Item |
NY5[][]-1[][][] |
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 |
Maximum
number of
event tasks |
32 |
Execution
conditions |
When Activate Event Task instruction is executed or when condition expression for variable is met. |
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 *1 and structured text (ST) |
Namespaces |
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 |
Basic 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. |
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 |
Enumerations |
Function |
A derivative data type that uses text strings called enumerators to express variable values. |
Data type
attributes |
Array
specifications |
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 |
A positioning command is output each control period in 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
synchronized
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 |
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 |
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 |
The function which compensate the position for the axis in operation. |
Start velocity |
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. |
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. |
Changing the
axes in an axes
group |
The Composition Axes parameter in the axes group parameters can be overwritten temporarily. |
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 nonvolatile memory in the CPU Unit. |
Generating cam
tables |
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 |
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. |
Acceleration/
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 1S-series Servomotor or G5-Series Servomotor with an Absolute Encoder to eliminate the need to perform homing at startup. |
Input signal logic inversion |
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) man-
agement |
EtherCAT
slaves |
Maximum number of slaves |
192 |
Communi-
cations |
Built-in
EtherNet/IP
port
Internal
Port |
Communications protocol |
TCP/IP, UDP/IP |
TCP/IP
functions |
CIDR |
The function which performs IP address allocations without using a class (class A to C) of IP address. |
IP Forwarding |
The function which forward IP packets between interfaces. |
Packet Filter *2 |
Check the IP packet, the function to determine whether to receive the source IP address and TCP port number. |
NAT |
Function for transfer by converting the two IP address. |
CIP
communica-
tions 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
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 |
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. |
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 |
A communications method to exchange control information in cyclic communications between the EtherCAT master and slaves.
This communications method is defined by CoE. |
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 |
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 |
Temporarily disconnects a slave from the EtherCAT network for maintenance, such as for replacement of the slave, and then connects the slave again. |
Supported
application
protocol |
CoE |
SDO messages of the CAN application can be sent to slaves via EtherCAT. |
Communications instructions |
The following instructions are supported.
CIP communications instructions, socket communications instructions, SDO message instructions, FTP client instructions, and Modbus RTU protcol instructions. |
System
man-
agement |
Event logs |
Function |
Events are recorded in the logs. |
Maximum
number of
events |
System event
log |
2,048 |
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 |
MC test run |
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 |
Rising/falling edge of contacts can be monitored. |
|
Maximum number of contacts |
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 |
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. |
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 |
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). |
Memory
card
functions |
Location to store |
Shared folder: The folder that exist on the HDD/SDD that Windows is running. |
Application |
Memory card operation
instructions |
You can access Memory Cards from instructions in the user program. |
File operations from the
Sysmac Studio |
You can perform file operations for Controller files in the Memory Card and read/write general-purpose document files on the computer. |
File operations from FTP
Client/Server |
You can store and read files by the FTP client function and FTP server function. |
Backup
functions |
SD memory
card backup
functions |
Operation |
Using system-
efined 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 |
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. |