Omron NY532-1500, NY532-5400, NY532-1400, NY532-1300, NY512-1400 User Manual

...

Industrial PC Platform

NY-series

IPC Machine Controller Industrial Panel PC / Industrial Box PC

Motion Control User’s Manual

NY532-1500 NY532-1400 NY532-1300 NY532-5400 NY512-1500 NY512-1400 NY512-1300

Industrial Panel PC Industrial Box PC

W559-E1-03

NOTE

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

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

Trademarks

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

• Microsoft, Windows, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corporation in the United States and other countries.

• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD and SDHC logos are trademarks of SD-3C, LLC.

• Intel and Intel Core are trademarks of Intel Corporation in the U.S. and / or other countries.

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 NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC. This manual provides a collective term of Industrial Panel PC and Industrial Box PC which are applicable products as the NY-series Industrial PC. This manual also provides the range of devices that are directly controlled by the Controller functions embedded the Real-Time OS in the NY-series Industrial PC as the Controller.

This manual contains information that is necessary to use the Motion Control Function Module of an NY-series Controller. Please read this manual and make sure you understand the functionality and performance of the NY-series Controller 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.

Introduction

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.

Applicable Products

This manual covers the following products.

NY-series IPC Machine Controller Industrial Panel PC

• NY532-15

• NY532-14

• NY532-13

• NY532-5400

NY-series IPC Machine Controller Industrial Box PC

• NY512-15

• NY512-14

• NY512-13

Part of the specifications and restrictions for the Industrial PC are given in other manuals. Refer to Relevant Manuals on page 2 and Related Manuals on page 22.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Relevant Manuals

The following provides the relevant manuals for NY-series Controller.

Read all of the manuals that are relevant to your system configuration and application before you use NY-series Controller. 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.

NY-series IPC Machine Controller

Industrial Panel PC

Hardware User’s Manual

Purpose of use

Basic information

NY-series IPC Machine Controller

Industrial Box PC

Hardware User’s Manual

Industrial Panel PC / Industrial Box PC

Setup User's Manual

Manual

NY-series IPC Machine Controller

Industrial Panel PC / Industrial Box PC

Software User’s Manual

Instructions Reference Manual

NY-series

Motion Control User's Manual

Industrial Panel PC / Industrial Box PC

NY-series IPC Machine Controller

NY-series Motion Control

Instructions Reference Manual

NY-series IPC Machine Controller

Industrial Panel PC / Industrial Box PC

Built-in EtherCAT Port User’s Manual

Built-in EtherNet/IP Port User's Manual

Industrial Panel PC / Industrial Box PC

NY-series IPC Machine Controller

NJ/Y-series NC Integrated Controller

User's Manual

Troubleshooting Manual

NY-series

Introduction to NY-series Panel PCs 

Introduction to NY-series Box PCs 

Setting devices and hardware

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Making setup

Making initial settings

Preparing to use Controllers

Software settings

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using numerical control 

Writing the user program

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using numerical control 

Programming error processing 

Testing operation and debugging

Using motion control 

Using EtherCAT 

Using EtherNet/IP 

Using numerical control 

Learning about error management and

corrections

Maintenance

Using motion control 

Using EtherCAT 

Using EtherNet/IP 













NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Relevant Manuals

*1 Refer to the NY-series Industrial Panel PC / Industrial Box PC Setup User’s Manual (Cat. No. W568) for how to set up and

how to use the utilities on Windows.

*2 Refer to the NY-series Troubleshooting Manual (Cat. No. W564) for the error management concepts and an overview of

the error items.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

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

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 eac h Unit lock the Units together. Move the sliders

toward the back of the Units as shown below until they click into place.

