Machine Automation Controller

NX-series
NX1P2 CPU Unit

Built-in I/O and Option Board

User’s Manual
NX1P2-11
NX1P2-111
NX1P2-10
NX1P2-101
NX1P2-90
NX1P2-901
NX1P2-9B
NX1P2-9B1

CPU Unit

W579-E1-05
 NOTE
• All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in
any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior
written permission of OMRON.
• No patent liability is assumed with respect to the use of the information contained herein.
Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained
in this manual is subject to change without notice.
• Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsi-
bility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
• Microsoft, Windows, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corpora-
tion in the United States and other countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.

• The SD and SDHC logos are trademarks of SD-3C, LLC.

Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.

Copyrights
• Microsoft product screen shots reprinted with permission from Microsoft Corporation.
• This product incorporates certain third party software. The license and copyright information associated with this
software is available at http://www.fa.omron.co.jp/nj_info_e/.
 Introduction

Introduction
Thank you for purchasing an NX-series NX1P2 CPU Unit.
This manual contains information that is necessary to use the NX-series NX1P2 CPU Unit. Please read
this manual and make sure you understand the functionality and performance of the NX-series NX1P2
CPU Unit before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.

Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical sys-
tems (an electrical engineer or the equivalent).
• Personnel in charge of introducing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA systems.
• Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.

Applicable Products
This manual covers the following products.
• NX-series NX1P2 CPU Units
• NX1P2-11
• NX1P2-111
• NX1P2-10
• NX1P2-101
• NX1P2-90
• NX1P2-901
• NX1P2-9B
• NX1P2-9B1

Part of the specifications and restrictions for the CPU Units are given in other manuals. Refer to Rele-
vant Manuals on page 7 and Related Manuals on page 19.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 1
CONTENTS

CONTENTS
Introduction .............................................................................................................. 1
Intended Audience ....................................................................................................................................... 1
Applicable Products ..................................................................................................................................... 1

CONTENTS................................................................................................................ 2

Relevant Manuals ..................................................................................................... 7

Manual Structure ...................................................................................................... 8

Page Structure............................................................................................................................................. 8
Special Information ...................................................................................................................................... 9
Precaution on Terminology .......................................................................................................................... 9

Terms and Conditions Agreement ........................................................................ 10

Warranty, Limitations of Liability ................................................................................................................ 10
Application Considerations ........................................................................................................................ 11
Disclaimers ................................................................................................................................................ 11

Safety Precautions ................................................................................................. 12

Precautions for Safe Use ....................................................................................... 13

Precautions for Correct Use.................................................................................. 14

Regulations and Standards ................................................................................... 15

Versions .................................................................................................................. 16
Checking Versions ..................................................................................................................................... 16
Unit Versions of CPU Units and Sysmac Studio Versions ......................................................................... 18

Related Manuals ..................................................................................................... 19

Terminology ............................................................................................................ 23

Revision History ..................................................................................................... 28

Sections in this Manual ......................................................................................... 29

Section 1 Introduction to NX1P2 CPU Units

1-1 Function Specifications for NX1P2 CPU Units ................................................................... 1-2
1-2 Overall Operating Procedure................................................................................................. 1-6
1-2-1 Overall Operating Procedure ..................................................................................................... 1-6
1-2-2 Procedure Details....................................................................................................................... 1-7

Section 2 Built-in I/O

2-1 Built-in I/O Terminal Allocation ............................................................................................ 2-2
2-1-1 Terminal Arrangement ................................................................................................................. 2-2
2-2 I/O Data Specifications.......................................................................................................... 2-5
2-2-1 NX1P2-24DT/-24DT1 ..................................................................................................... 2-5
2-2-2 NX1P2-40DT/-40DT1 ..................................................................................................... 2-6

2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 CONTENTS

2-3 Built-in I/O Functions ............................................................................................................ 2-7

2-4 Settings .................................................................................................................................. 2-8
2-4-1 Built-in I/O Settings ..................................................................................................................... 2-8
2-4-2 I/O Map ....................................................................................................................................... 2-9
2-5 Functions ............................................................................................................................. 2-10
2-5-1 Input Filter................................................................................................................................. 2-10
2-5-2 Output Load Rejection Setting.................................................................................................. 2-12
2-6 I/O Refreshing ...................................................................................................................... 2-13
2-6-1 I/O Refresh Timing of Built-in I/O .............................................................................................. 2-13
2-6-2 I/O Response Time of Built-in I/O ............................................................................................. 2-15

Section 3 Option Boards

3-1 Option Board Types .............................................................................................................. 3-2
3-1-1 Serial Communications Option Boards....................................................................................... 3-3
3-1-2 Analog I/O Option Boards........................................................................................................... 3-3
3-2 Using Option Boards............................................................................................................. 3-4
3-2-1 Settings....................................................................................................................................... 3-4
3-2-2 System-defined Variables ........................................................................................................... 3-9
3-2-3 Device Variables ....................................................................................................................... 3-10
3-2-4 Assigning Device Variables to Option Boards ...........................................................................3-11
3-2-5 Instructions Used for Option Boards......................................................................................... 3-13
3-2-6 How Option Boards Operate in Case of an Error ..................................................................... 3-14

Section 4 Serial Communications

4-1 Serial Communications Types and Overview ..................................................................... 4-2
4-2 Programless Communications with NB-series Programmable Terminals....................... 4-4
4-2-1 Overview..................................................................................................................................... 4-4
4-2-2 Procedure ................................................................................................................................... 4-4
4-2-3 Settings....................................................................................................................................... 4-6
4-2-4 Programming .............................................................................................................................. 4-8
4-2-5 Connection Examples................................................................................................................. 4-9
4-3 Programless Communications with E5C Digital Temperature Controllers ................ 4-10
4-3-1 Overview................................................................................................................................... 4-10
4-3-2 Procedure ................................................................................................................................. 4-12
4-3-3 Settings..................................................................................................................................... 4-14
4-3-4 Programming ............................................................................................................................ 4-17
4-3-5 Connection Examples............................................................................................................... 4-17
4-4 Connection with Modbus-RTU Slaves............................................................................... 4-18
4-4-1 Overview................................................................................................................................... 4-18
4-4-2 Procedure ................................................................................................................................. 4-19
4-4-3 Settings..................................................................................................................................... 4-21
4-4-4 Programming ............................................................................................................................ 4-22
4-4-5 Connection Examples............................................................................................................... 4-24
4-5 Connection with General-purpose Serial Communications Devices ............................. 4-25
4-5-1 Overview................................................................................................................................... 4-25
4-5-2 Procedure ................................................................................................................................. 4-26
4-5-3 Settings..................................................................................................................................... 4-28
4-5-4 Programming ............................................................................................................................ 4-29

Section 5 Analog I/O

5-1 Specifications ........................................................................................................................ 5-2
5-1-1 Analog I/O Option Boards........................................................................................................... 5-2

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 3
CONTENTS

5-1-2 Part Names and Functions.......................................................................................................... 5-2

5-1-3 Terminal Arrangement ................................................................................................................. 5-3
5-1-4 Input Range and Output Range .................................................................................................. 5-3
5-2 Procedure............................................................................................................................... 5-5
5-3 Settings .................................................................................................................................. 5-6
5-3-1 Option Board Settings ................................................................................................................. 5-6
5-3-2 Device Variables ......................................................................................................................... 5-7
5-4 Programming ......................................................................................................................... 5-8
5-4-1 I/O Data....................................................................................................................................... 5-8
5-4-2 Option Board Status.................................................................................................................... 5-9
5-4-3 Special Instructions for Analog I/O Option Boards ...................................................................... 5-9
5-4-4 Precautions on Supported Functions ........................................................................................ 5-10
5-5 Wiring ................................................................................................................................... 5-11
5-6 I/O Refreshing ...................................................................................................................... 5-12
5-6-1 I/O Refresh Operation ............................................................................................................... 5-12
5-6-2 Response Time ......................................................................................................................... 5-13

Section 6 Introduction of Motion Control Functions

6-1 Single-axis Position Control................................................................................................. 6-3
6-1-1 Outline of Operation .................................................................................................................... 6-3
6-1-2 Absolute Positioning.................................................................................................................... 6-4
6-1-3 Relative Positioning..................................................................................................................... 6-4
6-1-4 Interrupt Feeding......................................................................................................................... 6-5
6-1-5 Cyclic Synchronous Positioning .................................................................................................. 6-6
6-1-6 Stopping ...................................................................................................................................... 6-7
6-1-7 Override Factors ....................................................................................................................... 6-13
6-2 Single-axis Synchronized Control ..................................................................................... 6-14
6-2-1 Overview of Synchronized Control............................................................................................ 6-14
6-2-2 Gear Operation ......................................................................................................................... 6-14
6-2-3 Positioning Gear Operation....................................................................................................... 6-15
6-2-4 Cam Operation.......................................................................................................................... 6-16
6-2-5 Cam Tables ............................................................................................................................... 6-17
6-2-6 Synchronous Positioning........................................................................................................... 6-25
6-2-7 Combining Axes ........................................................................................................................ 6-26
6-2-8 Master Axis Phase Shift ............................................................................................................ 6-27
6-2-9 Slave Axis Position Compensation............................................................................................ 6-27
6-2-10 Achieving Synchronized Control in Multi-motion....................................................................... 6-28
6-3 Single-axis Velocity Control ............................................................................................... 6-30
6-3-1 Velocity Control ......................................................................................................................... 6-30
6-3-2 Cyclic Synchronous Velocity Control......................................................................................... 6-31
6-4 Single-axis Torque Control ................................................................................................. 6-32
6-5 Common Functions for Single-axis Control ..................................................................... 6-33
6-5-1 Positions.................................................................................................................................... 6-33
6-5-2 Velocity...................................................................................................................................... 6-35
6-5-3 Acceleration and Deceleration .................................................................................................. 6-36
6-5-4 Jerk ........................................................................................................................................... 6-38
6-5-5 Specifying the Operation Direction............................................................................................ 6-39
6-5-6 Re-executing Motion Control Instructions ................................................................................. 6-43
6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) ................................................... 6-48
6-6 Multi-axes Coordinated Control ......................................................................................... 6-54
6-6-1 Outline of Operation .................................................................................................................. 6-54
6-6-2 Linear Interpolation ................................................................................................................... 6-57
6-6-3 Circular Interpolation ................................................................................................................. 6-58
6-6-4 Axes Group Cyclic Synchronous Positioning ............................................................................ 6-58
6-6-5 Stopping Under Multi-axes Coordinated Control....................................................................... 6-59
6-6-6 Overrides for Multi-axes Coordinated Control........................................................................... 6-61

4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 CONTENTS

6-7 Common Functions for Multi-axes Coordinated Control ................................................ 6-62

6-7-1 Velocity Under Multi-axes Coordinated Control ........................................................................ 6-62
6-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control .................................... 6-63
6-7-3 Jerk for Multi-axes Coordinated Control ................................................................................... 6-64
6-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control ......................... 6-65
6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated
Control......................................................................................................................................6-66
6-8 Other Functions................................................................................................................... 6-74
6-8-1 Changing the Current Position.................................................................................................. 6-74
6-8-2 Torque Limit .............................................................................................................................. 6-75
6-8-3 Latching .................................................................................................................................... 6-75
6-8-4 Zone Monitoring........................................................................................................................ 6-76
6-8-5 Software Limits ......................................................................................................................... 6-77
6-8-6 Following Error Monitoring........................................................................................................ 6-78
6-8-7 Following Error Counter Reset ................................................................................................. 6-79
6-8-8 Axis Following Error Monitoring ................................................................................................ 6-80
6-8-9 In-position Check ...................................................................................................................... 6-80
6-8-10 Changing Axis Use ................................................................................................................... 6-82
6-8-11 Enabling Digital Cam Switch..................................................................................................... 6-83
6-8-12 Displaying 3D Motion Monitor for User Coordinate System ..................................................... 6-84

Section 7 Introduction of EtherNet/IP Communications Functions

7-1 Communications Services.................................................................................................... 7-2
7-1-1 CIP (Common Industrial Protocol) Communications Services ................................................... 7-2
7-1-2 BOOTP Client ............................................................................................................................. 7-4
7-1-3 FTP Server ................................................................................................................................. 7-4
7-1-4 FTP Client................................................................................................................................... 7-5
7-1-5 Automatic Clock Adjustment ....................................................................................................... 7-5
7-1-6 Socket Service............................................................................................................................ 7-6
7-1-7 Specifying Host Names ............................................................................................................. 7-7
7-1-8 SNMP Agent ............................................................................................................................... 7-7

Section 8 Introduction of EtherCAT Communications Functions

8-1 Overview of Communications .............................................................................................. 8-2
8-1-1 Process Data Communications and SDO Communications....................................................... 8-2
8-1-2 Other Functions .......................................................................................................................... 8-3

Section 9 Troubleshooting
9-1 Overview of Troubleshooting ............................................................................................... 9-2
9-2 Option Board Errors.............................................................................................................. 9-3
9-2-1 Checking for Errors and Troubleshooting with the ERR Indicator on Option Boards ................. 9-3

Appendices
A-1 Version Information...............................................................................................................A-2

Index

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 5
CONTENTS

6 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Relevant Manuals

Relevant Manuals
The following table provides the relevant manuals for the NX-series NX1P2 CPU Units. Read all of the
manuals that are relevant to your system configuration and application before you use the NX-series
NX1P2 CPU Unit.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu-
dio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.

Manual
Basic information
Hardware User’s Manual
NX-series NX1P2 CPU Unit

Software User’s Manual

NJ/NX-series CPU Unit

NX-series NX1P2 CPU Unit

Instructions Reference Manual

NJ/NX-series

Motion Control User’s Manual

NJ/NX-series CPU Unit

Motion Control Instructions Reference Manual

NJ/NX-series

Built-in EtherCAT Port User’s Manual

NJ/NX-series CPU Unit

Built-in EtherNet/IP Port User’s Manual

NJ/NX-series CPU Unit

Troubleshooting Manual
NJ/NX-series
Built-in I/O and Option Board User’s Manual

Purpose of use

Introduction to NX1P2 CPU Units 

Setting devices and hardware
Using motion control 

Using EtherCAT 
Using EtherNet/IP 
Software settings
Using motion control 
Using EtherCAT  
Using EtherNet/IP 
Using the NX1P2 CPU Unit functions 
Writing the user program
Using motion control  
Using EtherCAT 
 
Using EtherNet/IP 
Programming error processing 
Using the NX1P2 CPU Unit functions 
Testing operation and debugging
Using motion control 
Using EtherCAT  
Using EtherNet/IP 
Using the NX1P2 CPU Unit functions 
Learning about error management and

corrections*1
Maintenance
Using motion control 

Using EtherCAT 
Using EtherNet/IP 
*1. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error
items.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 7
 Manual Structure

Manual Structure

Page Structure
The following page structure is used in this manual.

4 Installation and Wiring Level 1 heading

Level 2 heading
Level 2 heading 4-3 Mounting Units Level 3 heading
Gives the current
Level 3 heading 4-3-1 Connecting Controller Components headings.
The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.

A step in a procedure 1 Join the Units so that the connectors fit exactly.

Hook
Indicates a procedure. Connector
Hook holes

4-3 Mounting Units

4 Page tab
2 Gives the number

4-3-1 Connecting Controller Components

The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place. of the main section.
Move the sliders toward the back
until they lock into place.

Lock

Release

Slider

Precautions for Correct Use

Special information The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
Icons indicate the adjacent Unit connectors.
precautions, additional
information, or reference
information.

Manual name NJ-series CPU Unit Hardware User’s Manual (W500) 4-9

Note This illustration is provided only as a sample. It may not literally appear in this manual.

8 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Manual Structure

Special Information
Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to read as required.

This information is provided to increase understanding or make operation easier.

Version Information
Information on differences in specifications and functionality for CPU Units with different unit
versions and for different versions of the Sysmac Studio is given.
Note References are provided to more detailed or related information.

Precaution on Terminology
In this manual, “download” refers to transferring data from the Sysmac Studio to the physical Controller
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”
means to automatically compare the data for the Sysmac Studio on the computer with the data in the
physical Controller and transfer the data in the direction that is specified by the user.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 9
 Terms and Conditions Agreement

Terms and Conditions Agreement

Warranty, Limitations of Liability

Warranties
 Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman-
ship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.

 Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.

 Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combi-
nation with any electrical or electronic components, circuits, system assemblies or any other materi-
als or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.

See http://www.omron.com/global/ or contact your Omron representative for published information.

Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
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.

10 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Terms and Conditions Agreement

Application Considerations

Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a com-
plete determination of the suitability of the Product in combination with the end product, machine, sys-
tem, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take applica-
tion responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE
HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIP-
MENT OR SYSTEM.

Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.

Disclaimers

Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor-
mance is subject to the Omron’s Warranty and Limitations of Liability.

Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased 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.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 11
 Safety Precautions

Safety Precautions
Refer to the following manuals for safety precautions.
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)

12 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Precautions for Safe Use

Precautions for Safe Use

Refer to the following manuals for precautions for safe use.
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 13
 Precautions for Correct Use

Precautions for Correct Use

Refer to the following manuals for precautions for correct use.
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)

14 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Regulations and Standards

Regulations and Standards

Refer to the following manuals for regulations and standards.
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 15
 Versions

Versions
Hardware revisions and unit versions are used to manage the hardware and software in NX-series
Units and EtherCAT slaves.
The hardware revision or unit version is updated each time there is a change in hardware or software
specifications. Even when two Units or EtherCAT slaves have the same model number, they will have
functional or performance differences if they have different hardware revisions or unit versions.

Checking Versions
You can check versions in the ID information indications on the product or with the Sysmac Studio.

Checking Unit Versions on ID Information Indications

The unit version is given on the ID information indication on the side of the product.
The ID information on an NX-series NX1P2- CPU Unit is shown below.

MAC address

PORT1 : 
PORT2 : 
Hardware
Unit version Ver.1. HW Rev.  revision
LOT No. DDMYY xxxx
ID information indication

Lot number Serial number

Note The hardware revision is not displayed for the Unit that the hardware revision is in blank.

Checking Unit Versions with the Sysmac Studio

 Checking the Unit Version of a Unit
You can use the Production Information while the Sysmac Studio is online to check the unit version
of a Unit.
You can do this for the CPU Unit, NX Units on the CPU Rack, and Option Boards.
Use the following procedure to check the unit version.

1 Right-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multi-
view Explorer and select Display Production Information.
The Production Information Dialog Box is displayed.

16 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Versions

2 Click the Show Detail or Show Outline Button at the lower right of the Production Information
Dialog Box.
The view will change between the production information details and outline.

Outline View Detail View

The information that is displayed is different for the Outline View and Detail View. The Detail View
displays the unit version, hardware version, and software versions. The Outline View displays only
the unit version.
Note The hardware revision is separated by “/” and displayed on the right of the hardware version. The hard-
ware revision is not displayed for the Unit that the hardware revision is in blank.

 Checking the Unit Version of an EtherCAT Slave

You can use the Production Information while the Sysmac Studio is online to check the unit version
of an EtherCAT slave. Use the following procedure to check the unit version.

1 Double-click EtherCAT under Configurations and Setup in the Multiview Explorer. Or,
right-click EtherCAT under Configurations and Setup and select Edit from the menu.
The EtherCAT Tab Page is displayed for the Controller Configurations and Setup Layer.

2 Right-click the master on the EtherCAT Tab Page and select Display Production Information.
The Production Information Dialog Box is displayed.
The unit version is displayed after “Rev.”

 Changing Information Displayed in Production Information Dialog Box

1 Click the Show Detail or Show Outline Button at the lower right of the Production Information
Dialog Box.
The view will change between the production information details and outline.

Outline View Detail View

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 17
 Versions

Unit Versions of CPU Units and Sysmac Studio Versions

The functions that are supported depend on the unit version of the NX-series CPU Unit. The version of
Sysmac Studio that supports the functions that were added for an upgrade is also required to use those
functions.
Refer to A-1 Version Information on page A-2 for the relationship between the unit versions of the CPU
Units and the Sysmac Studio versions, and for the functions that are supported by each unit version.

18 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Related Manuals

Related Manuals
The following manuals are related. Use these manuals for reference.

Manual name Cat. No. Model numbers Application Description

NX-series W578 NX1P2- Learning the basic An introduction to the entire NX1P2
NX1P2 CPU Unit Hard- specifications of system is provided along with the fol-
ware User's Manual the NX1P2 CPU lowing information on the CPU Unit.
Units, including • Features and system configuration
introductory infor-
• Introduction
mation, designing,
• Part names and functions
installation, and
maintenance. • General specifications

Mainly hardware • Installation and wiring

information is pro- • Maintenance and inspection
vided.
NJ/NX-series W501 NX701- Learning how to The following information is provided
CPU Unit Software NX102- program and set on a Controller built with an
User’s Manual up an NJ/NX-series CPU Unit.
NX1P2-
NJ/NX-series CPU • CPU Unit operation
NJ501- Unit.
• CPU Unit features
NJ301- Mainly software • Initial settings
NJ101- information is pro-
• Programming based on IEC
vided.
61131-3 language specifications
NX-series NX1P2 CPU W579 NX1P2- Learning about the Of the functions for an NX1P2 CPU
Unit Built-in I/O and details of functions Unit, the following information is pro-
Option Board User's only for an vided.
Manual NX-series NX1P2 • Built-in I/O
CPU Unit and an
• Serial Communications Option
introduction of
Boards
functions for an
• Analog I/O Option Boards
NJ/NX-series CPU
Unit. An introduction of following functions
for an NJ/NX-series CPU Unit is also
provided.
• Motion control functions
• EtherNet/IP communications func-
tions
• EtherCAT communications func-
tions
NJ/NX-series W502 NX701- Learning detailed The instructions in the instruction set
Instructions Reference NX102- specifications on (IEC 61131-3 specifications) are
Manual the basic instruc- described.
NX1P2-
tions of an
NJ501- NJ/NX-series CPU
NJ301- Unit.
NJ101-
NJ/NX-series W507 NX701- Learning about The settings and operation of the CPU
CPU Unit Motion Con- NX102- motion control set- Unit and programming concepts for
trol User’s Manual tings and program- motion control are described.
NX1P2-
ming concepts.
NJ501-
NJ301-
NJ101-

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 19
 Related Manuals

Manual name Cat. No. Model numbers Application Description

NJ/NX-series W508 NX701- Learning about the The motion control instructions are
Motion Control Instruc- NX102- specifications of described.
tions Reference Manual the motion control
NX1P2-
instructions.
NJ501-
NJ301-
NJ101-
NJ/NX-series W505 NX701- Using the built-in Information on the built-in EtherCAT
CPU Unit Built-in Ether- NX102- EtherCAT port on port is provided.
CAT® Port an NJ/NX-series This manual provides an introduction
NX1P2-
User’s Manual CPU Unit. and provides information on the con-
NJ501-
figuration, features, and setup.
NJ301-
NJ101-
NJ/NX-series CPU Unit W506 NX701- Using the built-in Information on the built-in Ether-
Built-in EtherNet/IP™ NX102- EtherNet/IP port Net/IP port is provided.
port User’s Manual on an Information is provided on the basic
NX1P2-
NJ/NX-series CPU setup, tag data links, and other fea-
NJ501- Unit. tures.
NJ301-
NJ101-
NJ/NX-series W503 NX701- Learning about the Describes concepts on managing
Troubleshooting Manual NX102- errors that may be errors that may be detected in an
detected in an NJ/NX-series Controller and informa-
NX1P2-
NJ/NX-series Con- tion on individual errors.
NJ501- troller.
NJ301-
NJ101-
Sysmac Studio Version W504 SYSMAC- Learning about the Describes the operating procedures of
1 Operation Manual SE2 operating proce- the Sysmac Studio.
dures and func-
tions of the
Sysmac Studio.
NX-series W519 NX-ECC Leaning how to The following items are described: the
EtherCAT® Coupler use an NX-series overall system and configuration
Unit EtherCAT Coupler methods of an EtherCAT Slave Termi-
User’s Manual Unit and Ether- nal (which consists of an NX-series
CAT Slave Termi- EtherCAT Coupler Unit and NX Units),
nals and information on hardware, setup,
and functions to set up, control, and
monitor NX Units through EtherCAT.
NX-series W525 NX- Referencing lists of Lists of the power consumptions,
Data Reference Manual the data that is weights, and other NX Unit data that is
required to config- required to configure systems with
ure systems with NX-series Units are provided.
NX-series Units

20 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Related Manuals

Manual name Cat. No. Model numbers Application Description

NX-series NX Units W521 NX-ID Learning how to Describes the hardware, setup meth-
User’s Manuals NX-IA use NX Units. ods, and functions of the NX Units.
NX-OC Manuals are available for the follow-
NX-OD ing Units.
NX-MD
Digital I/O Units, Analog I/O Units,
W522 NX-AD
System Units, Position Interface Units,
NX-DA
Communications Interface Units, Load
W592 NX-HAD Cell Input Units, and IO-Link Master
W566 NX-TS Units.
NX-HB
W523 NX-PD1
NX-PF0
NX-PC0
NX-TBX01
W524 NX-EC0
NX-ECS
NX-PG0
W540 NX-CIF
W565 NX-RS
W567 NX-ILM
NX-series Z930 NX-SL Learning how to The hardware, setup methods, and
Safety Control Unit NX-SI use NX-series functions of the NX-series Safety
User’s Manual Safety Control Control Unit are described.
NX-SO
Units
NA-series Programma- V118 NA5-W Learning about Describes the pages and object func-
ble Terminal NA-series PT tions of the NA-series Programmable
Software User’s Manual pages and object Terminals.
functions.
NS-series Programma- V073 NS15- Learning how to Describes the setup methods, func-
ble Terminals NS12- use the NS-series tions, etc. of the NS-series Program-
Programming Manual Programmable mable Terminals.
NS10-
Terminals.
NS8-
NS5-
NB-series V106 NBQ-TW01B Learning about the Describes the screens and object
Programmable NBW-TW01B screens and object functions of NB-series Programmable
Terminals NB-Designer functions of Terminals.
Operation Manual NB-series Pro- The procedure for installing the
grammable Termi- NB-Designer, an overview of manag-
nals. ing the screen data of NB-series Pro-
grammable Terminals with the
NBManager, and information on main-
tenance after operation and trouble-
shooting are also provided.
NB-series V107 NBQ-TW01B Learning the speci- Information is provided on NB-series
Programmable NBW-TW01B fications and set- Programmable Terminal specifica-
Terminals Setup Manual tings required to tions, part names, installation proce-
install an dures, procedures to connect an
NB-series Pro- NB-series Programmable Terminal to
grammable Termi- peripheral devices, and settings
nal and connect required after connection to start com-
peripheral devices. munications and operations.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 21
 Related Manuals

Manual name Cat. No. Model numbers Application Description

E5C Digital H175 E5C Learning about the Provides an overview of the communi-
Temperature Controllers communications cations method, communications
Communications functions of E5C specifications, and wiring of E5C
Manual Digital Tempera- Digital Temperature Controllers.
ture Controllers
E5C Digital H174 E5C Learning about the Describes how to use E5C Digital
Temperature Controllers functions of E5C Temperature Controllers.
User’s Manual Digital Tempera-
ture Controllers

22 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Terminology

Terminology

Term Description
absolute encoder home offsets This data is used to restore in the CPU Unit the actual position of a Servo Drive with
an absolute encoder. The offset is the difference between the command position
after homing and the absolute data that is read from the absolute encoder.
array specification One of the variable specifications. An array variable contains multiple elements of
the same data type. The elements in the array are specified by serial numbers
called subscripts that start from the beginning of the array.
AT One of the attributes of a variable.
This attribute allows the user to specify what is assigned to a variable. An I/O port
or an address in memory used for CJ-series Units can be specified.
axes groups A functional unit that groups together axes within the Motion Control Function Mod-
ule.
Axes Group Variable A system-defined variable that is defined as a structure and provides status infor-
mation and some of the axes parameters for an individual axes group.
An Axes Group Variable is used to specify an axes group for motion control instruc-
tions and to monitor the command interpolation velocity, error information, and
other information for the axes group.
axis A functional unit within the Motion Control Function Module. An axis is assigned to
the drive mechanism in an external Servo Drive or the sensing mechanism in an
external Encoder Input Slave Unit.
Axis Variable A system-defined variable that is defined as a structure and provides status infor-
mation and some of the axis parameters for an individual axis.
An Axis Variable is used to specify an axis for motion control instructions and to
monitor the command position, error information, and other information for the axis.
basic data type Any of the data types that are defined by IEC 61131-3.
They include Boolean, bit string, integer, real, duration, date, time of day, date and
time, and text string data types.
“Basic data type” is used as opposed to derivative data types, which are defined by
the user.
cam data variable A variable that represents the cam data as a structure array.
A cam data variable is an array structure that consists of phases and displace-
ments.
CJ-series Unit Any of the CJ-series Units that can be used with an NJ-series Controller.
Communications Coupler Unit The generic name of an interface unit for remote I/O communications on a network
between NX Units and a host network master. For example, an EtherCAT Coupler
Unit is a Communications Coupler Unit for an EtherCAT network.
Constant One of the attributes of a variable.
If you specify the Constant attribute for a variable, the value of the variable cannot
be written by any instructions, ST operators, or CIP message communications.
Controller The range of devices that are directly controlled by the CPU Unit.
In the NX-series System, the Controller includes the CPU Rack and EtherCAT
slaves (including general-purpose slaves and Servo Drives).
In the NJ-series System, the Controller includes the CPU Rack, Expansion Racks,
and EtherCAT slaves (including general-purpose slaves and Servo Drives).
Controller error Errors that are defined by the NJ/NX-series System.
“Controller error” is a collective term for major fault level, partial fault level, minor
fault level, and observation Controller events.
Controller event One of the events in the NJ/NX-series System. Controller events are errors and
information that are defined by the system for user notification. A Controller event
occurs when the system detects a factor that is defined as a Controller event.
Controller information Information that is defined by the NJ/NX-series System that is not an error. It rep-
resents an information Controller event.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 23
 Terminology

Term Description
CPU Unit The Unit that serves as the center of control for a Machine Automation Controller.
The CPU Unit executes tasks, refreshes I/O for other Units and slaves, etc. The
NJ/NX-series CPU Units include NX701-, NX1P2-, NJ501-,
and NJ301-.
derivative data type A data type that is defined by the user. Structures, unions, and enumerations are
derivative data types.
device A general term for any Unit or slave that is refreshed by the I/O refreshing that is
performed by the CPU Unit. Specifically, it refers to EtherCAT slaves, NX Units on
the CPU Unit, built-in I/O, Option Boards, and CJ-series Units.
device output An output for any Unit or slave that is refreshed by the I/O refreshing that is per-
formed by the CPU Unit.
device variable A variable that is used to access a specific device through an I/O port.
download To transfer data from the Sysmac Studio to the Controller with the synchronization
operation of the Sysmac Studio.
edge One of the attributes of a variable.
This attribute makes a BOOL variable pass TRUE to a function block when the vari-
able changes from FALSE to TRUE or when it changes from TRUE to FALSE.
enumeration One of the derivative data types. This data type takes one item from a prepared
name list of enumerators as its value.
enumerator One of the values that an enumeration can take expressed as a character string.
The value of an enumeration is one of the enumerators.
EtherCAT Master Function Module One of the function modules. This function module controls the EtherCAT slaves as
the EtherCAT master.
EtherNet/IP Function Module One of the function modules. This function module controls the built-in EtherNet/IP
port.
event log A function that recognizes and records errors and other events.
Event Setup Settings that define user-defined errors and user-defined information.
event task A task that executes a user program only once when the task execution conditions
are met.
FB An acronym for “function block.”
forced refreshing Forcing the refreshing of an input from an external device or an output to an exter-
nal device, e.g., when the user debugs a program.
Addresses that are subject to forced refreshing can still be overwritten from the
user program.
FUN An abbreviation for “function.”
function A POU that is used to create an object that determines a unique output for the
same input, such as for data processing.
function block A POU that is used to create an object that can have a different output for the same
input, such as for a timer or counter.
function module One of the functional units of the software configuration of the CPU Unit.
general-purpose slave Any of the EtherCAT slaves that cannot be assigned to an axis.
global variable A variable that can be read or written from all POUs (programs, functions, and func-
tion blocks).
I/O map settings Settings that assign variables to I/O ports. Assignment information between I/O
ports and variables.
I/O port A logical interface that is used by the CPU Unit to exchange data with an external
device (slave or Unit).
I/O refreshing Cyclic data exchange with external devices that is performed with predetermined
memory addresses.
information One of the event levels for Controller events or user-defined events. These are not
errors, but appear in the event log to notify the user of specific information.

24 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Terminology

Term Description
Initial Value One of the attributes of a variable. The variable is set to the initial value in the fol-
lowing situations.
• When power is turned ON
• When the CPU Unit changes to RUN mode
• When you specify to initialize the values when the user program is transferred
• When a major fault level Controller error occurs
inline ST ST programming that is included within a ladder diagram program.
instruction The smallest unit of the processing elements that are provided by OMRON for use
in POU algorithms. There are ladder diagram instructions (program inputs and out-
puts), function instructions, function block instructions, and ST statements.
literal A constant expression that is used in a user program.
local variable A variable that can be accessed only from inside the POU in which it is defined.
“Local variable” is used as opposed to “global variable.”
Local variables include internal variables, input variables, output variables, in-out
variables, and external variables.
main memory The memory inside the CPU Unit that is used by the CPU Unit to execute the OS
and user program.
major fault level Controller error An error for which all NJ/NX-series Controller control operations stop. The CPU Unit
immediately stops user program execution and turns OFF the loads for all slaves and
Units (including remote I/O).
MC Test Run A function to check motor operation and wiring from the Sysmac Studio.
memory used for CJ-series Units One type of I/O memory in an NX1P2 CPU Unit and NJ-series CPU Unit. It contains
addresses that can be directly specified by the user.
It can be accessed only with variables with an AT attribute. This memory is used to
access CJ-series Units and CJ-series networks. However, you cannot connect the
CJ-series Units to the NX1P2 CPU Units.
minor fault level Controller error An error for which part of the control operations for one of the function modules in
the NJ/NX-series Controller stop.
The NJ/NX-series CPU Unit continues operation even after a minor fault level Con-
troller error occurs.
Motion Control Function Module One of the function modules. The MC Function Module performs motion control
based on commands from the motion control instructions that are executed in the
user program.
motion control instruction A function block instruction that executes motion control.
The Motion Control Function Module supports instructions that are based on func-
tion blocks for PLCopen® motion control as well as instructions developed specifi-
cally for the Motion Control Function Module.
namespace A system that is used to group and nest the names of functions, function block defi-
nitions, and data types.
Network Publish One of the attributes of a variable.
This attribute allows you to use CIP message communications or tag data links to
read/write variables from another Controller or from a host computer.
NX bus The NX-series internal bus. An NX1P2 CPU Unit has the NX bus.
NX Units Any of the NX-series Units that perform I/O processing with connected external
devices. The Communications Coupler Units are not included with the NX Units.
observation One of the event levels for Controller events or user-defined events.
These are minor errors that do not affect control operations, but appear in the event
log to notify the user of specific information.
partial fault level Controller error An error for which all of the control operations for one of the function modules in the
NJ/NX-series Controller stop.
An NJ/NX-series CPU Unit continues operation even after a partial fault level Con-
troller error.
PDO communications An abbreviation for process data communications. Data is exchanged between the
master and slaves on a process data communications cycle. (The process data com-
munications cycle is the same as the task period of the primary periodic task.)

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 25
 Terminology

Term Description
periodic task A task for which user program execution and I/O refreshing are performed each
period.
PLC Function Module One of the function modules. This function module executes the user program,
sends commands to the Motion Control Function Module, and provides an interface
to the USB and SD Memory Card.
POU An acronym for “program organization unit.” A POU is a unit in a program execution
model that is defined in IEC 61131-3.
A POU contains an algorithm and a local variable table and forms the basic unit
used to build a user program.
There are three types of POUs: programs, functions, and function blocks.
primary periodic task The task with the highest priority.
process data communications One type of EtherCAT communications in which process data objects (PDOs) are
used to exchange information cyclically and in realtime. Process data communica-
tions are also called PDO communications.
program Along with functions and function blocks, one of the three types of POUs.
Programs are assigned to tasks to execute them.
Range Specification One of the variable specifications. You can specify a range for a variable in
advance. The variable can take only values that are in the specified range.
Retain One of the attributes of a variable. The values of variables with a Retain attribute
are held at the following times. (Variables without a Retain attribute are set to their
initial values.)
• When power is turned ON after power interruption
• When the CPU Unit changes to RUN mode
• When you specify to not initialize the values when the user program is transferred
SDO communications One type of EtherCAT communications in which service data objects (SDOs) are
used to transmit information whenever required.
Servo Drive/encoder input slave Any of the EtherCAT slaves that is assigned to an axis. In the NJ/NX-series Sys-
tem, it would be a Servo Drive or Encoder Input Slave Unit.
slave A device that performs remote I/O for a master.
slave and Unit configurations A generic term for the EtherCAT configuration and Unit configuration.
Slave Terminal A building-block remote I/O terminal to which a Communications Coupler Unit and
NX Units are mounted. A Slave Terminal is one type of slave.
Special Unit Setup A generic term for the settings for a Special Unit, including the settings in allocated
DM Area words.
structure One of the derivative data types. It consists of multiple data types placed together
into a layered structure.
synchronization A function that automatically compares the information in the NJ/NX-series Control-
ler with the information in the Sysmac Studio, displays any differences and loca-
tions in a hierarchical form, and can be used to synchronize the information.
Sysmac Studio A computer software application for setting, programming, debugging, and trouble-
shooting NJ/NX-series Controllers. It also provides operations for motion control
and a Simulator.
system common processing System processing that is performed by the CPU Unit to perform I/O refreshing and
the user program execution within a task. Exclusive control of variables between
tasks, data trace processing, and other processing is performed.
system service Processing that is performed by the CPU Unit in unused time between task pro-
cessing. The system service includes communications processing, SD Memory
Card access processing, self-diagnosis processing, and other processing.
system-defined variable A variable for which all attributes are defined by the system and cannot be changed
by the user.
task An attribute that defines when a program is executed.
task period The interval at which the primary periodic task or a periodic task is executed.
union One of the derivative data types. It allows you to handle the same data as different
data types.
Unit A device that mounts to the CPU Rack or an Expansion Rack.

