Omron R88M-1 Series, NX1P2-1140DT, R88M-1M10030S, R88D-1SN01L-ECT, NX1P2-1040DT Startup Manual
...
Machine Automation Controller NJ/NX-series
Startup Guide
for Motion Control
NX1P2-
NX701-
NJ501-
NJ301-
NJ101-
SYSMAC-SE20
R88M-1
R88D-1SN-ECT
W514-E1-02
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.
• Windows is either a registered trademark or a trademark of Microsoft Corporation in the United States and other
countries.
• EtherCAT
• Celeron, Intel, and Intel Core are trademarks of Intel Corporation or its subsidiaries in the U.S. and/or other
countries.
• Microsoft product screen shots reprinted with permission from Microsoft Corporation.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Introduction
Thank you for purchasing an NJ/NX-series CPU Unit and the Sysmac Studio.
This NJ/NX-series Startup Guide for Motion Control (hereafter referred to as “this Guide”) describes the
startup procedures that are required to use the NJ/NX-series Motion Control Function Module for the
first time and provides operating instructions for the Sysmac Studio. You can follow the procedures that
are given in this Guide to set axis parameters and perform simple one-axis positioning and two-axis linear interpolation. This Guide does not contain safety information and other details that are required for
actual use of an NJ/NX-series Controller. Thoroughly read and understand the manuals for all of the
devices that are used in this Guide to ensure that the system is used safely. Review the entire contents
of these materials, including all safety precautions, precautions for safe use, and precautions for correct
use.
For the startup and operating instructions for NJ/NX-series CPU Units, refer to the NJ/NX-series Star-
tup Guide for CPU Units (Cat. No. W513).
Introduction
Intended Audience
This Guide is intended for the following personnel, who must also have knowledge of electrical systems
(an electrical engineer or the equivalent).
• Personnel in charge of introducing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA systems.
Applicable Products
This Guide covers the following products.
• CPU Units of NJ/NX-series Machine Automation Controllers
• Sysmac Studio Automation Software
Special Information
The icons that are used in this Guide are described below.
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.
NJ/NX-series Startup Guide for Motion Control (W514)
1
Terms and Conditions Agreement
Terms and Conditions Agreement
CPU Units of NJ/NX-series Machine Automation Controllers
Warranty, Limitations of Liability
Warranties
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
2
NJ/NX-series Startup Guide for Motion Control (W514)
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Terms and Conditions Agreement
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
NJ/NX-series Startup Guide for Motion Control (W514)
3
Terms and Conditions Agreement
Sysmac Studio Automation Software
WARRANTY
• The warranty period for the Software is one year from the date of purchase, unless otherwise specifically agreed.
• If the User discovers defect of the Software (substantial non-conformity with the manual), and
return it to OMRON within the above warranty period, OMRON will replace the Software without
charge by offering media or download from OMRON’s website. And if the User discovers defect of
media which is attributable to OMRON and return it to OMRON within the above warranty period,
OMRON will replace defective media without charge. If OMRON is unable to replace defective
media or correct the Software, the liability of OMRON and the User’s remedy shall be limited to
the refund of the license fee paid to OMRON for the Software.
LIMITATION OF LIABILITY
• THE ABOVE WARRANTY SHALL CONSTITUTE THE USER’S SOLE AND EXCLUSIVE 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 INDIRECT, INCIDENTAL, SPECIAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF USE OF THE SOFTWARE.
• OMRON SHALL HAVE NO LIABILITY FOR DEFECT OF THE SOFTWARE BASED ON MODIFICATION OR ALTERNATION TO THE SOFTWARE BY THE USER OR ANY THIRD PARTY.
• OMRON SHALL HAVE NO LIABILITY FOR SOFTWARE DEVELOPED BY THE USER OR ANY
THIRD PARTY BASED ON THE SOFTWARE OR 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 specifications and accessories may be changed 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 responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.
