In a Day

JPV / Omron France 04/06/2019

Sysmac in a Day

Sysmac
System for Machine Automation Control

JPV / Omron France

Overview

1. Sysmac Platform Intro 10. Ethernet

2. Sysmac Studio 11. SQL Database
3. Base Parameters 12. OPC-UA
4. Libraries 13. MQTT
5. Backup and Restore 14. FTP
6. Security 15. EtherCAT & NX I/O Bus
7. Robotics 16. IO Link
8. Tasks and Priorities 17. Network Synchronisation
9. Diagnostic Tools 18. Sysmac Safety
19. Vision

JPV / Omron France

The Sysmac Platform

One Machine Controller :

For total control of the machine

Logic + Advanced Motion Control.

One Machine Network :

EtherCAT for deterministic control of VFDs,
Servos, Vision, Safety and I/O

One Connection: One Software :

Sysmac Studio for configuration,
By EtherNet/IP local or Remote
programming, simulation et
visualisation

JPV / Omron France

Sysmac NJ Controllers
Point-point only Scan Time Program EtherCAT
Number of Axes
axes Memory Number of slaves
Real and Virtual

Instruction
Advanced Axes Additional Execution Ethernet Protocols
Functions Time I/O
Model
NJ101-1000 2 2 0
-
NJ101-9000 0 0 0 1,2
or 3,3 ns 3MB
64
NJ101-9020 0 0 0 4ms
SQL Client*
NJ101-1020 2 2 0

NJ301-1100 15 4 0 -

NJ301-1200 15 8 0 - 2 ns 5 MB

NJ501-1300 16 16 0 2560 pts

Serveur 192 stations* FINS Server
NJ501-1400 32 32 0
OPC UA* 10 CJ1W cards
NJ501-1500 64 64 0 max per rack 5736
input bytes Modbus TCP
NJ501-1320 16 16 0 0.5,1,2 40 total 5736 Client et Server*
or output bytes
NJ501-1420 32 32 0 SQL Client* 4ms
NJ501-1520 64 64 0
1,2 ns 20 MB
NJ501-4320 16 16 0 8 robots
1434 input bytes &
NJ501-4310 16 16 0 1 robot 1434 output bytes
max per station
NJ501-4300 16 16 0 8 robots

NJ501-4400 32 32 0 8 robots

NJ501-4500 64 64 0 8 robots

OPC-UA*: since version 1.17

SQL*: MySQL, SQL Server, Oracle IBMC, DB2 Linux/Unix/Windows, Firebird, Postgres
ModbusTCP*: client and server with MTCP_NJNX library available at www.support-omron.fr

JPV / Omron France

SysmacNX Controllers
Number of Axes Point-Point only Cycle Time Program
I/O Port Ethernet
Real and Virtual Axes Memory
Advanced Axes Instruction
Additional Execution # Variables EtherCat Slaves
Model Functions Time
NX1P2- 1 emplacement
4 0 4
9024DT pour option* 9024: 14I/10O
1 port
1040: 24I/16O
NX1P2- 2 to 32 connections
1140: 24I/16O
1040DT 10 2 4 8ms EIP
1.5MB + 16
2 emplacements (by 256 Tags
256 pts on 8 NX slices
pour option* 250µs) FINS/UDP
NX1P2- 24 cards NX total
12 4 4
1140DT

NX102-9000 0 0 4 2 ports

NX102-1000 15 2 4 3.3ns 90 000 32 connections

Serveur OPC UA EIP per ports
NX102-1100 15 4 4
8192 Bytes In
FINS*
NX102-1200 15 8 4 8192 Bytes Out
1 to 32ms Modbus TCP
NX102-9020 0 0 4 (by 250µs) 5MB 64 Client native
400 NX slices max
32 max on CPU
NX102-1020 15 2 4 Modbus TCP
Serveur OPC UA server*
NX102-1120 15 4 4
SQL Client* Simple Message
NX102-1220 15 8 4 Server
UDP/TCP*

NX701-1600 128 128 0

Modbus TCP
-
Client et Server*
NX701-1700 256 256 0 11472 Bytes In
125µs
0.37n 360 11472 Bytes Out 51
to 8ms 80MB
NX701-1620 128 128 0 s 000 (on EtherCat) 2
(by 250µs) FINS
4096 NX slices
SQL Client* Modbus TCP
NX701-1720 256 256 0 Client et Server*

*Option: RS232C, RS485 and analog boards

*SQL: MySQL, SQL Server, Oracle IBMC, DB2 Linux/Unix/Windows, Firebird, Postgre SQL
*ModbusTCP server: with MTCP_NJNX library available at support-omron.fr
*FINS: port 2 ONLY (TCP & UDP)

JPV / Omron France

NJ Series Controllers

Power Supply SD SDHC Memory

Card
processor USB Port
Intel ® Atom ™
(1.6GHz）

Motion Control IEC 61131-3

Function Blocks

JPV / Omron France

NJ Configuration

CPU NJ 192 EtherCAT stations max

Extension

3 max Extension

Extension

10 CJ cards max

JPV / Omron France

 NJ: Supported CJ Network Cards

Network Model
Serial (RS422/485/232) SCU22/32/42
Can CORT21
CompoNet CRM21
DeviceNet DRM21
EtherCat (slave) ECT21
Ethernet IP EIP21
Profinet IO PNT21
Profibus (master) PRM21
Profibus (slave) PRT21

