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1. CPU Unit NJ series CPU Unit Built in EtherCAT Port User s Manual NJ series CPU Unit Built in EtherNet IP Port User s Manual NJ series Troubleshooting Manual SYSMAC SE2 Sysmac Studio Version 1 Operation Manual Application Leaning how to connect CJ series Units Using the built in EtherCAT port on an NJ series CPU Unit Using the built in EtherNet IP port on an NJ series CPU Unit Learning about the errors that may be detected an NU series Controller Leaning about the NJseries Supports Software and how to use it NJ301 Description The methods and precautions for using CJ series Units with an NJ series CPU Unit are described including access methods and programming interfaces Manuals are available for the following Units Analog I O Units Insulated type Analog I O Units Temperature Control Units ID Sensor Units High speed Counter Units and DeviceNet Units EtherNet IP Units CompoNet Master Units Use this manual together with the NU series CPU Unit Hardware User s Manual Cat No W500 and CPU Unit Software User s Manual Cat No W501 Information on the built in EtherCAT port is provided This manual provides an introduction and provides information on the configuration features and setup Use this manual together with the NU series
2. Combining Axes Powering the Servo The command positions of two axes are added or subtracted and the result is output as the command position The Servo in the Servo Drive is turned ON to enable axis motion Jogging An axis is jogged at a specified target velocity Auxiliary Functions for Single axis Control Resetting Axis Errors Homing Axes errors are cleared A motor is operated and the limit signals home proximity signal and home signal are used to define home Homing with parameter 1 High speed Homing Stopping Specifying the parameter a motor is operated and the limit signals home proximity signal and home signal are used to define home Positioning is performed for an absolute target position of O to return to home An axis is decelerated to a stop Immediately Stopping An axis is stopped immediately Setting Override Factors Changing the Current Position The target velocity of an axis can be changed The command current position or actual current position of an axis can be changed to any position Enabling External Latches The position of an axis is recorded when a trigger occurs Disabling External Latches Zone Monitoring The current latch is disabled You can monitor the command position or actual position of an axis to see when it is within a specified range zone Monitoring Axis Following Error Resetting the Following Error
3. You can monitor whether the difference between the command positions or actual positions of two specified axes exceeds a threshold value The error between the command current position and actual current position is set to 0 Torque Limit 1 Supported only by the CPU Units with unit version 1 03 or later The torque control function of the Servo Drive can be enabled or disabled and the torque limits can be set to control the output torque OMRON NJ301 ltem NJ301 O0O0OL Absolute Linear Interpolation Linear interpolation is performed to a specified absolute position Relative Linear Interpolation Circular 2D Interpolation Linear interpolation is performed to a specified relative position Multi axes Coordinated Circular interpolation is performed for two axes Control Axes Group Cyclic Synchronous Absolute Positioning A positioning command is output each control period in Position Control Mode Resetting Axes Axes group errors and axis errors are cleared Group Errors group Enabling Axes Axes Groups Groups Disabling Axes Groups Motion of an axes group is enabled Motion of an axes group is disabled Auxiliary Stopping Axes Functions for Groups Multi axes Immediately Coordinated Stopping Axes All axes in interpolated motion are stopped immediately Control Groups Setting Axes Group Override Factors All axes in interpolated motion are decelerated to a s
4. 32 768 words X 4 banks _ 00000 to 32767 10 Units Number of Expansion Rack Connectable Units Entire Controller Maximum number of Expansion Racks 40 Units Unit Maximum number of I O Points Configuration I O Capacity Clceerles Unite 2 560 points max Power Supply Model NJ PLJ3001 Unit for CPU AC Power Supply 30 to 45 ms Rack and Power OFF Expansion Detection Time DC Power Supply 22 to 25 ms Racks Maximum Number of Controlled 3 4 Axes axes axes Maximum Number of Axes for 8 4 Number of Single axis Control Oper Controlled Maximum Number of Axes for Linear Interpolation Axis Control Number of Axes for Circular Interpolation Axis Control 4 axes per axes group 2 axes per axes group Maximum Number of Axes Groups Motion Control Motion Control Period 32 groups The same control period as that is used for the process data communications cycle for EtherCAT Maximum Points 65 535 points Number of per Cam Table Cam Data Cams Points Maximum Points for All Cam Tables Maximum Number of Cam Tables Position Units 262 140 points 160 tables Pulses millimeters micrometers nanometers degrees or inches Override Factors 0 00 or 0 01 to 500 00 Supported Services Sysmac Studio connection Peripheral USB Physical Layer USB 2 0 compliant B type connector Transmission D
