Item |
NX1P2 |
Tasks |
Function |
I/O refresh and the user program are executed in units
that are called tasks. Tasks are used to specify
execution conditions and execution priority. |
|
Periodi-
cally
Executed
Tasks |
Maximum Number
of Primary
Periodic Tasks |
1 |
Maximum Number
of Periodic Tasks |
2 |
Condi-
tionally
Executed
Tasks |
Maximum Number
of Event Tasks |
32 |
Execution
Condition |
When Activate Event Task instruction is executed or
when condition expression for variable is met |
Setup |
System Service Monitoring
Settings |
Not supported |
Pro-
gramming |
POUs
(program-
organization
units) |
Programs |
POUs that are assigned to tasks. |
Function Blocks |
POUs that are used to create objects with specific
conditions. |
Functions |
POUs that are used to create an object that determine
unique outputs for the inputs, such as for data
processing. |
Programming
Languages |
Types |
Ladder diagrams * and structured text (ST) |
Namespaces |
Namespaces are used to create named groups of POU
definitions. |
Variables |
External
Access of
variables |
Network
Variables |
The function which allows access from the HMI, host
computers, or other Controllers |
Data Types |
Data types |
Boolean |
BOOL |
Bit Strings |
BYTE, WORD, DWORD, LWORD |
Integers |
INT, SINT, DINT, LINT, UINT, USINT, UDINT, ULINT |
Real Numbers |
REAL and LREAL |
Durations |
TIME |
Dates |
DATE |
Times of Day |
TIME_OF_DAY |
Date and Time |
DATE_AND_TIME |
Text Strings |
STRING |
Derivative Data Types |
Structures, Unions, and Enumerations |
Structures |
Function |
A derivative data type that groups together data with
different data types. |
Maximum Number
of Members |
2048 |
Nesting Maximum
Levels |
8 |
Member Data
Types |
Basic data types, structures, unions, enumerations,
array variables |
Specifying
Member Offsets |
You can use member offsets to place structure
members at any memory locations. |
Union |
Function |
A derivative data type that enables access to the same
data with different data types. |
Maximum Number
of Members |
4 |
Member Data
Types |
BOOL, BYTE, WORD, DWORD, and LWORD |
Enumer-
ation |
Function |
A derivative data type that uses text strings called
enumerators to express variable values. |
Data Type
Attributes |
Array
Specifica-
tions |
Function |
An array is a group of elements with the same data
type. You specify the number (subscript) of the
element from the first element to specify the element. |
Maximum Number
of Dimensions |
3 |
Maximum Number
of Elements |
65535 |
Array
Specifications
for FB Instances |
Supported |
Range Specifications |
You can specify a range for a data type in advance.
The data type can take only values that are in the
specified range. |
Libraries |
You can use user libraries. |
Motion
Control |
Control Modes |
Position control, Velocity control, and Torque control |
Axis Types |
Servo axes, Virtual servo axes, Encoder axes, and
Virtual encoder axes |
Positions that can be managed |
Command positions and actual positions |
Single Axes |
Single-Axis
Position
Control |
Absolute
Positioning |
Positioning is performed for a target position that is
specified with an absolute value. |
Relative
Positioning |
Positioning is performed for a specified travel distance
from the command current position. |
Interrupt Feeding |
Positioning is performed for a specified travel distance
from the position where an interrupt input was
received from an external input. |
Cyclic
Synchronous
Absolute
Positioning |
A positioning command is output each control period
in Position Control Mode. |
Single-axis
Velocity
Control |
Velocity Control |
Velocity control is performed in Position Control
Mode. |
Cyclic
Synchronous
Velocity Control |
A velocity command is output each control period in
Velocity Control Mode. |
Single-axis
Torque
Control |
Torque Control |
The torque of the motor is controlled. |
Single-axis
Synchro-
nized
Control |
Starting Cam
Operation |
A cam motion is performed using the specified cam
table. |
Ending Cam
Operation |
The cam motion for the axis that is specified with the
input parameter is ended. |
Starting Gear
Operation |
A gear motion with the specified gear ratio is
performed between a master axis and slave axis. |
Positioning Gear
Operation |
A gear motion with the specified gear ratio and sync
position is performed between a master axis and slave
axis. |
Ending Gear
Operation |
The specified gear motion or positioning gear motion is
ended. |
Synchronous
Positioning |
Positioning is performed in sync with a specified
master axis. |
Master Axis
Phase Shift |
The phase of a master axis in synchronized control is
shifted. |
Combining Axes |
The command positions of two axes are added or
subtracted and the result is output as the command
position. |
Single-axis
Manual
Operation |
Powering the
Servo |
The Servo in the Servo Drive is turned ON to enable
axis motion. |
Jogging |
An axis is jogged at a specified target velocity. |
Auxiliary
Functions
for Single-
axis
Control |
Resetting Axis
Errors |
Axes errors are cleared. |
Homing |
A motor is operated and the limit signals, home
proximity signal, and home signal are used to define
home. |
Homing with
specified
parameters |
The parameters are specified, the motor is operated,
and the limit signals, home proximity signal, and home
signal are used to define home. |
High-speed
Homing Stopping |
Positioning is performed for an absolute target position
of 0 to return to home. An axis is decelerated to a
stop. |
Immediately
Stopping |
