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A - 73

  Appendices

NX-series Position Interface Units User’s Manual (W524)

A-6
  App

licable

 Motio

n

 C

ontrol In

struction

s

A

A-

6-4  Instru

ctions for Axes 

Gr
oup Command

s

The instructions for axes group commands are given in the following table.

A-6-4

Instructions for Axes Group Commands

Instruction name

Instruction

Outline of instruction

Attri-

butes

Appli-

cability

Enable Axes Group

MC_GroupEnable

The MC_GroupEnable instruction 
enables an axes group.

---

Yes

Disable Axes Group

MC_GroupDisable

The MC_GroupDisable instruction dis-
ables an axes group.

---

Yes

Linear Interpolation

MC_MoveLinear

The MC_MoveLinear instruction per-
forms linear interpolation.

A

Yes

Absolute Linear Interpolation

MC_MoveLinearAbsolute

The MC_MoveLinearAbsolute instruction 
performs linear interpolation for a speci-
fied absolute position.

A

Yes

Relative Linear Interpolation

MC_MoveLInearRelative

The MC_MoveLinearRelative instruction 
performs linear interpolation for a speci-
fied relative position.

A

Yes

Circular 2D Interpolation

MC_MoveCircular2D

The MC_MoveCircular2D instruction 
performs circular interpolation for two 
axes.

A

Yes

Group Stop

MC_GroupStop

The MC_GroupStop instruction deceler-
ates all of the axes in an interpolated 
motion to a stop.

A

Yes

Axes Group Immediate Stop

MC_GroupImmediateStop

The MC_GroupImmediateStop instruc-
tion immediately stops all axes in an 
interpolated motion with the method that 
is specified in the axis parameters.

A

Yes

Set Group Overrides

MC_GroupSetOverride

The MC_GroupSetOverride instruction 
changes the blended target velocity dur-
ing an interpolated motion.

A

Yes

Group Reset

MC_GroupReset

The MC_GroupReset instruction clears 
axes group errors and axis errors.

A

Yes

 

*1

*1. This instruction resets an error condition between the MC Function Module and the Pulse Output Unit. It does not reset 

the error in the motor drive that is connected to a Pulse Output Unit.

Axes Group Cyclic Synchro-
nous Absolute Positioning

MC_GroupSyncMoveAbsol
ute

The MC_GroupSyncMoveAbsolute 
instruction outputs the target positions in 
the axis coordinate system (ACS) every 
task period to the Servo Drive in Cyclic 
Synchronous Position (CSP) Control 
Mode.

A

Yes

Read Axes Group Position

MC_GroupReadPosition

The MC_GroupReadPosition instruction 
gets the command current positions and 
the actual current positions of an axes 
group.

A

Yes

Change Axes in Group

MC_ChangeAxesInGroup

The MC_ChangeAxesInGroup instruc-
tion overwrites the axes group composi-
tion axes in the axes group parameters 
of the MC Function Module.

---

Yes

Summary of Contents for NX-EC0112

Page 1: ...Machine Automation Controller NX series Position Interface Units Incremental Encoder Input Units SSI Input Units Pulse Output Units User s Manual W524 E1 05 NX EC0 NX ECS NX PG0...

Page 2: ...tion contained in this publication Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other countries for OMRON factory automation products Microsoft Windows W...

Page 3: ...have knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of introducing FA systems Personnel in charge of designing FA systems Personnel in charge of installi...

Page 4: ...recautions for Correct Use 21 Regulations and Standards 22 Conformance to EC Directives 22 Conformance to UL and CSA Standards 23 Conformance to Shipbuilding Standards 23 Conformance to KC Standards 2...

Page 5: ...its 2 2 2 1 2 Specifications of Individual Units 2 2 2 2 Operating Procedures 2 3 2 2 1 Procedures When Using the Motion Control Function Module 2 3 2 2 2 Procedures When Not Using the Motion Control...

Page 6: ...6 13 6 5 3 NX EC0132 6 15 6 5 4 NX EC0142 6 17 6 5 5 NX EC0212 6 19 6 5 6 NX EC0222 6 21 6 6 I O Refreshing Method Setting 6 23 6 6 1 Setting the I O Refreshing Methods 6 23 6 6 2 Free Run Refreshing...

Page 7: ...6 2 Free Run Refreshing 7 15 7 6 3 Synchronous I O Refreshing 7 18 7 6 4 Task Period Prioritized Refreshing 7 20 7 6 5 Differences in I O Refreshing Methods Based on the Controller 7 21 7 6 6 Process...

Page 8: ...tions When Using the Pulse Output Unit 8 42 8 9 3 Setting Examples 8 47 8 10 Functions 8 52 8 10 1 Parameters 8 52 8 10 2 Pulse Output Method 8 53 8 10 3 Output Mode Selection 8 55 8 10 4 External Out...

Page 9: ...nance and Inspection 11 1 Cleaning and Maintenance 11 2 11 1 1 Cleaning 11 2 11 1 2 Periodic Inspections 11 2 11 2 Maintenance Procedures 11 4 Appendices A 1 Datasheets A 2 A 1 1 Models A 2 A 1 2 Incr...

Page 10: ...the most of the NX series Position Interface Units Other manuals such as related product manuals are necessary for specific system configurations and applications Refer to Related Manuals on page 27...

Page 11: ...n the Units so that the connectors fit exactly 2 The yellow sliders at the top and bottom of each Unit lock the Units together Move the sliders toward the back of the Units as shown below until they c...

Page 12: ...its with different unit versions and for different versions of the Sysmac Studio is given Note References are provided to more detailed or related information In this manual download refers to transfe...

Page 13: ...11 Manual Structure NX series Position Interface Units User s Manual W524...

Page 14: ...e price of the non complying Product provided that in no event shall Omron be responsible for warranty repair indemnity or any other claims or expenses regarding the Products unless Omron s analysis c...

Page 15: ...responsible for the user s programming of a programmable Product or any consequence thereof Data presented in Omron Company websites catalogs and other materials is provided as a guide for the user in...

Page 16: ...angle and explained in text This example indicates a precaution for electric shock The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and expl...

Page 17: ...al power supplies for slaves or other devices are overloaded or short circuited the voltage will drop outputs will turn OFF and the system may be unable to read inputs Pro vide external safety measure...

Page 18: ...g figure Be sure that all terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals The loose screws may result in fire or malfunction Online Editing Exe...

Page 19: ...l blocks and connectors only after checking the mounting location carefully Be sure that the terminal blocks expansion cables and other items with locking devices are properly locked into place Do not...

Page 20: ...in malfunctions Double check all switches and other settings and double check all wiring to make sure that they are correct before turning ON the power supply Use the correct wiring parts and tools w...

Page 21: ...ting Mode at Startup confirm that no adverse effect will occur in the system Before you start operation always register the NX Units that are connected to the Communications Coupler Unit in the host c...

Page 22: ...tartup Changing the user program or settings Changing set values or present values Forced refreshing Always sufficiently check the safety at the connected devices before you change the settings of a s...

Page 23: ...st touch a grounded metallic object in order to discharge any static build up Use the rated power supply voltage for the Units that supply power Take appropriate measures to ensure that the specified...

Page 24: ...to EC Directives The NX series Units comply with EC Directives To ensure that the machine or device in which the NX series Units are used complies with EC Directives the following precautions must be...

Page 25: ...ication may not be possible for some installation locations A Position Interface Unit must be installed within a control panel Gaps in the door to the control panel must be completely filled or covere...

Page 26: ...s The unit version is given with the Unit specifications on the side of the Unit or in the notched area The following information is provided in the Unit specifications on the Unit Unit Versions Notat...

Page 27: ...llowing operations Double click EtherCAT under Configurations and Setup in the Multiview Explorer right click the EtherCAT Coupler Unit in the EtherCAT Configuration Edit Tab Page and select Edit Slav...

Page 28: ...on to monitor the total power ON time was added for a version upgrade Refer to Functions That Were Added or Changed for Each Unit Version on page A 67 for the unit versions that support monitoring the...

Page 29: ...nd func tions of the Sysmac Studio Describes the operating procedures of the Sysmac Studio NJ NX series Trouble shooting Manual W503 NX701 NJ501 NJ301 NJ101 Learning about the errors that may be detec...

Page 30: ...mes and functions General specifications Installation and wiring Maintenance and Inspection Use this manual together with the NJ NX series CPU Unit Software User s Manual Cat No W501 NJ NX series CPU...

Page 31: ...he basic instruc tions of an NJ NX series CPU Unit The instructions in the instruction set IEC 61131 3 specifications are described When programming use this manual together with the NJ series CPU Uni...

Page 32: ...unction Module performs motion control based on commands from the motion control instructions that are executed in the user program Abbreviation MC Function Module motion control parameters Parameters...

Page 33: ...stamping and corrected mistakes 03 September 2013 Added precautions for connecting to NJ series Controllers and added information on time stamping 04 July 2014 Added the NX EC0112 NX EC0132 NX EC0212...

Page 34: ...Revision History 32 NX series Position Interface Units User s Manual W524...

Page 35: ...7 8 9 I Features and System Configuration Specifications and Application Procedures Troubleshooting Part Names and Functions Maintenance and Inspection Installation and Wiring Appendices I O Refreshi...

Page 36: ...Sections in this Manual 34 NX series Position Interface Units User s Manual W524...

Page 37: ...n Connecting to an NJ NX series Controller 1 10 1 2 2 System Configuration When Connecting to a Controller Other Than the NJ NX series Controller 1 11 1 3 Models 1 13 1 3 1 Model Number Notation 1 13...

Page 38: ...unt of work that is required for wiring You can use the MC Function Module in an NJ NX series CPU Unit to perform high speed high preci sion control You can use motion control instructions to easily p...

Page 39: ...t specifications of the encoder pulses Units that take a voltage input and Units that take a line receiver input 1 The count value of the encoder pulses is sent to the Controller every control period...

Page 40: ...s sent to the Controller every control period Features You can connect to an absolute encoder with an SSI interface A baud rate synchronous clock of SSI communications of up to 2 0 MHz is supported Ei...

Page 41: ...y received target positions as shown in the above figure Profile processing of the position number of pulses and velocity pulse frequency for motor control must be performed by the Controller that pro...

Page 42: ...based on the results of the command interpretation It generates command values to send to the Pulse Output Unit The EtherCAT Master Function Module sends the command values with PDO communications dur...

Page 43: ...an example of the task operation performed for I O processing for the Posi tion Interface Units in the primary periodic task The same information applies when processing is per formed in the priority...

Page 44: ...ncremental Encoder Input Units both contain data definitions equivalent to the touch probe function and touch probe status 1 1 Refer to 6 9 8 Latching on page 6 59 for details on this operation SSI In...

Page 45: ...r to the following sections for details on the differences in functions based on different controller specifications 6 6 5 Differences in I O Refreshing Methods Based on the Controller on page 6 29 7...

Page 46: ...Unit and then all of the data is exchanged with the EtherCAT master at the same time The EtherCAT Coupler Unit can also perform message communications SDO communi cations with the EtherCAT master C N...

Page 47: ...1 82 Position Control Units even though they can operate as EtherCAT masters 1 2 2 System Configuration When Connecting to a Controller Other Than the NJ NX series Controller Letter Item Description A...

Page 48: ...AT Coupler Unit to set up the EtherCAT Slave Terminal F ESI EtherCAT Slave Information file The ESI file contains information that is unique to the EtherCAT Slave Terminal in XML for mat You can load...

Page 49: ...hannels 1 1 This is the number of encoder input channels External inputs Fre quency I O refreshing methods Number of I O entry mappings Remarks NX EC0112 1 NPN 3 NPN 500 kHz Free Run refreshing Synchr...

Page 50: ...I O refreshing methods Number of I O entry mappings NX ECS112 1 None 2 MHz Free Run refreshing Synchronous I O refreshing Task period prioritized refreshing 2 2 Unit version 1 2 or later and an NX ECC...

Page 51: ...t Allows you to preset the counter value for each counter with the counter opera tion command Latching Allows you to latch the counter value for each counter You can use counter oper ation commands ph...

