Omron NJ501-1400, NJ501-1300, NJ501-1500 User Manual

Machine Automation Controller

NJ-series

CPU Unit
Motion Control

User’s Manual

NJ501-1300
NJ501-1400
NJ501-1500

CPU Unit

W507-E1-01

 OMRON, 2011

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is
constantly striving to improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.

Introduction

Thank you for purchasing an NJ-series CPU Unit.
This manual contains information that is necessary to use the Motion Control Function Module of an
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 B3503.

Introduction

Applicable Products

This manual covers the following products.

• NJ-series CPU Units

• NJ501-1300

• NJ501-1400

• NJ501-1500

NJ-series CPU Unit Motion Control User’s Manual (W507)

1

Relevant Manuals

Relevant Manuals

There are three manuals that provide basic information on the NJ-series CPU Units: the NJ-series CPU
Unit Hardware User’s Manual, the NJ-series CPU Unit Software User’s Manual (this manual), and the
NJ-series Instructions Reference Manual.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu­dio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.

Other manuals are necessary for specific system configurations and applications.
Read all of the manuals that are relevant to your system configuration and application to make the most
of the NJ-series CPU Unit.

Basic information

NJ-series User’s Manuals

Introduction to NJ-series Controllers

Setting devices and hardware

Using motion control

Using EtherCAT

Using EtherNet/IP

Using CJ-series Units

Software settings

Using motion control

Using EtherCAT

Using EtherNet/IP

Programming

Using motion control

Using EtherCAT

Using CJ-series Units

Programming error processing

Testing operation and debugging

Using motion control

Using EtherCAT

Using EtherNet/IP

Troubleshooting and managing
errors in an NJ-series Controller

NJ-series CPU Unit

Hardware User´s Manual

Use the
relevant
manuals for
references
according to
any error that
occurs.

NJ-series CPU Unit

Software User´s Manual

NJ-series Instructions

Reference Manual

NJ-series CPU Unit Motion

Control User´s Manual

NJ-series CPU Unit Built-in

EtherCAT Port User´s Manual

NJ-series Motion Control

Instructions Reference Manual

NJ-series CPU Unit Built-in

EtherNet/IP Port User´s Manual

NJ-series Troubleshooting Manual

CJ-series Special Unit Operation

Manuals for NJ-series CPU Unit

Maintenance

Using EtherCAT

Using EtherNet/IP

Using CJ-series Units

2

NJ-series CPU Unit Motion Control User’s Manual (W507)

Manual Configuration

NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

Section Description

Section 1
Introduction

Section 2
System Configuration

Section 3
Configuration Units

Section 4
Installation and Wiring

Section 5
Troubleshooting

Section 6
Inspection and Maintenance

Appendices

This section provides an introduction to the NJ-series Controllers and their features,
and gives the NJ-series Controller specifications.

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

This section describes the parts and functions of the configuration devices in the NJ­series Controller configuration, including the CPU Unit and Configuration Units.

This section describes where and how to install the CPU Unit and Configuration Units
and how to wire them.

This section describes the event codes, error confirmation methods, and corrections
for errors that can occur.

This section describes the contents of periodic inspections, the service life of the Bat­tery and Power Supply Units, and replacement methods for the Battery and Power
Supply Units.

The appendices provide the specifications of the Basic I/O Units, Unit dimensions,
load short-circuit protection detection, line disconnection detection, and measures for
EMC Directives.

Manual Configuration

NJ-series CPU Unit Software User’s Manual (Cat. No. W501)

Section Description

Section 1
Introduction

Section 2
CPU Unit Operation

Section 3
I/O Ports, Slave Configuration, and
Unit Configuration

Section 4
Controller Setup

Section 5
Designing Tasks

Section 6
Programming

Section 7
Simulation, Transferring Projects to
the Physical CPU Unit, and Opera­tion

Section 8
CPU Unit Status

Section 9
CPU Unit Functions

Section 10
Communications Setup

Section 11
Example of Actual Application Pro­cedures

Section 12
Troubleshooting

Appendices

This section provides an introduction to the NJ-series Controllers and their features,
and gives the NJ-series Controller specifications.

This section describes the variables and control systems of the CPU Unit and CPU
Unit status.

