Omron NJ Series User Manual

Appendices
A-22
NJ-series CPU Unit Software User’s Manual (W501)
If you are using an NJ501- CPU Unit with a unit version of 1.02, first find the average real pro-
cessing time of the task for the following conditions. The task is the primary periodic task.
 I/O Refresh Time
I/O refresh overhead time:
The I/O refresh overhead time is 60 s because the EtherCAT slaves are connected.
EtherCAT slave processing time:
The following table gives the Tout (output processing time per byte), Tin (input processing time per
byte), and Tref (refresh processing time per byte) values when an NJ501- CPU Unit is used.
The following table gives the Dout (output processing data size), Din (input processing data size),
and Dinout (larger of the input and output data size) values of the GX-ID1611 (Ver. 1.1) Input Slave,
GX-OD1611 (Ver. 1.1) Output Slave, and R88D- (Ver. 2.1) Servomotors.
A-2-2 Example of Calculating the Average Real Processing Time of a
Task and Setting the Task Period
Example of Calculating the Average Real Processing Times of Tasks
Item Conditions
Slaves/Units that are
used
EtherCAT slaves • GX-ID1611 (Ver. 1.1) Input Slave: 1
• GX-OD1611 (Ver. 1.1) Output Slave: 1
• R88D- (Ver. 2.1) Servomotors: 4
CJ-series Units (on CPU
Rack)
• CJ1W-ID211 DC Input Unit: 1
• CJ1W-OD211 Transistor Output Unit: 1
• CJ1W-AD042 Analog Input Unit: 1
• CJ1W-DA021 Analog Output Unit: 1
• CJ1W-SCU42 Serial Communications Unit: 1
(Protocol macros are not used.)
User program Language Ladder diagrams
Standard instruction con-
figuration
Number of instructions: 5,000
Arithmetic instructions for
LREAL data
Number of instructions: 200
Trigonometric instructions
for LREAL data
Number of instructions: 100
Motion control pro-
cessing
Number of axes 4
Tout: Output process-
ing time per byte [s]
Tin: Input process-
ing time per byte [s]
Tref: Refresh processing time
per byte [s]
0.004 0.011 0.082
EtherCAT slave
Dout: Output process-
ing data size in bytes
Din: Input processing
data size in bytes
Dinout: Larger of the
input and output data size
GX-ID1611 (Ver. 1.1) 0 3 3
GX-OD1611 (Ver. 1.1) 2 1 2
R88D- (Ver. 2.1) 23 26 26

Omron NJ Series Specifications

General

Program Capacity	Up to 128 MB
SD Card Slot	Yes
Power Supply Voltage	24 VDC
Motion Control	Yes
USB Ports	1
Operating Temperature	0°C to 55°C
Communication Interfaces	Ethernet/IP, EtherCAT, USB
Safety Function	Optional
Storage Temperature	-20°C to 75°C
Communication Ports	USB
Dimensions	Varies by model
Weight	Varies by model