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NJ501-[][][][]

NJ-Series NJ501 CPU Units

NJ501-[][][][]

New controller that covers functions and high-speed processing required for machine control and safety, reliability and maintainability that are the features of industrial controllers. Ideal for large-scale, fast, and high-accurate control with up to 64 axes.

Item list of NJ501-[][][][]

about this Product Family

Related Contents

last update: October 03, 2016

General Specification

Item NJ501-[][][][]
Enclosure Mounted in a panel
Grounding Method Ground to less than 100 Ω
Dimensions
(height×depth×width)		 90 mm × 90 mm × 90 mm
Weight 550 g (including the End Cover)
Current Consumption 5 VDC, 1.90 A (including SD Memory Card and End Cover)
Power consumption ---
Operation
Environment		 Ambient Operating
Temperature		 0 to 55°C
Ambient Operating
Humidity		 10% to 90% (with no condensation)
Atmosphere Must be free from corrosive gases.
Ambient Storage
Temperature		 -20 to 75°C (excluding battery)
Altitude 2,000 m or less
Pollution Degree 2 or less: Conforms to JIS B3502 and IEC 61131-2.
Noise Immunity 2 kV on power supply line (Conforms to IEC 61000-4-4.)
Overvoltage Category Category II: Conforms to JIS B3502 and IEC 61131-2.
EMC Immunity Level Zone B
Vibration Resistance Conforms to IEC 60068-2-6.
5 to 8.4 Hz with 3.5-mm amplitude, 8.4 to 150 Hz
Acceleration of 9.8 m/s2 for 100 min in X, Y, and Z directions (10 sweeps
of 10 min each = 100 min total)
Shock Resistance Conforms to IEC 60068-2-27.
147 m/s2, 3 times in X, Y, and Z directions (100 m/s2 for Relay Output Units)
Battery Life 5 years at 25°C
Model CJ1W-BAT01
Applicable Standards Conforms to cULus, NK, LR, EU Directives, RCM and KC Registration*.

* Supported only by the CPU Units with unit version 1.01 or later.

