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Omron NJ Series User Manual
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10 Communications Setup
10-10
NJ-series CPU Unit Software User’
s Manual (W501)
High-spe
ed, high-precis
ion communications ar
e possible with Ser
vo Drives and general-pur
pose
slav
es. Ref
er to the
NJ-ser
ies CPU Unit Built-in Et
herCA
T Port Use
r’
s Ma
nual
(Cat.
No
. W
505) for
details.
10-3-2
Connection Configuration
between Contr
ollers and Sla
ves
EtherCA
T
EtherCAT
Servo Drives
General-purpose slave
Slave Terminal
458
460
Table of Contents
Introduction
4
Relevant Manuals
5
Manual Structure
6
Sections in this Manual
8
Table of Contents
10
Terms and Conditions Agreement
17
Safety Precautions
19
Precautions for Safe Use
24
Precautions for Correct Use
30
Regulations and Standards
33
Unit Versions
35
Related Manuals
38
Terminology
40
Revision History
44
Introduction to NJ-Series Controllers
46
The NJ-Series Controllers
47
Features
47
Introduction to the System Configurations
49
Main Specifications
52
Overall Operating Procedure for the NJ-Series Controller
54
Overall Procedure
54
Procedure Details
55
Net/Ip Port
56
CPU Unit Operation
60
Overview of CPU Unit Operation
61
Introduction to CPU Unit
61
Overview of Operation According to CPU Unit Status
62
Software
63
Software Configuration
63
Operation of Software
64
Accessing I/O
69
Types of Variables
69
Accessing I/O with Variables
72
Sequence Control and Motion Control
77
Overview of Control
77
Sequence Control System
79
Motion Control System
80
Synchronizing Sequence Control and Motion Control
81
Overview of CPU Unit Data
82
Operation for CPU Unit Status
84
CPU Unit Status
84
Operating Modes
87
Section 3 I/O Ports, Slave Configuration, and Unit Configuration
91
Procedure to Create the Slave and Unit Configurations
91
Creating and Comparing the Slave and Unit Configurations
94
Creating the Ethercat Slave Configuration
94
Creating the Unit Configuration
95
Verifying the Unit Configuration
95
I/O Ports and Device Variables
97
I/O Ports
97
I/O Port Names
98
Device Variables
99
Points
99
Allocating Variables to Units
102
Procedure to Assign Variables to Units
102
Using Variables Assigned to Units
103
Creating the Axes and Assigning Them to the Servo Drives/Encoder Input Slaves
105
Introduction
105
Input Slaves
105
Axis Variables and Axes Group Variables
106
Creating and Using Axes and Axis Variables
107
Controller Setup
110
Section 4 Controller Setup
111
Overview of the Controller Setup
111
Initial Settings for the PLC Function Module
113
Introduction
113
Controller Setup
113
Task Settings
115
Unit Configuration and Unit Setup
120
Initial Settings for Special Units
122
Initial Settings for the Motion Control Function Module
124
Introduction
124
Setting Methods
125
Initial Settings for the Ethercat Master Function Module
126
Initial Settings for the Ethernet/Ip Function Module
127
Designing Tasks
128
Section 5 Designing Tasks
129
Overview of Task Designing Procedure
129
Task System
131
Overview of Tasks
131
Specifications of Tasks
133
Basic Operation of Tasks
134
Event Task Execution Conditions
140
Event Task Execution Timing
145
Operation When Execution Condition Is Met Again before Execution of the Event Task Is Completed
149
Tag Data Link Service and System Services
150
Processing Performed in and Execution Timing of the Tag Data Link Service
153
Processing Performed in and Execution Timing of the System Services
156
Assigning I/O Refreshing to Tasks
158
Assigning Tasks to Programs
159
Parameters for Primary Periodic Task and Periodic Tasks
160
Ensuring Concurrency of Variable Values between Tasks
162
Variable Access from Outside the Controller
166
Instructions Related to Tasks
169
System-Defined Variables Related to Tasks
170
Errors Related to Tasks
172
Motion Control Period
173
