Omron NJ Series

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5 Designing Tasks

5-48

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

You can monitor the execution time of each task from the Sysmac Studio.

 Values You Can Monitor from the Sysmac Studio

The display depends on whether you connect to the physical Controller or to the Simulator.

Connected to the Controller

Connected to the Simulator

Built-in EtherNet/IP Dialog Box for Simulator Connection

Task Execution Time Monitor

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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