NX1P2 CPU Unit Built-in I/O and Option Board Users Manual

NX1P2 CPU Unit Built-in I/O and Option Board Users Manual
Machine Automation Controller
NX-series
NX1P2 CPU Unit
Built-in I/O and Option Board
User’s Manual
NX1P2-11
NX1P2-111
NX1P2-10
NX1P2-101
NX1P2-90
NX1P2-901
CPU Unit
W579-E1-01
NOTE
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
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. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes 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, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of
Microsoft 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.
Introduction
Introduction
Thank you for purchasing an NX-series NX1P2 CPU Unit.
This manual contains information that is necessary to use the NX-series NX1P2 CPU Unit. Please read
this manual and make sure you understand the functionality and performance of the NX-series NX1P2
CPU Unit before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical systems (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 NX1P2 CPU Units
• NX1P2-11
• NX1P2-111
• NX1P2-10
• NX1P2-101
• NX1P2-90
• NX1P2-901
Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to Relevant Manuals on page 7 and Related Manuals on page 20.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1
CONTENTS
CONTENTS
Introduction .............................................................................................................. 1
Intended Audience....................................................................................................................................... 1
Applicable Products ..................................................................................................................................... 1
CONTENTS................................................................................................................ 2
Relevant Manuals ..................................................................................................... 7
Manual Structure ...................................................................................................... 8
Page Structure ............................................................................................................................................. 8
Special Information ...................................................................................................................................... 9
Precaution on Terminology .......................................................................................................................... 9
Terms and Conditions Agreement ........................................................................ 10
Warranty, Limitations of Liability ................................................................................................................ 10
Application Considerations ........................................................................................................................ 11
Disclaimers ................................................................................................................................................ 11
Safety Precautions ................................................................................................. 12
Precautions for Safe Use ....................................................................................... 13
Precautions for Correct Use.................................................................................. 14
Regulations and Standards ................................................................................... 15
Conformance to EU Directives .................................................................................................................. 15
Conformance to UL and CSA Standards ................................................................................................... 16
Conformance to KC Standards .................................................................................................................. 16
Software Licenses and Copyrights ............................................................................................................ 16
Versions .................................................................................................................. 17
Checking Versions ..................................................................................................................................... 17
Unit Versions of CPU Units and Sysmac Studio Versions ......................................................................... 19
Related Manuals ..................................................................................................... 20
Terminology ............................................................................................................ 24
Revision History ..................................................................................................... 29
Sections in this Manual ......................................................................................... 31
Section 1
Introduction to NX1P2 CPU Units
1-1
Function Specifications for NX1P2 CPU Units ................................................................... 1-2
1-2
Overall Operating Procedure................................................................................................ 1-7
1-2-1
1-2-2
Section 2
2-1
Built-in I/O
Built-in I/O Terminal Allocation ............................................................................................ 2-2
2-1-1
2
Overall Operating Procedure ...................................................................................................... 1-7
Procedure Details........................................................................................................................ 1-8
Terminal Arrangement................................................................................................................. 2-2
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
CONTENTS
2-2
I/O Data Specifications.......................................................................................................... 2-5
2-2-1
2-2-2
NX1P2-24DT/-24DT1 .................................................................................................... 2-5
NX1P2-40DT/-40DT1 .................................................................................................... 2-6
2-3
Built-in I/O Functions ............................................................................................................ 2-7
2-4
Settings .................................................................................................................................. 2-8
2-4-1
2-4-2
2-5
Functions ............................................................................................................................. 2-10
2-5-1
2-5-2
2-6
Section 3
Option Board Types .............................................................................................................. 3-2
Section 4
4-2
Serial Communications Types and Overview ..................................................................... 4-2
Programless Communications with NB-series Programmable Terminals....................... 4-4
Overview................................................................................................................................... 4-10
Procedure ................................................................................................................................. 4-12
Settings..................................................................................................................................... 4-14
Programming ............................................................................................................................ 4-17
Connection Examples............................................................................................................... 4-17
Connection with Modbus-RTU Slaves............................................................................... 4-18
4-4-1
4-4-2
4-4-3
4-4-4
4-4-5
4-5
Overview..................................................................................................................................... 4-4
Procedure ................................................................................................................................... 4-4
Settings....................................................................................................................................... 4-6
Programming .............................................................................................................................. 4-8
Connection Examples................................................................................................................. 4-9
Programless Communications with E5C Digital Temperature Controllers................. 4-10
4-3-1
4-3-2
4-3-3
4-3-4
4-3-5
4-4
Settings....................................................................................................................................... 3-4
System-defined Variables ........................................................................................................... 3-9
Device Variables ....................................................................................................................... 3-10
Assigning Device Variables to Option Boards ...........................................................................3-11
Instructions Used for Option Boards......................................................................................... 3-13
How Option Boards Operate in Case of an Error ..................................................................... 3-14
Serial Communications
4-2-1
4-2-2
4-2-3
4-2-4
4-2-5
4-3
Serial Communications Option Boards....................................................................................... 3-3
Analog I/O Option Boards........................................................................................................... 3-3
Using Option Boards............................................................................................................. 3-4
3-2-1
3-2-2
3-2-3
3-2-4
3-2-5
3-2-6
4-1
I/O Refresh Timing of Built-in I/O .............................................................................................. 2-13
I/O Response Time of Built-in I/O ............................................................................................. 2-15
Option Boards
3-1-1
3-1-2
3-2
Input Filter................................................................................................................................. 2-10
Output Load Rejection Setting.................................................................................................. 2-12
I/O Refreshing ...................................................................................................................... 2-13
2-6-1
2-6-2
3-1
Built-in I/O Settings ..................................................................................................................... 2-8
I/O Map ....................................................................................................................................... 2-9
Overview................................................................................................................................... 4-18
Procedure ................................................................................................................................. 4-19
Settings..................................................................................................................................... 4-21
Programming ............................................................................................................................ 4-22
Connection Examples............................................................................................................... 4-24
Connection with General-purpose Serial Communications Devices ............................. 4-25
4-5-1
4-5-2
4-5-3
4-5-4
Overview................................................................................................................................... 4-25
Procedure ................................................................................................................................. 4-26
Settings..................................................................................................................................... 4-28
Programming ............................................................................................................................ 4-29
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3
CONTENTS
Section 5
5-1
Analog I/O
Specifications ........................................................................................................................ 5-2
5-1-1
5-1-2
5-1-3
5-1-4
Analog I/O Option Boards ........................................................................................................... 5-2
Part Names and Functions.......................................................................................................... 5-2
Terminal Arrangement................................................................................................................. 5-3
Input Range and Output Range .................................................................................................. 5-3
5-2
Procedure............................................................................................................................... 5-5
5-3
Settings .................................................................................................................................. 5-6
5-3-1
5-3-2
5-4
Option Board Settings ................................................................................................................. 5-6
Device Variables ......................................................................................................................... 5-7
Programming ......................................................................................................................... 5-8
5-4-1
5-4-2
5-4-3
5-4-4
I/O Data....................................................................................................................................... 5-8
Option Board Status .................................................................................................................... 5-9
Special Instructions for Analog I/O Option Boards ...................................................................... 5-9
Precautions on Supported Functions ........................................................................................ 5-10
5-5
Wiring ................................................................................................................................... 5-11
5-6
I/O Refreshing ...................................................................................................................... 5-12
5-6-1
5-6-2
Section 6
6-1
I/O Refresh Operation ............................................................................................................... 5-12
Response Time ......................................................................................................................... 5-13
Introduction of Motion Control Functions
Single-axis Position Control................................................................................................. 6-3
6-1-1
6-1-2
6-1-3
6-1-4
6-1-5
6-1-6
6-1-7
6-2
Single-axis Synchronized Control ..................................................................................... 6-14
6-2-1
6-2-2
6-2-3
6-2-4
6-2-5
6-2-6
6-2-7
6-2-8
6-2-9
6-2-10
6-3
6-5
Common Functions for Single-axis Control ..................................................................... 6-33
Positions.................................................................................................................................... 6-33
Velocity...................................................................................................................................... 6-35
Acceleration and Deceleration .................................................................................................. 6-36
Jerk ........................................................................................................................................... 6-38
Specifying the Operation Direction............................................................................................ 6-39
Re-executing Motion Control Instructions ................................................................................. 6-43
Multi-execution of Motion Control Instructions (Buffer Mode) ................................................... 6-48
Multi-axes Coordinated Control ......................................................................................... 6-54
6-6-1
6-6-2
4
Velocity Control ......................................................................................................................... 6-30
Cyclic Synchronous Velocity Control......................................................................................... 6-31
Single-axis Torque Control ................................................................................................. 6-32
6-5-1
6-5-2
6-5-3
6-5-4
6-5-5
6-5-6
6-5-7
6-6
Overview of Synchronized Control............................................................................................ 6-14
Gear Operation ......................................................................................................................... 6-14
Positioning Gear Operation....................................................................................................... 6-15
Cam Operation.......................................................................................................................... 6-16
Cam Tables ............................................................................................................................... 6-17
Synchronous Positioning........................................................................................................... 6-25
Combining Axes ........................................................................................................................ 6-26
Master Axis Phase Shift ............................................................................................................ 6-27
Slave Axis Position Compensation ........................................................................................... 6-27
Achieving Synchronized Control in Multi-motion....................................................................... 6-28
Single-axis Velocity Control ............................................................................................... 6-30
6-3-1
6-3-2
6-4
Outline of Operation .................................................................................................................... 6-3
Absolute Positioning.................................................................................................................... 6-4
Relative Positioning..................................................................................................................... 6-4
Interrupt Feeding......................................................................................................................... 6-5
Cyclic Synchronous Positioning .................................................................................................. 6-6
Stopping ...................................................................................................................................... 6-7
Override Factors ....................................................................................................................... 6-13
Outline of Operation .................................................................................................................. 6-54
Linear Interpolation ................................................................................................................... 6-57
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
CONTENTS
6-6-3
6-6-4
6-6-5
6-6-6
6-7
Circular Interpolation................................................................................................................. 6-58
Axes Group Cyclic Synchronous Positioning............................................................................ 6-58
Stopping Under Multi-axes Coordinated Control ...................................................................... 6-59
Overrides for Multi-axes Coordinated Control .......................................................................... 6-61
Common Functions for Multi-axes Coordinated Control ................................................ 6-62
6-7-1
6-7-2
6-7-3
6-7-4
6-7-5
6-8
Velocity Under Multi-axes Coordinated Control ........................................................................ 6-62
Acceleration and Deceleration Under Multi-axes Coordinated Control .................................... 6-63
Jerk for Multi-axes Coordinated Control ................................................................................... 6-64
Re-executing Motion Control Instructions for Multi-axes Coordinated Control ......................... 6-65
Multi-execution (Buffer Mode) of Motion Control Instructions
for Multi-axes Coordinated Control ........................................................................................... 6-66
Other Functions................................................................................................................... 6-74
6-8-1
6-8-2
6-8-3
6-8-4
6-8-5
6-8-6
6-8-7
6-8-8
6-8-9
6-8-10
6-8-11
6-8-12
Section 7
7-1
Introduction of EtherNet/IP Communications Functions
Communications Services.................................................................................................... 7-2
7-1-1
7-1-2
7-1-3
7-1-4
7-1-5
7-1-6
7-1-7
7-1-8
Section 8
8-1
Overview of Communications .............................................................................................. 8-2
Section 9
Operation after an Error ........................................................................................................ 9-2
Overview of NX1P2 CPU Unit Status ......................................................................................... 9-2
Fatal Errors in the CPU Unit ....................................................................................................... 9-3
Non-fatal Errors in the CPU Unit................................................................................................. 9-4
Troubleshooting .................................................................................................................. 9-11
9-2-1
9-2-2
9-2-3
9-2-4
9-3
Process Data Communications and SDO Communications....................................................... 8-2
Other Functions .......................................................................................................................... 8-3
Troubleshooting
9-1-1
9-1-2
9-1-3
9-2
CIP (Common Industrial Protocol) Communications Services ................................................... 7-2
BOOTP Client ............................................................................................................................. 7-4
FTP Server ................................................................................................................................. 7-4
FTP Client................................................................................................................................... 7-5
Automatic Clock Adjustment....................................................................................................... 7-5
Socket Service............................................................................................................................ 7-6
Specifying Host Names ............................................................................................................. 7-7
SNMP Agent ............................................................................................................................... 7-7
Introduction of EtherCAT Communications Functions
8-1-1
8-1-2
9-1
Changing the Current Position.................................................................................................. 6-74
Torque Limit .............................................................................................................................. 6-75
Latching .................................................................................................................................... 6-75
Zone Monitoring........................................................................................................................ 6-76
Software Limits ......................................................................................................................... 6-77
Following Error Monitoring........................................................................................................ 6-78
Following Error Counter Reset ................................................................................................. 6-79
Axis Following Error Monitoring ................................................................................................ 6-80
In-position Check ...................................................................................................................... 6-80
Changing Axis Use ................................................................................................................... 6-82
Enabling Digital Cam Switch..................................................................................................... 6-83
Displaying 3D Motion Monitor for User Coordinate System ..................................................... 6-84
Checking to See If the CPU Unit Is Operating...........................................................................9-11
Troubleshooting Flowchart for Non-fatal Errors ........................................................................ 9-12
Error Table ................................................................................................................................ 9-13
Error Descriptions ..................................................................................................................... 9-14
Option Board Errors............................................................................................................ 9-18
9-3-1
Checking for Errors and Troubleshooting with the ERR Indicator on Option Boards ............... 9-18
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5
CONTENTS
Appendices
A-1 Version Information...............................................................................................................A-2
Index
6
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Relevant Manuals
Relevant Manuals
The following table provides the relevant manuals for the NX-series NX1P2 CPU Units. Read all of the
manuals that are relevant to your system configuration and application before you use the NX-series
NX1P2 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
NJ/NX-series
Troubleshooting Manual
NJ/NX-series CPU Unit
Built-in EtherNet/IP Port User’s Manual
NJ/NX-series CPU Unit
Built-in EtherCAT Port User’s Manual
NJ/NX-series
Motion Control Instructions Reference Manual
NJ/NX-series CPU Unit
Motion Control User’s Manual
NJ/NX-series
Instructions Reference Manual
NX-series NX1P2 CPU Unit
Built-in I/O and Option Board User’s Manual
NJ/NX-series CPU Unit
Software User’s Manual
Introduction to NX1P2 CPU Units
NX-series NX1P2 CPU Unit
Hardware User’s Manual
Purpose of use

Setting devices and hardware
Using motion control
Using EtherCAT



Using EtherNet/IP

Software settings
Using motion control


Using EtherCAT

Using EtherNet/IP

Using the NX1P2 CPU Unit functions

Writing the user program
Using motion control

Using EtherCAT




Using EtherNet/IP

Programming error processing

Using the NX1P2 CPU Unit functions

Testing operation and debugging
Using motion control


Using EtherCAT

Using EtherNet/IP

Using the NX1P2 CPU Unit functions
Learning about error management and
corrections*1
Maintenance
Using motion control
Using EtherCAT





