Omron NX701-1, NX102-1, NX102-90, NJ501, NJ301-1 User Manual
...
Machine Automation Controller
NJ/NX-series
CPU Unit
Motion Control
User’s Manual
NX701-1
NX102-1
NX102-90
NX1P2-1
NX1P2-90
NJ501-
NJ301-1
NJ101-10
CPU Unit
W507-E1-18
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, Windows Vista, 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.
Introduction
Thank you for purchasing an NJ/NX-series CPU Unit.
This manual contains information that is necessary to use the Motion Control Function Module of an
NJ/NX-series CPU Unit. Please read this manual and make sure you understand the functionality and
performance of the NJ/NX-series CPU Unit before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of introducing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA systems.
• Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.
Introduction
Applicable Products
This manual covers the following products.
• NX-series CPU Units
• NX701-17
• NX701-16
• NX102-12
• NX102-11
• NX102-10
• NX102-90
• NX1P2-11
• NX1P2-111
• NX1P2-10
• NX1P2-101
• NX1P2-90
• NX1P2-901
• NJ-series CPU Units
• NJ501-5
• NJ501-4
• NJ501-3
• NJ301-12
• NJ301-11
• NJ101-10
Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to Relevant Manuals on page 2 and Related Manuals on page 25.
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
1
Relevant Manuals
Relevant Manuals
The following provides the relevant manuals for the NJ/NX-series CPU Units.
Read all of the manuals that are relevant to your system configuration and application before you use
the NJ/NX-series CPU Unit.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu-
dio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.
Basic information
NX-series CPU Unit
Hardware User’s Manual
NX-series NX102 CPU Unit
Hardware User’s Manual
NX-series NX1P2 CPU Unit
Hardware User's Manual
NJ-series CPU Unit
Hardware User’s Manual
Software User’s Manual
Manual
NJ/NX-series CPU Unit
NX-series NX1P2 CPU Unit
Built-in I/O and Option Board User's Manual
NJ/NX-series
Instructions Reference Manual
NJ/NX-series CPU Unit
Motion Control User’s Manual
NJ/NX-series
Motion Control Instructions Reference Manual
NJ/NX-series CPU Unit
Built-in EtherCAT Port User’s Manual
NJ/NX-series CPU Unit
Built-in EtherNet/IP Port User’s Manual
NJ/NX-series CPU Unit
OPC UA User’s Manual
NX-series CPU Unit
FINS Function User’s Manual
NJ/NX-series Database Connection CPU Units
User’s Manual
NJ-series SECS/GEM CPU Units
User’s Manual
NJ-series NJ Robotics
CPU Unit User’s Manual
NJ/NY-series NC Integrated Controller
User’s Manual
NJ/NX-series
Troubleshooting Manual
Purpose of use
Introduction to NX701 CPU Units
Introduction to NX102 CPU Units
Introduction to NX1P2 CPU Units
Introduction to NJ-series Controllers
Setting devices and hardware
Using motion control
Using EtherCAT
Using EtherNet/IP
Software settings
Using motion control
Using EtherCAT
Using EtherNet/IP
Using OPC UA
Using FINS
Using the database connection service
Using the GEM Services
Using robot control
Using numerical control
Using the NX1P2 CPU Unit functions
2
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Relevant Manuals
Manual
Basic information
NX-series CPU Unit
Hardware User’s Manual
NX-series NX102 CPU Unit
Hardware User’s Manual
NX-series NX1P2 CPU Unit
Hardware User's Manual
NJ-series CPU Unit
Hardware User’s Manual
NJ/NX-series CPU Unit
Software User’s Manual
NX-series NX1P2 CPU Unit
Built-in I/O and Option Board User's Manual
NJ/NX-series
Instructions Reference Manual
NJ/NX-series CPU Unit
Motion Control User’s Manual
NJ/NX-series
Motion Control Instructions Reference Manual
NJ/NX-series CPU Unit
Built-in EtherCAT Port User’s Manual
NJ/NX-series CPU Unit
Built-in EtherNet/IP Port User’s Manual
NJ/NX-series CPU Unit
OPC UA User’s Manual
NX-series CPU Unit
FINS Function User’s Manual
NJ/NX-series Database Connection CPU Units
User’s Manual
NJ-series SECS/GEM CPU Units
User’s Manual
NJ-series NJ Robotics
CPU Unit User’s Manual
User’s Manual
Purpose of use
Writing the user program
Using motion control
Using EtherCAT
Using EtherNet/IP
Using OPC UA
Using FINS
Using the database connection service
Using the GEM Services
Using robot control
Using numerical control
Programming error processing
Using the NX1P2 CPU Unit functions
Testing operation and debugging
Using motion control
Using EtherCAT
Using EtherNet/IP
Using OPC UA
Using FINS
Using the database connection service
Using the GEM Services
Using robot control
Using numerical control
Using the NX1P2 CPU Unit functions
Learning about error management
and corrections
Maintenance
Using motion control
Using EtherCAT
Using EtherNet/IP
*1
NJ/NY-series NC Integrated Controller
NJ/NX-series
Troubleshooting Manual
*1 Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error
items. However, refer to the manuals that are indicated with triangles for details on errors corresponding to the products
with the manuals that are indicated with triangles.
