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

I/O Ports, Slave Configuration,

and Unit Configuration

This section describes how to use I/O ports, how to create the Slave and Unit Configu-

rations, and how to assign functions.

3-1

Procedure to Create the Slave and Unit Configurations

3-2

Creating the EtherCAT Slave Configuration

3-4

3-3

I/O Ports and Device Variables

3-5

3-3-1

I/O Ports

3-5

3-3-2

I/O Port Names

3-6

3-3-3

Device Variables

3-6

3-4

Allocating Variables to Units

3-8

3-4-1

Procedure to Assign Variables to Units

3-8

3-4-2

Using Variables Assigned to Units

3-9

3-5

Creating the Axes and Assigning Them to the Servo

Drives/Encoder Input Slaves

3-11

3-5-1

Introduction

3-11

3-5-2

Axis Variables and Axes Group Variables

3-12

3-5-3

Creating and Using Axes and Axis Variables

3-14

3-1

3 I/O Ports, Slave Configuration, and Unit Configuration

3-1

Procedure to Create the Slave and

Unit Configurations

This section provides the procedures for the Slave and Unit Configurations.

The shaded steps in the overall procedure that is given below are for the Slave and Unit Configurations.

Step 1. Software Design

Step 1-1 Designing I/O and Processing

Step 1-2 Designing Tasks

Step 1-3 Designing Programs

Step 2. Software Setups and Programming

Step 2-1 Slave and Unit Configurations

Step 2-2 Controller Setup

Step 2-3 Programming

Step 2-4 Offline Debugging

Step 3. Mounting and Setting Hardware

Step 4. Wiring

Step 5. Checking Operation and Starting Operation on the

Actual System

For details, refer to 1-4 Overall Operating Procedure for the NY-series Controller.

3-2

3 I/O Ports, Slave Configuration, and Unit Configuration

Reference

Step 1

Create the EtherCAT Slave Configuration (if EtherCAT is used).

• Create the EtherCAT Slave Configuration.

3-2 Creating

EtherCAT slave configuration

the EtherCAT

Slave Configu-

Sysmac Studio

ration

Controller

EtherCAT

Slave configuration information

Created with the EtherCAT slave configuration settings.

Reference

Step 2

Assign device variables to I/O ports.

• Register the device variables.

2-3-1 Types of

Registering the device variables

Variables

Sysmac Studio

Slave/Unit

I/O port

Device variable

3-3 I/O Ports

and Device

Assign a new device

Variables

variable or a variable

from a variable table for

each I/O port.

Created in the I/O Map.

Reference

Step 3

Create the axes and assigning them to the Servo Drive and encoder

input slaves (if motion control is used).

1. Create the axes.

3-5 Creating

2. Assign the axes to the Servo Drive and encoder input slaves in the EtherCAT configuration.

the Axes and

Axis Setup

EtherCAT slave configuration

Assigning

Them to the

Servo Drives

Axes

Assigned.

Servo

Controller

Axis variable a

Sysmac Studio

Drives/Encoder

Input Slaves

EtherCAT

Axis variable b

Axis variable c

Servo Drives/encoder input slaves

Encoder input slave

Axis variable d

Assigned in the Axis Setup.

From the EtherCAT Configuration Setup

3-3

3 I/O Ports, Slave Configuration, and Unit Configuration

3-2

Creating the EtherCAT Slave

Configuration

To enable accessing the slaves that are connected to the NY-series Controller, you create a slave con-

figuration on the Sysmac Studio. In the EtherCAT Tab Page of the Sysmac Studio, create the EtherCAT

slave configuration that is detected as “correct” by the NY-series Controller.

Controller

EtherCAT master

EtherCAT

slave

EtherCAT slave configuration

Created with the Sysmac Studio.

The I/O ports are automatically registered for the slaves in the configuration. Later, the user assigns

device variables to the I/O ports. You can specify device variables in the user program to access the

slaves.

Refer to EtherCAT Configuration and Settings in the Sysmac Studio Version 1 Operation Manual (Cat.

No. W504) for specific procedures to create the EtherCAT slave configuration.

Additional Information

If you connect EtherCAT Slave Terminals, create the EtherCAT slave configuration, create the

Slave Terminal configuration, and set the operation settings. Refer to the NX-series EtherCAT

Coupler Unit User’s Manual (Cat. No. W519) for information on the Slave Terminal configuration

and operation settings.

Additional Information

If the EtherCAT slaves are Servo Drives or encoder input slaves, after they are registered in the

EtherCAT slave configuration, Axis Variables are registered automatically by creating the axes.

