OMRON SYSMAC-XR011 User Manual

Sysmac Library

User’s Manual
for EtherCAT® 1S Series Library

SYSMAC-XR011

W571-E1-07

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 or an NY-series Industrial PC.

This manual contains information that is necessary to use the function blocks in the EtherCAT 1S
Series Library. (“Function block” is sometimes abbreviated as “FB”.) 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.

This manual provides function block specifications. It does not describe application restrictions or com­bination restrictions for Controllers, Units, and components.

Refer to the user’s manuals for all of the products in the application before you use any of the products.

Keep this manual in a safe place where it will be available for reference during operation.

Features of the Library

The EtherCAT 1S Series Library is used to initialize the absolute encoder, back up and restore the
parameters for an OMRON 1S-series Servo Drive with built-in EtherCAT communications.

You can use this library to reduce manpower of programming when implementing the processing for a
Servo Drive.

Introduction

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.

Applicable Products

For the model numbers and versions of an NJ/NX-series CPU Unit, NY-series Industrial PC, and the
Sysmac Studio that this library supports, refer to Sysmac Library Version Information in the SYS-



MAC-XR

OMRON website (http://www.ia.omron.com/products/family/3459/download/catalog.html).

Sysmac Library Catalog (Cat. No. P102). This catalog can be downloaded from the

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

1

Manual Structure

Precautions for Safe Use

Precautions for Correct Use

Additional Information

Version Information

Manual Structure

Special Information

Special information in this manual is classified as follows:

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional information to read as required.
This information is provided to increase understanding or make operation easier.

Information on differences in specifications and functionality for CPU Units and Industrial PCs
with different unit versions and for different versions of the Sysmac Studio are given.

Note References are provided to more detailed or related information.

2

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Manual Structure

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

3

CONTENTS

CONTENTS

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

Features of the Library................................................................................................................................. 1

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

Applicable Products..................................................................................................................................... 1

Manual Structure ......................................................................................................2

Special Information......................................................................................................................................2

CONTENTS................................................................................................................4

Terms and Conditions Agreement ..........................................................................6

Warranty, Limitations of Liability .................................................................................................................. 6

Application Considerations .......................................................................................................................... 7

Disclaimers .................................................................................................................................................. 7

Safety Precautions ...................................................................................................8

Definition of Precautionary Information........................................................................................................ 8

Symbols....................................................................................................................................................... 8

Cautions....................................................................................................................................................... 9

Precautions for Correct Use..................................................................................10

Related Manuals ..................................................................................................... 11

Revision History .....................................................................................................14

Procedure to Use Sysmac Libraries .............................................................................................. 15

Procedure to Use Sysmac Libraries Installed Using the Installer .............................................................. 16

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC................................ 20

Common Specifications of Function Blocks ................................................................................ 23

Common Variables .................................................................................................................................... 24

Precautions................................................................................................................................................ 30

Individual Specifications of

Function Blocks...................................................................................................................... 31

InitEncoder_1S .......................................................................................................................................... 32

Backup_1S ................................................................................................................................................ 41

Restore_1S................................................................................................................................................ 55

MotorSetup_1S.......................................................................................................................................... 64

Restart_1S................................................................................................................................................. 73

EasyTuning_1S ......................................................................................................................................... 78

Appendix .......................................................................................................................................... 91

Referring to Library Information ................................................................................................................. 92

Referring to Function Block and Function Source Codes .......................................................................... 95

Objects to Back up and Restore................................................................................................................ 96

4

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

CONTENTS

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

5

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.

6

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

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.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

7

Safety Precautions

WARNING

Caution

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

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

Safety Precautions

Definition of Precautionary Information

The following notation is used in this user’s manual to provide precautions required to ensure safe
usage of an NJ/NX-series Controller and an NY-series Industrial PC.

The safety precautions that are provided are extremely important to safety. Always read and heed the
information provided in all safety precautions.

The following notation is used.

Symbols

The circle and slash symbol indicates operations that you must not do.

The specific operation is shown in the circle and explained in text.

This example indicates prohibiting disassembly.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.

This example indicates a precaution for electric shock.

The triangle symbol indicates precautions (including warnings).

The specific operation is shown in the triangle and explained in text.

This example indicates a general precaution.

The filled circle symbol indicates operations that you must do.

The specific operation is shown in the circle and explained in text.

This example shows a general precaution for something that you must
do.

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Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Cautions

Safety Precautions

Caution

Read all related manuals carefully before you use this library.

Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures
must be provided in external control circuits.

Check the user program, data, and parameter settings for proper execution before
you use them for actual operation.

The Sysmac Library and manuals are assumed to be used by personnel that is
given in Intended Audience in this manual. Otherwise, do not use them.

The sample programming shows only the portion of a program that uses the func­tion or function block from the library.

When using sample programming in actual devices, also program safety circuits,
device interlocks, I/O with other devices, and other control procedures.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

9

Precautions for Correct Use

Precautions for Correct Use

Using the Library

• When you use the library, functions or function blocks that are not described in the library manual
may be displayed on the Sysmac Studio. Do not use functions or function blocks that are not
described in the manual.

• Do not change the names and the contents of any object list.

• Setting the NoProductChk input variable to TRUE allows you to execute restore even when the prod­uct code in the backup data differs from the product code of the restore destination. Make sure that
the restore destination is a 1S-series Servo Drive before you attempt to restore the parameters.

• Do not attempt to turn OFF the power supply to the Controller and EtherCAT slaves or stop the Eth­erCAT communications until the processing for this function block ends normally or ends in an error.

• After completion of Restore_1S function block, cycle the control power supply to the 1S-series Servo
Drive to apply the restored parameters.

• When the model which was backed up differs from the model to be restored, confirm that the restore
can be performed with the object list which was backed up, and then change NoproductChk of this
function block to TRUE.

• Confirm that the models to be backed up are applicable models and versions before you perform the
backup.

Using Sample Programming

• Create a user program that will produce the intended device operation.

• Check the user program for proper execution before you use it for actual operation.

10

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Related Manuals

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

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

W535 NX701- Learning the basic specifi-

cations of the NX-series
NX701 CPU Units, includ­ing introductory information,
designing, installation, and
maintenance. Mainly hard­ware information is pro­vided

W593 NX102- Learning the basic specifi-

W578 NX1P2- Learning the basic specifi-

W500 NJ501-

NJ301-

NJ101-

W557 NY532- Learning the basic specifi-

cations of the NX102 CPU
Units, including introductory
information, designing,
installation, and mainte­nance. Mainly hardware
information is provided.

cations of the NX-series
NX1P2 CPU Units, includ­ing introductory information,
designing, installation, and
maintenance. Mainly hard­ware information is pro­vided

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

Mainly hardware informa­tion is provided

cations of the NY-series
Industrial Panel PCs,
including introductory infor­mation, designing, installa­tion, and maintenance.
Mainly hardware informa­tion is provided

An introduction to the entire NX701 CPU Unit
system is provided along with the following infor­mation on the CPU Unit.

Features and system configuration

Overview

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 CPU Unit
system is provided along with the following infor­mation on the CPU Unit.

Features and system configuration

Overview

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

Overview

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 Panel PC.

Features and system configuration

Introduction

Part names and functions

General specifications

Installation and wiring

Maintenance and inspection

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

11

Related Manuals

Manual name Cat. No. Model numbers Application Description

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

NJ/NX-series CPU Unit
Software User’s Manual

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

NJ/NX-series Instruc­tions
Reference Manual

NY-series Instructions
Reference Manual

NJ/NX-series CPU Unit
Motion Control User's
Manual

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

NJ/NX-series Motion
Control Instructions Ref­erence Manual

NY-series Motion Control
Instructions Reference
Manual

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

W556 NY512- Learning the basic specifi-

cations of the NY-series
Industrial Box PCs, includ­ing introductory information,
designing, installation, and
maintenance. Mainly hard­ware information is pro­vided

W501 NX701-

NX102-

NX1P2-

NJ501-

NJ301-

NJ101-

W558 NY532-

NY512-

W502 NX701-

NX102-

NX1P2-

NJ501-

NJ301-

NJ101-

W560 NY532-

NY512-

W507 NX701-

NX102-

NX1P2-

NJ501-

1-

NJ30

1-

NJ10

W559 NY532-

NY512-

W508 NX701-

NX102-

NX1P2-

NJ501-

NJ301-

NJ101-

W561 NY532-

NY512-

O030 NJ501-5300

NY532-5400

Learning how to program
and set up an NJ/NX-series
CPU Unit.

Mainly software informa­tion is provided

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

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

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

Learning about motion con­trol settings and program­ming concepts of an
NJ/NX-series CPU Unit.

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

Learning about the specifi­cations of the motion con­trol instructions of an
NJ/NX-series CPU Unit.

