OMRON CJ1W-OC, CJ1W-MD, CJ1W-B7A, NJ501, NJ301 User Manual

...

Machine Automation Controller

NJ-series

CPU Unit Hardware

User’s Manual

NJ501- NJ301-1 NJ101- NJ-P3001 CJ1W-ID/IA CJ1W-INT01 CJ1W-IDP01 CJ1W-OC/OD/OA CJ1W-MD CJ1W-B7A

CPU Unit Power Supply Unit Basic I/O Units

W500-E1-27

NOTE

• 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.

Trademarks

• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products.

• Microsoft, Windows, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD and SDHC logos are trademarks of SD-3C, LLC.

Other company names and product names in this document are the trademarks or registered trademarks of their respective companies.

Copyrights

• Microsoft product screen shots reprinted with permission from Microsoft Corporation.

• 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/.

Introduction

Thank you for purchasing an NJ-series CPU Unit. This manual contains information that is necessary to use the NJ-series CPU Unit. Please read this manual and make sure you understand the functionality and performance of the NJ-series CPU Unit before you attempt to use it in a control system. Keep this manual in a safe place where it will be available for reference during operation.

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of introducing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of installing and maintaining FA systems.

• Personnel in charge of managing FA systems and facilities.

For programming, this manual is intended for personnel who understand the programming language specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.

Introduction

Applicable Products

This manual covers the following products.

• NJ-series CPU Units

• NJ501-5

• NJ501-4

• NJ501-3

• NJ301-12

• NJ301-11

• NJ101-10

• NJ101-90

Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to Relevant Manuals on page 2 and Related Manuals on page 39.

NJ-series CPU Unit Hardware User’s Manual (W500)

Relevant Manuals

The following table provides the relevant manuals for the NJ-series CPU Units. Read all of the manuals that are relevant to your system configuration and application before you use the NJ-series CPU Unit.

Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu- dio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.

Basic informa-

tion

NJ-series CPU Unit Hardware

User’s Manual

Purpose of use

Manual

NJ/NX-series CPU Unit Software

NJ/NX-series Instructions Refer-

ence Manual

NJ/NX-series CPU Unit Motion

Control User’s Manual

NJ/NX-series Motion Control

Instructions Reference Manual

erCAT Port User’s Manual

NJ/NX-series CPU Unit Built-in Eth-

erNet/IP Port User’s Manual

NJ/NX-series CPU Unit Built-in Eth-

NJ/NX-series CPU Unit OPC UA

User’s Manual

tion CPU Units User’s Manual

NJ/NX-series Database Connec-

NJ-series SECS/GEM CPU Units

User’s Manual

NJ-series Robot Integrated CPU

Unit User’s Manual

NJ-series NJ Robotics CPU Unit

User’s Manual

NJ/NY-series NC Integrated Con-

troller User’s Manual

NJ/NX-series Troubleshooting

Manual

Introduction to NJ-series Controllers 

Setting devices and hardware

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using robot control for OMRON robots 

Software settings

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using OPC UA 

Using the database connection service 

Using the GEM Services 

Using robot control for OMRON robots 

Using robot control by NJ Robotics function

Using numerical control 

Writing the user program

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using OPC UA 

Using the database connection service 

Using the GEM Services 

Using robot control for OMRON robots 

Using robot control by NJ Robotics function

Using numerical control 

Programming error processing 







NJ-series CPU Unit Hardware User’s Manual (W500)

Relevant Manuals

Manual

Basic informa-

tion

NJ-series CPU Unit Hardware

User’s Manual

Purpose of use

Testing operation and debugging

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using OPC UA 

Using the database connection service 

Using the GEM Services 

Using robot control for OMRON robots 

Using robot control by NJ Robotics function

Using numerical control 

Learning about error management and

corrections

Maintenance

Using motion control 

Using EtherCAT 

Using EtherNet/IP 



*1 Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error

items. However, refer to the manuals that are indicated with triangles for details on errors corresponding to the products with the manuals that are indicated with triangles.

NJ/NX-series CPU Unit Software

User’s Manual



NJ/NX-series Instructions Refer-

ence Manual

NJ/NX-series CPU Unit Motion

Control User’s Manual

NJ/NX-series Motion Control

Instructions Reference Manual

NJ/NX-series CPU Unit Built-in Eth-

erCAT Port User’s Manual

NJ/NX-series CPU Unit Built-in Eth-

erNet/IP Port User’s Manual

NJ/NX-series CPU Unit OPC UA

User’s Manual



NJ/NX-series Database Connec-

tion CPU Units User’s Manual

User’s Manual

NJ-series SECS/GEM CPU Units

Unit User’s Manual

NJ-series Robot Integrated CPU

NJ-series NJ Robotics CPU Unit

User’s Manual



NJ/NY-series NC Integrated Con-

troller User’s Manual

Manual

NJ/NX-series Troubleshooting

NJ-series CPU Unit Hardware User’s Manual (W500)

Manual Structure

4-9

4 Installation and Wiring

NJ-series CPU Unit Hardware User’s Manual (W500)

stinU gnitnuoM 3-4

stnenopmoC rellortnoC gnitcennoC 1-3-4

4-3 Mounting Units

The Units that make up an NJ-series Controller can be connected simply by pressing the Units together and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the same way to the Unit on the far right side of the Controller.

1 Join the Units so that the connectors fit exactly.

2 The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders

toward the back of the Units as shown below until they click into place.

Precautions for Correct UsePrecautions for Correct Use

4-3-1 Connecting Controller Components

Connector

Hook

Hook holes

Slider

Lock

Release

Move the sliders toward the back until they lock into place.

Level 1 heading Level 2 heading Level 3 heading

Level 2 heading

A step in a procedure

Manual name

Special information

Level 3 heading

Page tab

Gives the current headings.

Indicates a procedure.

Icons indicate precautions, additional information, or reference information.

Gives the number of the main section.

This illustration is provided only as a sample. It may not literally appear in this manual.

The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O Units, and CPU Bus Units must be completely locked (until they click into place) after connecting the adjacent Unit connectors.

Manual Structure

Page Structure

The following page structure is used in this manual.

NJ-series CPU Unit Hardware User’s Manual (W500)

Special Information

Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required. This information is provided to increase understanding or make operation easier.

Version Information

Information on differences in specifications and functionality for CPU Units with different unit versions and for different versions of the Sysmac Studio is given.

Manual Structure

Note References are provided to more detailed or related information.

Precaution on Terminology

In this manual, “download” refers to transferring data from the Sysmac Studio to the physical Controller and “upload” refers to transferring data from the physical Controller to the Sysmac Studio.

For the Sysmac Studio, synchronization is used to both upload and download data. Here, “synchronize” means to automatically compare the data for the Sysmac Studio on the computer with the data in the physical Controller and transfer the data in the direction that is specified by the user.

NJ-series CPU Unit Hardware User’s Manual (W500)

Manual Structure

NJ-series CPU Unit Hardware User’s Manual (W500)

Sections in this Manual

Introduction to NJ-series Controllers

System Configuration

Configuration Units

Installation and Wiring

Troubleshooting

Index

Inspection and Maintenance

Appendices

Sections in this Manual

NJ-series CPU Unit Hardware User’s Manual (W500)

CONTENTS

Introduction ...............................................................................................................1

Relevant Manuals......................................................................................................2

Manual Structure.......................................................................................................4

Sections in this Manual ............................................................................................7

Terms and Conditions Agreement .........................................................................12

Safety Precautions..................................................................................................14

Precautions for Safe Use........................................................................................20

Precautions for Correct Use...................................................................................30

Regulations and Standards....................................................................................34

Versions ...................................................................................................................36

Related Manuals......................................................................................................39

Terminology.............................................................................................................41

Revision History......................................................................................................46

Section 1 Introduction to NJ-series Controllers

1-1 The NJ-series Controllers ....................................................................................................... 1-2

1-1-1 Features...................................................................................................................................... 1-2

1-1-2 Introduction to the System Configurations ..................................................................................1-4

1-2 Specifications .......................................................................................................................... 1-7

1-3 Overall Operating Procedure for the NJ-series Controller ................................................ 1-12

1-3-1 Overall Procedure .....................................................................................................................1-12

1-3-2 Procedure Details......................................................................................................................1-13

Section 2 System Configuration

2-1 Basic System Configuration...................................................................................................2-2

2-1-1 EtherCAT Network Configuration ................................................................................................ 2-4

2-1-2 CJ-series Unit Configuration .......................................................................................................2-5

2-2 Connecting to the Sysmac Studio ....................................................................................... 2-19

2-3 Network Configuration .......................................................................................................... 2-20

Section 3 Configuration Units

3-1 CPU Units ................................................................................................................................. 3-2

3-1-1 Models and Specifications ..........................................................................................................3-2

3-1-2 Components and Functions ........................................................................................................3-3

3-2 SD Memory Cards.................................................................................................................. 3-10

NJ-series CPU Unit Hardware User’s Manual (W500)

CONTENTS

3-2-1 Models and Specifications........................................................................................................ 3-10

3-2-2 Purpose .....................................................................................................................................3-11

3-2-3 Installing and Removing ........................................................................................................... 3-12

3-3 Power Supply Units ............................................................................................................... 3-14

3-3-1 Models and Specifications........................................................................................................ 3-14

3-3-2 Components and Functions...................................................................................................... 3-16

3-3-3 Selecting a Power Supply Unit ................................................................................................. 3-17

3-4 CJ-series Basic I/O Units ...................................................................................................... 3-22

3-4-1 Models and Specifications........................................................................................................ 3-22

3-4-2 Part Names and Functions ....................................................................................................... 3-23

3-5 B7A Interface Ports ............................................................................................................... 3-26

3-5-1 Overview................................................................................................................................... 3-26

3-5-2 System Configuration ............................................................................................................... 3-26

3-5-3 Models ...................................................................................................................................... 3-26

3-5-4 B7A Communications Specifications ........................................................................................ 3-27

3-5-5 Common Specifications............................................................................................................ 3-28

3-5-6 B7A Interface Port I/O Types .................................................................................................... 3-28

3-5-7 Parts and Names...................................................................................................................... 3-29

3-5-8 Transmission Error Processing................................................................................................. 3-31

3-6 CJ-series I/O Control Units and I/O Interface Units............................................................ 3-32

3-6-1 Models and Specifications........................................................................................................ 3-32

3-6-2 Component and Functions........................................................................................................ 3-32

3-7 Sysmac Studio....................................................................................................................... 3-33

3-7-1 Model Numbers ........................................................................................................................ 3-33

3-7-2 Connection................................................................................................................................ 3-34

Section 4 Installation and Wiring

4-1 Processing at Power ON and Power OFF ............................................................................. 4-2

4-1-1 Power ON Operation .................................................................................................................. 4-2

4-1-2 Power OFF Operation................................................................................................................. 4-4

4-1-3 Resetting the Controller from the Sysmac Studio....................................................................... 4-6

4-2 Fail-safe Circuits...................................................................................................................... 4-7

4-2-1 Order of Powering Up the Controller and Controlled System ..................................................... 4-8

4-3 Mounting Units ...................................................................................................................... 4-10

4-3-1 Installation in a Control Panel ................................................................................................... 4-10

4-3-2 Connecting Controller Components.......................................................................................... 4-15

4-3-3 DIN Track Installation................................................................................................................ 4-17

4-3-4 Connecting CJ-series Expansion Racks................................................................................... 4-20

4-3-5 Assembled Appearance and Dimensions ................................................................................. 4-22

4-4 Wiring ..................................................................................................................................... 4-27

4-4-1 Power Supply Wiring ................................................................................................................ 4-27

4-4-2 Wiring the Built-in EtherCAT Port ............................................................................................. 4-32

4-4-3 Wiring CJ-series Basic I/O Units with Terminal Blocks ............................................................. 4-33

4-4-4 Wiring CJ-series Basic I/O Units with Connectors.................................................................... 4-34

4-4-5 Connecting to Connector-Terminal Block Conversion Units or I/O Relay Terminals ................ 4-39

4-4-6 Connecting I/O Devices............................................................................................................ 4-40

4-4-7 Wiring the Built-in EtherCAT Port ............................................................................................. 4-43

4-4-8 Wiring B7A Interface Units........................................................................................................ 4-44

4-5 Control Panel Installation ..................................................................................................... 4-50

4-5-1 Temperature.............................................................................................................................. 4-50

4-5-2 Humidity.................................................................................................................................... 4-52

4-5-3 Vibration and Shock.................................................................................................................. 4-52

4-5-4 Atmosphere .............................................................................................................................. 4-52

4-5-5 Electrical Environment.............................................................................................................. 4-53

4-5-6 Grounding................................................................................................................................. 4-57

NJ-series CPU Unit Hardware User’s Manual (W500)

CONTENTS

Section 5 Troubleshooting

5-1 Overview of Troubleshooting ................................................................................................. 5-2

Section 6 Inspection and Maintenance

6-1 Periodic Maintenance and Inspection ................................................................................... 6-2

6-1-1 Periodic Inspection...................................................................................................................... 6-2

6-1-2 Unit Replacement Precautions.................................................................................................... 6-3

6-2 Replacing the Battery.............................................................................................................. 6-4

6-2-1 Battery Replacement...................................................................................................................6-4

6-2-2 Operation without a Battery.........................................................................................................6-7

Appendices

A-1 Specifications ..........................................................................................................................A-2

A-2 Specifications of Basic I/O Units ...........................................................................................A-3

A-2-1 Overview of Units........................................................................................................................A-3

A-2-2 Basic I/O Units ............................................................................................................................A-5

A-2-3 Precautions on Contact Output Units........................................................................................A-52

A-2-4 Connecting Connector-Terminal Block Conversion Units and I/O Relay Terminals ..................A-54

A-3 Dimensions ............................................................................................................................A-89

A-3-1 NJ-series CPU Units .................................................................................................................A-89

A-3-2 NJ-series Power Supply Units...................................................................................................A-90

A-3-3 CJ-series Basic I/O Units ..........................................................................................................A-91

A-3-4 B7A Interface Unit .....................................................................................................................A-94

A-3-5 CJ-series I/O Control Unit and I/O Interface Unit ......................................................................A-94

A-3-6 SD Memory Card ......................................................................................................................A-94

A-4 Load Short-circuit Protection and Line Disconnection Detection for CJ-series Basic I/O

Units......................................................................................................................................A-95

A-4-1 Load Short-circuit Protection and Line Disconnection Detection for CJ1W-OD202..................A-95

A-4-2 Load Short-circuit Protection for CJ1W-OD204/OD212/OD232/MD232...................................A-98

A-5 EMC Directive Measures for Relay Outputs......................................................................A-100

A-6 System-defined Variables Related to Hardware ...............................................................A-102

Index

A-7 Version Information.............................................................................................................A-103

A-7-1 Relationship between Unit Versions of CPU Units and Sysmac Studio Versions...................A-103

A-7-2 Relationship between Hardware Revisions of CPU Units and Sysmac Studio Versions........A-105

A-7-3 Functions That Were Added or Changed for Each Unit Version .............................................A-106

A-7-4 Performance Improvements for Unit Version Upgrades..........................................................A-109

NJ-series CPU Unit Hardware User’s Manual (W500)

CONTENTS

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties

 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.

 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.

 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 warranty, 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 http://www.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.

NJ-series CPU Unit Hardware User’s Manual (W500)

Application Considerations

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 or 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 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 OR IN LARGE QUANTITIES 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.

Terms and Conditions Agreement

Programmable Products

Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof.

Disclaimers

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 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.

NJ-series CPU Unit Hardware User’s Manual (W500)

Safety Precautions

Definition of Precautionary Information

The following notation is used in this manual to provide precautions required to ensure safe usage of an NJ-series Controller. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions. The following notation is used.

Indicates a potentially hazardous situation which, if not avoided,

WARNING

could result in death or serious injury. Additionally, there may be severe property damage.

Caution

Precautions for Safe Use

Indicates precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Indicates precautions on what to do and what not to do to ensure proper operation and performance.

Indicates a potentially hazardous situation which, if not avoided, may result in minor or moderate injury, or property damage.

NJ-series CPU Unit Hardware User’s Manual (W500)

Symbols

Safety Precautions

The circle and slash symbol indicates operations that you must not do. The specific operation is shown in the circle and explained in text. This example indicates prohibiting disassembly.

The triangle symbol indicates precautions (including warnings). The specific operation is shown in the triangle and explained in text. This example indicates a precaution for electric shock.

The triangle symbol indicates precautions (including warnings). The specific operation is shown in the triangle and explained in text. This example indicates a general precaution.

The filled circle symbol indicates operations that you must do. The specific operation is shown in the circle and explained in text. This example shows a general precaution for something that you must do.

The triangle symbol indicates precautions (including warnings). The specific operation is shown in the triangle and explained in text. This example indicates a precaution for high temperatures.

NJ-series CPU Unit Hardware User’s Manual (W500)

Safety Precautions

Warnings

During Power Supply

Do not touch any of the terminals or terminal blocks while the power is being supplied. Doing so may result in electric shock.

Do not attempt to take any Unit apart. In particular, high-voltage parts are present in the Power Supply Unit while power is supplied or immediately after power is turned OFF. Touching any of these parts may result in electric shock. There are sharp parts inside the Unit that may cause injury.

WARNING

Fail-safe Measures

Provide safety measures in external circuits to ensure safety in the system if an abnormality occurs due to malfunction of the CPU Unit, slaves, or Units or due to other external factors affecting operation. Not doing so may result in serious accidents due to incorrect operation.

Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits.

The Controller outputs may remain ON or OFF due to deposition or burning of the output relays or destruction of the output transistors. As a countermeasure for such problems, external safety measures must be provided to ensure safe operation of the system.

The CPU Unit will turn OFF all outputs from Basic Output Units in the following cases. The slaves will operate according to the settings in the slaves.

• If an error occurs in the power supply

• If the power supply connection becomes faulty

• If a CPU watchdog timer error or CPU reset occurs

• If a major fault level Controller error occurs

• While the CPU Unit is on standby until RUN mode is entered after the power is turned ON

External safety measures must be provided to ensure safe operation of the system in such cases.

If external power supplies for slaves or other devices are overloaded or short-circuited, the voltage will drop, outputs will turn OFF, and the system may be unable to read inputs. Provide external safety measures in controls with monitoring of external power supply voltage as required so that the system operates safely in such a case.

NJ-series CPU Unit Hardware User’s Manual (W500)

Unintended outputs may occur when an error occurs in variable memory or in memory used for CJ-series Units. As a countermeasure for such problems, external safety measures must be provided to ensure safe operation of the system.

Provide measures in the communications system and user program to ensure safety in the overall system even if errors or malfunctions occur in data link communications or remote I/O communications.

If there is interference in remote I/O communications or if a major fault level error occurs, output status will depend on the products that are used. Confirm the operation that will occur when there is interference in communications or a major fault level error, and implement safety measures. Correctly set all of the settings in the slaves and Units.

The NJ-series Controller continues normal operation for a certain period of time when a momentary power interruption occurs. This means that the NJseries Controller may receive incorrect signals from external devices that are also affected by the power interruption. Accordingly, take suitable actions, such as external fail-safe measures and interlock conditions, to monitor the power supply voltage of the external device as required.

Safety Precautions

You must take fail-safe measures to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes. Not doing so may result in serious accidents due to incorrect operation.