Refer to 3-5 Creating the Axes and Assigning Them to the Servo Drives/Encoder Input Slaves

for details.

3-4

3 I/O Ports, Slave Configuration, and Unit Configuration

3-3

I/O Ports and Device Variables

This section describes the I/O ports and device variables that you use to access the EtherCAT slaves of

an NY-series Controller.

3-3-1

I/O Ports

An I/O port is a logical interface that is used by the NY-series Controller to exchange data with external

devices (slaves and Units). I/O ports are automatically created when you create the Slave and Unit

Configurations on the Sysmac Studio. You assign device variables to I/O ports to enable accessing the

slaves and Units from the user program.

NY-series Controller

User program (or external communications)

Variables

Device variables

I/O ports are logical interfaces used by

the Controller to exchange data with

external devices.

I/O ports

Outside of the

Controller

EtherCAT

slaves

I/O ports are automatically registered in the I/O Map when you create the EtherCAT Slave Configura-

tion or Unit Configuration in the Sysmac Studio, or when you read either of these configurations from

the physical Controller from the Sysmac Studio. You can check the I/O ports that were registered in the

I/O Map of the Sysmac Studio.

I/O Map

3-5

3 I/O Ports, Slave Configuration, and Unit Configuration

3-3-2

I/O Port Names

The I/O port names are registered automatically. The following I/O port name is used when the device

(i.e., Unit or slave) is an EtherCAT slave.

The following I/O port names are used for Remote I/O Terminals that are EtherCAT slave devices.

Example for a 16-point Remote I/O Terminal: Bit00 to Bit15

For other slaves, all or part of the object names that are defined in the EtherCAT object dictionary are

used.

Example for Analog Input Unit: CH0_input16-bit

Examples for the R88D-KN50H-ECT: Position actual value and Digital inputs

3-3-3

Device Variables

In an NY-series Controller, external devices (slaves and Units) are not assigned to specific memory

addresses in the Controller. Rather, variables are assigned to the I/O ports. These variables are called

device variables.

Slave and Unit Configuration

I/O ports

Variables assigned to I/O ports:

Information created.

created.

Device variables

Slave and Unit Configurations

I/O ports

Device variables

Assigned.

Bit00

E001_Bit00

Bit01

E001_Bit01

Bit02

E001_Bit02

You can specify device variables in the user program or in external communications to access the

devices (slaves or Units).

NY-series Controller

User program (or external communications)

Variables

Device variables

Variables are assigned to I/O ports.

These variables are called device

variables.

I/O ports

Outside of the

General-purpose

Controller

EtherCAT slaves

Refer to 2-3-1 Types of Variables for the relationship of device variables to other variables.

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on registering

device variables with the Sysmac Studio.

3-6

3 I/O Ports, Slave Configuration, and Unit Configuration

Device Variable Attributes

The attributes of the device variables are described in the following table. You can change the settings

of some of the attributes, but not all of them.

Attribute

Setting

Changes to settings

Variable Name

Automatically generated variables: [device_name] +

Allowed.

[I/O_port_name]

For the default device names of EtherCAT slaves, an E fol-

lowed by a sequential number starting from 001.

Refer to 3-3-2 I/O Port Names for more information on I/O port

names.

If entered manually, the variable name is the string you enter.

Data Type

According to the data type of the I/O port.

Allowed.

AT Specification

• NX Units connected through an EtherCAT Coupler Unit:

Not allowed.

ECAT://node#[EtherCAT_Coupler_Unit_node_ad-

dress.NX_Unit_number]/[I/O_port_name]

• EtherCAT slaves: ECAT://node#[node_ad-

dress]/[I/O_port_name]

Retain

Device variables for EtherCAT slaves: Not retained.

Not allowed.

Initial Value

None

Allowed.

Constant

None

Allowed.

Network Publish

Do not publish.

Allowed.

Edge

None

Not allowed.

Refer to 6-3-4 Attributes of Variables for the meanings of the attributes.

Additional Information

• You can specify forced refreshing for I/O ports in the I/O Map. You can force real I/O to turn ON

or OFF to check the wiring.

• You can choose the variable table (global variable table or local variable table for one POU) in

which to register a device variable in the I/O Map.

3-7

3 I/O Ports, Slave Configuration, and Unit Configuration

3-4

Allocating Variables to Units

For some instructions, the Units on EtherCAT Slave Terminals are specified by using variables. There-

fore, you must assign variables to the Units in advance. After you assign variables to the Units, the con-

nection locations of the Units are automatically updated in the variables even if you change the

locations. This means that you do not have to assign variables again every time you change the Unit

connection locations.

