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Omron IPC Machine Controller Industrial Panel PC / Industrial Box PC. Software User’s Manual (Industrial PC Platform NY-series) - page 3

2 NY-series Controller Operation

Processing Executed with Tasks

z

Types of Processing That are Executed with Tasks

The following processing is performed with tasks.

Processing

Description

I/O refreshing

Data I/O for EtherCAT slaves is performed.

User program execution

The user programming for sequence control is executed. It also sends com-

mands to the motion control process.

Motion control

Motion control is executed based on commands from the user program.

System common process-

System common processing, such as data trace processing and tag data link

ing

processing, is performed.

Refer to 5-3-3 Basic Operation of Tasks for NY-series Controllers for details on the processing that is

executed with tasks.

z

Task Operation

Processing is assigned to tasks. There are three kinds of tasks, as shown in the following table.

They are defined by their execution priorities and execution conditions.

Execution priority

Type of peri-

Main processing con-

(smaller values indicate higher pri-

Execution condition

odic task

tent

ority)

Primary periodic

4

The primary periodic

I/O refreshing, user

task

task is periodically exe-

program execution,

This task has the highest execution

cuted.

and motion control

priority.

Periodic tasks

16, 17, or 18

The primary periodic

The processing that

task is periodically exe-

can be performed

cuted.

depends on the task

execution priority.

The task period is an

integer multiple of the

Execution priority 16,

task period of the pri-

17, or 18: User pro-

mary periodic task.

gram execution

Event tasks

8 or 48

An event task is exe-

User program execu-

cuted only once when

tion

the specified condition

is met.

2-6

2 NY-series Controller Operation

The Controller executes the task with the highest execution priority first. The following operation

example is for the primary periodic task and a periodic task. If the primary periodic task is ready for

execution while a periodic task is in execution, execution of the primary periodic task is prioritized.

Task period of primary

Task period of primary

Task period of primary

periodic task

periodic task

periodic task

Primary

Task

Task

Task

periodic task

Task period of periodic task

Task period of periodic task

Periodic task

Task

Task

Task

2

Refer to 5-2 Overview of Tasks for details on task operation.

z

Operation of Processing with Tasks

Processing that is assigned to a task is executed within the task in the order shown in the following

diagram. If the program contains a motion control instruction, the execution process for the program

in the task will send a command to the motion control process. The motion control process is exe-

cuted based on commands.

Task period

Task period

Task

Task

Processing

I/O

System

System

common

User program execution

Motion control

common

refreshing

processing

processing

Command

Motion control instruction

Note The Controller executes motion control in the primary periodic task. If the program that contains a motion

control instruction is assigned to the periodic task, the execution process for the program in the periodic task

will send a command to the motion control in the primary periodic task.

Refer to 5-9-3 System Input and Output Response Times for details.

2-7

2 NY-series Controller Operation

Tag Data Link Service

z

Processing Performed by the Tag Data Link Service

The tag data link service processes communications that use tags with other controllers or devices

on an EtherNet/IP network. You can use the built-in EtherNet/IP port in the Controller to connect to

an HMI.

z

Operation of the Tag Data Link Service

The tag data link service is executed periodically. The period and the time that is required for each

execution depend on the model of the Controller and on the tag data link settings.

The tag data link service is executed with the execution of tasks in parallel.

Task period of

Task period of

Task period of

primary periodic task

primary periodic task

primary periodic task

Primary

Task

Task

Task

periodic task

Task period of periodic task

Task period of periodic task

Priority-16 periodic

Task

Task

task

Tag data link

service

Task period of periodic task

Priority-17 periodic

task

Task

It is executed with the execution of tasks in parallel.

For details on the tag data link service, refer to 5-4 Tag Data Link Service and System Services.

2-8

2 NY-series Controller Operation

System Services

z

System Services

System services include the following processing.

Processing

Contents

Built-in EtherNet/IP port service

• Processing of message service requests, such as CIP commands, from

the Sysmac Studio, an HMI, host computers, or other Controllers

• Execution of communications instructions for CIP and socket communi-

cations

Built-in EtherCAT port service

• Execution of EtherCAT message communications

2

Virtual SD Memory Card ser-

• Access from FTP client

vice

• SD Memory Card operations from the Sysmac Studio

• Execution of SD Memory Card instructions

Self-diagnosis

• Hardware error detection

• Monitoring of Windows status

z

System Service Operations

For NY-series Controller, if a request comes from the hardware or from outside of the Controller,

system services are executed in parallel with other processes. System services are executed at the

required time without being affected by the execution of tasks. However, the system services are not

executed while the tag data link service is in progress.

Task period of primary

Task period of primary

Task period of primary

Task period of primary

periodic task

periodic task

periodic task

periodic task

Primary

Task

Task

Task

Task

periodic task

Task period of periodic task

Task period of periodic task

Periodic task

Task

Task

Task

Task

Tag data link

service

System

services

The system services are executed in the unused time of the tag data link service.

Refer to 5-4 Tag Data Link Service and System Services for details on the system services.

2-9

2 NY-series Controller Operation

2-3

Accessing I/O

The NY-series Controller uses variables to access I/O. This section describes how variables are used

to access I/O.

In this manual, I/O on EtherCAT slaves are treated as I/O. Refer to the NY-series Industrial Panel PC /

Industrial Box PC Built-in EtherNet/IP Port User's Manual (Cat. No. W563) for details on how to access

data in other Controllers with tag data links.

2-3-1

Types of Variables

In an NY-series Controller, you use variables in the user program to access I/O and memory in the Con-

troller.

