Omron NY532-5400 User manual

Machine Automation Controller
Industrial PC Platform
NJ/NY-series
G code
Instructions Reference Manual
NJ501-5300
NY532-5400
O031-E1-02

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, Excel, and Visual Basic are either registered trademarks or trademarks of Microsoft Corpora-
tion 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.
• Intel and Intel Core are trademarks of Intel Corporation in the U.S. and / or other countries.
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/NY-series G code Instructions Reference Manual (O031)
Introduction
Thank you for purchasing an NJ/NY-series NC Integrated Controller. (“NJ/NY-series NC Integrated
Controller” is sometimes abbreviated as “NC Integrated Controller”.)
This manual contains information that is necessary to use the NC Integrated Controller. Please read
this manual and make sure you understand the functionality and performance of the NC Integrated
Controller 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 only describes functions that are added to NJ501-5300 or NY532-5400.
When you use NJ501-5300, also consult manuals for the NJ-series listed in Related Manuals on page
21 for functions common to NJ501- Series including NJ501-1.
When you use NY532-5400, also consult manuals for the NY-series listed in Related Manuals on page
21 for functions common to NY532- Series including NY532-1.
This manual is intended for the following personnel, who must also have knowledge of electrical sys-
tems (an electrical engineer or person with equivalent skills).
- 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
This manual is also intended for personnel who understand the following contents.
• For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS 3503.
• For NC programming, this manual is intended for personnel who understand the programming lan-
guage specifications in international standard ISO 6983-1 or Japanese standard JIS 6315.
This manual covers the following products.
• NJ-series NC Integrated Controller
NJ501-5300
• NY-series NC Integrated Controller
NY532-5400
Intended Audience
Applicable Products

Relevant Manuals
2NJ/NY-series G code Instructions Reference Manual (O031)
Relevant Manuals
The following table lists the relevant manuals for this product. Read all of the manuals that are relevant
to your system configuration and application before you use this product.
Most operations are performed from the Sysmac Studio and CNC Operator Automation Software.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on the Sys-
mac Studio, and CNC Operator Operation Manual (Cat. No. O032) for the CNC Operator.
Relevant Manuals for NJ Series
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/NY-series NC Integrated Controller User’s Manual NJ/NY-series G code Instructions Reference Manual NJ/NX-series Troubleshooting Manual
Introduction to NJ-series Controllers 
Setting devices and hardware

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Software settings

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using numerical control 
Writing the user program

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using numerical control 
Programming error processing 
Testing operation and debugging

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using numerical control 

3
Relevant Manuals
NJ/NY-series G code Instructions Reference Manual (O031)
Learning about error management and
corrections *1 
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
indicated with triangles ().
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/NY-series NC Integrated Controller User’s Manual NJ/NY-series G code Instructions Reference Manual NJ/NX-series Troubleshooting Manual

Relevant Manuals
4NJ/NY-series G code Instructions Reference Manual (O031)
Relevant Manuals for NY Series
Purpose of use
Manual
Basic information
NY-series Industrial Panel PC Hardware User’s Manual NY-series Industrial Box PC Hardware User’s Manual NY-series Industrial Panel PC / Industrial Box PC Setup User’s Manual NY-series Industrial Panel PC / Industrial Box PC Software User’s Manual NY-series Instructions Reference Manual NY-series Industrial Panel PC / Industrial Box PC Motion Control User’s Manual NY-series Motion Control Instructions Reference Manual NY-series Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User’s Manual NY-series Industrial Panel PC / Industrial Box PC Built-in EtherNet/IP Port User’s Manual NJ/NY-series NC Integrated Controller User’s Manual NJ/NY-series G code Instructions Reference Manual NY-series Troubleshooting Manual
Introduction to NY-series Panel PCs 
Introduction to NY-series Box PCs 
Setting devices and hardware 

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Making setup*1
*1. Refer to the NY-series Industrial Panel PC / Industrial Box PC Setup User’s Manual (Cat. No. W568) for how to set up
and how to use the utilities on Windows.