Additional Information

You can assign variables to EtherCAT slaves other than Slave Terminals. This applies to Ether-

CAT slaves from other manufacturers. The variables are assigned to the EtherCAT slaves in the

same way as they are assigned to EtherCAT Coupler Units and NX Units.

3-4-1

Procedure to Assign Variables to Units

The variables assigned to the Units are not created automatically when you make configuration settings

for an EtherCAT Slave Terminal on the Sysmac Studio. You must make the following settings to assign

the variables to the Units.

1 On the Sysmac Studio, select Configurations and Setup − EtherCAT and make configuration

settings for EtherCAT Slave Terminals.

2 Select Configurations and Setup − I/O Map to display the I/O Map.

The I/O Map is displayed for the Units of the set EtherCAT Slave Terminals.

3 Right-click the model of Unit to which you want to assign variables and select Display Node

Location Port from the menu.

The Node location information port will be added on the I/O Map.

4 Right-click the Node location information and select Create Device Variable.

The variable name will be written automatically to the Variable Field of the Node location

information port.

The data type of variables assigned to the Units is _sNXUNIT_ID structure. The details on the _sNX-

UNIT_ID structure data type are given in the following table.

Variable

Name

Meaning

Data type

User specified

Specified Unit

_sNXUNIT_ID

NodeAdr

Node address

Node address of the EtherCAT Coupler Unit

UINT

IPAdr

IP address*1

IP address of the EtherCAT Coupler Unit

BYTE[5]

UnitNo

Unit number

Unit number of the specified Unit

UDINT

Path

Path^*1

Path information to the specified Unit

BYTE[64]

PathLength

Valid path length

USINT

This information is used only inside the Controller. You cannot access or change it.

Precautions for Correct Use

The values of variables assigned to the Units will be set automatically when you register the vari-

ables. Do not change the values of the variables. If you change the value, the Controller may not

perform the intended operation.

3-8

3 I/O Ports, Slave Configuration, and Unit Configuration

Additional Information

The data type of variables assigned to EtherCAT slaves other than Slave Terminals is _sECAT_ID

structure. The details are given in the following table.

Variable

Name

Meaning

Data type

User specified

Specified slave

_sECAT_ID

NodeAdr

Node address

Node address of the EtherCAT Coupler Unit

UINT

3-4-2

Using Variables Assigned to Units

This section describes how to use the variables assigned to the Units in the user program. In any

cases, the variable with the same name as the variable assigned to the Unit on the I/O Map must be

registered in the variable table in advance. The data type of the variable is _sNXUNIT_ID structure.

Designating Units

The variables assigned to the Units are passed as parameters to the instructions for which specify the

Units.

Example: Executing the NX_SaveParam Instruction

In the following example, the NX Unit to which the NX1 variable is assigned is specified when the

NX_SaveParam instruction is executed. NX1 is passed to the UnitProxy variable.

Variable assigned to NX Unit

NX_SaveParam_instance

NX_SaveParam

Execute

Done

NX1

UnitProxy

Busy

UINT#0

TimeOut

Error

ErrorID

ErrorIDEx

3-9

3 I/O Ports, Slave Configuration, and Unit Configuration

Designating Unit Attributes

You can specify members of the variables that you assign to Units to specify some of the Unit attributes.

Example: Executing an Instruction with the Unit Number of an NX Unit

The following programming example reads a data object from an NX Unit if the NX Unit number of the

NX Unit to which the NX1 variable is assigned is 2. The NX1.UnitNo member gives the NX Unit number.

IF (NX1.UnitNo = UINT#2) THEN

NX_ReadObj_instance(Execute:=TRUE, UnitProxy:=NX1, Obj:=S_Obj, ReadDat:=Rdat);

END_IF;

Designating More Than One Unit

To designate more than one Unit, you can specify the elements of an array of the variables that are

assigned to the Units. This allows you to use loop processing to perform the same process for more

than one Unit.

Example: The following programming example changes multiple NX Units to the mode that enables

writing data.

NX0, NX1, and NX2 are the variables that were assigned to the NX Units. The variables are assigned

to the elements of the NXTable[0..2] and then the NX_ChangeWriteMode instruction is executed in

order for each.