JPV / Omron France

9
NX7 Controllers

USB Port

Memory Card
SD SDHC

CPU unit

processor
Quad Core i7
(2.3GHz）

JPV / Omron France

NX7 Configuration

512 EtherCAT stations max

Motion core #1
• 5 axes at 125 us
• 50 Axes at 250 us . . . Axis N I/O node
Axis 1 Axis 2 Axis 3 Axis 4
• 125 Axes at 500 us
• 250 Axes at 1 ms
Drive Drive Drive Drive

Motion core #2 Vision System

I/O I/O I/O I/O
• Management of other
axes at a different
cycle Axis Drive I/O node 4096 NX slices max (on EtherCat)

JPV / Omron France

NX102 Controllers

Memory Card
SD SDHC

JPV / Omron France

NX1 Configuration

400 NX slices max

32 NX slices max on CPU* 64 EtherCat Stations

1434 I & 1434 O max per station

*: Power Supply/Distribution Slices NX-PF, N-XPD, NX-PC occupy 1 slice and consume power from the NX Bus.

JPV / Omron France

NX1P Controllers

Memory Card
SD SDHC
14 Inputs 24 Inputs
10 Outputs 16 Outputs

JPV / Omron France

NX1P Configuration
24 NX slices total (CPU + NX I/O)

8 NX slices max on CPU*

16 NX slices max on NX I/O

IO Bus Power
card Required
16 stations EtherCAT max
(NX-PF0730)

*: Power Supply/Distribution Slices NX-PF, N-XPD, NX-PC occupy 1 slice and consume power from the NX Bus.

JPV / Omron France

Power
2 Distinct Buses - NX-Communication Bus
- NX-IO Power Bus
NX-PF0630 NX-PD1000

Additional IO Additional NX
Bus Power Card Bus Power Card
*

No IO Bus on NX1P X
This is why PF0630 is required

Breaks connection to
prior bus

JPV / Omron France

NX Bus Power

If the NX bus power supplied by the CPU is insufficient,

then a power supply card must be added

Insufficient NX Bus Power

is immediately reported
by Sysmac Studio

JPV / Omron France

NX-IO bus Power

Consumption greater than 4A requires

the use of a second NX external power
supply card

JPV / Omron France

SYSMAC: ETHERNET/IP

Ethernet/IP
EtherNetIP is an industrial network which uses Ethernet.
One EtherNetIP follows ODVA specifications (Open DeviceNet
Factory Vendor Association), like DeviceNet.
Automation
Network The Ethernet port supports all usual protocols like FTP, NTP,
SNMP but also special protocols using socket
functionnalities (UDP & TCP)

JPV / Omron France

SYSMAC: EtherCAT

EtherCAT
EtherCAT is the emerging standard proving to be the fastest
One industrial network. Based on ethernet, Ethercat assures
deterministic data transmission
Machine
Network As an open standard, EtherCAT allows connection of various
types of devices: Motion, Invertors, Vision, Input/Output
slaves etc…

JPV / Omron France

SYSMAC: EtherCAT
One
Machine
Network

40 Axes (20 bytes of I/O)

50 Stations
2000 Bool Inputs + 200 Analog I/O, 500m Bus
EtherCAT = 276 µs
Loaded at 44 % , telegram size = 122 µs

JPV / Omron France

 EtherCat: Why is it so fast?
Slaves

Master

HDR 2

HDR 2
HDR 1
Ethernet Header ECAT HDR PLC Data 1 NC Data PLC Data 2 CRC

• Packet Optimization 1packet-> multiple recipients

• Assembling data in the frame is done by the slaves, not the master.

• No switch needed

JPV / Omron France

22
SYSMAC

JPV / Omron France

Sysmac: ServoAccuraxG5

EtherCAT Software
• Conforms to CoE -CiA402 (Drive Profile) • Completely integrated in Sysmac Studio
• Distributed Clock(synchro < 1µs) • Intuitive

Linear Motor Ultra compact

• High precision (1 µm) • 50% Panel Size reduction
• absolute encoder or incremental
• separately or
complete linear module

Rotary Motor
• High precision (encoder 20 bit)
• IP67 for all motor and connectors
• wide range motor (50 to 15 kW) Safety
• conforms to ISO13849-1
PL-D

JPV / Omron France

Sysmac: Servo 1S
• Safety over Network: STO (PLd, SIL2) • Conforms to CoE -CiA402 (Drive Profile)
• Safety via I/O: STO (Ple, SIL3)

Motor Power

Designed
for easy
24VDC (CPU)
wiring
Indicators & Node
Setting
USB
port

Built-in
I/O Terminals brake relay

Power
Motor Connectors
Cable

Rotary Motors
• High Precision (23 bit absolute encoder)
• IP67
• 100W to 3 kW

JPV / Omron France

Sysmac: Vision system FQ-M

Key Functions Sensing

• Camera, vision and connectivity • up to 5000 pieces per minute with 360° rotation
• Compact Vision Sensor • Encoder Input “on the fly tracking” with simple calibration
• Made for rapid pick and place applications • strobe control

Connectivity
• EtherCAT for tracking
• Ethernet for setup and monitoring

Software
• Completely Integrated in Sysmac Studio
• Intuitive
• Trending & logging