Voltage and Current Inputs

Make sure that the voltages and currents that are input to the slaves and Units are within the specified ranges. Inputting voltages or currents that are outside of the specified ranges may cause accidents or fire.

Downloading

Always confirm safety at the destination before you transfer a user program, configuration data, setup data, device variables, or values in memory used for CJ-series Units from the Sysmac Studio. The devices or machines may perform unexpected operation regardless of the operating mode of the CPU Unit.

Actual Operation

Check the user program, data, and parameter settings for proper execution before you use them for actual operation.

NJ-series CPU Unit Hardware User’s Manual (W500)

Safety Precautions

Version Information

Cautions

Application

Do not touch any Unit when power is being supplied or immediately after the power supply is turned OFF. Doing so may result in burn injury.

Wiring

Caution

Be sure that all terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals. The loose screws may result in fire or malfunction.

Online Editing

Execute online editing only after confirming that no adverse effects will be caused by deviations in the timing of I/O. If you perform online editing, the task execution time may exceed the task period, I/O may not be refreshed with external devices, input signals may not be read, and output timing may change.

EtherCAT Communications

If the cable redundancy function is enabled, always write a program to confirm that the network is in the cable redundancy status. If the program is not written, you cannot check that the network is not in the cable redundancy status due to a disconnection on the ring topology.

Use the _EC_RingBreaking system-defined variable to confirm that the network is in the cable redundancy status.

The cable redundancy function can be used with project unit version 1.40 or later.

NJ-series CPU Unit Hardware User’s Manual (W500)

Safety Precautions

Version Information

Precaution on Error Message That Says an Instruction May Cause Unintended Operation

Instructions may results in unexpected operation and affect the system if you clear the selection of the Detect an error when an in-out variable is passed to specific instruction argument Check Box in the Program Check Area. Always confirm that the conditions for use that are given in the NJ/NX-series Instruc- tions Reference Manual (Cat. No. W502) are met before you clear the selection of this check box.

This error message is displayed by and the above option setting is available on Sysmac Studio version 1.02.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Safe Use

Disassembly and Dropping

• Do not attempt to disassemble, repair, or modify any Units. Doing so may result in malfunction or fire.

• Do not drop any Unit or subject it to abnormal vibration or shock. Doing so may result in Unit malfunction or burning.

Mounting

• The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, and other Units must be completely locked (until they click into place) after connecting the adjacent Unit connectors.

Installation

• Always connect to a ground of 100 Ω or less when installing the Units.

• If the LG and GR terminals are connected, make sure to connect them firmly. The LG terminal that is a noise-filtered neutral terminal, has a half electrical potential of the input voltage. Therefore, if you touch the metallic part of the LG terminal, GR terminal, or Controller, while the GR terminal is not grounded, it may result in electrical shock.

Wiring

• Follow the instructions in this manual to correctly perform wiring. Double-check all wiring and switch settings before turning ON the power supply.

• Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals.

• Do not pull on the cables or bend the cables beyond their natural limit. Do not place heavy objects on top of the cables or other wiring lines. Doing so may break the cables.

• Mount terminal blocks and connectors only after checking the mounting location carefully. Be sure that the terminal blocks, expansion cables, and other items with locking devices are properly locked into place.

• Always remove any dustproof labels that are on the top of the Units when they are shipped before you turn ON the power supply. If the labels are not removed, heat will accumulate and malfunctions may occur.

• Before you connect a computer to the CPU Unit, disconnect the power supply plug of the computer from the AC outlet. Also, if the computer has an FG terminal, make the connections so that the FG terminal has the same electrical potential as the GR terminal on the Power Supply Unit. A difference in electrical potential between the computer and Controller may cause failure or malfunction.

• If the external power supply to an Output Unit or slave has polarity, connect it with the correct polarity. If the polarity is reversed, current may flow in the reverse direction and damage the connected devices regardless of the operation of the Controller.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Safe Use

Task Design

• If the following variables are specified for a condition expression when the execution condition is a condition expression for a variable, event tasks may not be executed when conditions are met or event tasks may be executed when conditions are not met.

• Structure members whose data size is 16 bits or more, except for system-defined variables for motion control

• Array elements whose data size is 16 bits or more

For information on event task execution conditions, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).

Power Supply Design

• Do not exceed the rated supply capacity of the Power Supply Units in the NJ-series Controller. The rated supply capacities are given in the NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500). If the capacity is exceeded, operation may stop, malfunctions may occur, or data may not be backed up normally for power interruptions. Use NJ-series Power Supply Units for both the NJ-series CPU Rack and Expansion Racks. Operation is not possible if a CJ-series Power Supply Unit is used with an NJ-series CPU Unit or an NJ-series Power Supply Unit is used with a CJ-series CPU Unit.

• Do not apply voltages or connect loads to the Output Units or slaves in excess of the maximum ratings.

• Surge current occurs when the power supply is turned ON. When selecting fuses or breakers for external circuits, consider the above precaution and allow sufficient margin in shut-off performance. Refer to the relevant manuals for surge current specifications. Refer to the NJ-series CPU Unit Hard- ware User’s Manual (Cat. No. W500) for surge current specifications.

• If the full dielectric strength voltage is applied or turned OFF using the switch on the tester, the generated impulse voltage may damage the Power Supply Unit. Use the adjustment on the tester to gradually increase and decrease the voltage.

• Apply the voltage between the Power Supply Unit's L1 or L2 terminal and the GR terminal when testing insulation and dielectric strength.

• Do not supply AC power from an inverter or other device with a square-wave output. Internal temperature rise may result in smoking or burning. Always input a sinusoidal wave with the frequency that is given in the NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500).

• Install external breakers and take other safety measures against short-circuiting in external wiring.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Safe Use

Turning ON the Power Supply

• It takes up to approximately 10 to 20 s to enter RUN mode after the power is turned ON. The outputs during this time behave according to the slave or Unit specifications. Use the RUN output on the Power Supply Unit, for example, to implement fail-safe circuits so that external devices do not operate incorrectly.

• Configure the external circuits so that the power supply to the control system turns ON only after the power supply to the Controller has turned ON. If the power supply to the Controller is turned ON after the control power supply, temporary errors may result in incorrect control system signals because the output terminals on Output Units may momentarily turn ON when power supply is turned ON to the Controller.

• If you transfer data from a backup file on an SD Memory Card to the Controller when the power supply is turned ON, properly select the data groups to transfer. If the data for an unintended data group is transferred to the Controller, it may cause the equipment to operate unpredictably.

• In the CPU Unit with unit version 1.05 or earlier, never turn OFF the power supply to the Controller until RUN mode is entered after the power is turned ON. If the power supply is turned OFF, a Batterybackup Memory Check Error may occur at next time you start operation. If a Battery-backup Memory Check Error occurs, the variables retained are set to their initial values and the Holding, DM and EM Areas in memory used for CJ-series Units are cleared to all zeros. If you want to resume the operation, reload the correct data for the variables retained and CJ-series Unit memory, as required.

Turning OFF the Power Supply

• Never turn OFF the power supply to the Controller when the BUSY indicator is flashing. While the BUSY indicator is lit, the user program and settings in the CPU Unit are being backed up in the builtin non-volatile memory. This data will not be backed up correctly if the power supply is turned OFF. Also, a major fault level Controller error will occur the next time you start operation, and operation will stop.

• Do not turn OFF the power supply or remove the SD Memory Card while SD Memory Card access is in progress (i.e., while the SD BUSY indicator flashes). Data may become corrupted, and the Controller will not operate correctly if it uses corrupted data. To remove the SD Memory Card from the CPU Unit while the power supply is ON, press the SD Memory Card power supply switch and wait for the SD BUSY indicator to turn OFF before you remove the SD Memory Card.

• Do not disconnect the cable or turn OFF the power supply to the Controller when downloading data or the user program from Support Software.

• Always turn OFF the power supply to the Controller before you attempt any of the following.

• Mounting or removing I/O Units or the CPU Unit

• Assembling the Units

• Setting DIP switches or rotary switches

• Connecting cables or wiring the system

• Connecting or disconnecting the connectors

The Power Supply Unit may continue to supply power to the rest of the Controller for a few seconds after the power supply turns OFF. The PWR indicator is lit during this time. Confirm that the PWR indicator is not lit before you perform any of the above.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Safe Use

Operation

• Confirm that no adverse effect will occur in the system before you attempt any of the following.

• Changing the operating mode of the CPU Unit (including changing the setting of the Startup Mode)

• Changing the user program or settings

• Changing set values or present values

• Forced refreshing

• After you change any slave or Unit settings, carefully check the safety of the controlled system before you restart the Unit.

• If two different function modules are used together, such as when you use CJ-series Basic Units and EtherCAT slaves, take suitable measures in the user program and external controls to ensure that safety is maintained in the controlled system if one of the function modules stops. The relevant outputs will behave according to the slave or Unit specifications if a partial fault level error occurs in one of the function modules.

• Always confirm safety at the connected equipment before you reset Controller errors with an event level of partial fault or higher for the EtherCAT Master Function Module. When the error is reset, all slaves that were in any state other than Operational state due to a Controller error with an event level of partial fault or higher (in which outputs are disabled) will go to Operational state and the outputs will be enabled. Before you reset all errors or restart a slave, confirm that no Controller errors with an event level of partial fault have occurred for the EtherCAT Master Function Module.

• Always confirm safety at the connected equipment before you reset Controller errors for a CJ-series Special Unit. When a Controller error is reset, the Unit where the Controller error with an event level of observation or higher will be restarted. Before you reset all errors, confirm that no Controller errors with an event level of observation or higher have occurred for the CJ-series Special Unit. Observation level events do not appear on the Controller Error Tab Page, so it is possible that you may restart the CJ-series Special Unit without intending to do so. You can check the status of the _CJB_UnitErrSta[0,0] to _CJB_UnitErrSta[3,9] error status variables on a Watch Tab Page to see if an observation level Controller error has occurred.

• Always confirm safety at the connected equipment before you perform the following operations when the device output hold configuration is set to enable. The equipment may operate unexpectedly because the last status for outputs is retained.

• Changing the operating mode of the CPU Unit

• When downloaded

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Safe Use

Battery Backup

• The user program and initial values for the variables are stored in non-volatile memory in the CPU Unit. The present values of variables with the Retain attribute and the values of the Holding, DM, and EM Areas in the memory used for CJ-series Units are backed up by a Battery. If the Battery is not connected or the Battery is exhausted, the CPU Unit detects a Battery-backup Memory Check Error. If that error is detected, variables with a Retain attribute are set to their initial values and the Holding, DM, and EM Areas in memory used for CJ-series Units are cleared to all zeros. Perform thorough verifications and provide sufficient measures to ensure that the devices perform safe operation for the initial values of the variables with Retain attributes and the resulting operation.

• The absolute encoder home offsets are backed up by a Battery. If the CPU Unit detects a low battery voltage or the absence of a mounted battery when the power supply to the Controller is turned ON, the absolute encoder home offsets are cleared to zeros and an Encoder Home Offset Read Error occurs. Reset the error and perform homing to define home. If you do not define home, unintended operation of the controlled system may occur.

Debugging

• Forced refreshing ignores the results of user program execution and refreshes I/O with the specified values. If forced refreshing is used for inputs for which I/O refreshing is not supported, the inputs will first take the specified values, but they will then be overwritten by the user program. This operation differs from the force-set/reset functionality of the CJ-series PLCs.

• You cannot upload or download information for forced refreshing with the Sysmac Studio. After downloading data that contains forced refreshing, change to RUN mode and then use the Sysmac Studio to perform the operation for forced refreshing. Depending on the difference in the forced status, the control system may operate unexpectedly.

• Do not specify the same address for the AT specification for more than one variable. Doing so would allow the same entity to be accessed with different variable names, which would make the user program more difficult to understand and possibly cause programming mistakes.

General Communications

• When you use data link communications, check the error information that is given in _ErrSta (Control- ler Error Status) to make sure that no error has occurred in the source device. Create a user program that uses reception data only when there is no error in the source device. If there is an error in the source device, the data for the data link may contain incorrect values.

• Unexpected operation may result if inappropriate data link tables are set. Even if appropriate data link tables have been set, confirm that the controlled system will not be adversely affected before you transfer the data link tables. The data links start automatically after the data link tables are transferred.

• All CPU Bus Units are restarted when routing tables are transferred from Support Software to the CPU Unit. Confirm that the system will not be adversely affected by restarting before you transfer the routing tables.

• Tag data links will stop between related nodes while tag data link parameters are transferred during Controller operation. Confirm that the system will not be adversely affected before you transfer the tag data link parameters.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Safe Use

EtherNet/IP Communications

• Make sure that the communications distance, number of nodes connected, and method of connection for EtherNet/IP are within specifications. Do not connect EtherNet/IP communications to EtherCAT or other networks. An overload may cause the network to fail or malfunction.

• All related EtherNet/IP nodes are reset when you transfer settings for the built-in EtherNet/IP port (including IP addresses and tag data links settings). The settings can only be enabled after the reset. Confirm that the system will not be adversely affected by resetting nodes before you transfer the settings.

• If EtherNet/IP tag data links (cyclic communications) are used with a repeating hub, the communications load on the network will increase. This will increase collisions and may prevent stable communications. Do not use repeating hubs on networks where tag data links are used. Use an Ethernet switch instead.

EtherCAT Communications

• Make sure that the communications distance, number of nodes connected, and method of connection for EtherCAT are within specifications. Do not connect EtherCAT communications to EtherNet/IP, a standard in-house LAN, or other networks. An overload may cause the network to fail or malfunction.

• Malfunctions or unexpected operation may occur for some combinations of EtherCAT revisions of the master and slaves. If you disable the revision check in the network settings, use the Sysmac Studio to check the slave revision settings in the master and the actual slave revisions, and then make sure that functionality is compatible in the slave manuals or other references. You can check the actual slave revisions from the Sysmac Studio or on slave nameplates.

• After you transfer the user program, the CPU Unit is restarted and communications with the EtherCAT slaves are cut off. During that period, the slave outputs behave according to the slave specifications. The time that communications are cut off depends on the EtherCAT network configuration. Before you transfer the user program, confirm that the system will not be adversely affected.

• If the Fail-soft Operation parameter is set to stop operation, process data communications will stop for all slaves when an EtherCAT communications error is detected in a slave. At that time, the Servo Drive will operate according to the Servo Drive specifications. Make sure that the Fail-soft Operation parameter setting results in safe operation when a device error occurs.

• EtherCAT communications are not always established immediately after the power supply is turned ON. Use the system-defined variables in the user program to confirm that communications are established before attempting control operations.

• If noise occurs or an EtherCAT slave is disconnected from the network, any current communications frames may be lost. If frames are lost, slave I/O data is not communicated, and unintended operation may occur. The slave outputs will behave according to the slave specifications. Refer to the manual for the slave. If a noise countermeasure or slave replacement is required, perform the following processing.

• Program the Input Data Invalid system-defined variable as an interlock condition in the user program.

• Set the PDO communications timeout detection count setting in the EtherCAT master to at least 2. Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for details.

• When an EtherCAT slave is disconnected, communications will stop and control of the outputs will be lost not only for the disconnected slave, but for all slaves connected after it through to the physical end node. Confirm that the system will not be adversely affected before you disconnect a slave.

• I/O data communications of NX bus are not always established immediately after the power supply is turned ON. Use the system-defined variables and the EtherCAT Coupler Unit device variables in the user program to confirm that I/O data communications are established before attempting control operations.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Safe Use

Version Information

• You cannot use standard Ethernet hubs or repeater hubs with EtherCAT communications. If you use one of these, a major fault level error or other error may occur.

• Confirm that all of the slaves are connected before you set the transmission delay time by the actual measurement. If the transmission delay time is exceeded from the set values due to the changes of the unit configuration, such as when the disabled salve is connected to the actual configuration after the setting, it may cause illegal communications with slaves.

• When the communications cable that is connected to the slave from other manufacturers on the ring topology is broken or the power supply to the slave from other manufacturers is interrupted, any current communications frames may be lost. If frames are lost, slave I/O data is not communicated, and unintended operation may occur. When slaves from other manufacturers are connected on the ring topology, check the followings in advance.

• Disconnect and connect communications cables that are connected to the output ports of slaves from other manufacturers several times, and there is no error except for a Ring Disconnection Detected.

• Disconnect and connect communications cables that are connected to the input ports of slaves from other manufacturers several times, and there is no error except for a Ring Disconnection Detected.

• Turn OFF and ON the power supply to the slaves from other manufacturers, and there is no error except for a Illegal Slave Disconnection Detected.

• If you use the cable redundancy function, confirm that the task execution time is within the task period while the cable for the end port of the ring is disconnected. When a disconnection occurred on the ring topology, the transmission delay time is increased and the task execution time may be longer.

The cable redundancy function can be used with project unit version 1.40 or later.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Safe Use

FirstOnPosition LastOnPosition

OffCompensation

LastOnPosition after compensation

Motion Control

• Confirm the axis number carefully before you perform an MC Test Run.

• The motor is stopped if communications are interrupted between the Sysmac Studio and the CPU Unit during an MC Test Run. Connect the communications cable between the computer and CPU Unit securely and confirm that the system will not be adversely affected before you perform an MC Tes t R u n .

• Always execute the Save Cam Table instruction if you change any of the cam data from the user program in the CPU Unit or from the Sysmac Studio. If the cam data is not saved, the previous condition will be restored when the power is turned ON again, possibly causing unexpected machine operation.

• The positive drive prohibit input (POT), negative drive prohibit input (NOT), and home proximity input (DEC) of the Servo Drive are used by the MC Function Module as the positive limit input, negative limit input, and home proximity input. Make sure that the signal widths for all of these input signals are longer than the control period of the MC Function Module. If the input signal widths are shorter than the control period, the MC Function Module may not be able to detect the input signals, resulting in incorrect operation.

• If you make any changes in the Detailed Settings Area of the Axis Basic Settings Display of the Sysmac Studio, make sure that the devices or machines perform the expected operation before you start actual operation. If the relationship between the functions of the Motion Control Function Module and the EtherCAT slave process data that is assigned to the axes is not correct, the devices or machines may perform unexpected operation.

• Always use the axis at a constant velocity for the MC_DigitalCamSwitch (Enable Digital Cam Switch) instruction. If you set the Count Mode to Rotary Mode, the following operation will occur if you use OnCompensa- tion or OffCompensation and the axis velocity changes abruptly.

• If the value of OnCompensation or OffCompensation is equivalent to the time for half a rotation or more, InOperation will be FALSE.

• If the value of OnCompensation results in exceeding LastOnPosition, the output timing will be unstable.

FirstOnPosition LastOnPosition

• If the value of OffCompensation results in exceeding FirstOnPosition, the output timing will be

• Use the NX_AryDOutTimeStamp (Write Digital Output Array with Specified Time Stamp) instruction only after you confirm that InOperation from the MC_DigitalCamSwitch (Enable Digital Cam Switch) instruction is TRUE.

• If you change the unit conversion settings, perform homing again. If you do not perform homing, unintended operation of the controlled system may occur.

NJ-series CPU Unit Hardware User’s Manual (W500)

OnCompensation

FirstOnPosition after compensation

unstable.

