Omron NX-IA3117 User Manual Download Page 296

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Appendices

A - 66

NX-series Digital I/O Unit User’s Manual (W521)

Unit

I/O

capacity

Num-

ber of

con-

nectors

Polar-

ity

Con-

nec-

tion

pattern

Num-

ber of
branc

hes

Connecting

Cable

Connector-Terminal Block

Conversion Unit

Com-

mon

termi-

nal

Con-

nection

diagram

NX-OD6256-5

32 outputs

1 MIL
connec-
tor

PNP

None

XW2Z-



XW2D-40G6

None

P. A-72

None

XW2Z-



XW2B-40G5

None

---

None

XW2Z-



XW2B-40G4

None

---

XW2Z-



XW2D-20G6 (2 Units)

None

---

XW2Z-



XW2B-20G5 (2 Units)

None

---

XW2Z-



XW2B-20G4 (2 Units)

None

---

XW2Z-



XW2C-20G6-IO16 (2 Units)

Yes

P. A-72

XW2Z-



XW2F-20G7-OUT16 (2 Units)

Yes

---

NX-MD6121-5

16 inputs

1 MIL
connec-
tor

NPN/P
NP

None

XW2Z-



XW2D-20G6

None

P. A-73

None

XW2Z-



XW2B-20G5

None

---

None

XW2Z-



XW2B-20G4

None

---

16 outputs

1 MIL
connec-
tor

NPN

None

XW2Z-



XW2D-20G6

None

P. A-73

None

XW2Z-



XW2B-20G5

None

---

None

XW2Z-



XW2B-20G4

None

---

NX-MD6256-5

16 inputs

1 MIL
connec-
tor

NPN/P
NP

None

XW2Z-



XW2D-20G6

None

P. A-73

None

XW2Z-



XW2B-20G5

None

---

None

XW2Z-



XW2B-20G4

None

---

16 outputs

1 MIL
connec-
tor

PNP

None

XW2Z-



XW2D-20G6

None

P. A-73

None

XW2Z-



XW2B-20G5

None

---

None

XW2Z-



XW2B-20G4

None

---

Summary of Contents for NX-IA3117

Page 1: ...poration Industrial Automation Company OMRON ELECTRONICS LLC One Commerce Drive Schaumburg IL 60173 5302 U S A Tel 1 847 843 7900 Fax 1 847 843 7787 Regional Headquarters OMRON EUROPE B V Wegalaan 67...

Page 2: ...med for damages resulting from the use of the information contained in this publication OMRON 2013 Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other cou...

Page 3: ...operation This manual is intended for the following personnel who must also have knowledge of electrical sys tems an electrical engineer or the equivalent Personnel in charge of introducing FA system...

Page 4: ...Safe Use 15 Precautions for Correct Use 19 Regulations and Standards 20 Conformance to EC Directives 20 Conformance to UL and CSA Standards 21 Conformance to Shipbuilding Standards 21 Conformance to K...

Page 5: ...4 2 4 1 1 Installing NX Units 4 2 4 1 2 Attaching Markers 4 4 4 1 3 Removing NX Units 4 5 4 1 4 Installation Orientation 4 7 4 2 Wiring the Power Supply to the Slave Terminal 4 8 4 2 1 Power Supply Ty...

Page 6: ...l Output Units 7 1 Types of Digital Output Units 7 2 7 2 Specifications of I O Data 7 4 7 2 1 Allocable I O Data 7 4 7 3 List of Settings 7 8 7 4 Function 7 11 7 4 1 List of Digital Output Unit Functi...

Page 7: ...nnector Types A 61 A 3 Connecting Connector Terminal Block Conversion Units and I O Relay Terminals A 63 A 3 1 Patterns for Combining Connector Terminal Block Conversion Units and I O Relay Terminals...

Page 8: ...ake the most of the NX series Digital I O Units Other manuals such as related product manuals are necessary for specific system configurations and applications Refer to Related Manuals on page 25 for...

Page 9: ...e 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 click...

Page 10: ...ts 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 transfer...

Page 11: ...ce 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 confir...

Page 12: ...onsible 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 det...

Page 13: ...symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a precaution for electric shock The triangle symbol indicat...

Page 14: ...to the settings in the slaves If a power supply error occurs If the power supply connection becomes faulty If a CPU watchdog timer error or CPU reset occurs If a Controller error in the major fault l...

Page 15: ...expectedly regardless of the operating mode of the Controller Cautions Wiring When you connect a computer or other peripheral device to a Communications Coupler Unit that has a non isolated DC power s...

Page 16: ...ne editing only after confirming that no adverse effects will be caused by devia tions in the timing of I O If you perform online editing the task execution time may exceed the task period I O may not...

Page 17: ...adhere to the pins in the NX bus connector which may result in malfunctions Do not write on the Communications Coupler Unit or an NX Unit with ink within the restricted region that is shown in the fo...

Page 18: ...mping terminal block Doing so may damage the terminal block If you use reed switches for the input contacts for AC Input Units use switches with an allowable cur rent of 1 A or greater If the capacity...

Page 19: ...after the power supply is turned OFF The PWR indicator remains lit as long as power is supplied Confirm that the PWR indicator is not lit before you perform any of the above Confirm that the controlle...

Page 20: ...program Set the PDO communications consecutive timeout detection count setting in the EtherCAT master to at least 2 Refer to the NJ series CPU Unit Built in EtherCAT Port User s Manual Cat No W505 fo...

Page 21: ...oltage for the Units that supply power Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied in places where the power supply is unstable Instal...

Page 22: ...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 obs...

Page 23: ...lled within a control panel Gaps in the door to the control panel must be completely filled or covered with gaskets or other material Usage Conditions for the Bridge Certified only by Nippon Kaiji Kyo...

Page 24: ...e 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 Notation...

Page 25: ...the following 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 Edi...

Page 26: ...to monitor the total power ON time was added for a version upgrade Refer to the user s manual of the Communications Coupler Unit for the versions that support monitoring the total power ON time The f...

Page 27: ...face Units User s Man ual W524 NX EC0 NX ECS NX PG0 Learning how to use NX series Position Interface Units The hardware setup methods and functions of the NX series Incremental Encoder Input Units SS...

Page 28: ...PU Unit Software User s Manual W501 NJ501 NJ301 Learning how to program and set up an NJ series CPU Unit Mainly software information is pro vided The following information is provided on an NJ series...

Page 29: ...rdware User s Manual Cat No W500 and NJ series CPU Unit Soft ware User s Manual Cat No W501 NJ series Motion Con trol Instructions Refer ence Manual W508 NJ501 NJ301 Learning about the specifications...

Page 30: ...n EtherCAT communications state machine EtherCAT Technology Group ETG The ETG is a global organization in which OEM end users and technol ogy providers join forces to support and promote the further t...

Page 31: ...ications where all objects in the object dictionary can be read and written Slave Information Interface SII Slave information that is stored in non volatile memory in the slave Slave Terminal A buildi...

Page 32: ...de Date Revised content 01 April 2013 Original production 02 June 2013 Added time stamp refreshing models on time stamp refreshing and cor rected mistakes 03 September 2013 Added information on the NX...

Page 33: ...10 2 A 3 I 4 5 6 7 8 9 Features and System Configuration Specifications Part Names and Functions Installation and Wiring I Index I O Refreshing 10 A Appendices Digital Output Units Digital Input Unit...

Page 34: ...Sections in this Manual 32 NX series Digital I O Unit User s Manual W521...

Page 35: ...it Types 1 3 1 2 System Configuration of Slave Terminals 1 4 1 2 1 Overview 1 4 1 2 2 System Configuration 1 4 1 3 Model List 1 6 1 3 1 Model Notation 1 6 1 3 2 Digital Input Units 1 9 1 3 3 Digital O...

Page 36: ...uppresses jitter in the I O timing of multiple NX Units You can use EtherCAT Coupler Units with NX Units that support input refreshing with input changed time and with other NX Units that support outp...

Page 37: ...ions 1 1 2 Digital I O Unit Types Type Purpose Digital Input Units These are Units with functionality to process input of digital signals from sensors and other connected external devices Digital Outp...

Page 38: ...igure shows an example of the system configuration when an EtherCAT Coupler Unit is used as a Communications Coupler Unit 1 2 1 Overview 1 2 2 System Configuration A EtherCAT master NJ series CPU Unit...

Page 39: ...ions with the EtherCAT mas ter through the EtherCAT Coupler Unit D End Cover The End Cover is attached to the end of the Slave Terminal E Sysmac Studio Support Software The Sysmac Studio runs on a per...

Page 40: ...s each for inputs and outputs I O type For both NPN PNP NPN PNP For both NPN PNP NPN For both NPN PNP PNP NPN PNP N O N O N C 1 2 3 4 6 7 Unit type ID DC input IA AC input OD Transistor output OC Rela...

Page 41: ...shing Input refreshing with input changed time only 17 12 to 24 VDC or 240 VAC Yes Yes 42 24 VDC Yes Yes 43 Yes Yes 44 Yes Yes Num ber Rated volt age Load cur rent ON OFF response time I O refreshing...

