Motion
Control Instructions
Reference Manual
Learning about the
specifications of the motion
control instructions that are
provided by OMRON
The motion control instructions are
described.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500), NJ/NX-series CPU Unit Software User’s
Manual (Cat. No. W501) and NJ/NX-series CPU
Unit Motion Control User’s Manual (Cat. No.
W507).
W503
NX701-@@@@
NJ501-@@@@
NJ301-@@@@
NJ101-@@@@
NJ/NX-series
Troubleshooting
Manual
Learning about the errors
that may be detected in an
NJ/NX-series Controller.
Concepts on managing errors that may be
detected in an NJ/NX-series Controller and
information on individual errors are described.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501).
SYSMAC-SE2@@@
Sysmac Studio
Version
1 Operation Manual
Leaning about the
NJ/NX-series
Supports Software
and how to use it
An introduction to the Support Software is
provided along with information on the
installation procedure, basic operations,
connection procedures, and procedures for the
main features.
Leaning how to connect CJseries Units
The methods and precautions for using CJseries Units with an NJ-series CPU Unit are
described, including access methods and
programming interfaces.
Manuals are available for the following Units.
Analog I/O Units, Insulated-type Analog I/O
Units, Temperature Control Units, ID Sensor
Units, High-speed Counter Units, and
DeviceNet Units, EtherNet/IP Units,
CompoNet Master Units
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501).
W504
W490
W498
W491
Z317
W492
W494
W497
W495
W493
CJ1W-@@@@*
CJ-series Special Unit
Manuals for NJ-series
CPU Unit
* You can use only with NJ-series CPU Unit.
23
Terms and Conditions Agreement
Read and understand this catalog.
Please read and understand this catalog before purchasing the products. Please consult your OMRON representative if you
have any questions or comments.
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(b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
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ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
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NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE
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OVERALL EQUIPMENT OR SYSTEM.
Programmable Products.
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence
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Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining
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Change in Specifications.
Product specifications and accessories may be changed at any time based on improvements and other reasons. It is our
practice to change part numbers when published ratings or features are changed, or when significant construction changes are
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Errors and Omissions.
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is
assumed for clerical, typographical or proofreading errors or omissions.
2016.4
In the interest of product improvement, specifications are subject to change without notice.
OMRON Corporation
Industrial Automation Company
http://www.ia.omron.com/
(c)Copyright OMRON Corporation 2016 All Right Reserved.
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