Omron NX102-1 Automation Controller Manuals

Manuals and User Guides for Omron NX102-1 Automation Controller. We have 4 Omron NX102-1 Automation Controller manuals available for free PDF download: User Manual, Owner's Manual, Instruction & Reference Manual

Omron NX102-1 User Manual (578 pages)

Machine Automation Controller, CPU Unit Built-in EtherNet/IP Port

Brand: Omron | Category: Controller | Size: 13 MB

Intended Audience
3
Applicable Products
3
Relevant Manuals
4
Manual Structure
6
Page Structure
6
Special Information
7
Precaution on Terminology
7
Sections in this Manual
9
Table of Contents
10
Terms and Conditions Agreement
17
Warranty, Limitations of Liability
17
Application Considerations
18
Disclaimers
18
Safety Precautions
20
Precautions for Safe Use
21
Precautions for Correct Use
22
Regulations and Standards
23
Versions
24
Checking Versions
24
Unit Versions of CPU Units and Sysmac Studio Versions
28
Unit Versions of CPU Units and Peripheral Tool Versions
28
Related Manuals
29
Revision History
32
Introduction
35
Ethernet/Ip Features
36
Features of Built-In Ethernet/Ip Port on NJ/NX-Series CPU Units
36
Introduction
36
System Configuration and Configuration Devices
39
Devices Required to Construct a Network
39
Support Software Required to Construct a Network
40
Built-In Ethernet/Ip Port
42
Specifications
42
Part Names and Functions
46
Introduction to Communications Services
53
CIP (Common Industrial Protocol) Communications Services
53
IP Routing
55
Packet Filter
56
BOOTP Client
57
FTP Server
57
FTP Client
58
Automatic Clock Adjustment
58
Socket Service
59
Specifying Host Names
60
SNMP Agent
60
TCP/UDP Message Service
61
Ethernet/Ip Communications Procedures
62
Selecting the Network Devices
66
Recommended Network Devices
66
Ethernet Switch Types
67
Ethernet Switch Functions
67
Precautions for Ethernet Switch Selection
68
Network Installation
71
Basic Installation Precautions
71
Recommended Network Devices
71
Precautions When Laying Twisted-Pair Cable
71
Precautions When Installing and Connecting Ethernet Switches
75
Connecting to the Network
77
Ethernet Connectors
77
Connecting the Cable
77
System-Defined Variables Related to the Built-In Ethernet/Ip Port
79
System-Defined Variables
81
Specifications for Individual System-Defined Variables
114
Determining IP Addresses
141
IP Addresses
142
IP Address Configuration
142
Allocating IP Addresses
142
Subnet Mask
142
Cidr
143
Built-In Ethernet/Ip Port IP Address Settings
145
Determining IP Addresses
145
Setting IP Addresses
145
Online Connection
148
Checking the Current IP Address
151
Private and Global Addresses
152
Using a Private Address for the Built-In Ethernet/Ip Port
153
Using a Global Address for the Built-In Ethernet/Ip Port
154
Sysmac Studio Settings for the Built-In Ethernet/Ip Port
155
TCP/IP Settings Display
156
LINK Settings Display
162
FTP Settings Display
163
NTP Settings Display
164
SNMP Settings Display
166
SNMP Trap Settings Display
168
PING Command
172
Using the PING Command
172
Host Computer Operation
172
Introduction to Tag Data Links
176
Tag Data Links
176
Data Link Data Areas
177
Tag Data Link Functions and Specifications
180
Overview of Operation
181
Starting and Stopping Tag Data Links
183
Controller Status
184
Concurrency of Tag Data Link Data
186
Controller Status
186
Setting Tag Data Links
193
Starting the Network Configurator
193
Tag Data Link Setting Procedure
195
Registering Devices
195
Creating Tags and Tag Sets
197
Connection Settings
210
Creating Connections Using the Wizard
220
Creating Connections by Dragging and Dropping Devices
223