JPV / Omron France

SYSMAC: FH Vision System
Characteristics
• Camera CMOS high speed12M pixels
• 8 ports X2, X4, X8
• 2 encoder inputs
• High speed Controller
• Shape Search (3rd generation)
• Parallel Quad core Processor
• EtherCAT & Sysmac Studio support
• Non-Stop Alignment technology

 1D Code  2D Code  OCR/OCV

FH-Lite/FH-V is not supported in Sysmac Studio

JPV / Omron France

Sysmac: MX2 & RX VFD
Safety
• conforms to ISO13849-1

Open Loop Vector Control

• Ideal for basic applications Software tool
• From 0.2 to 15 Kw • Intuitive
• Completely integrated in Studio

Special Motor Support

• Permanent Magnet
• Speeds to 1000 Hz 200% power at startup
• at 0.5Hz

EtherCat Connectivity Voltage

• Conforms to CoE -CiA402 (Drive profile)
• Option EtherCAT (seen as I/O)
• Speed Mode

JPV / Omron France

Sysmac: Inputs/Outputs

Large Selection of Discrete, Analog, and Special I/O

GX Series SmartSlice NX Series

• Up to 64 Slices per Node • Digital, Analog, Pulse Output, Serial, Temperature
• Discrete, Analog, Encoder
• Push-in Terminals • 64 stations max
• detachable Connectors
• hot backup with auto-parameter • 63 cartes max par stations (2048 bytes max)
• Auto and manual addressing
replacement • Push-in terminals
• Safety I/O & Controllers

JPV / Omron France

Industrial PC
2 Form Factors

1 Box PC 2 Panel PC

OR
External
Connection

Box IPC
+ Industrial
Touch Screen
Panel IPC

Monitor
PC and Screen are two separate components with an PC and Screen are one
external connection integrated item

JPV / Omron France

IPC: 2 Types

Windows +
1 Windows 2 Machine Controller

Client
Software

Customer
Sysmac Software/HW
Controller
Runtime
Windows

Hypervisor

Core #1 Core #2 Core #3 Core #4

CPU

JPV / Omron France

JPV / Omron France
Sysmac Studio

One Single Software

Easy to Master Rapid

Development

Integrated Easy Re-

Testing utilization
Environment

JPV / Omron France

Sysmac Studio
Sysmac Studio is a software platform integrating all
the functions necessary to design a machine control
system.
 Logic Programming
 Motion Control & Configuration
 Cam Profile Editor
 EtherCat & EtherNet/IP Network Config
 Visualisation
 Simulation

JPV / Omron France

Sysmac Studio

Configuration
EtherCat
I/O
Axes
Tasks Tool box
Toolbox
etc … FunctionsSlaves
EtherCat & FB

CJ Cards

Programs
Function Blocks
Functions

Status
Run/Stop

Simulator
Control

Cross Ref Table,

Compile Errors,
Watch Window

JPV / Omron France

Sysmac Studio
ERRORS ARE ALL REPORTED
 Contextual menu during editing Offering a list
of choices (variables, functions, ...)

 Red highlight on the Ladder program

 Frames and exclamation points on invalid

parameters

JPV / Omron France

Sysmac Studio

ADVANCED PROGRAMMING

• Programming with tag based variables

• Support tables and data structures
• Additional Libraries with powerful functions
• Flexible programming (in-line ST)
• Supports Creation of User Libraries
• Collection of objects with namespaces

JPV / Omron France

Sysmac Studio
Rapid Development

 Type-ahead for all members of

structure/enumerations

 Underline bad syntax in ST programs

 Automatic bubble help in ST

Programs

 Highlight fields with errors and hover to display detailed

message

JPV / Omron France

Sysmac Studio
Simple Re-utilization

 No need to spend hours re-addressing variables

 You can create your own functions (FUN) or function

block (FB) in the toolbox

 Import / export projects

 Conforms to IEC 61131-3

JPV / Omron France

Sysmac Studio
Integrated testing environment
Data Trace
- Detailed verification of the data
- Ability to make long recordings (files)

Program Simulation
- Test the program
- Simulates the axes
- Estimate the cycle time
- Debugging tools available

3D Simulation
- Visualize the behavior of the axes
- Simulates I / O at the same time
- Displays current device data in real time

JPV / Omron France

Sysmac Studio
Rapid Development

 One click to launch the Simulator to debug before

downloading the project

 Check and display automatically remaining errors

JPV / Omron France

Sysmac Studio
Integrated testing environment

TEST AXES when starting

Move your axes and check the setup

CHANGE PARAMETERS IF NEEDED

Plug-in CX-Drive integrated to Sysmac Studio
Adjust parameters when the machine run
Save trend graph or parameters

JPV / Omron France

 Sysmac Studio: Troubleshooting Tool

- One place to find:

CPU Errors CJ Bus Errors Network Errors Motion Errors Machine Events Safety Errors Historical Errors

JPV / Omron France

Sysmac Studio
3D Simulation
- Test your program by simulating the movement of the axes in 3 dimensions:

JPV / Omron France

Sysmac Studio: Easy to Master

 Being integrated in a single software, the user does not have to

learn a multitude of different interfaces.
 Same menus, same tools, same shortcuts
 Shortcuts familiar to CX-Programmer and configurable

