Omron NX1P Programming Manual
P122-E1-01
Machine A utomation Contr oller NX1P
Practices Guide
for NX1P Programming
NX1P2-[][][][]
SYSMAC-SE20[][]
All rights reserved. No part of this publication may be repr oduced, stored in a retrieval system, or
Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and
© OMRON, 2017
transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or
otherwise, without the prio r w r it t en per m iss ion of OMRON.
No patent liability is assume d with respect to the use of the i nf ormation contained herein. M or eover,
because OMRON is constantly striving to improve its high-quality produc t s, t he information
contained in this guide is subject to change w it hout notice. Every pr ecaution has been taken in the
preparation of this guide. Nev er t hel es s, O MRON assumes no responsibility for errors or om issions.
Neither is any liab i lity assumed for damages resulting from the use o f the information contained in
Trademarks
•
other countries for OMRON factory automation pr oducts.
• Windows is either a register ed trademark or tradem ar k of Microsoft Corporati on in the United States
and/or other countries.
• EtherCAT
GmbH, Germany
• EtherNet/IP™ is a trademark of ODVA.
• Celeron, Intel, and Intel Core are the trademarks of Intel Corporation in the USA and other countries.
• Microsoft product screen shot(s) reprinted with permission from Microso ft C orporation.
Other company names an d pr oduct names in this document ar e t he t r ademarks or registered
trademarks of their respective companies.
®
is a registered t r ademark and patented technology, licensed by Beckho f f Automation
2
Introduction
Precautions for Correct Use
performance.
Additional Information
This information is provided to increase understanding or make operation easier.
Thank you for purchasing an NX -series NX1P2 CPU Unit and the Sysmac Studio.
This NX1P Programming Practic es G uide for Beginners (her eafter referred to as “this G uide”)
describes the differenc es i n progra mm ing b etw een t he NX1 P a nd trad itio nal c ontr ollers a nd th e
programming procedures using the Sysmac Studio that are required to use an NX 1P2 CPU
Unit for the first time. Y ou can perform the procedures t hat ar e pr esented in this Guide to
quickly gain a basic underst anding of the NX1P2 CPU Units and the Sysmac Studio. This
Guide does not contain safety information and other det ai ls t hat ar e r equired for actual use.
Thoroughly read and under s t and t he manuals for all of the devices t hat ar e used in this Guide
to ensure that the system is used safely. Review the entire c ont ents of these materia ls,
including all safety precautions, precautions for safe use, and precautions for correct use.
For the startup and operating ins t r uct i ons for motion control, re fer t o t he NJ/NX-series Star tup
Guide for Motion Control (Cat. No. W514).
Intended Audience
This Guide is intended for the following personnel, who must al so have knowledge of elect r ical
systems (an electrical eng ineer or the equivalent).
• Personnel in charge of int r oducing FA systems
• Personnel in charge of designing FA systems
• Personnel in charge of in s t alling and maintaining F A systems
Applicable Products
This Guide covers the foll ow ing products.
• NX1P2 CPU Units of NX -series Machine Automat ion Controllers
• Automation Software Sy sm ac Studio
Special Information
The icons that are used in this G uid e ar e described below.
Precautions on what to do and what not to do to ensure proper operation and
Additional informat ion to read as required.
3
Terms and Condit ions Agreement
Warranty, Limitations of Liability
Warranties
• Exclusi ve Warranty
Omron’s exclusive warranty is that the Products will be fre e from defects in mater ials and
workmanship for a perio d of twelve months from the dat e of sale by Omron (or such other
period expressed in writing b
• Limitations
OMRON MAK ES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTAB I L ITY OR FITNESS FOR A PARTICULAR PURPOSE
OF THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED
THAT THE PRO DUCTS WILL SUITABLY M EET THE REQUIREMENTS O F THEIR
INTENDED USE.
Omron further disclaims a l l w ar r ant ies and responsibility of any type for claims or expenses
based on infringement by t he Pr oducts or otherwise of any intellectual property r ight.
• Buyer Remedy
Omron’s sole obligation hereunder shall be, at O mron’s election, to (i) replace (in the form
originally shipped with Buy er r espons i bl e for labor charges for removal or r eplacement thereof)
the non-complying Product, (ii) repair the no n-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 respons ibl e for w ar r ant y, repair, indemnity or any other claims or expenses
regarding the Products unless Omron’s analysis con firms that the Products wer e pr oper ly
handled, stored, installed and maintained and not subject t o c ont amination, abuse, misuse or
inappropriate modification. Return of any Product s by Buyer must be approved in writing by
Omron before shipment. O mron Companies shall not be li abl e for the suitability or unsuitability
or the results from the use of Products in combination with any electrical or elec t r onic
components, circuits, sy stem ass e mblies or a ny ot her mat eria ls or substances or environ ment s.