Performance Specifications

Item NJ501
[]5[]0 []4[]0 []3[]0
Processing
time		 Instruction
Execution
Times		 LD instruction 1.1ns (1.7ns or less)
Math Instructions
(for Long Real Data)		 24ns or more *1
Program-
ming		 Program
capacity *2		 Size 20 MB
(400 KS)
Number POU
definition		 3,000
POU
instance		 Using Sysmac Studio Ver. 1.05 or lower: 6,000
Using Sysmac Studio Ver. 1.06 or higher: 9,000
Variables
capacity		 No Retain
Attribute *3		 Size 4 MB
Number 90,000
Retain
Attribute *4		 Size 2 MB
Number 10,000
Data type Number 2,000
Memory for
CJ-Series
Units
(Can be
Specified
with AT
Specifications
for Variables.)		 CIO Area 6,144 words (CIO 0 to CIO 6143)
Work Area 512 words (W0 to W511)
Holding Area 1,536 words (H0 to H1535)
DM Area 32,768 words (D0 to D32767)
EM Area 32,768 words × 25 banks (E0_00000 to E18_32767) *5
Unit
config-
uration		 Maximum
Number of
Connectable
Units		 Maximum number of CJ/
NX unit per CPU Rack or
Expansion Rack		 10 Units
Maximum number of
CJ unit on the system		 40 Units
Maximum number of
NX unit on the system		 4,096
(on NX series EtherCAT slave terminal)
Maximum number of Expansion Racks 3 max.
I/O Capacity Maximum number of I/O
Points on CJ-series Units		 2,560 points max.
Power Supply
Unit for CPU
Rack and
Expansion
Racks		 Model NJ-P[]3001
Power OFF
Detection
Time		 AC Power
Supply		 30 to 45 ms
DC Power
Supply		 22 to 25 ms
Motion
control		 Number of
Controlled
Axes		 Maximum Number of
Controlled Axes		 Maximum number of axes which can be defined.
The number of controlled axes = The number of motion control axes + The number of singleaxis position control axes
64 axes 32 axes 16 axes
Motion control
axes		 Maximum number of motion control axes which can be defined.
All motion control function is available.
64 axes 32 axes 16 axes
Maximum number of
used real axes		 Maximum number of used real axes.
The Number of used real axes includes following servo axes and encoder axes.
64 axes 32 axes 16 axes
Used motion
control servo
axes		 Maximum number of servo axes which all motion control function is available.
The number of used motion control servo axes = The number of motion control axes whose axis type is set to servo axis and axis use is set to used axis.
64 axes 32 axes 16 axes
Maximum number of
axes for linear
interpolation axis
control		 4 axes per axes group
Number of axes for
circular interpolation
axis control		 2 axes per axes group
Maximum Number of Axes Groups 32 groups
Motion Control Period The same control period as that is used for the process data communications cycle for EtherCAT.
Cams Number of
Cam Data
Points		 Maximum
Points per
Cam Table		 65,535 points
Maximum
Points for
All Cam
Tables		 1,048,560 points
Maximum Number of
Cam Tables		 640 tables
Position Units Pulses, millimeters, micrometers, nanometers, degrees or inches
Override Factors 0.00% or 0.01% to 500.00%
Peripheral
USB port		 Supported Services Sysmac Studio connection
Physical Layer USB 2.0-compliant B-type connector
Transmission Distance
between Hub and Node		 5 m max.
Built-in
EtherNet/IP
Port		 Number of port 1
Physical Layer 10Base-T or 100Base-TX
Frame length 1514 max.
Media Access Method CSMA/CD
Modulation Baseband
Topology Star
Baud Rate 100 Mbps (100Base-TX)
Transmission Media STP (shielded, twisted-pair) cable of Ethernet category 5, 5e or higher
Maximum Transmission Distance
between Ethernet Switch and Node		 100m
Maximum Number of Cascade Connections There are no restrictions if Ethernet switch is used.
CIP service:
Tag Data
Links
(Cyclic
Communi-
cations)		 Maximum Number of
Connections		 32
Packet interval *7 1 to 10,000 ms in 1.0-ms increments *8
Can be set for each connection. (Data will be refreshed at the set interval, regardless of the number of nodes.)
Permissible
Communications Band		 3,000 pps *9 *10 (including heartbeat)
Maximum Number of
Tag Sets		 32
Tag types Network variables, CIO, Work, Holding, DM, and EM Areas
Number of tags per
connection
(i.e., per tag set)		 8 (7 tags if Controller status is included in the tag set.)
Maximum Link Data
Size per Node (total
size for all tags)		 256
Maximum number of tag 19,200 bytes
Maximum Data Size
per Connection		 600 bytes
Maximum Number of
Registrable Tag Sets		 32 (1 connection = 1 tag set)
Maximum Tag Set Size 600 bytes
(Two bytes are used if Controller status is included in the tag set.)
Multi-cast Packet Filter
*11		 Supported.
Cip Message
Service:
Explicit
Messages		 Class 3 (number of
connections)		 32 (clients plus server)
UCMM
(non-
connection
type)		 Maximum
Number of
Clients that
Can
Communicate
at One Time		 32
Maximum
Number of
Servers that
Can
Communicate
at One Time		 32
Maximum number of TCP socket service 30 *12
Built-in
EtherCAT
Port		 Communications Standard IEC 61158 Type12
EtherCAT Master Specifications Class B (Feature Pack Motion Control compliant)
Physical Layer 100BASE-TX
Modulation Baseband
Baud Rate 100 Mbps (100Base-TX)
Duplex mode Auto
Topology Line, daisy chain, and branching
Transmission Media Twisted-pair cable of category 5 or higher (double-shielded straight cable with aluminum tape and braiding)
Maximum Transmission Distance between Nodes 100m
Maximum Number of Slaves 192
Range of node address 1-192
Maximum Process Data Size Inputs: 5,736 bytes
Outputs: 5,736 bytes (However, the maximum number of process data frames is 4.)
Maximum Process Data Size per Slave Inputs: 1,434 bytes
Outputs: 1,434 bytes
Communications Cycle 500/1,000/2,000/4,000 μs *13
Sync Jitter 1 μs max.
Internal Clock At ambient temperature of 55°C: -3.5 to +0.5 min error per month
At ambient temperature of 25°C: -1.5 to +1.5 min error per month
At ambient temperature of 0°C: -3 to +1 min error per month