Connecting the Network Configurator to the Network
226
Downloading Tag Data Link Parameters
232
Uploading Tag Data Link Parameters
235
Verifying Tag Data Link Parameters
238
Starting and Stopping Tag Data Links
242
Clearing the Device Parameters
245
Saving the Network Configuration File
247
Reading a Network Configuration File
248
Checking Connections
250
Changing Devices
251
Displaying Device Status
252
Ladder Programming for Tag Data Links
254
Status Flags Related to Tag Data Links
258
Tag Data Links with Other Models
260
CIP Message Communications
263
Overview of the CIP Message Communications Service
265
Message Communications Service Specifications
265
CIP Message Communications Client Function
266
Overview
266
CIP Communications Instructions
266
Using CIP Communications Instructions
267
Route Path
268
Route Path
269
Request Path (IOI)
278
Service Data and Response Data
282
Sample Programming for CIP Connectionless (UCMM) Message Communications
284
Sample Programming for CIP Connection (Class 3) Message Communications
289
Sample Programming for CIP Connection (Class 3) Message Com- Munications
289
Operation Timing
296
Response Codes
297
CIP Communication Server Function
301
CIP Message Structure for Accessing CIP Objects
301
CIP Message Structure for Accessing Variables
302
Specifying Request Path
303
Examples of CIP Object Specifications
303
Examples of Variable Specifications
304
Logical Segment
304
Data Segment
304
Specifying Variable Names in Request Paths
305
CIP Object Services
309
CIP Objects Sent to the Built-In Ethernet/Ip Port
309
Identity Object (Class ID: 01 Hex)
309
NX Configuration Object (Class ID: 74 Hex)
312
TCP/IP Interface Object (Class ID: F5 Hex)
334
Ethernet Link Object (Class ID: F6 Hex)
337
Controller Object (Class ID: C4 Hex)
343
Read and Write Services for Variables
345
Read Service for Variables
345
Write Service for Variables
346
Variable Data Types
349
Data Type Codes
349
Common Format
349
Elementary Data Types
350
Derived Data Types
351
Socket Service
355
Basic Knowledge on Socket Communications
356
Sockets
356
Port Numbers for Socket Services
356
Basic Knowledge on Protocols
357
Differences between TCP and UDP
357
Fragmenting of Send Data
358
Data Receive Processing
360
Broadcasting
363
Overview of Built-In Ethernet/Ip Port Socket Services
364
Overview
364
Procedure
364
Settings Required for the Socket Services
365
Socket Service Instructions
366
Details on Using the Socket Services
367
Using the Socket Services
367
Procedure to Use Socket Services
367
Timing Chart for Output Variables Used in Communications
369
UDP Sample Programming
370
TCP Sample Programming
376
Precautions in Using Socket Services
383
Precautions for UDP and TCP Socket Services
383
Precautions for UDP Socket Services
383
Precautions for TCP Socket Services
383
TCP/UDP Message Service
385
Outline of TCP/UDP Message Service
385
Specifications of TCP/UDP Message Service
385
Settings Required for TCP/UDP Message Service
385
Command Format Specifications
385
Modbus TCP Master Function
389
Overview of Modbus TCP Master Function
390
10-2 Modbus TCP Master Function Details
391
Modbus TCP Instruction Type
391
Modbus TCP Instruction Function
391
Modbus TCP Master Function Procedure
392
11-1 Overview and Specifications
396
Overview
396
Specifications
396
11-2 FTP Server Function Details
398
Supported Files
398
Connecting to the FTP Server
398
11-3 Using the FTP Server Function
401
Procedure
401
List of Settings Required for the FTP Server Function
401
11-4 FTP Server Application Example
403
11-5 Using FTP Commands
405
Table of Commands
405
Using the Commands
405