26 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Terminology

Term Description
Unit configuration The configuration information for the Units that are set on the Sysmac Studio. This
information tells what Unit models are connected to the CPU Unit and where they
are connected.
upload To transfer data from the Controller to the Sysmac Studio with the synchronization
operation of the Sysmac Studio.
user program All of the programs in one project.
user-defined event One of the events in the NJ/NX-series System. These events are defined by the
user. “User-defined events” is a generic term for user-defined errors and
user-defined information.
user-defined variable A variable for which all of the attributes are defined by the user and can be changed
by the user.
variable A representation of data, such as a numeric value or character string, that is used in
a user program.
You can change the value of a variable by assigned the required value. “Variable” is
used as opposed to “constant,” for which the value does not change.
variable memory A memory area that contains the present values of variables that do not have AT
specifications. It can be accessed only with variables without an AT attribute.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 27
 Revision History

Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.

Cat. No. W579-E1-05

Revision code

Revision
Date Revised content
code
01 October 2016 Original production
02 January 2017 Corrected mistakes.
03 October 2017 Added shipbuilding standards (LR).
04 January 2019 Made changes accompanying the transfer of explanation for event codes and
errors to the NJ/NX-series Troubleshooting Manual.
05 October 2019 • Added information on the NX1P2-9B.
• Corrected mistakes.

28 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Sections in this Manual

Sections in this Manual

1 A

2 I
Introduction to NX1P2
1 CPU Units A Appendices
3

2 Built-in I/O I Index

4

3 Option Boards
5

4 Serial Communications 6

7
5 Analog I/O

8
6 Introduction of Motion Control Functions

9
Introduction of EtherNet/IP Communications
7 Functions

8 Introduction of EtherCAT Communications Functions

9 Troubleshooting

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 29
 Sections in this Manual

30 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 1

Introduction to NX1P2 CPU Units

This section describes the specifications and operating procedure of the NX1P2 CPU
Units.

1-1 Function Specifications for NX1P2 CPU Units . . . . . . . . . . . . . . . . . . . . . . 1-2

1-2 Overall Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-2-1 Overall Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6
1-2-2 Procedure Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 1-1
1 Introduction to NX1P2 CPU Units

1-1 Function Specifications for NX1P2

CPU Units
This following table gives the main specifications of the NX1P2 CPU Units.

NX1P2-
Item
11 10 90 9B
Instruction LD instruction 3.3 ns
Process-
execution Math instructions (for long real 70 ns or more
ing time
times data)
Size 1.5 MB 1.0 MB
Number of POU 450
Program
definitions
capacity*1 Quantity
Number of POU 1,800
instances
Size 32 KB
Retain attri-
Number of vari- 5,000
Memory butes
ables
capacity for
Size 2 MB
Program- variables*2 No Retain
ming Number of vari- 90,000
attributes
ables
Data types Number of data types 1,000
Memory for CIO Area 0 to 6,144 words (CIO 0 to CIO 6,143)*3
CJ-series
Work Area 0 to 512 words (W0 to W511)*3
Units (Can be
specified with Holding Area 0 to 1,536 words (H0 to H1,535)*4
AT specifica- DM Area 0 to 16,000 words (D0 to D15,999)*4
tions for vari- ---
EM Area
ables.)
Maximum number of controlled 12 axes 10 axes 4 axes 2 axes
axes
Motion control 8 axes 6 axes ---
axes
Single-axis posi- 4 axes 2 axes
tion control
axes
Maximum number of used real 8 axes 6 axes 4 axes 2 axes
axes
Number of
controlled Used motion 4 axes 2 axes ---
Motion *5 control servo
axes
control axes
Used sin- 4 axes 2 axes
gle-axis posi-
tion control
servo axes
Maximum number of axes for 4 axes per axes group ---
linear interpolation axis control
Number of axes for circular 2 axes per axes group ---
interpolation axis control
Maximum number of axes groups 8 axes groups ---
Motion control period Same as the period for primary periodic task

1-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 1 Introduction to NX1P2 CPU Units

1-1 Function Specifications for

NX1P2-
Item
11 10 90 9B

NX1P2 CPU Units

Maximum points 65,535 points ---
Number of per cam table
cam data Maximum points 262,140 points ---
Cams
Motion points for all cam
control tables
Maximum number of cam tables 80 tables ---
Position units Pulse, mm, μm, nm, degree, and inch 1
Override Factors 0.00% or 0.01% to 500.00%
Number of ports 1
Physical layer 10BASE-T/100BASE-TX
Frame length 1,514 bytes max.
Media access method CSMA/CD
Modulation Baseband
Topology Star
Baud rate 100 Mbps (100BASE-TX)
STP (shielded twisted-pair) cable of Ethernet category 5,
Transmission media
5e, or higher
Maximum transmission distance between Ether- 100 m
net switch and node
Maximum number of cascade connections There are no restrictions if an Ethernet switch is used.
Maximum number of connec- 32
tions
Can be set for each connection.
Packet interval*6
2 to 10,000 ms in 1-ms increments
Permissible communications 3,000 pps*7 (including heartbeat)
band
Maximum number of tag sets 32
Tag types Network variables, CIO, Work, Holding and DM Areas
Built-in CIP service: Number of tags per connection 8 (7 tags if Controller status is included in the tag set.)
Ether- Tag data links (= 1 tag set)
Net/IP (cyclic com- Maximum number of tags 256
port munications) Maximum link data size per 19,200 bytes
node (total size for all tags)
Maximum data size per connec- 600 bytes
tion
Maximum number of registrable 32 (1 connection = 1 tag set)
tag sets
600 bytes (Two bytes are used if Controller status is
Maximum tag set size
included in the tag set.)
Multi-cast packet filter *8 Supported
Class 3 (number of connec- 32 (clients plus server)
tions)
Maximum num- 32
ber of clients
CIP message that can com-
service: municate at one
UCMM
Explicit mes- time
(non-connec-
sages Maximum num- 32
tion type)
ber of servers
that can com-
municate at one
time
Number of TCP sockets 30

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 1-3
1 Introduction to NX1P2 CPU Units

NX1P2-
Item
11 10 90 9B
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
Twisted-pair cable of category 5 or higher (dou-
Transmission media ble-shielded straight cable with aluminum tape and braid-
ing)
Maximum transmission distance between 100 m
Built-in nodes
Ether- Maximum number of slaves 16 8
CAT port Range of node addresses that can be set 1 to 192
Input: 1,434 bytes
Output: 1,434 bytes
Maximum process data size
However, the maximum number of process data frames
is 1.
Input: 1,434 bytes
Maximum process data size per slave
Output: 1,434 bytes
2,000 to 8,000 μs (in 250-μs increments) 4,000 to
8,000 μs (in
Communications cycle
250-μs incre-
ments)
Sync jitter 1 μs max.
Serial Communications method Half duplex
commu- Synchronization Start-stop
nica- Baud rate 1.2/2.4/4.8/9.6/19.2/38.4/57.6/115.2 kbps
tions Transmission distance Depends on Option Board.
(Serial Host link (FINS), Modbus-RTU master, and no-protocol
Commu-
nica-
tions Supported protocol
Option
Board)
Maximum number of NX Units 8
Maximum per CPU Rack
number of 24
Unit con- connectable Maximum number of NX Units
On CPU Rack: 8
figura- Units for entire controller
tion On EtherCAT Slave Terminals: 16
A non-isolated power supply for DC input is built into the
Model
Power supply CPU Unit.
Power OFF detection time 2 to 8 ms
Option 2 2 1
Number of slots
Board
Input Number of points 24 24 14 *9

Number of points 16 16 10 *10

Built-in
11/10/9: Not provided (NPN)
I/O Output Load-short circuit protection
111/101/91: Provided (PNP)
Pulse output Not provided

1-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 1 Introduction to NX1P2 CPU Units

1-1 Function Specifications for

NX1P2-
Item
11 10 90 9B

NX1P2 CPU Units

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
Internal Accuracy
month
clock
At ambient temperature of 0°C: -3 to 1 min error per
month
Retention time of built-in capacitor At ambient temperature of 40°C: 10 days 1
*1. Execution objects and variable tables (including variable names)
*2. Memory used for CJ-series Units is included.
*3. The value can be set in 1-word increments. The value is included in the total size of variables without Retain attributes.
*4. The value can be set in 1-word increments. The value is included in the total size of variables with Retain attributes.
*5. For details on each axis, refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507).
*6. Data will be refreshed at the set interval, regardless of the number of nodes.
*7. “pps” means packets per second, i.e., the number of communications packets that can be sent or received in one second.
*8. As the EtherNet/IP port implements the IGMP client, unnecessary multi-cast packets can be filtered by using an Ethernet
switch that supports IGMP Snooping.
*9. NX1P2-9B40: 24 and NX1P2-9B24: 14
*10. NX1P2-9B40: 16 and NX1P2-9B24: 10

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 1-5
1 Introduction to NX1P2 CPU Units

1-2 Overall Operating Procedure

The overall operating procedure of the NX1P2 CPU Units is shown below, with each step of the proce-
dure described in detail.

1-2-1 Overall Operating Procedure

The overall procedure to use an NX1P2 CPU Unit is given below.

Step 1. Software Design

Design the overall system configuration, task configuration, programs,
and variables.
Step 1-1 Designing I/O and Processing
Step 1-2 Designing Tasks
Step 1-3 Designing Programs

Step 2. Software Setup and Programming

Create the system configuration that you designed in step 1 with the
Support Software and assign the variables. Create the tasks and pro-
grams, and debug them, e.g., with simulations.
Step 2-1 Slave and NX Unit Configurations
Step 2-2 Controller Setup
Step 2-3 Programming
Step 2-4 Offline Debugging

Step 3. Mounting and Setting Hardware

Mount the Units and make the required hardware settings.

Step 4. Wiring
Connect the network cables and wire the I/O.

Step 5. Checking Operation and Starting Operation

on the Actual System
Connect the Support Software to the physical system and download the
project. Check operation on the physical system and then start actual
system operation.

1-6 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 1 Introduction to NX1P2 CPU Units

1-2 Overall Operating Procedure

1-2-2 Procedure Details

Step 1. Software Design

Step Description Reference
Step 1-1 • External I/O devices and unit configuration NX-series NX1P2 CPU Unit
Designing I/O and Pro- • Refresh periods for external devices Hardware User’s Manual 1
cessing • Program contents (Cat. No. W578)

1-2-2 Procedure Details

Step 1-2 • Task configuration NJ/NX-series CPU Unit Soft-
Designing Tasks • Relationship between tasks and programs ware User’s Manual (Cat.
• Task periods No. W501)

• Slave, NX Unit, and built-in I/O refresh times

• Exclusive control methods for variables between tasks

Step 1-3
Designing Programs
POU (Program Organi- • Programs NJ/NX-series CPU Unit Soft-
zation Unit) Design • Functions and function blocks ware User’s Manual (Cat.
• Determining the algorithm languages No. W501)
Variable Design • Defining variables that you can use in more than one POU and NJ/NX-series CPU Unit Soft-
variables that you use in only specific POUs ware User’s Manual (Cat.
• Defining the variables names for the device variables that you No. W501)
use to access slaves, NX Units, and the built-in I/O
• Defining the attributes of variables, such as the Name and
Retain attributes
• Designing the data types of variables

Step 2. Software Setup and Programming

Step Description Sysmac Studio Reference
Operations
Project Creation 1. Create a project in the Sysmac New Project Button Sysmac Studio Version 1
Studio. Insert - Controller Operation Manual (Cat. No.
2. Insert a Controller. W504)

The following Controller Configurations and Setup and the Programming and Task Settings can be performed in either
order.
Step 2-1
Slave and NX Unit Con-
figurations
1. Creating the Slave 1. Creating the slave configuration and EtherCAT Tab Page NJ/NX-series CPU Unit Soft-
and NX Unit Configura- NX Unit configuration either offline or CPU and Expansion ware User’s Manual (Cat.
tions online. (For online configuration, Racks Tab Page No. W501)
make the online connection that is NX-series EtherCAT Coupler
Slave Terminal Tab
described in step 5.) Units User’s Manual (Cat.
Page
2. Setting up any Slave Terminals that No. W519)
are used.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 1-7
1 Introduction to NX1P2 CPU Units

2. Assigning Device Registering device variables in the vari- I/O Map NJ/NX-series CPU Unit Soft-
Variables to I/O Ports able table ware User’s Manual (Cat.
(Variable names are user-defined or No. W501)
automatically created.)

(The following step is for motion control.)

3. Creating the Axes Creating the axes and setting them as Configurations and NJ/NX-series CPU Unit Soft-
and Assigning Them to real axes or virtual axes. Setup − Motion ware User’s Manual (Cat.
the Servo Creating axes groups to perform interpo- Control Setup No. W501)
Drive/Encoder Input lated axes control.
Slaves

Step 2-2 Setting the following parameters from the NJ/NX-series CPU Unit Soft-
Controller Setup Sysmac Studio ware User’s Manual (Cat.
Setting the initial values for the PLC Configurations and No. W501)
Function Module Setup − Controller
Setup − Operation
Settings
(When battery is used)Setting the Controller − Con-
clock data with the clock function troller Clock
Setting the initial values for the NX Configurations and
Bus Function Module Setup −
CPU/Expansion
Racks − CPU Rack
(The following step is for motion Configurations and
control.) Setup − Motion
Setting the initial settings for the Control Setup
Motion Control Function Module
Setting the initial values for the Eth- Configurations and
erCAT Function Module Setup − EtherCAT
Setting the initial values for the Eth- Configurations and
erNet/IP Function Module Setup − Controller
Setup − Built-in
EtherNet/IP Port
Settings
Setting the initial values for the Configurations and 2-4-1 Built-in I/O Settings on
built-in I/O Setup − Controller page 2-8
Setup − Built-in I/O
Settings
Setting the initial values for an Configurations and 3-2-1 Settings on page 3-4
Option Board Setup − Controller
Setup − Option
Board Settings

Step 2-3
Programming

1-8 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 1 Introduction to NX1P2 CPU Units

1-2 Overall Operating Procedure

1. Registering Vari- • Registering the variables used by more Global Variable Sysmac Studio Version 1
ables than one POU in the global variable Table Editor Operation Manual (Cat. No.
table with Sysmac Studio Local Variable Table W504)
• Registering the local variable table for Editor NJ/NX-series CPU Unit Soft-
each program ware User’s Manual (Cat.
• Registering the local variable table for No. W501)
each function block and function
2. Writing Algorithms Writing the algorithms for the POUs (pro- Programming Editor NJ/NX-series CPU Unit Soft-
for POUs grams, function blocks, and functions) in ware User’s Manual (Cat. 1
the required languages No. W501)
NJ/NX-series Instructions

1-2-2 Procedure Details

Reference Manual (Cat. No.
W502)
NJ/NX-series Motion Control
Instructions Reference Man-
ual (Cat. No. W508)
3. Setting the Tasks Making task settings Configurations and NJ/NX-series CPU Unit Soft-
Setup − Task Set- ware User’s Manual (Cat.
tings No. W501)

Step 2-4 Checking the algorithms and task execu- NJ/NX-series CPU Unit Soft-
Offline Debugging tion times on the Simulator (virtual con- ware User’s Manual (Cat.
troller) No. W501)

Step 3. Mounting and Setting Hardware

Step Description Reference
1. Mounting • Connecting adjacent Units NX-series NX1P2 CPU Unit
• Mounting to DIN Track Hardware User’s Manual
(Cat. No. W578)
2. Setting Hardware • Setting the node addresses of the EtherCAT slaves Operation manuals for the
EtherCAT slaves

Step 4. Wiring
Step Description Reference
1. Connecting the • Connecting the power supply and ground wires NX-series NX1P2 CPU Unit
Power Supply to the Hardware User’s Manual
CPU Unit (Cat. No. W578)
2. Connecting Ether- • Connecting the built-in EtherCAT port NJ/NX-series CPU Unit
net Cable • Connecting the built-in EtherNet/IP port Built-in EtherCAT Port User’s
Manual (Cat. No. W505)
NJ/NX-series CPU Unit
Built-in EtherNet/IP Port
User’s Manual (Cat. No.
W506)

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 1-9
 1 Introduction to NX1P2 CPU Units

3. Wiring I/O • Wiring the built-in I/O NX-series NX1P2 CPU Unit
• Wiring I/O for NX Units Hardware User’s Manual
• Wiring Option Boards (Cat. No. W578)
Manuals for the specific NX
Units
• Wiring I/O to EtherCAT slaves Operation manuals for the
EtherCAT slaves
NX-series NX1P2 CPU Unit
Hardware User’s Manual
(Cat. No. W578)
• Checking wiring Sysmac Studio Version 1
Operation Manual (Cat. No.
W504)
4. Connecting the • Connecting the built-in EtherNet/IP port Sysmac Studio Version 1
Computer That Runs Operation Manual (Cat. No.
the Sysmac Studio W504)

Step 5. Checking Operation and Starting Operation on the Actual System

Step Description Sysmac Studio Reference
Operations
1. Online Connection Turn ON the power supply to the Control- Controller − Com- NJ/NX-series CPU Unit Soft-
to Sysmac Studio and ler and place the Sysmac Studio online. munications Setup ware User’s Manual (Cat.
Project Download Then, download the project.*1 Controller − Syn- No. W501)
Perform this step before you create the chronization
slave configuration or Unit configuration
from the mounted Units in step 2-1.

2. Operation Check on 1. Check the wiring by using forced --- NJ/NX-series CPU Unit Soft-
Controller refreshing of real I/O from the I/O Map ware User’s Manual (Cat.
or Watch Tab Page. No. W501)
2. For motion control, use the MC Test
Run operations in PROGRAM mode
to check the wiring. Then check the
motor rotation directions for jogging,
travel distances for relative
positioning (e.g., for electronic gear
settings), and homing operation.
3. Change the Controller to RUN mode
and check the operation of the user
program.

3. Actual Controller --- ---

Start actual operation.
Operation
*1. Use the Synchronize Menu of the Sysmac Studio to download the project.

1 - 10 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 2
Built-in I/O
This section describes the built-in I/O of the NX1P2 CPU Units.

2-1 Built-in I/O Terminal Allocation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-1-1 Terminal Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-2 I/O Data Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-2-1 NX1P2-24DT/-24DT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-2-2 NX1P2-40DT/-40DT1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2-3 Built-in I/O Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2-4 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2-4-1 Built-in I/O Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8
2-4-2 I/O Map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9
2-5 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2-5-1 Input Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10
2-5-2 Output Load Rejection Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-12
2-6 I/O Refreshing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2-6-1 I/O Refresh Timing of Built-in I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-13
2-6-2 I/O Response Time of Built-in I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-15

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 2-1
2 Built-in I/O

2-1 Built-in I/O Terminal Allocation

The following describes the allocation of the built-in I/O terminals.

2-1-1 Terminal Arrangement

The built-in I/O terminals are located on the terminal blocks on the front of the CPU Unit.
The arrangement of these terminals is shown below.

NX1P2-24DT/-24DT1

IN + --- COM 01 03 05 07 09 11 13
+ --- 00 02 04 06 08 10 12 NC NC
POWER
RUN
Input terminal block

Output terminal block

NX1P2-24DT
LINK/ACT
1
NC NC 00 02 04 06 08 NC NC NC NC
OUT C0 (0V) 01 03 05 07 09 NC NC NC NC NC

NX1P2-24DT1
LINK/ACT
1
NC C0 (+V) 00 02 04 06 08 NC NC NC NC
OUT 0V0 01 03 05 07 09 NC NC NC NC NC

2-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 2 Built-in I/O

2-1 Built-in I/O Terminal Allocation

 Input Terminal Block

+ - COM 01 03 05 07 09 11 13

+ - 00 02 04 06 08 10 12 NC NC

 Output Terminal Block

NX1P2-24DT

NC NC 00 02 04 06 08 NC NC NC NC
C0 (0V) 01 03 05 07 09 NC NC NC NC NC

2
NX1P2-24DT1

NC C0 (+V) 00 02 04 06 08 NC NC NC NC

2-1-1 Terminal Arrangement

0V0 01 03 05 07 09 NC NC NC NC NC

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 2-3
2 Built-in I/O

NX1P2-40DT/-40DT1

IN + --- COM 01 03 05 07 09 11 13 15 17 19 21
+ --- 00 02 04 06 08 10 12 14 16 18 20 22 23
POWER
RUN
Input terminal block

Output terminal block

NX1P2-40DT
LINK/ACT
1 2
NC NC 00 02 04 06 NC 08 10 12 14
OUT C0 (0V) 01 03 05 07 C1 (0V) 09 11 13 15 NC

NX1P2-40DT1
LINK/ACT
1 2
NC C0 (+V) 00 02 04 06 C1 (+V) 08 10 12 14
OUT 0V0 01 03 05 07 0V1 09 11 13 15 NC

 Input Terminal Block

+ - COM 01 03 05 07 09 11 13 15 17 19 21

+ - 00 02 04 06 08 10 12 14 16 18 20 22 23

 Output Terminal Block

NX1P2-40DT

NC NC 00 02 04 06 NC 08 10 12 14
C0 (0V) 01 03 05 07 C1 (0V) 09 11 13 15 NC

NX1P2-40DT1

NC C0 (+V) 00 02 04 06 C1 (+V) 08 10 12 14
0V0 01 03 05 07 0V1 09 11 13 15 NC

2-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 2 Built-in I/O

2-2 I/O Data Specifications

2-2 I/O Data Specifications

The following describes the I/O data specifications for the built-in I/O.

The built-in I/O uses I/O data as I/O ports.

I/O ports are generated automatically by the Sysmac Studio.
To use I/O data in the user program, you use device variables assigned to the relevant I/O ports.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for I/O ports and device 2
variables.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for how to register device

2-2-1 NX1P2-24DT/-24DT1
variables with the Sysmac Studio.

2-2-1 NX1P2-24DT/-24DT1
 General Input

Data name Function Data type I/O port name

Input Bit 00 The input value for input bit 00. BOOL Input Bit 00
Input Bit 01 The input value for input bit 01. BOOL Input Bit 01
Input Bit 02 The input value for input bit 02. BOOL Input Bit 02
Input Bit 03 The input value for input bit 03. BOOL Input Bit 03
Input Bit 04 The input value for input bit 04. BOOL Input Bit 04
Input Bit 05 The input value for input bit 05. BOOL Input Bit 05
Input Bit 06 The input value for input bit 06. BOOL Input Bit 06
Input Bit 07 The input value for input bit 07. BOOL Input Bit 07
Input Bit 08 The input value for input bit 08. BOOL Input Bit 08
Input Bit 09 The input value for input bit 09. BOOL Input Bit 09
Input Bit 10 The input value for input bit 10. BOOL Input Bit 10
Input Bit 11 The input value for input bit 11. BOOL Input Bit 11
Input Bit 12 The input value for input bit 12. BOOL Input Bit 12
Input Bit 13 The input value for input bit 13. BOOL Input Bit 13

 General Output

Data name Function Data type I/O port name

Output Bit 00 The output set value for output bit 00. BOOL Output Bit 00
Output Bit 01 The output set value for output bit 01. BOOL Output Bit 01
Output Bit 02 The output set value for output bit 02. BOOL Output Bit 02
Output Bit 03 The output set value for output bit 03. BOOL Output Bit 03
Output Bit 04 The output set value for output bit 04. BOOL Output Bit 04
Output Bit 05 The output set value for output bit 05. BOOL Output Bit 05
Output Bit 06 The output set value for output bit 06. BOOL Output Bit 06
Output Bit 07 The output set value for output bit 07. BOOL Output Bit 07
Output Bit 08 The output set value for output bit 08. BOOL Output Bit 08
Output Bit 09 The output set value for output bit 09. BOOL Output Bit 09

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 2-5
2 Built-in I/O

2-2-2 NX1P2-40DT/-40DT1
 General Input

Data name Function Data type I/O port name

Input Bit 00 The input value for input bit 00. BOOL Input Bit 00
Input Bit 01 The input value for input bit 01. BOOL Input Bit 01
Input Bit 02 The input value for input bit 02. BOOL Input Bit 02
Input Bit 03 The input value for input bit 03. BOOL Input Bit 03
Input Bit 04 The input value for input bit 04. BOOL Input Bit 04
Input Bit 05 The input value for input bit 05. BOOL Input Bit 05
Input Bit 06 The input value for input bit 06. BOOL Input Bit 06
Input Bit 07 The input value for input bit 07. BOOL Input Bit 07
Input Bit 08 The input value for input bit 08. BOOL Input Bit 08
Input Bit 09 The input value for input bit 09. BOOL Input Bit 09
Input Bit 10 The input value for input bit 10. BOOL Input Bit 10
Input Bit 11 The input value for input bit 11. BOOL Input Bit 11
Input Bit 12 The input value for input bit 12. BOOL Input Bit 12
Input Bit 13 The input value for input bit 13. BOOL Input Bit 13
Input Bit 14 The input value for input bit 14. BOOL Input Bit 14
Input Bit 15 The input value for input bit 15. BOOL Input Bit 15
Input Bit 16 The input value for input bit 16. BOOL Input Bit 16
Input Bit 17 The input value for input bit 17. BOOL Input Bit 17
Input Bit 18 The input value for input bit 18. BOOL Input Bit 18
Input Bit 19 The input value for input bit 19. BOOL Input Bit 19
Input Bit 20 The input value for input bit 20. BOOL Input Bit 20
Input Bit 21 The input value for input bit 21. BOOL Input Bit 21
Input Bit 22 The input value for input bit 22. BOOL Input Bit 22
Input Bit 23 The input value for input bit 23. BOOL Input Bit 23

 General Output

Data name Function Data type I/O port name

Output Bit 00 The output set value for output bit 00. BOOL Output Bit 00
Output Bit 01 The output set value for output bit 01. BOOL Output Bit 01
Output Bit 02 The output set value for output bit 02. BOOL Output Bit 02
Output Bit 03 The output set value for output bit 03. BOOL Output Bit 03
Output Bit 04 The output set value for output bit 04. BOOL Output Bit 04
Output Bit 05 The output set value for output bit 05. BOOL Output Bit 05
Output Bit 06 The output set value for output bit 06. BOOL Output Bit 06
Output Bit 07 The output set value for output bit 07. BOOL Output Bit 07
Output Bit 08 The output set value for output bit 08. BOOL Output Bit 08
Output Bit 09 The output set value for output bit 09. BOOL Output Bit 09
Output Bit 10 The output set value for output bit 10. BOOL Output Bit 10
Output Bit 11 The output set value for output bit 11. BOOL Output Bit 11
Output Bit 12 The output set value for output bit 12. BOOL Output Bit 12
Output Bit 13 The output set value for output bit 13. BOOL Output Bit 13
Output Bit 14 The output set value for output bit 14. BOOL Output Bit 14
Output Bit 15 The output set value for output bit 15. BOOL Output Bit 15

2-6 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 2 Built-in I/O

2-3 Built-in I/O Functions

2-3 Built-in I/O Functions

The following functions are available for the built-in I/O.

Function name Description Reference

Input filter This function eliminates the chattering or the noises 2-5-1 Input Filter on page
from input signals. 2-10
It is used to prevent the error reading due to the noises.
You can set the filter time constant.
Output load rejection set- This function performs a preset output operation if a 2-5-2 Output Load Rejec-
2
ting watchdog timer error or an error in the major fault level tion Setting on page 2-12
occurs in the CPU Unit.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 2-7
2 Built-in I/O

2-4 Settings
The following describes the settings of the built-in I/O.

2-4-1 Built-in I/O Settings

These settings are related to the built-in I/O functions.

Select Built-in I/O Settings under Configurations and Setup - Controller Setup to display the
Built-in I/O Settings Tab Page.

The settings are as follows:

Setting Changes in
Item Description Set value Default Update timing
group RUN mode
Input Filter Input Filter Set the filter time for No filter 1 ms*1 When downloaded Not
Settings input signals. 0.25 ms to CPU Unit allowed.

0.5 ms
1 ms
2 ms
4 ms
8 ms
16 ms
32 ms
64 ms
128 ms
256 ms
Operation Set the operating • ON and OFF fil- ON and When downloaded Not
Mode*2 mode for the input fil- ters OFF filters to CPU Unit allowed.
ter. • OFF filter only
Load Rejec- Set the output at load Turn OFF Turn OFF When downloaded Not
tion Output rejection. Hold the present to CPU Unit allowed.
Settings value

2-8 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 2 Built-in I/O

*1. If a value is set for the input filter time that is smaller than the default value, incorrect input caused by external noises
occurs more easily. If an incorrect input occurs, either change the setting to make a long input filter time or take counter-
measures, such as separate the Unit or signal lines and noise source, or protect the Unit or signal lines.
*2. You cannot edit this setting when the Input Filter is set to No filter.

2-4-2 I/O Map

2-4 Settings
To use I/O data in the user program, you assign a device variable to each I/O port.

Select Configurations and Setup - I/O Map to display the I/O Map.
2

2-4-2 I/O Map

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for how to register device
variables with the Sysmac Studio.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 2-9
2 Built-in I/O

2-5 Functions
The following shows the details on the functions available for the built-in I/O.

2-5-1 Input Filter

Application
This function prevents data changes and unstable data caused by changes of input data and unstable
status of input bits due to chattering and noise.
You can also use this function to make the settings to easily read the pulses that ON time is short.

Details on the Function

 If the Operation Mode in the Input Filter Settings is ON and OFF filters
Read the inputs 4 times at a 1/4 interval of the input filter time. When all inputs are ON or OFF, the
input values turn ON or OFF.
This prevents data changes and unstable data.

Operation when the input turns from OFF to ON (ON filter)

Input filter time Input filter time

1 2 3 4 1 2 3 4
ON
Values of input
terminals
OFF

ON OFF OFF ON ON ON ON ON
Input value is OFF Input value is ON
because all inputs because all inputs
are not ON during are ON during
four times of reading. four times of reading.

ON
Input value
OFF

2 - 10 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 2 Built-in I/O

Operation when the input turns from ON to OFF (OFF filter)

Input filter time Input filter time

1 2 3 4 1 2 3 4
ON
Values of input

2-5 Functions
terminals
OFF

OFF ON OFF OFF OFF OFF OFF OFF

Input value is ON Input value is OFF
because all inputs because all inputs
are not OFF during are OFF during
four times of reading. four times of reading.
2
ON
Input value

2-5-1 Input Filter

OFF

 If the Operation Mode in the Input Filter Settings is OFF filter only
ON filter is disabled and OFF filter is enabled.
This makes easily to read the pulses that ON time is short.

Input filter time

Input filter time

1 2 3 4 1 2 3 4
ON ON
Values of input
terminals
OFF OFF
ON OFF OFF OFF OFF ON OFF ON OFF OFF OFFOFF

ON ON
Input value
OFF OFF

When input is ON (ON filter disabled) When input is ON (ON filter disabled)
If the status of input terminals turns ON, If the status of input terminals turns ON,
the input value will turn ON immediately. the input value will turn ON immediately.

When input is OFF (OFF filter enabled) When input is OFF (OFF filter enabled)
If the status of input terminals does If the status of input terminals turns
not turn ON again during the input ON again during the input filter time,
filter time, the input value will turn the input value stays ON from that
OFF after the input filter time has time during the input filter time.
passed.

Additional Information

If a value is set for the input filter time that is smaller than the default value, incorrect input
caused by external noises occurs more easily. If an incorrect input occurs, either change the
setting to make a long input filter time or take countermeasures, such as separate the Unit or
signal lines and noise source, or protect the Unit or signal lines.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 2 - 11
2 Built-in I/O

Settings
Configure the settings in the Built-in I/O Settings Tab Page, which is displayed by selecting Built-in I/O
Settings under Configurations and Setup - Controller Setup.
Each setting corresponds to 4 consecutive inputs.

Precautions
Note that when you use this function, the time for which the input value actually turns ON or turns OFF
is delayed from the initial input to the input terminals until delay time in the following table.

Delay time Description

ON delay time ON response time + Input filter time
OFF delay time OFF response time + Input filter time

2-5-2 Output Load Rejection Setting

Application
This function maintains a safe output status by performing a preset output operation if a watchdog timer
error or an error in the major fault level occurs in the CPU Unit.

Details on the Function

This function performs a preset output operation if a watchdog timer error or an error in the major fault
level occurs in the CPU Unit.
Set whether to hold the output or turn it OFF if an error occurs.

Settings
Configure the settings in the Built-in I/O Settings Tab Page, which is displayed by selecting Built-in I/O
Settings under Configurations and Setup - Controller Setup.
Each setting corresponds to 1 output.

2 - 12 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 2 Built-in I/O

2-6 I/O Refreshing

The following describes the I/O refresh timing and I/O response time of the built-in I/O.

2-6 I/O Refreshing

2-6-1 I/O Refresh Timing of Built-in I/O
The CPU Unit refreshes the built-in I/O in the task period of the primary periodic task.

The CPU Unit reads input values into device variables at the time of I/O refreshing. 2
The CPU Unit updates the outputs with the values of the device variables read at the time of I/O
refreshing.

2-6-1 I/O Refresh Timing of Built-in I/O

: I/O refreshing

Task period Task period

Primary periodic task: IO UPG MC IO UPG MC IO UPG MC

Input terminal status:

Input ON/OFF response time + Input filter time

Input values:

Read input values:

Input device variables:

Output device variables:

Refresh outputs: Output ON/OFF response time

Output terminal status:

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 2 - 13
2 Built-in I/O

The CPU Unit refreshes outputs and reads inputs for each built-in I/O bit during the period of I/O
refreshing in the task period.
Therefore, the timing to read input values varies between input terminals and the timing to refresh out-
puts varies between output terminals.
: I/O refreshing

Task period Task period

Primary periodic task: IO UPG MC IO UPG MC

Terminal status for input A/B/C:

Timing to read input A:

Timing to read input B:

Timing to read input C:

Device variables to input A:

Device variables to input B:

Device variables to input C:

Device variables for output A/B/C:

Timing to refresh output A:

Timing to refresh output B:

Timing to refresh output C:

Terminal status for output A:

Terminal status for output B:

Terminal status for output C:

Additional Information

If the offset in the timing to read inputs or refresh outputs between terminals is a problem, use a
Unit that supports synchronous I/O refreshing. By using a Unit that supports synchronous I/O
refreshing, you can synchronize the timing to read inputs and refresh outputs between termi-
nals and Units.
Some NX Units connected to a CPU Unit or EtherCAT Slave Terminal and Units other than NX
Units support synchronous I/O refreshing.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) or the NX-series
EtherCAT Coupler Unit User’s Manual (Cat. No. W519) for synchronous I/O refreshing.

2 - 14 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 2 Built-in I/O

2-6-2 I/O Response Time of Built-in I/O

I/O response time refers to the time from when the input status of inputs is changed until the CPU Unit
completes updating the output status of outputs with the execution results of the user program.

2-6 I/O Refreshing

This time varies depending on the timing at which input values change with respect to the task period.

 Minimum I/O Response Time

The I/O response time is minimum when the input values change immediately before the CPU Unit
executes I/O refreshing.
2
The response time at this time can be calculated as follows.

2-6-2 I/O Response Time of Built-in I/O

Minimum I/O response time = Input ON/OFF response time + Input filter time + Task period + Output
ON/OFF response time
: I/O refreshing

Task period Task period

Primary periodic task: IO UPG MC IO UPG MC IO UPG MC

Input terminal status:

Input ON/OFF response time + Input filter time

Input values:

Read input values:

Input device variables:

Output device variables:

Refresh outputs: Output ON/OFF response time

Output terminal status:

Minimum I/O response time

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 2 - 15
2 Built-in I/O

 Maximum I/O Response Time

The I/O response time is maximum when the input values change immediately after the CPU Unit
executes I/O refreshing.
The response time at this time can be calculated as follows.
Maximum I/O response time = Input ON/OFF response time + Input filter time + Task period x 3 +
Output ON/OFF response time

: I/O refreshing

Task period Task period

Primary periodic task: IO UPG MC IO UPG MC IO UPG MC

Input terminal status:

Input ON/OFF response time + Input filter time

Input values:

Read input values:

Input device variables:

Output device variables:

Refresh outputs: Output ON/OFF response time

Output terminal status:

Maximum I/O response time

Additional Information

The input ON/OFF response time and the output ON/OFF response time vary depending on
the terminal that is used.
Refer to the NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578) for the
specifications of each terminal.

2 - 16 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Option Boards
3
This section describes the common functions of Option Boards for the NX1P2 CPU
Units.