5. Unit Versions and Programming Devices Sysmac Studio version CPU Unit model Unit Version 1 00 1 01 1 02 1 03 1 04 1 03 Not supported Not supported Supported 1 Supported 1 Supported 1 02 Not supported Not supported Supported Supported Supported 2 1 01 Not supported Not supported Supported Supported 2 Supported 2 1 You cannot use functionality that was added for unit version 1 03 or later of the CPU Unit 2 You can use only projects for which the unit version of the CPU Unit or an earlier unit version is selected for the project device NJ301 Functions That Were Added or Changed for Each Unit Version and Sysmac Studio version Additions and Changes to Functional Specifications The following table gives the unit version of the CPU Units and the Sysmac Studio version for each addition or change to the functional specifications Function Addition change Unit version Sysmac Studio version Tasks Conditionally executed tasks Addition 1 03 1 04 Programming Data types Structure data types ome Change 1 01 1 03 2 Cyclic synchronous ee Addition 1 03 1 04 absolute positioning Single axis position control Motion control Single axes Auxiliary function for Homing with specified Addition 1 03 1 04 singleaxis control parameters Debugging function Differential monitoring Addition 1 03 1 04 Reliability functions Self diagnosis Changing levels Ad
6. CPU Unit Hardware User s Manual Cat No W500 CPU Unit Software User s Manual Cat No W501 Information on the built in EtherNet IP port is provided Information is provided on the basic setup tag data links FINS communications non disclosure and other features Use this manual together with the NU series CPU Unit Hardware User s Manual Cat No W500 CPU Unit Software User s Manual Cat No W501 Concepts on managing errors that may be detected in an NJ series Controller and information on individual errors are described Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 CPU Unit Software User s Manual Cat No W501 An introduction to the Support Software is provided along with information on the installation procedure basic operations connection procedures and procedures for the main features OMRON
7. Not retained during power interruption Number of motion axes 5 VDC 24 VDC Recommended EtherCAT and EtherNet IP Communications Cables Use Straight STP shielded twisted pair cable of category 5 or higher with double shielding braiding and aluminum foil tape for EtherCAT Use Straight or cross STP shielded twisted pair cable of category 5 or higher for EtherNet IP Item Wire Gauge and Number of For EtherCAT Pairs AWG22 2 pair Cable Wire Gauge and Number of Pairs AWG24 4 pair Cable For EtherCAT and EtherNet IP Wire Gauge and Number of Pairs AWG22 2 pair Cable For EtherNet IP Cable with Connectors on Both Ends RJ45 RJ45 Cable with Connectors on Both Ends M12 RJ45 Cables RJ45 Connectors Cables Standards NJ301 1200 UC1 N L CE NJ301 1100 Recommended Cable length m Model manufacturer 1 0 3 XS5W T421 AMD K 0 5 XS5W T421 BMD K 1 XS5W T421 CMD K OMRON 2 XS5W T421 DMD K 5 XS5W T421 GMD K 10 XS5W T421 JMD K 0 3 XS5W 1421 AMC K 0 5 XS5W T421 BMC K 1 XS5W T421 CMC K OMRON 2 XS5W T421 DMC K XS5W T421 GMC K 10 XS5W T421 JMC K Hitachi Cable Ltd NETSTAR C5E SAB 0 5 x 4P 2 Kuramo Electric Co SWCC Showa Cable Systems Co Panduit Corporation Kuramo Electric Co KETH SB 2 FAE 5004 2 MPS588 2 KETH PSB OMR 3 Wire Gauge and Number of RJ45 Assembly Connector Cables Pairs 0 5 mm 4 pair Cable RJ45 Conne
8. Number Sampling of Sampled 48 variables Data Tracing Variables Timing of Sampling Sampling is performed for the specified task period at the specified time or when a sampling instruction is executed Triggered Traces Trigger conditions are set to record data before and after an event When BOOL variable changes to TRUE or FALSE Comparison of non BOOL variable with a constant Trigger Conditions Comparison Method Equals Greater than gt Greater than or equals gt Less Than lt Less than or equals lt Not equal Delay Trigger position setting A slider is used to set the percentage of sampling before and after the trigger condition is met Simulation The operation of the CPU Unit is emulated in the Sysmac Studio Connected Port Built in EtherNet IP port Maintenance 5 Sart ysmac Studio T Connection Peripheral USB port or built in EtherNet IP port Levels Major fault partial fault minor fault observation and information Controller Maximum Errors Number of 2 Languages Self diagnosis User defined istered in ad dth d ted b Funcions g errors ser defined errors are registered in advance and then records are created by executing instructions Levels 8 levels Maximum number of message 9 languages 1 Supported only by the CPU Units with unit version 1 03 or later 3 Maximum number of message languages that the NS series PT can display OMRON