Monitoring Task Execution Status and Task Execution Times
174
Task Design Methods and I/O Response Times
178
Checking the Task Execution Time
178
Checking the System Service Monitoring Settings
180
Examples of Task Design
180
System Input and Output Response Times
181
Overview of Programming Procedures
190
Pous (Program Organization Units)
192
What Are Pous
192
Overview of the Three Types of Pous
193
Differences between Programs, Functions, and Function Blocks
194
Details on Programs
194
Details on Function Blocks
195
Details on Functions
204
Operation that Applies to both Functions and Function Blocks
209
POU Restrictions
211
Variables
214
Types of Variables
214
Types of User-Defined Variables in Respect to Pous
215
Attributes of Variables
216
Data Types
217
Derivative Data Types
226
Array Specifications and Range Specifications for Data Types
236
Variable Attributes
241
Changes to Variables for Status Changes
249
Work Area
249
Function Block Instances
251
Monitoring Variable Values
251
Restrictions on Variable Names and Other Program-Related Names
252
Bytes
252
Constants (Literals)
254
Constants
254
Types of Constants
254
Programming Languages
259
Ladder Diagram Language
259
Structured Text Language
265
Instructions
299
Basic Understanding of Instructions
299
Instruction Errors
302
Namespaces
307
Namespace Specifications
308
Procedure for Using Namespaces
311
Libraries
312
Introduction to Libraries
312
Specifications of Libraries
312
Library Object Specifications
313
Procedure to Use Libraries
315
Programming Precautions
316
Array Specifications for Input Variables, Output Variables, In-Out Variables
316
Structure Variables for Input Variables, Output Variables, In-Out Variables
316
Master Control
317
Checking Operation and Actual Operation
318
Section 7 Checking Operation and Actual Operation
319
Overview of Steps in Checking Operation and Actual Operation
319
Offline Debugging
320
Features of Simulation
320
Simulation Execution
320
Setting up Simulations
323
Checking Operation on the Actual System and Actual Operation
325
Procedures
325
Downloading the Project
325
Checking I/O Wiring
326
MC Test Run
326
Checking the Operation of the User Program
326
Starting Actual Operation
327
Section 8 CPU Unit Functions
330
Data Management, Clock, and Operating Functions
330
Clearing All Memory
330
Clock
330
RUN Output
333
Management Functions for CJ-Series Units
334
Basic I/O Units
334
Special Units
335
SD Memory Card Operations
337
Specifications of Supported SD Memory Cards, Folders, and Files
338
SD Memory Card Operation Instructions
339
FTP Client Communications Instructions
340
FTP Server
340
File Operations from the Sysmac Studio
340
SD Memory Card Life Expiration Detection
340
List of System-Defined Variables Related to SD Memory Cards
341
SD Memory Card Self-Diagnostic Functions
342
Exclusive Control of File Access in SD Memory Cards
344
Security
345
Authentication of User Program Execution Ids
346
User Program Transfer with no Restoration Information
349
Overall Project File Protection
349
Data Protection
350
Operation Authority Verification
352
CPU Unit Write Protection
353
CPU Unit Names and Serial Ids
355
Debugging
357
Forced Refreshing
357
Changing Present Values
361
Online Editing
362
Data Tracing
364
Differential Monitoring
369
Event Logs
375
Introduction
375
Detailed Information on Event Logs
376
Controller Events (Controller Errors and Information)
381
User-Defined Events (User-Defined Errors and Information)
382
Changing Event Levels
389
Applications of Changing Event Levels
389
Events for Which the Event Level Can be Changed
389
Procedure to Change an Event Level
389
The Backup Functions
394
Applications of Backup Functions
394
Examples of Operating Procedures for the Backup Functions
394
Data that Is Backed up
397
Types of Backup Functions
398
Relation between the Different Types of Backup Functions and Data Groups