11-6 Using SD Memory Card Operations
412
SD Memory Card Types
412
File Types
413
Initializing SD Memory Cards
414
Format of Variable Data
414
Application Example from a Host Computer
415
FTP Client
418
12-1 Using the FTP Client to Transfer Files
418
Transferring Files
418
Connectable FTP Servers
418
File Transfer Options
419
Other Functions
420
FTP Client Communications Instructions
421
Functions of the FTP Client Communications Instructions
421
Restrictions on the FTP Client Communications Instructions
424
12-3 FTP Client Application Example
425
Automatic Clock Adjustment
431
Overview
432
Specifications
432
Procedure to Use the Automatic Clock Adjustment Function
434
Procedure
434
Settings Required for Automatic Clock Adjustment
434
SNMP Agent
435
Overview
436
14-1 SNMP Agent
436
Specifications
437
SNMP Messages
437
MIB Specifications
438
14-2 Procedure to Use the SNMP Agent
455
Procedures
455
Settings Required for the SNMP Agent
455
15-1 Communications System
458
Tag Data Link Communications Method
458
Calculating the Number of Connections
460
Packet Interval (RPI) Accuracy
461
15-2 Adjusting the Communications Load
463
Checking Bandwidth Usage for Tag Data Links
464
Tag Data Link Bandwidth Usage and RPI
465
Adjusting Device Bandwidth Usage
466
Changing the RPI
467
RPI Setting Examples
472
15-3 I/O Response Time in Tag Data Links
478
Timing of Data Transmissions
478
Built-In Ethernet/Ip Port Data Processing Time
479
Relationship between Task Periods and Packet Intervals (Rpis)
481
Maximum Tag Data Link I/O Response Time
482
15-4 Message Service Transmission Delay
485
Troubleshooting
487
Overview of Troubleshooting
488
Checking Status with the Network Configurator
489
The Network Configurator's Device Monitor Function
489
Connection Status Codes and Troubleshooting
497
Appendices
505
Functional Comparison of Ethernet/Ip Ports on NJ/NX-Series CPU Units and Other Series
506
Use the Sysmac Studio to Set the Tag Data Links (Ethernet/Ip Connections
507
A-2-1 Overview of the Tag Data Links (Ethernet/Ip Connections) Settings with the Sysmac Studio
507
Overview of the Tag Data Links (Ethernet/Ip Connections) Settings with the Sysmac Studio
507
A-2-2 Procedure to Make the Ethernet/Ip Connection Settings with the Sysmac Studio
508
A-2-3 Ethernet/Ip Connection Settings
509
A-2-4 Making the Ethernet/Ip Connection Settings with the Sysmac Studio
513
A-2-5 Checking Communications Status with the Sysmac Studio and Troubleshooting
534
A-2-5 Checking Communications Status with the Sysmac Studio and Trou- Bleshooting
534
Troubleshooting
534
A-2-6 Troubleshooting
538
A-3 EDS File Management
543
A-3-1 Installing EDS Files
543
Installing EDS Files
543
A-3-2 Creating EDS Files
544
A-3-3 Deleting EDS Files
544
Saving EDS Files
545
Searching EDS Files
545
A-3-6 Displaying EDS File Properties
546
A-3-7 Creating EDS Index Files
546
Precautions for Using the Network Configurator on Windows XP, Windows Vis- Ta, or Windows 7 or Higher
547
Precautions for Using the Network Configurator on Windows XP, Windows Vista, or Windows 7 or Higher
547
Changing Windows Firewall Settings
547
A-5 Variable Memory Allocation Methods
550
A-5-1 Variable Memory Allocation Rules
550
A-5-2 Important Case Examples
559
Precautions When Accessing External Outputs in CPU Units
563
A-7 TCP State Transitions
564
Example of NX Unit Setting Using NX Configuration Object Service
566
A-8-1 Changing the Unit Operation Settings for Singe NX Unit
566
A-8-2 Changing the Unit Operation Settings for Multiple NX Units
567
A-8-3 Initializing the Unit Operation Settings for Singe NX Unit
567
A-9 Version Information
568

