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NJ-series Startup Guide

1. Conmarndeiooty Command alo oty PastienGantmaller wot uel Pea ar Actua lPosition s nak via aiei The inside of the PositionController block is shown below Kp is the adjustable parameter P C oderNrmottt Controller PositionControlker lOl xi Fle Est View Qheley Dagem Fmuis on pahys Code Took tiio a7 8A e Ca k bd hiak LOR eh 165 You will get the simulation execution results Scope as shown below The characteristics will be changed by changing Kp FI Scope a ja lt e a annl O x CommandPosition Actual Position CommandVelocity ActualVelocity 3 Setting up the System i 3 1 System Setup Procedures The operation procedure of Simulink and Sysmac Studio is given below 3 2 1 Outputting the Code using the Simulink PLC Coder v Importing the Code into the Sysmac Studio M Checking the Calculation Accuracy vy Creating the EtherCAT Network Configuration vy Setting the Axis vy Creating Programs vy Creating the Programming Terminal Screen v Preparing the Co simulation of Simulink and Sysmac Studio vy Debugging by Simulation You make a setting for outputting the code for the Sysmac Studio and output the code with test code You import the code outputted by the Simulink PLC Coder into the Sysmac Studio You confirm that the code has the same calculation accuracy as the Simulink within the acceptable error range by a simulation You regi
2. EN Additional Information Additional information to read as required This information is provided to increase understanding or make operation easier Terms and Conditions Agreement i CPU Units of NJ series Machine Automation Controllers Warranties a Exclusive Warranty Omron s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron or such other period expressed in writing by Omron Omron disclaims all other warranties express or implied b Limitations OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED ABOUT NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF THE PRODUCTS BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE Omron further disclaims all warranties and responsibility of any type for claims or expenses based on infringement by the Products or otherwise of any intellectual property right c Buyer Remedy Omron s sole obligation hereunder shall be at Omron s election to i replace in the form originally shipped with Buyer responsible for labor charges for removal or replacement thereof the non complying Product ii repair the non complying Product or iii repay or credit Buyer an amount equal to the purchase price of the non complying Product provided that in no event shall Omron be responsible for w
3. Model Rated Power w Brake Rated Torque N m Rotor Inertia kg m2 Resolution pulse rev R88M K05030H 52 50 1048576 131072 1048576 no 0 16 0 0000025 R88M KO5030T S2 50 no 0 16 0 0000025 R88M KO5030H B S2 50 0 0000027 R88M KO05030T B S2 50 0 0000027 131072 1 5 Delete the Servo Drive block and replace it with the Sysmac IO Device block that you added Connect the input signal lines and output signal lines of the Sysmac IO Device block as shown below lt Inputs gt Modes of operation Constant 9 Cyclic synchronous velocity mode csv Cmd Pos Ground Not used Cmd Vel Output MC_Axis0O00 Cmd Vel from the Sysmac Controller Interface block Motor actual velocity Output MotorActualVelocity from the Machine block lt Outputs gt Modes of operation display Terminator Not used Torque demand Input Torque to the Machine block Act Pos Input MC_Axis000 Act Pos to the Sysmac Controller Interface block Act Vel Scope Act Trq Terminator Not used Because the unit of input Torque to the Machine block is convert the value to the torque in N m Fie dt View Oispley Diagram Smuleton anaiss Code Fools Hep E MM Ob K h ferw oF Ge 39 40 X Additional Information Refer to the Sample File No 6 SILSDemoMC md for the Simulink model that you created by the above operation You can add the following axis variable members to the In list Actual current position Act Vel Actual curre
4. is supported Even if other value is n set it operates as if 0 is set Pn214 Damping Frequency 1 a Damping Freguenoy 1 s Pn215 Damping Filter 1 Setting Pn216 Damping Frequency 2 Pn217 Damping Filter 2 Setting Pn110 Speed Feed forward Gain Speed Feed forward Pn111 Speed Feed forward Command Filter Pni14 Gain Switching Input Operation Mode Selection Gain switchin Switching Mode in Position Control Only 0 1 and 4 are supported Only Always gain 1 and Pn115 If other value is set it operates as if O Always gain 1 is set Always gain 2 are ted Switching Mode in Speed Control Only 0 and 1 are supported If supported other value is set it operates as if 0 Always gain 1 is set Pn100 Position Loop Gain 1 Position control Pn105 Position Loop Gain 2 Pn101 Speed Loop Gain 1 Pn106 Speed Loop Gain 2 Speed control Pn102 Speed Loop Integral Time Constant 1 Pn107 Speed Loop Integral Time Constant 2 Pn004 Inertia Ratio 56 C rmon o o o o O Torque Force Command Filter Time Constant 1 Torque Force Command Filter Time Constant 2 External Torque Force Limit 1 PDO 3013 hex External Torque Force Limit 2 PDO 3522 hex Torque Force limit 2 Simulation Target Functions of Analog Input Gx series EtherCAT Remote I O Terminal Available channel 0x3100 00 Analog Input Available Channel Choice 0x3101 01 04 Analog Input Range 0x3132 01 04
5. Axis Settings from the menu Multview Explorer new Controller_0 Y cz EtherCAT P Nodel R88D KNASL ECT E001 b amp CPU Expansion Racks 1 0 Map gt amp Controller Setup amp Motion Control Setup L Add Axis Setting Table SSS Multiwiew Explorer new Controller 0 Y ct EtherCAT b Nodel R88D KNA5L ECT E001 b amp cp U Expansion Racks I O Map Pi gt Controller Setup 4 Motion Control Setup Y i Axis Settings L r H 5 amn m 1 Ts Axes Group Se z s 8 AXES UTO up wt k MC_Axiso00 0 amp Cam Data Settings Event Settings R Task Settings E Data Trace Settings 3 Make the Axis Basic Settings as shown below to assign the Servo Drive to the axis Axis type Servo axis Output device 1 Node 1 R88D KNA5L ETC E001 Axis use Used axis v Axis type Servo axis v Feedback control No control loop v Input device 1 lt Not assigned gt vw Channel Input device 2 lt Not assigned gt Channel Input device 3 lt Not assigned gt Channel Output device 1 Node 1 R88D KNASL ECT E001 v Channel Output device 2 lt Not assigned gt v Channel Output device 3 lt Not assigned gt vV Channel gt Detailed Settings 28 Unit of display pulse O deqee inch Command pulse count per motor rotation 131072 Bene Work travel distance per motor rotation od mm rev Doferanra link ennwercinn fnr da Command pulse count per motor rotation UDINT Work travel distance per motor rot
6. Start stop of movement to the command position and status display Status display of completion of movement to the command position Command position setting and display Current position display Velocity command value display EN Additional Information Refer to the Sample File No 2 PLCCoderDemoMC smc2 that is provided separately for the above program 33 3 2 8 Preparing the Co simulation of Simulink and Sysmac Studio You add the Sysmac Controller Interface block to the Simulink model and make the setting for data exchange between Simulink and Sysmac Studio Also you add the Sysmac IO Device block to link with the parameter settings of the Servo Drive in the Sysmac Studio project 1 Open the Sample File No 1 PLCCoderDemoMC mal that is provided separately on the Simulink PLOCockerDeemnhtc Bie Edt yew Qp Cinque geniai pave Code Jook Help ce af Sree SoH E vc C Freee Ac tualPseition Ceomma nd Weelocity Aye ture elozity Torque Moeternietualvelcity Oaribraller Machira Servo Driver 2 Select the Sysmac Controller Interface block from the Simulink Library Browser and add it to the Simulink model that you opened in Step 1 s Simulink Library Browser Enter search term r Ry 7 P Fi 2 OMRON Sysmac Studio t Simulink an Commonly Used Blocks Cont
7. 2014 9 36 31 AM 11 20 2013 9 51 42 AM 11 20 2013 9 51 42 AM 12 19 2014 10 17 37 Al 12 19 2014 10 17 37 Al 12 16 2014 9 36 30 AM 12 16 2014 9 36 30 AM Exists only on one side Controller Data Name Y NJ501 Y EtherCAT Compare Y CPU Expansion Racks WY CPU Rack Units Y Controller Setup Operation Settings Built in EtherNet IP Por Y Motion Control Setup Axis Settings Axes Group Settings Cam Data Settings Event Settings Task Settings Y POU Y Programs Y PositionControl Variables StateTransition InitialOperation MainOperation Y Functions Y InPosition Variables Clear the present values of variables with Retain attribute Valid for Transfer to Controller Do not transfer the program source Valid for Transfer to Controller All data will be re transferred when this option is changed Do not transfer the following All items are not transferred G series Special Unit parameters and EtherCAT slave backup parameters Slave Terminal Unit operation settings and NX Unit application data Do not transfer the EtherNet IP connection settings built in port and Unit Transfer To Controller Transfer From Controller 4 Click the Button in the Controller Status Pane ONLINE ERR ALM amp EJ 192 168 A t EeP E L RUN mode D Confirm that Synchronized is displayed in the detailed view of controller status Controller Status Controller Status Details new _Controller_0 Normal communications H
8. Analog Input Moving Average NxX series EtherCAT Slave Terminals Available channel 0x5002 01 08 Ch1 8 Enabled Disabled Torque Force filter 0x5003 01 08 Ch1 8 Range Setting 0x5004 01 08 Ch1 8 Input Moving Average Time 57 58 3 Simulation Target Functions of Analog Output GX series EtherCAT Remote I O Terminal Available channel 0x3200 00 Analog Output Available Channel Choice Range 0x3201 01 02 Analog Output Range NxX series EtherCAT Slave Terminal Available channel 0x5010 01 04 Ch1 4 Enabled Disabled 0x5011 01 04 Cht 4 Range Setting MEMO MEMO MEMO Authorized Distributor