Page 42: ...details on the I O refreshing method Num ber Input section Output section Rated input voltage Rated volt age Load current ON OFF response time I O refreshing method Other func tions Exceeds 1 s 1 s m...

Page 43: ...C 100 ns max 100 ns max P A 8 NX ID3344 Input refreshing with input changed time only P A 9 NX ID3417 PNP 12 to 24 VDC Switching Synchro nous I O refreshing and Free Run refreshing 20 s max 400 s max...

Page 44: ...ual W521 AC Input Units Screwless Clamping Terminal Block 12 mm Width Model Num ber of poin ts Rated input voltage I O refreshing method ON OFF response time Reference NX IA3117 4 point s 200 to 240 V...

Page 45: ...ethod ON OFF response time Refer ence NX OD2154 2 points NPN 0 5 A point 1 A Unit 24 VDC Output refreshing with speci fied time stamp only 300 ns max 300 ns max P A 26 NX OD2258 PNP P A 28 NX OD3121 4...

Page 46: ...ee Run refreshing 0 1 ms max 0 8 ms max P A 38 NX OD5256 5 PNP 24 VDC 0 5 ms max 1 0 ms max P A 40 NX OD6121 5 32 points NPN 0 5 A point 2 A com mon 4 A Unit 12 to 24 VDC 0 1 ms max 0 8 ms max P A 41...

Page 47: ...s MIL Connector 30 mm Width Model Num ber of points Internal I O common Maximum value of load cur rent Rated volt age I O refresh ing method ON OFF response time Refer ence NX MD6121 5 Out puts 16 poi...

Page 48: ...l between more than one NX Unit on more than one Slave Terminal 5 2 5 Synchro nous Input Refreshing on page 5 9 Time Stamp Refreshing With this I O refreshing method the NX Units record the DC times w...

Page 49: ...puts at specified DC times These times are asynchronous to the NX bus refresh cycles Data exchange between the NX Units and EtherCAT Coupler Unit are performed cyclically on the NX bus refresh cycles...

Page 50: ...ut Refreshing on page 5 9 Input Filter This function eliminates the chattering or the noises from input signals It is used to prevent the error reading due to the noises You can set the filter time co...

Page 51: ...ation NX series Digital I O Unit User s Manual W521 1 5 Support Software 1 1 5 Support Software Refer to A 7 Version Information on page A 105 for information on the Support Software that can per form...

Page 52: ...1 Features and System Configuration 1 18 NX series Digital I O Unit User s Manual W521...

Page 53: ...Digital I O Unit User s Manual W521 This section describes the general specifications and individual specifications of Digital I O Units 2 1 General Specifications 2 2 2 2 Individual Specifications 2...

Page 54: ...gory Category II Conforms to JIS B 3502 and IEC 61131 2 EMC immunity level Zone B Vibration resistance 1 1 Relay Output Unit specifications depend on the model Refer to A 1 Data Sheet on page A 2 for...

Page 55: ...ifications NX series Digital I O Unit User s Manual W521 2 2 Individual Specifications 2 2 2 Individual Specifications Refer to A 1 Data Sheet on page A 2 for the specifications of individual Digital...

Page 56: ...2 Specifications 2 4 NX series Digital I O Unit User s Manual W521...

Page 57: ...ction describes the names and functions of the Digital I O Unit parts 3 1 Part Names 3 2 3 1 1 Screwless Clamping Terminal Block Type 3 2 3 1 2 Connector Types 3 6 3 2 Indicators 3 9 3 2 1 TS Indicato...

Page 58: ...4 1 2 Attaching Markers on page 4 4 B NX bus connector This connector is used to connect each Unit C Unit hookup guides These guides are used to connect two Units D DIN Track mounting hooks These hoo...

Page 59: ...type 12 terminal type and 16 terminal type NX TB 2 NX TB 1 Terminal Blocks 8 terminal type B 12 terminal type 16 terminal type C A A1 A2 A3 A4 A5 A6 A7 A8 B1 B2 B3 B4 B5 B6 B7 B8 A1 A2 A3 A4 A5 A6 A7...

Page 60: ...Digital I O Unit is compatible with only one of three types of terminal blocks You can not use a terminal block with a number of terminals that differs from the specifications for a particular Unit Th...

Page 61: ...u mount the NX TB 2 Terminal Block the current specification does not change because the current capacity specification of the terminals on the Units is 4 A or less Refer to A 6 List of Screwless Clam...

Page 62: ...1 2 Attaching Markers on page 4 4 B NX bus connector This connector is used to connect each Unit C Unit hookup guides These guides are used to connect two Units D DIN Track mounting hooks These hooks...

Page 63: ...2 Attaching Markers on page 4 4 B NX bus connector This connector is used to connect each Unit C Unit hookup guides These guides are used to connect two Units D DIN Track mounting hooks These hooks a...

Page 64: ...s on page 4 4 B NX bus connector This connector is used to connect each Unit C Unit hookup guides These guides are used to connect two Units D DIN Track mounting hooks These hooks are used to mount th...

Page 65: ...perating status of the Unit or the signal I O status on the Digital I O Units The following indicator patterns are available depending on width of the Unit and the number of I O points NX Units 12 mm...

Page 66: ...ber indications The model numbers of the NX Unit are displayed Example ID3317 in the case of NX ID3317 The NX Units are separated in the following color depending on the type of inputs and outputs Dig...

Page 67: ...alizing Restarting is in progress for the Unit Downloading Red Lit A hardware failure WDT error or other fatal error that is common to all I O Units occurred Flashing at 1 s intervals A communications...

Page 68: ...1 3 2 2 IN OUT Indicator Color Status Description Yellow Lit Digital I O is ON Not lit Digital I O is OFF This indicator shows the signal I O status of each terminal of the Digital I O Units For Digit...

Page 69: ...7 4 2 Wiring the Power Supply to the Slave Terminal 4 8 4 2 1 Power Supply Types 4 8 4 2 2 Supplying Each Power Supply and Wiring 4 9 4 2 3 Calculating the Total Current Consumption from I O Power Sup...

Page 70: ...o not apply labels or tape on the NX Units When the Unit is installed or removed adhesive or scrap may adhere to the pins of the NX bus connector which may cause malfunctions Do not write with ink or...

Page 71: ...IN track mounting hook on the NX Unit After you mount the NX Unit make sure that it is locked to the DIN Track Additional Information Normally it is not necessary to release the DIN track mounting hoo...

Page 72: ...s now The marker attachment locations vary depending on the type of the external connection terminals on the NX Units Installation Method Insert the protrusions on the markers into the marker attachme...

Page 73: ...arkers made by OMRON cannot be printed on with commercially available special printers Precautions for Safe Use Always turn OFF the Unit power supply and I O power supply before you remove the NX Unit...

Page 74: ...ect Use When removing an NX Unit remove multiple Units together which include the one you want to remove If you attempt to remove only one Unit it is stuck and hard to pull out Do not unlock the DIN t...

Page 75: ...er Units and NX Units that are used Refer to the user s manuals for the Communications Coupler Units NX Units and System Units that you will use for details on restrictions Precautions for Safe Use Fo...

Page 76: ...upply Unit generates the NX Unit power supply from the Unit power sup ply The internal circuits of the Communications Coupler Unit and NX Units operate by the NX Unit power supply The NX Unit power su...

Page 77: ...ower supply terminals on the Communications Coupler Unit or Additional NX Unit Power Supply Units I O power supply This power is supplied by one of the following two methods Refer to A 1 Data Sheet on...

Page 78: ...rnal output device To external devices End Cover I O power supply terminals Unit power supply terminals Communications Coupler Unit I O power supply Supply from external source NX Unit Additional NX U...

Page 79: ...current consumption of any con nected external devices The total current consumption from I O power supply of the Digital I O Units is calculated as follows Total Current Consumption from I O Power Su...

Page 80: ...Supply Unit This NX Unit provides NX Unit power supply This NX Unit is used when the total power consumption of the NX Units in the Slave Terminal exceeds the NX Unit power supply capacity of the Com...

Page 81: ...different I O power supply voltages When separating the power supply systems The NX Unit power supply of the Additional I O Power Supply Unit is connected to the NX Unit on the left through the NX bu...

Page 82: ...g limit switch Communications Coupler Unit NX Unit Three wire sensor with NPN output e g photoelectric sensor or proximity sensor Brown White Blue Black Black White Brown Red Blue Black I O Power Sup...

Page 83: ...attached to the twisted wires to the screwless clamping terminal block You can also connect the twisted wires or the solid wires to the screwless clamping terminal block If you connect the ferrules a...

Page 84: ...methods for applicable wires Dimensions of Wires Connected to the Terminal Block The dimensions of wires that you can connect into the terminal holes of the screwless clamping ter minal block are as...

Page 85: ...2 AWG Crimping tool Terminals other than ground ter minals Phoenix Contact AI0 34 8 0 34 22 Phoenix Contact The figure in parentheses is the applicable wire size CRIMPFOX 6 0 25 to 6 mm2 AWG24 to 10 A...