Making initial settings
Preparing to use Controllers
Software settings

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using numerical control 
Writing the user program

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using CNC functions 
Programming error processing 
Testing operation and debugging

Using motion control 
Using EtherCAT 
Using EtherNet/IP 
Using numerical control 
Learning about error management and
corrections*2
*2. Refer to the NY-series Troubleshooting Manual (Cat. No. W564) 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 indicated with triangles ().

Maintenance

Using motion control 
Using EtherCAT 
Using EtherNet/IP 

5
Manual Structure
NJ/NY-series G code Instructions Reference Manual (O031)
Manual Structure
The following page structure and symbols are used in this manual.
Note This illustration is only provided 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.

Manual Structure
6NJ/NY-series G code Instructions Reference Manual (O031)
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 and ease of operation.
Version Information
Information on differences in specifications and functionality for NC Integrated Controller with
different unit versions and for different versions of the Sysmac Studio and the CNC Operator
are given.
Note References are provided to more detailed or related information.
Special Information

7
Sections in this Manual
NJ/NY-series G code Instructions Reference Manual (O031)
1
2
3
4
A
1
2
3
4
A
Basic Information on NC Programming
G Code
M Code
PROGRAM CODES
Appendices
Sections in this Manual

CONTENTS
8NJ/NY-series G code Instructions Reference Manual (O031)
CONTENTS
Introduction ..............................................................................................................1
Intended Audience....................................................................................................................................... 1
Applicable Products..................................................................................................................................... 1
Relevant Manuals .....................................................................................................2
Relevant Manuals for NJ Series .................................................................................................................. 2
Relevant Manuals for NY Series.................................................................................................................. 4
Manual Structure ......................................................................................................5
Page Structure and Symbols....................................................................................................................... 5
Special Information...................................................................................................................................... 6
Sections in this Manual ...........................................................................................7
Terms and Conditions Agreement ........................................................................12
Warranty, Limitations of Liability ................................................................................................................ 12
Application Considerations ........................................................................................................................ 13
Disclaimers ................................................................................................................................................ 13
Safety Precautions .................................................................................................14
Precautions for Safe Use.......................................................................................15
Precaution for Correct Use....................................................................................16
Regulations and Standards...................................................................................17
Versions ..................................................................................................................18
Checking Versions ..................................................................................................................................... 18
Related Manuals .....................................................................................................21
Terminology ............................................................................................................24
Revision History .....................................................................................................25
Section 1 Basic Information on NC Programming
Instructions ............................................................................................................................................... 1-2
Instruction Parameters.............................................................................................................................. 1-5
G Code Descriptions................................................................................................................................. 1-7
What is Modal? ......................................................................................................................................... 1-9
Section 2 G Code
Interpolation Functions.................................................................................................................. 2-3
G00 Rapid Positioning.............................................................................................................................. 2-4
G01 Linear Interpolation ........................................................................................................................... 2-6
G02, G03 Circular Interpolation ................................................................................................................ 2-8
G31 Skip Function .................................................................................................................................. 2-13
Dwell .............................................................................................................................................. 2-15
G04 Dwell ............................................................................................................................................... 2-16
Feed Functions ............................................................................................................................. 2-17
Feedrate Function (F function) ............................................................................................................... 2-18