• Variable Table

Variable

Data type

NXTable

ARRAY[0..2] OF_sNXUNIT_ID

• ST Program

FOR i:= 0 TO 2 DO

NX_ChangeWriteMode_instance[i](Execute:=FALSE);

END_FOR;

NXTable[0] := NX0;

NXTable[1] := NX1;

NXTable[2] := NX2;

FOR i:= 0 TO 2 DO

NX_ChangeWriteMode_instance[i](Execute:=TRUE, UnitProxy:=NXTable[i]);

END_FOR;

3-10

3 I/O Ports, Slave Configuration, and Unit Configuration

3-5

Creating the Axes and Assigning

Them to the Servo Drives/Encoder

Input Slaves

This section describes how to create axes in the NY-series Controller and how to assign the axes to the

Servo Drive and encoder input slaves.

3-5-1

Introduction

When you use the Motion Control Function Module for operation with EtherCAT Servo Drive or encoder

input slaves, create axes in the Sysmac Studio and define them as EtherCAT Servo drives or encoder

input slaves. At a result, Axis Variables are automatically created as system-defined variables.

Controlled by the Motion Control Function Module.

Controller

Axis A

Axis B

Functional units within the

Motion Control Function Module

Created.

Axis variable A

Axis variable B

Assigned.

EtherCAT

slave

Servo Drive/encoder

input slave

You can specify an Axis Variable in a motion control instruction in the user program to easily access

and perform operations with Servo Drive and encoder input slaves.

3-11

3 I/O Ports, Slave Configuration, and Unit Configuration

3-5-2

Axis Variables and Axes Group Variables

The following table lists the types of Axis Variables and Axes Group Variables.

Type of variable

Application

Device to access

Creation method

Axis Variables

System-defined axis

An Axis Variable is

The EtherCAT slave

Provided by the sys-

variables

used to control a sin-

(Servo Drive or

tem.

gle axis.

encoder input slave)

Axis Variables auto-

You must create an

that is assigned to

matically created

axis with Sysmac

the axis

when axes are cre-

Studio and assign

ated with the Sys-

the device to the

mac Studio

axis.

Axes Group Vari-

System-defined

An Axes Group Vari-

The EtherCAT

Provided by the sys-

ables

axes group variables

able is used for

slaves (Servo Drive

tem.

multi-axes coordi-

or encoder input

Axes Group Vari-

You must create an

nated control.

slaves) that are

ables automatically

axes group with the

assigned to the axes

created when axes

Sysmac Studio.

group

groups are created

with the Sysmac

Studio

Refer to the NY-series Motion Control Instructions Reference Manual (Cat. No. W561) for details on

Axis Variables and Axes Group Variables.

Specifying Axis and Axes Group Variables

The variables can be specified with variable names that are created with the Sysmac Studio or with

system-defined variable names.

Names

Type

Axis Variables

Axes Group Variables

Variable names created with the Sys-

MC_Axis*** (“***” is assigned in ascend-

MC_Group*** (“***” is assigned in

mac Studio

ing order from 000 in the order the vari-

ascending order from 000 in the order

ables are created.)

the variables are created.)

You can change the names as required.

System-defined variable names

_MC_AX[***]

_MC_GRP[***]

(The array element numbers are

assigned in ascending order from 0 in

the order the variables are created.)

Application

There are two ways to use Axis Variables and Axes Group Variables.

1) Specifying Axes and Axes Groups in Motion Control Instructions:

If you specify an axis or axes group for an I/O variable for a motion control instruction, you

can perform operations for the OMRON Servo Drive or encoder input slave.

2) Monitoring Axis Variable Members:

You can use instructions to monitor the actual position, error information, or other information

on the Servo Drive and encoder input slaves.

3-12

3 I/O Ports, Slave Configuration, and Unit Configuration

Additional Information

Details on Axis Variables

1. Assume that you create an axis with an axis name of A on the Sysmac Studio. An Axis Vari-

able with a variable name of A is created automatically based on the system-defined axis vari-

able. The Axis Variable consists of Axis Basic Settings, Unit Conversion Settings, I/O, operating

status, current values, error status, and warning status.

2. You specify the axis variable name A for the in-out variable of a motion control instruction.

With the axis variable name, you can access the OMRON Servo Drive or encoder input slave, or

supported Servo Drive or encoder input slave from another company and perform operations for

it.

3. You can specify the Axis Variable to use instructions as required to monitor the actual position,

error information, or other information on the Servo Drive or encoder input slave.

NY-series Controller

2. An axis or axes group is specified for a

1. The

axis MC_Axis***

is created on the Sysmac Studio.

Global Variable Table

motion control instruction.

