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

10 Communications Setup

10-3 Connection with Other Controllers or

Slaves

This section shows the connection configurations that are used between Controllers and between Con-

trollers and slaves.

10-3-1

Connection Configurations between Controllers

EtherNet/IP

You can use the built-in EtherNet/IP port.

For information on the built-in EtherNet/IP port, refer to the NY-series Industrial Panel PC / Industrial

Box PC Built-in EtherNet/IP Port User's Manual (Cat. No. W563).

z Tag Data Links

You can create tag data links between NJ/NX/NY-series Controllers on an EtherNet/IP network.

EtherNet/IP

z Message Communications

You can send CIP messages from the user program.

EtherNet/IP

CIP communications

instruction

10-6

10 Communications Setup

z Sending and Receiving Files

You can send and receive files on the Virtual SD Memory Card in the NY-series Controller from an

FTP client application.

FTP client application

Sending and Receiving Files

EtherNet/IP

FTP server

Virtual SD Memory Card

z Socket Services

You can directly use TCP or UDP from the user program to send and receive any data with remote

nodes between a host computer and the Controller, or between Controllers. The socket services are

supported only for the built-in EtherNet/IP ports.

Communications

EtherNet/IP

Socket service

instruction

z Specifying Host Names

You can use the DNS client or set up your Hosts so that you can specify the IP address of the SNMP

manager or the target destination of a socket instruction or CIP communications instruction with a

host name instead of an IP address.

Example: Setting Host Names on the DNS Server

DNS server

IP address

EtherNet/IP

Host name

DNS client

10-7

11 Example of Actual Application Procedures

11-1

Example Application

This section describes an example application for an NY-series Controller.

11-1-1

System Configuration

Unit name

Qty

Connected device

Power Supply

---

UPS (Uninterruptible Power Supply)

---

NY-series Industrial Box PC

---

EtherCAT slaves

Servo Drives (G5 EtherCAT)

---

I/O Terminal

Photoelectric Sensor

Sysmac Studio

NY-series Controller

Built-in EtherNet/IP port

UPS

Power Supply

EtherNet/IP

Built-in EtherCAT port

EtherCAT

G5 EtherCAT

Positive limit input

Negative limit input

Photoelectric

Immediate stop input

Sensor

Home signal

External latch signal, etc.

Servo Drives

General-purpose slaves

11-1-2

Operation

Interrupt feeding starts when the sensor signal changes to ON during velocity control.

Velocity

Velocity control

Interrupt feeding

Time

Sensor turns ON.

The vertical position changes based on the input from the Photoelectric Sensor.

11-2

11 Example of Actual Application Procedures

11-2

Overview of the Example Procedure

This section describes examples of the actual operating procedures for an NY-series Controller.

11-2-1

Wiring and Settings

Wire the Controller and make the hardware settings.

11-2-2

Software Design

Design the I/O, tasks, POUs, and variables.

I/O Design

• Design the relationship between the external I/O and the Unit configuration.

• Determine the intervals at which to refresh external I/O.

Task and POU Design

Consider the following:

• What task configuration is required

• Which programs to assign to which tasks

• Which Units to assign to which tasks

• What processing to place in programs and what processing to place in function blocks and functions

Variable Design

Consider the following:

• The separation of variables into those that you use in more than one POU (global variables) and vari-

ables that you use in only specific POUs (local variables)

• Defining the variable names for the device variables that you use to access slaves

• Defining the attributes of variables, such as the Name and Retain attributes

• Designing the data types of variables

11-3

11 Example of Actual Application Procedures

z Registering Global Variables

1 Double-click Global Variables under Programming − Data.

2 Register the global variables in the global variable table.

z Registering Device Variables

1 Double-click I/O Map under Configurations and Setup.

2 In the I/O Map, assign the variables to the I/O ports. (The I/O ports are created automatically

from the slave configurations.)

You can automatically create device variable names with the Sysmac Studio. To do so, right-

click an I/O port and select Create Device Variable from the menu.

By default, device variables are registered in the global variable table. If necessary, you can

change the variable type from a global variable to a local variable (internal variable) for a POU.

11-6

11 Example of Actual Application Procedures

Create Axes (Axis Variables)

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

select Add − Axis Settings from the menu.

2 Assign Servo Drives to the axes (axis variables) that you created in the EtherCAT configuration.

• Set the Axis Use parameter to Used Axis.

• Set the Axis Type parameter to Servo Axis.

• Set the Input Device and Output Device parameters to the EtherCAT slaves that you regis-

tered in the slave configuration.

Set the other parameters, such as the Unit Conversion Settings and Operation Settings.

Set the Controller Setup.

z Initial Settings for the PLC Function Module:

The Controller Setup includes the Startup Mode and other parameters.