Omron NX102-1 Owner's Manual (570 pages)

Machine Automation Controller, CPU Unit Built-in EtherNet/IPTM Port

Brand: Omron | Category: Controller | Size: 15 MB

Introduction
3
Relevant Manuals
4
Manual Structure
6
Table of Contents
10
Terms and Conditions Agreement
17
Safety Precautions
19
Precautions for Safe Use
20
Precautions for Correct Use
21
Regulations and Standards
22
Versions
24
Related Manuals
28
Revision History
30
Introduction
33
Ethernet/Ip Features
34
Introduction
34
Features of Built-In Ethernet/Ip Port on NJ/NX-Series CPU Units
35
System Configuration and Configuration Devices
37
Devices Required to Construct a Network
37
Support Software Required to Construct a Network
38
Built-In Ethernet/Ip Port
39
Specifications
39
Part Names and Functions
43
Introduction to Communications Services
49
CIP (Common Industrial Protocol) Communications Services
49
IP Routing
51
Packet Filter
52
BOOTP Client
52
FTP Server
53
FTP Client
53
Automatic Clock Adjustment
54
Socket Service
54
Specifying Host Names
55
SNMP Agent
56
TCP/UDP Message Service
56
Ethernet/Ip Communications Procedures
57
Installing Ethernet Networks
61
Selecting the Network Devices
62
Recommended Network Devices
62
Ethernet Switch Types
63
Ethernet Switch Functions
63
Precautions for Ethernet Switch Selection
64
Network Installation
66
Basic Installation Precautions
66
Recommended Network Devices
66
Precautions When Laying Twisted-Pair Cable
66
Precautions When Installing and Connecting Ethernet Switches
70
Connecting to the Network
71
Ethernet Connectors
71
Connecting the Cable
72
System-Defined Variables Related to the Built-In Ethernet/Ip Port
73
System-Defined Variables
75
Specifications for Individual System-Defined Variables
105
Determining IP Addresses
133
IP Addresses
134
IP Address Configuration
134
Allocating IP Addresses
135
Subnet Masks
135
Cidr
136
Built-In Ethernet/Ip Port IP Address Settings
137
Determining IP Addresses
137
Setting IP Addresses
138
Online Connection
141
Checking the Current IP Address
144
Private and Global Addresses
145
Using a Private Address for the Built-In Ethernet/Ip Port
146
Using a Global Address for the Built-In Ethernet/Ip Port
147
Sysmac Studio Settings for the Built-In Ethernet/Ip Port
149
TCP/IP Settings Display
150
Link Settings Display
156
FTP Display
157
NTP Settings Display
158
SNMP Settings Display
160
SNMP Trap Settings Display
162
Testing Communications
165
PING Command
166
Using the PING Command
166
Host Computer Operation
167
Introduction to Tag Data Links
170
Tag Data Links
170
Data Link Data Areas
171
Tag Data Link Functions and Specifications
174
Overview of Operation
175
Starting and Stopping Tag Data Links
177
Controller Status
178
Controller Status
179
Concurrency of Tag Data Link Data
181
Setting Tag Data Links
187
Starting the Network Configurator
187
Tag Data Link Setting Procedure
189
Registering Devices
190
Creating Tags and Tag Sets
192
Connection Settings
204
Creating Connections Using the Wizard
215
Creating Connections by Device Dragging and Dropping
218
Connecting the Network Configurator to the Network
221
Downloading Tag Data Link Parameters
228
Uploading Tag Data Link Parameters
231
Verifying the Tag Data Links
234
Starting and Stopping Tag Data Links
238
Clearing the Device Parameters
240
Saving the Network Configuration File
242
Reading a Network Configuration File
243
Checking Connections
245
Changing Devices
246
Displaying Device Status
247
Ladder Programming for Tag Data Links
248
Status Flags Related to Tag Data Links
253
Tag Data Links with Other Models