This section describes how to use I/O ports, how to create the slave configuration
and unit configuration and how to assign functions.

This section describes the initial settings of the function modules.

This section describes the task system and types of tasks.

This section describes programming, including the programming languages and the
variables and instructions that are used in programming.

This section describes simulation of Controller operation and how to use the results
of simulation.

This section describes CPU Unit status.

This section describes the functionality provided by the CPU Unit.

This section describes how to go online with the CPU Unit and how to connect to
other devices.

This section describes the procedures that are used to actually operate an NJ-series
Controller.

This section describes the event codes, error confirmation methods, and corrections
for errors that can occur.

The appendices provide the CPU Unit specifications, task execution times, system­defined variable lists, data attribute lists, CJ-series Unit memory information, CJ­series Unit memory allocation methods, and data type conversion information.

NJ-series CPU Unit Motion Control User’s Manual (W507)

3

Manual Configuration

NJ-series CPU Unit Motion Control User’s Manual (Cat. No. W507)
(This Manual)

Section Description

Section 1
Introduction to the Motion Control
Function Module

Section 2
Motion Control Configuration and
Principles

Section 3
Configuring Axes and Axes Groups

Section 4
Checking Wiring from the Sysmac
Studio

Section 5
Motion Control Parameters

Section 6
Motion Control Programming

Section 7
Manual Operation

Section 8
Homing

Section 9
Motion Control Functions

Section 10
Sample Programming

Section 11
Troubleshooting

Appendices

This section describes the features, system configuration, and application flow for the
Motion Control Function Module.

This section outlines the internal structure of the CPU Unit and describes the config­uration and principles of the MC Function Module.

This section describes the concept of axes and axes groups, the settings for axes
that are required for the MC Test Run operations to function on the Sysmac Studio,
and the instructions for creating and configuring axes and axes groups using the Sys­mac Studio.

This section describes the MC Test Run operations of the Sysmac Studio. You can
use the MC Test Run operations to monitor sensor signals, check Servomotor wiring,
and more, all without any programming.

This section provides information on the axis parameters and axes group parameters
that are used for motion control.

This section provides the specifications of a motion control program and the operat­ing procedures that are required up through actual program development.

This section describes manual operation when the MC Function Module is used
together with an OMRON G5-series Servo Drive.

This section describes homing.

This section describes the motion control functions that are used when connected to
OMRON G5-series Servo Drives with built-in EtherCAT communications.

This section describes basic application methods for homing, error monitoring, and
other functions, and provides programming samples for absolute positioning, cam
operation, and other axis operations.

This section describes the items to check when problems occur in the MC Function
Module. It includes error diagnosis and countermeasures for error indications, and
error diagnosis and countermeasures for operating conditions.

The appendices describe settings and connection methods for OMRON G5-series
Servo Drive objects.

NJ-series Instructions Reference Manual (Cat. No. W502)

Section Description

Section 1
Instruction Set

Section 2
Instruction Descriptions

Appendices

4

This section provides a table of the instructions that are described in this manual.

This section describes instruction specifications in detail.

The appendices provide a table of error codes and other supplemental information to
use instructions.

NJ-series CPU Unit Motion Control User’s Manual (W507)

Manual Configuration

NJ-series CPU Unit Built-in EtherCAT Port User’s Manual
(Cat. No. W505)

Section Description

Section 1
Introduction

Section 2
Part Names and Slave Settings

Section 3
EtherCAT Communications

Section 4
EtherCAT Network Wiring

Section 5
Setting Up EtherCAT Communica­tions with the Sysmac Studio

Section 6
Process Data Communications and
SDO Communications

Section 7
System-defined Variables That Are
Related to the Built-in EtherCAT Port

Section 8
Example of Operations for EtherCAT
Communications

Section 9
Troubleshooting

Appendices

This section provides an overview of EtherCAT communications, describes the sys­tem configuration and specifications, and provides operating procedures.

This section provides the part names and describes the slave settings and Sysmac
device functions.

This section describes the different types of EtherCAT communications, EtherCAT
settings, and state transitions.

This section describes how to connect and wire an EtherCAT network.

This section describes how to set the network configuration information and how to
check EtherCAT communications from the Sysmac Studio.

This section describes the timing of communications, response times, and special
instructions for process data communications and SDO communications. It also pro­vides sample programming.