The type of a variable depends on whether it has attributes that are set by the user, and what it can

access.

Attribute set-

Variables

Accessed data

tings

User-defined variables

All attributes can

Controller

be set.

Semi-user-defined

Device variables

Device variables

Some attributes

EtherCAT slaves*2

variables

for EtherCAT

can be set.*1

slaves

Cam data variables

Servo Drives, encoder input

slaves, and Controller

System-defined

System-defined variables for PLC

No attributes can

Controller

variables

Function Module

be set.

System-defined

MC Common

Servo Drives, encoder input

variables for

Variable

slaves, and Controller

motion control

Axis Variables

Axes Group Vari-

ables

System-defined variables for Ether-

Built-in EtherNet/IP port

Net/IP

System-defined variables for Ether-

Built-in EtherCAT master port

CAT master

*1

Refer to Device Variable Attributes on page 3-7 for the attributes that can be set.

*2

“EtherCAT slaves” includes any NX Units on EtherCAT Slave Terminals.

User-defined Variables

The user defines all of the attributes of a user-defined variable. Refer to 6-3 Variables for details on

user-defined variables.

2-10

2 NY-series Controller Operation

Semi-user-defined Variables

Semi-user-defined variables have some attributes that you can set. These variables are used to access

specific data. A semi-user-defined variable can either be a device variable or a cam data variable,

depending on what it can access.

z

Device Variables

Device variables are used to access data in devices. A device is a general term for any Unit or slave

that is refreshed by the I/O refreshing that is performed by the Controller. Specifically, it refers to Eth-

erCAT slaves.

The device and the data to access in that device determine the type of device variable, as shown

below.

2

Type of device vari-

Device

Accessed data

able

Device variables for

EtherCAT slaves

Process data for EtherCAT slaves*1

EtherCAT slaves

*1 This refers to I/O data that is exchanged during the process data communications cycle between the mas-

ter and slaves.

Device variables are used to access data for EtherCAT slaves through the I/O ports. The I/O ports

are logical ports that are used to access devices.

NY-series Controller

User program

Instruction

Device variable

I/O port

EtherCAT slave

Refer to 3-3-1 I/O Ports for details on I/O ports and device variables.

z Cam Data Variables

Cam data variables are used to access data in cam tables, which are used for motion control.

For details, refer to the NY-series Industrial Panel PC / Industrial Box PC Motion Control User's

Manual (Cat. No. W559).

2-11

2 NY-series Controller Operation

System-defined Variables

System-defined variables are defined in advance in an NY-series Controller. The names and all attri-

butes are defined by the system. They have specific functions. You cannot change the variable names

or any other attributes.

The system-defined variables are specific to a function module. There are system-defined variables for

each function module. The types of system-defined variables are listed in the following table.

Function module

Type of system-defined variable

PLC Function Module

System-defined variables for PLC Function Module

Motion Control Function Module

System-defined variables for motion control

EtherNet/IP Function Module

System-defined variables for EtherNet/IP

EtherCAT Master Function Module

System-defined variables for EtherCAT master

The system-defined variables for motion control are classified according to what the Motion Control

Function Module does, as listed in the following table.

System-defined variables for

Description

motion control

MC Common Variable

Common processing for the entire Motion Control Function Module

Axis variables

Control of individual axes

Axes Group variables

Control of axes groups^*1

*1

An axes group consists of multiple axes. An axes group is used for interpolation.

Refer to A-3 System-defined Variables for details on system-defined variables.

2-12

2 NY-series Controller Operation

2-3-2

Accessing I/O with Variables

In the NY-series Controller, variables are used in the user program. Variables access the data of the

assigned I/O. The following table shows how I/O and variables are assigned in the NY-series Controller.

I/O

Variables

EtherCAT slaves

EtherCAT slaves

Device variables for EtherCAT slaves

EtherCAT slaves to which

Axis variables or device variables for EtherCAT slaves

axes are assigned

2

NY-series Controller

User program

Variables

Axis variables

Device variables for

EtherCAT slaves

*1

I/O

Servo Drive and

Servo Drive, encoder input,

encoder input slaves

and general-purpose slaves

that are assigned to axes

that are not assigned to axes

Accessing EtherCAT Slaves

The method that is used to access an EtherCAT slave depends on the type of EtherCAT slave.

Type of EtherCAT slave

Access method

• Servo Drive and encoder input slaves

These slaves are accessed through I/O ports by using

• General-purpose slaves

device variables for EtherCAT slaves.

Servo Drive and encoder input slaves that are

These slaves are accessed directly with Axis variables.^*1

assigned to axes

*1

For a Servo Drive, one Servomotor is assigned as one axis to one Axis variable. For an encoder input slave,

one counter is assigned as one axis to one Axis variable.

Note EtherCAT slaves that cannot be assigned to axes are called general-purpose slaves. EtherCAT slaves that

can be assigned to axes are called Servo Drive and encoder input slaves. Refer to the NY-series Industrial

Panel PC / Industrial Box PC Motion Control User's Manual (Cat. No. W559) for details on Servo Drive and

encoder input slaves.

2-13

2 NY-series Controller Operation

z Accessing Servo Drive, Encoder Input, and General-purpose Slaves That Are

Not Assigned to Axes

These slaves are accessed through I/O ports for device variables for EtherCAT slaves. PDO com-

munications are used to access data from I/O ports.