9. Operation Altitude 2 000 m or less Environment Pollution Degree 2 or less Conforms to JIS B3502 and IEC 61131 2 Noise Immunity 2 kV on power supply line Conforms to IEC 61000 4 4 Category Il Conforms to JIS B3502 and IEC 61131 2 Category EMC Immunity Zone B Level Vibration Conforms to IEC 60068 2 6 Recletance 5 to 8 4 Hz with 3 5 mm amplitude 8 4 to 150 Hz Acceleration of 9 8 m s for 100 min in X Y and Z directions 10 sweeps of 10 min each 100 min total Shock Conforms to IEC 60068 2 27 Resistance 147 m s 3 times in X Y and Z directions 100 m s for Relay Output Units Life 5 years at 25 C Battery Model CJ1W BATO1 Applicable Standards Conforms to cULus NK LR and EC Directives OMRON Performance Specifications Item Ladder Diagram Instructions NJ301 NJ301 3 0 ns or more 1100 Processing instruction LD AND OR and OUT Time Execution Times Math Instructions for Long Real Data 42 ns or more Program capacity 1 5 MB Memory Retain Attribute 2 0 5 MB Capacity for Variables No Retain Attribute 3 2 MB Programming Memory for CIO Area 6 144 words CIO 0 to CIO 6143 CJ Series Units Work Area 512 words WO to W511 Can be 2 Specified with Holding Area 1 536 words HO to H1535 Specifications 32 768 words DO to D32767 DM Area EM Area Maximum per CPU Rack or for Variables Maximum
10. derivative data type that groups together data with different variable types Maximum Number 4 Unions of Members pale BOOL BYTE WORD DWORD LWORD ypes Enumerations Function A derivative data type that uses text strings called enumerators to express variable values F An array is a group of elements with the same data type You specify the number unction subscript of the element from the first element to specify the element Maximum Number 3 of Dimensions Array Specifications Maximum Number Data of Elements Attributes Array Specifications for FB Instances Range Specifications Supported You can specify a range for a data type in advance The data type can take only values that are in the specified range Libraries 1 Supported only by the CPU Units with unit version 1 03 or later 2 Inline ST is supported Inline ST is ST that is written as an element in a ladder diagram User libraries OMRON NJ301 Item NJ301 OOOLI Control Modes position control velocity control torque control Axis Types Servo axes virtual servo axes encoder axes and virtual encoder axes Positions that can be managed Command positions and actual positions Motion Control Single axis Position Control Single axis Velocity Control Single axis Torque Control Single axis Synchronized Control Single axis Manual Operation Absolute Positioning Positioning is performed
11. for a target position that is specified with an absolute value Relative Positioning Interrupt Feeding Positioning is performed for a specified travel distance from the command current position Positioning is performed for a specified travel distance from the position where an interrupt input was received from an external input Cyclic synchronous absolute positioning 1 Velocity Control A positioning command is output each control period in Position Control Mode Velocity control is performed in Position Control Mode Cyclic Synchronous Velocity Control Torque Control Starting Cam Operation A velocity command is output each control period in Velocity Control Mode The torque of the motor is controlled A cam motion is performed using the specified cam table Ending Cam Operation Starting Gear Operation Positioning Gear Operation The cam motion for the axis that is specified with the input parameter is ended A gear motion with the specified gear ratio is performed between a master axis and slave axis A gear motion with the specified gear ratio and sync position is performed between a master axis and slave axis Ending Gear Operation Synchronous Positioning Master Axis Phase Shift The specified gear motion or positioning gear motion is ended Positioning is performed in sync with a specified master axis The phase of a master axis in synchronized control is shifted
12. 600 bytes EtherNet IP Connection Port Maximum Number of 32 4 inati Registrable Tag Sets mag SeN 600 bytes M T t Two bytes are used if Controller status is included in the tag set Multi cast Packet Filter 8 Supported Class 3 number of connections 32 clients plus server Maximum Number of Clients that Can Cip Message Communicate at UCMM One Time Explicit connection Messages type Maximum Number of Servers that Can Communicate at One Time Maximum number of TCP socket service 30 9 Communications Standard IEC 61158 Type12 EtherCAT Master Specifications Class B Feature Pack Motion Control compliant Physical Layer 100BASE TX Modulation Baseband Baud Rate 100 Mbps 100Base TX Duplex mode Auto a Topology Line daisy chain and branching uilt in F EtherCAT Port Transmission Media Twisted pair cable of category 5 or higher double shielded straight cable with aluminum tape and braiding Maximum Transmission Distance between Nodes Maximum Number of Slaves Maximum Process Data Size 100m 192 Inputs 5 736 bytes Outputs 5 736 bytes However the maximum number of process data frames is 4 Maximum Process Data Size per Slave Inputs 1 434 bytes Outputs 1 434 bytes Maximum Communications Cycle 500 1 000 2 000 4 000 us 10 Sync Jitter 1 us max At ambient temperature of 55 C 3 5 to 0 5 min error per month At ambient temperat
