OMRON NJ501-R500, NJ501-R400, NJ501-R300 User Manual

Machine Automation Controller

NJ-series

Robot Integrated CPU Unit

User’s Manual

NJ501-R500 NJ501-R400 NJ501-R300

CPU Unit

O037-E1-01

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 Robot Integrated CPU Unit.

This manual contains information that is necessary to use the robot control function of 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.

This manual describes the functions added to the NJ501-R£££ CPU Unit.

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

common functions for the NJ501-££££ CPU Unit.

Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical sys-

tems (an electrical engineer or the equivalent).

Personnel in charge of introducing F

•

• 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.

Also, this manual is intended for the personnel, who understand the following contents.

• Personnel who understand the programming language specifications in international standard IEC

61131-3 or Japanese standard JIS B 3503, for programming.

• Personnel in charge of working with a robot and well knowing how to handle the robot.

Introduction

A systems.

Applicable Products

This manual covers the following products.

NJ-series Robot Integrated CPU Unit

•

NJ501-R500

NJ501-R400

NJ501-R300

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Relevant Manuals

The following table provides the relevant manuals for the NJ-series CPU Units. Read all of the man-

uals 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

Studio Version 1 Operation Manual (Cat. No. W504) and the Sysmac Studio Robot Integrated System

Building Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595) for information

on the Sysmac Studio.

Basic information

NJ-series CPU Unit

Hardware User’s Manual

NJ/NX-series CPU Unit

Software User

Instructions Reference Manual

NJ/NX-series

NJ/NX-series CPU Unit

Motion Control User

NJ/NX-series

Motion Control Instructions Reference Manual

Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP Port User’

NJ/NX-series CPU Unit

Built-in EtherCA

NJ-series Robot Integrated CPU Unit

User

eV+3 User’s Manual

eV+3 Keyword Reference Manual

NJ-series NJ Robotics CPU Unit

User

NJ/NX-series

Troubleshooting Manual

Purpose of use

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 robot control for OMRON robots

Using robot control with NJ Robotics function

Writing the user program

Using motion control

Using EtherCAT

Using EtherNet/IP

Using robot control for OMRON robots

Using robot control with NJ Robotics function

Programming error processing

Testing operation and debugging

Using motion control

Using EtherCAT

Using EtherNet/IP

Using robot control for OMRON robots

Using robot control with NJ Robotics function

’

s Manual

¡ ¡

’s Manual

¡ ¡

T Port User

’s Manual

s Manual

’

s Manual

¡ ¡ ¡

¡ ¡ ¡ ¡

¡ ¡ ¡

’

s Manual

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Purpose of use

Basic information

NJ-series CPU Unit

Hardware User’s Manual

NJ/NX-series CPU Unit

Software User

Instructions Reference Manual

’

s Manual

NJ/NX-series

NJ/NX-series CPU Unit

Motion Control User

’

s Manual

NJ/NX-series

Motion Control Instructions Reference Manual

Relevant Manuals

Manual

NJ/NX-series CPU Unit

Built-in EtherCA

T Port User

’s Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP Port User

’

s Manual

NJ-series Robot Integrated CPU Unit

User’

s Manual

eV+3 User’s Manual

eV+3 Keyword Reference Manual

NJ-series NJ Robotics CPU Unit

User

’

s Manual

NJ/NX-series

T roubleshooting Manual

Learning about error management functions and

corrections

Maintenance

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

Using motion control

Using EtherCAT

Using EtherNet/IP

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.

r r r r ¡

NJ-series Robot Integrated CPU Unit User's Manual (O037)

4-9

Installation and Wiring

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

gnitn

3-4

rel

noC

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.

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

Manual Structure

Page Structure

The following page structure is used in this manual.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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.

Manual Structure

Version Information

Information on dif

and for dif

ferent versions of the Sysmac Studio is given.

ferences in specifications and functionality for Controller with different unit versions

Precaution on Terminology

In this manual, "download" refers to transferring data from the Sysmac Studio to the physical Control-

ler and "upload

For the Sysmac Studio, "synchronization

"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.

" refers to transferring data from the physical Controller to the Sysmac Studio.