Any advice, recommend at ions or information given oral ly or in writing, are not t o be cons t r ued
as an amendment or addition to t he above warranty.
See http://www.omron.com/global/ or contact your Omron representat iv e for published
information.
y Omron). Omron disclaims all other warranties, express or implied.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS
IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN
CONTRACT, WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in
Product on which liability is a s s
4
no event shall liability of Omron Companies exceed the individual price of the
erted.
Application Consider at ions
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a
complete determination of the suitability of the Product in combination with the end product,
machine, system, or other application or use. Buyer shall be solely responsible for determining
appropriateness of the par t icular Product with respect to Buyer’s application, product or system.
Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED
TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Programmable Products
Omron Companies shall n ot be r esponsible for the user’s pro gramming of a programma bl e
Product, or any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catal ogs and other materials is pr ovided as a
guide for the user in d eter min ing s uitabi lity and do es not con st itute a w ar ranty . It may represent
the result of Omron’s test c onditions, and the user mu st c orr elate it to actual applicatio n
requirements. Actual performanc e is subject to the Omron’s Warranty and Limitations o f
Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on i mprovements
and other reasons. It is ou r prac tice t o ch ange part n umber s wh en p ubli shed ra tings or feat ure s
are changed, or when significant construction changes are made. However, some
specifications of the Prod uct may be changed witho ut any notice. When in doubt, special part
numbers may be assigned t o fix or est ablish key specifications for your application. P lease
consult with your Omron’s r epr esent ative at any time to confirm actual specifi cat ions of
purchased Product.
5
Errors and Omissions
Information presented by Omron Co mpan ies h as been checked an d is be liev ed to be acc urate ;
however, no responsibi lity is assumed for clerical, t ypogr aphical or proofreadin g er r or s or
omissions.
Automation Software Sysmac Studio
WARRANTY
• The warranty period for the Software is one year from the date of purchase, unles s
otherwise specifically agreed.
• If the User discovers defe ct of t he Software (substantial n on-conformity with the m anual),
and return it to OMRON within the above warranty period, OMRON will replace the Softw are
without charge by offering media or download fro m OMRON’s website. And if the User
discovers defect of medi a w hich is attributable to OMRON and return it to OMRO N w ithin
the above warranty period, OMRON wi ll replace defective media w ithout c harge. If OMRON
is unable to replace defectiv e media or correct the Softw ar e, the liability of OMRON and the
User’s remedy shall be lim ited to the refund of the license f ee paid to OMRON for the
Software.
LIMITATION OF LIABILITY
• THE ABOVE WARRA NT Y SHALL CO NSTITUTE THE USE R ’S SOL E AND E X CL USI VE
REMEDIES AGAINST OMRON AND THERE ARE NO OTHER WARRANTIES,
EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO, WARRANTY OF
MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE. IN NO EVENT,
OMRON WILL BE LIABLE FOR ANY LOST PROFITS OR OTHER I NDIRECT,
INCIDENTAL , SPECIAL O R CONSEQUENTIAL DAMAGES
• ARISING OUT OF USE OF T HE SOFTWARE. OMRON SHALL HAVE NO L IABILITY FOR
DEFECT OF THE SOFTWARE BASED ON MODIFICATION OR ALTERNATION TO THE
SOFTWARE BY THE USER OR ANY THIRD PARTY.
• OMRON SHALL HAVE NO LI ABILITY FOR SOFTWARE DE VELOPED BY THE USER OR
ANY THIRD PARTY BAS ED ON THE SOFTWARE O R ANY CONSEQUENCE THEREOF.
APPLICABLE CONDITIONS
USER SHALL NOT USE THE SOFTWARE FOR THE PURPOSE THAT IS NOT PROVIDED
IN THE ATTACHED USER MANUAL.
CHANGE IN SPECIFICATION
The software specificat ion s and accessories may be chang ed at any time based on
improvements and other reasons.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate;
however, no responsibi lity is assumed for clerical, t ypogr aphical, or proofread i ng er r or s, or
omissions.