11-7

11 Example of Actual Application Procedures

11-2-4

Programming with the Sysmac Studio

On the Sysmac Studio, create the programs, set the tasks, and build the project.

Write the Programs.

1 Right-click Programs under Programming − POU and select Add − Ladder or Add − ST from

the menu.

2 Double-click Section under the program that you registered.

3 Register the local variables for each program.

4 Enter the programs.

Create a program with the following instructions.

• Homing: MC_Home instruction

• Velocity control: MC_MoveVelocity instruction

• Interrupt feeding: MC_MoveFeed instruction

• Positioning: MC_Move instruction

5 As required, right-click Functions or Function Blocks under Programming − POU and select

Add − Ladder or Add − ST from the menu.

Double-click the function or function block that you registered. Register local variables for each

function and function block. Create the algorithms.

Note For a ladder diagram, press the R Key and create the following rungs.

Set Up the Tasks.

Double-click Task Settings under Configurations and Setup.

• In the Task Settings, set the task period and execution condition for the primary periodic task from

the pulldown list.

• In the I/O Control Task Settings, select the task name to which to assign each Unit and slave.

• In the Program Assignment Settings, assign the programs to the primary periodic task or the prior-

ity-16 periodic task.

11-8

11 Example of Actual Application Procedures

Build the Project.

Select Build from the Project Menu.

11-2-5

Checking Operation and Starting Operation on the Actual System

Go online with the Controller, download the project, check the wiring and perform test operation before

you start actual operation.

Going Online

1 Turn ON the power supply to NY-series Controller.

2 Connect the computer and the NY-series Controller with EtherNet/IP.

3 Select Communications Setup from the Controller Menu. Select the connection method for the

connection configuration in the Connection Type Field.

4 Select Online from the Controller Menu.

Downloading the Project with the Synchronize Menu

Select Synchronize from the Controller Menu and download the project to the Controller.

Note Use the Synchronize Menu of the Sysmac Studio to upload and download the project.

Checking Wiring

Check the wiring by performing forced-refreshing with user-specified values from the I/O Map or Ladder

Editor.

11-9

Appendices

The appendices provide the NY-series Controller specifications, real processing times

of tasks, system-defined variable lists, and other supplemental information for the body

of this manual.

A-1

Specifications

A-3

A-1-1

Performance Specifications

A-3

A-1-2

Function Specifications

A-6

A-2

Calculating Guidelines for the Real Processing Times of

Tasks for the NY-series System

A-13

A-2-1

Calculating the Average Real Processing Times of Tasks

A-14

A-2-2

Example of Calculating the Average Real Processing Time of a

Task and Setting the Task Period

A-20

A-3

System-defined Variables

A-23

A-3-1

System-defined Variables for the Overall NY-series Controller

(No Category)

A-24

A-3-2

PLC Function Module, Category Name: _PLC

A-32

A-3-3

Motion Control Function Module, Category Name: _MC

A-33

A-3-4

EtherCAT Master Function Module, Category Name: _EC

A-35

A-3-5

EtherNet/IP Function Module, Category Name: _EIP

A-40

A-3-6

Meanings of Error Status Bits

A-51

A-4

Specifications for Individual System-defined Variables

A-52

A-4-1

System-defined Variables for the Overall NY-series Controller

(No Category)

A-53

A-4-2

PLC Function Module, Category Name: _PLC

A-66

A-4-3

Motion Control Function Module, Category Name: _MC

A-68

A-4-4

EtherCAT Master Function Module, Category Name: _EC

A-70

A-4-5

EtherNet/IP Function Module, Category Name: _EIP

A-79

A-5

Attributes of Controller Data

A-91

A-6

Variable Memory Allocation Methods

A-94

A-6-1

Variable Memory Allocation Rules

A-94

A-6-2

Important Case Examples

A-103

A-7

Registering a Symbol Table on the CX-Designer

A-106

A-8

Enable/Disable EtherCAT Slaves and Axes

A-109

A-8-1

Project Settings When Using EtherCAT Slaves and Axes

A-109

A-1

Appendices

A-8-2

Using Instructions to Enable/Disable EtherCAT Slaves and Axes

A-109

A-8-3

System-defined Variables That Indicate EtherCAT Slave or Axis Status . . . A-110

A-8-4

Enabling/Disabling Execution of Program

A-110

A-8-5

Checking Enabled/Disabled Program

A-111

A-8-6

Settings with the Sysmac Studio

A-111

A-8-7

Examples of Applications of Enabling/Disabling EtherCAT Slaves

and Axes

A-112

A-9 Size Restrictions for the User Program

A-115

A-9-1

User Program Object Restrictions

A-115

A-9-2

Counting User Program Objects

A-117

A-10 Version Information for NY-series Controllers

A-119

A-10-1

Relationship between Unit Versions of Controllers and Sysmac

Studio Versions

A-119

A-10-2

Functions That Were Added or Changed for Each Unit Version

A-120

A-2

Appendices

A-1

Specifications

This section gives the functional and performance specifications of the control function of the NY-series

Industrial Panel PC / Industrial Box PC with Machine Automation Control Software.