400
Applicable Range of the Backup Functions
401
SD Memory Card Backups
403
Backup (Controller to SD Memory Card)
404
Restore (SD Memory Card to Controller)
409
Verify (between Controller and SD Memory Card)
411
Disabling Backups to SD Memory Cards
416
Automatic Transfers from SD Memory Cards
417
Sysmac Studio Controller Backups
419
Backup (Controller to Computer)
420
Restore (Computer to Controller)
421
Verify (between Controller and Computer)
422
Importing and Exporting Sysmac Studio Backup File Data
423
Sysmac Studio Variable and Memory Backup Functions
424
Applicable Data for Sysmac Studio Variable and Memory Backup Functions
424
Using Sysmac Studio Variable and Memory Backup Functions
424
Compatibility between CPU Unit Models
425
Backup Functions When Ethercat Slaves Are Connected
427
Backed up Ethercat Slave Data
427
Backup Support Depending on the Controller Status
427
Conditions for Restoring Ethercat Slave Data
428
Ethercat Slaves for Which You Can Back up Data
429
Backup Functions When Ethercat Slave Terminals Are Connected
431
Backing up Data in an Ethercat Slave Terminal
431
Backup Support Depending on the Ethercat Slave Terminal Status
432
Conditions for Restoring Ethercat Slave Terminal Data
432
Backup Functions When CJ-Series Units Are Connected
433
Backed up CJ-Series Unit Data
433
Backup Support Depending on the Controller Status
433
Conditions for Restoring CJ-Series Unit Data
433
Backup-Related Files
435
Types of Backup-Related Files
435
Specifications of a Backup File
436
Specifications of a Restore Command File
436
Specifications of an Automatic Transfer Command File
438
Specifications of a Controller Verification Results File
440
Specifications of an Ethercat Verification Results File
440
Specifications of an Ethercat Slave Terminal Verification Results File
442
Specifications of CJ-Series Unit Verification Results File
443
Compatibility between Backup-Related Files
445
Compatibility between Backup Functions
445
Compatibility between CPU Unit Models
446
Compatibility between Unit Versions of CPU Units
447
Functions that Cannot be Executed During Backup Functions
448
Communications Setup
450
Communications System Overview
451
Introduction
452
Connection with Sysmac Studio
453
Configurations that Allow Online Connections
453
Configurations that Do Not Allow Online Connections
454
Connection with Other Controllers or Slaves
456
Connection Configurations between Controllers
456
Connection Configuration between Controllers and Slaves
459
Connection with Hmis or Serial Communications Devices
460
Connections to Hmis
460
Connections to Devices with Serial Communications
461
Section 11 Example of Actual Application Procedures
463
Example Application
463
System Configuration
463
Operation
463
Overview of the Example Procedure
464
Wiring and Settings
464
Software Design
464
Software Settings from the Sysmac Studio
465
Programming with the Sysmac Studio
468
Simulation with the Sysmac Studio
469
Checking Operation and Starting Operation on the Actual System
470
Troubleshooting
472
Operation after an Error
473
Overview of NJ-Series Status
473
Fatal Errors in the CPU Unit
474
Non-Fatal Error in CPU Unit
475
Troubleshooting
483
Checking to See if the CPU Unit Is Operating
483
Troubleshooting Flowchart for Non-Fatal Errors
484
Error Table
484
Error Descriptions
493
Troubleshooting Errors that Are Not in the CPU Unit
526
Appendices
528
Specifications
530
A-1-1 General Specifications
530
A-1-2 Performance Specifications
531
Program Capac- Ity *1 Quantity
531
Number of POU Definitions Number of POU Instances
531
Retain Attri-Size
531
Memory Capac- Butes Number of Variables Ity for Variables no Retain Attri-Size
531
Butes *3 Number of Variables
531
Ming Data Types Number of Data Types
531
Memory for CJ
531
Fied with at DM Area
531
Specifications for Variables.)
