Omron NJ501-1400 User manual

Machine Automation Controller
NJ-series
CPU Unit
Motion Control
CPU Unit
User’s Manual
W507-E1-01
NJ501-1300
NJ501-1400
NJ501-1500

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of
OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is
constantly striving to improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.
OMRON, 2011

1
Introduction
NJ-series CPU Unit Motion Control User’s Manual (W507)
Introduction
Thank you for purchasing an NJ-series CPU Unit.
This manual contains information that is necessary to use the Motion Control Function Module of an
NJ-series CPU Unit. Please read this manual and make sure you understand the functionality and per-
formance of the NJ-series CPU Unit before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during 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 systems.
•Personnel in charge of designing FA systems.
•Personnel in charge of installing and maintaining FA systems.
•Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B3503.
This manual covers the following products.
•NJ-series CPU Units
•NJ501-1300
•NJ501-1400
•NJ501-1500
Intended Audience
Applicable Products

Relevant Manuals
2NJ-series CPU Unit Motion Control User’s Manual (W507)
Relevant Manuals
There are three manuals that provide basic information on the NJ-series CPU Units: the NJ-series CPU
Unit Hardware User’s Manual, the NJ-series CPU Unit Software User’s Manual (this manual), and the
NJ-series Instructions Reference Manual.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac Stu-
dio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.
Other manuals are necessary for specific system configurations and applications.
Read all of the manuals that are relevant to your system configuration and application to make the most
of the NJ-series CPU Unit.
NJ-series User’s Manuals
Basic information
Introduction to NJ-series Controllers
Setting devices and hardware
Using motion control
Using EtherCAT
Using EtherNet/IP
Using CJ-series Units
Software settings
Using motion control
Using EtherCAT
Using EtherNet/IP
Programming
Using motion control
Using EtherCAT
Using CJ-series Units
Programming error processing
Testing operation and debugging
Using motion control
Using EtherCAT
Using EtherNet/IP
Maintenance
Using EtherCAT
Using EtherNet/IP
Using CJ-series Units
NJ-series CPU Unit Hardware User´s Manual NJ-series CPU Unit Software User´s Manual NJ-series Instructions Reference Manual NJ-series CPU Unit Motion Control User´s Manual NJ-series CPU Unit Built-in EtherCAT Port User´s Manual NJ-series Motion Control Instructions Reference Manual NJ-series CPU Unit Built-in EtherNet/IP Port User´s Manual NJ-series Troubleshooting Manual CJ-series Special Unit Operation Manuals for NJ-series CPU Unit
Troubleshooting and managing
errors in an NJ-series Controller
Use the
relevant
manuals for
references
according to
any error that
occurs.

3
Manual Configuration
NJ-series CPU Unit Motion Control User’s Manual (W507)
Manual Configuration
NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)
Section Description
Section 1
Introduction
This section provides an introduction to the NJ-series Controllers and their features,
and gives the NJ-series Controller specifications.
Section 2
System Configuration
This section describes the system configuration used for NJ-series Controllers.
Section 3
Configuration Units
This section describes the parts and functions of the configuration devices in the NJ-
series Controller configuration, including the CPU Unit and Configuration Units.
Section 4
Installation and Wiring
This section describes where and how to install the CPU Unit and Configuration Units
and how to wire them.
Section 5
Troubleshooting
This section describes the event codes, error confirmation methods, and corrections
for errors that can occur.
Section 6
Inspection and Maintenance
This section describes the contents of periodic inspections, the service life of the Bat-
tery and Power Supply Units, and replacement methods for the Battery and Power
Supply Units.
Appendices
The appendices provide the specifications of the Basic I/O Units, Unit dimensions,
load short-circuit protection detection, line disconnection detection, and measures for
EMC Directives.
NJ-series CPU Unit Software User’s Manual (Cat. No. W501)
Section Description
Section 1
Introduction
This section provides an introduction to the NJ-series Controllers and their features,
and gives the NJ-series Controller specifications.
Section 2
CPU Unit Operation
This section describes the variables and control systems of the CPU Unit and CPU
Unit status.
Section 3
I/O Ports, Slave Configuration, and
Unit Configuration
This section describes how to use I/O ports, how to create the slave configuration
and unit configuration and how to assign functions.
Section 4
Controller Setup
This section describes the initial settings of the function modules.
Section 5
Designing Tasks
This section describes the task system and types of tasks.
Section 6
Programming
This section describes programming, including the programming languages and the
variables and instructions that are used in programming.
Section 7
Simulation, Transferring Projects to
the Physical CPU Unit, and Opera-
tion
This section describes simulation of Controller operation and how to use the results
of simulation.
Section 8
CPU Unit Status
This section describes CPU Unit status.
Section 9
CPU Unit Functions
This section describes the functionality provided by the CPU Unit.
Section 10
Communications Setup
This section describes how to go online with the CPU Unit and how to connect to
other devices.
Section 11
Example of Actual Application Pro-
cedures
This section describes the procedures that are used to actually operate an NJ-series
Controller.
Section 12
Troubleshooting
This section describes the event codes, error confirmation methods, and corrections
for errors that can occur.
Appendices
The appendices provide the CPU Unit specifications, task execution times, system-
defined variable lists, data attribute lists, CJ-series Unit memory information, CJ-
series Unit memory allocation methods, and data type conversion information.