*1. When the hardware revision for the Unit is A.
*2. This is the capacity for the execution objects and variable tables (including variable names).
*3. Words for CJ-series Units in the Holding, DM, and EM Areas are not included.
*4. Words for CJ-series Units in the CIO and Work Areas are not included.
*5. When the Spool function of the NJ501-1[]20 is enabled, the DB Connection Service uses E9_0 to E18_32767
       (NJ501-1[]20).
       When the Spool function of the NJ101-[][]20 is enabled, the DB Connection Service uses E1_0 to E3_32767
       (NJ101-[][]20).
*6. This number of axes is achieved in a combination of a CPU Unit with unit version 1.06 or later and Sysmac Studio
       version 1.07 or higher.
       In other combinations, the maximum number of controlled axes is 8 axes (NJ301-1200) or 4 axes (NJ301-1100).
*7. Data is updated on the line in the specified interval regardless of the number of nodes.
*8. The Packet interval of the CPU Unit version 1.02 or earlier is 10 to 10,000 ms in 1.0-ms increments.
*9. Means packets per second, i.e., the number of communications packets that can be sent or received in one second.
*10.The Permissible Communications Band of the CPU Unit version 1.02 or earlier is 1,000 pps.
*11.An IGMP client is mounted for the EtherNet/IP port. If an ethernet switch that supports IGMP snooping is used,
       filtering of unnecessary multicast packets is performed.
*12.The Maximum number of TCP socket service of the CPU Unit version 1.02 or earlier is 16.
*13.The Maximum Communications Cycle of the NJ301 CPU Unit version 1.02 or earlier is 1,000/2,000/4,000 μs.
       The EtherCAT communications cycle of NJ501-4[][]0 for robot control is 1 ms or less.
Note: For robot control by NJ501-4[][]0, use the G5 series/1S series AC Servo Drive with built-in EtherCAT communications,
          absolute encoder, and brake.