" is used to both "upload" and "download" data. Here,

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Manual Structure

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Sections in this Manual

3 A

Introduction to Robot Integrated CPU Unit

Robot Control System Configuration and Functions

Robot Control Parameters

Program Design of Robot Control

Robot Control Instructions

Robot Control Function

Common Command Instructions

Variables and Instructions

Robot Command Instructions

System Control Instructions

Troubleshooting

Appendices

Index

Sections in this Manual

NJ-series Robot Integrated CPU Unit User's Manual (O037)

CONTENTS

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

Intended Audience...........................................................................................................................................1

Applicable Products

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

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

Page Structure.................................................................................................................................................4

Special Information .......................................................................................................................................... 5

Precaution on Terminology ..............................................................................................................................5

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

Terms and Conditions Agreement........................................................................ 13

Warranty, Limitations of Liability ....................................................................................................................13

Application Considerations ............................................................................................................................14

Disclaimers ....................................................................................................................................................14

.........................................................................................................................................1

Safety Precautions................................................................................................. 16

Definition of Precautionary Information.......................................................................................................... 16

Symbols ......................................................................................................................................................... 16

WARNING......................................................................................................................................................17

Cautions......................................................................................................................................................... 17

Precautions for Safe Use ...................................................................................... 19

Precautions for Correct Use ................................................................................. 20

Regulations and Standards .................................................................................. 21

Versions.................................................................................................................. 22

Checking Versions.........................................................................................................................................22

Related Manuals..................................................................................................... 24

Terminology............................................................................................................ 27

Revision History..................................................................................................... 28

Section 1 Introduction to Robot Integrated CPU Unit

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

1-2 System Configuration

1-3 Specifications.........................................................................................................................1-6

1-3-1 General Specifications ................................................................................................................1-6

1-3-2 Performance Specifications ........................................................................................................1-6

1-3-3 Function Specifications ...............................................................................................................1-6

1-3-4 V+ Program Specifications..........................................................................................................1-8

1-4 Basic Procedure of Operation ..............................................................................................1-9

............................................................................................................1-4

NJ-series Robot Integrated CPU Unit User's Manual (O037)

CONTENTS

Section 2 Robot Control System Configuration and Functions

2-1 Internal Configuration for the Robot Integrated CPU Unit.................................................2-2

2-2 Relationship between

2-3 Relationship between Robot Integrated CPU Unit and IPC Application Controller ........2-6

2-4 System-defined Variables for Robot Control ......................................................................2-8

2-4-1 Overview of System-defined Variables for Robot Control ...........................................................2-8

2-4-2 System of System-defined Variables for Robot Control ..............................................................2-8

2-4-3 Attributes of System-defined Variables for Robot Control ......................................................... 2-11

2-5 Tasks ..................................................................................................................................... 2-12

2-5-1 Tasks and Services for Robot Integrated CPU Unit ..................................................................2-12

2-5-2 Basic Operation of Tasks ..........................................................................................................2-12

2-5-3 Relationship between V+ Task and I/O Refreshing...................................................................2-14

2-6 EtherCAT Communications and Robot Control................................................................2-15

2-7 SD Memory Card Operations .............................................................................................. 2-17

2-7-1 Included SD Memory Card Functions .......................................................................................2-18

2-7-2 Exclusive Control of File Access in the SD Memory Card ........................................................2-20

2-8 Memory Management ..........................................................................................................2-22

2-8-1 Data and File Locations ............................................................................................................2-22

2-8-2 Clear All Memory.......................................................................................................................2-22

2-9 Backup and Restore Operations ........................................................................................2-24

2-9-1 Backup and Restore Operations for Robot Integrated CPU Unit ..............................................2-24

2-9-2 Backup and Restore Operations for OMRON Robot ................................................................2-27

2-10 Security.................................................................................................................................2-29

2-10-1 Robot System Operation Authority............................................................................................2-29

2-10-2 CPU Unit Write Protection.........................................................................................................2-29

Robot Integrated CPU Unit and Robot...........................................2-3

Section 3 Robot Control Parameters

3-1 Introduction to Robot Control Parameters..........................................................................3-2

3-1-1 Data Flow for Robot Control Parameters

3-1-2 Relationship between V+ Program and Robot Control Parameters............................................3-3

....................................................................................3-2

3-2 Robot Common Parameters .................................................................................................3-4

3-2-1 Robot Common Parameters .......................................................................................................3-4

3-2-2 I/O Control Settings.....................................................................................................................3-4