This section describes the system-defined variables that are related to the built-in
EtherCAT port.

This section provides a series of example operations for when an NJ-series CPU Unit
is connected to slaves.

This section describes the event codes, error confirmation methods, and corrections
for errors that can occur for EtherCAT communications. It also describes how to
replace slaves.

The appendices describe the relation of EtherCAT communications to overall CPU
Unit status, packet monitoring functions, and multi-vendor application.

NJ-series Motion Control Instructions Reference Manual
(Cat. No. W508)

Section Description

Section 1
Introduction to Motion Control
Instructions

Section 2
Variables and Instructions

Section 3
Axis Command Instructions

Section 4
Axes Group Instructions

Section 5
Common Command Instructions

Appendices The appendices describe the error codes that are generated by the instructions.

This section gives an introduction to motion control instructions supported by NJ­series CPU Units.

This section describes the variables and instructions for the Motion Control Function
Module.

This section describes the instructions that are used to perform single-axis control for
the MC Function Module.

This section describes the instructions to perform multi-axes coordinated control for
the MC Function Module.

This section describes the instructions that are used for both axes and axes groups.

NJ-series Troubleshooting Manual (Cat. No. W503)

Section Description

Section 1
Overview of Errors

Section 2
Error Troubleshooting Methods

Section 3
Error Tables

This section describes the errors that can occur on an NJ-series Controller, the oper­ation that occurs for errors, and methods to confirm errors.

This section describes how to handle errors.

This section lists all of the error events that can occur on NJ-series Controllers.

NJ-series CPU Unit Motion Control User’s Manual (W507)

5

Manual Configuration

Sysmac Studio Version 1 Operation Manual (Cat. No. W504)

Section Description

Section 1
Introduction

Section 2
Installation and Uninstallation

Section 3
System Design

Section 4
Programming

Section 5
Online Connections to a Controller

Section 6
Debugging

Section 7
Other Functions

Section 8
Reusing Programming

Section 9
Support Software Provided with the
Sysmac Studio

Section 10
Troubleshooting

Appendices

This section provides an overview and lists the specifications of the Sysmac Studio
and describes its features and components.

This section describes how to install and uninstall the Sysmac Studio.

This section describes the basic concepts for designing an NJ-series System with the
Sysmac Studio and the basic operating procedures.

This section describes how to create programs with the Sysmac Studio.

This section describes how to go online with a Controller.

This section describes how to debug the programs online on the Controller or debug
it offline with the Simulator.

This section describes Sysmac Studio functions other than system design functions.

This section describes how to reuse the programs that you create with the Sysmac
Studio.

This section describes the Support Software that is provided with the Sysmac Studio.

This section describes the error messages that are displayed when you check a pro­gram on the Sysmac Studio and how to correct those errors.

The appendices describe the following:
Driver Installation for Direct USB Cable Connection
Specifying One of Multiple Ethernet Interface Cards
Online Help
Simulation Instructions

6

NJ-series CPU Unit Motion Control User’s Manual (W507)

Manual Structure

Page Structure

The following page structure is used in this manual.

Manual Structure

Level 2 heading

Level 3 heading

A step in a procedure

Indicates a procedure.

Special information

Icons indicate
precautions, additional
information, or reference
information.

4 Installation and Wiring

4-3 Mounting Units

4-3-1 Connecting Controller Components

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

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.

Hook

Connector

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

Hook holes

Release

Lock

Slider

Level 1 heading
Level 2 heading
Level 3 heading

Gives the current
headings.

stinU gnitnuoM 3-4

4

stnenopmoC rellortnoC gnitcennoC 1-3-4

Page tab

Gives the number
of the main section.

Manual name

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

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

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.

Note References are provided to more detailed or related information.

NJ-series CPU Unit Motion Control User’s Manual (W507)

4-9

7

Manual Structure

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.

