Instructions Reference ManualMotion Control

(1)

Instructions Reference Manual

Motion Control

NX701-1£££

NX102-1£££

NX102-90££

NX1P2-1£££££

NX1P2-9£££££

NJ501-££££

NJ301-1£££

NJ101-10££

(2)

otherwise, without the prior written permission of OMRON.

2. No patent liability is assumed with respect to the use of the information contained herein.

Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

3. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON as- sumes no responsibility for errors or omissions.

Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

Trademarks

•

Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products.

•

Microsoft, Windows, Excel, and Visual Basic are either registered trademarks or trademarks of Mi- crosoft Corporation in the United States and other countries.

•

EtherCAT^® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

•

ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

•

The SD and SDHC logos are trademarks of SD-3C, LLC.

Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.

Copyrights

•

Microsoft product screen shots reprinted with permission from Microsoft Corporation.

•

This product incorporates certain third party software. The license and copyright information associ- ated with this software is available at http://www.fa.omron.co.jp/nj_info_e/ .

(3)

Introduction

Thank you for purchasing an NJ/NX-series CPU Unit.

This manual describes the motion control instructions. Please be sure you sufficiently understand the operations and handling procedures, and use the Motion Control Function Module (abbreviated as

“MC Function Module”) correctly.

Use this manual together with the user’s manuals for the NJ/NX-series CPU Unit.

When you have finished reading this manual, keep it in a safe location where it will be readily available for future use.

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical sys- tems (an electrical engineer or the equivalent).

• Personnel in charge of introducing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of installing and maintaining FA systems.

• Personnel in charge of managing FA systems and facilities.

For programming, this manual is intended for personnel who understand the programming language specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.

Applicable Products

This manual covers the following products.

• NX-series CPU Units

• NX701-17££

• NX701-16££

• NX102-12££

• NX102-11££

• NX102-10££

• NX102-90££

• NX1P2-11££££

• NX1P2-11££££1

• NX1P2-10££££

• NX1P2-10££££1

• NX1P2-90££££

• NX1P2-90££££1

• NX1P2-9B££££

• NX1P2-9B££££1

• NJ-series CPU Units

• NJ501-£5££

• NJ501-£4££

• NJ501-£3££

• NJ301-12££

• NJ301-11££

(4)

• NJ101-10££

Part of the specifications and restrictions for the CPU Units are given in other manuals.

Refer to Relevant Manuals on page 3 and Related Manuals on page 28.

(5)

Relevant Manuals

The following table provides the relevant manuals for the NJ/NX-series CPU Units. Read all of the manuals that are relevant to your system configuration and application before you use the NJ/NX-ser- ies CPU Unit.

Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.

Manual Basic information

Purpose of use

NX-series CPU UnitHardware User’s Manual NX-series NX102 CPU UnitHardware User’s Manual NX-series NX1P2 CPU UnitHardware User’s Manual NJ-series CPU UnitHardware User’s Manual NJ/NX-series CPU UnitSoftware User’s Manual NX-series NX1P2 CPU UnitBuilt-in I/O and Option Board User's Manual NJ/NX-seriesInstructions Reference Manual NJ/NX-series CPU UnitMotion Control User’s Manual NJ/NX-seriesMotion Control Instructions Reference Manual NJ/NX-series CPU UnitBuilt-in EtherCAT Port User´s Manual NJ/NX-series CPU UnitBuilt-in EtherNet/IP Port User’s Manual NJ/NX-series CPU Unit OPC UAUser’s Manual NX-series CPU UnitFINS User’s Manual NJ/NX-series Database Connection CPU UnitsUser's Manual NJ-series SECS/GEM CPU UnitsUser's Manual NJ-series Robot Integrated CPU UnitUser’s Manual NJ-series NJ Robotics CPU UnitUser's Manual NJ/NY-series NC Integrated ControllerUser’s Manual NJ/NX-seriesTroubleshooting Manual

Introduction to NX701 CPU

Units ¡

Introduction to NX102 CPU Units

¡

Introduction to NX1P2 CPU

Units ¡

Introduction to NJ-series Con-

trollers ¡

Setting devices and hardware

¡ ¡ ¡ ¡

Using motion control ¡

Using EtherCAT ¡

Using EtherNet/IP ¡

Using robot control for OM-

RON robots ¡

(6)

Purpose of use

Software settings

¡

Using EtherCAT ¡

Using OPC UA ¡

Using FINS ¡

Using the database connec-

tion service ¡

Using the GEM Services ¡

RON robots ¡

Using robot control by NJ Ro-

botics function ¡

Using numerical control ¡

Using the NX1P2 CPU Unit

functions ¡

Writing the user program

¡ ¡

Using motion control ¡ ¡

Using EtherCAT ¡

Using OPC UA ¡

Using FINS ¡

tion service ¡

RON robots ¡

botics function ¡

Programming error process-

ing ¡

functions ¡

(7)

