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Omron NX-EC0112 User Manual

Omron NX-EC0112
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11 - 1
11
NX-series Position Interface Units User’s Manual (W524)
This section describes the procedures for cleaning, inspecting, and replacing Position
Interface Units.
11-1 Cleaning and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-2
11-1-1 Cleaning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-2
11-1-2 Periodic Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11-2
11-2 Maintenance Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11-4
Maintenance and Inspection

Table of Contents

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Omron NX-EC0112 Specifications

General IconGeneral
BrandOmron
ModelNX-EC0112
CategoryController
LanguageEnglish

Summary

Introduction

Intended Audience

Details the personnel for whom this manual is intended, requiring knowledge of electrical systems.

Applicable Products

Lists the NX-series Position Interface Units covered in this manual.

Relevant Manuals

NX-series Data Reference Manual

Provides referencing lists of data required for configuring systems with NX-series Units.

Manual Structure

Page Structure and Icons

Explains the page structure and icons used throughout the manual for clarity.

Special Information

Defines key terms and provides directional context for unit installation within the manual.

Precaution on Terminology

Defines key terms and provides directional context for unit installation within the manual.

Terms and Conditions Agreement

Warranty, Limitations of Liability

Details Omron's exclusive warranty, limitations, and the buyer's remedy for product defects.

Safety Precautions

Definition of Precautionary Information

Explains the notations used for precautions to ensure safe usage of the NX-series Position Interface Unit.

Symbols

Defines symbols indicating prohibited operations, warnings, general precautions, and required actions.

Warnings

Details potentially hazardous situations that could result in death, serious injury, or property damage if not avoided.

Cautions

Highlights precautions for wiring, such as grounding and terminal screw tightening, and online editing.

Precautions for Safe Use

Instructs to use special packing boxes and avoid excessive vibration or shock during transportation.

Precautions for Correct Use

Provides instructions for correct installation and wiring, and lists locations to avoid for operation or storage.

Regulations and Standards

Conformance to EC Directives

Details EC Directives compliance, including installation within a control panel and use of reinforced insulation for power supplies.

Conformance to UL and CSA Standards

Refers to the Instruction Sheet for application conditions when using products complying with UL or CSA standards.

Conformance to Shipbuilding Standards

Advises consulting OMRON representative for application conditions related to shipbuilding standards compliance.

Conformance to KC Standards

Notes that the device is Class A for industrial environments and may cause radio interference in residential areas.

Unit Versions

Notation of Unit Versions on Products

Describes the location and format of unit version information on the product itself.

Confirming Unit Versions with the Sysmac Studio

Explains how to check unit versions of Communications Coupler Unit and NX Units using Sysmac Studio.

Unit Versions and Sysmac Studio Versions

Details the relationship between unit versions and Sysmac Studio versions for supported functions and upgrades.

Related Manuals

Terminology

Revision History

Sections in this Manual

1 Features and System Configuration

1-1 Features of Position Interface Units

Introduces Position Interface Units, their shared features like screwless clamping terminal blocks, and MC Function Module integration.

1-1-1 Introduction to Position Interface Units

Briefly introduces the Position Interface Units and their general capabilities.

1-1-2 Types and Features of Position Interface Units

Lists and describes the different types of Position Interface Units: Incremental Encoder Input, SSI Input, and Pulse Output Units.

1-1-3 Operation of Position Interface Units

Explains how Position Interface Units operate with an NJ/NX-series Controller and the MC Function Module.

1-1-4 Control Data for Position Interface Units

Describes the relationship between Unit functions and CiA402 drive profile functions, focusing on control data.

1-2 System Configuration

Explains how to mount NX-series Position Interface Units in an EtherCAT Slave Terminal connected to an EtherCAT master controller.

1-2-1 System Configuration When Connecting to an NJ/NX-series Controller

Details the system configuration for connecting Position Interface Units to an NJ/NX-series CPU Unit via EtherCAT.

1-2-2 System Configuration When Connecting to a Controller Other Than the NJ/NX-series Controller

Describes the system configuration when connecting Position Interface Units to a controller other than NJ/NX-series via EtherCAT.

1-3 Models

Explains the format of model numbers for Position Interface Units, detailing Unit type, channels, and I/O specifications.

1-3-1 Model Number Notation

Explains the format of model numbers for Position Interface Units, detailing Unit type, channels, and I/O specifications.