6
Precautions
• When building a system, check the specification s for all devices and equipment that will
make up the system and make sur e t hat the OMRON product s ar e used well within their
rated specifications and performances. Sa fet y measures, such as sa fety circuits, must be
implemented in order to m inim ize the risks in the event of a ma lf unction.
• Thoroughly read and understand the manuals for al l devices and equipment t hat w il l make
up the system to ensure that t he s ystem is used safely. Review t he ent ir e contents of these
materials, including a ll sa f ety precautions, precaut ions for safe use, and preca ut ions for
correct use.
• Confirm all regulations, standards, and restrict io ns t hat t he system must adhere to.
Software Licenses and Copyrights
This product incorporate s cer t ain t hird party software. The l ice ns e and copyright information
associated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
7
Related Manuals
provided.
W501).
The followings are the ma nuals related to this manual. Use these manuals for refere nce.
Manual name Cat. No. Model Application Description
NX-series
NX1P2 CPU Unit
Hardware User's
Manual
W578 NX1P2- □□□□ Learning the basic
specifications of the
NX1P2 CPU Units,
including introductory
information,
designing, installation,
and maintenance.
Mainly hardware
information is
An introduction t o the entire NX1P2
system is provi ded along with the
following inform ation on the CPU Unit.
• Features and system c onfiguration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
NX-series
NX1P2 CPU Unit
Built-in I/O and
Option Board
User's Manual
NJ/NX-series
CPU Unit
Software User’s
Manual
NJ/NX-series
Instructions
Reference Manual
W579 NX1P2- □□□□ Learning about the
details of func tions
only for an NX-series
NX1P2 CPU Unit and
an introduction of
functions for an
NJ/NX-series CPU
Unit.
W501 NX701- □□□□
NJ501- □□□□
NJ301- □□□□
NJ101- □□□□
NX1P2- □□□□
W502 NX701-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NX1P2-□□□□
Learning how to
program and set up
an NJ/NX-series CP U
Unit.
Mainly software
information is
provided.
Learning detaile d
specificati ons on the
basic instruct ions of
an NJ/NX-series CP U
Unit.
Of the functions for an NX1P2 CPU
Unit, the following information is
provided.
• Built-in I/O
• Serial Communications Option Boards
• Analog I/O Option Boards
An introduction of following functions for
an NJ/NX-series CPU Unit is also
provided.
• Motion control functions
• EtherNet/I P communications functions
• EtherCAT communications func tions
The following information on a
Controller built with an NJ/NX-series
CPU Unit.
• CPU Unit operation
• CPU Unit features
• Initial setting
• Programming b ased on IEC 61131-3
language specifications
Use this manual together with the
NX-series NX1P2 CPU Uni t Hardware
User's Manual (Cat. No. W578).
The instructions in the instruction set
(IEC 61131-3 specifications) are
described. When programming, use this
manual together with the NJ-series CPU
Unit Hardware User's Manual (Cat. No.
W500) and NJ/NX-series CPU Unit
Software User' s M anual (Cat. No.
NJ/NX-series
CPU Unit
Motion Control
User’s Manual
8
W507 NX701-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NX1P2-□□□□
Learning about
motion control
settings and
programming
concepts.
The settings and operation of the CPU
Unit and programming concepts for
motion control are described. Use this
manual together with the NJ-series CPU
Unit Hardware User's Manual (Cat. No.
W500) and NJ/NX-series CPU Unit
Software User' s M anual (Cat. No.
W501).
Manual name Cat. No. Model Application Description
W507).
W501).
Sysmac Studio.
NJ/NX-series
Motion Control
Instructions
Reference Manual
W508 NX701-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NX1P2-□□□□
Learning about the
specifications of the
motion control
instructions.
The motion control instructions are
described. When programming, use this
manual together with the NJ-series CPU
Unit Hardware User's Manual (Cat. No.
W500), NJ/NX-series C P U U nit
Software User' s M anual (Cat. No.
W501),and NJ/NX-series CPU Unit
Motion Control Us er’s Manual (Cat. No.
NJ/NX-series
CPU Unit
Built-in
EtherCAT
User’s Manual
NJ/NX-series
CPU Unit
Built-in
EtherNet/IP Port
User’s Manual
NJ/NX-series
Troubleshooting
Manual
Sysmac Studio
Version 1
Operation Manual
Port
W505 NX701-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NX1P2-□□□□
W506 NX701-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NX1P2-□□□□
W503 NX701-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
NX1P2-□□□□
W504 SYSMAC-SE2 □□□
Using the built-in
EtherCAT port on an
NJ/NX-series CPU
Unit.