8

NJ-series CPU Unit Motion Control User’s Manual (W507)

Sections in this Manual

Sections in this Manual

1

2

3

4

5

Introduction to the
Motion Control
Function Module

Motion Control
Configuration and
Principles

Configuring Axes
and Axes Groups

Checking Wiring from
the Sysmac Studio

Motion Control Parameters

10

11

A

I

Sample Programming

Troubleshooting

Appendices

Index

1

2

3

4I

10

11

A

5

6

7

6

7

8

9

8

Motion Control Programming

9

Manual Operation

Homing

Motion Control Functions

NJ-series CPU Unit Motion Control User’s Manual (W507)

9

Sections in this Manual

10

NJ-series CPU Unit Motion Control User’s Manual (W507)

CONTENTS

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

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

Manual Configuration............................................................................................... 3

Manual Structure ...................................................................................................... 7

Sections in this Manual............................................................................................ 9

Read and Understand this Manual........................................................................ 17

Safety Precautions ................................................................................................. 21

Precautions for Safe Use ....................................................................................... 22

CONTENTS

Precautions for Correct Use .................................................................................. 23

Regulations and Standards ................................................................................... 24

Unit Versions ........................................................................................................... 26

Related Manuals ..................................................................................................... 29

Revision History ..................................................................................................... 31

Section 1 Introduction to the Motion Control Function Module

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

1-2 System Configuration ............................................................................................................. 1-3

1-3 Application Procedure ............................................................................................................ 1-4

1-4 Specifications .......................................................................................................................... 1-6

1-4-1 General Specifications................................................................................................................ 1-6

1-4-2 Performance Specifications ........................................................................................................ 1-6

1-4-3 Function Specifications............................................................................................................... 1-7

Section 2 Motion Control Configuration and Principles

2-1 Internal Configuration of the CPU Unit.................................................................................. 2-2

2-2 Motion Control Configuration.................................................................................................2-3

2-3 Motion Control Principles....................................................................................................... 2-4

2-3-1 CPU Unit Tasks........................................................................................................................... 2-4

2-3-2 Example of Task Operations for Motion Control ......................................................................... 2-7

2-4 EtherCAT Communications and Motion Control ................................................................ 2-11

2-4-1 CAN Application Protocol over EtherCAT (CoE)....................................................................... 2-11

2-4-2 Relationship between EtherCAT Master Function Module and MC Function Module .............. 2-12

2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period ........ 2-13

NJ-series CPU Unit Motion Control User’s Manual (W507)

11

CONTENTS

Section 3 Configuring Axes and Axes Groups

3-1 Axes .......................................................................................................................................... 3-2

3-1-1 Introduction to Axes ....................................................................................................................3-2

3-1-2 Introduction to Axis Parameters ..................................................................................................3-3

3-1-3 Introduction to Axis Variables......................................................................................................3-5

3-1-4 Specifying an Axis in the User Program...................................................................................... 3-7

3-2 Axis Setting Procedure ........................................................................................................... 3-8

3-2-1 Axis Configuration Procedure .....................................................................................................3-8

3-2-2 Setting Procedure .......................................................................................................................3-8

3-3 Axes Groups .......................................................................................................................... 3-17

3-3-1 Introduction to Axes Groups......................................................................................................3-17

3-3-2 Introduction to Axes Group Parameters .................................................................................... 3-18

3-3-3 Introduction to Axes Group Variables........................................................................................3-19

3-3-4 Specifying an Axes Group in the User Program........................................................................3-21

3-4 Setting Procedures for Axes Groups................................................................................... 3-22

3-4-1 Setting Procedure for an Axes Group .......................................................................................3-22

3-4-2 Setting Procedure .....................................................................................................................3-22

Section 4 Checking Wiring from the Sysmac Studio

4-1 Functions of the Sysmac Studio ............................................................................................ 4-2

4-1-1 MC Test Run Function.................................................................................................................4-2

4-1-2 Application Procedure .................................................................................................................4-4

4-1-3 Axis Parameter Setting Example.................................................................................................4-5

4-1-4 Starting the MC Test Run Function .............................................................................................4-6

4-2 Monitoring Sensor Signals ..................................................................................................... 4-7

4-3 Checking Motor Operation...................................................................................................... 4-8

4-3-1 Turning ON the Servo ................................................................................................................. 4-8

4-3-2 Jogging........................................................................................................................................ 4-8

4-3-3 Homing........................................................................................................................................4-9

4-3-4 Absolute Positioning..................................................................................................................4-10

4-3-5 Relative Positioning ...................................................................................................................4-11