13. Item CPU Unit Names and Serial IDs NJ301 NJ301 OOOLI When going online to a CPU Unit from the Sysmac Studio the CPU Unit name in the project is compared to the name of the CPU Unit being connected to User Program Transfer with No Restoration You can prevent reading data in the CPU Unit from the Sysmac Studio Information iia Protection CPU Unit Write You can prevent writing data to the CPU Unit from the Sysmac Studio or SD Memory Protection Card Securit Assets and y Preventing Overall Project File You can use passwords to protect smc files from unauthorized opening on the Operating Protection Sysmac Studio Mistakes Data Protection You can use passwords to protect POUs on the Sysmac Studio Verification of Operation Authority Online operations can be restricted by operation rights to prevent damage to equipment or injuries that may be caused by operating mistakes Number of Groups 5 Verification of User Program The user program cannot be executed without entering a user program execution ID Execution ID from the Sysmac Studio for the specific hardware CPU Unit Storage Type SD Memory Card 2 GB max SDHC Memory Card Automatic transfer from SD Memory The data in the autoload folder on an SD Memory Card is automatically loaded when Card 1 the power supply to the Controller is turned ON SD Memory SD Memory Card Operation Card ineteuction You can access SD Memory Card
14. Monitoring Settings are monitored for the system services processes that are executed by the CPU Unit separate from task execution Programming POU program organization units Programs Function Blocks POUs that are assigned to tasks POUs that are used to create objects with specific conditions POUs that are used to create an object that determine unique outputs for the inputs Functions such as for data processing Programming Types Ladder diagrams 2 and structured text ST Languages Namespaces 3 A concept that is used to group identifiers for POU definitions External Variables Access of Network Variables The function which allows access from the HMI host computers or other Controllers Variables Boolean BOOL Bit Strings BYTE WORD DWORD LWORD Integers INT SINT DINT LINT UINT USINT UDINT ULINT Real Numbers REAL LREAL Pasic Data Durations TIME Types Dates DATE Times of Day TIME_OF_DAY Date and Time DATE_AND_TIME Text Strings STRING Derivative Data Types Structures unions enumerations Function A derivative data type that groups together data with different variable types Maximum Number Data Types of Members Nesting Maximum 8 Structures Levels Member Data Basic data types structures unions enumerations array variables Specifying Member 9 You can use member offsets to place structure members at any memory locations Function A
15. NJ Series NJ301 CPU Units NJ301 LIL Machine Automation Controller NJ series CSM_NJ301_DS_E_3_1 New controller that covers functions and high speed processing required for machine control and safety reliability and maintainability that are the features of industrial controllers Ideal for small scale control with up to 8 axes NJ301 1200 Features e Architecture Based on new Intel Atom Processor e The user program including the double precision floating point arithmetic instruction that is necessary for the coordinates correction ST language and Function Blocks is executed fast as well as the basic instructions and the special instructions e Integration of Logic and Motion in one CPU e Synchronous control of all machine network devices vision sensors servo drives and field devices with the machine control network EtherCAT Synchronize the PLC Engine and the Motion Engine with the EtherCAT control period Fast and highly accurate control is possible e Standard programming Conforms IEC 61131 3 standards variable based instructions including the PLCopen Motion function blocks e Complete and robust machine automation fast control performance and basic functions and reliability of industrial controllers e Fan free operation in ambient temperature between 0 to 55 C e Complete RAS functions Transmission frame error check timeout bus diagnosis Watchdog WDT memory check and topology check etc Sysmac is a trade