Using EtherNet/IP







*1. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and an overview
of the error items. Refer to the manuals that are indicated with triangles for details on errors for the corresponding Units.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
7
Manual Structure
Manual Structure
Page Structure
The following page structure is used in this manual.
Mounting Units
Level 1 heading
Level 2 heading
Level 3 heading
Connecting Controller Components
Gives the current
headings.
4 Installation and Wiring
Level 2 heading
Level 3 heading
4-3
4-3-1
The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.
A step in a procedure
1
Join the Units so that the connectors fit exactly.
Hook
Indicates a procedure.
Hook holes
Connector
4-3 Mounting Units
4
The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place.
Move the sliders toward the back
until they lock into place.
Lock
Release
Slider
Special information
Icons indicate
precautions, additional
information, or reference
information.
Manual name
4-3-1 Connecting Controller Components
2
Page tab
Gives the number
of the main section.
Precautions for Correct Use
The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
the adjacent Unit connectors.
NJ-series CPU Unit Hardware User’s Manual (W500)
4-9
Note This illustration is provided only as a sample. It may not literally appear in this manual.
8
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Manual Structure
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 CPU Units with different unit
versions and for different versions of the Sysmac Studio is given.
Note References are provided to more detailed or related information.
Precaution on Terminology
In this manual, “download” refers to transferring data from the Sysmac Studio to the physical Controller
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.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9
Terms and Conditions Agreement
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 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.
 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-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.
10
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Terms and Conditions Agreement
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
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 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.
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 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.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
11
Safety Precautions
Safety Precautions
Refer to the following manuals for safety precautions.
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
12
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Precautions for Safe Use
Precautions for Safe Use
Refer to the following manuals for precautions for safe use.
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
13
Precautions for Correct Use
Precautions for Correct Use
Refer to the following manuals for precautions for correct use.
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
14
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Regulations and Standards
Regulations and Standards
Conformance to EU Directives
Applicable Directives
• EMC Directives
• Low Voltage Directive
Concepts
 EMC Directives
OMRON devices that comply with EU Directives also conform to the related EMC standards so that
they can be more easily built into other devices or the overall machine. The actual products have
been checked for conformity to EMC standards.*1
Whether the products conform to the standards in the system used by the customer, however, must
be checked by the customer. EMC-related performance of the OMRON devices that comply with EU
Directives will vary depending on the configuration, wiring, and other conditions of the equipment or
control panel on which the OMRON devices are installed. The customer must, therefore, perform
the final check to confirm that devices and the overall machine conform to EMC standards.
*1. Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN 61131-2
EMI (Electromagnetic Interference): EN 61131-2 (Radiated emission: 10-m regulations).
 Low Voltage Directive
Always ensure that devices operating at voltages of 50 to 1,000 VAC and 75 to 1,500 VDC meet the
required safety standards. The applicable directive is EN 61010-2-201.
 Conformance to EU Directives
The NX-series Units comply with EU Directives. To ensure that the machine or device in which the
NX-series Units are used complies with EU Directives, the following precautions must be observed.
• The NX-series Units must be installed within a control panel.
• You must use SELV power supply for the DC power supplies that are connected as the Unit power
supplies and I/O power supplies for the NX-series Units. EMC standard compliance was
confirmed for the OMRON S8VK-S Series DC Power Supplies.
• NX-series Units that comply with EU Directives also conform to the Common Emission Standard.
Radiated emission characteristics (10-m regulations) may vary depending on the configuration of
the control panel used, other devices connected to the control panel, wiring, and other conditions.
You must therefore confirm that the overall machine or equipment in which the NX-series Units
are used complies with EU Directives.
• This is a Class A product (for industrial environments). In a residential environment, it may cause
radio interference. If radio interference occurs, the user may be required to take appropriate measures.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
15
Regulations and Standards
Conformance to UL and CSA Standards
Some NX-series products comply with UL and CSA standards.
If you use a product that complies with UL or CSA standards and must apply those standards to your
machinery or devices, refer to the Instruction Sheet that is provided with the product. The Instruction
Sheet provides the application conditions for complying with the standards.
Conformance to KC Standards
Observe the following precaution if you use NX-series Units in Korea.
Class A Device (Broadcasting Communications Device for Office Use)
This device obtained EMC registration for office use (Class A), and it is intended to be used in places
other than homes.
Sellers and/or users need to take note of this.
Software Licenses and Copyrights
This product incorporates certain third party software. The license and copyright information associated
with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
16
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Versions
Versions
Hardware revisions and unit versions are used to manage the hardware and software in 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 hardware revisions or unit versions.
Checking Versions
You can check versions in the ID information indications on the product 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.
The ID information on an NX-series NX1P2- CPU Unit is shown below.
MAC address
Unit version
ID information indication
PORT1 : PORT2 : Ver.1. HW Rev. LOT No. DDMYY xxxx
Hardware
revision
Lot number Serial number
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
Checking Unit Versions with the Sysmac Studio
 Checking the Unit Version of a 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, NX Units on the CPU Rack, and Option Boards.
Use the following procedure to check the unit version.
1
Right-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multiview Explorer and select Production Information.
The Production Information Dialog Box is displayed.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
17
Versions
2
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 version, and software versions. The Outline View displays 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 for the Controller Configurations and Setup Layer.
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.
Outline View
18
Detail View
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Versions
Unit Versions of CPU Units and Sysmac Studio Versions
The functions that are supported depend on the unit version of the NX-series CPU Unit. The version of
Sysmac Studio that supports the functions that were added for an upgrade is also required to use those
functions.
Refer to A-1 Version Information on page A-2 for the relationship between the unit versions of the CPU
Units and the Sysmac Studio versions, and for the functions that are supported by each unit version.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
19
Related Manuals
Related Manuals
The following manuals are related. Use these manuals for reference.
Manual name
NX-series
NX1P2 CPU Unit Hardware User's Manual
NJ/NX-series
CPU Unit Software
User’s Manual
Cat. No.
W578
W501
Model numbers
NX1P2-
NX701-
NX1P2-
NJ501-
NJ301-
NJ101-
NX-series NX1P2 CPU
Unit Built-in I/O and
Option Board User's
Manual
W579
NX1P2-
Application
Learning the basic
specifications of
the NX1P2 CPU
Units, including
introductory information, designing,
installation, and
maintenance.
Description
An introduction to the entire NX1P2
system is provided along with the following information on the CPU Unit.
Mainly hardware
information is provided.
Learning how to
program and set
up an
NJ/NX-series CPU
Unit.
• Installation and wiring
Mainly software
information is provided.
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.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Maintenance and inspection
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 based on IEC
61131-3 language specifications
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
NJ/NX-series
Instructions Reference
Manual
W502
NX701-
NX1P2-
NJ501-
NJ301-
NJ/NX-series
CPU Unit Motion Control User’s Manual
W507
NJ101-
NX701-
NX1P2-
NJ501-
NJ301-
• EtherCAT communications functions
The instructions in the instruction set
(IEC 61131-3 specifications) are
described.
Learning detailed
specifications on
the basic instructions of an
NJ/NX-series CPU
Unit.
The settings and operation of the CPU
Learning about
motion control set- Unit and programming concepts for
tings and program- motion control are described.
ming concepts.
NJ101-
20
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Related Manuals
Manual name
NJ/NX-series
Motion Control Instructions Reference Manual
Cat. No.
W508
Model numbers
NX701-
NX1P2-
NJ501-
NJ301-
NJ/NX-series
CPU Unit Built-in EtherCAT® Port
User’s Manual
W505
NJ/NX-series CPU Unit
Built-in EtherNet/IP™
port User’s Manual
W506
NJ101-
NX701-
NX1P2-
NJ501-
NJ301-
NJ101-
NX701-
NX1P2-
NJ501-
NJ301-
NJ/NX-series
W503
Troubleshooting Manual
NJ101-
NX701-
NX1P2-
NJ501-
NJ301-
Sysmac Studio Version
1 Operation Manual
W504
NJ101-
SYSMACSE2
NX-series
EtherCAT® Coupler
Unit
User’s Manual
W519
NX-ECC20
NX-series
Data Reference Manual
W525
NX-
Application
Learning about the
specifications of
the motion control
instructions.
Description
The motion control instructions are
described.
Using the built-in
EtherCAT port on
an NJ/NX-series
CPU Unit.
Information on the built-in EtherCAT
port is provided.
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.
Learning about the
errors that may be
detected in an
NJ/NX-series Controller.
Describes concepts on managing
errors that may be detected in an
NJ/NX-series Controller and information on individual errors.
Learning about the
operating procedures and functions of the
Sysmac Studio.
Leaning how to
use an NX-series
EtherCAT Coupler
Unit and EtherCAT Slave Terminals
Describes the operating procedures of
the Sysmac Studio.
Referencing lists of
the data that is
required to configure systems with
NX-series Units
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
This manual provides an introduction
and provides information on the configuration, features, and setup.
The following items are described: the
overall system and configuration
methods of an EtherCAT 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.
Lists of the power consumptions,
weights, and other NX Unit data that is
required to configure systems with
NX-series Units are provided.
21
Related Manuals
Manual name
NX-series NX Units
User’s Manuals
Cat. No.
W521
W522
W566
W523
W524
NX-series
Safety Control Unit
User’s Manual
W540
W565
W567
Z930
Model numbers
NX-ID
NX-IA
NX-OC
NX-OD
NX-MD
NX-AD
NX-DA
NX-TS
NX-HB
NX-PD1
NX-PF0
NX-PC0
NX-TBX01
NX-EC0
NX-ECS
NX-PG0
NX-CIF
NX-RS
NX-ILM
NX-SL
NX-SI
NX-SO
NA-series Programmable Terminal
Software User’s Manual
V118
NA5-W
NS-series Programmable Terminals
Programming Manual
V073
NS15-
NS12-
NS10-
NS8-
NB-series
Programmable
Terminals NB-Designer
Operation Manual
V106
V107
NB-series
Programmable
Terminals Setup Manual
E5C Digital
Temperature Controllers
Communications
Manual
22
H175
NS5-
NBQ-TW01B
NBW-TW01B
NBQ-TW01B
NBW-TW01B
E5C
Application
Learning how to
use NX Units.
Description
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 Interface Units, Load
Cell Input Units, and IO-Link Master
Units.
Learning how to
use NX-series
Safety Control
Units
Learning about
NA-series PT
pages and object
functions.
Learning how to
use the NS-series
Programmable
Terminals.
Learning about the
screens and object
functions of
NB-series Programmable Terminals.
The hardware, setup methods, and
functions of the NX-series Safety
Control Unit are described.
Describes the pages and object functions of the NA-series Programmable
Terminals.
Describes the setup methods, functions, etc. of the NS-series Programmable Terminals.
Describes the screens and object
functions of NB-series Programmable
Terminals.
The procedure for installing the
NB-Designer, an overview of managing the screen data of NB-series Programmable Terminals with the
NBManager, and information on maintenance after operation and troubleshooting are also provided.
Learning the speci- Information is provided on NB-series
Programmable Terminal specificafications and settions, part names, installation procetings required to
dures, procedures to connect an
install an
NB-series Programmable Terminal to
NB-series Programmable Termi- peripheral devices, and settings
required after connection to start comnal and connect
peripheral devices. munications and operations.
Learning about the Provides an overview of the communications method, communications
communications
functions of E5C specifications, and wiring of E5C
Digital Temperature Controllers.
Digital Temperature Controllers
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Related Manuals
Manual name
E5C Digital
Temperature Controllers
User’s Manual
Cat. No.
H174
Model numbers
E5C
Application
Learning about the
functions of E5C
Digital Temperature Controllers
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Description
Describes how to use E5C Digital
Temperature Controllers.
23
Terminology
Terminology
Term
absolute encoder home offsets
array specification
AT
axes groups
Axes Group Variable
axis
Axis Variable
basic data type
cam data variable
CJ-series Unit
Communications Coupler Unit
Constant
Controller
Controller error
Controller event
Controller information
24
Description
This data is used to restore in the CPU Unit the actual position of a Servo Drive with
an absolute encoder. The offset is the difference between the command position
after homing and the absolute data that is read from the absolute encoder.
One of the variable specifications. An array variable contains multiple elements of
the same data type. The elements in the array are specified by serial numbers
called subscripts that start from the beginning of the array.
One of the attributes of a variable.
This attribute allows the user to specify what is assigned to a variable. An I/O port
or an address in memory used for CJ-series Units can be specified.
A functional unit that groups together axes within the Motion Control Function Module.
A system-defined variable that is defined as a structure and provides status information and some of the axes parameters for an individual axes group.
An Axes Group Variable is used to specify an axes group for motion control instructions and to monitor the command interpolation velocity, error information, and
other information for the axes group.
A functional unit within the Motion Control Function Module. An axis is assigned to
the drive mechanism in an external Servo Drive or the sensing mechanism in an
external Encoder Input Slave Unit.
A system-defined variable that is defined as a structure and provides status information and some of the axis parameters for an individual axis.
An Axis Variable is used to specify an axis for motion control instructions and to
monitor the command position, error information, and other information for the axis.
Any of the data types that are defined by IEC 61131-3.
They include Boolean, bit string, integer, real, duration, date, time of day, date and
time, and text string data types.
“Basic data type” is used as opposed to derivative data types, which are defined by
the user.
A variable that represents the cam data as a structure array.
A cam data variable is an array structure that consists of phases and displacements.
Any of the CJ-series Units that can be used with an NJ-series Controller.
The generic name of an interface unit for remote I/O communications on a network
between NX Units and a host network master. For example, an EtherCAT Coupler
Unit is a Communications Coupler Unit for an EtherCAT network.
One of the attributes of a variable.
If you specify the Constant attribute for a variable, the value of the variable cannot
be written by any instructions, ST operators, or CIP message communications.
The range of devices that are directly controlled by the CPU Unit.
In the NX-series System, the Controller includes the CPU Rack and EtherCAT
slaves (including general-purpose slaves and Servo Drives).
In the NJ-series System, the Controller includes the CPU Rack, Expansion Racks,
and EtherCAT slaves (including general-purpose slaves and Servo Drives).
Errors that are defined by the NJ/NX-series System.
“Controller error” is a collective term for major fault level, partial fault level, minor
fault level, and observation Controller events.
One of the events in the NJ/NX-series System. Controller events are errors and
information that are defined by the system for user notification. A Controller event
occurs when the system detects a factor that is defined as a Controller event.
Information that is defined by the NJ/NX-series System that is not an error. It represents an information Controller event.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Terminology
Term
CPU Unit
derivative data type
device
device output
device variable
download
edge
enumeration
enumerator
EtherCAT Master Function Module
EtherNet/IP Function Module
event log
Event Setup
event task
FB
forced refreshing
FUN
function
function block
function module
general-purpose slave
global variable
I/O map settings
I/O port
I/O refreshing
information
Description
The Unit that serves as the center of control for a Machine Automation Controller.
The CPU Unit executes tasks, refreshes I/O for other Units and slaves, etc. The
NJ/NX-series CPU Units include NX701-, NX1P2-, NJ501-,
and NJ301-.
A data type that is defined by the user. Structures, unions, and enumerations are
derivative data types.
A general term for any Unit or slave that is refreshed by the I/O refreshing that is
performed by the CPU Unit. Specifically, it refers to EtherCAT slaves, NX Units on
the CPU Unit, built-in I/O, Option Boards, and CJ-series Units.
An output for any Unit or slave that is refreshed by the I/O refreshing that is performed by the CPU Unit.
A variable that is used to access a specific device through an I/O port.
To transfer data from the Sysmac Studio to the Controller with the synchronization
operation of the Sysmac Studio.
One of the attributes of a variable.
This attribute makes a BOOL variable pass TRUE to a function block when the variable changes from FALSE to TRUE or when it changes from TRUE to FALSE.
One of the derivative data types. This data type takes one item from a prepared
name list of enumerators as its value.
One of the values that an enumeration can take expressed as a character string.
The value of an enumeration is one of the enumerators.
One of the function modules. This function module controls the EtherCAT slaves as
the EtherCAT master.
One of the function modules. This function module controls the built-in EtherNet/IP
port.
A function that recognizes and records errors and other events.
Settings that define user-defined errors and user-defined information.
A task that executes a user program only once when the task execution conditions
are met.
An acronym for “function block.”
Forcing the refreshing of an input from an external device or an output to an external device, e.g., when the user debugs a program.
Addresses that are subject to forced refreshing can still be overwritten from the
user program.
An abbreviation for “function.”
A POU that is used to create an object that determines a unique output for the
same input, such as for data processing.
A POU that is used to create an object that can have a different output for the same
input, such as for a timer or counter.
One of the functional units of the software configuration of the CPU Unit.
Any of the EtherCAT slaves that cannot be assigned to an axis.
A variable that can be read or written from all POUs (programs, functions, and function blocks).
Settings that assign variables to I/O ports. Assignment information between I/O
ports and variables.
A logical interface that is used by the CPU Unit to exchange data with an external
device (slave or Unit).
Cyclic data exchange with external devices that is performed with predetermined
memory addresses.
One of the event levels for Controller events or user-defined events. These are not
errors, but appear in the event log to notify the user of specific information.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
25
Terminology
Term
Initial Value
Description
One of the attributes of a variable. The variable is set to the initial value in the following situations.
• When power is turned ON
• When the CPU Unit changes to RUN mode
• When you specify to initialize the values when the user program is transferred
inline ST
instruction
literal
local variable
main memory
major fault level Controller error
MC Test Run
memory used for CJ-series Units
minor fault level Controller error
Motion Control Function Module
motion control instruction
• When a major fault level Controller error occurs
ST programming that is included within a ladder diagram program.
The smallest unit of the processing elements that are provided by OMRON for use
in POU algorithms. There are ladder diagram instructions (program inputs and outputs), function instructions, function block instructions, and ST statements.
A constant expression that is used in a user program.
A variable that can be accessed only from inside the POU in which it is defined.
“Local variable” is used as opposed to “global variable.”
Local variables include internal variables, input variables, output variables, in-out
variables, and external variables.
The memory inside the CPU Unit that is used by the CPU Unit to execute the OS
and user program.
An error for which all NJ/NX-series Controller control operations stop. The CPU Unit
immediately stops user program execution and turns OFF the loads for all slaves and
Units (including remote I/O).
A function to check motor operation and wiring from the Sysmac Studio.
One type of I/O memory in an NX1P2 CPU Unit and NJ-series CPU Unit. It contains
addresses that can be directly specified by the user.
It can be accessed only with variables with an AT attribute. This memory is used to
access CJ-series Units and CJ-series networks. However, you cannot connect the
CJ-series Units to the NX1P2 CPU Units.
An error for which part of the control operations for one of the function modules in
the NJ/NX-series Controller stop.
The NJ/NX-series CPU Unit continues operation even after a minor fault level Controller error occurs.
One of the function modules. The MC Function Module performs motion control
based on commands from the motion control instructions that are executed in the
user program.
A function block instruction that executes motion control.
The Motion Control Function Module supports instructions that are based on func-
namespace
Network Publish
NX bus
NX Units
observation
partial fault level Controller error
PDO communications
26
tion blocks for PLCopen® motion control as well as instructions developed specifically for the Motion Control Function Module.
A system that is used to group and nest the names of functions, function block definitions, and data types.
One of the attributes of a variable.
This attribute allows you to use CIP message communications or tag data links to
read/write variables from another Controller or from a host computer.
The NX-series internal bus. An NX1P2 CPU Unit has the NX bus.
Any of the NX-series Units that perform I/O processing with connected external
devices. The Communications Coupler Units are not included with the NX Units.
One of the event levels for Controller events or user-defined events.
These are minor errors that do not affect control operations, but appear in the event
log to notify the user of specific information.
An error for which all of the control operations for one of the function modules in the
NJ/NX-series Controller stop.
An NJ/NX-series CPU Unit continues operation even after a partial fault level Controller error.
An abbreviation for process data communications. Data is exchanged between the
master and slaves on a process data communications cycle. (The process data communications cycle is the same as the task period of the primary periodic task.)
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Terminology
Term
periodic task
PLC Function Module
POU
primary periodic task
process data communications
program
Range Specification
Retain
Description
A task for which user program execution and I/O refreshing are performed each
period.
One of the function modules. This function module executes the user program,
sends commands to the Motion Control Function Module, and provides an interface
to the USB and SD Memory Card.
An acronym for “program organization unit.” A POU is a unit in a program execution
model that is defined in IEC 61131-3.
A POU contains an algorithm and a local variable table and forms the basic unit
used to build a user program.
There are three types of POUs: programs, functions, and function blocks.
The task with the highest priority.
One type of EtherCAT communications in which process data objects (PDOs) are
used to exchange information cyclically and in realtime. Process data communications are also called PDO communications.
Along with functions and function blocks, one of the three types of POUs.
Programs are assigned to tasks to execute them.
One of the variable specifications. You can specify a range for a variable in
advance. The variable can take only values that are in the specified range.
One of the attributes of a variable. The values of variables with a Retain attribute
are held at the following times. (Variables without a Retain attribute are set to their
initial values.)
• When power is turned ON after power interruption
• When the CPU Unit changes to RUN mode
SDO communications
Servo Drive/encoder input slave
slave
slave and Unit configurations
Slave Terminal
Special Unit Setup
structure
synchronization
Sysmac Studio
system common processing
system service
system-defined variable
task
task period
union
Unit
• When you specify to not initialize the values when the user program is transferred
One type of EtherCAT communications in which service data objects (SDOs) are
used to transmit information whenever required.
Any of the EtherCAT slaves that is assigned to an axis. In the NJ/NX-series System, it would be a Servo Drive or Encoder Input Slave Unit.
A device that performs remote I/O for a master.
A generic term for the EtherCAT configuration and Unit configuration.
A building-block remote I/O terminal to which a Communications Coupler Unit and
NX Units are mounted. A Slave Terminal is one type of slave.
A generic term for the settings for a Special Unit, including the settings in allocated
DM Area words.
One of the derivative data types. It consists of multiple data types placed together
into a layered structure.
A function that automatically compares the information in the NJ/NX-series Controller with the information in the Sysmac Studio, displays any differences and locations in a hierarchical form, and can be used to synchronize the information.
A computer software application for setting, programming, debugging, and troubleshooting NJ/NX-series Controllers. It also provides operations for motion control
and a Simulator.
System processing that is performed by the CPU Unit to perform I/O refreshing and
the user program execution within a task. Exclusive control of variables between
tasks, data trace processing, and other processing is performed.
Processing that is performed by the CPU Unit in unused time between task processing. The system service includes communications processing, SD Memory
Card access processing, self-diagnosis processing, and other processing.
A variable for which all attributes are defined by the system and cannot be changed
by the user.
An attribute that defines when a program is executed.
The interval at which the primary periodic task or a periodic task is executed.
One of the derivative data types. It allows you to handle the same data as different
data types.
A device that mounts to the CPU Rack or an Expansion Rack.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
27
Terminology
Term
Unit configuration
upload
user program
user-defined event
user-defined variable
variable
variable memory
28
Description
The configuration information for the Units that are set on the Sysmac Studio. This
information tells what Unit models are connected to the CPU Unit and where they
are connected.
To transfer data from the Controller to the Sysmac Studio with the synchronization
operation of the Sysmac Studio.
All of the programs in one project.
One of the events in the NJ/NX-series System. These events are defined by the
user. “User-defined events” is a generic term for user-defined errors and
user-defined information.
A variable for which all of the attributes are defined by the user and can be changed
by the user.
A representation of data, such as a numeric value or character string, that is used in
a user program.
You can change the value of a variable by assigned the required value. “Variable” is
used as opposed to “constant,” for which the value does not change.
A memory area that contains the present values of variables that do not have AT
specifications. It can be accessed only with variables without an AT attribute.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Revision History
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
Cat. No. W579-E1-01
Revision code
Revision
code
01
Date
October 2016
Revised content
Original production
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
29
Revision History
30
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Sections in this Manual
Sections in this Manual
1
Introduction to NX1P2
CPU Units
A
1
A
2
I
Appendices
3
2
Built-in I/O
I
Index
4
3
Option Boards
4
Serial Communications
6
5
Analog I/O
7
5
8
6
Introduction of Motion Control Functions
7
Introduction of EtherNet/IP Communications
Functions
8
Introduction of EtherCAT Communications Functions
9
Troubleshooting
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9
31
Sections in this Manual
32
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1
Introduction to NX1P2 CPU Units
This section describes the specifications and operating procedure of the NX1P2 CPU
Units.
1-1 Function Specifications for NX1P2 CPU Units . . . . . . . . . . . . . . . . . . . . . . 1-2
1-2 Overall Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
1-2-1
1-2-2
Overall Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7
Procedure Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1-1
1 Introduction to NX1P2 CPU Units
1-1
Function Specifications for NX1P2
CPU Units
This following table gives the main specifications of the NX1P2 CPU Units.
Item
Processing time
Instruction
execution
times
Program
capacity*1
Memory
capacity for
Program- variables*2
ming
Data types
Memory for
CJ-series
Units (Can be
specified with
AT specifications for variables.)
1-2
LD instruction
Math instructions (for long real
data)
Size
Number of POU
definitions
Quantity
Number of POU
instances
Size
Retain attriNumber of vaributes
ables
Size
No Retain
Number of variattributes
ables
Number of data types
11
3.3 ns
70 ns or more
NX1P210
1.5 MB
450
1,800
32 KB
5,000
2 MB
90,000
1,000
CIO Area
0 to 6,144 words (CIO 0 to CIO 6,143)*3
Work Area
0 to 512 words (W0 to W511)*3
Holding Area
0 to 1,536 words (H0 to H1,535)*4
DM Area
0 to 16,000 words (D0 to D15,999)*4
---
EM Area
90
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1 Introduction to NX1P2 CPU Units
Number of
controlled
axes*5
Motion
control
Maximum number of controlled
axes
Motion control
axes+
Single-axis
position control+
Maximum number of used real
axes
Motion
control axes
Single-axis
position control
Maximum number of axes for linear interpolation axis control
Number of axes for circular interpolation axis control
Maximum number of axes groups
Motion control period
Maximum points
Number of
per cam table
cam data
Cams
Maximum points
points
for all cam tables
Maximum number of cam tables
Position units
Override Factors
11
12 axes
NX1P210
10 axes
90
4 axes
8 axes
6 axes
---
8 axes
6 axes
4 axes
4 axes
2 axes
---
4 axes
1
4 axes
4 axes per axes group
---
2 axes per axes group
---
8 axes groups
--Same as the period for primary periodic task
65,535 points
--262,140 points
---
80 tables
--Pulse, mm, μm, nm, degree, and inch
0.00% or 0.01% to 500.00%
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1-1 Function Specifications for
NX1P2 CPU Units
Item
1-3
1 Introduction to NX1P2 CPU Units
Item
11
Number of ports
Physical layer
Frame length
Media access method
Modulation
Topology
Baud rate
Transmission media
Maximum transmission distance between Ethernet switch and node
Maximum number of cascade connections
Maximum number of connections
CIP service:
Tag data links
(cyclic communications)
There are no restrictions if an Ethernet switch is used.
32
2 to 10,000 ms in 1-ms increments
Permissible communications
band
Maximum number of tag sets
Tag types
Number of tags per connection (=
1 tag set)
Maximum number of tags
Maximum link data size per node
(total size for all tags)
Maximum data size per connection
Maximum number of registrable
tag sets
Maximum tag set size
Multi-cast packet filter*8
Class 3 (number of connections)
Maximum number of clients that
can communiCIP message
cate at one time
service:
UCMM
Explicit mes- (non-connec- Maximum numsages
tion type)
ber of servers
that can communicate at one
time
Number of TCP sockets
1-4
90
1
10BASE-T/100BASE-TX
1,514 bytes max.
CSMA/CD
Baseband
Star
100 Mbps (100BASE-TX)
STP (shielded twisted-pair) cable of Ethernet category
5, 5e, or higher
100 m
Can be set for each connection.
Packet interval*6
Built-in
EtherNet/IP
port
NX1P210
3,000 pps*7 (including heartbeat)
32
Network variables, CIO, Work, Holding and DM Areas
8 (7 tags if Controller status is included in the tag set.)
256
19,200 bytes
600 bytes
32 (1 connection = 1 tag set)
600 bytes (Two bytes are used if Controller status is
included in the tag set.)
Supported
32 (clients plus server)
32
32
30
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1 Introduction to NX1P2 CPU Units
Communications standard
EtherCAT master specifications
Physical layer
Modulation
Baud rate
Duplex mode
Topology
Transmission media
Built-in
EtherCAT port
Maximum transmission distance between nodes
Maximum number of slaves
Range of node addresses that can be set
Maximum process data size
Maximum process data size per slave
Serial
communications
(Serial
Communications
Option
Board)
Unit configuration
Communications cycle
Sync jitter
Communications method
Synchronization
Baud rate
Transmission distance
Maximum
number of
connectable
Units
Maximum number of NX Units
per CPU Rack
Maximum number of NX Units for
entire controller
Model
Power OFF detection time
Built-in
I/O
Number of slots
Input
Number of points
Number of points
Output
Load-short circuit protection
Pulse output
Internal
clock
Output: 1,434 bytes
However, the maximum number of process data frames
is 1.
Input: 1,434 bytes
Output: 1,434 bytes
2,000 to 8,000 μs (in 250-μs increments)
1 μs max.
Half duplex
Start-stop
1.2/2.4/4.8/9.6/19.2/38.4/57.6/115.2 kbps
Depends on Option Board.
Host link (FINS), Modbus-RTU master, and no-protocol
Supported protocol
Power supply
Option
Board
NX1P211
10
90
IEC 61158 Type12
Class B (Feature Pack Motion Control compliant)
100BASE-TX
Baseband
100 Mbps (100BASE-TX)
Auto
Line, daisy chain, and branching
Twisted-pair cable of category 5 or higher (double-shielded straight cable with aluminum tape and
braiding)
100 m
16
1 to 192
Input: 1,434 bytes
Accuracy
Retention time of built-in capacitor
8
24
On CPU Rack: 8
On EtherCAT Slave Terminals: 16
A non-isolated power supply for DC input is built into the
CPU Unit.
2 to 8 ms
2
2
1
24
24
14
16
16
10
11/10/90: Not provided (NPN)
111/101/901: Provided (PNP)
Not provided
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
At ambient temperature of 40°C: 10 days
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1-5
1-1 Function Specifications for
NX1P2 CPU Units
Item
1
1 Introduction to NX1P2 CPU Units
*1. Execution objects and variable tables (including variable names)
*2. Memory used for CJ-series Units is included.
*3. The value can be set in 1-word increments. The value is included in the total size of variables without Retain attributes.
*4. The value can be set in 1-word increments. The value is included in the total size of variables with Retain attributes.
*5. For details on each axis, refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507).
"+": Motion Control Axes includes:
- Point to point positioning
- Synchronized motion (gearing/camming)
- Multi-Axes coordinated motion (circular/linear interpolation)
- Axes grouping
"+": Single-axis position control includes:
- Only point-to-point positioning
- No Synchronized motion (gearing/camming)
- No Multi-Axes coordinated motion (circular/linear interpolation)
- No Axes grouping
*6. Data will be refreshed at the set interval, regardless of the number of nodes.
*7. “pps“ means packets per second, i.e., the number of communications packets that can be sent or received in
one second.
*8. As the EtherNet/IP port implements the IGMP client, unnecessary multi-cast packets can be filtered by using an
Ethernet switch that supports IGMP Snooping.
1-6
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1 Introduction to NX1P2 CPU Units
Overall Operating Procedure
The overall operating procedure of the NX1P2 CPU Units is shown below, with each step of the procedure described in detail.
1-2-1
Overall Operating Procedure
1
1-2-1 Overall Operating Procedure
The overall procedure to use an NX1P2 CPU Unit is given below.
Step
1. Software Design
Design the overall system configuration, task configuration, programs,
and variables.
Step 1-1 Designing I/O and Processing
Step 1-2 Designing Tasks
Step 1-3 Designing Programs
Step
2. Software Setup and Programming
Create the system configuration that you designed in step 1 with the
Support Software and assign the variables. Create the tasks and programs, and debug them, e.g., with simulations.
Step 2-1 Slave and NX Unit Configurations
Step 2-2 Controller Setup
Step 2-3 Programming
Step 2-4 Offline Debugging
Step
3. Mounting and Setting Hardware
Mount the Units and make the required hardware settings.
Step
4. Wiring
Connect the network cables and wire the I/O.
Step
5. Checking Operation and Starting Operation
on the Actual System
Connect the Support Software to the physical system and download the
project. Check operation on the physical system and then start actual
system operation.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1-2 Overall Operating Procedure
1-2
1-7
1 Introduction to NX1P2 CPU Units
1-2-2
Procedure Details
Step 1. Software Design
Step
Step 1-1
Designing I/O and Processing
Description
• External I/O devices and unit configuration
Step 1-2
Designing Tasks
• Task configuration
• Refresh periods for external devices
• Program contents
• Relationship between tasks and programs
• Task periods
Reference
NX-series NX1P2 CPU Unit
Hardware User’s Manual
(Cat. No. W578)
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
• Slave, NX Unit, and built-in I/O refresh times
• Exclusive control methods for variables between tasks
Step 1-3
Designing Programs
POU (Program Organization Unit) Design
Variable Design
• Programs
• Functions and function blocks
• Determining the algorithm languages
• Defining variables that you can use in more than one POU and
variables that you use in only specific POUs
• Defining the variables names for the device variables that you
use to access slaves, NX Units, and the built-in I/O
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
• Defining the attributes of variables, such as the Name and
Retain attributes
• Designing the data types of variables
Step 2. Software Setup and Programming
Step
Description
Project Creation
1. Create a project in the Sysmac
Studio.
2. Insert a Controller.
Sysmac Studio
Operations
New Project Button
Insert - Controller
Reference
Sysmac Studio Version 1
Operation Manual (Cat. No.
W504)
The following Controller Configurations and Setup and the Programming and Task Settings can be performed in either
order.
Step 2-1
Slave and NX Unit Configurations
EtherCAT Tab Page NJ/NX-series CPU Unit Soft1. Creating the slave configuration and
1. Creating the Slave
NX Unit configuration either offline or CPU and Expansion ware User’s Manual (Cat.
and NX Unit ConfiguraNo. W501)
online. (For online configuration,
tions
Racks Tab Page
make the online connection that is
NX-series EtherCAT Coupler
Slave Terminal Tab
described in step 5.)
Units User’s Manual (Cat.
Page
2. Setting up any Slave Terminals that
No. W519)
are used.
1-8
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1 Introduction to NX1P2 CPU Units
Registering device variables in the variable table
I/O Map
(Variable names are user-defined or
automatically created.)
Step 2-2
Controller Setup
Setting the following parameters from the
Sysmac Studio
Setting the initial values for the PLC
Function Module
(When battery is used)Setting the
clock data with the clock function
Setting the initial values for the NX
Bus Function Module
(The following step is for motion
control.)
Setting the initial settings for the
Motion Control Function Module
Setting the initial values for the EtherCAT Function Module
Setting the initial values for the EtherNet/IP Function Module
Setting the initial values for the
built-in I/O
Setting the initial values for an
Option Board
1
Configurations and
Setup − Motion
Control Setup
Configurations and
Setup − Controller
Setup − Operation
Settings
Controller − Controller Clock
Configurations and
Setup −
CPU/Expansion
Racks − CPU Rack
Configurations and
Setup − Motion
Control Setup
Configurations and
Setup − EtherCAT
Configurations and
Setup − Controller
Setup − Built-in
EtherNet/IP Port
Settings
Configurations and
Setup − Controller
Setup − Built-in I/O
Settings
Configurations and
Setup − Controller
Setup − Option
Board Settings
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
2-4-1 Built-in I/O Settings on
page 2-8
3-2-1 Settings on page 3-4
Step 2-3
Programming
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1-9
1-2-2 Procedure Details
(The following step is for motion control.)
Creating the axes and setting them as
3. Creating the Axes
and Assigning Them to real axes or virtual axes.
the Servo
Creating axes groups to perform interpoDrive/Encoder Input
lated axes control.
Slaves
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
1-2 Overall Operating Procedure
2. Assigning Device
Variables to I/O Ports
1 Introduction to NX1P2 CPU Units
1. Registering Variables
• Registering the variables used by more
than one POU in the global variable
table with Sysmac Studio
• Registering the local variable table for
each program
2. Writing Algorithms
for POUs
• Registering the local variable table for
each function block and function
Writing the algorithms for the POUs (programs, function blocks, and functions) in
the required languages
Global Variable
Table Editor
Local Variable Table
Editor
Programming Editor
Sysmac Studio Version 1
Operation Manual (Cat. No.
W504)
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
NJ/NX-series Instructions
Reference Manual (Cat. No.
W502)
3. Setting the Tasks
Making task settings
Configurations and
Setup − Task Settings
Step 2-4
Offline Debugging
Checking the algorithms and task execution times on the Simulator (virtual controller)
NJ/NX-series Motion Control
Instructions Reference Manual (Cat. No. W508)
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
Step 3. Mounting and Setting Hardware
Step
1. Mounting
Description
• Connecting adjacent Units
• Mounting to DIN Track
2. Setting Hardware
• Setting the node addresses of the EtherCAT slaves
Reference
NX-series NX1P2 CPU Unit
Hardware User’s Manual
(Cat. No. W578)
Operation manuals for the
EtherCAT slaves
Step 4. Wiring
Step
1. Connecting the
Power Supply to the
CPU Unit
2. Connecting Ethernet Cable
Description
• Connecting the power supply and ground wires
• Connecting the built-in EtherCAT port
• Connecting the built-in EtherNet/IP port
Reference
NX-series NX1P2 CPU Unit
Hardware User’s Manual
(Cat. No. W578)
NJ/NX-series CPU Unit
Built-in EtherCAT Port User’s
Manual (Cat. No. W505)
NJ/NX-series CPU Unit
Built-in EtherNet/IP Port
User’s Manual (Cat. No.
W506)
1 - 10
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1 Introduction to NX1P2 CPU Units
• Wiring the built-in I/O
NX-series NX1P2 CPU Unit
Hardware User’s Manual
(Cat. No. W578)
• Wiring I/O for NX Units
• Wiring Option Boards
Manuals for the specific NX
Units
Operation manuals for the
EtherCAT slaves
• Wiring I/O to EtherCAT slaves
• Checking wiring
4. Connecting the
Computer That Runs
the Sysmac Studio
• Connecting the built-in EtherNet/IP port
Step 5. Checking Operation and Starting Operation on the Actual System
Step
1. Online Connection
to Sysmac Studio and
Project Download
Description
Sysmac Studio
Operations
Turn ON the power supply to the Control- Controller − Comler and place the Sysmac Studio online.
munications Setup
Reference
Then, download the project.*1
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
Perform this step before you create the
slave configuration or Unit configuration
from the mounted Units in step 2-1.
2. Operation Check on
Controller
3. Actual Controller
Operation
1. Check the wiring by using forced
refreshing of real I/O from the I/O Map
or Watch Tab Page.
2. For motion control, use the MC Test
Run operations in PROGRAM mode
to check the wiring. Then check the
motor rotation directions for jogging,
travel distances for relative
positioning (e.g., for electronic gear
settings), and homing operation.
3. Change the Controller to RUN mode
and check the operation of the user
program.
Start actual operation.
Controller − Synchronization
---
NJ/NX-series CPU Unit Software User’s Manual (Cat.
No. W501)
---
---
*1. Use the Synchronize Menu of the Sysmac Studio to download the project.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
1 - 11
1
1-2-2 Procedure Details
NX-series NX1P2 CPU Unit
Hardware User’s Manual
(Cat. No. W578)
Sysmac Studio Version 1
Operation Manual (Cat. No.
W504)
Sysmac Studio Version 1
Operation Manual (Cat. No.
W504)
1-2 Overall Operating Procedure
3. Wiring I/O
1 Introduction to NX1P2 CPU Units
1 - 12
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2
Built-in I/O
This section describes the built-in I/O of the NX1P2 CPU Units.
2-1 Built-in I/O Terminal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-1-1
Terminal Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-2 I/O Data Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-2-1
2-2-2
NX1P2-24DT/-24DT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
NX1P2-40DT/-40DT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2-3 Built-in I/O Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2-4 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2-4-1
2-4-2
Built-in I/O Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
I/O Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2-5 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2-5-1
2-5-2
Input Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
Output Load Rejection Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2-6 I/O Refreshing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2-6-1
2-6-2
I/O Refresh Timing of Built-in I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
I/O Response Time of Built-in I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2-1
2 Built-in I/O
2-1
Built-in I/O Terminal Allocation
The following describes the allocation of the built-in I/O terminals.
2-1-1
Terminal Arrangement
The built-in I/O terminals are located on the terminal blocks on the front of the CPU Unit.
The arrangement of these terminals is shown below.
NX1P2-24DT/-24DT1
+
+
IN
--- COM 01
--- 00 02
03
04
05
06
07
08
06
07
08
09
NC
NC
06
07
08
09
NC
NC
09
10
11
12
13
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
POWER
RUN
Input terminal block
Output terminal block
NX1P2-24DT
LINK/ACT
OUT
NC
NC 00
C0 (0V) 01
02
03
04
05
1
NC
NC
NX1P2-24DT1
LINK/ACT
NC C0 (+V) 00
OUT 0V0 01
2-2
02
03
04
05
1
NC
NC
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2 Built-in I/O
2-1 Built-in I/O Terminal Allocation
 Input Terminal Block
+
-
COM
01
03
05
07
09
11
13
+
-
00
02
04
06
08
10
12
NC
NC
 Output Terminal Block
NX1P2-24DT
NC
NC
C0 (0V)
00
01
02
03
04
05
06
07
08
09
NC
NC
NC
NC
NC
NC
NC
NC
NC
2
NX1P2-24DT1
C0 (+V)
0V0
00
01
02
03
04
05
06
07
08
09
NC
NC
NC
NC
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
NC
NC
NC
NC
2-1-1 Terminal Arrangement
NC
NC
2-3
2 Built-in I/O
NX1P2-40DT/-40DT1
+
+
IN
--- COM 01
--- 00 02
03
04
05
06
07
08
09
10
11
12
13
14
15
16
12
13
14
15
NC
12
13
14
15
NC
17
18
19
20
21
22
23
POWER
RUN
Input terminal block
Output terminal block
NX1P2-40DT
LINK/ACT
OUT
NC
NC 00
C0 (0V) 01
02
03
04
05
06 NC 08
07 C1 (0V) 09
1
10
11
2
NX1P2-40DT1
LINK/ACT
NC C0 (+V) 00
OUT 0V0 01
02
03
04
05
06 C1 (+V) 08
07 0V1 09
1
10
11
2
 Input Terminal Block
+
-
COM
01
03
05
07
09
11
13
15
17
19
21
+
-
00
02
04
06
08
10
12
14
16
18
20
22
23
 Output Terminal Block
NX1P2-40DT
NC
NC
C0 (0V)
00
01
02
03
04
05
06
07
NC
C1 (0V)
08
09
10
11
12
13
14
15
NC
02
03
04
05
06
07
C1 (+V)
0V1
08
09
10
11
12
13
14
15
NC
NX1P2-40DT1
NC
2-4
C0 (+V)
0V0
00
01
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2 Built-in I/O
2-2
I/O Data Specifications
2-2 I/O Data Specifications
The following describes the I/O data specifications for the built-in I/O.
The built-in I/O uses I/O data as I/O ports.
I/O ports are generated automatically by the Sysmac Studio.
To use I/O data in the user program, you use device variables assigned to the relevant I/O ports.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for I/O ports and device
variables.
2-2-1
NX1P2-24DT/-24DT1
 General Input
Data name
Input Bit 00
Input Bit 01
Input Bit 02
Input Bit 03
Input Bit 04
Input Bit 05
Input Bit 06
Input Bit 07
Input Bit 08
Input Bit 09
Input Bit 10
Input Bit 11
Input Bit 12
Input Bit 13
Function
The input value for input bit 00.
The input value for input bit 01.
The input value for input bit 02.
The input value for input bit 03.
The input value for input bit 04.
The input value for input bit 05.
The input value for input bit 06.
The input value for input bit 07.
The input value for input bit 08.
The input value for input bit 09.
The input value for input bit 10.
The input value for input bit 11.
The input value for input bit 12.
The input value for input bit 13.
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
I/O port name
Input Bit 00
Input Bit 01
Input Bit 02
Input Bit 03
Input Bit 04
Input Bit 05
Input Bit 06
Input Bit 07
Input Bit 08
Input Bit 09
Input Bit 10
Input Bit 11
Input Bit 12
Input Bit 13
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
I/O port name
Output Bit 00
Output Bit 01
Output Bit 02
Output Bit 03
Output Bit 04
Output Bit 05
Output Bit 06
Output Bit 07
Output Bit 08
Output Bit 09
 General Output
Data name
Output Bit 00
Output Bit 01
Output Bit 02
Output Bit 03
Output Bit 04
Output Bit 05
Output Bit 06
Output Bit 07
Output Bit 08
Output Bit 09
Function
The output set value for output bit 00.