Page 86: ...fer to the manuals for the cables and use the cables correctly for the operating environment For twisted wires strip the sheath and twist the conductor portion Do not unravel or bend the conductor por...

Page 87: ...on describes how to connect and remove wires Terminal Block Parts and Names Required Tools Use a flat blade screwdriver to connect and remove wires Use the following flat blade screwdriver Recommended...

Page 88: ...ction make sure that the ferrule is securely connected to the terminal block Connecting Twisted Wires Solid Wires Use the following procedure to connect the twisted wires or solid wires to the termina...

Page 89: ...the release hole and insert the twisted wire or the solid wire into the terminal hole Insert the twisted wire or the solid wire until the stripped portion is no longer visible to prevent shorting 3 R...

Page 90: ...nal block When you insert a flat blade screwdriver into a release hole press it down with a force of 30 N max Applying excessive force may damage the terminal block Do not tilt or twist the flat blade...

Page 91: ...he removal method is the same for ferrules twisted wires and solid wires 1 Press the flat blade screwdriver diagonally into the release hole Press at an angle of 10 to 15 If you press in the screwdriv...

Page 92: ...nal block When you insert a flat blade screwdriver into a release hole press it down with a force of 30 N max Applying excessive force may damage the terminal block Do not tilt or twist the flat blade...

Page 93: ...it User s Manual W521 4 3 Wiring the Terminals 4 4 3 1 Wiring to the Screwless Clamping Terminal Block 1 Press the lock lever on the terminal block and pull out the top of the terminal block to remove...

Page 94: ...ok on the guide at the bottom of the NX Unit and press in on the top of the terminal block to attach it Mount a Terminal Block that is applicable to each Unit model Refer to Applicable Terminal Blocks...

Page 95: ...rt three Coding Pins NX AUX02 into three of the six incorrect attachment prevention holes on the Unit and on the terminal block Insert these pins into positions so that they do not interfere with each...

Page 96: ...ypes of Coding Pins both with their own unique shape one for terminal blocks and one for Units Three pins come with each runner Use the following Coding Pins Name Model Specification Coding Pin NX AUX...

Page 97: ...through 6 in the figure below As shown in the following table there are 20 unique pin patterns that can be used Pin locations for Terminal Block Pin inserted Terminal Block Unit 1 2 3 4 5 6 No 1 No 2...

Page 98: ...s page If you insert a Coding Pin into one of the holes used by OMRON on the terminal block side this makes it impossible to mount the terminal block on a Unit Do not use Coding Pins that have been at...

Page 99: ...4 31 4 Installation and Wiring NX series Digital I O Unit User s Manual W521 4 3 Wiring the Terminals 4 4 3 1 Wiring to the Screwless Clamping Terminal Block Unit...

Page 100: ...age the cable Bending the cable too sharply can damage or break wiring in the cable OMRON Connecting Cable can be used to connect Digital I O Units with connectors to OMRON Con nector Terminal Block C...

Page 101: ...ock it After you complete the wiring make sure that the connector is locked Precautions for Safe Use If the external power supply has polarity connect it with the correct polarity If the polarity is r...

Page 102: ...e algorithms Therefore you can easily check the wiring Also if you use I O checking you can check the wiring by connecting the computer in which the Sys mac Studio is installed to the peripheral USB p...

Page 103: ...Type Input Units This is the wiring for contact output type external devices This is the wiring for two wire sensors 4 4 1 Wiring the Input Units Wiring to the DC Input Units When I O Power Is Suppli...

Page 104: ...PNP Type Input Units This is the wiring for contact output type external devices IN IOG IOV IOG IOV 0V Output Three wire sensor DC Input Unit Communications Coupler Unit or Additional I O Power Suppl...

Page 105: ...its This is the wiring for two wire sensors This is the wiring for three wire sensors IOG IOV IOG IOV IN Two wire sensor DC Input Unit Communications Coupler Unit or Additional I O Power Supply Unit I...

Page 106: ...sensor output ON unless the following conditions are satisfied VON VCC VR The voltages related to the conditions for NPN type sensors are shown in the figure below The voltages related to the conditi...

Page 107: ...esidual voltage of DC Input Unit RIN Use the following equation to calculate the input current of the constant current input Iin ION Note For constant current input type Input Units the input current...

Page 108: ...ply voltage VR Sensor s output residual voltage IOUT Sensor control output load current ION Input current of DC Input Unit Input current when the rated voltage is applied R Bleeder resistor RIN Input...

Page 109: ...nstant of the resistance input R RIN VOFF Ileak RIN VOFF Use the following equation to calculate the bleeder resistance constant of the constant current input R VOFF IOFF VOFF Ileak VOFF IOFF VOFF For...

Page 110: ...nt where inputs are possible Determine the time required for sensor operation to stabilize after the sensor is turned ON and take appropriate measures such as inserting an ON delay into the user progr...

Page 111: ...nal Source DC Input Unit Output 7 mA 0 V DC Input Unit Output 7 mA 0 V Current regulator IN COM DC Input Unit DC Input Unit DC Input Unit Output 7 mA 0 V Two wire DC output NPN open collector output D...

Page 112: ...l voltage of DC Input Unit RIN When ION is smaller than IOUT min connect a bleeder resistor R The bleeder resistor constant can be calculated as follows R VCC VR IOUT min ION Power W of bleeder resist...

Page 113: ...ng example is shown below The sensor s power supply voltage is used as the input bit to Sensor_power A 100 ms timer delay the time required for an OMRON Proximity Sensor to stabilize is created in the...

Page 114: ...or Safe Use If you use reed switches for the input contacts for AC Input Units use switches with an allow able current of 1 A or greater If the capacity of the reed switches is too low inrush current...

Page 115: ...descent lamp steps must be taken to avoid damage to the output transistor Use either of the following methods to reduce the inrush current Countermeasure 1 Draw about 1 3 of the current consumed by th...

Page 116: ...h the voltage supplied to the load L is not decreased In countermeasure 2 the voltage supplied to the load L is decreased although the current consumption from I O power supply is not increased Select...

Page 117: ...Types of I O Refreshing Methods 5 3 5 2 2 Setting the I O Refreshing Methods 5 4 5 2 3 Selecting NX Units 5 4 5 2 4 Free Run Refreshing 5 5 5 2 5 Synchronous Input Refreshing 5 9 5 2 6 Synchronous Ou...

Page 118: ...the communications types The following shows the operation of I O refreshing when the built in EtherCAT port on the NJ series CPU Unit is used for communications with an EtherCAT Slave Terminal The p...

Page 119: ...O Refreshing Methods I O refreshing method name Outline of operation Free Run refreshing With this I O refreshing method the refresh cycle of the NX bus and the I O refresh cycles of the NX Units are...

Page 120: ...to the manuals for the EtherCAT slaves for information on the timing to read inputs or to refresh outputs in EtherCAT slaves The I O refreshing methods that you can use depend on the model of the NX U...

Page 121: ...below The Communications Coupler Unit can read the most recent input value at the time of I O refreshing and the NX Units can control the most recent output value at the time of I O refreshing However...

Page 122: ...tal Input Unit A Digital Input Unit B Timing to read inputs for each Unit is not simultaneous ON OFF response time Input filter time ON OFF response time Input filter time Timing to read inputs c b Se...

Page 123: ...nput Bit 01 BOOL RO Input Bit 01 The input value for input bit 01 FALSE Input Bit 02 BOOL RO Input Bit 02 The input value for input bit 02 FALSE Input Bit 03 BOOL RO Input Bit 03 The input value for i...

Page 124: ...00 FALSE Output Bit 01 BOOL RW Output Bit 01 The output set value for output bit 01 FALSE Output Bit 02 BOOL RW Output Bit 02 The output set value for output bit 02 FALSE Output Bit 03 BOOL RW Output...

Page 125: ...efer to a in the figure below The Communications Coupler Unit reads the input values that are latched at the time to read inputs at immediate I O refreshing Refer to b in the figure below The interval...

Page 126: ...for all Units Sync0 Constant Constant Constant Constant b The Communications Coupler Unit reads the latched data at I O refreshing c Interval of I O refreshing is not constant 1 2 3 4 Input 1 Input 2...

Page 127: ...refresh cycle of the NX bus that is calculated by the Sysmac Studio A warning is given if you set the primary period to a task period in which the value that is smaller than the I O refresh cycle of...

Page 128: ...Name Description Default value Input Bit 16 bits WORD RO Input Bits 16 bits The input values for 16 bits 0000 hex I O port name Type R W Name Description Default value Input Bit 32 bits DWORD RO Inpu...

Page 129: ...the same time at a fixed interval based on Sync0 Refer to a in the figure below The Communication Coupler Unit refreshes the output values at I O refreshing Refer to b in the figure below The interval...

Page 130: ...Coupler Unit refreshes the output values at I O refreshing Timing to refresh outputs Sync0 Sync0 1 2 3 4 Sync0 Constant Constant 1 2 3 4 Output 1 Output 2 ON OFF response time DA conversion time 1 2...