Using the built-in
EtherNet/IP port on an
NJ/NX-series CPU
Unit.
Learning about the
errors that may be
detected in an
NJ/NX-series
Controller.
Learning about the
operating procedures
and functions of the
Information on the bui lt-in EtherCAT
port is provided. This manual provides
an introduction an d information on the
configuration, features, and set up. Use
this manual together with the NJ-series
CPU Unit Hardware User's Manual (Cat.
No. W500) and NJ/NX-series CPU Unit
Software User' s M anual (Cat. No.
W501).
Information on the bui lt-in EtherNet/IP
port is provided. Information on t he
basic setup, tag dat a links, and other
features is provided. Use this manual
together with the NJ-series CPU Unit
Hardware User's Manual (Cat. No.
W500) and NJ/NX-series CPU Unit
Software User' s M anual (Cat. No.
Concepts on managing errors that may
be detected in an NJ/NX-series
Controller and inf ormation on individual
errors are described. Use this manual
together with the NJ-series CPU Unit
Hardware User's Manual (Cat. No.
W500) and NJ/NX-series CPU Unit
Software User' s M anual (Cat. No.
W501).
The operating proced ures of the
Sysmac Studio is described.
NJ/NX-series
Startup Guide for
Motion Control
W514 NX1P2-□□□□
NX701-□□□□
NJ501-□□□□
NJ301-□□□□
NJ101-□□□□
SYSMAC-SE20□□
R88M-1□
R88D-1SN□-ECT
Learning startup
procedures and
Sysmac Studio
operating procedures
for someone that will
use NJ/NX series
motion control
functions for the first
time.
The operations fr om hardware
assembly through d ebugging for axis
parameter settings, simple one-axis
positioning, and two-axis linear
interpolation ar e described.
9
Revision History
Revision code
Date
Revised content
01
September 2017
Original production
P122-E1-01
Revision code
A manual revision code appears as a suffix to t he catalog number on the front and bac k covers
of the manual.
10
CONTENTS
Introduction ...............................................................................................................3
Terms and Conditions Agreement ............................................................................4
Precautions ...............................................................................................................7
Related Manuals .......................................................................................................8
Revision History ..................................................................................................... 10
1 Programming the NX1P .......................................................... 14
1-1 Overview .......................................................................................................... 15
1-2 Features of NX1P Progr a mming ..................................................................... 16
1-2-1 Challenges in Development and Solutions Using the NX1P ............. 16
1-2-2 Easy to Add Programs ....................................................................... 17
1-2-3 Easy Motion Programming ................................................................ 18
1-2-4 Structured Text Language for Easy Mathematical Processing ......... 19
1-3 Programm ing with Variables ............................................................................ 20
1-3-1 Programming the NX1P ..................................................................... 20
1-3-2 Data Types ........................................................................................ 23
1-3-3 Benefit of Using Data Types .............................................................. 24
1-3-4 International Standard IEC 61131-3 .................................................. 25
1-4 Programming Software .................................................................................... 26
1-4-1 Programming Software Sysmac Studio ............................................. 26
1-4-2 Simulations ........................................................................................ 27
2 Before You Begin .................................................................... 28
2-1 System Configuration and Devices ................................................................. 29
2-1-1 Overview ............................................................................................ 29
2-1-2 Wiring ................................................................................................. 30
2-2 Installing the Sysmac Studio............................................................................ 32
2-2-1 Installing the Sysmac Studio ............................................................. 32
2-2-2 Requirements for Installation ............................................................. 32
3 Ladder Programming .............................................................. 33
3-1 Programming with the Sysmac Studio............................................................. 35
3-1-1 Programming Procedure ................................................................... 35
3-1-2 Creating a Project .............................................................................. 35
11
3-2 Parts of the Sysmac Studio Window ................................................................37
3-2-1 Screen for Configurations and Setup ................................................ 37
3-2-2 Screen for Programming.................................................................... 37
3-3 Assignin g Variables to Terminals .....................................................................38
3-3-1 Variable Names for Terminal Numbers ............................................. 38
3-3-2 I/O Map Setting .................................................................................. 39
3-3-3 Checking Wiring ................................................................................. 41
3-4 Ladder Programming ........................................................................................42
3-4-1 Inserting Circuit Parts ........................................................................ 42
3-4-2 Keyboard Mapping ............................................................................. 42
3-4-3 Rules .................................................................................................. 43
3-5 Example of a Basic Ladder Program ................................................................44
3-5-1 Practice of Programming a Ladder Diagram ..................................... 44
3-5-2 Writing the Algorithm ......................................................................... 45