Precautions for Correct 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.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

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

Precaution on Terminology

In this manual, “download” refers to transferring data from the Sysmac Studio to the NY-series Controller and “upload” refers to transferring data from the NY-series 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.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Manual Structure

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Sections in this Manual

Sample Programming

Troubleshooting

Configuring Axes and Axes Groups

Appendices

Checking Wiring from the Sysmac Studio

Index

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

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Sections in this Manual

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

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................................................................................................................... 20

Related Manuals ..................................................................................................... 22

Revision History ..................................................................................................... 25

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

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

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

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

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

Section 2 Motion Control Configuration and Principles

2-1 Internal Configuration of the Controller Functions .............................................................. 2-2

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

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

2-3-1 Controller Function Tasks ........................................................................................................... 2-4

2-3-2 Example of Task Operations for Motion Control ......................................................................... 2-8

2-4 EtherCAT Communications and Motion Control ................................................................ 2-12

2-4-1 CAN Application Protocol over EtherCAT (CoE) ...................................................................... 2-12

2-4-2 Relationship between EtherCAT Master Function Module and MC Function Module .............. 2-13

2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period ........ 2-14

Section 3 Configuring Axes and Axes Groups

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

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

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

CONTENTS

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

3-1-3 Introduction to Axis Variables...................................................................................................... 3-7

3-1-4 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 .......................................................................................................................... 3-19

3-3-1 Introduction to Axes Groups...................................................................................................... 3-19

3-3-2 Introduction to Axes Group Parameters....................................................................................3-20

3-3-3 Introduction to Axes Group Variables........................................................................................ 3-21

3-3-4 Specifying an Axes Group in the User Program........................................................................3-23

3-4 Setting Procedures for Axes Groups................................................................................... 3-24

3-4-1 Setting Procedure for an Axes Group .......................................................................................3-24

3-4-2 Setting Procedure .....................................................................................................................3-24

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........................................................................................................... 5-10

5-2-4 Operation Settings .................................................................................................................... 5-17

5-2-5 Other Operation Settings ..........................................................................................................5-21

5-2-6 Limit Settings.............................................................................................................................5-22

5-2-7 Position Count Settings.............................................................................................................5-22

5-2-8 Servo Drive Settings .................................................................................................................5-24

5-2-9 Homing Settings........................................................................................................................5-25

5-2-10 Axis Parameter Setting Example ..............................................................................................5-26

5-3 Axes Group Parameters........................................................................................................5-29

5-3-1 Axes Group Parameters............................................................................................................ 5-29

5-3-2 Axes Group Basic Settings .......................................................................................................5-30

5-3-3 Axes Group Operation Settings ................................................................................................5-32

5-3-4 Enabling an Axes Group ........................................................................................................... 5-34

Section 6 Motion Control Programming

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

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

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

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

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

CONTENTS

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

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

6-3-2 Axis States.................................................................................................................................. 6-5

6-3-3 Axes Group States...................................................................................................................... 6-7

6-4 Execution and Status of Motion Control Instructions.......................................................... 6-9

6-4-1 Basic Rules for Execution of Instructions ................................................................................... 6-9

6-4-2 Execution Timing Charts............................................................................................................6-11

6-4-3 Timing Chart for Re-execution of Motion Control Instructions .................................................. 6-14

6-4-4 Timing Chart for Multi-execution of Motion Control Instructions ............................................... 6-15

6-5 Positions ................................................................................................................................ 6-16

6-5-1 Types of Positions..................................................................................................................... 6-16

6-5-2 Valid Positions for Each Axis Type ........................................................................................... 6-17

6-6 System-defined Variables for Motion Control..................................................................... 6-18

6-6-1 Overview of System-defined Variables for Motion Control ....................................................... 6-18

6-6-2 System for System-defined Variables for Motion Control ......................................................... 6-21

6-6-3 Tables of System-defined Variables for Motion Control............................................................ 6-22

6-7 Cam Tables and Cam Data Variables................................................................................... 6-33

6-8 Programming Motion Controls............................................................................................. 6-37

6-9 Creating Cam Tables............................................................................................................. 6-39

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

9-1-5 Cyclic Synchronous Positioning.................................................................................................. 9-6

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

CONTENTS

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

9-1-7 Override Factors ....................................................................................................................... 9-11

9-2 Single-axis Synchronized Control ....................................................................................... 9-12

9-2-1 Overview of Synchronized Control............................................................................................9-12

9-2-2 Gear Operation ......................................................................................................................... 9-12

9-2-3 Positioning Gear Operation.......................................................................................................9-13

9-2-4 Cam Operation.......................................................................................................................... 9-14

9-2-5 Cam Tables ............................................................................................................................... 9-15

9-2-6 Synchronous Positioning........................................................................................................... 9-23

9-2-7 Combining Axes........................................................................................................................ 9-24

