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Machine Automa tion Controller NX1P 23 Motion Control External Interface Signals The Servo Drive input signals l isted on t he right ar e used. Home signal, home proximity signal, positive limit signal, nega tive limit s…

Machine Automation Controller NX1P

Motion

Control

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 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.

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 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.

Item NX1P2

Machine Automation Controller NX1P

Motion

Control

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)

Management

EtherCAT slaves Maximum Number of Slaves 16

CJ-Series Units Maximum Number of Units Not supported

Communications

Peripheral USB Port Not supported

Built-in EtherNet/IP

Port

Communications Protocol TCP/IP and UDP/IP

CIP

Communications

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

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)

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

Communication

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

Management

RUN Output Contacts Not supported

System

Management

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

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

Item NX1P2

Machine Automation Controller NX1P

*1. Inline ST is supported. (Inline ST is ST that is written as an element in a ladder diagram.)

*2. This is the total of 512 events for the CPU Unit and 64 events for the NX Unit.

*3. This is the total of 512 events for the CPU Unit and 16 events for the NX Unit.

*4. Restore is supported with unit version 1.14 or later.

Debugging

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

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

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.

Item NX1P2