Page 131: ...the task period of the primary periodic task With the primary periodic task in Configurations and Setup Task Settings select the task period in the Period Execution Conditions from the list At this ti...

Page 132: ...OOL RW Output Bit 00 The output set value for output bit 00 FALSE Output Bit 01 BOOL RW Output Bit 01 The output set value for output bit 01 FALSE Output Bit 02 BOOL RW Output Bit 02 The output set va...

Page 133: ...W521 5 2 I O Refreshing Methods 5 5 2 6 Synchronous Output Refreshing Thirty two point Mixed I O Units Output Section I O port name Type R W Name Description Default value Output Bit 16 bits WORD RW...

Page 134: ...These times are asynchronous to the NX bus refresh cycles Data exchange between the NX Units and EtherCAT Coupler Unit are performed cyclically on the NX bus refresh cycles There are the following tw...

Page 135: ...f the input terminals passed the ON OFF response time and reached the internal cir cuits The EtherCAT Coupler Unit reads the input values and the input changed times from the NX Units at I O refreshin...

Page 136: ...tant Input filter time Offset between Sync0 and timing to read inputs This time is automatically calculated by the Sysmac Studio Constant Constant Communications Coupler Unit Constant Input 2 Input 1...

Page 137: ...ng to the input refresh cycles of the NX Units in the Slave Terminals when the Slave Terminals are configured and set up Sync0 Sync0 Sync0 T1 T2 DC time T1 T2 T0 Input value Input changed time The tri...

Page 138: ...esh cycle of the NX bus that is calculated by the Sysmac Studio Refer to the NX series EtherCAT Coupler Unit User s Manual Cat No W519 for a warning on the task periods Additional Information Do not d...

Page 139: ...input value for input bit 01 FALSE Input Bit 02 BOOL RO Input Bit 02 The input value for input bit 02 FALSE Input Bit 03 BOOL RO Input Bit 03 The input value for input bit 03 FALSE Input Bit 00 Time...

Page 140: ...y sets the output set values and the DC times to refresh outputs to the Output Units on the NX bus refresh cycles In the descriptions below the DC time to refresh the output is called the specified ti...

Page 141: ...e time is needed from the specified time until setting the output status of exter nal terminals on the NX Units If the next specified time is set before the current specified time is reached the NX Un...

Page 142: ...Output set value Output set value I O refreshing of the NX bus Device variables Device variables Device variables The Input Unit records the DC time when input was changed Input Unit that supports in...

Page 143: ...Execution Conditions from the list At this time set the primary period to a task period in which the value that is greater than the I O refresh cycle of the NX bus that is calculated by the Sysmac Stu...

Page 144: ...ut Bit 00 Time Stamp ULINT RW Output Bit 00 Time Stamp The specified operation time for output bit 00 If the value is 0 the output is refreshed immedi ately 0 ns Output Bit 01 Time Stamp ULINT RW Outp...

Page 145: ...f an Input Unit NX ID3344 changes to ON output bit 00 of an Output Unit NX OD2154 changes to ON The following determinations are performed to normally operate the programming a When the specified time...

Page 146: ...s Network Configuration Unit number Model Unit Device name 0 NX ECC201 EtherCAT Coupler Unit E001 1 NX ID3344 Digital Input Unit that supports input refreshing with input changed time N1 2 NX OD2154 D...

Page 147: ...1 Time Stamp of Synchronous Output Contains the time stamp for the timing of synchronous outputs from the connected NX Unit Unit ns R ULINT E001_Time_Stamp_ of_Synchronous_Ou tput Global variable Unit...

Page 148: ...nged time until the specified time ms OffsetErrorTaskExeCnt ULINT ULINT 3 Error criteria for specified time TaskPeriod ULINT ULINT 1000000 Task period ms TmpWork ULINT Workpiece for determining specif...

Page 149: ...Error N2_Output_Bit_00 UINT 1 MOVE EN In ENO Out State 0 State0 Wait for input bit 00 to change If the specified time is 3 task periods or less error end Transit to set the specified time and to check...

Page 150: ...000000 Time from the input changed time until the specified time ms OffsetErrorTaskExeCnt ULINT ULINT 3 Error criteria for specified time TaskPeriod ULINT ULINT 1000000 Task period ms External Variabl...

Page 151: ...Code WORD 16 0001 ELSE Set the specified time SetOutputTimeStamp InputTimeStamp OffsetTimeStamp N2_Output_Bit_00_Time_Stamp SetOutputTimeStamp N2_Output_Bit_00 TRUE State 1 Transit to output check END...

Page 152: ...5 I O Refreshing 5 36 NX series Digital I O Unit User s Manual W521...

Page 153: ...types and functions of Digital Input Units 6 1 Types of Digital Input Units 6 2 6 2 Specifications of I O Data 6 4 6 2 1 Allocable I O Data 6 4 6 3 List of Settings 6 7 6 4 Function 6 13 6 4 1 List of...

Page 154: ...nput refreshing with input changed time only P A 9 NX ID3417 PNP 12 to 24 VDC Switching Synchro nous I O refreshing and Free Run refreshing 20 s max 400 s max P A 10 NX ID3443 24 VDC 100 ns max 100 ns...

Page 155: ...ital Input Units 6 AC Input Units Screwless Clamping Terminal Block 12 mm Width Model Num ber of poin ts Rated input voltage I O refreshing method ON OFF response time Reference NX IA3117 4 point s 20...

Page 156: ...in this section An I O entry mapping means a collection of I O entries To assign the I O allocation information of the EtherCAT Slave Terminal to an NJ series CPU Unit use the I O ports for the alloc...

Page 157: ...nput Bit 02 Input Bit 03 The input value for input bit 03 BOOL FALSE Input Bit 03 Input Bit 04 The input value for input bit 04 BOOL FALSE Input Bit 04 Input Bit 05 The input value for input bit 05 BO...

Page 158: ...ription Data type Default value I O port name Index Subin dex Unit Input Bit 00 The input value for input bit 00 BOOL FALSE Input Bit 00 6000 hex 01 hex Input Bit 01 The input value for input bit 01 B...

Page 159: ...safety at the connected devices before you transfer the Unit operation settings Four point Input Units NX ID3317 ID3417 IA3117 1 The descriptions of Input Filter Value Setting are as follows NX Units...

Page 160: ...OFF Filter 0 0 1 1 Enable Only OFF Filter Setting name Description Default value Setting range Unit Index Subin dex Refer ence Input Filter Value Setting Set the filter time of input signal 1 1 1 500...

Page 161: ...e Unit Index Subin dex Refer ence Input Filter Value Setting Set the filter time of input signal 1 1 1 5000 hex 01 hex P 6 14 Input Filter Mode Setting Set the operating mode for the filter 2 2 2 02 h...

Page 162: ...Subin dex Refer ence Input Filter Value Setting Set the filter time of input signal 1 1 1 5000 hex 01 hex P 6 14 Input Filter Mode Setting Set the operating mode for the filter 2 2 2 02 hex P 6 14 Set...

Page 163: ...e Unit Index Subin dex Refer ence Input Filter Value Setting Set the filter time of input signal 1 1 1 5000 hex 01 hex P 6 14 Input Filter Mode Setting Set the operating mode for the filter 2 2 2 02 h...

Page 164: ...changed time FALSE Rising Edge TRUE Falling Edge FALSE TRUE or FALSE 5005 hex 01 hex P 5 21 Input Bit 01 Trigger Set ting 02 hex Input Bit 02 Trigger Set ting 03 hex Input Bit 03 Trigger Set ting 04...

Page 165: ...a fixed interval between more than one NX Unit on more than one Slave Terminal 5 2 5 Synchro nous Input Refreshing on page 5 9 Time Stamp Refreshing With this I O refreshing method the NX Units record...

Page 166: ...a 1 4 interval of the input filter time When all inputs are ON or OFF the input val ues turn ON or OFF This prevents data changes and unstable data This function works for all inputs of the NX Units...

Page 167: ...ur times of reading Input filter time 1 2 3 4 ON OFF OFF OFF OFF ON OFF ON Input filter time 1 2 3 4 ON ON OFF OFF OFF ON OFF ON OFFOFF OFF OFF When input is ON ON filter disabled If the status of inp...

Page 168: ...to make a long input filter time or take countermeasures such as separate the Unit or signal lines and noise source or protect the Unit or signal lines Unit Input Units and Mixed I O Units in which i...

Page 169: ...hing You cannot use this function for the NX Units that support input refreshing with input changed time Use the Sysmac Studio 1 Use any of the following methods to display the Edit Unit Operation Set...

Page 170: ...6 Digital Input Units 6 18 NX series Digital I O Unit User s Manual W521 Select the NX Unit then click the Edit Unit Operation Settings Button The Edit Unit Operation Settings Tab Page is displayed...

Page 171: ...mode you want to set from the lower list of Input Filter Setting Additional Information If you set a value different from the default value the Value on the Sysmac Studio is dis played in a different...