Purpose of use

Testing operation and debug- ging

¡

Using EtherCAT ¡

Using OPC UA ¡

Using FINS ¡

tion service ¡

RON robots ¡

botics function ¡

functions ¡

Learning about error manage-

ment and corrections^*1 r r r r r r r ¡

Maintenance

¡ ¡ ¡ ¡

Using EtherCAT ¡

*1. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error items. However, refer to the manuals that are indicated with triangles for details on errors corresponding to the products with the manuals that are indicated with triangles.

(8)

Manual Structure

Page Structure

The following page structure is used in this manual.

Manual name Level-1 section heading 3 Axis Command Instructions

3-2 NJ-series Motion Control Instructions Reference Manual (W508)

MC_Power

The MC_Power instruction makes a Servo Drive ready to operate.

* Refer to A-1 Error Codes.

Output Variable Update Timing

Instruction Name FB/FUN Graphic expression ST expression

MC_Power Power Servo FB MC_Power_instance (

Axis :=parameter, Enable :=parameter, Status =>parameter, Busy =>parameter, Error =>parameter, ErrorID =>parameter );

Variables Input Variables

Name Meaning Data type Valid range Default Description

Enable Enable BOOL TRUE or FALSE FALSE The device is ready for operation when Enable is TRUE, and not ready when it is FALSE.

Output Variables

Name Meaning Data type Valid range Description

Status Servo ON BOOL TRUE or FALSE TRUE when the device is ready for operation.

Busy Executing BOOL TRUE or FALSE TRUE when the instruction is acknowledged.

Error Error BOOL TRUE or FALSE TRUE while there is an error.

ErrorID Error Code WORD * Contains the error code when an error occurs.

A value of 16#0000 indicates normal execution.

Name Timing for changing to TRUE Timing for changing to FALSE

Status When the specified axis becomes

ready for operation. • When operation ready status for the specified axis is cleared.

• When Error changes to TRUE.

Busy When Enable changes to TRUE. • When Enable changes to FALSE.

• When Error changes to TRUE.

Error When there is an error in the execution

conditions or input parameters for the instruction.

When the error is cleared.

MC_Power_instance

Error

Axis Axis

Enable Status

Busy MC_Power

ErrorID

Level-2 section heading

(9)

Special information

Icons indicate precautions, additional information, or reference information.

Level-1 section number

Level-3 section heading The level-1 section number is given.

The level-2 section heading is given.

The level-3 section heading is given.

3-3 3 Axis Command Instructions

NJ-series Motion Control Instructions Reference Manual (W508)

rewoP_CM

3

noitcnuF

* Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio. (The default axis variable names are MC_Axis***.)

• When Enable changes to TRUE, the axis specified by Axis is made ready to operate.

You can control the axis when it is ready to operate.

• When Enable changes to FALSE, the ready status is cleared for the axis specified by Axis.

You cannot control the axis after the ready status is cleared because it will not acknowledge operation commands. Also, an error occurs if a motion command is executed for an axis for which the ready status is cleared. You can execute the MC_Power (Power Servo) and MC_Reset (Reset Axis Error) instructions even for axes that are not ready.

• You can use this instruction to disable the operation of axes while they are in motion. In this case, CommandAborted will change to TRUE. Output of the operation command will stop and the axis will not longer be ready for operation.

• If home is not defined for a Servomotor with an absolute encoder, compensation is performed using the absolute encoder home offset to define home when the axis is ready to operate.

For details on the absolute encoder home offset, refer to the NJ-series CPU Unit Motion Control User’s Manual (Cat. No. W507).

Precautions for Correct Use Precautions for Correct Use

• You can use this instruction for servo axes and virtual servo axes. If the instruction is used for encoder axes or virtual encoder axes, an error will occur.

• Executing this Instruction for the Master Axis of Synchronized Control When master axis operation is disabled for a vertical axis, the position of the master axis may change rapidly. This may cause the motion of t he slave axis to change rapidly. Take suitable measures to prevent the slave axis from moving rapidly, such as applying a brake to the master axis or leaving master axis operation enabled until after synchronized control is completed.

• When Enable changes to TRUE, Busy (Executing) changes to TRUE to indicate that the instruction was acknowledged.

• After the axis becomes ready for operation, Status (Servo ON) changes to TRUE.

• When Enable changes to FALSE, Busy (Executing) changes to FALSE. Status (Servo ON) changes to FALSE when ready status is cleared. Status (Servo ON) outputs the axis ready status regardless of whether Enable is TRUE or FALSE.