3-1 Option Board Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-1 Serial Communications Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-1-2 Analog I/O Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3
3-2 Using Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-2-1 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4
3-2-2 System-defined Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-9
3-2-3 Device Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-10
3-2-4 Assigning Device Variables to Option Boards . . . . . . . . . . . . . . . . . . . . . . . .3-11
3-2-5 Instructions Used for Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-13
3-2-6 How Option Boards Operate in Case of an Error . . . . . . . . . . . . . . . . . . . . . 3-14

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 3-1
3 Option Boards

3-1 Option Board Types

The following describes the types of Option Boards that can be used with the NX1P2 CPU Unit.

To use an Option Board, mount it to the option board slot on the NX1P2 CPU Unit.
Two types of Option Boards are available: Serial Communications Option Boards and Analog I/O
Option Boards.
Option board slot

IN + ---
NX1P2 CPU Unit
SW SETTING + ---

PORT1 EtherNet/IP

PORIT2 EtherCAT

1 2
OUT

COMM COMM ERR

IN
ERR
OUT
ERR
IN OUT
Option Board
COM

COM

COM

COM
VO2

VO2
VO1

VO1
VI1

VI2

VI1

VI2
I I1

I I2

I I1

I I2

RDA- RDB+ SDA- SDB+ SHLD

SG0 RD SD ER SG1 DR RS CS SHLD

Serial Communications Analog I/O Option Board

Option Board

3-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 3 Option Boards

3-1-1 Serial Communications Option Boards

The following table shows the types and summary specifications of Serial Communications Option
Boards.

Item NX1W-CIF01 NX1W-CIF11 NX1W-CIF12

3-1 Option Board Types

Appearance

COMM COMM

RDA- RDB+ SDA- SDB+ SHLD

SG0 RD SD ER SG1 DR RS CS SHLD

Communications port RS-232C RS-422A/485 RS-422A/485

Number of ports 1 1 1
3
Communications protocol Host link (FINS), Mod- Host link (FINS), Mod- Host link (FINS), Mod-
bus-RTU master, and bus-RTU master, and bus-RTU master, and

3-1-1 Serial Communications Option Boards

no-protocol no-protocol no-protocol
Isolation No-isolation No-isolation Isolation
External connection termi- Screwless clamping termi- Screwless clamping termi- Screwless clamping termi-
nal nal block nal block nal block

3-1-2 Analog I/O Option Boards

The following table shows the types and summary specifications of Analog I/O Option Boards.

Item NX1W-ADB21 NX1W-DAB21V NX1W-MAB221

Appearance

ERR ERR ERR

IN OUT IN OUT
COM

COM

COM

COM
VO1

VO1
VO2

VO2
VI1

VI2

VI1

VI2
I I1

I I2

I I1

I I2

Analog input 2 inputs None 2 inputs

Input range 0 to 10 V, 0 to 20 mA --- 0 to 10 V, 0 to 20 mA
Resolution 1/4,000, 1/2,000 --- 1/4,000, 1/2,000
Analog output None 2 outputs 2 outputs
Output --- 0 to 10 V 0 to 10 V
range
Resolution --- 1/4,000 1/4,000
Conversion time 4 ms/Option Board 4 ms/Option Board 6 ms/Option Board
Isolation No-isolation No-isolation No-isolation
External connection termi- Screwless clamping termi- Screwless clamping termi- Screwless clamping termi-
nal nal block nal block nal block

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 3-3
 3 Option Boards

3-2 Using Option Boards

The following provides information on using Option Boards, which is commonly applicable to Serial
Communications Option Boards and Analog I/O Option Boards.

3-2-1 Settings
The description below is related to the settings of Option Boards to use.

Configuration
Specify the models of the Option Boards to use.

Set the Option Board configuration under Configuration in the Option Board Settings Tab Page, which
is displayed by selecting Option Board Settings under Configurations and Setup - Controller
Setup.

The settings are as follows:

Changes in
Item Setting group Description Set value Default Update timing
RUN mode
Configura- Option board 1 Specify the model of Not mounted Not When downloaded Not
tion the Option Board to NX1W-CIF01 mounted to CPU Unit allowed.
Option board 2*1 use.
NX1W-CIF11
NX1W-CIF12
NX1W-ADB21
NX1W-DAB21V
NX1W-MAB221
*1. You cannot edit this setting if your CPU Unit does not support the second Option Board.

Additional Information

If you change the set Option Board configuration, the I/O Map will be changed automatically. At
the same time, the mapping of device variables to the I/O Map will also be deleted.
After you change the Option Board configuration, you need to map the device variables again.

3-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 3 Option Boards

Option Board Serial Communications Settings

These are the serial port settings for the Serial Communications Option Boards.
The serial communications settings for each Option Board are enabled only when the corresponding
Serial Communications Option Board is specified in the configuration setting.

3-2 Using Option Boards

Set the Option Board Serial Communications Settings under Option Board 1 Serial Communications
Settings/Option Board 2 Serial Communications Settings in the Option Board Settings Tab Page,
which is displayed by selecting Option Board Settings under Configurations and Setup - Controller
Setup.

3-2-1 Settings

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 3-5
3 Option Boards

The settings are as follows:

Setting Changes in
Item Description Set value Default Update timing
group RUN mode
Option Serial com- Set the serial commu- Host Link (FINS) Host Link When downloaded Not
Board 1 munica- nications mode. Modbus-RTU Mas- (FINS) to CPU Unit allowed.
Serial Com- tions mode ter
munica-
No-Protocol
tions
Unit No. Set the unit number of 0 to 31 0 When downloaded Not
Settings
the host link when the to CPU Unit allowed.
Serial communica-
tions mode is set to
Host Link (FINS).
Baud rate Set the baud rate for 1,200 bps 9,600 bps When downloaded Not
the serial port. 2,400 bps to CPU Unit allowed.
4,800 bps
9,600 bps
19,200 bps
38,400 bps
57,600 bps
115,200 bps
Data length Set the data length. 7 bits 7 bits When downloaded Not
8 bits to CPU Unit allowed.
Parity Set the parity bit. Even Even When downloaded Not
Odd to CPU Unit allowed.

None
Stop bit Set the stop bit. 1 bit 2 bits When downloaded Not
2 bits to CPU Unit allowed.
Option The settings are the same as those for the Option Board 1 Serial Communications Settings.
Board 2 However, you cannot edit this setting if your CPU Unit does not support the second Option Board.
Serial Com-
munica-
tions
Settings

Memory Settings for CJ-series Units

These settings are provided to specify the area type and size of the memory used for CJ-series Units
when the Serial communications mode is set to Host Link (FINS).

Additional Information

The host link (FINS) protocol accesses only the memory used for CJ-series Units out of the
entire memory available in the CPU unit.
Nevertheless, the NX1P2 CPU Unit does not have memory used for CJ-series Units in the
default setting. Therefore, in order to use the host link (FINS) protocol, you need to generate
memory used for CJ-series Units in the NX1P2 CPU Unit. The memory settings for CJ-series
Units are used for this purpose.

3-6 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 3 Option Boards

 Setting Procedure

No. Step Description Reference

1 Determining the Determine the area type and the number Manuals and technical materials for
usable memory of words of memory used for CJ-series connected devices
Units to make available for data
exchange with connected devices.

3-2 Using Option Boards

2 Memory settings for In the Sysmac Studio, set the area type Setting Screen on page 3-7
CJ-series Units and the number of words of memory
used for CJ-series Units to make avail-
able for connected devices.
3 Programming Create the user program that uses the 4-2-4 Programming on page 4-8
memory used for CJ-series Units. 4-3-4 Programming on page 4-17
If the set memory size is not sufficient,
return to step 2 and increase the number
of words.
4 Downloading the proj- Download the project from the Sysmac NJ/NX-series CPU Unit Software
3
ect Studio. User’s Manual (Cat. No. W501)
5 Checking operation Check the operation of the user program Sysmac Studio Version 1 Operation

3-2-1 Settings
and actual operation and connected devices. Manual (Cat. No. W504)

 Setting Screen
Specify the memory used for CJ-series Units in the Memory Settings for CJ-series Units Tab Page,
which is displayed by selecting Memory Settings under Configurations and Setup - Controller
Setup.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 3-7
3 Option Boards

 Settings
The settings are as follows:

Setting Update Changes in

Item Setting Description Set value Default
group timing RUN mode
Memory CIO Enable Enable or disable the genera- Enable Disable When Not allowed.
Settings for tion of CIO area type memory Disable down-
CJ-series used for CJ-series Units. loaded to
Units CPU Unit
Size Specify the size of memory of 1 to 6,144 6,144 When Not allowed.
(Num- area type CIO. down-
ber of loaded to
Words) CPU Unit
WR Enable Enable or disable the genera- Enable Disable When Not allowed.
tion of WR area type memory Disable down-
used for CJ-series Units. loaded to
CPU Unit
Size Specify the size of memory of 1 to 512 512 When Not allowed.
(Num- area type WR. down-
ber of loaded to
Words) CPU Unit
HR Enable Enable or disable the genera- Enable Disable When Not allowed.
tion of HR area type memory Disable down-
used for CJ-series Units. loaded to
CPU Unit
Size Specify the size of memory of 1 to 1,536 512 When Not allowed.
(Num- area type HR. down-
ber of loaded to
Words) CPU Unit
DM Enable Enable or disable the genera- Enable Disable When Not allowed.
tion of DM area type memory Disable down-
used for CJ-series Units. loaded to
CPU Unit
Size Specify the size of memory of 1 to 16,000 4,096 When Not allowed.
(Num- area type DM. down-
ber of loaded to
Words) CPU Unit

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the specifications of
memory used for CJ-series Units.

3-8 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 3 Option Boards

3-2-2 System-defined Variables

The following table shows the system-defined variables available for Option Boards.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for details on the specifi-
cations of system-defined variables for Option Boards.

3-2 Using Option Boards

Variable Meaning Function Data type
_PLC_OptBoardSta Option Board Status Contains the status of Option Boards. This variable is ARRAY[1..2] OF
commonly used regardless of the models of Option _sOPTBOARD_STA
Boards.
The array element 1 corresponds to the option board
slot 1 and array element 2 corresponds to the option
board slot 2.
_PLC_OptSeri- Serial Option Board Contains the error status of an transmission error for ARRAY[1..2] OF
alErrSta Error Status the Serial Communications Option Board. _sOPTSERIALER-
When the Serial communications mode of an Serial R_STA
Communications Option Board is only set to Host 3
Link (FINS), the value of each member is updated.
Other than the above setting, the values of all mem-

3-2-2 System-defined Variables

bers are FALSE.
The array element 1 corresponds to the option board
slot 1 and array element 2 corresponds to the option
board slot 2.
You cannot use this system-defined variable in the
user program. This variable is used only for trouble-
shooting the serial communications device connection
in the Sysmac Studio.

The operation of the _PLC_OptBoardSta (Option Board Status) system-defined variable members is
shown below.

Status isDetect Run Error

Option Board is not mounted. FALSE FALSE FALSE
Option Board is being initialized. TRUE FALSE FALSE
Option Board is operating normally. TRUE TRUE FALSE
Option Board settings are being changed. TRUE FALSE FALSE
An Option Board event occurred when Option Board is TRUE FALSE TRUE
mounted.
An Option Board event occurred when Option Board is FALSE FALSE TRUE
not mounted.
Option Board was removed. FALSE FALSE TRUE

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 3-9
3 Option Boards

To use device variables or communications instructions for an Option Board, program the .Run (Option
Board Normal Operation) member of the _PLC_OptBoardSta (Option Board Status) system-defined
variable as an interlock condition in the user program.
Example of reading analog input values from Option Board 1 to the CPU Unit using the Option Board
Normal Operation as an interlock condition

_PLC_OptBoardSta[1].Run MOVE
EN ENO

OP1_Ch1_Analog_Input_Value In Out OP1_Ch1_Analog_Input_Value_Valid

_PLC_OptBoardSta[1].Run Option Board Normal Operation of Option Board 1 Status

system-defined variable
OP1_Ch1_Analog_Input_Value Device variable to analog input 1 on Option Board 1
OP1_Ch1_Analog_Input_Value_Valid Input value to analog input 1 read into the CPU Unit

3-2-3 Device Variables

To use I/O data for an Option Board in the user program, you assign a device variable to each I/O port.
Specify device variables in the I/O Map Tab Page, which is displayed by selecting Configurations and
Setup - I/O Map.

The following is an example of Option Board displayed on the I/O Map Tab Page.

3 - 10 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 3 Option Boards

3-2-4 Assigning Device Variables to Option Boards

Some instructions used for Option Boards require that the Option Board be specified in the form of vari-
ables. Therefore, you need to assign variables to the Option Boards in advance.

3-2 Using Option Boards

Assignment Procedure
The Sysmac Studio does not automatically create variables that are assigned to Option Boards even if
you specify the Option Board configuration. Follow the steps below to configure the settings to assign
variables to the Option Boards.

1 In the Sysmac Studio, set the Option Board configuration under Configuration in the Option
Board Settings Tab Page, which is displayed by selecting Option Board Settings under Con-
figurations and Setup - Controller Setup.

2 Select Configurations and Setup - I/O Map to display the I/O Map Tab Page.
3
3 Right-click the model of Option Board to which you want to assign variables and select Display

3-2-4 Assigning Device Variables to Option Boards

Node Location Port from the menu.

The Node location information port is added on the I/O Map.

4 Right-click Node location information and select Create Device Variable from the menu.
The variable name is written to the Variable Field of the Node location information port.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 3 - 11
3 Option Boards

The data type of variables assigned to Option Boards is _sOPTBOARD_ID structure. The details on the
_sOPTBOARD_ID structure data type are given in the following table.

Variable Name Meaning Data type

User specified _sOPTBOARD_ID
SlotNo Slot number Slot number of the Option Board UINT
IPAdr IP address Not used. BYTE[5]

Precautions for Correct Use

The values of variables that assigned to the Option Boards will be set automatically when you
register the variables. Do not change the values of the variables. If you change the value of a
variable, the Controller may not perform the intended operation.

Using Variables Assigned to Option Boards

You use variables assigned to an Option Board when you specify the Option Board in the user pro-
gram.
For this purpose, you need to register the variables in the variable table in advance, using the same
names as those of the variables assigned to the Option Board on the I/O Map. The data type of the vari-
ables is _sOPTBOARD_ID structure.

Example of reading analog input values to the CPU Unit using the Option Board Normal Operation at slot
position indicated by the variables assigned to Option Board as an interlock condition

_PLC_OptBoardSta[gOptBoard_ID1.SlotNo].Run MOVE
EN ENO

OP1_Ch1_Analog_Input_Value In Out OP1_Ch1_Analog_Input_Value_Valid

gOptBoard_ID1.SlotNo Slot position indicated by the variables assigned to Option Board

_PLC_OptBoardSta[].Run Option Board Normal Operation at the position indicated by

_gOptBoard_ID1
OP1_Ch1_Analog_Input_Value Device variable to analog input 1 on Option Board 1

OP1_Ch1_Analog_Input_Value_Valid Input value to analog input 1 read into the CPU Unit

3 - 12 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 3 Option Boards

3-2-5 Instructions Used for Option Boards

The table below shows serial communications instructions that you can use when the Serial communi-
cations mode of a Serial Option Board is Modbus-RTU Master or No-Protocol.

Instruction Name Outline of function

3-2 Using Option Boards

NX_SerialSend Send No-Protocol Data Sends data in No-Protocol Mode from a serial port on a
CIF Unit or Option Board.
NX_SerialRcv Receive No-Protocol Data Reads data in No-Protocol Mode from a serial port on a
CIF Unit or Option Board.
NX_Modbus Send Modbus RTU General Sends general commands from a serial port on a CIF Unit
RtuCmd Command or Option Board to Modbus-RTU slaves using Mod-
bus-RTU protocol.
NX_Modbus Send Modbus RTURead Sends read commands from a serial port on a CIF Unit or
RtuRead Command Option Board to Modbus-RTU slaves using Modbus-RTU
protocol. 3
NX_Modbus Send Modbus RTUWrite Sends write commands from a serial port on a CIF Unit or
RtuWrite Command Option Board to Modbus-RTU slaves using Modbus-RTU

3-2-5 Instructions Used for Option Boards

protocol.
NX_SerialSigCtl Serial Control Signal ON/OFF Turns ON or OFF the ER or RS signal of a serial port on a
Switching CIF Unit or Option Board.
NX_SerialSigRead Read Serial Control Signal Reads the CS or DR signal of a serial port on an Option
Board.
NX_Serial Read Serial Port Status Reads the status of a serial port on an Option Board.
StatusRead
NX_SerialBufClear Clear Buffer Clears the send or receive buffer.

Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502-E1-17 or later) for details on
serial communications instructions.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 3 - 13
3 Option Boards

3-2-6 How Option Boards Operate in Case of an Error

The tables below show how Option Boards operate if an error occurs.

 Errors Not Related to Option Boards

Serial Communications
Event level Analog I/O Option Board
Option Board
Major fault level No change. Load turned OFF for analog output.
Analog input values at error occur-
rence retained.
Partial fault level No change.
Minor fault level
Observation
Information

 Errors Related to Option Boards

Event level Serial Communications Option Board Analog I/O Option Board
Option Board Configuration Veri- Host link function disabled when Host Load turned OFF for analog out-
fication Error Link (FINS) is selected. put.
Unsupported Option Board Error generated at execution of a serial Analog input value reset to 0.
Mounted communications instruction when Host
Option Board Error Link (FINS) is not selected.
Analog Option Board Startup ---
Error
Analog Option Board Communi- ---
cations Error

3 - 14 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Serial Communications
This section describes the functions of Serial Communications Option Boards for the
NX1P2 CPU Units.
4

4-1 Serial Communications Types and Overview . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-2 Programless Communications with
NB-series Programmable Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2-2 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4
4-2-3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6
4-2-4 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8
4-2-5 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9
4-3 Programless Communications with
E5C Digital Temperature Controllers . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4-3-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10
4-3-2 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12
4-3-3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-14
4-3-4 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4-3-5 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-17
4-4 Connection with Modbus-RTU Slaves . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4-4-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-18
4-4-2 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-19
4-4-3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-21
4-4-4 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-22
4-4-5 Connection Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24
4-5 Connection with General-purpose Serial Communications Devices . . . 4-25
4-5-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25
4-5-2 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26
4-5-3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-28
4-5-4 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-29

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4-1
4 Serial Communications

4-1 Serial Communications Types and

Overview
The following table shows the communications protocols supported by the NX1P2 CPU Unit and exam-
ples of connected devices.

Serial communi-
Connected device Description
cations mode*1
NB-series Host Link The CPU Unit exchanges data with
Programmable Terminal (FINS)*2 Programmable Terminals (PTs). For
this data exchange, memory used
NB-series Programmable Terminals for CJ-series Units is used.
access memory used for CJ-series Units No communications program is
automatically.
required on the CPU Unit side.
RS-232C or RS-422A/485

NX1P2 CPU Unit

RS-232C Option Board or

RS-422A/485 Option Board

RS-422A/485 Option Board The CPU Unit exchanges data with

E5C E5C E5C E5C Digital Temperature Control-
Controller Controller Controller lers. For this data exchange, mem-
No. 0 No. 1 No. n ory used for CJ-series Units is
PV PV PV
used.
SV SV SV No communications program is
<< PF << PF << PF
required on the CPU Unit side.
<<

<<

<<

<<

<<

<<

E5CC E5CC E5CC

You can read and write parameters

and run/stop E5C Temperature
Controllers.
32 max.
E5C Controllers access memory
used for CJ-series Units automatically.

Modbus-RTU The CPU Unit exchanges data with

NX1P2 CPU Unit
Master*3 Modbus-RTU slaves.
In this data exchange, you use spe-
RS-232C Option Board or cial instructions to send a Mod-
RS-422A/485 Option Board
bus-RTU command and receive a
RS-232C or RS-422A/485 response.

Inverter

4-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

Serial communi-
Connected device Description
cations mode*1
No-Protocol The CPU Unit exchanges data with

4-1 Serial Communications Types and Overview

NX1P2 CPU Unit
general-purpose serial communica-
tions devices with RS-232C or
RS-232C Option Board or RS-422A/485 ports. In this data
RS-422A/485 Option Board exchange, instructions to send and
RS-232C or RS-422A/485 receive data from a serial communi-
cations port in No-protocol Mode
General-purpose serial are used.
communications device
You need to program the communi-
cations procedure (protocol) to
exchange data with general-pur-
pose devices in the user program.
*1. Select the serial communications mode to use in advance. You cannot change the serial communications mode when the
CPU Unit is operating.
*2. Only FINS commands are supported. C-mode commands are not supported.
*3. The function to use NX1P2 CPU Units as Modbus-RTU slaves is not supported.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4-3
4 Serial Communications

4-2 Programless Communications with

NB-series Programmable Terminals
The following describes programless communications with NB-series Programmable Terminals.

4-2-1 Overview
The NX1P2 CPU Unit supports programless communications with NB-series Programmable Terminals
(hereafter NB-series Units) using the host link protocol.
To use this function, you mount a Serial Communications Option Board on the NX1P2 CPU Unit, set its
Serial communications mode to Host Link (FINS) and specify the memory used for CJ-series Units,
and connect their serial ports together.
NB-series
Programmable Terminal

NB-series Programmable Terminals

access memory used for CJ-series Units
automatically.

RS-232C or RS-422A/485

NX1P2 CPU Unit

RS-232C Option Board or

RS-422A/485 Option Board

4-2-2 Procedure
The operating procedure is described below.

Overall Procedure

CPU Unit Side NB-series Unit Side

1 Configuring Option Boards Configuring the serial communications settings

2 Specifying memory used for CJ-series Units Determining the usable memory

3 Programming Creating screen data

4 Mounting and setting hardware

5 Wiring and power ON

6 Downloading the project Transferring screen data

7 Checking operation and actual operation

4-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-2 Programless Communications with NB-series Programmable

Procedure Details
 CPU Unit Side

No. Step Description Reference

1 Configuring Option In the Sysmac Studio, specify the Option 4-2-3 Settings on page 4-6
Boards Board configuration and configure the Configuration and Option Board
serial communications mode settings. Serial Communications Settings on
page 4-6
2 Specifying memory In the Sysmac Studio, set the area type 4-2-3 Settings on page 4-6
used for CJ-series and the number of words of memory Memory Settings for CJ-series Units
Units enough to include the memory that will on page 4-6
be used for the screen data of the
NB-series Unit.

Terminals
3 Programming In the Sysmac Studio, create a program 4-2-4 Programming on page 4-8
to access the memory used for CJ-series
Units by using user-defined variables
with AT specifications.
4 Mounting and setting If you are using an NX1W-CIF11/CIF12 4-2-5 Connection Examples on page 4
hardware Option Board, set the operation setting 4-9
DIP switches on the back. NX-series NX1P2 CPU Unit Hard-

4-2-2 Procedure
Mount the Option Boards and necessary ware User’s Manual (Cat. No. W578)
Units.
Install the CPU Unit and NB-series Units.
5 Wiring and power ON Connect the serial communications ter-
minals of the Option Boards and
NB-series Units.
Wire the power supply terminals and turn
ON the power supply.
6 Downloading the proj- Download the project from the Sysmac NJ/NX-series CPU Unit Software
ect Studio. User’s Manual (Cat. No. W501)
7 Checking operation Check the operation of the user program Sysmac Studio Version 1 Operation
and actual operation and screen data. Manual (Cat. No. W504)

 NB-series Unit Side

No. Step Description Reference

1 Configuring the serial In the NB-Designer, create a project and NB-series Programmable Terminals
communications set- select COM1 or COM2 in the Configura- Setup Manual (Cat. No. V107)
tings tion and Setup Window. NB-series Programmable Terminals
2 Determining the Determine the area type and the number NB-Designer Operation Manual (Cat.
usable memory of words of memory to make available No. V106)
for screen data.
3 Creating screen data In the NB-Designer, create screen data.
4 Mounting and setting Install the CPU Unit and NB-series Units.
hardware
5 Wiring and power ON Connect the serial communications ter-
minals of the Option Boards and
NB-series Units.
Wire the power supply terminals and turn
ON the power supply.
6 Transferring screen In the NB-Designer, download the proj-
data ect that contains the screen data.
7 Checking operation Check the operation of the user program
and actual operation and screen data.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4-5
4 Serial Communications

4-2-3 Settings

Settings on the CPU Unit

 Configuration and Option Board Serial Communications Settings
Configure these settings in the Option Board Settings Tab Page, which is displayed by selecting
Option Board Settings under Configurations and Setup - Controller Setup.

Under Configuration, specify the models of the Option Boards to use.

Under Option Board Settings, configure the following settings:

Item Set value

Serial communications mode Host Link (FINS)
Unit No. 0
Baud rate Set this to match the setting on the NB-series Unit.
Data length 7 bits
Parity Even
Stop bit 2 bits

 Memory Settings for CJ-series Units

Specify the memory used for CJ-series Units in the Memory Settings for CJ-series Units Tab Page,
which is displayed by selecting Memory Settings under Configurations and Setup - Controller
Setup.

Set the area type and the number of words of memory enough to include the memory that will be
used for the screen data to create.

Precautions for Correct Use

Create screen data to avoid using the EM area because the NX1P2 CPU Unit does not support
the EM area type.

4-6 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-2 Programless Communications with NB-series Programmable

Settings on the NX1W-CIF11/CIF12 Option Board
The CPU Unit requires an NX1W-CIF11 or NX1W-CIF12 Option Board for connection with external
devices via RS-422A/485.
The table below shows the settings of the operation setting DIP switches on the back of the Option
Board.

CIF11 CIF12
Setting Setting description
SW No. SW No.
SW1 1 SW1 1 ON With terminating resistance*1
2 2 OFF Four-wire type
3 3 OFF Four-wire type
4 4 OFF (Not used)
5 SW2 1 OFF Without RS control for receive data (Always

Terminals
receive data)
6 2 OFF Without RS control for send data (Always send
data)
*1. Turn this OFF if the NX1W-CIF11/CIF12 is not the terminating device.
4

Settings on NB-series Units

4-2-3 Settings
In the NB-Designer, create a project and select the serial port to use in the Configuration and Setup
Window.
The settings are as follows:

Item Set value

Baud Rate Set this to match the serial port setting.
Data Bit 7
Parity Check even
Stop Bit 2

Refer to the NB-series Programmable Terminals NB-Designer Operation Manual (Cat. No. V106) for
the detailed settings.
Refer to 4-2-5 Connection Examples on page 4-9 for information on wiring the serial port.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4-7
4 Serial Communications

4-2-4 Programming
Assign the user-defined variables that are used in the user program on the CPU Unit to the memory
used for CJ-series Units that will be accessed by the NB-series Unit by using AT specification.
Then, create the user program for communicating with the NB-series Unit.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for memory used for
CJ-series Units and AT specification.

Additional Information

The NX1P2 CPU Unit performs programless communications with NB-series Units using the
host link (FINS) protocol.
The host link (FINS) protocol accesses only the memory used for CJ-series Units out of the
entire memory available in the CPU unit based on address specification.
In other words, the CPU Unit uses the memory used for CJ-series Units to communicate data
with NB-series Units.
On the other hand, the NX1P2 CPU Unit uses variables for all processing tasks, for example, to
exchange I/O information with external devices, perform data calculations, and so on.
Therefore, to access memory used for CJ-series Units from the user program on the CPU Unit,
you need to assign user-defined variables to it. This assignment of user-defined variables to
memory used for CJ-series Units is called AT specification.
NX1P2 CPU Unit NB-series Unit
User-defined Memory used for
User program variables CJ-series Units
AT CIO
Data reading, specification
data calculation, Variable Example 1200.00 Button
data transfer, etc. AT
specification
Variable Example 1201.00 Lamp

User-defined variables are assigned to Host link (FINS)

memory addresses with AT specifications.

4-8 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-2 Programless Communications with NB-series Programmable

4-2-5 Connection Examples
Examples of connecting the CPU Unit to a serial port on an NB3Q Programmable Terminal are given
below.

Connecting the NX1W-CIF01 Option Board to the Serial Port (COM1) on an NB3Q Programmable Ter-
minal (RS-232C)
NB3Q COM1 connector (female) NX1W-CIF01 RS-232C terminal block
Pin No. Signal abbreviation
1 6 1 SDB+ SG0
2 SD RD
3 RD SD COMM

4 RS ER

Terminals
SG0 RD SD ER SG1 DR RS CS SHLD
5 CS SG1
6 RDB+ DR
7 SDA- RS
8 RDA- CS
5 9 9 SG SHLD
Shell FG 4

Connecting the NX1W-CIF11/CIF12 Option Board to the Serial Port (COM1) on an NB3Q Programma-

4-2-5 Connection Examples

ble Terminal (RS-422A)
NB3Q COM1 connector (female) NX1W-CIF11/CIF12
Pin No. Signal abbreviation RS-422A/485 terminal block
1 6 1 SDB+
2 SD
3 RD RDA- COMM

4 RS RDB+ RDA- RDB+ SDA- SDB+ SHLD

5 CS SDA-
6 RDB+ SDB+
7 SDA- SHLD
8 RDA-
5 9 9 SG
Shell FG
DIP switches on the back of the Operation setting DIP switches on the back of the
NB3Q Programmable Terminal NX1W-CIF11/CIF12 Option Board

For an NX1W-CIF11 For an NX1W-CIF12

SW1 SW1 SW2
O
N
O
N

O
N

N
1
2
3
4

1
2
3
4

O
N

N
1
2
3
4
5
6

1
2
3
4

1
2
1
2
3
4
5
6

1
2
3
4

1
2

SW1 SW1 SW2

Refer to the NB-series Programmable Terminals Setup Manual (Cat. No. V107) for wiring information
on connecting the CPU Unit to the serial ports on an NB5Q/NB7W/NB10W Programmable Terminal.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4-9
4 Serial Communications

4-3 Programless Communications with

E5C Digital Temperature Control-
lers
The following describes programless communications with E5C Digital Temperature Controllers.

4-3-1 Overview
The NX1P2 CPU Unit supports programless communications with E5C-series Digital Temperature
Controllers (hereafter E5C Controllers) using the host link protocol.
To use this function, you mount a Serial Communications Option Board on the NX1P2 CPU Unit, set its
Serial communications mode to Host Link (FINS) and specify the memory used for CJ-series Units,
and connect their serial ports together.

RS-422A/485 Option Board

E5C E5C E5C
Controller Controller Controller
No. 0 No. 1 No. n
PV PV PV

SV SV SV

<< PF << PF << PF

<<

<<

<<

<<

<<

<<

E5CC E5CC E5CC

32 max.
E5C Controllers access memory
used for CJ-series Units automatically.

Additional Information

In programless communications with E5C Controllers, you can read and write E5C param-
eters and run/stop the Controller via the memory of a Programmable Controller (hereafter
PLC). Because E5C Controllers communicate with a PLC automatically, there is no need to
create a communications program.
Refer to the E5C Digital Temperature Controllers Use’s Manual (Cat. No. H174) for the pro-
gramless communications of E5C Controllers.

4 - 10 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-3 Programless Communications with E5C Digital Temperature

You can connect up to 32 E5C Controllers to one serial port.
On a E5C Controller, you set the memory used for CJ-series Units and first address to make available
for the E5C Controller.
Then, the E5C Controller uses the upload area (for input to the CPU Unit) and download area (for
output from the CPU Unit) of PLC memory for each unit number.

RS-422A/485 Option Board E5C E5C E5C

Controller Controller Controller
No. 0 No. 1 No. 2

PV PV PV

SV SV SV

<< PF << PF << PF

<<

<<

<<

<<

<<

<<
E5CC E5CC E5CC

Controllers
Memory used for
CJ-series Units
No. 0 PV, status, etc.
Upload area
No. 0 Set point, alarm value, etc.
Download area
No. 1 4
Upload area
No. 1
Download area

4-3-1 Overview
No. 2
Upload area
No. 2
Download area

Refer to the E5C Digital Temperature Controllers User’s Manual (Cat. No. H174) and the E5C Digi-
tal Temperature Controllers Communications Manual (Cat. No. H175) for details on the specifications of
E5C Controllers.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 11
4 Serial Communications

4-3-2 Procedure

The operating procedure is described below.

Overall Procedure

CPU Unit Side E5C Controller Side

1 Configuring Option Boards

2 Specifying memory used for CJ-series Units Determining the usable memory

3 Programming

4 Mounting and setting hardware

5 Wiring and power ON

6 Downloading the project Configuring the serial communications settings

7 Checking operation and actual operation

Procedure Details
 CPU Unit Side

No. Step Description Reference

1 Configuring Option In the Sysmac Studio, specify the Option 4-3-3 Settings on page 4-14
Boards Board configuration and configure the Configuration and Option Board
serial communications mode settings. Serial Communications Settings on
page 4-14
2 Specifying memory In the Sysmac Studio, set the number of 4-3-3 Settings on page 4-14
used for CJ-series words of memory for the DM area type Memory Settings for CJ-series Units
Units memory to make available for the E5C on page 4-14
Controller.
3 Programming In the Sysmac Studio, create a program 4-3-4 Programming on page 4-17
to access the memory used for CJ-series
Units by using user-defined variables
with AT specifications.

4 - 12 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-3 Programless Communications with E5C Digital Temperature

No. Step Description Reference
4 Mounting and setting Set the operating setting DIP switches 4-3-5 Connection Examples on page
hardware on the back of the NX1W-CIF11/CIF12 4-17
Option Board. NX-series NX1P2 CPU Unit Hard-
Mount the Option Boards and necessary ware User’s Manual (Cat. No. W578)
Units.
Install the CPU Unit and the E5C Con-
troller.
5 Wiring and power ON Connect the serial communications ter-
minals of the Option Board and the
E5C Controller.
Wire the power supply terminals and turn
ON the power supply.
6 Downloading the proj- Download the project from the Sysmac NJ/NX-series CPU Unit Software

Controllers
ect Studio. User’s Manual (Cat. No. W501)
7 Checking operation Check the operation of the user program Sysmac Studio Version 1 Operation
and actual operation and programless communications with Manual (Cat. No. W504)
the E5C Controller.

 E5C Controller Side 4

No. Step Description Reference

4-3-2 Procedure
2 Determining the Determine the number of words of mem- E5C Digital Temperature Control-
usable memory ory to make available for the E5C Con- lers User’s Manual (Cat. No. H174)
troller. E5C Digital Temperature Control-
4 Mounting and setting Install the CPU Unit and the E5C Con- lers Communications Manual (Cat.
hardware troller. No. H175)
5 Wiring and power ON Connect the serial communications ter-
minals of the Option Board and the
E5C Controller.
Wire the power supply terminals and turn
ON the power supply.
6 Configuring the serial On the E5C Controller, set the serial
communications set- communications parameters in the com-
tings munications setting level.
7 Checking operation Check the operation of the user program
and actual operation and programless communications with
the E5C Controller.

Additional Information

The CPU Unit fails to receive a command frame if a response frame from the CPU Unit is
received and the next command frame from the E5C Controller is sent too soon.
When a receiving of the command frame failed, increase the send data wait time of the E5C
Controller.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 13
4 Serial Communications

4-3-3 Settings

Settings on the CPU Unit

 Configuration and Option Board Serial Communications Settings
Configure these settings in the Option Board Settings Tab Page, which is displayed by selecting
Option Board Settings under Configurations and Setup - Controller Setup.

Under Configuration, specify the models of the Option Boards to use.

Under Option Board Settings, configure the following settings:

Item Set value

Serial communications mode Host Link (FINS)
Unit No. Set the same Communications Node Number as for
the E5C Controller.
Baud rate 57,600 bps
Data length 7 bits
Parity Even
Stop bit 2 bits

 Memory Settings for CJ-series Units

Specify the memory used for CJ-series Units in the Memory Settings for CJ-series Units Tab Page,
which is displayed by selecting Memory Settings under Configurations and Setup - Controller
Setup.

Determine and set the area type and the number of words based on the first address of the E5C
Controller and the number of Controllers to connect.

4 - 14 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-3 Programless Communications with E5C Digital Temperature

Precautions for Correct Use
The NX1P2 CPU Unit does not support the EM area type.
Set the Area to DM on the E5C Controller.

Settings on the NX1W-CIF11/CIF12 Option Board

You need to use an NX1W-CIF11 or NX1W-CIF12 Option Board to connect via RS-422A/485.
The table below shows the settings of the operation setting DIP switches on the back of the Option
Board.

Controllers
CIF11 CIF12
Setting Setting description
SW No. SW No.
SW1 1 SW1 1 ON With terminating resistance*1
2 2 ON Two-wire type
3 3 ON Two-wire type 4
4 4 OFF (Not used)
5 SW2 1 ON With RS control for receive data

4-3-3 Settings
6 2 ON With RS control for send data
*1. Turn this OFF if the NX1W-CIF11/CIF12 is not the terminating device.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 15
4 Serial Communications

Settings on E5C Controllers

On the E5C Controller to connect, move from the operation level, through the initial setting level, to
the communications setting level and set programless communications parameters.
The settings are as follows:

Parameter name*1, *2 Set value

Protocol Setting Host Link (FINS)
Communications Unit No. 0*3
Communications Baud Rate 57,600 bps
Communications Data Length*4 7
Communications Parity*4 Even
Communications Stop Bits*4 2
Send Data Wait Time 1 ms*5
Highest Communications Unit No. 0*6
Area*7,First Address Upper Word, First Set the area and the first address of memory to make avail-
Address Lower Word able for the E5C Controller.*8
Communications Node Number Set the same value as that is set in the Unit No. in the Option
Board Settings Tab Page on the CPU Unit.
*1. Only the required parameters are listed.
*2. When you connect more than one E5C Controller, set these parameters for all of the E5C Control-
lers. Set the same value for each parameter, except for the Communications Unit No.
*3. When you connect more than one E5C Controller, set a series of numbers starting from 0 for the
E5C Controllers.
*4. If you set the Protocol Setting parameter to Host Link (FINS), the Communications Data Length,
Communications Parity, and Communications Stop Bits parameters are automatically set to 7,
Even, and 2, respectively. These parameters cannot be changed.
*5. When the CPU Unit fails to receive a command frame, increase the set value.
*6. When you connect more than one E5C Controller, set the highest communications unit number.
*7. Set the Area parameter to DM because the NX1P2 CPU Unit does not support the EM area type.
*8. When you connect more than one E5C Controller, set the first address to the same value for all of the
E5C Controllers.

