Omron NJ-series User guide

Machine Automation Controller NJ-series
Startup Guide
for Motion Control
W514-E1-01

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 Startup Guide for Motion Control (W514)
Introduction
Thank you for purchasing an NJ-series CPU Unit and the Sysmac Studio.
This NJ-series Startup Guide for Motion Control (hereafter referred to as “this Guide”) describes the
startup procedures that are required to use the NJ-series Motion Control Function Module for the first
time and provides operating instructions for the Sysmac Studio. You can follow the procedures that are
given in this Guide to set axis parameters and perform simple one-axis positioning and two-axis linear
interpolation. This Guide does not contain safety information and other details that are required for
actual use of an NJ-series Controller. Thoroughly read and understand the manuals for all of the
devices that are used in this Guide to ensure that the system is used safely. Review the entire contents
of these materials, including all safety precautions, precautions for safe use, and precautions for correct
use.
For the startup and operating instructions for NJ-series CPU Units, refer to the NJ-series Startup Guide
for CPU Units (Cat. No. W513).
This Guide is intended for the following personnel, who must also have knowledge of electrical systems
(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.
This Guide covers the following products.
•CPU Units of NJ-series Machine Automation Controllers
•Sysmac Studio Automation Software
The icons that are used in this Guide are described below.
Intended Audience
Applicable Products
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.

Read and Understand this Manual
2NJ-series Startup Guide for Motion Control (W514)
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
CPU Units of NJ-series Machine Automation Controllers
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.

3
Read and Understand this Manual
NJ-series Startup Guide for Motion Control (W514)
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.

Read and Understand this Manual
4NJ-series Startup Guide for Motion Control (W514)
Disclaimers
CHANGE IN SPECIFICATIONS
Product specifications and accessories may be changed at any time based on improvements and other
reasons.
It is our practice to change model numbers when published ratings or features are changed, or when
significant construction changes are made. However, some specifications of the products may be changed
without any notice. When in doubt, special model numbers may be assigned to fix or establish key
specifications for your application on your request. Please consult with your OMRON representative at any
time to confirm actual specifications of purchased products.
DIMENSIONS AND WEIGHTS
Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when
tolerances are shown.
PERFORMANCE DATA
Performance data given in this manual is provided as a guide for the user in determining suitability and does
not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must
correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and
Limitations of Liability.
ERRORS AND OMISSIONS
The information in this manual has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for clerical, typographical, or proofreading errors, or omissions.

5
Read and Understand this Manual
NJ-series Startup Guide for Motion Control (W514)
zWarranty
(1) Warranty Period
The warranty period for this software is one year from either the date of purchase or the date on
which the software is delivered to the specified location.
(2) Scope of Warranty
a) Customers who agree to the terms of use for this software and discover a defect in the soft-
ware (a significant difference from the information that is provided in the Sysmac Studio Ver-
sion 1 Operation Manual (Cat. No. W504)) can return their copy of the software to OMRON
for a replacement copy of the software without the defect. OMRON may also elect to provide
a method to download a copy of the software without the defect from an OMRON website. If
a problem is discovered with the storage media containing the software and the media is
returned to OMRON, OMRON shall provide a replacement storage media containing the
software free of charge.
b) If OMRON is unable to eliminate the defect from the software for any reason, OMRON shall
return the amount paid for the software to the customer.
zLimitations of Liability
(1) The purchase price refund and exchange defined in the preceding article represent the limits of
the warranty for this software. OMRON shall not be held responsible for any direct, indirect, or
consequential damages or losses to the customer as a result of any defect in this software.
(2) OMRON shall not be held responsible for any defects resulting in the modification of this soft-
ware by any party other than OMRON.
(3) OMRON shall not be held responsible for software developed based on this software by any
party other than OMRON or for the results of that software.
zApplication of the Software
Do not use this software for any purpose other than those described in the Sysmac Studio Version 1
Operation Manual (Cat. No. W504).
zChanges to Specifications
Specifications and accessories for this software may be changed as needed to improve the product
or for any other reason.
zScope of Service
The price of this software does not include service costs, such as dispatching technical staff.
Sysmac Studio Automation Software

Precautions
6NJ-series Startup Guide for Motion Control (W514)
Precautions
•When building a system, check the specifications for all devices and equipment that will make up the
system and make sure that the OMRON products are used well within their rated specifications and
performances. Safety measures, such as safety circuits, must be implemented in order to minimize
the risks in the event of a malfunction.
•Thoroughly read and understand the manuals for all devices and equipment that will make up the
system to ensure that the system is used safely. Review the entire contents of these materials,
including all safety precautions, precautions for safe use, and precautions for correct use.
•Confirm all regulations, standards, and restrictions that the equipment and devices in the system
must adhere to.
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan
and other countries for OMRON factory automation products.
• Windows, Windows 98, Windows XP, Windows Vista, and Windows 7 are registered trademarks of
Microsoft Corporation in the USA and other countries.
•EtherCATis registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
• The SD logo is a trademark of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trade-
marks of their respective companies.
This product incorporates certain third party software. The license and copyright information associ-
ated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
Trademarks
Software Licenses and Copyrights