Page 52: ...EC0132 Yes Yes Yes Yes Yes NX EC0142 Yes Yes Yes Yes Yes NX EC0212 Yes Yes The EC0212 does not have external inputs NX EC0222 Yes Yes The EC0222 does not have external inputs Functions and Assignable...

Page 53: ...the received frame to correct the problem Parity check Performs a parity check on the SSI data Data refresh status Allows you to check for updates to the SSI data Error data detection Allows you to pr...

Page 54: ...a latch input to use two latches at the same time External input function selec tion Two external inputs are provided You can assign them either of the following input functions general input or latc...

Page 55: ...Sysmac Studio Version 1 Operation Manual Cat No W504 for connection procedures Connect the Sysmac Studio to the EtherCAT Coupler Unit through the USB port Refer to the NX series EtherCAT Coupler Unit...

Page 56: ...er Unit through the USB port Use Sysmac Studio version 1 06 or higher Refer to the Sysmac Studio Version 1 Operation Manual Cat No W504 for information on the func tions that you can use Connect the S...

Page 57: ...eneral Specifications for the Position Interface Units 2 2 2 1 2 Specifications of Individual Units 2 2 2 2 Operating Procedures 2 3 2 2 1 Procedures When Using the Motion Control Function Module 2 3...

Page 58: ...ree from corrosive gases Ambient storage temperature 25 to 70 C with no condensation or icing Altitude 2 000 m max Pollution degree 2 or less Conforms to JIS B 3502 and IEC 61131 2 Noise immunity 2 kV...

Page 59: ...ection describes the basic operating procedures that are required to use the MC Function Module in an NJ NX series Controller Additional Information Refer to the NJ NX series CPU Unit Motion Control U...

Page 60: ...nitor Table Monitor input signals to check the wiring Perform jogging 1 Checking Operation END Error Debugging Yes Read the error code Remove the cause of the error and reset the error Operate the Con...

Page 61: ...I O Data Specifications on page 7 30 and 8 8 I O Data Specifications on page 8 31 Refer to the NX series EtherCAT Coupler Unit User s Manual Cat No W519 for information on how to assign the I O data o...

Page 62: ...Manual W524 Assigning Axes Assign the Position Interface Units to Axis Variables Use the following procedure to make the assignments 1 Right click an axis in the Multiview Explorer and select Edit fr...

Page 63: ...U Unit NJ series CPU Units do not have this setting 3 Select the axis type The following table lists the Position Interface Units and other NX Units that are required for each axis type Note If you us...

Page 64: ...t and output devices This operation enables you to use an NX Unit as an axis The following table lists the NX Units that you can select for each device Axis type Device type Selectable NX Units Encode...

Page 65: ...an NX Unit that is not assigned to an axis in a Slave Terminal that is managed by the MC Function Module but keep in mind the above characteristics of the refreshing of I O data when you do so If you...

Page 66: ...e you can only use basic instructions in your pro grams including those for position management Additional Information For Pulse Output Units other tasks must be performed on the Controller in additio...

Page 67: ...ch Tab Page Monitor input signals to check the wiring Perform jogging 1 2 Checking Operation END Error Debugging Yes Read the error code Remove the cause of the error and reset the error Operate the C...

Page 68: ...ontroller on page 6 29 7 6 5 Differences in I O Refreshing Methods Based on the Controller on page 7 21 and 8 7 4 Differences in I O Refreshing Methods Based on the Controller on page 8 28 Assigning D...

Page 69: ...rameter Settings of the Position Interface Units Set the parameters for the Position Interface Units The settings are different for each model of Position Interface Unit Refer to 6 6 5 Differences in...

Page 70: ...2 Specifications and Application Procedures 2 14 NX series Position Interface Units User s Manual W524...

Page 71: ...on Interface Units User s Manual W524 This section describes the names and functions of the parts of the Position Interface Units 3 1 Parts and Names 3 2 3 2 Indicators 3 3 3 3 Terminal Blocks 3 5 Par...

Page 72: ...lly available markers B NX bus connector This connector is used to connect to another Unit C Unit hookup guides These guides are used to connect two Units to each other D DIN Track mounting hooks Thes...

Page 73: ...9 and 8 5 3 Indicators on page 8 13 A Position Interface Unit has indicators that show information such as the current operating status of the Unit or signal I O status details The NX EC0122 Incremen...

Page 74: ...Unit for the indicator status of the Communications Cou pler Unit when I O checking is in progress Flashing at 2 s intervals Initializing Restarting is in progress for the Unit Downloading Flashing a...

Page 75: ...s and one with 24 terminals using 2 sets of 12 termi nal terminal blocks as shown below NX TB 2 NX TB 1 B C A1 A2 A3 A4 A5 A6 A7 A8 D1 D2 D3 D4 D5 D6 D7 D8 A1 A2 A3 A4 A5 A6 A7 A8 B1 B2 B3 B4 B5 B6 B7...

Page 76: ...umbers are written as a combination of columns and rows A1 through A8 and B1 through B8 For a 24 mm wide terminal block the left side contains terminals A1 through A8 and B1 through B8 The right side...

Page 77: ...Position Interface Unit Even if you mount an NX TB 2 Terminal Block which has a terminal current capacity of 10 A the rated current does not change because the current capacity specification of the I...

Page 78: ...3 Part Names and Functions 3 8 NX series Position Interface Units User s Manual W524...

Page 79: ...the Power Supply and Ground Wires 4 8 4 2 1 Power Supply Types 4 8 4 2 2 Power Supply Methods and Wiring 4 8 4 2 3 Calculating the Total Current Consumption from I O Power Supply 4 10 4 2 4 NX series...

Page 80: ...ays turn OFF the I O power supply to an NX Unit before you attach or remove its terminal block This section describes how to mount two NX Units such as Position Interface Units to each other Precautio...

Page 81: ...ttempt to mount multiple NX Units that are already connected together the connections between the NX Units may break and they may fall to the ground When you handle an NX Unit be careful not to touch...

Page 82: ...nformation It is not normally necessary to unlock the DIN Track mounting hook when you mount the NX Unit If you mount an NX Unit on a DIN Track that is not one of the recommended DIN Tracks the DIN Tr...

Page 83: ...arkers into the marker attachment locations on the NX Units and the ter minal blocks on NX Units Commercially available markers are made of plastic and can be printed on with a special printer To use...

Page 84: ...and pull the NX Units straight forward Precautions for Correct Use When you need to remove an NX Unit always remove more than one NX Unit at a time including the Unit you need to remove It is sometim...

Page 85: ...ientation and B to F are installation orientations other than upright However there are restrictions on the installation orientation and restrictions to the specifications that can result from the Com...

Page 86: ...its operate on the power from the NX Unit power supply The NX Unit power is supplied to the Position Interface Units in the Slave Terminal through the NX bus connectors I O power sup ply This power su...

Page 87: ...power supply system design for Slave Terminals Example Incremental Encoder Input Unit A1 Z1 IOV IOG A2 Z2 B1 NC IOV IOG B2 NC IOV IOV IOV IOV IOG IOG IOG IOG A1 B1 B8 A8 A1 B1 A8 B8 I O power supply...

Page 88: ...ed external devices Total Current Consumption of a Pulse Output Unit Current consumption from I O power supply of Unit Total input current for Unit voltage inputs Total load current of loads connected...

Page 89: ...wer supply exceeds the maximum I O power supply current of the Communications Coupler Unit The Additional I O Power Supply Unit is also used when voltage drop in the I O power supply causes the voltag...

Page 90: ...l devices have different I O power supply voltages The Additional I O Power Supply Unit is used to separate the power supply systems The NX Unit power supply of the Additional I O Power Supply Unit is...

Page 91: ...tion Units Internal power supply circuit Unit power supply Insufficient I O power supply terminals Example for NPN Connections I O Power Supply Connection Unit No of IOV terminals 16 I O Power Supply...

Page 92: ...nd terminals NX EC0112 or NX EC0122 The following wiring example shows an NX EC0112 or NX EC0122 Incremental Encoder Input Unit wired to a rotary encoder with a shielded cable The shield is connected...

Page 93: ...r NX EC0222 Incremental Encoder Input Unit wired to a rotary encoder with a shielded cable The shield is connected to the Shield Connection Unit NX TBX01 Shield Connection Unit Incremental Encoder Inp...

Page 94: ...ed to a rotary encoder with a shielded cable The shield is connected to the Shield Connection Unit NX TBX01 Wiring Examples for SSI Input Units Shield Connection Unit SSI Input Unit Shield Rotary enco...

Page 95: ...s connected to the Shield Connection Unit NX TBX01 Note The pulse output from an NX PG0112 Pulse Output Unit is a 24 VDC NPN output Refer to 8 6 Terminal Block Arrangement on page 8 14 for information...

Page 96: ...d Connection Unit NX TBX01 Note The pulse output from an NX PG0122 Pulse Output Unit is a 24 VDC PNP output Refer to 8 6 Terminal Block Arrangement on page 8 14 for information on wiring drives Shield...

Page 97: ...screwdriver straight into the release hole Doing so may damage the terminal block When you insert a flat blade screwdriver into a release hole press it down with a force of 30 N or less Applying exce...

Page 98: ...u can insert into the wire holes on the screwless clamping terminal block are given in the following figure Prepare wires with these dimensions that also meet the applicable wire specifications given...

Page 99: ...terminals except ground ter minals Phoenix Contact AI0 34 8 0 34 22 Phoenix Contact Applicable wire sizes are given in parentheses CRIMPFOX 6 0 25 to 6 mm2 AWG 24 to 10 AI0 5 8 0 5 20 AI0 5 10 AI0 75...

Page 100: ...es Additional Information If more than 2 A will flow on the wires use plated wires or use ferrules Terminals Wire type Wire plating Wire size Conductor length strip ping length Classifica tion Current...

Page 101: ...and remove wires Use the following type of flat blade screwdriver We recommend the following screwdriver Connecting Ferrules Insert a ferrule straight into the terminal hole You do not need to insert...

Page 102: ...ectly you should feel resistance from the spring inside the release hole 2 Leave the flat blade screwdriver pressed into the release hole and insert the twisted wire or the solid wire into the termina...

Page 103: ...same for both ferrules and twisted solid wires 1 Press the flat blade screwdriver diagonally into the release hole The optimal angle for insertion is between 10 to 15 If the screwdriver is inserted c...

Page 104: ...e terminal block and press in on the top of the terminal block until you hear it engage The terminal block will click into place on the Unit After you mount the terminal block make sure that it is loc...

Page 105: ...nflict with each other when the Position Interface Unit and terminal block are connected to each other You can use these pins to create combinations in which the wrong terminal block cannot be attache...

Page 106: ...w As shown in the following table there are 20 unique pin patterns that you can use Insert pin Pattern Terminal block pin positions Unit pin positions 1 2 3 4 5 6 1 2 3 4 5 6 No 1 No 2 No 3 No 4 No 5...

Page 107: ...s into the holes reserved for use by OMRON you will not be able to mount the terminal block to the Unit Do not use Coding Pins that have been attached and then removed Additional Information Two sets...

Page 108: ...4 Installation and Wiring 4 30 NX series Position Interface Units User s Manual W524 Unit...

Page 109: ...supply for the external I O of a Position Interface Unit with I O power supply for another Unit The I O power supply terminals on an NX Unit are connected to the I O power supply terminals on the othe...

Page 110: ...st 5 times the circuit voltage Noise on the power supply line may affect operation if you also use the same power supply to power an electrical welder or electric discharge machine or if there is any...

Page 111: ...om the external device that is connected to the Unit you need to check and monitor the results If the input device is an encoder you can rotate the encoder to change the input value and monitor the re...

Page 112: ...ditional Information If you check the wiring for a Pulse Output Unit without using the MC Function Module perform the following operations Refer to 8 8 I O Data Specifications on page 8 31 for details...

Page 113: ...W524 4 6 Wiring Examples 4 4 6 Wiring Examples Refer to the following sections for terminal wiring examples for the Position Interface Units 6 5 Termi nal Block Arrangement on page 6 11 7 5 Terminal...

Page 114: ...4 Installation and Wiring 4 36 NX series Position Interface Units User s Manual W524...