16. ctors 1 The cable length 0 3 0 5 1 2 3 5 10 and 15 m are available For details refer to Cat No G019 2 We recommend you to use above cable for EtherCAT and EtherNet IP and RJ45 Connector together 3 We recommend you to use above cable for EtherCAT and EtherNet IP and RU45 Assembly Connector together 4 We recommend you to use above cable For EtherNet IP and RJ45 Connectors together Note Please be careful while cable processing for EtherCAT connectors on both ends should be shield connected and for EtherNet IP connectors on only one end should be shield connected Accessories The following accessories come with the CPU Unit OMRON Fujikura Ltd Panduit Corporation XS6G T421 1 3 F LINK E 0 5mm x 4P 4 MPS588 4 Item Specification Battery CJ1W BATO1 End Cover CJ1W TER0O1 necessary to be connected to the right end of the CPU Rack End Plate PFP M 2 pcs OMRON NJ301 General Specification Item NJ301 Enclosure Mounted in a panel Grounding Method Ground to less than 100 Dimensions height lt depthxwidth See Weight 550 g including the End Cover Current Consumption 5 VDC 1 90 A including SD Memory Card and End Cover Ambient Operating 0 to 55 C Temperature Ambient Operating 10 to 90 with no condensation Humidity Atmosphere Must be free from corrosive gases Ambient Storage 20 to 75 C excluding battery Temperature
17. dition 1 03 1 04 SD Memory Cards Application Automatic transfer from SD Memory Card Addition 1 03 1 04 SD Memory Card Dialog Sysmac Studio Addition 1 03 1 04 Operating methods Specification with systemdefined variables Addition 1 03 1 04 CPU Unit front panel switch Addition 1 03 1 04 Disabling backups to SD Addition 1 03 1 04 Memory Cards SD Memory Card backups Backup functions Protection functions Addition 1 The following table gives the unit version of the CPU Units and the Sysmac Studio version that are required to specify member offsets Sysmac Studio version Unit version of CPU Unit 1 01 or lower 1 02 1 03 or higher 1 01 or later Not possible Possible You cannot select the memory configuration type You can set member offsets 1 03 1 04 Sysmac Studio Controller backups 2 You can select NJ CJ or User as the memory configuration type for structure members Performance Improvements for Unit Version Upgrades This section introduces the functions for which performance was improved for each unit version of the CPU Unit Function Performance value Unit version Can be set for each connection 1 to 10 000 ms in 1 ms increments 1 03 or higher Packet interval CIP service Can be set for each connection toa orione ie 10 to 10 000 ms in 1 ms increments a cyclic communications Built in EtherNet IP p
18. em NJ301 NJ301 OOOLI Maximum Number of Slaves 192 EtherCAT Chattering and Slaves Basic I O Units Noise Input response times are set Countermeasures Maximum number of Units 40 Chattering and Noise Input response times are set CJ Series Countermeasures Units Basic I O Units Load Short circuit Protection and I O Disconnection Detection Alarm information for Basic I O Units is read Communications Peripheral USB Port A port for communications with various kinds of Support Software running on a personal computer Communications protocol TCP IP UDP IP Programless cyclic data exchange is performed with the devices on the EtherNet IP Tag Data Links CIP Part 9 network Communications Service CIP commands are sent to or received from the devices on the EtherNet IP network Communications Data is sent to and received from any node on Ethernet using the UDP or TCP EtherNet IP Socket Services protocol Port Socket communications instructions are used Files can be read from or written to the SD Memory Card in the CPU Unit from FTP Server TCP IP computers at other Ethernet nodes Applications Clock information is read from the NTP server at the specified time or at a specified Automatic Clock Adjustment 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 Built in EtherNet IP p
19. ion control The startup procedures for setting axis Guide Motion function module of the NJ parameters and performing simple one axis Control series for the first time positioning and two axis linear interpolation with an NJ series CPU Unit and the operating instructions for the Sysmac Studio are described W500 NJ series CPU Unit Learning the basic An introduction to the entire NJ series system is Hardware User s specifications of the NJ series provided along with the following information on Manual CPU Units including a Controller built with an NJ series CPU Unit introductory information e Features and system configuration designing installation and e Introduction maintenance e Part names and functions Mainly hardware information e General specifications is provided e Installation and wiring e Maintenance and inspection Use this manual together with the NJ series CPU Unit Software User s Manual Cat No W501 W501 NJ series CPU Unit Learning how to program and The following information is provided ona Software User s set up NJ series CPU Unit Controller built with an CPU Unit Manual Mainly software information is e CPU Unit operation provided e CPU Unit features e Initial settings e Programming language specifications and programming with the IEC 61131 3 standard Use this manual together with the NU series CPU Unit Hardware User s Manua