1-3-2 List of Incremental Encoder Input Units

Lists the different models of Incremental Encoder Input Units, including channels, inputs, frequency, and I/O mapping.

1-3-3 List of SSI Input Units

Lists the different models of SSI Input Units, including channels, inputs, baud rate, and I/O refreshing methods.

1-3-4 List of Pulse Output Units

Lists the different models of Pulse Output Units, including channels, inputs, outputs, speed, and I/O refreshing methods.

1-4 Functions

Details functions like counter type setting, encoder count direction, latching, and pulse rate measurement for Incremental Encoder Input Units.

1-4-1 Functions of Incremental Encoder Input Units

Details functions like counter type setting, encoder count direction, latching, and pulse rate measurement for Incremental Encoder Input Units.

1-4-2 Functions of SSI Input Units

Describes functions for SSI Input Units, including SSI data settings, coding method, error detection, and time stamping.

1-4-3 Functions of the Pulse Output Unit

Explains functions of the Pulse Output Unit, such as pulse output method, output mode selection, and latching.

1-5 Support Software

Lists the support software required for configuring systems with NX-series Position Interface Units based on system configuration.

1-5-1 Applicable Support Software

Lists the support software required for configuring systems with NX-series Position Interface Units based on system configuration.

1-5-2 Using Support Software with an NJ-series Controller

Explains connecting Sysmac Studio to the CPU Unit or EtherCAT Coupler Unit for system configuration.

1-5-3 Application Methods for Using Other Controllers

Guides on using manufacturer-provided support software for controllers other than NJ/NX-series.

2 Specifications and Application Procedures

2-1 Specifications

Provides general specifications including enclosure, operating environment, applicable standards, and vibration resistance.

2-1-1 General Specifications for the Position Interface Units

Provides general specifications including enclosure, operating environment, applicable standards, and vibration resistance.

2-1-2 Specifications of Individual Units

Refers to specific sections for detailed specifications of Incremental Encoder Input Units, SSI Input Units, and Pulse Output Units.

2-2 Operating Procedures

Details basic operating procedures for using Position Interface Units with the MC Function Module in an NJ/NX-series Controller.

2-2-1 Procedures When Using the Motion Control Function Module

Details basic operating procedures for using Position Interface Units with the MC Function Module in an NJ/NX-series Controller.

2-2-2 Procedures When Not Using the Motion Control Function Module

Describes basic operating procedures for using Position Interface Units without the MC Function Module, relying on basic instructions.

2-2-3 Using an EtherNet/IP Coupler Unit

Explains how to use Position Interface Units with an EtherNet/IP Coupler Unit, noting Pulse Output Unit incompatibility.

2-2-4 When Using Controllers from Other Manufacturers

Provides general guidance for using Position Interface Units with communications networks and controllers from other manufacturers.

3 Part Names and Functions

3-1 Parts and Names

Identifies and explains the function of various parts of the Position Interface Units, including connectors and terminal blocks.

3-2 Indicators

Provides information on the indicators present on Position Interface Units, explaining their meaning and status.

3-3 Terminal Blocks

Describes the different types of terminal blocks used for easy wiring and removal, and their applicable units.

4 Installation and Wiring

4-1 Installing Units

Details the procedure for mounting two NX Units together, including precautions for handling and connection.

4-1-1 Installing Position Interface Units

Details the procedure for mounting two NX Units together, including precautions for handling and connection.

4-1-2 Attaching Markers

Explains how to attach markers to NX Units and terminal blocks for identification, including commercially available options.

4-1-3 Removing Position Interface Units

Provides instructions on how to remove NX Units, including precautions for handling multiple units and DIN track mounting hooks.

4-1-4 Installation Orientation

Illustrates the six possible installation orientations for Slave Terminals and mentions restrictions on orientation and specifications.

4-2 Connecting the Power Supply and Ground Wires

Describes the two types of power supplies: Unit power supply for Slave Terminal operation and I/O power supply for I/O circuits.

4-2-1 Power Supply Types

Describes the two types of power supplies: Unit power supply for Slave Terminal operation and I/O power supply for I/O circuits.

4-2-2 Power Supply Methods and Wiring

Explains how power is supplied to Position Interface Units via NX bus connectors, using Unit and I/O power supplies.

