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1. Monitoring Axis Following Error Resetting the Following Error 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 O Torque Limit 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 Motion Control Item Axes Groups Common Items Auxiliary Functions Absolute Linear Interpolation Relative Linear Interpolation NJ301 NJ301 LT T T1 Linear interpolation is performed to a specified absolute position Linear interpolation is performed to a specified relative position Multi axes Coordinated Control Circular 2D Interpolation Axes Group Cyclic Synchronous Absolute Positioning Resetting Axes Group Errors Enabling Axes Groups Circular interpolation is performed for two axes A positioning command is output each control period in Position Control Mode Axes group errors and axis errors are cleared Motion of an axes group is enabled Disabling Axes Groups Stopping Axes Groups Auxiliary Immediately Functions for Stopping Axes Multi axes Groups Motion of an axes group is disabled All axes in interpolated motion are decelerated to a stop All axes in interpolated motion are stopped imm
2. 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 NJ301 Ordering Information International Standards 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 NK L Lloyd and CE EC Directives e Contact your OMRON representative for further details and applicable conditions for these standards NJ301 CPU Units Product Name NJ301 CPU Units I O capacity maximum number of configuration Units Expansion Racks 2 560 points 40 Units 3 Expansion Racks Specifications Program capacity Memory capacity for variables 0 5 MB Retained during power interruption 2 MB Not retained during power interruption Current consumption A Number of m
3. and variable tables including variable names 2 Words for CJ series Units in the Holding DM and EM Areas are not included 3 Words for CJ series Units in the CIO and Work Areas are not included OMRON NJ301 NJ301 Item Maximum Number of 32 Connections 10 to 10 000 ms in 1 0 ms increments Packet interval 4 Can be set for each connection Data will be refreshed at the set interval regardless of the number of nodes Permissible Communications Band 1 000 pps 5 including heartbeat Maximum Number of 32 Tag Sets CIP service Tag Tag types Network variables CIO Work Holding DM and EM Areas Data Links Cyclic Number of tags per connection Communications 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 ilt i Maximum Data Size per Built in EtherNet IP Connection 600 bytes Port Maximum Number of 32 1 Mies Registrable Tag Sets 1 connection 1 tag set i 600 bytes t size Two bytes are used if Controller status is included in the tag set Multi cast Packet Filter 6 Supported Class 3 number of connections 32 clients plus server Maximum Number of Clients that Can Be 9 Communicate at UCMM One Time Explicit connection Messages type Maximum Number of Servers that Can Communicate at One Time
4. execution of Motion Control Instructions Multi execution of Motion Control Instructions Buffer Mode You can set the stop method to the immediate stop input signal or limit input signal You can change the input variables for a motion control instruction during execution and execute the instruction again to change the target values during operation You can specify when to start execution and how to connect the velocities between operations when another motion control instruction is executed during operation Continuous Axes Group Motions Transition Mode You can specify the Transition Mode for multi execution of instructions for axes group operation OMRON Motion Control Item Auxiliary Functions Monitoring Functions Absolute Encoder Support External Interface Signals Software Limits Following Error Velocity Acceleration Rate Deceleration Rate Torque Interpolation Velocity Interpolation Acceleration Rate And Interpolation Deceleration Rate NJ301 NJ301 L T TE T1 The movement range of an axis is monitored The error between the command current value and the actual current value is monitored for an axis 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
5. 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 CPU Unit Write E Protecting Protection Protection You can prevent writing data to the CPU Unit from the Sysmac Studio or SD Memory Card Software Assets Overall Project You can use passwords to protect smc files from unauthorized opening on the Sysmac Security Preventing File Protection Studio Operating Data Mistakes Protection You can use passwords to protect POUs on the Sysmac Studio Verification of Operation Online operations can be restricted by operation rights to prevent damage to equipment or Authority injuries that may be caused by operating mistakes Number of Groups Verification of User Program The user program cannot be executed without entering a user program execution ID from Execution ID the Sysmac Studio for the specific hardware CPU Unit Storage Type SD Memory Card 2 GB max SDHC Memory Card SD Memory Card Operation SD Memory instructions You can access SD Memory Cards from instructions in the user program Card Application File Operations from the Sysmac You can perform file operations for Controller files in the SD Memory Card and read write Functions Studio standard document files on the computer SD Memory Card Life Expiration Notification of the expiration of the life of the S