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
3
Manual Structure
4-9
4 Installation and Wiring
NJ-series CPU Unit Hardware User’s Manual (W500)
s t i n U g n i t n u o M 3 - 4
4
s t n e n o p m o C r e l l o r t n o C g n i t c e n n o C 1 - 3 - 4
4-3 Mounting Units
The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.
1 Join the Units so that the connectors fit exactly.
2 The yellow sliders at the top and bottom of each U nit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place.
Precautions for Correct Use Precautions for Correct Use
4-3-1 Connecting Controller Components
Connector
Hook
Hook holes
Slider
Lock
Release
Move the sliders toward the back
until they lock into place.
Level 1 heading
Level 2 heading
Level 3 heading
Level 2 heading
A step in a procedure
Manual name
Special information
Level 3 heading
Page tab
Gives the current
headings.
Indicates a procedure.
Icons indicate
precautions, additional
information, or reference
information.
Gives the number
of the main section.
This illustration is provided only as a sample. It may not literally appear in this manual.
The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
the adjacent Unit connectors.
Manual Structure
Page Structure
The following page structure is used in this manual.
4
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Special Information
Special information in this manual is classified as follows:
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Note References are provided to more detailed or related information.
Manual Structure
Version Information
Information on differences in specifications and functionality for CPU Units with different unit versions
and for different versions of the Sysmac Studio are given.
Precaution on Terminology
In this manual, “download” refers to transferring data from the Sysmac Studio to the physical Controller
and “upload” refers to transferring data from the physical Controller to the Sysmac Studio.
For the Sysmac Studio, synchronization is used to both upload and download data. Here, “synchronize”
means to automatically compare the data for the Sysmac Studio on the computer with the data in the
physical Controller and transfer the data in the direction that is specified by the user.
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
5
Manual Structure
6
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Sections in this Manual
1
10
2
11
3
4
A
5
6
7
8
9
1
10
2
11
3
4I
A
6
5
7
8
9
Sample Programming
Troubleshooting
Configuring Axes
and Axes Groups
Appendices
Checking Wiring from
the Sysmac Studio
Index
I
Motion Control Parameters
Motion Control Programming
Manual Operation
Homing
Motion Control Functions
Introduction to the
Motion Control
Function Module
Motion Control
Configuration and
Principles
Sections in this Manual
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
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CONTENTS
CONTENTS
Introduction ...............................................................................................................1
Relevant Manuals......................................................................................................2
Manual Structure.......................................................................................................4
Sections in this Manual ............................................................................................7
Terms and Conditions Agreement.........................................................................14
Safety Precautions.................................................................................................. 16
Precautions for Safe Use........................................................................................17
Precautions for Correct Use...................................................................................18
Regulations and Standards....................................................................................19
Versions ...................................................................................................................21
Related Manuals......................................................................................................25
Revision History......................................................................................................28
Section 1 Introduction to the Motion Control Function Module
1-1 Features.................................................................................................................................... 1-2
1-2 System Configuration ............................................................................................................. 1-3
1-3 Basic Flow of Operation ......................................................................................................... 1-5
1-4 Specifications .......................................................................................................................... 1-7
1-4-1 General Specifications ................................................................................................................1-7
1-4-2 Performance Specifications ........................................................................................................1-7
1-4-3 Function Specifications ............................................................................................................. 1-11
Section 2 Motion Control Configuration and Principles
2-1 Internal Configuration of the CPU Unit.................................................................................. 2-2
2-2 Motion Control Configuration.................................................................................................2-3
2-3 Motion Control Principles ....................................................................................................... 2-5
2-3-1 CPU Unit Tasks ........................................................................................................................... 2-5
2-3-2 Example of Task Operations for Motion Control........................................................................ 2-13
2-4 EtherCAT Communications and Motion Control ................................................................ 2-20
2-4-1 CAN Application Protocol over EtherCAT (CoE) .......................................................................2-20
2-4-2 Relationship between EtherCAT Master Function Module and MC Function Module ..............2-21
2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period......... 2-24
Section 3 Configuring Axes and Axes Groups
3-1 Axes .......................................................................................................................................... 3-2
3-1-1 Introduction to Axes..................................................................................................................... 3-2
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CONTENTS
3-1-2 Introduction to Axis Parameters.................................................................................................. 3-3
3-1-3 Introduction to Axis Variables...................................................................................................... 3-7
3-1-4 Synchronizing Axis Variables...................................................................................................... 3-9
3-1-5 Specifying an Axis in the User Program .....................................................................................3-9
3-2 Axis Setting Procedure ......................................................................................................... 3-10
3-2-1 Axis Configuration Procedure................................................................................................... 3-10
3-2-2 Setting Procedure..................................................................................................................... 3-10
3-3 Axes Groups .......................................................................................................................... 3-20
3-3-1 Introduction to Axes Groups ..................................................................................................... 3-20
3-3-2 Introduction to Axes Group Parameters.................................................................................... 3-21
3-3-3 Introduction to Axes Group Variables .......................................................................................3-22
3-3-4 Specifying an Axes Group in the User Program ....................................................................... 3-24
3-4 Setting Procedures for Axes Groups................................................................................... 3-25
3-4-1 Setting Procedure for an Axes Group....................................................................................... 3-25
3-4-2 Setting Procedure..................................................................................................................... 3-25