9. Data Library Options Clear the present values of vaniables with Retain attribute Do not transfer the program source All data will be re transfenred when this option amp changed Do not transfer the following All items are not transferred C series Special Unit parameters and EtherCAT slave backup parameters Slave Terminal Unit operation settings and NX Unit application data Do not transfer the EtherNet IP connection settings built in port and Unit Execute Close 45 3 2 11 Transferring Screen Data to Programmable Terminal You transfer the screen data that you created to the physical Programmable Terminal 1 Select Online from the HMI Menu of the Sysmac Studio PLCCoderDemoMc HMI_NA5S_0 Sysmac Studio File Edit View Insert Project HMI Simulation Tools Help z Communications Setup i fii Change Device Multiview Explorer Online tS Chrl w HMLMAS 0 Synchronization PLOCoderDemoMc HMI_NAS5 0 Sysmac Studio l T E E E Change Device Multview Explorer Offline Ctrl Shitt w Synchronization HMI Clock Update HMI Name HMIMAS 0 NA Device Media Device Configurations and Setup gt Security Clear All Memory Reset HMI Device Synchronisation Source Source Modified Date Target Modified Date VW NAS Y Project Y Pages Page0 2015 01 07 11 18 09 Y Subroutines Detailed Comparison gt amp rrr amp h P SubroutineGroup0 Variables Global Ev
10. Script X X Data Workspace De Clear Workspace v we Clear Commands v X of Add Ons v FILE VARIABLE CODE IMULINK ENVIRONMENT RESOURCES qa gt Ya M gt C gt Program Files x86 OMRON Sysmac Studio MATLAB gt Ql Command Window 15 16 Right click Setup j and select Run from the menu MATLAB R2014b See C2 Search Documentation gt n J n lt A gt C gt Program Files x86 OMRON SysmacStudio MATLAB gt v2 Current Folder Command Windo Workspac Q Open Outside MATLAB lected Fies Folaers Setup p P code Confirm that Sysmac Studio interface setup has been completed successfully is displayed in the Command Window ee ae ey 2 eee es PLOTS PPS Peg ine RA Search Documentation pP A Sysmac Studio interface setup has been completed successfully gt gt i 2 2 Designing the Control Algorithm You build a model for the Controller and controlled system using the Simulink The code is created for the Controller by the Simulink PLC Coder Therefore you need to build the model using a block supported by the Simulink PLC Coder EN Additional Information Access the website of The MathWorks Inc or refer to the Simulink User Guide that is provided by The MathWorks Inc for how to use the Simulink Access the website of The MathWorks Inc or refer to the Simulink PLC Coder User s Guide that is provided by The MathW
11. limited to the refund of the license fee paid to OMRON for the Software 2 LIMITATION OF LIABILITY 1 THE ABOVE WARRANTY SHALL CONSTITUTE THE USER S SOLE AND EXCLUSIVE REMEDIES AGAINST OMRON AND THERE ARE NO OTHER WARRANTIES EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO WARRANTY OF MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE IN NO EVENT OMRON WILL BE LIABLE FOR ANY LOST PROFITS OR OTHER INDIRECT INCIDENTAL SPECIAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF USE OF THE SOFTWARE 2 OMRON SHALL HAVE NO LIABILITY FOR DEFECT OF THE SOFTWARE BASED ON MODIFICATION OR ALTERNATION TO THE SOFTWARE BY THE USER OR ANY THIRD PARTY 3 OMRON SHALL HAVE NO LIABILITY FOR SOFTWARE DEVELOPED BY THE USER OR ANY THIRD PARTY BASED ON THE SOFTWARE OR ANY CONSEQUENCE THEREOF 3 APPLICABLE CONDITIONS USER SHALL NOT USE THE SOFTWARE FOR THE PURPOSE THAT IS NOT PROVIDED IN THE ATTACHED USER MANUAL 4 CHANGE IN SPECIFICATION The software specifications and accessories may be changed at any time based on improvements and other reasons 5 EXTENT OF SERVICE The license fee of the Software does not include service costs such as dispatching technical staff 6 ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions Precautions e When building a system check the specifications for all de
12. shown below Servomotor Table ooo oem Specifications ee ee 1 This value is set to 131 072 to match the resolution of the servomotor with 17 bit absolute encoder 2 Inertia ratio Load inertia rotor inertia x 100 1500 13 i 1 3 Sample File List 14 The following sample files are related to this Guide We provide the sample files separately wo FileName Desoripton 1 PLCCoderDemoMC madl File that contains the Simulink model described in 2 2 Designing the Control Algorithm of this Guide 2 PLCCoderDemoMC smc2 Sysmac Studio project file that contains Sysmac Studio programs described in 3 2 6 Creating Programs of this Guide 3 PLCCoderDemoMC_Torque smc2 Sysmac Studio project file that contains the program to output ig 4 PLCCoderDemoMC_ADDA mdl File that contains the Simulink model that shows the usage example of GX AD0471 Analog Input Terminal and GX DA0271 Analog Output Terminal 5 PLCCoderDemoMC_ADDA smc2 Sysmac Studio project file that shows the usage example of GX AD0471 Analog Input Terminal and GX DA0271 Analog Output Terminal Preparing the Co simulation of Simulink and Sysmac Studio of this Guide 7 RMCDemoMC mdl File that contains the Simulink model described in 3 2 12 System Operation Check of this Guide PLCCoderDemoMC_ LD mdl File that contains the Simulink model described in 4 7 a SILSDemoMC mdl File that contains the Simulink model described in 3 2
13. the device manuals Model NJ501 1300 Unit version 1 09 NJ PA3001 XS5W T421 CMD K Manual name NJ series CPU Unit Hardware User s Manual Cat No W500 NA5 12W101S version 1 01 NA series Programmable Terminal Hardware User s Manual Cat No V117 R88D KNA5L ECT version 2 10 R88M K05030T R88A CAKA003S AC Servomotors Servo Drives Built in EtherCAT Communications User s Manual Cat No 1576 R88A CRKA003C Commercially available USB cable 1 Use a USB2 0 or 1 1 cable A connector B connector 5 0 m max The names and versions of the software that are used in this Guide are given below Install the following software to a computer OS Windows 7 64bit Manufacturer Version OMRON Corporation Version 1 12 The MathWorks Ine R2014b The MathWorks Inc R2014b i 1 2 The Servo System Constructed in this Guide This guide describes the procedure to start up the system for single axis positioning with a servo Drive and Servomoior for one axis The operations from creating the control algorithm using the Simulink from the MathWorks Inc to operation check using the actual devices are given as the startup procedure The single axis Servo system that is set up in this Guide performs the single axis positioning operation on the following path Position Travel distance 100 mm Maximum velocity 50 mm s Maximum acceleration 185 mm s Time The mechanical configuration is as
14. their respective companies j Software Licenses and Copyrights The NJ series CPU Units and Sysmac Studio incorporate 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 Related Manuals The following manuals are related to the NJ series Controllers Use these manuals for reference Manual name Sysmac Studio Version 1 Operation Manual NJ series CPU Unit Hardware User s Manual NJ series CPU Unit Software User s Manual NJ series CPU Unit Motion Control USER S MANUAL Model numbers Application W504 SYSMAC SE2ao00 W500 W501 W507 Learning about the operating procedures and functions of the Sysmac Studio Learning the basic specifications of the NJ series CPU Units including introductory information designing installation and maintenance Mainly hardware information is provided Learning how to program and set up an NJ series CPU Unit Mainly software information is provided Learning about motion control settings and programming concepts Description The operating procedures of the Sysmac Studio are described An introduction to the entire NJ series system is provided along with the following information on a Controller built with an NJ501 CPU Unit Features and system co
15. to the Act Vel current velocity variable of the Sysmac Studio Unit conversion of the axis variables i e calculation based on the electronic gear ratio setting uses the command pulse count per motor rotation and work travel distance per motor rotation at the simulation start of the Simulink Therefore if the command pulse count per motor rotation or work travel distance per motor rotation is changed by the MC_WriteAxisParameter instruction during the simulation the Simulink cannot correctly write the values to the Act Pos actual current position variable and the Act Vel actual current velocity variable of the Sysmac Studio Do not change the command pulse count per motor rotation or work travel distance per motor rotation when the values are written from the Simulink to the Act Pos actual current position variable and the Act Vel actual current velocity variable of the Sysmac Studio EN Additional Information Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for the program debugging procedures The control performance is changed by changing the gain and other parameters of the Servo Drive Refer to 4 2 Sysmac IO Device Support Models and Simulation Target Functions for the simulation target functions 3 2 10 Transferring the Programs to the CPU Unit and Servo Drive You transfer the programs and parameter settings to the physical NJ series CPU Unit and Servo Drive 1 Select Online from the Controller