The output set value for output bit 01.
The output set value for output bit 02.
The output set value for output bit 03.
The output set value for output bit 04.
The output set value for output bit 05.
The output set value for output bit 06.
The output set value for output bit 07.
The output set value for output bit 08.
The output set value for output bit 09.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2-5
2-2-1 NX1P2-24DT/-24DT1
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for how to register device
variables with the Sysmac Studio.
2
2 Built-in I/O
2-2-2
NX1P2-40DT/-40DT1
 General Input
Data name
Input Bit 00
Input Bit 01
Input Bit 02
Input Bit 03
Input Bit 04
Input Bit 05
Input Bit 06
Input Bit 07
Input Bit 08
Input Bit 09
Input Bit 10
Input Bit 11
Input Bit 12
Input Bit 13
Input Bit 14
Input Bit 15
Input Bit 16
Input Bit 17
Input Bit 18
Input Bit 19
Input Bit 20
Input Bit 21
Input Bit 22
Input Bit 23
Function
The input value for input bit 00.
The input value for input bit 01.
The input value for input bit 02.
The input value for input bit 03.
The input value for input bit 04.
The input value for input bit 05.
The input value for input bit 06.
The input value for input bit 07.
The input value for input bit 08.
The input value for input bit 09.
The input value for input bit 10.
The input value for input bit 11.
The input value for input bit 12.
The input value for input bit 13.
The input value for input bit 14.
The input value for input bit 15.
The input value for input bit 16.
The input value for input bit 17.
The input value for input bit 18.
The input value for input bit 19.
The input value for input bit 20.
The input value for input bit 21.
The input value for input bit 22.
The input value for input bit 23.
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
I/O port name
Input Bit 00
Input Bit 01
Input Bit 02
Input Bit 03
Input Bit 04
Input Bit 05
Input Bit 06
Input Bit 07
Input Bit 08
Input Bit 09
Input Bit 10
Input Bit 11
Input Bit 12
Input Bit 13
Input Bit 14
Input Bit 15
Input Bit 16
Input Bit 17
Input Bit 18
Input Bit 19
Input Bit 20
Input Bit 21
Input Bit 22
Input Bit 23
Data type
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
I/O port name
Output Bit 00
Output Bit 01
Output Bit 02
Output Bit 03
Output Bit 04
Output Bit 05
Output Bit 06
Output Bit 07
Output Bit 08
Output Bit 09
Output Bit 10
Output Bit 11
Output Bit 12
Output Bit 13
Output Bit 14
Output Bit 15
 General Output
Data name
Output Bit 00
Output Bit 01
Output Bit 02
Output Bit 03
Output Bit 04
Output Bit 05
Output Bit 06
Output Bit 07
Output Bit 08
Output Bit 09
Output Bit 10
Output Bit 11
Output Bit 12
Output Bit 13
Output Bit 14
Output Bit 15
2-6
Function
The output set value for output bit 00.
The output set value for output bit 01.
The output set value for output bit 02.
The output set value for output bit 03.
The output set value for output bit 04.
The output set value for output bit 05.
The output set value for output bit 06.
The output set value for output bit 07.
The output set value for output bit 08.
The output set value for output bit 09.
The output set value for output bit 10.
The output set value for output bit 11.
The output set value for output bit 12.
The output set value for output bit 13.
The output set value for output bit 14.
The output set value for output bit 15.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2 Built-in I/O
2-3
Built-in I/O Functions
Function name
Input filter
Output load rejection setting
Description
This function eliminates the chattering or the noises
from input signals.
It is used to prevent the error reading due to the noises.
You can set the filter time constant.
This function performs a preset output operation if a
watchdog timer error or an error in the major fault level
occurs in the CPU Unit.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Reference
2-5-1 Input Filter on page
2-10
2-5-2 Output Load Rejection Setting on page 2-12
2-7
2-3 Built-in I/O Functions
The following functions are available for the built-in I/O.
2
2 Built-in I/O
2-4
Settings
The following describes the settings of the built-in I/O.
2-4-1
Built-in I/O Settings
These settings are related to the built-in I/O functions.
Select Built-in I/O Settings under Configurations and Setup - Controller Setup to display the
Built-in I/O Settings Tab Page.
The settings are as follows:
Item
Input Filter
Settings
Setting
group
Input Filter
Description
1 ms*1
When downloaded
to CPU Unit
Changes in
RUN mode
Not
allowed.
256 ms
• ON and OFF filters
ON and
OFF filters
When downloaded
to CPU Unit
Not
allowed.
• OFF filter only
Turn OFF
Turn OFF
When downloaded
to CPU Unit
Not
allowed.
Set value
Set the filter time for
input signals.
No filter
Default
0.25 ms
Update timing
0.5 ms
1 ms
2 ms
4 ms
8 ms
16 ms
32 ms
64 ms
128 ms
Operation
Mode*2
Load Rejection Output
Settings
2-8
Set the operating
mode for the input filter.
Set the output at load
rejection.
Hold the present
value
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2 Built-in I/O
*1. If a value is set for the input filter time that is smaller than the default value, incorrect input caused by external noises
occurs more easily. If an incorrect input occurs, either change the setting to make a long input filter time or take countermeasures, such as separate the Unit or signal lines and noise source, or protect the Unit or signal lines.
*2. You cannot edit this setting when the Input Filter is set to No filter.
I/O Map
2-4 Settings
2-4-2
To use I/O data in the user program, you assign a device variable to each I/O port.
Select Configurations and Setup - I/O Map to display the I/O Map.
2
2-4-2 I/O Map
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for how to register device
variables with the Sysmac Studio.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2-9
2 Built-in I/O
2-5
Functions
The following shows the details on the functions available for the built-in I/O.
2-5-1
Input Filter
Application
This function prevents data changes and unstable data caused by changes of input data and unstable
status of input bits due to chattering and noise.
You can also use this function to make the settings to easily read the pulses that ON time is short.
Details on the Function
 If the Operation Mode in the Input Filter Settings is ON and OFF filters
Read the inputs 4 times at a 1/4 interval of the input filter time. When all inputs are ON or OFF, the
input values turn ON or OFF.
This prevents data changes and unstable data.
Operation when the input turns from OFF to ON (ON filter)
Input filter time
1
Values of input
terminals
2
3
Input filter time
4
1
2
3
4
ON
OFF
ON OFF OFF ON
Input value is OFF
because all inputs
are not ON during
four times of reading.
ON ON ON ON
Input value is ON
because all inputs
are ON during
four times of reading.
ON
Input value
OFF
2 - 10
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2 Built-in I/O
Operation when the input turns from ON to OFF (OFF filter)
Input filter time
1
2
3
Input filter time
4
1
2
3
4
ON
OFF
OFF ON OFF OFF
Input value is ON
because all inputs
are not OFF during
four times of reading.
OFF OFF OFF OFF
Input value is OFF
because all inputs
are OFF during
four times of reading.
2-5 Functions
Values of input
terminals
2
ON
2-5-1 Input Filter
Input value
OFF
 If the Operation Mode in the Input Filter Settings is OFF filter only
ON filter is disabled and OFF filter is enabled.
This makes easily to read the pulses that ON time is short.
Input filter time
Input filter time
1
Values of input
terminals
2
3
4
1
ON
ON
OFF
OFF
ON OFF OFF OFF OFF
2
3
4
ON OFF ON OFF OFF OFFOFF
ON
ON
OFF
OFF
Input value
When input is ON (ON filter disabled)
If the status of input terminals turns ON,
the input value will turn ON immediately.
When input is ON (ON filter disabled)
If the status of input terminals turns ON,
the input value will turn ON immediately.
When input is OFF (OFF filter enabled)
If the status of input terminals does
not turn ON again during the input
filter time, the input value will turn
OFF after the input filter time has
passed.
When input is OFF (OFF filter enabled)
If the status of input terminals turns
ON again during the input filter time,
the input value stays ON from that
time during the input filter time.
Additional Information
If a value is set for the input filter time that is smaller than the default value, incorrect input
caused by external noises occurs more easily. If an incorrect input occurs, either change the
setting to make a long input filter time or take countermeasures, such as separate the Unit or
signal lines and noise source, or protect the Unit or signal lines.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2 - 11
2 Built-in I/O
Settings
Configure the settings in the Built-in I/O Settings Tab Page, which is displayed by selecting Built-in I/O
Settings under Configurations and Setup - Controller Setup.
Each setting corresponds to 4 consecutive inputs.
Precautions
Note that when you use this function, the time for which the input value actually turns ON or turns OFF
is delayed from the initial input to the input terminals until delay time in the following table.
Delay time
ON delay time
OFF delay time
2-5-2
Description
ON response time + Input filter time
OFF response time + Input filter time
Output Load Rejection Setting
Application
This function maintains a safe output status by performing a preset output operation if a watchdog timer
error or an error in the major fault level occurs in the CPU Unit.
Details on the Function
This function performs a preset output operation if a watchdog timer error or an error in the major fault
level occurs in the CPU Unit.
Set whether to hold the output or turn it OFF if an error occurs.
Settings
Configure the settings in the Built-in I/O Settings Tab Page, which is displayed by selecting Built-in I/O
Settings under Configurations and Setup - Controller Setup.
Each setting corresponds to 1 output.
2 - 12
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2 Built-in I/O
2-6
I/O Refreshing
2-6-1
The CPU Unit refreshes the built-in I/O in the task period of the primary periodic task.
2-6 I/O Refreshing
The following describes the I/O refresh timing and I/O response time of the built-in I/O.
The CPU Unit reads input values into device variables at the time of I/O refreshing.
2
I/O Refresh Timing of Built-in I/O
2-6-1 I/O Refresh Timing of Built-in I/O
The CPU Unit updates the outputs with the values of the device variables read at the time of I/O
refreshing.
: I/O refreshing
Task period
Primary periodic task:
IO UPG MC
Task period
IO UPG MC
IO UPG MC
Input terminal status:
Input ON/OFF response time + Input filter time
Input values:
Read input values:
Input device variables:
Output device variables:
Refresh outputs:
Output ON/OFF response time
Output terminal status:
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2 - 13
2 Built-in I/O
The CPU Unit refreshes outputs and reads inputs for each built-in I/O bit during the period of I/O
refreshing in the task period.
Therefore, the timing to read input values varies between input terminals and the timing to refresh outputs varies between output terminals.
: I/O refreshing
Task period
Primary periodic task:
IO
UPG
MC
Task period
IO UPG MC
Terminal status for input A/B/C:
Timing to read input A:
Timing to read input B:
Timing to read input C:
Device variables to input A:
Device variables to input B:
Device variables to input C:
Device variables for output A/B/C:
Timing to refresh output A:
Timing to refresh output B:
Timing to refresh output C:
Terminal status for output A:
Terminal status for output B:
Terminal status for output C:
Additional Information
If the offset in the timing to read inputs or refresh outputs between terminals is a problem, use a
Unit that supports synchronous I/O refreshing. By using a Unit that supports synchronous I/O
refreshing, you can synchronize the timing to read inputs and refresh outputs between terminals and Units.
Some NX Units connected to a CPU Unit or EtherCAT Slave Terminal and Units other than NX
Units support synchronous I/O refreshing.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) or the NX-series
EtherCAT Coupler Unit User’s Manual (Cat. No. W519) for synchronous I/O refreshing.
2 - 14
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2 Built-in I/O
2-6-2
I/O Response Time of Built-in I/O
This time varies depending on the timing at which input values change with respect to the task period.
 Minimum I/O Response Time
The I/O response time is minimum when the input values change immediately before the CPU Unit
executes I/O refreshing.
2-6 I/O Refreshing
I/O response time refers to the time from when the input status of inputs is changed until the CPU Unit
completes updating the output status of outputs with the execution results of the user program.
2
The response time at this time can be calculated as follows.
: I/O refreshing
Task period
Primary periodic task:
IO UPG MC
Task period
IO UPG MC
IO UPG MC
Input terminal status:
Input ON/OFF response time + Input filter time
Input values:
Read input values:
Input device variables:
Output device variables:
Refresh outputs:
Output ON/OFF response time
Output terminal status:
Minimum I/O response time
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
2 - 15
2-6-2 I/O Response Time of Built-in I/O
Minimum I/O response time = Input ON/OFF response time + Input filter time + Task period + Output
ON/OFF response time
2 Built-in I/O
 Maximum I/O Response Time
The I/O response time is maximum when the input values change immediately after the CPU Unit
executes I/O refreshing.
The response time at this time can be calculated as follows.
Maximum I/O response time = Input ON/OFF response time + Input filter time + Task period x 3 +
Output ON/OFF response time
: I/O refreshing
Task period
Primary periodic task:
IO UPG MC
Task period
IO UPG MC
IO UPG MC
Input terminal status:
Input ON/OFF response time + Input filter time
Input values:
Read input values:
Input device variables:
Output device variables:
Refresh outputs:
Output ON/OFF response time
Output terminal status:
Maximum I/O response time
Additional Information
The input ON/OFF response time and the output ON/OFF response time vary depending on
the terminal that is used.
Refer to the NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578) for the
specifications of each terminal.
2 - 16
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Option Boards
3
This section describes the common functions of Option Boards for the NX1P2 CPU
Units.
3-1 Option Board Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3-1-1
3-1-2
Serial Communications Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
Analog I/O Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-2 Using Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-2-1
3-2-2
3-2-3
3-2-4
3-2-5
3-2-6
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
System-defined Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
Device Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
Assigning Device Variables to Option Boards . . . . . . . . . . . . . . . . . . . . . . . .3-11
Instructions Used for Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
How Option Boards Operate in Case of an Error . . . . . . . . . . . . . . . . . . . . . 3-14
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3-1
3 Option Boards
3-1
Option Board Types
The following describes the types of Option Boards that can be used with the NX1P2 CPU Unit.
To use an Option Board, mount it to the option board slot on the NX1P2 CPU Unit.
Two types of Option Boards are available: Serial Communications Option Boards and Analog I/O
Option Boards.
Option board slot
IN
SW SETTING
+
+
NX1P2 CPU Unit
-----
PORT1 EtherNet/IP
PORIT2 EtherCAT
1
2
OUT
ERR
Serial Communications
Option Board
3-2
VI1
I I1
VI2
I I2
COM
RDA- RDB+ SDA- SDB+ SHLD
Option Board
ERR
ERR
IN
OUT
OUT
VI1
I I1
VI2
I I2
COM
VO1
VO2
COM
COMM
IN
ER SG1 DR RS CS SHLD
VO1
VO2
COM
COMM
SG0 RD SD
Analog I/O Option Board
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3 Option Boards
3-1-1
Serial Communications Option Boards
The following table shows the types and summary specifications of Serial Communications Option
Boards.
NX1W-CIF01
NX1W-CIF11
COMM
COMM
SG0 RD SD
Communications port
Number of ports
Communications protocol
3-1-2
RS-422A/485
1
Host link (FINS), Modbus-RTU master, and
no-protocol
No-isolation
Screwless clamping terminal block
RS-422A/485
1
Host link (FINS), Modbus-RTU master, and
no-protocol
Isolation
Screwless clamping terminal block
Analog I/O Option Boards
The following table shows the types and summary specifications of Analog I/O Option Boards.
NX1W-ADB21
NX1W-DAB21V
ERR
ERR
IN
VI1
I I1
VI2
I I2
COM
VO1
VO2
COM
OUT
Analog input
Input range
Resolution
Analog output
Output
range
Resolution
Conversion time
Isolation
External connection terminal
NX1W-MAB221
ERR
IN
OUT
VI1
I I1
VI2
I I2
COM
VO1
VO2
COM
Item
Appearance
2 inputs
0 to 10 V, 0 to 20 mA
1/4,000, 1/2,000
None
---
None
----2 outputs
0 to 10 V
2 inputs
0 to 10 V, 0 to 20 mA
1/4,000, 1/2,000
2 outputs
0 to 10 V
--4 ms/Option Board
No-isolation
Screwless clamping terminal block
1/4,000
4 ms/Option Board
No-isolation
Screwless clamping terminal block
1/4,000
6 ms/Option Board
No-isolation
Screwless clamping terminal block
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3-3
3
3-1-1 Serial Communications Option Boards
Isolation
External connection terminal
RDA- RDB+ SDA- SDB+ SHLD
ER SG1 DR RS CS SHLD
RS-232C
1
Host link (FINS), Modbus-RTU master, and
no-protocol
No-isolation
Screwless clamping terminal block
NX1W-CIF12
3-1 Option Board Types
Item
Appearance
3 Option Boards
3-2
Using Option Boards
The following provides information on using Option Boards, which is commonly applicable to Serial
Communications Option Boards and Analog I/O Option Boards.
3-2-1
Settings
The description below is related to the settings of Option Boards to use.
Configuration
Specify the models of the Option Boards to use.
Set the Option Board configuration under Configuration in the Option Board Settings Tab Page, which
is displayed by selecting Option Board Settings under Configurations and Setup - Controller
Setup.
The settings are as follows:
Item
Configuration
Setting group
Option board 1
Option board 2*1
Description
Specify the model of
the Option Board to
use.
Set value
Not mounted
NX1W-CIF01
Default
Not
mounted
Update timing
When downloaded
to CPU Unit
Changes in
RUN mode
Not
allowed.
NX1W-CIF11
NX1W-CIF12
NX1W-ADB21
NX1W-DAB21V
NX1W-MAB221
*1. You cannot edit this setting if your CPU Unit does not support the second Option Board.
Additional Information
If you change the set Option Board configuration, the I/O Map will be changed automatically. At
the same time, the mapping of device variables to the I/O Map will also be deleted.
After you change the Option Board configuration, you need to map the device variables again.
3-4
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3 Option Boards
Option Board Serial Communications Settings
These are the serial port settings for the Serial Communications Option Boards.
The serial communications settings for each Option Board are enabled only when the corresponding
Serial Communications Option Board is specified in the configuration setting.
3-2 Using Option Boards
Set the Option Board Serial Communications Settings under Option Board 1 Serial Communications
Settings/Option Board 2 Serial Communications Settings in the Option Board Settings Tab Page,
which is displayed by selecting Option Board Settings under Configurations and Setup - Controller
Setup.
3
3-2-1 Settings
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3-5
3 Option Boards
The settings are as follows:
Item
Option
Board 1
Serial Communications
Settings
Setting
group
Serial communications mode
Unit No.
Baud rate
Host Link
(FINS)
When downloaded
to CPU Unit
Changes in
RUN mode
Not
allowed.
No-Protocol
0 to 31
0
When downloaded
to CPU Unit
Not
allowed.
1,200 bps
9,600 bps
When downloaded
to CPU Unit
Not
allowed.
Description
Set value
Set the serial communications mode.
Set the unit number of
the host link when the
Serial communications mode is set to
Host Link (FINS).
Set the baud rate for
the serial port.
Host Link (FINS)
Modbus-RTU Master
Default
2,400 bps
Update timing
4,800 bps
9,600 bps
19,200 bps
38,400 bps
57,600 bps
Data length
Set the data length.
115,200 bps
7 bits
7 bits
Not
allowed.
Parity
Set the parity bit.
8 bits
Even
When downloaded
to CPU Unit
Even
When downloaded
to CPU Unit
Not
allowed.
2 bits
When downloaded
to CPU Unit
Not
allowed.
Odd
Stop bit
Option
Board 2
Serial Communications
Settings
Set the stop bit.
None
1 bit
2 bits
The settings are the same as those for the Option Board 1 Serial Communications Settings.
However, you cannot edit this setting if your CPU Unit does not support the second Option Board.
Memory Settings for CJ-series Units
These settings are provided to specify the area type and size of the memory used for CJ-series Units
when the Serial communications mode is set to Host Link (FINS).
Additional Information
The host link (FINS) protocol accesses only the memory used for CJ-series Units out of the
entire memory available in the CPU unit.
Nevertheless, the NX1P2 CPU Unit does not have memory used for CJ-series Units in the
default setting. Therefore, in order to use the host link (FINS) protocol, you need to generate
memory used for CJ-series Units in the NX1P2 CPU Unit. The memory settings for CJ-series
Units are used for this purpose.
3-6
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3 Option Boards
 Setting Procedure
Step
Determining the
usable memory
2
Memory settings for
CJ-series Units
3
Programming
4
If the set memory size is not sufficient,
return to step 2 and increase the number
of words.
Download the project from the Sysmac
Studio.
Check the operation of the user program
and connected devices.
Reference
Manuals and technical materials for
connected devices
Setting Screen on page 3-7
4-2-4 Programming on page 4-8
4-3-4 Programming on page 4-17
3
NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501)
Sysmac Studio Version 1 Operation
Manual (Cat. No. W504)
 Setting Screen
Specify the memory used for CJ-series Units in the Memory Settings for CJ-series Units Tab Page,
which is displayed by selecting Memory Settings under Configurations and Setup - Controller
Setup.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3-7
3-2-1 Settings
5
Downloading the project
Checking operation
and actual operation
Description
Determine the area type and the number
of words of memory used for CJ-series
Units to make available for data
exchange with connected devices.
In the Sysmac Studio, set the area type
and the number of words of memory
used for CJ-series Units to make available for connected devices.
Create the user program that uses the
memory used for CJ-series Units.
3-2 Using Option Boards
No.
1
3 Option Boards
 Settings
The settings are as follows:
Item
Memory
Settings for
CJ-series
Units
Setting
group
CIO
WR
HR
DM
Setting
Enable
Size
(Number of
Words)
Enable
Size
(Number of
Words)
Enable
Size
(Number of
Words)
Enable
Size
(Number of
Words)
Description
Set value
Default
Enable or disable the generation of CIO area type memory
used for CJ-series Units.
Enable
Disable
Specify the size of memory of
area type CIO.
1 to 6,144
6,144
Enable or disable the generation of WR area type memory
used for CJ-series Units.
Enable
Disable
Specify the size of memory of
area type WR.
1 to 512
512
Enable or disable the generation of HR area type memory
used for CJ-series Units.
Enable
Disable
Specify the size of memory of
area type HR.
1 to 1,536
512
Enable or disable the generation of DM area type memory
used for CJ-series Units.
Enable
Disable
Specify the size of memory of
area type DM.
1 to 16,000
Disable
Disable
Disable
Disable
4,096
Update
timing
When
downloaded to
CPU Unit
When
downloaded to
CPU Unit
When
downloaded to
CPU Unit
When
downloaded to
CPU Unit
When
downloaded to
CPU Unit
When
downloaded to
CPU Unit
When
downloaded to
CPU Unit
When
downloaded to
CPU Unit
Changes in
RUN mode
Not allowed.
Not allowed.
Not allowed.
Not allowed.
Not allowed.
Not allowed.
Not allowed.
Not allowed.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the specifications of
memory used for CJ-series Units.
3-2-2
System-defined Variables
The following table shows the system-defined variables available for Option Boards.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the specifications of system-defined variables for Option Boards.
Variable
_PLC_OptBoardSta
Meaning
Option Board Status
Function
Data type
Contains the status of Option Boards. This variable is
commonly used regardless of the models of Option
Boards.
ARRAY[1..2] OF
_sOPTBOARD_STA
The array element 1 corresponds to the option board
slot 1 and array element 2 corresponds to the option
board slot 2.
3-8
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3 Option Boards
Variable
_PLC_OptSerialErrSta
Meaning
Serial Option Board
Error Status
Function
Data type
Contains the error status of an transmission error for
the Serial Communications Option Board.
When the Serial communications mode of an Serial
Communications Option Board is only set to Host
Link (FINS), the value of each member is updated.
ARRAY[1..2] OF
_sOPTSERIALERR_STA
3-2 Using Option Boards
Other than the above setting, the values of all members are FALSE.
The array element 1 corresponds to the option board
slot 1 and array element 2 corresponds to the option
board slot 2.
You cannot use this system-defined variable in the
user program. This variable is used only for troubleshooting the serial communications device connection
in the Sysmac Studio.
The operation of the _PLC_OptBoardSta (Option Board Status) system-defined variable members is
shown below.
isDetect
FALSE
TRUE
TRUE
TRUE
TRUE
Run
FALSE
FALSE
TRUE
FALSE
FALSE
Error
FALSE
FALSE
FALSE
FALSE
TRUE
FALSE
FALSE
TRUE
FALSE
FALSE
TRUE
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3-2-2 System-defined Variables
Status
Option Board is not mounted.
Option Board is being initialized.
Option Board is operating normally.
Option Board settings are being changed.
An Option Board event occurred when Option Board is
mounted.
An Option Board event occurred when Option Board is
not mounted.
Option Board was removed.
3
3-9
3 Option Boards
To use device variables or communications instructions for an Option Board, program the .Run (Option
Board Normal Operation) member of the _PLC_OptBoardSta (Option Board Status) system-defined
variable as an interlock condition in the user program.
Example of reading analog input values from Option Board 1 to the CPU Unit using the Option Board
Normal Operation as an interlock condition
_PLC_OptBoardSta[1].Run
MOVE
OP1_Ch1_Analog_Input_Value
3-2-3
EN
ENO
In
Out
OP1_Ch1_Analog_Input_Value_Valid
_PLC_OptBoardSta[1].Run
Option Board Normal Operation of Option Board 1 Status
system-defined variable
OP1_Ch1_Analog_Input_Value
Device variable to analog input 1 on Option Board 1
OP1_Ch1_Analog_Input_Value_Valid
Input value to analog input 1 read into the CPU Unit
Device Variables
To use I/O data for an Option Board in the user program, you assign a device variable to each I/O port.
Specify device variables in the I/O Map Tab Page, which is displayed by selecting Configurations and
Setup - I/O Map.
The following is an example of Option Board displayed on the I/O Map Tab Page.
3 - 10
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3 Option Boards
3-2-4
Assigning Device Variables to Option Boards
Some instructions used for Option Boards require that the Option Board be specified in the form of variables. Therefore, you need to assign variables to the Option Boards in advance.
The Sysmac Studio does not automatically create variables that are assigned to Option Boards even if
you specify the Option Board configuration. Follow the steps below to configure the settings to assign
variables to the Option Boards.
1
3
Select Configurations and Setup - I/O Map to display the I/O Map Tab Page.
Right-click the model of Option Board to which you want to assign variables and select Display
Node Location Port from the menu.
The Node location information port is added on the I/O Map.
4
Right-click Node location information and select Create Device Variable from the menu.
The variable name is written to the Variable Field of the Node location information port.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3 - 11
3-2-4 Assigning Device Variables to Option Boards
2
3
In the Sysmac Studio, set the Option Board configuration under Configuration in the Option
Board Settings Tab Page, which is displayed by selecting Option Board Settings under Configurations and Setup - Controller Setup.
3-2 Using Option Boards
Assignment Procedure
3 Option Boards
The data type of variables assigned to Option Boards is _sOPTBOARD_ID structure. The details on the
_sOPTBOARD_ID structure data type are given in the following table.
Variable
User specified
SlotNo
IPAdr
Name
Meaning
Slot number
IP address
Slot number of the Option Board
Not used.
Data type
_sOPTBOARD_ID
UINT
BYTE[5]
Precautions for Correct Use
The values of variables that assigned to the Option Boards will be set automatically when you
register the variables. Do not change the values of the variables. If you change the value of a
variable, the Controller may not perform the intended operation.
Using Variables Assigned to Option Boards
You use variables assigned to an Option Board when you specify the Option Board in the user program.
For this purpose, you need to register the variables in the variable table in advance, using the same
names as those of the variables assigned to the Option Board on the I/O Map. The data type of the variables is _sOPTBOARD_ID structure.
Example of reading analog input values to the CPU Unit using the Option Board Normal Operation at slot
position indicated by the variables assigned to Option Board as an interlock condition
_PLC_OptBoardSta[gOptBoard_ID1.SlotNo].Run
OP1_Ch1_Analog_Input_Value
3 - 12
MOVE
EN
ENO
In
Out
OP1_Ch1_Analog_Input_Value_Valid
gOptBoard_ID1.SlotNo
Slot position indicated by the variables assigned to Option Board
_PLC_OptBoardSta[].Run
Option Board Normal Operation at the position indicated by
_gOptBoard_ID1
OP1_Ch1_Analog_Input_Value
Device variable to analog input 1 on Option Board 1
OP1_Ch1_Analog_Input_Value_Valid
Input value to analog input 1 read into the CPU Unit
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3 Option Boards
3-2-5
Instructions Used for Option Boards
The table below shows serial communications instructions that you can use when the Serial communications mode of a Serial Option Board is Modbus-RTU Master or No-Protocol.
NX_SerialRcv
Receive No-Protocol Data
NX_Modbus
RtuCmd
Send Modbus RTU General
Command
NX_Modbus
RtuRead
Send Modbus RTURead
Command
NX_Modbus
RtuWrite
Send Modbus RTUWrite
Command
NX_SerialSigCtl
Serial Control Signal ON/OFF
Switching
Read Serial Control Signal
NX_SerialSigRead
NX_Serial
StatusRead
NX_SerialBufClear
Read Serial Port Status
Outline of function
Sends data in No-Protocol Mode from a serial port on a
CIF Unit or Option Board.
Reads data in No-Protocol Mode from a serial port on a
CIF Unit or Option Board.
Sends general commands from a serial port on a CIF Unit
or Option Board to Modbus-RTU slaves using Modbus-RTU protocol.
Sends read commands from a serial port on a CIF Unit or
Option Board to Modbus-RTU slaves using Modbus-RTU
protocol.
Sends write commands from a serial port on a CIF Unit or
Option Board to Modbus-RTU slaves using Modbus-RTU
protocol.
Turns ON or OFF the ER or RS signal of a serial port on a
CIF Unit or Option Board.
Reads the CS or DR signal of a serial port on an Option
Board.
Reads the status of a serial port on an Option Board.
Clear Buffer
Clears the send or receive buffer.
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502-E1-17 or later) for details on
serial communications instructions.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
3 - 13
3
3-2-5 Instructions Used for Option Boards
Name
Send No-Protocol Data
3-2 Using Option Boards
Instruction
NX_SerialSend
3 Option Boards
3-2-6
How Option Boards Operate in Case of an Error
The tables below show how Option Boards operate if an error occurs.
 Errors Not Related to Option Boards
Event level
Major fault level
Serial Communications
Option Board
No change.
Analog I/O Option Board
Load turned OFF for analog output.
Analog input values at error occurrence retained.
No change.
Partial fault level
Minor fault level
Observation
Information
 Errors Related to Option Boards
Event level
Option Board Configuration Verification Error
Unsupported Option Board
Mounted
Option Board Error
Analog Option Board Startup
Error
Analog Option Board Communications Error
3 - 14
Serial Communications Option Board
Analog I/O Option Board
Load turned OFF for analog outHost link function disabled when Host
put.
Link (FINS) is selected.
Error generated at execution of a serial
communications instruction when Host
Link (FINS) is not selected.
---
Analog input value reset to 0.
---
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Serial Communications
This section describes the functions of Serial Communications Option Boards for the
NX1P2 CPU Units.
4-1 Serial Communications Types and Overview . . . . . . . . . . . . . . . . . . . . . . . 4-2
4-2 Programless Communications with
NB-series Programmable Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2-1
4-2-2
4-2-3
4-2-4
4-2-5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-4
4-4
4-6
4-8
4-9
4-3 Programless Communications with
E5C Digital Temperature Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4-3-1
4-3-2
4-3-3
4-3-4
4-3-5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-10
4-12
4-14
4-17
4-17
4-4 Connection with Modbus-RTU Slaves . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4-4-1
4-4-2
4-4-3
4-4-4
4-4-5
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4-18
4-19
4-21
4-22
4-24
4-5 Connection with General-purpose Serial Communications Devices . . . 4-25
4-5-1
4-5-2
4-5-3
4-5-4
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4-25
4-26
4-28
4-29
4-1
4
4 Serial Communications
4-1
Serial Communications Types and
Overview
The following table shows the communications protocols supported by the NX1P2 CPU Unit and examples of connected devices.
Serial communi-
Connected device
cations mode*1
Host Link
NB-series
Programmable Terminal
*2
(FINS)
NB-series Programmable Terminals
access memory used for CJ-series Units
automatically.
Description
The CPU Unit exchanges data with
Programmable Terminals (PTs). For
this data exchange, memory used
for CJ-series Units is used.
No communications program is
required on the CPU Unit side.
RS-232C or RS-422A/485
NX1P2 CPU Unit
RS-232C Option Board or
RS-422A/485 Option Board
RS-422A/485 Option Board
E5C
E5C
Controller
Controller
No. 0
No. 1
E5CC
No communications program is
required on the CPU Unit side.
E5CC
<<
SV
<< PF
<<
<< PF
PV
<<
SV
<<
PV
SV
<<
<<
<< PF
PV
The CPU Unit exchanges data with
E5C Digital Temperature Controllers. For this data exchange, memory used for CJ-series Units is
used.
E5C
Controller
No. n
E5CC
You can read and write parameters
and run/stop E5C Temperature
Controllers.
E5C Controllers access memory
used for CJ-series Units automatically.
32 max.
Modbus-RTU
NX1P2 CPU Unit
Master*3
RS-232C Option Board or
RS-422A/485 Option Board
RS-232C or RS-422A/485
The CPU Unit exchanges data with
Modbus-RTU slaves.
In this data exchange, you use special instructions to send a Modbus-RTU command and receive a
response.
Inverter
4-2
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
Connected device
cations mode*1
No-Protocol
RS-232C Option Board or
RS-422A/485 Option Board
RS-232C or RS-422A/485
General-purpose serial
communications device
Description
The CPU Unit exchanges data with
general-purpose serial communications devices with RS-232C or
RS-422A/485 ports. In this data
exchange, instructions to send and
receive data from a serial communications port in No-protocol Mode
are used.
You need to program the communications procedure (protocol) to
exchange data with general-purpose devices in the user program.
*1. Select the serial communications mode to use in advance. You cannot change the serial communications mode when the
CPU Unit is operating.
*2. Only FINS commands are supported. C-mode commands are not supported.
4-1 Serial Communications Types and Overview
NX1P2 CPU Unit
Serial communi-
*3. The function to use NX1P2 CPU Units as Modbus-RTU slaves is not supported.
4
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4-3
4 Serial Communications
4-2
Programless Communications with
NB-series Programmable Terminals
The following describes programless communications with NB-series Programmable Terminals.
4-2-1
Overview
The NX1P2 CPU Unit supports programless communications with NB-series Programmable Terminals
(hereafter NB-series Units) using the host link protocol.
To use this function, you mount a Serial Communications Option Board on the NX1P2 CPU Unit, set its
Serial communications mode to Host Link (FINS) and specify the memory used for CJ-series Units,
and connect their serial ports together.
NB-series
Programmable Terminal
NB-series Programmable Terminals
access memory used for CJ-series Units
automatically.
RS-232C or RS-422A/485
NX1P2 CPU Unit
RS-232C Option Board or
RS-422A/485 Option Board
4-2-2
Procedure
The operating procedure is described below.
Overall Procedure
CPU Unit Side
1
Configuring Option Boards
Configuring the serial communications settings
2
Specifying memory used for CJ-series Units
Determining the usable memory
3
Programming
Creating screen data
4
Mounting and setting hardware
5
Wiring and power ON
6
7
4-4
NB-series Unit Side
Downloading the project
Transferring screen data
Checking operation and actual operation
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
 CPU Unit Side
No.
1
2
Step
Configuring Option
Boards
Description
In the Sysmac Studio, specify the Option
Board configuration and configure the
serial communications mode settings.
Specifying memory
used for CJ-series
Units
In the Sysmac Studio, set the area type
and the number of words of memory
enough to include the memory that will
be used for the screen data of the
NB-series Unit.
In the Sysmac Studio, create a program
to access the memory used for CJ-series
Units by using user-defined variables
with AT specifications.
If you are using an NX1W-CIF11/CIF12
Option Board, set the operation setting
DIP switches on the back.
3
Programming
4
Mounting and setting
hardware
5
6
7
Wiring and power ON
Downloading the project
Checking operation
and actual operation
Configuration and Option Board
Serial Communications Settings on
page 4-6
4-2-3 Settings on page 4-6
Memory Settings for CJ-series Units
on page 4-7
4-2-4 Programming on page 4-8
4-2-5 Connection Examples on page
4-9
NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
Install the CPU Unit and NB-series Units.
Connect the serial communications terminals of the Option Boards and
NB-series Units.
Wire the power supply terminals and turn
ON the power supply.
Download the project from the Sysmac
Studio.
Check the operation of the user program
and screen data.
NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501)
Sysmac Studio Version 1 Operation
Manual (Cat. No. W504)
 NB-series Unit Side
No.
1
2
3
4
5
6
7
Step
Configuring the serial
communications settings
Determining the
usable memory
Creating screen data
Mounting and setting
hardware
Wiring and power ON
Transferring screen
data
Checking operation
and actual operation
Description
In the NB-Designer, create a project and
select COM1 or COM2 in the Configuration and Setup Window.
Determine the area type and the number
of words of memory to make available
for screen data.
In the NB-Designer, create screen data.
Install the CPU Unit and NB-series Units.
Reference
NB-series Programmable Terminals
Setup Manual (Cat. No. V107)
NB-series Programmable Terminals
NB-Designer Operation Manual (Cat.
No. V106)
Connect the serial communications terminals of the Option Boards and
NB-series Units.
Wire the power supply terminals and turn
ON the power supply.
In the NB-Designer, download the project that contains the screen data.
Check the operation of the user program
and screen data.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4-5
4
4-2-2 Procedure
Mount the Option Boards and necessary
Units.
Reference
4-2-3 Settings on page 4-6
4-2 Programless Communications with NB-series Programmable
Terminals
Procedure Details
4 Serial Communications
4-2-3
Settings
Settings on the CPU Unit
 Configuration and Option Board Serial Communications Settings
Configure these settings in the Option Board Settings Tab Page, which is displayed by selecting
Option Board Settings under Configurations and Setup - Controller Setup.
Under Configuration, specify the models of the Option Boards to use.
Under Option Board Settings, configure the following settings:
Item
Serial communications mode
Unit No.
Baud rate
Data length
Parity
Stop bit
4-6
Set value
Host Link (FINS)
0
Set this to match the setting on the NB-series Unit.
7 bits
Even
2 bits
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
Specify the memory used for CJ-series Units in the Memory Settings for CJ-series Units Tab Page,
which is displayed by selecting Memory Settings under Configurations and Setup - Controller
Setup.
Set the area type and the number of words of memory enough to include the memory that will be
used for the screen data to create.
4-2 Programless Communications with NB-series Programmable
Terminals
 Memory Settings for CJ-series Units
4
Precautions for Correct Use
Settings on the NX1W-CIF11/CIF12 Option Board
The CPU Unit requires an NX1W-CIF11 or NX1W-CIF12 Option Board for connection with external
devices via RS-422A/485.
The table below shows the settings of the operation setting DIP switches on the back of the Option
Board.
CIF11
SW
SW1
CIF12
No.
1
2
3
4
5
6
No.
Setting
SW
SW1
1
ON
SW2
2
3
4
1
OFF
OFF
OFF
OFF
2
OFF
Setting description
With terminating resistance*1
Four-wire type
Four-wire type
(Not used)
Without RS control for receive data (Always
receive data)
Without RS control for send data (Always send
data)
*1. Turn this OFF if the NX1W-CIF11/CIF12 is not the terminating device.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4-7
4-2-3 Settings
Create screen data to avoid using the EM area because the NX1P2 CPU Unit does not support
the EM area type.
4 Serial Communications
Settings on NB-series Units
In the NB-Designer, create a project and select the serial port to use in the Configuration and Setup
Window.
The settings are as follows:
Item
Baud Rate
Data Bit
Parity Check
Stop Bit
Set value
Set this to match the serial port setting.
7
even
2
Refer to the NB-series Programmable Terminals NB-Designer Operation Manual (Cat. No. V106) for
the detailed settings.
4-2-4
Programming
Assign the user-defined variables that are used in the user program on the CPU Unit to the memory
used for CJ-series Units that will be accessed by the NB-series Unit by using AT specification.
Then, create the user program for communicating with the NB-series Unit.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for memory used for
CJ-series Units and AT specification.
Additional Information
The NX1P2 CPU Unit performs programless communications with NB-series Units using the
host link (FINS) protocol.
The host link (FINS) protocol accesses only the memory used for CJ-series Units out of the
entire memory available in the CPU unit based on address specification.
In other words, the CPU Unit uses the memory used for CJ-series Units to communicate data
with NB-series Units.
On the other hand, the NX1P2 CPU Unit uses variables for all processing tasks, for example, to
exchange I/O information with external devices, perform data calculations, and so on.
Therefore, to access memory used for CJ-series Units from the user program on the CPU Unit,
you need to assign user-defined variables to it. This assignment of user-defined variables to
memory used for CJ-series Units is called AT specification.
NX1P2 CPU Unit
User program
Data reading,
data calculation,
data transfer, etc.
User-defined
variables
Variable
Variable
NB-series Unit
Memory used for
CJ-series Units
AT
specification
AT
specification
CIO
Example 1200.00
Button
Example 1201.00
Lamp
User-defined variables are assigned to
memory addresses with AT specifications.
4-8
Host link (FINS)
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
Connection Examples
Examples of connecting the CPU Unit to a serial port on an NB3Q Programmable Terminal are given
below.
Connecting the NX1W-CIF01 Option Board to the Serial Port (COM1) on an NB3Q Programmable Terminal (RS-232C)
NB3Q COM1 connector (female)
1
5
6
9
NX1W-CIF01 RS-232C terminal block
Pin No.
Signal abbreviation
1
2
3
4
5
6
7
8
9
Shell
SDB+
SD
RD
RS
CS
RDB+
SDARDASG
FG
SG0
RD
SD
ER
SG1
DR
RS
CS
SHLD
COMM
SG0 RD SD
ER SG1 DR RS CS SHLD
4
1
5
6
9
Pin No.
Signal abbreviation
1
2
3
4
5
6
7
8
9
Shell
SDB+
SD
RD
RS
CS
RDB+
SDARDASG
FG
NX1W-CIF11/CIF12
RS-422A/485 terminal block
RDARDB+
SDASDB+
SHLD
COMM
RDA- RDB+ SDA- SDB+ SHLD
Operation setting DIP switches on the back of the NX1W-CIF11/CIF12 Option Board
For an NX1W-CIF12
O
N
O
N
1
2
1
2
3
4
1
2
3
4
5
6
SW1
1
2
O
N
O
N
1
2
3
4
5
6
SW1
SW2
O
N
SW1
O
N
SW1
1
2
3
4
For an NX1W-CIF11
SW2
Refer to the NB-series Programmable Terminals Setup Manual (Cat. No. V107) for wiring information
on connecting the CPU Unit to the serial ports on an NB5Q/NB7W/NB10W Programmable Terminal.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4-9
4-2-5 Connection Examples
Connecting the NX1W-CIF11/CIF12 Option Board to the Serial Port (COM1) on an NB3Q Programmable Terminal (RS-422A)
NB3Q COM1 connector (female)
4-2 Programless Communications with NB-series Programmable
Terminals
4-2-5
4 Serial Communications
4-3
Programless Communications with
E5C Digital Temperature Controllers
The following describes programless communications with E5C Digital Temperature Controllers.
4-3-1
Overview
The NX1P2 CPU Unit supports programless communications with E5C-series Digital Temperature
Controllers (hereafter E5C Controllers) using the host link protocol.
To use this function, you mount a Serial Communications Option Board on the NX1P2 CPU Unit, set its
Serial communications mode to Host Link (FINS) and specify the memory used for CJ-series Units,
and connect their serial ports together.
E5C Controllers access memory
used for CJ-series Units automatically.
<< PF
E5CC
PV
SV
<< PF
<<
SV
<<
PV
SV
E5C
Controller
No. n
<<
E5CC
PV
<<
<<
<< PF
<<
RS-422A/485 Option Board
E5C
E5C
Controller
Controller
No. 0
No. 1
E5CC
32 max.
Additional Information
In programless communications with E5C Controllers, you can read and write E5C parameters and run/stop the Controller via the memory of a Programmable Controller (hereafter
PLC). Because E5C Controllers communicate with a PLC automatically, there is no need to
create a communications program.
Refer to the E5C Digital Temperature Controllers Use’s Manual (Cat. No. H174) for the programless communications of E5C Controllers.
4 - 10
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
On a E5C Controller, you set the memory used for CJ-series Units and first address to make available
for the E5C Controller.
Then, the E5C Controller uses the upload area (for input to the CPU Unit) and download area (for
output from the CPU Unit) of PLC memory for each unit number.
PV
SV
SV
E5CC
E5C
Controller
No. 2
PV
SV
<< PF
<<
E5CC
<< PF
<<
PV
<<
RS-422A/485
<<
<< PF
E5C
Controller
No. 1
<<
E5C
Controller
No. 0
<<
RS-422A/485 Option Board
E5CC
Memory used for
CJ-series Units
PV, status, etc.
Set point, alarm value, etc.
4
4-3-1 Overview
No. 0
Upload area
No. 0
Download area
No. 1
Upload area
No. 1
Download area
No. 2
Upload area
No. 2
Download area
4-3 Programless Communications with E5C Digital Temperature
Controllers
You can connect up to 32 E5C Controllers to one serial port.
Refer to the E5C Digital Temperature Controllers User’s Manual (Cat. No. H174) and the E5C Digital Temperature Controllers Communications Manual (Cat. No. H175) for details on the specifications of
E5C Controllers.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 - 11
4 Serial Communications
4-3-2
Procedure
The operating procedure is described below.
Overall Procedure
CPU Unit Side
E5C Controller Side
1
Configuring Option Boards
2
Specifying memory used for CJ-series Units
3
Programming
Determining the usable memory
4
Mounting and setting hardware
5
Wiring and power ON
6
Downloading the project
7
Configuring the serial communications settings
Checking operation and actual operation
Procedure Details
 CPU Unit Side
No.
1
2
3
4 - 12
Step
Configuring Option
Boards
Description
In the Sysmac Studio, specify the Option
Board configuration and configure the
serial communications mode settings.
Specifying memory
used for CJ-series
Units
In the Sysmac Studio, set the number of
words of memory for the DM area type
memory to make available for the E5C
Controller.
In the Sysmac Studio, create a program
to access the memory used for CJ-series
Units by using user-defined variables
with AT specifications.
Programming
Reference
4-3-3 Settings on page 4-14
Configuration and Option Board
Serial Communications Settings on
page 4-14
4-3-3 Settings on page 4-14
Memory Settings for CJ-series Units
on page 4-14
4-3-4 Programming on page 4-17
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
Step
Mounting and setting
hardware
Description
Set the operating setting DIP switches
on the back of the NX1W-CIF11/CIF12
Option Board.
Mount the Option Boards and necessary
Units.
5
6
7
Wiring and power ON
Downloading the project
Checking operation
and actual operation
Reference
4-3-5 Connection Examples on page
4-17
NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
Install the CPU Unit and the E5C Controller.
Connect the serial communications terminals of the Option Board and the
E5C Controller.
Wire the power supply terminals and turn
ON the power supply.
Download the project from the Sysmac
Studio.
Check the operation of the user program
and programless communications with
the E5C Controller.
NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501)
Sysmac Studio Version 1 Operation
Manual (Cat. No. W504)
4
 E5C Controller Side
Step
Determining the
usable memory
4
Mounting and setting
hardware
Wiring and power ON
5
6
7
Configuring the serial
communications settings
Checking operation
and actual operation
Description
Determine the number of words of memory to make available for the E5C Controller.
Install the CPU Unit and the E5C Controller.
Connect the serial communications terminals of the Option Board and the
E5C Controller.
Reference
E5C Digital Temperature Controllers User’s Manual (Cat. No. H174)
E5C Digital Temperature Controllers Communications Manual (Cat.
No. H175)
Wire the power supply terminals and turn
ON the power supply.
On the E5C Controller, set the serial
communications parameters in the communications setting level.
Check the operation of the user program
and programless communications with
the E5C Controller.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 - 13
4-3-2 Procedure
No.
2
4-3 Programless Communications with E5C Digital Temperature
Controllers
No.
4
4 Serial Communications
4-3-3
Settings
Settings on the CPU Unit
 Configuration and Option Board Serial Communications Settings
Configure these settings in the Option Board Settings Tab Page, which is displayed by selecting
Option Board Settings under Configurations and Setup - Controller Setup.
Under Configuration, specify the models of the Option Boards to use.
Under Option Board Settings, configure the following settings:
Item
Serial communications mode
Unit No.
Baud rate
Data length
Parity
Stop bit
Set value
Host Link (FINS)
Set the same Communications Node Number as for
the E5C Controller.
57,600 bps
7 bits
Even
2 bits
 Memory Settings for CJ-series Units
Specify the memory used for CJ-series Units in the Memory Settings for CJ-series Units Tab Page,
which is displayed by selecting Memory Settings under Configurations and Setup - Controller
Setup.
Determine and set the area type and the number of words based on the first address of the E5C
Controller and the number of Controllers to connect.
4 - 14
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
The NX1P2 CPU Unit does not support the EM area type.
Set the Area to DM on the E5C Controller.
Settings on the NX1W-CIF11/CIF12 Option Board
You need to use an NX1W-CIF11 or NX1W-CIF12 Option Board to connect via RS-422A/485.
The table below shows the settings of the operation setting DIP switches on the back of the Option
Board.
CIF11
SW
SW1
CIF12
No.
1
SW2
No.
Setting
1
ON
2
3