7
Related Manuals
NJ-series Startup Guide for Motion Control (W514)
Related Manuals
The following manuals are related to the NJ-series Controllers. Use these manuals for reference.
Manual name Cat. No. Model Application Meaning
NJ-series CPU Unit Hardware
User’s Manual
W500
NJ501- @@@@ Learning the basic
specifications of the
NJ-series CPU Units,
including introduc-
tory information,
designing, installa-
tion, and mainte-
nance.
Mainly hardware
information is pro-
vided.
An introduction to the entire NJ-series system
is provided along with the following informa-
tion on a Controller built with an NJ501 CPU
Unit.
•Features and system configuration
•Introduction
•Part names and functions
•General specifications
•Installation and wiring
•Maintenance and inspection
Use this manual together with the NJ-series
CPU Unit Software User’s Manual (Cat. No.
W501).
NJ-series CPU Unit Software
User’s Manual
W501
NJ501- @@@@ Learning how to pro-
gram and set up an
NJ-series CPU Unit.
Mainly software infor-
mation is provided.
The following information is provided on a
Controller built with an NJ-series CPU Unit.
•CPU Unit operation
•CPU Unit features
•Initial settings
•Programming based on IEC 61131-3 lan-
guage specifications
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500).
NJ-series CPU Unit Motion
Control User’s Manual
W507
NJ501- @@@@ Learning about
motion control set-
tings and program-
ming concepts.
The settings and operation of the CPU Unit
and programming concepts for motion control
are described.
When programming, use this manual together
with the NJ-series CPU Unit Hardware User’s
Manual (Cat. No. W500) and NJ-series CPU
Unit Software User’s Manual (Cat. No. W501).
NJ-series Instructions Refer-
ence Manual
W502
NJ501- @@@@ Learning detailed
specifications on the
basic instructions of
an NJ-series CPU
Unit.
The instructions in the instruction set (IEC
61131-3 specifications) are described.
When programming, use this manual together
with the NJ-series CPU Unit Hardware User’s
Manual (Cat. No. W500) and NJ-series CPU
Unit Software User’s Manual (Cat. No. W501).
NJ-series Motion Control
Instructions Reference Manual
W508
NJ501- @@@@ Learning about the
specifications of the
motion control
instructions.
The motion control instructions are described.
When programming, use this manual together
with the NJ-series CPU Unit Hardware User’s
Manual (Cat. No. W500), NJ-series CPU Unit
Software User’s Manual (Cat. No. W501) and
NJ-series CPU Unit Motion Control User’s
Manual (Cat. No. W507).
NJ-series CPU Unit Built-in
EtherCAT Port User’s Manual
W505 NJ501- @@@@ Using the built-in
EtherCAT port on an
NJ-series CPU Unit.
Information on the built-in EtherCAT port is
provided.
This manual provides an introduction and pro-
vides information on the configuration, fea-
tures, and setup.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ-series CPU Unit Software
User’s Manual (Cat. No. W501).

Related Manuals
8NJ-series Startup Guide for Motion Control (W514)
NJ-series Troubleshooting
Manual
W503
NJ501- @@@@ Learning about the
errors that may be
detected in an NJ-
series Controller.
Concepts on managing errors that may be
detected in an NJ-series Controller and infor-
mation on individual errors are described.
Use this manual together with the NJ-series
CPU Unit Hardware User’s Manual (Cat. No.
W500) and NJ-series CPU Unit Software
User’s Manual (Cat. No. W501).
Sysmac Studio Version 1
Operation Manual
W504 SYSMAC-SE2@@@ Learning about the
operating proce-
dures and functions
of the Sysmac Studio.
The operating procedures of the Sysmac Stu-
dio are described.
G5-series AC Servomotors/
Servo Drives with Built-in
EtherCAT Communications
User’s Manual
I576 R88D-KN@-ECT
R88M-K@
Leaning how to con-
nect G5-series AC
Servomotors/ Servo
Drives with EtherCAT
Communications.
This manuals describes the following informa-
tion for the G5- series AC Servomotors/Servo
Drives with EtherCAT Communications: instal-
lation, wiring methods, parameter settings
required for operation, troubleshooting, and
inspection methods.
Manual name Cat. No. Model Application Meaning

