Omron NJ501-4500 User manual

Machine Automation Controller
NJ-series
NJ Robotics CPU Unit
User’s Manual
W539-E1-04
NJ501-4500
NJ501-4400
NJ501-4320
NJ501-4310
NJ501-4300
CPU Unit

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. Neverthe-
less, 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.
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan and other
countries for OMRON factory automation products.
• Microsoft, Windows, Windows Vista, Excel, and Visual Basic are either registered trademarks or trademarks of
Microsoft Corporation in the USA and other countries.
• EtherCAT®is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• The SD and SDHC logos are trademarks of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trademarks of their
respective companies.
Trademarks
Copyrights
NOTE
Microsoft product screen shots reprinted with permission from Microsoft Corporation.

1
Introduction
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Introduction
Thank you for purchasing an NJ-series NJ Robotics CPU Unit (hereinafter called NJ Robotics CPU
Unit).
This manual contains information that is necessary to use the NJ Robotics CPU Unit. Please read this
manual and make sure you understand the functionality and performance of this product before you
attempt to use it.
When you have finished reading this manual, keep it in a safe location where it will be readily available
for reference during operation.
This manual describes only the functions added to NJ501-4 Units.
Refer to the NJ-series manuals listed in Related Manuals on page 33 for functions which are common
in NJ501- Units including NJ501-1 Units.
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 connecting 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 B 3503.
This manual covers the following products.
• NJ-series NJ Robotics CPU Unit
NJ501-4500
NJ501-4400
NJ501-4320
NJ501-4310
NJ501-4300
(Robot Version 1.02 or later)
Intended Audience
Applicable Products

Relevant Manuals
2NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Relevant Manuals
The following table provides the relevant manuals for this product. Read all of the manuals that are rel-
evant to your system configuration and application to make the most of this product.
Most operations are performed from the Sysmac Studio Automation Software.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on the Sys-
mac Studio.
Purpose of use
Manual
Basic information
NJ-series CPU Unit Hardware User’s Manual NJ/NX-series CPU Unit Software User’s Manual NJ/NX-series Instructions Reference Manual NJ/NX-series CPU Unit Motion Control User's Manual NJ/NX-series Motion Control Instructions Reference Manual NJ/NX-series CPU Unit Built-in EtherCAT® Port User’s Manual NJ/NX-series CPU Unit Built-in EtherNet/IP™ Port User’s Manual NJ-series Database Connection CPU Units User’s Manual NJ-series NJ Robotics CPU Unit User's Manual NJ/NX-series Troubleshooting Manual
Introduction to NJ-series Controllers 
Setting devices and hardware

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using database connection service 
Using robot control 
Software settings

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using database connection service 
Using robot control 
Writing the user program

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using database connection service 
Using robot control 
Programming error processing 
Testing operation and debugging

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using database connection service 
Using robot control 

3
Relevant Manuals
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Learning about error management and
corrections *1 
Maintenance

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using database connection service 
Using robot control 
*1. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and an overview
of the error items. For details on each error, refer to the relevant manuals indicated with mark.
Purpose of use
Manual
Basic information
NJ-series CPU Unit Hardware User’s Manual NJ/NX-series CPU Unit Software User’s Manual NJ/NX-series Instructions Reference Manual NJ/NX-series CPU Unit Motion Control User's Manual NJ/NX-series Motion Control Instructions Reference Manual NJ/NX-series CPU Unit Built-in EtherCAT® Port User’s Manual NJ/NX-series CPU Unit Built-in EtherNet/IP™ Port User’s Manual NJ-series Database Connection CPU Units User’s Manual NJ-series NJ Robotics CPU Unit User's Manual NJ/NX-series Troubleshooting Manual

Manual Structure
4NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Manual Structure
The following page structure and symbols are used in this user’s manual.
Note This illustration is provided only as a sample. It may not literally appear in this manual.
Page Structure and Symbols
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
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.

5
Manual Structure
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
Special information in this user’s manual is classified as follows:
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.
Version Information
Information on differences in specifications and functionality for CPU Units, Position Interface
Units, and the Sysmac Studio with different versions.
Special Information

Manual Structure
6NJ-series NJ Robotics CPU Unit User’s Manual (W539)
• In this user's 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, "synchro-
nize" 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

7
Sections in this Manual
NJ-series NJ Robotics CPU Unit User’s Manual (W539)
1
2
3
4
A
5
6
3
4
A
5
I
6
I
Overview of NJ Robotics CPU Unit
Features of NJ Robotics CPU Unit
Setting Robot Functions
Robot Instructions
Vision & Robot Integrated Simulation
Troubleshooting
A
I
Appendices
Index
1
2
3
I
A
Sections in this Manual

CONTENTS
8NJ-series NJ Robotics CPU Unit User’s Manual (W539)
CONTENTS
Introduction ..............................................................................................................1
Intended Audience....................................................................................................................................... 1
Applicable Products ..................................................................................................................................... 1
Relevant Manuals .....................................................................................................2
Manual Structure ......................................................................................................4
Page Structure and Symbols ....................................................................................................................... 4
Special Information ...................................................................................................................................... 5
Precaution on Terminology .......................................................................................................................... 6
Sections in this Manual ...........................................................................................7
CONTENTS................................................................................................................8
Terms and Conditions Agreement ........................................................................12
Warranty, Limitations of Liability ................................................................................................................ 12
Application Considerations ........................................................................................................................ 13
Disclaimers ................................................................................................................................................ 13
Safety Precautions ................................................................................................. 14
Definition of Precautionary Information...................................................................................................... 14
Symbols..................................................................................................................................................... 14
Warnings.................................................................................................................................................... 15
Cautions..................................................................................................................................................... 17
Precautions for Safe Use.......................................................................................19
Precautions for Correct Use.................................................................................. 26
Regulations and Standards ...................................................................................28
Using Product Outside Japan .................................................................................................................... 28
Conformance to EC Directives .................................................................................................................. 28
Conformance to Shipbuilding Standards ................................................................................................... 29
Using Controllers in Robot Systems.......................................................................................................... 29
Software Licenses and Copyrights ............................................................................................................ 29
Versions ..................................................................................................................30
Confirming Versions................................................................................................................................... 30
Related Manuals .....................................................................................................33
Terminology ............................................................................................................35
Revision History .....................................................................................................37
Section 1 Overview of NJ Robotics CPU Unit
1-1 Features and System Configuration of Unit ....................................................................... 1-2
1-1-1 Features of NJ Robotics CPU Unit.............................................................................................. 1-2
1-1-2 Introduction to the System Configurations ..................................................................................1-4
1-2 Operation Procedure of Unit ................................................................................................ 1-7
1-3 Specifications of Unit ............................................................................................................ 1-8
1-3-1 Performance Specifications ........................................................................................................ 1-8
1-3-2 Function Specifications ............................................................................................................... 1-8