Item |
NX1P2 |
Tasks |
Function |
I/O refresh and the user program are executed in units
that are called tasks. Tasks are used to specify
execution conditions and execution priority. |
|
Periodi-
cally
Executed
Tasks |
Maximum Number
of Primary
Periodic Tasks |
1 |
Maximum Number
of Periodic Tasks |
2 |
Condi-
tionally
Executed
Tasks |
Maximum Number
of Event Tasks |
32 |
Execution
Condition |
When Activate Event Task instruction is executed or
when condition expression for variable is met |
Setup |
System Service Monitoring
Settings |
Not supported |
Pro-
gramming |
POUs
(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 * and structured text (ST) |
Namespaces |
Namespaces are used to create named groups of 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 and 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, and Enumerations |
Structures |
Function |
A derivative data type that groups together data with
different data 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. |
Union |
Function |
A derivative data type that enables access to the same
data with different data types. |
Maximum Number
of Members |
4 |
Member Data
Types |
BOOL, BYTE, WORD, DWORD, and LWORD |
Enumer-
ation |
Function |
A derivative data type that uses text strings called
enumerators to express variable values. |
Data Type
Attributes |
Array
Specifica-
tions |
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 |
You can use user libraries. |
Motion
Control |
Control Modes |
Position control, Velocity control, and 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 Axes |
Single-axis
Pition
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
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
specified
parameters |
The parameters are specified, the motor is operated,
and the limit signals, home proximity signal, and home
signal are used to define home. |
High-speed
Homing Stopping |
Positioning is performed for an absolute target position
of 0 to return to home. An axis is decelerated to a
stop. |
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
Coordi-
nated
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
Coordi-
nated
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 is generated from the cam property and
cam node that is specified in input parameters. |
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. |
Acceler-
ation/
Decelera-
tion
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 |
The movement range of an axis is monitored. |
Following Error |
The error between the command current value and the
actual current value is monitored for each axis. |
Velocity,
Acceleration
Rate,
Deceleration
Rate, Torque,
Interpolation
Velocity,
Interpolation
Acceleration
Rate, and
Interpolation
Dceleration 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 |
16 |
CJ-Series
Units |
Maximum Number of Units |
Not supported |
Communi-
cations |
Peripheral USB Port |
Not supported |
Built-in
EtherNet/IP
Port |
Communications Protocol |
TCP/IP and UDP/IP |
CIP Com-
munica-
tions
Service |
Tag Dta 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
Applica-
tions |
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 |
Files are transferred via FTP from the CPU Unit to
computers or Controllers at other Ethernet nodes.
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 |
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 |
Serial Com-
munication |
Protocol |
Host link (FINS), no-protocol, and Modbus-RTU master
(when connected to the Serial Communications Option
Board) |
Communications Instructions |
FTP client instructions, CIP communications
instructions, socket communications instructions, SDO
message instructions, noprotocol communications
instructions, and Modbus RTU protocol instructions |
Operation
Man-
agement |
RUN Output Contacts |
Not supported |
System
Man-
agement |
Event Logs |
Function |
Events are recorded in the logs |
Maximum
Number of
Events |
System Event Log |
576 *2 |
Access Event Log |
528 *3 |
User-defined Event Log |
512 |
Debugging |
Online
Editing |
Single |
Programs, function blocks, functions, and global
variables can be changed online.
More than one operators can change POUs
individually via 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 CJ-series
Units and
Variables with AT
Specifications |
Not supported |
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 |
You can monitor when a variable changes to TRUE or
changes to FALSE. |
|
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 Traces |
2 |
Maximum Number of Records |
10000 |
Maximum Number of Sampled
Variables |
48 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 faults, partial faults, minor faults, observation,
and information |
Maximum number
of message
languages |
9 (Sysmac Studio)
2 (NS-series PT) |
User-
defined
Errors |
Function |
User-defined errors are registered in advance and then
records are created by executing instructions. |
Levels |
8 |
Maximum number
of message
languages |
9 |
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). |
SD
Memory
Card
functions |
Storage Type |
SD Memory Card,
SDHC Memory Card |
Application |
Automatic Transfer from SD
Memory Card |
When the power supply to the Controller is turned ON,
the data that is stored in the autoload directory of the
SD Memory Card is transferred to the Controller. |
Program transfer from SD
Memory Card |
With the specification of the system-defined variable,
you can transfer a program that is stored in the SD
Memory Card to the Controller. |
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 general-purpose
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 system-defined variable
and event log. |
Backing
up data |
SD Memory
Card
backups |
Operating
methods |
CPU Unit front
panel DIP switch |
Backup, verification, and restoration operations are
performed by manipulating the front-panel DIP switch
on the CPU Unit. |
Specification
with system-
defined variables |
Backup and verification operations are performed by
manipulating systemdefined variables. |
SD Memory Card
Window in Sysmac
Studio |
Backup and verification operations are performed from
the SD Memory Card Window of the Sysmac Studio. |
Special
instruction |
The special instruction is used to backup data. |
Protection |
Disabling backups
to SD Memory
Cards |
Backing up data to a SD Memory Card is prohibited. |
Sysmac Studio Controller backups |
The Sysmac Studio is used to backup, restore, or
verify Controller data. |