20. istance between Hub and Node 5 m max Physical Layer 10Base T or 100Base TX Media Access Method CSMA CD Modulation Baseband Built in Topology Star Baud Rate 100 Mbps 100Base TX or Transmission Media Maximum Transmission Distance between Ethernet Switch and Node STP shielded twisted pair cable of Ethernet category 5 5e or higher 100m Maximum Number of Cascade Connections There are no restrictions if Ethernet switch is used 1 This is the capacity for the execution objects and variable tables including variable names 2 Words for Units in the Holding DM and EM Areas are not included 3 Words for CJ series Units in the CIO and Work Areas are no t included OMRON NJ301 NJ301 32 Item 1100 Maximum Number of Connections 1 to 10 000 ms in 1 0 ms increments 5 Can be set for each connection Data will be refreshed at the set interval regardless of the number of nodes Packet interval 4 Permissible Communications Band 3 000 pps 6 7 including heartbeat Maximum Number of Tag Sets 32 Tag types Network variables ClO Work Holding DM and EM Areas CIP service Tag Data Links Cyclic Communications Number of tags per connection i e per tag set 8 7 tags if Controller status is included in the tag set Maximum Link Data Size per Node total size for all tags 19 200 bytes Maximum Data Size per Built in
21. l Cat No W500 W507 NJ series CPU Unit Learning about motion control The settings and operation of the CPU Unit and Motion Control User s settings and programming programming concepts for motion control are Manual concepts described Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 NJ series CPU Unit Software User s Manual Cat No W501 W502 NJ series Instructions Learning about the The instructions in the instruction set IEC Reference Manual specifications of the 61131 3 specifications are described instruction set that is provided Use this manual together with the NU series by OMRON CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 W508 NJ series Motion Learning about the The motion control instructions are Control Instructions specifications of the motion described Reference Manual control instructions that are Use this manual together with the NU series provided by OMRON CPU Unit Hardware User s Manual Cat No W500 NJ series CPU Unit Software Users Manual Cat No W501 and NJ series CPU Unit Motion Control User s Manual Cat No W507 OMRON W490 W498 W491 Z317 W492 W494 W497 W495 W493 W505 W506 W503 W504 Cat No CJ series Special Unit Manuals for
22. limit input signal Re execution of Motion Control You can change the input variables for a motion control instruction during execution Instructions and execute the instruction again to change the target values during operation se Multi execution of Motion Control You can specify when to start execution and how to connect the velocities between Instructions Buffer Mode operations when another motion control instruction is executed during operation Continuous Axes Group Motions You can specify the Transition Mode for multi execution of instructions for axes group Transition Mode operation Software Limits The movement range of an axis is monitored The error between the command current value and the actual current value is Following Error monitored for an axis Velocity Acceleration Monitoring Rate Deceleration Functions Rate Torque Interpolation Velocity Interpolation Acceleration Rate And Interpolation Deceleration Rate You can set warning values for each axis and each axes group to monitor them You can use an OMRON G5 Series Servomotor with an Absolute Encoder to eliminate the need to perform homing at startup The Servo Drive input signals listed on the right are used Home signal home External Interface Signals proximity signal positive limit signal negative limit signal immediate stop signal and interrupt input signal Absolute Encoder Support OMRON Unit I O Management It
23. mark or registered trademark of OMRON Corporation in Japan and other countries for OMRON factory automation products Intel the Intel logo Intel Atom are trademarks of Intel Corporation in the U S and or other countries Windows is registered trademarks of Microsoft Corporation in the USA and other countries EtherCAT is a registered trademark of Beckhoff Automation GmbH for their patented technology Other company names and product names in this document are the trademarks or registered trademarks of their respective companies 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 OMRON Ordering Information International Standards NJ301 e The standards are abbreviated as follows U UL U1 UL Class Division 2 Products for Hazardous Locations C CSA UC cULus UC1 cULus Class Division 2 Products for Hazardous Locations CU cUL N NK L Lloyd and CE EC Directives e Contact your OMRON representative for further details and applicable conditions for these standards NJ301 CPU Units Specifications Current consumption A Product Name I O capacity maximum number of configuration Units Expansion Racks NJ301 CPU Units 2 560 points 40 Units 3 Expansion Racks Program capacity Memory capacity for variables 0 5 MB Retained during power interruption 2 MB