16. 8 P Programming in Ladder Diagram Language of this Guide PLCCoderDemoMC_LD smc2 Sysmac Studio project file that contains Sysmac Studio programs described in 4 7 Programming in Ladder Diagram Language of this Guide 2 Before You Begin l 2 1 Wiring the Devices and Installing the Software You wire the devices and install the software on the computer as described in 1 1 System Configuration and Configuration Devices EN Additional Information Refer to the manuals for the devices that are used in the system for wiring of the devices Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for installation of the Sysmac Studio Access the website of The MathWorks Inc or refer to the MATLAB amp Simulink Installation Guide that is provided by The MathWorks Inc for installation of MATLAB Simulink and Simulink PLC Coder You make the MATLAB environment settings for using the linked functions of Simulink and Sysmac Studio according to the following procedure Start the MATLAB and select the MATLAB folder in the directory where the Sysmac Studio is installed as the Current Folder The default installation folder is C Program Files x86 OMRON Sysmac Studio MATLAB TT JA New Variable Analyze Code a a E Community Lop Gr I Fa Find Files x Lig Ue x au i Q Preferences 7 ae Lip Open Variable EP Run and Time Request Support New New Open Compare Import Save Simu Layout CF Set Path Help
17. Close Buiton Synchronization Legend Synchronized Computer Data Name Y NJSOL Y EtherCAT p Y CPU Expansion Racks WY CPU Rack Units Y Controller Setup Operation Settings Y Motion Control Setup Axis Settings Axes Group Settings Cam Data Settings Event Settings Task Settings Y POUs Y Programs Y PositionControl Variables StateTransition InitialOperation MainOperation Y Functions Y InPosition Variables LOLO LOLOL LOL im O LOLLL LOLLO i D A Computer Update DateController Update Date 12 19 2014 10 17 36 Al 12 19 2014 10 17 36 Al 12 16 2014 9 36 49 AM 12 16 2014 9 36 49 AM 12 16 2014 9 36 49 AM 12 16 2014 9 36 49 AM 11 20 2013 10 15 15 Al 11 20 2013 10 15 15 Al 11 20 2013 10 15 15 Al 11 20 2013 10 15 15 Al 11 20 2013 10 15 15 Al 11 20 2013 10 15 15 Al 12 16 2014 9 36 48 AM 12 16 2014 9 36 48 AM Built in EtherNet IP Por 1 7 2015 11 07 11 AM 1 7 2015 11 07 11 AM 12 16 2014 9 36 50 AM 12 16 2014 9 36 50 AM 12 16 2014 9 36 50 AM 12 16 2014 9 36 50 AM 12 16 2014 9 36 50 AM 12 16 2014 9 36 50 AM 11 20 2013 9 37 12 AM 11 20 2013 9 37 12 AM 12 16 2014 9 36 48 AM 12 16 2014 9 36 48 AM 12 16 2014 9 36 49 AM 12 16 2014 9 36 49 AM 11 20 2013 9 51 42 AM 11 20 2013 9 51 42 AM 11 20 2013 9 51 42 AM 11 20 2013 9 51 42 AM 12 19 2014 10 17 37 Al 12 19 2014 10 17 37 Al 12 16 2014 9 36 30 AM 12 16 2014 9 36 30 AM 12 16 2014 9 36 31 AM 12 16 2014 9 36 31 AM 12 16 2014 9 36 32 AM 12 16 2014 9 36 32 AM 12 16 2014 9 36 31 AM 12 16
18. D GaGk Wu Heiizeg gt Step Forward A cL cel chie aT spo 0 a La i W E P Output k gP Stepping Options Debug 4 Click the Power ON Button on the Test Window for the Programmable Terminal The Servo is turned ON and the Ready Lamp is lit E HMI MAS 0 with mew Controller 0 Ready Home Run Done Target Position Actual Position Command Velocity D Click the Home Button on the Test Window for the Programmable Terminal The axis is returned to the home TI Pe 1_AS_0 with new _Controfier_0 Ready Home Run Done CME a a Target Position 100 Actual Position g Command Velocity Click the Start Button on the Test Window for the Programmable Terminal The axis starts moving to the Target Position and the Run Lamp is lit The Actual Position value and Command Velocity value change When the movement is completed the Done Lamp is lit Ready Home Run Done P D a gt Target Position Actual Position 100 Command Velocity Check the simulation results Scope of the Simulink You can confirm that you got the similar results as the waveform shown in 1 2 The Servo System Constructed in this Guide and 2 2 Designing the Control Algorithm Use the following procedure to stop the simulation Select Stop from the Simulation Menu of the Simulink File Edit View Display Diagram Simulation Analysis Code Tools Help Pa v D 2 Update Diagram Ctrl D a Model Configuration Parameters Ctrl SILSDe
19. Drive Communications User s Manual AC Servomotors Servo Drives R88D KNo ECT L R88L EC Learning detailed specifications EtherCAT Communications of a G5 series Servo Drive Linear Motor Type User s Manual EtherCAT Slave Units User s Learning detailed specifications of a GX series EtherCAT Slave Manual Unit W488 GX ooo0o0000 Model numbers Application Description The instructions in the instruction set IEC61131 3 specifications are described When programming 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 The motion control instructions are described When programming 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 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 and Nu series CPU Unit Software User s Manual Cat No W501 This manual explains how to install and wire the Servo Drive set parameters needed to operate the Servo Drive and remedies to be taken and inspection methods to be used in case that problems occur This manual explains how
20. Export Global Variables i Comments for Variables and Data Types new Controller 0 Update Configurations and Setup Transfer Data EtherNet IP Connection Settings Option Select the PLCCoderDemoMC xml file that was outputted in the previous section in the Import ST Program Dialog Box I Je e coroner vocal a 0c per ES Organ pew Folder TEAREN Ur Pavontes EE Geskten dE Cowra 2 hagant Places al Libraries _ Documents ab hu kal Foires H en jE Computer E oa tisk coe Dala 0 fig Nebwerk fide peme ri ECodrlermahit snl Ji preegram formal aml emes ie oe The data is imported and the programs functions function blocks data types and global variables in the XML file are added to the project of Sysmac Studio Multview Explorer new Controller 0 T gt Y E Pou y LB MainTB L Functions Function Blocks LE TestBench LE Controller LE CommandPositionGenerator LE PositionController P Data b PA Tasks The Controller block whose code is outputted by the Simulink PLC Coder and its internal blocks CommandPositionGenerator and PositionController are imported as function blocks of Sysmac Studio TestBench is a function block for a test to call the Controller function block MainTB is a program to call the TestBench function block EN Additional Information The TestBench function block and the MainTB program are outputted when the Generate testbench for subsystem check box
21. Ge 1 1G 7 iL EL i O08 JERE Labora Lig JIT LARGE 3 2 9 Debugging by Simulation You debug the programs and screens that you created by the SILS Software In the Loop Simulation 1 Select Run witn NA Simulator from the Simulation Menu of the Sysmac Studio PLCCoderDemoMc new_Controller_0 Sysmac Studio File Edit View Insert Project Controller Simulation Tools Help 2 Run FS Y A F f 4 f amp w Run in PROGRAM mode AIL FS Multiwiew Explorer new _Controller_0 Stat Slentee Step In O P EtherCAT l Continuous Step Execution CPU Expansion Racks Execute One Scan 1 0 Map gt F Controller Setup Breakpoint Window Alt F9 b 1 Motion Control Setup amp Cam Data Settings I Event Settings M Task Settings M4 Data Trace Settings E Pous ith a Start NS Integrated Simulation To YS Programs Calibration Run in Execution Time Estimation Mode Simulator Option Please select a device to use in this Integrated Simulation HMI HMI NAS 0 Cancel The Simulator of the Programmable Terminal is started Ready Home Run Done DE a a Target Position 100 Actual Position Command Velocity 41 3 Select Run from the Simulation Menu of the Simulink SILSDemohtt File Edit View Display Diagram Simulation Analysis Code Tools Help E 2 Update Diagram Ctrl D Model Configuration Parameters Ctrl E Mode Data Display Ame Snimaton Crta TATE w Enable Fast Restart E ter e Se ee n SLE
22. IN marla No Controller error Synchronized No user defined enor IP address Subnet mask Operation authority Primary periodic task execution time Primary period 1000 000 us EtherNet IP Tag Data Link One of more connections are stopped or no connection setting EtherCAT Process Data Communications Communicating Serial ID RO1 29713 4218 Variable in Forced Refreshing None 192 168 250 1 200 209 200 0 Unused 262 560 Us List of Controllers Connected Online CPU Unit name new Controller _0 Controller emor User defined emor Il No Controller error No user defined erre IP address Communications Operating mode 192 168 250 1 Normal commun RUN mode Open the Simulink model file that you used in 3 2 9 Debugging by Simulation or the separately provided the Sample File No 6 SILSDemoMC mdl on the Simulink STL SDewmoh4l Gie dt wew splay Degem Simulaton Analyses Code Foos Hep i SE M RC ENOO fume J Qe Pal SL SDemoMe gt Double click the Sysmac Controller Interface block The setting dialog box for exchanging the data between Simulink and Sysmac Studio is displayed wruma ontrofier bateviace Connection target x Saecirg ktere 3 RRRREREEE PEGE AAHEHE I a ar Ag m o ad nl neh 3 k RRARARBR ad k W Descriptor Set ihe commecton tapet of he Spprac Cortoer intertace Pioi 49 50 Because the In list is not used delete the variable in the list Sele
23. Menu F3 PLCCoderDemoMC new_Controller_0 Sysmac Studio er z Communications Setup lw a fa Change Device Multiview Explorer a a new_Controller_0 Transfer Mode 3 CPU Expansion Racks I O Map Controller Setup Set Reset Motion Control Setup Forced Refreshing Cam Data Settings MC Test Run Event Settings ask Settings bW Data Trace Settings Man amp Programs V t PositionControl L amp 3 PLCCoderDemoMC new_Controller_0 Sysmac Studio Lam Multiview Explorer Offline Ctrl Shift w new_Controller_0 Synchronization Ctrl M From Controller Ctrl Shift Mode gt CPU Expansion Racks I O Map Stop Monitoring gt amp Controller Setup Set Reset gt Motion Control Setup Forced Refreshing fc eras af Cam Smg MC Test Run Event Settings MC Monitor Table M Task Settings 4 Data Trace Settings SD Memory Card Controller Clock Release Access Right Update CPU Unit Name ogramming v A pous Vea Programs PositionControl Security L amp StateTransiti L amp InitialOperati a r a Clear the selection of the Dont transfer the following All items are not transferred Check Box Click the Execute Button Transfer to Controller oj The following data will be transferred Configurations and Setup EtherCAT CPU Expansion Racks I O Map Controller Setup Motion Control Setup Cam Data Settings Event Settings Task Settings Programming POUs
