Omron NJ501-4300, Manual

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1 Overview of NJ Robotics CPU Unit
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
1-
3 S
p
ecific
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Functio
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pecifications
Number of
controlled
axes Maximum number
of controlled axes 64 axes 32 axes 16 axes
Single-axis control 64 axes max. 32 axes max. 16 axes max.
Linear interpola-
tion control
*4
4 axes max. per axes group
Circular interpola-
tion control
*4
2 axes per axes group
Number of axes groups 32 groups max.
Unit con-
version Unit of display pulse, mm, nm, degree and inch
Electronic gear
ratio Pulse per motor rotation/travel distance per motor rotation
Positions that can be managed Command positions and actual positions
Position command values
Negative or positive long reals (LREAL) or 0 (unit: command units
*5
)
Velocity command values
Negative or positive long reals (LREAL) or 0 (unit: command units/s)
*6
Acceleration command values
and deceleration command val-
ues
Positive long reals (LREAL) or 0 (unit: command units/s
2
)
Jerk command values
Positive long reals (LREAL) or 0 (unit: command units/s
2
)
Override factors 0.00% or 0.01% to 500.00%
Axis type Servo axes, Virtual servo axes, Encoder axes, and Virtual encoder axes
Motion control period The same control period as that is used for the process data communica-
tions cycle for EtherCAT.
Use the robot functions with the period of 1 ms, 2 ms or 4 ms.
Cams Number of cam
data 65,535 points max. per cam table
1,048,560 points max. for all cam tables
Number of cam
tables 640 tables max.
Cam profile curve Created with the Cam Editor.
Overwriting cam
data Can be overwritten from the user program.
Coordi-
nate Sys-
tem Axis coordinate
system (ACS) 1 system per axis
Machine coordi-
nate system (MCS) 1 system per group
User coordinate
system (UCS) 16 systems per group
Tool coordinate
system (TCS) 17 systems per group (default + defined robot tools)
Robot tool 16 tools group
Maximum number of robots 8 8 8 1
*1. Unit version 2.1 or later is recommended.
*2. Unit version 1.1 or later is recommended.
*3. Attach the unit to a NX-ECC201 EtherCAT Coupler Unit.
*4. You cannot use this function for robot control.
*5. Positions can be set within a 40-bit signed integer range when converted to pulses.
*6. The maximum velocity command value is 400 Mpps (in pulses) when you use OMRON G5-series Servo
Drives.
*7. Cartesian 3D, Cartesian 3D Gantry, Cartesian 2D, Cartesian 2D Gantry and H-Bot are applicable only in
Robot Version 1.03 or later.
Item
Specification
NJ501-4500 NJ501-4400 NJ501-4300 NJ501-4320 NJ501-4310