Controller

Example: General-purpose slave

Device variables

for EtherCAT slaves

I/O ports

PDO communications

00

Variable

InBit00

to

to

PDO communications

15

Variable

InBit15

z Accessing Servo Drive and Encoder Input Slaves That Are Assigned to Axes

Servo Drive and encode input slaves that are assigned to axes are accessed directly through the

Axis variable. PDO communications are used to access data from Axis variables.

For example, if a Servomotor is controlled with a Servo Drive, the control commands for the Servo-

motor that is assigned to an Axis variable are sent to the Servo Drive. The feedback from the Servo-

motor is sent from the Servo Drive to the Controller by using the Axis variable.

Controller

Servo Drive

System-defined variables

PDO communications

Axis variable

Servomotor

Servo Drive

PDO communications

Axis variable

Servomotor

Refer to 3-5-2 Axis Variables and Axes Group Variables for details on Axis variables.

2-14

2 NY-series Controller Operation

Precautions for Correct Use

Device variables can be assigned to the I/O ports of Servo Drive and encoder input slaves to

which axes are assigned.

The I/O port to which a device variable can be assigned must meet either of the following condi-

tions.

• The value of the R/W attribute is R (Read only).

• The value of the R/W attribute is W (Write only), and <Not assigned> is set for the process

data field under Detailed Settings on the Axis Basic Settings Display in the Sysmac Studio.

Additional Information

2

There are two types of EtherCAT communications, PDO communications and SDO communica-

tions. PDO communications are used for commands to refresh I/O data, such as data for Servo-

motor position control, on a fixed control period. SDO communications are used for commands

to read and write data at specified times, such as for parameter transfers.

Refer to the NY-series Industrial Panel PC / Industrial Box PC Built-in EtherCAT Port User's

Manual (Cat. No. W562) for details.

2-15

2 NY-series Controller Operation

2-4

Sequence Control and Motion Control

This section describes the sequence control and motion control systems that are used by the NY-series

Controller.

2-4-1

Overview of Control

The NY-series Controller can perform both sequence control and motion control.

You execute sequence control with instructions other than motion control instructions in the user pro-

gram. Sequence control is for EtherCAT slaves that are not assigned to axes. Control is performed by

the PLC Function Module and the EtherCAT Master Function Module.

You perform motion control with motion control instructions in the user program for EtherCAT Servo

Drive and encoder input slaves that are assigned to axes. Control is performed by the PLC Function

Module, Motion Control Function Module, and the EtherCAT Master Function Module.

NY-series Controller

PLC Function Module

User program execution

Sequence control

EtherCAT slaves

Executed.

Servo Drive, encoder

Instruction

input, and general-pur-

other than

pose slaves that are not

a motion

assigned to axes

control

instruction

EtherCAT

PDO

Master

communi-

Function

cations

Module

Motion control

Executed.

EtherCAT

Motion Control

Function

communications

Motion

Servo Drive and encoder

control

Command

Module

input slaves that are

instruction

assigned to axes

Motion

control

processing

2-16

2 NY-series Controller Operation

Additional Information

Instruction Types in Terms of Control Systems

In terms of the controls, the instructions can be broadly separated into the following two types of

instructions.

Type of instruction

Definition

All instructions other than

These instructions are executed in the user program in the PLC Function

motion control instructions

Module and processing for them is completed there.

(sequence control)

Motion control instructions

These instructions are executed in the user program in the PLC Function

Module to send commands to the Motion Control Function Module.

2

MC_Home (Homing), MC_Move (Positioning), MC_CamIn (Start Cam Oper-

ation), and other instructions for motion control operations

For details on motion control instructions, refer to the NY-series Motion Control Instructions Ref-

erence Manual (Cat. No. W561). For details on other instructions, refer to the NY-series Instruc-

tions Reference Manual (Cat. No. W560).

Precautions for Correct Use

Device variables can be assigned to the I/O ports of Servo Drive and encoder input slaves to

which axes are assigned.

The I/O port to which a device variable can be assigned must meet either of the following condi-

tions.

• The value of the R/W attribute is R (Read only).

• The value of the R/W attribute is W (Write only), and <Not assigned> is set for the process

data field under Detailed Settings on the Axis Basic Settings Display in the Sysmac Studio.

If you perform the following steps, the system will clear the assignment of the device variable to

the I/O port of a Servo Drive and encoder input slave to which an axis is assigned.

(1) With the Sysmac Studio version 1.09 or higher, assign device variables to the I/O ports of

Servo Drive and encoder input slaves to which axes are assigned.

(2) Save the project data.

(3) Open the saved project data with the Sysmac Studio version 1.08 or lower.

2-17

2 NY-series Controller Operation

2-4-2

Sequence Control System

The way that the sequence control works depends on the device to control. This section describes the

operation of the function modules and the control period as part of the sequence control system.

Sequence Control System

Device

Operation of the function module

Control period

Servo Drive, encoder

• The PLC Function Module executes the user pro-

The task period of the task to

input, and general-pur-

gram and refreshes the device variables.

which the program is

pose slaves

• The EtherCAT Master Function Module exchanges

assigned (i.e., the task period

data with the slaves through the I/O ports for device

of the primary periodic task

variables.

or a periodic task)^*1

*1

The data refresh period in the slave depends on settings in the slave.

Servo Drive, encoder input, and general-purpose slaves are refreshed in the process data communica-

tions cycle. This means that I/O refreshing takes place in the task period of the primary periodic task.

However, execution of the programs and refreshing of the device variables take place in the task period

of the task to which the programs are assigned. Therefore, the slave values are not reflected and not

controlled by the device variables until the task period of the task to which the programs are assigned.