Axis Variable

An Axis Variable is made

System-defined Variable

Only the axis variable name

under a different name.

is specified.

Axis variable name: MC_Axis***

_MC_AX[]

Axis basic settings and unit conversions

Motion

I/O

The data types

I/O

control

cannot be

Operating status and current values

instruction

changed.

Axis variable name: MC_Axis***

Error/warning status

3. You can monitor the members of the axis variable with instructions.

The values can be read and written with instructions.

A.××

Value of a member of

the Axis Variable

Assigned

axis

OMRON Servo Drives or

Control operations

EtherCAT

encoder input slaves, or

supported Servo Drives or

encoder input slaves from

other companies

3-13

3 I/O Ports, Slave Configuration, and Unit Configuration

3-5-3

Creating and Using Axes and Axis Variables

You can create and use axes and Axis Variables as described below.

1 Right-click Axis Settings under Configurations and Setup − Motion Control Setup in the

Multiview Explorer and select Add − Axis Settings from the menu.

If necessary, you can change the axis variable names from the default names of MC_Axis***.

(“***” is incremented from 000 in the order that the axis variables are created.)

2 Assign the axes that you created to Servo Drives or encoder input slaves in the EtherCAT Slave

Configuration of the Sysmac Studio.

Set the Axis Basic Settings from the Sysmac Studio.

Classification

Parameter name

Setting

Axis Basic

Axis Number

Axis numbers are automatically set in the order that the axes

Settings

are created.

Axis Use

Select Used axis.

Axis Type

Select a servo axis or encoder axis.

Input Device/

Specify the node address of the EtherCAT slave that is

Output Device

assigned to the axis.

3 Use the Sysmac Studio to specify the settings required for Test Mode operation (Unit Conver-

sion, Count Mode, Limits, etc.) and the settings required for actual system operation. Then

transfer the settings to the Controller with the project.

4 In the user program, an axis variable name is specified for the in-out variable Axis in motion

control instructions.

For the axis variable name, specify the axis name (axis variable name) that was specified in the

Motion Control Setup or a system-defined variable. You can execute motion control for the

assigned Servo Drive or encoder input slave. An example that specifies the axis variable name

MyAxis1 is shown below.

3-14

4 Controller Setup

Controller Setup

Reference

z Initial Settings Related to the PLC Function Module:

4-2 Initial Set-

tings for the

Controller Setup: Startup Mode, Write Protection, System Service Moni-

PLC Function

toring Settings, and other settings

Module

z Initial Settings for the Motion Control Function Module:

4-3 Initial Set-

tings for the

• Axis Parameters: Motion control parameters for single-axis operation

Motion Control

• Axes Group Parameters: Motion control parameters for multi-axes coor-

Function Mod-

dinated operation

ule

• Cam data: Phase and displacement setting tables for cam motions

z Initial Settings for the EtherCAT Master Function Module:

4-4 Initial Set-

tings for the

EtherCAT Master Parameters in the EtherCAT Configuration:

EtherCAT Mas-

Parameter settings for the EtherCAT master process data communications

ter Function

cycle, and other settings

Module

z Initial Settings for the EtherNet/IP Function Module:

4-5 Initial Set-

tings for the

Ethernet Port Setup: EtherNet/IP Port TCP/IP Settings, Ethernet Settings,

EtherNet/IP

and other settings

Function Mod-

ule

4-3

4 Controller Setup

Setting

Update tim-

Changes in

Parameter

Description

Set value

Default

group

ing

RUN mode

Operation

Startup Mode

Sets the CPU Unit’s

RUN or PRO-

RUN mode

When down-

Not allowed.

Settings

operating mode at

GRAM mode

loaded to

startup.

Controller

Start delay

Sets the time to wait for

0 to 10 s

0 s

When down-

Not allowed.

time at

an NS-series PT to per-

loaded to

startup^*1

form the tag verifications

Controller

with priority during

startup after the power

supply is turned ON.^*2

Virtual SD

Sets whether to use the

Use.

Disabled.

When down-

Not allowed.

Memory Card

shared folder as a Vir-

loaded to

Do not use.

Settings

tual SD Memory Card.

Controller

Computer

Sets the computer name

Text string^*3

None

When down-

Not allowed.

name

on Windows.

loaded to

Controller

IP address

Sets the IP address of an

IPv4^*4

192.168.254.2

When down-

Not allowed.

internal port in Windows.

loaded to

Controller

Shared folder

Sets a name of the

Text string^*5

VirtualSDCard

When down-

Not allowed.

name

shared folder that is used

loaded to

as a Virtual SD Memory

Controller

Card.