9-2-8 Master Axis Phase Shift............................................................................................................9-25

9-2-9 Slave Axis Position Compensation ...........................................................................................9-25

9-3 Single-axis Velocity Control .................................................................................................9-27

9-3-1 Velocity Control......................................................................................................................... 9-27

9-3-2 Cyclic Synchronous Velocity Control.........................................................................................9-28

9-4 Single-axis Torque Control ...................................................................................................9-29

9-5 Common Functions for Single-axis Control ....................................................................... 9-30

9-5-1 Positions....................................................................................................................................9-30

9-5-2 Velocity......................................................................................................................................9-32

9-5-3 Acceleration and Deceleration ..................................................................................................9-33

9-5-4 Jerk ...........................................................................................................................................9-35

9-5-5 Specifying the Operation Direction............................................................................................9-36

9-5-6 Re-executing Motion Control Instructions .................................................................................9-40

9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) ...................................................9-45

9-6 Multi-axes Coordinated Control ........................................................................................... 9-51

9-6-1 Outline of Operation..................................................................................................................9-51

9-6-2 Linear Interpolation ...................................................................................................................9-54

9-6-3 Circular Interpolation................................................................................................................. 9-55

9-6-4 Axes Group Cyclic Synchronous Positioning ............................................................................ 9-55

9-6-5 Stopping Under Multi-axes Coordinated Control.......................................................................9-56

9-6-6 Overrides for Multi-axes Coordinated Control...........................................................................9-57

9-7 Common Functions for Multi-axes Coordinated Control................................................... 9-59

9-7-1 Velocity Under Multi-axes Coordinated Control ........................................................................9-59

9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control.....................................9-60

9-7-3 Jerk for Multi-axes Coordinated Control....................................................................................9-61

9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control ......................... 9-62

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

Control.......................................................................................................................................9-63

9-8 Other Functions..................................................................................................................... 9-71

9-8-1 Changing the Current Position..................................................................................................9-71

9-8-2 Torque Limit...............................................................................................................................9-72

9-8-3 Latching.....................................................................................................................................9-72

9-8-4 Zone Monitoring ........................................................................................................................9-73

9-8-5 Software Limits..........................................................................................................................9-74

9-8-6 Following Error Monitoring ........................................................................................................ 9-75

9-8-7 Following Error Counter Reset..................................................................................................9-76

9-8-8 Axis Following Error Monitoring ................................................................................................9-76

9-8-9 In-position Check ......................................................................................................................9-77

9-8-10 Changing Axis Use.................................................................................................................... 9-79

9-8-11 Enabling Digital Cam Switch ..................................................................................................... 9-79

9-8-12 Displaying 3D Motion Monitor for User Coordinate System...................................................... 9-80

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

10-1-3 Setup.........................................................................................................................................10-2

10-2 Basic Programming Samples ............................................................................................... 10-3

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

CONTENTS

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 ................................................................................. 10-85

10-2-18 Updating the Cam Table End Point Index............................................................................... 10-89

Section 11 Troubleshooting

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

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

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

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

11-2-1 Preliminary Check Items..........................................................................................................11-11

11-2-2 Problems and Countermeasures.............................................................................................11-12

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 NY-series Controller..................................................................................................................A-32

A-6-2 Motion Control .......................................................................................................................... A-33

A-6-3 EtherCAT Communications ...................................................................................................... A-34

A-7 Version Information...............................................................................................................A-35

Index

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

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.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

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.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Safety Precautions

Refer to the following manuals for safety precautions.

• NY-series Industrial Box PC Hardware User’s Manual (Cat. No. W556)

• NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)

• NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558)

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Precautions for Safe Use

Refer to the following manuals for precautions for safe use.

• NY-series Industrial Box PC Hardware User’s Manual (Cat. No. W556)

• NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)

• NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558)

Precautions for Safe Use

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Precautions for Correct Use

Refer to the following manuals for precautions for correct use.

• NY-series Industrial Box PC Hardware User’s Manual (Cat. No. W556)

• NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)

• NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual (Cat. No. W558)

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Regulations and Standards

Conformance to EU Directives

Applicable Directives

• EMC Directives

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

 Conformance to EU Directives

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

• The NY-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.

• NY-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.

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/.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Versions

ID information indication

Unit version

Ver.1.