4-2-3 Calculating the Total Current Consumption from I/O Power Supply

Provides formulas to calculate total I/O current consumption for different Unit types for I/O power supply capacity planning.

4-2-4 NX-series Power Supply-related Units

Introduces Additional NX Unit Power Supply Unit, Additional I/O Power Supply Unit, and I/O Power Supply Connection Units.

4-2-5 Wiring with Shielded Cables

Provides wiring examples for connecting shields to Shield Connection Units (NX-TBX01) for various Unit models.

4-3 Wiring the Terminals

Details wiring to screwless clamping terminal blocks, including wire types, dimensions, ferrule usage, and connection procedures.

4-3-1 Wiring to the Screwless Clamping Terminal Blocks

Details wiring to screwless clamping terminal blocks, including wire types, dimensions, ferrule usage, and connection procedures.

4-3-2 Preventing Incorrect Attachment of Terminal Blocks

Explains how to use Coding Pins to limit Unit and terminal block combinations and prevent incorrect attachment.

4-4 Wiring Precautions

Advises on preventing noise-related malfunctions by using correct wire diameters, separating lines, and installing surge absorbers.

4-5 Checking Wiring

Describes methods for checking wiring using Sysmac Studio, MC Test Run, Axis Status Monitor, or I/O Map.

4-6 Wiring Examples

Refers to specific sections for terminal wiring examples for Position Interface Units.

5 I/O Refreshing Methods

5-1 I/O Refreshing for Slave Terminals

Explains I/O refreshing for NX-series Slave Terminals and operation with built-in EtherCAT port on NJ/NX-series CPU Unit.

5-2 I/O Refreshing Methods

Lists I/O refreshing methods for EtherCAT and EtherNet/IP Coupler Units: Free-Run, Synchronous, and Task Period Prioritized.

5-2-1 I/O Refreshing Methods

Lists I/O refreshing methods for EtherCAT and EtherNet/IP Coupler Units: Free-Run, Synchronous, and Task Period Prioritized.

5-2-2 Setting the I/O Refreshing Methods

Describes how to set the I/O refreshing method for each Communications Coupler Unit.

5-2-3 I/O Refreshing Method Operation

Explains the operation of Free-Run, Synchronous, and Task Period Prioritized refreshing methods.

6 Incremental Encoder Input Units

6-1 Interpreting Model Numbers

Explains how to interpret model numbers of Incremental Encoder Input Units, detailing Unit type, channels, and specifications.

6-2 System Configuration

Shows the system configuration of an Incremental Encoder Input Unit, including support software and connections.

6-3 Basic Application Procedures

Details the process flow for using an Incremental Encoder Input Unit with the MC Function Module.

6-3-1 Procedures When Using the Motion Control Function Module

Details the process flow for using an Incremental Encoder Input Unit with the MC Function Module.

6-3-2 Procedures When Not Using the Motion Control Function Module

Outlines the process flow for using an Incremental Encoder Input Unit without the MC Function Module, relying on basic instructions.

6-4 Part Names and Functions

Identifies and explains the parts of Incremental Encoder Input Units with voltage and line receiver inputs.

6-4-1 Parts and Names

Identifies and explains the parts of Incremental Encoder Input Units with voltage and line receiver inputs.

6-4-2 Functions of the Parts

Describes the functions of Unit Hookup Guides, Indicators, Terminal Blocks, and NX Bus Connectors for Incremental Encoder Input Units.

6-4-3 Indicators

Explains the indicators on Incremental Encoder Input Units (NX-EC0112, NX-EC0122, NX-EC0132, NX-EC0142, NX-EC0212, NX-EC0222) and their meanings.

6-5 Terminal Block Arrangement

Shows the terminal block arrangement and internal power supply wiring for the NX-EC0112 unit.

6-5-1 NX-EC0112

Shows the terminal block arrangement and internal power supply wiring for the NX-EC0112 unit.

6-5-2 NX-EC0122

Provides diagrams of the terminal block arrangement and internal power supply wiring for the NX-EC0122 unit.

6-5-3 NX-EC0132

Details the terminal block arrangement and internal power supply wiring for the NX-EC0132 unit.

6-5-4 NX-EC0142

Presents diagrams of the terminal block arrangement and internal power supply wiring for the NX-EC0142 unit.