Refer to the E5C Digital Temperature Controllers Communications Manual (Cat. No. H175) for details
on the parameters used for programless communications of E5C Controllers.

4 - 16 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-3 Programless Communications with E5C Digital Temperature

4-3-4 Programming
Assign the user-defined variables that is used in the user program on the CPU Unit to the memory used
for CJ-series Units that will be accessed by the E5C Controller by using AT specification.
Then, create the user program for communicating with the E5C Controller.
The user program gets the E5C Controller status from the upload area of the E5C Controller and
sends commands to the download area of the E5C Controller.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for memory used for
CJ-series Units and AT specification.

Controllers
4-3-5 Connection Examples
An example of connecting three E5CC Controllers is given below.

NX1P2 CPU Unit 4

RS-422A/485 Option Board
NX1W-CIF11/CIF12

4-3-4 Programming
E5CC E5CC E5CC
Controller Controller Controller
No. 0 No. 1 No. 2

PV PV PV

SV SV SV

<< PF << PF << PF

<<

<<

<<

<<

<<

<<

E5CC E5CC E5CC

Operation setting DIP switches on the back of the

NX1W-CIF11/CIF12 Option Board
For an NX1W-CIF11 For an NX1W-CIF12
SW1 SW1 SW2
O

O
N

N
O

O
N

N
1
2
3
4
5
6

1
2
3
4

1
2
1
2
3
4
5
6

1
2
3
4

1
2

SW1 SW1 SW2

NX1W-CIF11/CIF12
RDA- RDB+ SDA- SDB+ SHLD

E5CC E5CC E5CC

Controller Controller Controller
Terminating
No. 0 No. 1 No. 2
resistance
B (+) B (+) B (+) 120 Ω (1/2W)
13 13 13

14 14 14
A (-) A (-) A (-)

Refer to the E5C Digital Temperature Controllers Communications Manual (Cat. No. H175) for details
on wiring an E5C Controller.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 17
4 Serial Communications

4-4 Connection with Modbus-RTU Slaves

The following describes data exchange between the CPU Unit and Modbus-RTU slaves.

4-4-1 Overview
The NX1P2 CPU Unit can exchange data with Modbus-RTU slaves by using instructions to send a
Modbus-RTU command and receive a response.
To use this function, you mount a Serial Communications Option Board on the NX1P2 CPU Unit, set its
Serial communications mode to Modbus-RTU Master, and connect their serial ports together.
NX1P2 CPU Unit
RS-232C or RS-422A/485 Option Board

User program

NX_ModbusRtuCmd instruction
NX_ModbusRtuRead instruction
NX_ModbusRtuWrite instruction

RS-232C or Slave Address Function Code Data CRC Modbus-RTU command

RS-422A/485 Slave Address Function Code Data CRC Modbus-RTU response

The processing of the Modbus-RTU protocol and message frame format is handled by the instructions
to send a Modbus-RTU command and receive a response.
Therefore, you can easily create a program to exchange data with Modbus-RTU slaves.

Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502-E1-17 or later) for the speci-
fication of instructions.

Additional Information

The frame format of Modbus-RTU commands is as follows.

Slaves Function
Address Code Data CRC

1 byte 1 byte 0 to 252 bytes 2 bytes*

* The byte order of the CRC code is lower byte, then higher byte.
Refer to MODBUS Application Protocol Specification for the specifications of the MODBUS
communications protocol. You can obtain MODBUS Application Protocol Specification from
MODBUS Organization, Inc.
http://www.modbus.org/

4 - 18 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-4-2 Procedure
The operating procedure is described below.

4-4 Connection with Modbus-RTU Slaves

Overall Procedure

CPU Unit Side Modbus-RTU Slave Side

1 Configuring Option Boards Configuring the serial communications settings

2 Programming Configuring the slave function settings

3 Mounting and setting hardware

4 Wiring and power ON

4
5 Downloading the project Configuring the slave function settings

4-4-2 Procedure
6 Checking operation and actual operation

Procedure Details
 CPU Unit Side

No. Step Description Reference

1 Configuring Option In the Sysmac Studio, specify the Option 4-4-3 Settings on page 4-21
Boards Board configuration and configure the Configuration and Option Board
serial communications mode settings. Serial Communications Settings on
page 4-21
2 Programming Create a program to exchange data with 4-4-4 Programming on page 4-22
Modbus-RTU slaves by using special
instructions.
3 Mounting and setting If you are using an NX1W-CIF11/CIF12 4-4-5 Connection Examples on page
hardware Option Board, set the operating setting 4-24
DIP switches on the back. NX-series NX1P2 CPU Unit Hard-
Mount the Option Boards and necessary ware User’s Manual (Cat. No. W578)
Units.
Install the CPU Unit and Modbus-RTU
slaves.
4 Wiring and power ON Connect the serial communications ter-
minals of the Option Boards and Mod-
bus-RTU slaves.
Wire the power supply terminals and turn
ON the power supply.
5 Downloading the proj- Download the project from the Sysmac NJ/NX-series CPU Unit Software
ect Studio. User’s Manual (Cat. No. W501)
6 Checking operation Check the operation of the user program Sysmac Studio Version 1 Operation
and actual operation and Modbus-RTU slaves. Manual (Cat. No. W504)

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 19
4 Serial Communications

 Modbus-RTU Slave Side

No. Step Description Reference

1 Configuring the serial Configure serial communications set- Manuals and technical materials for
communications set- tings on Modbus-RTU slaves. Modbus-RTU slaves
tings
2 Configuring the slave Configure the functions of Modbus-RTU
function settings slaves as required.
3 Mounting and setting Install the CPU Unit and Modbus-RTU
hardware slaves.
4 Wiring and power ON Connect the serial communications ter-
minals of the Option Boards and Mod-
bus-RTU slaves.
Wire the power supply terminals and turn
ON the power supply.
5 Configuring the slave Configure the functions of Modbus-RTU
function settings slaves as required.
6 Checking operation Check the operation of the user program
and actual operation and Modbus-RTU slaves.

Additional Information

When you use a two-wire type of RS-485, be careful as follows:

The CPU Unit fails to receive the response frame if a response frame from the Modbus-RTU
slave is sent too soon for the Modbus-RTU command frame.
When a receiving of the response frame failed, the following adjustments are needed.
• Adjustment on the CPU Unit side
Increase the number of retries of serial communications instructions for the Modbus-RTU
master in the user program.
The number of retries is set by an Option.Retry (Retry count) input variable of the Mod-
bus-RTU master instructions.
• Adjustment on the Modbus-RTU Slave side
Increase the wait time from when the Modbus-RTU slave receives a command until it
sends a response.

4 - 20 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-4-3 Settings

Settings on the CPU Unit

4-4 Connection with Modbus-RTU Slaves

 Configuration and Option Board Serial Communications Settings
Configure these settings in the Option Board Settings Tab Page, which is displayed by selecting
Option Board Settings under Configurations and Setup - Controller Setup.

4-4-3 Settings
Under Configuration, specify the models of the Option Boards to use.
Under Option Board Settings, configure the following settings:

Item Set value

Serial communications mode Modbus-RTU Master
Unit No. Settings not required.
Baud rate Set this to match the setting on the Modbus-RTU slave
to connect.
Data length 8 bits
Parity Even
Stop bit 1 bit

 Memory Settings for CJ-series Units

There is no need to configure these settings because memory used for CJ-series Units is not used
in Modbus-RTU Master mode.

Settings on the NX1W-CIF11/CIF12 Option Board

The CPU Unit requires an NX1W-CIF11 or NX1W-CIF12 Option Board for connection with external
devices via RS-422A/485.
Set the operation setting DIP switches on the back according to the specifications of the Modbus-RTU
slave to connect.

Settings on Modbus-RTU Slaves

Set the same baud rate as for the NX1P2 CPU Unit.
Set the MODBUS slave address.
Configure the functions of Modbus-RTU slaves as required.
Refer to the manual for the Modbus-RTU slave to connect.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 21
4 Serial Communications

4-4-4 Programming
Create a program to exchange data with Modbus-RTU slaves by using instructions to send a Mod-
bus-RTU command and receive a response.
No program is needed for the processing of the Modbus-RTU protocol and message frame format,
because it is handled by the instructions.

Serial Communications Instructions That You Can Use in Mod-

bus-RTU Master Mode
The table below shows serial communications instructions that you can use when the Serial communi-
cations mode is Modbus-RTU Master.

Instruction Name Outline of function

NX_ModbusR- Send Modbus RTU General Sends general commands from a serial port on a CIF Unit
tuCmd Command or Option Board to Modbus-RTU slaves using Mod-
bus-RTU protocol.
NX_ModbusR- Send Modbus RTURead Sends read commands from a serial port on a CIF Unit or
tuRead Command Option Board to Modbus-RTU slaves using Modbus-RTU
protocol.
NX_ModbusRtu- Send Modbus RTUWrite Sends write commands from a serial port on a CIF Unit or
Write Command Option Board to Modbus-RTU slaves using Modbus-RTU
protocol.
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502-E1-17 or later) for details on
these instructions.

4 - 22 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

Option Board Specification

Instructions to send a Modbus-RTU command specify an Option Board by using variables assigned to
the Option Board.

4-4 Connection with Modbus-RTU Slaves

Example of specifying an Option Board with OptionBoard1_location_information
variable assigned to it

Serial port specification

Operating Inline ST

OptionPort.DeviceType:=_eDEVICE_TYPE#_DeviceOptionBoard;
OptionPort.OptBoard:=OptionBoard1_location_information;
OptionPort.PortNo:=1;

NX_ModbusRtuCmd instruction
execution NX_ModbusRtuCmd_instance
Operating NX_ModbusRtuCmd
Execute Done
OptionPort DevicePort Busy
Address of remote slave SlaveAdr CommandAborted
4
Command to send CmdDat Error
Size of command to send CmdSize ErrorID

4-4-4 Programming
RespDat RespDat
Received data
Option ErrorIDEx
Abort RespSize

OptionPort Variable that specifies target port

OptionBoard1_location_information Variable assigned to Option Board

Refer to 3-2-4 Assigning Device Variables to Option Boards on page 3-11 for assigning variables to
Option Boards.

Option Board Status

To use serial communications instructions, program the .Run (Option Board Normal Operation) mem-
ber of the _PLC_OptBoardSta (Option Board Status) system-defined variable as an interlock condition
in the user program.
Example of executing a Send Modbus RTU General Command instruction to an Option Board
mounted on Option Board 1 using the Option Board Normal Operation as an interlock condition

NX_ModbusRtuCmd_instance
Operating _PLC_OptBoardSta[1].Run
NX_ModbusRtuCmd
Execute Done
OptionPort DevicePort Busy
Address of remote slave SlaveAdr CommandAborted
Command to send CmdDat Error
Size of command to send CmdSize ErrorID
RespDat RespDat
Received data
Option ErrorIDEx
Abort RespSize

Option Board Normal Operation of Option Board 1 Status

_PLC_OptBoardSta[1].Run system-defined variable

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the specifications of
the _PLC_OptBoardSta (Option Board Status) system-defined variable.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 23
4 Serial Communications

4-4-5 Connection Examples

An example of connecting an OMRON 3G3MX2-V1 Inverter via RS-422A/485 is given below.

 Serial Communications Terminals

RS-422A/485 Option Board 3G3MX2-V1
NX1W-CIF11/CIF12 Inverter

RDA- RDB+ SDA- SDB+ SHLD

RS-
RS+

 Operation Setting DIP Switches on the Back of the NX1W-CIF11/CIF12 Option

Board
For an NX1W-CIF11 For an NX1W-CIF12
SW1 SW1 SW2
O

O
N

N
O

O
N

N
1
2
3
4
5
6

1
2
3
4

1
2
1
2
3
4
5
6

1
2
3
4

1
SW1 SW1 SW2 2

CIF11 CIF12
Setting Setting description
SW No. SW No.
SW1 1 SW1 1 ON With terminating resistance
2 2 ON Two-wire type
3 3 ON Two-wire type
4 4 OFF (Not used)
5 SW2 1 ON With RS control for receive data
6 2 ON With RS control for send data

 Settings on 3G3MX2-V1 Inverters

• Parameter Settings

Item Set value

Communication Speed Selection (Baud Rate Selection) Set this to match the serial port setting.
Communication Station No. Selection Set a desired value.
Communication Parity Selection Even parity
Communication Stop Bit Selection 1 bit
Communication Wait Time 0 ms*1
Communication Selection Modbus communication
*1. When the CPU Unit fails to receive a response frame, increase the set value.

• Switch Setting
Set the terminating resistor selector switch to ON.

4 - 24 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-5 Connection with General-purpose Serial Communications

4-5 Connection with General-purpose
Serial Communications Devices
The following describes data exchange between the CPU Unit and general-purpose serial communica-
tions devices.

4-5-1 Overview
The NX1P2 CPU Unit can exchange data with general-purpose serial communications devices by
using the instructions to send and receive data in No-Protocol mode.
To use this function, you mount a Serial Communications Option Board on the NX1P2 CPU Unit, set its

Devices
Serial communications mode to No-Protocol, and connect their serial ports together.

NX1P2 CPU Unit

RS-232C or RS-422A/485 Option Board 4

User program

4-5-1 Overview
NX_SerialSend instruction
NX_SerialRcv instruction

RS-232C or
Sending and receiving data
RS-422A/485

General-purpose serial communications device

(Barcode reader etc.)

The instruction to send data in No-Protocol mode refers to an instruction to output the specified data
from the specified serial port without converting it.
The instruction to receive data in No-Protocol mode refers to an instruction that reads data received at
the specified port into the specified variable without converting it.

Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502-E1-17 or later) for the speci-
fication of instructions.

Additional Information

To enable the CPU Unit to exchange data with general-purpose serial communications devices
by using the instructions to send and receive data in No-Protocol mode, you must program the
communications procedure (protocol) for the remote device.
For example, program the sequence processing and retry processing between the command
and the response, data type conversion processing, branching processing, and other process-
ing steps to be performed based on the communications protocol of the remote device.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 25
4 Serial Communications

4-5-2 Procedure
The operating procedure is described below.

Overall Procedure

CPU Unit Side General-purpose Serial

Communications Device Side
1 Configuring Option Boards Configuring the serial communications settings

2 Programming Configuring the function settings

3 Mounting and setting hardware

4 Wiring and power ON

5 Downloading the project Configuring the function settings

6 Checking operation and actual operation

Procedure Details
 CPU Unit Side

No. Step Description Reference

1 Configuring Option In the Sysmac Studio, specify the Option 4-4-3 Settings on page 4-21
Boards Board configuration and configure the Configuration and Option Board
serial communications mode settings. Serial Communications Settings on
page 4-21
2 Programming Create a program to exchange data with 4-4-4 Programming on page 4-22
general-purpose serial communications
devices by using No-protocol Mode
instructions.
3 Mounting and setting If you are using an NX1W-CIF11/CIF12 4-4-5 Connection Examples on page
hardware Option Board, set the operation setting 4-24
DIP switches on the back. NX-series NX1P2 CPU Unit Hard-
Mount the Option Boards and necessary ware User’s Manual (Cat. No. W578)
Units.
Install the CPU Unit and general-pur-
pose serial communications devices.
4 Wiring and power ON Connect the serial communications ter-
minals of the Option Boards and gen-
eral-purpose serial communications
devices.
Wire the power supply terminals and turn
ON the power supply.

4 - 26 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-5 Connection with General-purpose Serial Communications

No. Step Description Reference
5 Downloading the proj- Download the project from the Sysmac NJ/NX-series CPU Unit Software
ect Studio. User’s Manual (Cat. No. W501)
6 Checking operation Check the operation of the user program Sysmac Studio Version 1 Operation
and actual operation and general-purpose serial communica- Manual (Cat. No. W504)
tions devices.

 Serial Communications Device Side

No. Step Description Reference

1 Configuring the serial Configure the serial communications set- Manuals and technical materials for
communications set- tings on general-purpose serial commu- general-purpose serial communica-
tings nications devices. tions devices
2 Configuring the slave Configure the functions of general-pur-
function settings pose serial communications devices as
required.

Devices
3 Mounting and setting Install the CPU Unit and general-pur-
hardware pose serial communications devices.
4 Wiring and power ON Connect the serial communications ter-
minals of the Option Boards and gen- 4
eral-purpose serial communications
devices.

4-5-2 Procedure
Wire the power supply terminals and turn
ON the power supply.
5 Configuring the slave Configure the functions of general-pur-
function settings pose serial communications devices as
required.
6 Checking operation Check the operation of the user program
and actual operation and general-purpose serial communica-
tions devices.

Additional Information

When you use a two-wire type of RS-485, be careful as follows:

The CPU Unit fails to receive data if data from the CPU Unit is received and data from the gen-
eral-purpose serial communications device is sent too soon.
When a receiving of data failed, the following adjustments are needed.
• Adjustment on the CPU Unit side
Add the retry processing to the sequence processing of data communications in the user
program or increase the number of retry processes.
• Adjustment on the general-purpose serial communications device side
Increase the wait time from when the general-purpose serial communications device
receives the data until it sends the data.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 27
4 Serial Communications

4-5-3 Settings

Settings on the CPU Unit

 Configuration and Option Board Serial Communications Settings
Configure these settings in the Option Board Settings Tab Page, which is displayed by selecting
Option Board Settings under Configurations and Setup - Controller Setup.

Under Configuration, specify the models of the Option Boards to use.

Under Option Board Settings, configure the following settings:

Item Set value

Serial communications mode No-Protocol
Unit No. Settings not required.
Baud rate Set this to match the setting on the general-purpose
serial communications device to connect.
Data length Set this to match the setting on the general-purpose
serial communications device to connect.
Parity Set this to match the setting on the general-purpose
serial communications device to connect.
Stop bit Set this to match the setting on the general-purpose
serial communications device to connect.

 Memory Settings for CJ-series Units

There is no need to configure these settings because memory used for CJ-series Units is not used
in No-Protocol mode.

Settings on the NX1W-CIF11/CIF12 Option Board

The CPU Unit requires an NX1W-CIF11 or NX1W-CIF12 Option Board for connection with external
devices via RS-422A/485.
Set the operation setting DIP switches on the back according to the specifications of the general-pur-
pose serial communications device to connect.

General-purpose Serial Communications Device Settings

Configure the serial communications settings to match those of the NX1P2 CPU Unit.
Refer to the manual for the general-purpose serial communications device to connect.

4 - 28 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-5 Connection with General-purpose Serial Communications

4-5-4 Programming
Create a program to exchange data with general-purpose serial communications devices by using the
instructions to send and receive data in No-Protocol mode.
For example, program the sequence processing and retry processing between the command and the
response, data type conversion processing, branching processing, and other processing steps to be
performed based on the communications protocol of the remote device.

Serial Communications Instructions Used in No-Protocol Mode

The table below shows serial communications instructions that you can use when the Serial communi-
cations mode is No-Protocol.

Devices
Instruction Name Outline of function
NX_SerialSend Send No-protocol Data Sends data in No-Protocol mode from a serial port on a
CIF Unit or Option Board.
NX_SerialRcv Receive No-protocol Data Reads data in No-Protocol Mode from a serial port on a 4
CIF Unit or Option Board.
NX_SerialSigCtl Serial Control Signal ON/OFF Turns ON or OFF the ER or RS signal of a serial port on a

4-5-4 Programming
Switching CIF Unit or Option Board.
NX_SerialSigRead Read Serial Control Signal Reads the CS or DR signal of a serial port on an Option
Board.
NX_SerialStatus- Read Serial Port Status Reads the status of a serial port on an Option Board.
Read
NX_SerialBufClear Clear Buffer Clears the send or receive buffer.

Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502-E1-17 or later) for details on
these instructions.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 29
4 Serial Communications

Option Board Specification

Instructions that are used in No-Protocol Mode specify an Option Board by using variables assigned to
the Option Board.
Example of specifying an Option Board with OptionBoard1_location_information
variable assigned to it

Serial port specification

Operating Inline ST

OptionPort.DeviceType:=_eDEVICE_TYPE#_DeviceOptionBoard;
OptionPort.OptBoard:=OptionBoard1_location_information;
OptionPort.PortNo:=1;

NX_ModbusRtuCmd instruction
execution NX_SerialSend_instance
Operating NX_SerialSend
Execute Done
OptionPort DevicePort Busy
Data to send SendDat CommandAborted
Size of data to send SendSize Error
Conditions attached to send data SendCfg ErrorID
Option
Abort

OptionPort Variable that specifies target port

OptionBoard1_location_information Variable assigned to Option Board

Refer to 3-2-4 Assigning Device Variables to Option Boards on page 3-11 for assigning variables to
Option Boards.

4 - 30 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 4 Serial Communications

4-5 Connection with General-purpose Serial Communications

Option Board Status
To use serial communications instructions, program the .Run (Option Board Normal Operation) mem-
ber of the _PLC_OptBoardSta (Option Board Status) system-defined variable as an interlock condition
in the user program.

Example of executing a Send No-protocol Data instruction to an Option Board mounted on Option
Board 1 using the Option Board Normal Operation as an interlock condition

NX_SerialSend_instance
Operating _PLC_OptBoardSta[1].Run
NX_SerialSend
Execute Done
OptionPort DevicePort Busy

Devices
Data to send SendDat CommandAborted
Size of data to send SendSize Error
Conditions attached to send data SendCfg ErrorID
Option
Abort
4

4-5-4 Programming
_PLC_OptBoardSta[1].Run Option Board Normal Operation of Option Board 1 Status
system-defined variable

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the specifications of
the _PLC_OptBoardSta (Option Board Status) system-defined variable.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 4 - 31
4 Serial Communications

4 - 32 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Analog I/O
This section describes the functions of Analog I/O Option Boards for the NX1P2 CPU
Units.

5-1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 5

5-1-1 Analog I/O Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-2 Part Names and Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2
5-1-3 Terminal Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5-1-4 Input Range and Output Range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3
5-2 Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5
5-3 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-3-1 Option Board Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6
5-3-2 Device Variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7
5-4 Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5-4-1 I/O Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-8
5-4-2 Option Board Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-9
5-4-3 Special Instructions for Analog I/O Option Boards . . . . . . . . . . . . . . . . . . . . . 5-9
5-4-4 Precautions on Supported Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-10
5-5 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-11
5-6 I/O Refreshing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5-6-1 I/O Refresh Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-12
5-6-2 Response Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-13

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 5-1
5 Analog I/O

5-1 Specifications
The following describes the types and specifications of Analog I/O Option Boards.

5-1-1 Analog I/O Option Boards

The following table shows the types and summary specifications of Analog I/O Option Boards.

Item NX1W-ADB21 NX1W-DAB21V NX1W-MAB221

Appearance

ERR ERR ERR

COM IN OUT IN OUT

COM

COM

COM
VO1

VO1
VO2

VO2
VI1

VI2

VI1

VI2
I I1

I I2

I I1

I I2
Analog input 2 inputs None 2 inputs
Input range 0 to 10 V, 0 to 20 mA --- 0 to 10 V, 0 to 20 mA
Resolution 1/4,000, 1/2,000 --- 1/4,000, 1/2,000
Analog output None 2 outputs 2 outputs
Output --- 0 to 10 V 0 to 10 V
range
Resolution --- 1/4,000 1/4,000
Conversion time 4 ms/Option Board 4 ms/Option Board 6 ms/Option Board
Isolation No-isolation No-isolation No-isolation
External connection termi- Screwless clamping termi- Screwless clamping termi- Screwless clamping termi-
nal nal block nal block nal block

5-1-2 Part Names and Functions

ADB21 DAB21V MAB221

(A)
ERR
IN OUT IN OUT
COM

COM

COM

COM
VO1

VO1
VO2

VO2
VI1

VI2

VI1

VI2
I I1

I I2

I I1

I I2

(B)

Symbol Name Function

A Status indicator Displays the operating status of the Analog I/O Option Board.
B Terminal block The terminal block for wiring the analog input and analog output ter-
minals.

5-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 5 Analog I/O

5-1-3 Terminal Arrangement

The following table shows the terminal arrangement of Analog I/O Option Boards.
ADB21 DAB21V MAB221
IN OUT IN OUT

COM

COM

COM

COM
VO1

VO1
VO2

VO2
VI1

VI2

VI1

VI2
I I1

I I2

I I1

I I2

5-1 Specifications
Refer to the NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578) for information on
wiring Analog I/O Option Boards.

5-1-4 Input Range and Output Range

5
Input Range and Converted Values

5-1-3 Terminal Arrangement

The NX1W-ADB21 and NX1W-MAB221 Analog I/O Option Boards support two analog input ranges in
different units: 0 to 10 V and 0 to 20 mA.
There is no need to select the input range.
If the input signal exceeds the allowable value conversion range, the converted value is fixed at the
upper or lower limit.

 0 to 10 V
An input voltage of 0 to 10 V is converted to a signed integer value (0 to 4,000).
The allowable value conversion range is 0 to 4,095.
Converted value
(Decimal)

4,095
4,000

0
Input voltage
0V 10 V 10.24 V

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 5-3
5 Analog I/O

 0 to 20 mA
An input current of 0 to 20 mA is converted to a signed integer value (0 to 2,000).
The allowable value conversion range is 0 to 4,095. However, the input current cannot exceed the
absolute maximum rating, which is 30 mA.
Converted value
(Decimal)

2,000

0
Input current
0 mA 20 mA

Output Range and Output Set Values

The NX1W-ADB21 and NX1W-MAB221 Analog I/O Option Boards support a single analog output
range: 0 to 10 V.
If the output set value exceeds the allowable value conversion range, the analog value is fixed at
the upper or lower limit.

The output set value of the signed integer (0 to 4,095) is converted to voltage from 0 to 10 V and output.
The allowable output set value conversion range is 0 to 4,095.
Output voltage

10.24 V
10 V

0V Output set value

0 4,000 4,095 32,767 (Decimal)

In the output mode at load rejection, the value when the output set value is 0 is output.

5-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 5 Analog I/O

5-2 Procedure
The operating procedure is described below.

Overall Procedure

1 Configuring Option Boards

2 Assigning device variables

3 Programming

5-2 Procedure
4 Mounting and setting hardware

5 Wiring and power ON

6 Downloading the project

5
7 Checking operation and actual operation

Procedure Details

No. Step Description Reference

1 Configuring Option In the Sysmac Studio, specify the Option 5-3-1 Option Board Settings on page
Boards Board configuration. 5-6
2 Assigning device vari- In the Sysmac Studio, assign device 5-3-2 Device Variables on page 5-7
ables variables to I/O ports.
3 Programming In the Sysmac Studio, create a program 5-4 Programming on page 5-8
that uses the device variables to manipu-
late I/O data.
4 Mounting and setting Mount the Option Boards and necessary NX-series NX1P2 CPU Unit Hard-
hardware Units. ware User’s Manual (Cat. No. W578)
Install the CPU Unit.
5 Wiring and power ON Wire the Option Boards and connected
external device to analog I/O terminals.
Wire the power supply terminals and turn
ON the power supply.
6 Downloading the proj- Download the project from the Sysmac NJ/NX-series CPU Unit Software
ect Studio. User’s Manual (Cat. No. W501)
7 Checking operation Check the wiring. Sysmac Studio Version 1 Operation
and actual operation Check the operation of the user program Manual (Cat. No. W504)
and screen data.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 5-5
5 Analog I/O

5-3 Settings
The following describes the settings required to use Analog I/O Option Boards.

5-3-1 Option Board Settings

Specify the models of the Option Boards to use in the Option Board Settings Tab Page, which is dis-
played by selecting Option Board Settings under Configurations and Setup - Controller Setup.

No settings are provided to select each analog input or output to use.

For analog inputs that are not used, short-circuit the V I, I I, and COM input terminals.
For analog outputs that are not used, do not connect the output terminals.

IN
COM
VI1

VI2
I I1

I I2

Additional Information

The input terminals are always subjected to AD conversion even when they are not used.
Therefore, if unused input terminals are left unconnected, unintended conversion values may
be input.

Although the Option Boards support two input ranges, no settings are provided to select the range.
Connect remote devices with the voltage or current input terminals based on their specifications.
When you use the current input range, however, short-circuit the current input terminal with the voltage
input terminal.

Analog output
+ VI
device
Analog Input
II
Option Board
Current output
- COM

5-6 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 5 Analog I/O

5-3-2 Device Variables

To use I/O data for an Option Board in the user program, you assign a device variable to each I/O port.
Specify device variables in the I/O Map Tab Page, which is displayed by selecting Configurations and
Setup - I/O Map.

Refer to 5-4-1 I/O Data on page 5-8 for I/O data for Analog I/O Option Boards.

5-3 Settings
5

5-3-2 Device Variables

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 5-7
5 Analog I/O

5-4 Programming
The following provides information on programming for Analog I/O Option Boards.

5-4-1 I/O Data

The tables below show the I/O data available for Analog I/O Option Boards.
Refer to 5-1-4 Input Range and Output Range on page 5-3 for the range of I/O data values.

 NX1W-ADB21

Data name Function Data type I/O port name

Ch1 Analog Input Value Value of analog input 1 INT Ch1 Analog Input Value
Ch2 Analog Input Value Value of analog input 2 INT Ch2 Analog Input Value

 NX1W-DAB21V

Data name Function Data type I/O port name

Ch1 Analog Output Value Value of analog output 1 INT Ch1 Analog Output Value
Ch2 Analog Output Value Value of analog output 2 INT Ch2 Analog Output Value

 NX1W-MAB221

Data name Function Data type I/O port name

Ch1 Analog Input Value Value of analog input 1 INT Ch1 Analog Input Value
Ch2 Analog Input Value Value of analog input 2 INT Ch2 Analog Input Value
Ch1 Analog Output Value Value of analog output 1 INT Ch1 Analog Output Value
Ch2 Analog Output Value Value of analog output 2 INT Ch2 Analog Output Value

For Analog I/O Option Boards, I/O data is used as I/O ports.
I/O ports are generated automatically by the Sysmac Studio when you specify the Option Board config-
uration.
To use I/O data in the user program, you use device variables assigned to the relevant I/O ports.

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for I/O ports and device
variables.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for how to register device
variables with the Sysmac Studio.

5-8 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 5 Analog I/O

5-4-2 Option Board Status

To use device variables for an Analog I/O Option Board, program the .Run (Option Board Normal Oper-
ation) member of the _PLC_OptBoardSta (Option Board Status) system-defined variable as an inter-
lock condition in the user program.

Example of reading analog input values from Option Board 1 to the CPU Unit using the Option Board
Normal Operation as an interlock condition

_PLC_OptBoardSta[1].Run MOVE
EN ENO

OP1_Ch1_Analog_Input_Value In Out OP1_Ch1_Analog_Input_Value_Valid

5-4 Programming
_PLC_OptBoardSta[1].Run Option Board Normal Operation of Option Board 1 Status
system-defined variable
OP1_Ch1_Analog_Input_Value Device variable to analog input 1 on Option Board 1
OP1_Ch1_Analog_Input_Value_Valid Input value to analog input 1 read into the CPU Unit

Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) for the specifications of 5
the _PLC_OptBoardSta (Option Board Status) system-defined variable.

5-4-2 Option Board Status

5-4-3 Special Instructions for Analog I/O Option Boards
No special instruction is available for Analog I/O Option Boards.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 5-9
5 Analog I/O

5-4-4 Precautions on Supported Functions

There are functions that are provided on NX-series Analog I/O Units, but not available for Analog I/O
Option Boards.
The tables below show what you should do to use these functions.

Analog Input Related Functions

Function Action
Synchronous I/O refresh- The same operation is not possible.
ing method
Selecting channel to use Refer to 5-3-1 Option Board Settings on page 5-6 for what you should do for
unused input terminals.
Moving average Use the MovingAverage (Moving Average) instruction to perform similar
operations.
Input disconnection detec- There is no input range that requires this function.
tion
Over range/under range Use the ZoneCmp (Zone Comparison) instruction to perform similar opera-
detection tions.
User calibration Use the PWLApprox or PWLApproxNoLineChk (Broken Line Approximation)
instruction to perform similar operations.

Analog Output Related Functions

Function Action
Synchronous I/O refresh- The same operation is not possible.
ing method
Selecting channel to use Refer to 5-3-1 Option Board Settings on page 5-6 for what you should do for
unused input terminals.
Output load rejection set- The Unit cannot perform operations to output the output set value specified
ting at load rejection.
Over range/under range Use the ZoneCmp (Zone Comparison) instruction to perform similar opera-
detection tions.
User calibration Use the PWLApprox or PWLApproxNoLineChk (Broken Line Approximation)
instruction to perform similar operations.

5 - 10 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 5 Analog I/O

5-5 Wiring
Refer to the NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578) for information on
wiring Analog I/O Option Boards.

5-5 Wiring
5

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 5 - 11
5 Analog I/O

5-6 I/O Refreshing

The following describes the I/O refresh operation of Analog I/O Option Boards.

5-6-1 I/O Refresh Operation

I/O refreshing between the CPU Unit and Analog Option Boards is carried out via the option board ser-
vice. The CPU Unit executes the option board service according to the task execution priority, if it
receives a request from an Option Board.
In addition, the internal processing of an Option Board, option board service, and task execution are
performed asynchronously.
Therefore, the input and output response time varies depending on the processing time of each
processing stage.

Analog Input
Converted values are read during the internal processing of an Option Board and passed to the next
option board service for subsequent processing.
When the processing in the option board service is completed, the new converted values are available
for use in user program execution in the next primary periodic task.

Analog input

Option Board AD AD
internal processing conversion conversion
Converted value

Option board
service
Device variable for converted value

Primary IO UPG M IO UPG M IO UPG M IO UPG M

periodic task C C C C

Primary period

5 - 12 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 5 Analog I/O

Analog Output
New output set values are determined when the user program is executed. The output set values are
then processed in the next option board service.
When the processing in the option board service is completed, the processed values are passed to the
next internal processing of the Option Board to generate analog output with the new output set values.

Analog output

Option Board DA DA
internal processing conversion conversion
Output set value

Option board

5-6 I/O Refreshing

service

Device variable for output set value

Primary IO UPG M IO UPG M IO UPG M IO UPG M
periodic task C C C C

Primary period

5-6-2 Response Time

5-6-2 Response Time
The input and output response time varies depending on the internal processing of the Option Board,
option board service, and processing time of each task execution.
The reference values of input and output response time are given below.

Response time*1
Model
Min. Max.
NX1W-ADB21 2.8 ms 32.0 ms
NX1W-DAB21V 3.0 ms 24.0 ms
NX1W-MAB221 (Input) 2.8 ms 43.0 ms
NX1W-MAB221 (Output) 3.0 ms 38.0 ms
*1. These values are provided for reference only. They are not intended to guarantee
the I/O response performance of each model.

Here, the input response time refers to the time from when the voltage or current value changes at an
input terminal until the change is reflected on the device variable for the converted value.
The output response time refers to the time from when the device variable for the output set value
changes until the change is reflected on the value at the output terminal.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 5 - 13
5 Analog I/O

5 - 14 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Introduction of Motion Control
Functions
This section describes the motion control functions that are used when the NX1P2
CPU Unit is connected to an OMRON 1S-series Servo Drive with built-in EtherCAT
communications.