Section 5 Motion Control Parameters

5-1 Introduction.............................................................................................................................. 5-2

5-2 Axis Parameters....................................................................................................................... 5-4

5-2-1 Axis Parameters..........................................................................................................................5-4

5-2-2 Axis Basic Settings......................................................................................................................5-5

5-2-3 Unit Conversion Settings............................................................................................................. 5-8

5-2-4 Operation Settings ....................................................................................................................5-11

5-2-5 Other Operation Settings .......................................................................................................... 5-12

5-2-6 Limit Settings............................................................................................................................. 5-13

5-2-7 Position Count Settings.............................................................................................................5-13

5-2-8 Servo Drive Settings .................................................................................................................5-15

5-2-9 Homing Settings........................................................................................................................5-16

5-2-10 Axis Parameter Setting Example...............................................................................................5-17

5-3 Axes Group Parameters........................................................................................................5-20

5-3-1 Axes Group Parameters ............................................................................................................5-20

5-3-2 Axes Group Basic Settings ....................................................................................................... 5-21

5-3-3 Axes Group Operation Settings ................................................................................................5-22

5-3-4 Enabling an Axes Group ...........................................................................................................5-23

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NJ-series CPU Unit Motion Control User’s Manual (W507)

Section 6 Motion Control Programming

6-1 Introduction.............................................................................................................................. 6-2

6-2 Motion Control Instructions.................................................................................................... 6-3

6-2-1 Function Blocks for PLCopen Motion Control............................................................................. 6-3

6-2-2 Motion Control Instructions of the MC Function Module............................................................. 6-3

6-3 State Transitions...................................................................................................................... 6-4

6-3-1 Status of the Motion Control Function Module............................................................................ 6-4

6-3-2 Axis States.................................................................................................................................. 6-4

6-3-3 Axes Group States...................................................................................................................... 6-6

6-4 Execution and Status of Motion Control Instructions.......................................................... 6-8

6-4-1 Basic Rules for Execution of Instructions ................................................................................... 6-8

6-4-2 Execution Timing Charts .......................................................................................................... 6-10

6-4-3 Timing Chart for Re-execution of Motion Control Instructions .................................................. 6-12

6-4-4 Timing Chart for Multi-execution of Motion Control Instructions ............................................... 6-13

6-5 Positions................................................................................................................................. 6-14

6-5-1 Types of Positions..................................................................................................................... 6-14

6-5-2 Valid Positions for Each Axis Type............................................................................................ 6-14

6-6 System-defined Variables for Motion Control..................................................................... 6-15

6-6-1 Overview of System-defined Variables for Motion Control........................................................ 6-15

6-6-2 System for System-defined Variables for Motion Control ......................................................... 6-17

6-6-3 Tables of System-defined Variables for Motion Control ............................................................ 6-18

6-7 Cam Tables and Cam Data Variables ................................................................................... 6-28

CONTENTS

6-8 Programming Motion Controls............................................................................................. 6-32

6-9 Creating Cam Tables ............................................................................................................. 6-34

Section 7 Manual Operation

7-1 Outline ...................................................................................................................................... 7-2

7-2 Turning ON the Servo.............................................................................................................. 7-3

7-2-1 Turning ON the Servo................................................................................................................. 7-3

7-2-2 Setting Axis Parameters ............................................................................................................. 7-4

7-2-3 Programming Example ............................................................................................................... 7-4

7-3 Jogging..................................................................................................................................... 7-5

7-3-1 Jogging Procedure...................................................................................................................... 7-5

7-3-2 Setting Axis Parameters ............................................................................................................. 7-6

7-3-3 Setting Example for Input Variables............................................................................................ 7-6

7-3-4 Programming Example ............................................................................................................... 7-7

Section 8 Homing

8-1 Outline ...................................................................................................................................... 8-2

8-2 Homing Procedure................................................................................................................... 8-5

8-2-1 Setting Homing Parameters........................................................................................................ 8-5

8-2-2 Monitoring the Homing Operation............................................................................................. 8-10

8-3 Homing Operation ................................................................................................................. 8-11

8-4 Homing with an Absolute Encoder ...................................................................................... 8-12

8-4-1 Outline of Function.................................................................................................................... 8-13

8-4-2 Setting Procedure..................................................................................................................... 8-13