Function Specifications

Item NJ501-[][][][]
Tasks Function I/O refreshing and the user program are executed in units that are called tasks.
Tasks are used to specify execution conditions and execution priority.
Periodically
Executed
Tasks		 Maximum
Number of
Primary Periodic
Tasks		 1
Maximum
Number of
Periodic Tasks		 3
Conditionally
executed
tasks *1		 Maximum
number of
event tasks		 32
Execution
conditions		 When Activate Event Task instruction is executed or when condition expression for variable is met.
Setup System Service Monitoring
Settings		 The execution interval and the percentage of the total user program execution time are monitored for the system services (processes that are executed by the CPU Unit separate from task execution).
Program-
ming		 POU
(program
organization
units)		 Programs POUs that are assigned to tasks.
Function Blocks POUs that are used to create objects with specific conditions.
Functions POUs that are used to create an object that determine unique outputs for the inputs, such as for data processing.
Programming
Languages		 Types Ladder diagrams *2 and structured text (ST)
Namespaces *3 A concept that is used to group identifiers for POU definitions.
Variables External
Access of
Variables		 Network
Variables		 The function which allows access from the HMI, host computers, or other Controllers
Data Types Data Types Boolean BOOL
Bit Strings BYTE, WORD, DWORD, LWORD
Integers INT, SINT, DINT,LINT, UINT, USINT, UDINT, ULINT
Real Numbers REAL, LREAL
Durations TIME
Dates DATE
Times of Day TIME_OF_DAY
Date and Time DATE_AND_TIME
Text Strings STRING
Derivative Data Types Structures, unions, enumerations
Structures Function A derivative data type that groups together data with different variable types.
Maximum
Number of
Members		 2048
Nesting
Maximum Levels		 8
Member Data
Types		 Basic data types, structures, unions, enumerations, array variables
Specifying
Member Offsets		 You can use member offsets to place structure members at any memory locations.*3
Unions Function A derivative data type that groups together data with different variable types.
Maximum
Number of
Members		 4
Member Data
Types		 BOOL, BYTE, WORD, DWORD, LWORD
Enumer-
ations		 Function A derivative data type that uses text strings called enumerators to express variable values.
Data Type
Attributes		 Array
specifi-
cations		 Function An array is a group of elements with the same data type. You specify the number (subscript) of the element from the first element to specify the element.
Maximum
Number of
Dimensions		 3
Maximum
Number of
Elements		 65535
Array
Specifications
for FB Instances		 Supported.
Range Specifications You can specify a range for a data type in advance. The data type can take only values that are in the specified range.
Libraries User libraries
Motion
Control		 Control Modes position control, velocity control, torque control
Axis Types Servo axes, virtual servo axes, encoder axes, and virtual encoder axes
Positions that can be managed Command positions and actual positions
Single-axis Single-axis
Position
Control		 Absolute
Positioning		 Positioning is performed for a target position that is specified with an absolute value.
Relative
Positioning		 Positioning is performed for a specified travel distance from the command current position.
Interrupt Feeding Positioning is performed for a specified travel distance from the position where an interrupt input was received from an external input.
Cyclic
synchronous
absolute
positioning *1		 The function which outputs command positions in every control period in the position control mode.
Single-axis
Velocity
Control		 Velocity Control Velocity control is performed in Position Control Mode.
Cyclic
Synchronous
Velocity Control		 A velocity command is output each control period in Velocity Control Mode.
Single-axis
Torque
Control		 Torque Control The torque of the motor is controlled.
Single-axis
Synchro-
nized
Control		 Starting Cam
Operation		 A cam motion is performed using the specified cam table.
Ending Cam
Operation		 The cam motion for the axis that is specified with the input parameter is ended.
Starting Gear
Operation		 A gear motion with the specified gear ratio is performed between a master axis and slave axis.
Positioning Gear
Operation		 A gear motion with the specified gear ratio and sync position is performed between a master axis and slave axis.
Ending Gear
Operation		 The specified gear motion or positioning gear motion is ended.
Synchronous
Positioning		 Positioning is performed in sync with a specified master axis.
Master Axis
Phase Shift		 The phase of a master axis in synchronized control is shifted.
Combining Axes The command positions of two axes are added or subtracted and the result is output as the command position.
Single-axis
Manual
Operation		 Powering the
Servo		 The Servo in the Servo Drive is turned ON to enable axis motion.
Jogging An axis is jogged at a specified target velocity.
Auxiliary
Functions
for
Single-axis
Control		 Resetting Axis
Errors		 Axes errors are cleared.
Homing A motor is operated and the limit signals, home proximity signal, and home signal are used to define home.
Homing with
parameter *1		 Specifying the parameter, a motor is operated and the limit signals, home proximity signal, and home signal are used to define home.
High-speed
Homing		 Positioning is performed for an absolute target position of 0 to return to home.
Stopping An axis is decelerated to a stop at the specified rate.
Immediately
Stopping		 An axis is stopped immediately.
Setting Override
Factors		 The target velocity of an axis can be changed.
Changing the
Current Position		 The command current position or actual current position of an axis can be changed to any position.
Enabling External
Latches		 The position of an axis is recorded when a trigger occurs.
Disabling
External Latches		 The current latch is disabled.
Zone Monitoring You can monitor the command position or actual position of an axis to see when it is within a specified range (zone).
Enabling digital
cam switches *4		 You can turn a digital output ON and OFF according to the position of an axis.
Monitoring Axis
Following Error		 You can monitor whether the difference between the command positions or actual positions of two specified axes exceeds a threshold value.
Resetting the