Page 115: ...e I O refreshing methods and functions for Position Interface Units 5 1 I O Refreshing for Slave Terminals 5 2 5 2 I O Refreshing Methods 5 4 5 2 1 I O Refreshing Methods 5 4 5 2 2 Setting the I O Ref...

Page 116: ...of the host network and the NX bus I O refresh cycle are determined by the model of the CPU Unit and the type of communications The operation of I O refreshing is as follows when the built in EtherCAT...

Page 117: ...erCAT Coupler Unit The d refresh cycles of the NX Units depend on the I O refreshing methods which are described later Refer to the NX series EtherCAT Coupler Unit User s Manual Cat No W519 E1 05 or l...

Page 118: ...outputs is not simultaneous Refer to the manuals for the EtherCAT slaves for information on the timing to read inputs or to refresh outputs in EtherCAT slaves Free Run refreshing is always used as the...

Page 119: ...unications Coupler Unit reads the most recent input values and the NX Units control the outputs with the most recent output values However I O is refreshed in order so even within the same Slave Termi...

Page 120: ...time b Input read timing Input is set Input is read into the Unit a Inputs are refreshed in order for each Unit d The interval for reading inputs is not constant I O refreshing on NX bus Unit A Unit...

Page 121: ...and priority 5 periodic task For the built in EtherCAT port on an NJ series CPU Units they are calculated for the primary periodic task Precautions for Correct Use The NX bus refresh cycle is automati...

Page 122: ...pler Unit and host communications master see following figure c so the input read timing interval is constant See following figure d e To read the correct input values the input must be set before the...

Page 123: ...e c so the output refresh interval is constant See following figure d e The ON OFF response time is required from when outputs are updated until the output status is set on the external terminals of t...

Page 124: ...rity output processing is performed after input processing is completed See following figure d 1 The timing of I O is given as an example The actual timing will vary Operation for Task Period Prioriti...

Page 125: ...hich output pro cessing is performed See following figure d 1 The timing of I O is given as an example The actual timing will vary Additional Information Refer to the NX series EtherCAT Coupler Unit U...

Page 126: ...5 I O Refreshing Methods 5 12 NX series Position Interface Units User s Manual W524...

Page 127: ...ment 6 11 6 5 1 NX EC0112 6 11 6 5 2 NX EC0122 6 13 6 5 3 NX EC0132 6 15 6 5 4 NX EC0142 6 17 6 5 5 NX EC0212 6 19 6 5 6 NX EC0222 6 21 6 6 I O Refreshing Method Setting 6 23 6 6 1 Setting the I O Ref...

Page 128: ...ection 6 53 6 9 5 Gate Control 6 55 6 9 6 Counter Reset 6 57 6 9 7 Counter Preset 6 59 6 9 8 Latching 6 59 6 9 9 External Input Function Selection 6 62 6 9 10 Pulse Rate Measurement 6 64 6 9 11 Pulse...

Page 129: ...er Input Unit tells you the Unit type number of axes I O specifications and other information NX EC0 1 2 2 NX Series Unit Type Number of Channels Encoder Input Specification and Voltage Input Polarity...

Page 130: ...al USB port or built in EtherNet I P port on an NJ NX series CPU Unit C EtherCAT master NJ NX series CPU Unit D EtherCAT communications cable E EtherCAT Coupler Unit F Incremental Encoder Input Unit G...

Page 131: ...n below 6 3 1 Procedures When Using the Motion Control Function Module Create a project Create the EtherCAT network configuration Create the NX Unit configuration Set the NX Unit parameters Add axes A...

Page 132: ...le Operate the Controller and the machine Perform periodic maintenance A END Operation Maintenance Transferring Checking Wiring START Create a project Create the EtherCAT network configuration Create...

Page 133: ...This is where the markers are attached OMRON markers are pre installed at the factory You can also install commercially available markers B NX bus connector This connector is used to connect to anoth...

Page 134: ...e installed at the factory You can also install commercially available markers B NX bus connector This connector is used to connect to another Unit C Unit hookup guides These guides are used to connec...

Page 135: ...ion Interface Units The indicators for a One input Unit with a voltage input are described in the following table Terminal Block NX Bus Connector 6 4 3 Indicators NX EC0112 and NX EC0122 Indicator Nam...

Page 136: ...not active I0 I1 and I2 External input status indicator Yellow Lit The corresponding external input is ON Not lit The corresponding external input is OFF NX EC0212 and NX EC0222 Indicator Name Color...

Page 137: ...pply connected to the Communications Coupler Unit or an Additional I O Power Supply Unit 6 5 1 NX EC0112 Terminal Block Arrangement Terminal No Symbol I O Name A1 A I Counter input A A2 Z I Counter in...

Page 138: ...ply Unit to supply power to the Incremental Encoder Input Unit Internal Power Supply Wiring Diagram Wiring Example Terminal block NX bus connector A Z IOV IOG I0 I2 IOG B NC IOV IOG I1 NC IOG IOV IOV...

Page 139: ...ower supply output 24 V A4 IOG O Encoder power supply output 0 V A5 I0 I External input 0 A6 I2 I External input 2 A7 IOV O Encoder power supply output 24 V A8 IOG O Encoder power supply output 0 V Te...

Page 140: ...y power to connected external devices connect an 24 VDC I O power supply to the Communi cations Coupler Unit or an Additional I O Power Supply Unit to supply power to the Incremental Encoder Input Uni...

Page 141: ...al No Symbol I O Name A1 I0 I External input 0 A2 IOV O Sensor power supply output 24 V A3 IOG O Sensor power supply output 0 V A4 I2 I External input 2 A5 IOV O Sensor power supply output 24 V A6 IOG...

Page 142: ...nections 2 To supply power to connected external devices connect an 24 VDC I O power supply to the Communi cations Coupler Unit or an Additional I O Power Supply Unit to supply power to the Incrementa...

Page 143: ...al No Symbol I O Name A1 I0 I External input 0 A2 IOV O Sensor power supply output 24 V A3 IOG O Sensor power supply output 0 V A4 I2 I External input 2 A5 IOV O Sensor power supply output 24 V A6 IOG...

Page 144: ...nections 2 To supply power to connected external devices connect an 24 VDC I O power supply to the Communi cations Coupler Unit or an Additional I O Power Supply Unit to supply power to the Incrementa...

Page 145: ...A1 A1 I Counter 1 input A A2 Z1 I Counter 1 input Z A3 IOV O Encoder power supply output 24 V A4 IOG O Encoder power supply output 0 V A5 A2 I Counter 2 input A A6 Z2 I Counter 2 input Z A7 A8 Termina...

Page 146: ...To supply power to connected external devices connect an 24 VDC I O power supply to the Communi cations Coupler Unit or an Additional I O Power Supply Unit to supply power to the Incremental Encoder I...

Page 147: ...A1 A1 I Counter 1 input A A2 Z1 I Counter 1 input Z A3 IOV O Encoder power supply output 24 V A4 IOG O Encoder power supply output 0 V A5 A2 I Counter 2 input A A6 Z2 I Counter 2 input Z A7 A8 Termina...

Page 148: ...To supply power to connected external devices connect an 24 VDC I O power supply to the Communi cations Coupler Unit or an Additional I O Power Supply Unit to supply power to the Incremental Encoder I...

Page 149: ...t version 1 1 or earlier and an NX ECC203 EtherCAT Coupler Unit operation is performed with synchronous I O refreshing EtherNet IP Coupler Unit When an Incremental Encoder Input Unit is connected to a...

Page 150: ...specifications of the EtherCAT Coupler Unit refer to the NX series EtherCAT Coupler Unit User s Manual Cat No W519 E1 05 or later Use Free Run refreshing to exchange data without worrying about the t...

Page 151: ...ed Clock setting for the EtherCAT Coupler Unit and use Free Run refreshing for Incremental Encoder Input Units con nected to an EtherCAT Coupler Unit 1 Double click EtherCAT in the Multiview Explorer...

Page 152: ...r an NJ series CPU Unit only the task period of the primary periodic task is applicable Note Refer to Operation of Synchronous I O Refreshing on page 5 7 for details Precautions for Correct Use If you...

Page 153: ...Clock setting for the EtherCAT Coupler Unit and use synchronous I O refreshing for Incremental Encoder Input Units connected to an EtherCAT Coupler Unit 1 Double click EtherCAT in the Multiview Explor...

Page 154: ...or details Precautions for Correct Use If you use task period prioritized refreshing set the task period to a value within the specified refresh cycle range of the Position Interface Unit If you use t...

Page 155: ...nnected to an EtherCAT Coupler Unit 1 Double click EtherCAT in the Multiview Explorer The following tab page is displayed 2 Click the EtherCAT Coupler Unit under Configurations and Setup Change the En...

Page 156: ...with the MC Function Module Function EtherCAT Coupler Unit Free Run refreshing 1 1 If you use the Unit as an axis in the MC Function Module either synchronous I O refreshing or task period pri oritize...

Page 157: ...re not assigned to axes place those NX Units on another Slave Terminal To use different Slave Terminals use different EtherCAT Coupler Units and configure the Slave Terminals so that one contains only...

Page 158: ...MC Function Module Function EtherCAT Coupler Unit Free Run refreshing Synchronous I O refreshing Task period prioritized refreshing 1 1 Unit version 1 2 or later and an NX ECC203 EtherCAT Coupler Uni...

Page 159: ...Yes Usable No Not usable Other Controllers Function EtherCAT Coupler Unit EtherNet IP Coupler Unit Free Run refreshing Synchronous I O refreshing Task period pri oritized refresh ing 1 1 Unit version...

Page 160: ...t access data that is not assigned to I O The data items that you can allocate to I O for a One input Unit are listed in the following table 6 7 1 Data Items for Allocation to I O NX EC0112 NX EC0122...

Page 161: ...Latch Input 1 Data 1 4 DINT Yes Yes Latch Input 2 Data 1 4 DINT Yes Yes Internal Latch Data 1 4 DINT Pulse Rate 1 4 UDINT Pulse Period Measured Value 1 4 UDINT Time Stamp 1 3 3 An EtherCAT Coupler Un...

Page 162: ...ted 1 to 0 The Internal Latch Execution bit in the Encoder Counter Operation Command parameter is set to 0 PACKn Preset Completed This is the completion flag for the Preset Execution bit of the Encode...

Page 163: ...enabled If the External Input Function Selection parameter is set more than once for the same input the external input is disabled 1 External input enabled 0 External input disabled EREND External Re...

Page 164: ...flow occurred 0 Pulse period measurement value overflow did not occur Latch Status Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 L1FLG L1EN 1 L2FLG L2EN Abbr Data Description L1EN Latch Input...

Page 165: ...n Latch Input 2 Data LL 1 ELV2n Chn Latch Input 2 Data LH 2 ELV2n Chn Latch Input 2 Data HL 3 ELV2n Chn Latch Input 2 Data HH Abbr Data Description ELV2n Chn Latch Input 2 Data This contains the latch...

Page 166: ...Period Measured Value HH Abbr Data Description PPVn Chn Pulse Period Measured Value This contains the pulse period measured value for channel n Time Stamp Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit...

Page 167: ...Reset Completed Flag Clear 0 to 1 External Reset Completed Flag cleared ZSCRn Phase Z Reset Completed Flag Clear 0 to 1 Phase Z Reset Completed Flag cleared Pulse Period Measurement Function Byte Bit...

Page 168: ...2n Latch Input 2 Enable 1 Enable the latch input 2 0 Disable the latch input 2 LTRG2n Latch Input 2 Trigger Condition 2 0 One shot Mode 1 Continuous Mode LSEL2n Latch Input 2 Trigger Selection 2 0 Ext...

Page 169: ...erminal The Slave Terminal is connected through EtherCAT communications Refer to the NX series EtherCAT Coupler Unit User s Manual Cat No W519 for information on how to build NX Unit systems Refer to...

Page 170: ...erform control normally and unintended operations may occur if you change the default settings Set the Pulse Input Method parameter according to the output specifications of the connected encoder Ther...

Page 171: ...f required objects that is prepared in advance You select the I O entry mappings to use in the Edit I O Allocation Settings area of the Slave Terminal Tab Page in the Sysmac Studio The following I O e...