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 the general specifications.

A-1-1

Performance Specifications

This section gives the performance specifications of the control function of the NY-series Industrial

Panel PC / Industrial Box PC.

Item

NY52-

15

4

13

Instruction

LD instruction

0.33 ns or more

Process-

execution

Math instructions (for long

1.2 ns or more

ing time

times

real data)

Size

40 MB

Number of POU

3,000

Program

definitions

capacity^*1

Quantity

Number of POU

24,000

instances

Pro-

Size

4 MB

gram-

Retain attri-

Number of vari-

40,000

ming

butes

Memory

ables

capacity for

Size

64 MB

variables

No Retain

Number of vari-

180,000

attributes

ables

Data types

Number of data types

4,000

Maximum number of con-

64 axes

32 axes

16 axes

trolled axes^*2

Maximum number of used

64 axes

32 axes

16 axes

real axes^*3

Number of

Maximum number of axes for

64 axes

32 axes

16 axes

controlled

single-axis control

axes

Maximum number of axes for

4 axes per axes group

linear interpolation axis con-

trol

Number of axes for circular

2 axes per axes group

interpolation axis control

Motion

Maximum number of axes groups

32 axes groups

control

The same control period as that is used for the process data communications

Motion control period

cycle for EtherCAT.

Maximum

65,535 points

points per cam

Number of

table

cam data

Maximum

1,048,560 points

Cams

points

points for all

cam tables

Maximum number of cam

640 tables

tables

Position units

Pulse, mm, μm, nm, degree, and inch

Override factors

0.00%, or 0.01% to 500.00%

A-3

Appendices

Item

NY52-

15

4

13

Number of ports

Physical layer

10BASE-T, 100BASE-TX, or 1000BASE-T

Frame length

1,514 bytes max.

Media access method

CSMA/CD

Modulation

Baseband

Topology

Star

Baud rate

1 Gbps (1000BASE-T)

Transmission media

STP (shielded, twisted-pair) cable of Ethernet category 5, 5e, or higher

Maximum transmission distance between

100 m

Ethernet switch and node

Maximum number of cascade connections

There are no limitations when an Ethernet switch is used.

Maximum number of connec-

128

tions

Can be set for each connection.

Packet interval^*4

1 to 10,000 ms in 1-ms increments

Permissible communica-

20,000 pps^*5 (including heartbeat)

tions band

Maximum number of tage

128

sets

CIP ser-

Tag types

Network variables

Built-in

vice: Tag

Ether-

data links

Number of tags per connec-

8 (7 tags if Controller status is included in the tag set.)

Net/IP

(cyclic com-

tion (i.e., per tag set)

port

munica-

Maximum number of tags

256

tions)

Maximum link data size per

184,832 bytes

node (total size for all tags)

Maximum data size per con-

1,444 bytes

nection

Maximum number of registra-

128 (1 connection = 1 tag set)

ble tag sets

Maximum tag set size

1,444 bytes (Two bytes are used if Controller status is included in the tag set.)

Multi-cast packet filter^*6

Supported

Class 3 (number of connec-

64 (clients plus server)

tions)

Maximum num-

ber of clients

CIP mes-

that can com-

sage ser-

UCMM

municate at one

vice

(non-con-

time

: Explicit

messages

nection

Maximum num-

type)

ber of servers

that can com-

municate at one

time

Number of TCP sockets

A-4

Appendices

Item

NY52-

15

4

13

Communications standard

IEC 61158 Type12

EtherCAT master specifications

Class B (Feature Pack Motion Control compliant)

Physical layer

100BASE-TX

Modulation

Baseband

Baud rate

100 Mbps (100BASE-TX)

Duplex mode

Auto

Topology

Line, daisy chain, and branching

Twisted-pair cable of category 5 or higher (double-shielded straight cable with

Transmission media

aluminum tape and braiding)

Built-in

Maximum transmission distance between

100 m

Ether-

nodes

CAT port

Maximum number of slaves

128

Range of node addresses that can be set

1 to 512

Inputs: 5,736 bytes

Maximum process data size

Outputs: 5,736 bytes

However, the maximum number of process data frames is 4.

Inputs: 1,434 bytes

Maximum process data size per slave

Outputs: 1,434 bytes

Communications cycle

500, 1,000, 2,000, 4,000, or 8,000 μs

Sync jitter

1 μs max.