Page 172: ...eration settings on the Sysmac Studio is completed Always sufficiently check the safety at the connected devices before you transfer the Unit operation settings Note that when you use this function th...

Page 173: ...1 Types of Digital Output Units 7 2 7 2 Specifications of I O Data 7 4 7 2 1 Allocable I O Data 7 4 7 3 List of Settings 7 8 7 4 Function 7 11 7 4 1 List of Digital Output Unit Functions 7 11 7 4 2 Lo...

Page 174: ...54 2 point s NPN 0 5 A point 1 A Unit 24 VDC Output refreshing with speci fied time stamp only 300 ns max 300 ns max P A 26 NX OD2258 PNP P A 28 NX OD3121 4 point s NPN 0 5 A point 2 A Unit 12 to 24 V...

Page 175: ...ing and Free Run refreshing 0 1 ms max 0 8 ms max P A 38 NX OD5256 5 PNP 24 VDC 0 5 ms max 1 0 ms max P A 40 NX OD6121 5 32 points NPN 0 5 A point 2 A com mon 4 A Unit 12 to 24 VDC 0 1 ms max 0 8 ms m...

Page 176: ...ific I O entry is assigned to the I O entry mapping for each NX Unit model These allocations are fixed so you cannot add others or change them An I O entry means the I O data described in this section...

Page 177: ...cription Data type Default value I O port name Index Subin dex Output Bit 8 bits The output values for 8 bits The following 8 BOOL data are included BYTE 00 hex Output Bit 8 bits 7001 hex 01 hex Outpu...

Page 178: ...Bit 00 Output Bit 01 The output set value for output bit 01 BOOL FALSE Output Bit 01 Output Bit 15 The output set value for output bit 15 BOOL FALSE Output Bit 15 Data name Description Data type Defau...

Page 179: ...FALSE Output Bit 01 02 hex Output Bit 00 Time Stamp The specified oper ation time for out put bit 00 If the value is 0 the out put is refreshed immediately ULINT 0 Output Bit 00 Time Stamp 7010 hex 01...

Page 180: ...ts in Free Run Refreshing or Synchronous I O Refreshing Setting name Description Default value Setting range Unit Index Subin dex Refer ence Load Rejection Output for Output Bit 00 Set the output at l...

Page 181: ...t bit 02 Bit 3 Setting for output bit 03 Bit 4 Setting for output bit 04 Bit 5 Setting for output bit 05 Bit 6 Setting for output bit 06 Bit 7 Setting for output bit 07 FALSE OFF TRUE Hold the present...

Page 182: ...bit 00 Bit 1 Setting for output bit 01 Bit 31 Setting for output bit 31 FALSE OFF TRUE Hold the present value 000000 00 hex 0000000 0 to FFFFFFF F hex 5013 hex 01 hex P 7 12 NX Units in Output Refresh...

Page 183: ...is I O refreshing method the NX Units record the DC times when inputs change or perform outputs at specified DC times These times are asynchronous to the NX bus refresh cycles Data exchange between th...

Page 184: ...e set independently Two point Output Units Four point Output Units 7 4 2 Load Rejection Output Setting Purpose Details on the Function Setting name Description Default value Unit Load Rejection Output...

Page 185: ...04 Bit 5 Setting for output bit 05 Bit 6 Setting for output bit 06 Bit 7 Setting for output bit 07 FALSE OFF TRUE Hold the present value 00 hex Setting name Description Default value Unit Load Rejecti...

Page 186: ...e the Sysmac Studio 1 Use any of the following methods to display the Edit Unit Operation Settings Tab Page on the Edit Slave Terminal Configuration Tab Page Double click the NX Unit Right click the N...

Page 187: ...ts NX series Digital I O Unit User s Manual W521 7 4 Function 7 7 4 2 Load Rejection Output Setting Select the NX Unit then click the Edit Unit Operation Settings Button The Edit Unit Operation Settin...

Page 188: ...the Value text box The data type of the set values and the range of the values that you can set vary depending on the number of output points Additional Information If you set a value different from t...

Page 189: ...settings are transferred from the Sysmac Studio to the NX Unit The settings are reflected after the Unit is restarted Precautions for Safe Use The Unit is required to restart after the transfer of Uni...

Page 190: ...wn in the figure below and the junction temperature Tj of the transistor to reach the thermal shutdown temperature Tstd in which a load short circuit protection operates the output will turn OFF to pr...

Page 191: ...d short circuit protection of this NX Unit is automatically released when the Tj equals to Tr Therefore unless the cause of short circuit is removed ON OFF operations are repeated in the out put If th...

Page 192: ...the I O circuit and cause the Output Units to malfunction Good Example Bad Example Three wire device Additional I O Power Supply Unit Transistor Output Unit Additional I O Power Supply Unit Transistor...

Page 193: ...s and replace the NX Unit before the end of its service life Contact Current vs Service Life Characteristic Precautions for Correct Use The above chart shows the life characteristics for individual re...

Page 194: ...t Protection Circuit Circuit Current Feature Required element AC DC CR method Yes Yes If the load is a relay or solenoid there is a delay in the resetting time If the power supply volt age is 24 or 48...

Page 195: ...ue The for ward current of the diode must be the same as or larger than the load current The reversed dielectric strength value of the diode may be two to three times larger than the power supply volt...

Page 196: ...tion circuit is very effective for preventing spark discharge when the circuit is opened However when the contacts are closed the contacts may be welded due to the cur rent charged in the capacitor DC...

Page 197: ...and points to consider when these Units are used 8 1 Types of Digital Mixed I O Units 8 2 8 2 Specifications of I O Data 8 3 8 2 1 Allocable I O Data 8 3 8 3 List of Settings 8 5 8 3 1 Input Settings...

Page 198: ...el Num ber of points Internal I O common Maximum value of load current Rated volt age I O refresh ing method ON OFF response time Reference NX MD6121 5 Out puts 16 points Inputs 16 points Outputs NPN...

Page 199: ...ta described in this section An I O entry mapping means a collection of I O entries To assign the I O allocation information of the EtherCAT Slave Terminal to an NJ series CPU Unit use the I O ports f...

Page 200: ...tput Bit 16 bits The output values for 16 bits The following 16 BOOL data are included WORD 0000 hex Output Bit 16 bits 7002 hex 01 hex Output Bit 00 The output set value for output bit 00 BOOL FALSE...

Page 201: ...ces before you transfer the Unit operation settings This section describes the allocable I O data in the Digital Mixed I O Units Sixteen point Input Units 1 The descriptions of Input Filter Value Sett...

Page 202: ...nable Only OFF Filter 8 3 2 Output Settings NX Units in Free Run Refreshing or Synchronous I O Refreshing Setting name Description Default value Setting range Unit Index Subin dex Refer ence Load Reje...

Page 203: ...due to the noises You can set the filter time constant 6 4 2 Input Filter on page 6 14 8 4 2 Output Functions Function name Description Reference Free Run Refreshing With this I O refreshing method t...

Page 204: ...8 Digital Mixed I O Units 8 8 NX series Digital I O Unit User s Manual W521...

Page 205: ...ng for Errors with the Indicators 9 3 9 3 Checking for Errors and Troubleshooting on the Sysmac Studio 9 5 9 3 1 Checking for Errors from the Sysmac Studio 9 5 9 3 2 Event Codes and Corrections for Er...

Page 206: ...9 1 How to Check 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...

Page 207: ...the following items and supply the Unit power supply correctly Check items for power supply Make sure that the power supply cable is wired correctly Make sure that the power supply cable is not discon...

Page 208: ...ot Lit FS 1 s NX Unit Output Synchronization Error Refer to Event NX Unit Output Synchronization Error on page 9 13 Not Lit Lit NX Unit Clock Not Synchronized Error Refer to Event NX Unit Clock Not Sy...

Page 209: ...roller Error Tab Page to check the current error s level source source details event name event codes details attached information 1 to 4 and correction Errors in the observation level are not display...

Page 210: ...ent logs in the Digital I O Units are stored in the Communications Coupler Unit Refer to the user s manual for the connected Communications Coupler Unit for details on the amount of event logs that ar...

Page 211: ...Yes P 9 10 10410000 hex Control Parameter Error in Mas ter An error occurred in the control parame ters that are saved in the master There is an error in the area of the non volatile memory in the Com...

Page 212: ...rom the Sysmac Studio Yes P 9 13 80240000 hex NX Unit Clock Not Synchro nized Error An error occurred in the clock informa tion between the EtherCAT Coupler Unit and the NX Unit There is a hardware er...

Page 213: ...the error is removed Depends on cause The recovery method depends on the cause of the error Log category Tells which log the error is saved in 3 3 One of the following System System event log Access A...

Page 214: ...ming When power is turned ON to the NX Unit Error attributes Level Minor fault Recovery Restart the Slave Terminal and then reset all errors in Controller Log category System Effects User program Cont...

Page 215: ...restart the NX Unit and then reset errors in Com munications Coupler Unit Log category System Effects User program Continues Operation I O refreshing for the NX Unit stops Sys tem defined variables Va...