4
NJ/NX-series Startup Guide for Motion Control (W514)
Precautions
• When building a system, check the specifications for all devices and equipment that will make up the
system and make sure that the OMRON products are used well within their rated specifications and
performances. Safety measures, such as safety circuits, must be implemented in order to minimize
the risks in the event of a malfunction.
• Thoroughly read and understand the manuals for all devices and equipment that will make up the
system to ensure that the system is used safely. Review the entire contents of these materials,
including all safety precautions, precautions for safe use, and precautions for correct use.
• Confirm all regulations, standards, and restrictions that the equipment and devices in the system
must adhere to.
Software Licenses and Copyrights
This product incorporates certain third party software. The license and copyright information associated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
Precautions
NJ/NX-series Startup Guide for Motion Control (W514)
5
Related Manuals
Related Manuals
The following manuals are related to the NJ/NX-series Controllers. Use these manuals for reference.
Manual name Cat. No. Model Application Meaning
NX-series NX1P2
CPU Unit Hardware User’s
Manual
NX-series
NX1P2 CPU Unit
Built-in I/O and Option Board
User's Manual
NX-series CPU Unit
Hardware User’s Manual
NJ-series CPU Unit Hardware
User’s Manual
NJ/NX-series CPU Unit Software User’s Manual
W578
W579
W535
W500
W501 NX701-
NX1P2-
NX1P2-
NX701-
NJ501-
NJ501-
NJ301-
NJ101-
NX1P2-
Learning the basic
Learning the basic
specifications of the
NX-series NX1P2
CPU Units, including
introductory information, designing, installation, and
maintenance.
Mainly hardware information is provided.
Learning about the
details of functions
only for an NX-series
NX1P2 CPU Unit and
an introduction of
functions for an
NJ/NX-series CPU
Unit.
Learning the basic
specifications of the
NX701 CPU Units,
including introductory
information, designing,
installation, and maintenance.
Mainly hardware information is provided.
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.
An introduction to the entire NX1P2 CPU Unit
system is provided along with the following
information on the NX1P2 CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
Of the functions for an NX1P2 CPU Unit, the
following information is provided.
• Built-in I/O
• Serial Communication 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/IP communications functions
• EtherCAT communications functions
An introduction to the entire NX701 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
Use this manual together with the NJ/NX-series
CPU Unit Software User’s Manual (Cat. No.
W501).
An introduction to the entire NJ-series system
is provided along with the following information
on a Controller built with an NJ501 CPU Unit.
• Features and system configuration
• Introduction
• Part names and functions
• General specifications
• Installation and wiring
• Maintenance and inspection
Use this manual together with the NJ/NX-series
CPU Unit Software User’s Manual (Cat. No.
W501).
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 lan-
guage specifications
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500).
6
NJ/NX-series Startup Guide for Motion Control (W514)
Manual name Cat. No. Model Application Meaning
NJ/NX-series CPU Unit Motion
Control User’s Manual
NJ/NX-series Instructions Reference Manual
NJ/NX-series Motion Control
Instructions Reference Manual
NJ/NX-series CPU Unit Builtin EtherCAT® Port U ser’s
Manual
NJ/NX-series Troubleshooting Manual
Sysmac Studio Version 1
Operation Manual
AC Servomotors/Servo Drives
1S-series with Built-in EtherCAT® Communications User’s
Manual
Servo System 1S-series
Startup Guide
W507 NX701-
NJ501-
NJ301-
NJ101-
NX1P2-
W502 NX701-
NJ501-
NJ301-
NJ101-
NX1P2-
W508 NX701-
W505 NX701-
W503 NX701-
W504
I586 R88M-1
I823 R88M-1L/-1M
NJ501-
NJ301-
NJ101-
NX1P2-
NJ501-
NJ301-
NJ101-
NX1P2-
NJ501-
NJ301-
NJ101-
NX1P2-
SYSMAC-SE2
R88D-1SN-ECT
(AC Servomotors)
R88D-1SN-ECT
(AC Servo Drives)
Learning about
motion control settings and programming concepts.
Learning detailed
specifications on the
basic instructions of
an NJ/NX-series CPU
Unit.