Page 172: ...range Unit Default Reference External Input 0 Function Selection External Input 0 Function Selection 0 General input 1 Latch input 1 2 Latch input 2 3 Gate input 4 Reset input 0 to 4 0 P 6 62 Externa...

Page 173: ...ction 4 Up and down pulses 1 to 4 2 P 6 50 Encoder Count Direction 0 Positive direction of phase A 1 Positive direction of phase B 0 or 1 0 P 6 53 Time Window This is the time window for pulse rate me...

Page 174: ...er value the counter value returns to the minimum counter value to continue the counting operation If the counter value exceeds the minimum counter value the counter value returns to the maximum count...

Page 175: ...below the minimum counter value the counter value will stay fixed at the maximum and minimum counter value However counting continues internally so the count value can be updated again if it falls bac...

Page 176: ...rmation on changing the count direction x2 Multiplication The counter operation is performed on the rising and falling edges of the phase A signal The count is incremented if phase A is advanced from...

Page 177: ...FF Change the Encoder Count Direction parameter in the Unit operation settings to change the count direction Refer to 6 9 4 Encoder Count Direction on page 6 53 for information on changing the count d...

Page 178: ...hange the count direction Refer to 6 9 4 Encoder Count Direction on page 6 53 for information on changing the count direction 1 Double click the Incremental Encoder Input Unit in the Multiview Explore...

Page 179: ...t type Counter Operation Positive direction of phase A Phase differential pulse x2 4 Pulse direction inputs Up and down pulses Positive direction of phase B Phase differential pulse x2 4 Pulse directi...

Page 180: ...54 NX series Position Interface Units User s Manual W524 1 Double click the Incremental Encoder Input Unit in the Multiview Explorer The following tab page is displayed 2 Set the Encoder Counter Direc...

Page 181: ...xternal inputs when you use an Incremental Encoder Unit with the MC Function Module Set the I0 I1 or I2 external input as a gate input to enable or disable the counter through that external input When...

Page 182: ...view Explorer The following tab page is displayed 2 Set the External Input 0 Function Selection External Input 1 Function Selection or External Input 2 Function Selection to a gate input Also set the...

Page 183: ...nal input If you set the External Input Logic Selection parameter for the external input to specify an N C contact the counter will reset to 0 on the falling edge of the external input To enable reset...

Page 184: ...r Operation Command parameter to 1 Refer to Encoder Counter Operation Command on page 6 40 for information on the Phase Z Reset Enable bit When the Unit is reset with an external input or phase Z inpu...

Page 185: ...ue of the counter will not change and the Preset Command Value Invalid Flag in the Encoder Counter Status parameter will change to 1 To reset the Preset Command Value Invalid Flag to 0 set a value tha...

Page 186: ...he following timing chart shows the operation in Continuous Mode Input trigger condition Description One shot Mode After you change Latch Input 1 Enable or Latch Input 2 Enable bit from 0 to 1 the pre...

Page 187: ...y of up to 250 s will occur between when the latch input is received and when the latch data is processed The latch data and latch completed flags will turn ON the first time input data is refreshed a...

Page 188: ...on External Input 0 Logic Selec tion 0 N O Normally open 1 N C Normally close 0 Changes are applied when the power sup ply to the NX Unit is turned ON or the NX Unit is restarted External Input 1 Logi...

Page 189: ...at least 200 s for external inputs For latch and reset operations digital filtering is determined according to the input that is detected up to 200 s after the present position input was detected Sig...

Page 190: ...late the pulse frequency and rotation rate in the user program The time window for pulse rate measurement starts from the set value that is written and it starts when the set value is written Setting...

Page 191: ...the set value that is written and it starts when the set value is written When processing begins the data that is obtained at that point is used to fill the average processing times buffers Data is st...

Page 192: ...1st cycle Data 1 Data 1 Data 1 Data 1 2nd cycle Data 1 Data 2 Data 1 Data 1 3rd cycle Data 1 Data 2 Data 3 Data 1 4th cycle Data 1 Data 2 Data 3 Data 4 5th cycle Data 5 Data 2 Data 3 Data 4 The data i...

Page 193: ...to the required unit You can use the pulse rate value that was read in the user program to calculate the rotation rate r min The rotation rate is the number of motor rotations per minute Use the foll...

Page 194: ...erefore kHz The value that is automatically set for the target Unit when the variable is assigned in the Sysmac Studio is used for the Specified Unit input variable to the Read NX Unit Object instruct...

Page 195: ...les using the variables and the Read NX Unit Object instruction refer to the NJ NX series Instructions Reference Manual Cat No W502 Allocating the Pulse Rate to a PDO In this example you can change th...

Page 196: ...ng edges Between falling edges Between both edges Measurable range 1 to 4 294 967 295 100 ns 100 ns to 429 4967295 s The data type is UDINT However frequency measurements that exceed the maximum respo...

Page 197: ...nable Enables or disables pulse period measurement 1 0 Disable 1 Enable 1 If the Edge Detection Method parameter is set to disable 0 pulse period measurement the function is dis abled regardless of th...

Page 198: ...easure every falling edge 3 Measure every rising and falling edge 0 Changes are applied when the power sup ply to the NX Unit is turned ON or the NX Unit is restarted Edge Detection Method by Input Ty...

Page 199: ...easurement period Measure every rising edge Measure every falling edge Measure every rising and fall ing edge Pulse input Direction input Count value Measure ment period Measurement period Measure men...

Page 200: ...rement period Measure every rising edge Measure every falling edge Measure every rising and fall ing edge Increment pulse Decrement pulse Count value Measurement period Measurement period 1 2 1 0 1 In...

Page 201: ...6 34 for information and Time Stamp on page 6 40 for details on time stamps If you use time stamping you must assign a time stamp to I O in the Incremental Encoder Input Unit Time stamps are not assig...

Page 202: ...not dependent on the task periods in the CPU Unit For example if you use sensors to detect workpieces moving on a conveyor you can use time stamps to estimate the positions of the workpieces based on...

Page 203: ...r input NX Unit power consump tion NX EC0112 NX EC0122 NX EC0132 NX EC0142 NX EC0212 NX EC0222 0 85 W max 0 95 W max 0 95 W max 1 05 W max 0 85 W max 0 95 W max I O power supply voltage 20 4 to 28 8 V...

Page 204: ...20 4 to 28 8 VDC 24 VDC 20 15 Input current 4 2 mA typical 24 VDC Minimum ON voltage 19 6 VDC min 3 mA min Maximum OFF voltage 4 0 VDC max 1 mA max Maximum response frequency Single phase 500 kHz Phas...

Page 205: ...142 Pulse Input Timing Specifications Line Receiver Input Specifications Item Specifications Phases A and B Phase Z Input voltage EIA standard RS 422 A line driver levels Input impedance 120 5 High le...

Page 206: ...al Input Specifications Item Specifications Input voltage 20 4 to 28 8 VDC 24 VDC 20 15 Input current NX EC0112 or NX EC0122 4 6 mA typical 24 VDC NX EC0132 or NX EC0142 3 5 mA typical 24 VDC ON volta...

Page 207: ...7 5 1 NX ECS112 7 10 7 5 2 NX ECS212 7 12 7 6 I O Refreshing Method Setting 7 14 7 6 1 Setting the I O Refreshing Methods 7 14 7 6 2 Free Run Refreshing 7 15 7 6 3 Synchronous I O Refreshing 7 18 7 6...

Page 208: ...t Units 7 2 NX series Position Interface Units User s Manual W524 7 9 6 Parity Check 7 52 7 9 7 Data Refresh Status 7 53 7 9 8 Error Data Detection 7 55 7 9 9 Time Stamping 7 56 7 10 General Specifica...

Page 209: ...odel Numbers The model number of the SSI Input Unit tells you the Unit type number of axes I O specifications and other information NX ECS 1 1 2 NX Series Unit Type Number of Channels Input Specificat...

Page 210: ...n the Controller SSI Input Units have an auxiliary function that you can use to separate error data based on the amount of change in the present value since the last value Refer to 7 9 8 Error Data De...

Page 211: ...When Using the Motion Control Function Module Create a project Create the EtherCAT network configuration Create the NX Unit configuration Set the NX Unit parameters Add axes Assign the axes Set the a...

Page 212: ...ontroller and the machine Perform periodic maintenance A END Operation Maintenance START Create a project Create the EtherCAT network configuration Create the NX Unit configuration Set the NX Unit par...

Page 213: ...actory You can also install commercially available markers B NX bus connector This connector is used to connect to another Unit C Unit hookup guides These guides are used to connect two Units to each...

Page 214: ...guides to connect the Units to each other The indicators show the Unit status counter operation status external input status and other informa tion The terminal block is used to connect the external I...

Page 215: ...in the following table 7 4 3 Indicators NX ECS112 Indicator Name Color Status Description CH SSI operating status indicator Green Lit The counter is enabled Not lit The counter is disabled RD SSI com...

Page 216: ...0 V is provided power from the I O power supply connected to the Communications Coupler Unit or an Additional I O Power Supply Unit 7 5 1 NX ECS112 Terminal Block Arrangement Terminal No Symbol I O Na...

Page 217: ...an Additional I O Power Supply Unit to supply power to the SSI Input Unit Internal Power Supply Wiring Diagram Wiring Example 24 V 0 V C C IOV IOG NC NC D D IOV IOG NC NC Terminal block NX bus connect...

Page 218: ...O Synchronous clock 1 output side A3 IOV O SSI power supply output 24 VDC A4 IOG O SSI power supply output 0 VDC A5 C2 O Synchronous clock 2 output side A6 C2 O Synchronous clock 2 output side A7 A8 T...

Page 219: ...y power to connected external devices connect an 24 VDC I O power supply to the Communi cations Coupler Unit or an Additional I O Power Supply Unit to supply power to the SSI Input Unit Wiring Example...

Page 220: ...EtherCAT Coupler Unit operation is performed with synchronous I O refreshing EtherNet IP Coupler Unit When an SSI Input Unit is connected to an EtherNet IP Coupler Unit you can use only Free Run refr...

Page 221: ...ing of the Controller The data that is exchanged is based on the SSI data that was obtained in the last I O refresh For this method the SSI Input Unit sends a clock signal to the encoder that is timed...

Page 222: ...The following are SSI Input Unit setting parameters Baud Rate Wait Time for Receive Enabled Mono flop Time Conversion Wait Time Valid Data Length and Leading Bits Refer to 7 9 2 SSI Data Settings on...

Page 223: ...lock setting for the EtherCAT Coupler Unit and use Free Run refreshing for SSI Input Units that are connected to an EtherCAT Coupler Unit 1 Double click EtherCAT in the Multiview Explorer The followin...

Page 224: ...ta length just as it does for Free Run refreshing The calculation method for the data refresh cycle is the same as for Free Run refreshing The timing of refreshing the data that is exchanged with the...

Page 225: ...setting for the EtherCAT Coupler Unit and use synchronous I O refreshing for SSI Input Units that are connected to an EtherCAT Coupler Unit 1 Double click EtherCAT in the Multiview Explorer The follo...

Page 226: ...ies CPU Unit only the task period of the primary periodic task is applicable Note Refer to Operation for Task Period Prioritized Refreshing on page 5 10 for details Precautions for Correct Use If you...

Page 227: ...CAT Coupler Unit 1 Double click EtherCAT in the Multiview Explorer The following tab page is displayed 2 Click the EtherCAT Coupler Unit under Configurations and Setup Change the Enable Distributed Cl...

Page 228: ...control in the primary periodic task and priority 5 periodic task You cannot use motion control instructions to perform control operations Precautions for Correct Use The MC Function Module cannot dir...

Page 229: ...O refreshing or task period pri oritized refreshing is used as the I O refreshing method Synchronous I O refreshing Task period priori tized refreshing 2 2 Unit version 1 2 or later and an NX ECC203...

Page 230: ...ose NX Units on another Slave Terminal To use different Slave Terminals use different EtherCAT Coupler Units and configure the Slave Terminals so that one contains only NX Units that are assigned to a...

Page 231: ...Function Module Function EtherCAT Coupler Unit Free Run refreshing Synchronous I O refreshing Task period priori tized refreshing 1 1 Unit version 1 2 or later and an NX ECC203 EtherCAT Coupler Unit a...