Manual Configuration
4NJ-series CPU Unit Motion Control User’s Manual (W507)
NJ-series CPU Unit Motion Control User’s Manual (Cat. No. W507)
(This Manual)
Section Description
Section 1
Introduction to the Motion Control
Function Module
This section describes the features, system configuration, and application flow for the
Motion Control Function Module.
Section 2
Motion Control Configuration and
Principles
This section outlines the internal structure of the CPU Unit and describes the config-
uration and principles of the MC Function Module.
Section 3
Configuring Axes and Axes Groups
This section describes the concept of axes and axes groups, the settings for axes
that are required for the MC Test Run operations to function on the Sysmac Studio,
and the instructions for creating and configuring axes and axes groups using the Sys-
mac Studio.
Section 4
Checking Wiring from the Sysmac
Studio
This section describes the MC Test Run operations of the Sysmac Studio. You can
use the MC Test Run operations to monitor sensor signals, check Servomotor wiring,
and more, all without any programming.
Section 5
Motion Control Parameters
This section provides information on the axis parameters and axes group parameters
that are used for motion control.
Section 6
Motion Control Programming
This section provides the specifications of a motion control program and the operat-
ing procedures that are required up through actual program development.
Section 7
Manual Operation
This section describes manual operation when the MC Function Module is used
together with an OMRON G5-series Servo Drive.
Section 8
Homing
This section describes homing.
Section 9
Motion Control Functions
This section describes the motion control functions that are used when connected to
OMRON G5-series Servo Drives with built-in EtherCAT communications.
Section 10
Sample Programming
This section describes basic application methods for homing, error monitoring, and
other functions, and provides programming samples for absolute positioning, cam
operation, and other axis operations.
Section 11
Troubleshooting
This section describes the items to check when problems occur in the MC Function
Module. It includes error diagnosis and countermeasures for error indications, and
error diagnosis and countermeasures for operating conditions.
Appendices The appendices describe settings and connection methods for OMRON G5-series
Servo Drive objects.
NJ-series Instructions Reference Manual (Cat. No. W502)
Section Description
Section 1
Instruction Set
This section provides a table of the instructions that are described in this manual.
Section 2
Instruction Descriptions
This section describes instruction specifications in detail.
Appendices The appendices provide a table of error codes and other supplemental information to
use instructions.