In-Out Variables

Name Meaning Data type Valid range Description

Axis Axis _sAXIS_REF --- Specify the axis.*

Function

Timing Charts

Enable Status Busy

The specified axis becomes ready for operation.

Ready status is cleared for the specified axis.

Note These pages are for illustrative purposes only. They may not literally appear in this manual.

Special Information

Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operation easier.

Version Information

Information on differences in specifications and functionality for Controller with different unit versions

and for different versions of the Sysmac Studio is given.

(10)

Precaution on Terminology

In this manual, "download" refers to transferring data from the Sysmac Studio to the physical Control- ler and "upload" refers to transferring data from the physical Controller to the Sysmac Studio.

For the Sysmac Studio, "synchronization" is used to both "upload" and "download" data. Here,

"synchronize" means to automatically compare the data for the Sysmac Studio on the computer with

the data in the physical Controller and transfer the data in the direction that is specified by the user.

(11)

Sections in this Manual

1 2 3 4 5 A

I

1

2

3

4

5 A

I Introduction to Motion Control Instructions

Variables and Instructions

Axis Command Instructions

Axes Group Instructions

Common Command Instructions

Appendices

Index

(12)

Introduction ... 1

Intended Audience...1

Applicable Products ...1

Relevant Manuals... 3

Manual Structure... 6

Page Structure...6

Special Information ...7

Precaution on Terminology ...8

Sections in this Manual ... 9

Terms and Conditions Agreement... 16

Warranty, Limitations of Liability ...16

Application Considerations ...17

Disclaimers ...17

Safety Precautions... 19

Precautions for Safe Use ... 20

Precautions for Correct Use ... 21

Regulations and Standards ... 22

Versions ... 23

Checking Versions ...23

Unit Versions of CPU Units and Sysmac Studio Versions ...27

Related Manuals... 28

Revision History... 32

Section 1 Introduction to Motion Control Instructions

1-1 Motion Control Instructions...1-2

1-1-1 Function Blocks for PLCopen^® Motion Control ...1-2 1-1-2 Overview of Motion Control Instructions ...1-2 1-1-3 Precautions for Master and Auxiliary Axes in Synchronized Control ...1-6

1-2 Basic Information on Motion Control Instructions ...1-9

1-2-1 Motion Control Instruction Names...1-9 1-2-2 Languages for Motion Control Instructions ...1-9 1-2-3 Motion Control Instruction Locations...1-10 1-2-4 Multi-execution of Motion Control Instructions ...1-18 1-2-5 Online Editing of Motion Control Instructions ...1-19 1-2-6 Changes in the Operating Mode of the CPU Unit ...1-19

Section 2 Variables and Instructions

(13)

2-1-1 MC Common Variables ...2-3 2-1-2 Axis Variables...2-4 2-1-3 Axes Group Variables...2-10 2-1-4 Input Variables for Motion Control Instructions...2-13 2-1-5 Output Variables for Motion Control Instructions...2-28 2-1-6 In-Out Variables for Motion Control Instructions...2-31

2-2 Instructions ...2-34

2-2-1 Common Commands ...2-34 2-2-2 Axis Commands ...2-35 2-2-3 Axes Group Commands...2-37

2-3 PDO Mapping ...2-39

2-3-1 Required Objects ...2-39 2-3-2 Objects Required for Specific Instructions ...2-40

Section 3 Axis Command Instructions

MC_Power...3-3

Variables ...3-3 Function ...3-4

MC_MoveJog ...3-8

MC_Home...3-18

MC_HomeWithParameter ...3-41

MC_Move ...3-47

MC_MoveAbsolute ...3-52

Variables ...3-52 Function ...3-54 Sample Programming 1 ...3-60 Sample Programming 2 ...3-69

MC_MoveRelative...3-79

MC_MoveVelocity...3-87

Variables ...3-87 Function ...3-89 Sample Programming ...3-93

MC_MoveZeroPosition ...3-103

MC_MoveFeed ... 3-110

MC_Stop...3-139

MC_ImmediateStop...3-148

(14)

MC_SetPosition...3-153

MC_SetOverride ...3-160

MC_ResetFollowingError ...3-166

MC_CamIn...3-173

Variables ...3-173 Function ...3-177 Sample Programming 1 ...3-200 Sample Programming 2 ...3-211

MC_CamOut...3-231

MC_CamMonitor...3-236

Variables ...3-236 Function ...3-239 Precautions for Correct Use ...3-244

MC_GearIn ...3-245

MC_GearInPos...3-266

MC_GearOut ...3-289

MC_MoveLink ...3-294

MC_CombineAxes...3-318

MC_Phasing...3-330

MC_TorqueControl...3-337

MC_SetTorqueLimit ...3-350

MC_ZoneSwitch ...3-357

MC_TouchProbe...3-363

(15)