Page 232: ...an SSI Input Unit starts it automatically reads the value from the connected SSI encoder and sets that value as the initial value for the encoder present position If communications were successfully...

Page 233: ...ations performed for each channel The following figure shows an example of a Two channel Unit where channel 1 completed initial com munications normally but an error occurred for channel 2 1 An error...

Page 234: ...he SSI Status was reset when the bit in the Process Data Communications Status for the SSI Input Unit is set before you use the encoder axis If the bit in the SSI Communications Error Status is still...

Page 235: ...al W524 7 6 I O Refreshing Method Setting 7 7 6 6 Process Data Communications Status Additional Information The following are possible causes for a failure to read the initial value I O power is not s...

Page 236: ...NX Unit Object instruction or the Write NX Unit Object instruction For the index numbers refer to A 2 3 SSI Input Units on page A 43 The data items that you can allocate to I O for a One input Unit ar...

Page 237: ...h Count 1 2 UINT Time Stamp 1 3 3 An EtherCAT Coupler Unit with unit version 1 1 or later is required 8 ULINT SSI Status 2 1 BYTE Yes SSI Communications Error Code 2 1 BYTE Yes Encoder Present Positio...

Page 238: ...SSI Input Unit in combination with an NJ NX series Controller notification of SSI communications errors is provided in the SSI Communications Error Code in the SSI Status of the SSI Input Unit Also t...

Page 239: ...ace the encoder or Unit Communications Timeout This error occurs if the SSI data input is not at high level after the monoflop time elapses and the SSI data is received The SSI settings are incorrect...

Page 240: ...cription STDn Chn Status Data This contains the status data obtained from the encoder for channel n Encoder Present Position Refresh Count Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 CVRn C...

Page 241: ...le axis When you assign the variable to an MC Function Module axis manipulate the variable through the MC Function Module axis and not in the variable itself Use the SSI Input Unit as an encoder axis...

Page 242: ...9 for information on how to build NX Unit systems Refer to 7 5 Terminal Block Arrangement on page 7 10 for information on wiring SSI Input Units to external devices such as SSI encoders This section d...

Page 243: ...ave Terminal Tab Page in the Sysmac Studio The following I O entry mappings are selected by default in the Sysmac Studio Refer to A 2 Object Lists on page A 28 for details on each object Use the defau...

Page 244: ...3 0 P 7 41 Wait Time for Receive Enabled This is the wait time until the next frame can be sent 0 to 9999 10 s 0 P 7 41 Monoflop Time This is the duration from when the last block is sent until the h...

Page 245: ...0 P 7 53 Encoder Resolution This is the resolution for sin gle turn data 0 to 4294967295 0 P 7 42 Coding Method 0 No change 1 Output binary codes 2 Change gray codes to binary codes 3 Change binary co...

Page 246: ...ent status data positions or when additional information is added in front of or behind the position data However the total bit length of all the data must not exceed 32 bits The bit position plus dat...

Page 247: ...tarted from the time that power is supplied to the SSI Encoder Unit after the power supply is turned ON or after the NX Unit is restarted Wait Time for Receive Enabled 1 0 to 9999 10 s 0 Set the wait...

Page 248: ...r event occurs 3 If the sum of the values set for the Multi turn Data Start Bit and the Multi turn Data Length parameters is greater than the Valid Data Length parameter SSI communications are disable...

Page 249: ...Valid data length Single turn data start bit Single turn data length Multi turn data start bit Multi turn data length Status data start bit Status data length 25 12 13 0 12 0 0 Received frame bit posi...

Page 250: ...t area exactly as it is received Select this method to perform all protocol interpretation in the user program Setting with the Sysmac Studio 7 9 3 Coding Method Parameter name Setting Default Remarks...

Page 251: ...e resolution is calculated as the maximum value of the single turn data plus 1 Select this method when the data format from the encoder is gray code Received SSI data is converted to binary and proces...

Page 252: ...r to any value other than 0 the encoder present position will not be calculated correctly Corresponding Gray Codes and Binary The following table lists the gray codes and their equivalent values in bi...

Page 253: ...cording to the encoder resolution This encoder present position and status data are then both sent to the input area Additional Information If the set value of the Encoder Resolution parameter is 0 th...

Page 254: ...will perform gray code conversion treating the multi turn data and single turn data as continuous data In this case always set the Encoder Resolution parameter to 0 If you set the Encoder Resolution...

Page 255: ...ther than 32 bits the reference point home position changes from the signed 32 bit data after one rotation of absolute value data from the encoder For continuously repeating encoder absolute value dat...

Page 256: ...ault Remarks Encoder Count Direc tion 0 Not to invert the sign 1 Invert the sign 0 Changes are applied when the power sup ply to the NX Unit is turned ON or the NX Unit is restarted Count value 231 1...

Page 257: ...layed 2 Scroll down the Configurations and Setup Tab Page Set the Encoder Count Direction parameter The number of error bits and the location of position data depend on the encoder that you use You ca...

Page 258: ...w Explorer The following tab page is displayed 2 Set the Leading Bits parameter A parity check is performed on all bits after the bits of SSI data are shifted If a parity error is detected it is refle...

Page 259: ...esh cycle and therefore the value of this bit is not dependable Use the Encoder Present Position Refresh Count parameter to determine if the data has been refreshed when you use Free Run refreshing Pa...

Page 260: ...onous I O Refreshing Timing Charts Data communications SSI data communications Data refresh bit in SSI Unit Communications completed Free Run refreshing performed Free Run refreshing performed Encoder...

Page 261: ...Refresh Count Time Stamp Any time error data is detected with this function the error code in the SSI Status parameter is updated Precautions for Correct Use Error data detection is possible only whe...

Page 262: ...d the position data has changed from the previ ously obtained position data you can obtain the DC time when that change occurred along with the data Position data is obtained when NX bus I O is refres...

Page 263: ...ps are not assigned by default Add a time stamp to the I O entries in the I O entry mapping using the I O assignments of the SSI Input Unit Refer to the NX series EtherCAT Coupler Unit User s Manual C...

Page 264: ...ta length can be set Coding method 0 No change binary code or gray code Baud rate 100 kHz 200 kHz 300 kHz 400 kHz 500 kHz 1 0 MHz 1 5 MHz or 2 0 MHz NX Unit power consumption NX ECS112 NX ECS212 0 85...

Page 265: ...2 Functions of the Parts 8 12 8 5 3 Indicators 8 13 8 6 Terminal Block Arrangement 8 14 8 6 1 NX PG0112 8 14 8 6 2 NX PG0122 8 18 8 7 I O Refreshing Method Setting 8 23 8 7 1 Setting the I O Refreshin...

Page 266: ...6 External Input Function Selection 8 65 8 10 7 Load Rejection Output Setting 8 67 8 10 8 Interpolation Control for Missing Synchronization Command 8 69 8 10 9 Pulse Direction Change Delay 8 71 8 11 S...

Page 267: ...number of the Pulse Output Unit tells you the Unit type number of axes I O specifications and other information NX PG0 1 2 2 NX Series Unit Type Number of Channels Pulse Output Specification and I O P...

Page 268: ...me proximity input and immediate stop input 1 When the Unit is connected to an NJ NX series CPU you can use these inputs by adding a Digital Input Unit and assigning MC Function Module functions For i...

Page 269: ...lse Operation Unit operations are controlled through a Controlword and the results of those opera tions are returned in a Statusword Control operations are defined by different states and transitions...

Page 270: ...Done command is not supported Even if a Quick Stop Done command is received it will be ignored Disable Oper ation 0 1 1 1 5 Enable Oper ation 1 1 1 1 4 Fault Reset 0 to 1 3 3 This is the operation whe...

Page 271: ...Unit The state then changes to Fault Reaction Active and pulse output is stopped according to the Load Rejection Output Setting 5 Switched ON Ready to Switch ON Set the Controlword to Shutdown to ent...

Page 272: ...alue Additional Information The Pulse Output Unit uses a control method equivalent to the Cyclic Synchronous Position Control Mode in the CiA402 drive profile but it only controls pulse output The Uni...

Page 273: ...n Control Function Module START A Continues to on the following page Create a project Create the EtherCAT network configuration Create the NX Unit configuration Set the NX Unit parameters Add axes Ass...

Page 274: ...ne Perform periodic maintenance Program the motion controls A Read the error code Remove the cause of the error and reset the error Error END Debugging Yes No Programming Operation Maintenance START C...

Page 275: ...formed in the user program including position management Operate the Controller and the machine Perform periodic maintenance Write the control programming B Read the error code Remove the cause of the...

Page 276: ...lled at the factory You can also install commercially available markers B NX bus connector This connector is used to connect to another Unit C Unit hookup guides These guides are used to connect two U...

Page 277: ...all Position Interface Units The indicators for a One input Unit are described in the following table Indicators Terminal Block NX Bus Connector 8 5 3 Indicators NX PG0112 and NX PG0122 Indicator Name...

Page 278: ...ted to the Communications Coupler Unit or an Additional I O Power Supply Unit 8 6 1 NX PG0112 Terminal Block Arrangement Terminal No Symbol I O Name A1 A O Pulse output A CW PLS A2 IOV O Pulse output...

Page 279: ...to the Communi cations Coupler Unit or an Additional I O Power Supply Unit to supply power to the Pulse Output Unit Internal Power Supply Wiring Diagram Wiring Examples A IOV O0 IOV NC I0 IOG B IOV N...

Page 280: ...2 and A 1 4 Pulse Output Units on page A 22 for details When you connect a Pulse Output Unit to a Servo Drive use a 24 VDC input for the pulse input on the Servo Drive If there is no 24 VDC pulse inpu...

Page 281: ...8M K Red Green Yellow White Blue Encoder cable Shell Main power supply Three phase 200 to 240 VAC 50 60Hz Ground to less than 100 Main circuit contactors Surge suppressor Noise filter R88D KT MC2 MC2...

Page 282: ...tputs may cause damage or malfunctions The above example shows only the major signals that are required to control the Servo Drive You need to add operation commands for errors cutoff circuits for the...

Page 283: ...y to the Communi cations Coupler Unit or an Additional I O Power Supply Unit to supply power to the Pulse Output Unit Internal Power Supply Wiring Diagram Wiring Example A IOG O0 IOG NC I0 IOG B IOG N...

Page 284: ...2 and A 1 4 Pulse Output Units on page A 22 for details When you connect a Pulse Output Unit to a Servo Drive use a 24 VDC input for the pulse input on the Servo Drive If there is no 24 VDC pulse inpu...

Page 285: ...0 60Hz MC2 MC2 SUP MC2 MC1 MC1 MC2 MC1 OFF ON NFB MC1 37 ALM E R S T M CN2 CN1 CNA CNB A1 A2 B1 B2 6 1 4 30 19 25 39 7 29 31 38 36 2 24VCCW L1C L2C L1 L2 L3 B1 B3 B2 U V W 24VCW Z INP 24VIN RUN RESET...

Page 286: ...External Input 0 Function Selection parameter to Latch Input 1 Refer to 8 10 6 External Input Function Selection on page 8 65 for information on external input signals Also connect the operation comm...

Page 287: ...efreshing or task period prioritized refreshing is used as the I O refreshing method If you incorrectly set the I O Refresh Method to Free Run refreshing this could result in unintended operation Be s...

Page 288: ...Unit For the communications cycle specifications of the built in EtherCAT port on an NJ NX series CPU Unit refer to the NJ NX series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 For the...

Page 289: ...Operation of Synchronous I O Refreshing on page 5 7 for details Precautions for Correct Use If you use synchronous I O refreshing set the task period to a value within the specified refresh cycle ran...

Page 290: ...O refreshing 1 For an NX series CPU Unit the task period of the primary periodic task or priority 5 periodic task is applica ble For an NJ series CPU Unit only the task period of the primary periodic...

Page 291: ...k setting for the EtherCAT Coupler Unit and use task period prioritized refreshing for Pulse Output Units connected to an EtherCAT Coupler Unit 1 Double click EtherCAT in the Multiview Explorer The fo...