Learning about the
specifications of the
motion control
instructions.
Using the built-in
EtherCAT 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 Sysmac Studio.
Learning how to use
the Servomotors/Servo Drives
with built-in EtherCAT
Communications.
Gaining a basic
understanding of a
1S-series AC Servomotors/Servo Drives.
The settings and operation of the CPU Unit and
programming concepts for motion control are
described.
When programming, use this manual together
with the NJ/NX-series CPU Unit Hardware
User’s Manual (Cat. No. W500) and NJ/NX-
series CPU Unit Software User’s Manual (Cat.
No. W501).
The instructions in the instruction set (IEC
61131-3 specifications) are described.
When programming, use this manual together
with the NJ/NX-series CPU Unit Hardware
User’s Manual (Cat. No. W500) and NJ/NX-
series CPU Unit Software User’s Manual (Cat.
No. W501).
The motion control instructions are described.
When programming, use this manual together
with the NJ/NX-series CPU Unit Hardware
User’s Manual (Cat. No. W500), NJ/NX-series
CPU Unit Software User’s Manual (Cat. No.
W501) and NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507).
Information on the built-in EtherCAT port is provided.
This manual provides an introduction and provides information on the configuration, features,
and setup.
Use this manual together with the NJ/NX-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501).
Concepts on managing errors that may be
detected in an NJ/NX-series Controller and
information on individual errors are described.
Use this manual together with the NJ/NX-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ/NX-series CPU Unit Software
User’s Manual (Cat. No. W501).
The operating procedures of the Sysmac Studio are described.
Describes the hardware, setup methods and
functions of the Servomotors/Servo Drives with
built-in EtherCAT Communications.
Describes the procedures for installation and
setup of a 1S-series AC Servo Drive.
Related Manuals
NJ/NX-series Startup Guide for Motion Control (W514)
7
Revision History
W514-E1-02
Cat. No.
Revision code
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 November 2011 Original production
02 February 2017 Made changes accompanying the addition of NX1P2 CPU Units and
Date Revised content
1S-series AC Servomotors / Servo Drivers
8
NJ/NX-series Startup Guide for Motion Control (W514)
Revision History
NJ/NX-series Startup Guide for Motion Control (W514)
9
CONTENTS
CONTENTS
Introduction ...............................................................................................................1
Intended Audience ...................................................................................................................................... 1
Applicable Products .................................................................................................................................... 1
Special Information ..................................................................................................................................... 1
Terms and Conditions Agreement...........................................................................2
CPU Units of NJ/NX-series Machine Automation Controllers ..................................................................... 2
Warranty, Limitations of Liability ................................................................................................................. 2
Application Considerations ......................................................................................................................... 3
Disclaimers ................................................................................................................................................. 3
Sysmac Studio Automation Software ......................................................................................................... 4
Precautions................................................................................................................5
Software Licenses and Copyrights ............................................................................................................. 5
Related Manuals........................................................................................................6
Revision History........................................................................................................8
Section 1 Features and System Configuration of NJ/NX-series
Controllers and 1S-series AC Servo Systems
1-1 Features of NJ/NX Series and 1S Series ............................................................................... 1-2
1-2 System Configuration and Configuration Devices............................................................... 1-4
1-2-1 Devices Used in This Guide........................................................................................................ 1-4
1-2-2 Configuration of the System Constructed in This Guide .............................................................1-5
Section 2 Before You Begin
2-1 Installing the Sysmac Studio.................................................................................................. 2-2
2-2 Wiring the Devices................................................................................................................... 2-3
2-2-1 Wiring the NX1P CPU Unit Power Supply...................................................................................2-3
2-2-2 Wiring the Servo Drive Power Supply ......................................................................................... 2-3
2-2-3 Laying EtherCAT Communications Cables ................................................................................. 2-4
2-2-4 Wiring the Servo Drives and the Servomotors ............................................................................ 2-5