3-5-3 Program Check .................................................................................. 47
3-5-4 Saving the Program ........................................................................... 48
3-5-5 Checking Operation on the NX1P ..................................................... 49
3-5-6 Checking Operation on the Simulator ................................................ 50
3-5-7 Example of a Program Error (Offline) ................................................ 52
3-5-8 Example of an Error Occurred During Operation .............................. 52
3-6 Example of a Ladder Program Using a Ti m er I ns t r uct ion ................................53
3-6-1 Self-holding Rung .............................................................................. 53
3-6-2 On-Delay Timer (TON) Instruction ..................................................... 54
3-6-3 Exercise: Energy Saving Es c alator ................................................... 58
3-6-4 Checking the Operation of the Program ............................................ 59
3-6-5 Checking the Operation of the Program (Watch Tab Page) .............. 60
3-7 Example of a Ladder Program Using Date and Time ......................................62
3-7-1 Programming the NX1P Using Date and Time .................................. 62
3-7-2 Exercise: Continuous Operating Time of Escalator ........................... 62
3-8 Fundame nt als of Programming to Red uce Develo pme nt Time .......................66
3-8-1 POUs (Program Organization Units) ................................................. 66
3-8-2 Programs and Execution Priorities (Tasks) ....................................... 66
3-8-3 Functions (FUNs) and Function Blocks (FBs) ................................... 68
3-8-4 Sections ............................................................................................. 69
3-8-5 Types of Variables ............................................................................. 70
4 Creating Programs to Handle Data..........................................73
4-1 Variables Use d for Data Processing ................................................................74
4-1-1 Arrays................................................................................................. 74
12
4-2 Programming Exercise .....................................................................................75
4-2-1 Application Example .......................................................................... 75
4-2-2 Programming ..................................................................................... 75
4-2-3 Creating a Project .............................................................................. 76
4-2-4 Configuring Analog Option Board Settings ........................................ 77
4-2-5 Assigning Variables to the Option Board and Input Terminal............ 77
4-2-6 Program Example .............................................................................. 78
4-2-7 Creating an Array .............................................................................. 79
4-2-8 Entering Programming Code ............................................................. 80
4-2-9 Checking the Operation of the Program ............................................ 81
4-2-10 Referring Values of Array Variables .................................................. 83
5 Motion FB Programming ......................................................... 84
5-1 Motion FB Programming .................................................................................. 85
5-1-1 Motion FB Programming .................................................................... 85
5-1-2 Programming Procedure ................................................................... 85
5-2 Adding a Servo Drive and Setting t he Parameters ......................................... 86
5-2-1 Registering a Servo Drive.................................................................. 86
5-2-2 Registering the Axis ........................................................................... 87
5-2-3 Setting the Axis Parameters .............................................................. 87
5-3 Creating a Progra m ......................................................................................... 89
5-3-1 Overview of the Ladder Program ...................................................... 89
5-3-2 Motion FBs to Use ............................................................................. 89
5-3-3 Writing the Ladder Program .............................................................. 90
5-4 Data Tracing .................................................................................................... 93
5-4-1 Checking the Operation with Data Traces ......................................... 93
5-5 3D Simulation ................................................................................................... 95
5-5-1 Starting 3D Simulation ....................................................................... 95
6 ST Programming ..................................................................... 97
6-1 Overview of ST Programming ......................................................................... 98
6-1-1 Advantages of ST Language ............................................................. 98
6-1-2 ST Programs Including Constructs .................................................... 98
6-1-3 Structure of ST and Example ............................................................ 99
6-1-4 Operators ........................................................................................... 99
6-2 NX1P Program ming in ST ............................................................................. 100
6-2-1 Writing an ST Program for NX1P .................................................... 100
6-3 ST Programming Exercise ............................................................................. 101
6-3-1 Exercise of Numerical Calculation Programming ............................ 101
6-3-2 Programming Procedures................................................................ 102
6-3-3 Checking the Program ..................................................................... 104
6-3-4 Checking the Operation of the ST Program .................................... 104
13
1
1 Programmi ng the NX 1P
This section describes the fund amental elements of progr amming an NX1P
Machine Automation Controller .