Page 292: ...nd outputs as I O Unit signals and control operations to save inputs output sequencing and other operations from the user program Yes Can be used Partial Can be used with restrictions No Cannot be use...

Page 293: ...e on NX Units that are not assigned to axes place those NX Units on another Slave Terminal To use different Slave Terminals use different EtherCAT Coupler Units and configure the Slave Terminals so th...

Page 294: ...rformed from the user program Additional Information For Pulse Output Units other tasks must be performed on the Controller in addition to position management such as velocity profile generation and c...

Page 295: ...ructions Reference Manual Cat No W502 for information on the Read NX Unit Object instruction or the Write NX Unit Object instruction For the index numbers refer to A 2 4 Pulse Output Units on page A 5...

Page 296: ...qs 2 2 qs is an abbreviation for Quick Stop Done ve 3 3 ve is an abbreviation for Voltage Enabled f 4 4 f is an abbreviation for Fault oe 5 5 oe is an abbreviation for Operation Enabled so 6 6 so is a...

Page 297: ...ady to Switch ON Set the Controlword to Shutdown to enter this state 6 Ready to Switch ON Switch ON Disabled Set the Controlword to Disable Voltage to enter this state 7 Operation Enabled Ready to Swi...

Page 298: ...ition HL 3 CVn Command Present Position HH Abbr Data Description CVn Command Present Position This contains the present value of the number of output pulses Latch Status Byte Bit 7 Bit 6 Bit 5 Bit 4 B...

Page 299: ...a LH 2 ELV1 Latch Input 1 Data HL 3 ELV1 Latch Input 1 Data HH Abbr Data Description ELV1 Latch Input 1 Data This contains the latch 1 data Latch Input 2 Data Byte Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2...

Page 300: ...set Enable Operation Quick Stop Done Enable Voltage Switch ON Shutdown 1 1 0 2 6 or 8 Switch ON 0 1 1 1 3 Switch ON Enable Operation 1 1 1 1 3 4 2 2 When the Servo is ready Switched ON the Servo is au...

Page 301: ...command velocity for velocity continuous pulse output is signed 32 bit DINT data How ever the set value itself is handled as an absolute value regardless of the sign The pulse out put direction is det...

Page 302: ...1 The setting is enabled when the Latch Input 1 Enable bit changes from 0 to 1 0 One shot Mode 1 Continuous Mode LSEL1 Latch Input 1 Trigger Selection 1 0 External input 1 Phase Z input 2 2 The Pulse...

Page 303: ...ler Unit User s Manual Cat No W519 for details Pulse Output Units are mounted after an EtherCAT Coupler Unit to build an NX Unit Slave Terminal The Slave Terminal is connected through EtherCAT communi...

Page 304: ..._Home instruction to 11 Limit inputs only or 14 Zero position pre set The following is a configuration example for a system that controls a Servo Drive 1 Assign these signals to the MC Function Module...

Page 305: ...se The MC Function Module will restrict operation in the relative direction depending on the sta tus of the positive limit input signal and negative limit input signal If the dog width for the limit i...

Page 306: ...actual current position is delayed in respect to the command position because the pulse count that is actually output by the Pulse Output Unit is returned The unit is pulses so the decimal portion of...

Page 307: ...ng error The processing for this function is per formed by the MC Function Module Same as at the left However this function is not effective in the Pulse Output Unit because the command position equal...

Page 308: ...o a Pulse Out put Unit Absolute encoder eliminates the need to perform homing when the power is turned ON You can use an absolute encoder if you use an OMRON G5 series Motor with an Absolute Encoder C...

Page 309: ...a G5 series Servo Drive You can detect Servo Drive errors in the CPU Unit if you use a G5 series Servo Drive with built in EtherCAT communications Differences in Processing to Obtain the Actual Curren...

Page 310: ...others Refer to A 6 Applicable Motion Control Instructions on page A 69 for the instruction applicability Differences in In position Check Processing Applicable Motion Control Instructions Pulse Outp...

Page 311: ...parameters The Pulse Output Unit has two inputs Leave the input functions at their default settings to use the Unit with the MC Function Module The default settings set the inputs to Latch Input 1 and...

Page 312: ...t I O Allocation Settings area of the Slave Terminal Tab Page in the Sysmac Studio The following I O entry mappings are selected by default in the Sysmac Studio Refer to A 2 Object Lists on page A 28...

Page 313: ...io The set tings will be displayed Output Settings Controller to Device The output settings apply to the command data that is sent from the MC Function Module to the Pulse Output Unit Refer to OMRON G...

Page 314: ...he Digital Input Unit Negative drive pro hibit input This signal is used for the negative limit input Set the PDO of the corresponding input bit of the Digital Input Unit Immediate stop input This sig...

Page 315: ...general input you can use the external input as a limit input or other input Setting Examples If you use the MC Function Module and the latching function of the Pulse Output Unit only for homing set...

Page 316: ...nction Selection 0 General input 1 Latch input 1 0 or 1 1 P 8 65 External Input 1 Function Selection 0 General input 1 Latch input 2 0 or 1 1 P 8 65 External Input 0 Logic Selection 0 N O Normally ope...

Page 317: ...r in reverse pulses are output from the CCW terminal pulse output B To rotate the motor in the forward direction pulses are output from the PLS terminal pulse output A while the DIR output terminal pu...

Page 318: ...NX series Position Interface Units User s Manual W524 1 Double click the Pulse Output Unit in the Multiview Explorer The following tab page is displayed 2 Set the Pulse Output Method parameter Settin...

Page 319: ...velocity This method outputs pulses to maintain the specified velocity You can use it to prevent abrupt changes in velocity due to changes in the control period Use this mode for constant velocity fe...

Page 320: ...e the velocity continuous pulse output method Differences between Position synchronous Pulse Output and Veloc ity continuous Pulse Output Letter Description a The differential travel distance for the...

Page 321: ...sent position with a travel distance expressed by up to 31 bits The maximum output velocity is 500 kpps so pulse output is limited to a maximum of 500 kpps even if a higher velocity is specified There...

Page 322: ...NX series Position Interface Units User s Manual W524 1 Double click the Pulse Output Unit in the Multiview Explorer The following tab page is displayed 2 Set the Output Mode Selection parameter Setti...

Page 323: ...f the error counter reset output is set for the external output function the output turns ON automatically when the latch 1 of the current value latch is triggered This function is designed for homing...

Page 324: ...e Units User s Manual W524 1 Double click the Pulse Output Unit in the Multiview Explorer The following tab page is displayed 2 Set the External Output 0 Function Selection and External Output 0 Logic...

Page 325: ...0 and I1 When you select an N O contact for the external input logic the present value is latched on the rising edge of the selected external input I0 or I1 When you select N C contact for the externa...

Page 326: ...d The following timing chart shows the operation in Continuous Mode 1 This turns ON for latch 1 only Latch Input Motion Stop Enable bit Pulse output Error counter reset output ON OFF 20 ms 1 2 Latch I...

Page 327: ...hen the latch input is enabled Set the Latch Input 1 Motion Stop Enable or Latch Input 2 Motion Stop Enable variable to 1 to immedi ately stop pulse output when the corresponding latch is triggered Af...

Page 328: ...8 Pulse Output Units 8 64 NX series Position Interface Units User s Manual W524 2 Set the External Input 0 Function Selection and External Input 1 Function Selection parameters...

Page 329: ...r 2 digital filtering is performed for 20 to 200 s when the external input turns ON i e when the internal logic is TRUE after applying the selected logic The input latch itself is a hardware latch on...

Page 330: ...e Digital filtering is performed for 20 to 200 s for external inputs Therefore signals with signal widths of less than 200 s may not be detected If you use a sensor with a short response time set an O...

Page 331: ...tate to the Safe Opera tional or Init state When the communications state of the Unit changes to the Error Safe Operational state when a time out is detected When the status of the Statusword changes...

Page 332: ...e velocity when the error is detected Therefore the stop position cannot be controlled Furthermore if the motion command from the Controller must be interrupted due to the velocity at this time the op...

Page 333: ...that is set for the Number of Synchronization Command Interpolations parameter an Incorrect Synchroni zation Command error occurs When the Output Mode Selection parameter is set to velocity continuou...

Page 334: ...ition Interface Units User s Manual W524 1 Double click the Pulse Output Unit in the Multiview Explorer The following tab page is displayed 2 Set the Number of Synchronization Command Interpolations p...

Page 335: ...e specifications of the connected Servo Drive Operation for Reversing Velocity continuous Pulse Output for Stepping Motor Control The Pulse Direction Change Delay may require up to 121 s longer than t...

Page 336: ...own below when the Pulse Output Method parameter is set to Pulse direction 1 Double click the Pulse Output Unit in the Multiview Explorer The following tab page is displayed 2 Set the Pulse Direction...

Page 337: ...2 147 483 647 pulses Velocity control range 1 to 500 000pps Control I O Output signals 3 The outputs are forward direction pulse output reverse direction pulse output and external output 1 1 You can...

Page 338: ...m distortion caused by the impedance of the connecting cable If the output current is too small when the pulse output speed is high a sufficient signal width may not be provided for the input specific...

Page 339: ...ifications Item Specification Input voltage 20 4 to 28 8 VDC 24 VDC 20 15 Input current 4 6 mA typical at 24 VDC ON voltage ON current 15 VDC min 3 mA min OFF voltage OFF current 4 0 VDC max 1 mA max...

Page 340: ...8 Pulse Output Units 8 76 NX series Position Interface Units User s Manual W524...

Page 341: ...figuration 9 3 9 2 2 Servo Drive Wiring Example 9 5 9 3 Setting Examples 9 7 9 3 1 EtherCAT Network and Slave Terminal Configuration 9 7 9 3 2 Parameter Settings for the Pulse Output Unit 9 7 9 3 3 I...

Page 342: ...r circuits that are required for safety Item Description Control type Single axis absolute positioning Control method Open loop control Outputs to Servo Drive Pulses can be output to the Servo Drive T...

Page 343: ...t Digital Input Units are required to use external sensors such as for limit sensor inputs and error inputs A Digital Output Unit is used for a RUN output and an error reset output The Digital I O Uni...

Page 344: ...t Unit 12 to 24 VDC PNP Inputs from Servo Drive Error input Positioning completion input NX Unit No 2 Digital Input Unit NX ID3417 4 point DC Input Unit 12 to 24 VDC PNP External Sensor Inputs Positiv...

Page 345: ...e Termi nal if an Additional I O Power Supply is not used Wiring errors or mixing PNP and NPN outputs may cause damages or malfunctions 9 2 2 Servo Drive Wiring Example Reactor Motor power cable R88M...

Page 346: ...input signal If the dog width for the limit input is short or if for any other reason the signal is not input for positions that are beyond the limit an operational restriction is not applied after th...

Page 347: ...n 9 3 2 Parameter Settings for the Pulse Output Unit Parameter Setting used Remarks Pulse Output Method Forward reverse direction pulse Select from the following Forward reverse direction pulse defaul...

Page 348: ...ls are longer than the task period where the MC Function Module is executed If the input signal widths are shorter than the task period the MC Function Module may not be able to detect the input signa...

Page 349: ...puts must be handled in the user program through the use of device variables that correspond to the connected inputs and outputs The Servo Drive alarm status requires some time to recover after the al...

Page 350: ...settings to use the MC Function Module Axis Assignments and Settings Parameter Setting Remarks Axis Number 0 Assigns axis 0 Axis Use Used Axis Axis Type Servo axis Feedback Control No control loop Inp...

Page 351: ...nd the latching function of the Pulse Output Unit only for homing set the external input 0 of the Pulse Output Unit as the external latch input 1 and use it as the home input You can set external inpu...

Page 352: ...rform For details on the function settings of the MC Function Module refer to the NJ NX series CPU Unit Motion Control User s Manual Cat No W507 For further setup and operation confirmation procedures...

Page 353: ...When this variable is TRUE the Servo is turned ON if EtherCAT process data communications are active and normal MoveStart BOOL FALSE This is the command to execute relative position ing If this varia...

Page 354: ...set_D ResetDrvErr Stop0 ResetOn MC_Axis000 MC_Axis000 RESET MC_Reset Axis Axis Done Busy Failure Error ErrorID Execute If the StartPg input is TRUE the status of process data communications is checked...