5
Manual Configuration
NJ-series CPU Unit Motion Control User’s Manual (W507)
NJ-series CPU Unit Built-in EtherCAT Port User’s Manual
(Cat. No. W505)
Section Description
Section 1
Introduction
This section provides an overview of EtherCAT communications, describes the sys-
tem configuration and specifications, and provides operating procedures.
Section 2
Part Names and Slave Settings
This section provides the part names and describes the slave settings and Sysmac
device functions.
Section 3
EtherCAT Communications
This section describes the different types of EtherCAT communications, EtherCAT
settings, and state transitions.
Section 4
EtherCAT Network Wiring
This section describes how to connect and wire an EtherCAT network.
Section 5
Setting Up EtherCAT Communica-
tions with the Sysmac Studio
This section describes how to set the network configuration information and how to
check EtherCAT communications from the Sysmac Studio.
Section 6
Process Data Communications and
SDO Communications
This section describes the timing of communications, response times, and special
instructions for process data communications and SDO communications. It also pro-
vides sample programming.
Section 7
System-defined Variables That Are
Related to the Built-in EtherCAT Port
This section describes the system-defined variables that are related to the built-in
EtherCAT port.
Section 8
Example of Operations for EtherCAT
Communications
This section provides a series of example operations for when an NJ-series CPU Unit
is connected to slaves.
Section 9
Troubleshooting
This section describes the event codes, error confirmation methods, and corrections
for errors that can occur for EtherCAT communications. It also describes how to
replace slaves.
Appendices The appendices describe the relation of EtherCAT communications to overall CPU
Unit status, packet monitoring functions, and multi-vendor application.
NJ-series Motion Control Instructions Reference Manual
(Cat. No. W508)
Section Description
Section 1
Introduction to Motion Control
Instructions
This section gives an introduction to motion control instructions supported by NJ-
series CPU Units.
Section 2
Variables and Instructions
This section describes the variables and instructions for the Motion Control Function
Module.
Section 3
Axis Command Instructions
This section describes the instructions that are used to perform single-axis control for
the MC Function Module.
Section 4
Axes Group Instructions
This section describes the instructions to perform multi-axes coordinated control for
the MC Function Module.
Section 5
Common Command Instructions
This section describes the instructions that are used for both axes and axes groups.
Appendices The appendices describe the error codes that are generated by the instructions.
NJ-series Troubleshooting Manual (Cat. No. W503)
Section Description
Section 1
Overview of Errors
This section describes the errors that can occur on an NJ-series Controller, the oper-
ation that occurs for errors, and methods to confirm errors.
Section 2
Error Troubleshooting Methods
This section describes how to handle errors.
Section 3
Error Tables
This section lists all of the error events that can occur on NJ-series Controllers.

Manual Configuration
6NJ-series CPU Unit Motion Control User’s Manual (W507)
Sysmac Studio Version 1 Operation Manual (Cat. No. W504)
Section Description
Section 1
Introduction
This section provides an overview and lists the specifications of the Sysmac Studio
and describes its features and components.
Section 2
Installation and Uninstallation
This section describes how to install and uninstall the Sysmac Studio.
Section 3
System Design
This section describes the basic concepts for designing an NJ-series System with the
Sysmac Studio and the basic operating procedures.
Section 4
Programming
This section describes how to create programs with the Sysmac Studio.
Section 5
Online Connections to a Controller
This section describes how to go online with a Controller.
Section 6
Debugging
This section describes how to debug the programs online on the Controller or debug
it offline with the Simulator.
Section 7
Other Functions
This section describes Sysmac Studio functions other than system design functions.
Section 8
Reusing Programming
This section describes how to reuse the programs that you create with the Sysmac
Studio.
Section 9
Support Software Provided with the
Sysmac Studio
This section describes the Support Software that is provided with the Sysmac Studio.
Section 10
Troubleshooting
This section describes the error messages that are displayed when you check a pro-
gram on the Sysmac Studio and how to correct those errors.
Appendices
The appendices describe the following:
Driver Installation for Direct USB Cable Connection
Specifying One of Multiple Ethernet Interface Cards
Online Help
Simulation Instructions

7
Manual Structure
NJ-series CPU Unit Motion Control User’s Manual (W507)
Manual Structure
The following page structure is used in this manual.
Special information in this manual is classified as follows:
Note References are provided to more detailed or related information.
Page Structure
Special Information
Precautions for Safe Use
Precautions on what to do and what not to do to ensure safe usage of the product.
Precautions for Correct Use
Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
4-9
4 Installation and Wiring
NJ-series CPU Unit Hardware User’s Manual (W500)
stinUgnitnuoM3-4
4
stnenopmoCrellortnoCgnitcennoC1-3-4
4-3 Mounting Units
The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.
1Join the Units so that the connectors fit exactly.
2The 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 into place.
Precautions for Correct UsePrecautions for Correct Use
4-3-1 Connecting Controller Components
Connector
Hook Hook holes
Slider
Lock
Release
Move the sliders toward the back
until they lock into place.
Level 1 heading
Level 2 heading
Level 3 heading
Level 2 heading
A step in a procedure
Manual name
Special information
Level 3 heading
Page tab
Gives the current
headings.
Indicates a procedure.
Icons indicate
precautions, additional
information, or reference
information.
Gives the number
of the main section.
This illustration is provided only as a sample. It may not literally appear in this manual.
The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
the adjacent Unit connectors.

