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Machine Automati on Controller NX1P 20 Function Specifications Item NX1P2 Tasks Function I/O refresh and the user program are execu ted in units th at are called tasks. Tasks are used to speci fy execution co nditions an…
Machine Automation Controller NX1P
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*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 ch increments. The value is included in the total size of variables without a Retain attribute.
*4. The value can be set in 1 ch increments. The value is included in the total size of variables with a Retain attribute.
*5. Refer to the NJ/NX-series CPU Unit Motion Control User’s Manual (Cat. No. W507) for the description of this term.
*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. Ring topology is supported with the project version 1.40 or later.
Slaves on a ring topology should support a ring topology. If Omron slaves, please see the user's manual of slaves.
*10.For project unit version earlier than 1.40, the data must be within one frame.
Built-in
EtherNet/IP
port
CIP message
service:
Explicit messages
Class 3 (number of connections)
32
(clients plus server)
UCMM
(non-connection
type)
Maximum number of clients that
can communicate at one time
32
Maximum number of servers that
can communicate at one time
32
Number of TCP sockets 30
Secure Socket
Service
Maximum number of Secure Socket 30
TLS Version 1.2
Built-in
EtherCAT port
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, branching and ring *9
Transmission media
Twisted-pair cable of category 5 or higher
(double-shielded straight cable with aluminum tape and braiding)
Maximum transmission distance between nodes 100 m
Maximum number of slaves 16
Range of node addresses that can be set 1 to 192
Maximum process data size
Input: 1,434 bytes
Output: 1,434 bytes *10
Maximum process data size per slave
Input: 1,434 bytes
Output: 1,434 bytes
Communications cycle 2,000 μs to 8,000 μs in 250-μs increments
Sync jitter 1 μs max.
Serial
Communications
(Serial
Communications
Option Board)
Communications method half duplex
Synchronization Start-stop
Baud rate 1.2/2.4/4.8/9.6/19.2/38.4/57.6/115.2 kbps
Transmission distance Depends on Option Board.
Supported protocol Host link, Modbus-RTU master, and no-protocol
Unit
configuration
Maximum number
of connectable
Units
Maximum number of NX Units that can be
mounted to the CPU Unit
8
Maximum number of NX Units for entire controller
24
On CPU Rack: 8
On EtherCAT Slave Terminals: 16
Power supply
Model A non-isolated power supply for DC input is built into the CPU Unit.
Power OFF detection time 2 to 8 ms
Option Board Number of slots 221
Built-in I/O
Input Number of points 24 24 14
Output
Number of points 16 16 10
Load short-circuit protection
11DT/10DT/9024DT: Not provided (NPN)
11DT1/10DT1/9024DT1: Provided (PNP)
Internal clock
Accuracy
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 month
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
Item
NX1P2-
11/
111
10/
101
90/
901
Machine Automation Controller NX1P
20
Function Specifications
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.
Periodically
Executed Tasks
Maximum Number
of Primary Periodic
Tasks
1
Maximum Number
of Periodic Tasks
2
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
Setup System Service Monitoring Settings Not supported
Programming
POUs
(programorganization
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
Enumeration 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
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
Machine Automation Controller NX1P
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Motion
Control
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
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 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.
Item NX1P2