4
1
2
ON
ON
OFF
ON
ON
Setting description
With terminating resistance*1
Two-wire type
Two-wire type
(Not used)
With RS control for receive data
With RS control for send data
4
4-3-3 Settings
2
3
4
5
6
SW
SW1
*1. Turn this OFF if the NX1W-CIF11/CIF12 is not the terminating device.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4-3 Programless Communications with E5C Digital Temperature
Controllers
Precautions for Correct Use
4 - 15
4 Serial Communications
Settings on E5C Controllers
On the E5C Controller to connect, move from the operation level, through the initial setting level, to
the communications setting level and set programless communications parameters.
The settings are as follows:
Parameter name*1, *2
Protocol Setting
Communications Unit No.
Set value
Host Link (FINS)
Communications Data Length*4
0*3
57,600 bps
7
Communications Parity*4
Even
Communications Stop Bits*4
Highest Communications Unit No.
2
Communications Baud Rate
Area*6, First Address Upper Word, First
Address Lower Word
Communications Node Number
0*5
Set the area and the first address of memory to make available for the E5C Controller.*7
Set the same value as that is set in the Unit No. in the Option
Board Settings Tab Page on the CPU Unit.
*1. Only the required parameters are listed.
*2. When you connect more than one E5C Controller, set these parameters for all of the E5C Controllers. Set the same value for each parameter, except for the Communications Unit No.
*3. When you connect more than one E5C Controller, set a series of numbers starting from 0 for the
E5C Controllers.
*4. If you set the Protocol Setting parameter to Host Link (FINS), the Communications Data Length,
Communications Parity, and Communications Stop Bits parameters are automatically set to 7,
Even, and 2, respectively. These parameters cannot be changed.
*5. When you connect more than one E5C Controller, set the highest communications unit number.
*6. Set the Area parameter to DM because the NX1P2 CPU Unit does not support the EM area type.
*7. When you connect more than one E5C Controller, set the first address to the same value for all of the
E5C Controllers.
Refer to the E5C Digital Temperature Controllers Communications Manual (Cat. No. H175) for details
on the parameters used for programless communications of E5C Controllers.
4 - 16
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
Programming
Assign the user-defined variables that is used in the user program on the CPU Unit to the memory used
for CJ-series Units that will be accessed by the E5C Controller by using AT specification.
Then, create the user program for communicating with the E5C Controller.
The user program gets the E5C Controller status from the upload area of the E5C Controller and
sends commands to the download area of the E5C Controller.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for memory used for
CJ-series Units and AT specification.
4-3-5
Connection Examples
An example of connecting three E5CC Controllers is given below.
4
NX1P2 CPU Unit
<<
E5CC
SV
<< PF
E5CC
<<
<< PF
PV
<<
SV
E5CC
Controller
No. 2
<<
PV
SV
<<
<<
<< PF
PV
4-3-4 Programming
RS-422A/485 Option Board
NX1W-CIF11/CIF12
E5CC
E5CC
Controller
Controller
No. 0
No. 1
E5CC
Operation setting DIP switches on the back of the
NX1W-CIF11/CIF12 Option Board
For an NX1W-CIF12
O
N
O
N
SW2
1
2
3
4
1
2
3
4
1
2
O
N
O
N
1
2
3
4
5
6
1
2
3
4
5
6
SW1
SW2
O
N
SW1
O
N
SW1
1
2
For an NX1W-CIF11
SW1
4-3 Programless Communications with E5C Digital Temperature
Controllers
4-3-4
NX1W-CIF11/CIF12
RDA- RDB+ SDA- SDB+ SHLD
E5CC
Controller
No. 0
E5CC
Controller
No. 1
E5CC
Controller
Terminating
No. 2
resistance
B (+)
120 Ω (1/2W)
B (+)
B (+)
13
13
13
14
14
14
A (-)
A (-)
A (-)
Refer to the E5C Digital Temperature Controllers Communications Manual (Cat. No. H175) for details
on wiring an E5C Controller.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 - 17
4 Serial Communications
4-4
Connection with Modbus-RTU Slaves
The following describes data exchange between the CPU Unit and Modbus-RTU slaves.
4-4-1
Overview
The NX1P2 CPU Unit can exchange data with Modbus-RTU slaves by using instructions to send a
Modbus-RTU command and receive a response.
To use this function, you mount a Serial Communications Option Board on the NX1P2 CPU Unit, set its
Serial communications mode to Modbus-RTU Master, and connect their serial ports together.
NX1P2 CPU Unit
RS-232C or RS-422A/485 Option Board
User program
NX_ModbusRtuCmd instruction
NX_ModbusRtuRead instruction
NX_ModbusRtuWrite instruction
RS-232C or
RS-422A/485
Slave Address
Function Code
Data
CRC
Slave Address
Function Code
Data
CRC
Modbus-RTU command
Modbus-RTU response
The processing of the Modbus-RTU protocol and message frame format is handled by the instructions
to send a Modbus-RTU command and receive a response.
Therefore, you can easily create a program to exchange data with Modbus-RTU slaves.
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502-E1-17 or later) for the specification of instructions.
Additional Information
The frame format of Modbus-RTU commands is as follows.
Slaves Function
Address Code
1 byte
1 byte
Data
CRC
0 to 252 bytes
2 bytes*
* The byte order of the CRC code is lower byte, then higher byte.
Refer to MODBUS Application Protocol Specification for the specifications of the MODBUS
communications protocol. You can obtain MODBUS Application Protocol Specification from
MODBUS Organization, Inc.
http://www.modbus.org/
4 - 18
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
4-4-2
Procedure
The operating procedure is described below.
4-4 Connection with Modbus-RTU Slaves
Overall Procedure
CPU Unit Side
Modbus-RTU Slave Side
1
Configuring Option Boards
Configuring the serial communications settings
2
Programming
Configuring the slave function settings
3
Mounting and setting hardware
4
Wiring and power ON
5
Downloading the project
Configuring the slave function settings
4-4-2 Procedure
6
4
Checking operation and actual operation
Procedure Details
 CPU Unit Side
No.
1
Step
Configuring Option
Boards
Description
In the Sysmac Studio, specify the Option
Board configuration and configure the
serial communications mode settings.
2
Programming
3
Mounting and setting
hardware
Create a program to exchange data with
Modbus-RTU slaves by using special
instructions.
If you are using an NX1W-CIF11/CIF12
Option Board, set the operating setting
DIP switches on the back.
Mount the Option Boards and necessary
Units.
4
5
6
Wiring and power ON
Downloading the project
Checking operation
and actual operation
Reference
4-4-3 Settings on page 4-21
Configuration and Option Board
Serial Communications Settings on
page 4-21
4-4-4 Programming on page 4-22
4-4-5 Connection Examples on page
4-24
NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
Install the CPU Unit and Modbus-RTU
slaves.
Connect the serial communications terminals of the Option Boards and Modbus-RTU slaves.
Wire the power supply terminals and turn
ON the power supply.
Download the project from the Sysmac
Studio.
Check the operation of the user program
and Modbus-RTU slaves.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501)
Sysmac Studio Version 1 Operation
Manual (Cat. No. W504)
4 - 19
4 Serial Communications
 Modbus-RTU Slave Side
No.
1
2
3
4
5
6
4 - 20
Step
Configuring the serial
communications settings
Configuring the slave
function settings
Mounting and setting
hardware
Wiring and power ON
Configuring the slave
function settings
Checking operation
and actual operation
Description
Configure serial communications settings on Modbus-RTU slaves.
Reference
Manuals and technical materials for
Modbus-RTU slaves
Configure the functions of Modbus-RTU
slaves as required.
Install the CPU Unit and Modbus-RTU
slaves.
Connect the serial communications terminals of the Option Boards and Modbus-RTU slaves.
Wire the power supply terminals and turn
ON the power supply.
Configure the functions of Modbus-RTU
slaves as required.
Check the operation of the user program
and Modbus-RTU slaves.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
4-4-3
Settings
 Configuration and Option Board Serial Communications Settings
Configure these settings in the Option Board Settings Tab Page, which is displayed by selecting
Option Board Settings under Configurations and Setup - Controller Setup.
4-4 Connection with Modbus-RTU Slaves
Settings on the CPU Unit
4
4-4-3 Settings
Under Configuration, specify the models of the Option Boards to use.
Under Option Board Settings, configure the following settings:
Item
Serial communications mode
Unit No.
Baud rate
Data length
Parity
Stop bit
Set value
Modbus-RTU Master
Settings not required.
Set this to match the setting on the Modbus-RTU slave
to connect.
8 bits
Even
1 bit
 Memory Settings for CJ-series Units
There is no need to configure these settings because memory used for CJ-series Units is not used
in Modbus-RTU Master mode.
Settings on the NX1W-CIF11/CIF12 Option Board
The CPU Unit requires an NX1W-CIF11 or NX1W-CIF12 Option Board for connection with external
devices via RS-422A/485.
Set the operation setting DIP switches on the back according to the specifications of the Modbus-RTU
slave to connect.
Settings on Modbus-RTU Slaves
Set the same baud rate as for the NX1P2 CPU Unit.
Set the MODBUS slave address.
Configure the functions of Modbus-RTU slaves as required.
Refer to the manual for the Modbus-RTU slave to connect.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 - 21
4 Serial Communications
4-4-4
Programming
Create a program to exchange data with Modbus-RTU slaves by using instructions to send a Modbus-RTU command and receive a response.
No program is needed for the processing of the Modbus-RTU protocol and message frame format,
because it is handled by the instructions.
Serial Communications Instructions That You Can Use in Modbus-RTU Master Mode
The table below shows serial communications instructions that you can use when the Serial communications mode is Modbus-RTU Master.
Instruction
NX_ModbusRtuCmd
Name
Send Modbus RTU General
Command
NX_ModbusRtuRead
Send Modbus RTURead
Command
NX_ModbusRtuWrite
Send Modbus RTUWrite
Command
Outline of function
Sends general commands from a serial port on a CIF Unit
or Option Board to Modbus-RTU slaves using Modbus-RTU protocol.
Sends read commands from a serial port on a CIF Unit or
Option Board to Modbus-RTU slaves using Modbus-RTU
protocol.
Sends write commands from a serial port on a CIF Unit or
Option Board to Modbus-RTU slaves using Modbus-RTU
protocol.
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502-E1-17 or later) for details on
these instructions.
4 - 22
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
Option Board Specification
Instructions to send a Modbus-RTU command specify an Option Board by using variables assigned to
the Option Board.
4-4 Connection with Modbus-RTU Slaves
Example of specifying an Option Board with OptionBoard1_location_information
variable assigned to it
Serial port specification
Operating
Inline ST
OptionPort.DeviceType:=_eDEVICE_TYPE#_DeviceOptionBoard;
OptionPort.OptBoard:=OptionBoard1_location_information;
OptionPort.PortNo:=1;
NX_ModbusRtuCmd instruction
execution
Operating
NX_ModbusRtuCmd_instance
NX_ModbusRtuCmd
Execute
Done
OptionPort
Address of remote slave
Command to send
Received data
Option
Abort
OptionPort
OptionBoard1_location_information
4
CommandAborted
Error
ErrorID
RespDat
4-4-4 Programming
Size of command to send
Busy
DevicePort
SlaveAdr
CmdDat
CmdSize
RespDat
ErrorIDEx
RespSize
Variable that specifies target port
Variable assigned to Option Board
Refer to 3-2-4 Assigning Device Variables to Option Boards on page 3-11 for assigning variables to
Option Boards.
Option Board Status
To use serial communications instructions, program the .Run (Option Board Normal Operation) member of the _PLC_OptBoardSta (Option Board Status) system-defined variable as an interlock condition
in the user program.
Example of executing a Send Modbus RTU General Command instruction to an Option Board
mounted on Option Board 1 using the Option Board Normal Operation as an interlock condition
NX_ModbusRtuCmd_instance
Operating
_PLC_OptBoardSta[1].Run
OptionPort
Address of remote slave
Command to send
Size of command to send
Received data
NX_ModbusRtuCmd
Execute
Done
DevicePort
SlaveAdr
CmdDat
CmdSize
RespDat
Option
Abort
_PLC_OptBoardSta[1].Run
Busy
CommandAborted
Error
ErrorID
RespDat
ErrorIDEx
RespSize
Option Board Normal Operation of Option Board 1 Status
system-defined variable
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the specifications of
the _PLC_OptBoardSta (Option Board Status) system-defined variable.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 - 23
4 Serial Communications
4-4-5
Connection Examples
An example of connecting an OMRON 3G3MX2-V1 Inverter via RS-422A/485 is given below.
 Serial Communications Terminals
RS-422A/485 Option Board
NX1W-CIF11/CIF12
3G3MX2-V1
Inverter
RDA- RDB+ SDA- SDB+ SHLD
RSRS+
 Operation Setting DIP Switches on the Back of the NX1W-CIF11/CIF12 Option
Board
For an NX1W-CIF12
SW1
CIF12
No.
1
2
3
4
5
6
SW
SW1
SW2
No.
1
2
3
4
1
2
Setting
ON
ON
ON
OFF
ON
ON
O
N
O
N
SW2
1
2
3
4
1
2
3
4
1
2
3
4
5
6
CIF11
SW
SW1
SW1
1
2
O
N
O
N
1
2
3
4
5
6
SW1
SW2
O
N
O
N
SW1
1
2
For an NX1W-CIF11
Setting description
With terminating resistance
Two-wire type
Two-wire type
(Not used)
With RS control for receive data
With RS control for send data
 Settings on 3G3MX2-V1 Inverters
• Parameter Settings
Item
Communication Speed Selection (Baud
Rate Selection)
Communication Station No. Selection
Communication Parity Selection
Communication Stop Bit Selection
Communication Selection
Set value
Set this to match the serial port setting.
Set a desired value.
Even parity
1 bit
Modbus communication
• Switch Setting
Set the terminating resistor selector switch to ON.
4 - 24
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
Connection with General-purpose
Serial Communications Devices
The following describes data exchange between the CPU Unit and general-purpose serial communications devices.
4-5-1
Overview
The NX1P2 CPU Unit can exchange data with general-purpose serial communications devices by
using the instructions to send and receive data in No-Protocol mode.
To use this function, you mount a Serial Communications Option Board on the NX1P2 CPU Unit, set its
Serial communications mode to No-Protocol, and connect their serial ports together.
NX1P2 CPU Unit
4
RS-232C or RS-422A/485 Option Board
4-5-1 Overview
User program
NX_SerialSend instruction
NX_SerialRcv instruction
RS-232C or
RS-422A/485
Sending and receiving data
General-purpose serial communications device
(Barcode reader etc.)
The instruction to send data in No-Protocol mode refers to an instruction to output the specified data
from the specified serial port without converting it.
The instruction to receive data in No-Protocol mode refers to an instruction that reads data received at
the specified port into the specified variable without converting it.
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502-E1-17 or later) for the specification of instructions.
Additional Information
To enable the CPU Unit to exchange data with general-purpose serial communications devices
by using the instructions to send and receive data in No-Protocol mode, you must program the
communications procedure (protocol) for the remote device.
For example, program the sequence processing and retry processing between the command
and the response, data type conversion processing, branching processing, and other processing steps to be performed based on the communications protocol of the remote device.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4-5 Connection with General-purpose Serial Communications
Devices
4-5
4 - 25
4 Serial Communications
4-5-2
Procedure
The operating procedure is described below.
Overall Procedure
CPU Unit Side
General-purpose Serial
Communications Device Side
1
Configuring Option Boards
Configuring the serial communications settings
2
Programming
Configuring the function settings
3
Mounting and setting hardware
4
Wiring and power ON
5
Downloading the project
6
Configuring the function settings
Checking operation and actual operation
Procedure Details
 CPU Unit Side
No.
1
Step
Configuring Option
Boards
Description
In the Sysmac Studio, specify the Option
Board configuration and configure the
serial communications mode settings.
2
Programming
3
Mounting and setting
hardware
Create a program to exchange data with
general-purpose serial communications
devices by using No-protocol Mode
instructions.
If you are using an NX1W-CIF11/CIF12
Option Board, set the operation setting
DIP switches on the back.
Mount the Option Boards and necessary
Units.
4
Wiring and power ON
Reference
4-4-3 Settings on page 4-21
Configuration and Option Board
Serial Communications Settings on
page 4-21
4-4-4 Programming on page 4-22
4-4-5 Connection Examples on page
4-24
NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
Install the CPU Unit and general-purpose serial communications devices.
Connect the serial communications terminals of the Option Boards and general-purpose serial communications
devices.
Wire the power supply terminals and turn
ON the power supply.
4 - 26
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
6
Step
Downloading the project
Checking operation
and actual operation
Description
Download the project from the Sysmac
Studio.
Check the operation of the user program
and general-purpose serial communications devices.
Reference
NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501)
Sysmac Studio Version 1 Operation
Manual (Cat. No. W504)
 Serial Communications Device Side
No.
1
2
3
4
Step
Configuring the serial
communications settings
Configuring the slave
function settings
Mounting and setting
hardware
Wiring and power ON
Configuring the slave
function settings
6
Checking operation
and actual operation
Wire the power supply terminals and turn
ON the power supply.
Configure the functions of general-purpose serial communications devices as
required.
Check the operation of the user program
and general-purpose serial communications devices.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4
4-5-2 Procedure
5
Description
Reference
Configure the serial communications set- Manuals and technical materials for
tings on general-purpose serial commu- general-purpose serial communications devices
nications devices.
Configure the functions of general-purpose serial communications devices as
required.
Install the CPU Unit and general-purpose serial communications devices.
Connect the serial communications terminals of the Option Boards and general-purpose serial communications
devices.
4-5 Connection with General-purpose Serial Communications
Devices
No.
5
4 - 27
4 Serial Communications
4-5-3
Settings
Settings on the CPU Unit
 Configuration and Option Board Serial Communications Settings
Configure these settings in the Option Board Settings Tab Page, which is displayed by selecting
Option Board Settings under Configurations and Setup - Controller Setup.
Under Configuration, specify the models of the Option Boards to use.
Under Option Board Settings, configure the following settings:
Item
Serial communications mode
Unit No.
Baud rate
Data length
Parity
Stop bit
Set value
No-Protocol
Settings not required.
Set this to match the setting on the general-purpose
serial communications device to connect.
Set this to match the setting on the general-purpose
serial communications device to connect.
Set this to match the setting on the general-purpose
serial communications device to connect.
Set this to match the setting on the general-purpose
serial communications device to connect.
 Memory Settings for CJ-series Units
There is no need to configure these settings because memory used for CJ-series Units is not used
in No-Protocol mode.
Settings on the NX1W-CIF11/CIF12 Option Board
The CPU Unit requires an NX1W-CIF11 or NX1W-CIF12 Option Board for connection with external
devices via RS-422A/485.
Set the operation setting DIP switches on the back according to the specifications of the general-purpose serial communications device to connect.
General-purpose Serial Communications Device Settings
Configure the serial communications settings to match those of the NX1P2 CPU Unit.
Refer to the manual for the general-purpose serial communications device to connect.
4 - 28
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
Programming
Create a program to exchange data with general-purpose serial communications devices by using the
instructions to send and receive data in No-Protocol mode.
For example, program the sequence processing and retry processing between the command and the
response, data type conversion processing, branching processing, and other processing steps to be
performed based on the communications protocol of the remote device.
Serial Communications Instructions Used in No-Protocol Mode
The table below shows serial communications instructions that you can use when the Serial communications mode is No-Protocol.
Name
Send No-protocol Data
NX_SerialRcv
Receive No-protocol Data
NX_SerialSigCtl
Serial Control Signal ON/OFF
Switching
Read Serial Control Signal
NX_SerialSigRead
NX_SerialStatusRead
NX_SerialBufClear
Read Serial Port Status
Outline of function
Sends data in No-Protocol mode from a serial port on a
CIF Unit or Option Board.
Reads data in No-Protocol Mode from a serial port on a
CIF Unit or Option Board.
Turns ON or OFF the ER or RS signal of a serial port on a
CIF Unit or Option Board.
Reads the CS or DR signal of a serial port on an Option
Board.
Reads the status of a serial port on an Option Board.
Clear Buffer
Clears the send or receive buffer.
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502-E1-17 or later) for details on
these instructions.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 - 29
4
4-5-4 Programming
Instruction
NX_SerialSend
4-5 Connection with General-purpose Serial Communications
Devices
4-5-4
4 Serial Communications
Option Board Specification
Instructions that are used in No-Protocol Mode specify an Option Board by using variables assigned to
the Option Board.
Example of specifying an Option Board with OptionBoard1_location_information
variable assigned to it
Serial port specification
Operating
Inline ST
OptionPort.DeviceType:=_eDEVICE_TYPE#_DeviceOptionBoard;
OptionPort.OptBoard:=OptionBoard1_location_information;
OptionPort.PortNo:=1;
NX_ModbusRtuCmd instruction
execution
Operating
NX_SerialSend_instance
NX_SerialSend
Execute
OptionPort
Data to send
Size of data to send
Conditions attached to send data
DevicePort
SendDat
SendSize
SendCfg
Option
Done
Busy
CommandAborted
Error
ErrorID
Abort
OptionPort
OptionBoard1_location_information
Variable that specifies target port
Variable assigned to Option Board
Refer to 3-2-4 Assigning Device Variables to Option Boards on page 3-11 for assigning variables to
Option Boards.
4 - 30
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 Serial Communications
To use serial communications instructions, program the .Run (Option Board Normal Operation) member of the _PLC_OptBoardSta (Option Board Status) system-defined variable as an interlock condition
in the user program.
Example of executing a Send No-protocol Data instruction to an Option Board mounted on Option
Board 1 using the Option Board Normal Operation as an interlock condition
NX_SerialSend_instance
Operating
_PLC_OptBoardSta[1].Run
NX_SerialSend
Execute
OptionPort
Data to send
Size of data to send
Conditions attached to send data
DevicePort
SendDat
SendSize
SendCfg
Option
Done
Busy
CommandAborted
Error
ErrorID
4
Abort
Option Board Normal Operation of Option Board 1 Status
system-defined variable
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the specifications of
the _PLC_OptBoardSta (Option Board Status) system-defined variable.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
4 - 31
4-5-4 Programming
_PLC_OptBoardSta[1].Run
4-5 Connection with General-purpose Serial Communications
Devices
Option Board Status
4 Serial Communications
4 - 32
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Analog I/O
This section describes the functions of Analog I/O Option Boards for the NX1P2 CPU
Units.
5-1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-1
5-1-2
5-1-3
5-1-4
Analog I/O Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Part Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terminal Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Range and Output Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5-2
5-2
5-3
5-3
5-2 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-3-1
5-3-2
Option Board Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
Device Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5-4 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5-4-1
5-4-2
5-4-3
5-4-4
I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
Option Board Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
Special Instructions for Analog I/O Option Boards . . . . . . . . . . . . . . . . . . . . . 5-9
Precautions on Supported Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5-5 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5-6 I/O Refreshing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5-6-1
5-6-2
I/O Refresh Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5-1
5
5 Analog I/O
5-1
Specifications
The following describes the types and specifications of Analog I/O Option Boards.
5-1-1
Analog I/O Option Boards
The following table shows the types and summary specifications of Analog I/O Option Boards.
NX1W-ADB21
NX1W-DAB21V
ERR
ERR
IN
Input range
Resolution
Analog output
Output
range
Resolution
Conversion time
Isolation
External connection terminal
5-1-2
ERR
VO1
VO2
COM
OUT
VI1
I I1
VI2
I I2
COM
Analog input
NX1W-MAB221
IN
OUT
VI1
I I1
VI2
I I2
COM
VO1
VO2
COM
Item
Appearance
2 inputs
0 to 10 V, 0 to 20 mA
1/4,000, 1/2,000
None
---
None
----2 outputs
0 to 10 V
2 inputs
0 to 10 V, 0 to 20 mA
1/4,000, 1/2,000
2 outputs
0 to 10 V
--4 ms/Option Board
No-isolation
Screwless clamping terminal block
1/4,000
4 ms/Option Board
No-isolation
Screwless clamping terminal block
1/4,000
6 ms/Option Board
No-isolation
Screwless clamping terminal block
Part Names and Functions
ADB21
DAB21V
MAB221
(A)
OUT
VO1
VO2
COM
IN
OUT
VI1
I I1
VI2
I I2
COM
VO1
VO2
COM
IN
VI1
I I1
VI2
I I2
COM
ERR
(B)
Symbol
Name
A
Status indicator
B
Terminal block
5-2
Function
Displays the operating status of the Analog I/O Option Board.
The terminal block for wiring the analog input and analog output terminals.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5 Analog I/O
5-1-3
Terminal Arrangement
DAB21V
IN
OUT
VO1
VO2
COM
MAB221
IN
OUT
VI1
I I1
VI2
I I2
COM
VO1
VO2
COM
ADB21
VI1
I I1
VI2
I I2
COM
The following table shows the terminal arrangement of Analog I/O Option Boards.
5-1-4
Input Range and Output Range
5-1 Specifications
Refer to the NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578) for information on
wiring Analog I/O Option Boards.
5
Input Range and Converted Values
There is no need to select the input range.
If the input signal exceeds the allowable value conversion range, the converted value is fixed at the
upper or lower limit.
 0 to 10 V
An input voltage of 0 to 10 V is converted to a signed integer value (0 to 4,000).
The allowable value conversion range is 0 to 4,095.
Converted value
(Decimal)
4,095
4,000
0
Input voltage
0V
10 V 10.24 V
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5-3
5-1-3 Terminal Arrangement
The NX1W-ADB21 and NX1W-MAB221 Analog I/O Option Boards support two analog input ranges in
different units: 0 to 10 V and 0 to 20 mA.
5 Analog I/O
 0 to 20 mA
An input current of 0 to 20 mA is converted to a signed integer value (0 to 2,000).
The allowable value conversion range is 0 to 4,095. However, the input current cannot exceed the
absolute maximum rating, which is 30 mA.
Converted value
(Decimal)
2,000
0
Input current
0 mA
20 mA
Output Range and Output Set Values
The NX1W-ADB21 and NX1W-MAB221 Analog I/O Option Boards support a single analog output
range: 0 to 10 V.
If the output set value exceeds the allowable value conversion range, the analog value is fixed at
the upper or lower limit.
The output set value of the signed integer (0 to 4,095) is converted to voltage from 0 to 10 V and output.
The allowable output set value conversion range is 0 to 4,095.
Output voltage
10.24 V
10 V
0V
0
4,000 4,095
32,767
Output set value
(Decimal)
In the output mode at load rejection, the value when the output set value is 0 is output.
5-4
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5 Analog I/O
5-2
Procedure
The operating procedure is described below.
Overall Procedure
Configuring Option Boards
2
Assigning device variables
3
Programming
4
Mounting and setting hardware
5
Wiring and power ON
6
Downloading the project
7
Checking operation and actual operation
5-2 Procedure
1
5
Procedure Details
No.
1
2
3
4
5
6
7
Step
Configuring Option
Boards
Assigning device variables
Programming
Mounting and setting
hardware
Wiring and power ON
Downloading the project
Checking operation
and actual operation
Description
In the Sysmac Studio, specify the Option
Board configuration.
In the Sysmac Studio, assign device
variables to I/O ports.
In the Sysmac Studio, create a program
that uses the device variables to manipulate I/O data.
Mount the Option Boards and necessary
Units.
Reference
5-3-1 Option Board Settings on page
5-6
5-3-2 Device Variables on page 5-7
5-4 Programming on page 5-8
NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
Install the CPU Unit.
Wire the Option Boards and connected
external device to analog I/O terminals.
Wire the power supply terminals and turn
ON the power supply.
Download the project from the Sysmac
Studio.
Check the wiring.
Check the operation of the user program
and screen data.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501)
Sysmac Studio Version 1 Operation
Manual (Cat. No. W504)
5-5
5 Analog I/O
5-3
Settings
The following describes the settings required to use Analog I/O Option Boards.
5-3-1
Option Board Settings
Specify the models of the Option Boards to use in the Option Board Settings Tab Page, which is displayed by selecting Option Board Settings under Configurations and Setup - Controller Setup.
No settings are provided to select each analog input or output to use.
For analog inputs that are not used, short-circuit the V I, I I, and COM input terminals.
For analog outputs that are not used, do not connect the output terminals.
VI1
I I1
VI2
I I2
COM
IN
Additional Information
The input terminals are always subjected to AD conversion even when they are not used.
Therefore, if unused input terminals are left unconnected, unintended conversion values may
be input.
Although the Option Boards support two input ranges, no settings are provided to select the range.
Connect remote devices with the voltage or current input terminals based on their specifications.
When you use the current input range, however, short-circuit the current input terminal with the voltage
input terminal.
Analog output
device
+
VI
II
Current output
5-6
-
Analog Input
Option Board
COM
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5 Analog I/O
5-3-2
Device Variables
To use I/O data for an Option Board in the user program, you assign a device variable to each I/O port.
Specify device variables in the I/O Map Tab Page, which is displayed by selecting Configurations and
Setup - I/O Map.
Refer to 5-4-1 I/O Data on page 5-8 for I/O data for Analog I/O Option Boards.
5-3 Settings
5
5-3-2 Device Variables
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5-7
5 Analog I/O
5-4
Programming
The following provides information on programming for Analog I/O Option Boards.
5-4-1
I/O Data
The tables below show the I/O data available for Analog I/O Option Boards.
Refer to 5-1-4 Input Range and Output Range on page 5-3 for the range of I/O data values.
 NX1W-ADB21
Data name
Ch1 Analog Input Value
Ch2 Analog Input Value
Function
Value of analog input 1
Value of analog input 2
Data type
INT
INT
I/O port name
Ch1 Analog Input Value
Ch2 Analog Input Value
Function
Value of analog output 1
Value of analog output 2
Data type
INT
INT
I/O port name
Ch1 Analog Output Value
Ch2 Analog Output Value
Function
Value of analog input 1
Value of analog input 2
Value of analog output 1
Value of analog output 2
Data type
INT
INT
INT
INT
I/O port name
Ch1 Analog Input Value
Ch2 Analog Input Value
Ch1 Analog Output Value
Ch2 Analog Output Value
 NX1W-DAB21V
Data name
Ch1 Analog Output Value
Ch2 Analog Output Value
 NX1W-MAB221
Data name
Ch1 Analog Input Value
Ch2 Analog Input Value
Ch1 Analog Output Value
Ch2 Analog Output Value
For Analog I/O Option Boards, I/O data is used as I/O ports.
I/O ports are generated automatically by the Sysmac Studio when you specify the Option Board configuration.
To use I/O data in the user program, you use device variables assigned to the relevant I/O ports.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for I/O ports and device
variables.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for how to register device
variables with the Sysmac Studio.
5-8
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5 Analog I/O
5-4-2
Option Board Status
To use device variables for an Analog I/O Option Board, program the .Run (Option Board Normal Operation) member of the _PLC_OptBoardSta (Option Board Status) system-defined variable as an interlock condition in the user program.
Example of reading analog input values from Option Board 1 to the CPU Unit using the Option Board
Normal Operation as an interlock condition
_PLC_OptBoardSta[1].Run
OP1_Ch1_Analog_Input_Value
MOVE
EN
ENO
In
Out
OP1_Ch1_Analog_Input_Value_Valid
Option Board Normal Operation of Option Board 1 Status
system-defined variable
OP1_Ch1_Analog_Input_Value
Device variable to analog input 1 on Option Board 1
OP1_Ch1_Analog_Input_Value_Valid
Input value to analog input 1 read into the CPU Unit
5-4 Programming
_PLC_OptBoardSta[1].Run
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the specifications of
the _PLC_OptBoardSta (Option Board Status) system-defined variable.
5-4-2 Option Board Status
5-4-3
Special Instructions for Analog I/O Option Boards
No special instruction is available for Analog I/O Option Boards.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5
5-9
5 Analog I/O
5-4-4
Precautions on Supported Functions
There are functions that are provided on NX-series Analog I/O Units, but not available for Analog I/O
Option Boards.
The tables below show what you should do to use these functions.
Analog Input Related Functions
Function
Synchronous I/O refreshing method
Selecting channel to use
Action
The same operation is not possible.
Refer to 5-3-1 Option Board Settings on page 5-6 for what you should do for
unused input terminals.
Moving average
Use the MovingAverage (Moving Average) instruction to perform similar
operations.
Input disconnection detec- There is no input range that requires this function.
tion
Over range/under range
Use the ZoneCmp (Zone Comparison) instruction to perform similar operadetection
tions.
User calibration
Use the PWLApprox or PWLApproxNoLineChk (Broken Line Approximation)
instruction to perform similar operations.
Analog Output Related Functions
Function
Synchronous I/O refreshing method
Selecting channel to use
Output load rejection setting
Over range/under range
detection
User calibration
5 - 10
Action
The same operation is not possible.
Refer to 5-3-1 Option Board Settings on page 5-6 for what you should do for
unused input terminals.
The Unit cannot perform operations to output the output set value specified
at load rejection.
Use the ZoneCmp (Zone Comparison) instruction to perform similar operations.
Use the PWLApprox or PWLApproxNoLineChk (Broken Line Approximation)
instruction to perform similar operations.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5 Analog I/O
5-5
Wiring
Refer to the NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578) for information on
wiring Analog I/O Option Boards.
5-5 Wiring
5
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5 - 11
5 Analog I/O
5-6
I/O Refreshing
The following describes the I/O refresh operation of Analog I/O Option Boards.
5-6-1
I/O Refresh Operation
I/O refreshing between the CPU Unit and Analog Option Boards is carried out via the option board service. The CPU Unit executes the option board service according to the task execution priority, if it
receives a request from an Option Board.
In addition, the internal processing of an Option Board, option board service, and task execution are
performed asynchronously.
Therefore, the input and output response time varies depending on the processing time of each
processing stage.
Analog Input
Converted values are read during the internal processing of an Option Board and passed to the next
option board service for subsequent processing.
When the processing in the option board service is completed, the new converted values are available
for use in user program execution in the next primary periodic task.
Analog input
Option Board
internal processing
AD
conversion
AD
conversion
Converted value
Option board
service
Device variable for converted value
Primary
periodic task
IO UPG M
C
IO UPG M
C
IO UPG M
C
IO UPG M
C
Primary period
5 - 12
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5 Analog I/O
Analog Output
New output set values are determined when the user program is executed. The output set values are
then processed in the next option board service.
When the processing in the option board service is completed, the processed values are passed to the
next internal processing of the Option Board to generate analog output with the new output set values.
Analog output
Option Board
internal processing
DA
conversion
DA
conversion
Output set value
5-6 I/O Refreshing
Option board
service
Device variable for output set value
Primary
periodic task
IO UPG M
C
IO UPG M
C
IO UPG M
C
IO UPG M
C
Primary period
5
Response Time
The input and output response time varies depending on the internal processing of the Option Board,
option board service, and processing time of each task execution.
The reference values of input and output response time are given below.
Model
NX1W-ADB21
NX1W-DAB21V
NX1W-MAB221 (Input)
NX1W-MAB221 (Output)
Response time*1
Min.
Max.
2.8 ms
32.0 ms
3.0 ms
24.0 ms
2.8 ms
43.0 ms
3.0 ms
38.0 ms
*1. These values are provided for reference only. They are not intended to guarantee
the I/O response performance of each model.
Here, the input response time refers to the time from when the voltage or current value changes at an
input terminal until the change is reflected on the device variable for the converted value.
The output response time refers to the time from when the device variable for the output set value
changes until the change is reflected on the value at the output terminal.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
5 - 13
5-6-2 Response Time
5-6-2
5 Analog I/O
5 - 14
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Introduction of Motion Control
Functions
This section describes the motion control functions that are used when the NX1P2
CPU Unit is connected to an OMRON 1S-series Servo Drive with built-in EtherCAT
communications.
6-1 Single-axis Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6-1-1
6-1-2
6-1-3
6-1-4
6-1-5
6-1-6
6-1-7
Outline of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
Absolute Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
Relative Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
Cyclic Synchronous Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
Stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
Override Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6-2 Single-axis Synchronized Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6-2-1
6-2-2
6-2-3
6-2-4
6-2-5
6-2-6
6-2-7
6-2-8
6-2-9
6-2-10
Overview of Synchronized Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Gear Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Positioning Gear Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cam Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cam Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Synchronous Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Combining Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Master Axis Phase Shift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Slave Axis Position Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Achieving Synchronized Control in Multi-motion . . . . . . . . . . . . . . . . . . . . .
6-14
6-14
6-15
6-16
6-17
6-25
6-26
6-27
6-27
6-28
6-3 Single-axis Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6-3-1
6-3-2
Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
Cyclic Synchronous Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6-4 Single-axis Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6-5 Common Functions for Single-axis Control . . . . . . . . . . . . . . . . . . . . . . . 6-33
6-5-1
6-5-2
6-5-3
6-5-4
6-5-5
6-5-6
6-5-7
Positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Acceleration and Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Jerk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifying the Operation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Re-executing Motion Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . .
Multi-execution of Motion Control Instructions (Buffer Mode) . . . . . . . . . . . .
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
6-33
6-35
6-36
6-38
6-39
6-43
6-48
6-1
6
6 Introduction of Motion Control Functions
6-6 Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-54
6-6-1
6-6-2
6-6-3
6-6-4
6-6-5
6-6-6
Outline of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-54
Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-57
Circular Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-58
Axes Group Cyclic Synchronous Positioning . . . . . . . . . . . . . . . . . . . . . . . . . 6-58
Stopping Under Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . 6-59
Overrides for Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . 6-61
6-7 Common Functions for Multi-axes Coordinated Control . . . . . . . . . . . . . 6-62
6-7-1
6-7-2
6-7-3
6-7-4
6-7-5
Velocity Under Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . 6-62
Acceleration and Deceleration Under Multi-axes Coordinated Control . . . . . 6-63
Jerk for Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64
Re-executing Motion Control Instructions for Multi-axes
Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-65
Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes
Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66
6-8 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-74
6-8-1
6-8-2
6-8-3
6-8-4
6-8-5
6-8-6
6-8-7
6-8-8
6-8-9
6-8-10
6-8-11
6-8-12
6-2
Changing the Current Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-74
Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-75
Latching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-75
Zone Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-76
Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-77
Following Error Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-78
Following Error Counter Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-79
Axis Following Error Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-80
In-position Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-80
Changing Axis Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-82
Enabling Digital Cam Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-83
Displaying 3D Motion Monitor for User Coordinate System . . . . . . . . . . . . . . 6-84
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
6 Introduction of Motion Control Functions
6-1
Single-axis Position Control
The MC Function Module can be connected to OMRON 1S-series Servo Drives with built-in EtherCAT
communications or G5-series Servo Drives with built-in EtherCAT communications to implement position control, velocity control, and torque control. This section describes positioning operation for single
axes.
Some of the functions of the MC Function Module are different when NX-series Pulse Output Units are
used. Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for details.
6-1-1
Outline of Operation
EtherCAT
slave
Feedback
+
Input
Actual
position
Phasing
Position processing
Velocity processing
EtherCAT
slave
Command
position
Output
I/O processing for EtherCAT slave
6
Command
velocity
6-1-1 Outline of Operation
Torque processing
External
input
Commands
Synchronization
processing
Command
torque
External
output
Note You can use the command position or actual position as the input to the synchronization processing.
Resetting Axis Errors
If an error occurs in an axis, you can use the MC_Reset instruction to remove the error once you have
eliminated the cause.
For details on resetting axis errors, refer to the MC_Reset (Reset Axis Error) instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
6-1 Single-axis Position Control
The single-axis control function of the MC Function Module consists of control for motion profile commands and synchronized control. There are three Control Modes for motion profile commands: position
control, velocity control, and torque control. In synchronized control, the slave axis (i.e., the axis being
controlled) operates in a synchronized relationship to the master axis, as expressed by a cam profile
curve or a gear ratio. Manual operations such as jogging and homing are also supported.
6-3
6 Introduction of Motion Control Functions
6-1-2
Absolute Positioning
Absolute positioning specifies the absolute coordinates of the target position in relation to home. You
can perform positioning, such as shortest way positioning on a rotary table, by setting the Count Mode
to Rotary Mode and specifying the operation direction.
Velocity
Target
velocity
Deceleration
Acceleration
0 Command
Target position
Time
current position
For details, refer to the MC_MoveAbsolute (Absolute Positioning) and MC_Move (Positioning) instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
6-1-3
Relative Positioning
Relative positioning specifies the distance from the actual position. You can specify a travel distance
that exceeds the ring counter range by setting the Count Mode to Rotary Mode.
Velocity
Target
velocity
Deceleration
Acceleration
0 Command current position
Time
Target distance
For details, refer to the MC_MoveRelative (Relative Positioning) and MC_Move (Positioning) instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
6-4
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
6 Introduction of Motion Control Functions
6-1-4
Interrupt Feeding
Interrupt feeding feeds the axis at the specified velocity and for the specified distance from the actual
position when a trigger signal occurs.
You can also select to output an error if the trigger signal does not occur within the specified travel distance when you specify either absolute or relative positioning.
Feeding is not affected by following error. This is achieved by using the latch function of the Servo Drive
to determine the actual position when the trigger signal occurs. You can also use the window function to
disable trigger signals that occur outside of a specified position range. For applications such as wrapping machines, this enables feeding only on trigger signals for printed marks on films and eliminates
other influences.
6-1 Single-axis Position Control
Motion Relative to the Actual Position
 Feeding for a Specified Distance in the Moving Direction
Velocity
Interrupt input
Relative positioning,
absolute positioning, Specified travel
or velocity control
distance
Actual position
The figure on the left shows that there is a follow
delay in relation to the command position.
6
Command position
6-1-4 Interrupt Feeding
Relative positioning,
absolute positioning,
or velocity control
When the interrupt input occurs, the specified travel distance is
added to the actual position and used as the target position for
the command position.
 Feeding for a Specified Distance in the Direction Opposite to the Moving
Direction
Velocity
Interrupt input
Relative positioning,
absolute positioning,
or velocity control
Actual position
The figure on the left shows that there is a follow
delay in relation to the command position.
Specified travel
distance
Relative positioning,
absolute positioning,
or velocity control
Command position
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
6-5
6 Introduction of Motion Control Functions
If decelerating to a stop after a reverse turn is specified for the Operation Selection at Reversing axis
parameter, an acceleration/deceleration curve is used when reversing.
For details, refer to the MC_MoveFeed (Interrupt Feeding) instruction in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
6-1-5
Cyclic Synchronous Positioning
Cyclic synchronous positioning is used to output a target position to a specified axis each control period
in the primary periodic task or a periodic task. The target position is specified as an absolute position.
You can use it to move in a specific path that you create.
Position
Target positions (black dots)
specified with the input
parameters
Command position
Command
position
Servo
Drive
M
E
Task period
Time
For details, refer to the MC_SyncMoveAbsolute (Cyclic Synchronous Absolute Positioning) instruction
in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
6-6
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6 Introduction of Motion Control Functions
6-1-6
Stopping
Functions to stop axis operation include immediate stop input signal and limit input signals connected
to the Servo Drive, stop functions of motion control instructions in the user program, and stopping due
to errors.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
Stopping for Servo Drive Input Signals
Axis motion is stopped for the immediate stop input signal or a limit input signal from the Servo Drive.
You can select the stop method with the Sysmac Studio.
Stop processing in the MC Function Module is executed according to the state of the Servo Drive
input signals. You can select one of the following stopping methods for the MC Function Module.
• Immediate stop
• Immediate stop and error reset
• Immediate stop and Servo OFF
Precautions for Correct Use
The immediate stop input for the OMRON 1S-series Servo Drive or G5-series Servo Drive also
causes an error and executes stop processes in the Servo Drive itself.
Stop processing in the MC Function Module is executed according to the state of the Servo Drive
input signals. You can select one of the following stopping methods for the MC Function Module.
• Immediate stop
• Deceleration stop
• Immediate stop and error reset
• Immediate stop and Servo OFF
Precautions for Correct Use
• If a limit input signal turns ON, do not execute an instruction for axis command of the axis in
the same direction as the limit input signal.
• If a limit input signal is ON for any axis in an axes group, do not execute an instruction for an
axes group command for that axes group.
• If the signal to decelerate to a stop is input during execution of a synchronous movement
instruction that has a Deceleration input variable, the axis decelerates to a stop at the deceleration rate given by Deceleration.
• If the signal to decelerate to a stop is input during execution of a synchronous movement
instruction that does not have a Deceleration input variable, the axis decelerates to a stop at
the maximum deceleration rate that is set in the axis parameters.
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6
6-1-6 Stopping
 Limit Inputs (Positive Limit Input or Negative Limit Input)
6-1 Single-axis Position Control
 Immediate Stop Input
6 Introduction of Motion Control Functions
Additional Information
• You must set up the Servo Drive in order to use the input signals from the Servo Drive. An
OMRON 1S-series Servo Drive with built-in EtherCAT communications or G5-series Servo
Drive with built-in EtherCAT communications has an immediate stop input and limit input
assigned in its default settings.
• Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for setting examples for connection to an OMRON 1S-series Servo Drive.
• Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for setting examples for connection to an OMRON G5-series Servo Drive.
Stopping with Motion Control Instructions
Use the MC_Stop or MC_ImmediateStop instruction to stop single-axis operation.
 MC_Stop Instruction
You can specify the deceleration rate and jerk for single-axis control and synchronized control to
decelerate to a stop. Specify a deceleration rate of 0 to send a command that immediately stops the
Servo Drive. Other operation commands are not acknowledged while decelerating to a stop for this
instruction and while the input variable Execute is TRUE.