6-5-5 NX-EC0212

Shows the terminal block arrangement and internal power supply wiring for the NX-EC0212 unit.

6-5-6 NX-EC0222

Provides diagrams of the terminal block arrangement and internal power supply wiring for the NX-EC0222 unit.

6-6 I/O Refreshing Method Setting

Explains how to set I/O refreshing methods for Incremental Encoder Input Units based on EtherCAT Coupler Unit settings.

6-6-1 Setting the I/O Refreshing Methods

Explains how to set I/O refreshing methods for Incremental Encoder Input Units based on EtherCAT Coupler Unit settings.

6-6-2 Free-Run Refreshing

Describes the Free-Run refreshing method for exchanging data without worrying about timing.

6-6-3 Synchronous I/O Refreshing

Explains synchronous I/O refreshing to synchronize data timing for multiple SSI Input Units with controller processing.

6-6-4 Task Period Prioritized Refreshing

Details task period prioritized refreshing, prioritizing task period shortening over I/O timing synchronization.

6-6-5 Differences in I/O Refreshing Methods Based on the Controller

Compares I/O refreshing methods, parameter settings, and functions based on the connected controller type.

6-7 I/O Data Specifications

Lists data items that can be allocated to I/O for One-input and Two-input Incremental Encoder Units.

6-7-1 Data Items for Allocation to I/O

Lists data items that can be allocated to I/O for One-input and Two-input Incremental Encoder Units.

6-7-2 Data Details

Describes data configurations for Encoder Counter Status, Reset/External Input Status, and Encoder Present Position.

6-7-3 Axis Settings

Guides on axis parameters and assigning axis variables when using Incremental Encoder Input Units as encoder axes with MC Function Module.

6-8 Setting Methods

Explains mounting Incremental Encoder Input Units after an EtherCAT Coupler Unit and connecting to external devices.

6-8-1 Building and Wiring the System

Explains mounting Incremental Encoder Input Units after an EtherCAT Coupler Unit and connecting to external devices.

6-8-2 Counter Specifications

Lists the functional specifications of the Incremental Encoder Input Unit, including counter range and speed.

6-8-3 Setting Examples

Provides minimum parameter settings for Incremental Encoder Input Units with the MC Function Module, covering output methods and signals.

6-9 Functions

Details functions like counter type setting, encoder count direction, latching, and pulse rate measurement for Incremental Encoder Input Units.

6-9-1 Parameters

Lists parameters for Incremental Encoder Input Units, including external input, counter type, and pulse input methods.

6-9-2 Counter Type

Explains how to use the Counter Type parameter to set the counter mode to ring or linear counter.

6-9-3 Pulse Input Method

Details the three pulse input methods: phase differential pulse, pulse + direction, and up and down pulses.

6-9-4 Encoder Count Direction

Explains how to set the encoder direction for each counter to specify increment/decrement direction.

6-9-5 Gate Control

Describes how to specify gate control for each counter to enable or disable counting.

6-9-6 Counter Reset

Explains the three reset methods: internal reset, external input reset, and phase-Z input reset.

6-9-7 Counter Preset

Details how to preset a value using the Preset Command Value parameter and the Preset Execution bit.

6-9-8 Latching

Explains the two latch methods: internal latch execution and external input latch trigger.

6-9-9 External Input Function Selection

Describes how to use external inputs for general input, gate, reset, or latch inputs, noting model limitations.

6-9-10 Pulse Rate Measurement

Explains how to measure input pulses in a specified time window to calculate pulse frequency and rotation rate.

6-9-11 Pulse Period Measurement

Describes how to measure the period between rising or falling edges of the input pulse for phase-A input pulses.

6-9-12 Time Stamping

Explains how to obtain DC time when position data changes, used for I/O controls based on time stamps.

6-10 Specifications

Provides general specifications for Incremental Encoder Input Units, including I/O interface, channels, input signals, and power consumption.

6-10-1 General Specifications

Provides general specifications for Incremental Encoder Input Units, including I/O interface, channels, input signals, and power consumption.

6-10-2 Pulse Input Specifications

Details pulse input specifications for voltage input and line receiver input types, including voltage, current, and frequency.

6-10-3 External Input Specifications

Lists the specifications for external inputs, including voltage, current, and response times.

7 SSI Input Units

7-1 Interpreting Model Numbers

Explains how to interpret model numbers for SSI Input Units, covering Unit type, channels, and specifications.