2-2-5 Wiring the Control Input Signals for the Servo Drives.................................................................2-6
Section 3 Setting Up a Single-axis Servo System
3-1 Single-axis Servo System Operation ..................................................................................... 3-2
3-2 System Setup Procedures ......................................................................................................3-3
3-3 Creating a Project .................................................................................................................... 3-4
3-4 Creating the EtherCAT Network Configuration..................................................................... 3-7
10
3-5 Programming ........................................................................................................................... 3-9
3-5-1 Setting the Axis ...........................................................................................................................3-9
3-5-2 Creating the Program................................................................................................................3-17
3-5-3 Checking the Program .............................................................................................................. 3-27
3-6 Transferring the Project to the CPU Unit ............................................................................. 3-28
NJ/NX-series Startup Guide for Motion Control (W514)
CONTENTS
3-7 Confirming System Operation.............................................................................................. 3-32
3-7-1 Checking for Controller Errors .................................................................................................. 3-32
3-7-2 Resetting the Absolute Encoder from the Sysmac Studio ........................................................ 3-35
3-7-3 Checking the Servo Drive Wiring.............................................................................................. 3-38
3-7-4 Checking Program Operation ................................................................................................... 3-44
3-7-5 Using Data Tracing to Check Operation ................................................................................... 3-50
Section 4 Two-axis Linear Interpolation Program
4-1 Two-axis Servo System Operation......................................................................................... 4-2
4-2 System Setup Procedures ......................................................................................................4-3
4-3 Changing the Program............................................................................................................ 4-4
4-3-1 Setting Axis 0 to a Motion Control Axis....................................................................................... 4-4
4-3-2 Adding a Servo Drive to the EtherCAT Network Configuration................................................... 4-5
4-3-3 Adding Axis 1 and Setting an Axes Group.................................................................................. 4-7
4-3-4 Adding Instructions and Checking the Program ....................................................................... 4-15
4-3-5 Transferring the Project to the CPU Unit...................................................................................4-21
4-4 Confirming System Operation.............................................................................................. 4-22
4-4-1 Checking the New Axis 1.......................................................................................................... 4-22
4-4-2 Checking Program Operation ................................................................................................... 4-22
4-4-3 Using Data Tracing to Check Operation ................................................................................... 4-29
Appendices
A-1 Settings When Control Input Signals Are Not Wired ...........................................................A-2
A-2 Using the 3D Motion Trace Display Mode to Check Operation ...........................................A-7
NJ/NX-series Startup Guide for Motion Control (W514)
11
12
CONTENTS
NJ/NX-series Startup Guide for Motion Control (W514)
1
Features and System Configuration of NJ/NX-series
Controllers and 1S-series AC Servo Systems
This section describes the configuration of the Servo system that is constructed in this
Guide and the products that make up that system.
1-1 Features of NJ/NX Series and 1S Series . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-2 System Configuration and Configuration Devices . . . . . . . . . . . . . . . . . . . 1-4
1-2-1 Devices Used in This Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
1-2-2 Configuration of the System Constructed in This Guide . . . . . . . 1-5
NJ/NX-series Startup Guide for Motion Control (W514)
1-1
1 Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo
Required substantial time for wiring work.
Any wiring errors also required time to check.
Only one cable: easy connections and no mistakes!
Many cables, high
cost, complicated
ordering, and
many maintenance
materials.
External wiring used
screw-type terminal
blocks, requiring labor
for screw tightening and
periodic re-tightening.
Only one EtherCAT
cable.
Push-in terminal block makes
connections of Servo systems easy.
No need for a relay terminal block.
40
J
6
-
2B
CJ1W
-
21
3/
NC4
13
4
0J6
-
2B
C
J
1
W
-
21
3
/
NC4
13
Traditional System Using Position Control Units
External
wiring
External
wiring
NX1P and 1S Series
Three software were used for Position Control Unit
settings, ladder programming, and Servo System
settings respectively. You had to create a program while
monitoring and tuning the settings.
The Sysmac Studio, which integrates ladder programming, motion, and configuration, facilitates positioning
control. Simple monitoring and modification!