Learning about the specifi­cations of the motion con­trol instructions of an
NY-series Industrial PC.

Performing numerical con­trol with NJ/NY-series Con­trollers.

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 a Con­troller built with an NJ/NX-series CPU Unit.

CPU Unit operation

CPU Unit features

Initial settings

Programming based on IEC 61131-3 language
specifications

The following information is provided on
NY-series Machine Automation Control Software.

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

The motion control instructions are described.

The motion control instructions are described.

Describes the functionality to perform the numer­ical control. Use this manual together with the

NJ/NY-series G code Instructions
Reference Manual (Cat. No. O031) when pro-

gramming.

12

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Manual name Cat. No. Model numbers Application Description

G code Instructions Ref­erence Manual

Sysmac Studio Version 1
Operation Manual

CNC Operator
Operation Manual

AC Servomotors/Servo
Drivers 1S-series with
Built-in EtherCAT
Communications User’s
Manual

O031 NJ501-5300

NY532-5400

W504 SYSMAC

-SE2

O032 SYSMAC

-RTNC0D

I586 R88M-1

R88D-1SN-ECT

I621 R88M-1A

R88D-1SAN-ECT

Learning about the specifi­cations of the G code/M
code instructions.

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

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

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

The G code/M code instructions are described.
Use this manual together with the NJ/NY-series
NC Integrated Controller User’s Manual (Cat. No.
O030) when programming.

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.

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

Related Manuals

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

13

Revision History

Revision History

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

Cat. No.

Revision code Date Revised content

01 July 2016 Original production
02 November 2016 Changed the manual name.
03 March 2017 Compatible with R88D-1SN
04 January 2019 • Added compatible models.

05 April 2019 • Added compatible models.

06 July 2019 Added following function blocks:

07 October 2020 Compatible with R88D-1SN

W571-E1-07

• Compatible with R88D-1SN

• Compatible with 1S Series other than R88D-1SN

• MotorSetup_1S

•Restart_1S

• EasyTuning_1S

Revision code



-ECT Version 1.1



-ECT Version 1.2



-ECT Version 1.4



-ECT

14

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

15

Procedure to Use Sysmac Libraries Installed Using the Installer

Version Information

Precautions for Correct Use

Procedure to Use Sysmac Librar­ies Installed Using the Installer

This section describes the procedure to use Sysmac Libraries that you installed using the installer.

There are two ways to use libraries.

• Using newly installed Sysmac Libraries

• Using upgraded Sysmac Libraries

To use Sysmac Libraries, you need the Sysmac Studio version 1.14 or higher.

Using Newly Installed Libraries

1 Start the Sysmac Studio and open or create a new project in which you want to use Sysmac

Libraries.

If you create a new project, be sure to configure the settings as follows to enable the use of
Sysmac Libraries. If you do not configure the following settings, you cannot proceed to the step
2 and later steps.

• Set the project type to Standard Project or Library Project.

• Set the device category to Controller.

• Set the device version to 1.01 or later.

16

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries Installed Using the Installer

Precautions for Correct Use

Device

Drug & Drop

2 Select Project – Library – Show References.

If you have more than one registered device in the project, make sure that the device selected
currently is an NJ/NX-series CPU Unit or an NY-series Industrial PC. If you do not select an
NJ/NX-series CPU Unit or an NY-series Industrial PC as the device, Library References does
not appear in the above menu. When the device selected currently is an NJ/NX-series CPU

Unit or an NY-series Industrial PC, the device icon is displayed in the Multiview Explorer.

3 Add the desired Sysmac Library to the list and click the OK Button.

The Sysmac Library file is read into the project.

Now, when you select the Ladder Editor or ST Editor, the function blocks and functions included
in a Sysmac Library appear in the Toolbox.

For the procedure for adding and setting libraries in the above screen, refer to the Sysmac Stu-
dio Version 1 Operation Manual (Cat. No. W504).

4 Insert the Sysmac Library’s function blocks and functions into the circuit using one of the follow-

ing two methods.

• Select the desired function block or function in the Toolbox and drag and drop it onto the pro­gramming editor.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

17

Procedure to Use Sysmac Libraries Installed Using the Installer

Precautions for Correct Use

Precautions for Correct Use

Device

• Right-click the programming editor, select Insert Function Block in the menu, and enter the
fully qualified name (\\name of namespace\name of function block).

After you upgrade the Sysmac Studio, check all programs and make sure that there is no error
of the program check results on the Build Tab Page.

Select Project

– Check All Programs from the Main Menu.