An axis is stopped immediately. |
Setting Override
Factors |
The target velocity of an axis can be changed. |
Changing the
Current Position |
The command current position or actual current
position of an axis can be changed to any position. |
Enabling External
Latches |
The position of an axis is recorded when a trigger
occurs. |
Disabling
External Latches |
The current latch is disabled. |
Zone Monitoring |
You can monitor the command position or actual
position of an axis to see when it is within a specified
range (zone). |
Enabling Digital
Cam Switches |
You can turn a digital output ON and OFF according to
the position of an axis |
Monitoring Axis
Following Error |
You can monitor whether the difference between the
command positions or actual positions of two specified
axes exceeds a threshold value. |
Resetting the
Following Error |
The error between the command current position and
actual current position is set to 0. |
Torque Limit |
The torque control function of the Servo Drive can be
enabled or disabled and the torque limits can be set to
control the output torque. |
Slave Axis
Position
Compensation |
This function compensates the position of the slave
axis currently in synchronized control. |
Cam monitor |
Outputs the specified offset position for the slave axis
in synchronous control. |
Start Velocity |
You can set the initial velocity when axis motion starts. |
Axes Groups |
Multi-axes
Coordi-
nated
Control |
Absolute Linear
Interpolation |
Linear interpolation is performed to a specified
absolute position. |
Relative Linear
Interpolation |
Linear interpolation is performed to a specified relative
position. |
Circular 2D
Interpolation |
Circular interpolation is performed for two axes. |
Axes Group
Cyclic
Synchronous
Absolute
Positioning |
A positioning command is output each control period in
Position Control Mode. |
Auxiliary
Functions
for Multi-
axes
Coordi-
nated
Control |
Resetting Axes
Group Errors |
Axes group errors and axis errors are cleared. |
Enabling Axes
Groups |
Motion of an axes group is enabled. |
Disabling Axes
Groups |
Motion of an axes group is disabled. |
Stopping Axes
Groups |
All axes in interpolated motion are decelerated to a
stop. |
Immediately
Stopping Axes
Groups |
All axes in interpolated motion are stopped immediately. |
Setting Axes
Group Override
Factors |
The blended target velocity is changed during
interpolated motion. |
Reading Axes
Group Positions |
The command current positions and actual current
positions of an axes group can be read. |
Changing the
Axes in an Axes
Group |
The Composition Axes parameter in the axes group
parameters can be overwritten temporarily. |
Common
Items |
Cams |
Setting Cam
Table Properties |
The end point index of the cam table that is specified
in the input parameter is changed. |
Saving Cam
Tables |
The cam table that is specified with the input
parameter is saved in nonvolatile memory in the CPU
Unit. |
Generating Cam
Tables |
The cam table is generated from the cam property and
cam node that is specified in input parameters. |
Parameters |
Writing MC
Settings |
Some of the axis parameters or axes group parameters
are overwritten temporarily. |
Changing Axis
Parameters |
You can access and change the axis parameters from
the user program. |
Auxiliary
Functions |
Count Modes |
You can select either Linear Mode (finite length) or
Rotary Mode (infinite length). |
Unit Conversions |
You can set the display unit for each axis according to
the machine. |
Acceler-
ation/
Decelera-
tion
Control |
Automatic
Acceleration/
Deceleration
Control |
Jerk is set for the acceleration/deceleration curve for
an axis motion or axes group motion. |
Changing the
Acceleration and
Deceleration
Rates |
You can change the acceleration or deceleration rate
even during acceleration or deceleration. |
In-Position Check |
You can set an in-position range and in-position check
time to confirm when positioning is completed. |
Stop Method |
You can set the stop method to the immediate stop
input signal or limit input signal. |
Re-execution of Motion
Control Instructions |
You can change the input variables for a motion
control instruction during execution and execute the
instruction again to change the target values during
operation. |
Multi-execution of Motion
Control Instructions (Buffer
Mode) |
You can specify when to start execution and how to
connect the velocities between operations when
another motion control instruction is executed during
operation. |
Continuous Axes Group
Motions (Transition Mode) |
You can specify the Transition Mode for multi-
execution of instructions for axes group operation. |
Monitoring
Functions |
Software limits |
The movement range of an axis is monitored. |
Following Error |
The error between the command current value and the
actual current value is monitored for each axis. |
Velocity,
Acceleration
Rate,
Deceleration
Rate, Torque,
Interpolation
Velocity,
Interpolation
Acceleration
Rate, and
Interpolation
Dceleration Rate |
You can set and monitor warning values for each axis
and each axes group. |
Absolute Encoder Support |
You can use an OMRON 1S-series Servomotor or G5-
series Servomotor with an Absolute Encoder to
eliminate the need to perform homing at startup. |
Input Signal Logic Inversion |
You can inverse the logic of immediate stop input
signal, positive limit input signal, negative limit input
signal, or home proximity input signal. |
External Interface Signals |
The Servo Drive input signals listed on the right are
used.