Versions

Hardware revisions and unit versions are used to manage the hardware and software in NY-series Controllers 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 back side of the product.

The ID information on an NY-series NY52- Controller is shown below.

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 NY-series Controller

You can use the Production Information while the Sysmac Studio is online to check the unit version of a Unit. You can only do this for the Controller.

• Right-click CPU Rack under Configurations and Setup − CPU/Expansion Racks in the Multiview Explorer and select Production Information. The Production Information Dialog Box is displayed.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Versions

 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

The information that is displayed is different for the Outline View and Detail View. The Detail View displays the unit version, hardware revision, and other versions. The Outline View displays only the unit version.

 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.

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

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Related Manuals

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

Manual name Cat. No. Model numbers Application Description

NY-series IPC Machine Controller Industrial Panel PC Hardware User’s Manual

NY-series IPC Machine Controller Industrial Box PC Hardware User’s Manual

NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Setup User’s Manual

NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Software User’s Manual

NY-series Instructions Reference Manual

NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Motion Control User’s Manual

NY-series Motion Control Instructions Reference Manual

W557 NY532- Learning the basic

specifications of the NY-series Industrial Panel PCs, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided.

W556 NY512- Learning the basic

specifications of the NY-series Industrial Box PCs, including introductory information, designing, installation, and maintenance.

Mainly hardware information is provided.

W568 NY532-

NY512-

W558 NY532-

NY512-

W560 NY532-

NY512-

W559 NY532-

NY512-

W561 NY532-



NY512-

Learning about initial setting of the NYseries Industrial PCs and how to prepare the Controller.

Learning how to program and set up the Controller functions of an NY-series Industrial PC.

Learning detailed specifications on the basic instructions of the NY-series Industrial PC.

Learning about motion control settings and programming concepts of an NY-series Industrial PC.

Learning abou specifications of the motion contr instructions of an NYseries Industrial PC.

t the

An introduction to the entire NY-series system is provided along with the following information on the Industrial Panel PC.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

An introduction to the entire NY-series system is provided along with the following information on the Industrial Box PC.

• Features and system configuration

• Introduction

• Part names and functions

• General specifications

• Installation and wiring

• Maintenance and inspection

The following information is provided on an introduction to the entire NY-series system.

• Two OS systems

• Initial settings

• Industrial PC Support Utility

• NYCompolet

• Industrial PC API

• Backup and recovery

The following information is provided on the NY-series Controller functions.

• Controller operation

• Controller features

• Controller settings

• Programming based on IEC 61131-3 language specifications

The instructions in the instruction set (IEC 61131-3 specifications) are described.

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

The motion control instructions are described.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Manual name Cat. No. Model numbers Application Description

NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Built-in EtherCAT® Port User’s Manual

NY-series IPC Machine Controller Industrial Panel PC / Industrial Box PC Built-in EtherNet/IP™ Port User’s Manual

NJ/NY-series NC Integrated Controller User’s Manual

NJ/NY-series G code Instructions Reference Manual

NY-series Troubleshooting Manual

Sysmac Studio Version 1 Operation Manual

CNC Operator Operation Manual

NX-series EtherCAT® Coupler Unit User’s Manual

NX-series NX Units User’s Manuals

NX-series Data Reference Manual

W562 NY532-

NY512-

W563 NY532-

NY512-

O030 NJ501-5300

NY532-5400

O031 NJ501-5300

NY532-5400

W564 NY532-

NY512-

W504 SYSMAC

-SE2

O032 SYSMAC

-RTNC0D

W519 NX-ECC Learning how to use

W521 NX-ID

NX-IA

NX-OC

NX-OD

W522 NX-AD

NX-DA

NX-TS

W523 NX-PD1

NX-PF0

NX-PC0

NX-TBX

W524 NX-EC0

NX-ECS

NX-PG0

W525 NX- Referring to the list of

Using the built-in EtherCAT port in an NYseries Industrial PC.

Using the built-in EtherNet/IP port in an NY-series Industrial PC.

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 NYseries Industrial PC.

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

Learning an introduction of the CNC Operator and how to use it.

an NX-series EtherCAT Coupler Unit and EtherCAT Slave Terminals.

Learning how to use NX Units.

data required for NXseries unit system configuration.

Information on the built-in EtherCAT port is provided.