254
Overview of the CIP Message Communications Service
259
Message Communications Service Specifications
259
CIP Messaging Communications Client Function
260
Overview
260
CIP Communications Instructions
261
Using CIP Communications Instructions
262
Route Path
263
Request Path (IOI)
273
Service Data and Response Data
277
Sample Programming for CIP Connectionless (UCMM) Message Communications
278
Sample Programming for CIP Connectionless (UCMM) Message
278
Communications
278
Sample Programming for CIP Connection (Class 3) Message Communications
283
Sample Programming for CIP Connection (Class 3) Message
283
Communications
283
Operation Timing
290
Response Codes
291
CIP Communication Server Functions
295
CIP Message Structure for Accessing CIP Objects
296
CIP Message Structure for Accessing Variables
296
Logical Segment
296
Specifying Request Path
297
Examples of CIP Object Specifications
297
Examples of Variable Specifications
297
Logical Segment
298
Data Segment
299
Specifying Variable Names in Request Paths
300
CIP Object Services
303
CIP Objects Sent to the Built-In Ethernet/Ip Port
303
Identity Object (Class ID: 01 Hex)
303
NX Configuration Object (Class ID: 74 Hex)
306
TCP/IP Interface Object (Class ID: F5 Hex)
328
Ethernet Link Object (Class ID: F6 Hex)
330
Controller Object (Class ID: C4 Hex)
335
Read and Write Services for Variables
336
Read Services for Variables
336
Write Service for Variables
338
Variable Data Types
340
Data Type Codes
340
Common Format
341
Elementary Data Types
341
Derived Data Types
343
Basic Knowledge on Socket Communications
346
Sockets
346
Port Numbers for Socket Services
346
Basic Knowledge on Protocols
347
Differences between TCP and UDP
347
Fragmenting of Send Data
349
Data Reception Processing
351
Broadcasting
354
Overview of Built-In Ethernet/Ip Port Socket Services
355
Overview
355
Procedure
355
Settings Required for the Socket Services
356
Socket Service Instructions
357
Details on Using the Socket Services
358
Using the Socket Services
358
Procedure to Use Socket Services
359
Timing Chart for Output Variables Used in Communications
361
UDP Sample Programming
363
TCP Sample Programming
368
Precautions in Using Socket Services
374
Precautions for UDP and TCP Socket Services
374
Precautions for UDP Socket Services
374
Precautions for TCP Socket Services
374
TCP/UDP Message Service
376
Outline of TCP/UDP Message Service
376
Specifications of TCP/UDP Message Service
376
Settings Required for TCP/UDP Message Service
376
Command Format Specifications
377
Modbus TCP Master Function
379
Overview of Modbus TCP Master Function
380
Modbus TCP Master Function Details
381
Modbus TCP Instruction Type
381
Modbus TCP Instruction Function
381
Modbus TCP Master Function Procedure
382
Overview and Specifications
386
Overview
386
Specifications
386
FTP Server Function Details
387
Supported Files
387
Connecting to the FTP Server
387
Using the FTP Server Function
390
Procedure
390
List of Settings Required for the FTP Server Function
390
FTP Server Application Example
391
Using FTP Commands
393
Table of Commands
393
Using the Commands
394
Using SD Memory Card Operations
399
SD Memory Card Types
399
File Types
400
Initializing SD Memory Cards
400
Format of Variable Data
401
Application Example from a Host Computer
402
FTP Client
406
Using the FTP Client to Transfer Files
406
Transferring Files
406
Connectable FTP Servers
407
File Transfer Options
407
Other Functions
408
FTP Client Communications Instructions
409
Functions of the FTP Client Communications Instructions