Precautions for Safe Use

Restoring Data

• You cannot back up, restore, or compare some or all of the settings for certain slaves and Units. Also, you cannot back up, restore, or compare data for disabled slaves or Units. After you restore data, sufficiently confirm that operation is correct before you start actual operation.

• The absolute encoder home offsets are backed up with a Battery in the CPU Unit as absolute encoder information. If any of the following conditions is met, clear the absolute encoder home offsets from the list of data items to restore, and then restore the data. Then, define the absolute encoder home again. If you do not define home, unintended operation of the controlled system may occur.

• The Servomotor or Servo Drive was changed since the data was backed up.

• The absolute encoder was set up after the data was backed up.

• The absolute data for the absolute encoder was lost.

Transferring Programs

• When you use the program transfer from SD Memory Card whose Startup Mode setting is set to RUN mode, the operating mode changes to RUN after the transfer is completed regardless of the status and setting before the transfer. Use this function after you confirm that system startup does not cause any problem.

Battery Replacement

• The Battery may leak, rupture, heat, or ignite. Never short-circuit, charge, disassemble, heat, or incinerate the Battery or subject it to strong shock.

• Dispose of any Battery that has been dropped on the floor or otherwise subjected to excessive shock. Batteries that have been subjected to shock may leak if they are used.

• UL standards require that only an experienced engineer replace the Battery. Make sure that an experienced engineer is in charge of Battery replacement.

• Apply power for at least five minutes before changing the Battery. Install a new Battery within five minutes (at 25°C) of turning OFF the power supply. If power is not supplied for at least 5 minutes, the saved data may be lost.

• We recommend replacing the Battery with the power turned OFF to prevent the CPU Unit’s sensitive internal components from being damaged by static electricity and to prevent malfunctions. The Battery can be replaced without turning OFF the power supply. To do so, always touch a grounded piece of metal to discharge static electricity from your body before you start the procedure. After you replace the Battery, connect the Sysmac Studio and clear the Low Battery Voltage error.

Unit Replacement

• Make sure that the required data, including the user program, configurations, settings, variables, and memory used for CJ-series Units, is transferred to a CPU Unit that was replaced and to externally connected devices before restarting operation. Be sure to include the tag data link settings, routing tables, and other CPU Bus Unit data, which are stored in the CPU Unit.

• The absolute encoder home offsets are backed up with a Battery in the CPU Unit as absolute encoder information. When you change the combination of the CPU Unit and Servomotor, e.g., when you add or replace a Servomotor, define the absolute encoder home again.

• The performance may be different if the hardware revisions are different. Before you transfer the user program, data, and parameter settings to the CPU Units with the different hardware revisions, check them for proper execution and then use them for actual operation.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Safe Use

Disposal

• Dispose of the product and Batteries according to local ordinances as they apply.

• The following information must be displayed for all products that contain primary lithium batteries with a perchlorate content of 6 ppb or higher when shipped to or transported through the State of California, USA.

Perchlorate Material - special handling may apply. See www.dtsc.ca.gov/hazardouswaste/perchlorate.

• The CPU Unit contains a primary lithium battery with a perchlorate content of 6 ppb or higher. Place the above information on the individual boxes and shipping boxes when shipping finished products that contain a CPU Unit to the State of California, USA.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Correct Use

Storage and Installation

• Follow the instructions in this manual to correctly perform installation.

• Do not operate or store the Controller in the following locations. Operation may stop or malfunctions may occur.

• Locations subject to direct sunlight

• Locations subject to temperatures or humidity outside the range specified in the specifications

• Locations subject to condensation as the result of severe changes in temperature

• Locations subject to corrosive or flammable gases

• Locations subject to dust (especially iron dust) or salts

• Locations subject to exposure to water, oil, or chemicals

• Locations subject to shock or vibration

• Take appropriate and sufficient countermeasures when installing the Controller in the following locations.

• Locations subject to strong, high-frequency noise

• Locations subject to static electricity or other forms of noise

• Locations subject to strong electromagnetic fields

• Locations subject to possible exposure to radioactivity

• Locations close to power lines

• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any static build-up.

• Install the Controller away from sources of heat and ensure proper ventilation. Not doing so may result in malfunction, in operation stopping, or in burning.

Mounting

• An I/O bus check error will occur and the Controller will stop if an I/O Connecting Cable’s connector is disconnected from the Rack. Be sure that the connectors are secure.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Correct Use

Wiring

• Do not allow foreign matter to enter the openings in the Unit. Doing so may result in Unit burning, electric shock, or failure.

• Do not allow wire clippings, shavings, or other foreign material to enter any Unit. Otherwise, Unit burning, failure, or malfunction may occur. Cover the Units or take other suitable countermeasures, especially during wiring work.

• For EtherCAT and EtherNet/IP, use the connection methods and cables that are specified in the

NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) and the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User’s Manual (Cat. No. W506). Otherwise, communications may

be faulty.

• Use the rated power supply voltage for the Power Supply Units. Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied in places where the power supply is unstable.

• Make sure that the current capacity of the wire is sufficient. Otherwise, excessive heat may be generated. When cross-wiring terminals, the total current for all the terminals will flow in the wire. When wiring cross-overs, make sure that the current capacity of each of the wires is not exceeded.

• Do not touch the terminals on the Power Supply Unit immediately after turning OFF the power supply. Residual voltage may cause electrical shock.

• If you use reed switches for the input contacts for AC Input Units, use switches with a current capacity of 1 A or greater. If the capacity of the reed switches is too low, surge current may fuse the contacts.

Operation

• Confirm the device output hold configuration before you change the operating mode of the CPU Unit or execute the download.

Error Processing

• In applications that use the results of instructions that read the error status, consider the affect on the system when errors are detected and program error processing accordingly. For example, even the detection of a minor error, such as Battery replacement during operation, can affect the system depending on how the user program is written.

• If you change the event level of a Controller error, the output status when the error occurs may also change. Confirm safety before you change an event level.

Restoring and Automatically Transferring Data

• When you edit the restore command file or the automatic transfer command file, do not change anything in the file except for the “yes” and “no” specifications for the selectable data groups. If you change anything else in the file, the Controller may perform unexpected operation when you restore or automatically transfer the data.

• To prevent an unexpected restoration, set to enter the password for each execution before the restore operation.

Transferring Programs

• If you use the program transfer from SD Memory Card, set to enter the password for each execution to prevent an unexpected program transfer.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Correct Use

Replacing Slaves and Units

• If you replace a slave or Unit, refer to the operation manual for the slave or Unit for information on the data required for individual slaves or Units and redo the necessary settings.

Task Settings

• If a Task Period Exceeded error occurs, shorten the programs to fit in the task period or increase the setting of the task period.

Motion Control

• Use the system-defined variable in the user program to confirm that EtherCAT communications are established before you attempt to execute motion control instructions. Motion control instructions are not executed normally if EtherCAT communications are not established.

• Use the system-defined variables to monitor for errors in communications with the slaves that are controlled by the motion control function module. Motion control instructions are not executed normally if an error occur in slave communications.

• Before you start an MC Test Run, make sure that the operation parameters are set correctly.

• Do not download motion control settings during an MC Test Run.

EtherCAT Communications

• If you need to disconnect the cable from an EtherCAT slave during operation, first disconnect the software connection to the EtherCAT slave or disable the EtherCAT slave and all of the EtherCAT slaves that are connected after it.

• Set the Servo Drives to stop operation if an error occurs in EtherCAT communications between the Controller and a Servo Drive.

• Make sure that all of the slaves to be restored are participating in the network before you reset a Network Configuration Verification Error, Network Configuration Verification Error (Mismatched Slave), Network Configuration Verification Error (Slave Unconnected), Network Configuration Verification Error (Unnecessary Slave Connected), Network Configuration Verification Error (Incorrect Ring Wiring), Process Data Communications Error, Illegal Slave Disconnection Detected or Link OFF Error in the EtherCAT Master Function Module. If any slave is not participating when any of these errors is reset, the EtherCAT Master Function Module may access salve with a different node address than the specified node address or the error may not be reset correctly.

• Always use the specified EtherCAT slave cables. If you use any other cable, the EtherCAT master or the EtherCAT slaves may detect an error and one of the following may occur.

• Continuous refreshing of process data communications will not be possible.

• Continuous refreshing of process data communications will not end during the set cycle.

Battery Replacement

• Be sure to install a replacement Battery within two years of the production date shown on the Battery label.

• Turn ON the power after replacing the Battery for a CPU Unit that has been unused for a long time. Leaving the CPU Unit unused again without turning ON the power even once after the Battery is replaced may result in a shorter Battery life.

• When you replace the Battery, use the CJ1W-BAT01 Battery Set.

NJ-series CPU Unit Hardware User’s Manual (W500)

Precautions for Correct Use

SD Memory Cards

• Insert the SD Memory Card all the way.

• Do not turn OFF the power supply to the Controller during SD Memory Card access. The files may be corrupted. If there is a corrupted file in the SD Memory Card, the file is automatically deleted by the restoration function when the power supply is turned ON.

• If you use an OMRON SD Memory Card, the end of the life of the SD Memory Card can be detected in the following ways.

• _Card1Deteriorated (SD Memory Card Life Warning Flag) system-defined variable

• SD Memory Card Life Exceeded event in the event log

When the end of the life is detected in any of the above ways, replace the SD Memory Card.

Online Editing

When performing online editing in combination of a CPU Unit with a unit version of 1.04 or later and Sysmac Studio version 1.05 or higher, the CPU Unit saves a program updated by the online editing to built-in non-volatile memory. Sysmac Studio shows a message that it is in a backup operation. Do not turn OFF the power supply to the Controller while this message is displayed. If the power supply to the Controller is turned OFF, a Controller error will occur when the power supply is turned ON next time.

Debugging

• If you use data tracing to sample following variables, correct data may not be sampled.

• Structure members whose data size is 16 bits or more, except for system-defined variables for motion control

• Array elements whose data size is 16 bits or more

For information on data tracing, refer to the NJ/NX-series CPU Unit Software User's Manual (Cat. No. W501).

NJ-series CPU Unit Hardware User’s Manual (W500)

Regulations and Standards

Conformance to EU Directives

Applicable Directives

• EMC Directives

• Low Voltage Directive

Concepts

 EMC Directive

OMRON devices that comply with EU Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards.* Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer. EMC-related performance of the OMRON devices that comply with EU Directives will vary depending on the configuration, wiring, and other conditions of the equipment or control panel on which the OMRON devices are installed. The customer must, therefore, perform the final check to confirm that devices and the overall machine conform to EMC standards.

* Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility): EN 61131-2 EMI (Electromagnetic Interference): EN 61131-2(Radiated emission: 10-m regulations)

 Low Voltage Directive

Always ensure that devices operating at voltages of 50 to 1,000 VAC and 75 to 1,500 VDC meet the required safety standards. The applicable directive is EN 61010-2-201.

 Conformance to EU Directives

The NJ-series Controllers comply with EU Directives. To ensure that the machine or device in which the NJ-series Controller is used complies with EU Directives, the Controller must be installed as follows:

• The NJ-series Controller must be installed within a control panel.

• You must use the power supply in SELV specifications for the DC power supplies connected to DC Power Supply Units and I/O Units.

• NJ-series Controllers that comply with EU Directives also conform to the Common Emission Standard (EN 61000-6-4). Radiated emission characteristics (10-m regulations) may vary depending on the configuration of the control panel used, other devices connected to the control panel, wiring, and other conditions. You must therefore confirm that the overall machine or equipment complies with EU Directives.

NJ-series CPU Unit Hardware User’s Manual (W500)

Conformance to KC Certification

Observe the following precaution if you use NX-series Units in Korea.

Class A Device (Broadcasting Communications Device for Office Use)

This device obtained EMC registration for office use (Class A), and it is intended to be used in places other than homes.

Sellers and/or users need to take note of this.

Conformance to Shipbuilding Standards

Regulations and Standards

The NJ-series Controllers comply with the following shipbuilding standards. Applicability to the shipbuilding standards is based on certain usage conditions. It may not be possible to use the product in some locations. Contact your OMRON representative before attempting to use a Controller on a ship.

Usage Conditions for NK and LR Shipbuilding Standards

• The NJ-series Controller must be installed within a control panel.

• Gaps in the door to the control panel must be completely filled or covered with gaskets or other material.

• The following noise filter must be connected to the power supply line.

Noise Filter

Manufacturer Model

Cosel Co., Ltd. TAH-06-683

Software Licenses and Copyrights

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/.

NJ-series CPU Unit Hardware User’s Manual (W500)

Versions

ID information indication

Unit model

Lot number Serial number MAC address

Unit version Hardware revision

NJ501



Ver.1.



PORT1 MAC ADDRESS:



PORT2 MAC ADDRESS:



Lot No. DDMYY



xxxx

HW Rev.



Versions

Hardware revisions and unit versions are used to manage the hardware and software in NJ-series Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a change in hardware or software specifications. Even when two Units or EtherCAT slaves have the same model number, they will have functional or performance differences if they have different hardware revisions or unit versions.

Checking Versions

You can check versions on the ID information indications or with the Sysmac Studio.

Checking Unit Versions on ID Information Indications

The unit version is given on the ID information indication on the side of the product.

The ID information on an NJ-series NJ501-100 CPU Unit is shown below.

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

NJ-series CPU Unit Hardware User’s Manual (W500)

Versions

Checking Unit Versions with the Sysmac Studio

You can use the Sysmac Studio to check unit versions. The procedure is different for Units and for EtherCAT slaves.

 Checking the Unit Version of a Unit

You can use the Production Information while the Sysmac Studio is online to check the unit version of a Unit. You can do this for the CPU Unit, CJ-series Special I/O Units, and CJ-series CPU Bus Units. You cannot check the unit versions of CJ-series Basic I/O Units with the Sysmac Studio.

Use the following procedure to check the unit version.

1 Double-click CPU/Expansion Racks under Configurations and Setup in the Multiview

Explorer. Or, right-click CPU/Expansion Racks under Configurations and Setup and select Edit from the menu.

The Unit Editor is displayed.

2 Right-click any open space in the Unit Editor and select Production Information.

The Production Information Dialog Box is displayed.

 Changing Information Displayed in Production Information Dialog Box

1 Click the Show Detail or Show Outline Button at the lower right of the Production Information

Dialog Box.

The view will change between the production information details and outline.

Outline View Detail View

The information that is displayed is different for the Outline View and Detail View. The Detail View displays the unit version, hardware version, and software versions. The Outline View displays only the unit version.

Note The hardware revision is separated "/" and displayed on the right of the hardware version. The hardware

revision is not displayed for the Unit that the hardware revision is in blank.

NJ-series CPU Unit Hardware User’s Manual (W500)

Versions

 Checking the Unit Version of an EtherCAT Slave

You can use the Production Information while the Sysmac Studio is online to check the unit version of an EtherCAT slave. Use the following procedure to check the unit version.

1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, right-

click EtherCAT under Configurations and Setup and select Edit from the menu.

The EtherCAT Tab Page is displayed.

2 Right-click the master on the EtherCAT Tab Page and select Display Production Information.

The Production Information Dialog Box is displayed. The unit version is displayed after “Rev.”

 Changing Information Displayed in Production Information Dialog Box

1 Click the Show Detail or Show Outline Button at the lower right of the Production Information

Dialog Box.

The view will change between the production information details and outline.

Outline View Detail View

Unit Versions of CPU Units and Sysmac Studio Versions

The functions that are supported depend on the unit version of the NJ-series CPU Unit. The version of Sysmac Studio that supports the functions that were added for an upgrade is also required to use those functions.

Refer to A-7 Version Information for the relationship between the unit versions of the CPU Units and the Sysmac Studio versions, and for the functions that are supported by each unit version.

NJ-series CPU Unit Hardware User’s Manual (W500)

Related Manuals

The followings are the manuals related to this manual. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

NJ-series CPU Unit Hardware User’s Manual

NJ/NX-series CPU Unit Software User’s Manual

NJ/NX-series Instructions Reference Manual

NJ/NX-series CPU Unit Motion Control User’s Manual

NJ/NX-series Motion Control Instructions Reference Manual

NJ/NX-ser Built-in EtherCAT® Port User’s Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP User’s Manual

NJ/NX-series CPU Unit OPC UA User’s Manual

NJ/NX-series Database Connection CPU Units User’s Manual

NJ-series SECS/GEM CPU Units User’s Manual

ies CPU U



W500 NJ501-

NJ301- NJ101-

W501 NX701-

NX102- NX1P2- NJ501- NJ301- NJ101-

W502 NX701-

NX102- NX1P2- NJ501- NJ301- NJ101-

W507 NX701-

W508 NX701-

nit

W505 NX701-

W506 NX701-

Port

W588 NX701-

W527 NX701-20

W528 NJ501-1340 Using the GEM Services

NX102- NX1P2- NJ501- NJ301- NJ101-

NX102- NJ501-100

NX102- NJ501-20 NJ101-20

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/NX-series CPU Unit. Mainly software information is provided.

Learning detailed specifications on the basic instructions of an NJ/NX-series CPU Unit.

Learning about motion control settings and programming concepts.

Learning about the specifications of the motion control instructions.

Using the built-in EtherCAT port on an NJ/NX-series CPU Unit.

Using the built-in EtherNet/IP port on an NJ/NXseries CPU Unit.

Using the OPC UA. Describes the OPC UA.

Using the database connection service with NJ/NXseries Controllers

with NJ-series Controllers.

An introduction to the entire NJ-series system is provided along with the following information on the CPU Unit.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

The following information is provided on a Controller built with an NJ/NX-series CPU Unit.

• CPU Unit operation

• CPU Unit features

• Initial settings

• Programming based on IEC 61131-3 language specifications

The instructions in the instruction set (IEC 61131-3 specifications) are described.

The settings and operation of the CPU Unit and programming concepts for motion control are described.

The motion control instructions are described.

Information on the built-in EtherCAT port is provided. This manual provides an introduction and provides information on the configuration, features, and setup.

Information on the built-in EtherNet/IP port is provided. Information is provided on the basic setup, tag data links, and other features.

Describes the database connection service.

Provides information on the GEM Services.

Related Manuals

NJ-series CPU Unit Hardware User’s Manual (W500)

Related Manuals

Manual name Cat. No. Model numbers Application Description

NJ-series Robot Integrated CPU Unit User’s Manual

Sysmac Studio Robot Integrated System Building Function with Robot Integrated CPU Unit Operation Manual

Sysmac Studio Robot Integrated System Building Function with IPC Application Controller Operation Manual Symac Studio 3D Simulation Function Operation Manual

NJ-series NJ Robotics CPU Unit User’s Manual

NJ/NY-series NC Integrated Controller User’s Manual

NJ/NY-series G code Instructions Reference Manual

NJ/NX-series Troubleshooting Manual

Sysmac Studio Version 1 Operation Manual

CNC Operator Operation Manual

NX-series EtherCAT® Coupler Unit User’s Manual

NA-series Programmable Terminal Software User’s Manual

NS-series Programmable Terminals Programming Manual

O037 NJ501-R Using the NJ-series Robot

Integrated CPU Unit.