9
Revision History
NJ-series Startup Guide for Motion Control (W514)
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
Revision
code Date Revised content
01 November 2011 Original production
W514-E1-01
Cat. No.
Revision code

10 NJ-series Startup Guide for Motion Control (W514)
CONTENTS
CONTENTS
Introduction ...............................................................................................................1
Intended Audience ...................................................................................................................................... 1
Applicable Products .................................................................................................................................... 1
Special Information ..................................................................................................................................... 1
Read and Understand this Manual ..........................................................................2
Precautions................................................................................................................6
Trademarks ................................................................................................................................................. 6
Software Licenses and Copyrights ............................................................................................................. 6
Related Manuals ........................................................................................................7
Revision History........................................................................................................9
Section 1 Servo System Configuration and Peripheral Products
1-1 The Servo System Constructed in this Guide....................................................................... 1-2
1-2 System Configuration and Configuration Devices............................................................... 1-3
Section 2 Before You Begin
2-1 Installing the Sysmac Studio.................................................................................................. 2-2
2-2 Assembling the Hardware....................................................................................................... 2-3
2-2-1 Mounting the Units ...................................................................................................................... 2-3
2-2-2 Setting the Node Addresses of the Servo Drives........................................................................ 2-4
2-2-3 Connecting the Safety Bypass Connector .................................................................................. 2-4
2-3 Wiring the Devices................................................................................................................... 2-5
2-3-1 Wiring the Rack Power Supply Unit ............................................................................................ 2-5
2-3-2 Wiring the Servo Drive Power Supply ......................................................................................... 2-6
2-3-3 Laying EtherCAT Communications Cables ................................................................................. 2-6
2-3-4 Wiring the Servo Drives and the Servomotors............................................................................ 2-7
2-3-5 Wiring the Control Input Signals for the Servo Drives.................................................................2-8
Section 3 Setting Up a Single-axis Servo System
3-1 Single-axis Servo System Operation ..................................................................................... 3-2
3-2 System Setup Procedures ......................................................................................................3-3
3-3 Creating a Project .................................................................................................................... 3-4
3-4 Creating the EtherCAT Network Configuration..................................................................... 3-7
3-5 Programming ........................................................................................................................... 3-9
3-5-1 Setting the Axis ........................................................................................................................... 3-9
3-5-2 Creating the Program................................................................................................................ 3-15
3-5-3 Checking the Program .............................................................................................................. 3-23
3-6 Transferring the Project to the CPU Unit ............................................................................. 3-24
3-7 Confirming System Operation.............................................................................................. 3-28
3-7-1 Checking for Controller Errors................................................................................................... 3-28
3-7-2 Checking the Servo Drive Wiring .............................................................................................. 3-30
3-7-3 Checking Program Operation.................................................................................................... 3-36
3-7-4 Using Data Tracing to Check Operation.................................................................................... 3-42

11
NJ-series Startup Guide for Motion Control (W514)
CONTENTS
Section 4 Adding an Axis to the Servo System
4-1 Two-axis Servo System Operation......................................................................................... 4-2
4-2 System Setup Procedures ......................................................................................................4-3
4-3 Changing the Program ............................................................................................................ 4-4
4-3-1 Adding a Servo Drive to the EtherCAT Network Configuration................................................... 4-4
4-3-2 Adding Axis 1 and Setting an Axes Group.................................................................................. 4-6
4-3-3 Adding Instructions and Checking the Program ....................................................................... 4-13
4-3-4 Transferring the Project to the CPU Unit...................................................................................4-19
4-4 Confirming System Operation.............................................................................................. 4-20
4-4-1 Checking the New Axis 1.......................................................................................................... 4-20
4-4-2 Checking Program Operation ................................................................................................... 4-20
4-4-3 Using Data Tracing to Check Operation ................................................................................... 4-27
Appendices
A-1 Settings When Control Input Signals Are Not Wired ...........................................................A-2
A-2 Using the 3D Motion Trace Display Mode to Check Operation ...........................................A-6

12 NJ-series Startup Guide for Motion Control (W514)
CONTENTS

1-1
NJ-series Startup Guide for Motion Control (W514)
1
This section describes the configuration of the Servo system that is constructed in this
Guide and the products that make up that system.
1-1 The Servo System Constructed in this Guide . . . . . . . . . . . . . . . . . . . . . . . 1-2
1-2 System Configuration and Configuration Devices . . . . . . . . . . . . . . . . . . . 1-3
Servo System Configuration and
Peripheral Products