409
Restrictions on the FTP Client Communications Instructions
411
FTP Client Application Example
413
Automatic Clock Adjustment
419
Overview
420
Automatic Clock Adjustment
420
Specifications
421
Procedure to Use the Automatic Clock Adjustment Function
422
Procedure
422
Settings Required for Automatic Clock Adjustment
422
SNMP Agent
424
Overview
424
Specifications
425
SNMP Messages
425
MIB Specifications
426
Procedure to Use the SNMP Agent
444
Procedures
444
Settings Required for the SNMP Agent
444
Communications System
448
Tag Data Link Communications Method
448
Calculating the Number of Connections
450
Packet Interval (RPI) Accuracy
451
Adjusting the Communications Load
452
Checking Bandwidth Usage for Tag Data Links
454
Tag Data Link Bandwidth Usage and RPI
455
Adjusting Device Bandwidth Usage
456
Changing the RPI
458
RPI Setting Examples
464
I/O Response Time in Tag Data Links
469
Timing of Data Transmissions
469
Built-In Ethernet/Ip Port Data Processing Time
470
Relationship between Task Periods and Packet Intervals (Rpis)
472
Maximum Tag Data Link I/O Response Time
473
Message Service Transmission Delay
475
Troubleshooting
477
Overview of Troubleshooting
478
Checking Status with the Network Configurator
479
The Network Configurator's Device Monitor Function
479
Connection Status Codes and Troubleshooting
486
Appendices
491
Functional Comparison of Ethernet/Ip Ports on NJ/NX-Series CPU Units and Other Series
493
Functional Comparison of Ethernet/Ip Ports on NJ/NX- Series CPU Units and Other Series
493
Use the Sysmac Studio to Set the Tag Data Links (Ethernet/Ip Connections
495
A-2-1 Overview of the Tag Data Links (Ethernet/Ip Connections) Settings with the Sysmac Studio
495
Overview of the Tag Data Links (Ethernet/Ip Connections) Settings with the Sysmac Studio
495
A-2-2 Procedure to Make the Ethernet/Ip Connection Settings with the Sysmac Studio
497
Procedure to Make the Ethernet/Ip Connection Settings with the Sysmac Studio
497
A-2-3 Ethernet/Ip Connection Settings
498
Ethernet/Ip Connection Settings
498
A-2-4 Making the Ethernet/Ip Connection Settings with the Sysmac Studio
503
Making the Ethernet/Ip Connection Settings with the Sysmac Studio
503
A-2-5 Checking Communications Status with the Sysmac Studio and Troubleshooting
526
Checking Communications Status with the Sysmac Studio
526
A-2-6 Troubleshooting
530
EDS File Management
536
A-3-1 Installing EDS Files
537
A-3-2 Creating EDS Files
537
Installing EDS Files
537
Creating EDS Files
537
A-3-3 Deleting EDS Files
538
A-3-4 Saving EDS Files
538
Deleting EDS Files
538
Saving EDS Files
538
A-3-5 Searching EDS Files
539
Searching EDS Files
539
A-3-6 Displaying EDS File Properties
540
A-3-7 Creating EDS Index Files
540
Displaying EDS File Properties
540
Creating EDS Index Files
540
Precautions for Using the Network Configurator on Windows XP, Windows Vista, or Windows 7 or Higher
541
A-4-1 Changing Windows Firewall Settings
541
Changing Windows Firewall Settings
541
A-5-2 Important Case Examples
552
Important Case Examples
552
Precautions When Accessing External Outputs in CPU Units
556
TCP State Transitions
557
Example of NX Unit Setting Using NX Configuration Object Service
559
A-8-1 Changing the Unit Operation Settings for Singe NX Unit
559
Changing the Unit Operation Settings for Singe NX Unit
559
Changing the Unit Operation Settings for Multiple NX Units
559
A-8-2 Changing the Unit Operation Settings for Multiple NX Units
560
A-8-3 Initializing the Unit Operation Settings for Singe NX Unit
561
Version Information
562