W595 SYSMAC-

W621 SYSMAC-

W618 SYSMAC-

W539 NJ501-4

O030 NJ501-5300

O031 NJ501-5300

W503 NX701-

W504

O032 SYSMAC

W519 NX-ECC Learning how to use an NX-

V118 NA5-

V073 NS15-

SE2 SYSMACSE200D-64

SE2 SYSMACSA4-64

NJ501-R

NY532-5400

NX102- NX1P2- NJ501- NJ301- NJ101-

SYSMACSE2

-RTNC0D

W



NS12-



NS10-



NS8-



NS5-



Learning about the operating procedures and functions of the Sysmac Studio to configure Robot Integrated System using Robot Integrated CPU Unit.

Learning about the operating procedures and functions of the Sysmac Studio to configure Robot Integrated System using IPC Application Controller. Learning about an outline of the 3D simulation function of the Sysmac Studio and how to use the function.

Controlling robots with NJseries CPU Units.

Performing numerical control with NJ/NY-series Controllers.

Learning about the specifications of the G code/M code instructions.

Learning about the errors that may be detected in an NJ/NX-series Controller.

arning about the operat-

Le ing procedures and functions of the Sysmac Studio.

Learning an introduction of the CNC Operator and how to use it.

series EtherCAT Coupler Unit and EtherCAT Slave Terminals.

Learning about NA-series PT pages and object functions.

Learning how to use the NS-series Programmable Terminals.

Describes the settings and operation of the CPU Unit and programming concepts for OMRON robot control.

Describes the operating procedures of the Sysmac Studio for Robot Integrated CPU Unit.

Describes the operating procedures of the Sysmac Studio for IPC Application Controller.

Describes an outline, execution procedures, and operating procedures for the 3D simulation function of the Sysmac Studio.

Describes the functionality to control robots.

Describes the functionality to perform the numerical control.

The G code/M code instructions are described.

Concepts on managing errors that may be detected in an NJ/NX-series Controller and information on individual errors are described.

Describes the operating procedures of the Sysmac Studio.

An introduction of the CNC Operator, installation procedures, basic operations, connection operations, and operating procedures for main functions are described.

The following items are described: the overall system and configuration 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.

Describes the pages and object functions of the NA-series Programmable Terminals.

Describes the setup methods, functions, etc. of the NS-series Programmable Terminals.

NJ-series CPU Unit Hardware User’s Manual (W500)

Terminology

Term Description

absolute encoder home offset This data is used to restore in the CPU Unit the actual position of a Servo Drive with

an absolute encoder. The offset is the difference between the command position after homing and the absolute data that is read from the absolute encoder.

array specification One of the variable specifications. An array variable contains multiple elements of

the same data type. The elements in the array are specified by serial numbers called subscripts that start from the beginning of the array.

AT One of the attributes of a variable.

This attribute allows the user to specify what is assigned to a variable. An I/O port or an address in memory used for CJ-series Units can be specified.

axes group A functional unit that groups together axes within the Motion Control Function Mod-

ule.

Axes Group Variable A system-defined variable that is defined as a structure and provides status infor-

mation and some of the axes parameters for an individual axes group. An Axes Group Variable is used to specify an axes group for motion control instructions and to monitor the command interpolation velocity, error information, and other information for the axes group.

axis A functional unit within the Motion Control Function Module. An axis is assigned to

the drive mechanism in an external Servo Drive or the sensing mechanism in an external Encoder Input Slave Unit.

Axis Variable A system-defined variable that is defined as a structure and provides status infor-

mation and some of the axis parameters for an individual axis. An Axis Variable is used to specify an axis for motion control instructions and to monitor the command position, error information, and other information for the axis.

basic data type Any of the data types that are defined by IEC 61131-3.

They include Boolean, bit string, integer, real, duration, date, time of day, date and time, and text string data types. "Basic data type" is used as opposed to derivative data types, which are defined by the user.

cam data variable A variable that represents the cam data as a structure array.

A cam data variable is an array structure that consists of phases and displace-

ments. CJ-series Unit Any of the CJ-series Units that can be used with an NJ-series Controller. Communications Coupler Unit The generic name of an interface unit for remote I/O communications on a network

between NX Units and a host network master. For example, an EtherCAT Coupler

Unit is a Communications Coupler Unit for an EtherCAT network. Constant One of the attributes of a variable.

If you specify the Constant attribute for a variable, the value of the variable cannot

be written by any instructions, ST operators, or CIP message communications. Controller The range of devices that are directly controlled by the CPU Unit.

In the NJ-series System, the Controller includes the CPU Rack, Expansion Racks,

and EtherCAT slaves (including general-purpose slaves and Servo Drives). Controller error Errors that are defined by the NJ-series System.

“Controller error” is a collective term for major fault level, partial fault level, minor

fault level, and observation Controller events. Controller event One of the events in the NJ-series System. Controller events are errors and infor-

mation that are defined by the system for user notification. A Controller event

occurs when the system detects a factor that is defined as a Controller event. Controller information Information that is defined by the NJ-series System that is not an error. It rep-

resents an information Controller event. CPU Unit The Unit that serves as the center of control for a Machine Automation Controller.

The CPU Unit executes tasks, refreshes I/O for other Units and slaves, etc. The

NJ/NX-series CPU Units include the NX701-, NX1P2- and NJ501-

. derivative data type A data type that is defined by the user. Structures, unions, and enumerations are

derivative data types.

NJ-series CPU Unit Hardware User’s Manual (W500)

Terminology

Term Description

device A general term for any Unit or slave that is refreshed by the I/O refreshing that is

performed by the CPU Unit. Specifically, it refers to EtherCAT slaves, NX Units on the CPU Unit, built-in I/O, Option Boards, and CJ-series Units.

device output An output for any Unit or slave that is refreshed by the I/O refreshing that is per-

formed by the CPU Unit. device variable A variable that is used to access a specific device through an I/O port. download To transfer data from the Sysmac Studio to the Controller with the synchronization

operation of the Sysmac Studio. edge One of the attributes of a variable.

This attribute makes a BOOL variable pass TRUE to a function block when the vari-

able changes from FALSE to TRUE or when it changes from TRUE to FALSE. enumeration One of the derivative data types. This data type takes one item from a prepared

name list of enumerators as its value. enumerator One of the values that an enumeration can take expressed as a character string.

The value of an enumeration is one of the enumerators. EtherCAT Master Function Module One of the function modules. This function module controls the EtherCAT slaves as

the EtherCAT master. EtherNet/IP Function Module One of the function modules. This function module controls the built-in EtherNet/IP

port. event log A function that recognizes and records errors and other events. Event Setup Settings that define user-defined errors and user-defined information. event task A task that executes a user program only once when the task execution conditions

are met. FB An acronym for "function block." forced refreshing Forcing the refreshing of an input from an external device or an output to an exter-

nal device, e.g., when the user debugs a program.

Addresses that are subject to forced refreshing can still be overwritten from the

user program. FUN An abbreviation for "function." function A POU that is used to create an object that determines a unique output for the

same input, such as for data processing. function block A POU that is used to create an object that can have a different output for the same

input, such as for a timer or counter. function module One of the functional units of the software configuration of the CPU Unit. general-purpose slave Any of the EtherCAT slaves that cannot be assigned to an axis. global variable A variable that can be read or written from all POUs (programs, functions, and func-

tion blocks). I/O map settings Settings that assign variables to I/O ports. Assignment information between I/O

ports and variables. I/O port A logical interface that is used by the CPU Unit to exchange data with an external

device (slave or Unit). I/O refreshing Cyclic data exchange with external devices that is performed with predetermined

memory addresses. information One of the event levels for Controller events or user-defined events. These are not

errors, but appear in the event log to notify the user of specific information. Initial Value One of the attributes of a variable. The variable is set to the initial value in the fol-

lowing situations.

• When power is turned ON

• When the CPU Unit changes to RUN mode

• When you specify to initialize the values when the user program is transferred

• When a major fault level Controller error occurs inline ST ST programming that is included within a ladder diagram program. instruction The smallest unit of the processing elements that are provided by OMRON for use

in POU algorithms. There are ladder diagram instructions (program inputs and outputs), function instructions, function block instructions, and ST statements.

literal A constant expression that is used in a user program.

NJ-series CPU Unit Hardware User’s Manual (W500)

Terminology

Term Description

local variable A variable that can be accessed only from inside the POU in which it is defined.

“Local variable” is used as opposed to “global variable.” Local variables include internal variables, input variables, output variables, in-out variables, and external variables.

main memory The memory inside the CPU Unit that is used by the CPU Unit to execute the OS

and user program.

major fault level Controller error An error for which all NJ-series Controller control operations stop. The CPU Unit

immediately stops user program execution and turns OFF the loads for all slaves

and Units (including remote I/O). MC Test Run A function to check motor operation and wiring from the Sysmac Studio. memory used for CJ-series units A type of I/O memory specified as the assignment destination of variables when

accessing a CJ-series Unit and CJ-series network.

It can be accessed only with variables with an AT attribute. minor fault level Controller error An error for which part of the control operations for one of the function modules in

the NJ-series Controller stop.

An NJ-series CPU Unit continues operation even after a minor fault level Controller

error occurs. Motion Control Function Module One of the function modules. The MC Function Module performs motion control

based on commands from the motion control instructions that are executed in the

user program. motion control instruction A function block instruction that executes motion control.

The Motion Control Function Module supports instructions that are based on func-

tion blocks for PLCopen

cally for the Motion Control Function Module. namespace A system that is used to group and nest the names of functions, function block defi-

nitions, and data types. Network Publish One of the attributes of a variable.

This attribute allows you to use CIP message communications or tag data links to

read/write variables from another Controller or from a host computer. NX bus The NX-series internal bus. An NX1P2 CPU Unit has the NX bus. NX Units Any of the NX-series Units that perform I/O processing with connected external

devices. The Communications Coupler Units are not included with the NX Units.

motion control as well as instructions developed specifi-

observation One of the event levels for Controller events or user-defined events.

These are minor errors that do not affect control operations, but appear in the event

log to notify the user of specific information. partial fault level Controller error An error for which all of the control operations for one of the function modules in the

NJ-series Controller stop.

An NJ-series CPU Unit continues operation even after a partial fault level Controller

error. PDO communications An abbreviation for process data communications. Data is exchanged between the

master and slaves on a process data communications cycle. (The process data

communications cycle is the same as the task period of the primary periodic task.) periodic task A tasks for which user program execution and I/O refreshing are performed each

period. PLC Function Module One of the function modules. This function module executes the user program,

sends commands to the Motion Control Function Module, and provides an interface

to the USB and SD Memory Card. POU An acronym for "program organization unit." A POU is a unit in a program execution

model that is defined in IEC 61131-3.

A POU contains an algorithm and a local variable table and forms the basic unit

used to build a user program.

There are three types of POUs: programs, functions, and function blocks. primary periodic task The task with the highest priority. process data communications One type of EtherCAT communications in which process data objects (PDOs) are

used to exchange information cyclically and in realtime. Process data communica-

tions are also called PDO communications. program Along with functions and function blocks, one of the three types of POUs.

Programs are assigned to tasks to execute them.

NJ-series CPU Unit Hardware User’s Manual (W500)

Terminology

Term Description

project unit version A unit version to be set for the project. It is set for the project in the Select Device

Area of the Project Properties Dialog Box on the Sysmac Studio.

Range Specification One of the variable specifications. You can specify a range for a variable in

advance. The variable can take only values that are in the specified range.

Retain One of the attributes of a variable. The values of variables with a Retain attribute

are held at the following times. (Variables without a Retain attribute are set to their initial values.)

• When power is turned ON after a power interruption

• When the CPU Unit changes to RUN mode

• When you specify to not initialize the values when the user program is transferred

SDO communications One type of EtherCAT communications in which service data objects (SDOs) are

used to transmit information whenever required.

Servo Drive/encoder input slave Any of the EtherCAT slaves that is assigned to an axis. In the NJ-series System, it

would be a Servo Drive or Encoder Input Slave Unit.

slave A device that performs remote I/O for a master.

slave and Unit configurations A generic term for the EtherCAT configuration and Unit configuration. Slave Terminal A building-block remote I/O terminal to which a Communications Coupler Unit and

NX Units are mounted. A Slave Terminal is one type of slave.

Special Unit Setup A generic term for the settings for a Special Unit, including the settings in allocated

DM Area words.

structure One of the derivative data types. It consists of multiple data types placed together

into a layered structure.

synchronization A function that automatically compares the information in the NJ-series Controller

with the information in the Sysmac Studio, displays any differences and locations in a hierarchical form, and can be used to synchronize the information.

Sysmac Studio A computer software application for setting, programming, debugging, and trouble-

shooting NJ-series Controllers. It also provides operations for motion control and a Simulator.

system common processing System processing that is performed by the CPU Unit to perform I/O refreshing and

the user program execution within a task. Exclusive control of variables between tasks, data trace processing, and other processing is performed.

system service Processing that is performed by the CPU Unit in unused time between task pro-

cessing. The system service includes communications processing, SD Memory Card access processing, self-diagnosis processing, and other processing.

system-defined variable A variable for which all attributes are defined by the system and cannot be changed

by the user. task An attribute that defines when a program is executed. task period The interval at which the primary periodic task or a periodic task is executed. union One of the derivative data types. It allows you to handle the same data as different

data types. Unit A device that mounts to the CPU Rack or an Expansion Rack. In NJ-series manu-

als, it refers to CJ-series Units. Unit configuration The configuration information for the Units that are set on the Sysmac Studio. This

information tells what Unit models are connected to the CPU Unit and where they

are connected. upload To transfer data from the Controller to the Sysmac Studio with the synchronization

operation of the Sysmac Studio. user program All of the programs in one project. user-defined event One of the events in the NJ-series System. These events are defined by the user.

“User-defined events” is a generic term for user-defined errors and user-defined

information. user-defined variable A variable for which all of the attributes are defined by the user and can be changed

by the user. variable A representation of data, such as a numeric value or character string, that is used in

a user program.

You can change the value of a variable by assigned the required value. “Variable” is

used as opposed to “constant,” for which the value does not change.

NJ-series CPU Unit Hardware User’s Manual (W500)

Terminology

Term Description

variable memory A memory area that contains the present values of variables that do not have AT

specifications. It can be accessed only with variables without an AT attribute.

NJ-series CPU Unit Hardware User’s Manual (W500)

Revision History

W500-E1-27

Revision code

Cat. No.

Revision History

A manual revision code appears as a suffix to the catalog number on the front and back covers of the manual.

Revision code Date Revised content

01 July 2011 Original production 02 March 2012 • Added information on the NJ301-.

03 May 2012 • Made changes accompanying release of unit version 1.02 of

04 August 2012 • Made changes accompanying release of unit version 1.03 of

05 February 2013 • Made changes accompanying release of unit version 1.04 of

06 April 2013 • Added information on the NJ501-120.

07 June 2013 • Made changes accompanying release of unit version 1.06 of

08 September 2013 • Made changes accompanying release of unit version 1.07 of

09 December 2013 • Made changes accompanying release of unit version 1.08 of

10 July 2014 • Corrected mistakes.

11 January 2015 • Made changes accompanying release of unit version 1.10 of

12 April 2015 • Added information on the NJ101-.

13 October 2015 • Added information on the hardware revision.

14 April 2016 • Made changes accompanying release of unit version 1.11 of

15 October 2016 • Made changes accompanying release of unit version 1.13 of

16 April 2017 • Made changes accompanying release of unit version 1.14 of

17 June 2017 • Made changes accompanying release of unit version 1.15 of

18 October 2017 • Made changes accompanying release of unit version 1.16 of

19 January 2018 • Made changes accompanying release of unit version 1.17 of

20 April 2018 • Corrected mistakes.

• Added information on the functions supported by unit version 1.01 of the CPU Units.

• Corrected mistakes.

the CPU Unit.

• Made changes accompanying release of unit version 1.05 of the CPU Unit.

the CPU Unit.

• Corrected mistakes.

the CPU Unit.

NJ-series CPU Unit Hardware User’s Manual (W500)

Revision code Date Revised content

21 July 2018 • Added information on the hardware revision.

• Made changes accompanying release of unit version 1.19 of

the CPU Unit.

• Made changes accompanying the transfer of explanation for

event codes and errors to the NJ/NX-series Troubleshooting Manual.

22 January 2019 • Made changes accompanying release of unit version 1.20 of

the CPU Unit.

• Corrected mistakes.

23 April 2019 • Made changes accompanying release of unit version 1.21 of

the NJ501-100, NJ301-, and NJ101-00.

24 July 2019 • Made changes accompanying release of unit version 1.40 of

the NJ501-100, NJ301-, and NJ101-00.

• Made changes accompanying release of unit version 1.21 of

the NJ501-400, NJ501-410, NJ501-1340, and NJ501-

5300. 25 August 2020 • Added information on the NJ501-R. 26 October 2020 • Corrected mistakes. 27 January 2021 • Made changes accompanying release of unit version 1.43 of

the NJ501-100.

Revision History

NJ-series CPU Unit Hardware User’s Manual (W500)

Revision History

NJ-series CPU Unit Hardware User’s Manual (W500)

Introduction to NJ-series Controllers

This section describes the features, basic system configuration, specifications, and overall operating procedure of an NJ-series Controller.

1-1 The NJ-series Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-1-2 Introduction to the System Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-2 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

1-3 Overall Operating Procedure for the NJ-series Controller . . . . . . . . . . . . 1-12

1-3-1 Overall Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12

1-3-2 Procedure Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-13

NJ-series CPU Unit Hardware User’s Manual (W500)

1-1

1 Introduction to NJ-series Controllers

Sysmac Studio

Automation Software

IEC programming

NJ-series Controller

Multitasking, Synchronized Control

Sequence control

Motion control

Safety devices

Machine vision

I/O controls

Servo Drives and

Inverters

EtherCAT control network

1-1 The NJ-series Controllers

The SYSMAC NJ-series Controllers are next-generation machine automation controllers that provide the functionality and high-speed performance that are required for machine control. They provide the safety, reliability, and maintainability that are required of industrial controllers.

The NJ-series Controllers provide the functionality of previous OMRON PLCs, and they also provide the functionality that is required for motion control. Synchronized control of I/O devices on high-speed EtherCAT can be applied to safety devices, vision systems, motion equipment, discrete I/O, and more.

OMRON offers the new Sysmac Series of control devices designed with unified communications specifications and user interface specifications. The NJ-series Machine Automation Controllers are part of the Sysmac Series. You can use them together with EtherCAT slaves, other Sysmac products, and the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation. With a system that is created from Sysmac products, you can connect components and commission the system through unified concepts and usability.

1-1-1 Features

1-2

Hardware Features

 Standard-feature EtherCAT Control Network Support

 Support for EtherCAT Slave Terminals

All CPU Units provide an EtherCAT master port for EtherCAT communications. EtherCAT is an advanced industrial network system that achieves faster, more-efficient communications. It is based on Ethernet. Each node achieves a short fixed communications cycle time by transmitting Ethernet frames at high speed. The standard-feature EtherCAT control network allows you to connect all of the devices required for machine control (e.g., I/O systems, Servo Drives, Inverters, and machine vision) to the same network.

You can use EtherCAT Slave Terminals to save space. You can also flexibly build systems with the wide variety of NX Units.

NJ-series CPU Unit Hardware User’s Manual (W500)

1 Introduction to NJ-series Controllers

Version Information

 Achieving a Safety Subsystem on EtherCAT

You can use NX-series Safety Control Units to integrate safety controls in a sequence and motion control system as a subsystem on EtherCAT.

A CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher are required to use the NX-series Safety Control Units.

1-1 The NJ-series Controllers

 CJ-series Units

In addition to EtherCAT network slaves, you can also mount CJ-series Basic I/O Units and Special Units on the I/O bus.

 Standard-feature EtherNet/IP Communications Port

All CPU Units provide an EtherNet/IP port for EtherNet/IP communications. EtherNet/IP is a multivendor industrial network that uses Ethernet. You can use it for networks between Controllers or as a field network. The use of standard Ethernet technology allows you to connect to many different types of general-purpose Ethernet devices.

 Standard-feature USB Port

You can connect the computer that runs the Support Software directly to the CPU Unit.

 Standard-feature SD Memory Card Slot

You can access an SD Memory Card that is mounted in the CPU Unit from the user program.

 Highly Reliable Hardware

The NJ-series Controllers provide the hardware reliability and RAS functions that you expect of a PLC.

1-1-1 Features

Software Features

 Integrated Sequence Control and Motion Control

An NJ-series CPU Unit can perform both sequence control and motion control. You can simultaneously achieve both sequence control and multi-axes synchronized control. Sequence control, motion control, and I/O refreshing are all executed in the same control period. The same control period is also used for the process data communications cycle for EtherCAT. This enables precise sequence and motion control in a fixed period with very little deviation.

 Multitasking

You assign I/O refreshing and programs to tasks and then specify execution conditions and execution order for them to flexibly combine controls that suit the application.

 Programming Languages Based on the IEC 61131-3 International Standard

The NJ-series Controllers support language specifications that are based on IEC 61131-3. To these, OMRON has added our own improvements. Motion control instructions that are based on PLCo-

standards and an instruction set (POUs) that follows IEC rules are provided.

pen

 Programming with Variables to Eliminate Worrying about the Memory Map

You access all data through variables in the same way as for the advanced programming languages that are used on computers. Memory in the CPU Unit is automatically assigned to the variables that you create so that you do not have to remember the physical addresses.

NJ-series CPU Unit Hardware User’s Manual (W500)

1-3

1 Introduction to NJ-series Controllers

 A Wealth of Security Features

The many security features of the NJ-series Controllers include operation authority settings and restriction of program execution with IDs.

 Complete Controller Monitoring

The CPU Unit monitors events in all parts of the Controller, including mounted Units and EtherCAT slaves. Troubleshooting information for errors is displayed on the Sysmac Studio or on an NS-series PT. Events are also recorded in logs.

 Sysmac Studio Automation Software

The Sysmac Studio provides an integrated development environment that covers not only the Controller, but also covers peripheral devices and devices on EtherCAT. You can use consistent procedures for all devices regardless of the differences in the devices. The Sysmac Studio supports all phases of Controller application, from designing through debugging, simulations, commissioning, and changes during operation.

 A Wealth of Simulation Features

The many simulation features include execution, debugging, and task execution time estimates on a virtual controller.

1-1-2 Introduction to the System Configurations

The NJ Series supports the following system configurations.

 Basic System Configurations

The NJ-series basic configurations include the EtherCAT network configuration, CJ-series Unit configuration, and the Support Software.

EtherCAT Network Configuration

You can use the built-in EtherCAT port to connect to EtherCAT Slave Terminals, to general-purpose slaves for analog and digital I/O, and to Servo Drives and encoder input slaves. An EtherCAT network configuration enables precise sequence and motion control in a fixed cycle with very little deviation.

CJ-series Unit Configuration

In addition to the EtherCAT network, you can mount CJ-series Basic I/O Units and Special Units. CJseries Units can be mounted both to the CPU Rack where the CPU Unit is mounted and to Expansion Racks.

1-4

Support Software

The Support Software is connected to the peripheral USB port on the CPU Unit with a commercially available USB cable. You can also connect it through an Ethernet cable that is connected to the built-in EtherNet/IP port.

Refer to 3-7-2 Connection for details on the connection configuration of the Support Software.

NJ-series CPU Unit Hardware User’s Manual (W500)

1 Introduction to NJ-series Controllers

Additional Information

Sysmac Studio

USB

EtherNet/IP

LAN

EtherCAT

Servo Drive/encoder

input slaves

Peripheral USB port

Built-in EtherNet/IP port

Built-in EtherCAT port

General-purpose slaves

CPU

CJ-series Units

CJ-series Unit

Configuration

EtherCAT Network

Configuration

Power

Supply Unit

CPU Unit

NJ-series Controller

Support Software

Slave Terminal

CRT1

OD16

CRT1

OD16

1-1 The NJ-series Controllers

1-1-2 Introduction to the System Configurations

You can connect the Sysmac Studio directly to the Communications Coupler Unit to set up the Slave Terminal. Refer to the NX-series EtherCAT Coupler Units User’s Manual (Cat. No. W519) for details.

 Network Configurations

• Host computers, HMIs, and other NJ-series Controllers are connected to the built-in EtherNet/IP

port on the CPU Unit or to a CJ1W-EIP21 EtherNet/IP Unit.

• A DeviceNet network is connected to a DeviceNet Unit. A serial communications network is connected to a Serial Communications Unit.

NJ-series Controller

BS+

BD H

DB L

CompoNet

General-purpose device

with serial communications

Serial

CompoNet Master Unit

012345678 9 10 11 12 13 14 15

MS NS

WORD

NODE ADR

OUT

OD16

CRT1

REMOTE

TERMINAL

MS NS

CRT1

REMOTE

TERMINAL

WORD

NODE ADR

OD16

012345678 9 10 11 12 13 14 15

OUT

EtherNet/IP

Host computer

Built-in EtherNet/IP port

NJ-series Controller

Power Supply Unit

CPU Unit

Example: DeviceNet Unit

HMI

EtherNet/IP

Example: Serial Communications Unit

DeviceNet

NJ-series CPU Unit Hardware User’s Manual (W500)

1-5

1 Introduction to NJ-series Controllers

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the network configuration.

 Support Software

You can use the following Support Software to set up, monitor, and debug an NJ-series Controller.

Sysmac Studio

The Sysmac Studio is the main Support Software that you use for an NJ-series Controller. On it, you can set up the Controller configurations, parameters, and programs, and you can debug and simulate operation.

Other Support Software

The following Support Software is also included in the Sysmac Studio Software Package Standard

Edition.

Configuration software Application

Sysmac Studio

Network Configurator

CX-Integrator

CX-Protocol

CX-Designer The CX-Designer is used to create screens for NS-series PTs.

The Sysmac Studio is used for sequence control, motion control, and all other operations except those described below.

The Network Configurator is used for tag data links on EtherNet/IP ports or Units.

The CX-Integrator is used for remote I/O communications with a DeviceNet Unit or CompoNet Master Unit.

The CX-Protocol is used for protocol macros with Serial Communications Units.

*1 If the NJ/NX-series Controller is a target device, you may also use Sysmac Studio version 1.10 or higher.

Use the Network Configurator if a CS/CJ-series PLC operates as the originator device.

1-6

NJ-series CPU Unit Hardware User’s Manual (W500)

1 Introduction to NJ-series Controllers

1-2 Specifications

This section gives the main specifications of the NJ-series Controllers.

Processing time

Programming

Motion control

Item

Instruction execution times

Program

capacity

Memory capacity for variables

Data types Number of data types 2,000 1,000

Memory for CJ-series Units (Can be specified with AT specifications for variables.)

Number of controlled

*10

axes

Maximum number of axes groups 32 axes groups ---

Motion control period

Cams

Position units Pulse, mm, μm, nm, degree, and inch ---

Override factors 0.00% or 0.01% to 500.00% ---

LD instruction

Math instructions (for long real data)

Size 20 MB 5 MB 3 MB

Number of POU

Quantity

Retain attri-

butes

No Retain attri-

butes

CIO Area 6,144 words (CIO 0 to CIO 6143)

Work Area 512 words (W0 to W511)

Holding Area 1,536 words (H0 to H1535)

DM Area 32,768 words (D0 to D32767)

EM Area

Maximum number of controlled axes

Maximum number of used real axes

Maximum number of axes for linear interpolation axis control

Number of axes for circular interpolation axis control

Number of cam data points

Maximum number of cam tables

definitions

Number of POU instances

Size 2 MB 0.5 MB

Number of vari-

ables

Size 4 MB 2 MB

Number of vari-

ables

Motion control axes

Single-axis position control axes

Used motion control servo axes

Used single-axis position control servo axes

Maximum points per cam table

Maximum points for all cam tables

5 4 3 12 11 10 90

1.2 ns (1.9 ns or less)

26 ns or more

3,000 750 450

9,000 (*) 3,000 (*) 1,800

10,000 5,000 (*)

180,000 (*) 90,000 (*) 22,500

32,768 words × 25 banks (E0_00000 to E18_32767)

64 axes 32 axes 16 axes 15 axes (*) 6 axes ---

---

64 axes 32 axes 16 axes 8 axes 4 axes 2 axes ---

---

4 axes per axes group ---

2 axes per axes group ---

The same control period as that is used for the process data communications cycle for EtherCAT.

65,535 points ---

1,048,560 points 262,140 points ---

640 tables 160 tables ---

NJ501- NJ301- NJ101-

2.0 ns (3.0 ns or less)*23.3 ns (5.0 ns or less)

42 ns or more

32,768 words × 4 banks (E0_00000 to E3_32767)

70 ns or more

1-2 Specifications

---

NJ-series CPU Unit Hardware User’s Manual (W500)

1-7

1 Introduction to NJ-series Controllers

Peripheral USB port

Built-in EtherNet/IP port

Item

Supported services Sysmac Studio connection

Physical layer USB 2.0-compliant B-type connector

Transmission distance 5 m max.

Number of ports 1

Physical layer 10BASE-T/100BASE-TX

Frame length 1,514 bytes max.

Media access method CSMA/CD

Modulation Baseband

Topology Star

Baud rate 100 Mbps (100Base-TX)

Transmission media STP (shielded, twisted-pair) cable of Ethernet category 5, 5e or higher

Maximum transmission distance between Ethernet switch and node

Maximum number of cascade connections There are no restrictions if an Ethernet switch is used.

Maximum number of connections

Packet interval

Permissible communications band

Maximum number of tag sets 32

CIP service: Tag dat a links (cyclic communications)

CIP message service: Explicit messages

Number of TCP sockets 30 (*)

Tag types Network variables, CIO, Work, Holding, DM, and EM Areas

Number of tags per connection (i.e., per tag set)

Maximum number of tags 256

Maximum link data size per node (total size for all tags)

Maximum data size per connection

Maximum number of registrable tag sets

Maximum tag set size 600 bytes (Two bytes are used if Controller status is included in the tag set.)

Multi-cast packet filter

Class 3 (number of connections)

UCMM (non-connection type)

*11

*13

Maximum number of clients that can communicate at one time

Maximum number of servers that can communicate at one time

5 4 3 12 11 10 90

100 m

Can be set for each connection.

1 to 10,000 ms in 1-ms increments (*)

3,000 pps

8 (7 tags if Controller status is included in the tag set.)

19,200 bytes

600 bytes

32 (1 connection = 1 tag set)

Supported

32 (clients plus server)

NJ501- NJ301- NJ101-

*12

(including heartbeat) (*)

1-8

NJ-series CPU Unit Hardware User’s Manual (W500)

1 Introduction to NJ-series Controllers

Built-in EtherNet/IP port

OPC UA

Server

Item

Support profile/Model

Default Endpoint/Port opc.tcp://192.168.250.1:4840/ ---

Maximum number of sessions (Client)

Maximum number of Monitored Items per server

Sampling rate of Monitored Items (ms)

Maximum number of Subscriptions per server

Maximum number of variables that can be published

Maximum number of value attributes that can be pub-

*15

lished

Maximum number of structure definitions that can be published

*14

Restrictions on variables unable to be published

Security Policy/Mode

Application Authentication

User Authentication

Authentication X.509 ---

Maximum number of storable certifications

Authentication

5 4 3 12 11 10 90

Micro Embedded Device Server Profile

PLCopen Information Model

5---

2,000 ---

0, 50, 100, 250, 500, 1,000, 2,000, 5,000, 10,000

if set to 0(zero), it is assumed that is set to 50.

100 ---

10,000 ---

100 ---

• Variables whose size is over 1,024 bytes

• Two-dimensional or higher structure arrays

• Structures that include two-dimensional and higher arrays

• Structures with four or higher levels of nesting

• Unions

• Arrays whose index number suffix

does not start from 0

• Arrays with 1,024 or more elements

• Structures with 100 or more mem-

bers

Select one of the following. None Sign - Basic128Rsa15 Sign - Basic256 Sign - Basic256Sha256 SignAndEncrypt - Basic128Rsa15 SignAndEncrypt - Basic256 SignAndEncrypt - Basic256Sha256

Trusted certification: 32 Issuer certification: 32

Rejected certification: 32

You can set the following items. User name/Password

Anonymous

NJ501- NJ301- NJ101-

1-2 Specifications

---

NJ-series CPU Unit Hardware User’s Manual (W500)

1-9

1 Introduction to NJ-series Controllers

Built-in EtherCAT port

Serial communications

Unit configuration

Option Board

Built-in I/O

Internal clock

Item

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

Transmission media

Maximum transmission distance between nodes

Maximum number of slaves 192 64

Range of node addresses that can be set 1 to 192

Maximum process data size

Maximum process data size per slave

Communications cycle 500, 1,000, 2,000, or 4,000 μs (*)

Sync jitter 1 μs max.

Communications method ---

Synchronization method ---

Baud rate ---

Maximum number of CJ Units per CPU Rack or Expansion Rack

Maximum number of connectable Units

Maximum number of Expansion Racks 3

I/O capacity

Power Supply Unit for CPU Rack and Expansion Racks

Number of slots

Input Number of points ---

Output

Accuracy

Retention time of built-in capacitor ---

Maximum number of NX Units per CPU Rack

Maximum number of CJ Units for entire controller

Maximum number of NX Units for entire controller

Maximum number of I/O points on CJ-series Units

Model NJ-P3001

Power OFF detection time

Number of points ---

Load short-circuit protection ---

AC power supply

DC power supply

5 4 3 12 11 10 90

Line, daisy chain, branching, and ring

Twisted-pair cable of category 5 or higher (double-shielded straight cable with aluminum tape and braiding)

100 m

Inputs: 5,736 bytes Outputs: 5,736 bytes

*17

Inputs: 1,434 bytes Outputs: 1,434 bytes

---

4,096 (On EtherCAT Slave Terminals)

2,560

30 to 45 ms

22 to 25 ms

---

At ambient temperature of 55°C: −3.5 to +0.5 min error per month 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

NJ501- NJ301- NJ101-

*16

1,000, 2,000, or 4,000 μs

400 (On EtherCAT Slave Terminals)

*1 When the hardware revision for the Unit is A or B, the processing time is 1.1 ns (1.7 ns or less). *2 When the hardware revision for the Unit is A, the processing time is 1.6 ns (2.5 ns or less). *3 When the hardware revision for the Unit is A, the processing time is 3.0 ns (4.5 ns or less). *4 When the hardware revision for the Unit is A or B, the value is 24 ns or more. *5 When the hardware revision for the Unit is A, the value is 35 ns or more. *6 When the hardware revision for the Unit is A, the value is 63 ns or more. *7 Execution objects and variable tables (including variable names) *8 Does not include Holding, DM, and EM Area memory for CJ-series Units. *9 Does not include CIO and Work Area memory for CJ-series Units. *10 Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for descriptions of axes.

1-10

NJ-series CPU Unit Hardware User’s Manual (W500)

1 Introduction to NJ-series Controllers

*11 Data will be refreshed at the set interval, regardless of the number of nodes. *12 “pps” means packets per second, i.e., the number of communications packets that can be sent or received in one second. *13 As the EtherNet/IP port implements the IGMP client, unnecessary multi-cast packets can be filtered by using an Ethernet switch that supports IGMP Snoop-

ing.

*14 The CPU Unit that supports OPC UA is an NJ501-100 CPU Unit with unit version 1.17 or later. *15 The number of value attributes is defined by the following formula.

Number of value attributes = (Number of basic data type variables) + (Number of array-specified elements) + (Number of values in the structure)

*16 A ring topology can be used with project unit version 1.40 or later. *17 However, for project unit version earlier than 1.40, the data must be within four frames.

Note Items that are marked with asterisks in the table are improvements that were made during version upgrades. Refer to A-

7 Version Information for information on version upgrades.

1-2 Specifications

NJ-series CPU Unit Hardware User’s Manual (W500)

1-11

1 Introduction to NJ-series Controllers

1-3 Overall Operating Procedure for the

NJ-series Controller

This section gives the overall operating procedure of the NJ-series Controllers and then describes it in more detail.

1-3-1 Overall Procedure

The overall procedure to use an NJ-series Controller is given below.

Step 1. Software Design

Design the overall system configuration, task configuration, programs, and variables.

Step 1-1 Designing I/O and Processing

Step 1-2 Designing Tasks

Step 1-3 Designing Programs

Step 2. Software Setups and Programming

Create the system configurations that you designed in step 1 on the Support Software and assign the variables. Create the tasks and programs, and debug them, e.g., with simulations.

Step 2-1 Slave and Unit Configurations

Step 2-2 Controller Setup

Step 2-3 Programming

Step 2-4 Offline Debugging

Step 3. Mounting and Setting Hardware

Mount the Units and make the required hardware settings.

1-12

Step 4. Wiring

Connect the network cables and wire the I/O.

Step 5. Confirming Operation and Starting Actual System

Operation

Connect the Support Software to the physical system and download the project. Check operation on the physical system and then start actual system operation.

NJ-series CPU Unit Hardware User’s Manual (W500)

1 Introduction to NJ-series Controllers

1-3-2 Procedure Details

Step 1. Software Design

Step Description Reference

1-3 Overall Operating Procedure

for the NJ-series Controller

Step 1-1 Designing I/O and Processing

Step 1-2 Designing Tasks

Step 1-3 Designing Programs

POU (Program Organization Unit) Design

Variable Design

• External I/O devices and unit configuration

• Refresh periods for external devices

• Program contents

• Task configuration

• Relationship between tasks and programs

• Task periods

• Slave and Unit refresh times

• Exclusive control methods for variables between tasks

• Programs

• Functions and function blocks

• Determining the algorithm languages

• Defining variables that you can use in more than one POU and

variables that you use in only specific POUs

• Defining the variables names for the device variables that you use to access slaves and Units

• Defining the attributes of variables, such as the Name and Retain attributes

• Designing the data types of variables

Section 3 Configuration Units (page 3-1)

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

1-3-2 Procedure Details

Step 2. Software Setups and Programming

Step Description Sysmac Studio Oper-

ations

Project Creation

NJ-series CPU Unit Hardware User’s Manual (W500)

1. Create a project in the Sysmac Studio.

2. Insert a Controller.

New Project Button

Insert − Controller

Reference

Sysmac Studio Version 1 Operation Manual (Cat. No.

W504)

1-13

1 Introduction to NJ-series Controllers

The following Controller Configurations and Setup and the Programming and Task Settings can be performed in either order.

Step 2-1 Slave and Unit Configurations

1) Creating the Slave and Unit Configurations

2) Assigning Device Variables to I/O Ports

(The following step is for motion control.)