Page 216: ...ble 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 with End Plates Mount th...

Page 217: ...s The Slave Terminal Configuration Information when the EtherCAT Coupler Unit synchronization set tings were downloaded did not agree with the actual configuration of the Slave Terminal Correct the ac...

Page 218: ...rdware error in the EtherCAT Coupler Unit Attached information None Precautions Remarks None Event name Previous Time Specified Event code 70010000 hex Meaning A previous time was specified for output...

Page 219: ...tem configuration Source details NX Unit Detection timing When commanded from user Error attributes Level Information Recovery Log category Access Effects User program Continues Operation Not affected...

Page 220: ...9 Troubleshooting 9 16 NX series Digital I O Unit User s Manual W521 9 4 Resetting Errors Refer to the user s manual for the connected Communications Coupler Unit for details on how to reset errors...

Page 221: ...voltage within the rated range The Unit is not wired correctly with the connected external device Check the wiring with the connected external device The wiring to the connected external device is di...

Page 222: ...ice The wiring to the connected external device is discon nected Check the wiring with the connected external device A connected external device is defective Replace the connected external device Alth...

Page 223: ...al I O Unit User s Manual W521 9 6 Troubleshooting Flowchart 9 9 6 Troubleshooting Flowchart Refer to the user s manual for the connected Communications Coupler Unit for details on the standard troubl...

Page 224: ...9 Troubleshooting 9 20 NX series Digital I O Unit User s Manual W521...

Page 225: ...User s Manual W521 This section describes how to clean inspect and maintain the system 10 1 Cleaning and Inspection 10 2 10 1 1 Cleaning 10 2 10 1 2 Periodic Inspection 10 2 10 2 Maintenance Procedur...

Page 226: ...ed detergent 2 and wrung dry Units will become stained if items such as rubber vinyl products or adhesive tape are left on the NX Unit for a long period Remove such items during regular cleaning Preca...

Page 227: ...e Is it subject to direct sunlight Not in direct sunlight Protect the Controller if necessary Is there an accumulation of dirt dust salt metal powder etc No accumulation Clean and protect the Controll...

Page 228: ...nit User s Manual W521 Required Tools Phillips screwdriver Flat blade screwdriver Voltage tester or digital voltmeter Industrial alcohol and pure cotton cloth Tools Required Occasionally Oscilloscope...

Page 229: ...ce NX series Digital I O Unit User s Manual W521 10 2 Maintenance Procedures 10 10 2 Maintenance Procedures When you replace a Digital I O Unit follow the procedure in the user s manual for the connec...

Page 230: ...10 Inspection and Maintenance 10 6 NX series Digital I O Unit User s Manual W521...

Page 231: ...n Units and I O Relay Terminals A 63 A 3 2 Combinations of Connections A 65 A 3 3 Connector Terminal Block Conversion Unit Connection Diagrams A 68 A 3 4 Connection Diagrams for I O Relay Terminals A...

Page 232: ...A 9 NX ID3417 PNP 12 to 24 VDC Switching Synchro nous I O refreshing and Free Run refresh ing 20 s max 400 s max P A 10 NX ID3443 24 VDC 100 ns max 100 ns max P A 11 NX ID3444 Input refreshing with i...

Page 233: ...efresh ing method ON OFF response time Reference NX OD2154 2 point s NPN 0 5 A point 1 A Unit 24 VDC Output refreshing with specified time stamp only 300 ns max 300 ns max P A 26 NX OD2258 PNP P A 28...

Page 234: ...odel Num ber of point s Relay type Maximum switching capacity I O refresh ing method ON OFF response time Reference NX OC2633 2 point s N O 250 VAC 2 A cos 1 250 VAC 2 A cos 0 4 24 VDC 2 A 4 A Unit Fr...

Page 235: ...a to the internal of the Unit It is same for both ON OFF The filter time to be set by the Support Software is described Dimensions The dimensions of the Unit They are described as W x H x D The unit i...

Page 236: ...It is same for both ON OFF The filter time to be set by the Support Software is described Dimensions The dimensions of the Unit They are described as W x H x D The unit is mm Isolation method The isol...

Page 237: ...er isolation Insulation resistance 20 M min between isolated circuits at 100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply me...

Page 238: ...00 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal...

Page 239: ...ric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal IOV 0 1 A term...

Page 240: ...isolated circuits at 100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O...

Page 241: ...isolated circuits at 100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O...

Page 242: ...between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal IOV 0 1 A terminal max IOG 0 1 A te...

Page 243: ...VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal IO...

Page 244: ...th 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal IOV 0 1 A terminal max N...

Page 245: ...uits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal Without I O power supply terminals NX Unit power con sum...

Page 246: ...a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal Without I O power supply terminals NX Unit power con sumption 0 55 W max Curr...

Page 247: ...nd each signal ON OFF response time 20 s max 400 s max Input filter time No filter 0 25 ms 0 5 ms 1 ms default 2 ms 4 ms 8 ms 16 ms 32 ms 64 ms 128 ms 256 ms Dimensions 30 W x 100 H x 71 D Isolation m...

Page 248: ...e characteristic 16 points at 45 C 16 points at 45 C 12 points at 45 C 16 points at 40 C 7 points at 55 C 12 points at 55 C Ambient temperature Ambient temperature For upright installation For any ins...

Page 249: ...20 s max 400 s max Input filter time No filter 0 25 ms 0 5 ms 1 ms default 2 ms 4 ms 8 ms 16 ms 32 ms 64 ms 128 ms 256 ms Dimensions 30 W x 100 H x 71 D Isolation method Photocoupler isolation Insulat...

Page 250: ...32 points at 35 C 32 points at 30 C 13 points common at 55 C 13 points common at 55 C 8 points common at 55 C 5 points common at 55 C 10 points common at 55 C 20 10 5 0 15 35 25 30 For upright instal...

Page 251: ...2 16 18 20 14 21 25 29 23 27 31 35 37 39 33 22 26 30 24 28 32 36 38 40 34 24 VDC 24 VDC NC IN23 IN21 COM1 IN22 IN20 IN18 IN17 IN16 IN19 NC IN15 IN13 COM0 IN14 IN12 IN10 IN09 IN08 IN11 NC IN07 IN05 COM...

Page 252: ...minal 20 M min at 500 VDC Between the external terminals and inter nal circuits 20 M min at 500 VDC Between the internal circuit and the func tional ground terminal 20 M min at 100 VDC Dielectric stre...

Page 253: ...W521 A 1 Data Sheet A A 1 2 Digital Input Units Terminal connection diagram Disconnection Short circuit detection Not supported Protective function Not supported A1 B1 A8 B8 AC Input Unit NX IA3117 2...

Page 254: ...FF response time The delay time for which data in the internal circuit is reflected in the state of output elements of the Unit It is described according to the ON OFF sequence Dimensions The dimensio...

Page 255: ...and internal circuit of the Unit Dielectric strength The dielectric strength between the output circuit and internal circuit of the Unit Vibration resistance The vibration resistance specifications o...

Page 256: ...en isolated circuits at 100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I...

Page 257: ...A 27 Appendices NX series Digital I O Unit User s Manual W521 A 1 Data Sheet A A 1 3 Digital Output Units Disconnec tion Short circuit detection Not supported Protective function Not supported...

Page 258: ...1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal IOV 0 5 A terminal max IOG 0 5 A termi nal max NX Unit power con...

Page 259: ...100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply termina...

Page 260: ...s for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal IOV 0 5 A terminal max IOG 0 5 A termi nal max NX Unit powe...

Page 261: ...h 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal IOV 0 5 A terminal max IO...

Page 262: ...10 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal IOV 0 5 A terminal max IOG 0...

Page 263: ...pendices NX series Digital I O Unit User s Manual W521 A 1 Data Sheet A A 1 3 Digital Output Units Disconnec tion Short circuit detection Not supported Protective function With load short circuit prot...

Page 264: ...minute at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal IOV 0 5 A terminal max NX Unit power con sumption 0 55 W max Curren...

Page 265: ...e at a leakage current of 5 mA max I O power supply method Supply from the NX bus Current capacity of I O power supply terminal IOG 0 5 A terminal max NX Unit power con sumption 0 65 W max Current con...

Page 266: ...thod Supply from the NX bus Current capacity of I O power supply terminal Without I O power supply terminals NX Unit power con sumption 0 65 W max Current consumption from I O power supply 20 mA max W...

Page 267: ...Supply from the NX bus Current capacity of I O power supply terminal Without I O power supply terminals NX Unit power con sumption 0 70 W max Current consumption from I O power supply 40 mA max Weight...

Page 268: ...100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at a leakage current of 5 mA max I O power supply method Supply from external source Current capacity of I O power supply ter...

Page 269: ...A 39 Appendices NX series Digital I O Unit User s Manual W521 A 1 Data Sheet A A 1 3 Digital Output Units Disconnec tion Short circuit detection Not supported Protective function Not supported...