User name

Sets a shared user name

Text string^*7

None

When down-

Not allowed.

of the shared folder that

loaded to

is used as a Virtual SD

Controller

Memory Card.^*6

Password

Sets a password of the

Text string^*8

None

When down-

Not allowed.

shared user that is used

loaded to

as a Virtual SD Memory

Controller

Card.

Shutdown

User program

Sets the time to wait

1 to 30 s

5 s

When down-

Not allowed.

Wait Time

when the signal is ON

loaded to

Setting

from a UPS which indi-

Controller

cates a power interrup-

tion detection, or when a

shutdown command is

accepted by pressing the

power supply button until

the Controller starts the

shutdown.

Sets the time to wait

30 to 300 s

60 s

When down-

Not allowed.

when the Controller

loaded to

sends the shutdown com-

Controller

mand to Windows until

the shutdown completion

is detected in Windows.

Event Log

Instruction

Sets whether to output

Do not use.

When down-

Not allowed.

Settings

Error Output

events to an event log

loaded to

Use.

when instruction errors

Controller

occur.

4-5

4 Controller Setup

Setting

Update tim-

Changes in

Parameter

Description

Set value

Default

group

ing

RUN mode

Security Set-

Write Protec-

Sets whether to automat-

Do not use.

When power

Allowed.

ting

tion at Startup

ically enable or disable

is turned ON

Use.

write protection when

you turn ON the power

supply to the Controller.

Prohibit data

Sets whether to enable

Do not use.

When down-

Allowed.

backup to the

or disable SD Memory

loaded to

Use.

SD Memory

Card backups.

Controller

Card^*9

This setting is enabled when an NS-series PT is connected to the built-in EtherNet/IP port on the Controller, and the

power supplies for these devices are turned ON simultaneously.

The processing time for verifying tags of an NS-series PT can be reduced with this setting. Set the value to 10 if you want

to give priority to the tag verifications. Otherwise, set the value to 0.

If you set the value to 10, after the power supply is turned ON, the Controller gives priority to the tag verifications of the

NS-series PT for approximately 10 seconds during startup before the Controller changes the startup state to the normal

operation state. The time to complete the tag verifications can be reduced by performing a part of processing of the tag

verifications with priority during startup.

If you specify the value between 1 and 10, the time until the Controller changes the state to the normal operation state is

increased because the Controller gives priority to the tag verifications for the specified time regardless of whether an NS-

series PT is used. Set the value to 0 if an NS-series PT is not connected, or if you do not turn ON the power supplies for

the NS-series PT and the Controller simultaneously.

The usable characters are 0 to 9, A to Z, and a to z. The number of characters is 1 to 15 (not including NULL). The text is

not case sensitive.

You cannot set the following IP addresses.

IP addresses start with 127 (decimal)

Class-D IP addresses (224.0.0.0 to 239.255.255.255)

Class-E IP addresses (240.0.0.0 to 255.255.255.255)

The usable characters are 0 to 9, A to Z, and a to z. The number of characters is 1 to 32 (not including NULL). The text is

not case sensitive.

Use <Domain name>\<User name> when you specify the domain. You can omit specifying the domain name if the user

name in the domain and one in the local are not same.

The usable characters are 0 to 9, A to Z, and a to z, as well as single-byte code (` ~ ! # $ ^ & ( ) _ - { } \ '). The number of

characters is 1 to 274 (not including NULL). The text is not case sensitive.

The usable characters are 0 to 9, A to Z, and a to z, as well as single-byte code (` ~ ! @ # $ % ^ & * ( ) _ - + = { } [ ] \ | : ; "

< > . ? /). The number of characters is 8 to 32 (not including NULL). The text is not case sensitive.

A Virtual SD Memory Card is applicable in the NY-series Controller.

Operation item

Description

Setting Change

You can change the set values of parameters that can be changed during RUN mode.

during RUN Mode

Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the operations.

Start:

Enables writing set values.

Transfer:

Transfers set values to the Controller. The set values are overwritten.

Cancel:

Prohibits writing set values.

Precautions for Correct Use

If Use is selected for Event Log Settings − Instruction Error Output, an instruction error is

output each time an error occurs when an instruction with an error is executed repetitively. This

may cause the event log to exceed the maximum number of events. If this occurs, older events

are overwritten.

4-6

4 Controller Setup

4-2-3

Task Settings

z Task Settings

The Task Settings are used to add and set up tasks.

