Omron Sysmac NJ-series User manual

Machine Automation Controller
NJ-series
Robot Integrated CPU Unit
User's Manual
NJ501-R520
NJ501-R500
NJ501-R420
NJ501-R400
NJ501-R320
NJ501-R300
CPU Unit
O037-E1-03

NOTE
1. 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.
2. 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 infor-
mation contained in this manual is subject to change without notice.
3. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON as-
sumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.
Trademarks
•Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan
and other countries for OMRON factory automation products.
•Microsoft, Windows, Excel, and Visual Basic are either registered trademarks or trademarks of Mi-
crosoft Corporation in the United States 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 trade-
marks of their respective companies.
Copyrights
•Microsoft product screen shots used with permission from Microsoft.
•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/.

Introduction
Thank you for purchasing an NJ-series Robot Integrated CPU Unit.
This manual contains information that is necessary to use the robot control function of the NJ-series
CPU Unit. Please read this manual and make sure you understand the functionality and performance
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 describes the functions added to the NJ501-R£££ CPU Unit.
Refer to the NJ/NX-series CPU Unit Software User’s Manual (Cat. No. W501) and the NJ/NX-series
Database Connection CPU Units User's Manual (Cat. No. W527) for information on the common func-
tions for the NJ501-££££ CPU Unit and the functions for the NJ501-££20 CPU Unit.
Intended Audience
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.
Also, this manual is intended for the personnel, who understand the following contents.
• Personnel who understand the programming language specifications in international standard IEC
61131-3 or Japanese standard JIS B 3503, for programming.
• Personnel in charge of working with a robot and well knowing how to handle the robot.
Applicable Products
This manual covers the following products.
•NJ-series Robot Integrated CPU Unit
NJ501-R520
NJ501-R500
NJ501-R420
NJ501-R400
NJ501-R320
NJ501-R300
Introduction
1
NJ-series Robot Integrated CPU Unit User's Manual (O037)

Relevant Manuals
The following table provides the relevant manuals for the NJ-series CPU Units. Read all of the man-
uals that are relevant to your system configuration and application before you use the NJ-series CPU
Unit.
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac
Studio Version 1 Operation Manual (Cat. No. W504) and the Sysmac Studio Robot Integrated System
Building Function with Robot Integrated CPU Unit Operation Manual (Cat. No. W595) for information
on the Sysmac Studio.
Manual
Basic informa-
tion
Purpose of use
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/NX-series Database Connection CPU Units User's Manual NJ-series Robot Integrated CPU Unit User’s Manual eV+3 User’s Manual eV+3 Keyword Reference 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 robot control for OMRON robots ¡
Software settings
¡
Using motion control ¡
Using EtherCAT ¡
Using EtherNet/IP ¡
Using the database connection service ¡
Using robot control for OMRON robots ¡ ¡ ¡
Using robot control with NJ Robotics function ¡
Writing the user program
¡ ¡
Using motion control ¡ ¡
Using EtherCAT ¡
Using EtherNet/IP ¡
Using the database connection service ¡
Using robot control for OMRON robots ¡ ¡ ¡
Using robot control with NJ Robotics function ¡
Programming error processing ¡ ¡ ¡ ¡
Relevant Manuals
2NJ-series Robot Integrated CPU Unit User's Manual (O037)

Manual
Basic informa-
tion
Purpose of use
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/NX-series Database Connection CPU Units User's Manual NJ-series Robot Integrated CPU Unit User’s Manual eV+3 User’s Manual eV+3 Keyword Reference Manual NJ-series NJ Robotics CPU Unit User’s Manual NJ/NX-series Troubleshooting Manual
Testing operation and debugging
¡
Using motion control ¡
Using EtherCAT ¡
Using EtherNet/IP ¡
Using the database connection service ¡
Using robot control for OMRON robots ¡¡¡
Using robot control with NJ Robotics function ¡
Learning about error management functions and
corrections*1 rrrrr¡
Maintenance
¡
Using motion control ¡
Using EtherCAT ¡
Using EtherNet/IP ¡
*1. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error items. However,
refer to the manuals that are indicated with triangles for details on errors corresponding to the products with the manuals that are indi-
cated with triangles.
Relevant Manuals
3
NJ-series Robot Integrated CPU Unit User's Manual (O037)

Manual Structure
Page Structure
The following page structure is used in this manual.
4-9
4 Installation and Wiring
NJ-series CPU Unit Hardware User’s Manual (W500)
s
t
i
n
U
gnitn
u
oM
3-4
4
s
t
ne
no
p
m
o
C
rel
l
o
r
t
n
oC
g
n
i
tc
e
n
noC
1
-
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
4NJ-series Robot Integrated CPU Unit User's Manual (O037)

Special Information
Special information in this 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 Controller with different unit versions
and for different versions of the Sysmac Studio is given.
Precaution on Terminology
In this manual, "download" refers to transferring data from the Sysmac Studio to the physical Control-
ler 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.
Manual Structure
5
NJ-series Robot Integrated CPU Unit User's Manual (O037)

Manual Structure
6NJ-series Robot Integrated CPU Unit User's Manual (O037)

Sections in this Manual
Sections in this Manual
7
NJ-series Robot Integrated CPU Unit User's Manual (O037)
1 10
2 11
3
4
5
6
7
8
9
1 10
2 11
3 A
I
4
5
6
7
8
9
Introduction to Robot
Integrated CPU Unit
Robot Control System
Configuration and Functions
Robot Control Param-
eters
Program Design of
Robot Control
A
Robot Control Instructions
Robot Control Function
Common Command Instructions
Variables and Instructions
Robot Command Instructions
13
System Control
Instructions
Troubleshooting
Appendices
IIndex

CONTENTS
Introduction .............................................................................................................. 1
Intended Audience...........................................................................................................................................1
Applicable Products .........................................................................................................................................1
Relevant Manuals..................................................................................................... 2
Manual Structure...................................................................................................... 4
Page Structure.................................................................................................................................................4
Special Information ..........................................................................................................................................5
Precaution on Terminology ..............................................................................................................................5
Sections in this Manual ........................................................................................... 7
Terms and Conditions Agreement........................................................................ 13
Warranty, Limitations of Liability ....................................................................................................................13
Application Considerations ............................................................................................................................14
Disclaimers ....................................................................................................................................................14
Safety Precautions................................................................................................. 16
Definition of Precautionary Information..........................................................................................................16
Symbols .........................................................................................................................................................16
WARNING......................................................................................................................................................17
Cautions.........................................................................................................................................................17
Precautions for Safe Use ...................................................................................... 19
Precautions for Correct Use ................................................................................. 20
Regulations and Standards .................................................................................. 21
Versions .................................................................................................................. 22
Checking Versions .........................................................................................................................................22
Related Manuals..................................................................................................... 24
Terminology............................................................................................................ 27
Revision History..................................................................................................... 28
Section 1 Introduction to Robot Integrated CPU Unit
1-1 Features ..................................................................................................................................1-2
1-2 System Configuration............................................................................................................1-5
1-3 Specifications.........................................................................................................................1-7
1-3-1 General Specifications ................................................................................................................1-7
1-3-2 Performance Specifications ........................................................................................................1-7
1-3-3 Function Specifications ...............................................................................................................1-7
1-3-4 V+ Program Specifications..........................................................................................................1-9
1-4 Basic Procedure of Operation ............................................................................................ 1-11
CONTENTS
8NJ-series Robot Integrated CPU Unit User's Manual (O037)