Page 270: ...mA max I O power supply method Supplied from external source Current capacity of I O power supply terminal Without I O power supply terminals NX Unit power con sumption 0 70 W max Current consumption...

Page 271: ...ime 0 1 ms max 0 8 ms max Dimensions 30 W x 100 H x 71 D Isolation method Photocoupler isolation Insulation resistance 20 M min between isolated circuits at 100 VDC Dielectric strength 510 VAC between...

Page 272: ...21 25 29 23 27 31 35 37 39 33 22 26 30 24 28 32 36 38 40 34 V1 OUT23 OUT21 COM1 OUT22 OUT20 OUT18 OUT17 OUT16 OUT19 V0 OUT15 OUT13 COM0 OUT14 OUT12 OUT10 OUT09 OUT08 OUT11 V0 OUT07 OUT05 COM0 OUT06 O...

Page 273: ...ns 30 W x 100 H x 71 D Isolation method Photocoupler isolation Insulation resistance 20 M min between isolated circuits at 100 VDC Dielectric strength 510 VAC between isolated circuits for 1 minute at...

Page 274: ...14 21 25 29 23 27 31 35 37 39 33 22 26 30 24 28 32 36 38 40 34 COM1 V OUT23 OUT21 0V1 OUT22 OUT20 OUT18 OUT17 OUT16 OUT19 COM0 V OUT15 OUT13 0V0 OUT14 OUT12 OUT10 OUT09 OUT08 OUT11 COM0 V OUT07 OUT05...

Page 275: ...func tional ground terminal 20 M min at 100 VDC Dielectric strength Between A1 B1 terminals and A3 B3 termi nals 2300 VAC for 1 min at a leakage cur rent of 5 mA max Between the external terminals an...

Page 276: ...trictions No restrictions Terminal connection diagram Disconnec tion Short circuit detection Not supported Protective function Not supported 1 Electrical service life will vary depending on the curren...

Page 277: ...ween A1 3 B1 3 terminals and A5 7 B5 7 terminals 2300 VAC for 1 min at a leakage current of 5 mA max Between the external terminals and the functional ground terminal 2300 VAC for 1 min at a leakage c...

Page 278: ...am Disconnec tion Short circuit detection Not supported Protective function Not supported 1 Electrical service life will vary depending on the current value Refer to Relay Service Life on page 7 21 fo...

Page 279: ...input turns ON and corresponding input current OFF voltage OFF cur rent The input voltage in which the Unit input turns OFF and corresponding input current ON OFF response time The delay time for whi...

Page 280: ...devices When an I O Power Supply Connection Unit or a Shield Connection Unit is required to be connected to the connected external devices the description for such is included Disconnection Short circ...

Page 281: ...r rent 15 VDC min 3 mA min between COM and each signal Maximum inrush current 4 0 A point 10 ms max OFF volt age OFF cur rent 5 VDC max 1 mA max between COM and each signal Leakage cur rent 0 1 mA max...

Page 282: ...15 COM1 COM1 Input indicator 3 3 k CN2 right input circuit I O power supply NX bus connector left I O power supply NX bus connector right I O power supply I O power supply Internal circuits Internal c...

Page 283: ...e 24 V 28 8 V I O power supply voltage 24 V 28 8 V For any installation other than upright Number of simultaneously ON input points vs Ambient temperature characteristic For upright installation Numbe...

Page 284: ...L L L L L L L L L CN1 left output terminal Be sure to wire both pins 3 and 4 COM0 of CN1 Be sure to wire both pins 1 and 2 V0 of CN1 The polarity of the input power supply of CN2 can be connected in e...

Page 285: ...en COM and each signal Maximum inrush current 4 0 A point 10 ms max OFF volt age OFF cur rent 5 VDC max 1 mA max between COM and each signal Leakage cur rent 0 1 mA max ON OFF response time 20 s max 4...

Page 286: ...rotection Connector Internal circuits IN0 to IN15 COM1 COM1 Input indicator 3 3 k CN1 left output circuit CN2 right input circuit I O power supply NX bus connector left I O power supply NX bus connect...

Page 287: ...e 24 V 28 8 V I O power supply voltage 24 V 28 8 V For any installation other than upright Number of simultaneously ON input points vs Ambient temperature characteristic For upright installation Numbe...

Page 288: ...re to wire both pins 3 and 4 COM0 V of CN1 Be sure to wire both pins 1 and 2 0V0 of CN1 24 VDC CN2 right input terminal Connector pin Signal name Signal name 1 5 9 3 7 11 15 17 19 13 NC IN15 IN13 COM1...

Page 289: ...Digital I O Unit User s Manual W521 A 2 Dimensions A A 2 1 Screwless Clamping Terminal Block Type A 2 Dimensions A 2 1 Screwless Clamping Terminal Block Type 12 mm Width 80 1 71 104 5 100 14 1 65 2 1...

Page 290: ...Appendices A 60 NX series Digital I O Unit User s Manual W521 Installation Height 100 71 Unit mm...

Page 291: ...tor Types Units with MIL Connectors 1 Connector with 20 terminals Units with MIL Connectors 1 Connector with 40 terminals A 2 2 Connector Types 30 mm Width 32 1 100 1 5 1 5 27 85 19 1 16 1 30 71 65 2...

Page 292: ...Appendices A 62 NX series Digital I O Unit User s Manual W521 Units with MIL Connectors 2 Connectors with 20 terminals 32 1 19 1 8 9 16 1 30 71 65 2 89 52 104 5 58 3 100 1 5 1 5 27 85 Unit mm...

Page 293: ...ON Connec tor Terminal Block Conversion Units and I O Relay Terminals using OMRON Connecting Cables A 3 1 Patterns for Combining Connector Terminal Block Conversion Units and I O Relay Terminals Conne...

Page 294: ...tal I O Unit User s Manual W521 Connection Patterns for I O Relay Terminals Pattern Configuration A E F I O Relay Terminal Connecting Cable Connecting Cable I O Relay Terminal I O Relay Terminal I O R...

Page 295: ...A None XW2Z K XW2B 40G4 None B 2 XW2Z N XW2D 20G6 2 Units None B 2 XW2Z N XW2B 20G5 2 Units None B 2 XW2Z N XW2B 20G4 2 Units None B 2 XW2Z N XW2C 20G6 IO16 2 Units Yes P A 69 B 2 XW2Z N XW2C 20G5 IN...

Page 296: ...e B 2 XW2Z N XW2B 20G4 2 Units None B 2 XW2Z N XW2C 20G6 IO16 2 Units Yes P A 72 B 2 XW2Z N XW2F 20G7 OUT16 2 Units Yes NX MD6121 5 16 inputs 1 MIL connec tor NPN P NP C None XW2Z X XW2D 20G6 None P A...

Page 297: ...C G70D SOC16 1 P A 77 F None G79 O C G70D FOM16 1 F None G79 O C G70A ZOC16 4 NX OD6121 5 32 outputs 1 MIL con nector NPN A 2 G79 O D1 G7TC OC16 P A 78 A 2 G79 O D1 G7TC OC08 A 2 G79 O D1 G70D SOC16 P...

Page 298: ...d consists of 16 points of the I O terminals and the first word is called Wd m Note 1 The COM terminals are internally connected inside the Unit but they must all be wired A 3 3 Connector Terminal Blo...

Page 299: ...nnec tor Terminal Block Con version Unit XW2D 40G6 XW2D 40G6 RM Connecting Cable XW2Z K Connection diagram A20 A11 A12 A13 A14 A15 A16 A17 A18 A19 B20 B11 B12 B13 B14 B15 B16 B17 B18 B19 A10 A1 A2 A3...

Page 300: ...inal Block Con version Unit XW2D 20G6 Connecting Cable XW2Z X Connection diagram A10 A1 A2 A3 A4 A5 A6 A7 A8 A9 B10 B1 B2 B3 B4 B5 B6 B7 B8 B9 L L L L L L L L L L L L L L L L 10 09 08 11 12 13 14 15 V...

Page 301: ...lock Con version Unit XW2D 40G6 Connecting Cable XW2Z K Connection diagram 12 to 24 VDC A20 A11 A12 A13 A14 A15 A16 A17 A18 A19 B20 B11 B12 B13 B14 B15 B16 B17 B18 B19 A10 A1 A2 A3 A4 A5 A6 A7 A8 A9 B...

Page 302: ...m 24 VDC 24 VDC A20 A11 A12 A13 A14 A15 A16 A17 A18 A19 B20 B11 B12 B13 B14 B15 B16 B17 B18 B19 A10 A1 A2 A3 A4 A5 A6 A7 A8 A9 B10 B1 B2 B3 B4 B5 B6 B7 B8 B9 11 10 12 13 14 15 10 11 12 13 14 15 03 02...

Page 303: ...6121 5 Connec tor Terminal Block Con version Unit XW2D 20G6 Connecting Cable XW2Z X Connection diagram A10 A1 A2 A3 A4 A5 A6 A7 A8 A9 B10 B1 B2 B3 B4 B5 B6 B7 B8 B9 CN2 A10 A1 A2 A3 A4 A5 A6 A7 A8 A9...