8-5 High-speed Homing............................................................................................................... 8-15

NJ-series CPU Unit Motion Control User’s Manual (W507)

13

CONTENTS

Section 9 Motion Control Functions

9-1 Single-axis Position Control................................................................................................... 9-3

9-1-1 Outline of Operation.................................................................................................................... 9-3

9-1-2 Absolute Positioning....................................................................................................................9-4

9-1-3 Relative Positioning .....................................................................................................................9-4

9-1-4 Interrupt Feeding.........................................................................................................................9-5

9-1-5 Stopping...................................................................................................................................... 9-6

9-1-6 Override Factors.......................................................................................................................... 9-9

9-2 Single-axis Synchronized Control ....................................................................................... 9-11

9-2-1 Overview of Synchronized Control............................................................................................9-11

9-2-2 Gear Operation .........................................................................................................................9-11

9-2-3 Positioning Gear Operation .......................................................................................................9-12

9-2-4 Cam Operation..........................................................................................................................9-13

9-2-5 Cam Tables ............................................................................................................................... 9-14

9-2-6 Synchronous Positioning...........................................................................................................9-19

9-2-7 Combining Axes........................................................................................................................9-21

9-2-8 Master Axis Phase Shift............................................................................................................ 9-22

9-3 Single-axis Velocity Control .................................................................................................9-23

9-3-1 Velocity Control ......................................................................................................................... 9-23

9-3-2 Cyclic Synchronous Velocity Control.........................................................................................9-24

9-4 Single-axis Torque Control ...................................................................................................9-25

9-5 Common Functions for Single-axis Control ....................................................................... 9-26

9-5-1 Positions....................................................................................................................................9-26

9-5-2 Velocity ......................................................................................................................................9-28

9-5-3 Acceleration and Deceleration ..................................................................................................9-29

9-5-4 Jerk ........................................................................................................................................... 9-31

9-5-5 Specifying the Operation Direction............................................................................................9-32

9-5-6 Re-executing Motion Control Instructions .................................................................................9-35

9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) ...................................................9-41

9-6 Multi-axes Coordinated Control ........................................................................................... 9-46

9-6-1 Outline of Operation.................................................................................................................. 9-46

9-6-2 Linear Interpolation ...................................................................................................................9-48

9-6-3 Circular Interpolation................................................................................................................. 9-49

9-6-4 Stopping Under Multi-axes Coordinated Control....................................................................... 9-50

9-6-5 Overrides for Multi-axes Coordinated Control........................................................................... 9-51

9-7 Common Functions for Multi-axes Coordinated Control................................................... 9-53

9-7-1 Velocity Under Multi-axes Coordinated Control......................................................................... 9-53

9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control ..................................... 9-54

9-7-3 Jerk for Multi-axes Coordinated Control....................................................................................9-55

9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control.......................... 9-56

9-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Control 9-

56

9-8 Other Functions..................................................................................................................... 9-65

9-8-1 Changing the Current Position .................................................................................................. 9-65

9-8-2 Torque Limit............................................................................................................................... 9-66

9-8-3 Latching.....................................................................................................................................9-66

9-8-4 Zone Monitoring ........................................................................................................................9-67

9-8-5 Software Limits..........................................................................................................................9-68

9-8-6 Following Error Monitoring ........................................................................................................ 9-69

9-8-7 Following Error Counter Reset..................................................................................................9-70

9-8-8 Axis Following Error Monitoring ................................................................................................9-70

9-8-9 In-position Check ...................................................................................................................... 9-71

Section 10 Sample Programming

10-1 Overview of Sample Programming ...................................................................................... 10-2

10-1-1 Devices .....................................................................................................................................10-2

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NJ-series CPU Unit Motion Control User’s Manual (W507)

CONTENTS

10-1-2 Installation and Wiring .............................................................................................................. 10-2

10-1-3 Setup ........................................................................................................................................ 10-3

10-2 Basic Programming Samples ............................................................................................... 10-4

10-2-1 Monitoring EtherCAT Communications and Turning ON Servos .............................................. 10-4

10-2-2 Interlocking Axis Operation with Master Control Instructions ................................................... 10-6

10-2-3 Error Monitoring and Error Resetting for Single-axis Operation and Synchronized Operation. 10-8