This manual provides an introduction and provides information on the configuration, features, and setup.

Information on the built-in EtherNet/IP port is provided.

Information is provided on the basic setup, tag data links, and other features.

Describes the functionality to perform the numerical control.

The G code/M code instructions are described.

Concepts on managing errors that may be detected in an NY-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.

The following items are described: the overall system and configuration methods of an EtherCAT Slave Terminal (which consists of an NX-series EtherCAT Coupler Unit and NX Units), and information on hardware, setup, and functions to set up, control, and monitor

s through Et

NX Unit

Describe 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, and Position Interface Units.

Provides the list of data required for system configuration including the power consumption and weight of each NX-series Unit.

Related Manuals

herCAT.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Related Manuals

Manual name Cat. No. Model numbers Application Description

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

W488 GX-ID

GX-OD

GX-OC

GX-MD

GX-AD

GX-DA

GX-EC

XWT-ID

XWT-OD

I586 R88M-1

R88D-1SN-ECT

I573 R88M-K

R88D-KN-ECT-R

I576 R88M-K

R88D-KN-ECT

I577 R88L-EC-

R88D-KN-ECT-L

Learning how to use the EtherCAT remote I/O terminals.

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

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.

The linear motor type model and the model dedicated for position controls are available in G5-series.

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Revision History

W559-E1-03

Revision code

Cat. No.

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 September 2016 Original production 02 April 2017 Corrected mistakes. 03 October 2017 Corrected mistakes.

Revision History

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Revision History

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

Introduction to the Motion Control Function Module

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

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

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

1-3 Basic Flow of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4

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

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

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

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

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

1-1

1 Introduction to the Motion Control Function Module

Additional Information

1-1 Features

The Motion Control Function Module (sometimes abbreviated to “MC Function Module”) is a function module of the Software that is embedded in the Real-Time OS of the Industrial PC. The MC Function Module can perform motion control for up to 64 axes through the EtherCAT port that is built into the Industrial PC. Cyclic communications are performed with Servo Drives and other devices that are connected to the EtherCAT port to enable high-speed, high-precision machine control.

Motion Control Instructions Based on PLCopen

The motion control instructions of the MC Function Module are based on motion control function blocks that are standardized by PLCopen ing, interpolation control, synchronized control (e.g., of electronic cams), velocity control, and torque control. You can set the velocity, acceleration rate, deceleration rate, and jerk each time a motion control instruction is executed to flexibly control operation according to the application.

• PLCopen

PLCopen® is an association that promotes IEC 61131-3. It has its headquarters in Europe and a world-wide membership. PLCopen program interface for the languages specified in IEC 61131-3 (JIS B 3503).

•Jerk

Jerk is the rate of change in the acceleration rate or deceleration rate. If you specify the jerk, the velocity graph will form an S-curve for acceleration and deceleration.

. These instructions allow you to program single-axis PTP position-

standardizes function blocks for motion control to define a

Data Transmission Using EtherCAT Communications

The MC Function Module can be combined with OMRON 1S-series Servo Drives with built-in EtherCAT communications or G5-series Servo Drives with built-in EtherCAT communications to enable exchange of all control information with high-speed data communications. The various control commands are transmitted via data communications. That means that the Servomotor’s operational performance is maximized without being limited by interface specifications, such as the response frequency of the encoder feedback pulses. You can use the Servo Drive’s various control parameters and monitor data on a host controller to unify management of system information.

What Is EtherCAT?

EtherCAT is an open high-speed industrial network system that conforms to Ethernet (IEEE

802.3). Each node achieves a short cycle time by transmitting Ethernet frames at high speed. A mechanism that allows sharing clock information enables high-precision synchronized control with low communications jitter.

1-2

NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual (W559)

+ 398 hidden pages

Omron NY532-1500, NY532-5400, NY532-1400, NY532-1300, NY512-1400 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Introduction

Intended Audience

Applicable Products

Relevant Manuals

Manual Structure

Special Information

Sections in this Manual

CONTENTS

Terms and Conditions Agreement

Warranty, Limitations of Liability

Application Considerations

Disclaimers

Safety Precautions

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

Conformance to EU Directives

Software Licenses and Copyrights

Versions

Checking Versions

Related Manuals

Revision History

1-1 Features