24. on Management RUN Output Contacts The output on the NJ PL13001 Power Supply Unit turns ON in RUN mode Events are recorded in the following logs Categories System event log System Event L Access event log Management User defined event log Maximum Number of Events per Event Log 512 OMRON NJ301 ltem NJ301 O0O0OL Programs function blocks functions and global variables can be changed online Coline PARN aange Different operators can change different POUs across a network Forced Refreshing The user can force specific variables to TRUE or FALSE Device Variables for EtherCAT 64 Maximum Slaves Number of Forced Device Variables Variables for CJ series Units 64 and Variables with AT Specifications MC Test Run Motor operation and wiring can be checked from the Sysmac Studio Synchronizing The project file in the Sysmac Studio and the data in the CPU Unit can be made the same when online Differentiation monitoring 1 Rising falling edge of contacts can be monitored Maximum number of contacts 1 8 Single Triggered When the trigger condition is met the specified number of samples are taken and Trace then tracing stops automatically Debuggin 1 i 1 gging Conilauous Trace Data tracing is executed continuously and the trace data is collected by the Sysmac Studio Maximum Number of Simultaneous Data Trace Maximum Number of Records 10 000 Maximum
25. ort Permissible 3 000 pps including heartbeat 1 03 or higher communications band 1 000 pps including heartbeat 1 02 or lower 30 1 03 or higher Number of TCP sockets 16 1 02 or lower or 500 1 000 2 000 or 4 000 us 1 03 or higher Built in EtherCAT port Communications cycle 1 000 2 000 or 4 000 Lis 1 02 or lower Here pps means packets per second and indicates the number of packets that can be processed in one second OMRON NJ301 External Interface An NJ301 CPU Unit NJ301 LJ_ILIL provides three communications ports for external interfaces a peripheral USB port a built in EtherNet IP port and a built in EtherCAT port LED Indicators It allows you to monitor the CPU s operation SD Memory Card Indicators omron SD Memory Card Connector NJ301 1200 Peripheral USB Port Built in EtherNet IP Port It allows you to monitor the operation of EtherNet IP communications DIP Switch inside the battery compartment Built in EtherCAT Port It allows you to monitor the operation of EtherCAT communications PORT2 EtherCAT L EtherNet IP Ethercat Battery Compartment Peripheral USB Port Item Specification Physical layer USB 2 0 compliant B type connector Transmission distance 5m max Use commercially available USB cables Specification USB 2 0 or 1 1 cable A connector B connector 5 0 m max Built in EtherNet IP Port Item Specification Physical laye
26. ort internal status information is provided to network SNMP Agent management software that uses an SNMP manager Process Data Control information is exchanged in cyclic communications between the EtherCAT Communications master and slaves Supported 7 i i Services SDO Control information is exchanged in noncyclic event communications between the Communications EtherCAT master and slaves SDO communications that are defined in the CANopen standard are used Network Scanning Information is read from connected slave devices and the slave configuration is automatically generated EtherCAT Port DC Distributed Clock Packet Monitoring Enable disable Settings for Slaves Time is synchronized by sharing the EtherCAT system time among all EtherCAT devices including the master The slaves can be enabled or disabled as communications targets Disconnecting Connecting Slaves Supported Application Protocol CoE Temporarily disconnects a slave from the EtherCAT network for maintenance such as for replacement of the slave and then connects the slave again SDO messages that conform to the CANopen standard can be sent to slaves via EtherCAT Communications Instructions The following instructions are supported CIP communications instructions socket communications instructions SDO message instructions no protocol communications instructions and protocol macro instructions Operati