Manual Structure
8NJ-series CPU Unit Motion Control User’s Manual (W507)
In this manual, “download” refers to transferring data from the Sysmac Studio to the physical Controller
and “upload” refers to transferring data from the physical Controller to the Sysmac Studio.
For the Sysmac Studio, synchronization is used to both upload and download data. Here, “synchronize”
means to automatically compare the data for the Sysmac Studio on the computer with the data in the
physical Controller and transfer the data in the direction that is specified by the user.
Precaution on Terminology

9
Sections in this Manual
NJ-series CPU Unit Motion Control User’s Manual (W507)
Sections in this Manual
1 10
2 11
3
4
A
5
6
7
8
9
1 10
2 11
3
4I
A
6
5
7
8
9
Sample Programming
Troubleshooting
Configuring Axes
and Axes Groups Appendices
Checking Wiring from
the Sysmac Studio Index
I
Motion Control Parameters
Motion Control Programming
Manual Operation
Homing
Motion Control Functions
Introduction to the
Motion Control
Function Module
Motion Control
Configuration and
Principles

Sections in this Manual
10 NJ-series CPU Unit Motion Control User’s Manual (W507)

11
NJ-series CPU Unit Motion Control User’s Manual (W507)
CONTENTS
CONTENTS
Introduction............................................................................................................... 1
Relevant Manuals...................................................................................................... 2
Manual Configuration............................................................................................... 3
Manual Structure ...................................................................................................... 7
Sections in this Manual............................................................................................ 9
Read and Understand this Manual........................................................................ 17
Safety Precautions ................................................................................................. 21
Precautions for Safe Use ....................................................................................... 22
Precautions for Correct Use .................................................................................. 23
Regulations and Standards ................................................................................... 24
Unit Versions........................................................................................................... 26
Related Manuals ..................................................................................................... 29
Revision History ..................................................................................................... 31
Section 1 Introduction to the Motion Control Function Module
1-1 Features.................................................................................................................................... 1-2
1-2 System Configuration ............................................................................................................. 1-3
1-3 Application Procedure ............................................................................................................ 1-4
1-4 Specifications .......................................................................................................................... 1-6
1-4-1 General Specifications................................................................................................................ 1-6
1-4-2 Performance Specifications ........................................................................................................ 1-6
1-4-3 Function Specifications............................................................................................................... 1-7
Section 2 Motion Control Configuration and Principles
2-1 Internal Configuration of the CPU Unit.................................................................................. 2-2
2-2 Motion Control Configuration.................................................................................................2-3
2-3 Motion Control Principles....................................................................................................... 2-4
2-3-1 CPU Unit Tasks........................................................................................................................... 2-4
2-3-2 Example of Task Operations for Motion Control ......................................................................... 2-7
2-4 EtherCAT Communications and Motion Control ................................................................ 2-11
2-4-1 CAN Application Protocol over EtherCAT (CoE)....................................................................... 2-11
2-4-2 Relationship between EtherCAT Master Function Module and MC Function Module .............. 2-12
2-4-3 Relationship between Process Data Communications Cycle and Motion Control Period ........ 2-13