Section 4 Checking Wiring from the Sysmac Studio
4-1 Functions of the Sysmac Studio............................................................................................ 4-2
4-1-1 MC Test Run Function ................................................................................................................ 4-2
4-1-2 Application Procedure................................................................................................................. 4-4
4-1-3 Axis Parameter Setting Example................................................................................................ 4-5
4-1-4 Starting the MC Test Run Function............................................................................................. 4-6
4-2 Monitoring Sensor Signals ..................................................................................................... 4-7
4-3 Checking Motor Operation .....................................................................................................4-8
4-3-1 Turning ON the Servo................................................................................................................. 4-8
4-3-2 Jogging ....................................................................................................................................... 4-8
4-3-3 Homing ....................................................................................................................................... 4-9
4-3-4 Absolute Positioning ................................................................................................................. 4-10
4-3-5 Relative Positioning ...................................................................................................................4-11
Section 5 Motion Control Parameters
5-1 Introduction.............................................................................................................................. 5-2
5-2 Axis Parameters ...................................................................................................................... 5-5
5-2-1 Axis Parameters ......................................................................................................................... 5-5
5-2-2 Axis Basic Settings ..................................................................................................................... 5-7
5-2-3 Unit Conversion Settings .......................................................................................................... 5-13
5-2-4 Operation Settings.................................................................................................................... 5-20
5-2-5 Other Operation Settings.......................................................................................................... 5-24
5-2-6 Limit Settings ............................................................................................................................ 5-25
5-2-7 Position Count Settings ............................................................................................................ 5-25
5-2-8 Servo Drive Settings................................................................................................................. 5-27
5-2-9 Homing Settings ....................................................................................................................... 5-28
5-2-10 Axis Parameter Setting Example.............................................................................................. 5-29
5-3 Axes Group Parameters........................................................................................................5-32
5-3-1 Axes Group Parameters ........................................................................................................... 5-32
5-3-2 Axes Group Basic Settings....................................................................................................... 5-33
5-3-3 Axes Group Operation Settings................................................................................................ 5-35
5-3-4 Enabling an Axes Group........................................................................................................... 5-37
Section 6 Motion Control Programming
6-1 Introduction.............................................................................................................................. 6-2
6-2 Motion Control Instructions ................................................................................................... 6-5
6-2-1 Function Blocks for PLCopen® Motion Control .......................................................................... 6-5
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
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CONTENTS
6-2-2 Motion Control Instructions of the MC Function Module .............................................................6-5
6-3 State Transitions...................................................................................................................... 6-6
6-3-1 Status of the Motion Control Function Module ............................................................................ 6-6
6-3-2 Axis States ..................................................................................................................................6-7
6-3-3 Axes Group States......................................................................................................................6-9
6-4 Execution and Status of Motion Control Instructions........................................................ 6-11
6-4-1 Basic Rules for Execution of Instructions..................................................................................6-11
6-4-2 Execution Timing Charts ...........................................................................................................6-13
6-4-3 Timing Chart for Re-execution of Motion Control Instructions ..................................................6-16
6-4-4 Timing Chart for Multi-execution of Motion Control Instructions ...............................................6-17
6-5 Positions ................................................................................................................................ 6-18
6-5-1 Types of Positions..................................................................................................................... 6-18
6-5-2 Valid Positions for Each Axis Type............................................................................................6-19
6-6 System-defined Variables for Motion Control..................................................................... 6-20
6-6-1 Overview of System-defined Variables for Motion Control........................................................6-20
6-6-2 System for System-defined Variables for Motion Control.......................................................... 6-23
6-6-3 Tables of System-defined Variables for Motion Control ............................................................6-25
6-7 Cam Tables and Cam Data Variables................................................................................... 6-36
6-8 Programming Motion Controls............................................................................................. 6-40
6-9 Creating Cam Tables ............................................................................................................. 6-42
Section 7 Manual Operation
7-1 Outline ...................................................................................................................................... 7-2
7-2 Turning ON the Servo.............................................................................................................. 7-3
7-2-1 Turning ON the Servo .................................................................................................................7-3
7-2-2 Setting Axis Parameters.............................................................................................................. 7-4
7-2-3 Programming Example................................................................................................................7-4
7-3 Jogging..................................................................................................................................... 7-5
7-3-1 Jogging Procedure......................................................................................................................7-5
7-3-2 Setting Axis Parameters.............................................................................................................. 7-6
7-3-3 Setting Example for Input Variables............................................................................................ 7-6
7-3-4 Programming Example................................................................................................................7-7
Section 8 Homing
8-1 Outline ...................................................................................................................................... 8-2