1 Servo System Configuration and Peripheral Products
1-2 NJ-series Startup Guide for Motion Control (W514)
1-1 The Servo System Constructed in
this Guide
This NJ-series Startup Guide for Motion Control (hereafter referred to as “this Guide”) contains instruc-
tions from assembling the hardware that makes up the Servo system to performing debugging on the
system. This Guide builds the Servo system in the following two steps.
zSingle-axis Servo System
This system performs single-axis positioning with a Servo Drive and Servomotor for one axis. The
instructions from assembling the hardware to software design and debugging are provided.
The hardware assembly is performed in Section 2 Before You Begin, while the software design and
debugging are performed in Section 3 Setting Up a Single-axis Servo System.
zTwo-axis Servo System
This system performs linear interpolation with Servo Drives and Servomotors for two axes. The
instructions from assembling the hardware to software design and debugging are provided.
The hardware assembly is performed in Section 2 Before You Begin, while the software design and
debugging are performed in Section 4 Adding an Axis to the Servo System.

1-3
1 Servo System Configuration and Peripheral Products
NJ-series Startup Guide for Motion Control (W514)
1-2 System Configuration and
Configuration Devices
1
1-2 System Configuration and
Configuration Devices
The following figure shows the system configuration and devices that are used in this Guide.
The system configuration is shown in the following figure.
Sysmac Studio
ADR ADR
Two-axis Servo System
Single-axis Servo System
USB cable
NJ-PA3001
Power Supply Unit
NJ501-1500
CPU Unit
EtherCAT communications cables
R88D-KN01L-ECT Servo Drive (1st Drive)
Node Address 1 (Axis 0)
R88M-K10030L
Servomotor
R88D-KN01L-ECT Servo Drive
(2nd Drive)
Node Address 2
(Axis 1)
R88M-K10030L Servomotor
Section 4 Adding an Axis to the Servo System
Section 3 Setting Up a Single-axis Servo System

1 Servo System Configuration and Peripheral Products
1-4 NJ-series Startup Guide for Motion Control (W514)
zConfiguration Devices
The models of the devices that are described in this Guide are given in the following table. When
selecting devices for an actual application, refer to the device manuals.
zAutomation Software
Device name Model Manual name
NJ-series CPU Unit NJ501-1500 (unit version 1.00) NJ-series CPU Unit Hardware
User’s Manual (Cat. No. W500)
NJ-series Power Supply Unit NJ-PA3001
EtherCAT communications cables XS5W-T421-CMD-K
AC Servo Drives R88D-KN01L-ECT (version 2.1 or
later)
G5-series AC Servomo-
tors/Servo Drives with Built-in
EtherCAT Communications
User’s Manual (Cat. No. I576)
AC Servomotors R88M-K10030L
Power Cables (for the AC Servo
Drives)
R88A-CAKA003S
Encoder Cables (for the AC Servo
Drives)
R88A-CRKA003C
Connector-Terminal Block Cable XW2Z-100J-B34
Connector-Terminal Block Conver-
sion Unit
XW2B-20G5
USB cable Commercially available USB
cable*1
*1. Use a USB 2.0 (or 1.1) cable (A connector - B connector), 5.0 m max.
---
Product Number of licenses Model
Sysmac Studio Standard Edition ver-
sion 1.00
None (DVD only) SYSMAC-SE200D
1 license SYSMAC-SE201L

2-1
NJ-series Startup Guide for Motion Control (W514)
2
This section describes the installation of the Sysmac Studio and the process of assem-
bling and wiring the hardware.
2-1 Installing the Sysmac Studio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2
2-2 Assembling the Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-2-1 Mounting the Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-3
2-2-2 Setting the Node Addresses of the Servo Drives . . . . . . . . . . . . . . . . . . . . . . 2-4
2-2-3 Connecting the Safety Bypass Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4
2-3 Wiring the Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-3-1 Wiring the Rack Power Supply Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5
2-3-2 Wiring the Servo Drive Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2-3-3 Laying EtherCAT Communications Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6
2-3-4 Wiring the Servo Drives and the Servomotors . . . . . . . . . . . . . . . . . . . . . . . . . 2-7
2-3-5 Wiring the Control Input Signals for the Servo Drives . . . . . . . . . . . . . . . . . . . 2-8
Before You Begin

2 Before You Begin
2-2 NJ-series Startup Guide for Motion Control (W514)
2-1 Installing the Sysmac Studio
The Sysmac Studio is the Support Software that you use for an NJ-series Controller. On it, you can set
up the Controller configurations, parameters, and programs, and you can debug and simulate opera-
tion.
Install the Sysmac Studio on your computer.
Refer to the NJ-series Startup Guide for CPU Units (Cat. No. W513) for the procedure to install the Sys-
mac Studio.