Omron NX102-1 User Manual (448 pages)

Machine Automation Controller NJ/NX-series CPU Unit

Brand: Omron | Category: Controller | Size: 13 MB

Nx701
2
Introduction

3
- Nx102
  3
Relevant Manuals

4
- Nx102
  4
- Nx1P2
  5
Manual Structure

6
Sections in this Manual

9
- Table of Contents
  10
Terms and Conditions Agreement

16
Safety Precautions

18
Precautions for Safe Use

19
Precautions for Correct Use

20
Regulations and Standards

21
Versions

23
Related Manuals

27
- Nj101
  27
Revision History

30
- W507-E1
  30
- Introduction to the Motion Control Function Module
  31
Section 1 Introduction to the Motion Control Function Module

32
Features

32
System Configuration

33
Basic Flow of Operation

35
Specifications

37
Internal Configuration of the CPU Unit

48
Motion Control Configuration

49
Motion Control Principles

51
- CPU Unit Tasks
  51
- Example of Task Operations for Motion Control
  59
Ethercat Communications and Motion Control

66
Section 3 Configuring Axes and Axes Groups

74
Axes

74
Axis Setting Procedure

82
- Axis Configuration Procedure
  82
- Setting Procedure
  82
Axes Groups

92
Setting Procedures for Axes Groups

97
- Setting Procedure for an Axes Group
  97
- Setting Procedure
  97
Functions of the Sysmac Studio

104
- MC Test Run Function
  104
- Application Procedure
  106
- Axis Parameter Setting Example
  107
- Starting the MC Test Run Function
  108
Monitoring Sensor Signals

109
Checking Motor Operation

110
- Turning on the Servo
  110
- Jogging
  110
- Homing
  111
- Absolute Positioning
  112
- Relative Positioning
  113
  - Motion Control Parameters
    115
Introduction

116
Axis Parameters

119
- Axis Basic Settings
  121
- Unit Conversion Settings
  127
- Operation Settings
  134
- Other Operation Settings
  138
- Limit Settings
  139
- Position Count Settings
  139
- Servo Drive Settings
  141
- Homing Settings
  142
- 5-2-10 Axis Parameter Setting Example
  143
Axes Group Parameters

146
- Axes Group Basic Settings
  147
- Axes Group Operation Settings
  149
- Enabling an Axes Group
  151
  - Motion Control Programming
    153
Introduction

154
- Motion Control Instructions
  155
Motion Control Instructions

157
- Function Blocks for Plcopen® Motion Control
  157
- Motion Control Instructions of the MC Function Module
  157
State Transitions

158
- Status of the Motion Control Function Module
  158
- Axis States
  159
- Axes Group States
  161
Execution and Status of Motion Control Instructions

163
Positions

170
- Types of Positions
  170
- Valid Positions for each Axis Type
  171
- Types of Positions
  171
System-Defined Variables for Motion Control

172
Cam Tables and Cam Data Variables

188
Programming Motion Controls

192
Creating Cam Tables

194
- Manual Operation
  197
Section 7 Manual Operation

198
Outline

198
Turning on the Servo

199
- Setting Axis Parameters
  200
- Programming Example
  200
Jogging

201
- Jogging Procedure
  201
- Setting Axis Parameters
  201
- Setting Axis Parameters
  202
- Setting Example for Input Variables
  202
- Programming Example
  203
  - Homing
    205
Section 8 Homing

206
Outline

206
Homing Procedure

209
- Setting Homing Parameters
  209
- Monitoring the Homing Operation
  216
Homing Operation

217
Homing with an Absolute Encoder

218
- Outline of Function
  219
- Setting Procedure
  220
High-Speed Homing

222
- Motion Control Functions
  223
Section 9 Motion Control Functions

225
Single-Axis Position Control

225
- Outline of Operation
  225
- Absolute Positioning
  226
- Relative Positioning
  226
- Interrupt Feeding
  227
- Absolute Positioning
  227
- Relative Positioning
  227
- Cyclic Synchronous Positioning
  228
- Stopping
  229
- Override Factors
  234
Single-Axis Synchronized Control

235
- Overview of Synchronized Control
  235
- Gear Operation
  235
- Positioning Gear Operation
  236
- Cam Operation
  237
- Positions
  237
- Cam Tables
  238
- Synchronous Positioning
  246
- Combining Axes
  247
- Master Axis Phase Shift
  248
- Slave Axis Position Compensation
  248
- 9-2-10 Achieving Synchronized Control in Multi-Motion
  249
Single-Axis Velocity Control

251
- Velocity Control
  251
- Cyclic Synchronous Velocity Control
  252
Single-Axis Torque Control

253
Common Functions for Single-Axis Control

254
- Positions
  254
- Velocity
  256
- Acceleration and Deceleration
  257
- Jerk
  259
- Specifying the Operation Direction
  260
- Re-Executing Motion Control Instructions
  264
- Multi-Execution of Motion Control Instructions (Buffer Mode)
  269
Multi-Axes Coordinated Control