7-2 System Configuration

Illustrates the system configuration for an SSI Input Unit, including connections to controllers and encoders.

7-3 Basic Application Procedures

Details the process flow for using an SSI Input Unit with the MC Function Module in an NJ/NX-series Controller.

7-3-1 Procedures When Using the Motion Control Function Module

Details the process flow for using an SSI Input Unit with the MC Function Module in an NJ/NX-series Controller.

7-3-2 Procedures When Not Using the Motion Control Function Module

Outlines the process flow for using an SSI Input Unit without the MC Function Module, relying on basic instructions.

7-4 Part Names and Functions

Identifies and explains the parts of SSI Input Units, including connectors, indicators, and terminal blocks.

7-4-1 Parts and Names

Identifies and explains the parts of SSI Input Units, including connectors, indicators, and terminal blocks.

7-4-2 Functions of the Parts

Describes the functions of Unit Hookup Guides, Indicators, Terminal Blocks, and NX Bus Connectors for SSI Input Units.

7-4-3 Indicators

Explains the indicators on SSI Input Units (NX-ECS112, NX-ECS212) and their meanings for status and communications.

7-5 Terminal Block Arrangement

Shows the terminal block arrangement and internal power supply wiring for the NX-ECS112 SSI Input Unit.

7-5-1 NX-ECS112

Shows the terminal block arrangement and internal power supply wiring for the NX-ECS112 SSI Input Unit.

7-5-2 NX-ECS212

Details the terminal block arrangement and internal power supply wiring for the NX-ECS212 SSI Input Unit.

7-6 I/O Refreshing Method Setting

Explains how to set I/O refreshing methods for SSI Input Units based on EtherCAT Coupler Unit settings.

7-6-1 Setting the I/O Refreshing Methods

Explains how to set I/O refreshing methods for SSI Input Units based on EtherCAT Coupler Unit settings.

7-6-2 Free-Run Refreshing

Describes Free-Run refreshing for SSI Input Units, which exchanges data asynchronously with the controller.

7-6-3 Synchronous I/O Refreshing

Explains synchronous I/O refreshing to synchronize SSI data timing with controller processing.

7-6-4 Task Period Prioritized Refreshing

Details task period prioritized refreshing for SSI Input Units, prioritizing task period over I/O timing synchronization.

7-6-5 Differences in I/O Refreshing Methods Based on the Controller

Compares I/O refreshing methods, parameter settings, and functions based on the connected controller type.

7-6-6 Process Data Communications Status

Describes the status of data exchange between the controller and SSI Input Unit, including normal and error conditions.

7-7 I/O Data Specifications

Lists data items that can be allocated to I/O for One-input and Two-input SSI Units.

7-7-1 Data Items for Allocation to I/O

Lists data items that can be allocated to I/O for One-input and Two-input SSI Units.

7-7-2 Data Details

Describes data configurations for SSI Status, SSI Communications Error Code, Encoder Present Position, and Status Data.

7-7-3 Axis Settings

Guides on axis parameters and assigning axis variables for SSI Input Units used as encoder axes with MC Function Module.

7-8 Setting Methods

Explains mounting SSI Input Units after an EtherCAT Coupler Unit and connecting to SSI encoders.

7-8-1 Building and Wiring the System

Explains mounting SSI Input Units after an EtherCAT Coupler Unit and connecting to SSI encoders.

7-8-2 Setting Examples

Provides minimum parameter settings for SSI Input Units with the MC Function Module, covering communications and count direction.

7-9 Functions

Details functions like counter type setting, encoder count direction, latching, and pulse rate measurement for Incremental Encoder Input Units.

7-9-1 Parameters

Lists parameters for SSI Input Units, including Baud Rate, SSI communications startup time, and parity check settings.

7-9-2 SSI Data Settings

Explains how to set bit positions and lengths for multi-turn, single-turn, and status data for various SSI encoder formats.

7-9-3 Coding Method

Details methods for converting SSI data: No Change, Output Binary Codes, Change Gray Codes to Binary, and Change Binary/Gray Codes to Present Values.

7-9-4 Encoder Count Direction

Explains how to change the count direction of data received from the encoder.

7-9-5 Bit Shifting

Describes how to shift the first bit in received frames to specify the first position of received SSI data.