Following Error		 The error between the command current position and actual current position is set to 0.
Torque Limit The torque control function of the Servo Drive can be enabled or disabled and the torque limits can be set to control the output torque.
Command
position
compensation *5		 The function which compensate the position for the axis in operation.
Start velocity *6 You can set the initial velocity when axis motion starts.
Axes Groups Multi-axes
Coordinated
Control		 Absolute Linear
Interpolation		 Linear interpolation is performed to a specified absolute position.
Relative Linear
Interpolation		 Linear interpolation is performed to a specified relative position.
Circular 2D
Interpolation		 Circular interpolation is performed for two axes.
Axes Group
Cyclic
Synchronous
Absolute
Positioning		 A positioning command is output each control period in Position Control Mode.*3
Auxiliary
Functions
for
Multi-axes
Coordinated
Control		 Resetting Axes
Group Errors		 Axes group errors and axis errors are cleared.
Enabling Axes
Groups		 Motion of an axes group is enabled.
Disabling Axes
Groups		 Motion of an axes group is disabled.
Stopping Axes
Groups		 All axes in interpolated motion are decelerated to a stop.
Immediately
Stopping Axes
Groups		 All axes in interpolated motion are stopped immediately.
Setting Axes
Group Override
Factors		 The blended target velocity is changed during interpolated motion.
Reading Axes
Group Positions		 The command current positions and actual current positions of an axes group can be read.*3
Changing the
Axes in an Axes
Group		 The Composition Axes parameter in the axes group parameters can be overwritten temporarily.*3
Common
Items		 Cams Setting Cam
Table Properties		 The end point index of the cam table that is specified in the input parameter is changed.
Saving Cam
Tables		 The cam table that is specified with the input parameter is saved in non-volatile memory in the CPU Unit.
Generating cam
tables *7		 The cam table that is specified with the input parameter is generated from the cam property and cam node.
Parameters Writing MC
Settings		 Some of the axis parameters or axes group parameters are overwritten temporarily.
Changing axis
parameters *7		 You can access and change the axis parameters from the user program.
Auxiliary
Functions		 Count Modes You can select either Linear Mode (finite length) or Rotary Mode (infinite length).
Unit Conversions You can set the display unit for each axis according to the machine.
Acceler-
ation/
Deceleration
Control		 Automatic
Acceleration/
Deceleration
Control		 Jerk is set for the acceleration/deceleration curve for an axis motion or axes group motion.
Changing the
Acceleration and
Deceleration
Rates		 You can change the acceleration or deceleration rate even during acceleration or deceleration.
In-position Check You can set an in-position range and in-position check time to confirm when positioning is completed.
Stop Method You can set the stop method to the immediate stop input signal or limit input signal.
Re-execution of Motion Control
Instructions		 You can change the input variables for a motion control instruction during execution and execute the instruction again to change the target values during operation.
Multi-execution of Motion
Control Instructions (Buffer
Mode)		 You can specify when to start execution and how to connect the velocities between operations when another motion control instruction is executed during operation.
Continuous Axes Group Motions
(Transition Mode)		 You can specify the Transition Mode for multi-execution of instructions for axes group operation.
Monitoring
Functions		 Software Limits Software limits are set for each axis.
Following Error The error between the command current value and the actual current value is monitored for an axis.
Velocity,
Acceleration Rate,
Deceleration Rate,
Torque,
Interpolation
Velocity,
Interpolation
Acceleration Rate,
And Interpolation
Deceleration Rate		 You can set and monitor warning values for each axis and each axes group.
Absolute Encoder Support You can use an OMRON G5-Series or 1S-Series Servomotor with an Absolute Encoder to eliminate the need to perform homing at startup.
Input signal logic inversion *6 You can inverse the logic of immediate stop input signal, positive limit input signal, negative limit input signal, or home proximity input signal.
External Interface Signals The Servo Drive input signals listed on the right are used. Home signal, home proximity signal, positive limit signal, negative limit signal, immediate stop signal, and interrupt input signal
Unit
(I/O)
Manage-
ment		 EtherCAT
Slaves		 Maximum Number of Slaves 192
CJ-Series
Units		 Maximum number of Units 40
Basic I/O
Units		 Load Short-
circuit Protection
and I/O
Disconnection
Detection		 Alarm information for Basic I/O Units is read.
Communi-
cations		 Peripheral USB Port A port for communications with various kinds of Support Software running on a personal computer.
Built-in
Ether-
Net/IP port
Internal
Port		 Communications protocol TCP/IP, UDP/IP
CIP
Communi-
cations
Service		 Tag Data Links Programless cyclic data exchange is performed with the devices on the EtherNet/IP network.
Message
Communications		 CIP commands are sent to or received from the devices on the EtherNet/IP network.
TCP/IP
functions		 CIDR The function which performs IP address allocations without using a class (class A to C) of IP address.
IP Forwarding *5 ---
TCP/IP
Applications		 Socket Services Data is sent to and received from any node on Ethernet using the UDP or TCP protocol. Socket communications instructions are used.
FTP client *7 File can be read from or written to computers at other Ethernet nodes from the CPU Unit. FTP client communications instructions are used.
FTP Server Files can be read from or written to the SD Memory Card in the CPU Unit from computers at other Ethernet nodes.
Automatic Clock
Adjustment		 Clock information is read from the NTP server at the specified time or at a specified interval after the power supply to the CPU Unit is turned ON.
The internal clock time in the CPU Unit is updated with the read time.
SNMP Agent Built-in EtherNet/IP port internal status information is provided to network management software that uses an SNMP manager.
EtherCAT
Port		 Supported
Services		 Process Data
Communications		 Control information is exchanged in cyclic communications between the EtherCAT master and slaves.