6. on the 1 Operation Manual and how to use it installation procedure basic operations connection procedures and procedures for the main features OMRON Read and Understand This Catalog Please read and understand this catalog before purchasing the products Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRONV s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGAR
7. 0 Sampling Maximum Number of Sampled Variables Timing of Sampling Triggered Traces Connected Port Trigger Conditions 48 variables Sampling is performed for the specified task period at the specified time or when a sampling instruction is executed 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 Comparison Method Equals Greater than gt Greater than or equals 2 Less Than lt Less than or equals X Not equal Trigger position setting A slider is used to set the percentage of sampling before and after the trigger condition is met The operation of the CPU Unit is emulated in the Sysmac Studio Built in EtherNet IP port Sysmac Studio Connection Connected Port Peripheral USB port or built in EtherNet IP port Reliability Functions Self diagnosis Levels Major fault partial fault minor fault observation and information Controller Errors Maximum Number of Message Languages User defined errors Levels Maximum number of message languages User defined errors are registered in advance and then records are created by executing instructions 8 levels OMRON NJ301 Item NJ301 L1 1E 1 CPU Unit Names and Serial IDs When going online to a CPU Unit from the Sysmac Studio the CPU Unit name in the project
8. 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 Topology Line daisy chain and branching Built in Transmission Media Twisted pair cable of category 5 or higher double shielded straight cable with aluminum EtherCAT Port tape and braiding Maximum Transmission Distance between Nodes 100m Maximum Number of Slaves 192 Inputs 5 736 bytes Outputs 5 736 bytes However the maximum number of process data frames is 4 Inputs 1 434 bytes Outputs 1 434 bytes Maximum Communications Cycle 1 000 2 000 4 000 us Maximum Process Data Size Maximum Process Data Size per Slave Sync Jitter 1 us max At ambient temperature of 55 C 3 5 to 0 5 min error per month Internal Clock At ambient temperature of 25 C 1 5 to 1 5 min error per month At ambient temperature of 0 C 3 to 1 min error per month 4 Data is updated on the line in the specified interval regardless of the number of nodes 5 Means packets per second i e the number of communications packets that can be sent or received in one second 6 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 OMRON Function Specifications Tasks Item NJ301 NJ301 LT T T1 I O re
9. Corporation 1 The cable length 0 3 0 5 1 2 3 5 10 and 15 m are available For details refer to Cat No GO19 x2 We recommend you to use above cable and connector 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 F LINK E 0 5mm x 4P MPS588 Accessories The following accessories come with the CPU Unit Item Specification Battery CJ1W BATO 1 End Cover CJ1W TERO 1 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 heightx depth x width 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 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 Catego
10. D Memory Card is provided in a Detection systemdefined variable and event log OMRON NJ301 Unit Versions NJ301 CPU Units NJ301 LIE IET Unit version 1 01 Unit Versions and Programming Devices The following tables show the relationship between unit versions and Sysmac Studio versions Unit Versions and Programming Devices Version of Sysmac Studio Unit Version Ver 1 02 Ver 1 01 Ver 1 00 Not available CPU Unit Ver 1 01 o Not available NJ301 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 omnon 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 5 m max Use commercially available USB cables Specification USB 2 0 or 1 1 cable A connector B connector 5 0 m max Built in Et
11. DING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards codes or regulations that apply to the combination of products in the customer s application or use of the products At the customer s request OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products Outdoor use uses involving potential chemical contamination or electrical interference or conditions or uses not described in this catalog Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations Systems machines and equipment t
12. NJ Series NJ301 CPU Units NJ301 1 LIL Machine Automation Controller NJ series CSM NJ301 DS E 1 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 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 trademark or registered trademark of OMRON Corporation in