 MC_ImmediateStop Instruction
You can perform an immediate stop for single-axis control or synchronized control functions. You
can also execute this instruction on axes that are enabled in an axes group.
For details, refer to the MC_Stop and MC_ImmediateStop instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Additional Information
When the input variable Enable to the MC_Power (Servo ON) instruction changes to FALSE,
the MC Function Module immediately stops the command value and turns OFF the Servo.
When the Servo is turned OFF, the Servo Drive will operate according to the settings in the
Servo Drive.
Stopping Due to Errors or Other Problems
 Stopping for Errors during Single-axis Operation
When an error occurs during single-axis operation, the axis will stop immediately or decelerate to a
stop depending on the error. Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual
(Cat. No. W507) for details on the stop method for each error.
 Stopping for a Software Limit
To stop for a software limit, set the Software Limits axis parameter. You can select from the following
stop methods for the software limits.
• Enabled for command position. Decelerate to a stop.
• Enabled for command position. Immediate stop.
• Enabled for actual position. Decelerate to a stop.
• Enabled for actual position. Immediate stop.
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6 Introduction of Motion Control Functions
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for details on
software limits.
 Stopping Due to Motion Control Period Exceeded Error
If motion control processing does not end within two periods, a Motion Control Period Exceeded
error occurs. All axes stop immediately.
Precautions for Correct Use
When you use an NX701 CPU Unit and operate in the multi-motion, all axes in both tasks will
stop immediately if a Motion Control Period Exceeded error occurs in either of the tasks.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for
multi-motion.
An immediate stop is performed if an error occurs that causes the Servo to turn OFF. When the
Servo is turned OFF, the Servo Drive will operate according to the settings in the Servo Drive.
 Stopping Due to Start of MC Test Run
All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is started from the
Sysmac Studio.
 Stopping Due to End of MC Test Run
All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is stopped from the
Sysmac Studio.
• Click the Stop MC Test Run Button on the MC Test Run Tab Page of the Sysmac Studio.
6-1 Single-axis Position Control
 Errors That Cause the Servo to Turn OFF
6
• Close the MC Test Run Tab Page on the Sysmac Studio.
6-1-6 Stopping
• Exit the Sysmac Studio.
 Stopping Due to Change in CPU Unit Operating Mode
All axes will decelerate to a stop at their maximum deceleration if the CPU Unit operating mode
changes.
Precautions for Correct Use
• If an error that results in deceleration to a stop occurs during execution of a synchronous
movement instruction that has a Deceleration input variable, the axis decelerates to a stop at
the deceleration rate given by Deceleration.
• If an error that results in deceleration to a stop occurs during execution of a synchronous
movement instruction that does not have a Deceleration input variable, the axis decelerates
to a stop at the maximum deceleration rate that is set in the axis parameters.
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6-9
6 Introduction of Motion Control Functions
Additional Information
• When RUN mode changes to PROGRAM mode, any motion control instructions for current
motions are aborted. The CommandAborted output variable from the instructions remains
FALSE. The Servo remains ON even after changing to PROGRAM mode.
• If the operating mode returns to RUN mode while a deceleration stop is in progress after the
operating mode changes from RUN to PROGRAM mode, the output variables from motion
control instructions are cleared. The CommandAborted output variables from the motion control instructions therefore remain FALSE.
• The save process will continue during a save for the MC_SaveCamTable Instruction.
• The generation process will continue when generation of the cam table is in progress for the
MC_GenerateCamTable (Generate Cam Table) instruction.
6-10
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6 Introduction of Motion Control Functions
Stop Method
 Deceleration Stop
Velocity
Axis stops at the deceleration rate that
is specified for the instruction or at the
maximum deceleration rate.
Time
6-1 Single-axis Position Control
 Immediate Stop
Velocity
The command is no longer updated. The
axis moves only for the pulses remaining in
the Servo Drive and then stops. The stop
position is the command position when the
cause of the immediate stop occurred.
Time
 Immediate Stop and Error Reset
6
Velocity
6-1-6 Stopping
The actual position when the cause of the
immediate stop occurred is used as the
command position. Inertia will take the axis
past this position, but it will return to the
actual position when the cause of the
immediate stop occurred and stop there.
Time
 Immediate Stop and Servo OFF
Velocity
The command is no longer updated. When
the Servo is turned OFF, the axis stops using
the method that is specified by the Disable
Operation Option Code (object 605C hex)
that is set in the Servo Drive.
Time
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6-11
6 Introduction of Motion Control Functions
Stop Priorities
The priorities for each stop method are listed in the following table. If a stop with a higher priority stop
method occurs while stopping, the stop method will switch to the higher priority method.
Stop method
Immediate stop and Servo OFF
Immediate stop and error reset
Immediate stop
Deceleration stop
Priority
(higher numbers mean higher priority)
4
3
2
1
 Example
The following figure is an example of an immediate stop when the limit input signal is ON and the
immediate stop input changes to ON during a deceleration to a stop.
Limit input
Immediate stop input
Command velocity
6-12
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6 Introduction of Motion Control Functions
6-1-7
Override Factors
You can use the MC_SetOverride instruction to set override factors for the motion of the axes that are
currently in motion. The velocity override factor is set as a percentage of the target velocity. It can be
set between 0% and 500%. If an override factor of 0% is set for the target velocity, operating status will
continue with the axis stopped as a velocity of 0. The set override factor is read as long as the overrides
are enabled. If the overrides are disabled, the override factors return to 100%. If the maximum velocity
is exceeded when an override factor is changed, the maximum velocity for the axis is used.
 Overriding the MC_MoveAbsolute Instruction
An example of a time chart for using the Set Override Factors instruction for the MC_MoveAbsolute
(Absolute Positioning) instruction is given below.
Previous Instruction: MC_MoveAbsolute
6-1 Single-axis Position Control
Execute
Busy
Active
Done
CommandAborted
Current Instruction
6
Enable
Enabled
6-1-7 Override Factors
Busy
VelFactor
100
200
50
Velocity
Override factor: 200%
Override factor: 100%
Override factor: 50%
Time
For details, refer to the MC_SetOverride (Set Override Factors) instruction in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508).
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6 Introduction of Motion Control Functions
6-2
Single-axis Synchronized Control
This section describes the operation of synchronized control for single axes.
6-2-1
Overview of Synchronized Control
Synchronous control synchronizes the position of a slave axis with the position of a master axis. The
command position or actual position of any axis can be specified for the master axis. If the command
velocity for the slave axis exceeds the maximum velocity that is set in the axis parameters, the command is performed at the maximum velocity of the axis. If this occurs, any insufficient travel distance is
distributed and output in the following periods.
Precautions for Correct Use
• You cannot specify an encoder axis, virtual encoder axis or single-axis position control axis
for the slave axis.
• When you use an NX701 CPU Unit and operate in the multi-motion, assign the master axis
and slave axis to the same task.
If you specify the master axis in a different task from the slave axis by executing the synchronized control instructions such as the MC_GearIn (Start Gear Operation) instruction or the
MC_Camin (Start Cam Operation) instruction, an Illegal Master Axis Specification (event
code: 54620000 hex) occurs.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) if you
desire to specify the master axis in a different task from the slave axis.
6-2-2
Gear Operation
This function specifies the gear ratio between the master axis and the slave axis and starts operation.
Start gear operation with the MC_GearIn (Start Gear Operation) instruction. End synchronization with
the MC_GearOut (End Gear Operation) instruction or the MC_Stop instruction.
Specify with
Master_Reference.
Actual position
Gear operation
Numerator
Command position
Denominator
Command position
Remainder
Most recent command
position
You can set the gear ratio numerator, gear ratio denominator, position type, acceleration rate, and
deceleration rate for the slave axis to operate. For the master axis, you can specify the command position, actual position, or most recent command position.
After operation starts, the slave axis uses the velocity of the master axis times the gear ratio for its target velocity, and accelerates/decelerates accordingly. The catching phase exists until the target velocity
is reached. The InGear phase exists after that. If the gear ratio is positive, the slave axis and master
axis move in the same direction. If the gear ratio is negative, the slave axis and master axis move in the
opposite directions.
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6 Introduction of Motion Control Functions
For details on gear operation, refer to the MC_GearIn (Start Gear Operation), MC_GearOut (End Gear
Operation), and MC_Stop instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
6-2-3
Positioning Gear Operation
This function specifies the gear ratio between the master axis and the slave axis and starts operation.
Positioning gear operation allows you to set the positions of the master and slave axes at which to start
synchronization. Start positioning gear operation with the MC_GearInPos instruction. End synchronization with the MC_GearOut instruction or the MC_Stop instruction.
Actual position
Gear operation
Numerator
Command position
Denominator
Remainder
Command position
Most recent command
position
You can set the gear ratio numerator, gear ratio denominator, position type, acceleration rate, and
deceleration rate for the slave axis to operate. For the master axis, you can specify the command position, actual position, or most recent command position.
Position
Catching Phase
InSync phase
Master
Travel distance of slave axis
= Travel distance of master axis ×
RatioNumerator
RatioDenominator
Slave
Execute
Time
For details on positioning gear operation, refer to the MC_GearInPos (Positioning Gear Operation), the
MC_GearOut (End Gear Operation), and the MC_Stop instructions in the NJ/NX-series Motion Control
Instructions Reference Manual (Cat. No. W508).
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6-15
6
6-2-3 Positioning Gear Operation
After operation starts, the slave axis uses the velocity of the master axis times the gear ratio for its target velocity, and accelerates/decelerates accordingly. The slave axis is in the catching phase until it
reaches the slave sync position. The slave axis enters the InSync phase after it reaches the slave sync
position. For either, the position of the slave axis is synchronized with the master axis. If the gear ratio
is positive, the slave axis and master axis move in the same direction. If the gear ratio is negative, the
slave axis and master axis move in the opposite directions. The following figure shows the operation
when the gear ratio is positive.
6-2 Single-axis Synchronized Control
Specify with
ReferenceType.
6 Introduction of Motion Control Functions
6-2-4
Cam Operation
Cam operation synchronizes the position of the slave axis with the master axis according to a cam
table. Start cam operation with the MC_CamIn (Start Cam Operation) instruction. End cam operation
with the MC_CamOut (End Cam Operation) instruction or the MC_Stop instruction. Create a cam table
using the Cam Editor in the Sysmac Studio and download it to the CPU Unit. Use the Synchronization
menu command of the Sysmac Studio to download the project to the CPU Unit.
Specify with
ReferenceType.
Cam operation
Cam
processing
Actual position
Command position
Command position
Most recent command
position
Cam table
Cam operation
Master axis
Phase
Phase Displacement
0.0
0.0
10.0
0.1
50.0
0.2
Displacement
Cam profile curve
Cam
start point
Number of valid
cam data
Displacement
Slave
axis
359.8
359.9
360.0
0.0
0.0
100.0
50.0
0.0
0.0
0.0
0.0
0.0
Cam
end point
Maximum number
of cam data
Phase
One period
Also, the following operation is possible: if another MC_CamIn (Start Cam Operation) instruction is executed by using multi-execution with the Buffer Mode set for blending while the current MC_CamIn (Start
Cam Operation) instruction is executed, the operation can continue using the switched cam table and
the slave axis does not stop.
For details on cam operation, refer to the MC_CamIn (Start Cam Operation), MC_CamOut (End Cam
Operation), and MC_Stop instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
For details on the Cam Editor, refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).
6-16
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6 Introduction of Motion Control Functions
6-2-5
Cam Tables
This section describes the cam tables that are used for cam operation.
Cam Table Terminology
Term
cam operation
cam block
cam curve
cam data
cam data variable
cam table
cam block start point
cam block end point
original cam data
program-modified cam
data
master axis
The axis that serves as the input to the cam operation. You can specify either Linear
Mode or Rotary Mode.
slave axis
The axis that serves as the output from the cam operation. You can specify either Linear Mode or Rotary Mode.
phase
The relative distance on the master axis from the start point of the cam table.
displacement
The relative distance on the slave axis from the master following distance.
valid cam data
The cam data other than the cam start point and other than data where the phase is 0.
invalid cam data
The cam data other than the cam start point where the phase is 0.
number of valid cam data The number of sets of cam data.
maximum number of
The maximum number of sets of cam data that the cam table can contain.
cam data
cam data index
The number of the cam data that is executed.
cam table start position
The absolute position of the master axis that corresponds to the cam start point
(phase = 0).
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6
6-2-5 Cam Tables
cam start point
cam end point
6-2 Single-axis Synchronized Control
cam profile curve
Description
An operation that takes one master axis and one slave axis and follows the cam profile curve to derive the displacement of the slave axis from the phase of the master
axis.
A curve that shows the relationship between phases and displacements in a cam
operation.
The cam profile curve is created on the Sysmac Studio. You can use the cam profile
curve with a cam data variable after the cam profile curve is downloaded to the CPU
Unit. Use the Synchronization menu command of the Sysmac Studio to download the
project to the CPU Unit.
You can select a cam curve in this block. It represents the area between the end point
of the previous cam block and the end point of the current cam block.
A curve that represents the cam characteristics. You can select a cam curve for each
cam block. The Sysmac Studio calculates the phase widths and displacement widths
from the specified points and creates the actual cam profile curve. You can choose
from different curves, such as straight line, parabolic, and trapecloid.
Data made up of phases (master axis) and displacements (slave axis) for cam operation.
A variable that represents the cam data as a structure array.
A data table that contains cam data. If phase data is not in ascending order the cam
table is treated as an illegal cam table.
The first point in the cam data.
The last point of valid cam data in the cam data. If the cam end point is less than the
number of cam data, all phases and displacements after the cam end point will be 0.
The start point for a cam block. It is the same as the cam start point at the start of the
cam operation. If the cam profile curve continues, this will be the same as the cam
block end point.
The end point for a cam block. It is the same as the cam end point at the end of the
cam operation. If the cam profile curve continues, this will be the same as the cam
block start point. The cam block end point is defined as (horizontal axis, vertical axis)
= (phase end point, displacement end point).
Cam data that is created by dividing up the cam profile curve in the Cam Editor.
The cam data changed by the user program while the CPU Unit is in operation.
6 Introduction of Motion Control Functions
Term
master following distance
start mode
null cam data
connecting velocity
connecting acceleration
phase pitch
Description
The master start distance where the slave axis starts cam operation represented as
either an absolute position or relative position. The relative position is based on the
cam start point position.
A specification of whether to represent the master following distance as an absolute
position or relative position.
Cam data that can be set after the end point where the phase and displacement are 0.
The connecting velocity that is used to connect cam profile curves. The connecting
velocity cannot be specified for some curves.
The acceleration rate that is used to connect cam profile curves. The connecting
acceleration cannot be specified for some curves.
The width when dividing the cam profile curve by phases (horizontal axis). The points
after dividing the curve into the phase pitch correspond to the cam data in the cam
table. You must specify the phase pitch for each cam block.
Displacement
End point displacement
for block 1
End point for block 1
Start point for block 2
Block 1
Block 2
Cam start point
(block start point)
Cam end point
(block start point)
End phase for block 1
End point
displacement
for block 2
End phase for block 2
Phase
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6 Introduction of Motion Control Functions
Cam Tables
The MC Function Module defines a single element of data consisting of the phase of the master axis
and the displacement of the slave axis as one cam data. A cam table is defined as the combination of
multiple sets of cam data. The cam table is created with the Cam Editor in the Sysmac Studio. You can
modify cam data in the cam table from the user program.
The phases and displacements in the cam data that makes up the cam table are represented as relative distances from the start point 0.0. During cam operation, the command position sent to the slave
axis is the displacement determined by interpolating linearly between the two cam data elements adjacent to the phase of the master axis. The more cam data there is in the cam table, the more accurate
the trajectory and the smoother the cam profile curve will be.
during cam operation
Cam table
Phase
350
Displacement Cam data index
Cam start point
0
0
0
Cam data
60
200
1
120
100
2
180
300
3
240
100
4
300
200
5
360
0
6
Cam end point
300
250
The phase is calculated
from the master axis
position each cycle. The
linear interpolation of cam
data is used to calculate the
displacement from the
phase. (These are the red
dots on the line.)
200
Displacement
150
100
50
0
0
60
120
180
240
300
360
Phase
6-2 Single-axis Synchronized Control
1 cycle Command position
Cam data (black dots on the line).
6
Precautions for Correct Use
• Cam data variables are global variables. You can therefore access or change the values of
cam data variables from more than one task. If you change the values of cam data variables
from more than one task, program the changes so that there is no competition in writing the
value from more than one task.
• If you use exclusive control of global variables between tasks for a cam data variable, do not
use the cam data variable for motion control instructions in a task that does not control the
variable. An Incorrect Cam Table Specification (event code: 54390000 hex) will occur.
Cam Table Specifications
Item
Maximum number of cam data per
cam table
Maximum size of all cam data
Maximum number of cam tables
Switching cam operation
Changing cam data
Saving cam data
Description
65,535 points
1,048,560 points*1
640 tables*2
You can switch to a different cam operation by executing a motion control
instruction
Cam data can be edited from the user program.
Cam data can be overwritten with the Generate Cam Table instruction.
Cam data can be saved to non-volatile memory by using the Save Cam
Table instruction.
Information attached to the cam data Information can be downloaded or uploaded for display in the Cam Editor*3
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
6-19
6-2-5 Cam Tables
• Make sure that the cam data is arranged in the cam table so that the phases are in ascending
order. An instruction error occurs if a cam operation instruction is executed when the phases
are not in ascending order.
6 Introduction of Motion Control Functions
Item
Timing to load cam data to main
memory
Description
• When the data is downloaded from the Sysmac Studio
• When power is turned ON
*1. If 65,535 points are used for each cam table, there will be a maximum of 16 cams. A resolution of 0.1° allows
for a maximum of 3,600 points per cam table for a maximum of 291 cams.
*2. The total size is 10 MB max.
*3. Use the Synchronization menu command of the Sysmac Studio to upload and download the project.
Data Type of Cam Tables
A cam table is declared as an array of cam data structures. The type declaration for the cam data structure is shown below.
TYPE
(*Cam data structure*)
_sMC_CAM_REF :
STRUCT
Phase
Distance
: REAL;
: REAL;
(*Phase*)
(*Displacement*)
END_STRUCT;
END_TYPE
You must create the cam data with the Cam Editor in the Sysmac Studio and then specify the name of
the cam table and the number of cam data (i.e., the size of the array). For example, to make a cam
table called MyCam1 with 1,000 points use the following declaration.
VAR
(*Cam table*)
MyCam1
END_VAR
:
ARRAY [0..999] OF _sMC_CAM_REF;
The following notation is used to specify MyCam1 for a cam operation instruction. In this example, the
master axis is Axis1 and the slave axis is Axis2.
MC_CamIn_Instance
MC_CamIn
Axis1
Master
Axis2
Slave
MyCam1
CamTable
Master
Slave
CamTable
Axis1
Axis2
MyCam1
An error will occur if the specified cam table does not exist in the Controller. You can also specify the
same cam table for more than one axis.
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6 Introduction of Motion Control Functions
Switching Cam Tables
You can switch cam tables by re-executing the cam operation instruction during cam operation. After
switching, cam operation will be performed with the cam table you specified for re-execution of the
instruction. The EndOfProfile and Index output variables from the MC_CamIn instruction are output
according to the new cam table.
Slave
Displacement
(Slave axis)
Cam table 1
Cam table 2
Master
Phase
(Master axis)
Precautions for Correct Use
• The cam table you want to switch to must be saved to non-volatile memory before it can be
used.
• Switching cam tables during cam operation will cause discontinuous velocities. Adjust the
timing for switching the cam table to avoid excessive velocity discontinuity.
6-2 Single-axis Synchronized Control
Re-executed
6
Cam data can be loaded and saved from the user program just like any other variables. For example,
you can use MyCam1[0].Phase to specify the phase and MyCam1[0].Distance to specify the displacement in the first array elements of a cam table named MyCam1. Cam data overwritten from the user
program can be saved to the non-volatile memory in the CPU Unit as a cam table by executing the
MC_SaveCamTable instruction.
Precautions for Correct Use
• Overwritten cam data will be lost if the CPU Unit is turned OFF or the cam data is downloaded from the Sysmac Studio before the Save Cam Table instruction is executed or if the
instruction fails to save the data for any reason.
• Be careful not to lose the overwritten data when overwriting cam data from the user program
in the CPU Unit.
• Cam data saved to non-volatile memory can be loaded by using the upload function of the
Sysmac Studio.
• Use the Synchronization menu command of the Sysmac Studio to upload and download the
project.
For details on arrays, refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501).
For details on the Save Cam Table instruction, refer to the MC_SaveCamTable instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
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6-21
6-2-5 Cam Tables
Loading/Saving Cam Data and Saving Cam Tables
6 Introduction of Motion Control Functions
Updating Cam Table Properties
The MC Function Module must identify the cam end point of the cam table. If an overwrite is performed
from the user program during cam operation and the number of valid cam data changes, you must
update the number of valid cam data to the latest value. Use the MC_SetCamTableProperty instruction
for this.
The cam end point is the data located one cam data before the first cam data with a phase of 0 after the
start point in the cam table. All cam data after phase 0 is detected will be invalid.
For example, refer to the following cam table. The EndPointIndex (End Point Index) output variable is
999 and the MaxDataNumber (Maximum Number of Cam Data) output variable is 5,000 from the
MC_SetCamTableProperty instruction.
Cam data structure array
Phase
MyCam1 [0]
.
.
.
Displacement
0
.
.
.
0
.
.
.
Valid data
MyCam1 [997]
359.8
2
MyCam1 [998]
359.9
1
MyCam1 [999]
360.0
0
0
0
MyCam1 [1000]
.
.
.
.
.
.
MyCam1 [4999]
.
.
.
0
Cam start point
Maximum number of data: 5,000
Cam end point
Invalid data
0
Precautions for Correct Use
• You cannot change the maximum number of cam data from the user program.
• Execute this instruction after overwriting the cam data in any way that changes the number of
valid cam data. If the number of valid cam data is not updated, the cam operation and the
operation of the EndOfProfile (End of Cam Cycle) of the MC_CamIn instruction may not be
as expected.
For details on the Set Cam Table Properties instruction, refer to the MC_SetCamTableProperty (Set
Cam Table Properties) instruction in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).
6-22
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6 Introduction of Motion Control Functions
Generate Cam Table
You can generate the cam table by executing the MC_GenerateCamTable (Generate Cam Table)
instruction.
The MC_GenerateCamTable instruction calculates the cam data using the values specified for CamProperty (Cam Properties) and CamNodes (Cam Nodes), and rewrites the cam data variable specified
for the CamTable (Cam Table) in-out variable.
When rewriting is completed, the MC_GenerateCamTable instruction updates the end point index of
the cam table and outputs the element number of the cam end point to EndPointIndex (End Point
Index).
It is not necessary to execute the MC_SetCamTableProperty (Set Cam Table Properties) instruction after
the MC_GenerateCamTable instruction is completed.
Element
numbers
Phase
6-2 Single-axis Synchronized Control
Cam table
before instruction execution
Cam table
after instruction execution
Displacement
0
0.0
0.0
1
0.0
0.0
...
...
...
179
0.0
0.0
180
0.0
0.0
181
0.0
0.0
...
...
...
The cam data is
calculated and written to
the table when the
instruction is executed.
Element
numbers
Cam end point
Displacement
Phase
0
0.0
0.0
1
1.0
1.0
...
...
...
179
179.0
199.0
180
180.0
200.0
181
0.0
0.0
...
...
...
6
MC_GenerateCamTable_instance
Outputs "180" after instruction execution.
The cam data variable is an array variable with the data type of cam data structure _sMC_CAM_REF.
You create the cam data variable on the Cam Editor of the Sysmac Studio.
For CamProperty, specify the cam property variable. The cam property variable is an array variable with
the data type of cam property structure _sMC_CAM_PROPERTY. You create the cam property variable
as a user-defined variable on the global variable table of the Sysmac Studio. Or, you create the variable
using the cam data settings on the Sysmac Studio.
For CamNodes, specify the cam node variable. The cam node variable is an array variable with the
data type of cam node structure _sMC_CAM_NODE. You create the cam node variable as a
user-defined variable on the global variable table of the Sysmac Studio. Or, you create the variable
using the cam data settings on the Sysmac Studio.
The cam property variable and the cam node variable are collectively called “cam definition variable”.
If the cam definition variable is created as a user-defined variable, the default of its Retain attribute is
Non-retain. You must set the Retain attribute of variable to Retain, if you want to reuse the variable after
changing its value and switching the operating mode to PROGRAM mode or cycling the power supply.
If you set the variable each time of use from the HMI, etc., the attribute can be left Non-retain.
If the cam definition variable is created with the cam data settings on the Sysmac Studio, the Retain
attribute of variable will be fixed to Retain.
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6-23
6-2-5 Cam Tables
Cam table property
Cam node (defining curves)
MC_GenerateCamTable
CamTable
CamTable
CamProperty
CamProperty
CamNodes
CamNodes
Execute
Done
EndPointIndex
Busy
CommandAborted
Error
ErrorID
ErrorParameterCode
ErrorNodePointIndex
6 Introduction of Motion Control Functions
By using the HMI, etc. to set the values for the MC_GenerateCamTable instruction, you can create the
cam data variable and adjust the cam operation without using the Sysmac Studio.
The following is the procedure used to adjust the cam operation.
1
Create a user program, in advance, that includes the following processing.
• Assigning the value of the cam definition variable that is set from the HMI to the Generate
Cam Table instruction.
• Displaying the cam variable that is created by the Generate Cam Table instruction graphically
on the HMI.
• Displaying the value of EndPointIndex (End Point Index) on the HMI.
2
3
4
5
6
7
Set the value of the cam definition variable from the HMI.
Execute the Generate Cam Table instruction.
Verify the curve shape of the generated cam table and the value of the end point index displayed on the HMI.
If there is no problem with the curve shape of the cam table and the number of the cam data,
then execute the cam operation.
Verify the result of the cam operation and consider changing the value of the cam definition variable.
Repeat steps 2 to 6.
For details on the cam definition variable and the Generate Cam Table instruction, refer to the MC_GenerateCamTable instruction in the NJ/NX-series Motion Control Instructions Reference Manual (Cat.
No. W508).
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504-E1-10 or later) for information
on creating and transferring the cam definition variables using the Sysmac Studio.
6-24
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6 Introduction of Motion Control Functions
6-2-6
Synchronous Positioning
This function performs positioning using a trapezoidal curve while synchronizing the specified slave
axis to the specified master axis. This is a type of electronic cam, but it does not use cam tables created
in the Cam Editor. Operation starts when the MC_MoveLink (Synchronous Positioning) instruction is
executed. Use the MC_Stop instruction to stop the axes in motion. Operation is performed for the Slave
(Slave Axis) and the following are set: Master (Master Axis), MasterDistance (Master Axis Travel Distance), MasterDistanceInACC (Master Distance In Acceleration), MasterDistanceInDEC (Master Distance In Deceleration), SlaveDistance (Slave Axis Travel Distance), and MasterStartDistance (Master
Following Distance). The command position or actual position can be specified for the master axis. You
can specify one of the following as the start condition for synchronous operation: start of instruction,
when trigger is detected, or when master axis reaches the master following distance.
Master axis position
MasterDistanceInDEC
MasterDistance
Master
Following
Distance
MasterDistanceInACC
6-2 Single-axis Synchronized Control
The velocity and position of the slave axis are determined by the ratio of the travel distances of the
master axis and the slave axis as shown in the following figure. The sync start position shown in the following figure represents the position where the sync start condition is met.
Time
6
Slave axis position
6-2-6 Synchronous Positioning
SlaveDistance
Time
Slave axis velocity
Time
For details on synchronous positioning, refer to the MC_MoveLink (Synchronous Positioning) and
MC_Stop instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No.
W508).
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6-25
6 Introduction of Motion Control Functions
6-2-7
Combining Axes
The sum or difference of two positions can be used as the command position for the slave axis. Operation starts when the MC_CombineAxes instruction is executed. Use the MC_Stop instruction to stop
axes in motion.
The following figure is an example demonstrating operation when subtracting axes. Slave (Slave Axis)
command current position = Master (Master Axis) command current position − Auxiliary (Auxiliary Axis)
command current position)
Master
(master axis)
Velocity
Execute of MC_CombineAxes
changes to TRUE
Slave
(slave axis)
Velocity
Time
Position: 200
Execute of MC_CombineAxes
changes to TRUE
Position: 600
Auxiliary
(auxiliary axis)
Velocity
Execute of MC_CombineAxes
changes to TRUE
Time
Position: 0
Position: 390
Time
Position: 100
Position: 110
For details on combining axes, refer to the MC_CombineAxes and MC_Stop instructions in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
6-26
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6 Introduction of Motion Control Functions
6-2-8
Master Axis Phase Shift
The phase of the master axis as viewed from the slave axis can be shifted for the current instruction.
The shift amount as viewed from the slave axis is a relative amount. During synchronization, the slave
axis will synchronize to the relative distance of the master axis. You can execute the MC_Phasing (Shift
Master Axis Phase) instruction to shift the phase for a synchronized control instruction.
You can specify the phase shift amount, target velocity, acceleration rate, deceleration rate, and jerk for
the MC_Phasing (Shift Master Axis Phase) instruction.
Execute
Busy
6-2 Single-axis Synchronized Control
Active
Done
CommandAborted
Error
ErrorID
16#0000
Master axis position
as viewed from the
slave axis
Actual master
axis position
6
Slave axis position
Time
6-2-8 Master Axis Phase Shift
Master axis velocity
as viewed from the
slave axis
Time
Slave axis
position when
phase offset is 0
Time
For details on the shift master axis phase function and the synchronized control instructions for which a
master axis phase shift can be applied, refer to the MC_Phasing (Shift Master Axis Phase) instruction in
the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
6-2-9
Slave Axis Position Compensation
This function compensates the position of the slave axis currently in synchronized control.
An offset calculated from the value of the input variable is added to the command current position. The
result is output to the Servo Drive to compensate the position of the slave axis in synchronized control.
Even when the MC Function Module commands the same travel distance to two axes, their actual
travel distance may be different due to mechanical strain or other factors. This function can perform
compensation in such a case.
To perform position compensation for the slave axis in synchronized control, execute the MC_SyncOffsetPosition (Cyclic Synchronous Position Offset Compensation) instruction.
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6 Introduction of Motion Control Functions
For details on slave axis position compensation, refer to the MC_SyncOffsetPosition (Cyclic Synchronous Position Offset Compensation) instruction in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
6-2-10 Achieving Synchronized Control in Multi-motion
When you use the standard functions of the MC Function Module, if the synchronized control instructions are executed between axes assigned to different tasks in the multi-motion, an Illegal Master Axis
Specification (event code: 54620000 hex) occurs.
However, you can perform synchronized control of the master axis that is controlled in the primary periodic task and the slave axis that is controlled in the priority-5 periodic task by using the MC_PeriodicSyncVariables (Periodic Axis Variable Synchronization between Tasks) instruction.
The cam operation and gear operation synchronized with the master axis and slave axis are available
for the following combinations.
Slave axis task
Primary periodic task
Priority-5 periodic task
Synchronized by motion control
Synchronized control is achieved
instructions
by executing the
MC_PeriodicSyncVariables
(Periodic Axis Variable
Synchronization between Tasks)
instruction and using the virtual
master axis in the priority-5 periodic
task.
Not available.
Synchronized by motion control
instructions
Mster axis task
Primray periodic task
Priority-5 periodic task
Axis Composition in Operation Examples
In the following figure, axis 1 is the master axis. Axis 2 is a slave axis that requires high-speed and
high-precision control. It is assigned to the primary periodic task. Axis 3 is a slave axis that does not
require precision. It is assigned to a priority-5 periodic task. The master axis (axis 1) is assigned to the
primary periodic task.
 Physical Axis Composition
Axis 1
1:2
2:3
Axis 2
6-28
Axis 3
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6 Introduction of Motion Control Functions
 Logical Axis Composition
Axis 1
Master axis
1:2
Axis 2
Slave axis
Calculations
Master axis position
Master axis velocity
:
Target position
given to virtual
axis.
6-2 Single-axis Synchronized Control
MC_PeriodicSyncVariables instruction
Primary periodic task
Priority-5 periodic task
2:3
Axis 4
Virtual axis
Axis 3
Slave axis
6
Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for details on
the MC_PeriodicSyncVariables (Periodic Axis Variable Synchronization between Tasks) instruction.
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6-29
6-2-10 Achieving Synchronized Control in Multi-motion
Programming is placed in both the primary periodic task and priority-5 periodic task to achieve the operation for the above application.
6 Introduction of Motion Control Functions
6-3
Single-axis Velocity Control
This section describes the operation of velocity control for single axes.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
6-3-1
Velocity Control
Velocity control is used to constantly move an axis at the specified velocity. You can also specify the
acceleration rate, deceleration rate, and jerk. To stop an axis, use the MC_Stop instruction or execute
another motion instruction. If you specify a target velocity of 0, the axis will not move but the axis status
will indicate that it is moving. If any other motion control instruction is executed with multi-execution of
instructions during velocity control, the operation will switch only after reaching the target velocity.
Execute
Busy
Active
InVelocity
CommandAborted
Error
ErrorID
Velocity
16#0000
Decelerates to a stop
when another instruction
causes an error.
Target velocity
Time
The MC Function Module uses Position Control Mode of the Servo Drive or other device and sends target position commands to achieve the specified target velocity.
The position control loop is enabled in the Servo Drive or other device. Therefore, as the command
velocity slows down, e.g., due to disturbance, and the following error increases, the velocity will change
to eliminate this following error.
For details, refer to the MC_MoveVelocity (Velocity Control) instruction in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
6-30
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6 Introduction of Motion Control Functions
6-3-2
Cyclic Synchronous Velocity Control
The control mode of the Servo Drive is set to Velocity Control Mode and a command speed is output
every control period.
Precautions for Correct Use
You cannot use cyclic synchronous velocity control for an NX-series Pulse Output Unit.
To stop an axis, use the MC_Stop instruction or execute another motion control instruction. If you specify a target velocity of 0, the axis will not move but the axis status will indicate that it is moving.
MC_SyncMoveVelocity Instruction
Execute
6-3 Single-axis Velocity Control
InVelocity
Busy
Active
CommandAborted
Error
ErrorID
16#0000
6
MC_Stop Instruction
6-3-2 Cyclic Synchronous Velocity Control
Execute
Done
Busy
Active
Deceleration stop
performed for the
MC_Stop instruction.
Velocity
Target velocity
Time
Target velocity is changed
every primary period.
Target velocity is not
changed.
Control Mode
CSP
Changed.
CSV
CSP
Changed.
CSV
Changed.
The Servo Drive will receive commands in the velocity control loop. Therefore, if any disturbance
causes the velocity to decrease below the command velocity, no change in velocity will occur to remove
the following error.
For details, refer to the MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
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6 Introduction of Motion Control Functions
6-4
Single-axis Torque Control
Torque control continuously applies the specified amount of torque. You can use TorqueRamp to specify the rate of change of the torque until the Torque (Target Torque) is reached.
Precautions for Correct Use
• To be safe, always set a velocity limit value for torque control.
• You cannot use single-axis torque control for an NX-series Pulse Output Unit.
To stop an axis, use the MC_Stop instruction or execute another motion instruction. If you specify a
Torque (Target Torque) of 0, the axis will not move but the axis status will indicate that it is moving.
 Direction Designation = Positive Direction
Torque
Torque
TorqueRamp
Time
 Direction Designation = Negative Direction
Torque
Time
TorqueRamp
Torque
The MC Function Module uses the Torque Control Mode of the Servo Drive. The Servo Drive receives
the torque command value from the MC Function Module in the torque control loop and to control the
torque. You can specify the velocity limit value for the Servo Drive in the Velocity (Velocity Limit) input
variable to the motion control instruction. You can use this to limit high-speed revolution of the motor
when the load on the motor is low in Torque Control Mode.
For details, refer to the MC_TorqueControl instruction in the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).
6-32
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6 Introduction of Motion Control Functions
6-5
Common Functions for Single-axis
Control
This section describes the common functions used for single-axis control.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
Positions
Types of Positions
The MC Function Module uses the following two types of positions.
Type of position
Command position
Actual position
Definition
This is the position that the MC Function Module outputs to control an axis.
The actual position as input from the Servo Drive or encoder input.
The following figure shows the relationship between the command position and the actual position for
an EtherCAT slave Servo Drive.
MC Function Module
User program
Motion
control
instruction
Motion
control
processing
Command
position
(command units)
Command position
(pulses)
Electronic
gear
In-position check
Remainder Actual position
Actual position
(command units)
Electronic
gear
Servo Drive
Command
position
counter
Following
error
counter
Position loop
Velocity loop
Current loop
M
6
(pulses)
Remainder
Feedback
counter
E
Item
Position increment
Software limits
Changing the current position
Defining home
Command position
You can set Linear Mode or Rotary
Mode.
You can set one of the following:
mm, μm, nm, inch, degree, or pulse.
You can set the range of operation
of the software.
You can change the actual position
to any desired position.
Home is either defined or
undefined.
Actual position
The same Count Mode is used as
for the command position.
The unit is the same as the unit of
the command position.
The range is the same as the range
for the command position.
This value will be set to the same
position as the command position.*1
The status of home is the same as
the command position.
*1. If there is any following error before the change, the following error value is maintained in the actual position.
Additional Information
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information
on the NX-series Position Interface Units.
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6-33
6-5-1 Positions
The command position and actual position share the following items.
Count Mode
6-5 Common Functions for Single-axis Control
6-5-1
6 Introduction of Motion Control Functions
Axis Parameters That Are Related to Positions
Parameter name
In-position Range
In-position Check
Time
Software Limits
Function
Set the in-position width. (Unit: command
units)
Set the in-position check time in milliseconds. Set 0 to check for the end of positioning only when you define the home position
during homing and not check positioning at
other times. (Unit: ms)
Select the software limit function.
Setting range
Non-negative long
reals
0 to 10,000
Default
0
0 to 4
0
Long reals
2,147,483,647
Long reals
−2,147,483,648
Non-negative long
reals
0
Non-negative long
reals that are less
than or equal to the
Following Error Over
Value
0
10
0: Disabled.
1: Deceleration stop for command position
2: Immediate stop for command position
3: Deceleration stop for actual position
Positive Software
Limit
Negative Software
Limit
Following Error Over
Value
Following Error
Warning Value
4: Immediate stop for actual position
Set the software limit in the positive direction. (Unit: command units)
Set the software limit in the negative direction. (Unit: command units)
Set the excessive following error check
value. Set 0 to disable the excessive following error check. (Unit: command units)
Set the following error warning check value.
Set 0 to disable the following error warning
check. (Unit: command units)
Specifying Target Positions for Axis Operations
The actual position or distance for a positioning motion is specified with the Position (Target Position)
and Distance (Travel Distance) input variables to the motion control instruction.
Monitoring Positions
You can read Axis Variables in the user program to monitor positions.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
6-34
Variable name
_MC_AX[0-255].Cmd.Pos
Data type
LREAL
Meaning
Command Current
Position
_MC_AX[0-255].Act.Pos
LREAL
Actual Current Position
Function
This is the current value of the command position. When the Servo is OFF and the mode is
not the position control mode, the actual current position is output.
This is the actual current position.
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6 Introduction of Motion Control Functions
6-5-2
Velocity
Types of Velocities
The following two types of axis velocities are used in the MC Function Module.
Velocity type
Command velocity
Actual velocity
Definition
This is the velocity that the MC Function Module outputs to control an axis.
This is the velocity calculated in the MC Function Module based on the actual posi-
*1. This value is given if the Velocity actual value (606C hex) is mapped in the PDOs and assigned to the Actual
Current Velocity.
Velocity Unit
A velocity is given in command units/s. The command unit is the value obtained from unit conversion of
the position display unit and the electronic gear.
Axis Parameters That Are Related to Velocities
Parameter name
Maximum Velocity
Maximum Jog Velocity
Velocity Warning Value
Actual Velocity Filter
Time Constant
Setting range
Positive long reals
Default
400,000,000
Positive long reals
0
Set the maximum jog velocity for each axis.*1
Set a value that does not exceed the maximum
velocity.
(Unit: command units/s)
Set the percentage of the maximum velocity at
which to output a velocity warning for the axis.
No velocity warning is output if 0 is set.
(Unit: %)
Set the time period to calculate the average
travel of the actual velocity in milliseconds. The
average travel is not calculated if 0 is set.
(Unit: ms)
Use this to reduce variations in the actual current velocity when axis velocity is slow.
Positive long reals
1,000,000
0 to 100
0
0 to 100
0
*1. The maximum jog velocity is used as the command velocity if you specify a velocity command value that is
greater than the maximum jog velocity.
Specifying Target Velocities for Axis Operations
The velocity used in an actual positioning motion is specified by the Velocity (Target Velocity) input variable to the motion control instruction.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
6
6-5-2 Velocity
Start Velocity
Function
Specify the maximum velocity for the axis. If a
target velocity that exceeds the maximum
velocity is specified for an axis motion instruction, the axis will move at the maximum velocity.
Set the start velocity for each axis.
Set a value that does not exceed the maximum
velocity.
(Unit: command units/s)
6-5 Common Functions for Single-axis Control
tion input from the Servo Drive or encoder input.*1
6-35
6 Introduction of Motion Control Functions
Monitoring Velocities
You can read Axis Variables in the user program to monitor velocities.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
6-5-3
Variable name
_MC_AX[0-255].Cmd.Vel
Data type
LREAL
Meaning
Command Current
Velocity
_MC_AX[0-255].Act.Vel
LREAL
Actual Current
Velocity
Function
This is the current value of the command
velocity. A plus sign is added during
travel in the positive direction, and a
minus sign is added during travel in the
negative direction.
This is the actual current velocity. A plus
sign is added during travel in the positive
direction, and a minus sign is added
during travel in the negative direction.
Acceleration and Deceleration
Unit of Acceleration and Deceleration Rates
Acceleration rates and deceleration rates are given in command units/s2. The command unit is the
value obtained from unit conversion of the position display unit and the electronic gear.
Axis Parameters That Are Related to Acceleration and Deceleration
Parameter name
Maximum Acceleration
Maximum Deceleration
Acceleration/Deceleration Over
Function
Set the maximum acceleration rate for an axis
operation command. There will be no limit to
the acceleration rate if 0 is set.
(Unit: command units/s2)
Set the maximum deceleration rate for an axis
operation command. There will be no limit to
the deceleration rate if 0 is set.
Setting range
Non-negative long
reals
Non-negative long
reals
(Unit: command units/s2)
Set the operation for when the maximum accel- 0 to 2
eration/deceleration rate would be exceeded
after excessive acceleration/deceleration
during acceleration/deceleration control of the
axis because stopping at the target position is
Default
0
0
0
given priority. *1
0: Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
1: Use rapid acceleration/deceleration.
Acceleration Warning
Value
6-36
2: Minor fault stop
Set the percentage of the maximum acceleration rate at which to output an acceleration
warning for the axis. No acceleration warning is
output if 0 is set.
(Unit: %)
0 to 100
0
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6 Introduction of Motion Control Functions
Parameter name
Deceleration Warning
Value
Function
Setting range
Set the percentage of the maximum decelera- 0 to 100
tion rate at which to output a deceleration warning for the axis. No deceleration warning is
output if 0 is set.
(Unit: %)
Default
0
*1. Refer to 6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 6-48 for operation with
each set value.
The acceleration and deceleration rates used in an actual positioning motions are specified by the
