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-P3001
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)
1
Relevant Manuals
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
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
2
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
*1
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)
3
Manual Structure
4-9
4 Installation and Wiring
NJ-series CPU Unit Hardware User’s Manual (W500)
stinU gnitnuoM 3-4
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.
4
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)
5
Manual Structure
6
NJ-series CPU Unit Hardware User’s Manual (W500)
Sections in this Manual
1
2
3
4
5
1
2
3
4
5
I
Introduction to NJ-series Controllers
System Configuration
Configuration Units
Installation and Wiring
Troubleshooting
I
6
A
Index
6
A
Inspection and Maintenance
Appendices
Sections in this Manual
NJ-series CPU Unit Hardware User’s Manual (W500)
7
CONTENTS
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
8
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)
9
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
10
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)
NJ-series CPU Unit Hardware User’s Manual (W500)
CONTENTS
11
Terms and Conditions Agreement
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.
12
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)
13
Safety Precautions
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.
14
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)
15
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.
16
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)
17
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.
18
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)
19
Precautions for Safe Use
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.
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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)
21
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.
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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)
23
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.
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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)
25
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.
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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.
27
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.
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NJ-series CPU Unit Hardware User’s Manual (W500)
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