Home signal, home proximity signal, positive limit
signal, negative limit signal, immediate stop signal,
and interrupt input signal |
Unit (I/O)
Man-
agement |
EtherCAT
slaves |
Maximum Number of Slaves |
16 |
CJ-Series
Units |
Maximum Number of Units |
Not supported |
Communi-
cations |
Peripheral USB Port |
Not supported |
Built-in
EtherNet/IP
Port |
Communications Protocol |
TCP/IP and UDP/IP |
CIP Com-
munica-
tions
Service |
Tag Dta Links |
Programless cyclic data exchange is performed with
the devices on the EtherNet/IP network. |
Message
Communications |
CIP commands are sent to or received from the
devices on the EtherNet/IP network. |
TCP/IP
Applica-
tions |
Socket Services |
Data is sent to and received from any node on
Ethernet using the UDP or TCP protocol. Socket
communications instructions are used. |
Secure Socket
service (Client) |
Establishes a TLS session with the TCP protocol,
and sends and receives arbitrary data to and from
the server and any node on the Ethernet using
instructions for secure socket communication. |
FTP Client |
Files are transferred via FTP from the CPU Unit to
computers or Controllers at other Ethernet nodes.
FTP client communications instructions are used. |
FTP Server |
Files can be read from or written to the SD Memory
Card in the CPU Unit from computers at other
Ethernet nodes. |
Automatic Clock
Adjustment |
Clock information is read from the NTP server at the
specified time or at a specified interval after the power
supply to the CPU Unit is turned ON. The internal
clock time in the CPU Unit is updated with the read
time. |
SNMP Agent |
Built-in EtherNet/IP port internal status information is
provided to network management software that uses
an SNMP manager. |
EtherCAT
Port |
Supported
Services |
Process Data
Communications |
A communications method to exchange control
information in cyclic communications between the
EtherCAT master and slaves.
This communications method is defined by CoE. |
SDO
Communications |
A communications method to exchange control
information in noncyclic event communications
between EtherCAT master and slaves.
This communications method is defined by CoE. |
Network Scanning |
Information is read from connected slave devices and
the slave configuration is automatically generated. |
DC (Distributed Clock) |
Time is synchronized by sharing the EtherCAT system
time among all EtherCAT devices (including the
master). |
Enable/Disable Settings for
Slaves |
The slaves can be enabled or disabled as
communications targets. |
Disconnecting/Connecting
Slaves |
Temporarily disconnects a slave from the EtherCAT
network for maintenance, such as for replacement of
the slave, and then connects the slave again. |
Supported
Application
Protocol |
CoE |
SDO messages of the CAN application can be sent to
slaves via EtherCAT |
Serial Com-
munication |
Protocol |
Host link (FINS), no-protocol, and Modbus-RTU master
(when connected to the Serial Communications Option
Board) |
Communications Instructions |
FTP client instructions, CIP communications
instructions, socket communications instructions, SDO
message instructions, noprotocol communications
instructions, and Modbus RTU protocol instructions |
Operation
Man-
agement |
RUN Output Contacts |
Not supported |
System
Man-
agement |
Event Logs |
Function |
Events are recorded in the logs |
Maximum
Number of
Events |
System Event Log |
576 *2 |
Access Event Log |
528 *3 |
User-defined Event Log |
512 |
Debugging |
Online
Editing |
Single |
Programs, function blocks, functions, and global
variables can be changed online.