Acceleration (Acceleration Rate) and Deceleration (Deceleration Rate) input variables to the motion
control instruction.
Monitoring Acceleration and Deceleration Rates
You can read Axis Variables in the user program to monitor acceleration and deceleration rates.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Variable name
_MC_AX[0-255].Cmd.AccDec
Data type
LREAL
Meaning
Command Current
Acceleration/Deceleration
Function
This is the current value of the command acceleration/deceleration rate.
A plus sign is added for acceleration,
and a minus sign is added for deceleration.
Velocity
Maximum velocity
(2) Target velocity
after velocity
change
(1) Target velocity
at startup
D
A
Ta1
Ta2
Time
Td
When Starting
For Velocity Changes
When Decelerating
Ta1: Actual acceleration time
Ta2: Actual acceleration time
Td: Actual deceleration time
A:
A:
D: Deceleration rate
Acceleration rate
Acceleration rate
If you specify a short travel distance or a low acceleration/deceleration rate, the target velocity may not
be reached. If the target position is exceeded after re-execution of the motion control instruction with
the newly updated acceleration or deceleration rate, positioning is performed at an acceleration or
deceleration rate that will enable stopping at the target position.
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6
6-5-3 Acceleration and Deceleration
Example of Acceleration/Deceleration Operation
A
6-5 Common Functions for Single-axis Control
Specifying Acceleration and Deceleration Rates for Axis Operation
6-37
6 Introduction of Motion Control Functions
6-5-4
Jerk
The jerk specifies the rate of change in the acceleration rate or deceleration rate. If the jerk is specified,
the velocity waveform during acceleration will be an S-curve, which will reduce the shock and vibration
on the machine.
Additional Information
Jerk is also called jolt, surge and lurch.
Jerk Unit
Jerk is given in command units/s3. The command unit is the value obtained from unit conversion of the
position display unit and the electronic gear.
Specifying Jerk for Axis Motion
The jerk used in an actual positioning motion is specified with the Jerk input variable to the motion control instruction. The same value is used for acceleration and deceleration.
Use the following formula to calculate the value to set for the jerk.
Jerk = Acceleration rate ÷ (Time of acceleration × Ratio of time to apply jerk during acceleration/2)
Jerk is applied in two sections: at the start of acceleration and at the end of acceleration. The time that
jerk is applied is therefore divided by 2.
 Example of Velocity Control When Jerk Is Specified
The acceleration will change at a constant rate over the range where jerk is specified. The command
velocity will form a smooth S curve. A fixed acceleration rate is used in areas where the jerk is set to
0. This command velocity will form a straight line.
Example: Acceleration of 25,000 mm/s2, Acceleration Time of 0.1 s, and a Jerk Application Rate of
50%
Jerk = 25,000/(0.1 × 0.5/2) = 1,000,000 (mm/s3)
Target velocity
at startup
Velocity
Time
Acceleration
Acceleration rate rate
at startup
Time
Jerk
Jerk
at startup
Time
25%
6-38
25%
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6 Introduction of Motion Control Functions
Monitoring Jerk
You can read Axis Variables in the user program to monitor jerk.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Variable name
_MC_AX[0-255].Cmd.Jerk
Meaning
Command Current
Jerk
Function
This is the current value of the command jerk.
Specifying the Operation Direction
If you want to specify a rotation direction, such as shortest way, using an index table, set the Count
Mode to Rotary Mode. Next, set the operation direction with the Direction input variable to the motion
control instruction for an absolute position. If you set the direction to the shortest way, positive direction,
negative direction, or current direction, you can specify a position that is greater than or equal to the
modulo minimum position and less than the modulo maximum position within one turn of the ring
counter. The Direction input variable will be ignored when the Count Mode is set to Linear Mode. Positioning will be performed to the target position.
The following table lists the different directions you can specify in the MC Function Module.
Direction
Shortest way
Example for Shortest Way
The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.
Modulo maximum
position setting
value: 100
Command current position:
50
Target position:
−20
Target position:
−20
0
Modulo minimum
position setting
value: −70
Moves in negative direction.
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6-39
6
6-5-5 Specifying the Operation Direction
Positive direction
Negative direction
Current direction
No direction specified
Operation
Motion starts in the direction where the command current position and the target position are closer to each other.
Motion starts in the positive direction.
Motion starts in the negative direction.
Motion starts in the same direction as the previous operation.
Motion starts in the direction that does not pass through the upper and lower limits of
the ring counter. With this direction specification, you can specify a target position that
exceeds the upper or lower limits of the ring counter. If that occurs, relative positioning
is performed using the difference between the target position and the command current
position as the target distance. This enables you to perform multi-turn positioning on
the ring counter.
6-5 Common Functions for Single-axis Control
6-5-5
Data type
LREAL
6 Introduction of Motion Control Functions
Additional Information
Moves in the same direction as the Current Direction specification if the travel distance is the
same in the positive and negative directions.
Example for Positive Direction
The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.
Modulo maximum
position setting
value: 100
Command current position:
50
0
Target position:
−20
Modulo minimum
position setting
value: −70
Target position:
−20
Moves in positive direction.
Example for Negative Direction
The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.
Modulo maximum
position setting
value: 100
Command current position:
50
0
Modulo minimum
position setting
value: −70
6-40
Target position:
−20
Target position:
−20
Moves in negative direction.
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6 Introduction of Motion Control Functions
Example for Current Direction
The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.
Modulo maximum
position setting
value: 100
Command current position:
50
Observe the following precautions on the operation direction of the previous operation.
6-5 Common Functions for Single-axis Control
• If the MC_Home or MC_HomeWithParameter instruction exceeds the point where the home
input was detected and reverses operation, the opposite direction of the home input detection direction is used.
6
0
Target position:
−20
Modulo minimum
position setting
value: −70 If the previous operation was
in the negative direction,
motion is in the negative
direction.
Target position:
−20
If the previous operation was in
the positive direction, motion is in
the positive direction.
The direction of the previous operation is given in the Command Direction in the Axis Variable.
Precautions for Correct Use
• If an immediate stop is specified for the MC_TouchProbe (Enable External Latch) instruction,
the latch position may be exceeded and the direction may be reversed.
• The direction may be reversed for the MC_MoveFeed (Interrupt Feeding) instruction.
• When the MC_ResetFollowingError instruction is executed, the error is set to zero, so the
command direction is used.
• If an immediate stop is specified for an external input signal or resetting the error counter is
specified for stopping for a limit input, the operation may reverse direction toward the position
where the external input signal was received.
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6-41
6-5-5 Specifying the Operation Direction
• If a homing compensation value is set for the MC_Home or MC_HomeWithParameter
instruction, the axis will move in the direction of the compensation value.
6 Introduction of Motion Control Functions
Example for No Direction Specification
The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.
Modulo maximum
position setting
value: 100
Command current position:
50
0
Modulo minimum
position setting
value: −70
Target position:
−20
Target position:
−20
Moves towards the
ring counter range.
Similarly, the following example illustrates when the ring counter upper limit is 100, the lower limit is
−70, the command current position is −20, and positioning is performed towards a target position of
290.
Modulo maximum
position setting
value: 100
Position after
positioning: −50
Command current
position: −20
0
Modulo minimum
position setting
value: −70
190
Performs relative positioning with target distance of (290
(target position) − 100 (upper limit)) = 190.
6-42
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6 Introduction of Motion Control Functions
6-5-6
Re-executing Motion Control Instructions
For details on input variables that can be changed, refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Changing the Target Position
If you change the target position with re-execution, the operation may change depending on the timing
of the change and the new target position. If the direction of motion reverses due to a change in the target position, you can choose to decelerate to a stop after a reverse turn or stop immediately after
reversing with the Operation selection at Reversing axis parameter.
 When a Reverse Turn Does Not Occur for the New Command Value
Re-executing Instruction during
Constant-velocity Motion
Velocity
Re-executing Instruction during
Acceleration/deceleration
↓Command re-executed.
↑Initial
command
position
↓Command re-executed.
↑New
command
position
6
↑New
↑Initial
command command
position
position
↑Executed.
If you re-execute an instruction during triangular
control or during deceleration, acceleration to
the target velocity will occur again. In some
cases, the axis will not reach the target velocity.
 When a Reverse Turn Occurs for the New Command Value
Decelerating to a Stop after Reverse Turn
Stopping Immediately after Reverse Turn
Velocity
Velocity
↓Command re-executed.
↓Initial command position
↑Executed.
If the instruction is re-executed
during acceleration, the axis
starts deceleration as soon as
the instruction is re-executed.
↑New command
position
If the travel distance upon reversal
is small, triangular control is
performed as it was for the first
execution of the instruction.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
↑Executed.
↓Command re-executed.
If the travel distance upon
reverse turn is small,
triangular control is
performed as it was for
the first execution of the
instruction.
↑Initial
↑New command
command
position
position
If the instruction is re-executed during
acceleration or deceleration, the axis
stops immediately upon re-execution.
This also occurs during deceleration.
6-43
6-5-6 Re-executing Motion Control Instructions
↑Executed.
Velocity
6-5 Common Functions for Single-axis Control
This section describes how to modify input variables of the same instance of a motion control instruction during operation of a single axis and re-execute that instruction. The input variables Position (Target Position), Distance (Travel Distance), Velocity (Target Velocity), Acceleration (Acceleration Rate),
Deceleration (Deceleration Rate), and Torque (Target Torque) and sometimes other input variables can
be changed by re-execution. An instruction error will occur if you change an input variable that cannot
be changed and attempt to re-execute the instruction. If you re-execute an instruction that has been
buffered due to multi-execution of instructions, the input variables for the instruction in the buffer will
change.
6 Introduction of Motion Control Functions
 Triangular Control Patterns
The triangular control shown in the figure below may result if the travel distance is shortened due to
a change in the target position.
No Reverse Turn
Velocity
↓Command re-executed.
Executed.↑
↑New command
position
↑Initial command
position
 Excessive Deceleration Patterns
In the following case, priority is given to stopping at the target position. Therefore, the deceleration
rate will exceed the specified deceleration rate. If the deceleration rate exceeds the rate that is set in
the Maximum Deceleration axis parameter, the operation set in the Acceleration/Deceleration Over
axis parameter setting is performed.
• If There Is No Reverse Turn and the Target Position Would Be Exceeded at the Specified Deceleration Rate
No Reverse Turn
Velocity
↓Command re-executed.
↑Initial command position
↑Executed.
↑New command position
• If There Is A Reverse Turn and Decelerating to a Stop Would Exceed a Software Limit
No Reverse Turn
Velocity
↓Command re-executed.
↑Executed.
Reverse
operation
↑Software limit
• If There Is A Reverse Turn and Decelerating to a Stop Would Result in Command Current Position Overflow or Underflow
No Reverse Turn
Velocity
↓Command re-executed.
↑Executed.
Reverse
operation
↑Counter upper limit
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6 Introduction of Motion Control Functions
Changing the Travel Distance
Even if you change the travel distance and re-execute the MC_MoveRelative (Relative Positioning)
instruction, positioning is performed for the new travel distance in reference to the position where the
motion first started. However, if the instruction is executed again just before positioning is completed, it
may be executed as a new instruction rather than as a re-execution of the same instruction.
Re-execution Instruction during Motion
Velocity
↓Command re-executed.
Velocity
↓Command re-executed.
Travel distance ↑
↑Initial
↑Initial
↑Travel distance
↑Executed.
travel
travel
specified when
specified when
distance instruction was
distance instruction was
re-executed
re-executed
If the instruction is re-executed just before the end of positioning,
positioning for the travel distance that is specified when the instruction
is re-executed is sometimes based on the position to which the axis
was moved for the initial travel distance.
Precautions for Correct Use
Do not change the travel distance and re-execute the instruction just before the end of positioning.
6-5 Common Functions for Single-axis Control
↑Executed.
Re-execution Just Before End of Positioning
6
Changing the Target Velocity
Changing the Acceleration Rate
The operation is changed only during acceleration and acceleration during triangular control. If it is
changed when moving at a constant speed, the changed rate applies to acceleration for an override.
Changes are also accepted when the axis is decelerating, but operation is not affected.
Changing the Deceleration Rate
The deceleration rate is changed only during acceleration, constant-velocity motion, deceleration, triangular control, or during deceleration-exceed control. If the new deceleration rate causes the axis to
exceed the target position, stopping at the target position is given the highest priority. Therefore, in this
case, the actual deceleration rate will exceed the specified deceleration rate.
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6-45
6-5-6 Re-executing Motion Control Instructions
The operation is changed only during acceleration (including acceleration for triangular control) and
constant-velocity motion. Changes are also accepted when the axis is decelerating, but operation is not
affected.
6 Introduction of Motion Control Functions
 Patterns Where Deceleration Rate Increases
Triangular Control Followed by Trapezoidal Control
Trapezoidal Control
Velocity
Instruction
↓re-executed
Instruction
↓re-executed
Velocity
There is an area of
acceleration due to
the increased
deceleration rate
during deceleration
↑Command position
↑Executed.
↑Executed.
Increased deceleration rate allows
operation to reach target velocity
for trapezoidal control.
There is an area of
acceleration due to the
increased deceleration
rate during deceleration
↑Command position
 Patterns Where Deceleration Rate Decreases
Trapezoidal Control or Triangular Control
Deceleration-exceed Control
Velocity
If the command position is exceeded
at the reduced deceleration rate, a
switch is made to decelerationexceed control.
Velocity
↓Instruction re-executed
Decreased deceleration
rate makes it impossible
to reach target velocity
so a change is made to
triangular control.
↑Executed.
↑Command position
No change for re-execution
during deceleration
↑Executed.
↑Command position
Changing the Torque Command
The torque command value will change based on the torque ramp specification when you re-execute a
motion control instruction.
Programming Example for Re-execution
This example demonstrates changing the target position from 1000 to 2000 for absolute positioning. In
this example, the variable Axis1Pos is used as the input parameter to the target position. Specify the
target position to 1000 with the MOV instruction and change Axis1Execute to TRUE to begin positioning. Specify the target position to 2000 during operation and change Axis1Execute to TRUE again to
switch to a positioning operation for the new target position of 2000.
Axis1PosSet1
Axis1pos:=1000;
Axis1PosSet2
Axis1pos:=2000;
Axis1MoveAbsolute
Axis1Execute _MC_AX[0]
Axis1Pos
Axis1Velo
Axis1Acc
Axis1Dec
Axis1Jerk
0
0
6-46
MC_MoveAbsolute
Axis
Axis
Execute
Done
Position
Busy
Velocity
Active
Acceleration CommandAborted
Error
Deceleration
ErrorID
Jerk
Direction
BufferMode
_MC_AX[0]
Axis1Done
Axis1Busy
Axis1Active
Axis1CA
Axis1Error
Axis1ErrorID
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6 Introduction of Motion Control Functions
 Timing Charts
Variables
Axis1PosSet1
Axis1PosSet2
Axis1Pos
1000
2000
Input Parameter
Output Parameters
Axis1Done
Axis1Busy
Axis1Active
Precautions for Correct Use
For input variables that are not changed, always use the same values as before re-execution of
the instruction.
6-5 Common Functions for Single-axis Control
Axis1Execute
6
6-5-6 Re-executing Motion Control Instructions
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6-47
6 Introduction of Motion Control Functions
6-5-7
Multi-execution of Motion Control Instructions (Buffer Mode)
You can execute another motion control instruction while an axis is moving. In the PLCopen® technical
specifications, this functionality is defined as Buffer Mode, but in the MC Function Module this is sometimes referred to as multi-execution of instructions. You can use multi-execution of instructions to execute multiple motion control instructions in sequence without stopping the overall motion.
The following terms are used in relation to multi-execution of instructions in the MC Function Module.
Term
Buffered instruction
PLCopen®
Previous function
block
Next function block
Transit velocity
Blending
This manual
Current instruction
Meaning
The motion control instruction that was in operation just before executing the multi-execution instruction.
A motion control instruction that was executed during an axis motion
and is waiting to be executed.
When blending is specified, it specifies the command velocity to use
by the current instruction to move to the specified target position.
You can set the BufferMode (Buffer Mode Selection) input variable to motion control instruction to
select one of the following Buffer Modes. The main difference between these modes is the timing at
which the buffered instructions are executed and the transit velocity.
Buffer Mode
Description of operation
The current instruction is aborted and the multi-executed instruction is
executed.
The buffered instruction is executed after the operation for the current
instruction is normally finished.
The buffered instruction is executed after the target position of the current instruction is reached. In this mode, no stop is performed between
the current instruction and the buffered instruction. You can select
from the following transit velocities for when the current instruction
reaches the target position.
The transit velocity is set to the target velocity of the current instruction
or the buffered instruction, whichever is lowest.
The target velocity of the current instruction is used as the transit
velocity.
The target velocity of the buffered instruction is used as the transit
velocity.
The transit velocity is set to the target velocity of the current instruction
or the buffered instruction, whichever is highest.
Aborting
Buffered
Blending
Blending Low (low velocity)
Blending Previous (previous
velocity)
Blending Next (next velocity)
Blending High (high velocity)
The multi-execution instruction is buffered in the MC Function Module and will be executed at the specified BufferMode timing and transit velocity for both buffered and blending modes. There is one buffer
for each axis. If aborting is specified, the instruction that was executed last is executed immediately, so
it is not buffered.
Precautions for Correct Use
• Only one multi-execution instruction is buffered for each axis. If multi-execution is performed
for two or more instructions, an instruction error will occur.
• Multi-execution of multi-axes coordinated control instructions (axes group instructions) is not
possible for axes operating as a single axis. Similarly, multi-execution of single-axis control
instructions is not possible for axes operating under multi-axes coordinated control (axes
group instructions). An instruction error will occur if these rules are broken.
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6 Introduction of Motion Control Functions
Aborting
This is the default mode. No buffering is performed in this mode. The current command is aborted and
the new instruction is executed. Aborting Mode can be used for multi-execution of instructions for
motion control instructions for both single-axis control and synchronized control.
 When a Reverse Turn Does Not Occur for the Command Position of the
Multi-execution Instruction
Multi-execution during Acceleration/Deceleration
↓Multi-execution timing
Velocity
↑Executed.
↓Multi-execution timing
Velocity
↑Initial
↑Buffered
command command
position
position
↑Executed.
↑Initial
↑Buffered
command command
position
position
If you use multi-execution of an instruction during
triangular control or during deceleration, the axis will
accelerate to the target velocity of the buffered instruction.
In some cases, the axis will not reach the target velocity.
 When a Reverse Turn Occurs for the Command Position of the Multi-execution Instruction
Decelerating to a Stop after Reversing
Velocity
↓Multi-execution timing
↓Multi-execution timing
↑Buffered
command
position
If an instruction is executed with
multi-execution of instructions
during acceleration, the axis
starts deceleration according to
the multi-execution timing.
↑Initial
↑New
command command
position
position
↑Executed.
If the travel distance upon
reverse turn is small, triangular
control is performed as it was for
the first execution of the
instruction.
If the instruction is executed with multiexecution of instructions during acceleration
or deceleration, the axis stops immediately
according to the multi-execution timing.
This also occurs during deceleration.
Buffered
The buffered instruction remains in the buffer until the operation of the current instruction is finished.
The buffered instruction is executed after the operation for the current instruction is normally ended.
Velocity
↓Multi-execution timing
Current instruction
The target position is reached
and the next command is
executed after the current
operation is normally finished.
Buffered instruction
Time
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6-49
6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)
If the travel distance
upon reverse turn is
small, triangular control
is performed as it was
for the first execution of
the instruction.
↓Initial command position
↑Executed.
6
Stopping Immediately after Reversing
Velocity
6-5 Common Functions for Single-axis Control
Executing More than One Instruction
during Constant-velocity Motion
6 Introduction of Motion Control Functions
Blending
The buffered instruction remains in the buffer until the target position of the current instruction is
reached. The buffered instruction is executed after the current instruction’s target position is reached.
However, motion does not stop at this time. Operation transitions to the next instruction at the velocity
specified with the BufferMode (Buffer Mode Selection) input variable. For relative travel, the final position will be the total of the values for both instructions. For absolute travel, the final position will be the
target position of the second multi-execution instruction. The Acceleration/Deceleration Over axis
parameter is used to select one of the following operations for when the target position would be
exceeded with the values that are set in the Maximum Acceleration and Maximum Deceleration axis
parameters.
• Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
• Use rapid acceleration/deceleration.
• Minor fault stop
Precautions for Correct Use
• In a blending mode, you cannot combine single-axis and synchronized control.
• Blending is not changed to Buffered even if you select Use rapid acceleration/deceleration.
(Blending is changed to Buffered.). In this case, the maximum acceleration/deceleration rate
is used and the blending operation is continued.
Also, the axis does not stop with an error even if you select Minor fault stop. Similar to the
previous case, the maximum acceleration/deceleration rate is used and the blending operation is continued.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for
details.
An example for an Acceleration/Deceleration Over operation is given below.
 Use Rapid Acceleration/Deceleration (Blending Is Changed to Buffered)
• The operation with the following setting is shown below.
The operation will be the same even if you select Minor fault stop.
Here, BufferMode is set to Blending Next.
Current
instruction
Target velocity of the
buffered instruction
Transit velocity
Buffered instruction
The maximum acceleration rate is used, and
execution of the buffered instruction starts when the
target position of the current instruction is exceeded.
After switching the instruction, the acceleration rate
of the buffered instruction is used.
Multi-execution of
instructions
6-50
Time
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6 Introduction of Motion Control Functions
 Use Rapid Acceleration/Deceleration
• BufferMode Is Set to Blending Previous
Velocity
Buffered
instruction
Current instruction
Transit velocity used.
Current instruction
Multi-execution of instructions
Buffered instruction
6-5 Common Functions for Single-axis Control
Stopping at the target position is not
possible for the deceleration rate of
the buffered instruction. Rapid
deceleration is therefore used to
stop at the target position.
Time
• BufferMode Is Set to Blending Next
Velocity
Current instruction
Buffered instruction
The target velocity of the buffered
instruction cannot be reached by
the target position of the current
instruction with the acceleration
rate of the current instruction.
Rapid acceleration is therefore
used to reach the target velocity
at the target position.
Transit velocity used.
Buffered instruction
Current instruction
Multi-execution of instructions
Time
6
 Minor Fault Stop
Blending Low (Low Velocity)
Operation is performed using the target position of the current instruction and the target velocity that is
the slower of the target velocities for the current instruction and buffered instruction.
Blending Previous (Previous Velocity)
Operation is performed with the target velocity of the current instruction until the target position of the
current instruction is reached. Operation is performed after acceleration/deceleration to the target
velocity of the buffered instruction once the target position is reached.
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6-51
6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)
• The operation is the same as when Use rapid acceleration/deceleration. (Blending is changed to
Buffered.) is selected.
6 Introduction of Motion Control Functions
 When the Direction of Operation Does Not Change
Cases Resulting in Acceleration
Multi-execution
of instruction
Velocity
Current instruction
The transit velocity is
the command velocity of
the current instruction
Buffered instruction
Time
Cases Resulting in Deceleration
Multi-execution
of instruction
Velocity
Current instruction
Buffered instruction
Time
 When the Direction of Operation Changes
Velocity
Multi-execution of instruction
Current instruction
The transit velocity is the command velocity of the current instruction
Time
Buffered instruction
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6 Introduction of Motion Control Functions
Blending Next (Next Velocity)
Operation is performed using the target position of the current instruction and the target velocity of the
buffered instruction.
The transit velocity is the command
velocity of the buffered command
Cases Resulting in Acceleration
Multi-execution of instruction
Velocity
6-5 Common Functions for Single-axis Control
Current instruction
Buffered instruction
Time
Cases Resulting in Deceleration
Multi-execution of instruction
Velocity
Current instruction
Buffered instruction
Time
6
Blending High (High Velocity)
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6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)
Operation is performed using the target position of the current instruction and the target velocity that is
the faster of the target velocities for the current instruction and buffered instruction.
6 Introduction of Motion Control Functions
6-6
Multi-axes Coordinated Control
This section describes the operation of multi-axes coordinated control. With the MC Function Module,
you can set an axes group in advance from the Sysmac Studio to perform interpolation control for multiple axes.
6-6-1
Outline of Operation
Multi-axes coordinated control performs a motion with multiple related axes together as a single group
to control the path of the target control object. The MC Function Module treats all axes that perform
coordinated operation as an axes group. Axes groups are set from the Sysmac Studio. In the user program, turn ON the Servo for each axis and then enable the axes group that is going to perform the
multi-axes coordinated control. The purpose of multi-axes coordinated control is the coordinated operation of all axes belonging to the target axes group. Therefore, you cannot execute any single-axis operation motion control instructions on the axes in an enabled axes group. Furthermore, if any error occurs
for any axis in an axes group, all axes in the axes group will stop according to the setting of the Axis
Group Stop Method group axes parameter.
The MC Function Module can perform linear interpolation with two to four axes or circular interpolation
with two axes.
Coordinate conversion
EtherCAT
slave
Feedback
Commands
Multi-axes position
processing
EtherCAT
slave
Command
position 1
Output 1
Actual
position 2
Command
position 2
Output 2
Actual
position 3
Command
position 3
Output 3
Input 1
Actual
position 1
Input 2
Input 3
Additional Information
For devices that require you to modify the grouping of axes in motion to perform interpolation
control, you must create multiple axes groups that include the axes to modify from the Sysmac
Studio beforehand. After completing this step, you can execute by specifying the enabled axes
groups from the user program during operation.
You can also use the MC_ChangeAxesInGroup (Change Axes in Group) instruction to change
the composition axes for an axes group that is disabled.
For details on axes groups, refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No.
W507).
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6 Introduction of Motion Control Functions
Enabling and Disabling Axes Groups
To enable an axes group, specify the axes group for the MC_GroupEnable (Enable Axes Group)
instruction. An instruction error will occur if you try to execute an axes group instruction when the axes
group is still disabled. To disable an axes group, specify the axes group for the MC_GroupDisable (Disable Axes Group) instruction. When you disable an axes group that is in operation, all axes in that axes
group will decelerate to a stop at the maximum deceleration rate that is specified in their axis parameter
settings.
Turn ON Servo for each axis
with MC_Power.
6-6 Multi-axes Coordinated Control
Define home for
all of the axes.
Enable axes group with
MC_GroupEnable.
Perform interpolation operation.
Axes group enabled.
Disable axes group with
MC_GroupDisable.
6
For details on enabling and disabling axes groups, refer to the MC_GroupEnable (Enable Axes Group)
and MC_GroupDisable (Disable Axes Group) instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Changing the Axes in an Axes Group
You can use the MC_ChangeAxesInGroup (Change Axes in Group) instruction to temporarily change
the composition axes for an axes group that is disabled. If the axes group is enabled, use the
MC_GroupDisable (Disable Axes Group) instruction to disable the axes group before you change the
composition axes.
Precautions for Correct Use
Changes made using the MC_ChangeAxesInGroup (Change Axes in Group) instruction will not
be saved to non-volatile memory in the CPU Unit. If you cycle the power supply or download
the settings from the Sysmac Studio, the parameter settings in the non-volatile memory are
restored.
For details on changing the composition axes of an axes group, refer to the MC_ChangeAxesInGroup
(Change Axes in Group) instruction in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).
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6-55
6-6-1 Outline of Operation
Turn OFF Servo for each
axis with MC_Power.
6 Introduction of Motion Control Functions
Reading Axes Group Positions
You can use the MC_GroupReadPosition (Read Axes Group Position) instruction to read the command
current positions and the actual current positions of an axes group.
For details on reading the axis positions for an axes group, refer to the MC_GroupReadPosition (Read
Axes Group Position) instruction in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).
Resetting Axes Group Errors
If an error occurs in an axes group, you can use the MC_GroupReset instruction to remove the error
once you have eliminated the cause.
For details on resetting axes group errors, refer to the MC_GroupReset (Group Reset) instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
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6 Introduction of Motion Control Functions
6-6-2
Linear Interpolation
Linear interpolation is used to move 2 to 4 of the logical axes A0 to A3 in a straight line between a start
point and an end point. Either absolute or relative positioning is possible. You can specify the interpolation velocity, interpolation acceleration, interpolation deceleration, and jerk.
The MC Function Modules uses the following three kinds of linear interpolation instructions.
• MC_MoveLinear (Linear Interpolation)
You can specify the MoveMode input variable to select between linear interpolation to an absolute
value or linear interpolation to a relative value. This instruction is unique to the MC Function Module.
• MC_MoveLinearAbsolute (Absolute Linear Interpolation)
• MC_MoveLinearRelative (Relative Linear Interpolation)
This instruction performs linear interpolation to a relative value. This instruction is defined in the
PLCopen® technical specifications.
The following figure shows linear interpolation of 2 axes from point A to point B.
Y
B
6-6 Multi-axes Coordinated Control
This instruction performs linear interpolation to an absolute value. This instruction is defined in the
PLCopen® technical specifications.
La1
Td
L
6
6-6-2 Linear Interpolation
F
Fa1
Ta
A
La0
X
Fa0
Axis A1 motion
Axis A0 motion
Ta
Td
For details on linear interpolation, refer to the MC_MoveLinear (Linear Interpolation), MC_MoveLinearAbsolute (Absolute Linear Interpolation), and MC_MoveLinearRelative (Relative Linear Interpolation)
instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
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6 Introduction of Motion Control Functions
6-6-3
Circular Interpolation
Circular interpolation is used to move two of the logical axes A0 to A3 in a circular motion on a 2D
plane. Either absolute or relative positioning is possible. You can specify the circular interpolation
mode, path direction, interpolation velocity, interpolation acceleration, interpolation deceleration, and
combined jerk for the two axes.
Y coordinate
CCW
CW
CW : Clockwise rotation
CCW : Counterclockwise rotation
X coordinate
With the MC Function Module, you can specify the following three kinds of circular interpolation methods with the input variable CircMode (Circular Interpolation Mode).
• Border point
• Center
• Radius
Precautions for Correct Use
Set the Count Mode to Linear Mode for the axis that you use for circular interpolation. If the
instruction is executed with this axis in Rotary Mode, an instruction error will occur.
6-6-4
Axes Group Cyclic Synchronous Positioning
You can cyclically output specified target positions for the axes in an axes group. You can specify target
positions that are calculated in the user program as absolute positions to move the axes in any desired
path.
For details on axes group cyclic synchronous positioning for an axes group, refer to the MC_GroupSyncMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning) instruction in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).
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6 Introduction of Motion Control Functions
6-6-5
Stopping Under Multi-axes Coordinated Control
Multi-axes coordinated control of axes groups will stop when you execute certain motion control instructions in the user program or when an error or some other problem occurs.
Stopping with Motion Control Instructions
Use the MC_GroupStop or MC_GroupImmediateStop instruction to stop axes group operation.
 MC_GroupStop Instruction
 MC_GroupImmediateStop Instruction
You can perform an immediate stop for all axes in the axes group. The immediate stopping method
is determined by the setting of the Immediate Stop Input Stop Method axis parameter for each axis.
The MC_GroupImmediateStop instruction can also be executed for an axes group that is decelerating to a stop for an MC_GroupStop instruction.
For details, refer to the MC_GroupStop and MC_GroupImmediateStop instructions in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).
6-6 Multi-axes Coordinated Control
For linear interpolation or circular interpolation performed on an axes group, you can decelerate to a
stop along the control path. You specify the deceleration rate and jerk. Specify a deceleration rate of
0 to send a command that immediately stops the Servo Drive or other device. Other operation commands are not acknowledged while decelerating to a stop for this instruction and while the input
variable Execute is TRUE.
6
Stopping Due to Errors or Other Problems
If an error that results in a deceleration stop occurs for any composition axis in the axes group
during an axes group motion, all of the axes will decelerate to a stop on the interpolation path at the
interpolation deceleration rate. The interpolation deceleration rate is determined by the deceleration
rate that is specified for the controlling instruction. If an error that results in an immediate stop
occurs for any composition axis in the axes group during an axes group motion, the other axes in
the axes group will stop according to the setting of the Axes Group Stop Method parameter in the
axes group parameters.
You can select one of the following stop methods for axes groups.
• Immediate stop
• Decelerate axes to a stop at maximum deceleration rate of the axes.
• Immediate stop and Servo OFF
 Stopping Due to Motion Control Period Exceeded Error
If motion control processing does not end within two periods, a Motion Control Period Exceeded
error occurs. All axes stop immediately.
Precautions for Correct Use
When you use an NX701 CPU Unit and operate in the multi-motion, all axes in both tasks will
stop immediately if a Motion Control Period Exceeded error occurs in either of the tasks.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for
multi-motion.
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6-6-5 Stopping Under Multi-axes Coordinated Control
 Stopping for Errors during Axes Group Motion
6 Introduction of Motion Control Functions
 Stopping Due to Start of MC Test Run
All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is started from the
Sysmac Studio.
 Stopping Due to Change in CPU Unit Operating Mode
All axes will decelerate to a stop at their maximum deceleration when the CPU Unit operating mode
changes.
Additional Information
• If you execute the MC_GroupDisable (Disable Axes Group) instruction during axes group
operation, the axes in the group will decelerate to a stop at their maximum deceleration rates.
• If you execute the MC_Stop instruction while an axes group is in operation, an error will occur
for the axes and axes group and the axes group operation will decelerate to a stop with interpolation. The interpolation deceleration rate is determined by the deceleration rate that is
specified for the controlling instruction.
• When the input variable Enable to the MC_Power (Servo ON) instruction changes to FALSE
during axes group motion, the MC Function Module immediately stops the command value
for that axis and turns OFF the Servo. When the Servo is turned OFF, the Servo Drive or
other device will operate according to the settings in the Servo Drive or other device. Other
axes in that axes group will stop with the stop method that is set in the Axes Group Stop
Method axes group parameter. An error will occur for the axes group if this happens.
• When RUN mode changes to PROGRAM mode, any motion control instructions for current
motions are aborted. The CommandAborted output variable from the instructions remain
TRUE and the Servo remains ON.
• If the operating mode returns to RUN mode while a deceleration stop is in progress after the
operating mode changes from RUN to PROGRAM mode, the output variable CommandAborted from the current motion control instructions change to TRUE.
• The save process will continue during a save for the MC_SaveCamTable Instruction.
• The generation process will continue when generation of the cam table is in progress for the
MC_GenerateCamTable (Generate Cam Table) instruction.
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6 Introduction of Motion Control Functions
6-6-6
Overrides for Multi-axes Coordinated Control
You can use the MC_GroupSetOverride (Set Group Overrides) instruction to set override factors for
multi-axes coordinated control of the axes group in the current interpolation operation. The velocity
override factor is set as a percentage of the target velocity for interpolation. It can be set between 0%
and 500%. If an override factor of 0% is set for the interpolation target velocity, operating status will continue with the axis stopped at a velocity of 0. The set override factor is read as long as the overrides are
enabled. If the overrides are disabled, the override factors return to 100%. If the maximum interpolation
velocity is exceeded when an override factor is changed, the maximum interpolation velocity for the
axes group is used.
 Overrides for the MC_MoveLinear (Linear Interpolation) Instruction
Previous Instruction: MC_MoveLinear
Execute
Busy
Active
Done
CommandAborted
Current Instruction
6-6 Multi-axes Coordinated Control
An example of a time chart for using the Set Override Factors instruction for the MC_MoveLinear
(Linear Interpolation) instruction is given below.
6
Enable
Busy
VelFactor
100
200
Interpolation velocity
Override factor: 200%
50
When overrides are disabled
with MC_GroupSetOverride, the
target velocity returns to 100%.
Override factor: 100%
Override factor: 50%
Time
For details, refer to the MC_GroupSetOverride (Set Group Overrides) instruction in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).
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6-6-6 Overrides for Multi-axes Coordinated Control
Enabled
6 Introduction of Motion Control Functions
6-7
Common Functions for Multi-axes
Coordinated Control
This section describes the common functions for multi-axes coordinated control.
6-7-1
Velocity Under Multi-axes Coordinated Control
To specify the velocity for multi-axes coordinated control, specify the interpolation velocity on the path.
The unit is the same as for single axes, command units/s.
Types of Velocities
The following is the only type of interpolation velocity for axes groups supported by the MC Function
Module.
Velocity type
Command interpolation velocity
Definition
This is the actual value of the command interpolation velocity output by
the MC Function Module to control an axes group.
Axis Parameters That Are Related to Velocities
Parameter name
Maximum Interpolation
Velocity
Interpolation Velocity
Warning Value
Function
Set the maximum interpolation velocity for
the path. Set 0 for no interpolation velocity
limit. If a target velocity that exceeds the
maximum interpolation velocity is specified
for an axes group operation instruction, the
axis will move at the maximum interpolation
velocity.
Set the percentage of the maximum interpolation velocity at which to output an interpolation velocity warning. No interpolation
velocity warning is output if 0 is set.
(Unit: %)
Setting range
Non-negative long
reals
Default
800,000,000
0 to 100
0
Specifying Target Velocities for Axis Operations
The interpolation velocity used in an actual positioning motion is specified by the Velocity (Target Velocity) input variable to the motion control instruction.
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6 Introduction of Motion Control Functions
Monitoring Velocities
You can read Axes Group Variables from the user program to monitor the interpolation velocity.
In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].
6-7-2
Data type
LREAL
Meaning
Command Interpolation Velocity
Function
This is the current value of the command interpolation velocity. A plus
sign is added during travel in the positive direction, and a minus sign is
added during travel in the negative
direction.
Acceleration and Deceleration Under Multi-axes Coordinated
Control
Multi-axes coordinated control performs control on the path for the interpolation acceleration and interpolation deceleration rates. The unit is the same as for single axes, command units/s2.
Axis Parameters That Are Related to Interpolation Acceleration and
Interpolation Deceleration
Parameter name
Maximum Interpolation
Acceleration
Interpolation Acceleration/Deceleration Over
(Unit: command units/s2)
Set the maximum interpolation deceleration Non-negative long
for the path. Set 0 for no interpolation decel- reals
eration limit.
(Unit: command units/s2)
Set the operation for when the maximum
0 to 2
interpolation acceleration/deceleration rate
would be exceeded after excessive acceleration/deceleration during acceleration/deceleration control of the axes group
because stopping at the target position is
6
Default
0
6-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control
Maximum Interpolation
Deceleration
Function
Setting range
Set the maximum interpolation acceleration Non-negative long
for the path. Set 0 for no interpolation accel- reals
eration limit.
0
0
given priority.*1
0: Use rapid acceleration/deceleration.
(Blending is changed to Buffered.)
1: Use rapid acceleration/deceleration.
Interpolation Acceleration Warning Value
2: Minor fault stop
0 to 100
Set the percentage of the maximum interpolation acceleration at which to output an
interpolation acceleration warning. No interpolation acceleration warning is output if 0
is set.
(Unit: %)
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6-7 Common Functions for Multi-axes Coordinated Control
Variable name
_MC_GRP[0-63].Cmd.Vel
0
6-63
6 Introduction of Motion Control Functions
Parameter name
Interpolation Deceleration Warning Value
Function
Set the percentage of the maximum interpolation deceleration rate at which to output
an interpolation deceleration warning. No
interpolation deceleration warning is output
if 0 is set.
(Unit: %)
Setting range
0 to 100
Default
0
*1. Refer to 6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 6-48 for operation with
each set value.
Specifying an Interpolation Acceleration and Interpolation Deceleration for an Axes Group
The interpolation acceleration and interpolation deceleration rates used in an actual positioning motion
are specified by the Acceleration (Acceleration Rate) and Deceleration (Deceleration Rate) input variables to the motion control instruction.
Monitoring Interpolation Acceleration and Interpolation Deceleration
Rates
You can read Axes Group Variables in the user program to monitor interpolation acceleration and interpolation deceleration rates.
In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].
Variable name
_MC_GRP[0-63].Cmd.AccDec
6-7-3
Data type
LREAL
Meaning
Command Interpolation Acceleration/Deceleration
Function
This is the current value of the command interpolation acceleration/deceleration rate. A plus sign is
added for acceleration, and a minus
sign is added for deceleration.
Jerk for Multi-axes Coordinated Control
Jerk for multi-axes coordinated control is used to reduce shock and vibration on the machine by
smoothing the interpolation acceleration/deceleration rate along the interpolation path into an S-curve.
The unit is the same as for single axes, command units/s3.
Specifying Jerk for Axes Group Motion
The jerk used in an actual interpolation is specified by the Jerk input variable to the motion control
instruction.
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6 Introduction of Motion Control Functions
Jerk Example (Setting Other than 0)
The acceleration/deceleration rate will change at a constant rate over the range where jerk is specified.
The command interpolation velocity will form a smooth S-curve. A fixed interpolation acceleration rate
is used in areas where the jerk is set to 0. This command interpolation velocity will form a straight line.
6-7 Common Functions for Multi-axes Coordinated Control
Interpolation
velocity
Vt
Time
Acceleration
At
rate
Time
Deceleration
-Dt
rate
Jt
Jerk
Time
-Jt
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate, Jt: Specified jerk
6
6-7-4
If you re-execute a linear interpolation or circular interpolation instruction, an instruction error will occur.
Execute
Busy
Active
Done
CommandAborted
Error
ErrorID
16#0000
Error code
Interpolation velocity
Time
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6-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control
Re-executing Motion Control Instructions for Multi-axes Coordinated Control
6 Introduction of Motion Control Functions
You can change the deceleration rate if you re-execute the MC_GroupStop instruction, but you cannot
change the jerk in this way.
If you re-execute the MC_GroupReset instruction, the re-execution command will be ignored and error
reset processing will continue.
For details on re-executing motion control instructions, refer to each instruction in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).
6-7-5
Multi-execution (Buffer Mode) of Motion Control Instructions for
Multi-axes Coordinated Control
You can perform multi-execution for multi-axes coordinated control in axes groups the same way as
you can for axis operations. You can perform path control for multiple continuous lines and/or arcs if
you use Buffer Mode under multi-axes coordinated control.
(2)
(3)
(4)
Linear interpolation: (1), (3), (5), and (7)
Circular interpolation: (2), (4), and (6)
(5)
(6) (7)
(1)
Point B
Point A
You can set the BufferMode input variable to motion control instruction to select one of the same Buffer
Modes as are supported for single-axis operations. There are a total of eight instruction buffers for axes
groups. Each axes group has one buffer for the instruction currently in operation and seven buffers for
multi-execution instructions. Multi-execution of instruction cannot be used from an axis operation
instruction to an axes group operation instruction and vice-versa.
Precautions for Correct Use
• Up to seven instructions can be buffered at the same time for a single axes group. If
multi-execution is performed for eight or more instructions, an instruction error will occur.