JPV / Omron France

Sysmac Studio
One Single Project

 All the data is in one single file

 Easy to backup and restore

 Possible to version the project

 Or to code-control a project with the Team Edition

version of Sysmac Studio based on free GIT version
management software

JPV / Omron France

Sysmac Studio TEAM EDITION
 The different versions of the project are controlled, synchronized
on a server, archived, compared, merged, abandoned etc.
 Change Tracking

JPV / Omron France

Sysmac Studio
Specifications
Minimum Requirements
• CPU Intel Celeron M540 (1.8 Ghz)
• RAM : 2 GB
• Disk space : 1.6 GB
• Screen (1024 x 768)
• Graphics Card : 512MB (Only for 3D simulation)
• USB and/or Ethernet

Supported OS
• Windows 7 (32 & 64 bits)
• Windows 8 (32 & 64 bits)
• Windows 10 (32 & 64 bits)

JPV / Omron France

Sysmac Studio Versions
Version Description Licence Reference
DVD (no licence) Sysmac-SE200D
Standard Full Version 01,03,10,30 & 50 Sysmac-SE2xxL
Edition
Team Edition Full Version with GIT 01, 03, 10, 30 & 50 Sysmac-TA4xxL
integration
Lite NJ1 & NX1 Only 01, 03 & 10 Sysmac-LE2xxL
+NA, + Safety, + NX-EIP
Vision FQ-M and FH 1 Sysmac-VE001L

Sensor ZW Series Sensors 1&3 Sysmac-ME00xL

NX-IO Ethernet IP Coupler 1 Sysmac-NE001L

(NX-SL3300 supported)

HMI NA Series HMI 1 Sysmac-HE001L

Drive Drives: 1S, G5 et MX2 1 Sysmac-DE001L

Safety For Safety Controller NX-CSG (only) 1 Sysmac-FE001L

JPV / Omron France

Omron Sysmac Library

JPV / Omron France

Sysmac Studio
Specifications
Compatibility with CX-One
• CX-One V4 minimum

Installed Software:

JPV / Omron France

Programming Specifications

Restrictions NX1P2 NX102 NJ101 NJ301 NJ501 NX7

Number of Programs 500 1000 500 500 500 1000
POUs (Fun/FB/Sections) 450 3000 450 750 3000 6000
Non Retained Variables 22500 90000 22500 22500 90000 360000
Max size 2MB 32MB 2MB 2MB 4MB 256MB
Retained Variables 5000 10000 5000 5000 10000 40000
Max Size 320KB 1,5MB 500Ko 500Ko 2MB 4MB
Network Variables 27500 40000 27500 27500 40000 40000
EIP Connections 32 64 32 32 32 512
Max Bytes/Connection 600 600 600 600 600 1444

JPV / Omron France

Sysmac Studio

JPV / Omron France

Sysmac Studio: Connecting to Controller
Choosing a connection method

Check CPU Serial Number

 Sysmac Studio: Connecting to Controller

JPV / Omron France

55
Sysmac Studio: Connecting to Controller

You are connected when a yellow bar appears

Sysmac Studio: CPU Rack I/O Configuration

Offline: Drag and drop from toolbox

Online: Right-click on
CPU and select Compare
and Merge.
Sysmac Studio: CPU Rack I/O Configuration
• Once unit are defined, you can change the name
• This name will be re-used when you let Sysmac Studio create the variables names
automatically
Sysmac Studio: EtherCat Network
There are two methods to add slaves to the EtherCat network

1.Offline :
Drag and drop slaves from the toolbox onto the network configuration
Sysmac Studio: EtherCat Network
2. Online, comparing project configuration with the actual hardware :
Right-click on master, choose “Compare and Merge”
Sysmac Studio: EtherCat Network
The project is compared with the actual network
Click Apply actual network configuration to import all the new settings into your project
(you can also drag and drop individual items from right to left)

Attention ! This method reads the devices on the network, and their
identities.

It does not upload their parameters !

Sysmac Studio: EtherCat Network
Slave/Station Number is allocated using the 2 rotary switch in front of the slave (if there are physical
switches).

It is also possible to use Sysmac Studio to allocate station number by software setting, but rotary
switches must be set to 0 0
Sysmac Studio: EtherCat Network
To upload parameters from a slave, double-click on it, then select online
Sysmac Studio: EtherCat Network

To upload parameters, select Parameters then click Upload or

Import/Export (format HTML/CSV/PDF)
Sysmac Studio: I/O Map
Input/Output Variables

All Local I/O, Ethercat Slaves, and CJ I/O Cards tags are avaiable here.

You can assign tag names to each variable

To open, double click on I/O Map:

Sysmac Studio: I/O Map
Input/Output Variables

There are two ways to assign names to variables in the IO Map

1.Manually :
Sysmac Studio: I/O Map
Input/Output Variables

2.Automatic variable generation:

Sysmac Studio: I/O Map
Input/Output Variables

EtherCAT slave example:

JPV / Omron France

Sysmac Studio: I/O Map
In Online mode, the value column of IO Map allows you to see (and change) the value of I/O points in
the system

View of outputs from

OD2258 card
 SYSMAC STUDIO

Project Synchronization

To upload, download, or compare your project with the controller you need to
‘synchronize’

Before downloading you must check (F7) and build (F8) your program

Sometimes (particularly after hardware changes) it is necessary to rebuild

JPV / Omron France

SYSMAC STUDIO

Synchronization
Next step will ‘synchronize’ Sysmac Studio project with NJ controller program:

JPV / Omron France

SYSMAC STUDIO

Project Syncrhonization

Sysmac Studio performs a comparison between the Project on the

connected PLC. Differences are noted in red.