8-2 Homing Procedure .................................................................................................................. 8-5
8-2-1 Setting Homing Parameters ........................................................................................................8-5
8-2-2 Monitoring the Homing Operation .............................................................................................8-12
8-3 Homing Operation ................................................................................................................. 8-13
8-4 Homing with an Absolute Encoder ...................................................................................... 8-14
8-4-1 Outline of Function....................................................................................................................8-15
8-4-2 Setting Procedure ..................................................................................................................... 8-16
8-5 High-speed Homing............................................................................................................... 8-18
Section 9 Motion Control Functions
9-1 Single-axis Position Control................................................................................................... 9-3
9-1-1 Outline of Operation.................................................................................................................... 9-3
9-1-2 Absolute Positioning....................................................................................................................9-4
9-1-3 Relative Positioning.....................................................................................................................9-4
9-1-4 Interrupt Feeding.........................................................................................................................9-5
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9-1-5 Cyclic Synchronous Positioning.................................................................................................. 9-6
9-1-6 Stopping ..................................................................................................................................... 9-7
9-1-7 Override Factors....................................................................................................................... 9-12
9-2 Single-axis Synchronized Control ....................................................................................... 9-13
9-2-1 Overview of Synchronized Control ...........................................................................................9-13
9-2-2 Gear Operation......................................................................................................................... 9-13
9-2-3 Positioning Gear Operation ...................................................................................................... 9-14
9-2-4 Cam Operation ......................................................................................................................... 9-15
9-2-5 Cam Tables............................................................................................................................... 9-16
9-2-6 Synchronous Positioning .......................................................................................................... 9-24
9-2-7 Combining Axes........................................................................................................................ 9-25
9-2-8 Master Axis Phase Shift............................................................................................................ 9-26
9-2-9 Slave Axis Position Compensation...........................................................................................9-26
9-2-10 Achieving Synchronized Control in Multi-motion ...................................................................... 9-27
9-3 Single-axis Velocity Control .................................................................................................9-29
9-3-1 Velocity Control......................................................................................................................... 9-29
9-3-2 Cyclic Synchronous Velocity Control........................................................................................9-30
9-4 Single-axis Torque Control...................................................................................................9-31
9-5 Common Functions for Single-axis Control ....................................................................... 9-32
9-5-1 Positions ................................................................................................................................... 9-32
9-5-2 Velocity ..................................................................................................................................... 9-34
9-5-3 Acceleration and Deceleration.................................................................................................. 9-35
9-5-4 Jerk........................................................................................................................................... 9-37
9-5-5 Specifying the Operation Direction ........................................................................................... 9-38
9-5-6 Re-executing Motion Control Instructions................................................................................. 9-42
9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)................................................... 9-47
9-6 Multi-axes Coordinated Control ........................................................................................... 9-53
9-6-1 Outline of Operation.................................................................................................................. 9-53
9-6-2 Linear Interpolation ................................................................................................................... 9-56
9-6-3 Circular Interpolation................................................................................................................. 9-57
9-6-4 Axes Group Cyclic Synchronous Positioning............................................................................ 9-57
9-6-5 Stopping Under Multi-axes Coordinated Control ...................................................................... 9-58
9-6-6 Overrides for Multi-axes Coordinated Control .......................................................................... 9-59
9-7 Common Functions for Multi-axes Coordinated Control .................................................. 9-61
9-7-1 Velocity Under Multi-axes Coordinated Control........................................................................ 9-61
9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control .................................... 9-62
9-7-3 Jerk for Multi-axes Coordinated Control ................................................................................... 9-63
9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control ......................... 9-64
9-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated
Control ...................................................................................................................................... 9-65
9-8 Other Functions..................................................................................................................... 9-73
9-8-1 Changing the Current Position.................................................................................................. 9-73
9-8-2 Torque Limit .............................................................................................................................. 9-74
9-8-3 Latching .................................................................................................................................... 9-74
9-8-4 Zone Monitoring........................................................................................................................ 9-75
9-8-5 Software Limits ......................................................................................................................... 9-76
9-8-6 Following Error Monitoring........................................................................................................ 9-77
9-8-7 Following Error Counter Reset ................................................................................................. 9-78
9-8-8 Axis Following Error Monitoring ................................................................................................ 9-78
9-8-9 In-position Check...................................................................................................................... 9-79
9-8-10 Changing Axis Use ................................................................................................................... 9-81