SDO
Communications		 A communications method to exchange control information in noncyclic event communications between EtherCAT master and slaves.
This communications method is defined by CoE.
Network Scanning Information is read from connected slave devices and the slave configuration is automatically generated.
DC (Distributed Clock) Time is synchronized by sharing the EtherCAT system time among all EtherCAT devices (including the master).
Packet Monitoring *8 The frames that are sent by the master and the frames that are received by the master can be saved.
The data that is saved can be viewed with WireShark or other applications.
Enable/disable Settings for
Slaves		 The slaves can be enabled or disabled as communications targets.
Disconnecting/Connecting
Slaves		 SDO messages of the CAN application can be sent to slaves via EtherCAT.
Supported
Application
Protocol		 CoE SDO messages that conform to the CANopen standard can be sent to slaves via EtherCAT.
Communications Instructions The following instructions are supported.
CIP communications instructions, socket communications instructions, SDO message instructions, no-protocol communications instructions, protocol macro instructions, and FTP client instructions *7, and Modbus RTU protcol instructions *9
Operation
Manage-
ment		 RUN Output Contacts The output on the Power Supply Unit turns ON in RUN mode.
System
Manage-
ment		 Event Logs Function Events are recorded in the logs.
Maximum
number of
events		 System event log 1,024
Access event log 1,024
User-defined event log 1,024
Debugging Online
Editing		 Single Programs, function blocks, functions, and global variables can be changed online.
Different operators can change different POUs across a network.
Forced Refreshing The user can force specific variables to TRUE or FALSE.
Maximum
Number of
Forced
Variables		 Device Variables
for EtherCAT
Slaves		 64
Device Variables
for Cjseries Units
and Variables
with AT
Specifications		 64
MC Test Run *10 Motor operation and wiring can be checked from the Sysmac Studio.
Synchronizing The project file in the Sysmac Studio and the data in the CPU Unit can be made the same when online.
Differentiation monitoring *1 Rising/falling edge of contacts can be monitored.
Maximum number of contacts *1 8
Data Tracing Types Single Triggered
Trace		 When the trigger condition is met, the specified number of samples are taken and then tracing stops automatically.
Continuous Trace Data tracing is executed continuously and the trace data is collected by the Sysmac Studio.
Maximum Number of
Simultaneous Data Trace		 4 *11
Maximum Number of Records 10,000
Sampling Maximum
Number of
Sampled
Variables		 192 variables
Timing of Sampling Sampling is performed for the specified task period, at the specified time, or when a sampling instruction is executed.
Triggered Traces Trigger conditions are set to record data before and after an event.
Trigger
Conditions		 When BOOL variable changes to TRUE or FALSE Comparison of non-BOOL variable with a constant
Comparison Method: Equals (=), Greater than (>), Greater than or equals (≥), Less Than (<), Less than or equals (≤), Not equal (≠)
Delay Trigger position setting: A slider is used to set the percentage of sampling before and after the trigger condition is met.
Simulation The operation of the CPU Unit is emulated in the Sysmac Studio.
Reliability
Functions		 Self-diagnosis Controller
Errors		 Levels Major fault, partial fault, minor fault, observation, and information
User-defined errors User-defined errors are registered in advance and then records are created by executing instructions.
Levels 8 levels
Security Protecting
Software
Assets and
Preventing
Operating
Mistakes		 CPU Unit Names and Serial IDs When going online to a CPU Unit from the Sysmac Studio, the CPU Unit name in the project is compared to the name of the CPU Unit being connected to.
Protection User Program
Transfer with No
Restoration
Information		 You can prevent reading data in the CPU Unit from the Sysmac Studio.
CPU Unit Write
Protection		 You can prevent writing data to the CPU Unit from the Sysmac Studio or SD Memory Card.
Overall Project
File Protection		 You can use passwords to protect .smc files from unauthorized opening on the Sysmac Studio.
Data Protection You can use passwords to protect POUs on the Sysmac Studio.*3
Verification of Operation
Authority		 Online operations can be restricted by operation rights to prevent damage to equipment or injuries that may be caused by operating mistakes.
Number of
Groups		 5 *12
Verification of User Program
Execution ID		 The user program cannot be executed without entering a user program execution ID from the Sysmac Studio for the specific hardware (CPU Unit).
SD
Memory
Card
Functions		 Storage Type SD Memory Card, SDHC Memory Card
Application Automatic transfer from SD
Memory Card *1		 The data in the autoload folder on an SD Memory Card is automatically loaded when the power supply to the Controller is turned ON.
Transfer program from SD
Memory Card *9		 The user program on an SD Memory Card is loaded when the user changes system-defined variable to TRUE.
SD Memory Card Operation
Instructions		 You can access SD Memory Cards from instructions in the user program.
File Operations from the
Sysmac Studio		 You can perform file operations for Controller files in the SD Memory Card and read/write standard document files on the computer.
SD Memory Card Life
Expiration Detection		 Notification of the expiration of the life of the SD Memory Card is provided in a systemdefined variable and event log.
Backup
functions
*1		 SD Memory
Card backup
functions		 Operation Using front
switch		 You can use front switch to backup, compare, or restore data.
Using system-
defined variables		 You can use system-defined variables to backup or compare data.
Memory Card
Operations
Dialog Box on
Sysmac Studio		 Backup and verification operations can be performed from the SD Memory Card Operations Dialog Box on the Sysmac Studio.
Using instruction
*7		 Backup operation can be performed by using instruction.
Protection Prohibiting
backing up data
to the SD
Memory Card		 Prohibit SD Memory Card backup functions.
Sysmac Studio Controller backup functions Backup, restore, and verification operations for Units can be performed from the Sysmac Studio.