6-1 Single-axis Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6-1-1 Outline of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3
6-1-2 Absolute Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4
6-1-3 Relative Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-4 6
6-1-4 Interrupt Feeding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5
6-1-5 Cyclic Synchronous Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6
6-1-6 Stopping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-7
6-1-7 Override Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-13
6-2 Single-axis Synchronized Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6-2-1 Overview of Synchronized Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6-2-2 Gear Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14
6-2-3 Positioning Gear Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-15
6-2-4 Cam Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-16
6-2-5 Cam Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-17
6-2-6 Synchronous Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-25
6-2-7 Combining Axes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-26
6-2-8 Master Axis Phase Shift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
6-2-9 Slave Axis Position Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-27
6-2-10 Achieving Synchronized Control in Multi-motion . . . . . . . . . . . . . . . . . . . . . 6-28
6-3 Single-axis Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6-3-1 Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-30
6-3-2 Cyclic Synchronous Velocity Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-31
6-4 Single-axis Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
6-5 Common Functions for Single-axis Control . . . . . . . . . . . . . . . . . . . . . . . 6-33
6-5-1 Positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-33
6-5-2 Velocity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-35
6-5-3 Acceleration and Deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-36
6-5-4 Jerk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-38
6-5-5 Specifying the Operation Direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-39
6-5-6 Re-executing Motion Control Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-43
6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) . . . . . . . . . . . . 6-48

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 6-1
6 Introduction of Motion Control Functions

6-6 Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-54

6-6-1 Outline of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-54
6-6-2 Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-57
6-6-3 Circular Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-58
6-6-4 Axes Group Cyclic Synchronous Positioning . . . . . . . . . . . . . . . . . . . . . . . . . 6-58
6-6-5 Stopping Under Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . 6-59
6-6-6 Overrides for Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . 6-61
6-7 Common Functions for Multi-axes Coordinated Control . . . . . . . . . . . . . 6-62
6-7-1 Velocity Under Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . 6-62
6-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control . . . . . 6-63
6-7-3 Jerk for Multi-axes Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-64
6-7-4 Re-executing Motion Control Instructions for Multi-axes
Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-65
6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes
Coordinated Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-66
6-8 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-74
6-8-1 Changing the Current Position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-74
6-8-2 Torque Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-75
6-8-3 Latching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-75
6-8-4 Zone Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-76
6-8-5 Software Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-77
6-8-6 Following Error Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-78
6-8-7 Following Error Counter Reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-79
6-8-8 Axis Following Error Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-80
6-8-9 In-position Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-80
6-8-10 Changing Axis Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-82
6-8-11 Enabling Digital Cam Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-83
6-8-12 Displaying 3D Motion Monitor for User Coordinate System . . . . . . . . . . . . . . 6-84

6-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 6 Introduction of Motion Control Functions

6-1 Single-axis Position Control

The MC Function Module can be connected to OMRON 1S-series Servo Drives with built-in EtherCAT
communications or G5-series Servo Drives with built-in EtherCAT communications to implement posi-
tion control, velocity control, and torque control. This section describes positioning operation for single
axes.
Some of the functions of the MC Function Module are different when NX-series Pulse Output Units are
used. Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for details.

6-1-1 Outline of Operation

The single-axis control function of the MC Function Module consists of control for motion profile com-

6-1 Single-axis Position Control

mands and synchronized control. There are three Control Modes for motion profile commands: position
control, velocity control, and torque control. In synchronized control, the slave axis (i.e., the axis being
controlled) operates in a synchronized relationship to the master axis, as expressed by a cam profile
curve or a gear ratio. Manual operations such as jogging and homing are also supported.

EtherCAT Feedback Commands EtherCAT

slave Synchronization slave
processing
+ Command
Actual Phasing position Output
Input Position processing
position

Velocity processing
Command
6
velocity

6-1-1 Outline of Operation

Torque processing
Command
torque

External I/O processing for EtherCAT slave External

input output

Note You can use the command position or actual position as the input to the synchronization processing.

Resetting Axis Errors

If an error occurs in an axis, you can use the MC_Reset instruction to remove the error once you have
eliminated the cause.
For details on resetting axis errors, refer to the MC_Reset (Reset Axis Error) instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 6-3
6 Introduction of Motion Control Functions

6-1-2 Absolute Positioning

Absolute positioning specifies the absolute coordinates of the target position in relation to home. You
can perform positioning, such as shortest way positioning on a rotary table, by setting the Count Mode
to Rotary Mode and specifying the operation direction.
Velocity

Target
velocity
Deceleration
Acceleration

Time
0 Command Target position
current position

For details, refer to the MC_MoveAbsolute (Absolute Positioning) and MC_Move (Positioning) instruc-
tions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

6-1-3 Relative Positioning

Relative positioning specifies the distance from the actual position. You can specify a travel distance
that exceeds the ring counter range by setting the Count Mode to Rotary Mode.
Velocity

Target
velocity
Deceleration
Acceleration

Time
0 Command current position
Target distance

For details, refer to the MC_MoveRelative (Relative Positioning) and MC_Move (Positioning) instruc-
tions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

6-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 6 Introduction of Motion Control Functions

6-1-4 Interrupt Feeding

Interrupt feeding feeds the axis at the specified velocity and for the specified distance from the actual
position when a trigger signal occurs.
You can also select to output an error if the trigger signal does not occur within the specified travel dis-
tance when you specify either absolute or relative positioning.
Feeding is not affected by following error. This is achieved by using the latch function of the Servo Drive
to determine the actual position when the trigger signal occurs. You can also use the window function to
disable trigger signals that occur outside of a specified position range. For applications such as wrap-
ping machines, this enables feeding only on trigger signals for printed marks on films and eliminates
other influences.

6-1 Single-axis Position Control

Motion Relative to the Actual Position
 Feeding for a Specified Distance in the Moving Direction
Velocity
Interrupt input
Actual position
Relative positioning, The figure on the left shows that there is a follow
absolute positioning, Specified travel delay in relation to the command position.
or velocity control distance

Command position
6
Relative positioning,
absolute positioning,

6-1-4 Interrupt Feeding

or velocity control

When the interrupt input occurs, the specified travel distance is

added to the actual position and used as the target position for
the command position.

 Feeding for a Specified Distance in the Direction Opposite to the Moving

Direction
Velocity

Interrupt input

Actual position
Relative positioning, The figure on the left shows that there is a follow
absolute positioning, delay in relation to the command position.
or velocity control

Specified travel
distance

Relative positioning, Command position

absolute positioning,
or velocity control

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 6-5
6 Introduction of Motion Control Functions

If decelerating to a stop after a reverse turn is specified for the Operation Selection at Reversing axis
parameter, an acceleration/deceleration curve is used when reversing.
For details, refer to the MC_MoveFeed (Interrupt Feeding) instruction in the NJ/NX-series Motion Con-
trol Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

6-1-5 Cyclic Synchronous Positioning

Cyclic synchronous positioning is used to output a target position to a specified axis each control period
in the primary periodic task or a periodic task. The target position is specified as an absolute position.
You can use it to move in a specific path that you create.

Command position Command Servo

Position
position Drive
Target positions (black dots)
specified with the input M
parameters

Time
Task period

For details, refer to the MC_SyncMoveAbsolute (Cyclic Synchronous Absolute Positioning) instruction
in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

6-6 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 6 Introduction of Motion Control Functions

6-1-6 Stopping
Functions to stop axis operation include immediate stop input signal and limit input signals connected
to the Servo Drive, stop functions of motion control instructions in the user program, and stopping due
to errors.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

Stopping for Servo Drive Input Signals

Axis motion is stopped for the immediate stop input signal or a limit input signal from the Servo Drive.
You can select the stop method with the Sysmac Studio.

6-1 Single-axis Position Control

 Immediate Stop Input
Stop processing in the MC Function Module is executed according to the state of the Servo Drive
input signals. You can select one of the following stopping methods for the MC Function Module.
• Immediate stop
• Immediate stop and error reset
• Immediate stop and Servo OFF

Precautions for Correct Use

The immediate stop input for the OMRON 1S-series Servo Drive or G5-series Servo Drive also
causes an error and executes stop processes in the Servo Drive itself.
6

 Limit Inputs (Positive Limit Input or Negative Limit Input)

6-1-6 Stopping
Stop processing in the MC Function Module is executed according to the state of the Servo Drive
input signals. You can select one of the following stopping methods for the MC Function Module.
• Immediate stop
• Deceleration stop
• Immediate stop and error reset
• Immediate stop and Servo OFF

Precautions for Correct Use

• If a limit input signal turns ON, do not execute an instruction for axis command of the axis in
the same direction as the limit input signal.
• If a limit input signal is ON for any axis in an axes group, do not execute an instruction for an
axes group command for that axes group.
• If the signal to decelerate to a stop is input during execution of a synchronous movement
instruction that has a Deceleration input variable, the axis decelerates to a stop at the decel-
eration rate given by Deceleration.
• If the signal to decelerate to a stop is input during execution of a synchronous movement
instruction that does not have a Deceleration input variable, the axis decelerates to a stop at
the maximum deceleration rate that is set in the axis parameters.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 6-7
6 Introduction of Motion Control Functions

Additional Information

• You must set up the Servo Drive in order to use the input signals from the Servo Drive. An
OMRON 1S-series Servo Drive with built-in EtherCAT communications or G5-series Servo
Drive with built-in EtherCAT communications has an immediate stop input and limit input
assigned in its default settings.
• Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for set-
ting examples for connection to an OMRON 1S-series Servo Drive.
• Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for set-
ting examples for connection to an OMRON G5-series Servo Drive.

Stopping with Motion Control Instructions

Use the MC_Stop or MC_ImmediateStop instruction to stop single-axis operation.

 MC_Stop Instruction
You can specify the deceleration rate and jerk for single-axis control and synchronized control to
decelerate to a stop. Specify a deceleration rate of 0 to send a command that immediately stops the
Servo Drive. Other operation commands are not acknowledged while decelerating to a stop for this
instruction and while the input variable Execute is TRUE.

 MC_ImmediateStop Instruction
You can perform an immediate stop for single-axis control or synchronized control functions. You
can also execute this instruction on axes that are enabled in an axes group.
For details, refer to the MC_Stop and MC_ImmediateStop instructions in the NJ/NX-series Motion Con-
trol Instructions Reference Manual (Cat. No. W508).

Additional Information

When the input variable Enable to the MC_Power (Servo ON) instruction changes to FALSE,
the MC Function Module immediately stops the command value and turns OFF the Servo.
When the Servo is turned OFF, the Servo Drive will operate according to the settings in the
Servo Drive.

Stopping Due to Errors or Other Problems

 Stopping for Errors during Single-axis Operation
When an error occurs during single-axis operation, the axis will stop immediately or decelerate to a
stop depending on the error. Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual
(Cat. No. W507) for details on the stop method for each error.

 Stopping for a Software Limit

To stop for a software limit, set the Software Limits axis parameter. You can select from the following
stop methods for the software limits.
• Enabled for command position. Decelerate to a stop.
• Enabled for command position. Immediate stop.
• Enabled for actual position. Decelerate to a stop.
• Enabled for actual position. Immediate stop.

6-8 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 6 Introduction of Motion Control Functions

Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for details on
software limits.

 Stopping Due to Motion Control Period Exceeded Error

If motion control processing does not end within two periods, a Motion Control Period Exceeded
error occurs. All axes stop immediately.

Precautions for Correct Use

When you use an NX701 CPU Unit and operate in the multi-motion, all axes in both tasks will
stop immediately if a Motion Control Period Exceeded error occurs in either of the tasks.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for
multi-motion.

 Errors That Cause the Servo to Turn OFF

6-1 Single-axis Position Control

An immediate stop is performed if an error occurs that causes the Servo to turn OFF. When the
Servo is turned OFF, the Servo Drive will operate according to the settings in the Servo Drive.

 Stopping Due to Start of MC Test Run

All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is started from the
Sysmac Studio.

 Stopping Due to End of MC Test Run

All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is stopped from the
Sysmac Studio.
6
• Click the Stop MC Test Run Button on the MC Test Run Tab Page of the Sysmac Studio.
• Close the MC Test Run Tab Page on the Sysmac Studio.

6-1-6 Stopping
• Exit the Sysmac Studio.

 Stopping Due to Change in CPU Unit Operating Mode

All axes will decelerate to a stop at their maximum deceleration if the CPU Unit operating mode
changes.

Precautions for Correct Use

• If an error that results in deceleration to a stop occurs during execution of a synchronous
movement instruction that has a Deceleration input variable, the axis decelerates to a stop at
the deceleration rate given by Deceleration.
• If an error that results in deceleration to a stop occurs during execution of a synchronous
movement instruction that does not have a Deceleration input variable, the axis decelerates
to a stop at the maximum deceleration rate that is set in the axis parameters.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 6-9
6 Introduction of Motion Control Functions

Additional Information

• When RUN mode changes to PROGRAM mode, any motion control instructions for current
motions are aborted. The CommandAborted output variable from the instructions remains
FALSE. The Servo remains ON even after changing to PROGRAM mode.
• If the operating mode returns to RUN mode while a deceleration stop is in progress after the
operating mode changes from RUN to PROGRAM mode, the output variables from motion
control instructions are cleared. The CommandAborted output variables from the motion con-
trol instructions therefore remain FALSE.
• The save process will continue during a save for the MC_SaveCamTable Instruction.
• The generation process will continue when generation of the cam table is in progress for the
MC_GenerateCamTable (Generate Cam Table) instruction.

6-10 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 6 Introduction of Motion Control Functions

Stop Method
 Deceleration Stop
Velocity

Axis stops at the deceleration rate that

is specified for the instruction or at the
maximum deceleration rate.

Time

 Immediate Stop

6-1 Single-axis Position Control

Velocity

The command is no longer updated. The

axis moves only for the pulses remaining in
the Servo Drive and then stops. The stop
position is the command position when the
cause of the immediate stop occurred.

Time

 Immediate Stop and Error Reset

Velocity
6
The actual position when the cause of the

6-1-6 Stopping
immediate stop occurred is used as the
command position. Inertia will take the axis
past this position, but it will return to the
actual position when the cause of the
immediate stop occurred and stop there.

Time

 Immediate Stop and Servo OFF

Velocity

The command is no longer updated. When

the Servo is turned OFF, the axis stops using
the method that is specified by the Disable
Operation Option Code (object 605C hex)
that is set in the Servo Drive.

Time

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 6-11
6 Introduction of Motion Control Functions

Stop Priorities
The priorities for each stop method are listed in the following table. If a stop with a higher priority stop
method occurs while stopping, the stop method will switch to the higher priority method.
Priority
Stop method
(higher numbers mean higher priority)
Immediate stop and Servo OFF 4
Immediate stop and error reset 3
Immediate stop 2
Deceleration stop 1

 Example
The following figure is an example of an immediate stop when the limit input signal is ON and the
immediate stop input changes to ON during a deceleration to a stop.

Limit input

Immediate stop input

Command velocity

6-12 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 6 Introduction of Motion Control Functions

6-1-7 Override Factors

You can use the MC_SetOverride instruction to set override factors for the motion of the axes that are
currently in motion. The velocity override factor is set as a percentage of the target velocity. It can be
set between 0% and 500%. If an override factor of 0% is set for the target velocity, operating status will
continue with the axis stopped as a velocity of 0. The set override factor is read as long as the overrides
are enabled. If the overrides are disabled, the override factors return to 100%. If the maximum velocity
is exceeded when an override factor is changed, the maximum velocity for the axis is used.

 Overriding the MC_MoveAbsolute Instruction

An example of a time chart for using the Set Override Factors instruction for the MC_MoveAbsolute
(Absolute Positioning) instruction is given below.
Previous Instruction: MC_MoveAbsolute

6-1 Single-axis Position Control

Execute

Busy

Active

Done

CommandAborted

Current Instruction

Enable 6
Enabled

6-1-7 Override Factors

Busy

VelFactor 100 200 50

Velocity
Override factor: 200%

Override factor: 100%

Override factor: 50%

Time

For details, refer to the MC_SetOverride (Set Override Factors) instruction in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508).

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 6-13
6 Introduction of Motion Control Functions

6-2 Single-axis Synchronized Control

This section describes the operation of synchronized control for single axes.

6-2-1 Overview of Synchronized Control

Synchronous control synchronizes the position of a slave axis with the position of a master axis. The
command position or actual position of any axis can be specified for the master axis. If the command
velocity for the slave axis exceeds the maximum velocity that is set in the axis parameters, the com-
mand is performed at the maximum velocity of the axis. If this occurs, any insufficient travel distance is
distributed and output in the following periods.

Precautions for Correct Use

• You cannot specify an encoder axis, virtual encoder axis or single-axis position control axis
for the slave axis.
• When you use an NX701 CPU Unit and operate in the multi-motion, assign the master axis
and slave axis to the same task.
If you specify the master axis in a different task from the slave axis by executing the synchro-
nized control instructions such as the MC_GearIn (Start Gear Operation) instruction or the
MC_Camin (Start Cam Operation) instruction, an Illegal Master Axis Specification (event
code: 54620000 hex) occurs.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) if you
desire to specify the master axis in a different task from the slave axis.

6-2-2 Gear Operation

This function specifies the gear ratio between the master axis and the slave axis and starts operation.
Start gear operation with the MC_GearIn (Start Gear Operation) instruction. End synchronization with
the MC_GearOut (End Gear Operation) instruction or the MC_Stop instruction.

Specify with
Master_Reference.
Gear operation
Numerator
Actual position Command position
Denominator

Remainder
Command position

Most recent command

position

You can set the gear ratio numerator, gear ratio denominator, position type, acceleration rate, and
deceleration rate for the slave axis to operate. For the master axis, you can specify the command posi-
tion, actual position, or most recent command position.
After operation starts, the slave axis uses the velocity of the master axis times the gear ratio for its tar-
get velocity, and accelerates/decelerates accordingly. The catching phase exists until the target velocity
is reached. The InGear phase exists after that. If the gear ratio is positive, the slave axis and master
axis move in the same direction. If the gear ratio is negative, the slave axis and master axis move in the
opposite directions.

6-14 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 6 Introduction of Motion Control Functions

For details on gear operation, refer to the MC_GearIn (Start Gear Operation), MC_GearOut (End Gear
Operation), and MC_Stop instructions in the NJ/NX-series Motion Control Instructions Reference Man-
ual (Cat. No. W508).

6-2-3 Positioning Gear Operation

This function specifies the gear ratio between the master axis and the slave axis and starts operation.
Positioning gear operation allows you to set the positions of the master and slave axes at which to start
synchronization. Start positioning gear operation with the MC_GearInPos instruction. End synchroniza-
tion with the MC_GearOut instruction or the MC_Stop instruction.

Specify with
ReferenceType.
Gear operation

6-2 Single-axis Synchronized Control

Numerator
Actual position Command position
Denominator

Remainder
Command position

Most recent command

position

You can set the gear ratio numerator, gear ratio denominator, position type, acceleration rate, and
deceleration rate for the slave axis to operate. For the master axis, you can specify the command posi-
tion, actual position, or most recent command position.
After operation starts, the slave axis uses the velocity of the master axis times the gear ratio for its tar- 6
get velocity, and accelerates/decelerates accordingly. The slave axis is in the catching phase until it
reaches the slave sync position. The slave axis enters the InSync phase after it reaches the slave sync
position. For either, the position of the slave axis is synchronized with the master axis. If the gear ratio

6-2-3 Positioning Gear Operation

is positive, the slave axis and master axis move in the same direction. If the gear ratio is negative, the
slave axis and master axis move in the opposite directions. The following figure shows the operation
when the gear ratio is positive.
Position
Catching Phase InSync phase

Master

Travel distance of slave axis

RatioNumerator
= Travel distance of master axis ×
RatioDenominator

Slave

Execute Time

For details on positioning gear operation, refer to the MC_GearInPos (Positioning Gear Operation), the
MC_GearOut (End Gear Operation), and the MC_Stop instructions in the NJ/NX-series Motion Control
Instructions Reference Manual (Cat. No. W508).

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 6-15
6 Introduction of Motion Control Functions

6-2-4 Cam Operation

Cam operation synchronizes the position of the slave axis with the master axis according to a cam
table. Start cam operation with the MC_CamIn (Start Cam Operation) instruction. End cam operation
with the MC_CamOut (End Cam Operation) instruction or the MC_Stop instruction. Create a cam table
using the Cam Editor in the Sysmac Studio and download it to the CPU Unit. Use the Synchronization
menu command of the Sysmac Studio to download the project to the CPU Unit.

Specify with
ReferenceType.
Cam operation

Cam
Actual position processing Command position

Command position

Most recent command

position

Cam table
Phase Displacement
Cam operation 0.0 0.0 Cam
start point
Master axis Displacement 0.1 10.0
Cam profile curve 0.2 50.0
Phase Number of valid
Displacement cam data
359.8 100.0
359.9 50.0 Maximum number
Slave 360.0 0.0 Cam of cam data
axis end point
0.0 0.0
0.0 0.0
Phase
One period 0.0 0.0

Also, the following operation is possible: if another MC_CamIn (Start Cam Operation) instruction is exe-
cuted by using multi-execution with the Buffer Mode set for blending while the current MC_CamIn (Start
Cam Operation) instruction is executed, the operation can continue using the switched cam table and
the slave axis does not stop.
For details on cam operation, refer to the MC_CamIn (Start Cam Operation), MC_CamOut (End Cam
Operation), and MC_Stop instructions in the NJ/NX-series Motion Control Instructions Reference Man-
ual (Cat. No. W508).
For details on the Cam Editor, refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504).

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6-2-5 Cam Tables

This section describes the cam tables that are used for cam operation.

Cam Table Terminology

Term Description
cam operation An operation that takes one master axis and one slave axis and follows the cam pro-
file curve to derive the displacement of the slave axis from the phase of the master
axis.
cam profile curve A curve that shows the relationship between phases and displacements in a cam

6-2 Single-axis Synchronized Control

operation.
The cam profile curve is created on the Sysmac Studio. You can use the cam profile
curve with a cam data variable after the cam profile curve is downloaded to the CPU
Unit. Use the Synchronization menu command of the Sysmac Studio to download the
project to the CPU Unit.
cam block You can select a cam curve in this block. It represents the area between the end point
of the previous cam block and the end point of the current cam block.
cam curve A curve that represents the cam characteristics. You can select a cam curve for each
cam block. The Sysmac Studio calculates the phase widths and displacement widths
from the specified points and creates the actual cam profile curve. You can choose
from different curves, such as straight line, parabolic, and trapecloid.
cam data Data made up of phases (master axis) and displacements (slave axis) for cam opera-
tion.
cam data variable A variable that represents the cam data as a structure array. 6
cam table A data table that contains cam data. If phase data is not in ascending order the cam
table is treated as an illegal cam table.

6-2-5 Cam Tables

cam start point The first point in the cam data.
cam end point The last point of valid cam data in the cam data. If the cam end point is less than the
number of cam data, all phases and displacements after the cam end point will be 0.
cam block start point The start point for a cam block. It is the same as the cam start point at the start of the
cam operation. If the cam profile curve continues, this will be the same as the cam
block end point.
cam block end point The end point for a cam block. It is the same as the cam end point at the end of the
cam operation. If the cam profile curve continues, this will be the same as the cam
block start point. The cam block end point is defined as (horizontal axis, vertical axis)
= (phase end point, displacement end point).
original cam data Cam data that is created by dividing up the cam profile curve in the Cam Editor.
program-modified cam The cam data changed by the user program while the CPU Unit is in operation.
data
master axis The axis that serves as the input to the cam operation. You can specify either Linear
Mode or Rotary Mode.
slave axis The axis that serves as the output from the cam operation. You can specify either Lin-
ear Mode or Rotary Mode.
phase The relative distance on the master axis from the start point of the cam table.
displacement The relative distance on the slave axis from the master following distance.
valid cam data The cam data other than the cam start point and other than data where the phase is 0.
invalid cam data The cam data other than the cam start point where the phase is 0.
number of valid cam data The number of sets of cam data.
maximum number of The maximum number of sets of cam data that the cam table can contain.
cam data
cam data index The number of the cam data that is executed.
cam table start position The absolute position of the master axis that corresponds to the cam start point
(phase = 0).

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6 Introduction of Motion Control Functions

Term Description
master following dis- The master start distance where the slave axis starts cam operation represented as
tance either an absolute position or relative position. The relative position is based on the
cam start point position.
start mode A specification of whether to represent the master following distance as an absolute
position or relative position.
null cam data Cam data that can be set after the end point where the phase and displacement are 0.
connecting velocity The connecting velocity that is used to connect cam profile curves. The connecting
velocity cannot be specified for some curves.
connecting acceleration The acceleration rate that is used to connect cam profile curves. The connecting
acceleration cannot be specified for some curves.
phase pitch The width when dividing the cam profile curve by phases (horizontal axis). The points
after dividing the curve into the phase pitch correspond to the cam data in the cam
table. You must specify the phase pitch for each cam block.
Displacement

End point displacement

for block 1
End point for block 1
Start point for block 2

Block 1 Block 2
End point
Cam start point displacement
Cam end point for block 2
(block start point)
(block start point)

End phase for block 1 End phase for block 2

Phase

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 6 Introduction of Motion Control Functions

Cam Tables
The MC Function Module defines a single element of data consisting of the phase of the master axis
and the displacement of the slave axis as one cam data. A cam table is defined as the combination of
multiple sets of cam data. The cam table is created with the Cam Editor in the Sysmac Studio. You can
modify cam data in the cam table from the user program.
The phases and displacements in the cam data that makes up the cam table are represented as rela-
tive distances from the start point 0.0. During cam operation, the command position sent to the slave
axis is the displacement determined by interpolating linearly between the two cam data elements adja-
cent to the phase of the master axis. The more cam data there is in the cam table, the more accurate
the trajectory and the smoother the cam profile curve will be.
The phase is calculated
1 cycle Command position from the master axis

6-2 Single-axis Synchronized Control

during cam operation position each cycle. The
Cam table
350 linear interpolation of cam
Phase Displacement Cam data index data is used to calculate the
300 displacement from the
Cam start point 0 0 0 phase. (These are the red
250 dots on the line.)
Cam data 60 200 1
200
120 100 2 Displacement
150
180 300 3
100
240 100 4
50
300 200 5
0
Cam end point 360 0 6 0 60 120 180 240 300 360
Phase
Cam data (black dots on the line).

Precautions for Correct Use 6

• Make sure that the cam data is arranged in the cam table so that the phases are in ascending
order. An instruction error occurs if a cam operation instruction is executed when the phases

6-2-5 Cam Tables

are not in ascending order.
• Cam data variables are global variables. You can therefore access or change the values of
cam data variables from more than one task. If you change the values of cam data variables
from more than one task, program the changes so that there is no competition in writing the
value from more than one task.
• If you use exclusive control of global variables between tasks for a cam data variable, do not
use the cam data variable for motion control instructions in a task that does not control the
variable. An Incorrect Cam Table Specification (event code: 54390000 hex) will occur.

Cam Table Specifications

Item Description
Maximum number of cam data per 65,535 points
cam table
Maximum size of all cam data 1,048,560 points*1
Maximum number of cam tables 640 tables*2
Switching cam operation You can switch to a different cam operation by executing a motion control
instruction
Changing cam data Cam data can be edited from the user program.
Cam data can be overwritten with the Generate Cam Table instruction.
Saving cam data Cam data can be saved to non-volatile memory by using the Save Cam
Table instruction.
Information attached to the cam data Information can be downloaded or uploaded for display in the Cam Editor*3

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6 Introduction of Motion Control Functions

Item Description
Timing to load cam data to main • When the data is downloaded from the Sysmac Studio
memory • When power is turned ON
*1. If 65,535 points are used for each cam table, there will be a maximum of 16 cams. A resolution of 0.1° allows
for a maximum of 3,600 points per cam table for a maximum of 291 cams.
*2. The total size is 10 MB max.
*3. Use the Synchronization menu command of the Sysmac Studio to upload and download the project.

Data Type of Cam Tables

A cam table is declared as an array of cam data structures. The type declaration for the cam data struc-
ture is shown below.
TYPE
(*Cam data structure*)
_sMC_CAM_REF :
STRUCT
Phase : REAL; (*Phase*)
Distance : REAL; (*Displacement*)
END_STRUCT;
END_TYPE
You must create the cam data with the Cam Editor in the Sysmac Studio and then specify the name of
the cam table and the number of cam data (i.e., the size of the array). For example, to make a cam
table called MyCam1 with 1,000 points use the following declaration.
VAR
(*Cam table*)
MyCam1 : ARRAY [0..999] OF _sMC_CAM_REF;
END_VAR
The following notation is used to specify MyCam1 for a cam operation instruction. In this example, the
master axis is Axis1 and the slave axis is Axis2.
MC_CamIn_Instance
MC_CamIn
Axis1 Master Master Axis1
Axis2 Slave Slave Axis2
MyCam1 CamTable CamTable MyCam1

An error will occur if the specified cam table does not exist in the Controller. You can also specify the
same cam table for more than one axis.

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Switching Cam Tables

You can switch cam tables by re-executing the cam operation instruction during cam operation. After
switching, cam operation will be performed with the cam table you specified for re-execution of the
instruction. The EndOfProfile and Index output variables from the MC_CamIn instruction are output
according to the new cam table.
Slave Displacement Cam table 1 Cam table 2
(Slave axis)

6-2 Single-axis Synchronized Control

Re-executed Master Phase
(Master axis)

Precautions for Correct Use

• The cam table you want to switch to must be saved to non-volatile memory before it can be
used.
• Switching cam tables during cam operation will cause discontinuous velocities. Adjust the
timing for switching the cam table to avoid excessive velocity discontinuity.
6

Loading/Saving Cam Data and Saving Cam Tables

6-2-5 Cam Tables

Cam data can be loaded and saved from the user program just like any other variables. For example,
you can use MyCam1[0].Phase to specify the phase and MyCam1[0].Distance to specify the displace-
ment in the first array elements of a cam table named MyCam1. Cam data overwritten from the user
program can be saved to the non-volatile memory in the CPU Unit as a cam table by executing the
MC_SaveCamTable instruction.

Precautions for Correct Use

• Overwritten cam data will be lost if the CPU Unit is turned OFF or the cam data is down-
loaded from the Sysmac Studio before the Save Cam Table instruction is executed or if the
instruction fails to save the data for any reason.
• Be careful not to lose the overwritten data when overwriting cam data from the user program
in the CPU Unit.
• Cam data saved to non-volatile memory can be loaded by using the upload function of the
Sysmac Studio.
• Use the Synchronization menu command of the Sysmac Studio to upload and download the
project.

For details on arrays, refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501).
For details on the Save Cam Table instruction, refer to the MC_SaveCamTable instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

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6 Introduction of Motion Control Functions

Updating Cam Table Properties

The MC Function Module must identify the cam end point of the cam table. If an overwrite is performed
from the user program during cam operation and the number of valid cam data changes, you must
update the number of valid cam data to the latest value. Use the MC_SetCamTableProperty instruction
for this.
The cam end point is the data located one cam data before the first cam data with a phase of 0 after the
start point in the cam table. All cam data after phase 0 is detected will be invalid.
For example, refer to the following cam table. The EndPointIndex (End Point Index) output variable is
999 and the MaxDataNumber (Maximum Number of Cam Data) output variable is 5,000 from the
MC_SetCamTableProperty instruction.
Cam data structure array Phase Displacement
MyCam1 [0] 0 0 Cam start point
. . .
. . .
. . . Valid data
MyCam1 [997] 359.8 2
MyCam1 [998] 359.9 1 Maximum number of data: 5,000
MyCam1 [999] 360.0 0 Cam end point
MyCam1 [1000] 0 0
. . .
. . . Invalid data
. . .
MyCam1 [4999] 0 0

Precautions for Correct Use

• You cannot change the maximum number of cam data from the user program.
• Execute this instruction after overwriting the cam data in any way that changes the number of
valid cam data. If the number of valid cam data is not updated, the cam operation and the
operation of the EndOfProfile (End of Cam Cycle) of the MC_CamIn instruction may not be
as expected.

For details on the Set Cam Table Properties instruction, refer to the MC_SetCamTableProperty (Set
Cam Table Properties) instruction in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).

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Generate Cam Table

You can generate the cam table by executing the MC_GenerateCamTable (Generate Cam Table)
instruction.
The MC_GenerateCamTable instruction calculates the cam data using the values specified for Cam-
Property (Cam Properties) and CamNodes (Cam Nodes), and rewrites the cam data variable specified
for the CamTable (Cam Table) in-out variable.
When rewriting is completed, the MC_GenerateCamTable instruction updates the end point index of
the cam table and outputs the element number of the cam end point to EndPointIndex (End Point
Index).
It is not necessary to execute the MC_SetCamTableProperty (Set Cam Table Properties) instruction after
the MC_GenerateCamTable instruction is completed.

6-2 Single-axis Synchronized Control

Cam table Cam table
before instruction execution after instruction execution
Element Phase Displacement The cam data is Element Phase Displacement
numbers numbers
calculated and written to
0 0.0 0.0 0 0.0 0.0
the table when the
1 0.0 0.0 instruction is executed. 1 1.0 1.0
... ... ... ... ... ...
179 0.0 0.0 179 179.0 199.0
180 0.0 0.0 Cam end point 180 180.0 200.0
181 0.0 0.0 181 0.0 0.0
... ... ... ... ... ...

MC_GenerateCamTable_instance 6
MC_GenerateCamTable
CamTable CamTable

6-2-5 Cam Tables

Cam table property CamProperty CamProperty
Cam node (defining curves) CamNodes CamNodes
Execute Done
EndPointIndex Outputs "180" after instruction execution.
Busy
CommandAborted
Error
ErrorID
ErrorParameterCode
ErrorNodePointIndex

The cam data variable is an array variable with the data type of cam data structure _sMC_CAM_REF.
You create the cam data variable on the Cam Editor of the Sysmac Studio.
For CamProperty, specify the cam property variable. The cam property variable is an array variable with
the data type of cam property structure _sMC_CAM_PROPERTY. You create the cam property variable
as a user-defined variable on the global variable table of the Sysmac Studio. Or, you create the variable
using the cam data settings on the Sysmac Studio.
For CamNodes, specify the cam node variable. The cam node variable is an array variable with the
data type of cam node structure _sMC_CAM_NODE. You create the cam node variable as a
user-defined variable on the global variable table of the Sysmac Studio. Or, you create the variable
using the cam data settings on the Sysmac Studio.
The cam property variable and the cam node variable are collectively called “cam definition variable”.
If the cam definition variable is created as a user-defined variable, the default of its Retain attribute is
Non-retain. You must set the Retain attribute of variable to Retain, if you want to reuse the variable after
changing its value and switching the operating mode to PROGRAM mode or cycling the power supply.
If you set the variable each time of use from the HMI, etc., the attribute can be left Non-retain.
If the cam definition variable is created with the cam data settings on the Sysmac Studio, the Retain
attribute of variable will be fixed to Retain.

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6 Introduction of Motion Control Functions

By using the HMI, etc. to set the values for the MC_GenerateCamTable instruction, you can create the
cam data variable and adjust the cam operation without using the Sysmac Studio.
The following is the procedure used to adjust the cam operation.

1 Create a user program, in advance, that includes the following processing.

• Assigning the value of the cam definition variable that is set from the HMI to the Generate
Cam Table instruction.
• Displaying the cam variable that is created by the Generate Cam Table instruction graphically
on the HMI.
• Displaying the value of EndPointIndex (End Point Index) on the HMI.

2 Set the value of the cam definition variable from the HMI.

3 Execute the Generate Cam Table instruction.

4 Verify the curve shape of the generated cam table and the value of the end point index dis-
played on the HMI.

5 If there is no problem with the curve shape of the cam table and the number of the cam data,
then execute the cam operation.

6 Verify the result of the cam operation and consider changing the value of the cam definition vari-
able.

7 Repeat steps 2 to 6.

For details on the cam definition variable and the Generate Cam Table instruction, refer to the MC_-
GenerateCamTable instruction in the NJ/NX-series Motion Control Instructions Reference Manual (Cat.
No. W508).
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504-E1-10 or later) for information
on creating and transferring the cam definition variables using the Sysmac Studio.

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 6 Introduction of Motion Control Functions

6-2-6 Synchronous Positioning

This function performs positioning using a trapezoidal curve while synchronizing the specified slave
axis to the specified master axis. This is a type of electronic cam, but it does not use cam tables created
in the Cam Editor. Operation starts when the MC_MoveLink (Synchronous Positioning) instruction is
executed. Use the MC_Stop instruction to stop the axes in motion. Operation is performed for the Slave
(Slave Axis) and the following are set: Master (Master Axis), MasterDistance (Master Axis Travel Dis-
tance), MasterDistanceInACC (Master Distance In Acceleration), MasterDistanceInDEC (Master Dis-
tance In Deceleration), SlaveDistance (Slave Axis Travel Distance), and MasterStartDistance (Master
Following Distance). The command position or actual position can be specified for the master axis. You
can specify one of the following as the start condition for synchronous operation: start of instruction,
when trigger is detected, or when master axis reaches the master following distance.
The velocity and position of the slave axis are determined by the ratio of the travel distances of the

6-2 Single-axis Synchronized Control

master axis and the slave axis as shown in the following figure. The sync start position shown in the fol-
lowing figure represents the position where the sync start condition is met.
Master axis position

MasterDistanceInDEC

MasterDistance
Master
Following MasterDistanceInACC
Distance

Time
Slave axis position
6

6-2-6 Synchronous Positioning

SlaveDistance

Time
Slave axis velocity

Time

For details on synchronous positioning, refer to the MC_MoveLink (Synchronous Positioning) and
MC_Stop instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No.
W508).