12 NJ-series CPU Unit Motion Control User’s Manual (W507)
CONTENTS
Section 3 Configuring Axes and Axes Groups
3-1 Axes .......................................................................................................................................... 3-2
3-1-1 Introduction to Axes .................................................................................................................... 3-2
3-1-2 Introduction to Axis Parameters .................................................................................................. 3-3
3-1-3 Introduction to Axis Variables...................................................................................................... 3-5
3-1-4 Specifying an Axis in the User Program...................................................................................... 3-7
3-2 Axis Setting Procedure ........................................................................................................... 3-8
3-2-1 Axis Configuration Procedure ..................................................................................................... 3-8
3-2-2 Setting Procedure ....................................................................................................................... 3-8
3-3 Axes Groups .......................................................................................................................... 3-17
3-3-1 Introduction to Axes Groups...................................................................................................... 3-17
3-3-2 Introduction to Axes Group Parameters ....................................................................................3-18
3-3-3 Introduction to Axes Group Variables........................................................................................ 3-19
3-3-4 Specifying an Axes Group in the User Program........................................................................ 3-21
3-4 Setting Procedures for Axes Groups................................................................................... 3-22
3-4-1 Setting Procedure for an Axes Group ....................................................................................... 3-22
3-4-2 Setting Procedure ..................................................................................................................... 3-22
Section 4 Checking Wiring from the Sysmac Studio
4-1 Functions of the Sysmac Studio ............................................................................................ 4-2
4-1-1 MC Test Run Function................................................................................................................. 4-2
4-1-2 Application Procedure ................................................................................................................. 4-4
4-1-3 Axis Parameter Setting Example................................................................................................. 4-5
4-1-4 Starting the MC Test Run Function ............................................................................................. 4-6
4-2 Monitoring Sensor Signals ..................................................................................................... 4-7
4-3 Checking Motor Operation...................................................................................................... 4-8
4-3-1 Turning ON the Servo ................................................................................................................. 4-8
4-3-2 Jogging........................................................................................................................................ 4-8
4-3-3 Homing........................................................................................................................................ 4-9
4-3-4 Absolute Positioning.................................................................................................................. 4-10
4-3-5 Relative Positioning................................................................................................................... 4-11
Section 5 Motion Control Parameters
5-1 Introduction.............................................................................................................................. 5-2
5-2 Axis Parameters....................................................................................................................... 5-4
5-2-1 Axis Parameters.......................................................................................................................... 5-4
5-2-2 Axis Basic Settings...................................................................................................................... 5-5
5-2-3 Unit Conversion Settings............................................................................................................. 5-8
5-2-4 Operation Settings .................................................................................................................... 5-11
5-2-5 Other Operation Settings .......................................................................................................... 5-12
5-2-6 Limit Settings............................................................................................................................. 5-13
5-2-7 Position Count Settings............................................................................................................. 5-13
5-2-8 Servo Drive Settings ................................................................................................................. 5-15
5-2-9 Homing Settings........................................................................................................................ 5-16
5-2-10 Axis Parameter Setting Example............................................................................................... 5-17
5-3 Axes Group Parameters ........................................................................................................5-20
5-3-1 Axes Group Parameters............................................................................................................ 5-20
5-3-2 Axes Group Basic Settings ....................................................................................................... 5-21
5-3-3 Axes Group Operation Settings ................................................................................................ 5-22
5-3-4 Enabling an Axes Group ........................................................................................................... 5-23

13
NJ-series CPU Unit Motion Control User’s Manual (W507)
CONTENTS
Section 6 Motion Control Programming
6-1 Introduction.............................................................................................................................. 6-2
6-2 Motion Control Instructions.................................................................................................... 6-3
6-2-1 Function Blocks for PLCopen Motion Control............................................................................. 6-3
6-2-2 Motion Control Instructions of the MC Function Module............................................................. 6-3
6-3 State Transitions...................................................................................................................... 6-4
6-3-1 Status of the Motion Control Function Module............................................................................ 6-4
6-3-2 Axis States.................................................................................................................................. 6-4
6-3-3 Axes Group States...................................................................................................................... 6-6
6-4 Execution and Status of Motion Control Instructions.......................................................... 6-8
6-4-1 Basic Rules for Execution of Instructions ................................................................................... 6-8
6-4-2 Execution Timing Charts .......................................................................................................... 6-10
6-4-3 Timing Chart for Re-execution of Motion Control Instructions .................................................. 6-12
6-4-4 Timing Chart for Multi-execution of Motion Control Instructions ............................................... 6-13
6-5 Positions................................................................................................................................. 6-14
6-5-1 Types of Positions..................................................................................................................... 6-14
6-5-2 Valid Positions for Each Axis Type ............................................................................................ 6-14
6-6 System-defined Variables for Motion Control..................................................................... 6-15
6-6-1 Overview of System-defined Variables for Motion Control........................................................ 6-15
6-6-2 System for System-defined Variables for Motion Control ......................................................... 6-17
6-6-3 Tables of System-defined Variables for Motion Control ............................................................ 6-18
6-7 Cam Tables and Cam Data Variables ................................................................................... 6-28
6-8 Programming Motion Controls............................................................................................. 6-32
6-9 Creating Cam Tables ............................................................................................................. 6-34
Section 7 Manual Operation
7-1 Outline ...................................................................................................................................... 7-2
7-2 Turning ON the Servo.............................................................................................................. 7-3
7-2-1 Turning ON the Servo ................................................................................................................. 7-3
7-2-2 Setting Axis Parameters ............................................................................................................. 7-4
7-2-3 Programming Example ............................................................................................................... 7-4
7-3 Jogging..................................................................................................................................... 7-5
7-3-1 Jogging Procedure...................................................................................................................... 7-5
7-3-2 Setting Axis Parameters ............................................................................................................. 7-6
7-3-3 Setting Example for Input Variables............................................................................................ 7-6
7-3-4 Programming Example ............................................................................................................... 7-7
Section 8 Homing
8-1 Outline ...................................................................................................................................... 8-2
8-2 Homing Procedure................................................................................................................... 8-5
8-2-1 Setting Homing Parameters........................................................................................................ 8-5
8-2-2 Monitoring the Homing Operation............................................................................................. 8-10
8-3 Homing Operation ................................................................................................................. 8-11
8-4 Homing with an Absolute Encoder ...................................................................................... 8-12
8-4-1 Outline of Function.................................................................................................................... 8-13
8-4-2 Setting Procedure..................................................................................................................... 8-13
8-5 High-speed Homing............................................................................................................... 8-15