Page 355: ...rs 10 2 10 2 Checking for Errors with the Indicators 10 3 10 3 Checking for Errors and Troubleshooting on the Sysmac Studio 10 5 10 3 1 Checking for Errors from the Sysmac Studio 10 5 10 3 2 Event Cod...

Page 356: ...ng for Errors Use one of the following error checking methods Checking the indicators Troubleshooting with the Sysmac Studio Refer to the user s manual for the connected Communications Coupler Unit fo...

Page 357: ...completed FS 0 5 s Not Lit A backup restore or compare operation is in progress from the Sysmac Studio or SD Memory Card Status is normal Wait until processing is completed Lit Lit This status does n...

Page 358: ...Synchronization Error Refer to NX Unit Output Synchronization Error on page 10 19 External Input Setting Error Refer to External Input Setting Error on page 10 13 SSI Data Setting Error Refer to SSI...

Page 359: ...rs in the observation level are not displayed Additional Information Number of Current Errors The following table gives the number of errors that are reported simultaneously as current errors in each...

Page 360: ...edures Error Table Abbr Name Maj Major fault level Prt Partial fault level Min Minor fault level Obs Observation level Info Information level Symbol Meaning S Event levels that are defined by the syst...

Page 361: ...ngth and the Status Data Length parameters exceeds 32 The sum of the value set for the start bit position and the data length of the SSI data exceeds the value set for the Valid Data Length parameter...

Page 362: ...ed sta tus A communications com mand to change the cur rent communications status was received from the communications master while the Unit is in the Operation Enabled status S P 10 17 80200000 hex N...

Page 363: ...was discarded The message communi cations load is high The communications cable is disconnected or broken Message communica tions were cut off as the result of executing a syn chronization or restora...

Page 364: ...tegory Tells which log the error is saved in 3 3 One of the following System System event log Access Access event log Effects User program Tells what will happen to exe cution of the user program 4 4...

Page 365: ...ac Studio is connected and the sys tem configuration Source details NX Unit Detection timing When power is turned ON to the NX Unit Error attributes Level Minor fault Recovery Restart the Slave Termin...

Page 366: ...er program Continues Operation I O refreshing for the NX Unit stops Sys tem defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention There is an error in...

Page 367: ...l Minor fault Recovery Restart the NX Unit Log category System Effects User program Continues Operation External inputs are disabled The following bit changes to FALSE Ch External Input Enabled bit in...

Page 368: ...ause Correction Prevention The sum of the values set for the Valid Data Length and the Leading Bits parameters exceeds 32 Check that there are no mistakes in the SSI data settings and cor rect any tha...

Page 369: ...ame Incorrect Synchronization Command Event code 743D00000 hex Meaning Updating the target position data in the synchronization refresh failed consecutively for more than the spec ified number of time...

Page 370: ...for the actual output which is restricted by the maxi mum velocity has increased Correct the program or correct the electronic gear ratio in the Motion Control Function Module so that the maximum vel...

Page 371: ...ate Input data The operation depends on the new com munications status Output data The external outputs are turned OFF The pulse output value depends on the Load Rejec tion Output Setting Sys tem defi...

Page 372: ...defined variables Variable Data type Name None Cause and correction Assumed cause Correction Prevention The NX Unit is not mounted prop erly Mount the NX Units and End Cover securely and secure them...

Page 373: ...to operate Input data Updating input values stops Output data The external outputs are turned OFF The pulse output value depends on the Load Rejec tion Output Setting Sys tem defined variables Variab...

Page 374: ...ontinues Operation The NX Unit will continue to operate Input data Updating input values stops Output data The external outputs are turned OFF The pulse output value depends on the Load Rejec tion Out...

Page 375: ...age communications load is high Reduce the number of times that instructions are used to send NX messages Refer to the appendix of the NJ NX series Instructions Refer ence Manual Cat No W502 for infor...

Page 376: ...ions settings in the connected device Make the settings so that the SSI data settings and the SSI com munications settings agree Make the settings so that the SSI data settings and the SSI communicati...

Page 377: ...onnected and the sys tem configuration Source details NX Unit Detection timing When com manded from user Error attributes Level Information Recovery Log category Access Effects User program Continues...

Page 378: ...oubleshooting 10 24 NX series Position Interface Units User s Manual W524 10 4 Resetting Errors Refer to the user s manual for the connected Communications Coupler Unit for information on resetting er...

Page 379: ...nput to open the gate The wiring to the connected device is disconnected Check the wiring to the connected device There is a problem with the connected device Replace the connected device Pulses are n...

Page 380: ...nly one of the external inputs to a function other than a general input The external input logic is not correct Check the external input logic The Latch Input 1 Enable or Latch Input 2 Enable bit is s...

Page 381: ...p Time parameter does not match the connected device Check the specifications of the connected device and set the correct monoflop time The parity check setting does not match the connected device Che...

Page 382: ...atus to Servo ON The output mode is not cor rect Review the Output Mode Selection and set the cor rect output mode There is no external out put The output wiring is not cor rect Check the wiring to th...

Page 383: ...Flag changes to 1 Until this flag is cleared you cannot perform another latch Change Latch Input 1 Enable or Latch Input 2 Enable bit to 0 When one of these bits changes to 0 the Latch Input 1 Comple...

Page 384: ...shooting 10 30 NX series Position Interface Units User s Manual W524 10 6 Troubleshooting Flow Refer to the user s manual for the connected Communications Coupler Unit for the standard flow for troubl...

Page 385: ...W524 This section describes the procedures for cleaning inspecting and replacing Position Interface Units 11 1 Cleaning and Maintenance 11 2 11 1 1 Cleaning 11 2 11 1 2 Periodic Inspections 11 2 11 2...

Page 386: ...r improper environmental conditions Periodic inspections are thus required Inspection is recommended at least once every six months to a year but more frequent inspections will be necessary in adverse...

Page 387: ...m ical sprays hitting the Posi tion Interface Unit No spray Clean and protect the Position Inter face Unit if necessary Check for corrosive or flam mable gases in the area of the Position Interface Un...

Page 388: ...spection 11 4 NX series Position Interface Units User s Manual W524 11 2 Maintenance Procedures To replace a Position Interface Unit follow the procedure in the user s manual for the connected Com mun...

Page 389: ...2 Object Lists A 28 A 2 1 Object Description Format A 28 A 2 2 Incremental Encoder Input Units A 29 A 2 3 SSI Input Units A 43 A 2 4 Pulse Output Units A 54 A 3 Dimensions A 63 A 4 Terminal Block Mode...

Page 390: ...500 kHz Inputs 2 Outputs 2 24 V volt age input P A 13 NX EC0222 2 PNP P A 15 SSI Input Units Model Number of chan nels 1 1 This is the number of SSI communications input channels External inputs Maxi...

Page 391: ...time Input current The input current at the rated voltage OFF voltage The input voltage at which the input turns OFF and the input current at that time Maximum response frequency The maximum frequenc...

Page 392: ...als IOV IOG on the Unit You cannot exceed this value when you supply I O power to external devices that are connected to the Unit NX Unit power con sumption The power consumption of the Unit from the...

Page 393: ...age 20 4 to 28 8 VDC 24 VDC 20 15 ON voltage 19 6 VDC min 3 mA min Input current 4 2 mA typical 24 VDC OFF voltage 4 0 VDC max 1 mA max Maximum response frequency Phases A and B Single phase 500 kHz p...

Page 394: ...onnection diagram Failure detection None Protection None 1 The I O refreshing method is automatically set according to the connected Communications Coupler Unit and CPU Unit IOG IOV A B Z I0 to I2 Cur...

Page 395: ...age 20 4 to 28 8 VDC 24 VDC 20 15 ON voltage 19 6 VDC min 3 mA min Input current 4 2 mA typical 24 VDC OFF voltage 4 0 VDC max 1 mA max Maximum response frequency Phases A and B Single phase 500 kHz p...

Page 396: ...onnection diagram Failure detection None Protection None 1 The I O refreshing method is automatically set according to the connected Communications Coupler Unit and CPU Unit A B Z I0 to I2 IOG Current...

Page 397: ...22 A line driver levels High level input volt age V IT 0 1 V min Input impedance 120 5 Low level input volt age V IT 0 1 V min Hysteresis voltage Vhys VIT VIT 60 mV Maximum response frequency Phases A...

Page 398: ...isolation 5 V GND Encoder power supply output 5 V Encoder power supply output 0 V Terminal block Non isolated power supply Inter nal cir cuits 120 A B Z A B Z Terminal block Isola tion cir cuit No iso...

Page 399: ...422 A line driver levels High level input volt age V IT 0 1 V min Input impedance 120 5 Low level input volt age V IT 0 1 V min Hysteresis voltage Vhys VIT VIT 60 mV Maximum response frequency Phases...

Page 400: ...isolation 5 V GND Encoder power supply output 5 V Encoder power supply output 0 V Terminal block Non isolated power supply Inter nal cir cuits 120 A B Z A B Z Terminal block Isola tion cir cuit No iso...

Page 401: ...tches and one internal latch Measurements Pulse rate measurement and pulse period measurement Voltage input specifications Input voltage 20 4 to 28 8 VDC 24 VDC 20 15 ON voltage 19 6 VDC min 3 mA min...

Page 402: ...l connection diagram Failure detection None Protection None 1 The I O refreshing method is automatically set according to the connected Communications Coupler Unit and CPU Unit IOG IOV A1 B1 Z1 A2 B2...

Page 403: ...tches and one internal latch Measurements Pulse rate measurement and pulse period measurement Voltage input specifications Input voltage 20 4 to 28 8 VDC 24 VDC 20 15 ON voltage 19 6 VDC min 3 mA min...

Page 404: ...l connection diagram Failure detection None Protection None 1 The I O refreshing method is automatically set according to the connected Communications Coupler Unit and CPU Unit Inter nal cir cuits Cur...

Page 405: ...sistance The insulation resistance between the input circuits and the internal cir cuits in the Unit Dielectric strength The dielectric strength between the input circuits and the internal circuits in...

Page 406: ...esistance 20 M min between isolated cir cuits at 100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute with leakage current of 5 mA max I O power supply method Supplied from the N...

Page 407: ...mmunications Coupler Unit and CPU Unit 2 The maximum transmission distance for an SSI Input Unit depends on the baud rate due to the delay that can result from the responsiveness of the connected enco...

Page 408: ...2 100 71 mm W H D Isolation method Digital isolator Insulation resistance 20 M min between isolated cir cuits at 100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute with leakage...

Page 409: ...g method is automatically set according to the connected Communications Coupler Unit and CPU Unit 2 The maximum transmission distance for an SSI Input Unit depends on the baud rate due to the delay th...

Page 410: ...ON voltage ON cur rent The input voltage at which the input turns ON and the input current at that time Input current The input current at the rated voltage OFF voltage OFF current The input voltage a...

Page 411: ...ump tion from I O power supply The current consumption of the Unit from the I O power supply The above input current and the current consumption of connected external devices are not included Weight T...

Page 412: ...nge 1 to 500 000 pps Positioning 2 Single axis position control Absolute positioning relative positioning and interrupt feeding Single axis velocity control Velocity control velocity feeding in Positi...

Page 413: ...ically set according to the connected Communications Coupler Unit and CPU Unit 2 These functions are supported when you also use the MC Function Module in the NJ NX series CPU Unit Refer to the NJ NX...

Page 414: ...nge 1 to 500 000 pps Positioning 2 Single axis position control Absolute positioning relative positioning and interrupt feeding Single axis velocity control Velocity control velocity feeding in Positi...

Page 415: ...ically set according to the connected Communications Coupler Unit and CPU Unit 2 These functions are supported when you also use the MC Function Module in the NJ NX series CPU Unit Refer to the NJ NX...

Page 416: ...by a 4 digit hexadecimal number Subindex hex The subindex of the NX object expressed by a 2 digit hexadecimal number Object name The name of the object For a subindex this is the subindex name Defaul...

Page 417: ...cess I O allo cat ion Data attri bute 1000 NX Bus Identity infor mation 00 Number of Entries 7 7 USINT RO No 02 Model 1 1 This returns the model of the Unit in ASCII If all 12 bytes are not required t...