Servo power ON
Relative
positioning
Distance
Velocity
Acceleration
Deceleration
Ladder + motion
Servo System
Traditional System Using Position Control Units
NX1P and 1S Series
CPU Unit Position Control Unit
User programUser program
NC processorNC processorNC processor
User program
Parameter
Settings
Pulse
output
PLC bus
1-1 Features of NJ/NX Series and 1S Series
The NX/NJ-series Machine Automation Controllers provide advanced motion control previously executed by dedicated controllers or Special Units.
The CPU Units have a built-in EtherCAT port for real-time machine control.
Easy Wiring
Easy Motion Programming
1-2
NJ/NX-series Startup Guide for Motion Control (W514)
1 Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo
The actual equipment was required to check operation
during debugging.
You can check 3D operation at your desk, shortening
on-site debugging time. While viewing the programmed
Servomotor path, you can review operation with the
machine engineers prior to system completion and fix
problems in advance!
Traditional System Using Position Control Units
NX1P and 1S Series
N
1-1 Features of NJ/NX Series
3D Simulation Makes Debugging Easy
and 1S Series
1
Fast Recovery after Power Interruptions with the Standard-feature
Absolute Encoder
After an emergency stop
or power interruption
Traditional Servo System Using Incremental Encoder
Homing operation was required to resume positioning
because home information was cleared.
NX1P and 1S Series
Introducing an absolute encoder to the 1S-series
Servomotor eliminates the need for homing operation,
so you can resume positioning immediately. The
battery-free encoder retains the absolute positions. No
battery, no maintenance!
Homing
1S
1S
1S
NX1P
NJ/NX-series Startup Guide for Motion Control (W514)
1-3
1 Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo
1-2 System Configuration and Configuration Devices
1-2-1 Devices Used in This Guide
NX1P
Machine Automation Controller
1S-series AC Servo Drive 1S-series AC Servomotor
NX1P2-1140DT R88D-1SN01L-ECT R88M-1M10030S
EtherCAT Communications Cable Motor Power Cable Encoder Cable
XS5W-T421-MD-K R88A-CA1A003S R88A-CR1A003C
Sysmac Studio
Automation Software
Standard Edition
Ethernet Cable
(100BASE-TX/10BASE-T)
24 VDC Power Supply
Version 1.17 or higher
SYSMAC-SE200D
(Media only)
SYSMAC-SE201L
--- Example: S8VK-S
(One license)
1-4
NJ/NX-series Startup Guide for Motion Control (W514)
1 Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo
RUN
E
R
R
I
N
L
/
A
R
88
D-1
S
N
L
/
A
FS
OU
T
E
th
e
r
CA
T
RUN
E
R
R
I
N
L
/
A
R88
D-1
S
N
L
/
A
FS
OU
T
E
th
e
r
CA
T
Sysmac Studio
Ethernet Cable
Two-axis Servo System
Single-axis Servo System
NX1P2-1140DT
CPU Unit
R88D-1SN01L-ECT Servo Drive (1st Drive)
Node Address 1 (Axis 0)
R88M-1M10030S
Servomotor
R88D-1SN01L-ECT Servo Drive
(2nd Drive)
Node Address 2
(Axis 1)
R88M-1M10030S Servomotor
EtherCAT communications cables
Section 4 Two-axis Linear Interpolation Program
Section 3 Setting Up a Single-axis Servo System
1-2-2 Configuration of the System Constructed in This Guide
This NJ/NX-series Startup Guide for Motion Control (hereafter referred to as "this Guide") builds the
Servo system in the following two steps.
1-2 System Configuration and
Configuration Devices
1
1-2-2 Configuration of the System Constructed in This Guide
Single-axis Servo System
This system performs single-axis positioning using a Servo Drive and Servomotor for one axis. The
steps from device wiring to software design and debugging are described.
Device connections are described in Section 2 Before You Begin, and software design and debugging
are described in Section 3 Setting Up a Single-axis Servo System.