7-9-6 Parity Check

Explains parity checks performed on SSI data bits and how errors are reflected in the SSI Status parameter.

7-9-7 Data Refresh Status

Describes methods to check data refresh status using Data Refresh Status bit or Encoder Present Position Refresh Count.

7-9-8 Error Data Detection

Explains how to separate error data based on position variation limits, discarding data and not refreshing position.

7-9-9 Time Stamping

Describes how to obtain DC time when position data changes, used for I/O controls based on time stamps.

7-10 General Specifications

Provides general specifications for SSI Input Units, including I/O interface, channels, data length, and power consumption.

8 Pulse Output Units

8-1 Interpreting Model Numbers

Explains how to interpret model numbers of Pulse Output Units, detailing Unit type, channels, and specifications.

8-2 System Configuration

Illustrates the system configuration of a Pulse Output Unit, including connections to controllers, drives, and motors.

8-3 Pulse Output Control

Describes the control states and transitions for Pulse Operation Unit operations, controlled by Controlword and Statusword.

8-3-1 Control State

Describes the control states and transitions for Pulse Operation Unit operations, controlled by Controlword and Statusword.

8-3-2 Cyclic Synchronous Position Control Mode

Outlines motor control in Cyclic Synchronous Position Control Mode, sending target positions and monitoring actual values.

8-4 Basic Application Procedures

Details the process flow for using a Pulse Output Unit with the MC Function Module.

8-4-1 Procedures When Using the Motion Control Function Module

Details the process flow for using a Pulse Output Unit with the MC Function Module.

8-4-2 Procedures When Not Using the Motion Control Function Module

Outlines the process flow for using a Pulse Output Unit without the MC Function Module, requiring user program control.

8-5 Part Names and Functions

Identifies and explains the parts of Pulse Output Units, including connectors, indicators, and terminal blocks.

8-5-1 Parts and Names

Identifies and explains the parts of Pulse Output Units, including connectors, indicators, and terminal blocks.

8-5-2 Functions of the Parts

Describes the functions of Unit Hookup Guides, Indicators, Terminal Blocks, and NX Bus Connectors for Pulse Output Units.

8-5-3 Indicators

Explains the indicators on Pulse Output Units (NX-PG0112, NX-PG0122) and their meanings for status and operation.

8-6 Terminal Block Arrangement

Shows the terminal block arrangement and internal power supply wiring for the NX-PG0112 Pulse Output Unit.

8-6-1 NX-PG0112

Shows the terminal block arrangement and internal power supply wiring for the NX-PG0112 Pulse Output Unit.

8-6-2 NX-PG0122

Provides diagrams of the terminal block arrangement and internal power supply wiring for the NX-PG0122 Pulse Output Unit.

8-7 I/O Refreshing Method Setting

Explains how to set I/O refreshing methods for Pulse Output Units based on EtherCAT Coupler Unit settings.

8-7-1 Setting the I/O Refreshing Methods

Explains how to set I/O refreshing methods for Pulse Output Units based on EtherCAT Coupler Unit settings.

8-7-2 Synchronous I/O Refreshing

Describes synchronous I/O refreshing to match Controller and Unit pulse output timing.

8-7-3 Task Period Prioritized Refreshing

Details task period prioritized refreshing for Pulse Output Units, prioritizing task period over I/O timing synchronization.

8-7-4 Differences in I/O Refreshing Methods Based on the Controller

Compares I/O refreshing methods, parameter settings, and functions based on the connected controller type.

8-8 I/O Data Specifications

Lists data items that can be allocated to I/O for a Pulse Output Unit, including input and output data.

8-8-1 Data Items for Allocation to I/O

Lists data items that can be allocated to I/O for a Pulse Output Unit, including input and output data.

8-8-2 Data Details

Describes data configurations for Statusword, External Input Status, Command Position, and Controlword.

8-9 Setting Methods

Explains mounting Pulse Output Units after an EtherCAT Coupler Unit and connecting to external devices.

8-9-1 Building and Wiring the System

Explains mounting Pulse Output Units after an EtherCAT Coupler Unit and connecting to external devices.

8-9-2 Precautions When Using the Pulse Output Unit

Highlights differences in functions and operation when using Pulse Output Units compared to G5-series Servo Drives.