14 NJ-series CPU Unit Motion Control User’s Manual (W507)
CONTENTS
Section 9 Motion Control Functions
9-1 Single-axis Position Control ................................................................................................... 9-3
9-1-1 Outline of Operation.................................................................................................................... 9-3
9-1-2 Absolute Positioning.................................................................................................................... 9-4
9-1-3 Relative Positioning..................................................................................................................... 9-4
9-1-4 Interrupt Feeding......................................................................................................................... 9-5
9-1-5 Stopping...................................................................................................................................... 9-6
9-1-6 Override Factors.......................................................................................................................... 9-9
9-2 Single-axis Synchronized Control ....................................................................................... 9-11
9-2-1 Overview of Synchronized Control............................................................................................ 9-11
9-2-2 Gear Operation ......................................................................................................................... 9-11
9-2-3 Positioning Gear Operation....................................................................................................... 9-12
9-2-4 Cam Operation.......................................................................................................................... 9-13
9-2-5 Cam Tables ............................................................................................................................... 9-14
9-2-6 Synchronous Positioning........................................................................................................... 9-19
9-2-7 Combining Axes ........................................................................................................................ 9-21
9-2-8 Master Axis Phase Shift............................................................................................................ 9-22
9-3 Single-axis Velocity Control .................................................................................................9-23
9-3-1 Velocity Control ......................................................................................................................... 9-23
9-3-2 Cyclic Synchronous Velocity Control......................................................................................... 9-24
9-4 Single-axis Torque Control ...................................................................................................9-25
9-5 Common Functions for Single-axis Control ....................................................................... 9-26
9-5-1 Positions.................................................................................................................................... 9-26
9-5-2 Velocity...................................................................................................................................... 9-28
9-5-3 Acceleration and Deceleration .................................................................................................. 9-29
9-5-4 Jerk ........................................................................................................................................... 9-31
9-5-5 Specifying the Operation Direction............................................................................................ 9-32
9-5-6 Re-executing Motion Control Instructions ................................................................................. 9-35
9-5-7 Multi-execution of Motion Control Instructions (Buffer Mode) ................................................... 9-41
9-6 Multi-axes Coordinated Control ........................................................................................... 9-46
9-6-1 Outline of Operation.................................................................................................................. 9-46
9-6-2 Linear Interpolation ................................................................................................................... 9-48
9-6-3 Circular Interpolation................................................................................................................. 9-49
9-6-4 Stopping Under Multi-axes Coordinated Control....................................................................... 9-50
9-6-5 Overrides for Multi-axes Coordinated Control ........................................................................... 9-51
9-7 Common Functions for Multi-axes Coordinated Control................................................... 9-53
9-7-1 Velocity Under Multi-axes Coordinated Control......................................................................... 9-53
9-7-2 Acceleration and Deceleration Under Multi-axes Coordinated Control ..................................... 9-54
9-7-3 Jerk for Multi-axes Coordinated Control....................................................................................9-55
9-7-4 Re-executing Motion Control Instructions for Multi-axes Coordinated Control.......................... 9-56
9-7-5 Multi-execution (Buffer Mode) of Motion Control Instructions for Multi-axes Coordinated Control 9-
56
9-8 Other Functions..................................................................................................................... 9-65
9-8-1 Changing the Current Position .................................................................................................. 9-65
9-8-2 Torque Limit............................................................................................................................... 9-66
9-8-3 Latching..................................................................................................................................... 9-66
9-8-4 Zone Monitoring ........................................................................................................................ 9-67
9-8-5 Software Limits.......................................................................................................................... 9-68
9-8-6 Following Error Monitoring ........................................................................................................ 9-69
9-8-7 Following Error Counter Reset.................................................................................................. 9-70
9-8-8 Axis Following Error Monitoring ................................................................................................ 9-70
9-8-9 In-position Check ...................................................................................................................... 9-71
Section 10 Sample Programming
10-1 Overview of Sample Programming ...................................................................................... 10-2
10-1-1 Devices ..................................................................................................................................... 10-2