More than one operators can change POUs
individually via network. |
Forced Refreshing |
The user can force specific variables to TRUE or
FALSE. |
|
Maximum
Number
of Forced
Variables |
Device Variables
for EtherCAT
Slaves |
64 |
Device Variables
for CJ-series
Units and
Variables with AT
Specifications |
Not supported |
MC Test Run |
Motor operation and wiring can be checked from the
Sysmac Studio. |
Synchronizing |
The project file in the Sysmac Studio and the data in
the CPU Unit can be made the same when online. |
Differentiation Monitoring |
You can monitor when a variable changes to TRUE or
changes to FALSE. |
|
Maximum Number of Contacts |
8 |
Data Tracing |
Types |
Single Triggered
Trace |
When the trigger condition is met, the specified number
of samples are taken and then tracing stops
automatically. |
Continuous
Trace |
Data tracing is executed continuously and the trace
data is collected by the Sysmac Studio. |
Maximum Number of
Simultaneous Data Traces |
2 |
Maximum Number of Records |
10000 |
Maximum Number of Sampled
Variables |
48 variables |
Timing of Sampling |
Sampling is performed for the specified task period, at
the specified time, or when a sampling instruction is
executed. |
Triggered Traces |
Trigger conditions are set to record data before and
after an event. |
|
Trigger
Conditions |
When BOOL variable changes to TRUE or FALSE
Comparison of non-BOOL variable with a constant
Comparison Method: Equals (=), Greater than (>),
Greater than or equals (≥), Less Than (<), Less than or
equals (≤), Not equal (≠) |
Delay |
Trigger position setting: A slider is used to set the
percentage of sampling before and after the trigger
condition is met. |
Simulation |
The operation of the CPU Unit is emulated in the
Sysmac Studio. |
Reliability
functions |
Self-
Diagnosis |
Controller
Errors |
Levels |
Major faults, partial faults, minor faults, observation,
and information |
Maximum number
of message
languages |
9 (Sysmac Studio)
2 (NS-series PT) |
User-
defined
Errors |
Function |
User-defined errors are registered in advance and then
records are created by executing instructions. |
Levels |
8 |
Maximum number
of message
languages |
9 |
Security |
Protecting
Software
Assets and
Preventing
Operating
Mistakes |
CPU Unit Names and Serial IDs |
When going online to a CPU Unit from the Sysmac
Studio, the CPU Unit name in the project is compared
to the name of the CPU Unit being connected to. |
Protection |
User Program
Transfer with no
Restoration
Information |
You can prevent reading data in the CPU Unit from the
Sysmac Studio. |
CPU Unit Write
Protection |
You can prevent writing data to the CPU Unit from the
Sysmac Studio or SD Memory Card. |
Overall Project
File Protection |
You can use passwords to protect .smc files from
unauthorized opening on the Sysmac Studio. |
Data Protection |
You can use passwords to protect POUs on the
Sysmac Studio. |
Verification of Operation
Authority |
Online operations can be restricted by operation rights
to prevent damage to equipment or injuries that may
be caused by operating mistakes. |
|
Number of
Groups |
5 |
Verification of User Program
Execution ID |
The user program cannot be executed without entering
a user program execution ID from the Sysmac Studio
for the specific hardware (CPU Unit). |
SD
Memory
Card
functions |
Storage Type |
SD Memory Card,
SDHC Memory Card |
Application |
Automatic Transfer from SD
Memory Card |
When the power supply to the Controller is turned ON,
the data that is stored in the autoload directory of the
SD Memory Card is transferred to the Controller. |
Program transfer from SD
Memory Card |
With the specification of the system-defined variable,
you can transfer a program that is stored in the SD
Memory Card to the Controller. |
SD Memory Card Operation
Instructions |
You can access SD Memory Cards from instructions in
the user program. |
File Operations from the
Sysmac Studio |
You can perform file operations for Controller files in
the SD Memory Card and read/write general-purpose
document files on the computer. |
SD Memory Card Life
Expiration Detection |
Notification of the expiration of the life of the SD
Memory Card is provided in a system-defined variable
and event log. |
Backing
up data |
SD Memory
Card
backups |
Operating
methods |
CPU Unit front
panel DIP switch |
Backup, verification, and restoration operations are
performed by manipulating the front-panel DIP switch
on the CPU Unit. |
Specification
with system-
defined variables |
Backup, verification, and restoration operations are
performed by manipulating system-defined variables.*4 |
SD Memory Card
Window in Sysmac
Studio |
Backup and verification operations are performed from
the SD Memory Card Window of the Sysmac Studio. |
Special
instruction |
The special instruction is used to backup data. |
Protection |
Disabling backups
to SD Memory
Cards |
Backing up data to a SD Memory Card is prohibited. |
Sysmac Studio Controller backups |
The Sysmac Studio is used to backup, restore, or
verify Controller data. |