531
Media Access Method
532
Baud Rate
532
Transmission Media
532
Maximum Transmission Distance between Ethernet Switch and Node Maximum Number of Cascade Connections
532
Maximum Number of Connections
532
Built-In Ether
532
Packet Interval *6
532
Permissible Communications Band
532
CIP Service: Tag
532
Tag Types
532
Function Specifications
533
Pps" Means Packets Per Second, I.e., the Number of Communications Packets that Can be Sent or Received in One Second
533
As the Ethernet/Ip Port Implements the IGMP Client, Unnecessary Multi-Cast Packets Can be Filtered by Using an Ethernet Switch that
533
Supports IGMP Snooping
533
Note Items that Are Marked with Asterisks in the Table Are Improvements that Were Made During Version Upgrades. Refer to a
533
Version Information for Information on Version Upgrades
533
Axes Groups
535
Nj301
538
Nj301
539
Calculating Guidelines for the Real Processing Times of Tasks
540
A-2-1 Calculating the Average Real Processing Times of Tasks
540
Calculating the Average Real Processing Times of Tasks
540
Nj501
542
Example of Calculating the Average Real Processing Time of a Task and Setting the Task Period
549
System-Defined Variables
553
A-3-1 System-Defined Variables for the Overall NJ-Series Controller (no Category
553
System-Defined Variables for the Overall NJ-Series Controller (no Category
553
PLC Function Module, Category Name: _PLC
560
A-3-2 PLC Function Module, Category Name: _PLC
560
A-3-3 PLC Function Module, Category Name
561
Motion Control Function Module, Category Name: _MC
563
Built-In
564
A-3-5 Ethercat Master Function Module, Category Name: _EC
564
Ethernet/Ip Function Module, Category Name: _EIP
568
A-3-6 Ethernet/Ip Function Module, Category Name: _EIP
568
A-3-7 Meanings of Error Status Bits
574
Specifications for Individual System-Defined Variables
576
A-4-1 System-Defined Variables for the Overall NJ-Series Controller (no Category
576
System-Defined Variables for the Overall NJ-Series Controller (no Category
576
A-4-2 PLC Function Module, Category Name: _PLC
587
PLC Function Module, Category Name: _CJB
588
A-4-3 PLC Function Module, Category Name
588
A-4-4 Motion Control Function Module, Category Name: _MC
592
A-4-5 Ethercat Master Function Module, Category Name: _EC
593
A-4-6 Ethernet/Ip Function Module, Category Name
600
Attributes of CPU Unit Data
608
Contents of Memory Used for CJ-Series Units
612
A-6-1 CIO Area
612
A-6-2 Internal I/O Area
614
A-6-3 Holding Area
615
A-6-4 DM Area
615
Holding Area
615
A-6-5 EM Area
616
EM Area
616
Variable Memory Allocation Methods
617
A-7-1 Variable Memory Allocation Rules
617
Bytes
617
A-7-2 Important Case Examples
625
Registering a Symbol Table on the CX-Designer
629
Enable/Disable Ethercat Slaves and Axes
632
A-9-1 Project Settings When Using Ethercat Slaves and Axes
632
A-9-2 Using Instructions to Enable/Disable Ethercat Slaves and Axes
632
Project Settings When Using Ethercat Slaves and Axes
632
Using Instructions to Enable/Disable Ethercat Slaves and Axes
632
A-9-3 System-Defined Variables that Indicate Ethercat Slave or Axis Status
633
Enabling/Disabling Execution of Program
634
Checking Enabled/Disabled Program
634
Settings with the Sysmac Studio
634
A-9-7 Examples of Applications of Enabling/Disabling Ethercat Slaves and Axes
635
Examples of Applications of Enabling/Disabling Ethercat Slaves and Axes
635
Size Restrictions for the User Program
638
User Program Object Restrictions
638
A-10-2 Counting User Program Objects
641
Replacing CPU Units with Unit Version 1.02 or Earlier
643
A-11-1 Uploading the Data from the CPU Unit
643
Uploading the Data from the CPU Unit
643
A-11-2 Connecting the New CPU Unit
646
A-11-3 Downloading the Data to the CPU Unit
647
Version Information
651
A-12-1 Relationship between Unit Versions of CPU Units and Sysmac Studio Versions
651
Relationship between Unit Versions of CPU Units and Sysmac Studio Versions
651
A-12-2 Functions that Were Added or Changed for each Unit Version
653
A-12-3 Performance Improvements for Unit Version Upgrades
655
To 10,000 Ms in 1-Ms Increments
655
Other manuals for Omron NJ Series
Firmware Update Instruction
44 pages
Troubleshooting Manual
250 pages
Network Connection Guide
84 pages
Quick Start Guide
12 pages
Startup Guide
168 pages
Connection Guide
32 pages
4
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Omron NJ Series Specifications
General
Brand
Omron
Model
NJ Series
Category
Controller
Language
English
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