If it is necessary to control a slave in the process data communications cycle, assign the program that

controls the slave to the primary periodic task.

For details, refer to 5-9-3 System Input and Output Response Times.

NY-series Controller

PLC Function Module

User program

execution

Executed.

Instruction

Servo Drive, encoder

input, and general-pur-

pose slaves

EtherCAT

Master

PDO communications

Function

Module

Sequence control period (task

I/O refreshing in the process data communi-

Data refresh

period of the primary periodic task

cations cycle (i.e., task period of the primary

period in slave

or the periodic task)

periodic task)

2-18

2 NY-series Controller Operation

2-4-3

Motion Control System

This section describes the operation of the function modules and the control period as part of the

motion control system.

z

Operation of Function Modules

• The PLC Function Module executes motion control instructions in the user program and sends

commands for motion control to the Motion Control Function Module. Axis variables are used for

these commands.

• The Motion Control Function Module performs motion control processing based on commands

from the PLC Function Module. It then reflects the results of this processing in the Axis variables.

2

• The EtherCAT Master Function Module sends the command values of the Axis variable to the

Servo Drive or other slave by using EtherCAT communications.

z

Control Period

The motion control period is the task period of the primary periodic task.

Motion control processing in the Motion Control Function Module is executed in the task period of

the primary periodic task. The Motion Control Function Module also exchanges data with Servo

Drive and encoder input slaves that are assigned to the axes to control in the process data commu-

nications cycle of the primary periodic task. The process data communications cycle is synchronized

with the primary periodic task.

This makes the motion control period the same as the task period of the primary periodic task, which

allows complete synchronization of multiple axes.

However, the following restrictions apply:

• The motion control instruction is executed and the command for motion control is sent in the

sequence control period.

• The data refresh period in the EtherCAT slave depends on settings in the slave.

NY-series Controller

PLC Function Module

Motion Control

EtherCAT

Function

Master

User program execution

Module

Function

Servo Drive and encoder

Module

input slaves that are

assigned to axes

Executed.

EtherCAT

Motion

Motion

communications

control

control

processing

instruction

Command

Motion control period =

The process data communications

Data refresh

(i.e., task period of the

period in slave

Sequence control period (task period

cycle is the same as the task period

of the primary periodic task or the

primary periodic task)

of the primary periodic task.

priority-16 periodic task)

Additional Information

• You must use the Sysmac Studio to assign an axis to an EtherCAT slave to control it from the

Motion Control Function Module. This allows the PLC Function Module to send commands to

the Motion Control Function Module for motion control instructions that are executed in the

user program. It also allows the PLC Function Module to obtain information from the Motion

Control Function Module through the Axis variables.

• The task to which the program that contains the motion control instructions is assigned deter-

mines the I/O response time of the motion control system. For details, refer to 5-9-3 System

Input and Output Response Times.

2-19

2 NY-series Controller Operation

2-4-4

Synchronizing Sequence Control and Motion Control

The sequence control period is the task period of the task to which the program and I/O refreshing are

assigned. However, motion control is always executed in the task period of the primary periodic task.

The process data communications cycle for the EtherCAT slave to use for motion control is synchro-

nized with the primary periodic task.

The NY-series Controller performs motion control and process data communications for axes and axes

groups in the task period of the primary periodic task.

If you assign the sequence control program to the primary periodic task, you can synchronize the

sequence and motion control periods with the process data communications cycle for EtherCAT.

The following diagram shows a program assigned to the primary periodic task. In the following diagram,

the period of sequence control, motion control, and process data communications on EtherCAT are all

synchronized.

Sequence control

period (i.e., period of

primary periodic task)

Sequence control period

Sequence control period

User program

User program

User program

Sequence control

execution

execution

execution

Motion control period

Motion control period

Motion control period

Motion

Motion

Motion

Motion control

control

control

control

Process data

Process data

Process data

PDO communi-

communications cycle

communications cycle

communications cycle

cations on

EtherCAT

I/O refreshing

I/O refreshing

I/O refreshing

Slave/Unit

Slave/Unit

Slave/Unit

2-20

2 NY-series Controller Operation

2-5

Overview of Controller Data

The NY-series Controller also contains settings, the user program, present values, and other data. The

main data is described in the following table.

Refer to A-5 Attributes of Controller Data for information on all of the data in the NY-series Controller.

Type of data

Description

EtherCAT Slave

This is information on the EtherCAT slave configuration.

Ether-

Configuration

CAT Con-

EtherCAT Mas-

The EtherCAT Master Settings contain parameter settings for the Eth-

figuration

ter Settings

erCAT Master Function Module, such as the communications cycle.

2

The Unit Configuration and Unit Setup contain information on the

Unit Configuration and Unit

Unit configuration that enables the Controller to recognize the Units,

Setup

and the initial settings of the Special Units.

The I/O Map contains assignment information between the variables

I/O Map

and the I/O ports that are automatically created based on the Unit

Configuration.

Operation Set-

The Operation Settings include the Startup Mode setting, Security

tings

Settings, and System Service Monitoring Settings.

Control-

Built-in Ether-

The Built-in EtherNet/IP Port Settings contain the following settings:

ler Setup

Net/IP Port Set-

TCP/IP settings, Ethernet settings, DHCP settings, DNS settings,

tings

FTP settings, and SNMP settings

The Motion Control Setup consists of settings for Axis variables and

Motion Control Setup

Axes Group variables for axis and axes groups, and motion control

Settings

parameter settings.