Maximum

4,096

number of

Maximum number of NX

Unit con-

(On EtherCAT Slave Terminals)

figura-

connect-

Units for entire controller

tion

able Units

Maximum number of Expansion Racks

At ambient temperature of 55°C: −3.5 to +0.5 minute error per month

Internal clock

At ambient temperature of 25°C: −1.5 to +1.5 minute error per month

At ambient temperature of 0°C: −3 to +1 minute error per month

This is the capacity for the execution objects and variable tables (including variable names).

This is the total for all axis types.

This is the total number of axes that are set as servo axes or encoder axes and are also set as used axes.

Data will be refreshed at the set interval, regardless of the number of nodes.

“pps” means packets per second, i.e., the number of communications packets that can be sent or received in one second.

As the EtherNet/IP port implements the IGMP client, unnecessary multi-cast packets can be filtered by using an Ethernet switch that

supports IGMP Snooping.

A-5

Appendices

A-1-2

Function Specifications

This section gives the functional specifications of the control function of the NY-series Industrial Panel

PC / Industrial Box PC.

Item

NY52-

I/O refresh and the user program are executed in units that are called

Function

tasks. Tasks are used to specify execution conditions and execution pri-

ority.

Maximum number of

Periodically

primary periodic

executed

tasks

Maximum number of

Tasks

periodic tasks

Maximum number of

Condition-

event tasks

ally exe-

Execution condi-

When Activate Event Task instruction is executed or when condition

cuted tasks

tions

expression for variable is met

---

System Service Monitoring Set-

Setup

tings

Programs

POUs that are assigned to tasks.

POUs (pro-

Function blocks

POUs that are used to create objects with specific conditions.

gram organi-

POUs that are used to create an object that determine unique outputs for

zation units)

Functions

the inputs, such as for data processing.

Program-

Ladder diagrams^*1 and structured text (ST)

ming

Types

languages

Namespaces

Namespaces are used to create named groups of POU definitions.

External

The function which allows access from the HMI, host computers, or other

Variables

access of

Network variables

Controllers

variables

Boolean

BOOL

Bit strings

BYTE, WORD, DWORD, and LWORD

Integers

INT, SINT, DINT, LINT, UINT, USINT, UDINT, and ULINT

Real numbers

REAL and LREAL

Basic data

Durations

TIME

types

Dates

DATE

Pro-

Times of day

TIME_OF_DAY

gram-

Dates and times

DATE_AND_TIME

ming

Text strings

STRING

Derivative data types

Structures, Unions, and Enumerations

Function

A derivative data type that groups together data with different data types.

Maximum number of

2,048

Data types

members

Nesting maximum

Structures

levels

Member data types

Basic data types, structures, unions, enumerations, or array variables

Specifying member

You can use member offsets to place structure members at any memory

offsets

locations.

A derivative data type that enables access to the same data with different

Function

data types.

Union

Maximum number of

members

Member data types

BOOL, BYTE, WORD, DWORD, and LWORD

A derivative data type that uses text strings called enumerators to

Enumeration

Function

express variable values.

A-6

Appendices

Item

NY52-

An array is a group of elements with the same data type. You specify the

Function

number (subscript) of the element from the first element to specify the

element.

Maximum number of

dimensions

Array speci-

Data type

fications

Maximum number of

65,535

Pro-

attributes

elements

gram-

ming

Array specifica-

Supported

tions for FB

instances

You can specify a range for a data type in advance. The data type can

Range specifications

take only values that are in the specified range.

Libraries

You can use user libraries.

Control modes

Position control, Velocity control, and Torque control

Axis types

Servo axes, Virtual servo axes, Encoder axes, and Virtual encoder axes

Positions that can be managed

Command positions and actual positions

Absolute position-

Positioning is performed for a target position that is specified with an

ing

absolute value.

Positioning is performed for a specified travel distance from the com-

Single-axis

Relative positioning

mand current position.

position

Positioning is performed for a specified travel distance from the position

control

Interrupt feeding

where an interrupt input was received from an external input.

Cyclic synchronous

A positioning command is output each control period in Position Control

absolute positioning

Mode.

Single-axis

Velocity control

Velocity control is performed in Position Control Mode.

velocity con-

Cyclic synchronous

A velocity command is output each control period in Velocity Control

trol

velocity control

Mode.

Single-axis

The torque of the motor is controlled.

torque con-

Torque control

trol

Motion

con-

Starting cam opera-

A cam motion is performed using the specified cam table.

trol

tion

Single axes

Ending cam opera-

The cam motion for the axis that is specified with the input parameter is

tion

ended.