Setting

Update

Changes in

Parameter

Description

Set value

Default

group

timing

RUN mode

Task Type

Sets the task type.

Primary periodic

Primary peri-

When down-

Not allowed.

task

odic task

loaded to

Controller

Priority-16 periodic

task

Priority-17 periodic

task

Priority-18 periodic

task

Priority-8 event task

Priority-48 event

task

Execution

Sets the task execution

Automatically set

Primary peri-

When down-

Not allowed.

Priority

priority.

according to the

odic task: 4

loaded to

task type.

Controller

Task Name

Sets the task name.

Text string

Primary peri-

When down-

Not allowed.

odic task: Pri-

loaded to

maryTask

Controller

Periodic

tasks: Period-

icTask0

Event tasks:

EventTask0

Period/Exe-

Sets the task period.

Primary periodic

Primary

When down-

Not allowed.

cution Con-

task:

periodic task:

loaded to

ditions

500 μs to 8 ms (in

1 ms

Controller

250-μs increments)

Periodic

Periodic tasks:

tasks:

1 ms to 100 ms (in

10 ms (Prior-

250-μs increments)

ity 16, 17, and

Event tasks:

18)

Executed with an

Event tasks:

instruction or when

Execution

a variable expres-

with an

sion is satisfied.

instruction

4-7

4 Controller Setup

Setting

Update

Changes in

Parameter

Description

Set value

Default

group

timing

RUN mode

Task Period

Sets whether to detect

• Detect. (Minor

Primary peri-

When down-

Not allowed.

Exceeded

an error when the task

fault level Con-

odic task and

loaded to

Detection

period is exceeded.

troller error gen-

periodic

Controller

erated.)

tasks: Detect

• Do not detect.

Event tasks:

(Store an obser-

Do not detect

vation level log

(cannot be

record.)

changed).

Task Time-

Sets the task execution

Primary periodic

Primary peri-

When down-

Not allowed.

out Detec-

timeout time. A Task

task and periodic

odic task and

loaded to

tion Time

Execution Timeout

tasks: Task period ×

periodic

Controller

occurs when the time-

1 to Task period × 5

tasks: Task

out time is exceeded.

period × 5

Event tasks: Execu-

tion priority of 8: 1

Event tasks:

to 500 ms

Execution pri-

ority of 8: 200

Execution priority of

48: 1 ms to 10 s

Execution pri-

ority of 48: 1 s

Variable

Sets the percentage of

Primary periodic

When down-

Not allowed.

Access Time

the task period to

task and periodic

loaded to

[%]

assign to variable

tasks: 1% to 50%

Controller

access from outside

Event tasks: None

the Controller.

4-8

4 Controller Setup

z I/O Control Task Settings

The I/O Control Task Settings are used to set the timing of refresh execution of inputs and outputs.

Changes in

Parameter

Description

Set value

Default

Update timing

RUN mode

Task Name

Sets the task to use to

PrimaryTask

When down-

Not allowed.

refresh the specified Units

loaded to Con-

or slaves.

troller

z Program Assignment Settings

The Program Assignments Settings are used to assign the programs to tasks, set the program exe-

cution order, and set the operation of the programs at the start of operation.

Changes in

Parameter

Description

Set value

Default

Update timing

RUN mode

Program Execu-

Assigns the programs to the

Assign the pro-

Program0

When down-

Not allowed.

tion Order

specified tasks and sets the

grams in the

loaded to Con-

order of program execution

order to execute

troller

within the tasks.

them from top to

bottom.

Initial Status of

Set whether to run the pro-

Run

When down-

Not allowed.

gram at the start of opera-

loaded to Con-

Program

Stop

tion.

troller

4-9

4 Controller Setup

Precautions for Correct Use

• A program that contains the device variables used to access slaves and Units must be

assigned to the same task as the one to which the slaves and Units that are set in the I/O Con-

trol Task Settings are assigned. A building error will occur if you assign the program to other

tasks.

• The default task set in the I/O Control Task Settings is the primary periodic task. If you want to

assign the program to a task other than the primary periodic task, change the setting in the I/O

Control Task Settings in advance to prevent a building error.

z Settings for Exclusive Control of Variables in Tasks

The Settings for Exclusive Control of Variables in Tasks are used to set the tasks that refresh speci-

fied global variables and the tasks that access specified global variables.

Set

Update tim-

Changes in

Item

Parameter

Description

Default

value

ing

RUN mode

Each Task

Variables to

Sets the variables to refresh in the

None

When down-

Not allowed.

be refreshed

primary periodic task or periodic

loaded to

task.