1-1 Overview ....................................................................................................... 1-15
1-2 Features of NX1P Progr a mming .................................................................. 1-16
1-2-1 Challenges in Development and Solutions Using the NX1P ......... 1-16
1-2-2 Easy to Add Programs ................................................................... 1-17
1-2-3 Easy Motion Programming ............................................................ 1-18
1-2-4 Structured Text Language for Easy Mathematical Processing ..... 1-19
1-3 Programm ing with Variables ......................................................................... 1-20
1-3-1 Programming the NX1P ................................................................. 1-20
1-3-2 Data Types .................................................................................... 1-23
1-3-3 Benefit of Using Data Types .......................................................... 1-24
1-3-4 International Standard IEC 61131-3 .............................................. 1-25
1-4 Programming Software ................................................................................. 1-26
1-4-1 Programming Software Sysmac Studio ......................................... 1-26
1-4-2 Simulations .................................................................................... 1-27
14
1-1 Overview
Push-In Plus
The photo below shows a n NX 1P 2 CPU Unit. Push-In Plus terminal blocks are used to
connect a power supply a nd I / O devices.
EtherCAT and EtherNet/IP ports are built in.
terminal
block
Features
1. The built-in EtherCAT port and adv anc ed mot ion c ont rol ma ke mach ine s fast er and more
precise
• Up to four axes of motion control. Electronic cams a nd interpo lation incr ease mach ine
speed and precision
• EtherCAT simplifies the wiring to up to eight servo systems including for single-axis
position control
2. Networks for IoT
• EtherNet/IP enables communications with a host PC and data links bet w een
NJ/NX-series Co nt r ol lers and CJ-series PLCs
3. Push-In Plus terminal blocks
• Push-In Plus connection reduces w iri ng t ime when a control panel is built
The environment for progr am m in g t he NX 1P makes developm ent f as t er and easier.
This Guide describes the feat ur es of NX1P programming and how to program the NX1P
using the Sysmac Studio.
15
1-2 Features of NX1P Programming
1-2-1 Challenges in Devel opm e nt a nd S olutions Us ing the NX1P
As manufacturers need to improve productivity and qua lity, machines are getting more
advanced and more complex. Engineers are facing challenges such as reducing
engineering costs, improving programming effic ien cy, and minimizing train in g c ost s.
The NX1P can offer soluti ons t o each challenge.
The next section gives more det ailed explanation about pr ogr amming the NX1P.
16
1-2-2 Easy to Add Programs
Memory area used for
Memory area used for
Memory area allocated for
Memory area allocated for
Previously
When adding a program, the user neede d t o check whether the I/O addresses and memory
area used for the additional program had already been used. If they were used,
modifications and debugg ing w ere requ ired. These t asks redu ced d ev elopmen t productiv ity .
Existing program Program to add (reused)
existing program
The same area is used
Programming the NX1P
When a program is reuse d, the NX1P automatically allo cat es memory addresses in t he
memory area for variables. The user does not need to worry about addresses when add ing or
modifying the program. Debugging time can also be reduced.
Existing program Program to add (reused)
variables of existing program
program to add
variables of program to add
17
1-2-3 Easy Motion Programming
Previously
The traditional PLC (e.g., CJ2) used three different software applications for Position Control
Unit settings, ladder programming, and Servo Sy s t em sett i ngs . The user had to create a
program while monitorin g and t uning the settings.
Programming the NX1P
Operations such as turning ON the Servo, homing, and positioning can be de scr ibed in one
program by using motion FBs.
Processes are executed from top to bottom, which ma kes t he program easy to read.
The Sysmac Studio integrating ladder programming, motion, and Servo configuration
facilitates positioning control. Simple monitoring and modification!
18
1-2-4 Structured Text Language for Easy Mathematical Processing
Structured Text Language
The structured text (ST) la nguage is a high-level structur ed language, similar to Pascal. I t is
ideal for mathematical processing and nested conditional branching that are difficult to write
in ladder diagrams.
Features of ST Language
You can create easy to read progr ams by using two different program m in g languages,
ladder diagram language f or sequence control and ST language for mathematical
processing.
Example: Calculating the area of a trapezoid
(Top length + bottom lengt h) * height / 2
The ST language simplifie s t his cod e.
You can use ST as an element in a l adder diagram or create a pr ogr am in ST only.