3) Creating the Axes and Assigning Them to the Servo Drive/Encoder Input Slaves

1. Creating the slave configuration and Unit configuration either offline or online. (For online configuration, make the online connection that is described in step 5.)

2. Setting up any Slave Terminals that are used.

Registering device variables in variable tables (Variable names are user defined or automatically created.)

Creating the axes and setting them as real axes or virtual axes. Creating axes groups to perform interpolated axes control.

EtherCAT Slave Setting Editor Unit Editor

I/O Map NJ/NX-series CPU Unit

Configurations and Setup − Motion Control Setup

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

NX-series EtherCAT Coupler Unit User’s Manual

(Cat. No. W519)

Software User’s Manual (Cat. No. W501)

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

Step 2-2 Controller Setup

Setting the following parameters from the Sysmac Studio

Setting the initial values for the PLC Function Module

Initial settings for Special Units Configurations and

(To use motion control) Setting the initial settings for the Motion Control Function Module

Setting the initial values for the EtherCAT Function Module

Setting the initial values for the EtherNet/IP Function Module

Configurations and Setup − Controller Setup − Operation Settings

Setup − CPU/Expansion Racks

Configurations and Setup − Motion Control Setup

Configurations and Setup − EtherCAT

Configurations and Setup − Controller Setup − Built-in EtherNet/IP Port Settings

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

1-14

NJ-series CPU Unit Hardware User’s Manual (W500)

Step 2-3 Programming

1 Introduction to NJ-series Controllers

1-3 Overall Operating Procedure

for the NJ-series Controller

1) Registering Variables

2) Writing Algorithms for POUs

3) Setting the Tasks Making task settings Configurations and

Step 2-4 Offline Debugging

• Registering the variables used by more than one POU in the global variable table with Sysmac Studio

• Registering the local variable table for each program

• Registering the local variable table for each function block and function

Writing the algorithms for the POUs (programs, function blocks, and functions) in the required languages

Checking the algorithms and task execution times on the Simulator (virtual controller)

Global Variable Table Editor

Local Variable Table Editor

Programming Editor NJ/NX-series CPU Unit

Setup − Task Settings

Sysmac Studio Version 1 Operation Manual (Cat. No.

W504)

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

Software User’s Manual (Cat. No. W501)

NJ/NX-series Instructions Reference Manual (Cat. No. W502) and NJ/NX-series Motion Control Instructions Reference Manual (Cat. No.

W508)

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

1-3-2 Procedure Details

Step 3. Mounting and Setting Hardware

Step Description Reference

1. Mounting

2. Setting Hardware

• Connecting adjacent Units

• Mounting to DIN Track

• Setting the node addresses of the EtherCAT slaves

• Setting unit numbers on the rotary switches on the front of the Spe-

cial Units

4-3 Mounting Units (page 4-10)

Operation manuals for the EtherCAT slaves and Special Units

NJ-series CPU Unit Hardware User’s Manual (W500)

1-15

1 Introduction to NJ-series Controllers

Step 4. Wiring

Step Description Reference

1. Connecting Ethernet Cable

2. Wiring I/O

3. Connecting the Computer That Runs the Sysmac

• Connecting the built-in EtherCAT port

• Connecting the built-in EtherNet/IP port

• Wiring I/O to EtherCAT slaves

• Wiring Basic I/O Units and Special Units

• Checking wiring

• Connecting USB Cable

• Connecting the built-in EtherNet/IP port

4-4 Wiring (page 4-27)

Operation manuals for EtherCAT Slave Units and 4-4

Wiring (page 4-27)

Sysmac Studio Version 1 Operation Manual (Cat. No.

W504)

Sysmac Studio Version 1 Operation Manual (Cat. No.

W504)

Studio

Step 5. Checking Operation and Starting Operation on the Actual System

Step Description Sysmac Studio

Operations

1. Online Connection to Sysmac Studio and Project Download

Turn ON the power supply to the Controller and place the Sysmac Studio online. Then, download the project.* (Perform this step before you create the slave configuration or Unit configuration from the mounted Units in step 2-1.)

Controller nications Setup

Controller nization

−

Commu-

−

Synchro-

Reference

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

2. Operation Check on Controller

3. Actual Controller

1. Check the wiring by using forced refreshing of real I/O from the I/O Map or Watch Tab Page.

2. For motion control, use the MC Test Run operations in PROGRAM mode to check the wiring. Then check the motor rotation directions for jogging, travel distances for relative positioning (e.g., for electronic gear settings), and homing operation.

3. Change the Controller to RUN mode and check the operation of the user program.

Start actual operation.

Operation

* Use the Synchronize Menu of the Sysmac Studio to download the project.

NJ/NX-series CPU Unit Software User’s Manual

(Cat. No. W501)

1-16

NJ-series CPU Unit Hardware User’s Manual (W500)

System Configuration

This section describes the basic system configuration and devices used for NJ-series Controllers.

2-1 Basic System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-1 EtherCAT Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-1-2 CJ-series Unit Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-2 Connecting to the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-19

2-3 Network Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-20

NJ-series CPU Unit Hardware User’s Manual (W500)

2-1

2 System Configuration

2-1 Basic System Configuration

System Configuration

An NJ-series Controller supports the following two types of configurations.

(1) Basic Configurations

The basic configurations include the CPU Unit and the Configuration Units that are controlled directly by the CPU Unit. There are two basic configurations.

• EtherCAT network configuration

• CJ-series Unit configuration

(2) Other Network Configurations

These are the configurations of the systems that are connected to the CPU Unit's built-in EtherNet/IP port and Communications Units.

 EtherCAT Network Configuration

With an NJ-series CPU Unit, you can use an EtherCAT network as a basic system. With the EtherCAT network system of the NJ-series CPU Unit, the period for sequence processing and motion processing in the CPU Unit is the same as the EtherCAT communications period. This enables high-precision sequence control and motion control with a constant period and little fluctuation. For information on EtherCAT, refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Man- ual (Cat. No. W505).

 CJ-series Unit Configuration

CPU Rack

The CPU Rack consists of the following items.

• NJ-series CPU Unit

• NJ-series Power Supply Unit

• CJ-series Configuration Units CJ-series Basic I/O Units, Special I/O Units, and CPU Bus Units

• I/O Control Unit An I/O Control Unit is required to connect an Expansion Rack.

• End Cover

* Some CJ-series Configuration Units cannot be used with an NJ-series CPU Unit.

Refer to CJ-series Configuration Units on page 2-11 for information on the models you can use with an NJseries CPU Unit.

Expansion Racks

You can connect an Expansion Rack to an NJ-series CPU Rack or to another Expansion Rack. A CPU Unit cannot be mounted to an Expansion Rack. The rest of the configuration is the same as for an NJ-series CPU Rack.

2-2

NJ-series CPU Unit Hardware User’s Manual (W500)

2 System Configuration

NJ-series Power Supply Unit

NJ-series CPU Unit

EtherCAT slaves

NJ-series Power Supply Unit

ADRADR

EtherCAT Slave Terminal

EtherCAT

CJ-series Unit Configuration

EtherCAT Network Configuration

CPU Rack

(I/O Control Unit)

CJ-series Configuration Units (Basic I/O Units, Special I/O Units, and CPU Bus Units)

End Cover

SD Memory Card

(I/O Interface Unit)

Expansion Rack

2-1 Basic System Configuration

NJ-series CPU Unit Hardware User’s Manual (W500)

2-3

2 System Configuration

ADRADR

EtherCAT

NJ-series Power Supply Unit

NJ-series CPU Unit

EtherCAT slaves

SD Memory Card

CPU Rack

End Cover

EtherCAT Network Configuration

2-1-1 EtherCAT Network Configuration

The EtherCAT network configuration consists of an NJ-series CPU Unit, an NJ-series Power Supply Unit, a CJ-series End Cover, and the EtherCAT slaves. You use the built-in EtherCAT master port on the NJ-series CPU Unit to connect EtherCAT slaves. For information on the system configuration of an EtherCAT network, refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505).

2-4

NJ-series CPU Unit Hardware User’s Manual (W500)

2-1-2 CJ-series Unit Configuration

NJ-series

CPU Unit

CJ-series Configuration Units

(10 Units max.)

NJ-series Power

Supply Unit

SD Memory Card

End Cover

I/O Control Unit

Configuration Units

The CJ-series Unit configuration consists of the CJ-series Units that are connected. It includes the CJseries Units on the CPU Rack and Expansion Racks.

CPU Rack

The CPU Rack consists of an NJ-series CPU Unit, an NJ-series Power Supply Unit, CJ-series Configuration Units, and a CJ-series End Cover. Up to 10 CJ-series Configuration Units can be connected.

2 System Configuration

2-1 Basic System Configuration

2-1-2 CJ-series Unit Configuration

* The I/O Control Unit is required only to connect an Expansion Rack. It must be connected immediately to the

right of the CPU Unit.

Even though the NJ-series Controllers do not have Backplanes, the term “slot” is still used to refer to the location of Units. Slot numbers are assigned in order to Units from left to right on the CPU Rack (slot 0, slot 1, slot 2, etc.).

Name Configuration Remarks

NJ-series Units NJ-series CPU Units (One End

Cover is provided with each Unit.)

NJ-series Power Supply Unit

SD Memory Card Install as required.

CJ-series Units I/O Control Unit Required to connect an Expansion Rack. Must be con-

End Cover Must be connected to the right end of the CPU Rack.

CJ-series Basic I/O Units A total of up to 10 Units can be connected to the CPU

CJ-series Special I/O Units

CJ-series CPU Bus Units

One required for every CPU Rack.

nected immediately to the right of the CPU Unit.

One End Cover is provided with the CPU Unit.

(A Controller error in the major fault level will occur if the End Cover is not connected to the right end.)

Rack and to each of the Expansion Racks. (A Controller error in the major fault level will occur if 11 or more Units are connected.)

NJ-series CPU Unit Hardware User’s Manual (W500)

2-5

2 System Configuration

 Units

NJ-series CPU Units

I/O capacity/Maxi-

mum number of

Model

NJ501-1500 2,560 points/40

NJ501-1400 32

NJ501-1300 16

NJ501R500

NJ501R400

NJ501R300

NJ501-4500 64

NJ501-4400 32

NJ501-4300 16

NJ501-4310

NJ501-1520 64

NJ501-1420 32

NJ501-1320 16

NJ501-4320

NJ501-1340

NJ501-5300

NJ301-1200 5 MB 0.5 MB:

NJ301-1100 4

NJ101-1000 3 MB 2

NJ101-9000 0

NJ101-1020 2

NJ101-9020 0

Configuration

Units (Maximum

number of Expan-

sion Racks)

Units (3 Expansion Racks)

Program capa

20 MB2 MB:

city

Memory

capacity

for vari-

ables

Retained during power interruptions.

4 MB: Not retained during power interruptions.

Retained during power interruptions.

2 MB: Not retained during power interruptions.

Number of motio

axes

Data-

base connec-

tion

service

Not supported.

Supported.

Not supported.

Supported.

GEM

Service

Not supporte d.

Supporte d.

Not supporte d.

Rob

con-

trol

for

OMR

robo

Not supporte d.

Supporte d

Not supporte d.

Rob

con-

trol

by NJ

Rob

otics

func tion

Not supporte d.

Supporte d.

Not supporte d.

Supporte d.

Not supporte d.

Num

erical

con-

trol

Not supporte d.

Supporte d.

Not supporte d.

Current

consump-

tion

1.9

--- 55

0 A

We igh

0 g

2-6

NJ-series Power Supply Units

Model

Power supply

voltage

NJ-PA3001 100 to 240 VAC 6.0 A 1.0 A 30 W Yes Yes Yes 470 g

NJ-PD3001 24 VDC 6.0 A 1.0 A 30 W Yes Yes Yes 490 g

Output current

5 VDC 24 VDC

Output

capacity

NJ-series CPU Unit Hardware User’s Manual (W500)

RUN

output

CPU

Rack

Expansion

Racks

Weight

max.

2 System Configuration

Precautions for Safe Use

Note A CJ-series Power Supply Unit cannot be used to supply power to an NJ-system CPU Rack or Expansion

Rack. If you connect a CJ-series Power Supply Unit to a CPU Rack, an Incorrect Power Supply Unit Connected error will occur, and the CPU Unit will not operate. The RUN indicator will flash at a 3-s interval and the ERROR indicator will light. If you connect the Power Supply Unit to an Expansion Rack, operation is performed without error detection. Normal operation, however, may be unstable due to insufficient supplied power. Also, an Internal NJ-series Bus Check Error (i.e., a Controller error in the major fault level) may occur when the power is interrupted.

Note The Power Supply Unit may continue to supply power to the rest of the Controller for a few seconds after the

power supply turns OFF and the PWR indicator is lit during this time. If the NJ-series NJ-PD3001 Power Supply Unit is used, confirm that the PWR indicator is not lit when the power supply is tuned ON again after the power supply turns OFF.

• Do not use the Power Supply Units in the system beyond the rated supply capacity ranges. Doing so may result in operation stopping, incorrect operation, or failure to correctly back up required data at power interruptions.

• Use only NJ-series Power Supply Units on NJ-series CPU Racks and Expansion Racks. Operation is not possible if you use a CJ-series Power Supply Unit with an NJ-series CPU Unit or an NJ-series Power Supply Unit with a CJ-series CPU Unit.

SD Memory Card

Model Card type Capacity Format

HMC-SD291 SD Card 2 GB FAT16 100,000

HMC-SD491 SDHC Card 4 GB FAT32 100,000

HMC-SD1A1

*1 This can be used for a CPU Unit with unit version 1.21 or later.

16 GB

Number of over-

writes

2-1 Basic System Configuration

2-1-2 CJ-series Unit Configuration

Note Refer to 3-2-1 Models and Specifications for details on SD Memory Cards.

I/O Control Unit

Model Specifications

CJ1W-IC101 An I/O Control Unit is required to connect an NJ-series

Expansion Rack to an NJ-series CPU Rack. The I/O Control Unit must be connected immediately to the right of the CPU Unit. Connect to the I/O Interface Unit (CJ1WII101) on the Expansion Rack with a CS/CJ-series I/O Connecting Cable.

0.02 A --- 70 g max.

End Cover

Model Specifications

CJ1W-TER01 The End Cover must be connected to the right end of the

NJ-series CPU Rack. (A Controller error in the major fault level will occur if the End Cover is not connected to the right end of the Rack.) One End Cover is provided with the CPU Unit and with an I/O Interface Unit.

Current consump-

tion

5 VDC 24 VDC

Current con-

sumption

Included with the CPU Unit or Expansion Unit.

Weight

NJ-series CPU Unit Hardware User’s Manual (W500)

2-7

2 System Configuration

Others

Name Model Specifications

DIN Track PFP-50N Track length: 50 cm, height: 7.3 mm

Connecting cable for peripheral USB port (to connect the Sysmac Studio)

Battery Set CJ1W-BAT01 For CJ2 CPU Unit

Sysmac Studio Standard Edition

PFP-100N Track length: 1 m, height: 7.3 mm

PFP-100N2 Track length: 1 m, height: 16 mm

PFP-M Stopper to prevent Units from moving on the track.

Two each are provided with the CPU Unit and with an I/O Interface Unit.

Commercially available USB cable

SYSMAC-SE The Sysmac Studio is a Support Software pack-

USB 2.0 certified cable (A connector - B connector), 5.0 m max.

age that provides an integrated development environment to design, program, debug, and maintain SYSMAC NJ-series Controllers. The following Support Software is included.

• Sysmac Studio

• Network Configurator

• CX-Integrator

• CX-Protocol

• CX-Designer

Recommended Communications Cables for EtherCAT and EtherNet/IP

EtherCAT communications are performed in accordance with the 100BASE-TX standard. Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for recom- mended cables.

EtherNet/IP communications are performed in accordance with the 100BASE-TX or 10BASE-T standard. Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User’s Manual (Cat. No. W506) for recommended cables.

2-8

NJ-series CPU Unit Hardware User’s Manual (W500)

2 System Configuration

CPU Rack

CS/CJ-series I/O Connecting Cables

Cable CS1W-CN313 CS1W-CN713 CS1W-CN223 CS1W-CN323 CS1W-CN523 CS1W-CN133 CS1W-CN133B2

Length

0.3 m

0.7 m 2 m 3 m 5 m

10 m 12 m

CJ-series Expansion Rack

CS/CJ-series I/O Connecting Cable 30 cm, 70 cm, 2 m, 3 m, 5 m, 10 m, 12 m

Expansion Racks: 3 maximum

Total cable length: 12 m

End Cover

I/O Control Unit

I/O Interface Unit

10 Units max.

CJ-series Expansion Rack

CS/CJ-series I/O Connecting Cable 30 cm, 70 cm, 2 m, 3 m, 5 m, 10 m, 12 m

10 Units max.

NJ-series Power Supply Unit

NJ-series CPU Unit

NJ-series Power Supply Unit

Expansion Racks

CJ-series Expansion Racks can be connected to the CPU Rack to expand the number of Units in the System beyond the CPU Rack. Up to 10 I/O Units can be mounted to each Expansion Rack and a total of 3 Expansion Racks can be connected.

Mount an I/O Control Unit immediately to the right of the CPU Unit, and mount the I/O Interface Unit immediately to the right of the Power Supply Unit on the Expansion Rack. Mounting them in other locations may cause malfunctions.

2-1 Basic System Configuration

2-1-2 CJ-series Unit Configuration

Use an NJ-series Power Supply Unit as the power supply for an Expansion Rack in an NJ-series System. A CJ-series Power Supply Unit cannot be used to supply power on an NJ-system Expansion Rack.

NJ-series CPU Unit Hardware User’s Manual (W500)

2-9

2 System Configuration

 Maximum Number of Expansion Racks

Expansion pattern Maximum number of Racks Remarks

NJ-series CPU Rack plus CJ-series Expansion Racks

 Units

Units for CJ-series Expansion Racks

Rack Configuration Remarks

NJ-series Expansion Racks

NJ-series Power Supply Unit One required for each Expansion Rack.*

I/O Interface Unit (one End Cover included.)

CJ-series Basic I/O Units A total of up to 10 Units can be connected to the CPU

CJ-series Special I/O Units

CJ-series CPU Bus Units

End Cover Must be connected to the right end of the Expansion

CS/CJ-series I/O Connecting Cable Required to connect the I/O Interface Unit to the I/O

3 Racks The total length of I/O Connecting Cable

between the CPU Rack and an Expansion Rack, and between all Expansion Racks, must be no more than 12 m.

Rack and to each of the Expansion Racks. (A Controller error in the major fault level will occur if 11 or more Units are connected.)

Rack. (One End Cover is provided with the I/O Interface Unit. A Controller error in the major fault level will occur if the End Cover is not connected to the right end.)

Control Unit or previous I/O Interface Unit.

* A CJ-series I/O Control Unit is required on the NJ-series CPU Rack.

NJ-series Power Supply Units

Model

NJ-PA3001 100 to 240 VAC 6.0 A 1.0 A 30 W Yes Yes Yes 470 g

NJ-PD3001 24 VDC 6.0 A 1.0 A 30 W Yes Yes Yes 490 g

Note Use an NJ-series Power Supply Unit as the power supply for an NJ-series Expansion Rack.

A CJ-series Power Supply Unit cannot be used for an NJ-series Expansion Rack.