8-9-3 Setting Examples

Provides minimum parameter settings for Pulse Output Unit with MC Function Module, covering output methods and signals.

8-10 Functions

Lists parameters for Pulse Output Units, including pulse output method, output mode selection, and external I/O settings.

8-10-1 Parameters

Lists parameters for Pulse Output Units, including pulse output method, output mode selection, and external I/O settings.

8-10-2 Pulse Output Method

Explains the two pulse output methods: Forward/Reverse Direction Pulse and Pulse + Direction.

8-10-3 Output Mode Selection

Details Position-synchronous and Velocity-continuous pulse output modes for servomotor and stepping motor control.

8-10-4 External Output

Describes the single external output port, which can be used as an error counter reset output or a general output.

8-10-5 Latching

Explains how to use external inputs as latch inputs for capturing present position, detailing trigger conditions and modes.

8-10-6 External Input Function Selection

Describes setting external inputs for general input, latch input, gate, or reset, and their logic selection.

8-10-7 Load Rejection Output Setting

Allows stopping pulse output via immediate stop or deceleration stop with set deceleration rate when errors occur.

8-10-8 Interpolation Control for Missing Synchronization Command

Explains interpolation for missing synchronization commands, presuming position and velocity based on previous data.

8-10-9 Pulse Direction Change Delay

Specifies wait time for reverse direction pulse signals when changing pulse output to reverse operation.

8-11 Specifications

Provides general specifications for Pulse Output Units, including channels, output speed, control range, and power consumption.

8-11-1 General Specifications

Provides general specifications for Pulse Output Units, including channels, output speed, control range, and power consumption.

8-11-2 Pulse Output Specifications

Details pulse output specifications and waveforms for NPN and PNP output units, including ON/OFF widths.

8-11-3 External I/O Specifications

Lists specifications for external inputs and outputs of the Pulse Output Unit, including voltage, current, and response times.

9 Application Example

9-1 Assumed System Configuration

Provides a system configuration, setting, and programming example for a possible case scenario.

9-2 Configuration Example

Describes the example system configuration for implementing control with an NJ-series Controller, EtherCAT Coupler, and Position Interface Units.

9-2-1 System Configuration

Describes the example system configuration for implementing control with an NJ-series Controller, EtherCAT Coupler, and Position Interface Units.

9-2-2 Servo Drive Wiring Example

Illustrates the wiring example for an OMRON G5-series Servo Drive and Servomotor with Pulse Output Unit and Digital I/O Units.

9-3 Setting Examples

Details creating a new project and building the EtherCAT network and Slave Terminal configuration in Sysmac Studio.

9-3-1 EtherCAT Network and Slave Terminal Configuration

Details creating a new project and building the EtherCAT network and Slave Terminal configuration in Sysmac Studio.

9-3-2 Parameter Settings for the Pulse Output Unit

Describes minimum parameter settings for the Pulse Output Unit using MC Function Module in an NJ-series Controller.

9-3-3 I/O Assignments and Settings

Explains assigning inputs/outputs from Pulse Output and Digital I/O Units to MC Function Module axes and device variables.

9-3-4 Setting Up the Motion Control Function Module

Guides on setting MC Function Module functions according to the required control type and procedures.

9-4 Programming Examples

Lists and describes the main variables used in the ladder programming example for relative positioning.

9-4-1 Main Variables Used in Programming Example

Lists and describes the main variables used in the ladder programming example for relative positioning.

9-4-2 Ladder Programming

Provides a ladder programming example for relative positioning, illustrating interlocks and control logic.

10 Troubleshooting

10-1 Checking for Errors

Outlines methods for checking errors, including checking indicators and using Sysmac Studio troubleshooting functions.

10-2 Checking for Errors with the Indicators

Explains how to use TS indicators on NX Units to check Unit status and errors, and provides main error causes and corrections.

10-3 Checking for Errors and Troubleshooting on the Sysmac Studio

Describes how to check current and past errors using Sysmac Studio's Controller Error Tab Page and Event Log Tab Page.

10-3-1 Checking for Errors from the Sysmac Studio

Describes how to check current and past errors using Sysmac Studio's Controller Error Tab Page and Event Log Tab Page.

10-3-2 Event Codes for Errors and Troubleshooting Procedures

Lists and explains various errors (events) that can occur in Position Interface Units, including event codes, meanings, causes, and corrections.