Using Upgraded Libraries

1 Start the Sysmac Studio and open a project in which any old-version Sysmac Library is

included.

2 Select Project – Library – Show References.

If you have more than one registered device in the project, make sure that the device selected
currently is an NJ/NX-series CPU Unit or an NY-series Industrial PC. Otherwise, Library Refer­ences does not appear in the above menu. When the device selected currently is an

NJ/NX-series CPU Unit or an NY-series Industrial PC, the device icon is displayed in the
Multiview Explorer.

3 Select an old-version Sysmac Library and click the Delete Reference Button.

18

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries Installed Using the Installer

4 Add the desired Sysmac Library to the list and click the OK Button.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

19

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC

Version Information

Procedure to Use Sysmac Librar­ies Uploaded from a CPU Unit or
an Industrial PC

You can use Sysmac Libraries uploaded from a CPU Unit or an Industrial PC to your computer if they
are not installed.

The procedure to use uploaded Sysmac Libraries from a CPU Unit or an Industrial PC is as follows.

To use Sysmac Libraries, you need the Sysmac Studio version 1.14 or higher.

1 Start the Sysmac Studio and create a new project in which you want to use Sysmac Libraries.

2 Connect the computer to the CPU Unit or the Industrial PC and place it online.
3 Upload POUs in which any Sysmac Library is used to the computer.

Now, when you select the Ladder Editor or ST Editor, the function blocks and functions included
in the Sysmac Library used in the uploaded POUs appear in the Toolbox.

4 Insert the Sysmac Library’s function blocks and functions into the circuit using one of the follow-

ing two methods.

• Select the desired function block or function in the Toolbox and drag and drop it onto the Lad­der Editor.

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Drug & Drop

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC

Precautions for Correct Use

• Right-click the programming editor, select Insert Function Block in the menu, and enter the
fully qualified name (\\name of namespace\name of function block).

• The Sysmac Studio installs library files of the uploaded Sysmac Stutio to the specified folder
on the computer if they are not present. However, the Sysmac Studio does not install library
files to the specified folder on the computer if they are present.

The specified folder here means the folder in which library files are installed by the installer.

• Note that uploading Sysmac Libraries from a CPU Unit or an Industrial PC does not install
the manual and help files for the Sysmac Libraries, unlike the case where you install then
using the installer. Please install the manual and help files using the installer if you need
them.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

21

Procedure to Use Sysmac Libraries Uploaded from a CPU Unit or an Industrial PC

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Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Common Specifications of Function Blocks

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

23

Common Variables

Common Variables

This section describes the specifications of variables (EN, Execute, Enable, Abort, ENO, Done, Cal­cRslt, Enabled, Busy, CommandAborted, Error, ErrorID, and ErrorIDEx) that are used for more than

one function or function block. The specifications are described separately for functions, for exe­cute-type function blocks, and for enable-type function blocks.

Definition of Input Variables and Output Variables

Common input variables and output variables used in functions and function blocks are as follows.

Function/function

Var iabl e I/O

EN Input BOOL OK Execute The processing is executed while the

Execute OK Execute The processing is executed when the

Enable OK Run The processing is executed while the

Abort BOOL OK Abort The processing is aborted.

Data
type

block type to use

Execute-

type

Enable-

type

Meaning DefinitionFunction block

Function

variable is TRUE.

variable changes to TRUE.

variable is TRUE.

You can select the aborting method.

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Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

Common Variables

Function/function

Variable I/O

ENO Output BOOL OK Done The variable changes to TRUE when the

Done BOOL OK Done The variable changes to TRUE when the

Busy BOOL OK OK Executing The variable is TRUE when the process-

CalcRslt LREAL OK Calculation

Enabled BOOL OK Enabled The variable is TRUE when the output is

Command
Aborted

Error BOOL OK OK Error This variable is TRUE while there is an

ErrorID WORD OK OK Error Code An error code is output.
ErrorIDEx DWORD OK OK Expansion

Data
type

BOOL OK Command

block type to use

Execute-

type

Enable-

type

Function

Meaning DefinitionFunction block

Result

Aborted

Error Code

processing ends normally.

It is FALSE when the processing ends in
an error, the processing is in progress, or
the execution condition is not met.

processing ends normally.

It is FALSE when the processing ends in
an error, the processing is in progress, or
the execution condition is not met.

ing is in progress.

It is FALSE when the processing is not in
progress.

The calculation result is output.

enabled. It is used to calculate the con­trol amount for motion control, tempera­ture control, etc.

