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. Warranties. (a) Exclusive Warranty. Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, express or implied. (b) Limitations. OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right. (c) Buyer Remedy. Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal to the purchase price of the non-complying Product; provided that in no event shall Omron be responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products unless Omron’s analysis confirms that the Products were properly handled, stored, installed and maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in writing, are not to be construed as an amendment or addition to the above warranty. See http://www.omron.com/global/ or contact your Omron representative for published information. Limitation on Liability; Etc. OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY. Further, in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted. Suitability of Use. Omron Companies shall not be responsible for conformity with any standards, codes or regulations which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buyer’s request, Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases. NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM. Programmable Products. Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof. Performance Data. Data presented in Omron Company websites, catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability. 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 made. However, some specifications of the Product may be changed without any notice. When in doubt, special part numbers may be assigned to fix or establish key specifications for your application. Please consult with your Omron’s representative at any time to confirm actual specifications of purchased Product. 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.