9
CONTENTS
NJ/NY-series G code Instructions Reference Manual (O031)
Acceleration Time, Deceleration Time, Jerk Time .................................................................................. 2-19
G09 Exact Stop ...................................................................................................................................... 2-20
G61 Exact Stop Mode ............................................................................................................................ 2-21
G64 Continuous-path Mode ................................................................................................................... 2-22
G500, G501 Multi-block Acceleration/Deceleration Rate ....................................................................... 2-24
Coordinate System ....................................................................................................................... 2-27
G52 Local Coordinate System Set......................................................................................................... 2-28
G53 Dimension Shift Cancel .................................................................................................................. 2-29
G54 to G59 Select Work Coordinate System......................................................................................... 2-30
G17, G18, G19 Plane Selection ............................................................................................................. 2-31
G20 Inch Input, G21 Metric Input ........................................................................................................... 2-32
G90 Absolute Dimension, G91 Incremental Dimension ......................................................................... 2-33
Reference Point ............................................................................................................................ 2-35
G28 Return to Reference Point.............................................................................................................. 2-36
G30 Return to 2nd, 3rd and 4th Reference Point................................................................................... 2-38
Compensation Functions............................................................................................................. 2-39
G40, G41, G42 Cutter Compensation.................................................................................................... 2-40
G43, G44, G49 Tool Offset..................................................................................................................... 2-51
G50, G51 Scaling................................................................................................................................... 2-53
G50.1, G51.1 Mirroring........................................................................................................................... 2-55
G68, G69 Coordinate System Rotation.................................................................................................. 2-57
Utilities........................................................................................................................................... 2-59
G74 Left-handed Tapping Cycle............................................................................................................. 2-60
G80 Fixed Cycle Cancel......................................................................................................................... 2-62
G84 Tapping Cycle ................................................................................................................................. 2-63
G98 Fixed Cycle Return to Initial Level .................................................................................................. 2-66
G99 Fixed Cycle Return to R Point Level............................................................................................... 2-67
Chamfer and Fillet Functions ................................................................................................................. 2-68
Section 3 M Code
Auxiliary Function Output.............................................................................................................. 3-3
M Code Descriptions................................................................................................................................ 3-5
Reservation Auxiliary Functions................................................................................................... 3-7
M00 Program Stop ................................................................................................................................... 3-8
M01 Optional Stop.................................................................................................................................... 3-9
M02, M30 End of Program ..................................................................................................................... 3-10
Spindle Axis .................................................................................................................................. 3-11
Spindle Axis Rotation Function (S function) ........................................................................................... 3-12
M03 Spindle CW .................................................................................................................................... 3-13
M04 Spindle CCW.................................................................................................................................. 3-14
M05 Spindle OFF ................................................................................................................................... 3-15
M19 Spindle Orientation......................................................................................................................... 3-16
Programming ................................................................................................................................ 3-19
M98 Subprogram Call ............................................................................................................................ 3-20
M99 Subprogram End ............................................................................................................................ 3-21
Section 4 PROGRAM CODES
4-1 Calculation and Logic Operation ......................................................................................... 4-2
4-1-1 Operator priority.......................................................................................................................... 4-2
4-1-2 Arithmetic operators.................................................................................................................... 4-2
4-1-3 Functions .................................................................................................................................... 4-3
4-1-4 Condition comparators................................................................................................................ 4-5
4-1-5 Conditional join operators........................................................................................................... 4-5
4-2 Branch and Repetition .......................................................................................................... 4-6
4-2-1 if/else .......................................................................................................................................... 4-6
4-2-2 switch/case ................................................................................................................................. 4-6

CONTENTS
10 NJ/NY-series G code Instructions Reference Manual (O031)
4-2-3 while............................................................................................................................................ 4-6
4-2-4 do/while....................................................................................................................................... 4-6
4-3 User Variables........................................................................................................................ 4-7
4-3-1 Local Variables (“L”) .................................................................................................................... 4-7
4-3-2 Coordinate System Global Variables (“Q”)..................................................................................4-7
4-3-3 Global Variables (“P”).................................................................................................................. 4-7
4-3-4 Variable Indirection...................................................................................................................... 4-7
Appendices
A-1 Program Parsing by CNC Operator .....................................................................................A-2
A-1-1 Intermediate code format ............................................................................................................A-2
A-1-2 Program Parsing Example ..........................................................................................................A-4

11
CONTENTS
NJ/NY-series G code Instructions Reference Manual (O031)

Terms and Conditions Agreement
12 NJ/NY-series G code Instructions Reference Manual (O031)
Terms and Conditions Agreement
Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and workman-
ship for a period of twelve months from the date of sale by Omron (or such other period expressed in
writing by Omron). Omron disclaims all other warranties, express or implied.
Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be
responsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return of
any Products by Buyer must be approved in writing by Omron before shipment. Omron Companies
shall not be liable for the suitability or unsuitability or the results from the use of Products in combi-
nation with any electrical or electronic components, circuits, system assemblies or any other materi-
als or substances or environments. Any advice, recommendations or information given orally or in
writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY
WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
Warranty, Limitations of Liability
Warranties
Limitation on Liability; Etc