MC_AxesObserve...3-389

MC_SyncMoveVelocity ...3-395

MC_SyncMoveAbsolute ...3-405

MC_Reset...3-412

MC_ChangeAxisUse ...3-416

MC_DigitalCamSwitch ...3-422

MC_TimeStampToPos ...3-442

MC_PeriodicSyncVariables ...3-454

MC_SyncOffsetPosition ...3-462

MC_OffsetPosition ...3-472

Section 4 Axes Group Instructions

MC_GroupEnable ...4-2

MC_GroupDisable ...4-6

MC_MoveLinear... 4-11

MC_MoveLinearAbsolute ...4-40

MC_MoveLinearRelative...4-43

MC_MoveCircular2D ...4-46

(16)

MC_GroupStop...4-74

MC_GroupImmediateStop ...4-82

MC_GroupSetOverride ...4-86

MC_GroupReadPosition...4-91

MC_ChangeAxesInGroup...4-95

MC_GroupSyncMoveAbsolute...4-99

MC_GroupReset ...4-106

Section 5 Common Command Instructions

MC_SetCamTableProperty ...5-2

MC_SaveCamTable ...5-8

MC_Write...5-13

MC_GenerateCamTable ...5-19

MC_WriteAxisParameter ...5-49

MC_ReadAxisParameter...5-64

Appendices

A-1 Instructions for Which Multi-execution Is Supported ... A-2

A-1-1 Axis and Axes Group Status ... A-2 A-1-2 State Transitions and Instructions for which Multi-execution Is Supported ... A-4

A-2 Version Information ... A-11

(17)

Index

(18)

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

 Exclusive Warranty

Omron’s exclusive warranty is that the Products will be free from defects in materials and work- manship for a period of twelve months from the date of sale by Omron (or such other period ex- pressed in writing by Omron). Omron disclaims all other warranties, express or implied.

 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.

 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-com- plying 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 re- sponsible 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 Compa- nies 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 CON-

SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY

(19)

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.

Application Considerations

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 Buy- er’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 par- ticular Product with respect to Buyer’s application, product or system. Buyer shall take application re- sponsibility 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 EQUIP- MENT OR SYSTEM.

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

Disclaimers

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 per- formance 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 oth-

er 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

(20)

be changed without any notice. When in doubt, special part numbers may be assigned to fix or estab- lish 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; how-

ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

(21)

Safety Precautions

Refer to the following manuals for safety precautions.

• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)

• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)

• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)

• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)

(22)

Precautions for Safe Use

Refer to the following manuals for precautions for safe use.

• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)

• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)

• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)

• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)

(23)

Precautions for Correct Use

Refer to the following manuals for precautions for correct use.

• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)

• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)

• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)

• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)

(24)

Regulations and Standards

Refer to the following manuals for regulations and standards.

• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)

• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)

• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)

• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)

(25)

Versions

Hardware revisions and unit versions are used to manage the hardware and software in NJ/NX-series Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a change in hardware or software specifications. Even when two Units or EtherCAT slaves have the same model number, they will have functional or performance differences if they have different hard- ware revisions or unit versions.

Checking Versions

You can check versions on the ID information indications or with the Sysmac Studio.

Checking Unit Versions on ID Information Indications

The unit version is given on the ID information indication on the side of the product.

 For NX701

The ID information on an NX-series NX701-££££ CPU Unit is shown below.

ID information indication

Lot number Serial number Unit version

MAC address Hardware revision

LOT No. DDMYY£ xxxx Ver.1.££

PORT1 : ££££££££££££ HW Rev. £ PORT2 : ££££££££££££

Note The hardware revision is not displayed for the Unit whose hardware revision is blank.

 For NX102

The ID information on an NX-series NX102-££££ CPU Unit is shown below.

(26)

ID Information Indication

Unit version Hardware revision Lot number Serial number

MAC address

LOT No. DDMYY£ xxxx PORT1 ££££££££££££

PORT2 ££££££££££££

Ver.£.££ HW Rev.£

Note The hardware revision is not displayed for the Unit whose hardware revision is blank.

 For NX1P2

The ID information on an NX-series NX1P2-£££££££ CPU Unit is shown below.

PORT1 : ££££££££££££

PORT2 : ££££££££££££

Ver.1.££ HW Rev. £ LOT No. DDMYY£ xxxx

Lot number Serial number Unit version

MAC address

Hardware revision

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

 For NJ-series

The ID information on an NJ-series NJ501-££££ CPU Unit is shown below.