*1. Supported only by the CPU Units with unit version 1.03 or later.
*2. Inline ST is supported. (Inline ST is ST that is written as an element in a ladder diagram.)
*3. Supported only by the CPU Units with unit version 1.01 or later.
*4. Supported only by the CPU Units with unit version 1.06 or later.
*5. Supported only by the CPU Units with unit version 1.10 or later.
*6. Supported only by the CPU Units with unit version 1.05 or later.
*7. Supported only by the CPU Units with unit version 1.08 or later.
*8. For NJ301, Supported only by the CPU Units with unit version 1.10 or later.
*9. Supported only by the CPU Units with unit version 1.11 or later.
*10.Cannot be used with the NJ101-9000.
*11.Maximum Number of Simultaneous Data Trace of the NJ501-1[]20 CPU Unit with unit version 1.08 or later is 2.
*12.When the NJ501 CPU Units with unit version 1.00 is used, this value becomes two.

Functions That Were Added or Changed for Each Unit Version and Sysmac Studio version

Additions and Changes to Functional Specifications

The following table gives the unit version of the CPU Units and the Sysmac Studio version for each addition or change to the functional specifications.

Function Addition/
change		 Unit
version		 Sysmac
Studio
version
Tasks Function Conditionally executed tasks Addition 1.03 1.04
Programming Namespaces Addition 1.01 1.02
Data types Structure data
types		 Specifying member
offsets		 Addition 1.01 1.02
Change 1.03
Libraries Addition 1.01 1.02
Motion
control		 Single axes Single-axis
position control		 Cyclic synchronous
absolute positioning		 Addition 1.03 1.04
Auxiliary
function for
single-axis
control		 Homing with specified
parameters		 Addition 1.03 1.04
Enabling digital cam
switches		 Addition 1.06 1.07
Command position
compensation		 Addition 1.10 1.12
Start velocity Addition 1.05 1.06
Axes groups Multi-axes
coordinated
control		 Axes group cyclic
synchronous absolute
positioning		 Addition 1.01 1.02
Auxiliary
functions for
multi-axes
coordinated
control		 Reading axes group
positions		 Addition 1.01 1.02
Changing the axes in
a group		 Addition 1.01 1.02
Common items Cams Generating cam tables Addition 1.08 1.09
Parameters Changing axis
parameters		 Addition 1.08 1.09
Auxiliary functions Input signal logic inversion Addition 1.05 1.06
Unit (I/O)
management		 NX Units Addition 1.05 1.06
Communications EtherNet/IP port TCP/IP
applications		 FTP client Addition 1.08 1.09
EtherCAT port Packet monitoring * (NJ301-[][][][]…………) Addition 1.10 1.12
Communications instructions Change 1.08
1.11		 1.09
1.15
Debugging
function		 Differential monitoring Addition 1.03 1.04
Reliability
functions		 Self diagnosis Controller
errors		 Changing levels Addition 1.03 1.04
Security Asset protection
and preventing
incorrect operation		 Protection Data protection Addition 1.01 1.02
Operation
authority
verification		 Number of groups Change 1.01 1.02
SD Memory
Cards		 Application Automatic transfer from SD Memory Card Addition 1.03 1.04
Transfer program from SD Memory Card Addition 1.11 1.15
Backing up
data		 SD Memory
Card backups		 Operating
methods		 CPU Unit front-panel
DIP switch		 Addition 1.03 1.04
Specification with
system-defined
variables		 Addition 1.03 1.04
SD Memory Card
Window in Sysmac
Studio		 Addition 1.03 1.04
Special instruction Addition 1.08 1.09
Protection Disabling backups to SD
Memory Cards		 Addition 1.03 1.04
Sysmac Studio Controller backups Addition 1.03 1.04