ST is ideal for:
1. Arithmetic operations an d fun c t io n c al culation
+, -, *, /, SIN, COS, TAN, etc.
2. Loop and condition constructs
IF THEN, FOR NEXT, etc.
3. Text string processing
Joining, extracting, searching, and replacing text st rings
The next section gives more det ailed explanation about pr ogr amming with variables.
19
1-3 Programming with Variables
1-3-1 Programming the NX1P
Variables are names defined by the user. They are used for programming t he NX 1P
although addresses are used for the CJ2 and other traditional PLCs.
Programming the NX1P
Programming with variables eliminates the need to remember addresses and makes
programming faster and easier.
Programming with variables means that you can cr eat e pr ogr ams using the names on your
control panel or touchscreen as shown below.
Programming Traditional PLCs
I/O numbers and timer nu mb er s ( 0. 00 and T0000 shown in the figure below) are used to
program traditional PLCs such as CJ2.
For most PLCs, comment s can be added to the numbers in order to easily understand what
the numbers mean. Omro n calls the comment “I/O comment”.
20
Difference between Programming with Addresses and with Variables
CJ2 program example
NX1P program example
NX1P
I/O Map
This section shows the difference between two prog r am m in g m et hods.
The CJ2 program (created with the CX-Programmer ) and NX 1P program (created with t he
Sysmac Studio) are show n below.
Two programs shown above were written to perform t he sam e operation.
To program the NX1P, ea ch v ariable (e. g., SW1 and L1) must be ass igned in the I/O Map to
the corresponding input / out put t er m inal to which the physical device is connected.
Variables used in the progr am ar e li nked with actual I/O ( input/output terminals of the NX1 P
in this example). You can change I/O assignments by simply changing the terminal number
in the I/O Map. The benefit of programmi ng w it h variables is that there is no need to change
the program itself.
21
Addresses are changed
Adding
a Unit
Change all related
Adding
a Unit
Just assign the device
I/O Map for NX1P
Previously
When changing the Unit conf iguration, you had to change addresses in the ladder program
because the addresses assigned to the I/O channels were changed.
addresses in the
ladder program
Programming the NX1P
Even when adding Units, you just assign variables to new I /O ports in the I/O Map without
changing the program.
variables to the I/O
ports of the added
Unit
22
1-3-2 Data Types
Classification
Used for
Data type
Range of values
Notation
Boolean
ON/OFF status
BOOL
0 to 1
INT
-32768 to +32767
+30000, -20000
DINT
-2147483648 to
+2147483647
+12345678, -20000000
UINT
0 to 65535
60000
UDINT
0 to 4294967295
20000000
Floating-point
Real number
REAL
Single-precision
floating-point values
0.15625
LREAL
Double-precision
floating-point values
1.0000000000000002
Text string
Text string
HMI
STRING
Text strings (UTF-8)
‘OMRON’
using the name
real number, and text string) of data
For example, you define a variable called L1 (meaning the 1st lamp). It is clear that L1
contains ON/OFF data be caus e L1 is a lamp.
However, if you define a variab le called Data1, Data1 may contain a decimal num ber ,
decimal point number, or text string.
The data type defines the type of data that is expressed by a variable.
A variable is a container for dat a w ith a name and data type.
Variable = (Name) + (Data type)
Examples of Data Types
Programming
Defines the range and type (e.g., integer,
The table below lists the data types used for the NX1P. Th e BO O L dat a t ype is used for
ON/OFF data, the INT data t ype for decimal integers, and the STRING data type for text
strings.
Although both the INT and DIN T dat a t ypes represent decimal integers, they have differe nt
ranges of values.
The WORD data type for bit st r ing s , t he DA TE_AND_TIME data type for date and time, and
other data types can also be used.
・1 or 0
・TRUE or FALSE
Decimal
number
(integer)
number
of inputs and
outputs
Numeric
operation
Signed
Unsigned
displayed on
Approx. 2,000 bytes
‘Failure rate’
23
1-3-3 Benefit of Usi ng Data Types
● CJ2 or traditional PLC
● NX1P
MOV, MOVL, M OV F , etc.
Move floating-point value ⇒ REAL
When special instructio ns are used for a traditional PLC such as CJ2, different instr uct ions
must be used for different types of data.
With the NX1P, operands of sp ec i al instructions are specified with variables. As the
variables contain data types, there is no need to use differ ent instructions for differ ent dat a
types.
Even when the data length is cha nged from 16 bits to 32 bits, all you have to do is change
the data type. You don’t need t o change the program or allocate memory.