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6 Introduction of Motion Control Functions

6-2-7 Combining Axes

The sum or difference of two positions can be used as the command position for the slave axis. Opera-
tion starts when the MC_CombineAxes instruction is executed. Use the MC_Stop instruction to stop
axes in motion.
The following figure is an example demonstrating operation when subtracting axes. Slave (Slave Axis)
command current position = Master (Master Axis) command current position − Auxiliary (Auxiliary Axis)
command current position)
Master
(master axis)
Velocity Execute of MC_CombineAxes
changes to TRUE

Slave
(slave axis) Execute of MC_CombineAxes
Time Velocity changes to TRUE
Position: 200 Position: 600

-
Auxiliary
(auxiliary axis)
Velocity Execute of MC_CombineAxes Time
changes to TRUE Position: 0 Position: 390

Time
Position: 100 Position: 110

For details on combining axes, refer to the MC_CombineAxes and MC_Stop instructions in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

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6-2-8 Master Axis Phase Shift

The phase of the master axis as viewed from the slave axis can be shifted for the current instruction.
The shift amount as viewed from the slave axis is a relative amount. During synchronization, the slave
axis will synchronize to the relative distance of the master axis. You can execute the MC_Phasing (Shift
Master Axis Phase) instruction to shift the phase for a synchronized control instruction.
You can specify the phase shift amount, target velocity, acceleration rate, deceleration rate, and jerk for
the MC_Phasing (Shift Master Axis Phase) instruction.
Execute

Busy

6-2 Single-axis Synchronized Control

Active

Done

CommandAborted

Error

ErrorID 16#0000

Master axis position Actual master

as viewed from the axis position
slave axis

6
Master axis velocity Time
as viewed from the

6-2-8 Master Axis Phase Shift

slave axis

Slave axis position Time

Slave axis
position when
phase offset is 0

Time

For details on the shift master axis phase function and the synchronized control instructions for which a
master axis phase shift can be applied, refer to the MC_Phasing (Shift Master Axis Phase) instruction in
the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

6-2-9 Slave Axis Position Compensation

This function compensates the position of the slave axis currently in synchronized control.
An offset calculated from the value of the input variable is added to the command current position. The
result is output to the Servo Drive to compensate the position of the slave axis in synchronized control.
Even when the MC Function Module commands the same travel distance to two axes, their actual
travel distance may be different due to mechanical strain or other factors. This function can perform
compensation in such a case.
To perform position compensation for the slave axis in synchronized control, execute the MC_SyncOff-
setPosition (Cyclic Synchronous Position Offset Compensation) instruction.

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6 Introduction of Motion Control Functions

For details on slave axis position compensation, refer to the MC_SyncOffsetPosition (Cyclic Synchro-
nous Position Offset Compensation) instruction in the NJ/NX-series Motion Control Instructions Refer-
ence Manual (Cat. No. W508).

6-2-10 Achieving Synchronized Control in Multi-motion

When you use the standard functions of the MC Function Module, if the synchronized control instruc-
tions are executed between axes assigned to different tasks in the multi-motion, an Illegal Master Axis
Specification (event code: 54620000 hex) occurs.
However, you can perform synchronized control of the master axis that is controlled in the primary peri-
odic task and the slave axis that is controlled in the priority-5 periodic task by using the MC_Period-
icSyncVariables (Periodic Axis Variable Synchronization between Tasks) instruction.

The cam operation and gear operation synchronized with the master axis and slave axis are available
for the following combinations.

Slave axis task

Mster axis task
Primary periodic task Priority-5 periodic task
Primray periodic task Synchronized by motion control Synchronized control is achieved
instructions by executing the
MC_PeriodicSyncVariables
(Periodic Axis Variable
Synchronization between Tasks)
instruction and using the virtual
master axis in the priority-5 periodic
task.
Priority-5 periodic task Not available. Synchronized by motion control
instructions

Axis Composition in Operation Examples

In the following figure, axis 1 is the master axis. Axis 2 is a slave axis that requires high-speed and
high-precision control. It is assigned to the primary periodic task. Axis 3 is a slave axis that does not
require precision. It is assigned to a priority-5 periodic task. The master axis (axis 1) is assigned to the
primary periodic task.

 Physical Axis Composition

Axis 1

1:2 2:3

Axis 2 Axis 3

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 6 Introduction of Motion Control Functions

 Logical Axis Composition

Axis 1
Master axis
1:2

Axis 2
Slave axis Primary periodic task

6-2 Single-axis Synchronized Control

MC_PeriodicSyncVariables instruction Priority-5 periodic task

Target position
Calculations given to virtual Axis 4 2:3
Master axis position axis. Virtual axis
Master axis velocity
:

Axis 3
Slave axis
6
Programming is placed in both the primary periodic task and priority-5 periodic task to achieve the oper-
ation for the above application.

6-2-10 Achieving Synchronized Control in Multi-motion

Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for details on
the MC_PeriodicSyncVariables (Periodic Axis Variable Synchronization between Tasks) instruction.

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6 Introduction of Motion Control Functions

6-3 Single-axis Velocity Control

This section describes the operation of velocity control for single axes.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

6-3-1 Velocity Control

Velocity control is used to constantly move an axis at the specified velocity. You can also specify the
acceleration rate, deceleration rate, and jerk. To stop an axis, use the MC_Stop instruction or execute
another motion instruction. If you specify a target velocity of 0, the axis will not move but the axis status
will indicate that it is moving. If any other motion control instruction is executed with multi-execution of
instructions during velocity control, the operation will switch only after reaching the target velocity.
Execute

Busy

Active

InVelocity

CommandAborted

Error

ErrorID 16#0000
Decelerates to a stop
Velocity when another instruction
causes an error.
Target velocity

Time
The MC Function Module uses Position Control Mode of the Servo Drive or other device and sends tar-
get position commands to achieve the specified target velocity.
The position control loop is enabled in the Servo Drive or other device. Therefore, as the command
velocity slows down, e.g., due to disturbance, and the following error increases, the velocity will change
to eliminate this following error.
For details, refer to the MC_MoveVelocity (Velocity Control) instruction in the NJ/NX-series Motion Con-
trol Instructions Reference Manual (Cat. No. W508).

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6-3-2 Cyclic Synchronous Velocity Control

The control mode of the Servo Drive is set to Velocity Control Mode and a command speed is output
every control period.

Precautions for Correct Use

You cannot use cyclic synchronous velocity control for an NX-series Pulse Output Unit.

To stop an axis, use the MC_Stop instruction or execute another motion control instruction. If you spec-
ify a target velocity of 0, the axis will not move but the axis status will indicate that it is moving.
MC_SyncMoveVelocity Instruction
Execute

6-3 Single-axis Velocity Control

InVelocity

Busy

Active

CommandAborted

Error

ErrorID 16#0000

6
MC_Stop Instruction

6-3-2 Cyclic Synchronous Velocity Control

Execute

Done

Busy

Active

Velocity Deceleration stop

performed for the
MC_Stop instruction.
Target velocity

Time
Target velocity is changed Target velocity is not
every primary period. changed.

Control Mode
CSP CSV CSP CSV

Changed. Changed. Changed.

The Servo Drive will receive commands in the velocity control loop. Therefore, if any disturbance
causes the velocity to decrease below the command velocity, no change in velocity will occur to remove
the following error.
For details, refer to the MC_SyncMoveVelocity (Cyclic Synchronous Velocity Control) instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

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6 Introduction of Motion Control Functions

6-4 Single-axis Torque Control

Torque control continuously applies the specified amount of torque. You can use TorqueRamp to spec-
ify the rate of change of the torque until the Torque (Target Torque) is reached.

Precautions for Correct Use

• To be safe, always set a velocity limit value for torque control.
• You cannot use single-axis torque control for an NX-series Pulse Output Unit.

To stop an axis, use the MC_Stop instruction or execute another motion instruction. If you specify a
Torque (Target Torque) of 0, the axis will not move but the axis status will indicate that it is moving.

 Direction Designation = Positive Direction

Torque

Torque

TorqueRamp

Time

 Direction Designation = Negative Direction

Torque

Time

TorqueRamp

Torque

The MC Function Module uses the Torque Control Mode of the Servo Drive. The Servo Drive receives
the torque command value from the MC Function Module in the torque control loop and to control the
torque. You can specify the velocity limit value for the Servo Drive in the Velocity (Velocity Limit) input
variable to the motion control instruction. You can use this to limit high-speed revolution of the motor
when the load on the motor is low in Torque Control Mode.
For details, refer to the MC_TorqueControl instruction in the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).

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6-5 Common Functions for Single-axis

Control
This section describes the common functions used for single-axis control.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

6-5 Common Functions for Single-axis Control

6-5-1 Positions

Types of Positions
The MC Function Module uses the following two types of positions.
Type of position Definition
Command position This is the position that the MC Function Module outputs to control an axis.
Actual position The actual position as input from the Servo Drive or encoder input.
The following figure shows the relationship between the command position and the actual position for
an EtherCAT slave Servo Drive.
User program MC Function Module Command position Servo Drive
Electronic (pulses)
Motion Motion Command Command Following M
gear Position loop
control control position position error
instruction processing (command units) In-position check counter counter Velocity loop
Remainder Actual position
Actual position Electronic (pulses)
Current loop
6
(command units) gear Feedback E
counter
Remainder

6-5-1 Positions
The command position and actual position share the following items.
Item Command position Actual position
Count Mode You can set Linear Mode or Rotary The same Count Mode is used as
Mode. for the command position.
Position increment You can set one of the following: The unit is the same as the unit of
mm, μm, nm, inch, degree, or pulse. the command position.
Software limits You can set the range of operation The range is the same as the range
of the software. for the command position.
Changing the current position You can change the actual position This value will be set to the same
to any desired position. position as the command position.*1
Defining home Home is either defined or The status of home is the same as
undefined. the command position.
*1. If there is any following error before the change, the following error value is maintained in the actual position.

Additional Information

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for information
on the NX-series Position Interface Units.

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6 Introduction of Motion Control Functions

Axis Parameters That Are Related to Positions

Parameter name Function Setting range Default
In-position Range Set the in-position width. (Unit: command Non-negative long 10
units) reals
In-position Check Set the in-position check time in millisec- 0 to 10,000 0
Time onds. Set 0 to check for the end of position-
ing only when you define the home position
during homing and not check positioning at
other times. (Unit: ms)
Software Limits Select the software limit function. 0 to 4 0
0: Disabled.
1: Deceleration stop for command position
2: Immediate stop for command position
3: Deceleration stop for actual position
4: Immediate stop for actual position
Positive Software Set the software limit in the positive direc- Long reals 2,147,483,647
Limit tion. (Unit: command units)
Negative Software Set the software limit in the negative direc- Long reals −2,147,483,648
Limit tion. (Unit: command units)
Following Error Over Set the excessive following error check Non-negative long 0
Value value. Set 0 to disable the excessive follow- reals
ing error check. (Unit: command units)
Following Error Set the following error warning check value. Non-negative long 0
Warning Value Set 0 to disable the following error warning reals that are less
check. (Unit: command units) than or equal to the
Following Error Over
Value

Specifying Target Positions for Axis Operations

The actual position or distance for a positioning motion is specified with the Position (Target Position)
and Distance (Travel Distance) input variables to the motion control instruction.

Monitoring Positions
You can read Axis Variables in the user program to monitor positions.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Variable name Data type Meaning Function
_MC_AX[0-255].Cmd.Pos LREAL Command Current This is the current value of the command posi-
Position tion. When the Servo is OFF and the mode is
not the position control mode, the actual cur-
rent position is output.
_MC_AX[0-255].Act.Pos LREAL Actual Current Posi- This is the actual current position.
tion

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6-5-2 Velocity

Types of Velocities
The following two types of axis velocities are used in the MC Function Module.
Velocity type Definition
Command velocity This is the velocity that the MC Function Module outputs to control an axis.
Actual velocity This is the velocity calculated in the MC Function Module based on the actual posi-
tion input from the Servo Drive or encoder input.*1

6-5 Common Functions for Single-axis Control

*1. This value is given if the Velocity actual value (606C hex) is mapped in the PDOs and assigned to the Actual
Current Velocity.

Velocity Unit
A velocity is given in command units/s. The command unit is the value obtained from unit conversion of
the position display unit and the electronic gear.

Axis Parameters That Are Related to Velocities

Parameter name Function Setting range Default

Maximum Velocity Specify the maximum velocity for the axis. If a Positive long reals 400,000,000
target velocity that exceeds the maximum 6
velocity is specified for an axis motion instruc-
tion, the axis will move at the maximum veloc-

6-5-2 Velocity
ity.
Start Velocity Set the start velocity for each axis. Positive long reals 0
Set a value that does not exceed the maximum
velocity.
(Unit: command units/s)
Maximum Jog Velocity Set the maximum jog velocity for each axis.*1 Positive long reals 1,000,000
Set a value that does not exceed the maximum
velocity.
(Unit: command units/s)
Velocity Warning Value Set the percentage of the maximum velocity at 0 to 100 0
which to output a velocity warning for the axis.
No velocity warning is output if 0 is set.
(Unit: %)
Actual Velocity Filter Set the time period to calculate the average 0 to 100 0
Time Constant travel of the actual velocity in milliseconds. The
average travel is not calculated if 0 is set.
(Unit: ms)
Use this to reduce variations in the actual cur-
rent velocity when axis velocity is slow.
*1. The maximum jog velocity is used as the command velocity if you specify a velocity command value that is
greater than the maximum jog velocity.

Specifying Target Velocities for Axis Operations

The velocity used in an actual positioning motion is specified by the Velocity (Target Velocity) input vari-
able to the motion control instruction.

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6 Introduction of Motion Control Functions

Monitoring Velocities
You can read Axis Variables in the user program to monitor velocities.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Variable name Data type Meaning Function
_MC_AX[0-255].Cmd.Vel LREAL Command Current This is the current value of the command
Velocity velocity. A plus sign is added during
travel in the positive direction, and a
minus sign is added during travel in the
negative direction.
_MC_AX[0-255].Act.Vel LREAL Actual Current This is the actual current velocity. A plus
Velocity sign is added during travel in the positive
direction, and a minus sign is added
during travel in the negative direction.

6-5-3 Acceleration and Deceleration

Unit of Acceleration and Deceleration Rates

Acceleration rates and deceleration rates are given in command units/s2. The command unit is the
value obtained from unit conversion of the position display unit and the electronic gear.

Axis Parameters That Are Related to Acceleration and Deceleration

Parameter name Function Setting range Default
Maximum Acceleration Set the maximum acceleration rate for an axis Non-negative long 0
operation command. There will be no limit to reals
the acceleration rate if 0 is set.
(Unit: command units/s2)
Maximum Deceleration Set the maximum deceleration rate for an axis Non-negative long 0
operation command. There will be no limit to reals
the deceleration rate if 0 is set.
(Unit: command units/s2)
Acceleration/Decelera- Set the operation for when the maximum accel- 0 to 2 0
tion Over eration/deceleration rate would be exceeded
after excessive acceleration/deceleration
during acceleration/deceleration control of the
axis because stopping at the target position is
given priority. *1
0: Use rapid acceleration/deceleration. (Blend-
ing is changed to Buffered.)
1: Use rapid acceleration/deceleration.
2: Minor fault stop
Acceleration Warning Set the percentage of the maximum accelera- 0 to 100 0
Value tion rate at which to output an acceleration
warning for the axis. No acceleration warning is
output if 0 is set.
(Unit: %)

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Parameter name Function Setting range Default

Deceleration Warning Set the percentage of the maximum decelera- 0 to 100 0
Value tion rate at which to output a deceleration warn-
ing for the axis. No deceleration warning is
output if 0 is set.
(Unit: %)
*1. Refer to 6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 6-48 for operation with
each set value.

Specifying Acceleration and Deceleration Rates for Axis Operation

6-5 Common Functions for Single-axis Control

The acceleration and deceleration rates used in an actual positioning motions are specified by the
Acceleration (Acceleration Rate) and Deceleration (Deceleration Rate) input variables to the motion
control instruction.

Monitoring Acceleration and Deceleration Rates

You can read Axis Variables in the user program to monitor acceleration and deceleration rates.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Variable name Data type Meaning Function
_MC_AX[0-255].Cmd.AccDec LREAL Command Current This is the current value of the com-
Accelera- mand acceleration/deceleration rate.
tion/Deceleration A plus sign is added for acceleration,
and a minus sign is added for decel- 6
eration.

6-5-3 Acceleration and Deceleration

Example of Acceleration/Deceleration Operation
Velocity
Maximum velocity
(2) Target velocity
after velocity
change

(1) Target velocity

at startup

A D
Time
A
Ta1 Ta2 Td

When Starting For Velocity Changes When Decelerating

Ta1: Actual acceleration time Ta2: Actual acceleration time Td: Actual deceleration time
A: Acceleration rate A: Acceleration rate D: Deceleration rate

If you specify a short travel distance or a low acceleration/deceleration rate, the target velocity may not
be reached. If the target position is exceeded after re-execution of the motion control instruction with
the newly updated acceleration or deceleration rate, positioning is performed at an acceleration or
deceleration rate that will enable stopping at the target position.

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6 Introduction of Motion Control Functions

6-5-4 Jerk
The jerk specifies the rate of change in the acceleration rate or deceleration rate. If the jerk is specified,
the velocity waveform during acceleration will be an S-curve, which will reduce the shock and vibration
on the machine.

Additional Information

Jerk is also called jolt, surge and lurch.

Jerk Unit
Jerk is given in command units/s3. The command unit is the value obtained from unit conversion of the
position display unit and the electronic gear.

Specifying Jerk for Axis Motion

The jerk used in an actual positioning motion is specified with the Jerk input variable to the motion con-
trol instruction. The same value is used for acceleration and deceleration.
Use the following formula to calculate the value to set for the jerk.
Jerk = Acceleration rate ÷ (Time of acceleration × Ratio of time to apply jerk during acceleration/2)
Jerk is applied in two sections: at the start of acceleration and at the end of acceleration. The time that
jerk is applied is therefore divided by 2.

 Example of Velocity Control When Jerk Is Specified

The acceleration will change at a constant rate over the range where jerk is specified. The command
velocity will form a smooth S curve. A fixed acceleration rate is used in areas where the jerk is set to
0. This command velocity will form a straight line.
Example: Acceleration of 25,000 mm/s2, Acceleration Time of 0.1 s, and a Jerk Application Rate of
50%
Jerk = 25,000/(0.1 × 0.5/2) = 1,000,000 (mm/s3)
Velocity
Target velocity
at startup

Time
Acceleration
Acceleration rate rate
at startup

Time
Jerk
Jerk
at startup
Time

25% 25%

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 6 Introduction of Motion Control Functions

Monitoring Jerk
You can read Axis Variables in the user program to monitor jerk.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Variable name Data type Meaning Function
_MC_AX[0-255].Cmd.Jerk LREAL Command Current This is the current value of the com-
Jerk mand jerk.

6-5 Common Functions for Single-axis Control

6-5-5 Specifying the Operation Direction
If you want to specify a rotation direction, such as shortest way, using an index table, set the Count
Mode to Rotary Mode. Next, set the operation direction with the Direction input variable to the motion
control instruction for an absolute position. If you set the direction to the shortest way, positive direction,
negative direction, or current direction, you can specify a position that is greater than or equal to the
modulo minimum position and less than the modulo maximum position within one turn of the ring
counter. The Direction input variable will be ignored when the Count Mode is set to Linear Mode. Posi-
tioning will be performed to the target position.
The following table lists the different directions you can specify in the MC Function Module.
Direction Operation
Shortest way Motion starts in the direction where the command current position and the target posi-
tion are closer to each other.
Positive direction Motion starts in the positive direction.
Negative direction Motion starts in the negative direction. 6
Current direction Motion starts in the same direction as the previous operation.
No direction specified Motion starts in the direction that does not pass through the upper and lower limits of

6-5-5 Specifying the Operation Direction

the ring counter. With this direction specification, you can specify a target position that
exceeds the upper or lower limits of the ring counter. If that occurs, relative positioning
is performed using the difference between the target position and the command current
position as the target distance. This enables you to perform multi-turn positioning on
the ring counter.

Example for Shortest Way

The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.
Modulo maximum
position setting
value: 100
Command current position:
50

Target position: Target position:

−20 −20
0

Modulo minimum
position setting
value: −70 Moves in negative direction.

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6 Introduction of Motion Control Functions

Additional Information

Moves in the same direction as the Current Direction specification if the travel distance is the
same in the positive and negative directions.

Example for Positive Direction

The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.
Modulo maximum
position setting
value: 100
Command current position:
50

Target position: Target position:

−20 −20
0

Modulo minimum
position setting
value: −70
Moves in positive direction.

Example for Negative Direction

The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.
Modulo maximum
position setting
value: 100
Command current position:
50

Target position: Target position:

−20 −20
0

Modulo minimum
position setting
value: −70
Moves in negative direction.

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Example for Current Direction

The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.
Modulo maximum
position setting
value: 100
Command current position:
50

6-5 Common Functions for Single-axis Control

Target position: Target position:
−20 −20
0

Modulo minimum
position setting
value: −70 If the previous operation was If the previous operation was in
in the negative direction, the positive direction, motion is in
motion is in the negative the positive direction.
direction.

The direction of the previous operation is given in the Command Direction in the Axis Variable.

Precautions for Correct Use

Observe the following precautions on the operation direction of the previous operation.
• If the MC_Home or MC_HomeWithParameter instruction exceeds the point where the home
input was detected and reverses operation, the opposite direction of the home input detec-
tion direction is used. 6
• If a homing compensation value is set for the MC_Home or MC_HomeWithParameter
instruction, the axis will move in the direction of the compensation value.

6-5-5 Specifying the Operation Direction

• If an immediate stop is specified for the MC_TouchProbe (Enable External Latch) instruction,
the latch position may be exceeded and the direction may be reversed.
• The direction may be reversed for the MC_MoveFeed (Interrupt Feeding) instruction.
• When the MC_ResetFollowingError instruction is executed, the error is set to zero, so the
command direction is used.
• If an immediate stop is specified for an external input signal or resetting the error counter is
specified for stopping for a limit input, the operation may reverse direction toward the position
where the external input signal was received.

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6 Introduction of Motion Control Functions

Example for No Direction Specification

The following example illustrates when positioning is performed towards a target position of −20 when
the command current position is 50.
Modulo maximum
position setting
value: 100
Command current position:
50

Target position: Target position:

−20 −20
0

Modulo minimum
position setting
value: −70 Moves towards the
ring counter range.

Similarly, the following example illustrates when the ring counter upper limit is 100, the lower limit is
−70, the command current position is −20, and positioning is performed towards a target position of
290.

Modulo maximum
position setting
value: 100

Command current Position after

position: −20 positioning: −50
0

Modulo minimum
position setting
value: −70

190
Performs relative positioning with target distance of (290
(target position) − 100 (upper limit)) = 190.

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 6 Introduction of Motion Control Functions

6-5-6 Re-executing Motion Control Instructions

This section describes how to modify input variables of the same instance of a motion control instruc-
tion during operation of a single axis and re-execute that instruction. The input variables Position (Tar-
get Position), Distance (Travel Distance), Velocity (Target Velocity), Acceleration (Acceleration Rate),
Deceleration (Deceleration Rate), and Torque (Target Torque) and sometimes other input variables can
be changed by re-execution. An instruction error will occur if you change an input variable that cannot
be changed and attempt to re-execute the instruction. If you re-execute an instruction that has been
buffered due to multi-execution of instructions, the input variables for the instruction in the buffer will
change.

6-5 Common Functions for Single-axis Control

For details on input variables that can be changed, refer to the NJ/NX-series Motion Control Instruc-
tions Reference Manual (Cat. No. W508).

Changing the Target Position

If you change the target position with re-execution, the operation may change depending on the timing
of the change and the new target position. If the direction of motion reverses due to a change in the tar-
get position, you can choose to decelerate to a stop after a reverse turn or stop immediately after
reversing with the Operation selection at Reversing axis parameter.

 When a Reverse Turn Does Not Occur for the New Command Value
Re-executing Instruction during Re-executing Instruction during
Constant-velocity Motion Acceleration/deceleration
Velocity Velocity
↓Command re-executed. ↓Command re-executed.
6

6-5-6 Re-executing Motion Control Instructions

↑Executed. ↑Initial ↑New ↑Executed. ↑Initial ↑New
command command command command
position position position position

If you re-execute an instruction during triangular

control or during deceleration, acceleration to
the target velocity will occur again. In some
cases, the axis will not reach the target velocity.

 When a Reverse Turn Occurs for the New Command Value

Decelerating to a Stop after Reverse Turn Stopping Immediately after Reverse Turn
Velocity Velocity
↓Command re-executed. ↓Command re-executed.
If the travel distance upon
reverse turn is small,
triangular control is
performed as it was for
the first execution of the
↓Initial command position instruction.
↑Executed. ↑New command ↑Executed. ↑Initial ↑New command
position command position
position

If the instruction is re-executed If the travel distance upon reversal If the instruction is re-executed during
during acceleration, the axis is small, triangular control is acceleration or deceleration, the axis
starts deceleration as soon as performed as it was for the first stops immediately upon re-execution.
the instruction is re-executed. execution of the instruction. This also occurs during deceleration.

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6 Introduction of Motion Control Functions

 Triangular Control Patterns

The triangular control shown in the figure below may result if the travel distance is shortened due to
a change in the target position.
No Reverse Turn
Velocity

↓Command re-executed.

Executed.↑ ↑New command ↑Initial command

position position

 Excessive Deceleration Patterns

In the following case, priority is given to stopping at the target position. Therefore, the deceleration
rate will exceed the specified deceleration rate. If the deceleration rate exceeds the rate that is set in
the Maximum Deceleration axis parameter, the operation set in the Acceleration/Deceleration Over
axis parameter setting is performed.
• If There Is No Reverse Turn and the Target Position Would Be Exceeded at the Specified Deceler-
ation Rate
No Reverse Turn
Velocity

↓Command re-executed.

↑Executed. ↑Initial command position

↑New command position

• If There Is A Reverse Turn and Decelerating to a Stop Would Exceed a Software Limit
No Reverse Turn

Velocity

↓Command re-executed.

↑Executed. Reverse
operation
↑Software limit

• If There Is A Reverse Turn and Decelerating to a Stop Would Result in Command Current Posi-
tion Overflow or Underflow
No Reverse Turn

Velocity

↓Command re-executed.

↑Executed. Reverse
operation
↑Counter upper limit

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 6 Introduction of Motion Control Functions

Changing the Travel Distance

Even if you change the travel distance and re-execute the MC_MoveRelative (Relative Positioning)
instruction, positioning is performed for the new travel distance in reference to the position where the
motion first started. However, if the instruction is executed again just before positioning is completed, it
may be executed as a new instruction rather than as a re-execution of the same instruction.
Re-execution Instruction during Motion Re-execution Just Before End of Positioning
Velocity Velocity
↓Command re-executed. ↓Command re-executed.

6-5 Common Functions for Single-axis Control

↑Executed. ↑Initial ↑Travel distance ↑Executed. ↑Initial Travel distance ↑
travel specified when travel specified when
distance instruction was distance instruction was
re-executed re-executed
If the instruction is re-executed just before the end of positioning,
positioning for the travel distance that is specified when the instruction
is re-executed is sometimes based on the position to which the axis
was moved for the initial travel distance.

Precautions for Correct Use

Do not change the travel distance and re-execute the instruction just before the end of position-
ing.

6
Changing the Target Velocity

6-5-6 Re-executing Motion Control Instructions

The operation is changed only during acceleration (including acceleration for triangular control) and
constant-velocity motion. Changes are also accepted when the axis is decelerating, but operation is not
affected.

Changing the Acceleration Rate

The operation is changed only during acceleration and acceleration during triangular control. If it is
changed when moving at a constant speed, the changed rate applies to acceleration for an override.
Changes are also accepted when the axis is decelerating, but operation is not affected.

Changing the Deceleration Rate

The deceleration rate is changed only during acceleration, constant-velocity motion, deceleration, trian-
gular control, or during deceleration-exceed control. If the new deceleration rate causes the axis to
exceed the target position, stopping at the target position is given the highest priority. Therefore, in this
case, the actual deceleration rate will exceed the specified deceleration rate.

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6 Introduction of Motion Control Functions

 Patterns Where Deceleration Rate Increases

Trapezoidal Control Triangular Control Followed by Trapezoidal Control
Velocity Instruction Instruction Increased deceleration rate allows
Velocity
↓re-executed ↓re-executed operation to reach target velocity
There is an area of for trapezoidal control.
acceleration due to There is an area of
the increased acceleration due to the
deceleration rate increased deceleration
during deceleration rate during deceleration

↑Executed. ↑Command position ↑Executed. ↑Command position

 Patterns Where Deceleration Rate Decreases

Trapezoidal Control or Triangular Control Deceleration-exceed Control
Velocity Velocity If the command position is exceeded
at the reduced deceleration rate, a
↓Instruction re-executed
switch is made to deceleration-
Decreased deceleration exceed control.
rate makes it impossible
to reach target velocity
so a change is made to No change for re-execution
triangular control. during deceleration

↑Executed. ↑Command position ↑Executed. ↑Command position

Changing the Torque Command

The torque command value will change based on the torque ramp specification when you re-execute a
motion control instruction.

Programming Example for Re-execution

This example demonstrates changing the target position from 1000 to 2000 for absolute positioning. In
this example, the variable Axis1Pos is used as the input parameter to the target position. Specify the
target position to 1000 with the MOV instruction and change Axis1Execute to TRUE to begin position-
ing. Specify the target position to 2000 during operation and change Axis1Execute to TRUE again to
switch to a positioning operation for the new target position of 2000.

Axis1PosSet1
Axis1pos:=1000;

Axis1PosSet2
Axis1pos:=2000;

Axis1MoveAbsolute
MC_MoveAbsolute
Axis1Execute _MC_AX[0] Axis Axis _MC_AX[0]
Execute Done Axis1Done
Axis1Pos Position Busy Axis1Busy
Axis1Velo Velocity Active Axis1Active
Axis1Acc Acceleration CommandAborted Axis1CA
Axis1Dec Deceleration Error Axis1Error
Axis1Jerk Jerk ErrorID Axis1ErrorID
0 Direction
0 BufferMode

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 6 Introduction of Motion Control Functions

 Timing Charts
Variables
Axis1PosSet1

Axis1PosSet2

Axis1Pos 1000 2000

Input Parameter
Axis1Execute

6-5 Common Functions for Single-axis Control

Output Parameters
Axis1Done

Axis1Busy

Axis1Active

Precautions for Correct Use

For input variables that are not changed, always use the same values as before re-execution of
the instruction.

6-5-6 Re-executing Motion Control Instructions

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6 Introduction of Motion Control Functions

6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)

You can execute another motion control instruction while an axis is moving. In the PLCopen® technical
specifications, this functionality is defined as Buffer Mode, but in the MC Function Module this is some-
times referred to as multi-execution of instructions. You can use multi-execution of instructions to exe-
cute multiple motion control instructions in sequence without stopping the overall motion.
The following terms are used in relation to multi-execution of instructions in the MC Function Module.
Term
Meaning
This manual PLCopen®
Current instruction Previous function The motion control instruction that was in operation just before exe-
block cuting the multi-execution instruction.
Buffered instruction Next function block A motion control instruction that was executed during an axis motion
and is waiting to be executed.
Transit velocity Blending When blending is specified, it specifies the command velocity to use
by the current instruction to move to the specified target position.
You can set the BufferMode (Buffer Mode Selection) input variable to motion control instruction to
select one of the following Buffer Modes. The main difference between these modes is the timing at
which the buffered instructions are executed and the transit velocity.
Buffer Mode Description of operation
Aborting The current instruction is aborted and the multi-executed instruction is
executed.
Buffered The buffered instruction is executed after the operation for the current
instruction is normally finished.
Blending The buffered instruction is executed after the target position of the cur-
rent instruction is reached. In this mode, no stop is performed between
the current instruction and the buffered instruction. You can select
from the following transit velocities for when the current instruction
reaches the target position.
Blending Low (low velocity) The transit velocity is set to the target velocity of the current instruction
or the buffered instruction, whichever is lowest.
Blending Previous (previous The target velocity of the current instruction is used as the transit
velocity) velocity.
Blending Next (next velocity) The target velocity of the buffered instruction is used as the transit
velocity.
Blending High (high velocity) The transit velocity is set to the target velocity of the current instruction
or the buffered instruction, whichever is highest.
The multi-execution instruction is buffered in the MC Function Module and will be executed at the spec-
ified BufferMode timing and transit velocity for both buffered and blending modes. There is one buffer
for each axis. If aborting is specified, the instruction that was executed last is executed immediately, so
it is not buffered.

Precautions for Correct Use

• Only one multi-execution instruction is buffered for each axis. If multi-execution is performed
for two or more instructions, an instruction error will occur.
• Multi-execution of multi-axes coordinated control instructions (axes group instructions) is not
possible for axes operating as a single axis. Similarly, multi-execution of single-axis control
instructions is not possible for axes operating under multi-axes coordinated control (axes
group instructions). An instruction error will occur if these rules are broken.

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 6 Introduction of Motion Control Functions

Aborting
This is the default mode. No buffering is performed in this mode. The current command is aborted and
the new instruction is executed. Aborting Mode can be used for multi-execution of instructions for
motion control instructions for both single-axis control and synchronized control.

 When a Reverse Turn Does Not Occur for the Command Position of the
Multi-execution Instruction
Executing More than One Instruction Multi-execution during Acceleration/Deceleration

6-5 Common Functions for Single-axis Control

during Constant-velocity Motion
Velocity ↓Multi-execution timing Velocity ↓Multi-execution timing

↑Executed. ↑Initial ↑Buffered ↑Executed. ↑Initial ↑Buffered

command command command command
position position position position

If you use multi-execution of an instruction during

triangular control or during deceleration, the axis will
accelerate to the target velocity of the buffered instruction.
In some cases, the axis will not reach the target velocity.

 When a Reverse Turn Occurs for the Command Position of the Multi-execu-
tion Instruction
Decelerating to a Stop after Reversing Stopping Immediately after Reversing 6
Velocity Velocity
↓Multi-execution timing ↓Multi-execution timing
If the travel distance

6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)

upon reverse turn is
small, triangular control
is performed as it was
for the first execution of
↓Initial command position the instruction.
↑Executed. ↑Buffered ↑Executed. ↑Initial ↑New
command command command
position position position

If an instruction is executed with If the travel distance upon If the instruction is executed with multi-
multi-execution of instructions reverse turn is small, triangular execution of instructions during acceleration
during acceleration, the axis control is performed as it was for or deceleration, the axis stops immediately
starts deceleration according to the first execution of the according to the multi-execution timing.
the multi-execution timing. instruction. This also occurs during deceleration.

Buffered
The buffered instruction remains in the buffer until the operation of the current instruction is finished.
The buffered instruction is executed after the operation for the current instruction is normally ended.
The target position is reached
and the next command is
Velocity executed after the current
↓Multi-execution timing
operation is normally finished.

Current instruction Buffered instruction

Time

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6 Introduction of Motion Control Functions

Blending
The buffered instruction remains in the buffer until the target position of the current instruction is
reached. The buffered instruction is executed after the current instruction’s target position is reached.
However, motion does not stop at this time. Operation transitions to the next instruction at the velocity
specified with the BufferMode (Buffer Mode Selection) input variable. For relative travel, the final posi-
tion will be the total of the values for both instructions. For absolute travel, the final position will be the
target position of the second multi-execution instruction. The Acceleration/Deceleration Over axis
parameter is used to select one of the following operations for when the target position would be
exceeded with the values that are set in the Maximum Acceleration and Maximum Deceleration axis
parameters.
• Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
• Use rapid acceleration/deceleration.
• Minor fault stop

Precautions for Correct Use

• In a blending mode, you cannot combine single-axis and synchronized control.
• Blending is not changed to Buffered even if you select Use rapid acceleration/deceleration.
(Blending is changed to Buffered.). In this case, the maximum acceleration/deceleration rate
is used and the blending operation is continued.
Also, the axis does not stop with an error even if you select Minor fault stop. Similar to the
previous case, the maximum acceleration/deceleration rate is used and the blending opera-
tion is continued.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for
details.

An example for an Acceleration/Deceleration Over operation is given below.

 Use Rapid Acceleration/Deceleration (Blending Is Changed to Buffered)

• The operation with the following setting is shown below.
The operation will be the same even if you select Minor fault stop.
Here, BufferMode is set to Blending Next.
Current
instruction Buffered instruction
Target velocity of the
buffered instruction
Transit velocity The maximum acceleration rate is used, and
execution of the buffered instruction starts when the
target position of the current instruction is exceeded.
After switching the instruction, the acceleration rate
of the buffered instruction is used.

Multi-execution of Time
instructions

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 Use Rapid Acceleration/Deceleration

• BufferMode Is Set to Blending Previous
Buffered
Velocity Current instruction instruction

Transit velocity used.

Stopping at the target position is not

possible for the deceleration rate of
the buffered instruction. Rapid
Current instruction deceleration is therefore used to

6-5 Common Functions for Single-axis Control

stop at the target position.

Multi-execution of instructions Buffered instruction Time

• BufferMode Is Set to Blending Next

Velocity Current instruction Buffered instruction

The target velocity of the buffered Transit velocity used.

instruction cannot be reached by
the target position of the current
instruction with the acceleration
rate of the current instruction.
Rapid acceleration is therefore
used to reach the target velocity
at the target position. Buffered instruction

Current instruction
Time
Multi-execution of instructions

6
 Minor Fault Stop
• The operation is the same as when Use rapid acceleration/deceleration. (Blending is changed to

6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)

Buffered.) is selected.

Blending Low (Low Velocity)

Operation is performed using the target position of the current instruction and the target velocity that is
the slower of the target velocities for the current instruction and buffered instruction.

Blending Previous (Previous Velocity)

Operation is performed with the target velocity of the current instruction until the target position of the
current instruction is reached. Operation is performed after acceleration/deceleration to the target
velocity of the buffered instruction once the target position is reached.