• Multi-execution of multi-axes coordinated control instructions (axes group instructions) is not
possible for axes operating as a single axis. Similarly, multi-execution of single-axis control
instructions is not possible for axes operating under multi-axes coordinated control (axes
group instructions). An instruction error will occur if these rules are broken.
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6 Introduction of Motion Control Functions
Aborting
Multi-execution during Acceleration/Deceleration
Multi-execution during Constant-velocity Motion
Multi-instruction timing
Executed.
Multi-instruction timing
Initial command position
Buffered command
position
Executed.
Initial command position
Buffered command
position
Multi-execution for axes groups is done so that the interpolation velocity remains continuous between
instructions. If continuous operation is performed with an instruction with a travel distance of 0, the
velocity changes for the axes will not be continuous.
 Example: Interpolation Velocity and Velocities of Axes for Two-axis Cartesian
Coordinates
F
X coordinate
Y-axis motion
Fx
X-axis motion
Ta
Td
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6
6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Control
Y coordinate
Fy
6-7 Common Functions for Multi-axes Coordinated Control
This is the default mode. No buffering is performed in this mode. The current command is aborted and
the new instruction is executed. Multi-execution of motion control instructions that have no BufferMode
input variable will operate in Aborting Mode. Operation of the multi-execution instruction starts at the
current interpolation velocity when the multi-execution instruction is executed. With Aborting Mode you
cannot combine single-axis control, including synchronized single-axis control and axes group control.
An instruction error will occur at the time of multi-execution if you execute an axes group operation on
an axis currently in a single-axis motion. This will stop both the axes group and the single axis.
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6 Introduction of Motion Control Functions
Buffered
The multi-execution instruction remains in the buffer until the current operation is finished. The buffered
instruction is executed after the operation for the current instruction is normally ended.
Velocity
The target position is reached
and the next command is
executed after the current
operation is normally finished.
↓Multi-execution timing
Current instruction
Buffered instruction
Time
Blending
Blending for axes groups works in the same way as blending for single-axis operations. The buffered
instruction remains in the buffer until the target position of the current instruction is reached. The buffered instruction is executed after the target position of the current instruction is reached. The axes do
not stop at the target position. The two motions are blended together at the interpolation velocity specified with the BufferMode input variable.
The Interpolation Acceleration/Deceleration Over axes group parameter is used to select one of the following operations for when the acceleration/deceleration that is specified in the buffered instruction
would exceed the target position.
• Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
• Use rapid acceleration/deceleration.
• Minor fault stop
Refer to 6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 6-48 for operation
with each set value.
 Blending Low (Low Velocity)
Operation is performed using the target position of the current instruction and the target velocity that
is the slower of the target velocities for the current instruction and buffered instruction.
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6 Introduction of Motion Control Functions
 Blending Previous (Previous Velocity)
Operation is performed with the target velocity of the current instruction until the target position of
the current instruction is reached. Operation is performed after acceleration/deceleration to the target velocity of the buffered instruction once the target position is reached.
Cases Resulting in Acceleration
Multi-execution of instruction
Current instruction
6-7 Common Functions for Multi-axes Coordinated Control
Velocity
The transit velocity is the command
velocity of the current instruction
Buffered instruction
Time
Cases Resulting in Deceleration
Multi-execution of instruction
Velocity
Current instruction
Buffered instruction
Time
6
 Blending Next (Next Velocity)
Cases Resulting in Acceleration
Velocity
The transit velocity is the command
velocity of the buffered command
Multi-execution of instruction
Current instruction
Buffered instruction
Time
Cases Resulting in Deceleration
Multi-execution of instruction
Velocity
Current instruction
Buffered instruction
Time
 Blending High (High Velocity)
Operation is performed using the target position of the current instruction and the target velocity that
is the faster of the target velocities for the current instruction and buffered instruction.
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6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Control
Operation is performed using the target position of the current instruction and the target velocity of
the buffered instruction.
6 Introduction of Motion Control Functions
Transition Modes
Multi-execution of instructions for axes groups may create some shock on the device and/or workpiece
due to changes in the direction of the interpolation path. You can specify the TransitionMode input variable to the motion control instruction to select a transition method to use between instructions in order
to lessen this shock. You can choose from the following transition modes in the MC Function Module.
No.
0
10
Transition mode
Transition Disabled (_mcTMNone)
Superimpose Corners (_mcTMCornerSuperimposed)
Description
Do not perform any processing for transitions (default). No
attempt is made to lessen the shock, but this results in a
shorter operation time.
The deceleration of the current instruction is superimposed
on the acceleration of the buffered instruction. You can keep
the linear velocity of the interpolation path constant.
Additional Information
The PLCopen® technology specifications define numbers 0 through 9. Number 10 is unique to
the MC Function Module.
 Transition Disabled (0: _mcTMNone)
No processing is performed to connect the two positions.
• TransitionMode = _mcTMNone and BufferMode = _mcBuffered
The axis moves to position End1, stops, and then moves to position End2.
Y coordinate
End2
Multi-execution of instruction
Start1
End1/ Start2
X coordinate
Operation Pattern for X Axis Coordinates
Velocity
Start1
Time
End1
Operation Pattern for Y Axis Coordinates
Velocity
Start 2
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Time
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6 Introduction of Motion Control Functions
• TransitionMode = _mcTMNone and BufferMode = _mcBlending
The axis moves to position End1, and then moves to position End2.
Y coordinate
End2
6-7 Common Functions for Multi-axes Coordinated Control
Multi-execution of instruction
Start1
End1/ Start2
X coordinate
Operation Pattern for X Axis Coordinates
Velocity
Start1
End1
Operation Pattern for Y Axis Coordinates
Time
BufferMode = _mcBlendingPrevious
Velocity
6
Start2
End2 Time
6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Control
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6 Introduction of Motion Control Functions
• TransitionMode = _mcTMNone and BufferMode = _mcAborting
The axis moves from End1’ (multi-execution of instruction) to End2.
Y coordinate
End2
Multi-execution of instruction
Start1
End1
End1’/ Start2
X coordinate
Operation Pattern for X Axis Coordinates
Velocity
Start1
End1’
Time
Operation Pattern for Y Axis Coordinates
Velocity
Start2
End2
Time
 Superimpose Corners (10: _mcTMCornerSuperimposed)
The deceleration of the current instruction is superimposed on the acceleration of the buffered
instruction. Operation is executed in the same amount of time as for the deceleration of the current
instruction, no matter what is specified as the acceleration for the buffered instruction. The superimposed area will apply no jerk even if jerk is specified.
The deceleration of the current
instruction is superimposed on the
acceleration of the buffered instruction.
Velocity
Current instruction
Buffered instruction
The output variable Done, which indicates the end of a motion control instruction, will change to TRUE
for _mcTMCornerSuperimposed when the area of superimposition is completed.
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6 Introduction of Motion Control Functions
Additional Information
The path linear velocity is constant if the following two conditions are met.
• The target velocities of the current instruction and the buffered instruction are the same.
Combining Transition Modes and Multi-execution of Instructions
The following table shows the combinations of Transition Modes and Buffer Modes.
OK: Operation possible. ---: Generates an error and stops.
Transition Mode
Transition Disabled (_mcTMNone)
Aborting
OK
--Superimpose Corners*1
(_mcTMCornerSuperimposed)
OK
Buffer Mode
Blending
Blending
Low
Previous
OK
OK
Blending
Next
OK
Blending
High
OK
---
OK
OK
OK
Buffered
OK
*1. For superimpose corners, the deceleration for the current instruction and the acceleration for the buffered instruction will be superimposed.
6-7 Common Functions for Multi-axes Coordinated Control
• The deceleration rate of the current instruction and the acceleration rate of the buffered
instruction are the same.
6
6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Control
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6 Introduction of Motion Control Functions
6-8
Other Functions
This section describes other functions of the MC Function Module.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
6-8-1
Changing the Current Position
The command current position of a Servo axis can be changed to a specified value. The actual current
position changes to a value that maintains the current following error with the command current position. For an encoder axis, you can change the actual current position. Use the MC_SetPosition instruction to specify the actual position you want to modify.
You can change the actual position even while an axis is in motion. If positioning to an absolute value is
being executed, positioning will be performed to the target position using the new absolute coordinates.
However, the travel distance will stay the same when you position to a relative value.
Precautions for Correct Use
• When the Count Mode is Rotary Mode, an instruction error will occur if you specify a position
outside the ring counter range.
• After changing the current position the home will be undefined and you will not be able to use
the following functions and instructions.
Software limits
High-speed homing
Interpolation instructions (linear and circular interpolation)
 Timing Chart for Execution While Axis Is Stopped
Execute
Busy
Active
Done
Additional Information
You can change the actual position while home is defined by specifying a zero position preset
for the MC_Home or MC_HomeWithParameter instruction.
For details on the MC_SetPosition instruction, refer to the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).
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6-8-2
Torque Limit
The output torque is limited by enabling and disabling the torque limit function of the Servo Drive and by
setting the torque limit value.
Different limits can be specified for the positive torque limit and negative torque limit.
For details, refer to the MC_SetTorqueLimit instruction in the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).
Precautions for Correct Use
You cannot use the torque limit function for an NX-series Pulse Output Unit.
6-8-3
Latching
Use WindowOnly to detect only trigger signals within a specific start point and end point. The following
chart shows the ranges for different Count Modes.
• The FirstPosition must be less than or equal to the LastPosition.
• An instruction error will occur if the FirstPosition is greater than the LastPosition.
• An instruction error will occur if a position beyond the position range of Linear Mode is specified.
FirstPosition
0x8000000000
LastPosition
0
0x7FFFFFFFFF
Window
Latch enabled range
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6
6-8-2 Torque Limit
 Linear Mode
6-8 Other Functions
Latching is used to control positioning based on the position where a trigger signal occurs, such as a
signal from a sensor input. The position of the axis is recorded (i.e., latched) when the trigger signal
occurs. You can set up to two trigger signals for each axis. Use the MC_TouchProbe (Enable External
Latch) instruction to specify the Trigger Input Condition variable, Window Only variable, and Stopping
Mode Selection variable for the axis you want to latch. In addition to signals that connect to the Servo
Drive, you can also specify variables in the user program to use as a trigger. Use the MC_AbortTrigger
(Disable External Latch) instruction to abort latching. You can use latching only with a Servo Drive that
support latching (touch probe), such as the OMRON G5-series Servo Drives, or a GX-EC0211/EC0241
Encoder Input Terminal.
6 Introduction of Motion Control Functions
 Rotary Mode
• The FirstPosition can be less than, equal to, or greater than the LastPosition. If the FirstPosition is
greater than the LastPosition, the setting will straddle the modulo minimum position setting value.
• An instruction error will occur if a position beyond the upper and lower limits of the ring counter is
specified.
First Position ≤ Last Position
FirstPosition to LastPosition
Valid range
First Position > Last Position
LastPosition to FirstPosition
Count value
0x7FFFFFFFFF
Modulo maximum
position setting value
FirstPosition
LastPosition
Modulo minimum position
setting value (= 0)
0
Window
Latch enabled range
LastPosition = 330°
−0+
FirstPosition = 330°
Range in which latching
is enabled (The border
values are included.)
FirstPosition = 210°
Latch enabled range
−0+
Range in which latching
is enabled (The border
values are not included.)
LastPosition = 210°
For details on latching, refer to the MC_TouchProbe (Enable External Latch) and MC_AbortTrigger
(Disable External Latch) instructions in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
6-8-4
Zone Monitoring
This function detects whether the command position or actual position of an axis is in the specified
range (zone). Use the MC_ZoneSwitch (Zone Monitor) instruction to specify the first position and last
position of the zone to check. The InZone output variable for the Zone Monitor instruction will change to
TRUE when the position of the axis enters the specified zone. You can also specify multiple zones for a
single axis. Zones can overlap.
For details on zone monitoring, refer to the MC_ZoneSwitch (Zone Monitor) instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
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6 Introduction of Motion Control Functions
6-8-5
Software Limits
Actual positions can be monitored in the MC Function Module software. This function is separate from
the hardware-based limit input signals. Set the range to monitor by setting the software limits in the
Positive Software Limit and Negative Software Limit axis parameters. During normal positioning, motion
is possible within the range of these software limits. Set software limits to prevent potential damage to
machinery caused by mistakes in the user program or improper operation.
Negative software limit
Positive software limit
Software range of motion
Positive limit input signal
Negative limit input signal
Electrical range of motion
6-8 Other Functions
Mechanical stopper
Mechanical stopper
Mechanical range of motion
 Axis Parameters That Are Related to Software Limits
Parameter name
Software Limits
Function
Select the software limit function.
Setting range
0 to 4
Default
0: Disabled
Long reals*2
2,147,483,647
6
0: Disabled
6-8-5 Software Limits
1: Deceleration stop for command position*1
2: Immediate stop for command position
3: Deceleration stop for actual position*1
Positive Software
Limit
Negative Software
Limit
4: Immediate stop for actual position
Set the software limit in the positive direction.
The unit is command units.
Set the software limit in the negative direction.
The unit is command units.
−2,147,483,648
*1. If the actual position goes beyond a software limit during execution of a movement instruction that has a Deceleration input variable, the axis decelerates to a stop at the deceleration rate given by Deceleration. If the
actual position goes beyond a software limit during execution of a movement instruction that does not have a
Deceleration input variable, the axis decelerates to a stop at the maximum deceleration that is set in the axis
parameters.
*2. Positions can be set within a 40-bit signed integer range when converted to pulses.
You can use the axis settings of the Sysmac Studio, the MC_Write (Write MC Setting) instruction, or the
MC_WriteAxisParameter (Write Axis Parameters) instruction to set the above axis parameters.
If any setting values are changed for an axis or axes group in operation, those settings are enabled
when the next operation begins.
Software limits function in the following two cases based on the axis operation state and the motion
control instruction that is used.
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6 Introduction of Motion Control Functions
 Executing Motion Instructions
• When the Actual Position Is within the Software Limits
An instruction error will occur if the target position is outside the software limit range.
• When the Actual Position Is outside the Software Limits
Motion is allowed only toward the software limit range. As long as the motion is toward the range,
the target position does not need to be within the software limit range.
Precautions for Correct Use
Do not execute an instruction for an axis command for a target position that is outside of the
software limit range.
 During Axis Motion
When the axis is in discrete motion, synchronized motion, continuous motion, or coordinated motion:
• An axis error will occur if the software limits are enabled for the command position and the command position leaves the range.
• An axis error will occur if the software limits are enabled for the actual position and the actual position leaves the range.
Additional Information
Software limits can be enabled when the Count Mode is set to Linear Mode and home is
defined. Software limits are disabled in the following situations no matter what axis parameters
have been set.
• When Count Mode is set to Rotary Mode.
• When home is not defined.
• During homing.
For details on the instruction to write the MC settings and the instruction to write the axis parameters,
refer to the MC_Write instruction and MC_WriteAxisParameter instruction in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508).
6-8-6
Following Error Monitoring
Following error is the difference between the command position and the actual position of an axis. The
MC Function Module monitors the following error every motion control period.
If the value of the following error exceeds the Following Error Over Value that is set in the axes parameters, Following Error Limit Exceeded minor fault level error occurs. If it exceeds the Following Error
Warning Value, a Following Error Warning observation occurs. Monitoring the following error is disabled
during execution of the holding operation for homing.
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 Axis Parameters That Are Related to Monitoring the Following Error
You can set the check values for monitoring the following error by setting the appropriate axis
parameters. Set the Following Error Warning Value so that it is less than the Following Error Over
Value.
Set the axis parameters from the Sysmac Studio.
Parameter name
Following Error
Over Value
Following Error
Warning Value
Function
Set the excessive following error check
value. Set 0 to disable the excessive following error check. (Unit: command units)
Set the following error warning check value.
Set 0 to disable the following error warning
check. (Unit: command units)
Setting range
Non-negative long
reals
Non-negative long
reals that are less
than or equal to the
Following Error
Over Value
Default
0
0
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
Following Error Counter Reset
 Axis Parameters That Are Related to Resetting the Following Error Counter
You can choose to reset the following error counter on an immediate stop, on a limit input stop, or
after homing is completed by setting the appropriate axis parameters. Set the axis parameters from
the Sysmac Studio.
Parameter name
Immediate Stop
Input Stop Method
Function
Set the stopping method in the MC Function
Module when the immediate stop input is
enabled.
Setting range
0, 2, or 3
Default
0
0 to 3
0
0: Immediate stop
2: Immediate stop and error reset
Limit Input Stop
Method
3: Immediate stop and Servo OFF
Set the stopping method in the MC Function
Module when the positive limit input or negative limit input is enabled.
0: Immediate stop
1: Deceleration stop
2: Immediate stop and error reset
3: Immediate stop and Servo OFF
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
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6
6-8-7 Following Error Counter Reset
Resetting the following error counter resets the following error to 0.
Use the MC_ResetFollowingError instruction in the user program to reset the following error counter.
You can use the MC_ResetFollowingError instruction for each axis during positioning or during homing.
If you execute a following error counter reset while the axis is in motion, the current motion control
instruction will be aborted and the command position will be set to the same value as the actual position.
The home will remain defined even after executing a following error counter reset.
For details on resetting the following error counter, refer to the MC_ResetFollowingError instruction in
the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
6-8 Other Functions
6-8-7
6 Introduction of Motion Control Functions
6-8-8
Axis Following Error Monitoring
You can monitor the amount of following error for the command position or the actual position between
two axes. Use the MC_AxesObserve (Monitor Axis Following Error) instruction to specify the permitted
following error and the two axes to monitor. If the permitted following error is exceeded, the Invalid output variable for the Monitor Axis Following Error instruction will change to TRUE.
You can use this monitoring function to program the actions to take when the following error between
axes grows too large for gantry control and other devices where both axes perform the same operation.
Precautions for Correct Use
Even if the permitted following error between axes is exceeded, no error will occur in the MC
Function Module. Check the Invalid output variable to stop axis operation or to take some other
action as appropriate in the user program.
For details on axis following error monitoring, refer to the MC_AxesObserve (Monitor Axis Following
Error) instruction in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
6-8-9
In-position Check
You can check to see if the actual current position has reached the specified range for the target position during positioning or homing. After command output of the target position is completed, positioning
is considered to be finished when the difference between the target position and the actual current position is within the in-position range. An instruction error occurs if the position is not within the in-position
within the in-position check time.
|Following error|
Positioning Monitoring Time
An In-position Check Time Exceeded error will occur if the inposition status is not reached within the set time after the completion
of a command (after the command has been executed).
In-position Range
The following error (absolute
value) is monitored after
positioning finishes.
If the following error is within
the in-position range,
positioning is considered
finished.
Time
Velocity
Command velocity
Actual velocity
Time
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6 Introduction of Motion Control Functions
 Axis Parameters That Are Related to In-position Checks
You can set the check conditions for the in-position check by setting the appropriate axis parameters. Set the in-position check time if you want to start any of the following operations only after confirming that axes are in position.
Parameter name
In-position Range
In-position Check
Time
Function
Set the in-position width.
(Unit: command units)
Set the in-position check time in milliseconds.
Set 0 to check for the end of positioning only
when you define the home position during
homing and not check positioning at other
times.
(Unit: ms)
Setting range
Non-negative long
reals
0 to 10,000
Default
10
0
You can use the axis settings of the Sysmac Studio, the MC_Write (Write MC Setting) instruction, or
the MC_WriteAxisParameter (Write Axis Parameters) instruction to set the above axis parameters.
Additional Information
• Do not set an in-position check time if you want to start the next operation as quickly as possible without waiting for positioning to finish.
• The value set from the Sysmac Studio is restored if power to the CPU Unit is cycled or the
user program is downloaded with the Synchronization menu command of the Sysmac Studio.
Use the MC_Write (Write MC Setting) and MC_WriteAxisParameter (Write Axis Parameters)
instructions only when you need to temporarily change the in-position check time.
You can read Axis Variables from the user program to monitor when positioning finishes.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Variable name
_MC_AX[0-255].Details.Idle
_MC_AX[0-255].Details.InPosWaiting
Data type
BOOL
BOOL
Meaning
Idle
In-position
Waiting
Function
TRUE when processing is not currently
performed for the command value,
except when waiting for in-position
state.*1 Idle and InPosWaiting are mutually exclusive. They cannot both be
TRUE at the same time.
TRUE when waiting for in-position state.
The in-position check is performed when
positioning for the in-position check.
*1. This also includes states where processing is performed while in motion at velocity 0, during following error
counter resets, during synchronized control, and during coordinated motion.
You can read Axes Group Variables from the user program to monitor when positioning finishes for the
axes group.
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6-8-9 In-position Check
 Monitor Information That Is Related to In-position Checks
6-8 Other Functions
• The in-position check is processed by the MC Function Module. The function in the Servo
Drive is not used.
6 Introduction of Motion Control Functions
In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].
Variable name
_MC_GRP[0-63].Details.Idle
Data type
BOOL
Meaning
Idle
Function
TRUE when processing is not currently
performed for the command value,
except when waiting for in-position
state.*1
_MC_GRP[0-63].Details.InposWaiting
BOOL
In-position
Waiting
Idle and InPosWaiting are mutually
exclusive. They cannot both be TRUE at
the same time.
TRUE when waiting for in-position state
for any composition axis.*2
The in-position check is performed when
positioning for the in-position check.
*1. This also includes states where processing is performed while in motion at a velocity of 0.
*2. This variable is FALSE when all composition axes in the axes group are within the in-position ranges set in the
axis parameters.
For details on the instruction to write the MC settings and the instruction to write the axis parameters,
refer to the MC_Write (Write MC Setting) and MC_WriteAxisParameter (Write Axis Parameters) instruction in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.
6-8-10 Changing Axis Use
You can use the MC_ChangeAxisUse (Change Axis Use) instruction to temporarily change the setting
of the Axis Use axis parameter. To change an axis in this way, it must be set as a Used axis or as an
Unused axis (changeable to used axis) in the Axis Use axis parameter. If the Axis Use axis parameter is
set to Unused axis (changeable to used axis) and the Axis Type parameter is set to a servo axis or virtual servo axis, you can set the axis in an axes group.
Precautions for Correct Use
• Do not attempt to change an axis that is set to Unused axis (unchangeable to used axis) to a
used axis.
• You cannot set an axis in an axes group if the Axis Use axis parameter is set to Unused axis
(unchangeable to used axis).
For details, refer to the MC_ChangeAxisUse instruction in the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).
For an application example of the MC_ChangeAxisUse instruction, refer to the NJ/NX-series CPU Unit
Software User’s Manual (Cat. No. W501).
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6 Introduction of Motion Control Functions
6-8-11 Enabling Digital Cam Switch
You can use the MC_DigitalCamSwitch (Enable Digital Cam Switch) instruction to turn the digital outputs ON or OFF according to the axis position.
The setting of the ValueSource input variable to the instruction also allows you to adjust for the acceleration or deceleration rate.
Always use this function together with the NX_AryDOutTimeStamp instruction and with a Digital Output
Unit that supports time stamp refreshing. The NX_AryDOutTimeStamp instruction turns the specified
digital outputs ON or OFF at specified timing of the time stamp.
Precautions for Correct Use
You can use this instruction for an axis that is assigned to an NX-series Position Interface Unit.
The NX Units that can be used are NX-EC0 and NX-ECS, also must be running the
time stamping.
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on NX_AryDOutTimeStamp instruction.
6-8 Other Functions
Refer to the NX-series Digital I/O Units User’s Manual (Cat. No. W521-E1-02 or later) for Digital Output
Unit that supports time stamp refreshing.
6
Refer to the MC_DigitalCamSwitch (Enable Digital Cam Switch) instruction in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508) for details on enabling digital cam switch.
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6-8-11 Enabling Digital Cam Switch
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524-E1-02 or later) for time
stamping and time stamps.
6 Introduction of Motion Control Functions
6-8-12 Displaying 3D Motion Monitor for User Coordinate System
In the case that coordinate systems (such as SCARA robot and vertical articulated robot) other than
orthogonal coordinate system are implemented by user programs, this function can be used to display
the path of robot hands, etc. in 3D with Sysmac Studio.
You can create an _sMC_POSITION_REF type user-defined variable and display in 3D Motion Monitor
Display Mode.
 _sMC_POSITION_REF
The followings are the members of _sMC_POSITION_REF type data.
Member
CommandPosition
ActualPosition
Data type
ARRAY [0..5] OF LREAL
ARRAY [0..5] OF LREAL
Meaning
Command Current Position
Actual Current Position
The following list describes each member.
Member
User-defined variable.CommandPosition[0]
Description
This is an X-axis component for the command current position.
User-defined variable.CommandPosition[1]
This member is assigned a user-defined variable that indicates the X-axis position of the command current position generated by a user program.
This is a Y-axis component for the command current position.
User-defined variable.CommandPosition[2]
This member is assigned a user-defined variable that indicates the Y-axis position of the command current position generated by a user program.
This is a Z-axis component for the command current position.
User-defined variable.CommandPosition[3] to
[5]
User-defined variable.ActualPosition[0]
6-84
This member is assigned a user-defined variable that indicates the Z-axis position of the command current position generated by a user program.
Not used.
This is an X-axis component for the actual current position.
User-defined variable.ActualPosition[1]
This member is assigned a user-defined variable that indicates the X-axis position of the actual current position handled
in a user program.
This is a Y-axis component for the actual current position.
User-defined variable.ActualPosition[2]
This member is assigned a user-defined variable that indicates the Y-axis position of the actual current position handled
in a user program.
This is a Z-axis component for the actual current position.
User-defined variable.ActualPosition[3] to [5]
This member is assigned a user-defined variable that indicates the Z-axis position of the actual current position handled
in a user program.
Not used.
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6 Introduction of Motion Control Functions
Each member is assigned a user-defined variable. The followings are the examples.
Data type
_sMC_POSITION_REF
LREAL
MCS_Cmd_TransY
LREAL
MCS_Cmd_TransZ
LREAL
MCS_Act_TransX
LREAL
MCS_Act_TransY
LREAL
MCS_Act_TransZ
LREAL
Description
User-defined variable for 3D display
User-defined variable that indicates the X-axis
position of the command current position generated by a user program
User-defined variable that indicates the Y-axis
position of the command current position generated by a user program
User-defined variable that indicates the Z-axis
position of the command current position generated by a user program
User-defined variable that indicates the X-axis
position of the actual current position handled
in a user program
User-defined variable that indicates the Y-axis
position of the actual current position handled
in a user program
User-defined variable that indicates the Z-axis
position of the actual current position handled
in a user program
6-8 Other Functions
Name
3D_position
MCS_Cmd_TransX
3D_position.CommandPosition[0] := MCS_Cmd_TransX;
3D_position.CommandPosition[1] := MCS_Cmd_TransY;
3D_position.CommandPosition[2] := MCS_Cmd_TransZ;
6
3D_position.ActualPosition[0] := MCS_Act_TransX;
3D_position.ActualPosition[2] := MCS_Act_TransZ;
 Overview of Operating Procedures
1
2
3
Create an _sMC_POSITION_REF type user-defined variable.
Create a program in which user-defined variables that indicate the command current position
and actual current position for 3D display are assigned to each member of the created
user-defined variable.
Select Specified coordinate in the Type Box in the 3D Machine Model List.
The _sMC_POSITION_REF data type is displayed in the 3D Machine Model Parameter Settings section.
4
5
6
7
Set the created user-defined variable in the Value Column in the 3D Machine Model Parameter
Settings section.
Execute the user program.
Start tracing the data with the data trace to sample the data.
Check the trace results on the Data Trace Tab Page.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on 3D Motion Monitor Display Mode.
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6-8-12 Displaying 3D Motion Monitor for User Coordinate System
3D_position.ActualPosition[1] := MCS_Act_TransY;
6 Introduction of Motion Control Functions
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Introduction of EtherNet/IP Communications Functions
This section describes the communications services of the built-in EtherNet/IP port for
an NX1P2 CPU Unit.
7-1 Communications Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2
7-1-1
7-1-2
7-1-3
7-1-4
7-1-5
7-1-6
7-1-7
7-1-8
CIP (Common Industrial Protocol) Communications Services . . . . . . . . . . . .
BOOTP Client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FTP Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
FTP Client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Automatic Clock Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Socket Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Specifying Host Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SNMP Agent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
7-2
7-4
7-4
7-5
7-5
7-6
7-7
7-7
7-1
7
7 Introduction of EtherNet/IP Communications Functions
7-1
Communications Services
The following describes the communications services of the built-in EtherNet/IP port for an NX1P2 CPU
Unit.
For details on this function, refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User’s Manual
(Cat. No. W506)
7-1-1
CIP (Common Industrial Protocol) Communications Services
Tag Data Links (Cyclic Communications)
A program is not required to perform cyclic data exchanges with other devices on the EtherNet/IP network.
Normally, a connection is started with the target device for each tag set that was created with the Network Configurator to start communications for tag data links for a built-in EtherNet/IP port. One connection is used per tag set.
The maximum number of connections that can be registered for the NX1P2 CPU Unit is 32.
Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User’s Manual (Cat. No. W506) for the
built-in EtherNet/IP port tag and tag set specifications.
Connection Information
∙ Target IP address
∙ Target tag set
∙ Originator tag set
∙ Packet interval (RPI)
Connection
Tag Set (Input)
Tag Set (Output)
Tag set name: SP1_IN
Tag set name: SP1_OUT
Controller status
Controller status
Tag a
Tag i
Tag b
Data
Dataflow
flow
Tag ii
Tag c
Tag g
Originator
device
EtherNet/IP
Target
device
Note In this example, a connection is established with the originator’s tag list with tags a to g (inputs), which
are in a tag set called SP1_IN, and the target’s tag list with tags i and ii (outputs), which are in a tag set
called SP1_OUT.
CIP Message Communications
User-specified CIP commands can be sent to devices on the EtherNet/IP network.
7-2
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
7 Introduction of EtherNet/IP Communications Functions
CIP commands, such as those for reading and writing data, can be sent and their responses received
by executing the CIP communications instructions from the user program in the NJ/NX-series CPU
Unit.
Built-in EtherNet/IP port
NJ/NX-series
Controller
CIP_SEND
CIP command
Ethernet
(EtherNet/IP)
Response
The maximum number of levels of CIP routing via the ports is eight for any combination of CS, CJ, NJ,
and NX-series CPU Units. Note that the number of levels of IP routing using an L3 Ethernet switch is
not counted in the number of levels of CIP routing via the ports.
Additional Information
7-1 Communications Services
By specifying a route path, you can send CIP messages (CIP commands and responses) to a device
on another CIP-based network segment via a built-in EtherNet/IP port or the EtherNet/IP Unit (CIP routing function for message communications).
In CIP routing, a node (Unit) that routes information subtracts the equivalent of one hop from
the timeout, deletes its own address from the route information, and relays the information to
the next node (Unit).
7
When a timeout is specified, the timeout for the actual request service processing is set in the
last hop.
7-1-1 CIP (Common Industrial Protocol) Communications Services
In the case of relay hops, the timeout for the relay route must be added to the timeout for the
request.
OMRON products that support CIP subtract 5 seconds per hop.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
7-3
7 Introduction of EtherNet/IP Communications Functions
7-1-2
BOOTP Client
You set the built-in EtherNet/IP port in the BOOTP settings to use the BOOTP client to obtain settings,
such as the built-in EtherNet/IP port IP address.
BOOTP server
BOOTP command
IP address
Ethernet
Built-in EtherNet/IP port
Built-in EtherNet/IP port
BOOTP client
The built-in EtherNet/IP port IP address is obtained from
the BOOTP server when the power is turned ON.
7-1-3
FTP Server
An FTP server is built into the built-in EtherNet/IP port so that files can be read from and written to the
SD Memory Card in the CPU Unit of the Controller from computers at other Ethernet nodes.
This makes it possible to exchange data files between a host computer and the Controller with the host
computer as the FTP client and the Controller as the FTP server.
Host computer
(FTP client)
Ethernet
FTP command
Built-in EtherNet/IP port
NJ/NX-series
Controller
SD Memory
Card
Host computer to Controller
Controller to host computer
File data
File data
SD Memory
Card
7-4
SD Memory
Card
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
7 Introduction of EtherNet/IP Communications Functions
7-1-4
FTP Client
The built-in EtherNet/IP port contains an FTP client. With it, you can use FTP client communications
instructions to transfer files between the CPU Unit and host computers on Ethernet.
This makes it possible to exchange data files between a host computer and the Controller with the Controller as the FTP client and the host computer as the FTP server.
Host computer
(FTP server)
Ethernet
File data
Built-in EtherNet/IP port
NJ/NX-series
Controller
SD Memory
Card
Uploading Data
File data
File data
SD Memory
Card
7-1-5
7-1 Communications Services
Downloading Data
SD Memory
Card
Automatic Clock Adjustment
NTP server
NTP command
Ethernet
Clock information
Built-in EtherNet/IP port
NJ/NX-series
Controller
Precautions for Correct Use
An NTP server is required to use automatic clock adjustment.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
7-5
7
7-1-4 FTP Client
With the built-in EtherNet/IP port, 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.
7 Introduction of EtherNet/IP Communications Functions
7-1-6
Socket Service
You can send data to and receive data from any node on Ethernet with the UDP or TCP protocol.
To send/receive data with a socket service, you execute multiple socket communications instructions in
sequence in an ST program to execute the required communications processes.
After a connection with the other communications device is opened with an open instruction, the values
of the variables that are specified for the send instruction are sent and the data that was received for a
receive instruction is stored in the specified variables.
The connection is closed with a close instruction, and communications end.
For TCP, you can also read the socket status and received data.
You can use a total of 30 TCP ports and UDP ports.
UNIX computer or other node
with socket service interfaces
Ethernet
Built-in EtherNet/IP port
TCP/UDP
protocol
NJ/NX-series
Controller
TCP/UDP
protocol
IP
UDP
TCP
Socket
Built-in
EtherNet/IP port
ST programming
SktUDPCreate(...)
Open processing
SktUDPSend(...)
Send processing
SktUDPRcv(...)
SktClose(...)
7-6
Communications processes are performed
with socket communications instructions (for UDP).
Receive processing
Close processing
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
7 Introduction of EtherNet/IP Communications Functions
7-1-7
Specifying Host Names
You can directly specify IP addresses, but you can also use the host names instead of the IP addresses
for NTP servers, SNMP managers, or the destinations of socket instructions and CIP communications
instructions (DNS client or hosts settings).
Example: Setting the Host Name on a DNS Server
DNS server
IP address
Ethernet
Host name
Built-in EtherNet/IP port
7-1 Communications Services
NJ/NX-series
Controller
Precautions for Correct Use
A DNS server is required to use the server host names for the DNS client.
7-1-8
SNMP Agent
The SNMP agent passes internal status information from the built-in EtherNet/IP port to network management software that uses an SNMP manager.
7-1-7 Specifying Host Names
Monitoring Ethernet/IP Devices
SNMP manager
Built-in EtherNet/IP port
Ethernet
SNMP message
Management information
Device that supports SNMP
SNMP agent
SNMP agent
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
7
SNMP agent
7-7
7 Introduction of EtherNet/IP Communications Functions
• SNMP Trap
When specific conditions occur, the built-in EtherNet/IP port that is set as the SNMP agent sends status notification reports to the SNMP manager.
The SNMP manager can learn about changes in status even without periodically monitoring of the
built-in EtherNet/IP port.
Status notification reports are sent under the following conditions.
a) When the Controller is turned ON
b) When links are established
c) When an SNMP agent fails to be authorized
SNMP manager
Trap
Built-in EtherNet/IP
port
Controller
turned ON.
SNMP agent
7-8
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Introduction of EtherCAT Communications Functions
This section describes the communications functions of the built-in EtherCAT port for
an NX1P2 CPU Unit.
8-1 Overview of Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2
8-1-1
8-1-2
Process Data Communications and SDO Communications . . . . . . . . . . . . . . 8-2
Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3
8
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
8-1
8 Introduction of EtherCAT Communications Functions
8-1
Overview of Communications
This section provides an overview of the communications functions of the built-in EtherCAT port.
For details on the communications function of the built-in EtherCAT port, refer to the NJ/NX-series CPU
Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505).
8-1-1
Process Data Communications and SDO Communications
The built-in EtherCAT port performs the following communications to exchange information with EtherCAT slaves.
• Process data communications
• SDO communications
Process Data Communications
“Process data communications” is a cyclic communications method in which control information is
exchanged in a fixed cycle between the EtherCAT master and slaves.
The fixed cycle is called a process data communications cycle. The EtherCAT master can exchange
information with EtherCAT slaves in realtime in this process data communications cycle.
The same control period is also used for the process data communications cycle for EtherCAT. This
enables precise sequence and motion control in a fixed period with very little deviation.
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for details
on the specifications of process data communications.
SDO Communications
“SDO communications” is a communications method in which control information is exchanged in noncyclic event communications between the EtherCAT master and slaves.
You can use EtherCAT communications instructions to read and write the SDO data in EtherCAT
slaves.
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for details
on the specifications of SDO communications.
8-2
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
8 Introduction of EtherCAT Communications Functions
8-1-2
Other Functions
In addition to process data communications and SDO communications, the built-in EtherCAT port also
provides functions related to EtherCAT network configurations and setup, as well as communications
control and maintenance during operation or errors.
Network Configurations and Setup
 Enable/Disable Setting for Slaves
Use this function to select the EtherCAT slaves to communicate with from among those registered in
the network configuration information.
• You can design a network with future addition of EtherCAT slaves in mind, by setting EtherCAT
slaves that you plan to add at a later time to Disabled and then registering them in the network
configuration information on the EtherCAT master.
• You can change the EtherCAT slaves for communications based on the device configuration
during system operation.
You enable/disable each slave in the Sysmac Studio. Refer to the NJ/NX-series CPU Unit Built-in
EtherCAT Port User’s Manual (Cat. No. W505) for the setting procedure.
When you use a slave that takes time to start, use a longer wait time setting to prevent errors.
8-1 Overview of Communications
To enable/disable slaves during system operation, use the Enable/Disable EtherCAT Slave instruction. Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on this
instruction.
You set the wait time for slave startup in the Sysmac Studio. Refer to the NJ/NX-series CPU Unit
Built-in EtherCAT Port User’s Manual (Cat. No. W505) for the setting procedure.
8
Communications Control during Operation
 Wait Time Setting for Slave Startup
Use this function to set the wait time until all of the EtherCAT slaves are connected to the network.
 Fail-soft Operation
Use this function to continue or stop the communications with EtherCAT slaves that are operating
normally, if a communications error occurs.
“Fail-soft operation” refers an operation that only normally operating EtherCAT slaves are allowed to
operate continuously.
The EtherCAT master can continue the communications with the EtherCAT slaves until the operation is stopped safely through the user program or user operation.
You enable/disable the fail-soft operation in Sysmac Studio. Refer to the NJ/NX-series CPU Unit
Built-in EtherCAT Port User’s Manual (Cat. No. W505) for the setting procedure.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
8-3
8-1-2 Other Functions
Communications Control at Error Occurrence
8 Introduction of EtherCAT Communications Functions
Maintenance
 Disconnecting/Reconnecting Slaves
Use this function to temporarily stop and start communications with a specified slave.
It is useful because, during system operation, you can replace an erroneous EtherCAT slave without
interrupting the communications with EtherCAT slaves that are operating normally.
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for
details on how to use this function.
 Diagnosis/Statistics Log
The diagnostic and statistical information provides statistics on the number of communications
frames sent and received by the EtherCAT master and EtherCAT slaves as well as the number of
frames for which errors were detected.
This function acquires the diagnostic and statistical information at the specified cycle and saves the
information as a log file in an SD Memory Card that is mounted on the CPU Unit.
You can use it to diagnose the EtherCAT network line quality based on the diagnostic and statistical
information.
Use this function for the following applications.
• Checking the EtherCAT network line quality for predictive monitoring and preventive maintenance
• Finding locations of errors when they occur
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for
details on how to use this function.
8-4
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Troubleshooting
This section describes the confirmation methods and corrections for errors that occur in
the NX-series NX1P2 CPU Unit, and describes errors related to the built-in I/O and
Option Boards.
9-1 Operation after an Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
9-1-1
9-1-2
9-1-3
Overview of NX1P2 CPU Unit Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2
Fatal Errors in the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
Non-fatal Errors in the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-4
9-2 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-11
9-2-1
9-2-2
9-2-3
9-2-4
Checking to See If the CPU Unit Is Operating . . . . . . . . . . . . . . . . . . . . . . . .9-11
Troubleshooting Flowchart for Non-fatal Errors . . . . . . . . . . . . . . . . . . . . . . 9-12
Error Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-13
Error Descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-14
9-3 Option Board Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
9-3-1
Checking for Errors and Troubleshooting with the ERR Indicator on
Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-18
9
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9-1
9 Troubleshooting
9-1
Operation after an Error
This section describes the error status of the NX1P2 CPU Unit and the operation that occurs after an
error is detected. Refer to 9-2 Troubleshooting for details on corrections for specific errors. Refer to the
NJ/NX-series Troubleshooting Manual (Cat. No. W503) for all of the errors that may occur in an NX
Series.
9-1-1
Overview of NX1P2 CPU Unit Status
You can check the operation status of the CPU Unit with the indicators (POWER, RUN, and ERROR
indicators) at the center front of the CPU Unit.
POWER indicator
RUN indicator
ERROR indicator
The following table shows the status of front-panel indicators, the status of user program execution, and
the ability to connect communications to the Sysmac Studio or an HMI during startup, during normal
operation, and when errors occur.
CPU Unit
CPU Unit operating status
POWER
(green)
ERROR (red)
Lit
Flashing
(2-s intervals
followed by
0.5-s intervals)
Not lit
Stopped.
Not possible.
RUN mode
Lit
Lit
Not lit
Continues.
Possible.
PROGRAM mode
Lit
Not lit
Not lit
Stopped.
Power Supply
Error*1
Not lit
Not lit
Not lit
Stopped.
Hardware Initializa- Lit
tion Error*1 *2
No Lit
No Lit
Stopped.
Lit
Not lit
Not lit
Stopped.
Lit
Not lit or
Flashing (2-s
intervals or