You can download selected element or upload from the controller.

JPV / Omron France

Offline Comparison of Projects
Sysmac Studio can perform a detailed comparison between two saved projects.

JPV / Omron France

Comparison of 2 projects

JPV / Omron France

Sysmac Studio: Libraries

JPV / Omron France

Sysmac Studio: Libraries

Sysmac Studio allows the creation of your own

program library

A library can contain:

- Functions
- Function Blocks
- Structures
- Unions
- Enumerations
- Programs
- PDF documents (3 max)

JPV / Omron France

Sysmac Studio: Libraries

Select Library
when you create
your project

JPV / Omron France

Sysmac Studio: Libraries
It is possible to exclude the libraries to which the program refers in order to avoid
name duplication conflicts during an import

JPV / Omron France

Sysmac Studio: Namespaces
Namespaces are used to group and nest names of variables, functions, function
blocks under one set. This allows you to reuse generic function names by
avoiding name duplication conflicts

Function
Block

MonFB

The Function Block Mon_FB is duplicated in two

different namespaces to avoid causing an error :
• MonEspace1
• MonEspace2

JPV / Omron France

JPV / Omron France
Backup & Restore

Programs
Parameters
Sysmac Studio
Backup
Variables

Restore
Configuration
of Cards
OR
EtherCat config and
Slave Parameters

81
Backup & Restore
Sysmac Studio allows backing up the entire
contents of the NJ to a .DAT file

Compare the backup

And contents of NJ

JPV / Omron France

Backup & Restore

3 Methods: • Via Dip-Switch SD PWR

(--> 3s)

Backup
Restore
• Via system variables

• By Sysmac Studio *

*Only Backup
JPV / Omron France
Backup & Restore
Details:
• Backup/Comparison:
In PROGRAM or RUN mode Backup

• Restore:
Just with DIP switch and cycling power
Restore
• The data to restore can be limited through the
RestoreCommand.ini file created during the backup.

JPV / Omron France

Backup & Restore
Auto Transfer fromSD Card

Restore

JPV / Omron France

Sysmac Studio: Security

JPV / Omron France

Sysmac Studio: Security
Multiple types:

1. Password protection of Complete or Partial Project

Program, Function, Function Block, Cam Profile.

2. Multi-Level online Access with password

Administrator, Maintainer, Observer, etc with different capabilities

3. Source code protection

Inhibit transferring source code to controller, so others cannot upload it.

4. Prevent connecting to the wrong CPU

Verification of CPU Name and Serial # when Sysmac Studio goes online

5. Copy Protection (execution ID)

Program/Controller pairing

JPV / Omron France

Sysmac Studio: Security
1 – Full or partial protection of the
project

Project

Program
Function
Function Block

JPV / Omron France

Sysmac Studio: Security
2 – Online protection according to Access Level

• Some online operations may be limited to prevent damage or injury from

handling / programming errors. (forcing variables, changing code, changing
modes, etc…)

5 levels of security:

User level when

password is omitted
Disable rights after a period
of inactivity

• 1 password for each level.

• If enabled, an administrator password is required.
• The observer does not need a password.
JPV / Omron France
Sysmac Studio: Security
3 – Protection of source code

• Source code is not transferred to the PLC…only machine code (10100010010)

JPV / Omron France

Sysmac Studio: Security
4 – Protection against mismatched
controller
Verification at each connect

In case of mismatch (1st connection), Sysmac Studio

proposes to save in the project the name and the serial
number of the controller

CPU Name Mismatch!

JPV / Omron France

Sysmac Studio: Security
5 - Program / Controller pairing using an ID (Execution ID)
To disable this protection, a Clear all Memory is required

JPV / Omron France

JPV / Omron France
Robotics

Motion, Automation, Robotics,

Vision, Safety, HMI
All in One!

Multiple Robots/Kinematic
Up to 8 Delta-3 robots on
control integrated in the NJ
the same controller
CPU

Vision system & Safety

Integrated High speed Delta robots up
to 200 cycles/min each.

94
Robotics

• Up to 64 axes of motion
• CPUs for 16, 32 & 64 axes
• Up to 8 Robots
• Native EtherCAT & EtherNet/IP ports
• Standard IEC 61131-3 programming

Application Application
Packaging Pick & Place

NJ Robotique

95
Robotics

• Uses standard products!

96
Robotics
TypicalArchitecture

NJ
NX Safety NA

FH
NX I/O
1S/G5

MX2

Delta

E6

97
Robotic Functions 10 FB’s for robotics

MC_SetKinTransform

To configure the group of axes forming the robot. The

WorkSpace of the robot can be checked automatically.
Supported Transforms: Delta-2, Delta-3, H-Bot, SCARA,
Cartesian

MC_InverseKin

For converting cartesian coordiantes (MCS) axis positions (ACS)

98
Robotic Functions

MC_DefineCoordSystem
For defining user coordinate systems (UCS) based on
the machine coordinate system (MCS). Up to 16
coordinate systems can be used.

99
Robotic Functions

MC_DefineToolTransform
For Defining Tool Coordinate
Systems (TCS) based on the
machine coordinate system (MCS).
Up to 16 tools can be used.