24. Nput cccesesseeeeeeeeeeeeees 57 3 Simulation Target Functions of Analog Output cccccsseeeeeeeeeeeeees 58 1 System to Construct and Configuration Devices i 1 1 System Configuration and Configuration Devices This section describes the system configuration and configuration devices used in this Guide The following figure represents the system configuration Computer Sysmac Studio MATLAB Simulink and Simulink PLC Coder are installed NA5 12W101S Programmable Terminal EtherNet IP communications cable EtherCAT communications MM RssD KNA5L ECT cable Servo Drive I Node Address 1 Axis 0 l R88M K05030T Servomotor P Precautions for Correct Use Please start only one session each for the MATLAB and the Sysmac Studio lf more than one session is started for either of them the co simulation of Simulink and Sysmac Studio cannot run Also more than one Simulink model file cannot be executed in parallel i e at the same time 11 12 Device name NJ series CPU Unit NJ series Power Supply Unit EtherCAT communications cables EtherNet IP communications cables Programmable Terminal AC Servo Drives AC Servomotors Motor Power Cables for the AC Servo Drives Encoder Cables for the AC Servo Drives USB cable The models of the devices that are described in this Guide are given in the following table When selecting devices for an actual application refer to
25. OMRON Machine Automation Controller NJ series Startup Guide for Simulink amp Sysmac Studio SYSMAC SE20010 NJ501 OO00 NJ301 OO00 R88D KNO ECT GX AD0471 DA0271 Guide NX ADO000 NX DAODO000 NA5 O0WO0 000 NA5 OOWOO00 Startup SYS het TEAT always in control OMRON 2013 2015 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of OMRON No patent liability is assumed with respect to the use of the information contained herein Moreover because OMRON is constantly striving to improve its high quality products the information contained in this manual is subject to change without notice Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication Introduction The NJU series Startup Guide for Simulink and Sysmac Studio hereinafter may be referred to as this Guide describes the startup procedures that are required to use a combination of Simulink from The MathWorks Inc and NJU series CPU Unit for the first time and the basic operating instructions for the Sysmac Studio A simple single axis positioning example is used for the d
26. PU Unit to the Simulink j 3 2 Simulink PLC Coder amp Sysmac Studio Operation Procedure 3 2 1 Outputting the Code using the Simulink PLC Coder You make a setting for outputting the code for the Sysmac Studio and output the code with test code from the Simulink Open the Sample File No 1 PLCCoderDemoMC mal that is provided separately on the Simulink TTA EO _ a o gt Torque MotorActualVebcity Code Menu File Edit View Display Diagram Simulation Analysis Code Tools Help Check Subsystem Compatibility Generate Code for Subsystem Automatic Import not supported for the selected Target IDE Navigate to Code Solver Data Import Export 5 Optimization Diagnostics Hardware Implementation Model Referencing 5 Simulation Target PLC Code Generation c ts Optimization Symbols Report 21 Select the Generate testbench for subsystem check box E Operon es E Simulation Torget ale y PLC Code Generation a eg Click the Apply Button Mordvio ii Model Referencing Simulation Target Optimisation nent Hardware Implementation Model Referencing 5 Simulation Target OMRON Sysmac Studio plesre Optimization Symbols Report The PLCCoderDemoMC xml file is saved into the picsrc folder specified in Code Output Directory Pal Diagmostic Viewer ERA Dae PLCCoderDemo 63 PLC Coder Generate Code 1 6 29 42 AM Jan T 2015 Elapsed 8 sec ij PLC code generat
27. Select Run from the Simulation Menu of the Simulink File Edit View Display Diagram Simulation Analysis Code Tools Help aly amp r Update Diagram Ctrl D Model Configuration Parameters Ctrl4 at ae Data Display Stateflow Animation a RMCDemoMc gt amp Enable Fast Restart Step back uninitialized a SEEN D gt Step Forward Stop Ci Snitt Output b GP Stepping Options Debug 14 Click the Yes Button in the Sysmac Controller Interface Dialog Box The value of the Kp workspace variable of the MATLAB 10 in the Sample File No 9 is written to the Kp variable of the Controller Sysmac Controller Interface g x The present values of the Controller s variables registered in the A Parameter list of the Sysmac Controller Interface block will be changed to the values of the workspace variables of MATLAB Do you want to change the values 51 15 Press the Power ON Button on the physical Programmable Terminal The Servo is turned ON and the Ready Lamp is lit Ready Howe Rum gt larget Position 100 Actual Position 1 6 Press the Home Button on the physical Programmable Terminal The axis is returned to the home Target Positron Actual Postion Command Velocity Ez 1 Press the Start Button on the physical Programmable Terminal The axis starts moving to the Target Position and the Run Lamp is lit The Actual Position value and Command Velocity value change W
28. and accessories may be changed at any time based on improvements and other reasons It is our practice to change part numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the Product may be changed without any notice When in doubt special part numbers may be assigned to fix or establish key specifications for your application Please consult with your Omron s representative at any time to confirm actual specifications of purchased Product Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions i Sysmac Studio Automation Software 1 WARRANTY 1 The warranty period for the Software is one year from the date of purchase unless otherwise specifically agreed 2 If the User discovers defect of the Software substantial non conformity with the manual and return it to OMRON within the above warranty period OMRON will replace the Software without charge by offering media or download from OMRON s website And if the User discovers defect of media which is attributable to OMRON and return it to OMRON within the above warranty period OMRON will replace defective media without charge If OMRON is unable to replace defective media or correct the Software the liability of OMRON and the User s remedy shall be
29. arranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis confirms that the Products were properly handled stored installed and maintained and not subject to contamination abuse misuse or inappropriate modification Return of any Products by Buyer must be approved in writing by Omron before shipment Omron Companies shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components circuits system assemblies or any other materials or substances or environments Any advice recommendations or information given orally or in writing are not to be construed as an amendment or addition to the above warranty See hiip Awww omron com global or contact your Omron representative for published information Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED IN CONTRACT WARRANTY NEGLIGENCE OR STRICT LIABILITY Further in no event shall liability of Omron Companies exceed the individual price of the Product on which liability is asserted Suitability of Use Omron Companies shall not be responsible for conformity with any standards codes or regulations which apply to the combination of the Product in the Buyer s application o
30. ation LREAL eh Sel aoe tot Number of pulses pulse 4 Make the Unit Conversion Settings according to the mechanical configuration Unit of display mm Command pulse count per motor rotation 131072 pulse rev Work travel distance per motor rotation 96 mm rev ce Make the Operation Settings according to the mechanical configuration Maximum velocity 50 mm s Maximum jog velocity 50 mm s wv Volocitv Acceleratinn MDerceleratinon Maximum velocity mm s Velocity warming value EL Start velocity mm s Maximum jog velocity mm s Mavim m arralaratinn aE mimic Acceleration warming value Maximum deceleration eee mm s 2 Deceleration warning value Acceleration deceleration over Use rapid acceleration deceleration Blending is changed to Buffered w Operation selection at Reversing Deceleration stop wv Right click Node1 R88D KNA5L ECT under EtherCAT in the Multiview Explorer and select Parameters from the menu to display the Parameter Setting Tab Page Multiview Explorer new_Controller_0 v y V f EtherCAT gt O gt amp cp Edit VO gt 3 Con V amp Moi Y i Data Trace L amp Can gt Eve K Tasi Set the Servo Drive parameters as shown below according to the mechanical configuration Inertia Ratio 1500 Operation Switch When Using Absolute Encoder 1 Use as incremental encoder Input Signal Selection 1 to 3 0 Disabled Contact A EELUI Gupte hirireg Mache Pag city abate Operator S
31. ct MC_Axis000 Act Pos and click the Delete Button KES ispi Pemain leath niun Shien euii ig eee Seed om r obio ran cocrncind win the fer raring oo menie bor Fa vee e en er In order to pass the actual current position and actual current velocity of the NJ series CPU Unit to the Simulink select MWC_Axis000 Act Pos and MC_Axis000 Act Vel from the list of variables in the Sysmac Studio project and click the Register Button for the Out list Beene D an et vient on fhe Dya Std propedt a aped Papper Brag va poe be ers oe oT Berlina to eras tee fa tha Ir a ng gece Brae ee ee ole or pasis om Cancel Gast Duo te Derwent he Ge ae Ce ee eee eee ee ee ee ee re ee ee ee ee Cece gn el eroded OF Bat Sya Tiel Sere a Doyo Tapie thp vrba to ania dees Som Tamuin ip ppr fadia io me jr ME pad nepri the verges 3g Mad akaet vaT TOTe kaio te Daien be r DA Berle bije i ami dr a uerum ee Lemar e et henr Pe er mm be bha demi rina wa bee Sree me Connect the output signal lines from the Sysmac Controller Interface block to the Scope block By keeping MC_Axis000 Cmd Vel connected with the Sysmac IO Device block the value of the MC_Axis000 C md Vel of the NJ series CPU Unit is used in the simulation RMCDemoMC File Edit View Display Diagram Simulation Analysis Code Tools Help ao Oy 67 GOD v ler oma Or ajRMCDemoMc gt Eu tl 2 PI Actud Velacityreal Syemec Controller Interface 13
