Omron NJ Series

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4 Controller Setup

4-10

NJ-series CPU Unit Software User’s Manual (W501)

 Task Execution Time Monitor

The Task Execution Time Monitor displays the execution times of the tasks.

Main Page

Introduction4
Relevant Manuals5
Manual Structure6
Sections in this Manual8
- Table of Contents10
Terms and Conditions Agreement17
Safety Precautions19
Precautions for Safe Use24
Precautions for Correct Use30
Regulations and Standards33
Unit Versions35
Related Manuals38
Terminology40
Revision History44
- Introduction to NJ-Series Controllers46
The NJ-Series Controllers47
- Features47
- Introduction to the System Configurations49
Main Specifications52
Overall Operating Procedure for the NJ-Series Controller54
- Overall Procedure54
- Procedure Details55
  - Net/Ip Port56
  - CPU Unit Operation60
Overview of CPU Unit Operation61
- Introduction to CPU Unit61
- Overview of Operation According to CPU Unit Status62
Software63
- Software Configuration63
- Operation of Software64
Accessing I/O69
- Types of Variables69
- Accessing I/O with Variables72
Sequence Control and Motion Control77
- Overview of Control77
- Sequence Control System79
- Motion Control System80
- Synchronizing Sequence Control and Motion Control81
Overview of CPU Unit Data82
Operation for CPU Unit Status84
- CPU Unit Status84
- Operating Modes87
Section 3 I/O Ports, Slave Configuration, and Unit Configuration91
Procedure to Create the Slave and Unit Configurations91
Creating and Comparing the Slave and Unit Configurations94
- Creating the Ethercat Slave Configuration94
- Creating the Unit Configuration95
- Verifying the Unit Configuration95
I/O Ports and Device Variables97
- I/O Ports97
- I/O Port Names98
- Device Variables99
- Points99
Allocating Variables to Units102
- Procedure to Assign Variables to Units102
- Using Variables Assigned to Units103
Creating the Axes and Assigning Them to the Servo Drives/Encoder Input Slaves105
- Introduction105
- Input Slaves105
- Axis Variables and Axes Group Variables106
- Creating and Using Axes and Axis Variables107
  - Controller Setup110
Section 4 Controller Setup111
Overview of the Controller Setup111
Initial Settings for the PLC Function Module113
- Introduction113
- Controller Setup113
- Task Settings115
- Unit Configuration and Unit Setup120
Initial Settings for Special Units122
Initial Settings for the Motion Control Function Module124
- Introduction124
- Setting Methods125
Initial Settings for the Ethercat Master Function Module126
Initial Settings for the Ethernet/Ip Function Module127
- Designing Tasks128
Section 5 Designing Tasks129
Overview of Task Designing Procedure129
Task System131
- Overview of Tasks131
- Specifications of Tasks133
- Basic Operation of Tasks134
- Event Task Execution Conditions140
- Event Task Execution Timing145
- Operation When Execution Condition Is Met Again before Execution of the Event Task Is Completed149
- Tag Data Link Service and System Services150
- Processing Performed in and Execution Timing of the Tag Data Link Service153
- Processing Performed in and Execution Timing of the System Services156
- Assigning I/O Refreshing to Tasks158
- Assigning Tasks to Programs159
- Parameters for Primary Periodic Task and Periodic Tasks160
- Ensuring Concurrency of Variable Values between Tasks162
- Variable Access from Outside the Controller166
- Instructions Related to Tasks169
- System-Defined Variables Related to Tasks170
- Errors Related to Tasks172
- Motion Control Period173
- Monitoring Task Execution Status and Task Execution Times174
Task Design Methods and I/O Response Times178
- Checking the Task Execution Time178
- Checking the System Service Monitoring Settings180
- Examples of Task Design180
- System Input and Output Response Times181
Overview of Programming Procedures190
Pous (Program Organization Units)192
- What Are Pous192
- Overview of the Three Types of Pous193
- Differences between Programs, Functions, and Function Blocks194
- Details on Programs194
- Details on Function Blocks195
- Details on Functions204
- Operation that Applies to both Functions and Function Blocks209
- POU Restrictions211
Variables214
- Types of Variables214
- Types of User-Defined Variables in Respect to Pous215
- Attributes of Variables216
- Data Types217
- Derivative Data Types226
- Array Specifications and Range Specifications for Data Types236
- Variable Attributes241
- Changes to Variables for Status Changes249