10-4 Resetting Errors

Refers to the connected Communications Coupler Unit's user manual for information on resetting errors.

10-5 Unit-specific Troubleshooting

Provides troubleshooting for common errors in Incremental Encoder Input Units, such as no count pulses detected or incorrect counting.

10-5-1 Incremental Encoder Input Units

Provides troubleshooting for common errors in Incremental Encoder Input Units, such as no count pulses detected or incorrect counting.

10-5-2 SSI Input Units

Lists common errors and possible corrections for SSI Input Units, including issues with data refreshing and settings.

10-5-3 Pulse Output Unit

Details errors and possible corrections for Pulse Output Units, covering issues like no pulse output, incorrect pulse output, and no external output.

10-6 Troubleshooting Flow

Refers to the connected Communications Coupler Unit's manual for the standard troubleshooting flow.

11 Maintenance and Inspection

11-1 Cleaning and Maintenance

Provides procedures for cleaning Position Interface Units using soft cloths, with precautions against solvents and touching the NX bus connector.

11-1-1 Cleaning

Provides procedures for cleaning Position Interface Units using soft cloths, with precautions against solvents and touching the NX bus connector.

11-1-2 Periodic Inspections

Recommends periodic inspections (every six months to a year) for components like power supplies and I/O to ensure optimal operating condition.

11-2 Maintenance Procedures

Instructs to follow the connected Communications Coupler Unit's manual for procedures to replace a Position Interface Unit.

A Appendices

A-1 Datasheets

Provides a summary table of models for Incremental Encoder Input, SSI Input, and Pulse Output Units with key specifications.

A-1-1 Models

Provides a summary table of models for Incremental Encoder Input, SSI Input, and Pulse Output Units with key specifications.

A-1-2 Incremental Encoder Input Units

Describes how to interpret datasheets for Incremental Encoder Input Units, covering specifications like channels, input voltage, and frequency.

A-1-3 SSI Input Units

Explains how to interpret datasheets for SSI Input Units, including unit name, channels, I/O signals, and transmission distance.

A-1-4 Pulse Output Units

Details how to interpret datasheets for Pulse Output Units, covering specifications for pulse outputs and external I/O.

A-2 Object Lists

Defines the format used to describe objects, including index, subindex, object name, default value, data range, and access.

A-2-1 Object Description Format

Defines the format used to describe objects, including index, subindex, object name, default value, data range, and access.

A-2-2 Incremental Encoder Input Units

Lists product information objects, I/O allocation objects, and message communications objects for Incremental Encoder Input Units.

A-2-3 SSI Input Units

Provides product information, I/O allocation, and message communications objects for SSI Input Units.

A-2-4 Pulse Output Units

Lists product information objects, I/O allocation objects, and message communications objects for Pulse Output Units.

A-3 Dimensions

Provides dimensional information in millimeters for various Position Interface Units.

A-4 Terminal Block Model Numbers

Explains the format of terminal block model numbers.

A-4-1 Model Number Notation

Explains the format of terminal block model numbers.

A-4-2 Model Number Table

Lists the terminal blocks and their applicable units, including number of terminals and current capacity.

A-5 Version Information

Describes compatibility between versions of Position Interface Units, Coupler Units, CPU Units, and Sysmac Studio.

Compatibility for the Unit Versions of the Position Interface Units

Describes compatibility between versions of Position Interface Units, Coupler Units, CPU Units, and Sysmac Studio.

Interpreting the Version Combination Tables

Explains how to interpret version combination tables for NX Units and their corresponding software/hardware versions.

Version Combination Tables

Provides tables showing version compatibility for NX Units with EtherCAT and EtherNet/IP Coupler Units, CPU Units, and Sysmac Studio.

A-6 Applicable Motion Control Instructions

Defines the format used to describe motion control instructions, including attributes and applicability.

A-6-1 Format

Defines the format used to describe motion control instructions, including attributes and applicability.

A-6-2 Common Commands

Lists common commands implemented by instructions not related to the presence of a Pulse Output Unit.

A-6-3 Instructions for Axis Commands

Details instructions for axis commands such as Power Servo, Jog, Home, and Positioning.

A-6-4 Instructions for Axes Group Commands

Lists instructions for axes group commands, including Enable Axes Group, Linear Interpolation, and Group Stop.

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