13
Terms and Conditions Agreement
NJ/NY-series G code Instructions Reference Manual (O031)
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At
Buyer’s request, Omron will provide applicable third party certification documents identifying ratings
and limitations of use which apply to the Product. This information by itself is not sufficient for a com-
plete determination of the suitability of the Product in combination with the end product, machine, sys-
tem, or other application or use. Buyer shall be solely responsible for determining appropriateness of
the particular Product with respect to Buyer’s application, product or system. Buyer shall take applica-
tion responsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE
HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIP-
MENT OR SYSTEM.
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual perfor-
mance is subject to the Omron’s Warranty and Limitations of Liability.
Product specifications and accessories may be changed at any time based on improvements and other
reasons. It is our practice to change part numbers when published ratings or features are changed, or
when significant construction changes are made. However, some specifications of the Product may be
changed without any notice. When in doubt, special part numbers may be assigned to fix or establish
key specifications for your application. Please consult with your Omron’s representative at any time to
confirm actual specifications of purchased Product.
Information presented by Omron Companies has been checked and is believed to be accurate; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
Application Considerations
Suitability of Use
Programmable Products
Disclaimers
Performance Data
Change in Specifications
Errors and Omissions

Safety Precautions
14 NJ/NY-series G code Instructions Reference Manual (O031)
Safety Precautions
Refer to the following manuals for safety precautions.
•NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)
•NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)
•NJ/NY-series NC Integrated Controller User’s Manual (Cat. No. O030)
•CNC Operator Operation Manual (Cat. No. O032)

15
Precautions for Safe Use
NJ/NY-series G code Instructions Reference Manual (O031)
Precautions for Safe Use
Refer to the following manuals for precautions for safe use.
•NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)
•NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)
•NJ/NY-series NC Integrated Controller User’s Manual (Cat. No. O030)
•CNC Operator Operation Manual (Cat. No. O032)

Precaution for Correct Use
16 NJ/NY-series G code Instructions Reference Manual (O031)
Precaution for Correct Use
Refer to the following manuals for precautions for correct use.
•NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)
•NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)
•NJ/NY-series NC Integrated Controller User’s Manual (Cat. No. O030)
•CNC Operator Operation Manual (Cat. No. O032)

17
Regulations and Standards
NJ/NY-series G code Instructions Reference Manual (O031)
Regulations and Standards
Refer to the following manuals for regulations and standards.
•NJ-series CPU Unit Hardware User’s Manual (Cat. No. W500)
•NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557)

Versions
18 NJ/NY-series G code Instructions Reference Manual (O031)
Versions
Hardware revisions and unit versions are used to manage the hardware and software in NJ/NY-series
Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a
change in hardware or software specifications. Even when two Units or EtherCAT slaves have the
same model number, they will have functional or performance differences if they have different hard-
ware revisions or unit versions.
You can check versions on the ID information indications or with the Sysmac Studio.
The unit version is given on the ID information indication on the side of the product.
Checking the Unit Version of an NJ-series CPU Unit
The ID information on the NJ501-5300 is shown below.
Checking the Unit Version of an NY-series Controller
The ID information on an NY-series NY52-1 Controller is shown below.
Checking Versions
Checking Unit Versions on ID Information Indications
NJ501 - 5300 Ver.1.
PORT1 MAC ADDRESS:
PORT2 MAC ADDRESS:
Lot No. DDMYY xxxx
ID information indication
Unit model Unit version




MAC addressLot number and serial number
CNC Ver.1.00
CNC version
HW Rev. 
Hardware revision

ID information indication
Unit version
CNC version
Ver.1.

CNC Ver.1.00