3-3 Robot Setting Parameters.....................................................................................................3-7

3-3-1 Robot Setting Parameters...........................................................................................................3-7

3-3-2 Robot Basic Settings...................................................................................................................3-7

Section 4 Program Design of Robot Control

4-1 Introduction ............................................................................................................................4-2

4-2 Sequence Control Program ..................................................................................................4-3

4-2-1 Robot Control Instructions...........................................................................................................4-3

4-2-2 Timing Charts for Robot Control Instructions ..............................................................................4-3

4-2-3 System-defined Variables for Robot Control ...............................................................................4-6

4-2-4 Execution Control for V+ Program ..............................................................................................4-6

4-2-5 Shared Variables with V+ Program .............................................................................................4-7

4-2-6 Using Shared Variables with V+ Programs ...............................................................................4-11

4-3 V+ Program...........................................................................................................................4-14

4-3-1 Overview of V+ Programs .........................................................................................................4-14

4-3-2 Control of V+ Tasks...................................................................................................................4-14

4-3-3 I/O Control Settings for V+ Program .........................................................................................4-14

NJ-series Robot Integrated CPU Unit User's Manual (O037)

CONTENTS

4-4 Debugging Program ............................................................................................................4-16

4-4-1 Of

4-4-2 Transferring Settings and Programs .........................................................................................4-17

4-4-3 Online Debugging .....................................................................................................................4-17

fline Debugging......................................................................................................................4-16

4-5 States and State Transition.................................................................................................4-19

4-5-1 States of the Robot Integrated CPU Unit ..................................................................................4-19

4-5-2 States of the OMRON Robots...................................................................................................4-20

4-5-3 Changing the Operating Mode ..................................................................................................4-23

4-5-4 Operation of Events ..................................................................................................................4-24

Section 5 Robot Control Function

5-1 Robot Control Common Function ........................................................................................ 5-2

5-2 Latching

5-2-1 Robot Position Latching ..............................................................................................................5-5

5-2-2 Robot Built-in Encoder Latching..................................................................................................5-6

5-3 Coordinate System Integration with NJ Robotics Function .............................................5-8

5-4 Changing Recipe..................................................................................................................5-10

..................................................................................................................................5-5

Section 6 Robot Control Instructions

6-1 Overview of Robot Control Instructions..............................................................................6-2

6-1-1 T

6-1-2 Execution and Status of Robot Control Instructions....................................................................6-2

6-1-3 Error Processing .........................................................................................................................6-2

6-1-4 Changing Input Variables during Execution of Robot Control Instructions (Instruction

6-1-5 Multi-execution of Instructions with BufferMode..........................................................................6-3

ypes of Robot Control Instructions ............................................................................................6-2

Re-execution)..............................................................................................................................6-3

6-2 Basic Understanding of Robot Control Instructions..........................................................6-6

6-2-1 Names of Robot Control Instructions ..........................................................................................6-6

6-2-2 Languages of Robot Control Instructions ...................................................................................6-6

6-2-3 Locations of Robot Control Instructions ......................................................................................6-6

6-2-4 OMRON Robot Specification Method in Sequence Control Program .......................................6-10

6-2-5 Multi-execution of Robot Control Instructions ...........................................................................6-10

6-2-6 Executing Robot Control Instructions to Uncreated Robots...................................................... 6-11

Section 7 Variables and Instructions

7-1 System-defined variables for Robot Control.......................................................................7-2

7-1-1 Robot Control Common Variable.................................................................................................7-2

7-1-2 Robot Variables ...........................................................................................................................7-3

7-1-3 Robot I/O Variables .....................................................................................................................7-7

7-2 Instructions ............................................................................................................................7-9

7-2-1 Common Commands ..................................................................................................................7-9

7-2-2 Robot Commands .......................................................................................................................7-9

7-2-3 System Control Instructions ......................................................................................................7-10

Section 8 Common Command Instructions

RC_ExecVpPrgTask ......................................................................................................................... 8-2

Variables

Function ........................................................................................................................................................8-3

RC_AbortVpPrgTask........................................................................................................................8-6

Variables.......................................................................................................................................................8-6

.......................................................................................................................................................8-2

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Function ........................................................................................................................................................8-7

RC_GetVpPrgTaskStatus

Variables .......................................................................................................................................................8-8