32. e and MC_MoveZeroPosition instructions Calculation of velocity command values by the Controller function block whose code was outputted by the Simulink PLC Coder Output of velocity command values to the Servo Drive by executing the MC_SyncMoveVelocity instruction Execution of the above operations by the signals from the Programmable Terminal Output of the execution status of the above operations to the Programmable Terminal Toolbox CN a Sif St_Starig THEN P Analog Conversion F IF need irut THEN INIT gt BCD Conversion i ControllertssMet ype SINTO Act thon lt 2 MC Controller e miii SINTSO ActualPosition gt Bit String Pronezing J gt Communications i Controllen ssMethodType SINT 1 ActualPosition 2 MC _Axis0O0 Act Pos gt Comparison Smv_Vel i Controler CommandVelocity l CommandPosition i i Controller CommandPosition b gt Conversion ELSE Z need irst TRUE gt Counter c jal fag 4 Saw Vel LREAL OO 7 P Data Movement Command osition i LALALSO 0 l l gt Data Type Conversion Double click Task Settings in the Multiview Explorer to display the Task Settings Tab Page Multvview Explorer i new Controller_0 T aa G ft EtherCAT b CPU Expansion Racks 1 0 Map amp Controller Setup I Motion Control Setup amp Cam Data Settings gt Event Settings ro Z Data Trace BM rack sctines Set the task period to 1ms in the Task S
33. e erte valves Som Dyan to Speen aae fo Ihe bat arg repair he veretees to eag voes Per Syarat Dose to Dur to the Out at a et he Oe tt OA ae OF han Le ee et RR Mant sae te Re Meee eee 1st Tee OA Gat a virkini in thse oe Dati see a aia ngii he erates he meie em ert gee Derisi ta Syme Dhati Di Hep feat gad ong Se eet So eet ed bo Tyit Tafa be Sia bs he Choe et emleime biho com om tome im cmon somi ime dm Fammen Pi omie done foam imie mm dinei eamm i nA oe ee mn joa Delete the Controller block and replace it with the Sysmac Controller Interface block that you added Connect the input signal line and output signal line of the Sysmac Controller Interface block De gk ye Doa ame pun paa oke pa hi 2 BO B edb e few a Ue Toa Mobonvctaaliel city Syama Controlker ierta Simulink model Simulink Commonly Used Blocks Continuous Discontinuities Discrete Logic and Bit Operations Lookup Tables Math Operations Model Verification Model Wide Utilities Ports amp Subsystems Signal Attributes Signal Routing Sinks Sysmac Controller Interface Sysmac IO Device Additional Math amp Discrete Control System Toolbox HDL Coder Model Predictive Control Toolbox OMRON Sysmac Studio Simulink 3D Animation Simulink Coder Simulink Extras Stateflow Recently Used Blocks 171 Double click the Sysmac IO Device block added in Step 10 The setting dialog box for selecting a device in the Sysmac Studio pro
34. ents Alarms Data Logging Recipe Templates Project Security 2015 01 07 11 18 10 2015 01 07 11 18 10 2015 01 07 11 18 10 2015 01 07 11 18 10 2015 01 07 11 18 10 2015 01 07 11 18 10 2015 01 07 11 18 10 Y Languages English United States 2015 01 07 11 18 10 Y Settings HMI Settings V User Data User Accounts Recipe Instances Resource Files Runtime Files 2015 01 07 11 18 10 2015 01 07 11 18 09 REE A RK kk kKikkk kk eek ee 2014 12 24 10 30 00 Legend Synchronized Exists only on one side Store the HMI Project source code on the NA Device required for uploading the project Relink internal devices in the project valid for Transfer From Device amp Clear the present value of variables with the Retain attribute amp Clear Alarm log data from memory amp Clear Data log data from memory C Transfer To Device Transfer From Device Recompare 46 3 2 12 System Operation Check You execute the operation according to the programs transferred to the physical device and check the operation by comparing it with the simulation results using the function for data acquisition from the NJ series CPU Unit to the Simulink This function can be used when the data are synchronized between the Sysmac Studio and the NJ series CPU Unit Lal Precautions for Correct Use The physical motor will run Thoroughly read and understand the manuals for all devices that make up the system to ensure that the system is used
35. ettings View on the Sysmac Studio so that the period matches the sampling time of the Controller on the Simulink Task Type Task Name Period Execution Co Detailed Execution CTask Period Exceede Task Timeout Detect Ba Priority 4 Primary Periodic Task PrimaryTask ims v Detect v Sms Periodtin w B 31 32 In the Program Assignment Settings View select the PositionControl program that you created bA PrimaryTask Program name Initial status v Run x PLCCoderDemoMCc new_Controller_0 Sysmac Studio Check Selected Prograr Build Controller Rebuild Controller Multtwiew Explorer Mew Controller o Memory Usage 8 Configurations and Set oe eat EtherlAT b CPU Serua Library Online Edit Precautions for Correct Use Check the program that you created Select Check All Programs from the Project Menu The sample programming that is provided in this The sample programming that is provided in this Guide includes only the programming _ only the programming that is required to operate the Servomotors When programming actual applications also program EtherCAT communications device interlocks I O with other devices and other control procedures EN Additional Information Refer to the Sample File No 2 PLCCoderDemoMC smc2 that is provided separately for the above program Refer to 4 7 Programming in Ladder Diagram Language for programming in ladder diagram language The instruction to use dif
36. fers by the command given to the Servo Drive Use the following instructions according to the command type Position command MC_SyncMoveAbsolute Velocity command MC_SyncMoveVelocity Torque command MC_TorqueControl If you use a MC_TorqueControl instruction the command values are not outputted cyclically You need to write the program so that the command values are outputted cyclically Refer to the MC_mySyncTorqueControl of the Sample File No 3 PLCCoderDemoMC_Torque smc2 that is provided separately for the program 3 2 7 Creating the Programming Terminal Screen You insert the Programmable Terminal in the Sysmac Studio project and create a Programmable Terminal screen for the operation and display Select HMI NAS from the Insert Menu of the Sysmac Studio PLCCoderDemoMC new_Controller_0 Sysmac Studio File Edit View Insert Project Controller Simulation f d f Circuit Parts s Controller Multiview Explorer a 7 Measurement Sensor Vision Sensor Slave Terminal nia ion Program us Function meets Function Block Spam Axis Settings a m Axes Group Settings Cam Data Settings i Data Trace Make the settings as shown below in the Add Device Dialog Box and click the OK Button Category HMI ag Select Device Device NA5 1 2W 1 01 L Category Version 1 01 KEO Version Cancel 3I Create a Programmable Terminal screen for the following processing Servo ON OFF operation and status display Homing operation
37. he master with a node address of 1 EOL Model name RBEBD KNASL ECT P Noeel RBSD KNASL ECT E001 Product mame RBBL ENASL LCT gt CPU Expansion Racks Revision 21 P yO Node Address Erate Disate Seitin v senal Numoer QOD Meni noe Shwe all venis OxfOTADO Tee TL 1 00 261th re i RAAD KNSOFFCT Arv 2 1 e607 1 00 2561h re LIGILO ZELEN re as 9 TE RESDKNSOF ECT Rewst Oe fORRDO 261th re f MAN Aw k re E O LA Device name Set a name for the dave aa I ABAD KNISFECT Rev 2 1 f ABAD KN7SF ECT L Revi J RRSD KNISH ECT Rev 2 1 f RRAD KN7SH ECT 1 Rev 1 1 Model name ARAD KNASI Product name RESO KNAS A Revision 2 1 Vendor OMRON Corporat Comment 100v SOW Serv URL EN Additional Information To use digital I O devices analog I O devices and encoder input devices add the devices using the same procedure For data access to the devices that you added register the device variables in the I O Map The examples for using GX AD0471 Analog Input Terminal and GX DA0271 Analog Output Terminal are provided as samples Refer to the Sample File No 4 PLCCoderDemoMC_ADDA mal and No 5 PLOCCoderDemoMC_ADDA smc2 that are provided separately 2 3 2 5 Setting the Axis You add an axis to control the Servo Drive assign the Servo Drive to the axis and make the axis parameter settings Double click Motion Control Setup in the Multiview Explorer and right click Axis Settings and select Add
38. hen the movement is completed the Done Lamp is lit Ready Harme Rur Dane J EE a Target Posen 100 Actual Position 100 Command Velocity g 52 Check the simulation results Scope of the Simulink You can confirm that you got the similar results as the waveform shown in 7 2 The Servo System Constructed in this Guide and 2 2 Designing the Control Algorithm Scope B ja ev i OSA G a F Select Stop from the Simulation Menu of the Simulink RMCDemoMc File Edit View Display Diagram Simulation Analysis Code Tools Help E KA Update Diagram Ctrl O E Model Configuration Parameters Ctrl E Mode Data Display Statefow Animation Fast Restart Disabled Step back uninitialized Pause Step Forward Wo fel Ctrl Shift T pi Output stepping Gptons Debug EN Additional Information Refer to the Sample File No 7 RMCDemoMC mal for the Simulink model created above Perform either of the following operations to change the value of the MATLAB workspace variable to adjust the parameter lt Set the Retain attribute for the variable on the Sysmac Studio in advance lt After the adjustment change the initial value of the variable to the new value on the Sysmac Studio and send the data to the Controller again The present values of non retained variables will change to their initial values when the power supply to the CPU Unit is turned ON when the operation mode is changed and after data download fr