(27)

Unit model

Lot number Serial number MAC address Unit version Hardware revision

NJ501 - ££££ Ver.1.££

PORT1 MAC ADDRESS: ££££££££££££

PORT2 MAC ADDRESS: ££££££££££££

Lot No. DDMYY£ xxxx

HW Rev. £

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

Checking Unit Versions with the Sysmac Studio

You can use the Sysmac Studio to check unit versions. The procedure is different for Units and for EtherCAT slaves.

 Checking the Unit Version of an NX-series CPU Unit

You can use the Production Information while the Sysmac Studio is online to check the unit version of a Unit. You can do this for the following Units.

Model Unit for which unit version can be checked

NX701-££££ CPU Unit

NX102-££££ CPU Unit and NX Unit on CPU Rack

NX1P2-££££ CPU Unit, NX Unit on CPU Rack, and Option Boards

1 Right-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multi- view Explorer and select Production Information.

The Production Information Dialog Box is displayed.

 Checking the Unit Version of an NJ-series CPU Unit

You can use the Production Information while the Sysmac Studio is online to check the unit version of a Unit. You can do this for the CPU Unit, CJ-series Special I/O Units, and CJ-series CPU Bus Units. You cannot check the unit versions of CJ-series Basic I/O Units with the Sysmac Studio.

1 Double-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multiview Explorer. Or, right-click CPU Rack under Configurations and Setup - CPU/

Expansion Racks in the Multiview Explorer and select Edit from the menu.

The Unit Editor is displayed.

2 Right-click any open space in the Unit Editor and select Production Information.

The Production Information Dialog Box is displayed.

(28)

 Changing Information Displayed in Production Information Dialog Box

1 Click the Show Detail or Show Outline Button at the lower right of the Production Information Dialog Box.

The view will change between the production information details and outline.

Outline View Detail View

The information that is displayed is different for the Outline View and Detail View. The Detail View displays the unit version, hardware revision, and various versions. The Outline View dis- plays only the unit version.

Note The hardware revision is separated by “/” and displayed on the right of the hardware version. The hardware revision is not displayed for the Unit that the hardware revision is in blank.

 Checking the Unit Version of an EtherCAT Slave

You can use the Production Information while the Sysmac Studio is online to check the unit version of an EtherCAT slave.

Use the following procedure to check the unit version.

1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, right- click EtherCAT under Configurations and Setup and select Edit from the menu.

The EtherCAT Tab Page is displayed.

2 Right-click the master on the EtherCAT Tab Page and select Display Production Information.

The Production Information Dialog Box is displayed.

The unit version is displayed after “Rev.”

 Changing Information Displayed in Production Information Dialog Box

1 Click the Show Detail or Show Outline Button at the lower right of the Production Information Dialog Box.

The view will change between the production information details and outline.

(29)

Outline View Detail View

Unit Versions of CPU Units and Sysmac Studio Versions

The functions that are supported depend on the unit version of the NJ/NX-series CPU Unit. The ver- sion of Sysmac Studio that supports the functions that were added for an upgrade is also required to use those functions.

Refer to NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501) for the relationship between

the unit versions of the CPU Units and the Sysmac Studio versions, and for the functions that are sup-

ported by each unit version.

(30)

Related Manuals

The following are the manuals related to this manual. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

NX-series CPU Unit Hardware User's Manual

W535 NX701-££££ Learning the basic specifications of the NX701 CPU Units, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided.

An introduction to the entire NX701 system is provided along with the following information on the CPU Unit.

•

Features and system configuration

•

Introduction

•

Part names and functions

•

General specifications

•

Installation and wiring

•

Maintenance and inspection NX-series

NX102 CPU Unit Hardware User’s Manual

W593 NX102-££££ Learning the basic specifications of the NX102 CPU Units, including introductory information, designing, installation, and maintenance.

An introduction to the entire NX102 system is provided along with the following information on the CPU Unit.

•

Introduction

•

Maintenance and inspection NX-series

NX1P2 CPU Unit Hardware User’s Manual

W578 NX1P2-££££ Learning the basic specifications of the NX1P2 CPU Units, including introductory information, designing, installation, and maintenance.

An introduction to the entire NX1P2 system is provided along with the following information on the CPU Unit.

•

Introduction

•

Maintenance and inspection NJ-series CPU Unit

Hardware User's Manual

W500 NJ501-££££

NJ301-££££

NJ101-££££

Learning the basic specifications of the NJ-series CPU Units, including introductory information, designing, installation, and maintenance.

An introduction to the entire NJ-series system is provided along with the following information on the CPU Unit.