100
Robotic Functions

MC_GroupMon

For monitoring positions and

speeds of the robot

MC_MoveTimeAbsolute

For moving the robot in

cartesian coordinates XYZ(R) in
a specified time.

101
Robotic Functions

MC_GroupJog

For manually jogging

the robot in cartesian
coordinates.

102
Robotic Functions

MC_SyncLinearConveyor
Start Tracking a Conveyor with the
robot.

Point
A Point
B

103
Robotic Functions

MC_SyncLinearConveyor
Configurable: Work in time to ensure the same pace
of the robot regardless of the location of the piece to
take.

104
Robotic Functions

MC_SyncLinearConveyor
The phases make it possible, for example, to synchronize the
trajectory of the robot with the opening / closing of the
vacuum. You can move the positions of the robot while it is in
tracking

105
Robotic Functions

MC_SyncOut
Used to interrupt tracking.
You can decide to return Z axis
with/without tracking

Point A

Point B

106
Robotic Functions

MC_GroupSyncMoveAbsolute
Allow to manipulate the robot to execute
complex track like for cames, spline,
helicoid, etc…

Robot Axes
Positions generated each
scan of the CPU
Profile
Generator (X,Y,Z) (α, β, γ)

(Custom user
function or virtual
axes)

107
JPV / Omron France
Tasks and Priorities

The interdependency of tasks and their interferences on

global variables should be well understand before deciding
which architecture to choose for the project.

Asynchronous modifications of shared variable can have

heavy consequences on the process and very difficult to
detect.
(Even using the data trace tool).

JPV / Omron France

Task Configuration

Period and priority of tasks

I/O Refreshing

Programs/Task allocation

Exclusive control on variables

Task status Monitoring

Task execution time Monitoring

JPV / Omron France

Task Configuration
Task Period Primary Periods

500µs, 1 ms, 2 ms, 4 ms

Task Period for Priority 16-18

Always >= Primary Period

Always a Multiple of the Primary Period

JPV / Omron France

Task Priority

• 5 types of tasks are executed periodically depending on priority

• 2 interrupt tasks of priority 8 and 48

JPV / Omron France

Primary Task

Execution of the Primary task can not be

interrupted!

I/O Refresh Programs (POU) CIP Message +

Allocated to the task Exclusive Variables

Motion Inputs + Data Trace

Motion Instruction Outputs Executed
+ Exclusive Controlled
Processing At Next Cycle
Variables Refreshing

JPV / Omron France

Tasks 5, 6, 17 et 18

Only Tasks 5 & 16 (along with Primary) do refreshing of

I/O

JPV / Omron France

Primary Task & Period

We must separate:

Primary Task

And Primary Period

JPV / Omron France

Period of Primary Task
Primary Period
125µs, 500µs, 1ms, 2ms, 8 ms* ….

Tâche Primaire

T16
Tasks T16,T17,T18 can be executed

T17
during several Primary task periods

T18
NJ System Service System
Services

NX System Services (Runs on other core)

NJ: 500µs,1,2,4 ms NX1P: 2 to 8ms NX1: 1 to 32ms NX7: 125µs to 8ms
Increment of 250 µs

JPV / Omron France

Task Configuration

Detection of Exceeded task period

System Variables

Error Flag: _TaskName_Exceeded

Error Counter: _TaskName_ExceedCount

JPV / Omron France

Monitoring TaskExecutionTime

Essential to master the project!

JPV / Omron France

Primary Task Period Exceeded

The Primary Task has exceeded the fixed 1ms execution time

Min Average Max

Simple warning
The Error LED flashes RED

JPV / Omron France

Task Configuration
Max Execution Time (watchdog)

Task Timeout Detection Time

Exceeding this delay generates a FATAL error

JPV / Omron France

Exceeding the Delay

Program Execution is Interrupted

JPV / Omron France

Exceeding the Delay

Program Execution
Stops!
ERROR LED is Solid
red

JPV / Omron France

System Services

! • USB Communications

! • Ethernet Communications
(Sysmac Studio, HMI, but not EIP Tag DataLinks)

• Services for CJ Special I/O Cards

• SD Memory Card (FTP included)

• Auto-diagnostic

JPV / Omron France

Priority for NX1

Note: Dual-Core CPU, Services run on other core

JPV / Omron France

Priority for NX7

Executes in
parallel !

Note: Quad-Core CPU, Services run on core 4

JPV / Omron France

Priority for NJ
Single Core CPU--Services are processed for the remaining time after completing all tasks

I/O Refresh
IO performed in the primary task. UPG
But Ethercat slave I / O and some exchanges
User Program
with CJ special cards can be refreshed
System services are
in task 16
treated in the 4th period

If the user program grows, and the primary period is too short
some services will no longer be run!

JPV / Omron France

Executing System Services(NJ)
Time allocation and maximum period max
to execute system services

Allocated time to system services in % of primary period

and executed every 10ms maximum. Think of this as every 10ms System Services needs at least 1ms
If necessary, tasks 17, 18 and more will be interrupt.
! If this rule is not respected, NJ controller fall in to fatal error !

JPV / Omron France

Allocation of System Service Time

This time window must be adapted to the machine process.

If communications are not as vital,
No reason to allocate a long time
ATTENTION

Example

OK
< 50%

JPV / Omron France

! Fatal Error
There are two ways to clear a fatal error!