* This addition applies only to an NJ301-[][][][] CPU Unit. The NJ501-[][][][] and NJ101-[][][][] CPU Units support packet monitoring with all versions.

Performance Improvements for Unit Version Upgrades

This section introduces the functions for which performance was improved for each unit version of NJ-series CPU Unit and for each Sysmac Studio version.

Function Performance value Unit version Sysmac
Studio
version
Programming Program
capacity		 Quantities Number of POU
instances
(NJ501-[][][][])		 9,000 -- 1.06 or higher
6,000 -- 1.05 or lower
Number of POU
instances
(NJ301-[][][][])		 3,000 1.04 or later 1.05 or higher
1,500 1.04 or lower
2,400 1.03 or earlier 1.05 or higher
1,500 1.04 or lower
Memory
capacity
for variables		 Variables
with a
Retain
attribute		 Number of
variables*1
(NJ301-[][][][])		 5,000 1.04 or later 1.05 or higher
2,500 1.04 or lower
2,500 1.03 or earlier ---
Motion
Control		 Number of
controlled
axes		 Maximum number of
controlled axes*2*3*4
(NJ301-[][][][])		 15 axes 1.06 or later 1.07 or higher
8 axes (NJ301-1200)
4 axes (NJ301-1100)		 Other than the above combination
Maximum number of axes
for single-axis control*4*5
(NJ301-[][][][])		 15 axes 1.06 or later 1.07 or higher
8 axes (NJ301-1200)
4 axes (NJ301-1100)		 Other than the above combination
Built-in
EtherNet/IP
port		 CIP service:
Tag data links
(cyclic
communications)		 Packet interval Can be set for each
connection.
1 to 10,000 ms in
1-ms increments		 1.03 or later --
Can be set for each
connection.
10 to 10,000 ms in
1-ms increments		 1.02 or earlier
Permissible
communications band		 3,000 pps*6
(including heartbeat)		 1.03 or later --
1,000 pps
(including heartbeat)		 1.02 or earlier
Number of TCP sockets 30 1.03 or later --
16 1.02 or earlier
Built-in
EtherCAT
port		 Communications cycle*7
(NJ301-[][][][])		 500, 1,000, 2,000, or
4,000 μs		 1.03 or later --
1,000, 2,000, or
4,000μs		 1.02 or earlier

*1. The performance improvement applies only to an NJ301-[][][][] CPU Unit.
       The maximum number of variables with a Retain attributes for the NJ501-[][][][] is 10,000.
*2. This is the total for all axis types.
*3. The performance improvement applies only to an NJ301-[][][][] CPU Unit.
       The maximum numbers of controlled axes for the NJ501-[][][][] are as follows:
       NJ501-1500: 64 axes, NJ501-1400: 32 axes, and NJ501-1300: 16 axes
*4. There is no change in the maximum number of used real axes.
*5. The performance improvement applies only to an NJ301-[][][][] CPU Unit.
       The maximum numbers of axes for single-axis control for the
       NJ501-[][][][] are as follows:
       NJ501-1500: 64 axes, NJ501-1400: 32 axes, and NJ501-1300: 16 axes
*6. Here, pps means “packets per second” and indicates the number of packets that can be processed in one second.
*7. The performance improvement applies only to an NJ301-[][][][] CPU Unit.
       You can use 500, 1,000, 2,000 or 4,000 μs communications cycle with an NJ501-[][][][] CPU Unit, and
       1,000, 2,000 or 4,000 μs communications cycle with an NJ101-[][][][] CPU Unit.

last update: October 03, 2016

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