•

Introduction

•

Maintenance and inspection NJ/NX-series CPU Unit

Software User’s Manual

W501 NX701-££££

NX102-££££

NX1P2-££££

NJ501-££££

NJ301-££££

NJ101-££££

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 Con- troller built with an NJ/NX-series CPU Unit.

•

CPU Unit operation

•

CPU Unit features

•

Initial settings

•

Programming based on IEC 61131-3 language specifications

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual

W579 NX1P2-££££ Learning about the details of functions only for an NX-series NX1P2 CPU Unit and an introduction of functions for an NJ/NX-series CPU Unit.

Of the functions for an NX1P2 CPU Unit, the following information is provided.

•

Built-in I/O

•

Serial Communications Option Boards

•

Analog I/O Option Boards

An introduction of following functions for an NJ/NX-series CPU Unit is also provided.

•

Motion control functions

•

EtherNet/IP communications functions

(31)

Manual name Cat. No. Model numbers Application Description NJ/NX-series Instructions

Reference Manual

W502 NX701-££££

NX102-££££

NX1P2-££££

NJ501-££££

NJ301-££££

NJ101-££££

Learning detailed specifications on the basic instructions of an NJ/NX-series CPU Unit.

The instructions in the instruction set (IEC 61131-3 specifications) are described.

NJ/NX-series CPU Unit Motion Control User’s Manual

W507 NX701-££££

NX102-££££

NX1P2-££££

NJ501-££££

NJ301-££££

NJ101-££££

Learning about motion control settings and programming concepts.

The settings and operation of the CPU Unit and programming concepts for motion control are described.

NJ/NX-series

Motion Control Instructions Reference Manual

W508 NX701-££££

NX102-££££

NX1P2-££££

NJ501-££££

NJ301-££££

NJ101-££££

Learning about the specifications of the motion control instructions.

The motion control instructions are described.

NJ/NX-series CPU Unit

Built-in EtherCAT^® Port User’s Manual

W505 NX701-££££

NX102-££££

NX1P2-££££

NJ501-££££

NJ301-££££

NJ101-££££

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.

NJ/NX-series CPU Unit

Built-in EtherNet/IP^™ Port User’s Manual

W506 NX701-££££

NX102-££££

NX1P2-££££

NJ501-££££

NJ301-££££

NJ101-££££

Using the built-in EtherNet/IP port on an NJ/NX-series CPU Unit.

Information on the built-in EtherNet/IP port is provided.

Information is provided on the basic setup, tag data links, and other features.

NJ/NX-series CPU Unit OPC UA User’s Manual

W588 NX102-££££

NJ501-1£00

Using the OPC UA. Describes the OPC UA.

NX-series CPU Unit FINS Function User’s Manual

W596 NX701-££20

NX102-££££

Using the FINS function of an NX-series CPU Unit.

Describes the FINS function of an NX-series CPU Unit.

NJ/NX-series

Database Connection CPU Units

User’s Manual

W527 NX701-££20

NX102-££20 NJ501-££20 NJ101-££20

Using the database connection service with NJ/NX-series Controllers.

Describes the database connection service.

NJ-series

SECS/GEM CPU Units User’s Manual

W528 NJ501-1340 Using the GEM Serv- ices with NJ-series Controllers.

Provides information on the GEM Services.

NJ-series

Robot Integrated CPU Unit User’s Manual

O037 NJ501-R£££ Using the NJ-series Robot Integrated CPU Unit.

Describes the settings and operation of the CPU Unit and programming concepts for OMRON robot control.

Sysmac Studio

Robot Integrated System Build- ing Function with Robot Inte- grated CPU Unit Operation Manual

W595 SYSMAC-SE2££

£ SYSMAC- SE200D-64

Learning about the operating procedures and functions of the Sysmac Studio to configure Robot Inte- grated System using Robot Integrated CPU Unit.

Describes the operating procedures of the Sys- mac Studio for Robot Integrated CPU Unit.

(32)

Manual name Cat. No. Model numbers Application Description Sysmac Studio

Robot Integrated System Build- ing Function with IPC Applica- tion Controller Operation Man- ual

W621 SYSMAC-SE2££

£ SYSMAC- SE200D-64

Learning about the operating procedures and functions of the Sysmac Studio to configure Robot Inte- grated System using IPC Application Con- troller.

Describes the operating procedures of the Sys- mac Studio for IPC Application Controller.

Sysmac Studio

3D Simulation Function Opera- tion Manual

W618 SYSMAC-SE2££

£

SYSMAC-SA4££

£-64

Learning about an outline of the 3D simulation function of the Sysmac Studio and how to use the function.

Describes an outline, execution procedures, and operating procedures for the 3D simulation function of the Sysmac Studio.

