Omron Sysmac NJ Series Instruction & Reference Manual
Machine automation controller
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- User manual (578 pages) ,
- Connection manual (56 pages) ,
- Network connection manual (32 pages)
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Summary of Contents for Omron Sysmac NJ Series
- Page 1 Machine Automation Controller NJ/NX-series Instructions Reference Manual Motion Control NX701-1£££ NX102-1£££ NX102-90££ NX1P2-1£££££ NX1P2-9£££££ NJ501-££££ NJ301-1£££ NJ101-10££ W508-E1-23...
- Page 2 Moreover, because OMRON is constantly striving to improve its high-quality products, the infor- mation contained in this manual is subject to change without notice. 3. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON as- sumes no responsibility for errors or omissions.
- Page 3 Introduction Introduction Thank you for purchasing an NJ/NX-series CPU Unit. This manual describes the motion control instructions. Please be sure you sufficiently understand the operations and handling procedures, and use the Motion Control Function Module (abbreviated as “MC Function Module”) correctly. Use this manual together with the user’s manuals for the NJ/NX-series CPU Unit.
- Page 4 Introduction • NJ101-10££ Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to Relevant Manuals on page 3 and Related Manuals on page 28. NJ/NX-series Motion Control Instructions Reference Manual (W508)
- Page 5 Relevant Manuals Relevant Manuals The following table provides the relevant manuals for the NJ/NX-series CPU Units. Read all of the manuals that are relevant to your system configuration and application before you use the NJ/NX-ser- ies CPU Unit. Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Studio Version 1 Operation Manual (Cat.
- Page 6 Relevant Manuals Manual Basic information Purpose of use Software settings Using motion control ¡ Using EtherCAT ¡ Using EtherNet/IP ¡ Using OPC UA ¡ Using FINS ¡ Using the database connec- ¡ tion service ¡ Using the GEM Services ¡ Using robot control for OM- ¡...
- Page 7 Relevant Manuals Manual Basic information Purpose of use Testing operation and debug- ging Using motion control ¡ Using EtherCAT ¡ Using EtherNet/IP ¡ Using OPC UA ¡ Using FINS ¡ Using the database connec- ¡ ¡ tion service Using the GEM Services ¡...
- Page 8 Manual Structure Manual Structure Page Structure The following page structure is used in this manual. Level-1 section heading 3 Axis Command Instructions Level-2 section heading MC_Power The MC_Power instruction makes a Servo Drive ready to operate. Instruction Name FB/FUN Graphic expression ST expression MC_Power Power Servo...
- Page 9 Manual Structure 3 Axis Command Instructions In-Out Variables Name Meaning Data type Valid range Description Axis Axis _sAXIS_REF Specify the axis. * Specify an Axis Variable that was created in the Axis Basic Settings of the Sysmac Studio. (The default axis variable names are MC_Axis ***.) Function Level-2 section heading...
- Page 10 Manual Structure Precaution on Terminology In this manual, "download" refers to transferring data from the Sysmac Studio to the physical Control- ler and "upload" refers to transferring data from the physical Controller to the Sysmac Studio. For the Sysmac Studio, "synchronization" is used to both "upload" and "download" data. Here, "synchronize"...
- Page 11 Sections in this Manual Sections in this Manual Introduction to Motion Control Instructions Variables and Instructions Axis Command Instructions Axes Group Instructions Common Command Instructions Appendices Index NJ/NX-series Motion Control Instructions Reference Manual (W508)
- Page 12 CONTENTS CONTENTS Introduction ......................1 Intended Audience............................1 Applicable Products ............................1 Relevant Manuals..................... 3 Manual Structure...................... 6 Page Structure..............................6 Special Information ............................7 Precaution on Terminology ..........................8 Sections in this Manual ................... 9 Terms and Conditions Agreement................ 16 Warranty, Limitations of Liability ........................16 Application Considerations ..........................17 Disclaimers ..............................17 Safety Precautions....................
- Page 13 CONTENTS 2-1-1 MC Common Variables .......................2-3 2-1-2 Axis Variables..........................2-4 2-1-3 Axes Group Variables........................2-10 2-1-4 Input Variables for Motion Control Instructions................2-13 2-1-5 Output Variables for Motion Control Instructions...............2-28 2-1-6 In-Out Variables for Motion Control Instructions................2-31 Instructions ..........................2-34 2-2-1 Common Commands ........................2-34 2-2-2 Axis Commands ........................2-35 2-2-3...
- Page 14 CONTENTS MC_SetPosition..........................3-153 Variables ..............................3-153 Function ..............................3-154 MC_SetOverride ...........................3-160 Variables ..............................3-160 Function ..............................3-161 MC_ResetFollowingError ......................3-166 Variables ..............................3-166 Function ..............................3-167 MC_CamIn.............................3-173 Variables ..............................3-173 Function ..............................3-177 Sample Programming 1 ..........................3-200 Sample Programming 2 ..........................3-211 MC_CamOut..........................3-231 Variables ..............................3-231 Function ..............................3-232 MC_CamMonitor...........................3-236 Variables ..............................3-236 Function ..............................3-239 Precautions for Correct Use ........................3-244 MC_GearIn ............................3-245...
- Page 15 CONTENTS Variables ..............................3-385 Function ..............................3-386 MC_AxesObserve.........................3-389 Variables ..............................3-389 Function ..............................3-391 MC_SyncMoveVelocity ........................3-395 Variables ..............................3-395 Function ..............................3-397 MC_SyncMoveAbsolute ......................3-405 Variables ..............................3-405 Function ..............................3-407 MC_Reset............................3-412 Variables ..............................3-412 Function ..............................3-413 MC_ChangeAxisUse ........................3-416 Variables ..............................3-416 Function ..............................3-417 MC_DigitalCamSwitch .........................3-422 Variables ..............................3-423 Function ..............................3-424 Sample Programming ..........................3-433 MC_TimeStampToPos .........................3-442 Variables ..............................3-442 Function ..............................3-443...
- Page 16 CONTENTS Variables ..............................4-46 Function ..............................4-49 Sample Programming ..........................4-61 MC_GroupStop..........................4-74 Variables ..............................4-74 Function ..............................4-76 MC_GroupImmediateStop ......................4-82 Variables ..............................4-82 Function ..............................4-83 MC_GroupSetOverride ........................4-86 Variables ..............................4-86 Function ..............................4-87 MC_GroupReadPosition........................4-91 Variables ..............................4-91 Function ..............................4-92 MC_ChangeAxesInGroup......................4-95 Variables ..............................4-95 Function ..............................4-96 MC_GroupSyncMoveAbsolute......................4-99 Variables ..............................4-99 Function ..............................4-101 MC_GroupReset ...........................4-106 Variables ..............................4-106 Function ..............................4-107...
- Page 17 CONTENTS Index NJ/NX-series Motion Control Instructions Reference Manual (W508)
- Page 18 Omron’s exclusive warranty is that the Products will be free from defects in materials and work- manship for a period of twelve months from the date of sale by Omron (or such other period ex- pressed in writing by Omron). Omron disclaims all other warranties, express or implied.
- Page 19 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. Application Considerations...
- Page 20 Product. Errors and Omissions Information presented by Omron Companies has been checked and is believed to be accurate; how- ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions. NJ/NX-series Motion Control Instructions Reference Manual (W508)
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