Starting gear opera-

A gear motion with the specified gear ratio is performed between a mas-

tion

ter axis and slave axis.

Positioning gear oper-

A gear motion with the specified gear ratio and sync position is per-

Single-axis

ation

formed between a master axis and slave axis.

synchro-

Ending gear opera-

The specified gear motion or positioning gear motion is ended.

nized control

tion

Synchronous position-

Positioning is performed in sync with a specified master axis.

ing

Master axis phase

The phase of a master axis in synchronized control is shifted.

shift

The command positions of two axes are added or subtracted and the

Combining axes

result is output as the command position.

Single-axis

Powering the Servo

The Servo in the Servo Drive is turned ON to enable axis motion.

manual

An axis is jogged at a specified target velocity.

Jogging

operation

A-7

Appendices

Item

NY52-

Resetting axis errors

Axes errors are cleared.

A motor is operated and the limit signals, home proximity signal, and

Homing

home signal are used to define home.

Homing with speci-

The parameters are specified, the motor is operated, and the limit sig-

fied parameters

nals, home proximity signal, and home signal are used to define home.

Positioning is performed for an absolute target position of 0 to return to

High-speed homing

home.

Stopping

An axis is decelerated to a stop.

Immediately stop-

An axis is stopped immediately.

ping

Setting override fac-

The target velocity of an axis can be changed.

tors

Changing the cur-

The command current position or actual current position of an axis can

rent position

be changed to any position.

Enabling external

The position of an axis is recorded when a trigger occurs.

Auxiliary

latches

functions for

Single axes

Disabling external

The current latch is disabled.

single-axis

latches

control

You can monitor the command position or actual position of an axis to

Zone monitoring

see when it is within a specified range (zone).

Enabling digital cam

You can turn a digital output ON and OFF according to the position of an

switches

axis.

Monitoring axis fol-

You can monitor whether the difference between the command positions

lowing error

or actual positions of two specified axes exceeds a threshold value.

Resetting the fol-

The error between the command current position and actual current posi-

lowing error

tion is set to 0.

The torque control function of the Servo Drive can be enabled or dis-

Torque limit

abled and the torque limits can be set to control the output torque.

Motion

Command position

The function which compensate the position for the axis in operation.

con-

compensation

trol

Outputs the specified offset position for the slave axis in synchronous

Cam monitor(*)

control.

Start velocity

You can set the initial velocity when axis motion starts.

Absolute linear

Linear interpolation is performed to a specified absolute position.

interpolation

Relative linear inter-

Linear interpolation is performed to a specified relative position.

Multi-axes

polation

coordinated

Circular 2D interpo-

Circular interpolation is performed for two axes.

control

lation

Axes group cyclic

A positioning command is output each control period in Position Control

synchronous abso-

Mode.

lute positioning

Resetting axes

Axes group errors and axis errors are cleared.

group errors

Enabling axes

Motion of an axes group is enabled.

Axes groups

groups

Disabling axes

Motion of an axes group is disabled.

groups

Auxiliary

Stopping axes

All axes in interpolated motion are decelerated to a stop.

functions for

groups

multi-axes

Immediately stop-

All axes in interpolated motion are stopped immediately.

coordinated

ping axes groups

control

Setting axes group

The blended target velocity is changed during interpolated motion.

override factors

Reading axes group

The command current positions and actual current positions of an axes

positions

group can be read.

Changing the axes

The Composition Axes parameter in the axes group parameters can be

in an axes group

overwritten temporarily.

A-8

Appendices

Item

NY52-

Setting cam table

The end point index of the cam table that is specified in the input param-

properties

eter is changed.

The cam table that is specified with the input parameter is saved in non-

Cams

Saving cam tables

volatile memory in the CPU Unit.

Common

Generating cam

The cam table is generated from the cam property and cam node that is

items

tables

specified in input parameters.

Some of the axis parameters or axes group parameters are overwritten

Writing MC settings

temporarily.

Parameters

Changing axis

Some of the axis parameters can be accessed or changed from the user

parameters

program.

You can select either Linear Mode (finite length) or Rotary Mode (infinite

Count modes

length).

Unit conversions

You can set the display unit for each axis according to the machine.

Automatic accelera-

Jerk is set for the acceleration/deceleration curve for an axis motion or

tion/deceleration

axes group motion.

Accelera-

control

tion/deceler-

Changing the accel-

You can change the acceleration or deceleration rate even during accel-

ation control

eration and deceler-

eration or deceleration.

ation rates

You can set an in-position range and in-position check time to confirm

In-position check

when positioning is completed.

You can set the stop method to the immediate stop input signal or limit

Stop method

input signal.

Motion

You can change the input variables for a motion control instruction during

Re-execution of motion control

con-

execution and execute the instruction again to change the target values

instructions

trol

during operation.