Function ........................................................................................................................................................8-9

................................................................................................................8-8

RC_ConvertCoordSystem ............................................................................................................. 8-11

Variables .....................................................................................................................................................8-11

Function ......................................................................................................................................................8-12

Section 9 Robot Command Instructions

RC_EnablePower .............................................................................................................................9-2

Variables

Function ........................................................................................................................................................9-3

RC_DisablePower ............................................................................................................................9-5

Variables.......................................................................................................................................................9-5

Function ........................................................................................................................................................9-6

RC_Calibrate.....................................................................................................................................9-8

Variables.......................................................................................................................................................9-8

Function ........................................................................................................................................................9-9

RC_AttachRobot ............................................................................................................................9-10

Variables.....................................................................................................................................................9-10

Function ...................................................................................................................................................... 9-11

Precautions for Correct Use .......................................................................................................................9-12

RC_DetachRobot............................................................................................................................9-13

Variables.....................................................................................................................................................9-13

Function ......................................................................................................................................................9-14

RC_SetToolTransform ...................................................................................................................9-15

Variables.....................................................................................................................................................9-15

Function ......................................................................................................................................................9-16

Precautions for Correct Use .......................................................................................................................9-18

RC_MoveDirect...............................................................................................................................9-20

Variables.....................................................................................................................................................9-20

Function ......................................................................................................................................................9-23

RC_MoveLinear ..............................................................................................................................9-27

Variables.....................................................................................................................................................9-27

Function ......................................................................................................................................................9-30

RC_Stop ..........................................................................................................................................9-33

Variables.....................................................................................................................................................9-33

Function ......................................................................................................................................................9-34

RC_Reset ........................................................................................................................................9-36

Variables.....................................................................................................................................................9-36

Function ......................................................................................................................................................9-37

.......................................................................................................................................................9-2

CONTENTS

Section 10 System Control Instructions

ResetRCError .................................................................................................................................10-2

Variables

Function ......................................................................................................................................................10-3

GetRCError .....................................................................................................................................10-4

Variables.....................................................................................................................................................10-4

Function ......................................................................................................................................................10-4

NJ-series Robot Integrated CPU Unit User's Manual (O037)

.....................................................................................................................................................10-2

CONTENTS

Section 11 Troubleshooting

11-1 Errors .................................................................................................................................... 11-2

11-1-1

11-1-2 Error Sources ........................................................................................................................... 11-2

11-1-3 Error Levels...............................................................................................................................11-3

11-1-4 Robot Control Function Module Errors by Source ....................................................................11-3

11-1-5 Errors Related to EtherCAT Communications and EtherCAT Slaves .......................................11-5

11-1-6 OMRON Robot Events .............................................................................................................11-5

11-2 Identifying and Resetting Errors ........................................................................................ 11-7

11-2-1 How to Check for Errors............................................................................................................ 11-7

11-2-2 How to Reset Errors..................................................................................................................11-8

11-3 Error Table ............................................................................................................................ 11-9

11-3-1 How to Read Error Tables ......................................................................................................... 11-9

11-3-2 Error Tables............................................................................................................................... 11-9

11-4 Error Descriptions .............................................................................................................11-21

11-4-1 How to Read Error Descriptions.............................................................................................. 11-21

11-4-2 Error Descriptions ...................................................................................................................11-22

Sources of Errors Related to the Robot Control Function Module ............................................ 11-2

Appendices

A-1 Differences in Functions between Robot Integrated CPU Unit and NJ-series CPU UnitA-2

A-2 Guideline for System Service Execution T

Index

ime Ratio......................................................... A-3

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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 work-

manship for a period of twelve months from the date of sale by Omron (or such other period ex-

pressed 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-com-

plying 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 re-

sponsible 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 Compa-

nies 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 CON-

SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Terms and Conditions Agreement

WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,

WARRANTY

Further, in no event shall liability of Omron Companies exceed the individual price of the Product on

which liability is asserted.

, NEGLIGENCE OR STRICT LIABILITY.

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’

er’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 par-

ticular Product with respect to Buyer’s application, product or system. Buyer shall take application re-

sponsibility in all cases.

s application or use of the Product. At Buy-

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 EQUIP-

MENT OR SYSTEM.

