Item |
NX502 |
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. |
|
Periodically
executed
tasks |
Maximum number of
primary periodic tasks |
1 |
Maximum number of
periodic tasks |
3 |
Conditionally
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 |
Pro-
gram-
ming |
POU
(Program
Organiza-
tion Unit) |
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 |
Pro-
gramming
languages |
Types |
Ladder diagrams *1 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 |
Basic data
types |
Boolean |
BOOL |
Bit strings |
BYTE, WORD, DWORD, LWORD |
Integers |
INT, SINT, DINT, LINT, UINT, USINT, UDINT,
ULINT |
Real numbers |
REAL, LREAL |
Durations |
TIME |
Dates |
DATE |
Times of day |
TIME_OF_DAY |
Date and time |
DATE_AND_TIME |
Text strings |
STRING |
Derivative data types |
Structure data types, union data types, and
enumeration data types |
Structures |
Function |
A derivative data type that groups together data
with different data types |
Maximum number of
members |
2,048 |
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 |
Unions |
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, LWORD |
Enumerations |
Function |
A derivative data type that uses text strings called
enumerators to express variable values |
Data type
attributes |
Array
specifications |
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 |
65,535 |
Array specifications
for FB instances |
Possible |
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, 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
synchronized
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
parameter |
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 |
Positioning is performed for an absolute target
position of 0 to return to home |
Stopping |
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
coordinated
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
coordinated
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 non-volatile memory in the
CPU Unit |
Generating cam tables |
The cam table is generated from the cam property
and cam node that are specified in input
parameters |
Parameters |
Writing MC settings |
Some of the axis parameters or axes group
parameters are overwritten temporarily |
Changing axis
parameters |
Some of the axis parameters can be accessed or
changed 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 |
Acceleration/
deceleration
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 an axis |
Velocity, acceleration
rate, deceleration rate,
torque, interpolation
velocity, interpolation
acceleration rate,
interpolation
deceleration 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 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 given below 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 |
256 |
Com-
muni-
cations |
Secure Communications |
Function for secure communication with
support software |
EtherNet/IP
port |
Communications protocol |
TCP/IP, UDP/IP |
Built-in
EtherNet/IP
port |
CIP
communi-
cations
service |
Tag data 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
applications |
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) |
The TLS session is established by using the TCP
protocol, and any data is sent and received by the
secure socket communications instruction,
between the server and any node on Ethernet |
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 |
OPC UA |
Server function |
Functions to respond to requests from clients on
the OPC UA network |
EtherCAT
port |
Supported
services |
Process data
communications |
A communications method to exchange control
information in cyclic communications between the
EtherCAT master and slaves. This communication
method is defined by CoE |
SDO communications |
A communications method to exchange control
information in noncyclic event communications
between EtherCAT master and slaves. This
communication 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 |
Communications instructions |
FTP client instructions, CIP communications
instructions, socket communications instructions,
SDO message instructions, no-protocol
communications instructions, and Modbus RTU
protocol instructions |
System
man-
agement |
Event logs |
Function |
Events are recorded in the logs |
Maximum
number of
events |
System event log |
2,560
[containing]
• For CPU Unit: 2,048
• For NX Unit: 512 |
Access event log |
1,152
[containing]
• For CPU Unit: 1,024
• For NX Unit: 128 |
User-defined event log |
1,024 |
De-
bugging |
Online editing |
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 |
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 |
Differential monitoring |
You can monitor when a variable changes to
TRUE or changes to FALSE |
|
Maximum number of monitored
variables |
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 |
4 |
Maximum number of records |
10,000 |
Sampling |
Maximum number of
sampled variables |
192 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 |
Safety
data
logging |
Function |
Records variables used in the safety program
of the Safety CPU Unit in a chronological order |
Targets |
Target Safety CPU Unit |
NX-SL5[]00 *2 |
Target variable types |
Exposed variables and device variables used
in the safety program |
Maximum number of
logged variables |
100 |
Data types |
SAFEBOOL, SAFEBYTE, SAFEWORD,
SAFEINT, SAFEDINT,BOOL, BYTE,
WORD, INT, DINT |
Maximum logging time |
480 s (Depends on logging interval) |
Logging interval |
Select from minimum value which stores from
primary periodic task cycle or adds constant
number multiple (x1, x2, x3, x4) of primary
periodic task cycle *3 |
Maximum number of simultaneous
executions |
2 |
Simulation |
The operation of the CPU Unit is emulated in the
Sysmac Studio |
Automation playback |
A function that supports all there activities of
system maintenance, recording, reproduction, and
analysis, in an integrated manner |
Relia-
bility
func-
tions |
Self-
diagnosis |
Controller
errors |
Levels |
Major faults, partial faults, minor faults,
observation, information |
Maximum number of
message languages |
9 (Sysmac Studio)
2 (NA-series PT) |
User-defined errors |
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 |
User Authentication |
This function authenticates each user when
Sysmac Studio is going online with the
Controller and restricts operation according
to the user's privileges. |
|
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
func-
tions |
Storage type |
SD card or SDHC 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 to save and read
for Controller files in the SD Memory Card and
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 frontpanel DIP
switch on the CPU Unit |
Specification with
system-defined
variables |
Backup and verification operations are performed
by manipulating systemdefined variables |
SD Memory Card
Window in Sysmac
Studio |
Backup and verification operations are performed
from the SD Memory Card Window of the Sysmac
Studio |
Special instruction |
The special instruction is used to backup data |
Protection |
Disabling backups to
SD Memory Cards |
Backing up data to a SD Memory Card is
prohibited |
Safety Unit Restore from SD Memory Card |
You can perform to restore data in a Safety CPU
Unit with an SD Memory Card and the front-panel
DIP switch on the Safety CPU Unit |
Sysmac Studio Controller backups |
The Sysmac Studio is used to backup, restore, or
verify controller data |