You can specify when to start execution and how to connect the veloci-

Multi-execution of motion control

Auxiliary

ties between operations when another motion control instruction is exe-

instructions (Buffer Mode)

functions

cuted during operation.

Continuous axes group motions

You can specify the Transition Mode for multi-execution of instructions

(Transition Mode)

for axes group operation.

Software limits

The movement range of an axis is monitored.

The error between the command current value and the actual current

Following error

value is monitored for an axis.

Velocity, acceleration

You can set and monitor warning values for each axis and each axes

Monitoring

rate, deceleration rate,

group.

functions

torque, interpolation

velocity, interpolation

acceleration rate, and

interpolation decelera-

tion rate

You can use an OMRON 1S-series Servomotor or G5-series Servomotor

Absolute encoder support

with an Absolute Encoder to eliminate the need to perform homing at

startup.

You can inverse the logic of immediate stop input signal, positive limit

Input signal logic inversion

input signal, negative limit input signal, or home proximity input signal.

The Servo Drive input signals listed on the right are used.

External interface signals

Home signal, home proximity signal, positive limit signal, negative limit

signal, immediate stop signal, and interrupt input signal

128

Unit

(I/O)

EtherCAT

man-

Maximum number of slaves

slaves

age-

ment

Communications protocol

TCP/IP and UDP/IP

Classless inter-domain routing is the function used to allocate IP

CIDR

Commu-

addresses that do not use classes (Class A to C).

EtherNet/IP

nica-

TCP/IP func-

IP Forwarding

This function is used to transfer IP packets over multiple interfaces.

port

tions

tion

This function is used to determine passing or blocking IP packets based

Packet Filter^*2

on source IP address and TCP port number.

NAT

This function is used to convert two IP addresses and transfer.

A-9

Appendices

Item

NY52-

Programless cyclic data exchange is performed with the devices on the

CIP commu-

Tag data links

EtherNet/IP network.

nications

Message communi-

CIP commands are sent to or received from the devices on the Ether-

services

cations

Net/IP network.

Data is sent to and received from any node on Ethernet using the UDP or

Socket services

TCP protocol. Socket communications instructions are used.

EtherNet/IP

Files are transferred via FTP from the CPU Unit to computers or Control-

port

FTP client

lers at other Ethernet nodes. FTP client communications instructions are

TCP/IP appli-

used.

cations

Files can be read from or written to the SD Memory Card in the CPU Unit

FTP server

from computers at other Ethernet nodes.

Built-in EtherNet/IP port internal status information is provided to network

SNMP agent

management software that uses an SNMP manager.

A communications method to exchange control information in cyclic com-

Process data com-

munications between the EtherCAT master and slaves.

munications

EtherCAT

Supported

This communications method is defined by CoE.

port

services

A communications method to exchange control information in noncyclic

Commu-

SDO communica-

event communications between EtherCAT master and slaves.

nica-

tions

This communications method is defined by CoE.

Information is read from connected slave devices and the slave configu-

Network scanning

ration is automatically generated.

Time is synchronized by sharing the EtherCAT system time among all

DC (distributed clock)

EtherCAT devices (including the master).

The frames that are sent by the master and the frames that are received

Packet monitoring

by the master can be saved. The data that is saved can be viewed with

EtherCAT

WireShark or other applications.

port

Enable/disable settings for slaves

The slaves can be enabled or disabled as communications targets.

Temporarily disconnects a slave from the EtherCAT network for mainte-

Disconnecting/reconnecting slaves

nance, such as for replacement of the slave, and then connects the slave

again.

Support

SDO messages of the CAN application can be sent to slaves via Ether-

application

CoE

CAT

protocol

FTP client instructions, CIP communications instructions, socket commu-

Communications instructions

nications instructions, SDO message instructions, and Modbus RTU pro-

tocol instructions

Function

Events are recorded in the logs

Sys-

tem

System event log

2,048

Maximum

man-

Event logs

Access event log

1,024

number of

age-

User-defined event

1,024

events

ment

log

Programs, function blocks, functions, and global variables can be

Online editing

changed online.

More than one operators can change POUs individually via network.

Forced refreshing

The user can force specific variables to TRUE or FALSE.

Maximum

number of

Device variables for

forced vari-

EtherCAT slaves

Debug

ables

ging

MC Test Run

Motor operation and wiring can be checked from the Sysmac Studio.

The project file in the Sysmac Studio and the data in the CPU Unit can be

Synchronizing

made the same when online.

You can monitor when a variable changes to TRUE or changes to

Differential monitoring

FALSE.