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6 Introduction of Motion Control Functions

 When the Direction of Operation Does Not Change

Cases Resulting in Acceleration
The transit velocity is
Multi-execution the command velocity of
of instruction the current instruction
Velocity

Current instruction Buffered instruction

Time
Cases Resulting in Deceleration
Multi-execution
of instruction
Velocity

Current instruction Buffered instruction

Time

 When the Direction of Operation Changes

Multi-execution of instruction
Velocity

The transit velocity is the command velocity of the current instruction

Current instruction

Time

Buffered instruction

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Blending Next (Next Velocity)

Operation is performed using the target position of the current instruction and the target velocity of the
buffered instruction.
Cases Resulting in Acceleration The transit velocity is the command
velocity of the buffered command
Multi-execution of instruction
Velocity

6-5 Common Functions for Single-axis Control

Current instruction
Buffered instruction

Time
Cases Resulting in Deceleration
Multi-execution of instruction

Velocity

Current instruction Buffered instruction

Time

6
Blending High (High Velocity)

6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode)

Operation is performed using the target position of the current instruction and the target velocity that is
the faster of the target velocities for the current instruction and buffered instruction.

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6 Introduction of Motion Control Functions

6-6 Multi-axes Coordinated Control

This section describes the operation of multi-axes coordinated control. With the MC Function Module,
you can set an axes group in advance from the Sysmac Studio to perform interpolation control for mul-
tiple axes.

6-6-1 Outline of Operation

Multi-axes coordinated control performs a motion with multiple related axes together as a single group
to control the path of the target control object. The MC Function Module treats all axes that perform
coordinated operation as an axes group. Axes groups are set from the Sysmac Studio. In the user pro-
gram, turn ON the Servo for each axis and then enable the axes group that is going to perform the
multi-axes coordinated control. The purpose of multi-axes coordinated control is the coordinated opera-
tion of all axes belonging to the target axes group. Therefore, you cannot execute any single-axis oper-
ation motion control instructions on the axes in an enabled axes group. Furthermore, if any error occurs
for any axis in an axes group, all axes in the axes group will stop according to the setting of the Axis
Group Stop Method group axes parameter.
The MC Function Module can perform linear interpolation with two to four axes or circular interpolation
with two axes.
Coordinate conversion
EtherCAT Feedback Commands EtherCAT
slave slave

Actual Multi-axes position Command

Input 1 processing Output 1
position 1 position 1

Actual Command
Input 2 Output 2
position 2 position 2

Actual Command
Input 3 Output 3
position 3 position 3

Additional Information

For devices that require you to modify the grouping of axes in motion to perform interpolation
control, you must create multiple axes groups that include the axes to modify from the Sysmac
Studio beforehand. After completing this step, you can execute by specifying the enabled axes
groups from the user program during operation.
You can also use the MC_ChangeAxesInGroup (Change Axes in Group) instruction to change
the composition axes for an axes group that is disabled.

For details on axes groups, refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No.
W507).

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 6 Introduction of Motion Control Functions

Enabling and Disabling Axes Groups

To enable an axes group, specify the axes group for the MC_GroupEnable (Enable Axes Group)
instruction. An instruction error will occur if you try to execute an axes group instruction when the axes
group is still disabled. To disable an axes group, specify the axes group for the MC_GroupDisable (Dis-
able Axes Group) instruction. When you disable an axes group that is in operation, all axes in that axes
group will decelerate to a stop at the maximum deceleration rate that is specified in their axis parameter
settings.
Turn ON Servo for each axis
with MC_Power.

Define home for

all of the axes.

6-6 Multi-axes Coordinated Control

Enable axes group with
MC_GroupEnable.

Perform interpolation operation.

Axes group enabled.

Disable axes group with

MC_GroupDisable. 6

Turn OFF Servo for each

6-6-1 Outline of Operation

axis with MC_Power.

For details on enabling and disabling axes groups, refer to the MC_GroupEnable (Enable Axes Group)
and MC_GroupDisable (Disable Axes Group) instructions in the NJ/NX-series Motion Control Instruc-
tions Reference Manual (Cat. No. W508).

Changing the Axes in an Axes Group

You can use the MC_ChangeAxesInGroup (Change Axes in Group) instruction to temporarily change
the composition axes for an axes group that is disabled. If the axes group is enabled, use the
MC_GroupDisable (Disable Axes Group) instruction to disable the axes group before you change the
composition axes.

Precautions for Correct Use

Changes made using the MC_ChangeAxesInGroup (Change Axes in Group) instruction will not
be saved to non-volatile memory in the CPU Unit. If you cycle the power supply or download
the settings from the Sysmac Studio, the parameter settings in the non-volatile memory are
restored.

For details on changing the composition axes of an axes group, refer to the MC_ChangeAxesInGroup
(Change Axes in Group) instruction in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).

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6 Introduction of Motion Control Functions

Reading Axes Group Positions

You can use the MC_GroupReadPosition (Read Axes Group Position) instruction to read the command
current positions and the actual current positions of an axes group.
For details on reading the axis positions for an axes group, refer to the MC_GroupReadPosition (Read
Axes Group Position) instruction in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).

Resetting Axes Group Errors

If an error occurs in an axes group, you can use the MC_GroupReset instruction to remove the error
once you have eliminated the cause.
For details on resetting axes group errors, refer to the MC_GroupReset (Group Reset) instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

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 6 Introduction of Motion Control Functions

6-6-2 Linear Interpolation

Linear interpolation is used to move 2 to 4 of the logical axes A0 to A3 in a straight line between a start
point and an end point. Either absolute or relative positioning is possible. You can specify the interpola-
tion velocity, interpolation acceleration, interpolation deceleration, and jerk.
The MC Function Modules uses the following three kinds of linear interpolation instructions.
• MC_MoveLinear (Linear Interpolation)
You can specify the MoveMode input variable to select between linear interpolation to an absolute
value or linear interpolation to a relative value. This instruction is unique to the MC Function Module.
• MC_MoveLinearAbsolute (Absolute Linear Interpolation)
This instruction performs linear interpolation to an absolute value. This instruction is defined in the
PLCopen® technical specifications.

6-6 Multi-axes Coordinated Control

• MC_MoveLinearRelative (Relative Linear Interpolation)
This instruction performs linear interpolation to a relative value. This instruction is defined in the
PLCopen® technical specifications.
The following figure shows linear interpolation of 2 axes from point A to point B.
Y

La1
Td
6
L

6-6-2 Linear Interpolation

Fa1 F

Ta

A
La0
X

Axis A1 motion Fa0

Axis A0 motion
Ta Td

For details on linear interpolation, refer to the MC_MoveLinear (Linear Interpolation), MC_MoveLinear-
Absolute (Absolute Linear Interpolation), and MC_MoveLinearRelative (Relative Linear Interpolation)
instructions in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

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6 Introduction of Motion Control Functions

6-6-3 Circular Interpolation

Circular interpolation is used to move two of the logical axes A0 to A3 in a circular motion on a 2D
plane. Either absolute or relative positioning is possible. You can specify the circular interpolation
mode, path direction, interpolation velocity, interpolation acceleration, interpolation deceleration, and
combined jerk for the two axes.
Y coordinate

CCW

CW

CW : Clockwise rotation
CCW : Counterclockwise rotation

X coordinate

With the MC Function Module, you can specify the following three kinds of circular interpolation meth-
ods with the input variable CircMode (Circular Interpolation Mode).
• Border point
• Center
• Radius

Precautions for Correct Use

Set the Count Mode to Linear Mode for the axis that you use for circular interpolation. If the
instruction is executed with this axis in Rotary Mode, an instruction error will occur.

6-6-4 Axes Group Cyclic Synchronous Positioning

You can cyclically output specified target positions for the axes in an axes group. You can specify target
positions that are calculated in the user program as absolute positions to move the axes in any desired
path.
For details on axes group cyclic synchronous positioning for an axes group, refer to the MC_GroupSyn-
cMoveAbsolute (Axes Group Cyclic Synchronous Absolute Positioning) instruction in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).

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6-6-5 Stopping Under Multi-axes Coordinated Control

Multi-axes coordinated control of axes groups will stop when you execute certain motion control instruc-
tions in the user program or when an error or some other problem occurs.

Stopping with Motion Control Instructions

Use the MC_GroupStop or MC_GroupImmediateStop instruction to stop axes group operation.

 MC_GroupStop Instruction
For linear interpolation or circular interpolation performed on an axes group, you can decelerate to a
stop along the control path. You specify the deceleration rate and jerk. Specify a deceleration rate of

6-6 Multi-axes Coordinated Control

0 to send a command that immediately stops the Servo Drive or other device. Other operation com-
mands are not acknowledged while decelerating to a stop for this instruction and while the input
variable Execute is TRUE.

 MC_GroupImmediateStop Instruction
You can perform an immediate stop for all axes in the axes group. The immediate stopping method
is determined by the setting of the Immediate Stop Input Stop Method axis parameter for each axis.
The MC_GroupImmediateStop instruction can also be executed for an axes group that is decelerat-
ing to a stop for an MC_GroupStop instruction.
For details, refer to the MC_GroupStop and MC_GroupImmediateStop instructions in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).
6
Stopping Due to Errors or Other Problems

6-6-5 Stopping Under Multi-axes Coordinated Control

 Stopping for Errors during Axes Group Motion
If an error that results in a deceleration stop occurs for any composition axis in the axes group
during an axes group motion, all of the axes will decelerate to a stop on the interpolation path at the
interpolation deceleration rate. The interpolation deceleration rate is determined by the deceleration
rate that is specified for the controlling instruction. If an error that results in an immediate stop
occurs for any composition axis in the axes group during an axes group motion, the other axes in
the axes group will stop according to the setting of the Axes Group Stop Method parameter in the
axes group parameters.
You can select one of the following stop methods for axes groups.
• Immediate stop
• Decelerate axes to a stop at maximum deceleration rate of the axes.
• Immediate stop and Servo OFF

 Stopping Due to Motion Control Period Exceeded Error

If motion control processing does not end within two periods, a Motion Control Period Exceeded
error occurs. All axes stop immediately.

Precautions for Correct Use

When you use an NX701 CPU Unit and operate in the multi-motion, all axes in both tasks will
stop immediately if a Motion Control Period Exceeded error occurs in either of the tasks.
Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for
multi-motion.

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6 Introduction of Motion Control Functions

 Stopping Due to Start of MC Test Run

All axes will decelerate to a stop at their maximum deceleration if a MC Test Run is started from the
Sysmac Studio.

 Stopping Due to Change in CPU Unit Operating Mode

All axes will decelerate to a stop at their maximum deceleration when the CPU Unit operating mode
changes.

Additional Information

• If you execute the MC_GroupDisable (Disable Axes Group) instruction during axes group
operation, the axes in the group will decelerate to a stop at their maximum deceleration rates.
• If you execute the MC_Stop instruction while an axes group is in operation, an error will occur
for the axes and axes group and the axes group operation will decelerate to a stop with inter-
polation. The interpolation deceleration rate is determined by the deceleration rate that is
specified for the controlling instruction.
• When the input variable Enable to the MC_Power (Servo ON) instruction changes to FALSE
during axes group motion, the MC Function Module immediately stops the command value
for that axis and turns OFF the Servo. When the Servo is turned OFF, the Servo Drive or
other device will operate according to the settings in the Servo Drive or other device. Other
axes in that axes group will stop with the stop method that is set in the Axes Group Stop
Method axes group parameter. An error will occur for the axes group if this happens.
• When RUN mode changes to PROGRAM mode, any motion control instructions for current
motions are aborted. The CommandAborted output variable from the instructions remain
TRUE and the Servo remains ON.
• If the operating mode returns to RUN mode while a deceleration stop is in progress after the
operating mode changes from RUN to PROGRAM mode, the output variable Command-
Aborted from the current motion control instructions change to TRUE.
• The save process will continue during a save for the MC_SaveCamTable Instruction.
• The generation process will continue when generation of the cam table is in progress for the
MC_GenerateCamTable (Generate Cam Table) instruction.

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6-6-6 Overrides for Multi-axes Coordinated Control

You can use the MC_GroupSetOverride (Set Group Overrides) instruction to set override factors for
multi-axes coordinated control of the axes group in the current interpolation operation. The velocity
override factor is set as a percentage of the target velocity for interpolation. It can be set between 0%
and 500%. If an override factor of 0% is set for the interpolation target velocity, operating status will con-
tinue with the axis stopped at a velocity of 0. The set override factor is read as long as the overrides are
enabled. If the overrides are disabled, the override factors return to 100%. If the maximum interpolation
velocity is exceeded when an override factor is changed, the maximum interpolation velocity for the
axes group is used.

 Overrides for the MC_MoveLinear (Linear Interpolation) Instruction

An example of a time chart for using the Set Override Factors instruction for the MC_MoveLinear

6-6 Multi-axes Coordinated Control

(Linear Interpolation) instruction is given below.
Previous Instruction: MC_MoveLinear
Execute

Busy

Active

Done

CommandAborted

Current Instruction
6
Enable

Enabled

6-6-6 Overrides for Multi-axes Coordinated Control

Busy

VelFactor 100 200 50

Interpolation velocity When overrides are disabled

with MC_GroupSetOverride, the
Override factor: 200% target velocity returns to 100%.

Override factor: 100%

Override factor: 50%

Time

For details, refer to the MC_GroupSetOverride (Set Group Overrides) instruction in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).

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6 Introduction of Motion Control Functions

6-7 Common Functions for Multi-axes

Coordinated Control
This section describes the common functions for multi-axes coordinated control.

6-7-1 Velocity Under Multi-axes Coordinated Control

To specify the velocity for multi-axes coordinated control, specify the interpolation velocity on the path.
The unit is the same as for single axes, command units/s.

Types of Velocities
The following is the only type of interpolation velocity for axes groups supported by the MC Function
Module.
Velocity type Definition
Command interpolation velocity This is the actual value of the command interpolation velocity output by
the MC Function Module to control an axes group.

Axis Parameters That Are Related to Velocities

Parameter name Function Setting range Default
Maximum Interpolation Set the maximum interpolation velocity for Non-negative long 800,000,000
Velocity the path. Set 0 for no interpolation velocity reals
limit. If a target velocity that exceeds the
maximum interpolation velocity is specified
for an axes group operation instruction, the
axis will move at the maximum interpolation
velocity.
Interpolation Velocity Set the percentage of the maximum inter- 0 to 100 0
Warning Value polation velocity at which to output an inter-
polation velocity warning. No interpolation
velocity warning is output if 0 is set.
(Unit: %)

Specifying Target Velocities for Axis Operations

The interpolation velocity used in an actual positioning motion is specified by the Velocity (Target Veloc-
ity) input variable to the motion control instruction.

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Monitoring Velocities
You can read Axes Group Variables from the user program to monitor the interpolation velocity.
In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].
Variable name Data type Meaning Function

6-7 Common Functions for Multi-axes Coordinated Control

_MC_GRP[0-63].Cmd.Vel LREAL Command Interpo- This is the current value of the com-
lation Velocity mand interpolation velocity. A plus
sign is added during travel in the pos-
itive direction, and a minus sign is
added during travel in the negative
direction.

6-7-2 Acceleration and Deceleration Under Multi-axes Coordinated

Control
Multi-axes coordinated control performs control on the path for the interpolation acceleration and inter-
polation deceleration rates. The unit is the same as for single axes, command units/s2.

Axis Parameters That Are Related to Interpolation Acceleration and

Interpolation Deceleration
Parameter name Function Setting range Default 6
Maximum Interpolation Set the maximum interpolation acceleration Non-negative long 0
Acceleration for the path. Set 0 for no interpolation accel- reals

6-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control

eration limit.
(Unit: command units/s2)
Maximum Interpolation Set the maximum interpolation deceleration Non-negative long 0
Deceleration for the path. Set 0 for no interpolation decel- reals
eration limit.
(Unit: command units/s2)
Interpolation Accelera- Set the operation for when the maximum 0 to 2 0
tion/Deceleration Over interpolation acceleration/deceleration rate
would be exceeded after excessive acceler-
ation/deceleration during accelera-
tion/deceleration control of the axes group
because stopping at the target position is
given priority.*1
0: Use rapid acceleration/deceleration.
(Blending is changed to Buffered.)
1: Use rapid acceleration/deceleration.
2: Minor fault stop
Interpolation Accelera- Set the percentage of the maximum inter- 0 to 100 0
tion Warning Value polation acceleration at which to output an
interpolation acceleration warning. No inter-
polation acceleration warning is output if 0
is set.
(Unit: %)

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6 Introduction of Motion Control Functions

Parameter name Function Setting range Default

Interpolation Decelera- Set the percentage of the maximum inter- 0 to 100 0
tion Warning Value polation deceleration rate at which to output
an interpolation deceleration warning. No
interpolation deceleration warning is output
if 0 is set.
(Unit: %)
*1. Refer to 6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 6-48 for operation with
each set value.

Specifying an Interpolation Acceleration and Interpolation Decelera-

tion for an Axes Group
The interpolation acceleration and interpolation deceleration rates used in an actual positioning motion
are specified by the Acceleration (Acceleration Rate) and Deceleration (Deceleration Rate) input vari-
ables to the motion control instruction.

Monitoring Interpolation Acceleration and Interpolation Deceleration

Rates
You can read Axes Group Variables in the user program to monitor interpolation acceleration and inter-
polation deceleration rates.
In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].
Variable name Data type Meaning Function
_MC_GRP[0-63].Cmd.AccDec LREAL Command Interpo- This is the current value of the com-
lation Accelera- mand interpolation accelera-
tion/Deceleration tion/deceleration rate. A plus sign is
added for acceleration, and a minus
sign is added for deceleration.

6-7-3 Jerk for Multi-axes Coordinated Control

Jerk for multi-axes coordinated control is used to reduce shock and vibration on the machine by
smoothing the interpolation acceleration/deceleration rate along the interpolation path into an S-curve.
The unit is the same as for single axes, command units/s3.

Specifying Jerk for Axes Group Motion

The jerk used in an actual interpolation is specified by the Jerk input variable to the motion control
instruction.

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 6 Introduction of Motion Control Functions

Jerk Example (Setting Other than 0)

The acceleration/deceleration rate will change at a constant rate over the range where jerk is specified.
The command interpolation velocity will form a smooth S-curve. A fixed interpolation acceleration rate
is used in areas where the jerk is set to 0. This command interpolation velocity will form a straight line.
Interpolation

6-7 Common Functions for Multi-axes Coordinated Control

velocity
Vt

Time

Acceleration
rate At

Time
Deceleration
rate -Dt

Jt
Jerk
Time
-Jt
Vt: Specified interpolation velocity, At: Specified acceleration rate, Dt: Specified deceleration rate, Jt: Specified jerk

6
6-7-4 Re-executing Motion Control Instructions for Multi-axes Coordi-
nated Control

6-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control

If you re-execute a linear interpolation or circular interpolation instruction, an instruction error will occur.
Execute

Busy

Active

Done

CommandAborted

Error

ErrorID 16#0000 Error code

Interpolation velocity

Time

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6 Introduction of Motion Control Functions

You can change the deceleration rate if you re-execute the MC_GroupStop instruction, but you cannot
change the jerk in this way.
If you re-execute the MC_GroupReset instruction, the re-execution command will be ignored and error
reset processing will continue.
For details on re-executing motion control instructions, refer to each instruction in the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).

6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for

Multi-axes Coordinated Control
You can perform multi-execution for multi-axes coordinated control in axes groups the same way as
you can for axis operations. You can perform path control for multiple continuous lines and/or arcs if
you use Buffer Mode under multi-axes coordinated control.

(3) (4)
(2) Linear interpolation: (1), (3), (5), and (7)
Circular interpolation: (2), (4), and (6)
(5)

(6) (7)
(1) Point B

Point A
You can set the BufferMode input variable to motion control instruction to select one of the same Buffer
Modes as are supported for single-axis operations. There are a total of eight instruction buffers for axes
groups. Each axes group has one buffer for the instruction currently in operation and seven buffers for
multi-execution instructions. Multi-execution of instruction cannot be used from an axis operation
instruction to an axes group operation instruction and vice-versa.

Precautions for Correct Use

• Up to seven instructions can be buffered at the same time for a single axes group. If
multi-execution is performed for eight or more instructions, an instruction error will occur.
• Multi-execution of multi-axes coordinated control instructions (axes group instructions) is not
possible for axes operating as a single axis. Similarly, multi-execution of single-axis control
instructions is not possible for axes operating under multi-axes coordinated control (axes
group instructions). An instruction error will occur if these rules are broken.

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Aborting
This is the default mode. No buffering is performed in this mode. The current command is aborted and
the new instruction is executed. Multi-execution of motion control instructions that have no BufferMode
input variable will operate in Aborting Mode. Operation of the multi-execution instruction starts at the
current interpolation velocity when the multi-execution instruction is executed. With Aborting Mode you
cannot combine single-axis control, including synchronized single-axis control and axes group control.

6-7 Common Functions for Multi-axes Coordinated Control

An instruction error will occur at the time of multi-execution if you execute an axes group operation on
an axis currently in a single-axis motion. This will stop both the axes group and the single axis.
Multi-execution during Constant-velocity Motion Multi-execution during Acceleration/Deceleration

Multi-instruction timing Multi-instruction timing

Executed. Initial command position Buffered command Executed. Initial command position Buffered command
position position

Multi-execution for axes groups is done so that the interpolation velocity remains continuous between
instructions. If continuous operation is performed with an instruction with a travel distance of 0, the
velocity changes for the axes will not be continuous.

 Example: Interpolation Velocity and Velocities of Axes for Two-axis Cartesian 6

Coordinates

trol
6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Con-
Y coordinate

Fy F

X coordinate
Y-axis motion

Fx
X-axis motion
Ta Td

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6 Introduction of Motion Control Functions

Buffered
The multi-execution instruction remains in the buffer until the current operation is finished. The buffered
instruction is executed after the operation for the current instruction is normally ended.
The target position is reached
and the next command is
executed after the current
Velocity ↓Multi-execution timing operation is normally finished.

Current instruction Buffered instruction

Time

Blending
Blending for axes groups works in the same way as blending for single-axis operations. The buffered
instruction remains in the buffer until the target position of the current instruction is reached. The buff-
ered instruction is executed after the target position of the current instruction is reached. The axes do
not stop at the target position. The two motions are blended together at the interpolation velocity speci-
fied with the BufferMode input variable.
The Interpolation Acceleration/Deceleration Over axes group parameter is used to select one of the fol-
lowing operations for when the acceleration/deceleration that is specified in the buffered instruction
would exceed the target position.
• Use rapid acceleration/deceleration. (Blending is changed to Buffered.)
• Use rapid acceleration/deceleration.
• Minor fault stop
Refer to 6-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) on page 6-48 for operation
with each set value.

 Blending Low (Low Velocity)

Operation is performed using the target position of the current instruction and the target velocity that
is the slower of the target velocities for the current instruction and buffered instruction.

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 Blending Previous (Previous Velocity)

Operation is performed with the target velocity of the current instruction until the target position of
the current instruction is reached. Operation is performed after acceleration/deceleration to the tar-
get velocity of the buffered instruction once the target position is reached.
Cases Resulting in Acceleration
The transit velocity is the command
velocity of the current instruction
Multi-execution of instruction

6-7 Common Functions for Multi-axes Coordinated Control

Velocity

Current instruction Buffered instruction

Time
Cases Resulting in Deceleration
Multi-execution of instruction
Velocity

Current instruction Buffered instruction

Time

6
 Blending Next (Next Velocity)
Operation is performed using the target position of the current instruction and the target velocity of

trol
6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Con-
the buffered instruction.
Cases Resulting in Acceleration
The transit velocity is the command
velocity of the buffered command
Multi-execution of instruction
Velocity

Current instruction Buffered instruction

Time
Cases Resulting in Deceleration
Multi-execution of instruction
Velocity

Current instruction Buffered instruction

Time

 Blending High (High Velocity)

Operation is performed using the target position of the current instruction and the target velocity that
is the faster of the target velocities for the current instruction and buffered instruction.

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6 Introduction of Motion Control Functions

Transition Modes
Multi-execution of instructions for axes groups may create some shock on the device and/or workpiece
due to changes in the direction of the interpolation path. You can specify the TransitionMode input vari-
able to the motion control instruction to select a transition method to use between instructions in order
to lessen this shock. You can choose from the following transition modes in the MC Function Module.
No. Transition mode Description
0 Transition Disabled (_mcTM- Do not perform any processing for transitions (default). No
None) attempt is made to lessen the shock, but this results in a
shorter operation time.
10 Superimpose Corners (_mcT- The deceleration of the current instruction is superimposed
MCornerSuperimposed) on the acceleration of the buffered instruction. You can keep
the linear velocity of the interpolation path constant.

Additional Information

The PLCopen® technology specifications define numbers 0 through 9. Number 10 is unique to

the MC Function Module.

 Transition Disabled (0: _mcTMNone)

No processing is performed to connect the two positions.

• TransitionMode = _mcTMNone and BufferMode = _mcBuffered

The axis moves to position End1, stops, and then moves to position End2.
Y coordinate
End2

Multi-execution of instruction

Start1 End1/ Start2

X coordinate

Operation Pattern for X Axis Coordinates

Velocity

Start1 End1 Time

Operation Pattern for Y Axis Coordinates

Velocity

Start 2 End 2 Time

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• TransitionMode = _mcTMNone and BufferMode = _mcBlending

The axis moves to position End1, and then moves to position End2.

Y coordinate
End2

6-7 Common Functions for Multi-axes Coordinated Control

Multi-execution of instruction

Start1 End1/ Start2

X coordinate

Operation Pattern for X Axis Coordinates

Velocity

Start1 End1 Time

Operation Pattern for Y Axis Coordinates BufferMode = _mcBlendingPrevious

Velocity

6
Start2 End2 Time

trol
6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Con-

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6 Introduction of Motion Control Functions

• TransitionMode = _mcTMNone and BufferMode = _mcAborting

The axis moves from End1’ (multi-execution of instruction) to End2.
Y coordinate
End2

Multi-execution of instruction

End1
Start1 End1’/ Start2

X coordinate

Operation Pattern for X Axis Coordinates

Velocity

Start1 End1’ Time

Operation Pattern for Y Axis Coordinates

Velocity

Start2 End2 Time

 Superimpose Corners (10: _mcTMCornerSuperimposed)

The deceleration of the current instruction is superimposed on the acceleration of the buffered
instruction. Operation is executed in the same amount of time as for the deceleration of the current
instruction, no matter what is specified as the acceleration for the buffered instruction. The superim-
posed area will apply no jerk even if jerk is specified.
The deceleration of the current
instruction is superimposed on the
acceleration of the buffered instruction.
Velocity

Current instruction Buffered instruction

The output variable Done, which indicates the end of a motion control instruction, will change to TRUE
for _mcTMCornerSuperimposed when the area of superimposition is completed.

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Additional Information

The path linear velocity is constant if the following two conditions are met.
• The target velocities of the current instruction and the buffered instruction are the same.
• The deceleration rate of the current instruction and the acceleration rate of the buffered
instruction are the same.

6-7 Common Functions for Multi-axes Coordinated Control

Combining Transition Modes and Multi-execution of Instructions
The following table shows the combinations of Transition Modes and Buffer Modes.
OK: Operation possible. ---: Generates an error and stops.
Buffer Mode
Transition Mode Blending Blending Blending Blending
Aborting Buffered
Low Previous Next High
Transition Disabled (_mcTM- OK OK OK OK OK OK
None)
Superimpose Corners*1 --- --- OK OK OK OK
(_mcTMCornerSuperimposed)
*1. For superimpose corners, the deceleration for the current instruction and the acceleration for the buffered in-
struction will be superimposed.

trol
6-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Con-

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6 Introduction of Motion Control Functions

6-8 Other Functions

This section describes other functions of the MC Function Module.
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

6-8-1 Changing the Current Position

The command current position of a Servo axis can be changed to a specified value. The actual current
position changes to a value that maintains the current following error with the command current posi-
tion. For an encoder axis, you can change the actual current position. Use the MC_SetPosition instruc-
tion to specify the actual position you want to modify.
You can change the actual position even while an axis is in motion. If positioning to an absolute value is
being executed, positioning will be performed to the target position using the new absolute coordinates.
However, the travel distance will stay the same when you position to a relative value.

Precautions for Correct Use

• When the Count Mode is Rotary Mode, an instruction error will occur if you specify a position
outside the ring counter range.
• After changing the current position the home will be undefined and you will not be able to use
the following functions and instructions.
Software limits
High-speed homing
Interpolation instructions (linear and circular interpolation)

 Timing Chart for Execution While Axis Is Stopped

Execute

Busy

Active

Done

Additional Information

You can change the actual position while home is defined by specifying a zero position preset
for the MC_Home or MC_HomeWithParameter instruction.

For details on the MC_SetPosition instruction, refer to the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).

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6-8-2 Torque Limit

The output torque is limited by enabling and disabling the torque limit function of the Servo Drive and by
setting the torque limit value.
Different limits can be specified for the positive torque limit and negative torque limit.
For details, refer to the MC_SetTorqueLimit instruction in the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).

Precautions for Correct Use

You cannot use the torque limit function for an NX-series Pulse Output Unit.

6-8-3 Latching
Latching is used to control positioning based on the position where a trigger signal occurs, such as a
signal from a sensor input. The position of the axis is recorded (i.e., latched) when the trigger signal

6-8 Other Functions

occurs. You can set up to two trigger signals for each axis. Use the MC_TouchProbe (Enable External
Latch) instruction to specify the Trigger Input Condition variable, Window Only variable, and Stopping
Mode Selection variable for the axis you want to latch. In addition to signals that connect to the Servo
Drive, you can also specify variables in the user program to use as a trigger. Use the MC_AbortTrigger
(Disable External Latch) instruction to abort latching. You can use latching only with a Servo Drive that
support latching (touch probe), such as the OMRON G5-series Servo Drives, or a GX-EC0211/EC0241
Encoder Input Terminal.
Use WindowOnly to detect only trigger signals within a specific start point and end point. The following
chart shows the ranges for different Count Modes. 6

 Linear Mode

6-8-2 Torque Limit

• The FirstPosition must be less than or equal to the LastPosition.
• An instruction error will occur if the FirstPosition is greater than the LastPosition.
• An instruction error will occur if a position beyond the position range of Linear Mode is specified.
FirstPosition LastPosition

0x8000000000 0 0x7FFFFFFFFF

Window
Latch enabled range

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6 Introduction of Motion Control Functions

 Rotary Mode
• The FirstPosition can be less than, equal to, or greater than the LastPosition. If the FirstPosition is
greater than the LastPosition, the setting will straddle the modulo minimum position setting value.
• An instruction error will occur if a position beyond the upper and lower limits of the ring counter is
specified.
First Position ≤ Last Position First Position > Last Position
Valid range FirstPosition to LastPosition LastPosition to FirstPosition
Count value
0x7FFFFFFFFF
Modulo maximum
position setting value
FirstPosition

LastPosition
Modulo minimum position
setting value (= 0)
0

Window
Latch enabled range Latch enabled range

LastPosition = 330° −0+ FirstPosition = 330° −0+

Range in which latching Range in which latching

is enabled (The border is enabled (The border
values are included.) values are not included.)

FirstPosition = 210° LastPosition = 210°

For details on latching, refer to the MC_TouchProbe (Enable External Latch) and MC_AbortTrigger
(Disable External Latch) instructions in the NJ/NX-series Motion Control Instructions Reference Manual
(Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

6-8-4 Zone Monitoring

This function detects whether the command position or actual position of an axis is in the specified
range (zone). Use the MC_ZoneSwitch (Zone Monitor) instruction to specify the first position and last
position of the zone to check. The InZone output variable for the Zone Monitor instruction will change to
TRUE when the position of the axis enters the specified zone. You can also specify multiple zones for a
single axis. Zones can overlap.
For details on zone monitoring, refer to the MC_ZoneSwitch (Zone Monitor) instruction in the
NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

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6-8-5 Software Limits

Actual positions can be monitored in the MC Function Module software. This function is separate from
the hardware-based limit input signals. Set the range to monitor by setting the software limits in the
Positive Software Limit and Negative Software Limit axis parameters. During normal positioning, motion
is possible within the range of these software limits. Set software limits to prevent potential damage to
machinery caused by mistakes in the user program or improper operation.
Negative software limit Positive software limit

Software range of motion

Negative limit input signal Positive limit input signal

Electrical range of motion

6-8 Other Functions

Mechanical stopper Mechanical stopper

Mechanical range of motion

 Axis Parameters That Are Related to Software Limits

Parameter name Function Setting range Default
Software Limits Select the software limit function. 0 to 4 0: Disabled
6
0: Disabled

6-8-5 Software Limits

1: Deceleration stop for command position*1
2: Immediate stop for command position
3: Deceleration stop for actual position*1
4: Immediate stop for actual position
Positive Software Set the software limit in the positive direction. Long reals*2 2,147,483,647
Limit The unit is command units.
Negative Software Set the software limit in the negative direction. −2,147,483,648
Limit The unit is command units.
*1. If the actual position goes beyond a software limit during execution of a movement instruction that has a De-
celeration input variable, the axis decelerates to a stop at the deceleration rate given by Deceleration. If the
actual position goes beyond a software limit during execution of a movement instruction that does not have a
Deceleration input variable, the axis decelerates to a stop at the maximum deceleration that is set in the axis
parameters.
*2. Positions can be set within a 40-bit signed integer range when converted to pulses.

You can use the axis settings of the Sysmac Studio, the MC_Write (Write MC Setting) instruction, or the
MC_WriteAxisParameter (Write Axis Parameters) instruction to set the above axis parameters.
If any setting values are changed for an axis or axes group in operation, those settings are enabled
when the next operation begins.
Software limits function in the following two cases based on the axis operation state and the motion
control instruction that is used.

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6 Introduction of Motion Control Functions

 Executing Motion Instructions

• When the Actual Position Is within the Software Limits
An instruction error will occur if the target position is outside the software limit range.
• When the Actual Position Is outside the Software Limits
Motion is allowed only toward the software limit range. As long as the motion is toward the range,
the target position does not need to be within the software limit range.

Precautions for Correct Use

Do not execute an instruction for an axis command for a target position that is outside of the
software limit range.

 During Axis Motion

When the axis is in discrete motion, synchronized motion, continuous motion, or coordinated motion:
• An axis error will occur if the software limits are enabled for the command position and the com-
mand position leaves the range.
• An axis error will occur if the software limits are enabled for the actual position and the actual posi-
tion leaves the range.

Additional Information

Software limits can be enabled when the Count Mode is set to Linear Mode and home is
defined. Software limits are disabled in the following situations no matter what axis parameters
have been set.
• When Count Mode is set to Rotary Mode.
• When home is not defined.
• During homing.

For details on the instruction to write the MC settings and the instruction to write the axis parameters,
refer to the MC_Write instruction and MC_WriteAxisParameter instruction in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508).

6-8-6 Following Error Monitoring

Following error is the difference between the command position and the actual position of an axis. The
MC Function Module monitors the following error every motion control period.
If the value of the following error exceeds the Following Error Over Value that is set in the axes param-
eters, Following Error Limit Exceeded minor fault level error occurs. If it exceeds the Following Error
Warning Value, a Following Error Warning observation occurs. Monitoring the following error is disabled
during execution of the holding operation for homing.

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 Axis Parameters That Are Related to Monitoring the Following Error

You can set the check values for monitoring the following error by setting the appropriate axis
parameters. Set the Following Error Warning Value so that it is less than the Following Error Over
Value.
Set the axis parameters from the Sysmac Studio.
Parameter name Function Setting range Default
Following Error Set the excessive following error check Non-negative long 0
Over Value value. Set 0 to disable the excessive follow- reals
ing error check. (Unit: command units)
Following Error Set the following error warning check value. Non-negative long 0
Warning Value Set 0 to disable the following error warning reals that are less
check. (Unit: command units) than or equal to the
Following Error
Over Value
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

6-8 Other Functions

6-8-7 Following Error Counter Reset
Resetting the following error counter resets the following error to 0.
Use the MC_ResetFollowingError instruction in the user program to reset the following error counter.
You can use the MC_ResetFollowingError instruction for each axis during positioning or during homing.
If you execute a following error counter reset while the axis is in motion, the current motion control
instruction will be aborted and the command position will be set to the same value as the actual posi-
tion.
The home will remain defined even after executing a following error counter reset. 6
For details on resetting the following error counter, refer to the MC_ResetFollowingError instruction in
the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).

6-8-7 Following Error Counter Reset

 Axis Parameters That Are Related to Resetting the Following Error Counter
You can choose to reset the following error counter on an immediate stop, on a limit input stop, or
after homing is completed by setting the appropriate axis parameters. Set the axis parameters from
the Sysmac Studio.
Parameter name Function Setting range Default
Immediate Stop Set the stopping method in the MC Function 0, 2, or 3 0
Input Stop Method Module when the immediate stop input is
enabled.
0: Immediate stop
2: Immediate stop and error reset
3: Immediate stop and Servo OFF
Limit Input Stop Set the stopping method in the MC Function 0 to 3 0
Method Module when the positive limit input or nega-
tive limit input is enabled.
0: Immediate stop
1: Deceleration stop
2: Immediate stop and error reset
3: Immediate stop and Servo OFF
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

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6 Introduction of Motion Control Functions

6-8-8 Axis Following Error Monitoring

You can monitor the amount of following error for the command position or the actual position between
two axes. Use the MC_AxesObserve (Monitor Axis Following Error) instruction to specify the permitted
following error and the two axes to monitor. If the permitted following error is exceeded, the Invalid out-
put variable for the Monitor Axis Following Error instruction will change to TRUE.
You can use this monitoring function to program the actions to take when the following error between
axes grows too large for gantry control and other devices where both axes perform the same operation.

Precautions for Correct Use

Even if the permitted following error between axes is exceeded, no error will occur in the MC
Function Module. Check the Invalid output variable to stop axis operation or to take some other
action as appropriate in the user program.