27. r 10BASE T 100BASE TX Media access method CSMA CD Modulation Baseband Topology Star Baud rate 100 Mbps 100Base TX Transmission media Straight or cross STP shielded twisted pair cable of category 5 or higher Transmission distance 100 m max distance between ethernet switch and node You can connect Sysmac Studio with built in EtherNet IP port Built in EtherCAT Port Item Specification Synchronization DC distributed clock Physical layer 100BASE TX Modulation Baseband Baud rate 100 Mbps 100BASE TX Duplex mode Automatic Topology Line daisy chain and branching Transmission media ia twisted pair STP Category 5 or higher straight cable with double shielding braiding and aluminum Transmission distance 100 m max between nodes OMRON Dimensions NJ301 CPU Units 301 OPEN SW SETTING v co OMRON NJ301 1200 PORT1 EtherNet IP PORT2 EtherCAT L EtherNet IP EtherCAT NJ301 Unit mm OMRON NJ301 Related Manuals Cat No Model number Manual Application Description W513 NJ Series Startup Using the CPU Unit The startup procedures for using an NJ series Guide CPU Unit for the first time CPU Unit and the basic operating instructions for the Sysmac Studio are described with a simple sequence control example W514 NJ Series Startup Using the mot
28. s from instructions in the user program Functions Application ar File Operations from the Sysmac You can perform file operations for Controller files in the SD Memory Card and read Studio write standard document files on the computer SD Memory Card Life Expiration Notification of the expiration of the life of the SD Memory Card is provided ina Detection systemdefined variable and event log Using front switch You can use front switch to backup compare or restore data Using system defined variables You can use system defined variables to backup or compare data Operation SD Memory Card backup Operations Dialog Backup and verification operations can be performed from the SD Memory Card Backup Opereations Dialog on the Sysmac Studio functions 1 Studio Prohibiting backing up data to the SD Memory Card Protection Sysmac Studio Controller backup functions 1 Supported only by the CPU Units with unit version 1 03 or later Prohibit SD Memory Card backup functions Backup restore and verification operations for Units can be performed from the Sysmac Studio OMRON NJ301 Unit Versions Units Unit Version Unit version 1 03 Unit version 1 02 Unit version 1 01 NJ301 CPU Units Unit Versions and Programming Devices The following tables show the relationship between unit versions and Sysmac Studio versions
29. top The blended target velocity is changed during interpolated motion Reading Axes The command current positions and actual current positions of an axes group can be Group Positions read Changing the Axes The Composition Axes parameter in the axes group parameters can be overwritten in an Axes Group temporarily Setting Cam Table The end point index of the cam table that is specified in the input parameter is Properties changed The cam table that is specified with the input parameter is saved in non volatile Common Items Saving Cam Tables memory in the CPU Unit Writing MC Parameters Settings Some of the axis parameters or axes group parameters are overwritten temporarily Motion Control Count Modes You can select either Linear Mode finite length or Rotary Mode infinite length Unit Conversions You can set the display unit for each axis according to the machine Automatic Acceleration Jerk is set for the acceleration deceleration curve for an axis motion or axes group Acceleration Deceleration motion Deceleration Control Control Changing the Acceleration and Deceleration Rates You can change the acceleration or deceleration rate even during acceleration or deceleration You can set an in position range and in position check time to confirm when In position Check positioning is completed Stop Method You can set the stop method to the immediate stop input signal or
30. ure 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 Data is updated on the line in the specified interval regardless of the number of nodes The Packet interval of the CPU Unit version 1 02 or earlier is 10 to 10 000 ms in 1 0 ms increments Means packets per second i e the number of communications packets that can be sent or received in one second The Permissible Communications Band of the CPU Unit version 1 02 or earlier is 1 000 pps An IGMP client is mounted for the EtherNet IP port If an ethernet switch that supports IGMP snooping is used filtering of unnecessary multicast packets is performed 9 The Maximum number of TCP socket service of the CPU Unit version 1 02 or earlier is 16 10 The Maximum Communications Cycle of the CPU Unit version 1 02 or earlier is 1 000 2 000 4 000 us Internal Clock 4 5 6 we 8 OMRON Function Specifications Tasks Item NJ301 NJ301 OOOLI I O refreshing and the user program are executed in units that are called tasks Tasks FuncHon are used to specify execution conditions and execution priority Maximum Number Periodically of Primary Periodic 1 Executed Tasks Tasks Maximum Number of Periodic Tasks 32 of event tasks tasks 1 The execution interval and the percentage of the total user program execution time Setup System Service

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