9-8-11 Enabling Digital Cam Switch..................................................................................................... 9-81
9-8-12 Displaying 3D Motion Monitor for User Coordinate System ..................................................... 9-82
Section 10 Sample Programming
10-1 Overview of Sample Programming ...................................................................................... 10-2
10-1-1 Devices..................................................................................................................................... 10-2
10-1-2 Installation and Wiring .............................................................................................................. 10-2
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
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CONTENTS
10-1-3 Setup......................................................................................................................................... 10-2
10-2 Basic Programming Samples ............................................................................................... 10-3
10-2-1 Monitoring EtherCAT Communications and Turning ON Servos ..............................................10-3
10-2-2 Interlocking Axis Operation with Master Control Instructions....................................................10-5
10-2-3 Error Monitoring and Error Resetting for Single-axis Operation and Synchronized Operation . 10-7
10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation ............................10-9
10-2-5 Monitoring for Instruction Errors..............................................................................................10-15
10-2-6 Checking to See If Errors Are Reset.......................................................................................10-17
10-2-7 Stopping Axes during Single-axis Operation...........................................................................10-19
10-2-8 Stopping an Axes Group in Coordinated Motion.....................................................................10-23
10-2-9 Homing and Absolute Positioning ...........................................................................................10-29
10-2-10 Changing the Target Position by Re-execution of an Instruction ............................................10-34
10-2-11 Interrupt Feeding..................................................................................................................... 10-40
10-2-12 Changing the Cam Table by Re-execution of an Instruction ...................................................10-44
10-2-13 Using a Cam Profile Curve to Correct the Sync Position ........................................................10-53
10-2-14 Shifting the Phase of a Master Axis in Cam Motion ................................................................10-63
10-2-15 Changing the Actual Position during Velocity Control .............................................................10-71
10-2-16 Changing a Cam Data Variable and Saving the Cam Table ...................................................10-77
10-2-17 Temporarily Changing Axis Parameters ..................................................................................10-86
10-2-18 Updating the Cam Table End Point Index ...............................................................................10-89
Section 11 Troubleshooting
11-1 Overview of Troubleshooting ............................................................................................... 11-2
Appendices
A-1 Connecting the 1S-series Servo Drive...................................................................................A-2
A-1-1 Wiring the Servo Drive ................................................................................................................A-2
A-1-2 Servo Drive Settings ...................................................................................................................A-2
A-2 Connecting the G5-series Servo Drive ................................................................................ A-11
A-2-1 Wiring the Servo Drive ..............................................................................................................A-11
A-2-2 Servo Drive Settings ................................................................................................................. A-11
A-3 Connecting to Encoder Input Terminals..............................................................................A-22
A-3-1 Wiring to Encoder Input Terminals ............................................................................................A-22
A-3-2 Settings for Encoder Input Terminals ........................................................................................A-22
A-4 Connecting to NX Units.........................................................................................................A-28
A-5 PDS State Transition .............................................................................................................A-29
A-5-1 PDS State Control Method........................................................................................................A-30
A-5-2 Main Circuit Power Supply OFF Detection................................................................................A-31
A-6 Terminology ...........................................................................................................................A-32
A-6-1 NJ/NX-series Controller ............................................................................................................A-32
A-6-2 Motion Control...........................................................................................................................A-33
A-6-3 EtherCAT Communications.......................................................................................................A-35
A-7 Version Information...............................................................................................................A-36
Index
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NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
CONTENTS
13
Terms and Conditions Agreement
Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workmanship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-complying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combination with any electrical or electronic components, circuits, system assemblies or any other materials or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
14
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a complete determination of the suitability of the Product in combination with the end product, machine, system, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take application responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE
HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
Terms and Conditions Agreement
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual performance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.
Errors and Omissions
Information presented by Omron Companies has been checked and is believed to be accurate; however, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
15
Safety Precautions
Safety Precautions
Definition of Precautionary Information
Refer to the following manuals for safety precautions.
• NX-series CPU Unit Hardware User’s Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User’s Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)
16
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Precautions for Safe Use
Refer to the following manuals for precautions for safe use.
• NX-series CPU Unit Hardware User’s Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User’s Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)
Precautions for Safe Use
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
17
Precautions for Correct Use
Precautions for Correct Use
Refer to the following manuals for precautions for correct use.
• NX-series CPU Unit Hardware User’s Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User’s Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)
18
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Regulations and Standards
Conformance to EU Directives
Applicable Directives
• EMC Directives
• Low Voltage Directive
Concepts
EMC Directive
OMRON devices that comply with EU Directives also conform to the related EMC standards so that
they can be more easily built into other devices or the overall machine. The actual products have
been checked for conformity to EMC standards.*
Whether the products conform to the standards in the system used by the customer, however, must
be checked by the customer. EMC-related performance of the OMRON devices that comply with EU
Directives will vary depending on the configuration, wiring, and other conditions of the equipment or
control panel on which the OMRON devices are installed. The customer must, therefore, perform
the final check to confirm that devices and the overall machine conform to EMC standards.
* Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN 61131-2
EMI (Electromagnetic Interference): EN 61131-2 (Radiated emission: 10-m regulations)
Regulations and Standards
Low Voltage Directive
Always ensure that devices operating at voltages of 50 to 1,000 VAC and 75 to 1,500 VDC meet the
required safety standards. The applicable directive is EN61010-2-201.
Conformance to EU Directives
The NJ/NX-series Controllers comply with EU Directives. To ensure that the machine or device in
which the NJ/NX-series Controller is used complies with EU Directives, the Controller must be
installed as follows:
• The NJ/NX-series Controller must be installed within a control panel.
• You must use the power supply in SELV specifications for the DC power supplies connected to
DC Power Supply Units and I/O Units.
• NJ/NX-series Controllers that comply with EU Directives also conform to the Common Emission
Standard (EN 61000-6-4). Radiated emission characteristics (10-m regulations) may vary
depending on the configuration of the control panel used, other devices connected to the control
panel, wiring, and other conditions.
You must therefore confirm that the overall machine or equipment complies with EU Directives.
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
19
Regulations and Standards
Conformance to KC Certification
Observe the following precaution if you use NJ/NX-series Units in Korea.
Class A Device (Broadcasting Communications Device for Office Use)
This device obtained EMC registration for office use (Class A), and it is intended to be used in places
other than homes.
Sellers and/or users need to take note of this.
Conformance to Shipbuilding Standards
The NJ/NX-series Controllers comply with the following shipbuilding standards. Applicability to the
shipbuilding standards is based on certain usage conditions. It may not be possible to use the product in some locations. Contact your OMRON representative before attempting to use a Controller on
a ship.
Usage Conditions for NK and LR Shipbuilding Standards
• The NJ/NX-series Controller must be installed within a control panel.
• Gaps in the door to the control panel must be completely filled or covered with gaskets or other
material.
• The following noise filter must be connected to the power supply line.
Noise Filter
Manufacturer Model
Cosel Co., Ltd. TAH-06-683
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/.
20
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Versions
ID information indication
Lot number Serial number Unit version
MAC address Hardware revision
LOT No. DDMYY xxxx Ver.1.
PORT1 : HW Rev.
PORT2 :
LOT No. DDMYY xxxx
PORT1
PORT2
Ver.. HW Rev.
ID information indication
Lot number Serial numberUnit version
MAC address
Hardware revision
Hardware revisions and unit versions are used to manage the hardware and software in NJ/NX-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 hardware 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.
The ID information on an NX-series NX701- CPU Unit is shown below.
Versions
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
The ID information on an NX-series NX102- CPU Unit is shown below.
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
21
Versions
ID information indication
Lot number Serial number
Unit version
PORT1 :
PORT2 :
Ver.1. HW Rev.
LOT No. DDMYY xxxx
MAC address
Hardware
revision
The ID information on an NX-series NX1P2- CPU Unit is shown below.
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
The ID information on an NJ-series NJ501- CPU Unit is shown below.
ID information indication
Unit model
NJ501
-
PORT1 MAC ADDRESS:
PORT2 MAC ADDRESS:
Lot No. DDMYY
Lot number Serial number MAC address
Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.
Unit version Hardware revision
Ver.1.
HW Rev.
xxxx
Checking Unit Versions with the Sysmac Studio
You can use the Sysmac Studio to check unit versions. The procedure is different for Units and for EtherCAT slaves.
Checking the Unit Version of an NX-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 following Units.
22
Model Unit for which unit version can be checked
NX701- CPU Unit
NX102- CPU Unit and NX Unit on CPU Rack
NX1P2- CPU Unit, NX Unit on CPU Rack, and Option Boards
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Versions
1 Right-click CPU Rack under Configurations and Setup − CPU/Expansion Racks in the Multi-
view Explorer and select Production Information.
The Production Information Dialog Box is displayed.
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. You cannot check the unit versions of CJ-series Basic I/O Units with the Sysmac Studio.
Use the following procedure to check the unit version.
1 Double-click CPU/Expansion Racks under Configurations and Setup in the Multiview
Explorer. Or, right-click CPU/Expansion Racks under Configurations and Setup and select
Edit from the menu.
The Unit Editor is displayed.
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.
Outline View Detail View
The information that is displayed is different for the Outline View and Detail View. The Detail View
displays the unit version, hardware version, and software versions. The Outline View displays 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.
Checking the Unit Version of an EtherCAT Slave
You can use the Production Information while the Sysmac Studio is online to check the unit version
of an EtherCAT slave. Use the following procedure to check the unit version.