Maximum number of monitored

variables

A-10

Appendices

Item

NY52-

Single triggered

When the trigger condition is met, the specified number of samples are

trace

taken and then tracing stops automatically.

Types

Data tracing is executed continuously and the trace data is collected by

Continuous trace

the Sysmac Studio.

Maximum number of simultaneous

data traces

Maximum number of records

10,000

Maximum number of sampled vari-

192 variables

ables

Debug

Data tracing

Sampling is performed for the specified task period, at the specified time,

ging

Timing of sampling

or when a sampling instruction is executed.

Triggered traces

Trigger conditions are set to record data before and after an event.

• When BOOL variable changes to TRUE or FALSE

• Comparison of non-BOOL variable with a constant

Trigger conditions

Comparison Method: Equals (=), Greater than (>), Greater than or

equals (≥), Less Than (<), Less than or equals (≤), Not equal (≠)

Trigger position setting: A slider is used to set the percentage of sam-

Delay

pling before and after the trigger condition is met.

Simulation

The operation of the CPU Unit is emulated in the Sysmac Studio.

Levels

Major faults, partial faults, minor faults, observation, and information

Controller

9 (Sysmac Studio)

Maximum number of

errors

message languages

2 (NS-series PT)

Reli-

ability

Self-diagno-

User-defined errors are registered in advance and then records are cre-

Function

func-

sis

ated by executing instructions.

tions

User-defined

Levels

errors

Maximum number of

message languages

When going online to a CPU Unit from the Sysmac Studio, the CPU Unit

CPU Unit names and serial IDs

name in the project is compared to the name of the CPU Unit being con-

nected to.

User program trans-

You can prevent reading data in the CPU Unit from the Sysmac Studio.

fer with no resto-

ration information

Protecting

CPU Unit write-pro-

You can prevent writing data to the CPU Unit from the Sysmac Studio or

software

Protection

tection

SD Memory Card.

Secu-

assets and

Overall Project file

You can use passwords to protect .smc files from unauthorized opening

rity

preventing

protection

on the Sysmac Studio.

operating

Data protection

You can use passwords to protect POUs on the Sysmac Studio.

mistakes

Online operations can be restricted by operation rights to prevent dam-

Verification of operation authority

age to equipment or injuries that may be caused by operating mistakes.

Number of groups

The user program cannot be executed without entering a user program

Verification of user program execu-

execution ID from the Sysmac Studio for the specific hardware (CPU

tion ID

Unit).

Save location

Shared folder^*3

SD Memory Card operation instruc-

You can access Virtual SD Memory Cards from instructions in the user

Mem-

tions

program.

ory

You can perform file operations for Controller files in the Virtual SD Mem-

Card

File operations from the Sysmac

Application

ory Card and read/write general-purpose document files on the com-

func-

Studio

puter.

tions

File operations by the FTP client

You can save and read files by the FTP client and server functions.

and sever functions

A-11

Appendices

Item

NY52-

Specification with

Backup and verification operations are performed by manipulating sys-

system-defined vari-

tem-defined variables.

ables

Operating

SD Memory

SD Memory Card

Backup and verification operations are performed from the SD Memory

Back-

methods

Card back-

Window in Sysmac

Card Window of the Sysmac Studio.

ing up

ups

Studio

data

Special instruction

The special instruction is used to backup data.

Disabling backups

Backing up data to a Virtual SD Memory Card is prohibited.

Protection

to SD Memory Cards

Sysmac Studio Controller backups

The Sysmac Studio is used to backup, restore, or verify Controller data.

Inline ST is supported. (Inline ST is ST that is written as an element in a ladder diagram.)

The function is available only for the internal port.

The folder exists in HDD or SSD on which the Windows operates. The folder on the Controller is used as the Virtual SD Memory Card.

Note Items that are marked with asterisks in the table were added for version upgrades. Refer to A-10 Version Information for

NY-series Controllers for information on version upgrades.

A-12

Appendices

A-2

Calculating Guidelines for the Real

Processing Times of Tasks for the

NY-series System

This section describes how to calculate guidelines for the average real processing times of tasks on

paper for the NY-series System.

You must use the physical Controller to check the real processing times of tasks and task execution

times. For details, refer to 5-9 Task Design Methods and I/O Response Times.

Precautions for Correct Use

The task execution times in the physical Controller depends on the logic operations that are per-

formed in the user program, the presence of communications commands and data links, on

whether data tracing is performed, the load on Windows, the connection of Industrial Monitors,

the usage of PCIe cards, and on other factors.

Before starting actual operation, you must test performance under all foreseeable conditions on

the actual system and make sure that the task periods are not exceeded and that suitable com-

munications performance is achieved.