Positioning example:
Single-axis positioning
Velocity : 10.000 mm/s
Acceleration rate : 200.000 mm/s
Deceleration rate : 200.000 mm/s
Axis 0
2
2
0.000 mm 20.000 mm
NJ/NX-series Startup Guide for Motion Control (W514)
1-5
1 Features and System Configuration of NJ/NX-series Controllers and 1S-series AC Servo
Axis 0
800.000 mm X
600.000 mm
Linear 2
Linear 1
Y
0.000 mm
0.000 mm
Axis 1
Interpolation velocity : 200.000 mm/s
Acceleration rate : 400.000 mm/s
2
Deceleration rate : 400.000 mm/s
2
Two-axis Servo System
This system performs linear interpolation using Servo Drives and Servomotors for two axes. The steps
from device wiring to software design and debugging are described.
Device connections are described in Section 2 Before You Begin, and software design and debugging
are described in Section 4 Two-axis Linear Interpolation Program.
The NX1P2-9024DT/-9024DT1 cannot be used in this linear interpolation example.
Use the NX1P2-1040DT/-1040DT1, NX1P2-1140DT/-1140DT1, NJ-series CPU Unit, or NX7 CPU Unit.
Positioning example:
1-6
NJ/NX-series Startup Guide for Motion Control (W514)
Before You Begin
This section describes the installation of the Sysmac Studio and the process of assembling and wiring the hardware.
2-1 Installing the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-2 Wiring the Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-2-1 Wiring the NX1P CPU Unit Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-2-2 Wiring the Servo Drive Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-2-3 Laying EtherCAT Communications Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-2-4 Wiring the Servo Drives and the Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-2-5 Wiring the Control Input Signals for the Servo Drives . . . . . . . . . . . . . . . . . . . 2-6
2
NJ/NX-series Startup Guide for Motion Control (W514)
2-1
2 Before You Begin
Additional Information
Precautions for Correct UsePrecautions for Correct Use
2-1 Installing the Sysmac Studio
The Sysmac Studio is the Support Software that you use for an NJ/NX-series Controller. On it, you can
create the Controller configuration and settings, you can write the programs, and you can debug and
simulate operation.
Use the following procedure to install the Sysmac Studio.
1
Set the Sysmac Studio installation disk into the DVD-ROM drive.
The setup program is started automatically and the Select Setup Language Dialog Box is displayed.
2
Select the language to use, and then click the OK Button.
The Sysmac Studio Setup Wizard is started.
3
Follow the instructions given by the Setup Wizard to complete the installation.
4
Restart the computer when the installation is completed.
• The system requirements for the Sysmac Studio are given in the following table.
OS CPU RAM Display
Windows 7
(32-bit or 64-bit edition)
Windows 8
(32-bit or 64-bit edition)
Windows 8.1
(32-bit or 64-bit edition)
Windows 10
(32-bit or 64-bit edition)
• Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) if you are unable to
install the Sysmac Studio with the above instructions.
If CX-One version 4 or lower is installed, the installation is cancelled and the Sysmac Studio cannot be installed. In that case, uninstall the CX-One before you install the Sysmac Studio.
Minimum
Recommended
IBM AT or compatible with
®
Celeron® processor
Intel
540 (1.8 GHz)
IBM AT or compatible with
®
CoreTM i5 M520 pro-
Intel
cessor (2.4 GHz) or the
equivalent
2 GB XGA 1,024 768,
16 million colors
4 GB
min.
WXGA 1,280 800,
16 million colors
2-2
NJ/NX-series Startup Guide for Motion Control (W514)
2-2 Wiring the Devices
24 VDC
+ −
Servo Drive
Protection
element
Noise filter
Servomotor
U
V
W
EncoderEncoder
L1
L2
L3
24V
0V
U
V
W
This section describes how to wire the assembled the hardware devices.
This section gives an overview of the wiring procedures. Refer to the manuals for the devices that are
used in the system for detailed wiring procedures and safety precautions.