39. ic Ben ig khari t Le se incerta Bibei inten Drai Serio J ig Bip do Bie itera Kegenenicor Reco tecng ic ge EIT toad J E oe er eee ee pE roe Anuj Teia Pa ariora piss ENS f Foi gral Sete l Meir or th I Pul Dipal Erin irh p ijai eek Sahid Peal J Foi bys bisar l Teequa orcs ir id Tae SS i o E rot ore Eateries 7 2 Lia fe ep al alee ite Po Tete r Rou kpi igra peir J rO FeviSerasciecer J oiue Da a iG ugy ai Tesco g foe incu Bira eee S 29 3 2 6 Creating Programs You create a program for calling the function blocks whose code was outputted by the Simulink PLC Coder and a program for outputting command values to the Servo Drive Delete TestBench and MainTB because they are used for the test to check the calculation accuracy Right click TestBench in the Multiview Explorer and select Delete from the menu Multview Explorer new Controller_0 Y 6 Pous Y E Programs LE MainTB L Functions Y Function Blocks E Insert Above Generator Edit Cut Copy ee Rename Move Down Security Propertes Right click MainTB in the Multiview Explorer and select Delete from the menu Multwiew Explorer new Controller_0 LBS Insert Above Edit Cut C i p W Rename Security Propertes Settings For Debugging 30 2 Create the PositionControl program for the following processing Servo ON by executing the MC_ Power instruction Homing by executing the MC_Hom
40. inuous Discontinuities TEn Logic and Bit Operations Lookup Tables be Math Operations Model Verification Model Wide Utilities ben Ports amp Subsystems i Signal Attributes Sysmac Controller Interface Sysmac IO Device be Sources User Defined Functions Additional Math amp Discrete Control System Toolbox Fl HDL Coder Model Predictive Control Toolbox EF Simulink 3D Animation E Simulink Coder EF Simulink Extras Stateflow Recently Used Blocks 34 3 Double click the Sysmac Controller Interface block that you added in Step 2 and display the dialog box where to make the setting for data exchange between Simulink and Sysmac Studio s Simulator vy ere Comtrodier letertace Connector tape Kersey rome pelebe a ete 4 Select MC_Axis000 Act Pos from the list of variables in the Sysmac Studio project and click the Register Button for the In list to pass the actual current position calculated by the Simulink to the Sysmac Studio s Simulator G Ger latreiace ne el ze Hue ne ad Ea pa As of ve abies n Te yora SSS projet s SID apes Regate he ve abet te arte valves Som Dmyire to byrr Sud fo Ihe bat O repair he vareet to ceed voes Pee Syor Bese to Smura to the Cut iit Reems ee ee eet Be eRe e at Be famas Oe ee Ee ae na fast staa ta mna ee at DI Select CommandPosition from the list of variables in the Sysmac Studio project and click the Register B
41. ion successful for PLCCoderDemoMC Controller Generated files plesrc PLCCoderDemoMC xml Component PLC Coder Category PLC Coder EN Additional Information When you adjust the parameters after code generation you generate the code as a variable not a constant literal Access the website of The MathWorks Inc or refer to the Simulink PLC Coder User s Guide that is provided by The MathWorks Inc for the setting procedure 3 2 2 Importing the Code into the Sysmac Studio You import the code outputted by the Simulink PLC Coder into the Sysmac Studio EN Additional Information Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for how to use the Sysmac Studio Start the Sysmac Studio and create a new project Set the Select Device Area as shown below Category Controller Device NJ501 1300 Version 1 09 EY Offline Ra Project Properties New Pr ect pi Project name Author Pa Open Project CEA Commen E Import Type Srazi Project EJ 7 an Select Device Online ss Category L Connect to Device i Dece Version l p License Multview Explorer l new Controler 0 a JOFTIOUraATIONS anad setup Pi Tl n Rename Security Properties Settings For Debugging 23 24 Select Import ST Program from the Tools Menu ba PLCCoderDemoMc new_Controller_0 Sysmac Studio File Edit View Insert Project Controller Simulation Tools Help Multwiew Explorer
42. is selected in Step 4 of 3 2 1 Outputting the Code using the Simulink PLC Coder 3 2 3 Checking the Calculation Accuracy You confirm that the code has the same calculation accuracy as the Simulink within the acceptable error range by a simulation Double click Task Settings in the Multiview Explorer to display the Task Settings Tab Page Multview Explorer new Controller 0 A EtherCAT b CPU Expansion Racks VO Map gt Controller Setup 4 Motion Control Setup amp Cam Data Settings 1 Event Settings al b Data Trace Seti Task Settings Set the task period to 1 ms in the Task Settings View on the Sysmac Studio so that the period matches the sampling time of the Controller on the Simulink Task Type Task Name Period Execution Co Detailed Execution CTask Period ExceedejTask Timeout Detect Ba Priority 4 Primary Periodic Task PrimaryTask Ims v Detect v Sms Period tin w 500us 2ms X 4ms bA PrimaryTask Program name Initial status v iam lancer SS ae Y a 1 amp Run in PROGRAM mode AIL FS Multview Explorer new Controller 0 Suey aliin l Step In E EtherCAT Continuous Step Execution gt CPU Expansion Racks Execute One Scan VO Map p to Current Positic P Controller Setup Breakpoint Window AIt F9 gt i Motion Control Setup Set Clear Breakpoint FC amp Cam Data Settings Clear All Breakpoints Ctrl Shift F i e T int Z Event Settings Calibration Run in Execution Time Estimation M
43. iscussion You can perform the procedures that are presented in this Guide to quickly gain a basic understanding of the combination of Simulink and NJ series CPU Unit This Guide does not contain safety information and other details that are required for actual use Thoroughly read and understand the manuals for all of the devices that are used in this Guide to ensure that the system is used safely Review the entire contents of these materials including all safety precautions precautions for safe use and precautions for correct use i Intended Audience This guide is intended for the following personnel e Personnel in charge of introducing FA systems e Personnel in charge of designing FA systems The personnel must also have the following knowledge e Knowledge of electrical systems an electrical engineer or the equivalent e Knowledge of MATLAB Simulink from The MathWorks Inc e Knowledge of NJ series CPU Units e Knowledge of operation procedure of Sysmac Studio i Applicable Products This guide covers the following products e CPU Units of NJ series Machine Automation Controllers e Sysmac Studio Automation Software e MATLAB Simulink from The MathWorks Inc e Simulink PLC Coder from The MathWorks Inc i Special Information The icons that are used in this Guide are described below P Precautions for Correct Use Precautions on what to do and what not to do to ensure proper operation and performance
44. ject is displayed 01x Select an I O device A Servo Drive assigned to an axis can be selected Node1 R88D KNASL ECT E001 37 38 1 2 Select the Servo Drive whose node address is 7 from the EtherCAT network configuration in the Sysmac Studio project A alolx Select an I O device A Servo Drive assigned to an axis can be selected Oe eT c iN Select the Servomotor to be connected to the Servo Drive ____Model_ Rated Power W Brake Rated Torque N m Rotor Inertia kg m2 Resolution pulse rev R88M KOSO30H S2 50 no 0 16 WAUUUE tess 1048576 R88M K05030T S2 0 0000025 131072 R88M K05030H B S2 0 0000027 1048576 R88M K05030T B S2 0 0000027 131072 13 Select R88M K10030T from the list of servomotors that can be connected to the Servo Drive selected in Step 12 F Sysmac 1 0 Device 5 x Select an I O device A Servo Drive assigned to an axis can be selected EtherCAT Node1 R88D KNASL ECT E001 Model Rotor Inertia kg m2 Resolution pulse rev R88M KOS030H S2 50 0 0000025 1048576 R88M KO5030T S2 50 0 0000025 131072 R88M KO5030H B S2 50 0 0000027 1048576 X R88M K05030T B 52 50 0 0000027 131072 1 4 Click the OK Button to close the dialog box Fs Sysmac I O Device iol xj Select an I O device A Servo Drive assigned to an axis can be selected EtherCAT Node1 R88D KNASL ECT E001 Select the Servomotor to be connected to the Servo Drive
45. moMC PalstsDemomc gt Data Display Wf S Ctrl T Ctrl Shift T R b 43 44 Select Stop from the Simulation Menu of the Sysmac Studio Zil PLCCoderDemoMC new_Controller_0 Sysmac Studio File Edit View Insert Project Controller Simulation Tools Help x aaa s Ctrl Alt Break Multiview Explorer new_Controller_0 v v gt i EtherCAT gt S amp S CPU Expansion Racks I O Map gt Fl Controller Setup Alt F9 gt Motion Control Setup amp Cam Data Settings I gt Event Settings E Task Settings M1 Data Trace Settings MA Prog C v A Pous Tan V Programs P Precautions for Correct Use When the SIM_SetActPos SIM_SetActVel or SIM_SetActTrq simulation instruction is used the Simulink cannot pass the value to the Act Pos actual current position Act Vel actual current velocity or Act Trg actual current torque variable of the Sysmac Studio Do not use the SIM_SetActPos SIM_SetActVel or SIM_SetActTrq simulation instruction to pass the value from the Simulink to the Act Pos actual current position Act Vel actual current velocity or Act Trq actual current torque variable of the Sysmac Studio When the SIM_SetVelocity simulation instruction is used for the encoder axis the Simulink cannot pass the value to the Act Vel current velocity variable of the Sysmac Studio Do not use the SIM_SetVelocity simulation instruction to pass the value from the Simulink