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’

formance is subject to the Omron’s Warranty and Limitations of Liability.

s test conditions, and the user must correlate it to actual application requirements. Actual per-

Change in Specifications

Product specifications and accessories may be changed at any time based on improvements and oth-

er 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

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Terms and Conditions Agreement

be changed without any notice. When in doubt, special part numbers may be assigned to fix or estab-

lish 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; how-

ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury. Additionally, there may be severe property damage.

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

WARNING

aution

Safety Precautions

Definition of Precautionary Information

The following notation is used in this manual to provide precautions required to ensure safe usage of

the NJ-series Robot Integrated CPU Unit.

The safety precautions that are provided are extremely important for safety. Always read and heed the

information provided in all safety precautions.

The following notation is used.

Symbols

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 that disassembly is prohibited.

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.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

WARNING

Caution

Refer to the following manuals for warnings.

• NJ-series CPU Unit Hardware User’

Designing Systems

When you build a robot system including this CPU Unit and OMRON robots, be sure to comply with laws and regulations relating to the safety of industrial robot application in a country or region where the robots are used to design and operate the system. Refer to the Robot Safety Guide (Cat. No. I590) for details.

Safety Precautions

s Manual (Cat. No. W500)

Operation

If you change the operating mode of this CPU Unit from RUN Mode to PROGRAM Mode, the sequence control program stops, but the current V+ program continues. If necessary, monitor the operating mode of the CPU Unit from the V+ program and stop the V+ program. Always confirm safety when you change the operating mode of the CPU Unit during execution of the V+ program. If you cannot confirm safety, stop the V+ program and then change the operating mode.

Cautions

Refer to the following manuals for cautions.

• NJ-series CPU Unit Hardware User’

• NJ-series NJ Robotics CPU Unit User's Manual (Cat. No. W539)

Designing Programs

There are different methods to attach a robot from the sequence control program and the V+ program. In addition, when a robot is attached from a program, the robot cannot be attached from another program without detaching the robot. If the same OMRON robot is controlled by switching the sequence control program or the V+ program respectively, make sure to detach the robot from the program that the robot is attached, and then change the control program to attach the robot.

s Manual (Cat. No. W500)

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Safety Precautions

Operation

Do not remove the SD Memory Card during operation when you use the robot control function with this product. Doing so causes the robot control function to stop due to an error.

The V+ program files and the robot setting files in the SD Memory Card are required for the operation of the Robot Control Function Module. Do not edit or delete the files if you are not sure that the operation is not affected even when the files are edited and deleted. Always confirm how the file operations af SD Memory Card.

fect the control before you perform file operations in the

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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)

Motion Control

• The coordinate system used by the Robot Control Function Module have different specifications

from the coordinate system used by the NJ Robotics function.

If you use both functions simultaneously, use the RC_ConvertCoordSystem instruction to set the

same coordinate system before performing the robot control.

Precautions for Safe Use

NJ-series Robot Integrated CPU Unit User's Manual (O037)

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)

Designing Programs

• If you create the program to use with the sequence control program and the V+ program, design the

interlocks between the programs with shared variables.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Regulations and Standards

Refer to the following manuals for regulations and standards.

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

Additional Information

The Robot Integrated CPU Unit is not a robot control device that is defined in ISO 10208-1. Therefore, the Robot Integrated CPU Unit does not comply with the robot regulations and standards. Refer to the OMRON robot manuals for information on the OMRON robot itself.

Regulations and Standards

NJ-series Robot Integrated CPU Unit User's Manual (O037)

ID information indication

NJ501

- Ver.1.

££

PORT1 MAC ADDRESS:

££££££££££££

PORT2 MAC ADDRESS:

££££££££££££

Lot No. DDMYY

xxxx

Unit model

Lot number Serial number MAC address

Unit version

HW Rev.

RC Ver.1.

££

Hardware revision

R300

Robot Control Function

Module version

Versions

Hardware revisions and unit versions are used to manage the hardware and software in NJ-series

Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a

change in hardware or software specifications. Even when two Units or EtherCAT slaves have the

same model number, they will have functional or performance differences if they have different hard-

ware revisions or unit versions.

Checking Versions

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

Checking Unit Versions on ID Information Indications

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

NJ501-R£00



The ID information on the NJ-series NJ501-R300 CPU Unit is shown below.