0.5-s intervals)
Lit
Stopped.
Lit
Flashing (2-s
intervals) for
30 s or longer
Not lit
Stopped.
CPU Unit Reset*1
Fatal error in
CPU Unit
CPU Unit Error*1
System Initialization Error*1
9-2
Communications
with Sysmac
Studio or an HMI
RUN (green)
Startup
Normal operation
User
program
execution
status
Not possible.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 Troubleshooting
CPU Unit
CPU Unit operating status
Major fault*3
Non-fatal error
in CPU Unit
Partial fault*3
Minor fault*3
Observation*3
POWER
(green)
User
program
execution
status
RUN (green)
ERROR (red)
Lit
Not lit
Lit
Stopped.
Lit
Lit
Flashing
(1-s intervals)
Continues.*4
Lit
Lit
Flashing
(1-s intervals)
Continues.
Lit
Lit
Not lit
Continues.
Communications
with Sysmac
Studio or an HMI
Possible. (Communications can be
connected from an
HMI if EtherNet/IP
is operating normally.)
*1 Refer to 9-1-2 Fatal Errors in the CPU Unit for information on individual errors.
*2 If the status of indicators shown above continues 30 seconds or longer, this error exists.
*3 Refer to 9-1-3 Non-fatal Errors in the CPU Unit for information on individual errors.
*4 The function module where the error occurred stops.
Precautions for Correct Use
When an NX1P2 CPU Unit is used, a power shortage may occur at the CPU Rack depending on
the configuration of NX Units mounted to the CPU Unit. If one of the followings occurs, use the
Sysmac Studio to check if the power consumed by the Units on the CPU Rack exceeds the supplied power.
• The CPU Unit is operating but the mounted NX Units do not operate.
• Power is supplied to the CPU Unit, but the CPU Unit does not turn ON.
Fatal Errors in the CPU Unit
Types of Fatal Errors
Some errors are fatal and prevent the CPU Unit from operating. This section describes the errors that
cause the operation of the CPU Unit to stop. Communications with the Sysmac Studio or an HMI are
not possible if there is a fatal error in the Controller.
 Power Supply Error
Power is not supplied, the voltage is outside of the allowed range, or the Power Supply Unit is faulty.
This error occurs in the CPU Unit. It indicates a data error in minimum programs required to initialize
the hardware. Only the POWER indicator will be lit while the CPU Unit is starting, but if it is lit for 30
seconds or longer, then this error occurs.
 CPU Unit Error
This error occurs in the CPU Unit. It indicates that there is a hardware failure or that the CPU is running out of control due to temporary data corruption.
 System Initialization Error
This error occurs in the CPU Unit. It indicates a hardware failure or data error.
The RUN indicator will flash at 2-second intervals while the CPU Unit is starting, but if it flashes for
30 seconds or longer, then this error occurs.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9-3
9
9-1-2 Fatal Errors in the CPU Unit
 Hardware Initialization Error
9-1 Operation after an Error
9-1-2
9 Troubleshooting
Checking for Fatal Errors
You can identify fatal errors based on the status of the POWER, RUN and ERROR indicators, as well
as by the ability to connect communications to the Sysmac Studio.
Indicator
POWER
(green)
RUN (green)
ERROR (red)
Communications
with Sysmac Studio
Not possible.*
CPU Unit operating
status
Not lit
Not lit
Not lit
Lit
Not lit
Not lit
Hardware Initialization
Error
Power Supply Error
Lit
Not lit or Flashing (2-s
intervals or 0.5-s intervals)
Lit
CPU Unit Error
Lit
Flashing (2-s intervals)
for 30 s or longer
Not lit
System Initialization
Error
* An online connection to the Sysmac Studio is necessary to differentiate between Hardware Initialization Errors,
CPU Unit Errors, and non-fatal errors in the CPU Unit. Power Supply Errors and System Initialization Errors can
be differentiated with the indicators. There is no need to see if you can go online with the CPU Unit from the Sysmac Studio.
9-1-3
Non-fatal Errors in the CPU Unit
Event Levels
Non-fatal errors that occur are managed as Controller events in the NX1P2 CPU Unit. Controller events
are classified into levels according to the degree of the effect that the events have on control. When an
event occurs, the Sysmac Studio or HMI will display the level. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for details on Controller events.
• Major Fault Level
These errors prevent control operations for the entire Controller. If a major fault level error is
detected, user program execution is stopped immediately and the loads for all slaves (including
remote I/O) are turned OFF. With EtherCAT slaves and some NX Units, you can set the slave settings or Unit settings to select whether outputs will go OFF or retain their previous status. You cannot
reset major fault level errors from the user program, the Sysmac Studio or an HMI. To recover from a
major fault level error, remove the cause of the error, and either cycle the power supply to the Controller or reset the Controller from the Sysmac Studio.
• Partial Fault Level
These errors prevent control operations in a certain function module in the Controller. The NX1P2
CPU Unit continues to execute the user program even after a partial fault level error occurs. You can
include error processing in the user program to safely stop any devices in operation. After you
remove the cause of the error, execute one of the following to return to normal status.
• Reset the error from the user program, the Sysmac Studio, or an HMI.
• Cycle the power supply.
• Reset the Controller from the Sysmac Studio.
• Minor Fault Level
These errors prevent part of the control operations in a certain function module in the Controller. The
troubleshooting for minor fault level errors is the same as the processing for partial fault level errors.
• Observations
These errors do not affect the control operations of the Controller. Observations serve as warnings to
the user so that the error does not develop into an error at a higher level.
9-4
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 Troubleshooting
• Information
Events that are classified as information do not indicate errors.
You can change the event level for some events. Refer to NJ/NX-series CPU Unit Software User’s
Manual (Cat. No. W501) for information on changing event levels. Refer to 9-2 Troubleshooting in this
manual to see the events for which you can change the event level.
 Operation for Each Level
The operation that is performed when an error occurs depends on the error level of the Controller
event.
Event level
Item
Major fault level Partial fault level Minor fault level
Observation
Information
These errors prevent all of the
control in a function module other
than PLC Function Module.
Errors that prevent a portion of
control in one of
the function
modules.
Errors that do
Information level
not affect control. events are not
errors, but information provided
to the user in the
event log.
• Non-volatile
Memory Data
Corrupted
(PLC Function)
• Motion Control
Period
Exceeded
(Motion Control Function
Module)
• Communications Controller
Error (EtherCAT Master
Function Module)
• Positive Limit
Input Detected
(Motion Control Function
Module)
• Low Battery
Voltage (PLC
Function Module)
• Packet Discarded Due to
Full Receive
Buffer (EtherNet/IP Function Module)
• Power Turned
ON
• Power Interrupted
• Memory All
Cleared
POWER
(green)
Lit.
Lit.
Lit.
Lit.
Lit.
RUN
(green)
Not lit.
Lit.
Lit.
Lit.
Lit.
ERROR
(red)
Lit.
Flashes at 1-s
intervals.
Flashes at 1-s
intervals.
Not lit.
Not lit.
Event examples (Only a
few examples are provided here.
Refer to the
NJ/NX-series Troubleshooting Manual (Cat.
No. W503) for a complete list of errors.)
9-1 Operation after an Error
These errors are
serious errors
that prevent control operations
for the entire
Controller.
Definition
Front-panel
indicators*1
Controller information
Controller errors
9
9-1-3 Non-fatal Errors in the CPU Unit
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9-5
9 Troubleshooting
Event level
Item
Major fault level Partial fault level Minor fault level
Operation
of NX1P2
CPU Unit
Controller information
Controller errors
Observation
Information
RUN output on
Power
Supply
Unit
OFF
ON
ON
ON
ON
User program execution
status
Stops.
Continues.*2
Continues.
Continues.
Continues.
No
No
No
No
Not possible.
Depends on the
nature of the
error.
Depends on the
nature of the
error.
---
---
Recorded.
(Some errors are
not recorded.)
Recorded.
Recorded.
Recorded.
Recorded.
Refer to the I/O
Operation for
Major Fault
Level Controller
Errors on page
9-8.
• Errors in EtherCAT Master
Function Module: Depends
on settings in
the slave.
• Errors in other
function modules: Depends
on user program.
Depends on the
user program.
Depends on the
user program.
Depends on the
user program.
Outputs
Yes
turned OFF
Error reset
Event logs
Outputs from EtherCAT
slaves and NX-series
Digital Output Units
Sysmac Studio display
(while online)
Error messages are automatically displayed. You can
display detailed information in the Troubleshooting Dialog Box.
These items are not displayed in the
error display in the Controller Status
Pane.
*1 If multiple Controller errors have occurred, the indicators show the error with the highest error level.
*2 Operation stops in the function module (Motion Control Function Module, EtherCAT Master Function Module, or EtherNet/IP Function Module) in which the error occurred.
9-6
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 Troubleshooting
 Operation in the Function Module Where an Error Event Occurred
Event level
Function module
PLC Function
Module
Major fault level
Partial fault level
User program execution stops.
---
Operation continues.
---
I/O refreshing for NX
bus communications
stops.
Operation continues. If
an NX Unit error
occurs, operation
depends on the
Fail-soft Operation Setting.
NX Bus Function
Module
(NX Unit operation
depends on the NX
Unit settings.)
Observation
Operation continues.
All axes stop. (The stop
method depends on the
error.)
• The affected
• Axis operation conaxis/axes group
tinues.
stops. (The stop
• The motion control
method depends on
instructions that are
the settings.)
not related to axis
• The motion control
operation are not
instructions that are
executed.
related to axis operation are not executed.
---
EtherCAT communications stop. (The slaves
operate according to
the settings in the
slaves.)
I/O refreshing for Ether- I/O refreshing for EtherCAT communications
CAT communications
stops or continues
continues.
according to the
fail-soft operation settings in the master. (If
I/O refreshing stops,
the slaves operate
according to the settings in the slaves.)
---
EtherNet/IP communications stop. (A software connection from
the Sysmac Studio or
an HMI is not possible.)
Part of EtherNet/IP
communications stop.
(A software connection
from the Sysmac Studio
or an HMI is possible if
the communications
connection is not the
cause of the error.)
EtherCAT Master
Function Module
EtherNet/IP communications continue.
9-1 Operation after an Error
---
Motion Control
Function Module
EtherNet/IP
Function Module
Minor fault level
9
9-1-3 Non-fatal Errors in the CPU Unit
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9-7
9 Troubleshooting
 I/O Operation for Major Fault Level Controller Errors
The following table gives the operation of the CPU Unit and the I/O devices.
Unit
CPU Unit operation
Unit or slave operation
NX Unit mounted to the CPU Unit
Input refreshing stops.
Depends on the settings for the NX
Unit.
Built-in I/O
• Depends on the Load Rejection
Output Setting.
• Input refreshing stops.
---
Option Board
• Outputs turned OFF. Output values depend on the specifications
of the Option Board.
• Input refreshing stops.
Analog I/O Option Board
EtherCAT Slave Terminal
The EtherCAT Slave Terminal
moves to Safe-Operational state.
Depends on the NX Unit settings.
EtherCAT slave *1
The slave is placed in the
Safe-Operational state.
Depends on the slave settings. *2
Servo Drive or NX Unit assigned to
an axis
Updating the command values is
stopped.
All axes stop immediately.
Devices connected with EtherNet/IP • For the originators of tag data
links, the variables and I/O memory addresses for input (consume) tags are not refreshed.
• For the targets of tag data links,
operation depends on the settings of the tags sets for the output (produce) tags. *3
• Output value: 0 V
Depends on the specifications of
the connected devices.
*1 Excluding Servo Drives assigned to an axis.
*2 Settings and setting methods depend on the slave. Refer to the manual for the slave. For a Servo Drive, operation depends on the setting of object 605E hex (Fault Reaction Option Code).
*3 You can set whether to clear output or maintain the data from before the error occurred. Refer to the
NJ/NX-series CPU Unit Built-in EtherNet/IP Port User’s Manual (Cat. No. W506) for details.
Checking for Non-fatal Errors
Use the following methods to check for non-fatal errors.
Checking method
What you can check
Checking the indicators
You can use the indicators to confirm the Controller error level, the error status
of the EtherCAT Master Function Module, and the error status of the EtherNet/IP Function Module.
Checking with the troubleshooting function of Sysmac
Studio
You can check for current Controller errors, a log of past Controller errors, error
sources, error causes, and corrections.
Checking with the Troubleshooter of an HMI*1
You can check for current Controller errors, a log of past Controller errors, error
sources, error causes, and corrections.
Checking with instructions that
read function module error status
You can check the highest-level status and highest-level event code in the current Controller errors.
Checking with system-defined
variables
You can check the current Controller error status for each function module.
*1 To perform troubleshooting from an HMI, connect the HMI to the built-in EtherNet/IP port on the CPU Unit.
Refer to the appendices of the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the applicable range
of the HMI Troubleshooter.
This section describes the above checking methods.
9-8
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 Troubleshooting
Checking the Indicators
 Checking the Level of a Controller Error
You can use the POWER, RUN, and ERROR indicators to determine the event level for an error.
The following table shows the relationship between the Controller’s indicators and the event level.
Indicator
POWER (green)
RUN (green)
Event level
ERROR (red)
Lit
Not lit
Lit
Lit
Lit
Flashing (1-s intervals) Partial fault level
Major fault level
Minor fault level
Lit
Lit
Not lit
Observation
 Checking the Status of EtherCAT and EtherNet/IP Ports
For the EtherCAT and EtherNet/IP ports, use the EtherCAT and EtherNet/IP NET ERR indicators to
determine whether an error that affects process data communications has occurred and whether a
minor fault level error or higher-level error has occurred. The indicator lets you check the status
given in the following table.
Indicator
EtherCAT NET ERR
Indicated status
EtherCAT Port Status
EtherNet/IP NET ERR
EtherNet/IP Port Status
• Lit: An error for which normal status cannot be recovered through user
actions (i.e., errors for which you must replace the CPU Unit or contact your
OMRON representative) has occurred.
• Flashing: An error for which normal status can be recovered through user
actions has occurred.
• Not lit: There is no minor fault level or higher-level error.
9-1 Operation after an Error
• Lit: An error for which normal status cannot be recovered through user
actions (i.e., errors for which you must replace the CPU Unit or contact your
OMRON representative) has occurred.
• Flashing: An error for which normal status can be recovered through user
actions has occurred.
• Not lit: An error that affects process data communications has not occurred.
9
When an error occurs, you can connect the Sysmac Studio online to the Controller to check current
Controller errors and the log of past Controller errors.
 Current Errors
Open the Sysmac Studio’s Controller Error Tab Page to check the current error’s level, source,
source details, event name, event code, details, attached information 1 to 4, cause, and correction.
Errors are not displayed for observations.
 Log of Past Errors
Open the Sysmac Studio’s Controller Log Tab Page to check the time of occurrence, level, source,
source details, event name, event code, details, attached information 1 to 4, and corrections for past
errors.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on troubleshooting with the Sysmac Studio.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9-9
9-1-3 Non-fatal Errors in the CPU Unit
Checking with the Troubleshooting Function of Sysmac Studio
9 Troubleshooting
Checking with the Troubleshooter of an HMI
If you can connect communications between an HMI and the Controller when an error occurs, you can
check for current Controller errors and the log of past Controller errors.
To perform troubleshooting from an HMI, connect the HMI to the built-in EtherNet/IP port on the CPU
Unit.
Precautions for Correct Use
Refer to the appendices of the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the
applicable range of the HMI Troubleshooter.
 Current Errors
You can check the current error’s event name, event code, level, source, source details, details, and
attached information 1 to 4. Observations are not displayed as errors.
 Log of Past Errors
You can check the time of occurrence, level, source, source details, event name, event code,
details, attached information 1 to 4 for past errors.
Refer to the relevant HMI manual for information on the HMI Troubleshooter.
Checking with Instructions That Read Function Module Error Status
Instructions are provided that allow you to read the error status of each function module from the user
program. These instructions get the status and the event code of the error with the highest level.
Applicable function module
Instruction name
Instruction
PLC Function Module
Get PLC Controller Error Status
GetPLCError
NX Bus Function Module
Get NX Bus Error Status
GetNXBError
Get NX Unit Error Status
GetNXUnitError
Get Motion Control Error Status
GetMCError
EtherCAT Function Module
Get EtherCAT Error Status
GetECError
EtherNet/IP Function Module
Get EtherNet/IP Error Status
GetEIPError
Motion Control Function Module
For details on the instructions that get error status, refer to the NJ/NX-series Instructions Reference
Manual (Cat. No. W502).
Checking with System-defined Variables
You can check the error status variables in the system-defined variables to determine the status of
errors in a Controller. You can read the error status variables from an external device by using communications. Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the system-defined variables.
9 - 10
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 Troubleshooting
9-2
Troubleshooting
This section provides basic error identification and troubleshooting flowcharts. Use them when an error
occurs in the NX1P2 CPU Unit. This section also describes the built-in I/O and Option Board errors that
are related to the PLC Function Module and corrections for those errors.
9-2-1
Checking to See If the CPU Unit Is Operating
When an error occurs in the NX1P2 CPU Unit, use the following flowchart to determine whether the
error is a fatal error or a non-fatal error.
If a communications connection from the Sysmac Studio is not possible, perform the troubleshooting
procedure that is provided in the NJ/NX-series Troubleshooting Manual (Cat. No. W503) before you
assume that the error is a fatal error.
A fatal error occurred in the CPU Unit.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for
the correction.
Error occurs.
Not lit.
Power Supply Error
POWER indicator (green)?
Lit.
Flashing
(2-s intervals)
for 30 s or longer
Not lit.
Flashing.
ERROR indicator (red)?
RUN indicator (green)?
System Initialization Error
9-2 Troubleshooting
Not lit.
Lit.
Communications
with Sysmac
Studio?
Flashing (at 2-s intervals
or 0.5-s intervals)
Not possible.
Hardware Initialization Error
Possible.
RUN indicator (green)?
CPU Unit Error
9
Not lit.
Not possible.
9-2-1 Checking to See If the CPU Unit Is Operating
Communications
with Sysmac
Studio?
Possible.
A
A non-fatal error occurred. Refer to 9-2-2 Troubleshooting Flowchart for Non-fatal Errors.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 - 11
9 Troubleshooting
9-2-2
Troubleshooting Flowchart for Non-fatal Errors
For a non-fatal error, use the Sysmac Studio or an HMI to troubleshoot the error with the following flowchart. You can use the indicators to check the following:
• Level
• Whether the error is in the EtherNet/IP port or the EtherCAT port
• If the sources of the error is the EtherNet/IP port or the EtherCAT port, whether you can restore normal status yourself
A
Non-fatal error in CPU Unit
To immediately check the
specific error
To check error status with the indicators
Lit.
ERROR indicator (red)?
Flashing.
Not lit.
Partial fault level
or minor fault level
Check all of the following branches that correspond to the
status of the EtherNet/IP NET ERR and EtherCAT NET
ERR indicators.
EtherNet/IP NET ERR indicator is lit or flashing.
Both indicators are not lit.
EtherCAT NET ERR indicator is
lit or flashing.
EtherNet/IP NET ERR
indicator (red)?
Flashing.
Lit.
Major fault
level
Observation
EtherCAT NET ERR
indicator (red)?
Flashing.
Lit.
Error in the
EtherNet/IP port for
which you cannot
restore normal status
by yourself.
Error in the
EtherNet/IP port for
which you can
restore normal status
by yourself.
Error in the
EtherCAT port for
which you cannot
restore normal
status by yourself.
Error in the
EtherCAT port for
which you can
restore normal
status by yourself.
Error in PLC
Function Module,
NX Bus Function
Module, or MC
Function Module
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the procedures to
check for errors and corrections with the Sysmac Studio or an HMI.
Precautions for Correct Use
Refer to the appendices of the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the
applicable range of the HMI Troubleshooter.
9 - 12
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 Troubleshooting
9-2-3
Error Table
The errors (i.e., events) related to the built-in I/O and Option Boards are given on the following pages.
The following abbreviations and symbols are used in the event level column.
Abbreviation
Name
Maj
Major fault level
Prt
Partial fault level
Min
Minor fault level
Obs
Observation
Info
Information
Symbol
Meaning
S
Event levels that are defined by the system.
U
Event levels that can be changed by the user.*
* This symbol appears only for events for which the user can change the event level.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for all NX-series event codes.
Errors Related to the Built-in I/O and Option Boards
Event code
Event name
Meaning
Assumed cause
05440000 hex
Option Board
Error
An Option Board
was removed or
mounted during
operation, or an
Option Board hardware error
occurred.
• An Option Board was removed
or mounted during operation.
Option Board
Configuration Verification Error
The Option Board
configuration setup
does not agree with
the actual configuration.
• The Option Board configuration
setup does not agree with the
actual configuration.
35950000 hex
Unsupported
Option Board
Mounted
There is an unsupported Option
Board in the actual
configuration.
88130000 hex
Analog
Option Board
Startup Error
88140000 hex
Analog
Option Board
Communications Error
Prt
Min
Obs
Info
Reference
S
P. 9-15
S
P. 9-15
• There is an unsupported
Option Board in the actual configuration.
S
P. 9-16
An error occurred
when an Analog
Option Board is
started.
• An Analog Option Board is not
mounted correctly. Or an Analog Option Board failed.
S
P. 9-16
A communications
error occurred
during Analog
Option Board operation.
• If the indicator on an Analog
Option Board flashes, it means
that an error occurred in communicating with the Analog
Option Board during operation.
S
P. 9-17
• A hardware error was detected
in an Option Board.
9-2 Troubleshooting
35940000 hex
Level
Maj
• An Option Board is not
mounted correctly.
9
9-2-3 Error Table
• If the indicator on an Analog
Option Board is lit, it means
that a WDT error occurred in
the Analog Option Board.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 - 13
9 Troubleshooting
9-2-4
Error Descriptions
This section describes the information that is given for individual errors.
Controller Error Descriptions
The items that are used to describe individual errors (events) are described in the following copy of an
error table.
Event name
Gives the name of the error.
Meaning
Gives a short description of the error.
Source
Gives the source of the error.
Source details
Error attributes
Level
Recovery
Tells the level of
influence on con-
User program
Tells what will
happen to execution of the user
Gives the code of the error.
Gives details on
the source of the
error.
Detection
timing
Tells when the
error is detected.
Gives the recov-
Log category
Tells which log
the error is saved
ery method.*2
trol.*1
Effects
Event code
Operation
in.*3
Provides special information on the operation that results
from the error.
program.*4
Indicators
Gives the status of the built-in EtherNet/IP port and built-in EtherCAT port indicators. Indicator status is given only for
errors in the EtherCAT Master Function Module and the EtherNet/IP Function Module.
System-defined
variables
Variable
Cause and correction
Assumed cause
Attached
information
This is the attached information that is displayed by the Sysmac Studio or an HMI.*5
Precautions/
Remarks
Provides precautions, restrictions, and supplemental information. If the user can set the event level, the event levels
that can be set, the recovery method, operational information, and other information is also provided.
Data type
Name
Lists the variable names, data types, and meanings for system-defined variables that provide direct error notification,
that are directly affected by the error, or that contain settings that cause the error.
Correction
Prevention
Lists the possible causes, corrections, and preventive measures for the error.
*1 One of the following:
Major fault: Major fault level
Partial fault: Partial fault level
Minor fault: Minor fault level
Observation
Information
*2 One of the following:
Automatic recovery: Normal status is restored automatically when the cause of the error is removed.
Error reset: Normal status is restored when the error is reset after the cause of the error is removed.
Cycle the power supply: Normal status is restored when the power supply to the Controller is turned OFF and then back
ON after the cause of the error is removed.
Controller reset: Normal status is restored when the Controller is reset after the cause of the error is removed.
Depends on cause: The recovery method depends on the cause of the error.
*3 One of the following:
System: System event log
Access: Access event log
*4 One of the following:
Continues: Execution of the user program will continue.
Stops: Execution of the user program stops.
Starts: Execution of the user program starts.
*5 Refer to the appendices of the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the applicable range of the HMI
Troubleshooter.
9 - 14
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 Troubleshooting
Errors Related to the Built-in I/O and Option Boards
Event name
Option Board Error
Meaning
An Option Board was removed or mounted during operation, or an Option Board hardware error occurred.
Source
PLC Function Module
Source details
Option Board:
Slot1, Slot2
Detection
timing
Continuously
Error attributes
Level
Minor fault
Recovery
Cycle the
power supply or
reset the Controller.
Log category
System
Effects
User program
Continues.
Operation
Operation is not possible for slots where the error
occurred.
System-defined
variables
Variable
Data type
Name
_PLC_OptBoardSta
ARRAY[1..2] OF _sOPTBOARD_STA
Option Board Status
Cause and
correction
Attached
information
Event code
05440000 hex
Assumed cause
Correction
Prevention
An Option Board was removed or
mounted during operation.
Turn OFF the power supply to the
Controller, then mount the Option
Board correctly.
Do not remove or mount Option
Boards during operation.
A hardware error was detected in an
Option Board.
Turn OFF the power supply to the
Controller, then mount the Option
Board correctly. If this error persists,
replace the Option Board in the slot
where the error occurred.
None
Attached Information 1: Cause of the error
1. An Option Board was removed during operation.
2. An Option Board was mounted during operation.
3. A hardware error was detected in an Option Board.
Attached information 2: System information
None
Event name
Option Board Configuration Verification Error
Meaning
The Option Board configuration setup does not agree with the actual configuration.
Source
PLC Function Module
Source details
Option Board:
Slot1, Slot2
Detection
timing
At power ON or
at download
Error attributes
Level
Minor fault
Recovery
Error reset
Log category
System
Effects
User program
Continues.
Operation
Operation is not possible for slots where the disagreement
of configuration occurred.
System-defined
variables
Variable
Data type
Name
_PLC_OptBoardSta
ARRAY[1..2] OF _sOPTBOARD_STA
Option Board Status
Assumed cause
Correction
Prevention
The Option Board configuration setup
does not agree with the actual configuration.
Set up the Option Board configuration
or change the actual configuration so
that the Option Board configuration
setup agrees with the actual configuration. If you change the Option
Board configuration setup, download
the data to the Controller.
Same as at the left.
An Option Board is not mounted correctly.
Turn OFF the power supply to the
Controller, then mount the Option
Board correctly.
Same as at the left.
Cause and
correction
None
Precautions/
Remarks
None
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
35940000 hex
9
9-2-4 Error Descriptions
Attached
information
Event code
9-2 Troubleshooting
Precautions/
Remarks
9 - 15
9 Troubleshooting
Event name
Unsupported Option Board Mounted
Meaning
There is an unsupported Option Board in the actual configuration.
Source
PLC Function Module
Source details
Option Board:
Slot1, Slot2
Detection
timing
At power ON
Error attributes
Level
Minor fault
Recovery
Cycle the
power supply or
reset the Controller.
Log category
System
Effects
User program
Continues.
Operation
Operation is not possible for slots where the error
occurred.
System-defined
variables
Variable
Data type
Name
_PLC_OptBoardSta
ARRAY[1..2] OF _sOPTBOARD_STA
Option Board Status
Cause and
correction
Assumed cause
Correction
Prevention
There is an unsupported Option
Board in the actual configuration.
Remove the unsupported Option
Board.
Use a supported Option Board.
Attached
information
Attached information 1: System information
Precautions/
Remarks
None
Event name
Analog Option Board Startup Error
Meaning
An error occurred when an Analog Option Board is started.
Source
PLC Function Module
Error attributes
Level
Effects
User program
System-defined
variables
Variable
Data type
Name
_PLC_OptBoardSta
ARRAY[1..2] OF _sOPTBOARD_STA
Option Board Status
Cause and
correction
Assumed cause
Correction
Prevention
An Analog Option Board is not
mounted correctly. Or an Analog
Option Board failed.
Turn OFF the power supply to the
Controller, then mount the Option
Board correctly. If this error persists,
replace the Option Board in the slot
where the error occurred.
Same as at the left.
Attached
information
Attached information 1: System information
Precautions/
Remarks
None
9 - 16
Event code
35950000 hex
Event code
88130000 hex
Source details
Option Board:
Slot1, Slot2
Detection
timing
At power ON
Minor fault
Recovery
Cycle the
power supply or
reset the Controller.
Log category
System
Continues.
Operation
Operation is not possible for slots where the error
occurred.
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 Troubleshooting
Event name
Analog Option Board Communications Error
Meaning
A communications error occurred during Analog Option Board operation.
Source
PLC Function Module
Source details
Option Board:
Slot1, Slot2
Detection
timing
Continuously
Error attributes
Level
Minor fault
Recovery
Cycle the
power supply or
reset the Controller.
Log category
System
Effects
User program
Continues.
Operation
Operation is not possible for slots where the error
occurred. Reset the error. Operation is resumed when
normal communications are restored.
System-defined
variables
Variable
Data type
Name
_PLC_OptBoardSta
ARRAY[1..2] OF _sOPTBOARD_STA
Option Board Status
Cause and
correction
Event code
88140000 hex
Assumed cause
Correction
Prevention
If the indicator on an Analog Option
Board flashes, it means that an error
occurred in communicating with the
Analog Option Board during operation.
Reset the error. If this error occurs
even after you reset the error, turn
OFF the power supply to the Controller, then mount the Option Board correctly. If this error still occurs, replace
the Option Board in the slot where the
error occurred.
Same as at the left.
If the indicator on an Analog Option
Board is lit, it means that a WDT error
occurred in the Analog Option Board.
Turn OFF the power supply to the
Controller, then mount the Option
Board correctly. If this error persists,
replace the Option Board in the slot
where the error occurred.
Same as at the left.
Attached
information
Attached information 1: System information
Precautions/
Remarks
None
9-2 Troubleshooting
9
9-2-4 Error Descriptions
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
9 - 17
9 Troubleshooting
9-3
Option Board Errors
The description below is related to Option Board errors.
9-3-1
Checking for Errors and Troubleshooting with the ERR Indicator
on Option Boards
You can check the status indicator on an Analog I/O Option Board see if an error occurs in it. This table
below gives the meanings of errors that the indicator shows and the troubleshooting information on
them.
ADB21
DAB21V
MAB221
(A)
OUT
VO1
VO2
COM
IN
OUT
VI1
I I1
VI2
I I2
COM
VO1
VO2
COM
IN
VI1
I I1
VI2
I I2
COM
ERR
(B)
ERR indicator
Lit
Cause
Hardware failure
Option Board Error
Flashing
Analog Option Board
Startup Error
Analog Option Board
Communications Error
Option Board Error
Not lit
Analog Option Board
Startup Error
Analog Option Board
Communications Error
Option Board Configuration Verification Error
---
Correction
If this error occurs again even after you cycle the
Controller power supply, replace the Option Board.
Refer to the event Option Board Error on page
9-15.
Refer to the event Analog Option Board Startup
Error on page 9-16.
Refer to the event Analog Option Board Communications Error on page 9-17.
Refer to the event Option Board Error on page
9-15.
Refer to the event Analog Option Board Startup
Error on page 9-16.
Refer to the event Analog Option Board Communications Error on page 9-17.
Refer to the event Option Board Configuration Verification Error on page 9-15.
Normal operation
No error indicator is provided on Serial Communications Option Boards.
9 - 18
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
A
Appendices
A-1 Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
A-1
Appendices
A-1 Version Information
This section describes the relationship between the unit versions of the NX1P2 CPU Units and the Sysmac Studio versions, and the functions that are supported for each unit version.
The following describes how the unit version of an NX1P2 CPU Unit corresponds to the Sysmac Studio
version. Normally use the corresponding versions.
Unit Version and Corresponding Sysmac Studio Version
The following table gives the relationship between the unit version of an NX1P2 CPU Unit and the corresponding Sysmac Studio version.
Unit version of CPU Unit
Ver.
1.13*1
Corresponding version of Sysmac Studio
Ver. 1.17*2
*1. There is no NX1P2- CPU Unit with unit version 1.12 or earlier.
*2. Use an NX1P2- CPU Unit with Sysmac Studio version 1.17 or higher. You cannot
use an NX1P2- CPU Unit with Sysmac Studio version 1.16 or lower.
Restriction When the Unit Version Does not Correspond to the Sysmac Studio Version
By specification, the following restriction applies when the unit version of the NX1P2 CPU Unit does not
correspond to the Sysmac Studio version.
 When the Sysmac Studio Version Is 1.16 or Lower
You cannot use the NX1P2 CPU Unit with Sysmac Studio version 1.16 or lower.
A-2
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
I
Index
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
I-1
Index
Index
Symbols
.Run (Option Board
Normal Operation) ............................3-10, 4-23, 4-31, 5-9
A
aborting ............................................................... 6-49, 6-67
acceleration and deceleration rates
unit .......................................................................... 6-36
acceleration rate
changing ................................................................. 6-45
Acceleration Warning Value ......................................... 6-36
Acceleration/Deceleration Over .................................... 6-36
actual position .............................................................. 6-33
actual velocity ............................................................... 6-35
Actual Velocity Filter Time Constant ............................. 6-35
allowable value conversion range ........................... 5-3, 5-4
assumed causes .......................................................... 9-13
AT specification ..................................................... 4-8, 4-17
automatic clock adjustment ............................................ 7-5
axes group errors
resetting .................................................................. 6-56
axes groups
enabling and disabling ............................................ 6-55
B
blending ............................................................... 6-50, 6-68
BOOTP client ................................................................. 7-4
Buffer Mode ......................................................... 6-48, 6-66
buffered ............................................................... 6-49, 6-68
C
cam block ..................................................................... 6-17
cam block end point ..................................................... 6-17
cam block start point .................................................... 6-17
cam curve ..................................................................... 6-17
cam data ....................................................................... 6-17
loading and saving .................................................. 6-21
cam data index ............................................................. 6-17
cam data variable ......................................................... 6-17
cam end point ............................................................... 6-17
cam operation ............................................................... 6-17
cam profile curve .......................................................... 6-17
cam start point .............................................................. 6-17
Cam table
Generate Cam Table .............................................. 6-23
cam table ...................................................................... 6-17
cam table start position ................................................ 6-17
I-2
cam tables .................................................................... 6-19
data type ................................................................. 6-20
saving ..................................................................... 6-21
specifications .......................................................... 6-19
switching ................................................................. 6-21
updating properties ................................................. 6-22
checking for errors .................................................. 9-4, 9-8
CIP communications ...................................................... 7-2
CIP message communications ....................................... 7-3
command position ........................................................ 6-33
command velocity ........................................................ 6-35
communications setting level ....................................... 4-16
Configuration .................................................................. 3-4
connecting acceleration ............................................... 6-18
connecting velocity ....................................................... 6-18
Controller errors ............................................................. 9-5
Controller events ............................................................ 9-4
Controller information ..................................................... 9-5
converted value .............................................................. 5-3
CPU Unit Error ............................................................... 9-3
CPU Unit operating status .............................................. 9-2
current direction ........................................................... 6-39
D
deceleration rate
changing ................................................................. 6-45
deceleration stop of command value ........................... 6-11
Deceleration Warning Value ......................................... 6-37
delay time ..................................................................... 2-12
diagnosis/statistics log .................................................... 8-4
disconnecting/connecting slaves .................................... 8-4
displacement ................................................................ 6-17
download area ..................................................... 4-11, 4-17
E
enable/disable setting for slaves .................................... 8-3
ERROR .......................................................................... 9-2
error reset ....................................................................... 9-6
error status variables .................................................... 9-10
event codes .................................................................. 9-13
event levels .................................................................... 9-4
event log ......................................................................... 9-6
event names ................................................................. 9-13
F
fail-soft operation ............................................................ 8-3
fatal errors in the CPU Unit ............................................ 9-3
FTP client ....................................................................... 7-5
FTP server ..................................................................... 7-4
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
Index
G
General-purpose Serial Communications
Device Settings ..........................................................4-28
Get EtherCAT Error Status ............................................9-10
Get EtherNet/IP Error Status .........................................9-10
Get Motion Control Error Status ....................................9-10
Get NX Bus Error Status ...............................................9-10
Get NX Unit Error Status ...............................................9-10
Get PLC Controller Error Status ....................................9-10
GetECError (Get EtherCAT Error Status) .....................9-10
GetEIPError (Get EtherNet/IP Error Status) ..................9-10
GetMCError (Get Motion Control Error Status) .............9-10
GetNXBError (Get NX Bus Error Status) ......................9-10
GetNXUnitError (Get NX Unit Error Status) ..................9-10
GetPLCError (Get PLC Controller Error Status) ...........9-10
H
Hardware Initialization Error ............................................9-3
Host Link (FINS) ..................................... 3-6, 4-2, 4-4, 4-10
I
I/O response time ..........................................................2-15
immediate stop of command value ...............................6-11
immediate stop of command value and error reset .......6-11
immediate stop of command value and servo OFF ......6-11
indicator .................................................................. 9-2, 9-9
information ......................................................................9-5
Input Filter Settings .........................................................2-8
input range ......................................................................5-3
instructions that read error status .................................9-10
invalid cam data ............................................................6-17
J
jerk unit .........................................................................6-38
L
Load Rejection Output Settings ......................................2-8
M
major fault level ....................................................... 9-4, 9-8
master axis ....................................................................6-17
master following distance ..............................................6-18
Maximum Acceleration ..................................................6-36
Maximum Deceleration .................................................6-36
Maximum Jog Velocity ..................................................6-35
maximum number of cam data .....................................6-17
Maximum Velocity .........................................................6-35
Memory Settings for CJ-series Units ...................... 3-6, 3-8
memory used for CJ-series Units .......... 4-2, 4-8, 4-11, 4-17
minor fault level ...............................................................9-4
Modbus-RTU command ...................................... 4-18, 4-22
Modbus-RTU Master .................................... 3-13, 4-2, 4-18
multi-execution of instructions .............................6-48, 6-66
N
negative direction ..........................................................6-39
NET ERR ........................................................................9-9
no direction specified ....................................................6-39
non-fatal errors in the CPU Unit ......................................9-4
No-Protocol .................................................. 3-13, 4-3, 4-25
null cam data ................................................................6-18
number of valid cam data ..............................................6-17
O
I
observation .....................................................................9-4
OFF filter only ...............................................................2-11
ON and OFF filters ........................................................2-10
Option Board Normal Operation ......... 3-10, 4-23, 4-31, 5-9
Option Board Serial Communications Settings ........3-5, 3-6
option board service .....................................................5-12
option board slot .............................................................3-2
Option Board specification ...................................4-23, 4-30
Option Board Status .............................. 3-9, 4-23, 4-31, 5-9
original cam data ..........................................................6-17
output range ....................................................................5-4
outputs turned OFF .........................................................9-6
overrides .......................................................................6-61
P
partial fault level ..............................................................9-4
phase ............................................................................6-17
phase pitch ...................................................................6-18
_PLC_OptBoardSta
(Option Board Status) ............... 3-9, 3-10, 4-23, 4-31, 5-9
positions ........................................................................6-33
types ........................................................................6-33
positive direction ...........................................................6-39
POWER ..........................................................................9-2
Power Supply Error .........................................................9-3
process data communications ........................................8-2
programless communications ........................ 4-4, 4-8, 4-10
program-modified cam data ..........................................6-17
R
reading axes group positions ........................................6-56
re-executing instructions ...............................................6-43
re-execution of instructions ...........................................6-65
resetting axis errors ........................................................6-3
RUN ................................................................................9-2
S
S-curve .........................................................................6-38
SDO communications .....................................................8-2
serial communications instruction .............. 3-13, 4-22, 4-29
Serial communications mode ...................................3-6, 4-2
settings on Modbus-RTU slaves ...................................4-21
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
I-3
Index
settings on NB-series Units ............................................ 4-8
settings on the NX1W-CIF11/CIF12
Option Board ....................................4-7, 4-15, 4-21, 4-28
shortest way ................................................................. 6-39
slave axis ...................................................................... 6-17
SNMP agent ................................................................... 7-7
socket service ................................................................. 7-6
specifying host name ...................................................... 7-7
start mode .................................................................... 6-18
Start Velocity ................................................................. 6-35
status indicator ............................................................... 5-2
stop priorities ................................................................ 6-12
stopping
due to errors or other problems ....................... 6-8, 6-59
immediate stop input ................................................ 6-7
limit inputs ................................................................. 6-7
MC_GroupImmediateStop instruction ..................... 6-59
MC_GroupStop instruction ..................................... 6-59
MC_ImmediateStop instruction ................................. 6-8
MC_Stop instruction ................................................. 6-8
Servo Drive input signals .......................................... 6-7
stop method ............................................................ 6-11
superimpose corners ........................................... 6-70, 6-72
System Initialization Error ............................................... 9-3
system-defined variables .............................................. 9-10
W
wait time setting for slave startup ................................... 8-3
T
tag data link (cyclic communications) ............................. 7-2
target position
changing ................................................................. 6-43
excessive deceleration patterns ..................... 6-44
triangular control patterns ............................... 6-44
when a reverse turn does not occur for the
new command value ........................ 6-43
when a reverse turn occurs for the
new command value ........................ 6-43
target velocity
changing ................................................................. 6-45
torque command
changing ................................................................. 6-46
transition disabled ........................................................ 6-70
Transition Modes .......................................................... 6-70
travel distance
changing ................................................................. 6-45
Troubleshooter ............................................................. 9-10
troubleshooting function ................................................. 9-9
U
upload area .................................................................. 4-11
V
valid cam data .............................................................. 6-17
velocities
types ....................................................................... 6-35
velocity unit ............................................................. 6-35
Velocity Warning Value ................................................. 6-35
I-4
NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
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W579-E1-01
11/16
Note: Specifications are subject to change.
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