2-2-1 Wiring the NX1P CPU Unit Power Supply
Wire the CPU Unit to the DC power supply.
2 Before You Begin
2-2 Wiring the Devices
2
2-2-1 Wiring the NX1P CPU Unit Power Supply
2-2-2 Wiring the Servo Drive Power Supply
Wire the Servo Drives to the power supply as shown in the following figure.
NJ/NX-series Startup Guide for Motion Control (W514)
2-3
2 Before You Begin
RUN INOUT
FS
L/A L/A
ERR
RUN INOUT
FS
L/A L/A
ERR
Built-in EtherCAT port
Built-in EtherNet/IP port
NX-series NX1P2 CPU Unit
First Servo Drive
Second Servo Drive
Connector IN port for
EtherCAT communications
Connector OUT port for
EtherCAT communications
2-2-3 Laying EtherCAT Communications Cables
Connect the EtherCAT slave communications cables between the built-in EtherCAT port on the CPU
Unit and the EtherCAT slaves as shown in the following figure.
Connect the communications cable from the built-in EtherCAT port to the input port on the first slave,
and then connect the communications cable to the next slave to the output port on the first slave.
Do not connect anything to the output port of the slave at the end of the network.
Setting the Node Addresses of the Servo Drives
Set the node addresses of the Servo Drives as shown below.
Only the first Servo Drive is used in Section 3 Setting Up a Single-axis Servo System.
The second Servo Drive is added in Section 4 Two-axis Linear Interpolation Program.
Rotary switches for setting
ADR
the node address
10s digit
Set to 0. Set to 1.
10s digit
Set to 0. Set to 2.
First Servo Drive
1s digit
Second Servo Drive
1s digit
2-4
NJ/NX-series Startup Guide for Motion Control (W514)
2-2-4 Wiring the Servo Drives and the Servomotors
Motor Power Cable
R88A-CA1A003S
Servomotor
Encoder Cable
R88A-CR1A003C
Servo Drive
2 Before You Begin
Wire the Servo Drives and the Servomotors as shown in the following figure.
2-2 Wiring the Devices
2
2-2-4 Wiring the Servo Drives and the Servomotors
NJ/NX-series Startup Guide for Motion Control (W514)
2-5
2 Before You Begin
Additional Information
CN7
ID
x1
x16
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
9
A
B
C
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
9
A
B
C
Main circuit connector (CNA)
terminal
7-segment LED display
ID switches
Status indicators
Charge lamp
Control I/O connector
(CN1)*1
terminal
Status indicators
USB connector (CN7)
EtherCAT communications
connector
(ECAT IN CN10)
EtherCAT communications
connector
(ECAT OUT CN11)
2-2-5 Wiring the Control Input Signals for the Servo Drives
Wire the control input signals for the Servo Drive using the R88A-CN101C Control I/O connector (CN1).
For details on wiring, refer to the AC Servomotors/Servo Drives 1S-series with Built-in EtherCAT Com-
munications User's Manual (Cat. No. I586).
*1 Control I/O Connector (CN1):
Used for command input signals, I/O signals, and as the safety device connector. The short-circuit wire is
installed on the safety signals before shipment.
• If you use the default Servo parameters, you must wire the immediate stop input, negative
drive prohibit input, and the positive drive prohibit input.
If these inputs are not wired, the CPU Unit will remain in the drive prohibit signal and emergency stop signal detected state, and a minor fault level Controller error will occur. The minor
fault level Controller errors that will occur are an Immediate Stop Input Error and a Drive Prohibition Input Error. (The event codes are 68220000 and 64E30000.)
• If the above signals are temporarily not wired while commissioning the system, you can temporarily change the Servo parameters to prevent these errors from occurring in the CPU Unit.
Refer to A-1 Settings When Control Input Signals Are Not Wired for details on the settings that
you must change in this case.
2-6
NJ/NX-series Startup Guide for Motion Control (W514)
Setting Up a Single-axis Servo
System
This section describes the procedures and operations required to set up a Servo system for one axis.