NJ-series

NJ Robotics CPU Unit User’s Manual

W539 NJ501-4£££

NJ501-R£££

Controlling robots with NJ-series CPU Units.

Describes the functionality to control robots.

NJ/NY-series

NC Integrated Controller User’s Manual

O030 NJ501-5300

NY532-5400

Performing numerical control with NJ/NY- series Controllers.

Describes the functionality to perform the numerical control.

NJ/NY-series G code

Instructions Reference Manual

O031 NJ501-5300

NY532-5400

Learning about the specifications of the G code/M code instructions.

The G code/M code instructions are described.

NJ/NX-series

Troubleshooting Manual

W503 NX701-££££

NX102-££££

NX1P2-££££

NJ501-££££

NJ301-££££

NJ101-££££

Learning about the errors that may be detected in an NJ/NX-series Con- troller.

Concepts on managing errors that may be detected in an NJ/NX-series Controller and information on individual errors are described.

Sysmac Studio Version 1 Operation Manual

W504 SYSMAC

-SE2£££

Learning about the operating procedures and functions of the Sysmac Studio.

Describes the operating procedures of the Sys- mac Studio.

CNC Operator Operation Manual

O032 SYSMAC-RTNC0£

££D

Learning an introduction of the CNC Op- erator and how to use it.

An introduction of the CNC Operator, installation procedures, basic operations, connection operations, and operating procedures for main functions are described.

NX-series

EtherCAT^® Coupler Unit User’s Manual

W519 NX-ECC£££ Learning how to use the NX-series Ether- CAT Coupler Unit and EtherCAT Slave Terminals.

The following items are described: the overall system and configuration methods of an Ether- CAT Slave Terminal (which consists of an NX-series EtherCAT Coupler Unit and NX Units), and information on hardware, setup, and functions to set up, control, and monitor NX Units through EtherCAT.

NX-series

Data Reference Manual

W525 NX-££££££ Referencing lists of the data that is required to configure systems with NX-series Units.

Lists of the power consumptions, weights, and other NX Unit data that is required to configure systems with NX-series Units are provided.

(33)

Manual name Cat. No. Model numbers Application Description NX-series

NX Units User’s Manual

W521 NX-ID££££

NX-IA££££

NX-OC££££

NX-OD££££

NX-MD££££

Learning how to use NX Units.

Describes the hardware, setup methods, and functions of the NX Units.

Manuals are available for the following Units.

Digital I/O Units, Analog I/O Units, System Units, Position Interface Units, Communications Inter- face Units, Load Cell Input Unit, and IO-Link Mas- ter Units.

W522 NX-AD££££

NX-DA££££

W592 NX-HAD£££

W566 NX-TS££££

NX-HB££££

W523 NX-PD1£££

NX-PF0£££

NX-PC0£££

NX-TBX01

W524 NX-EC0£££

NX-ECS£££

NX-PG0£££

W540 NX-CIF£££

W565 NX-RS££££

W567 NX-ILM£££

GX-series EtherCAT Slave Units

User’s Manual

W488 GX-ID££££

GX-OD££££

GX-OC££££

GX-MD££££

GX-AD££££

GX-DA££££

GX-EC££££

XWT-ID££

XWT-OD££

Learning how to use the EtherCAT remote I/O terminals.

Describes the hardware, setup methods and functions of the EtherCAT remote I/O terminals.

AC Servomotors/Servo Drives 1S-series with

Built-in EtherCAT^® Communi- cations User's Manual

I586 R88M-1£

R88D-1SN£-ECT

Learning how to use the Servomotors/

Servo Drives with built-in EtherCAT Communications.

Describes the hardware, setup methods and functions of the Servomotors/Servo Drives with built-in EtherCAT Communications.

I621 R88M-1AL£/ -1AM

£

R88D-1SAN£-ECT AC Servomotors/Servo Drives

G5 Series with

Built-in EtherCAT^® Communi- cations User's Manual

I576 R88M-K£

R88D-KN£-ECT

Learning how to use the AC Servomotors/

Servo Drives with built-in EtherCAT Communications.

Describes the hardware, setup methods and functions of the AC Servomotors/Servo Drives with built-in EtherCAT Communications.

The Linear Motor Type models and dedicated models for position control are available in G5- series.

I577 R88L-EC-£

R88D-KN£-ECT-L

(34)

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.

W508-E1-23

Revision code

Cat. No.

Revision

code Date Revised content

01 July 2011 Original production

02 January 2012

•

Added the following axes group instructions

•

MC_GroupReadPosition (Read Axes Group Position)

•

MC_ChangeAxesInGroup (Change Axes in Group)

•

MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning)

•

Corrected mistakes.