13. a types structures unions enumerations array variables Function A derivative data type that groups together data with different variable types Data Types Maximum Number of 2048 Members Nesting Structures Maximum Levels Member Data Types Basic data types structures enumerations unions or array variables Specifying Member You can use member offsets to place structure members at any memory locations Offsets Function A derivative data type that groups together data with different variable types Maximum Number of 4 Unions Members Sd Data BOOL BYTE WORD DWORD LWORD ypes Enumerations Function A derivative data type that uses text strings called enumerators to express variable values 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 of 3 Dimensions Array Maximum Data Type Specifications Number of 65535 Attributes Elements Array Specifications for FB Instances Range Specifications 1 Inline ST is supported Inline ST is ST that is written as an element in a ladder diagram 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 OMRON Motion Control Item Control Modes Axis Types NJ301 NJ301 L JE T 1L 1 position control velocity control torque control Servo axes
14. described instruction set that is provided Use this manual together with the NJ 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 Reference Manual specifications of the motion control instructions that are provided by OMRON 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 and NJ series CPU Unit Motion Control User s Manual Cat No W507 OMRON NJ301 Cat No Model number Manual Application Description W490 CJ series Special Unit Leaning how to connect CJ The methods and precautions for using CJ W498 Manuals for NJ series series Units series Units with an NJ series CPU Unit are W491 CPU Unit described including access methods and Z317 programming interfaces W492 Manuals are available for the following Units Me Analog I O Units Insulated type Analog I O W495 Units Temperature Control Units ID Sensor Units High speed Counter Units and DeviceNet Units EtherNet IP Units Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 W505 NJ series CPU Unit Using the built in EtherCAT Information o
15. ediately Coordinated Control Setting Axes Group Override Factors Reading Axes Group Positions The blended target velocity is changed during interpolated motion The command current positions and actual current positions of an axes group can be read Changing the Axes in an Axes Group Setting Cam Table Properties The Composition Axes parameter in the axes group parameters can be overwritten temporarily The end point index of the cam table that is specified in the input parameter is changed Saving Cam Tables Writing MC Parameters Settings Count Modes The cam table that is specified with the input parameter is saved in non volatile memory in the CPU Unit Some of the axis parameters or axes group parameters are overwritten temporarily 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 Deceleration Acceleration Control Jerk is set for the acceleration deceleration curve for an axis motion or axes group motion Deceleration Changing the Control Acceleration and Deceleration Rates In position Check 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 positioning is completed Stop Method Re
16. freshing and the user program are executed in units that are called tasks Tasks are ido used to specify execution conditions and execution priority Maximum Number of 1 Periodically Primary Executed Periodic Tasks Tasks Maximum Number of 3 Periodic Tasks Svstem Service Monitorin The execution interval and the percentage of the total user program execution time are Setup y 9 monitored for the system services processes that are executed by the CPU Unit separate Settings from task execution Programming POU program organization units Programming Programs POUS that are assigned to tasks Function Blocks Ladder diagrams 1 and structured text ST 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 such as for data processing Languages External Network Variables Access of The function which allows access from the HMI host computers or other Controllers Variables Variables Boolean BOOL Bit Strings BYTE WORD DWORD LWORD Integers INT SINT DINT LINT UINT USINT UDINT ULINT Real Numbers REAL LREAL Pasio Data Durations TIME Types Dates DATE Times of Day TIME_OF_DAY Date and Time DATE_AND_TIME Text Strings STRING Direct Derivative Structures unions enumerations Derivative Data Types Types Member Data Basic dat
17. ge instructions no protocol communications instructions and protocol macro instructions The output on the NJ P 3001 Power Supply Unit turns ON RUN mode OMRON System Management Debugging Maintenance Item Event Logs Online Editing Categories NJ301 NJ301 L T T T1 Events are recorded in the following logs System event log Access event log User defined event log Maximum Number of Events per Event Log 512 Programs function blocks functions and global variables can be changed online 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 9d Maximum Slaves Number of Device Forced Variables for Variables CJ series Units and Variables 95 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 the CPU Unit can be made the same when online Single TEE M Triggered When the trigger condition is met the specified number of samples are taken and then tracing stops automatically Types Trace Continuous Data tracing is executed continuously and the trace data is collected by the Sysmac Trace Studio Data Tracing Simulation Connections to HMIs Maximum Number of Simultaneous Da ta Trace 2 Maximum Number of Records 10 00