10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation.......................... 10-10

10-2-5 Monitoring for Instruction Errors ............................................................................................. 10-16

10-2-6 Checking to See If Errors Are Reset....................................................................................... 10-18

10-2-7 Stopping Axes during Single-axis Operation .......................................................................... 10-20

10-2-8 Stopping an Axes Group in Coordinated Motion .................................................................... 10-24

10-2-9 Homing and Absolute Positioning........................................................................................... 10-30

10-2-10 Changing the Target Position by Re-execution of an Instruction ............................................ 10-35

10-2-11 Interrupt Feeding .................................................................................................................... 10-41

10-2-12 Changing the Cam Table by Re-execution of an Instruction ................................................... 10-45

10-2-13 Using a Cam Profile Curve to Correct the Sync Start Position............................................... 10-54

10-2-14 Shifting the Phase of a Master Axis in Cam Motion................................................................ 10-64

10-2-15 Changing the Actual Position during Velocity Control............................................................. 10-72

10-2-16 Changing a Cam Data Variable and Saving the Cam Table ................................................... 10-78

10-2-17 Temporarily Changing Axis Parameters.................................................................................. 10-87

10-2-18 Updating the Cam Table End Point Index ............................................................................... 10-90

Section 11 Troubleshooting

11-1 Overview of Errors................................................................................................................. 11-2

11-1-1 How to Check for Errors............................................................................................................ 11-3

11-1-2 Errors Related to the Motion Control Function Module............................................................. 11-5

11-2 Troubleshooting................................................................................................................... 11-10

11-2-1 Error Table .............................................................................................................................. 11-10

11-2-2 Error Descriptions................................................................................................................... 11-19

11-2-3 Error Causes and Remedies .................................................................................................. 11-53

Appendices

A-1 Connecting the Servo Drive....................................................................................................A-2

A-1-1 Wiring the Servo Drive................................................................................................................A-2

A-1-2 Servo Drive Settings...................................................................................................................A-2

A-2 Connecting to Encoder Input Terminals .............................................................................A-11

A-2-1 Wiring to Encoder Input Terminals............................................................................................A-11

A-2-2 Settings for Encoder Input Terminals........................................................................................A-11

A-3 Terminology ...........................................................................................................................A-15

A-3-1 NJ-series Controller.................................................................................................................. A-15

A-3-2 Motion Control ..........................................................................................................................A-16

A-3-3 EtherCAT Communications.......................................................................................................A-17

Index

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CONTENTS

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NJ-series CPU Unit Motion Control User’s Manual (W507)

Read and Understand this Manual

Read and Understand this Manual

Please read and understand this manual before using the product. Please consult your OMRON representative
if you have any questions or comments.

Warranty and Limitations of Liability

WARRANTY

OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON­INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

LIMITATIONS OF LIABILITY

OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES,
LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS,
WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT
LIABILITY.

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
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 OR REPAIR.

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Read and Understand this Manual

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses
listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or
uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.

• Systems, machines, and equipment that could present a risk to life or property.

Please know and observe all prohibitions of use applicable to the products.

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.

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NJ-series CPU Unit Motion Control User’s Manual (W507)

Read and Understand this Manual

Disclaimers

CHANGE IN SPECIFICATIONS

Product specifications and accessories may be changed at any time based on improvements and other
reasons.

It is our practice to change model numbers when published ratings or features are changed, or when
significant construction changes are made. However, some specifications of the products may be changed
without any notice. When in doubt, special model numbers may be assigned to fix or establish key
specifications for your application on your request. Please consult with your OMRON representative at any
time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.

PERFORMANCE DATA

Performance data given in this manual 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 users must
correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and
Limitations of Liability.

ERRORS AND OMISSIONS

The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

NJ-series CPU Unit Motion Control User’s Manual (W507)

19

Read and Understand this Manual

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NJ-series CPU Unit Motion Control User’s Manual (W507)

Safety Precautions

Definition of Precautionary Information

Refer to the following manuals for safety precautions.

• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

• NJ-series CPU Unit Software User’s Manual (Cat. No. W501)

Safety Precautions

NJ-series CPU Unit Motion Control User’s Manual (W507)

21

Precautions for Safe Use

Precautions for Safe Use

Refer to the following manuals for precautions for safe use.

• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

• NJ-series CPU Unit Software User’s Manual (Cat. No. W501)

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NJ-series CPU Unit Motion Control User’s Manual (W507)

Precautions for Correct Use

Refer to the following manuals for precautions for correct use.

• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)

• NJ-series CPU Unit Software User’s Manual (Cat. No. W501)

Precautions for Correct Use

NJ-series CPU Unit Motion Control User’s Manual (W507)

23

Regulations and Standards

Regulations and Standards

Conformance to EC Directives

Applicable Directives

• EMC Directives

• Low Voltage Directive

Concepts

z EMC Directive

OMRON devices that comply with EC 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 EC
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 and EN 61000-6-2
EMI (Electromagnetic Interference): EN 61131-2 and EN 61000-6-4 (Radiated emission: 10-m regulations)

z 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 61131-2.

z Conformance to EC Directives

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

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

• You must use reinforced insulation or double insulation for the DC power supplies connected to
DC Power Supply Units and I/O Units.

• NJ-series Controllers that comply with EC 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 EC Directives.

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NJ-series CPU Unit Motion Control User’s Manual (W507)

Conformance to Shipbuilding 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

Regulations and Standards

Trademarks

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

• Windows, Windows 98, Windows XP, Windows Vista, and Windows 7 are registered trademarks of
Microsoft Corporation in the USA and other countries.

•EtherCAT is a registered trademark of Beckhoff Automation GmbH for their patented technology.

• The SD logo is a trademark of SD-3C, LLC.

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

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/.

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Unit Versions

Unit Versions

Unit Versions

A “unit version” has been introduced to manage CPU Units in the NJ Series according to differences in
functionality accompanying Unit upgrades.

Notation of Unit Versions on Products

The unit version is given on the ID information label of the products for which unit versions are man­aged, as shown below.

Example for NJ-series NJ501-@@@@ CPU Unit:

ID information label

Unit model

NJ501 -1500 Ver.1.@@

PORT1 MAC ADDRESS: @@@@@@@@@@@@
PORT2 MAC ADDRESS: @@@@@@@@@@@@

Lot No. DDMYY@ xxxx

Unit version

Lot number and serial number MAC address

The following information is provided on the ID information label.

Item Description

Unit model Gives the model of the Unit.

Unit version Gives the unit version of the Unit.

Lot number and
serial number

MAC address Gives the MAC address of the built-in port on the Unit.

Gives the lot number and serial number of the Unit.

DDMYY: Lot number, @: For use by OMRON, xxxx: Serial number

“M” gives the month (1 to 9: January to September, X: October, Y: November, Z: December)

26

Confirming Unit Versions with Sysmac Studio

You can use the Unit Production Information on the Sysmac Studio to check the unit version of the CPU
Unit, CJ-series Special I/O Units, CJ-series CPU Bus Units, and EtherCAT slaves. The unit versions of
CJ-series Basic I/O Units cannot be checked from the Sysmac Studio.

z CPU Unit and CJ-series Units

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 for the Controller Configurations and Setup layer.

NJ-series CPU Unit Motion Control User’s Manual (W507)

Unit Versions

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

The Production Information Dialog Box is displayed.

Simple Display Detailed Display

In this example, “Ver.1.0” is displayed next to the unit model.

The following items are displayed.

CPU Unit CJ-series Units

Unit model

Unit version

Lot number

Unit model

Unit version

Lot number

Rack number, slot number, and unit number

z EtherCAT Slaves

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 Configuration Tab Page is displayed for the Controller Configurations and Setup
layer.

2 Right-click the master in the EtherCAT Configurations Editing Pane and select Display Produc-

tion Information.

The Production Information Dialog Box is displayed.

The following items are displayed.
Node address
Type information*
Serial number

* If the model number cannot be determined (such as when there is no ESI file), the vendor ID, product

code, and revision number are displayed.

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Unit Versions

Unit Version Notation

In this manual, unit versions are specified as shown in the following table.

Product nameplate Notation in this manual Remarks

“Ver.1.0” or later to the right of
the lot number

Unit version 1.0 or later Unless unit versions are specified, the information in this manual

applies to all unit versions.

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NJ-series CPU Unit Motion Control User’s Manual (W507)