275
- Outline of Operation
  275
- Linear Interpolation
  278
- Circular Interpolation
  279
- Axes Group Cyclic Synchronous Positioning
  279
- Stopping under Multi-Axes Coordinated Control
  280
- Overrides for Multi-Axes Coordinated Control
  281
Common Functions for Multi-Axes Coordinated Control

283
Other Functions

295
- Changing the Current Position
  295
- Torque Limit
  296
- Latching
  296
- Zone Monitoring
  297
- Software Limits
  298
- Following Error Monitoring
  299
- Following Error Counter Reset
  300
- Axis Following Error Monitoring
  300
- In-Position Check
  301
- 9-8-10 Changing Axis Use
  303
- 9-8-11 Enabling Digital Cam Switch
  303
- 9-8-12 Displaying 3D Motion Monitor for User Coordinate System
  304
  - Sample Programming
    307
Overview of Sample Programming

308
- Devices
  308
- Installation and Wiring
  308
- Setup
  308
10-2 Basic Programming Samples

309
Section 11 Troubleshooting

398
11-1 Overview of Troubleshooting

398
Appendices

399
Connecting the 1S-Series Servo Drive

400
- A-1-1 Wiring the Servo Drive
  400
- A-1-2 Servo Drive Settings
  400
Connecting the G5-Series Servo Drive

409
- A-2-1 Wiring the Servo Drive
  409
- A-2-2 Servo Drive Settings
  409
Connecting to Encoder Input Terminals

420
- A-3-1 Wiring to Encoder Input Terminals
  420
- A-3-2 Settings for Encoder Input Terminals
  420
Connecting to NX Units

426
PDS State Transition

427
- A-5-1 PDS State Control Method
  428
- A-5-2 Main Circuit Power Supply off Detection
  429
Terminology

430
- A-6-1 NJ/NX-Series Controller
  430
- A-6-2 Motion Control
  431
- A-6-3 Ethercat Communications
  433
Version Information

434

Omron NX102-1 Instruction & Reference Manual (20 pages)

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Omron NX102-1 User Manual (578 pages)

Table of Contents

Omron NX102-1 Owner's Manual (570 pages)

Table of Contents

Omron NX102-1 User Manual (448 pages)

Table of Contents

Introduction

Relevant Manuals

Manual Structure

Sections in this Manual

Terms and Conditions Agreement

Safety Precautions

Precautions for Safe Use

Precautions for Correct Use

Regulations and Standards

Versions

Related Manuals

Revision History

Section 1 Introduction to the Motion Control Function Module

Features

System Configuration

Basic Flow of Operation

Specifications

Internal Configuration of the CPU Unit

Motion Control Configuration

Motion Control Principles

Ethercat Communications and Motion Control

Section 3 Configuring Axes and Axes Groups

Axes

Axis Setting Procedure

Axes Groups

Setting Procedures for Axes Groups

Functions of the Sysmac Studio

Monitoring Sensor Signals

Checking Motor Operation

Introduction

Axis Parameters

Axes Group Parameters

Introduction

Motion Control Instructions

State Transitions

Execution and Status of Motion Control Instructions

Positions

System-Defined Variables for Motion Control

Cam Tables and Cam Data Variables

Programming Motion Controls

Creating Cam Tables

Section 7 Manual Operation

Outline

Turning on the Servo

Jogging

Section 8 Homing

Outline

Homing Procedure

Homing Operation

Homing with an Absolute Encoder

High-Speed Homing

Section 9 Motion Control Functions

Single-Axis Position Control

Single-Axis Synchronized Control

Single-Axis Velocity Control

Single-Axis Torque Control

Common Functions for Single-Axis Control

Multi-Axes Coordinated Control

Common Functions for Multi-Axes Coordinated Control

Other Functions

Overview of Sample Programming

10-2 Basic Programming Samples

Section 11 Troubleshooting

11-1 Overview of Troubleshooting

Appendices

Connecting the 1S-Series Servo Drive

Connecting the G5-Series Servo Drive

Connecting to Encoder Input Terminals

Connecting to NX Units

PDS State Transition

Terminology

Version Information

Omron NX102-1 Instruction & Reference Manual (20 pages)