Note

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

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Versions

Checking Unit Versions with the Sysmac Studio

You can use the Sysmac Studio to check unit versions.

Checking the Unit Version of an NJ-series CPU Unit



You can use the Production Information while the Sysmac Studio is online to check the unit version

of a Unit. You can do this for the CPU Unit, CJ-series Special I/O Units, and CJ-series CPU Bus

Units. Y

ou cannot check the unit versions of CJ-series Basic I/O Units with the Sysmac Studio.

1 Double-click CPU Rack under Configurations and Setup - CPU/Expansion Racks

Multiview Explorer. Or, right-click CPU Rack under Configurations and Setup - CPU/

Expansion Racks in the Multiview Explorer and select Edit from the menu.

The Unit Editor is displayed.

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

The Production Information Dialog Box is displayed.

Changing Information Displayed in Production Information Dialog Box



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

Information Dialog Box.

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

in the

Outline View Detailed View

The information that is displayed is different for the Outline View and Detail View. The Detail

iew displays the unit version, hardware revision, and various versions. The Outline View dis-

plays only the unit version.

Note

The hardware revision is separated by “/” and displayed on the right of the hardware version. The hardware revision is not displayed for the Unit that the hardware revision is in blank.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Related Manuals

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

Manual name Cat. No. Model numbers Application Description

NJ-series CPU Unit Hardware User's Manual

NJ/NX-series CPU Unit Software User’

NJ/NX-series Instructions Reference Manual

NJ/NX-series CPU Unit Motion Control User’

NJ/NX-series Motion Control Instructions Reference Manual

NJ/NX-series CPU Unit

Built-in EtherCA User

’s Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP™ Port

s Manual

User’

NJ-series Robot Integrated CPU Unit

s Manual

’

User

s Manual

T® Port

W500

W501

W502

W507

W508

W505

W506

O037

NJ501-££££ NJ301-££££ NJ101-££££

NX701-££££ NX102-££££ NX1P2-££££ NJ501-££££ NJ301-££££ NJ101-££££

NJ501-R£££

Learning the basic specifications of the NJ-series CPU Units, including introductory information, designing, installation, and maintenance. Mainly hardware information is provided.

Learning how to program and set up an NJ/NX-series CPU Unit. Mainly software information is provided.

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

Learning about motion control settings and programming concepts.

Learning about the specifications of the motion control instructions.

Using the built-in

T port on an

EtherCA NJ/NX-series CPU Unit.

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

Using the NJ-series Robot Integrated CPU Unit.

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

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

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

• CPU Unit operation

• CPU Unit features

• Initial settings

• Programming based on IEC 61131-3

language specifications

The instructions in the instruction set (IEC

131-3 specifications) are described.

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

The motion control instructions are described.

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

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

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

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Manual name Cat. No. Model numbers Application Description

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

Sysmac Studio Robot Integrated System Building Function with IPC Application Controller Operation Manual

Sysmac Studio 3D Simulation Function Operation Manual

eV+3

s Manual

’

User

eV+3 Keyword Reference Manual

eCobra 600 and 800 Robot with EtherCAT User

Viper 650 and 850 Robot with EtherCAT User

Robot Safety Guide I590

eaching Pendant

T T20

s Manual

User’

IPC Application Controller

s Manual

User’

NJ-series NJ Robotics CPU Unit

s Manual

User’

NJ/NX-series Troubleshooting Manual

Sysmac Studio Version 1 Operation Manual

NX-series Position Interface Units

s Manual

User’

’s Guide

W595

W621

W618

I651

I652

I653

I654

I601 10046-010 Operating the OM-

I632 AC1-152000 Using the IPC Appli-

W539

W503

W504 SYSMAC

W524

SYSMAC-SE2£££ SYSMACSE200D-64

SYSMAC-SE2 SYSMAC-SA4££ £-64

NJ501-R£££

RL4-£££££££

RL6-£££££££

RL4-£££££££ RL6-£££££££

NJ501-4£££ NJ501-R£££

NX701-££££ NX102-££££ NX1P2NJ501-££££ NJ301-££££ NJ101-££££

-SE2£££

NX-EC0£££ NX-ECS£££ NX-PG0£££

£££

££££

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

Learning about the operating procedures and functions of the Sysmac Studio to configure Robot Integrated System using IPC Application Con-

troller

Learning about an outline of the 3D simulation function of the Sysmac Studio and how to use the function.