03 May 2012

•

Made changes accompanying the upgrade to unit version 1.02 of the CPU Unit.

•

Corrected mistakes.

04 August 2012 Made changes accompanying the upgrade to unit version 1.03 of the CPU Unit.

05 February 2013 Made changes accompanying the upgrade to unit version 1.04 of the CPU Unit.

06 April 2013

•

Corrected mistakes.

07 June 2013

•

Corrected mistakes.

08 December 2013

•

Corrected mistakes.

09 July 2014

•

Corrected mistakes.

10 January 2015

•

Corrected mistakes.

11 April 2015

•

Made changes accompanying the addition of NX-series NX701-££££ CPU Units and NJ-series NJ101-££££ CPU Units.

•

Corrected mistakes.

12 April 2016

•

Corrected mistakes.

13 July 2016

•

Corrected mistakes.

(35)

Revision

code Date Revised content

14 October 2016

•

Made changes accompanying the addition of NX-series NX1P2 CPU Units.

•

Corrected mistakes.

15 April 2017 Corrected mistakes.

16 October 2017 Corrected mistakes.

17 April 2018

•

Made changes accompanying the addition of NX-series NX102 CPU Units.

•

Made changes accompanying the transfer of event codes to the NJ/NX- series Troubleshooting Manual (Cat. No. W503).

•

Corrected mistakes.

18 July 2018 Corrected mistakes.

19 January 2019 Corrected mistakes.

20 April 2019

•

Made changes accompanying the addition of 1S-series AC Servomotors/

Servo Drives.

•

Made changes accompanying the addition of the MC_CamMonitor (Cam Monitor) instruction and MC_OffsetPosition (Position Offset Compensation) instruction.

21 July 2019 Made changes accompanying the release of version 1.29 of the Sysmac Stu- dio.

22 October 2019

•

Made changes accompanying addition of NX1P2-9B££££.

•

Corrected mistakes.

23 August 2020 Made changes accompanying the addition of NJ501-R£££.

(36)

(37)

1

Introduction to Motion Control In- structions

This section gives an introduction to motion control instructions supported by NJ/NX- series CPU Units.

1-1 Motion Control Instructions ... 1-2

1-1-1 Function Blocks for PLCopen^® Motion Control ... 1-2 1-1-2 Overview of Motion Control Instructions... 1-2 1-1-3 Precautions for Master and Auxiliary Axes in Synchronized Control ... 1-6

1-2 Basic Information on Motion Control Instructions ... 1-9

1-2-1 Motion Control Instruction Names ... 1-9 1-2-2 Languages for Motion Control Instructions... 1-9 1-2-3 Motion Control Instruction Locations ... 1-10 1-2-4 Multi-execution of Motion Control Instructions ... 1-18 1-2-5 Online Editing of Motion Control Instructions ... 1-19 1-2-6 Changes in the Operating Mode of the CPU Unit ... 1-19

1

(38)

1-1 Motion Control Instructions

Motion control instructions are used in the user program to execute motion controls for an NJ/NX-ser- ies CPU Unit. These instructions are defined as function blocks.

The motion control instructions of the MC Function Module are based on the technical specifications of function blocks for PLCopen

^®

motion control.

There are two types of motion control instructions: PLCopen

^®

-defined instructions and instructions that are unique to the MC Function Module.

This section provides an overview of the PLCopen

^®

motion control function blocks and motion control instructions.

For details on motion control instructions, refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507).

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information on us- ing the NX-series Position Interface Units.

Version Information

A CPU Unit with unit version 1.05 or later and Sysmac Studio version 1.06 or higher are re- quired to use NX-series Position Interface Units.

1-1-1 Function Blocks for PLCopen ^® Motion Control

PLCopen

^®

standardizes motion control function blocks to define a program interface for the languages specified in IEC 61131-3 (JIS B 3503).

Single-axis positioning, electronic cams, and multi-axes coordinated control are defined along with ba- sic procedures for executing instructions.

By using PLCopen

^®

motion control function blocks, programming can be more easily reused without hardware dependence.

Costs for training and support are also reduced.

Additional Information

PLCopen

^®

PLCopen

^®

is a promotion body for IEC 61131-3 that has its headquarters in Europe and a worldwide membership structure.

IEC 61131-3 is an international standard for PLC programming.

PLCopen

^®

Japan is the promotion committee for the Japanese market and consists of mem- bers that have concerns related to the Japanese market.

• The website of PLCopen

^®

Japan is http://www.plcopen-japan.jp/.

• The website of PLCopen

^®

Europe (headquarters) is http://www.plcopen.org/.

1-1-2 Overview of Motion Control Instructions

This section describes items defined in the technical specifications of function blocks for PLCopen

^®