46. n CONTENTS faiigelelUkedilo p mna E cece vases E E A een cece ewe enews T 1 Hended AVdIENCE ezres EEEE ENEN EEE E 1 APOICADIS PIOGUCIS sesini E a 1 SSC ali MONMAL ON oar aa a a a 1 Terms and Conditions AgGreemMent sseccessssssssssseeeeeseceessseeeeeeseeeoeennseeeesessaooes 2 CPU Units of NJ series Machine Automation Controllers sesseeeeeeeeeeeeeeeeees 2 Sysmac Studio Automation Sotware 1 0 a aaa a aaa aa 4 BE AUT ON S ea cca a vue sia aa aaa aaa ERRA 5 TRAGOINANKS eieisteesseieeeered el aur eau a a a ee eee 5 SOlWale LICENSES and CODWNIGINS sorene cntccuetcncieesacetcenstanadantbatccuaanucatacctenccesdiudadats 5 R lated MANUS sinr a aaa aaa aa aa aana 6 PROVISION HISTOIY aicrinicisbnisheinbreni ronin serisi sireni seure ire ree aiea abea E sic rsi s Enae Eren anaE PASPA inis 9 1 System to Construct and Configuration DeViCes cccsssssseeeeeeeeeeeeees 11 1 1 System Configuration and Configuration Devices ccccceseesseeeeeeeeeeeeeeaes 11 1 2 The Servo System Constructed in this Guide cccecceeeeeeeeeeeseeseeeeeeeeeenaes 13 T1535 Sampe FIELES aa oaths ti ca cteee tne ie at eeeeeet alah etutanenneeed 14 2 BEOS YOU BEGIN aa ccc ccc aaa aaa aaa aaa EGE 15 2 1 Wiring the Devices and Installing the Software cccccccssececeeeeeesseesseeeeeeees 15 2 2 Designing the Control Algorithm cccccccccecsssseeeeeeeeesesaeeeeeeeeeeeeeeseaeaeeeeee
47. nction block is written in the ladder diagram language as shown below execute_Smv n ed_init end_init O j ssMethodType EnableOut Controller StepEnable CommandVelocity Smv_Vel Controller ssMethodType EnableOut StepEnable CommandVelocity Smv_Vel MC_Axis000 Act Pos EN Additional Information Refer to the Sample File No 8 PLCCoderDemoMC_LD mal that is provided separately for the Simulink model used in this section Refer to the Sample File No 9 PLCCoderDemoMC_LD smc2 that is provided separately for the program used in this section 55 4 2 Sysmac IO Device Support Models and Simulation Target Functions The following models can be selected for Sysmac IO Device 1 Servo Drive AC Servo Drives G5 series Servo Drives with EtherCAT R88D KNUI ECT communications AC Servo Drives G5 series Linear Servo Drives with R88D KNUI ECT L EtherCAT communications NX series EtherCAT Slave Terminals i 1 Simulation Target Functions of Servo Drives The control mode is switched between position control mode and velocity control mode by specifying 8 Cyclic synchronous position mode csp or 9 Cyclic synchronous velocity mode csv in the Modes or operation input to the Sysmac IO Device block Torque control mode and control mode change during simulation are not supported Smoothing filter l Pn222 Position Command Filter Time Constant first order lag filter Sie Damping Filter Selection Only 0
48. nfiguration Introduction Part names and functions General specifications Installation and wiring Maintenance and inspection Use this manual together with the NJ series CPU Unit Software User s Manual Cat No W501 The following information is provided ona Controller built with an NJ series CPU Unit CPU Unit operation CPU Unit features Initial settings Programming based on IEC 61131 3 language specifications Use this manual together with the NJ series CPU Unit Hardware User s Manual Cat No W500 The settings and operation of the CPU Unit and programming concepts for motion control are 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 Manual name NJ series Instructions Learning detailed specifications Reference Manual on the basic instructions of an NJ series CPU Unit W502 W508 W503 I576 1577 NJ series Motion Control Learning about the specifications Instructions Reference of the motion control instructions Manual that are provided by OMRON NJ series Troubleshooting Learning about the errors that Manual may be detected in an NJ series Controller AC Servomotors Servo Drives R88D KNo ECT Learning detailed specifications Built in EtherCAT R88M K of a G5 series Servo
49. nt velocity Act Trq Actual current torque However you can add only the axes whose Axis use parameter is set to Unused axis changeable to used axis or Used axis and whose Axis type parameter is set to Servo axis or Encoder axis Like the actual access from Servo Drive or encoder to Controller these variables are converted to the data type for the PDO communications Act Pos and Act Vel are converted to DINT data and Act Trq is converted to INT data for unit conversion of axis variables i e calculation based on the electronic gear ratio setting using the command pulse count per motor rotation and work travel distance per motor rotation The Modes of operation input to the Sysmac IO Device block is corresponding to the operation mode of the process data object PDO of the G5 series AC Servomotor Servo Drive with built in EtherCAT communications 6060 hex and refers to 8 Cyclic synchronous position mode csp or 9 Cyclic synchronous velocity mode csv lf any value other than 9 is specified 8 Cyclic synchronous position mode csp is applied The unit of the Toque demand output from the Sysmac IO Device block is To convert the value to the torque in N m use the rated torque to calculate it as shown below Torque N m Torque x rated torque 100 You can confirm the rated torque in the setting dialog box for the Sysmac IO Device block Taloi an O diiit A Sans Dries srignsd in an mri can be ariere EE SSS AA e
50. ode KY Data Trace Settings ee ee ee Start NS Integrated Simulation 25 26 D Double click TestBench in the Multiview Explorer to display the program Multview Explorer Jrations and Se ja MA Programming O OOOO B POU YE Programs LEB MainTh L Functions Function Blocks LEB Controller kee LE CommandPositionGenerator LE PositionController gt FE Data Ed gt FA Tasks Confirm that testVerify is True and testCycleNum is the value of TEST CYCLE COUNT written in the comment Variables 1 2 TEST_CYCLE_COUNT 3001 S 3 4 IF need_init False f testVerify p True testCycleNum p 3001 ed init p False BOQ Ho END You can confirm that calculation accuracy of the output data is the same level as the Simulink within the acceptable error range if testVerify is True You can also confirm that the simulation has been completed if testCycleNum is the value of TEST CYCLE COUNT written in the comment 3 2 4 Creating the EtherCAT Network Configuration You register a R88D KNA5L ECT Servo Drive that operates as axis 0 on the EtherCAT network configuration Double click EtherCAT in the Multiview Explorer to display the EtherCAT Tab Page where you edit the EtherCAT network configuration Multiview Explorer new Controller 0 CPU Expans ka VO Map Controller Setup Motion Control Setup Drag the R88D KNA5L ECT from the Toolbox to the master The Servo Drive is added under t
51. om the Sysmac Studio 53 4 Appendix 4 1 Programming in Ladder Diagram Language To call a function block from a program written in the ladder diagram language the function block must have at least one BOOL input variable and one BOOL output variable This section describes the procedure for adding boolean signals to the block on the Simulink EN Additional Information You also can add BOOL variables on the Sysmac Studio after importing the code without changing the block on the Simulink Add boolean signals to the Controller block on the Simulink PLCCoderDemoMC_LD E 0 xj File Edit View Display Diagram Simulation Analysis Code Tools Help y rly amp a Be O Si 4 b e fs Normal ORs PLCCoderDemoMc_LD a PLCCoderDemoMC_LD gt v ActualPosition Fie EGR View Display Diayam Simulation Analyse Code Took Help we a QOP Erabi Out Command veholy Pll ederienaw4L_LD Controller Sabareni Fie Ede wew Depay Dayam Simulation Anabsis Code Tooke Hap era oe tm G a Gee er a Fe es F omina Takeit Feii iraki 54 2 When the code is imported to the Sysmac Studio the BOOL variables are added as shown below Variables Namespace Using Internals Nam In Out Data Type SINT Extamals StepEnable TargetPosition LREAL meee LREAL EnableQut Output BOOL CommandVelocity Output LREAL The program to call the fu
52. orks Inc for the blocks supported by the Simulink PLC Coder This Guide gives an example for designing the control algorithm so that an NJ series CPU Unit controls the position and a Servo Drive controls the velocity In the Sample File No 1 PLCCoderDemoMC madl that is provided separately a model is created for the Controller Controller block and controlled system ControlledSystem block by the Simulink as shown in the following figure The sampling time of the Controller is set to 1 ms in the sample EN Additional Information Set the sampling time of the Controller so that it matches the task period of the Sysmac Studio Primary periodic task period on the Sysmac Studio 500 us 1 ms 2 ms or 4 ms PLCCoderDemoMC 5 x File Edit View Display Diagram Simulation Analysis Code Tools Help H A ga H7 gob AME Normal Yr CommandPosition ActualPosition Command Velocity ActualVelocity Torque MotorActualVelocity Controller Machine Servo Driver 17 The following figure shows the inside of the Controller block The Controller block is composed of two blocks the CommandPositionGenerator block for creating position command values and the PositionController block for position control PUL Cederiemoret Controler Fic Get Yew poby Geog pusten Aass Code pis Eb ee ee GOW a Froms nll xj Camnmand Position el 4 r y Target Fes Ganmeiand Posit dine ne ratar
53. r use of the Product At Buyer s request Omron will provide applicable third party certification documents identifying ratings and limitations of use which apply to the Product This information by itself is not sufficient for a 2 complete determination of the suitability of the Product in combination with the end product machine system or other application or use Buyer shall be solely responsible for determining appropriateness of the particular Product with respect to Buyer s application product or system Buyer shall take application responsibility in all cases NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS AND THAT THE OMRON PRODUCT S IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM Programmable Products Omron Companies shall not be responsible for the user s programming of a programmable Product or any consequence thereof Performance Data Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in determining suitability and does not constitute a warranty It may represent the result of Omron s test conditions and the user must correlate it to actual application requirements Actual performance is subject to the Omron s Warranty and Limitations of Liability Change in Specifications Product specifications