1- Cycle Power

2- Controller Reset from Sysmac Studio

Menu Controller/Mode/PROGRAM Mode …
then
Menu Controller/Reset Controller …

JPV / Omron France

! Fatal Error
If Task Execution uses all the primary period then System
services are not processed. Communication with NJ controller
is not possible

The Program is the priority !

JPV / Omron France

! Fatal Error
If the problem is related to a programming error, an infinite loop for
example, a power cycle will not restore the communication

A restart in SAFE MODE is required

JPV / Omron France

Safe Mode

In this Mode, the program is not executed.

System Services are operational

After Cycling Power :

The Primary Period should be increased, or the
Primary Task program should be shortened

JPV / Omron France

Analyzing Task Exceeded

Data trace utility is an excellent diagnostic tool

JPV / Omron France

System variables dedicated to task execution

JPV / Omron France

Example

Fatal Error !

4 ms

Watchdog fixed to 4ms

NJ controller can be restarted from Controller/Reset Controller menu

JPV / Omron France

IO Refresh
Some CJ Special IO Cards can be
Refreshed from task 16

Refreshing analog I/O, for instance, in task 16

Can relieve the primary task
JPV / Omron France
Interrupt Tasks
Interruptbased on logical expression

If the temperature is beyond 150 C°, the interrupt task EventTask0

executes program Emergency_ShutDown

JPV / Omron France

Interrupt Tasks
Interrupt by Instruction

Data is refreshed only on demand via the ActEventTask statement

JPV / Omron France

 Tasks Effects on
I/O Synchronization

JPV / Omron France

Program Assignment to Tasks
Programs are executed in order and according to
the priority of the task to which they are assigned
(128 programs per task)

JPV / Omron France

 Variable Concurrency
What if a variable changes state halfway through the scan?

Task interruptions result in a discontinuity in data processing.

As a result, a global variable can be modified by several tasks.
To avoid this antagonism, there are two methods:

Assignment to a task with EXCLUSIVE CONTROL for writing. Other tasks

only have read-only access.

EXCLUSIVE CONTROL statement temporarily locking write access from

other tasks. (Lock / Unlock)

JPV / Omron France

Exclusive Control of Variables

When a task does not have exclusive control over a variable, the
variable is refreshed only once at the start of processing

An instruction to write the global variable from a task that does not have exclusive control will
generate an error at compile time.

JPV / Omron France

Exclusive Control of Variables
Assignment of Exclusive Control to Tasks

1. Primary task has exclusive control of variable « Consigne »

and T16 has read-only access.
2. Task 16 has exclusive control of variable « Cycle »
and T17 has read-only access

JPV / Omron France

Exclusive Control Instructions (Lock/Unlock)

“Lock-Unlock” locks prohibit interactions between the reading program

and the writing program in the table

T16 Program T17 Program

JPV / Omron France

Exclusive Control Instructions (Lock/Unlock)
Interaction between tasks and Lock/Unlock

T16 executes
T16 T16
a lock with the
interrupts continues
T17 same index
execution

T17 takes control T17 retakes control T17 continues

of the variable Just until the Once T16 is done
unlock

JPV / Omron France

Exclusive Control Instructions (Lock/Unlock)

• It is possible to use several pairs of LOCK-UNLOCK instructions in the

same program as long as they do not have the same index.
• LOCK and UNLOCK support nesting
• Be careful not to interlock the tasks between them

JPV / Omron France

EtherNet/IP Tag Data Link Servicing
Global IP-Variables Tags exchanges are performed from the system services.

Echanges Tag IP
Variables globales

JPV / Omron France

EtherNet/IP Tag Data Link Servicing
But when global variables are declared in
the exclusive control table, the exchange is
done at the end of the task.
This can improve performance!

JPV / Omron France

Sysmac Studio

JPV / Omron France

Sysmac Studio: Troubleshooter
Errors, system, users, storageetc…
FromtheEntireSystemallin oneplace: PLC, Motion, EtherCat, Servos, Safety,
etc…

8 digit Error code detailed in

Manual W503
Details

JPV / Omron France

Sysmac Studio: Diagnostic Functions
EtherCat Diagnostic / Statistic Tool Provides Accurate Diagnosis of Slave or
Cable Responsible for Damaged EtherCat Frames

151
Sysmac Studio: Capture Function
NJ controller ETC master can capture all EtherCatframes

JPV / Omron France

Sysmac Studio: Error Reporting
Sysmac Studio include a reporting tool which can generate automatically a zip file
containing error files, Windows registry copy and Sysmac software versions.

JPV / Omron France

Ethernet Services

154
JPV / Omron France
Sysmac: Ethernet/IP
Available services with the built-in Ethernet port.

• Tag Data Link

High speed Data link (IP Tag).
(NJ controller can be both scanner and adapter)

• EthernetI/P Message (UCMM or Class 3)

• FTP Server

• Socket Services
(Data send/receive using ever UDP or TCP)

• SNMP, BOOTP Client, NTP Client (clock synchronization)

• Message Service UDP/TCP (Only NX102)
• Modbus TCP client (NX102 Only)

JPV / Omron France

Sysmac: Ethernet/IP Tags
3 Steps:

1- Create tags as global variables

JPV / Omron France

Configure Tag Exchange
Menu Tools

Devices in this
Project

Devices(EDS)

JPV / Omron France

Sysmac Studio: Ethernet/IP Messaging
Example of Ethernet/IP UCMM Explicit Message to write a tag.