18. hat could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGRAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA Performance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a warranty It may re
19. herNet IP Port Item Specification Physical layer 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 iria 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 I OPEN SW SETTING vd omnon NJ301 1200 PORT1 EtherNet IP PORT2 EtherCAT L EtherNet IP EtherCAT NJ301 Unit mm OMRON Related Manuals Cat No Application NJ301 Description 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
20. home proximity signal positive limit signal negative limit signal immediate stop signal and interrupt input signal Unit I O Management EtherCAT Slaves CJ Series Units Maximum Number of Slaves Basic I O Units Chattering and Noise Countermeasures Maximum number of Units 192 Input response times are set 40 Basic I O Units Chattering and Noise Countermeasures Load Short circuit Protection and I O Disconnection Detection Input response times are set Alarm information for Basic I O Units is read Communications Operation Management Peripheral USB Port EtherNet IP Port CIP Communications Service TCP IP Applications Tag Data Links Message Communications Socket Services A port for communications with various kinds of Support Software running on a personal computer Programless cyclic data exchange is performed with the devices on the EtherNet IP network CIP commands are sent to or received from the devices on the EtherNet IP network Data is sent to and received from any node on Ethernet using the UDP or TCP protocol Socket communications instructions are used FTP Server Automatic Clock Adjustment SNMP Agent Files can be read from or written to the SD Memory Card in the CPU Unit from computers at other Ethernet nodes Clock information is read from the NTP server at the specified time or at a specified interval after the power supply t
21. 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 on a Software User s set up an NJ series CPU Unit Controller built with an NJ series 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 NJ series CPU Unit Hardware User s Manual 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 and 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
22. n the built in EtherCAT port is Built in EtherCAT Port port on an NJ series CPU Unit provided This manual provides an introduction User s Manual and provides information on the configuration features and setup Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 W506 NJ series CPU Unit Using the built in EtherNet IP Information on the built in EtherNet IP port is Built in EtherNet IP port on an NJ series CPU Unit provided Information is provided on the basic Port User s Manual setup tag data links FINS communications non disclosure and other features Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 W503 NJ series Learning about the Concepts on managing errors that may be Troubleshooting errors that may be detected in an NJ series Controller and Manual detected in an NJ series information on individual errors are described Controller Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 and NJ series CPU Unit Software User s Manual Cat No W501 W504 SYSMAC SE2 Sysmac Studio Leaning about the NJseries An introduction to the Support Software is Version Supports Software provided along with information
23. o the CPU Unit is turned ON The internal clock time in the CPU Unit is updated with the read time Built in EtherNet IP port internal status information is provided to network management software that uses an SNMP manager EtherCAT Port Supported Services Process Data Communications SDO Communications Control information is exchanged in cyclic communications between the EtherCAT master and slaves Control information is exchanged in noncyclic event communications between the EtherCAT master and slaves SDO communications that are defined in the CANopen standard are used Network Scanning DC Distributed Clock Enable disable Settings for Slaves Disconnecting Connecting Slaves Information is read from connected slave devices and the slave configuration is automatically generated 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 Temporarily disconnects a slave from the EtherCAT network for maintenance such as for replacement of the slave and then connects the slave again Supported Application Protocol Communications Instructions RUN Output Contacts SDO messages that conform to the CANopen standard can be sent to slaves via EtherCAT The following instructions are supported CIP communications instructions socket communications instructions SDO messa