54. ration methods of an EtherCAT Slave Terminal which consists of an NX series EtherCAT Coupler Unit and NX Units and information on hardware setup and functions to set up control and monitor NX Units through EtherCAT The hardware setup methods and functions of the NX series Analog I O Units are described Information is provided on NA series PT specifications part names installation procedures and procedures to connect an NA Unit to peripheral devices Information is also provided on maintenance after operation and troubleshooting NA series PT pages and object functions are described Information is provided on connection procedures and setting procedures to connect an NA series PT to a Controller or other device The part names and installation procedures are described followed by page creation and transfer procedures with the Sysmac Studio Also operation maintenance and inspection procedures after the project is transferred are described Sample screen captures are provided as examples Revision History A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual Cat No W529 E1 03 pam Revision June 2013 Original production 02 January 2014 Revisions for adding the SILS Software In the Loop Simulation function 03 January 2015 Revisions for adding the Sysmac IO Device simulation function and the Controller to Simulink data acquisition functio
55. s 17 3 Setting Up th Systm s c a eesti iaaa aa a aiaia aaia 19 3T System SetuP Procedur S sueregssienen e S 19 3 2 Simulink PLC Coder amp Sysmac Studio Operation Procedure 008 21 3 2 1 Outputting the Code using the Simulink PLC Codet ceeeeeeees 21 3 2 2 Importing the Code into the Sysmac StudiO cs eeeeeeeeeeeeeeeeseeeeeeees 23 3 2 3 Checking the Calculation Accuracy ccccceeeeeeeeeeeeseeeeeesaeeeeeeeeeees 25 3 2 4 Creating the EtherCAT Network Configuration c cccsssseeeeeeeeeeeees 27 S202 SEMIC AXIS scoe a tiny ass ee 28 S220 CREATING Programs ereer a e ee A AEREE TIESSEN E 30 3 2 7 Creating the Programming Terminal SCreen cccccceseeeeeeeeeeeeeees 33 3 2 8 Preparing the Co simulation of Simulink and Sysmac Studio 34 3 2 9 Debugging by SiMUlAUOM seriean enan 41 3 2 10 Transferring the Programs to the CPU Unit and Servo Drive 45 3 2 11 Transferring Screen Data to Programmable Terminal 0000008 46 32 12 System Operation Cheke a 47 4 PRD DON iiceoe re E a EE EEP Eaei aoaeeoo 54 4 1 Programming in Ladder Diagram Language cccccssescceeecseeeeeeeseeeeeeeeeeeeas 54 4 2 Sysmac IO Device Support Models and Simulation Target Functions 56 1 Simulation Target Functions of Servo Drives cccccecceeeseeeeeeeeeeeeeees 56 2 Simulation Target Functions of Analog I
56. safely Review the entire contents of these manuals including all safety precautions precautions for safe use and precautions for correct use before the actual operation Select Online from the Controller Menu of the Sysmac Studio Fal PLCCoderDemoMc new_Controller_0 Sysmac Studio File Edit View Insert Project Controller Simulation Tools Help a G Multview Explorer new Controller 0 gt ct EtherCAT b CPU Expansion Racks VO Map gt amp Controller Setup b i Motion Control Setup Cam Data Settings IF Event Settings M Task Settin gs b Data Trace Settings A pous Tin S Programs itionControl StateTransitic 2 Select Synchronization from the Controller Menu of the sysmac Studio Multview Explorer new Controlker 0 gt A PoU YS Programs Yl PositionControl L L InitialOperati E ee a LS MainOperatis Y E Functions LE InPosition Function Blocks LE Controller LES CommandPositic LB PositionControlls amp Data FA Tasks InitialOperati Communications Setup Change Device Set Reset Forced Refreshing MC Test Run Ctrl Shitt W Transfer Mode P Stop Monitoring Set Reset Forced Refreshing MC Test Run McC Monitor Table SD Memory Card Controller Clock Release Access Right Update CPU Unit Name Security 47 3 Confirm that the data are already synchronized in the Synchronization Window and click the
57. ster a R88D KN01L ECT Servo Drive that operates as axis 0 on the EtherCAT network configuration You add an axis to control the Servo Drive assign the Servo Drive to the axis and make the axis parameter settings You create a program for calling the function blocks whose code was outputted by the Simulink PLC Coder and a program for outputting command values to the Servo Drive You insert the Programmable Terminal in the Sysmac Studio project and create a Programmable Terminal screen for the operation and display You add the Sysmac Controller Interface block to the Simulink model and make the setting for data exchange between Simulink and Sysmac Studio Also you add the Sysmac IO Device block to link with the parameter settings of the Servo Drive in the Sysmac Studio project You debug the programs and screens that you created by the SILS Software In the Loop Simulation 19 20 Transferring the Programs to the CPU Unit and Servo Drive v Transferring Screen Data to Programmable Terminal vy System Operation Check You transfer the programs and parameter settings to the physical CPU Unit and Servo Drive You transfer the screen data that you created to the physical Programmable Terminal You execute the operation according to the programs transferred to the physical device and check the operation by comparing it with the simulation using the function for data acquisition from the NJ series C
58. to install and wire the Servo Drive set parameters needed to operate the Servo Drive and remedies to be taken and inspection methods to be used in case that problems occur This manual contains information you need to know to use the EtherCAT Slave Unit Manual name NX series EtherCAT Coupler Unit User s Manual NX series Analog I O Units User s Manual NA series Programmable Terminal Hardware User s Manual NA series Programmable Terminal Software User s Manual NA series Programmable Terminal Device Connection User s Manual NA series Programmable Terminal Startup Guide Model numbers Application W519 W522 V117 V118 V119 V120 NX ECC201 NX ECC202 Leaning how to use an NX series EtherCAT Coupler Unit and EtherCAT Slave Terminals Learning how to use NX series Analog I O Units Learning the specifications and settings required to install an NA series PT and connect peripheral devices Learning about NA series PT pages and object functions Learning the specifications required to connect devices to an NA series PT Learning in concrete terms information required to install and start the operation of an NA series PT Description The following items are described the overall system and configu
59. utton for the Out list to pass the position command value calculated by the Sysmac Studio s Simulator to the Simulink m t roler Matr r yuma ostr batrei Cernector tret Samsieg teva TF mi ai eet F gt 3 Tees ind oak ane iji e wl el IS SES SESSA G i ARE Am over r Pe STR OE Pet 5 payee Regine he ve abet te erte valves ton Dnyink to iyare e fo Ihe in ia ang rept he vareet to oead voes Per E Syarat Suaa to Smura to the Out ist Upcate ox Carce Anatas me nostni ta ete et ut ta famae fe aol Bee f au ee ee al a fut taa te ma Pere etee out 35 36 Select MC_Axis000 Cmd Vel from the list of variables in the Sysmac Studio project and click the Register Button for the Out list to pass the velocity command value for the Servo Drive calculated by the Sysmac Studio s Simulator to the Simulink roler I IDE At H alelo elSlolSi gt i Pe A 12 Hi AL i gt at fad ja Mj AG Cf ve abet r me SyET EK DLOS poet 5 OID apes ht ee eb es te wet volves Mom Dyin to Syara Sae fo Ihe Fat oe repiter he varane to reed volves Pee Syarat Ruse te Dur to the Cut at s me mh ee ee eee 7 Select Kp from the list of variables in the Sysmac Studio project and click the Register Button for the Parameter list to pass the values from Simulink to Sysmac Studio only in the first step Tae IERE Tad gt AR o urane r The SSS O 3 OID ayes Repinte he ve abet t
60. vices and equipment that will make up the system and make sure that the OMRON products are used well within their rated specifications and performances Safety measures such as safety circuits must be implemented in order to minimize the risks in the event of a malfunction e Thoroughly read and understand the manuals for all devices and equipment that will make up the system to ensure that the system is used safely Review the entire contents of these manuals including all safety precautions precautions for safe use and precautions for correct use e Confirm all regulations standards and restrictions that the system must adhere to e Contact The MathWorks Inc for the codes that were outputted from Simulink PLC Coder e Applicability of codes that were outputted from Simulink PLC Coder must be judged by the customer e Check the user program for proper execution before you use it for actual operation i Trademarks e Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products e EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany e MATLAB and Simulink are registered trademarks of The MathWorks Inc e Microsoft product screen shot s reprinted with permission from Microsoft Corporation Other company names and product names in this Guide are the trademarks or registered trademarks of

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