Power supply

voltage

Output current

5 VDC 24 VDC

Output

capacity

RUN

output

CPU

Rack

Expan-

sion

Racks

Weight

max.

I/O Interface Unit

Current consump-

Model Specifications

CJ1W-II101 One Interface Unit is required for each CJ-series Expan-

sion Rack. One End Cover is provided with each Unit.

* Includes the weight of the End Cover.

0.13 A --- 130 g

tion

5 VDC 24 VDC

Weight

max.

2-10

NJ-series CPU Unit Hardware User’s Manual (W500)

2 System Configuration

End Cover

Current con-

Model Specifications

CJ1W-TER01 The End Cover must be connected to the right end of the

CJ-series Expansion Rack. An End Cover Missing error (a Controller error in the major fault level) will occur if the End Cover is not connected to the right end of the Rack. One End Cover is provided with the CPU Unit and with an I/O Interface Unit.

sumption

5 VDC 24 VDC

Included with the CPU Unit or Expansion Unit.

CS/CJ-series I/O Connecting Cables

Model Specifications Cable length

CS1W-CN313 An I/O Connecting Cable connects an I/O Control Unit (CJ1W-IC101) to an

CS1W-CN713 0.7 m

CS1W-CN223 2 m

CS1W-CN323 3 m

CS1W-CN523 5 m

CS1W-CN133 10 m

CS1W-CN133B2 12 m

I/O Interface Unit (CJ1W-II101), or connects an I/O Interface Unit to another I/O Interface Unit.

0.3 m

2-1 Basic System Configuration

Weight

2-1-2 CJ-series Unit Configuration

CJ-series Configuration Units

 Maximum Number of Units

A maximum of 10 Units can be connected to the CPU Rack for an NJ-series CPU Unit or to an Expansion Rack. There are no restrictions in the number of each model of Unit based on location.

Note If you connect more than the maximum number of Units to a CPU Rack or Expansion Rack, an Incorrect

Unit/Expansion Rack Connection error (a major fault level Controller error) will occur, and the CPU Unit will not operate.

NJ-series CPU Unit Hardware User’s Manual (W500)

2-11

2 System Configuration

 Models of Configuration Units

The Configuration Units with which the NJ-series CPU Unit can exchange data are classified into three groups. The number of Units that can be mounted depends on the type of Unit.

Units Description

Basic I/O Units Basic I/O Units are used for discrete inputs and

Special I/O Units Special I/O Units are more advanced than Basic

CPU Bus Units CPU Bus Units are advanced Units that

outputs.

I/O Units. They support functions other than discrete inputs and outputs.

Examples: Analog I/O Units and High-speed Counter Units

Special I/O Units have a smaller area for exchanging data with the CPU Unit than CPU Bus Units (including Network Communications Units).

exchange data with the CPU Unit via the CPU bus.

Examples: Network Communications Units and Serial Communications Units

CPU Bus Units have a larger area for exchanging data with the CPU Unit than Special I/O Units.

Unit identifica-

tion method

Identified by the CPU Unit according to mounting position.

Identified by the CPU Unit using unit numbers 0 to 95 set with the rotary switches on the front panel of the Unit.

Identified by the CPU Unit using unit number 0 to F set with the rotary switch on the front panel of the Unit.

Number of

mountable Units

Up to 40 Basic I/O Units can be mounted.

Up to 40 Special I/O Units can be mounted. (Depending on the model, 1 to 4 unit numbers are used for one Unit.)

Up to 16 CPU Bus Units can be mounted.

2-12

NJ-series CPU Unit Hardware User’s Manual (W500)

2 System Configuration

 CJ-series Configuration Units

CJ-series Basic I/O Units

Input Units

Name Specifications Model

DC Input Units

AC Input Units

Interrupt Input Unit

Quickresponse Input Unit

B7A Interface Units

Terminal block 12 to 24 VDC, 8 inputs

Terminal block 24 VDC, 16 inputs

Fujitsu connector 24 VDC, 32 inputs

MIL connector 24 VDC, 32 inputs

Fujitsu connector 24 VDC, 64 inputs

MIL connector

24 VDC, 64 inputs

Terminal block 200 to 240 VAC, 8 inputs

Terminal block 100 to 120 VAC, 16 inputs

Terminal block 24 VDC, 16 inputs

64 inputs CJ1W-B7A14 64 --- --- 0.07 --- 80 g max.

CJ1W-ID201 16 20 μs

CJ1W-ID211 16 20 μs

CJ1W-ID212 16 15 μs

CJ1W-ID231

CJ1W-ID232

CJ1W-ID233

CJ1W-ID261

CJ1W-ID262

CJ1W-IA201 16 10 μs

CJ1W-IA111 16 10 μs

CJ1W-INT01

CJ1W-IDP01 16 0.05 ms

*3, *4

Number

of bits

allocated

32 20 μs

32 15 μs

64 120 μs

16 0.05 ms

Response time

ON OFF 5 VDC 24 VDC

max.

400 μs max.

90 μs max.

400 μs max.

90 μs max.

400 μs max.

40 μs max.

0.5 ms max.

Current con-

sumption (A)

0.08 --- 110 g max.

0.13 --- 110 g max.

0.09 --- 70 g max.

0.20 --- 70 g max.

0.09 --- 110 g max.

0.08 --- 130 g max.

0.09 --- 130 g max.

0.08 --- 110 g max.

2-1 Basic System Configuration

Weight

2-1-2 CJ-series Unit Configuration

*1 This is the input response time when no filter (i.e., 0 ms) is set. There is no filter setting for the CJ1W-

INT01/IDP01. (The time is always 0 ms.)

*2 The cable-side connector is not provided with Units equipped with cables. Purchase the connector separately

(Refer to 4-4-4 Wiring CJ-series Basic I/O Units with Connectors.), or use an OMRON Connector-Terminal Block Conversion Unit or I/O Relay Terminal (Refer to 4-4-5 Connecting to Connector-Terminal Block Conver- sion Units or I/O Relay Terminals.).

*3 An Interrupt Input Unit can be connected only in a CPU Rack. These Units must be mounted to slots 0 to 4 on

the CPU Rack. An Incorrect Unit/Expansion Rack Connection error (major fault level Controller error) will occur if an Interrupt Input Unit is connected in other slots on the CPU Rack or to any slots on an Expansion Rack. Up to two Interrupt Input Units can be connected.

*4 Interrupt Input Units can be used as normal Basic I/O Units. They cannot be used to start I/O interrupt tasks.

NJ-series CPU Unit Hardware User’s Manual (W500)

2-13

2 System Configuration

Output Units

Name Specifications Model

Relay Output Units Terminal block, 250 VAC/24

VDC, 2 A; 8 points, independent contacts

Terminal block, 250 VAC/24 VDC, 2 A; 16 points

Triac Output Unit Terminal block, 250 VAC, 0.6 A;

Transistor Output Units

B7A Interface Units 64 outputs CJ1W-B7A04 64 0.07 --- 80 g max.

Sinking outputs

Sourcing outputs

8 points

Terminal block, 12 to 24 VDC, 2 A; 8 outputs

Terminal block, 12 to 24 VDC,

0.5 A; 8 outputs

Terminal block, 12 to 24 VDC,

0.5 A; 16 outputs

Terminal block, 24 VDC,

0.5 A; 16 outputs

Fujitsu connector, 12 to 24 VDC,

0.5 A; 32 outputs

MIL connector, 12 to 24 VDC,

0.5 A; 32 outputs

MIL connector, 24 VDC,

0.5 A; 32 outputs

Fujitsu connector, 12 to 24 VDC,

0.3 A; 64 outputs

MIL connector, 12 to 24 VDC,

0.3 A; 64 outputs

Terminal block, 24 VDC, 2 A; 8 outputs, load short-circuit protection and disconnected line detection

Terminal block, 24 VDC, 0.5 A; 8 outputs, load short-circuit protection

Terminal block, 24 VDC, 0.5 A; 16 outputs, load short-circuit protection

MIL connector, 24 VDC, 0.5 A; 32 outputs, load short-circuit protection

MIL connector, 12 to 24 VDC,

0.3 A; 64 outputs

Number

of bits

allocated

CJ1W-OC201

CJ1W-OC211 16 0.11 0.096

CJ1W-OA201

CJ1W-OD201

CJ1W-OD203

CJ1W-OD211

CJ1W-OD213

CJ1W-OD231

CJ1W-

*1*2

OD233

CJ1W-

*1*2

OD234

CJ1W-OD261

CJ1W-OD263

CJ1W-OD202

CJ1W-OD204

CJ1W-OD212 16 0.10 --- 120 g max.

CJ1W-OD232

CJ1W-OD262

16 0.10 --- 110 g max.

16 0.15 --- 110 g max.

32 0.14 --- 70 g max.

32 0.22 --- 70 g max.

64 0.17 --- 110 g max.

32 0.15 --- 80 g max.

64 0.17 --- 110 g max.

Current consumption

(A)

5 VDC 24 VDC

0.09 0.048 (0.006

Number of ON outputs)

(0.006 Number of ON outputs)

0.22 --- 150 g max.

0.09 --- 110 g max.

0.10 --- 110 g max.

0.11 --- 120 g max.

0.10 --- 120 g max.

Weight

140 g max.

170 g max.

2-14

*1 The ON/OFF response time for the CJ1W-OD213/CJ1W-OD234 is shorter than for the CJ1W-OD211/CJ1W-

OD233, as shown below.

• ON response time: 0.1 ms improved to 0.015 ms

• OFF response time: 0.8 ms improved to 0.08 ms

*2 The cable-side connector is not provided with Units equipped with cables. Purchase the connector separately

NJ-series CPU Unit Hardware User’s Manual (W500)

2 System Configuration

Mixed I/O Units

Number of

Name Specifications Model

24-VDC Input/ Transistor Output Units

TTL I/O Units MIL connector

B7A Interface Units 32 inputs, 32 outputs CJ1W-B7A22 64 0.07 --- 80 g max.

Sinking Fujitsu connector

Inputs: 24 VDC, 16 inputs

Outputs: 12 to 24 VDC, 0.5 A; 16 outputs

Fujitsu connector

Inputs: 24 VDC, 32 inputs

Outputs: 12 to 24 VDC, 0.3 A; 32 outputs

MIL connector

Inputs: 24 VDC, 16 inputs

Outputs: 12 to 24 VDC, 0.5 A; 16 outputs

MIL connector

Inputs: 24 VDC, 32 inputs

Outputs: 12 to 24 VDC, 0.3 A; 32 outputs

Sourcing MIL connector

Inputs: 24 VDC, 16 inputs

Outputs: 24 VDC,

0.5 A; 16 outputs

Load-short circuit protection

Inputs: TTL (5 VDC), 32 inputs

Outputs: TTL (5 VDC, 35 mA), 32 outputs

CJ1W-MD231* 32 0.13 --- 90 g max.

CJ1W-MD261* 64 0.14 --- 110 g max.

CJ1W-MD233* 32 0.13 --- 90 g max.

CJ1W-MD263* 64 0.14 --- 110 g max.

CJ1W-MD232* 32 0.13 --- 80 g max.

CJ1W-MD563* 64 0.19 --- 110 g max.

bits allo-

cated

Current consump-

tion (A)

5 VDC 24 VDC

Weight

2-1 Basic System Configuration

2-1-2 CJ-series Unit Configuration

* The cable-side connector is not provided with Units equipped with cables. Purchase the connector separately

NJ-series CPU Unit Hardware User’s Manual (W500)

2-15

2 System Configuration

CJ-series Special I/O Units

Typ e Name Specifications Model Unit No.

Special I/O Units

Analog Input Unit with Universal Inputs

Analog Input Units

Analog Output Units

Analog I/O Unit

Analog Input Unit with Universal Inputs

Analog Current Input Unit

Temperature Control Units

ID Sensor Units

High-speed Counter Unit

4 inputs, fully universal

8 inputs (4 to 20 mA, 1 to 5 V, etc.)

4 inputs (4 to 20 mA, 1 to 5 V, etc.)

4 outputs (1 to 5 V, 4 to 20 mA, etc.)

2 outputs (1 to 5 V, 4 to 20 mA, etc.)

8 outputs (1 to 5 V, 0 to 10 V, etc.)

8 outputs (4 to 20 mA)

4 outputs (1 to 5 V, 0 to 10 V, etc.)

4 inputs (1 to 5 V, 4 to 20 mA, etc.)

2 outputs (1 to 5 V, 4 to 20 mA, etc.)

4 inputs, fully universal Resolution: 1/256,000, 1/64,000, 1/16,000

DC voltage or DC current, 2 inputs

2 control loops, thermocouple inputs, NPN outputs, heater burnout detection

2 control loops, thermocouple inputs, PNP outputs, heater burnout detection

2 control loops, temperature-resistance thermometer inputs, NPN outputs, heater burnout detection

2 control loops, tem-

re-resistance

peratu thermometer inputs, PNP outputs, heater burnout detection

V680-series singlehead type

V680-series two-head type

Number of counter channels: 2, Maximum input frequency: 500 kHz, line driver compatible

CJ1W-AD04U 0 to 95 10 words 100 words 40

CJ1W-AD081-V1 0 to 95 10 words 100 words 40

CJ1W-AD041-V1 0 to 95 10 words 100 words 40

CJ1W-AD042 0 to 95 10 words 100 words 40

CJ1W-DA041 0 to 95 10 words 100 words 40

CJ1W-DA021 0 to 95 10 words 100 words 40

CJ1W-DA08V 0 to 95 10 words 100 words 40

CJ1W-DA08C 0 to 95 10 words 100 words 40

CJ1W-DA042V 0 to 95 10 words 100 words 40

CJ1W-MAD42 0 to 95 10 words 100 words 40

CJ1W-PH41U 0 to 95 10 words 100 words 40

CJ1W-PDC15 0 to 95 10 words 100 words 40

CJ1W-TC003 0 to 94

(uses words for 2 unit numbers)

CJ1W-TC004 0 to 94

(uses words for 2 unit numbers)

CJ1W-TC103 0 to 94

(uses words for 2 unit numbers)

CJ1W-TC104 0 to 94

(uses words for 2 unit numbers)

CJ1W-V680C11 0 to 95 10 words 100 words 40

CJ1W-V680C12 0 to 94

(uses words for 2 unit numbers)

CJ1W-CT021 0 to 92

(uses words for 4 unit numbers)

Num-

Number of

words

allocated

20 words 200 words 40

40 words 400 words 24

Words

allocated in

DM Area

moun

table Units

Units

Current consumption (A)

ber

VDC

0.32 --- 150 g max.

0.42 --- 140 g max.

0.52 --- 150 g max.

0.12 --- 150 g max.

0.14 --- 150 g max.

0.40 --- 150 g max.

0.58 --- 150 g max.

0.30 --- 150 g max.

0.18 --- 150 g max.

0.25 --- 150 g max.

0.26 0.130 120 g max.

0.32 0.260 130 g max.

0.28 --- 100 g max.

VDC

Weight

2-16

NJ-series CPU Unit Hardware User’s Manual (W500)

2 System Configuration

Typ e Name Specifications Model Unit No.

Special I/O Units

CompoNet Master Units

CompoNet remote I/O

Communications mode 0: 128 inputs and 128 outputs for Word Slaves

Communications mode 1: 256 inputs and 256 outputs for Word Slaves

Communications mode 2: 512 inputs and 512 outputs for Word Slaves

Communications mode 3: 256 inputs and 256 outputs for Word Slaves, 128 inputs and 128 outputs for Bit Slave Units

Communications mode 8: 1,024 inputs and 1,024 outputs max. for Word Slaves, 256 inputs and 256 outputs max. for Bit Slave Units

CJ1W-CRM21

0 to 94 (uses words for 2 unit numbers)

0 to 92 (uses words for 4 unit numbers)

0 to 88 (uses words for 8 unit numbers)

0 to 95 (uses words for 1 unit number)

Num-

Number of

words

allocated

20 words None 40

40 words None 24

80 words None 12

10 words

Words

allocated in

DM Area

None

moun

table Units

Units

40 Units

Current consumption (A)

ber

VDC

0.40 --- 130 g max.

0.40 ---

VDC

2-1 Basic System Configuration

Weight

2-1-2 CJ-series Unit Configuration

*1 A CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher are required. Refer to A-7 Version

Information for information on versions.

*2 In addition, up to 208 other words are allocated depending on the number of Slave Units to which words are allocated and

their I/O capacity. Use the CX-Integrator to allocate words.

NJ-series CPU Unit Hardware User’s Manual (W500)

2-17

2 System Configuration

CJ-series CPU Bus Units

Typ e Name Specifications Model Unit No.

CPU Bus Units

Serial Communications Units

DeviceNet Unit DeviceNet remote I/O,

EtherNet/IP Unit Tag data links, CIP

EtherCAT Slave Unit

Two RS-232C ports High-speed models

Two RS-422A/485 ports High-speed models

One RS-232C port and one RS-422A/485 port High-speed models

2,048 points; Userspecified allocations are possible without the CXIntegrator.

message communications, FTP server, etc.

EtherCAT communications, Baud rate 100 Mbps

CJ1W-SCU22 0 to F 25 words 16 Units

CJ1W-SCU32 0.40 120 g max.

CJ1W-SCU42

CJ1W-DRM21 0 to F 25 words 16 Units 0.29 ---

CJ1W-EIP21

CJ1W-ECT21 0 to F 25 words 16 Units 0.34 --- 97 g max.

0 to F 25 words 4 Units 0.41 --- 94 g max.

Number of

words allo-

cated

Maximum

number of

Units

Current con-

sumption (A)

5 VDC 24 VDC

0.28

0.36

--- 160 g max.

Weight

140 g max.

118 g max .

*1 Increases by 0.15 A/Unit when an NT-AL001 RS-232C/RS-422A Link Adapter is used. Increases by 0.04 A/Unit when a

CJ1W-CIF11 RS-422A Converter is used.

*2 Includes the weight of accessory connectors.

*3 Use an EtherNet/IP Unit with a unit version of 2.1 or later. Also use a CPU Unit with unit version 1.01 or later and Sysmac

Studio version 1.02 or higher. Refer to A-7 Version Information for information on version upgrades.

2-18

NJ-series CPU Unit Hardware User’s Manual (W500)

2 System Configuration

2-2 Connecting to the Sysmac Studio

Connect the NJ-series CPU Unit and the Sysmac Studio through USB or EtherNet/IP.

Refer to 3-7-2 Connection for information on how to make the connection between the NJ-series CPU Unit and the Sysmac Studio.

2-2 Connecting to the Sysmac Studio

NJ-series CPU Unit Hardware User’s Manual (W500)

2-19

2 System Configuration

EtherCAT Slave Terminal

Programmable Terminals

FA Communications

Software

Sysmac Studio

EtherNet/IP

RS-232C, RS-422A/485

DeviceNet

EtherCAT

Servo Drives

Vision Systems

General-purpose components or OMRON components

DeviceNet slaves

Built-in EtherCAT port

Built-in EtherNet/IP port Built-in EtherNet/IP port

General-purpose slaves

Serial-communications devices

RFID Systems

NJ-series CPU Unit

Robot

Information Level

Field Level

Serial Communications Units

DeviceNet Unit

CompoNet Master Unit

CompoNet

REMOTE

TERMINAL

012345678 9 10 11 12 13 14 15

OUT

CRT1CRT1

OD16OD16

MS NS

WORD

NODE ADR

CompoNet slaves

REMOTE

TERMINAL

012345678 9 10 11 12 13 14 15

OUT

CRT1CRT1

OD16OD16

MS NS

WORD

NODE ADR

REMOTE

TERMINAL

012345678 9 10 11 12 13 14 15

OUT

CRT1CRT1

OD16OD16

MS NS

WORD

NODE ADR

NJ/NX-series CPU Unit

FA Wireless

LAN Unit

EtherNet/IP

Port on EtherNet/IP Unit

2-3 Network Configuration

You can make networks in the following layers with an NJ-series Controller.