Different special instructions for
different types or lengths of data.
24
MOVE instruction only.
The concepts of “progra m m ing w ith variables” and “dat a types” based on the inter nat ional
standard IEC 61131-3 are rapidly spreading.
Specify the appropriate data types for
move source In and move destination
Out when the type or length of data is
changed.
Move 16-bit value ⇒ INT
Move 32-bit value ⇒ DINT
1-3-4 International Standard IEC 61131-3
IEC 61131-3
IEC 61131-3*1 is an international standard that i s in it ially published in 1993.
• Manufacturer and hardware-independent
• Reusable software components
• Five programming languages for a variet y of purposes and skill levels
*1. IEC (International Electrotechnical Commission)
Five programming langu ages according to IEC 61131-3
• IL (Instruction List): A low-level text language similar to assembly
• LD (Ladder Diagram): A graphical language written in a form similar to electrical circuits
• ST (Structured Text): A high-level structur ed language similar to Pasc al
• FBD (Function Block Diagram):
A graphical language to descr ibe the function as a set of ele mentary blocks
• SFC (Sequential Function Chart):
A graphical language used to program processes that c an be split into steps
The NX1P supports LD and ST.
Adoption of the IEC 61131-3 standard
The adoption of the IEC 61131-3 standard is widespr ead from Europe and North
America to Asia.
The NX1P support progra mm ing lan guages b ased on IEC 6 113 1-3. Engineers can be
trained easily thanks to familiar programming languages.
25
1-4 Programming Software
1-4-1 Programming Sof tware Sysmac Studio
The Sysmac Studio
The Sysmac Studio provides an integr ated dev elopme nt environ ment to configure, program,
debug, and maintain NJ/N X-series Machine Auto ma t ion Controllers.
Features
1. One software integrates configuration, progra m m in g and monitoring
2. Programming with variables. Supports the ladder and ST languages and FBs
based on IEC 61131-3
3. PLCopen function blocks f or easy programming of complex motion profiles, and
Cam Editor for quick implementation of cam motion profiles
4. Integrated simulation and debugging
Motion trajectories in 3D can be pr e-tested, and simulati on of programs can be
performed. This reduces set-up and tuning time.
*1. ST language (Structured Text language), FB (Function Block)
Programming Motion control
HMI Vision sensors
Safety Simulation
*1
26
1-4-2 Simulations
The Sysmac Studio provides a variety of simulations.
The Simulator in the Sysm ac Studio all ows you to t est progra ms without connect ing physic al
devices.
1. Check the operations of a pr ogr am
2. Monitor variables in the Watch Tab Page without conn ecting devices
3. Check a motion program by viewing the changes of positio ns and velocities sampled
by data tracing
4. Check motion trajector i es by performing 3D motion monitoring, without con nect ing
physical devices
27
2
2 Before You B egin
This section describes the pr ocess of hardware mounting a nd w iring and the
installation of the Sysmac St udio.
2-1 System Conf igurat ion and Devices .............................................................. 2-29
2-1-1 Overview ........................................................................................ 2-29
2-1-2 Wiring ............................................................................................. 2-30
2-2 Installing the Sysmac Studio ........................................................................ 2-32
2-2-1 Installing the Sysmac Studio ......................................................... 2-32
2-2-2 Requirements for Installation ......................................................... 2-32
28
2-1 System Configuration and Devices
Version 1.17 or higher
(1 license)
Pushbutton Switch
Indicator
Power Supply
A22NL etc.
M22N etc.
S8VK-S06024 etc.
2-1-1 Overview
Connect a Power Supply , Pushbut t on Switches, and Indicator s t o t he NX1P and create a
ladder program in Section 3 Ladder Programming.
Automation Software
Sysmac Studio
Standard Edition
SYSMAC-SE200D
(DVD only)
SYSMAC-SE201L
The physical devices such as NX1P, Pushbutton Switches, and Indicators w i ll hel p you
understand programming conce pts.
Even if there is no physica l device, you can check operatio n using the Simulator in the
Sysmac Studio.
Section 4, 5, and 6 explain about simulations.
Machine Automation
Controller
NX1P
NX1P2-□□□□ -
Ethernet cable
(100Base-TX/10Base-T)
29
2-1-2 Wiring
Wiring Pushbutton Switches
Wire Pushbutton Switches to the NX1P as shown below.
Wiring Indicators
30
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