For details on axis following error monitoring, refer to the MC_AxesObserve (Monitor Axis Following
Error) instruction in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

6-8-9 In-position Check

You can check to see if the actual current position has reached the specified range for the target posi-
tion during positioning or homing. After command output of the target position is completed, positioning
is considered to be finished when the difference between the target position and the actual current posi-
tion is within the in-position range. An instruction error occurs if the position is not within the in-position
within the in-position check time.
Positioning Monitoring Time
An In-position Check Time Exceeded error will occur if the in-
position status is not reached within the set time after the completion
of a command (after the command has been executed).
|Following error|

In-position Range
The following error (absolute
value) is monitored after
positioning finishes.
If the following error is within
the in-position range, Time
positioning is considered
finished.

Velocity
Command velocity

Actual velocity

Time

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 Axis Parameters That Are Related to In-position Checks

You can set the check conditions for the in-position check by setting the appropriate axis parame-
ters. Set the in-position check time if you want to start any of the following operations only after con-
firming that axes are in position.
Parameter name Function Setting range Default
In-position Range Set the in-position width. Non-negative long 10
(Unit: command units) reals
In-position Check Set the in-position check time in milliseconds. 0 to 10,000 0
Time Set 0 to check for the end of positioning only
when you define the home position during
homing and not check positioning at other
times.
(Unit: ms)
You can use the axis settings of the Sysmac Studio, the MC_Write (Write MC Setting) instruction, or
the MC_WriteAxisParameter (Write Axis Parameters) instruction to set the above axis parameters.

Additional Information

6-8 Other Functions

• The in-position check is processed by the MC Function Module. The function in the Servo
Drive is not used.
• Do not set an in-position check time if you want to start the next operation as quickly as pos-
sible without waiting for positioning to finish.
• The value set from the Sysmac Studio is restored if power to the CPU Unit is cycled or the
user program is downloaded with the Synchronization menu command of the Sysmac Studio.
Use the MC_Write (Write MC Setting) and MC_WriteAxisParameter (Write Axis Parameters)
instructions only when you need to temporarily change the in-position check time.
6

 Monitor Information That Is Related to In-position Checks

6-8-9 In-position Check

You can read Axis Variables from the user program to monitor when positioning finishes.
In the descriptions, a variable name _MC_AX[*] is used as an example, but the same information
applies to _MC1_AX[*] and _MC2_AX[*].
Variable name Data type Meaning Function
_MC_AX[0-255].Details.Idle BOOL Idle TRUE when processing is not currently
performed for the command value,
except when waiting for in-position
state.*1 Idle and InPosWaiting are mutu-
ally exclusive. They cannot both be
TRUE at the same time.
_MC_AX[0-255].Details.InPosWaiting BOOL In-position TRUE when waiting for in-position state.
Waiting The in-position check is performed when
positioning for the in-position check.
*1. This also includes states where processing is performed while in motion at velocity 0, during following error
counter resets, during synchronized control, and during coordinated motion.

You can read Axes Group Variables from the user program to monitor when positioning finishes for the
axes group.

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6 Introduction of Motion Control Functions

In the descriptions, a variable name _MC_GRP[*] is used as an example, but the same information
applies to _MC1_GRP[*] and _MC2_GRP[*].
Variable name Data type Meaning Function
_MC_GRP[0-63].Details.Idle BOOL Idle TRUE when processing is not currently
performed for the command value,
except when waiting for in-position
state.*1
Idle and InPosWaiting are mutually
exclusive. They cannot both be TRUE at
the same time.
_MC_GRP[0-63].Details.InposWaiting BOOL In-position TRUE when waiting for in-position state
Waiting for any composition axis.*2
The in-position check is performed when
positioning for the in-position check.
*1. This also includes states where processing is performed while in motion at a velocity of 0.
*2. This variable is FALSE when all composition axes in the axes group are within the in-position ranges set in the
axis parameters.

For details on the instruction to write the MC settings and the instruction to write the axis parameters,
refer to the MC_Write (Write MC Setting) and MC_WriteAxisParameter (Write Axis Parameters) instruc-
tion in the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524) for the differences when
you use NX-series Pulse Output Units.

6-8-10 Changing Axis Use

You can use the MC_ChangeAxisUse (Change Axis Use) instruction to temporarily change the setting
of the Axis Use axis parameter. To change an axis in this way, it must be set as a Used axis or as an
Unused axis (changeable to used axis) in the Axis Use axis parameter. If the Axis Use axis parameter is
set to Unused axis (changeable to used axis) and the Axis Type parameter is set to a servo axis or vir-
tual servo axis, you can set the axis in an axes group.

Precautions for Correct Use

• Do not attempt to change an axis that is set to Unused axis (unchangeable to used axis) to a
used axis.
• You cannot set an axis in an axes group if the Axis Use axis parameter is set to Unused axis
(unchangeable to used axis).

For details, refer to the MC_ChangeAxisUse instruction in the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508).
For an application example of the MC_ChangeAxisUse instruction, refer to the NJ/NX-series CPU Unit
Software User’s Manual (Cat. No. W501).

6-82 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 6 Introduction of Motion Control Functions

6-8-11 Enabling Digital Cam Switch

You can use the MC_DigitalCamSwitch (Enable Digital Cam Switch) instruction to turn the digital out-
puts ON or OFF according to the axis position.
The setting of the ValueSource input variable to the instruction also allows you to adjust for the acceler-
ation or deceleration rate.
Always use this function together with the NX_AryDOutTimeStamp instruction and with a Digital Output
Unit that supports time stamp refreshing. The NX_AryDOutTimeStamp instruction turns the specified
digital outputs ON or OFF at specified timing of the time stamp.

Precautions for Correct Use

You can use this instruction for an axis that is assigned to an NX-series Position Interface Unit.
The NX Units that can be used are NX-EC0 and NX-ECS, also must be running the
time stamping.

6-8 Other Functions

Refer to the MC_DigitalCamSwitch (Enable Digital Cam Switch) instruction in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508) for details on enabling digital cam switch.

Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on NX_AryDOut-
TimeStamp instruction.

Refer to the NX-series Digital I/O Units User’s Manual (Cat. No. W521-E1-02 or later) for Digital Output 6
Unit that supports time stamp refreshing.

6-8-11 Enabling Digital Cam Switch

Refer to the NX-series Position Interface Units User’s Manual (Cat. No. W524-E1-02 or later) for time
stamping and time stamps.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 6-83
6 Introduction of Motion Control Functions

6-8-12 Displaying 3D Motion Monitor for User Coordinate System

In the case that coordinate systems (such as SCARA robot and vertical articulated robot) other than
orthogonal coordinate system are implemented by user programs, this function can be used to display
the path of robot hands, etc. in 3D with Sysmac Studio.
You can create an _sMC_POSITION_REF type user-defined variable and display in 3D Motion Monitor
Display Mode.

 _sMC_POSITION_REF
The followings are the members of _sMC_POSITION_REF type data.

Member Data type Meaning

CommandPosition ARRAY [0..5] OF LREAL Command Current Position
ActualPosition ARRAY [0..5] OF LREAL Actual Current Position

The following list describes each member.

Member Description
User-defined variable.CommandPosition[0] This is an X-axis component for the command current position.
This member is assigned a user-defined variable that indi-
cates the X-axis position of the command current position gen-
erated by a user program.
User-defined variable.CommandPosition[1] This is a Y-axis component for the command current position.
This member is assigned a user-defined variable that indi-
cates the Y-axis position of the command current position gen-
erated by a user program.
User-defined variable.CommandPosition[2] This is a Z-axis component for the command current position.
This member is assigned a user-defined variable that indi-
cates the Z-axis position of the command current position gen-
erated by a user program.
User-defined variable.CommandPosition[3] to Not used.
[5]
User-defined variable.ActualPosition[0] This is an X-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the X-axis position of the actual current position handled
in a user program.
User-defined variable.ActualPosition[1] This is a Y-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the Y-axis position of the actual current position handled
in a user program.
User-defined variable.ActualPosition[2] This is a Z-axis component for the actual current position.
This member is assigned a user-defined variable that indi-
cates the Z-axis position of the actual current position handled
in a user program.
User-defined variable.ActualPosition[3] to [5] Not used.

6-84 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 6 Introduction of Motion Control Functions

Each member is assigned a user-defined variable. The followings are the examples.

Name Data type Description

3D_position _sMC_POSITION_REF User-defined variable for 3D display
MCS_Cmd_TransX LREAL User-defined variable that indicates the X-axis
position of the command current position gen-
erated by a user program
MCS_Cmd_TransY LREAL User-defined variable that indicates the Y-axis
position of the command current position gen-
erated by a user program
MCS_Cmd_TransZ LREAL User-defined variable that indicates the Z-axis
position of the command current position gen-
erated by a user program
MCS_Act_TransX LREAL User-defined variable that indicates the X-axis
position of the actual current position handled
in a user program
MCS_Act_TransY LREAL User-defined variable that indicates the Y-axis
position of the actual current position handled
in a user program

6-8 Other Functions

MCS_Act_TransZ LREAL User-defined variable that indicates the Z-axis
position of the actual current position handled
in a user program

3D_position.CommandPosition[0] := MCS_Cmd_TransX;
3D_position.CommandPosition[1] := MCS_Cmd_TransY;
3D_position.CommandPosition[2] := MCS_Cmd_TransZ;
6
3D_position.ActualPosition[0] := MCS_Act_TransX;
3D_position.ActualPosition[1] := MCS_Act_TransY;

6-8-12 Displaying 3D Motion Monitor for User Coordinate System

3D_position.ActualPosition[2] := MCS_Act_TransZ;

 Overview of Operating Procedures

1 Create an _sMC_POSITION_REF type user-defined variable.

2 Create a program in which user-defined variables that indicate the command current position
and actual current position for 3D display are assigned to each member of the created
user-defined variable.

3 Select Specified coordinate in the Type Box in the 3D Machine Model List.
The _sMC_POSITION_REF data type is displayed in the 3D Machine Model Parameter Set-
tings section.

4 Set the created user-defined variable in the Value Column in the 3D Machine Model Parameter
Settings section.

5 Execute the user program.

6 Start tracing the data with the data trace to sample the data.

7 Check the trace results on the Data Trace Tab Page.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on 3D Motion Mon-
itor Display Mode.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 6-85
6 Introduction of Motion Control Functions

6-86 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Introduction of EtherNet/IP Com-
munications Functions
This section describes the communications services of the built-in EtherNet/IP port for
an NX1P2 CPU Unit.

7-1 Communications Services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7-1-1 CIP (Common Industrial Protocol) Communications Services . . . . . . . . . . . . 7-2
7-1-2 BOOTP Client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7-1-3 FTP Server . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4
7-1-4 FTP Client . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7-1-5 Automatic Clock Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-5
7-1-6 Socket Service . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-6
7-1-7 Specifying Host Names . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7 7
7-1-8 SNMP Agent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-7

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 7-1
7 Introduction of EtherNet/IP Communications Functions

7-1 Communications Services

The following describes the communications services of the built-in EtherNet/IP port for an NX1P2 CPU
Unit.
For details on this function, refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User’s Manual
(Cat. No. W506)

7-1-1 CIP (Common Industrial Protocol) Communications Services

Tag Data Links (Cyclic Communications)

A program is not required to perform cyclic data exchanges with other devices on the EtherNet/IP net-
work.
Normally, a connection is started with the target device for each tag set that was created with the Net-
work Configurator to start communications for tag data links for a built-in EtherNet/IP port. One connec-
tion is used per tag set.
The maximum number of connections that can be registered for the NX1P2 CPU Unit is 32.

Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User’s Manual (Cat. No. W506) for the
built-in EtherNet/IP port tag and tag set specifications.

Connection Information
∙ Target IP address
∙ Target tag set
∙ Originator tag set
∙ Packet interval (RPI) Connection
Tag Set (Input) Tag Set (Output)

Tag set name: SP1_IN Tag set name: SP1_OUT

Controller status Controller status

Tag a Tag i

Tag b Tag ii
Data
Dataflow
flow
Tag c

Tag g

Originator Target
device EtherNet/IP device

Note In this example, a connection is established with the originator’s tag list with tags a to g (inputs), which
are in a tag set called SP1_IN, and the target’s tag list with tags i and ii (outputs), which are in a tag set
called SP1_OUT.

7-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 7 Introduction of EtherNet/IP Communications Functions

CIP Message Communications

User-specified CIP commands can be sent to devices on the EtherNet/IP network.
CIP commands, such as those for reading and writing data, can be sent and their responses received
by executing the CIP communications instructions from the user program in the NJ/NX-series CPU
Unit.

NJ/NX-series Built-in EtherNet/IP port

Controller

CIP_SEND

CIP command Ethernet

(EtherNet/IP)

Response

7-1 Communications Services

By specifying a route path, you can send CIP messages (CIP commands and responses) to a device
on another CIP-based network segment via a built-in EtherNet/IP port or the EtherNet/IP Unit (CIP rout-
ing function for message communications).
The maximum number of levels of CIP routing via the ports is eight for any combination of CS, CJ, NJ,
and NX-series CPU Units. Note that the number of levels of IP routing using an L3 Ethernet switch is
not counted in the number of levels of CIP routing via the ports.
7

Additional Information

7-1-1 CIP (Common Industrial Protocol) Communications Services

In CIP routing, a node (Unit) that routes information subtracts the equivalent of one hop from
the timeout, deletes its own address from the route information, and relays the information to
the next node (Unit).
When a timeout is specified, the timeout for the actual request service processing is set in the
last hop.
In the case of relay hops, the timeout for the relay route must be added to the timeout for the
request.
OMRON products that support CIP subtract 5 seconds per hop.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 7-3
7 Introduction of EtherNet/IP Communications Functions

7-1-2 BOOTP Client

You set the built-in EtherNet/IP port in the BOOTP settings to use the BOOTP client to obtain settings,
such as the built-in EtherNet/IP port IP address.

BOOTP server

BOOTP command Ethernet

IP address
Built-in EtherNet/IP port Built-in EtherNet/IP port

BOOTP client

The built-in EtherNet/IP port IP address is obtained from

the BOOTP server when the power is turned ON.

7-1-3 FTP Server

An FTP server is built into the built-in EtherNet/IP port so that files can be read from and written to the
SD Memory Card in the CPU Unit of the Controller from computers at other Ethernet nodes.
This makes it possible to exchange data files between a host computer and the Controller with the host
computer as the FTP client and the Controller as the FTP server.

Host computer
(FTP client)

Ethernet

FTP command
Built-in EtherNet/IP port

NJ/NX-series
SD Memory Controller
Card

Host computer to Controller Controller to host computer

File data File data

SD Memory SD Memory
Card Card

7-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 7 Introduction of EtherNet/IP Communications Functions

7-1-4 FTP Client

The built-in EtherNet/IP port contains an FTP client. With it, you can use FTP client communications
instructions to transfer files between the CPU Unit and host computers on Ethernet.
This makes it possible to exchange data files between a host computer and the Controller with the Con-
troller as the FTP client and the host computer as the FTP server.

Host computer
(FTP server)

Ethernet

File data Built-in EtherNet/IP port

NJ/NX-series
SD Memory Controller
Card

7-1 Communications Services

Downloading Data Uploading Data

File data File data

SD Memory SD Memory
Card Card

7-1-5 Automatic Clock Adjustment

7
With the built-in EtherNet/IP port, 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.

7-1-4 FTP Client

NTP server

NTP command
Ethernet
Clock information

Built-in EtherNet/IP port

NJ/NX-series
Controller

Precautions for Correct Use

An NTP server is required to use automatic clock adjustment.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 7-5
7 Introduction of EtherNet/IP Communications Functions

7-1-6 Socket Service

You can send data to and receive data from any node on Ethernet with the UDP or TCP protocol.
To send/receive data with a socket service, you execute multiple socket communications instructions in
sequence in an ST program to execute the required communications processes.
After a connection with the other communications device is opened with an open instruction, the values
of the variables that are specified for the send instruction are sent and the data that was received for a
receive instruction is stored in the specified variables.
The connection is closed with a close instruction, and communications end.
For TCP, you can also read the socket status and received data.
You can use a total of 30 TCP ports and UDP ports.
UNIX computer or other node
with socket service interfaces

Ethernet

Built-in EtherNet/IP port

TCP/UDP
protocol

NJ/NX-series
Controller

Communications processes are performed

ST programming with socket communications instructions (for UDP).
Built-in
EtherNet/IP port SktUDPCreate(...) Open processing
TCP

SktUDPSend(...) Send processing

Socket
IP
UDP

TCP/UDP SktUDPRcv(...) Receive processing

protocol
SktClose(...) Close processing

7-6 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 7 Introduction of EtherNet/IP Communications Functions

7-1-7 Specifying Host Names

You can directly specify IP addresses, but you can also use the host names instead of the IP addresses
for NTP servers, SNMP managers, or the destinations of socket instructions and CIP communications
instructions (DNS client or hosts settings).

Example: Setting the Host Name on a DNS Server

DNS server

IP address
Ethernet

Host name

Built-in EtherNet/IP port

NJ/NX-series
Controller

7-1 Communications Services

Precautions for Correct Use
A DNS server is required to use the server host names for the DNS client.

7-1-8 SNMP Agent

The SNMP agent passes internal status information from the built-in EtherNet/IP port to network man-
agement software that uses an SNMP manager.
7

Monitoring Ethernet/IP Devices

7-1-7 Specifying Host Names

SNMP manager

Built-in EtherNet/IP port

Ethernet

SNMP message

Management information

Device that supports SNMP

SNMP agent SNMP agent SNMP agent

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 7-7
7 Introduction of EtherNet/IP Communications Functions

• SNMP Trap
When specific conditions occur, the built-in EtherNet/IP port that is set as the SNMP agent sends sta-
tus notification reports to the SNMP manager.
The SNMP manager can learn about changes in status even without periodically monitoring of the
built-in EtherNet/IP port.
Status notification reports are sent under the following conditions.
a) When the Controller is turned ON
b) When links are established
c) When an SNMP agent fails to be authorized
SNMP manager

Controller
Trap Built-in EtherNet/IP turned ON.
port

SNMP agent

7-8 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Introduction of EtherCAT Commu-
nications Functions
This section describes the communications functions of the built-in EtherCAT port for
an NX1P2 CPU Unit.

8-1 Overview of Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-2

8-1-1 Process Data Communications and SDO Communications . . . . . . . . . . . . . . 8-2
8-1-2 Other Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-3

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 8-1
8 Introduction of EtherCAT Communications Functions

8-1 Overview of Communications

This section provides an overview of the communications functions of the built-in EtherCAT port.
For details on the communications function of the built-in EtherCAT port, refer to the NJ/NX-series CPU
Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505).

8-1-1 Process Data Communications and SDO Communications

The built-in EtherCAT port performs the following communications to exchange information with Ether-
CAT slaves.
• Process data communications
• SDO communications

Process Data Communications

“Process data communications” is a cyclic communications method in which control information is
exchanged in a fixed cycle between the EtherCAT master and slaves.
The fixed cycle is called a process data communications cycle. The EtherCAT master can exchange
information with EtherCAT slaves in realtime in this process data communications cycle.
The same control period is also used for the process data communications cycle for EtherCAT. This
enables precise sequence and motion control in a fixed period with very little deviation.

Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for details
on the specifications of process data communications.

SDO Communications
“SDO communications” is a communications method in which control information is exchanged in non-
cyclic event communications between the EtherCAT master and slaves.
You can use EtherCAT communications instructions to read and write the SDO data in EtherCAT
slaves.
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for details
on the specifications of SDO communications.

8-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 8 Introduction of EtherCAT Communications Functions

8-1-2 Other Functions

In addition to process data communications and SDO communications, the built-in EtherCAT port also
provides functions related to EtherCAT network configurations and setup, as well as communications
control and maintenance during operation or errors.

Network Configurations and Setup

 Enable/Disable Setting for Slaves
Use this function to select the EtherCAT slaves to communicate with from among those registered in
the network configuration information.
• You can design a network with future addition of EtherCAT slaves in mind, by setting EtherCAT
slaves that you plan to add at a later time to Disabled and then registering them in the network
configuration information on the EtherCAT master.
• You can change the EtherCAT slaves for communications based on the device configuration
during system operation.
You enable/disable each slave in the Sysmac Studio. Refer to the NJ/NX-series CPU Unit Built-in
EtherCAT Port User’s Manual (Cat. No. W505) for the setting procedure.
To enable/disable slaves during system operation, use the Enable/Disable EtherCAT Slave instruc-

8-1 Overview of Communications

tion. Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on this
instruction.

Communications Control during Operation

 Wait Time Setting for Slave Startup
Use this function to set the wait time until all of the EtherCAT slaves are connected to the network.
When you use a slave that takes time to start, use a longer wait time setting to prevent errors.
You set the wait time for slave startup in the Sysmac Studio. Refer to the NJ/NX-series CPU Unit
Built-in EtherCAT Port User’s Manual (Cat. No. W505) for the setting procedure. 8

Communications Control at Error Occurrence

 Fail-soft Operation 8-1-2 Other Functions

Use this function to continue or stop the communications with EtherCAT slaves that are operating
normally, if a communications error occurs.
“Fail-soft operation” refers an operation that only normally operating EtherCAT slaves are allowed to
operate continuously.
The EtherCAT master can continue the communications with the EtherCAT slaves until the opera-
tion is stopped safely through the user program or user operation.
You enable/disable the fail-soft operation in Sysmac Studio. Refer to the NJ/NX-series CPU Unit
Built-in EtherCAT Port User’s Manual (Cat. No. W505) for the setting procedure.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 8-3
8 Introduction of EtherCAT Communications Functions

Maintenance
 Disconnecting/Reconnecting Slaves
Use this function to temporarily stop and start communications with a specified slave.
It is useful because, during system operation, you can replace an erroneous EtherCAT slave without
interrupting the communications with EtherCAT slaves that are operating normally.
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for
details on how to use this function.

 Diagnosis/Statistics Log
The diagnostic and statistical information provides statistics on the number of communications
frames sent and received by the EtherCAT master and EtherCAT slaves as well as the number of
frames for which errors were detected.
This function acquires the diagnostic and statistical information at the specified cycle and saves the
information as a log file in an SD Memory Card that is mounted on the CPU Unit.
You can use it to diagnose the EtherCAT network line quality based on the diagnostic and statistical
information.
Use this function for the following applications.
• Checking the EtherCAT network line quality for predictive monitoring and preventive maintenance
• Finding locations of errors when they occur
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User’s Manual (Cat. No. W505) for
details on how to use this function.

8-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Troubleshooting
This section describes the overview of methods for checking errors.

9-1 Overview of Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-2

9-2 Option Board Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3
9-2-1 Checking for Errors and Troubleshooting with the ERR Indicator on
Option Boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-3

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 9-1
9 Troubleshooting

9-1 Overview of Troubleshooting

You manage all of the errors that occur on the NJ/NX-series Controller as events. This allows you to
see what errors have occurred and find corrections for them with the same methods for the entire range
of errors that is managed (i.e., CPU Unit, NX Units, NX-series Slave Terminals, EtherCAT slaves,*1 and
CJ-series Units).
*1 Only Sysmac devices are supported.

Host computer
HMI

Checking Network
Status
EtherNet/IP

Troubleshooter

Network Configurator

Built-in
NJ/NX-series EtherNet/IP port CJ-series Units
CPU Unit and NX Units
Troubleshooting

Sysmac Studio

Built-in EtherCAT port

EtherCAT

EtherCAT
slave

Error management range

for NJ/NX-series Controller

You can use the troubleshooting functions of the Sysmac Studio or the Troubleshooter on an HMI to
quickly check for errors that have occurred and find corrections for them.

Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503-E1-19 or later) for types of errors,
meanings, specific corrections when errors occur and for troubleshooting information on the entire
NJ/NX-series Controller.

9-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 9 Troubleshooting

9-2 Option Board Errors

The description below is related to Option Board errors.

9-2-1 Checking for Errors and Troubleshooting with the ERR Indicator
on Option Boards
You can check the status indicator on an Analog I/O Option Board see if an error occurs in it. This table
below gives the meanings of errors that the indicator shows and the troubleshooting information on
them.

ADB21 DAB21V MAB221

(A)
ERR
IN OUT IN OUT
COM

COM

COM

COM
VO1

VO1
VO2

VO2
VI1

VI2

VI1

VI2
I I1

I I2

I I1

I I2
(B)

ERR indicator Cause Correction

Lit Hardware failure If this error occurs again even after you cycle the

9-2 Option Board Errors

Controller power supply, replace the Option Board.
Option Board Error Refer to the event Option Board Error in the
NJ/NX-series Troubleshooting Manual (Cat. No.
W503-E1-19 or later).
Analog Option Board Refer to the event Analog Option Board Startup
Startup Error Error in the NJ/NX-series Troubleshooting Manual
(Cat. No. W503-E1-19 or later).
Analog Option Board Refer to the event Analog Option Board Communi-
Communications Error cations Error in the NJ/NX-series Troubleshooting
Manual (Cat. No. W503-E1-19 or later). 9
Flashing Option Board Error Refer to the event Option Board Error in the
NJ/NX-series Troubleshooting Manual (Cat. No.
ERR Indicator on Option Boards
9-2-1 Checking for Errors and Troubleshooting with the

W503-E1-19 or later).
Analog Option Board Refer to the event Analog Option Board Startup
Startup Error Error in the NJ/NX-series Troubleshooting Manual
(Cat. No. W503-E1-19 or later).
Analog Option Board Refer to the event Analog Option Board Communi-
Communications Error cations Error in the NJ/NX-series Troubleshooting
Manual (Cat. No. W503-E1-19 or later).
Option Board Configura- Refer to the event Option Board Configuration Veri-
tion Verification Error fication Error in the NJ/NX-series Troubleshooting
Manual (Cat. No. W503-E1-19 or later).
Not lit --- Normal operation

No error indicator is provided on Serial Communications Option Boards.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) 9-3
9 Troubleshooting

9-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 A

Appendices

A-1 Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A-2

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) A-1
 Appendices

A-1 Version Information

This section describes the relationship between the unit versions of the NX1P2 CPU Units and the Sys-
mac Studio versions, and the functions that are supported for each unit version.

The following describes how the unit version of an NX1P2 CPU Unit corresponds to the Sysmac Studio
version. Normally use the corresponding versions.

Unit Version and Corresponding Sysmac Studio Version

The following table gives the relationship between the unit version of an NX1P2 CPU Unit and the cor-
responding Sysmac Studio version.

Unit version of CPU Unit Corresponding version of Sysmac Studio

Ver. 1.40*1 Ver. 1.30*2
Ver. 1.29
Ver. 1.21*3 Ver. 1.28
Ver. 1.18*4 Ver. 1.22
Ver. 1.16*5 Ver. 1.20
Ver. 1.14 Ver. 1.18
*6 Ver. 1.17*7
Ver. 1.13
*1. There is no NX1P2- CPU Unit with unit version 1.22 or later and unit version
earlier than 1.40.
There is no NX1P2-9B CPU Unit with unit version earlier than 1.40.
*2. Use an NX1P2-9B CPU Unit with Sysmac Studio version 1.30 or higher. You cannot
use an NX1P2-9B CPU Unit with Sysmac Studio version 1.29 or lower.
*3. There is no NX1P2- CPU Unit with unit version 1.19 or later and unit version
earlier than 1.21.
*4. There is no NX1P2- CPU Unit with unit version 1.17.
*5. There is no NX1P2- CPU Unit with unit version 1.15.
*6. There is no NX1P2- CPU Unit with unit version 1.12 or earlier.
*7. Use an NX1P2- CPU Unit with Sysmac Studio version 1.17 or higher. You cannot
use an NX1P2- CPU Unit with Sysmac Studio version 1.16 or lower.

Restriction When the Unit Version Does not Correspond to the Sys-
mac Studio Version
By specification, the following restriction applies when the unit version of the NX1P2 CPU Unit does not
correspond to the Sysmac Studio version.

 When the Sysmac Studio Version Is 1.16 or Lower

You cannot use the NX1P2 CPU Unit with Sysmac Studio version 1.16 or lower.

A-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Appendices

A-1 Version Information

 Using a Lower Version of Sysmac Studio
If you use a lower version of the Sysmac Studio, you can use only the functions of the unit version of
the CPU Unit that corresponds to the Sysmac Studio version.
Example:
Unit version of CPU Unit: 1.14
Sysmac Studio version: 1.17
The unit version of the CPU Unit that corresponds to Sysmac Studio version 1.17 is unit version
1.13. Therefore, you can use only the functions that are supported by a CPU Unit with a unit ver-
A
sion of 1.13.
You cannot use functionality that was added for unit version 1.14 or later of the CPU Unit.

 Using a CPU Unit with an Earlier Unit Version

If you use an NX-series CPU Unit with an earlier version, select the unit version of the used CPU
Unit or an earlier unit version in the Select Device Area of the Project Properties Dialog Box on the
Sysmac Studio. The unit version that you selected is the project unit version of the project. You can
use only the functions that are supported by the project unit version.
Example:
Unit version of CPU Unit: 1.14
Sysmac Studio version: 1.20
Unit version 1.16 of the CPU Unit corresponds to Sysmac Studio version 1.20.
However, the used CPU Unit is unit version 1.14, so select version 1.14 or earlier as version in the
Select Device Area of the Project Properties Dialog Box.
If you select version 1.14 as the version in the Select Device Area of the Project Properties Dialog
Box, you can use only the functions that are supported by project unit version 1.14. You cannot
use functionality that was added for unit version 1.16 or later of the CPU Unit.

Additional Information

Project Unit Version for Projects

• With Sysmac Studio version 1.02 or higher, you can select the unit version in the Select
Device Area of the relevant dialog boxes.
• You can select any unit version that is the same as or earlier than the unit version of the CPU
Unit. For example, if the unit version of the CPU Unit is 1.14, select either 1.13 or 1.14.
• The Sysmac Studio will treat the project unit version as the unit version of the CPU Unit. For
example, if the project unit version is 1.13, you can use the functionality for unit version 1.13
on the Sysmac Studio.
• You can transfer a project to the Sysmac Studio if the project unit version is the same as or
earlier than the unit version of the destination CPU Unit.
• Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504-E1-03 or later) for
details on the Select Device Area of the relevant dialog boxes.

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) A-3
 Appendices

A-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 I
Index

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) I-1
 Index

Index
Symbols cam tables .................................................................... 6-19
data type ................................................................. 6-20
.Run (Option Board saving ..................................................................... 6-21
Normal Operation) ............................3-10, 4-23, 4-31, 5-9 specifications .......................................................... 6-19
switching ................................................................. 6-21
A updating properties ................................................. 6-22
CIP communications ...................................................... 7-2
CIP message communications ....................................... 7-3
aborting ............................................................... 6-49, 6-67
command position ........................................................ 6-33
acceleration and deceleration rates
command velocity ........................................................ 6-35
unit .......................................................................... 6-36
communications setting level ....................................... 4-16
acceleration rate
Configuration .................................................................. 3-4
changing ................................................................. 6-45
connecting acceleration ............................................... 6-18
Acceleration Warning Value ......................................... 6-36
connecting velocity ....................................................... 6-18
Acceleration/Deceleration Over .................................... 6-36
converted value .............................................................. 5-3
actual position .............................................................. 6-33
current direction ........................................................... 6-39
actual velocity ............................................................... 6-35
Actual Velocity Filter Time Constant ............................. 6-35
allowable value conversion range ........................... 5-3, 5-4
D
AT specification ..................................................... 4-8, 4-17
automatic clock adjustment ............................................ 7-5 deceleration rate
axes group errors changing ................................................................. 6-45
resetting .................................................................. 6-56 deceleration stop of command value ........................... 6-11
axes groups Deceleration Warning Value ......................................... 6-37
enabling and disabling ............................................ 6-55 delay time ..................................................................... 2-12
diagnosis/statistics log ................................................... 8-4
B disconnecting/connecting slaves .................................... 8-4
displacement ................................................................ 6-17
download area ..................................................... 4-11, 4-17
blending ............................................................... 6-50, 6-68
BOOTP client ................................................................. 7-4
Buffer Mode ......................................................... 6-48, 6-66
E
buffered ............................................................... 6-49, 6-68
enable/disable setting for slaves .................................... 8-3
C events ............................................................................. 9-2

cam block ..................................................................... 6-17

F
cam block end point ..................................................... 6-17
cam block start point .................................................... 6-17 fail-soft operation ............................................................ 8-3
cam curve ..................................................................... 6-17 FTP client ....................................................................... 7-5
cam data ....................................................................... 6-17 FTP server ...................................................................... 7-4
loading and saving .................................................. 6-21
cam data index ............................................................. 6-17 G
cam data variable ......................................................... 6-17
cam end point ............................................................... 6-17 General-purpose Serial Communications Device Settings
cam operation ............................................................... 6-17 ................................................................................... 4-28
cam profile curve .......................................................... 6-17
cam start point .............................................................. 6-17 H
Cam table
Generate Cam Table ............................................... 6-23 Host Link (FINS) ......................................3-6, 4-2, 4-4, 4-10
cam table ...................................................................... 6-17
cam table start position ................................................ 6-17 I

I/O response time ......................................................... 2-15

immediate stop of command value .............................. 6-11
immediate stop of command value and error reset ...... 6-11

I-2 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
 Index

immediate stop of command value and servo OFF ......6-11 process data communications ........................................8-2
Input Filter Settings .........................................................2-8 programless communications ........................ 4-4, 4-8, 4-10
input range ......................................................................5-3 program-modified cam data ..........................................6-17
invalid cam data ............................................................6-17
R
J
reading axes group positions ........................................6-56
jerk unit .........................................................................6-38 re-executing instructions ...............................................6-43
re-execution of instructions ...........................................6-65
L resetting axis errors ........................................................6-3

Load Rejection Output Settings ......................................2-8 S

I
M S-curve .........................................................................6-38
SDO communications .....................................................8-2
master axis ....................................................................6-17 serial communications instruction .............. 3-13, 4-22, 4-29
master following distance ..............................................6-18 Serial communications mode ...................................3-6, 4-2
Maximum Acceleration ..................................................6-36 settings on Modbus-RTU slaves ...................................4-21
Maximum Deceleration .................................................6-36 settings on NB-series Units ............................................4-7
Maximum Jog Velocity ..................................................6-35 settings on the NX1W-CIF11/CIF12 Option Board
maximum number of cam data .....................................6-17 ......................................................... 4-7, 4-15, 4-21, 4-28
Maximum Velocity .........................................................6-35 shortest way ..................................................................6-39
Memory Settings for CJ-series Units ...................... 3-6, 3-8 slave axis ......................................................................6-17
memory used for CJ-series Units .......... 4-2, 4-8, 4-11, 4-17 SNMP agent ....................................................................7-7
Modbus-RTU command ...................................... 4-18, 4-22 socket service .................................................................7-6
Modbus-RTU Master .................................... 3-13, 4-2, 4-18 specifying host name ......................................................7-7
multi-execution of instructions ............................. 6-48, 6-66 start mode .....................................................................6-18
Start Velocity .................................................................6-35
N status indicator ................................................................5-2
stop priorities ................................................................6-12
negative direction ..........................................................6-39 stopping
no direction specified ....................................................6-39 due to errors or other problems ........................6-8, 6-59
No-Protocol .................................................. 3-13, 4-3, 4-25 immediate stop input .................................................6-7
null cam data .................................................................6-18 limit inputs .................................................................6-7
number of valid cam data ..............................................6-17 MC_GroupImmediateStop instruction .....................6-59
MC_GroupStop instruction ......................................6-59
O MC_ImmediateStop instruction .................................6-8
MC_Stop instruction ..................................................6-8
Servo Drive input signals ..........................................6-7
OFF filter only ...............................................................2-11
stop method ............................................................6-11
ON and OFF filters ........................................................2-10
superimpose corners ...........................................6-70, 6-72
Option Board Normal Operation ......... 3-10, 4-23, 4-31, 5-9
Option Board Serial Communications Settings ....... 3-5, 3-6
option board service ......................................................5-12 T
option board slot .............................................................3-2
Option Board specification .................................. 4-23, 4-30 tag data link (cyclic communications) .............................7-2
Option Board Status .............................. 3-9, 4-23, 4-31, 5-9 target position
original cam data ...........................................................6-17 changing ..................................................................6-43
output range ....................................................................5-4 excessive deceleration patterns ......................6-44
overrides .......................................................................6-61 triangular control patterns ...............................6-44
when a reverse turn does not occur for the
P new command value .......................6-43
when a reverse turn occurs for the
new command value .......................6-43
phase ............................................................................6-17
target velocity
phase pitch ....................................................................6-18
changing ..................................................................6-45
_PLC_OptBoardSta (Option Board Status)
torque command
...................................................3-9, 3-10, 4-23, 4-31, 5-9
changing ..................................................................6-46
positions ........................................................................6-33
transition disabled .........................................................6-70
types ........................................................................6-33
Transition Modes ..........................................................6-70
positive direction ...........................................................6-39

NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579) I-3
 Index

travel distance
changing ................................................................. 6-45

upload area .................................................................. 4-11

valid cam data .............................................................. 6-17

velocities
types ....................................................................... 6-35
velocity unit ............................................................. 6-35
Velocity Warning Value ................................................. 6-35

wait time setting for slave startup ................................... 8-3

I-4 NX-series NX1P2 CPU Unit Built-in I/O and Option Board User’s Manual (W579)
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