24. otion axes 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 For EtherCAT For EtherCAT and EtherNet IP Item Wire Gauge and Number of Pairs AWG22 2 pair Cable Wire Gauge and Number of Pairs AWG24 4 pair Cable Wire Gauge and Number of Pairs AWG22 2 pair Cable Standards NJ301 1200 UC1 N L CE NJ301 1100 Recommended Cable length m Model manufacturer 1 0 3 XS5W T421 AMD K Cable with Connectors on Both Ends RJ45 RJ45 0 5 XS5W T421 BMD K 1 XS5W T421 CMD K 27 OMRON 2 XS5W T421 DMD K di 5 XS5W T421 GMD K 10 XS5W T421 JMD K 0 3 XS5W T421 AMC K able with Connectors on Both Ends M12 RJ45 0 5 XS5W T421 BMC K 1 XS5W T421 CMC K TS OMRON lt 2 XS5W T421 DMC K XS5W T421 GMC K 10 XS5W T421 JMC K Tonichi Kyosan Cable Ltd NETSTAR C5E SAB 0 5 x 4P Cables Kuramo Electric Co KETH SB SWCC Showa Cable Systems Co FAE 5004 RJ45 Connectors Panduit Corporation MPS588 Cables RJ45 Assembly Connector Kuramo Electric Co OMRON KETH PSB OMR 2 XS6G T421 1 2 For EtherNet IP Wire Gauge and Number of Cables Pairs 0 5 mm 4 pair Cable RJ45 Connectors Fujikura Ltd Panduit
25. present the result of OMRON s test conditions and the users must correlate it to actual application requirements Actual performance is subject to the OMRON Warranty and Limitations of Liability ERRORS AND OMISSIONS The information in this document has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions 2012 3 In the interest of product improvement specifications are subject to change without notice OMRON Corporation Industrial Automation Company http www ia omron com c Copyright OMRON Corporation 2012 All Right Reserved
26. r axis and slave axis The specified gear motion or positioning gear motion is ended Positioning is performed in sync with a specified master axis Master Axis Phase Shift Combining Axes Powering the Servo The phase of a master axis in synchronized control is shifted 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 High speed Homing Stopping Immediately Stopping Axes errors are cleared 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 0 to return to home An axis is decelerated to a stop 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 Disabling External Latches The position of an axis is recorded when a trigger occurs The current latch is disabled Zone Monitoring You can monitor the command position or actual position of an axis to see when it is within a specified range zone
27. ry EMC Immunity Zone B Level Vibration Conforms to IEC 60068 2 6 Resistance 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 NJ301 Performance Specifications NJ301 Item 1200 1100 Ladder Diagram Instructions 3 0 Processing Instruction LD AND OR and OUT Time aa Math Instructions Times for Long Real Data Program capacity 21 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 om Specified with AT Holding Area 1 536 words HO to H1535 Specifications DM Area 32 768 words DO to D32767 for Variables EM Area 32 768 words X 4 banks EO 00000 to 32767 Maximum Maximum per CPU Rack or 10 Unit Number of Expansion Rack Hs Connectable Units Entire Controller 40 Units Maximum number of Expansion Racks 3 max Unit Maximum number of I O Points Configuration CJ series Units 2 560 Unit for CPU AC Power Supply 30 to 45 ms Rack and Power OFF Expan
28. sion Detection Time DC Power Supply 22 to 25 ms Racks Maximum Number of Controlled 3 TTE Axes axes a Maximum Number of Axes for 8 8 Number of Single axis Control Controlled Maximum Number of Axes for Linear Interpolation Axis Control group Number of Axes for Circular 2 Interpolation Axis Control id i LL Maximum Number of Axes Groups 32 groups Motion ENS Control Motion Control Period The same control period as that is used for the process data communications cycle for EtherCAT Maximum Points Number of per Cam Table 65 535 points Cam Data m SOR Points aximum Points Cams for All Cam Tables 262 140 points Maximum Number of Cam Position Units Pulses millimeters micrometers nanometers degrees or inches Override Factors 0 00 or 0 01 to 500 0025 Supported Services Sysmac Studio connection iba heral USB Physical Layer USB 2 0 compliant B type connector Transmission Distance 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 EtherNet IP Baud Rate 100 Mbps 100Base TX por Transmission Media STP shielded twisted pair cable of Ethernet category 5 5e or higher Maximum Transmission Distance between 400m Ethernet Switch and Node Maximum Number of Cascade Connections There are no restrictions if Ethernet switch is used k1 This is the capacity for the execution objects
29. virtual servo axes encoder axes and virtual encoder axes Positions that can be managed Single axis Single axis Position Control Single axis Velocity Control Single axis Torque Control Absolute Positioning Command positions and actual positions Positioning is performed for a target position that is specified with an absolute value Relative Positioning Interrupt Feeding Velocity Control 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 Velocity control is performed in Position Control Mode Cyclic Synchronous Velocity Control Torque Control A velocity command is output each control period in Velocity Control Mode The torque of the motor is controlled Single axis Synchronized Control Single axis Manual Operation Starting Cam Operation Ending Cam Operation Starting Gear Operation A cam motion is performed using the specified cam table 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 Positioning Gear Operation Ending Gear Operation Synchronous Positioning A gear motion with the specified gear ratio and sync position is performed between a maste

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