Operating the OMRON robot with the V + program.

Using the eCobra. Describes the eCobra.

Using the Viper. Describes the Viper.

Learning how to use the OMRON robot safely.

RON robot with a teaching pendant.

cation Controller.

Controlling robots with NJ-series CPU Units.

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

troller

Learning about the operating procedures and functions of the Sysmac Studio.

Learning how to use NX-series Position Interface Units.

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

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

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

Describes the V+ language to control the OMRON robots.

Describes V+ keywords that are used in the V+ language.

Describes how to use the OMRON robot safely.

Describes the setup, operation, and user maintenance for the Teaching Pendant T20.

Describes the IPC Application Controller.

Describes the functionality to control robots.

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

Describes the operating procedures of the Sysmac Studio.

The hardware, setup, and functions for the NX-series Incremental Encoder Input Units, SSI Input Units, and Pulse Output Unit are described.

Related Manuals

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Related Manuals

Manual name Cat. No. Model numbers Application Description

AC Servomotors/Servo Drives 1S-series with

Built-in EtherCA cations User's Manual

AC Servomotors/Servo Drives G5 Series with

Built-in EtherCAT® Communications User's Manual

T® Communi-

I586

I621

I576

I577

R88M-1£ R88D-1SN£

R88M-1AL£/ -1AM£ R88D-1SAN£-ECT

R88M-K R88D-KN£-ECT

R88L-EC-£ R88D-KN£-ECT-L

-ECT

Learning how to use the Servomotors/ Servo Drives with built-in EtherCAT Communications.

Learning how to use the AC Servomotors/ Servo Drives with built-in EtherCAT Communications.

Describes the hardware, setup methods and functions of the Servomotors/Servo Drives with built-in EtherCAT Communications.

Describes the hardware, setup methods and functions of the AC Servomotors/ Servo Drives with built-in EtherCAT Communications. The Linear Motor Type models and dedicated models for position control are available in G5-series.

NJ-series Robot Integrated CPU Unit User's Manual (O037)

Terminology

This section describes the terms that are used in this manual.

Term Description

continuous-path motion

IEC 61131-3 language

robots controllable by NJ Robotics function

TCP A tip (Tool Center Point) defined in each OMRON robot.

V+ keyword A generic term for instructions that are used during a V+ program and monitoring com-

V+ language

V+ task A task that can execute a V+ program.

V+ program A control program written in the V+ language.

OMRON robot Specifies the OMRON robot controllable from the Robot Integrated CPU Unit.

shared variable

sequence control program

hardware servo A servo system built into the robot amplifier.

user program A generic term for the collection of programs written in the ladder diagram, ST, and V+

recipe A set of product type data in the customer’s system.

recipe change Specifies that the product data and information (recipe) related to the production process

Robot Control Function Module

robot control instructions

Robot Integrated CPU Unit

Terminology

A motion to move continuous operations smoothly without stopping motion of the OMRON robot.

A programming language to write a sequence control program.

Specify the controllable robots by the data processing for robot in the Motion Control Function Module of the NJ-series CPU Unit. The controllable robot consists of the 1S-series or G5-series Servomotor/Servo Drive with built-in EtherCA tomer.

The target position or path can be specified based on the TCP.

mand.

A programming language for OMRON robot control.

The robot consists of the robot amplifier and the robot arm connected to the robot ampli-

fier

A variable that can be shared between the sequence control program and V+ program.

A control program written in IEC 61131-3 language including the motion control.

languages.

are changed. The target recipe for the Robot Integrated CPU Unit is a property from the present values of variables and a vision sensor

A software to perform robot control that is installed in the Robot Integrated CPU Unit.

FB instructions written in the sequence control program to control the OMRON robots. They include an instruction to directly control the OMRON robots and an instruction to execute or abort V+ programs assigned to the V+ tasks.

A CPU Unit that supports control function for the OMRON robot with the NJ-series CPU Unit.

T communications and the robot arm that is prepared by the cus-

NJ-series Robot Integrated CPU Unit User's Manual (O037)

O037-E1-01

evision code

Cat. No.

Revision History

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

manual.

Revision

code

01 August 2020 Original production

Date Revised content

NJ-series Robot Integrated CPU Unit User's Manual (O037)

+ 252 hidden pages