The cam data includes cam tables that consist of phase/displace-

Cam Data Settings

ment data for use in cam operation for motion control instructions.

These settings are for user-defined errors and user-defined informa-

Event Setup

tion.

The Task Setup contain settings for the task types, number of tasks,

Task Setup

task execution conditions, task names, programs executed in the

task, and other task settings.

Data Trace Settings

The Data Trace Settings include settings for trigger conditions.

The Tag Data Link Tables contain the tag data link settings for Ether-

Tag Data Link Tables

Net/IP.

Controller Name

The Controller name is the name of the Controller.

Operation Authority Verifi-

This data contains the operation authority passwords to perform Sys-

cation

mac Studio operations for the Controller.

Set Time

This is the time information that is used inside the Controller.

Built-in

Time Zone Set-

This is the time zone that is set for the clock in the Controller.

Clock

ting

These are the definitions of the programs, functions, and function

POUs (program organiza-

blocks. The local variable tables and the initial values of the variables

tion units)

User

are also included.

Program

Data Types

This data contains the definitions of the data types.

Data

Global Vari-

This data gives the attribute information of the global variables. It

ables

includes the Initial Value and Retain attributes.

Present

This data contains the values of the variables.

Values of Variables

Values

The event logs include the error log for the Controller, and logs of

Event Logs

events other than errors, such as when the power supply was turned

ON and OFF and when operation started.

Other

This data is used to restore the actual position of a Servo Drive with

Data

Absolute Encoder Home

an absolute encoder in motion control. The offset is the difference

Offsets

between the command position after homing and the absolute data

that is read from the absolute encoder.

2 - 21

2 NY-series Controller Operation

2-6

Operation for Controller Status

This section describes the processing that is performed for user program execution, I/O refreshing, and

external communications according to the status of the NY-series Controller. It also describes the oper-

ating modes that change the execution status of the user program when the NY-series Controller is in

the normal operation state.

2-6-1

Controller Status

The NY-series Controller can be in any of three states: startup state, normal operation state, or error

state. These states are defined as follows:

State

Definition

Startup state

The software is initializing the system.

Normal operation

The software is executing processing for instructions that are executed in a task or it is exe-

cuting a system service. A Controller error has not occurred.

Error state

A Controller error occurred when the software was executing processing for instructions

that are executed in a task or it was executing a system service.

The normal operation state has these three states for operation: PROGRAM mode, RUN mode, and

downloading. A Controller in the normal operation state changes to the other states due to user interac-

tion. This status is defined as follows:

State

Definition

PROGRAM mode

The operating mode is PROGRAM mode.

RUN mode

The operating mode is RUN mode.

Downloading

Data is being downloaded from the Sysmac Studio.

Note Refer to 2-6-3 Operating Modes for details on PROGRAM mode and RUN mode.

2-22

2 NY-series Controller Operation

z

Controller status

The Controller enters the startup state after the power supply is turned ON. About 10 to 20 seconds

after the Controller enters the startup state, software processing begins and the Controller changes

to normal operation. If a Controller error occurs during normal operation, the Controller changes to

the error state. When you reset the Controller error, the Controller returns to normal operation.

When the Controller changes from startup state to normal operation, it will change to the operating

mode that you specify in the Controller Setup. You can set the operating mode at startup to PRO-

GRAM mode or RUN mode. Thereafter, changing the operating mode causes the Controller to

change between PROGRAM mode and RUN mode. If you download data from the Sysmac Studio

during PROGRAM mode, the Controller will change to the downloading state. The Controller will

return to PROGRAM mode when the download is completed.

2

Power ON

Execution and comple-

Startup state

tion of data download

from the Sysmac Studio.

Software processing started.

Normal operation

PROGRAM

Controller error occurs

mode

Error state

Downloading

Controller error is reset.

RUN mode

Operating mode is changed.

Additional Information

• You can check the operating status of the Controller with the status indicators on the Industrial

Panel PC or on the Industrial Box PC. Refer to the NY-series Troubleshooting Manual (Cat.

No. W564) for troubleshooting procedures using the status indicators.

• Refer to A-5 Attributes of Controller Data for information on data operations when the Control-

ler status changes.

• Refer to 6-3-9 Changes to Variables for Status Changes for the values that variables take

when the status of the Controller changes.

2-23

2 NY-series Controller Operation

2-6-2

Operation for Controller Status

Changes in the status of the NY-series Controller affect user program execution, I/O refreshing, and the

operation of external communications. The following table shows how each process operates in startup

state and during normal operation.

Refer to the NY-series Troubleshooting Manual (Cat. No. W564) for information on the error state.

Operation

Operation during normal operation

Controller process-

during execu-

PROGRAM

ing

RUN mode

Downloading

tion

mode

User program

Stopped.

Stopped.

Executed.

Stopped.

I/O Refreshing for

Stopped.

Executed.

EtherCAT communications

EtherCAT slaves

changes to safe-operational

state. ^*1*2

External communica-

Stopped.

Executed.

Executed. *3

tions

*1

Only the input values are refreshed.

*2

I/O refreshing is executed when the device output hold configuration is set to enable (16#A5A5) in the _Devi-

ceOutHoldCfg (Device Output Hold Configuration) system-defined variable. Refer to Device Output Hold Con-

figurations on page 6-70 for the device output hold configurations. A Controller with unit version 1.14 or later

and Sysmac Studio version 1.18 or higher are required to use the _DeviceOutHoldCfg (Device Output Hold

Configuration) system-defined variable.