- Work Area249
- Function Block Instances251
- Monitoring Variable Values251
- Restrictions on Variable Names and Other Program-Related Names252
- Bytes252
Constants (Literals)254
- Constants254
- Types of Constants254
Programming Languages259
- Ladder Diagram Language259
- Structured Text Language265
Instructions299
- Basic Understanding of Instructions299
- Instruction Errors302
Namespaces307
- Namespace Specifications308
- Procedure for Using Namespaces311
Libraries312
- Introduction to Libraries312
- Specifications of Libraries312
- Library Object Specifications313
- Procedure to Use Libraries315
Programming Precautions316
- Array Specifications for Input Variables, Output Variables, In-Out Variables316
- Structure Variables for Input Variables, Output Variables, In-Out Variables316
- Master Control317
  - Checking Operation and Actual Operation318
Section 7 Checking Operation and Actual Operation319
Overview of Steps in Checking Operation and Actual Operation319
Offline Debugging320
- Features of Simulation320
- Simulation Execution320
- Setting up Simulations323
Checking Operation on the Actual System and Actual Operation325
- Procedures325
- Downloading the Project325
- Checking I/O Wiring326
- MC Test Run326
- Checking the Operation of the User Program326
- Starting Actual Operation327
Section 8 CPU Unit Functions330
Data Management, Clock, and Operating Functions330
- Clearing All Memory330
- Clock330
- RUN Output333
Management Functions for CJ-Series Units334
- Basic I/O Units334
- Special Units335
SD Memory Card Operations337
- Specifications of Supported SD Memory Cards, Folders, and Files338
- SD Memory Card Operation Instructions339
- FTP Client Communications Instructions340
- FTP Server340
- File Operations from the Sysmac Studio340
- SD Memory Card Life Expiration Detection340
- List of System-Defined Variables Related to SD Memory Cards341
- SD Memory Card Self-Diagnostic Functions342
- Exclusive Control of File Access in SD Memory Cards344
Security345
- Authentication of User Program Execution Ids346
- User Program Transfer with no Restoration Information349
- Overall Project File Protection349
- Data Protection350
- Operation Authority Verification352
- CPU Unit Write Protection353
- CPU Unit Names and Serial Ids355
Debugging357
- Forced Refreshing357
- Changing Present Values361
- Online Editing362
- Data Tracing364
- Differential Monitoring369
Event Logs375
- Introduction375
- Detailed Information on Event Logs376
- Controller Events (Controller Errors and Information)381
- User-Defined Events (User-Defined Errors and Information)382
Changing Event Levels389
- Applications of Changing Event Levels389
- Events for Which the Event Level Can be Changed389
- Procedure to Change an Event Level389
The Backup Functions394
- Applications of Backup Functions394
- Examples of Operating Procedures for the Backup Functions394
- Data that Is Backed up397
- Types of Backup Functions398
- Relation between the Different Types of Backup Functions and Data Groups400
- Applicable Range of the Backup Functions401
SD Memory Card Backups403
- Backup (Controller to SD Memory Card)404
- Restore (SD Memory Card to Controller)409
- Verify (between Controller and SD Memory Card)411
Disabling Backups to SD Memory Cards416
Automatic Transfers from SD Memory Cards417
Sysmac Studio Controller Backups419
- Backup (Controller to Computer)420
- Restore (Computer to Controller)421
- Verify (between Controller and Computer)422
Importing and Exporting Sysmac Studio Backup File Data423
Sysmac Studio Variable and Memory Backup Functions424
- Applicable Data for Sysmac Studio Variable and Memory Backup Functions424
- Using Sysmac Studio Variable and Memory Backup Functions424
- Compatibility between CPU Unit Models425
Backup Functions When Ethercat Slaves Are Connected427
- Backed up Ethercat Slave Data427
- Backup Support Depending on the Controller Status427
- Conditions for Restoring Ethercat Slave Data428
- Ethercat Slaves for Which You Can Back up Data429
Backup Functions When Ethercat Slave Terminals Are Connected431
- Backing up Data in an Ethercat Slave Terminal431
- Backup Support Depending on the Ethercat Slave Terminal Status432
- Conditions for Restoring Ethercat Slave Terminal Data432
Backup Functions When CJ-Series Units Are Connected433
- Backed up CJ-Series Unit Data433
- Backup Support Depending on the Controller Status433
- Conditions for Restoring CJ-Series Unit Data433