Page 418: ...tus name Description 0 Counter Enabled 0 Counter operating 1 Counter stopped 1 Internal Reset Completed This is the completion flag for the Internal Reset Execution bit of the Encoder Counter Operatio...

Page 419: ...C0132 or NX EC0142 are 08 hex The values for the NX EC0212 or NX EC0222 are 00 hex 00 to FF hex BYTE RO Yes 02 Ch2 Reset External Input Status 3 3 This object does not exist on the NX EC0112 NX EC0122...

Page 420: ...EC0212 or NX EC0222 are 2 1 USINT RO No 01 CH1 Pulse Rate 0 0 to 4 294 967 295 UDINT RO Yes 02 CH2 Pulse Rate 2 2 This object does not exist on the NX EC0112 NX EC0122 NX EC0132 and NX EC0142 0 0 to 4...

Page 421: ...the NX EC0212 or NX EC0222 are 2 1 USINT RO No 01 Ch1 Latch Input 1 Data 0 2147483648 to 2147483647 DINT RO Yes 02 Ch2 Latch Input 1 Data 2 2 This object does not exist on the NX EC0112 NX EC0122 NX...

Page 422: ...ed 1 Pulse period measurement enabled 0 Pulse period measurement disabled 1 Pulse Period Measurement Value Clear Completed 1 Pulse period measurement value clear completed 0 Pulse period measurement v...

Page 423: ...ta attri bute 7000 Encoder Counter Opera tion Command 00 Number of Entries 1 1 The values for the NX EC0112 NX EC0122 NX EC0132 or NX EC0142 are 1 The values for the NX EC0212 or NX EC0222 are 2 1 USI...

Page 424: ...ubin dex hex Object name Default Data range Unit Data type Access I O allo cat ion Data attri bute 7004 Latch Function No 00 Number of Entries 1 1 The values for the NX EC0112 NX EC0122 NX EC0132 or N...

Page 425: ...ta name Description 0 Pulse Period Measurement Enable 1 1 If the Edge Detection Method parameter is set to 0 the function is disabled regardless of the status of this bit 1 Pulse period measurement en...

Page 426: ...hex Subin dex hex Object name Default Data range Unit Data type Access I O allo cat ion Data attri bute 5002 Minimum Counter Value 00 Number of Entries 1 1 The values for the NX EC0112 NX EC0122 NX EC...

Page 427: ...x Subin dex hex Object name Default Data range Unit Data type Access I O allo cat ion Data attri bute 5005 Average Processing Times 00 Number of Entries 1 1 The values for the NX EC0112 NX EC0122 NX E...

Page 428: ...ion 00 Number of Entries 1 1 The values for the NX EC0112 NX EC0122 NX EC0132 or NX EC0142 are 1 The values for the NX EC0212 or NX EC0222 are 2 1 USINT RO No 01 Ch1 Encoder Count Direction 0 0 or 1 U...

Page 429: ...Subin dex hex Object name Default Data range Unit Data type Access I O allo cat ion Data attri bute 5013 External Input 0 Logic Selection 00 Number of Entries 1 1 1 Setting is not possible for the NX...

Page 430: ...fault Data range Unit Data type Access I O allo cat ion Data attri bute 5015 External Input 1 Logic Selection 00 Number of Entries 1 1 1 Setting is not possible for the NX EC0212 and NX EC0222 1 1 USI...

Page 431: ...or 1 USINT RW No Y Set value Description 0 N O Normally open 1 N C Normally close A 2 3 SSI Input Units Unit Information Objects Index hex Subin dex hex Object name Default Data range Unit Data type A...

Page 432: ...2 are 2 1 USINT RO No 01 Ch1 SSI Status 00 hex 00 to FF hex BYTE RO Yes 02 Ch2 SSI Status 2 2 This object does not exist on the NX ECS112 00 hex 00 to FF hex BYTE RO Yes Bit Status name Description 0...

Page 433: ...o cat ion Data attri bute 6008 SSI Communications Error Code 00 Number of Entries 1 1 The values for the NX ECS112 are 1 The values for the NX ECS212 are 2 1 USINT RO No 01 Ch1 SSI Communications Erro...

Page 434: ...RO Yes Index hex Subin dex hex Object name Default Data range Unit Data type Access I O allo cat ion Data attri bute 6010 Time Stamp 00 Number of Entries 1 1 The values for the NX ECS112 are 1 The va...

Page 435: ...ud Rate 00 Number of Entries 1 1 The values for the NX ECS112 are 1 The values for the NX ECS212 are 2 1 USINT RO No 01 Ch1 Baud Rate 4 0 to 7 USINT RW No Y 02 Ch2 Baud Rate 2 2 This object does not e...

Page 436: ...nabled 0 0 to 9999 10 s UINT RW No Y 02 Ch2 Wait Time for Receive Enabled 2 2 This object does not exist on the NX ECS112 0 0 to 9999 10 s UINT RW No Y Index hex Subin dex hex Object name Default Data...

Page 437: ...allo cat ion Data attri bute 5005 Valid Data Length 00 Number of Entries 1 1 The values for the NX ECS112 are 1 The values for the NX ECS212 are 2 1 USINT RO No 01 Ch1 Valid Data Length 25 1 to 32 Bit...

Page 438: ...ss I O allo cat ion Data attri bute 5008 Multi turn Data Start Bit 00 Number of Entries 1 1 The values for the NX ECS112 are 1 The values for the NX ECS212 are 2 1 USINT RO No 01 Ch1 Multi turn Data S...

Page 439: ...or the NX ECS212 are 2 1 USINT RO No 01 Ch1 Status Data Length 0 0 to 32 Bit USINT RW No Y 02 Ch2 Status Data Length 2 2 This object does not exist on the NX ECS112 0 0 to 32 Bit USINT RW No Y Index h...

Page 440: ...umber of Entries 1 1 The values for the NX ECS112 are 1 The values for the NX ECS212 are 2 1 USINT RO No 01 Ch1 Encoder Resolu tion 0 0 to 4 294 967 295 UDINT RW No Y 02 Ch2 Encoder Resolu tion 2 2 Th...

Page 441: ...e NX ECS112 are 1 The values for the NX ECS212 are 2 1 USINT RO No 01 Ch1 Position Variation Limit 0 0 to 2147483647 DINT RW No Y 02 Ch2 Position Variation Limit 2 2 This object does not exist on the...

Page 442: ...00 NX Bus Identity informa tion 00 Number of Entries 7 7 USINT RO No 02 Model 1 1 This returns the model of the Unit in ASCII If all 12 bytes are not required the remaining bytes are filled with space...

Page 443: ...You can use the External Input Status object to monitor the ON OFF status regardless of the device setting of the external input I O Allocation Objects Index hex Subin dex hex Object name Default Data...

Page 444: ...Latch Input 1 Enable bit for latching Refer to Latch Func tion on page 8 38 for information on latching 1 Latch Input 1 enabled 0 Latch Input 1 disabled 1 Latch Input 1 Completed Flag 2 2 This bit is...

Page 445: ...t Data range Unit Data type Access I O allo cat ion Data attri bute 7000 Controlword 00 Number of Entries 1 1 USINT RO No 01 Ch1 Controlword 0000 hex 0000 to 00FF hex WORD RW Yes N Bit Data name 0 Swi...

Page 446: ...Velocity 0 2147483648 to 2147483647 pps DINT RW Yes N Index hex Subin dex hex Object name Default Data range Unit Data type Access I O allo cat ion Data attri bute 7004 Latch Function No 00 Number of...

Page 447: ...1 USINT RO No 01 Ch1 Pulse Output Method 0 0 or 1 USINT RW No Y Set value Description 0 Forward reverse direction pulse 1 Pulse Direction Index hex Subin dex hex Object name Default Data range Unit Da...

Page 448: ...bute 5012 External Input 0 Function Selection 00 Number of Entries 1 1 USINT RO No 01 Ch1 External Input 0 Function Selection 1 0 or 1 USINT RW No Y Set value Description 0 General input 1 Latch input...

Page 449: ...01 Ch1 External Input 1 Logic Selection 0 0 or 1 USINT RW No Y Set value Description 0 N O Normally open 1 N C Normally close Index hex Subin dex hex Object name Default Data range Unit Data type Acc...

Page 450: ...I O allo cat ion Data attri bute 5020 Load Rejection Output Setting No 00 Number of Entries 1 1 USINT RO No 01 Ch1 Load Rejection Out put Setting 0 0 or 1 USINT RW No Y Set value Description 0 Immedi...

Page 451: ...sition Interface Units 1 The dimension is 1 35 mm for Units with lot numbers through December 2014 Unit width Model Dimensions mm 12 mm NX EC0112 NX EC0122 NX EC0212 NX EC0222 NX ECS112 NX ECS212 NX P...

Page 452: ...nal mark Terminal current capacity NX TBA081 8 None 4 A NX TBA121 12 None 4 A NX TBA161 16 None 4 A NX TBB121 12 None 4 A NX TBB161 16 None 4 A NX TBA082 8 None 10 A NX TBA122 12 None 10 A NX TBA162 1...

Page 453: ...els and the unit versions unless you use the corresponding versions or later higher versions If you use the corresponding versions given in the following table or later higher versions refer to versi...

Page 454: ...EC0112 Ver 1 1 Ver 1 1 2 2 You can use the following versions if time stamp refreshing is not used EtherCAT Coupler Unit Version 1 0 NJ series CPU Unit Version 1 05 Ver 1 06 2 Ver 1 10 Ver 1 0 Ver 1...

Page 455: ...Functions That Were Added or Changed for Each Unit Version Function Change or addition NX Units Corresponding versions 1 Model Unit version EtherCAT EtherNet IP Com munica tions Cou pler Unit CPU Uni...

Page 456: ...EtherCAT Coupler Unit User s Manual Cat No W519 E1 03 or later for information on how to restart a specified NX Unit 3 A CPU Unit with unit version 1 07 or later is required to specify an NX Unit for...

Page 457: ...nit A Related to a Pulse Output Unit Not related to a Pulse Output Unit Applicability Whether the instruction can be used together with a Pulse Output Unit Yes Can be used No Cannot be used A 6 2 Comm...

Page 458: ...A Yes Relative Positioning MC_MoveRelative The MC_MoveRelative instruction per forms positioning for the specified travel distance from the command current posi tion A Yes Velocity Control MC_MoveVel...

Page 459: ...s MC_CombineAxes The MC_CombineAxes instruction out puts the sum or difference of the com mand positions of two axes A Yes Shift Master Axis MC_Phasing The MC_Phasing instruction shifts the phase of t...

Page 460: ...is connected to the motor drive that in turn is connected to the Pulse Output Unit 2 When you combine a Pulse Output Unit and the MC Function Module to perform homing set the Home Input Signal pa ram...

Page 461: ...eceler ates all of the axes in an interpolated motion to a stop A Yes Axes Group Immediate Stop MC_GroupImmediateStop The MC_GroupImmediateStop instruc tion immediately stops all axes in an interpolat...

Page 462: ...Appendices A 74 NX series Position Interface Units User s Manual W524...

Page 463: ...I 1 I NX series Position Interface Units User s Manual W524 Index...

Page 464: ...F forward reverse direction pulse 8 53 frequency measurement 6 67 G gray code 7 46 7 48 I I O Power Supply Connection Unit 4 13 Incremental Encoder Input Unit 1 3 in position check 8 46 Internal Latc...

Page 465: ...I Operation Command 7 35 SSI Status 7 31 Status Data 7 34 Statusword 8 6 8 32 T Time Stamp 6 40 7 34 Time Window 6 64 trigger conditions 6 60 8 61 troubleshooting 10 5 TS indicator 3 4 U unit versions...

Page 466: ...I 4 NX series Position Interface Units User s Manual W524 Index...

Page 467: ...nt or addition to the above warranty See http www omron247 com or contact your Omron representative for pub lished information 14 Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SP...

Page 468: ...tems Machine Automation Controllers MAC Programmable Controllers PLC Operator interfaces HMI Distributed I O Software Drives Motion Controls Servo AC Drives Motion Controllers Encoders Temperature Pro...

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