15
NJ-series CPU Unit Motion Control User’s Manual (W507)
CONTENTS
10-1-2 Installation and Wiring .............................................................................................................. 10-2
10-1-3 Setup ........................................................................................................................................ 10-3
10-2 Basic Programming Samples ............................................................................................... 10-4
10-2-1 Monitoring EtherCAT Communications and Turning ON Servos .............................................. 10-4
10-2-2 Interlocking Axis Operation with Master Control Instructions ................................................... 10-6
10-2-3 Error Monitoring and Error Resetting for Single-axis Operation and Synchronized Operation. 10-8
10-2-4 Error Monitoring and Error Resetting for Multi-axes Coordinated Operation.......................... 10-10
10-2-5 Monitoring for Instruction Errors ............................................................................................. 10-16
10-2-6 Checking to See If Errors Are Reset....................................................................................... 10-18
10-2-7 Stopping Axes during Single-axis Operation .......................................................................... 10-20
10-2-8 Stopping an Axes Group in Coordinated Motion .................................................................... 10-24
10-2-9 Homing and Absolute Positioning........................................................................................... 10-30
10-2-10 Changing the Target Position by Re-execution of an Instruction ............................................ 10-35
10-2-11 Interrupt Feeding .................................................................................................................... 10-41
10-2-12 Changing the Cam Table by Re-execution of an Instruction................................................... 10-45
10-2-13 Using a Cam Profile Curve to Correct the Sync Start Position ............................................... 10-54
10-2-14 Shifting the Phase of a Master Axis in Cam Motion................................................................ 10-64
10-2-15 Changing the Actual Position during Velocity Control............................................................. 10-72
10-2-16 Changing a Cam Data Variable and Saving the Cam Table ................................................... 10-78
10-2-17 Temporarily Changing Axis Parameters.................................................................................. 10-87
10-2-18 Updating the Cam Table End Point Index ............................................................................... 10-90
Section 11 Troubleshooting
11-1 Overview of Errors................................................................................................................. 11-2
11-1-1 How to Check for Errors............................................................................................................ 11-3
11-1-2 Errors Related to the Motion Control Function Module............................................................. 11-5
11-2 Troubleshooting................................................................................................................... 11-10
11-2-1 Error Table .............................................................................................................................. 11-10
11-2-2 Error Descriptions................................................................................................................... 11-19
11-2-3 Error Causes and Remedies .................................................................................................. 11-53
Appendices
A-1 Connecting the Servo Drive....................................................................................................A-2
A-1-1 Wiring the Servo Drive................................................................................................................ A-2
A-1-2 Servo Drive Settings................................................................................................................... A-2
A-2 Connecting to Encoder Input Terminals .............................................................................A-11
A-2-1 Wiring to Encoder Input Terminals............................................................................................ A-11
A-2-2 Settings for Encoder Input Terminals........................................................................................ A-11
A-3 Terminology ...........................................................................................................................A-15
A-3-1 NJ-series Controller.................................................................................................................. A-15
A-3-2 Motion Control .......................................................................................................................... A-16
A-3-3 EtherCAT Communications....................................................................................................... A-17
Index

16 NJ-series CPU Unit Motion Control User’s Manual (W507)
CONTENTS

17
Read and Understand this Manual
NJ-series CPU Unit Motion Control User’s Manual (W507)
Read and Understand this Manual
Please read and understand this manual before using the product. Please consult your OMRON representative
if you have any questions or comments.
Warranty and Limitations of Liability
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-
INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY
OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES,
LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS,
WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT
LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.
IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

Read and Understand this Manual
18 NJ-series CPU Unit Motion Control User’s Manual (W507)
Application Considerations
SUITABILITY FOR USE
OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.
At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.
The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses
listed may be suitable for the products:
• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or
uses not described in this manual.
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.
• Systems, machines, and equipment that could present a risk to life or property.
Please know and observe all prohibitions of use applicable to the products.
NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO
ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.
PROGRAMMABLE PRODUCTS
OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.