1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or, right-
click EtherCAT under Configurations and Setup and select Edit from the menu.
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
23
Versions
The EtherCAT Tab Page is displayed.
2 Right-click the master on the EtherCAT Tab Page and select Display Production Information.
The Production Information Dialog Box is displayed.
The unit version is displayed after “Rev.”
Changing Information Displayed in Production Information Dialog Box
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.
Outline View Detail View
Unit Versions of CPU Units and Sysmac Studio Versions
The functions that are supported depend on the unit version of the NJ/NX-series CPU Unit. The version
of Sysmac Studio that supports the functions that were added for an upgrade is also required to use
those functions.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the relationship
between the unit versions of CPU Units and the Sysmac Studio versions.
Refer to A-7 Version Information for the functions that are supported by each unit version.
24
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Related Manuals
The following are the manuals related to this manual. Use these manuals for reference.
Manual name Cat. No. Model numbers Application Description
NX-series CPU Unit
Hardware User’s Manual
NX-series NX102 CPU
Unit Hardware User’s
Manual
NX-series NX1P2 CPU
Unit Hardware User's
Manual
NJ-series CPU Unit
Hardware User’s Manual
NJ/NX-series CPU Unit
Software User’s Manual
NX-series NX1P2 CPU
Unit Built-in I/O and
Option Board User's
Manual
W535 NX701- Learning the basic specifi-
cations of the NX701 CPU
Units, including introductory
information, designing,
installation, and maintenance. Mainly hardware
information is provided.
W593 NX102- Learning the basic specifi-
cations of the NX102 CPU
Units, including introductory
information, designing,
installation, and maintenance.
Mainly hardware information is provided.
W578 NX1P2- Learning the basic specifi-
cations of the NX1P2 CPU
Units, including introductory
information, designing,
installation, and maintenance.
Mainly hardware information is provided.
W500 NJ501-
NJ301-
NJ101-
W501 NX701-
NX102-
NX1P2-
NJ501-
NJ301-
NJ101-
W579 NX1P2- Learning about the details
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.
of functions only for an NXseries NX1P2 CPU Unit and
an introduction of functions
for an NJ/NX-series CPU
Unit.
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
An introduction to the entire NX102 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
An introduction to the entire NX1P2 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
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
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/NXseries CPU Unit is also provided.
• Motion control functions
• EtherNet/IP communications functions
• EtherCAT communications functions
Related Manuals
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
25
Related Manuals
Manual name Cat. No. Model numbers Application Description
NJ/NX-series Instructions Reference Manual
NJ/NX-series CPU Unit
Motion Control User’s
Manual
NJ/NX-series Motion
Control Instructions Reference Manual
NJ/NX-series CPU Unit
Built-in EtherCAT® Port
User’s Manual
NJ/NX-series CPU Unit
Built-in EtherNet/IP
Port User’s Manual
NJ/NX-series CPU Unit
OPC UA User’s Manual
NX-series
CPU Unit FINS Function
User’s Manual
NJ/NX-series Database
Connection CPU Units
User’s Manual
NJ-series SECS/GEM
CPU Unit User’s Manual
NJ-series NJ Robotics
CPU Unit User’s Manual
NJ/NY-series NC Integrated Controller User’s
Manual
NJ/NY-series
G code Instructions Reference Manual
NJ/NX-series Troubleshooting Manual
Sysmac Studio Version 1
Operation Manual
CNC Operator
Operation Manual
TM
W502 NX701-
NX102-
NX1P2-
NJ501-
NJ301-
NJ101-
W507 NX701-
W508 NX701-
W505 NX701-
W506 NX701-
W588 NX102-
W596 NX701-20
W527 NX701-20
W528 NJ501-1340 Using the GEM service with
W539 NJ501-4 Controlling robots with NJ-
O030 NJ501-5300
O031 NJ501-5300
W503 NX701-
W504 SYSMAC-
O032 SYSMAC
NX102-
NX1P2-
NJ501-
NJ301-
NJ101-
NX102-
NX1P2-
NJ501-
NJ301-
NJ101-
NX102-
NX1P2-
NJ501-
NJ301-
NJ101-
NX102-
NX1P2-
NJ501-
NJ301-
NJ101-
NJ501-100
NX102-
NX102-20
NJ501-20
NJ101-20
NY532-5400
NY532-5400
NX102-
NX1P2-
NJ501-
NJ301-
J
101-
N
SE2
-RTNC0D
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 that are provided by OMRON.
Using the built-in EtherCAT
port on an NJ/NX-series
CPU Unit.
Using the built-in EtherNet/IP port on an NJ/NXseries CPU Unit.
Using OPC UA. An introduction to the OPC UA is provided.
Using the FINS function on
the NX-series CPU Unit.
Using the database connection service with NJ/NXseries Controllers
NJ-series Controllers.
series CPU Units.
Performing numerical control with NJ/NY-series Controllers.