*3

The tag data links remain in effect, but the values of those links are not refreshed. The output tags retain the

values from before the download was started. The values in the input tags are not reflected in the variables.

z

Values of Outputs in I/O Refreshing

The following table shows the values of the outputs in each state after I/O refresh processing.

Operation during normal operation

Operation

Outputs

PROGRAM

during startup

RUN mode

Downloading

mode

Outputs from Ether-

Controlled by the

The outputs have the values

Controlled by the slave set-

CAT slaves

slave settings. ^*1

of the device variables for

tings. ^{*2 *3}

EtherCAT slaves.

*1

Refer to the manual for each slave for information on the slave settings that apply until EtherCAT communi-

cations starts after the power supply is turned ON.

*2

When the download is completed, initialization of the EtherCAT slaves starts. When initialization is in prog-

ress, the outputs reflect the settings for the slave.

*3

Device outputs are retained even when the operating mode changes or when downloading if the device

output hold configuration is set to enable (16#A5A5) in the _DeviceOutHoldCfg (Device Output Hold Con-

figuration) system-defined variables. Refer to 6-3-9 Changes to Variables for Status Changes for details. A

Controller with unit version 1.14 or later and Sysmac Studio version 1.18 or higher are required to use the

_DeviceOutHoldCfg (Device Output Hold Configuration) system-defined variable.

Refer to 6-3-8 Variable Attributes for information on the Initial Value attribute for variables.

Refer to Device Output Hold Configurations on page 6-70 for details on the device output hold con-

figurations.

2-24

2 NY-series Controller Operation

Additional Information

Servo Drive Response to Changes in Operating Mode

If the operating mode changes from RUN to PROGRAM mode during a motion control operation,

the axes will decelerate to a stop at the maximum deceleration rate.

Changing the Operating Mode during Initialization of EtherCAT Slaves

You can change the operating mode of the Controller to RUN mode while EtherCAT slaves ini-

tialization is in progress. If you do, provide programming to confirm that communications are

established before you attempt to use slave data in control operations. Your program can use the

2

_EC_PDSlavTbl (Process Data Communicating Slave Table) system-defined variable to see if

the process data inputs and outputs are valid for all of the slaves.

2-6-3

Operating Modes

You can change the operating mode according to the purpose of operation, such as functional testing or

actual operation. You can set the operating mode to RUN mode or PROGRAM mode, depending on the

purpose. The execution status of the user program is different in each operating mode. The following

table gives the purpose for each operating mode and the execution status of the user program.

Operating mode

Application

User program execution status

RUN mode^*1

RUN mode is for trial operation or actual operation.

Executed.

PROGRAM mode

PROGRAM mode is for checking I/O wiring and

Not executed.

other functional testing without executing the user

program.

*1

For the default setting, the Controller will enter RUN mode when the Controller changes from startup state to

normal operation.

Additional Information

The Controller performs various operations when the operating mode is changed, i.e., the axes

are stopped, and motion control instructions are aborted. For details on how the Motion Control

Function Module operates when the operating mode is changed, refer to the NY-series Motion

Control Instructions Reference Manual (Cat. No. W561).

Operations Allowed from the Sysmac Studio or an HMI in Each

Operating Mode

The major operations that you can perform from the Sysmac Studio or an HMI in each operating mode

are listed in the following table.

Operation

RUN mode

PROGRAM mode

Sysmac Studio

Synchronization

Not possible.

Possible.

Online editing

Possible.

Forced refreshing

Possible.

Changing the values of variables

Possible.

HMI

Changing the values of variables

Possible.

2-25

2 NY-series Controller Operation

Retention of Variable Values during Changes in Operating Mode

The following table shows how the Retain attribute affects the variable values when the operating mode

is changed between RUN mode and PROGRAM mode.

Retain attribute of

Values of variables

variable

Non-retain

If initial values are set, the variables change to the initial values.

If no initial values are set, the variables change to the system-defined initial values.^*1

Retain

The values before the operating mode changed are retained.

*1

The system-defined initial values of variables depend on the data types of the variables. Refer to When the Ini-

tial Value Specification Is Left Blank on page 6-65.

Refer to 6-3-9 Changes to Variables for Status Changes for the values that variables take when the sta-

tus of the Controller changes.

Setting and Changing the Operating Mode

When operation starts after the power supply is turned ON, the Controller operates in the operating

mode that you specify in the Controller Setup. During normal operation, you change the operating

mode for different purposes. You use the Sysmac Studio to set and change the operating mode.

z Operating Mode Setting after the Power Supply Is Turned ON

When the Controller starts operating after the power supply is turned ON, the Controller operates in

the operating mode that you set as the Startup Mode. Specify RUN mode or PROGRAM mode in the

Startup Mode setting in the Operation Settings in the Controller Setup. Refer to 4-2-2 Controller

Setup for details on the Startup Mode setting.

z Changing the Operating Mode during Operation

You can change the operating mode from the Sysmac Studio. Select the RUN mode or PROGRAM

mode from Controller - Operating Mode on the menu bar.

Precautions for Correct Use

Always confirm the safety of the controlled system before you change the setting of the Startup

Mode or the current operating mode.

2-26

2 NY-series Controller Operation

Checking the Operating Mode

You can check the operating mode with the RUN indicator on the Industrial PC or the Sysmac Studio.

z Checking the RUN Indicator

The RUN indicator on the Industrial PC indicates the operating mode as given below.