Additional Information

Periodic tasks is interrupted for the execution of tasks with higher execution priorities. The real

processing time of a task does not include the time for which the task is interrupted. It is the task

execution time that gives the actual time from when the task is started until it is finished, includ-

ing the interrupted time. For a detailed description of the differences between the real processing

times of tasks and the task execution times, refer to Meaning of the Task Execution Time and the

Real Processing Time of the Task on page 5-58.

A-13

Appendices

A-2-1

Calculating the Average Real Processing Times of Tasks

The average real processing time of a task is the total of the I/O refresh processing time, user program

execution time, motion control processing time and common processing time.

Average real processing time of task = I/O refresh processing time + User program execution time

+ Motion control processing time + Common processing time

The following processing is performed.

Priority-17

Primary

Priority-16

and

Processing

Processing contents

periodic task

priority-18

periodic tasks

I/O refresh processing

I/O is refreshed for Eth-

Performed.

Not performed.

erCAT slaves.

User program execu-

• Programs assigned

Performed.

tion

to tasks are executed

in the order that they

are assigned.

Motion control process-

• Motion control com-

Performed.

Not performed.

ing

mands from the user

program are exe-

cuted.

• Motion output pro-

cessing

Com-

System

• Variable refresh pro-

Performed.

mon pro-

common

cessing (if there are

cessing

processing

accessing tasks) is

time

performed.

• Motion input process-

ing

• Data trace process-

ing

System

• Variable refresh pro-

Performed.

common

cessing (if there are

processing

refreshing tasks) is

performed.

• Variable access pro-

cessing external to

the Controller to

ensure concurrency

with task execution

System

Other system common

Performed.

overhead

processing

time

Guidelines are provided below for calculating the various processing times.

A-14

Appendices

I/O Refresh Processing Time

Use the following formula for the I/O refresh processing time.

I/O refresh processing time = EtherCAT slave processing time

The following describes how to determine the EtherCAT slave processing time.

Additional Information

The EtherCAT slave processing time is 0 in tasks to which EtherCAT slaves are not assigned.

z EtherCAT Slave Processing Time in Primary Periodic Task

Use the following formula to calculate the EtherCAT slave processing time in the primary periodic

task.

EtherCAT slave processing time [μs] = 0.0008 × pDout + 0.0028 × pDin + 0.082 × pDinout

+ (1.24 × Snum + 0.01 × Clen)

pDout

: Total output processing data size [byte] of EtherCAT slaves assigned to the primary

periodic task

pDin

: Total input processing data size [byte] of EtherCAT slaves assigned to the primary

periodic task

pDinout

: Total of the larger of the input and output processing data size of each EtherCAT

slave assigned to the primary periodic task [byte]

Snum

: Total number of EtherCAT slaves connected to the built-in EtherCAT port

Clen

: Total length of cables connected to the built-in EtherCAT port [m]

A-15

Appendices

User Program Execution Time

The user program execution time depends on the specific instructions multiplied by the numbers of

instructions used.

As a guideline, instructions are divided into three groups and the number of instructions in each group

is used for measurements and estimates.

• Standard instructions

• Arithmetic instructions for LREAL data

• Trigonometric instructions for LREAL data

Different instructions are used in a ladder diagram and in ST. Refer to Instruction Configuration for

Standard Ladder Diagram Instructions on page A-16 and Instruction Configuration for Standard ST

Instructions on page A-18 for information on the instruction configuration.

Simple Estimate

For the number of instructions in each group, read the execution time for each instruction group

from the following graphs and calculate the total.

• Execution time for standard instructions

• Execution time for arithmetic instructions for LREAL data

• Execution time for trigonometric instructions for LREAL data

This will allow you to estimate the execution time of the user program.

Execution Time for Standard Ladder Diagram Instructions

1000

900

800

700

600

500

400

300

200

NY5

100

10000

20000

30000

40000

50000

60000

70000

80000

90000

100000

Total number of instructions

• Instruction Configuration for Standard Ladder Diagram Instructions

The instruction execution ratio for this configuration is 20%.

Percent of

execution

Types of instructions

Instructions

instructions

time in

[%]

instruction

group [%]

Ladder diagram instructions

LD, AND, OUT, SET, and RESET

81.0%

40.2%

Comparison instructions

EQ and LT

4.1%

8.3%

Timer and counter instructions

Timer, TON/TOF, and CTU/CTD

1.6%

7.3%

Math instructions

+, -, *, /, ADD, SUB, MUL, and DIV

2.4%

6.5%

BCD conversion instructions and

INT_TO_DINT and WORD_BC-

0.2%

1.2%

data conversion instructions

D_TO_UINT

A-16

Omron IPC Machine Controller Industrial Panel PC / Industrial Box PC. Software User’s Manual (Industrial PC Platform NY-series) - page 16