Page 304: ...o the Input Units and I O Relay Terminals use isolated contacts 00 to 15 are the input bit numbers for the Input Unit and the I O Relay Ter minal 2 Use the G78 04 short bar to short to the common term...

Page 305: ...rminal 00 to 15 are the output numbers for the Output Unit and the I O Relay Terminal 2 Use the G6D 4 SB short bar to short to the com mon terminal Outputs G70D VSOC16 Output Unit 15 14 13 12 11 10 09...

Page 306: ...t and I O Relay Terminal 00 to 07 are the output numbers for the Output Unit and the I O Relay Terminal 2 Use the G6D 4 SB short bar to short to the com mon terminal G70D SOC16 Output Unit B7 B5 B5 B3...

Page 307: ...ls Note 1 All outputs are independent They are also isolated from the Output Unit and I O Relay Terminal 00 to 07 are the output numbers for the Output Unit and the I O Relay Terminal 2 Use the G6D 4...

Page 308: ...ed from the Output Unit and I O Relay Terminal 00 to 15 are the output numbers for the Output Unit and the I O Relay Terminal 2 Use the G78 04 short bar to short to the common terminal G7TC OC16 OC08...

Page 309: ...olated from the Output Unit and I O Relay Terminal 00 to 15 are the output numbers for the Output Unit and the I O Relay Terminal G70A ZOC16 3 G2R 1 S 16 Units 12 14 22 24 21 32 34 31 42 44 41 52 54 5...

Page 310: ...easures are not required the switching frequency of the entire system incorporating the Output Unit is less than 5 times per minute Countermeasures are required the switching frequency of the entire s...

Page 311: ...bindex of the NX object that is expressed as a two digit hexadeci mal number Object name This is the name of the object For a subindex this is the name of the subindex Default value This is the value...

Page 312: ...RO Not possible 05 Vendor Code 00000001 hex 4 4 OMRON vendor code UDINT RO Not possible 06 Unit Version 5 5 Bits 24 to 31 Integer part of the Unit version Bits 16 to 23 Fractional part of the Unit ve...

Page 313: ...bject instruction 1 The default value and data range for Number of Entries are as follows Objects That Accept I O Allocations Index hex Subindex hex Object name Default value Data range Unit Data type...

Page 314: ...hex Object name Default value Data range Unit Data type Acc ess I O allo cat ion Data attri bute 6001 BYTE Input 00 Number of Entries 1 1 USINT RO Not pos sible 01 Input Bit 8 bits 00 hex 00 to FF hex...

Page 315: ...Input 00 Number of Entries 1 1 USINT RO Not possi ble 01 Input Bit 32 bits 00000000 hex 00000000 to FFFFFFFF hex 2 DWORD RO Possi ble NX Units Default value Data range NX ID6142 5 1 1 fixed Other mod...

Page 316: ...Unit Data type Acc ess I O allo cat ion Data attri bute 5000 Input Filter Setting 00 Number of Entries 1 1 USINT RO Not pos sible 01 Input Filter Value Setting 3 0 to 11 2 USINT RW Not pos sible Y 02...

Page 317: ...ex hex Object name Default value Data range Unit Data type Acc ess I O allo cat ion Data attri bute 5001 Input Filter Setting 00 Number of Entries 1 1 USINT RO Not pos sible 01 Input Filter Value Sett...

Page 318: ...t ion Data attri bute 5005 Time Stamp Trigger Set ting 00 Number of Entries 1 1 USINT RO Not pos sible 01 Input Bit 00 Trigger Setting FALSE TRUE or FALSE 2 BOOL RW Not pos sible Y 02 Input Bit 01 Tri...

Page 319: ...ess I O allo cat ion Data attri bute 5006 Time Stamp Mode Set ting 00 Number of Entries 1 1 USINT RO Not pos sible 01 Input Bit 00 Mode Setting FALSE TRUE or FALSE 2 BOOL RW Not pos sible Y 02 Input B...

Page 320: ...T RO Not possible 05 Vendor Code 00000001 hex 4 4 OMRON vendor code UDINT RO Not possible 06 Unit Version 5 5 Bits 24 to 31 Integer part of the Unit version Bits 16 to 23 Fractional part of the Unit v...

Page 321: ...n 1 The default value and data range for Number of Entries are as follows Objects That Accept I O Allocations Index hex Subindex hex Object name Default value Data range Unit Data type Acc ess I O all...

Page 322: ...x Object name Default value Data range Unit Data type Acc ess I O allo cat ion Data attri bute 7001 BYTE Output 00 Number of Entries 1 1 USINT RO Not pos sible 01 Output Bit 8 bits 00 hex 00 to FF hex...

Page 323: ...allo cat ion Data attri bute 7003 DWORD Output 00 Number of Entries 1 1 USINT RO Not possi ble 01 Output Bit 32 bits 00000000 hex 00000000 to FFFFFFFF hex 2 DWORD RW Possi ble N NX Units Default value...

Page 324: ...t value Data range Unit Data type Acc ess I O allo cat ion Data attri bute 6011 Specified Time Stamp Out put Status 00 Number of Entries 1 1 USINT RO Not pos sible 01 Output Bit 00 Output Sta tus FALS...

Page 325: ...O allo cat ion Data attri bute 5010 Load Rejection Output Set ting 00 Number of Entries 1 1 USINT RO Not pos sible 01 Load Rejection Output for Output Bit 00 FALSE TRUE or FALSE 2 BOOL RW Not pos sib...

Page 326: ...Rejection Output for Output Bit 01 Bit 7 Load Rejection Output for Output Bit 07 Index hex Subindex hex Object name Default value Data range Unit Data type Acc ess I O allo cat ion Data attri bute 501...

Page 327: ...0 Bit 1 Load Rejection Output for Output Bit 01 Bit 15 Load Rejection Output for Output Bit 15 Index hex Subindex hex Object name Default value Data range Unit Data type Acc ess I O allo cat ion Data...

Page 328: ...tput for Output Bit 01 Bit 31 Load Rejection Output for Output Bit 31 Index hex Subindex hex Object name Default value Data range Unit Data type Acc ess I O allo cat ion Data attri bute 5013 Load Reje...

Page 329: ...s are assigned for each product Unit type Bits 0 to 31 Device type UDINT RO Not pos sible 04 Product Code 3 3 The product codes are assigned for each product model Bits 0 to 31 Product code UDINT RO N...

Page 330: ...00 Bit 1 Input Bit 01 Bit 15 Input Bit 15 7 The year month and day of production are assigned to the lot number Bits 24 to 31 Date of production Bits 16 to 23 Month of production Bits 8 to 15 Year of...

Page 331: ...6 bits are as follows Bit 0 Output Bit 00 Bit 1 Output Bit 01 Bit 15 Output Bit 15 Index hex Subindex hex Object name Default value Data range Unit Data type Acc ess I O allo cat ion Data attri bute 7...

Page 332: ...Default value Data range Unit Data type Acc ess I O allo cat ion Data attri bute 5000 Input Filter Setting 00 Number of Entries 1 1 USINT RO Not pos sible 01 Input Filter Value Setting 3 0 to 11 2 USI...

Page 333: ...put Bit 00 Bit 1 Load Rejection Output for Output Bit 01 Bit 15 Load Rejection Output for Output Bit 15 Index hex Subindex hex Object name Default value Data range Unit Data type Acc ess I O allo cat...

Page 334: ...lock Models Terminal Block model Number of terminals Ground terminal Terminal current capacity NX TBA081 8 Not provided 4 A NX TBA121 12 NX TBA161 16 NX TBB121 12 NX TBB161 16 NX TBA082 8 10 A NX TBA1...

Page 335: ...cannot use the specifications that were added or changed for the relevant NX Unit models and the unit versions unless you use the corresponding unit versions versions Refer to the user s manuals for t...

Page 336: ...Reference Manual Cat No W502 E1 08 or later for details on the instructions for time stamp refreshing NX Units Corresponding Unit Ver sions Versions 1 Model Unit ver sion EtherCAT Commu nica tions Cou...

Page 337: ...I 1 I NX series Digital I O Unit User s Manual W521 Index...

Page 338: ...3 I O allocation setting 6 4 7 4 8 3 I O entry 6 4 7 4 8 3 I O entry mapping 6 4 7 4 8 3 I O Map 4 34 I O power supply 4 8 I O Power Supply Connection Unit 4 14 I O power supply terminal 4 9 incorrect...

Page 339: ...erminal number indication 3 4 thermal shutdown temperature 7 18 timing to read inputs 5 5 5 9 timing to refresh outputs 5 5 5 13 Transistor Output Unit A 26 A 38 Twisted Wire 4 18 U Unit A 81 Unit hoo...

Page 340: ...I 4 NX series Digital I O Unit User s Manual W521 Index...

Page 341: ...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 342: ...stems Machine Automation Controllers MAC Programmable Controllers PLC Operator interfaces HMI Distributed I O Software Drives Motion Controls Servo AC Drives Motion Controllers Encoders Temperature Pr...

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