RUN indicator

Operating mode

status

Not lit

PROGRAM mode

Lit

RUN mode

2

z Checking the Operating Mode from the Sysmac Studio

You can check the operating mode from the Controller Status Pane of the Sysmac Studio. The fol-

lowing Controller Status Pane indicates that the Controller is in RUN mode.

2-27

2 NY-series Controller Operation

2-7

Monitoring and Changing Windows

Status

In an NY-series Controller, you can monitor and change the status of Windows from the Controller.

2-7-1

Windows Status

The following table describes five states of Windows installed in an NY-series Controller.

State

Description

Booting

Windows is starting up.

Running

Windows is running.

ShuttingDown

Windows is shutting down.

Halted

Windows is stopped.

(Processing to shut down Windows is completed and Windows is not running.)

Error

An error occurred in Windows.

Additional Information

You can use the system-defined variables or instructions to identify the status of Windows.

Running, Halted, and Error states can be identified. Booting and ShuttingDown states cannot be

identified.

2-7-2

Monitoring Windows Status

You can use the system-defined variables or instructions to monitor Windows status.

System-defined Variables Related to Monitoring of Windows Status

Of the states of Windows, Running, Halted, and Error states are indicated with the system-defined vari-

ables.

Refer to Functional Classification: OS (Windows) on page A-62 for details on system-defined variables.

Variable name

Meaning

Function

Data type

R/W

_OSRunning

OS Running Flag

TRUE when the Controller observes that OS

BOOL

R

(Windows) is running.

_OSHalted

OS Halted Flag

TRUE when the Controller observes that OS

BOOL

R

(Windows) is stopped.

_OSErrorState

OS Error State Flag

TRUE when the Controller determines that an

BOOL

R

error occurred in OS (Windows).

2-28

2 NY-series Controller Operation

Instructions Related to Monitoring of Windows Status

The following instruction is supported to monitor Windows status.

Refer to the NY-series Instructions Reference Manual (Cat. No. W560) for details on the instruction.

Instruction

Instruction name

Introduction

IPC_GetOSStatus

Read OS Status

Reads OS (Windows) status. Of the states of Windows,

Running, Halted, and Error states are read.

2-7-3

Changing Windows Status

2

You can use the instructions to change Windows status.

Instructions Related to Changing of Windows Status

The following instructions are supported to change Windows status.

Refer to the NY-series Instructions Reference Manual (Cat. No. W560) for details on the instructions.

Instruction

Instruction name

Introduction

IPC_RebootOS

Restart OS

Restarts OS (Windows).

IPC_Shutdown

Shut Down

Notifies the shutdown request to OS (Windows).

2-7-4

Changes in Windows Status

Windows status changes to Booting when an Industrial PC is started. Windows status changes to Run-

ning when the startup is ended.

If power is not provided due to the IPC_Shutdown instruction, a UPS power interruption detection, or

other reasons, or the power supply button is pressed while Windows is running, Windows status

changes to ShuttingDown. Windows status changes to Halted when the shutdown is ended.

Or, if the IPC_RebootOS instruction is executed while Windows is running, Windows status changes to

ShuttingDown. Windows status changes to Booting when the shutdown is ended and changes to Run-

ning when the startup is ended.

Also execute the IPC_RebootOS instruction to recover from Error state.

If Windows status changes to Running, Halted, or Error, Controller events that indicate the changes are

recorded.

However, if Windows status does not change to Halted even the time specified in the OS of the Shut-

down Wait Time Setting is elapsed from the Controller notifies the shutdown request to Windows by

executing the IPC_Shutdown instruction, a Controller event is not recorded.

2-29

2 NY-series Controller Operation

2-8

Shutdown

You must connect a UPS (uninterruptible power supply) to an NY-series Industrial PC. By connecting a

UPS, even if an unexpected lose of power (i.e., a power interruption) occurs, the shutdown can be

properly performed to prevent data or file loss.

When the system-defined variable that indicates a power interruption detection in the UPS or a press-

ing of the power supply button changes to TRUE, the processing prepared for a power interruption can

be executed in the user program of the Controller.

Program the following processing as required.

• Copy the variables without a Retain attribute that are used in the user program of the Controller to

variables with a Retain attribute.

• Stop the file operations for the Virtual SD Memory Card in the Controller.

• Safely stop the operation of motion control during execution in the Controller.

After the processing in the user program is completed, the Controller system executes the shutdown

such as a holding of variables with a Retain attribute and other processing. If the shutdown in the Con-

troller is completed, the Controller notifies the shutdown request to Windows.

In Windows, the notification from the Controller is used as a trigger and the shutdown such as an appli-

cation end and other processing can be executed.

Refer to Details on Shutdown on page 2-34 for details on shutdown.

Precautions for Correct Use

• If a UPS is not connected or the battery voltage of a UPS is dropped, the shutdown at the

power interruption is not executed. Therefore, variables with a Retain attribute, absolute

encoder home offsets, and event logs cannot be retained.

• Select a UPS with a battery capacity that the backup time is longer than the shutdown time of

the Controller and Windows. The shutdown is not normally ended if the battery backup time is

short.

Additional Information

Refer to the NY-series Industrial Panel PC Hardware User’s Manual (Cat. No. W557) or the NY-

series Industrial Box PC Hardware User’s Manual (Cat. No. W556) for how to connect a UPS.

2-30

2 NY-series Controller Operation

2-8-1

Processing When Power Is Interrupted or Power Supply Button Is

Pressed

This section describes the processing of the Controller when power is interrupted, the power supply

button is pressed, or the IPC_Shutdown instruction is executed while the Controller is operating. The

processing is different according to the UPS connection or the time to press the power supply button.