For details on communications networks that you can connect to, refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501).

2-20

NJ-series CPU Unit Hardware User’s Manual (W500)

2 System Configuration

Connection Connection method

Sysmac Studio Use USB or the built-in EtherNet/IP port. Between Control-

lers

Devices Servo Drives, general-purpose

Programmable Terminals Use the built-in EtherNet/IP port or a port on an Eth-

Servers Connections to BOOTP server, DNS

*1 Use a CJ-series EtherNet/IP Unit with a unit version of 2.1 or later.

Also use CPU Units with unit version 1.01 or later and Sysmac Studio version 1.02 or higher. Refer to A-7 Version Information for information on version upgrades.

NJ-series Controller or CJ-series PLC

slaves and Vision Systems Ethernet communications devices Use the built-in EtherNet/IP port or a port on an Eth-

Serial-communications devices Mount a Serial Communications Unit and use RS-

DeviceNet slaves Mount a DeviceNet Unit and use DeviceNet. CompoNet slaves Mount a CompoNet Master Unit and use CompoNet.

server, or NTP server

Use the built-in EtherNet/IP port or a port on an EtherNet/IP Unit. Use the built-in EtherCAT port.

erNet/IP Unit.

232C port or RS-422A/485 ports.

erNet/IP Unit. Use the built-in EtherNet/IP port or a port on an EtherNet/IP Unit.

2-3 Network Configuration

NJ-series CPU Unit Hardware User’s Manual (W500)

2-21

2 System Configuration

2-22

NJ-series CPU Unit Hardware User’s Manual (W500)

Configuration Units

This section describes the configuration devices in the CJ-series Unit configuration.

3-1 CPU Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-1 Models and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-2 Components and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3

3-2 SD Memory Cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3-2-1 Models and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10

3-2-2 Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3-11

3-2-3 Installing and Removing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-12

3-3 Power Supply Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3-3-1 Models and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-14

3-3-2 Components and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-16

3-3-3 Selecting a Power Supply Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17

3-4 CJ-series Basic I/O Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3-4-1 Models and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22

3-4-2 Part Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23

3-5 B7A Interface Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3-5-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3-5-2 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3-5-3 Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26

3-5-4 B7A Communications Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27

3-5-5 Common Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

3-5-6 B7A Interface Port I/O Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28

3-5-7 Parts and Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-29

3-5-8 Transmission Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-31

3-6 CJ-series I/O Control Units and I/O Interface Units . . . . . . . . . . . . . . . . . 3-32

3-6-1 Models and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32

3-6-2 Component and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32

3-7 Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33

3-7-1 Model Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33

3-7-2 Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-34

NJ-series CPU Unit Hardware User’s Manual (W500)

3-1

3 Configuration Units

3-1 CPU Units

3-1-1 Models and Specifications

Typ e o f

Unit

NJ501 CPU Units

NJ301 CPU Units

NJ101 CPU Units

Robot

con-

trol by

Robot-

ics

func-

tion

Not supported.

Supported.

Not supported.

ported.

Not supported.

I/O capac-

ity/Maximum

number of Con-

Model

NJ501-1500 2,560 points/40

NJ501-1400 32

NJ501-1300 16

NJ501-R500 64 Sup-

NJ501-R400 32

NJ501-R300 16

NJ501-4500 64 Not

NJ501-4400 35

NJ501-4300 16

NJ501-4310

NJ501-1520 64 Sup-

NJ501-1420 32

NJ501-1320 16

NJ501-4320 Sup-

NJ501-1340 Not

NJ501-5300 Not

NJ301-1200 5 MB 0.5 MB:

NJ301-1100 4

NJ101-1000 3 MB 2

NJ101-9000 0

NJ101-1020 2 Sup-

NJ101-9020 0

figuration Units

(Maximum num-

ber of Expansion

Racks)

Units (3 Expansion Racks)

Program capa

city

20 MB

Memory

capacity

for vari-

ables

2 MB: Retained during power interruptions

4 MB: Not retained during power interruptions

Retained during power interruptions.

2 MB: Not retained during power interruptions.

Num-

ber of

motio

n axes

64 Not

8Not

Data-

base

connec-

tion ser-

vice

supported.

ported.

supported.

ported.

GEM

Ser-

vices

Not supported.

Supported.

supported.

Robot

control for OMRO

robots

Not supported

ported.

supported.

Nume

rical con-

trol

Not supported .

Supported .

supported .

3-2

NJ-series CPU Unit Hardware User’s Manual (W500)

3-1-2 Components and Functions

(1)

(2)

(3)

(4)

(5)

(8)

(9)

(10)

(13)

(12)

(14)

(11)

(15)

(6)

(7)

3 Configuration Units

3-1 CPU Units

3-1-2 Components and Functions

NJ-series CPU Unit Hardware User’s Manual (W500)

3-3

3 Configuration Units

ONON

1 2 3 4

Turn OFF.

Turn ON.

Number Name Function

1 Slider Holds the Units together.

2 SD Memory Card connector Connects the SD Memory Card to the CPU Unit.

3 CPU Unit operation indicators Shows the operation status of the CPU Unit.

Refer to CPU Unit Operation Status Indicators on page 3-5.

4 SD Memory Card power supply

switch

5 DIP switch

6 Battery connector Connector to mount the backup battery.

7 Battery Battery for backup.

8 Peripheral USB port Connects to the Sysmac Studio via a USB cable.

9 Built-in EtherNet/IP port (port 1) Connects the built-in EtherNet/IP with an Ethernet cable.

10 Built-in EtherNet/IP port operation

indicators

11 Unit connector Connects to another Unit.

12 ID information indication Shows the ID information of the CPU Unit.

13 Built-in EtherCAT port (port 2) Connects the built-in EtherCAT with an Ethernet cable.

14 Built-in EtherCAT port operation

indicators

15 DIN Track mounting pins Secures the Unit to a DIN Track.

Turns OFF the power supply so that you can remove the SD Memory Card. Refer to 3-2 SD Memory Cards.

Used in Safe Mode Normally, turn OFF all of the pins.

Shows the operation status of the built-in EtherNet/IP. Refer to Built-in EtherNet/IP Port (Port 1) Indicators on page 3-7.

Shows the operation status of the built-in EtherCAT. Refer to Built-in EtherCAT Port (Port 2) Indicators on page 3-8.

or when backing up data.

*1 To use Safe Mode, set the DIP switch as shown below and then turn ON the power supply to the Controller.

If the power supply to the Controller is turned ON with the CPU Unit in Safe Mode, the CPU Unit will start in PROGRAM mode. Use the Safe Mode if you do not want to execute the user program when the power supply is turned ON or if it is difficult to connect the Sysmac Studio. Use the Safe Mode when it is difficult to connect the Sysmac Studio. For information on Safe Mode, refer to the NJ/NX- series Troubleshooting Manual (Cat. No. W503).

*2 Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on backing up data.

3-4

NJ-series CPU Unit Hardware User’s Manual (W500)

CPU Unit Operation Status Indicators

3 Configuration Units

3-1 CPU Units

You can check the CPU Unit status with the indicators at the top of the front panel of the CPU Unit. The following table describes these indicators.

Indicator Color Status Meaning

RUN Green Lit The CPU Unit is in normal operation in RUN mode. (The user

program is in execution.)

Flashing (3-s intervals)

Flashing (1-s intervals)

Not lit Operation is stopped in PROGRAM mode, when a CPU Unit

ERROR Red Lit Self-diagnosis found one of the following errors.

Flashing (1-s intervals)

Not lit The CPU Unit is in normal operation, a CPU reset is in progress,

BUSY Yellow Flashing Built-in non-volatile memory access in progress.

Not lit Other than the above.

An Incorrect Power Supply Unit Connected error occurred. (A CJseries Power Supply Unit is connected in the CPU Rack.) The CPU Unit will not operate and the ERROR indicator will light.

The CPU Unit is starting (entering RUN mode or PROGRAM mode at startup).

reset is in progress, or when any of the following errors occurs.

• Controller error in the major fault level

• CPU error (WDT error)

• Controller error in the major fault level

• CPU error (WDT error)

The CPU Unit operation will stop, and all outputs will turn OFF.

Self-diagnosis found one of the following errors.

• Controller error in the partial fault level (an error in which all control of a Function Module is disabled)

• Controller error in the minor fault level (an error in which partial control of a Function Module is disabled)

CPU Unit operation will continue for either of these errors.

Operation will stop for the Function Module in which a Controller error in the partial fault level occurred.

Operation will continue for the Function Module in which a Controller error in the minor fault level occurred.

or monitored information occurred. (CPU Unit operation will continue.)

3-1-2 Components and Functions

NJ-series CPU Unit Hardware User’s Manual (W500)

3-5

3 Configuration Units

Precautions for Safe Use

Indicator Color Status Meaning

SD PWR Green Lit Power is being supplied to the SD Memory Card and the SD

SD BUSY Yellow Lit SD Memory Card access in progress.

• Do not turn OFF the power supply to the Controller while the BUSY indicator flashes. While the BUSY indicator is lit, the user program and settings in the CPU Unit are being backed up in the built-in non-volatile memory. The data will not be backed up if the power supply is turned OFF. The next time that the Controller is started, a Controller error in the major fault level will occur and operation will stop.

• Do not turn OFF the power supply or remove the SD Memory Card while SD Memory Card access is in progress (i.e., while the SD BUSY indicator flashes). Data may become corrupted, and the Controller will not operate correctly if it uses corrupted data. To remove an SD Memory Card from the CPU Unit when power is supplied to the CPU Unit, press the SD Memory Card power supply switch and wait for the SD PWR indicator to turn OFF before you remove the SC Memory Card.

Memory Card can be used.

Flashing ---

Not lit The power supply for the SD Memory Card is stopped, an SD

Memory Card is not mounted, or the file format of the mounted SD Memory Card is not supported.

Not lit SD Memory Card access not in progress

3-6

NJ-series CPU Unit Hardware User’s Manual (W500)

Built-in EtherNet/IP Port (Port 1) Indicators

3 Configuration Units

3-1 CPU Units

3-1-2 Components and Functions

Indicator Color Status Contents

NET RUN Green Lit Normal startup status.

Flashing Ethernet communications are in progress.

• Tag data link connection establishment in progress.

• IP address acquisition with BOOTP in progress.

Not lit You cannot perform Ethernet communications.

• The power supply is OFF or the CPU Unit was reset.

• A MAC address error or communications Controller error occurred.

NET ERR Red Lit An error for which the user cannot recover operation occurred.

• A MAC address error or communications Controller error occurred.

Flashing An error for which the user can recover operation occurred.

• An error occurred in TCP/IP communications or CIP communications.

• FTP server setting error, NTP server setting error, etc.

• Tag data link setting error, tag data link verification error, etc.

Not lit There are no Ethernet communications errors.

• The power supply is OFF or the CPU Unit was reset.

LINK/ACT Yellow Lit The link was established.

Flashing The link is established, and data communications are in progress.

Not lit A link was not established.

• The cable is not connected.

• The power supply is OFF or the CPU Unit was reset.

NJ-series CPU Unit Hardware User’s Manual (W500)

3-7

3 Configuration Units

Additional Information

Built-in EtherCAT Port (Port 2) Indicators

Indicator Color Status Description

NET RUN Green Lit EtherCAT communications are in progress.

NET ERR Red Lit A hardware error or unrecoverable error occurred, such as for

LINK/ACT Yellow Lit A link was established.

• Inputs and outputs for I/O data are in operation.

Flashing EtherCAT communications are being established.

This indicator shows either of the following conditions.

• Only message communications are in operation.

• Only message communications and I/O data inputs are in operation.

Not lit EtherCAT communications are stopped.

• The power supply is OFF or the CPU Unit was reset.

• A MAC address error, communications Controller error, or other error occurred.

exception processing.

Flashing A recoverable error occurred.

Not lit There are no errors.

Flashing Data communications are in progress after establishing link.

Flashes every time data is sent or received.

Not lit The link was not established.

DIP Switch

Use the CPU Unit with all the DIP switch pins turned OFF.

3-8

The DIP switch is not used to write-protect the user program of the NJ-series Controller. Set write-protection in the Startup Write Protection Settings in the CPU Unit Protection Settings from the Sysmac Studio.

NJ-series CPU Unit Hardware User’s Manual (W500)

Battery

NJ501 -1500 Ver.. HW Rev. PORT1 MAC ADDRESS:  PORT2 MAC ADDRESS: 

Lot No. DDMYY xxxx

(1) (2)

(4) (5)

(3)

The following Battery is built in as a standard feature.

Model Appearance Specifications

CJ1W-BAT01

3 Configuration Units

Effective life (i.e., maximum life expectancy): 5 years

The following values are retained during power interruptions.

• Values of variables with a Retain attribute

• Words for CJ-series Units in the Holding, DM, and EM Areas

• Clock information

• Some system-defined variables

• Event logs

3-1 CPU Units

*1 The Battery installed at the time of purchase is only for monitoring purpose to test the battery backup func-

tion.The Battery is exhausted depending on the period from factory checking to actual operation, thus it may not satisfy specified battery lifetime.

ID Information Indication

You can check the followings in the ID information indications on the right side of the CPU Unit.

Number Name Function

1 Unit model Shows the model of the CPU Unit.

2 Unit version Shows the unit version of the CPU Unit.

3 Hardware revision

4 Lot number and

serial number

5 MAC addresses Shows the MAC addresses of the built-in ports on the CPU Unit.

Shows the hardware revision of the CPU Unit.

Shows the lot number and the serial number of the CPU Unit.

DDMYY: Lot number, : For use by OMRON, xxxx: Serial number

M is 1 to 9 for January to September, X for October, Y for November, and Z for December.

3-1-2 Components and Functions

*1 The hardware revision is not displayed for the Unit that the hardware revision is in blank.

NJ-series CPU Unit Hardware User’s Manual (W500)

3-9

3 Configuration Units

Precautions for Correct UsePrecautions for Correct Use

Additional Information

3-2 SD Memory Cards

3-2-1 Models and Specifications

SD cards and SDHC cards are supported, but use one of the following OMRON Cards. OMRON is not responsible for the operation, performance, or write life of any other SD or SDHC card.

Model Card type Capacity Format

HMC-SD291

HMC-SD491 SDHC Card 4 GB FAT32

HMC-SD1A1

*1 You cannot use an HMC-SD291 for the NJ501-□□□□ CPU Unit with the hardware revision A and unit version

1.15 or later. You can use HMC-SD291 for any other CPU Units.

*2 This can be used for a CPU Unit with unit version 1.21 or later.

SD Card 2 GB FAT16 100,000 2 g max.

16 GB

Number of

overwrites

Weight

When you use the SD Memory Card that "MR□" is displayed on the back side with an NJ501- □□□□ CPU Unit, be sure to use the unit version 1.13 or later.

Write Protection Key You will not be able to write to the SD Memory Card if the key is set to the LOCK position. (Use this setting to prevent overwriting.)

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NJ-series CPU Unit Hardware User’s Manual (W500)

Version Information

3-2-2 Purpose

You can use the SD Memory Card for the following applications.

• Read and write files in the SD Memory Card with instructions.

• Read and write files in the SD Memory Card from an FTP client on EtherNet/IP.

• Back up, restore, and verify data in the Controller.

• Transfer data from the SD Memory Card to the Controller when the power is turned ON.

A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required to use the SD Memory Card backup functions and automatic transfer from SD Memory Cards.

3 Configuration Units

3-2 SD Memory Cards

3-2-2 Purpose

NJ-series CPU Unit Hardware User’s Manual (W500)

3-11

3 Configuration Units

Model number label

3-2-3 Installing and Removing

Before Using an SD Memory Card

• Keep the following precautions because an SD Memory Card may become unusable.

• Do not turn OFF the power supply to the Controller while the SD BUSY indicator is lit (i.e., while SD Memory Card access is in progress). The SD BUSY indicator is lit when the SD Memory Card is accessed from user the programming or from a computer through FTP.

• Do not remove the SD Memory Card while the SD BUSY indicator is lit or the SD PWR indicator is lit (i.e., while SD Memory Card power is supplied). Press the SD Memory Card power supply switch and confirm that the SD BUSY indicator or SD PWR indicator is not lit before you remove the SD Memory Card.

• Never insert the SD Memory Card facing the wrong way. If the SD Memory Card is inserted forcibly, it may become unusable.

• To format the SD Memory Card (e.g., to delete all of the data), insert the SD Memory Card in the CPU Unit and perform the operation from the Sysmac Studio.

• The SD Memory Card uses flash memory, and so its service life is limited. When the end of the SD Memory Card's service life approaches, the ability to write data is lost, and data is sometimes not retained after writing. The service life depends on the size of the data that is written and on the ambient temperature. For the unlikely event that data is lost, it is recommended to periodically back up data.

• The service life may be extremely short if a non-OMRON SD Memory Card is used. Also, operation may be affected due to deterioration in writing performance.

• If you use an OMRON SD Memory Card, the end of the life of the SD Memory Card can be detected in the following ways.

• System-defined variable _Card1Deteriorated (SD Memory Card Life Warning Flag)

• SD Memory Card Life Exceeded (Observation) event in the event log

Installing the SD Memory Card

1 Pull the left side of the SD Memory Card cover forward and remove from the Unit.

2 Insert the SD Memory Card with the label facing to the left. (Insert the SD Memory Card with the

label facing the triangle on the CPU Unit.)

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NJ-series CPU Unit Hardware User’s Manual (W500)

OMRON CJ1W-OC, CJ1W-MD, CJ1W-B7A, NJ501, NJ301 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Intended Audience

Applicable Products

Relevant Manuals

Manual Structure

Special Information

Sections in this Manual

CONTENTS

Terms and Conditions Agreement

Warranty, Limitations of Liability

Application Considerations

Disclaimers

Safety Precautions

Definition of Precautionary Information

Symbols

Warnings

Cautions

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

Conformance to EU Directives

Conformance to KC Certification

Conformance to Shipbuilding Standards

Software Licenses and Copyrights

Versions

Checking Versions

Unit Versions of CPU Units and Sysmac Studio Versions

Related Manuals

Terminology

Revision History

1-1 The NJ-series Controllers

1-1-1 Features

1-1-2 Introduction to the System Configurations

1-2 Specifications

1-3-1 Overall Procedure

1-3-2 Procedure Details

2-1 Basic System Configuration

2-1-1 EtherCAT Network Configuration

2-1-2 CJ-series Unit Configuration

2-2 Connecting to the Sysmac Studio

2-3 Network Configuration

3-1 CPU Units

3-1-1 Models and Specifications

3-1-2 Components and Functions

3-2 SD Memory Cards

3-2-1 Models and Specifications

3-2-2 Purpose

3-2-3 Installing and Removing