Backup-Related Files435
- Types of Backup-Related Files435
- Specifications of a Backup File436
- Specifications of a Restore Command File436
- Specifications of an Automatic Transfer Command File438
- Specifications of a Controller Verification Results File440
- Specifications of an Ethercat Verification Results File440
- Specifications of an Ethercat Slave Terminal Verification Results File442
- Specifications of CJ-Series Unit Verification Results File443
- Compatibility between Backup-Related Files445
- Functions that Cannot be Executed During Backup Functions448
Communications Setup450
- Communications System Overview451
  - Introduction452
- Connection with Sysmac Studio453
  - Configurations that Allow Online Connections453
  - Configurations that Do Not Allow Online Connections454
- Connection with Other Controllers or Slaves456
  - Connection Configurations between Controllers456
  - Connection Configuration between Controllers and Slaves459
- Connection with Hmis or Serial Communications Devices460
  - Connections to Hmis460
  - Connections to Devices with Serial Communications461
Section 11 Example of Actual Application Procedures463
- Example Application463
  - System Configuration463
  - Operation463
- Overview of the Example Procedure464
Troubleshooting472
- Operation after an Error473
- Troubleshooting483
Appendices528
- Specifications530
- Calculating Guidelines for the Real Processing Times of Tasks540
System-Defined Variables553
- A-3-1 System-Defined Variables for the Overall NJ-Series Controller (no Category553
- System-Defined Variables for the Overall NJ-Series Controller (no Category553
- PLC Function Module, Category Name: _PLC560
- A-3-2 PLC Function Module, Category Name: _PLC560
- A-3-3 PLC Function Module, Category Name561
- Motion Control Function Module, Category Name: _MC563
- Built-In564
- A-3-5 Ethercat Master Function Module, Category Name: _EC564
- Ethernet/Ip Function Module, Category Name: _EIP568
- A-3-6 Ethernet/Ip Function Module, Category Name: _EIP568
- A-3-7 Meanings of Error Status Bits574
Specifications for Individual System-Defined Variables576
- A-4-1 System-Defined Variables for the Overall NJ-Series Controller (no Category576
- System-Defined Variables for the Overall NJ-Series Controller (no Category576
- A-4-2 PLC Function Module, Category Name: _PLC587
- PLC Function Module, Category Name: _CJB588
- A-4-3 PLC Function Module, Category Name588
  - A-4-4 Motion Control Function Module, Category Name: _MC592
  - A-4-5 Ethercat Master Function Module, Category Name: _EC593
- A-4-6 Ethernet/Ip Function Module, Category Name600
Attributes of CPU Unit Data608
Contents of Memory Used for CJ-Series Units612
- A-6-1 CIO Area612
- A-6-2 Internal I/O Area614
- A-6-3 Holding Area615
- A-6-4 DM Area615
- Holding Area615
- A-6-5 EM Area616
- EM Area616
Variable Memory Allocation Methods617
- A-7-1 Variable Memory Allocation Rules617
- Bytes617
- A-7-2 Important Case Examples625
Registering a Symbol Table on the CX-Designer629
Enable/Disable Ethercat Slaves and Axes632
- A-9-1 Project Settings When Using Ethercat Slaves and Axes632
- A-9-2 Using Instructions to Enable/Disable Ethercat Slaves and Axes632
- Project Settings When Using Ethercat Slaves and Axes632
- Using Instructions to Enable/Disable Ethercat Slaves and Axes632
- A-9-3 System-Defined Variables that Indicate Ethercat Slave or Axis Status633
- Enabling/Disabling Execution of Program634
- Checking Enabled/Disabled Program634
- Settings with the Sysmac Studio634
- A-9-7 Examples of Applications of Enabling/Disabling Ethercat Slaves and Axes635
- Examples of Applications of Enabling/Disabling Ethercat Slaves and Axes635
Size Restrictions for the User Program638
- User Program Object Restrictions638
- A-10-2 Counting User Program Objects641
Replacing CPU Units with Unit Version 1.02 or Earlier643
- A-11-1 Uploading the Data from the CPU Unit643
- Uploading the Data from the CPU Unit643
- A-11-2 Connecting the New CPU Unit646
- A-11-3 Downloading the Data to the CPU Unit647
Version Information651
- A-12-1 Relationship between Unit Versions of CPU Units and Sysmac Studio Versions651
- Relationship between Unit Versions of CPU Units and Sysmac Studio Versions651
- A-12-2 Functions that Were Added or Changed for each Unit Version653
- A-12-3 Performance Improvements for Unit Version Upgrades655
- To 10,000 Ms in 1-Ms Increments655

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