Controller

Data Type

Sets the data type of variable.

None

Variable Com-

Sets a comment for the variable.

None

ment

Accessing

Sets the tasks that access the vari-

Task

able.

4-10

4 Controller Setup

4-3

Initial Settings for the Motion Control

Function Module

This section describes the initial settings that are required for the MC Function Module.

4-3-1

Introduction

The initial settings for the Motion Control Function Module are called motion control parameters. Motion

control parameters include the following parameters.

• Axis Parameters: Settings for single-axis control

• Axes Group Parameters: Settings for multi-axes coordinated control

Sysmac Studio

Set the parameters in the

Controller

Motion Control Setup.

Motion control

parameters

Built-in non-vola-

tile memory

When power is turned ON

Main memory

When downloaded.

Read and check

Download.

Axis Parameter Settings

data.

Axis Parameter Settings

User program

Upload.

Axes group

Axes Group

Parameter Settings

parameter settings

MC_Write instruction

Temporarily changes

some parameters.

4-12

4 Controller Setup

4-3-2

Setting Methods

You can use either of the following methods to set motion control parameters.

Method 1: Setting the Motion Control Setup in the Sysmac Studio

Right-click Axis Settings from under Configurations and Setup - Motion Control Setup in the Sys-

mac Studio and make the settings in the Axis Setting Table.

Download the motion control parameters to the Controller to save them in the non-volatile memory in

the Controller. The downloaded settings are enabled when the power is turned ON or a download is

performed.

Method 2: Setting with the MC_Write Instruction

You can temporarily overwrite some motion control parameters with the MC_Write instruction.

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

W559) for details.

4-13

4 Controller Setup

4-4

Initial Settings for the EtherCAT

Master Function Module

This section describes the initial settings that are required for the EtherCAT Master Function Module.

The initial settings for the EtherCAT Master Function Module are listed below.

• Device names

• Total Cable Length

• Fail-soft Operation Settings

• Wait Time for Slave Startup

• PDO Communications Timeout Detection Count

• Revision Check Method

• Serial Number Check Method

Double-click EtherCAT under Configurations and Setup and then select the master on the Sysmac

Studio. The Initial Setting Tab Page for the EtherCAT Master Function Module is displayed.

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

(Cat. No. W562) for details.

4-14

Designing Tasks

This section describes the task system and types of tasks.

5-1

Overview of Task Designing Procedure

5-2

Overview of Tasks

5-4

5-2-1

Tasks

5-4

5-2-2

Instructions Related to Tasks

5-6

5-2-3

System-defined Variables Related to Tasks

5-6

5-3

Specifications and Basic Operation of Tasks for NY-series Controllers . 5-8

5-3-1

Specifications of Tasks for NY-series Controllers

5-8

5-3-2

Guidelines for Separating Tasks for NY-series Controllers

5-9

5-3-3

Basic Operation of Tasks for NY-series Controllers

5-10

5-3-4

Event Task Execution Conditions for NY-series Controllers

5-16

5-3-5

Event Task Execution Timing for NY-series Controllers

5-21

5-3-6

Operation When Execution Condition Is Met Again Before Execution of the Event

Task Is Completed

5-26

5-4

Tag Data Link Service and System Services

5-27

5-4-1

Execution Priorities and Execution Orders of the Tag Data Link Service and

System Services

5-28

5-4-2

Processing Performed in and Execution Timing of the Tag Data Link Service 5-30

5-4-3

Processing Performed in and Execution Timing of the System Services . . . 5-32

5-5

Assignment and Settings Related to Tasks

5-33

5-5-1

Assigning I/O Refreshing to Tasks

5-33

5-5-2

Assigning Tasks to Programs

5-39

5-5-3

Parameters for Primary Periodic Task and Periodic Tasks

5-40

5-6

Ensuring Concurrency of Variable Values

5-42

5-6-1

Ensuring Concurrency of Variable Values between Tasks

5-42

5-6-2

Variable Access from Outside the Controller

5-49

5-7

Errors Related to Tasks

5-53

5-8

Monitoring Task Execution Status and Task Execution Times

5-55

5-9

Task Design Methods and I/O Response Times

5-59

5-9-1

Checking the Task Execution Time

5-59

5-9-2

Examples of Task Design

5-60

5-9-3

System Input and Output Response Times

5-61

5-1

Omron IPC Machine Controller Industrial Panel PC / Industrial Box PC. Software User’s Manual (Industrial PC Platform NY-series) - page 4