Operation

UPS connection

Controller processing

Power is interrupted.

A UPS is connected.

The signal from a UPS is used as a trigger and the

shutdown is executed. ^{*1 *2}

A UPS is not connected or

The shutdown is not executed. *3

2

the UPS battery voltage is

dropped.

The power supply button is

---

A pressing of the power supply button is used as a

pressed within 5 seconds.

trigger and the shutdown is executed. *1 *2

The IPC_Shutdown instruc-

---

The Controller system executes the shutdown. ^*1

tion is executed.

The power supply button is

---

A forced shutdown is started. The shutdown is not

pressed in 5 seconds or

executed. *3

more.

*1

Refer to 2-8-3 Contents of Shutdown for information on shutdown.

*2

The Controller system executes the shutdown by executing the IPC_Shutdown instruction or when the time

that is specified in the User program of the Shutdown Wait Time Setting is elapsed.

*3

If the shutdown is not executed and the power supply is turned ON next time, an Event Log Save Error obser-

vation event or a Present Values of Retained Variables Not Saved major fault event will occur.

Also, the following will happen to data in the Controller.

Values of variables with a Retain attribute and absolute encoder home offsets will be the values that the power

supply is turned ON previously.

Event logs from the previous startup until the shutdown is not executed are disappeared.

Additional Information

If you press the power supply button when the Controller is not operated, the normal mode of an

Industrial PC is started. Press the power supply button in a disconnection status of the power

connector, connect the power connector while pressing the power supply button, and 10 sec-

onds is elapsed, the Controller starts operation in PROGRAM mode no matter the Startup Mode

setting in the Controller Setup.

In this case, a Safe Mode observation event will occur.

Refer to the NY-series Industrial Panel PC / Industrial Box PC Setup User's Manual (Cat. No.

W568) for information on startup and end.

2-31

2 NY-series Controller Operation

2-8-2

Settings of Shutdown

Set the following parameters in the Controller Setup.

Changes

Setting

Update

Parameter

Description

Set value

Default

in RUN

group

timing

mode

Shutdown

User pro-

Sets the time to wait when the

1 to 30 s

5 s

When

Not

Wait Time

gram

signal is ON from a UPS which

down-

allowed.

Setting

indicates a power interruption

loaded to

detection, or when a shutdown

Controller

command is accepted by press-

ing the power supply button until

the Controller starts the shut-

down.

OS

Sets the time to wait when the

30 to 300 s

60 s

When

Not

Controller notifies the shutdown

down-

allowed.

request to Windows until the

loaded to

shutdown completion is detected

Controller

in Windows.

z

User Program

The signal from a UPS which indicates a power interruption detection is monitored in the user pro-

gram of the Controller. The signal from a UPS is used as a trigger and the processing prepared for a

power interruption is executed in the user program.

The Controller system waits the completion of processing in the user program only for the time that

is specified in the User program setting. Therefore, specify a time in the User program setting

which is longer than the processing time in the user program. If the specified time is short, the pro-

cessing in the user program will be interrupted.

z

OS

If the shutdown in the Controller system is completed, the Controller system notifies the shutdown

request to Windows. In Windows, the notification from the Controller is used as a trigger and the

shutdown such as an application end and other processing can be executed.

According to the Controller system monitors the status in Windows, the normal shutdown completion

in Windows can be detected.

When the shutdown in Windows is completed before the time specified in the OS setting, a Control-

ler event that indicates the state is changed to Halted is recorded. Therefore, specify a time in the

OS setting which is longer than the processing time in Windows. If the specified time is short, the

processing in Windows will be interrupted and applications in Windows cannot be normally ended.

If a Controller event that indicates the state is changed to Halted is not recorded, the time specified

in the OS setting may be shorter than the processing time in Windows.

2-32

2 NY-series Controller Operation

2-8-3

Contents of Shutdown

When a UPS power interruption is detected or the power supply button is pressed, the system-defined

variable which corresponds to each status changes to TRUE. By monitoring the status of these system-

defined variables, it is possible to copy the necessary data to variables with a Retain attribute and

safely stop the operation of motion control during execution. A monitoring of the system-defined vari-

ables and processing prepared for a power interruption are created in the user program of Controller.

Execute the IPC_Shutdown instruction after the completion of processing prepared for a power inter-

ruption in the user program.

The Controller system performs the shutdown by executing the IPC_Shutdown instruction.

2

System-defined Variables That Are Used As Triggers of Shutdown

The following table gives the system-defined variables that are used as triggers to start the processing

in the user program.

Variable name

Meaning

Function

Data type

R/W

_SelfTest_UPSSignal

UPS Signal Detection

TRUE when a temporary power interruption signal

BOOL

R

Flag

from UPS is detected.

_RequestShutdown

Request Shutdown

TRUE when the power supply button is pressed

BOOL

R

Flag

while running.

Refer to Functional Classification: Power Supply on page A-60 for details on system-defined variables.

Instructions That Notify Shutdown Requests

The following table gives an instruction that is used to notify the processing completion in the user pro-

gram to the Controller system and notify the shutdown request from the Controller system to Windows.

Instruction

Instruction name

Introduction

IPC_Shutdown

Shut Down

Starts the shutdown in the Controller system and noti-

fies the shutdown request to Windows after the shut-

down is completed.

Refer to the NY-series Instructions Reference Manual (Cat. No. W560) for details on the instruction.

2-33

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