Learning about the specifications of the G code/M
code instructions.
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 an introduction of
the CNC Operator and how
to use it.
The instructions in the instruction set (IEC 61131-3
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.
An introduction to the FINS function on the NXseries CPU Unit is provided.
Describes the database connection service.
Describes the GEM service.
Describes the functionality to control robots.
Describes the functionality to perform the numerical control.
The G code/M code instructions are described.
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.
An introduction of the CNC Operator, installation
procedures, basic operations, connection operations, and operating procedures for main functions
are described.
26
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
Manual name Cat. No. Model numbers Application Description
NX-series EtherCAT®
Coupler Unit User’s Manual
NX-series Data
Reference Manual
NX-series NX Units
User’s Manuals
GX-series EtherCAT
Slave Units User’s Manual
AC Servomotors/Servo
Drives 1S-series with
Built-in EtherCAT® Communications User’s Manual
AC Servomotors/Servo
Drives G5-series with
Built-in EtherCAT® Communications User’s Manual
W519 NX-ECC Learning how to use an NX-
series EtherCAT Coupler
Unit and EtherCAT Slave
Terminals
NX-
W525
W521
W522
W566 NX-TS
W523
W524
W540 NX-CIF
W565 NX-RS
W567 NX-ILM
W488 GX-ID
I586 R88M-1
I573 R88M-K
I576 R88M-K
I577 R88L-EC-
Referencing lists of the data
NX-ID
NX-IA
NX-OC
NX-OD
NX-MD
NX-AD
NX-DA
NX-HB
NX-PD1
NX-PF0
NX-PC0
NX-TBX01
NX-EC0
NX-ECS
NX-PG0
GX-OD
GX-OC
GX-MD
GX-AD
GX-DA
GX-EC
XWT-ID
XWT-OD
R88D-1SN-
ECT
R88D-KN-ECTR
R88D-KN-ECT
R88D-KN-ECT-L
that is required to configure
systems with NX-series
Units.
Learning how to use NX
Units
Learning how to use the
EtherCAT remote I/O
terminals.
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.
The system and configuration of EtherCAT Slave
Terminals, which consist of an NX-series EtherCAT
Coupler Unit and NX Units, are described along
with the hardware, setup, and functions of the EtherCAT Coupler Unit that are required to configure,
control, and monitor NX Units through EtherCAT.
Lists of the power consumptions, weights, and
other NX Unit data that is required to configure
systems with NX-series Units are provided.
Describes the hardware, setup methods, and functions of the NX Units.
Manuals are available for the following Units.
Digital I/O Units, Analog I/O Units, System Units,
Position Interface Units, Communications Interface
Units, Load Cell Input Units, and IO-Link Master
Units.
Describes the hardware, setup methods and functions of the EtherCAT remote I/O terminals.
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 model and the model dedicated for position controls are available in
G5-series.
Related Manuals
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
27
Revision History
W507-E1-18
Revision 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 Date Revised content
01 July 2011 Original production
02 March 2012 Added information on the NJ301-.
03 May 2012 Made changes accompanying the upgrade to unit version 1.02
04 August 2012 Made changes accompanying release of unit version 1.03 of
05 February 2013 Made changes accompanying release of unit version 1.04 of
06 April 2013 Made changes accompanying release of unit version 1.05 of
07 June 2013 Made changes accompanying release of unit version 1.06 of
08 December 2013 Made changes accompanying release of unit version 1.08 of
09 July 2014 Made changes accompanying release of unit version 1.09 of
10 January 2015 Made changes accompanying release of unit version 1.10 of
11 April 2015 Made changes accompanying release of the NX-series
12 April 2016 Made changes accompanying release of unit version 1.11 of
13 July 2016 Made changes accompanying release of unit version 1.12 of
14 October 2016 Made changes accompanying addition of NX-series NX1P2
15 January 2017 Corrected mistakes.
16 October 2017 Corrected mistakes.
17 April 2018 Made changes accompanying addition of NX-series NX102
18 July 2018 Corrected mistakes.
Made changes accompanying the upgrade to unit version
1.01.
and corrected mistakes.
the CPU Unit.
the CPU Unit.
the CPU Unit and corrected mistakes.
the CPU Unit and corrected mistakes.
the CPU Unit and corrected mistakes.
the CPU Unit and corrected mistakes.
the CPU Unit and corrected mistakes.
NX701- CPU Unit and the NJ-series NJ101-10
CPU Unit, and corrected mistakes.
the CPU Unit and corrected mistakes.
the CPU Unit and corrected mistakes.
CPU Unit and release of unit version 1.13 of the CPU Unit,
and corrected mistakes.
CPU Unit and corrected mistakes.
Made changes accompanying the transfer of explanation for
event codes and errors to the NJ/NX-series Troubleshooting
Manual.
28
NJ/NX-series CPU Unit Motion Control User’s Manual (W507)
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