The variable changes to TRUE when the
processing is aborted.

It changes to FALSE when the process­ing is re-executed the next time.

error.

It is FALSE when the processing ends
normally, the processing is in progress,
or the execution condition is not met.

An expansion error code is output.

Execute-type Function Blocks

• Processing starts when Execute changes to TRUE.

• When Execute changes to TRUE, Busy also changes to TRUE. When processing is completed nor­mally, Busy changes to FALSE and Done changes to TRUE.

• When continously executes the function blocks of the same instance, change the next Execute to
TRUE for at least one task period after Done changes to FALSE in the previous execution.

• If the function block has a CommandAborted (Instruction Aborted) output variable and processing is
aborted, CommandAborted changes to TRUE and Busy changes to FALSE.

• If an error occurs in the function block, Error changes to TRUE and Busy changes to FALSE.

• For function blocks that output the result of calculation for motion control and temperature control,
you can use the BOOL input variable Abort to abort the processing of a function block. When Abort
changes to TRUE, CommandAborted changes to TRUE and the execution of the function block is
aborted.

Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

25

Common Variables

Busy

Done

CommandAborted

Error

16#00000000

16#0000

ErrorID

ErrorIDEx

Execute

Busy

Abort

CommandAborted

Error

16#00000000

16#0000

ErrorID

ErrorIDEx

Execute

In-out variables

Input variables

• If Execute is TRUE and Done, CommandAborted, or Error changes to TRUE, Done, Command­Aborted, and Error changes to FALSE when Execute is changed to FALSE.

• If Execute is FALSE and Done, CommandAborted, or Error changes to TRUE, Done,Command­Aborted, and Error changes to TRUE for only one task period.

• If an error occurs, the relevant error code and expansion error code are set in ErrorID (Error Code)
and ErrorIDEx (Expansion Error Code). The error codes are retained even after Error changes to
FALSE, but ErrorID is set to 16#0000 and ErrorIDEx is set to 16#0000 0000 when Execute changes
to TRUE.

Abcd_instance

Abcd

InOut_Val InOut_Val

Execute Done

Busy

CommandAborted

Error

ErrorID

ErrorIDEx

In-out variables

Output variables

Timing Charts

This section provides timing charts for a normal end, aborted execution, and errors.

 Normal End

 Canceled Execution

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Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)

 Aborted Execution

Busy

Done

CommandAborted

Error

16#00000000

16#0000

ErrorID

ErrorIDEx

Execute

Busy

Done

CommandAborted

Error

16#0000 16#0000

ErrorID

16#00000000 16#00000000ErrorIDEx ErrorIDEx

ErrorIDEx

Execute

ErrorIDErrorIDErrorID ErrorID

 Errors

Common Variables

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Common Variables

Busy

Enabled

Error

16#00000000

16#0000

ErrorID

ErrorIDEx

Enable

CalcRslt

Retained

Retained

Enable-type Function Blocks

• Processing is executed while Enable is TRUE.

• When Enable changes to TRUE, Busy also changes to TRUE. Enabled is TRUE during calculation of
the output value.

• If an error occurs in the function block, Error changes to TRUE and Busy and Enabled change to
FALSE. When Enable changes to FALSE, Enabled, Busy, and Error change to FALSE.

Abcd_instance

In-out variables

Input variables

InOut_Val InOut_Val

Enable Enabled

Abcd

CalcRslt

Busy
Error

ErrorID

ErrorIDEx

In-out variables

Output variables

• If an error occurs, the relevant error code and expansion error code are set in ErrorID (Error Code)
and ErrorIDEx (Expansion Error Code). The error codes are retained even after Error changes to
FALSE, but ErrorID is set to 16#0000 and ErrorIDEx is set to 16#0000 0000 when Enable changes to
TRUE.

• For function blocks that calculate the control amount for motion control, temperature control, etc.,
Enabled is FALSE when the value of CalcRslt (Calculation Result) is incorrect. In such a case, do not
use CalcRslt. In addition, after the function block ends normally or after an error occurs, the value of
CalcRslt is retained until Enable changes to TRUE. The control amount will be calculated based on
the retained CalcRslt value, if it is the same instance of the function block that changed Enable to
TRUE. If it is a different instance of the function block, the control amount will be calculated based on
the initial value.

Timing Charts

This section provides timing charts for a normal end and errors.

 Normal End

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Sysmac Library Instructions Manual for EtherCAT 1S Series Library (W571)