3-1 Single-axis Servo System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2
3-2 System Setup Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-3 Creating a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-4 Creating the EtherCAT Network Configuration . . . . . . . . . . . . . . . . . . . . . . 3-7
3-5 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3-5-1 Setting the Axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3-5-2 Creating the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-17
3-5-3 Checking the Program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27
3-6 Transferring the Project to the CPU Unit . . . . . . . . . . . . . . . . . . . . . . . . . . 3-28
3-7 Confirming System Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
3-7-1 Checking for Controller Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-32
3-7-2 Resetting the Absolute Encoder from the Sysmac Studio . . . . . . . . . . . . . . . 3-35
3-7-3 Checking the Servo Drive Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-38
3-7-4 Checking Program Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44
3-7-5 Using Data Tracing to Check Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-50
3
NJ/NX-series Startup Guide for Motion Control (W514)
3-1
3 Setting Up a Single-axis Servo System
Velocity
Position after traveling
in the positive direction
Position after traveling
in the negative direction
Operation of Axis 0 (Node Address 1)
The operation is repeated.
Time
Positive direction
Negative direction
Travel distance: −20.000 mm
Speed: 10.000 mm/s
Acceleration rate: 200.000 mm/s
2
Deceleration rate: 200.000 mm/s
2
Travel distance: 20.000 mm
Speed: 10.000 mm/s
Acceleration rate: 200.000 mm/s
2
Deceleration rate: 200.000 mm/s
2
3-1 Single-axis Servo System Operation
This section describes the operation of the single-axis Servo system that is set up in this Guide.
Axis 0 performs alternating single-axis positioning in the positive and negative directions.
The mechanical configuration of axis 0 is as shown in the following table.
Item Axis 0 mechanical configuration
Motor rated speed 3,000 r/min
Ball screw pitch 10.000 mm
Encoder resolution 23 bits/rotation
Servomotor
Encoder resolution: 23 bits/rotation
Rated speed: 3,000 r/min
Command pulse count per motor rotation
23 bits = 8,388,608
10 mm
Ball screw
Ball screw pitch: 10 mm
1 rotation
3-2
NJ/NX-series Startup Guide for Motion Control (W514)
3 Setting Up a Single-axis Servo System
3-2 System Setup Procedures
The basic design flow to follow to design a Servo system is shown below.
The startup operations in this Guide are described in the following steps.
STEP 1. Create a Project (page 3-4)
Create a project file.
STEP 2. Create the EtherCAT Network Configuration (page 3-7)
Create the EtherCAT slave configuration that will connect to the CPU Unit’s built-in EtherCAT port.
STEP 3. Start Programming (page 3-9)
Register an axis variable and create and check the POU program.
STEP 3-1 Set the axis (page 3-9).
STEP 3-2 Create the program (page 3-17) and check the program (page 3-27).
3-2 System Setup Procedures
3
STEP 4. Transfer the Project to the CPU Unit (page 3-28)
Transfer the project, which contains the user program, to the CPU Unit.
STEP 5. Confirm System Operation (page 3-32)
Perform a check to test system operation. (Use online debugging.)
STEP 5-1 Check for Controller errors (page 3-32).
STEP 5-2 Reset the Absolute Encoder from the Sysmac Studio (page 3-35).
STEP 5-3 Check the Servo Drive wiring (page 3-38).
STEP 5-4 Check program operation (page 3-44).
STEP 5-5 Use data tracing to check operation (page 3-50).
NJ/NX-series Startup Guide for Motion Control (W514)
3-3
3 Setting Up a Single-axis Servo System
3-3 Creating a Project
Start the Sysmac Studio and create a project.
Starting the Sysmac Studio
Use one of the following methods to start the Sysmac Studio.
• Double-click the Sysmac Studio shortcut icon on your desktop.
• Select All Programs
OMRON Sysmac Studio Sysmac Studio from the Windows Start Menu.
The Sysmac Studio starts and the following window is displayed.
3-4
NJ/NX-series Startup Guide for Motion Control (W514)
Loading...