192.168.250.1

EtherNet/IP

Controller 1
DataToPLC2

Controller 2
192.168.250.2
PLC02_Data

JPV / Omron France

Sysmac Studio: Ethernet/IP Messaging
Example of Class 3 Explicit Messaging (With Open/Close)

192.168.250.1

EtherNet/IP

Controller 1
DataFromPLC2

Controller 2
192.168.250.2
PLC02_Data

JPV / Omron France

Sysmac Studio: Socket Services

Sockets are created using dedicated instructions:

192.168.250.14

V680S
Modbus TCP

Libraries related to
Modbus RTU and ModbusTCP
can be dowloaded from :

http://support-omron.fr
Controller 1
192.168.250.1

JPV / Omron France

Sysmac NJ

NJ5- 1_20 NX102- 1_20 NX7- 1_20

JPV / Omron France

Sysmac NJ: SQL Database
Instructions DB_functions allow NJ controller to connect and
access a Database.

Ethernet

SQL

162

JPV / Omron France

Sysmac Studio: SQL Database

• Table linkages are defined through structure in the NJ

controller

COLUMN_NAME DATA_TYPE
1 PRODUCT_ID VARCHAR2 (20 BYTE)
2 LINE VARCHAR2 (20 BYTE)
3 OPERATOR_ID VARCHAR2 (20 BYTE)
4 COLOR VARCHAR2 (20 BYTE)
5 WEIGHT NUMBER
6 TIMESTAMP TIMESTAMP(6)
7 QUALITYPASS NUMBER

Structure Datatype TABLE Definition in SQL Database

JPV / Omron France

Sysmac NJ: SQL Database
• Functions insert, update, select etc … to/from the
Database.

JPV / Omron France

Sysmac Studio: SQL Database

Principal

Connect
Base SQL Ready
!

“Insert” “Update” “Select”

JPV / Omron France

SQL Specifications

JPV / Omron France

OPC UA Server

JPV / Omron France

OPC UA
• OPC UA (Unified Architecture) is independent of the platform used (PC, MAC, Linux)
• OPC UA integrates the features of the previous OPC-DA (Data Access)
• OPC UA ensures the confidentiality of communications by authenticating Clients, Servers
and users via software certificate exchange,
• Omron has integrated the OPC UA server into our controllers.

JPV / Omron France

OPC UA Model
Data Access
 Read variables
Alarms and Conditions
 Status of Machine Alarms
 Events & State Change
 Clear Alarms
Historical Access
Programs
 Program Control (Start/Stop)
 Program Status

JPV / Omron France

OPC UA Specifications
Profiles and model supported Controllers Supporting OPC UA:
• UA 1.02 Embedded Micro UA Server Profile
• PLCOpen Information Model

Number of sessions max: 5

No. of items Monitored: 2000
Number of subscriptions: 100
Number of variables published: 10,000
Number of attributes max: 10,000
OPC UA security type:
• signature + encryption: SignAndEncrypt Basic256Sha25 / Basic256 /
Basic128Rsa15
• signature only: Basic256Sha25 / Basic256 / Basic128Rsa15
• No signature or encryption

JPV / Omron France

OPC UA

Number of Certificates Saved:

 Trusted certificate: 32
 CA certificate: 32
 Rejected certificate: 32
Authentication Methods
 Username & Password
 Anonymous

JPV / Omron France

OPC UA configuration

Enable/Disable

After and IP
Address change,
the security
certificates need
to be renewed

Need SD Card
for Logging

OPC UA Configuration

JPV / Omron France

OPC UA

Variables must be published to be visible

JPV / Omron France

OPC UA
Certificate management can only be done Online

JPV / Omron France

Client OPC UA
Tutorial

You can test the OPC UA server using an OPC UA

client such as those provided below

https://www.unified-automation.com/downloads/opc-ua-clients.html

Prosys OPC UA Client

JPV / Omron France

Client OPC Expert

JPV / Omron France

OPC UA expert
Client connection from UAexpert to OPC UA server

JPV / Omron France

OPC UA Event Log
Events can be stored in a file like:
OPCUA_ExecutionLog_YYYYMMDDHHmmssSSS.log
Stored on the SD Card of the PLC

JPV / Omron France

OPC UA
The OPCUA_Shutdown instruction is used to stop the OPC
server.
Event writes are stopped to avoid corrupting the .log file of
the SD card in the case of an extraction or a power off of the
controller

JPV / Omron France

MQTT

Message Queuing Telemetry Transport

JPV / Omron France

MQTT

M2M with unlimited

connections
One single
connection
(to Server)
MQTT Server
(Broker)

… Communicates with
many clients

JPV / Omron France

Principal

MQTT server (local or remote) Subscription:

Temperature
Humidity
Publication:
Temperature Publication:
Humidity Ventilation Control

Publication:
Air Pressure

Subscription:
Ventilation Control
Air Pressure Subscription:
Publication: Ventilation Control
Ventilation Status
Ventilation Status
Temperature
Humidity
Air Pressure

JPV / Omron France

QOS
Qos: Quality of Service

• The client and the server agree on the level of

Quality of Service during the subscription and the
publication to guarantee the reception of the
messages.

Quality of service
• MQTT offers 3 levels of QoS :
– QoS0: no acknowledgment of receipt
– QoS1: with acknowledgment of receipt
– QoS2: with acknowledgment of receipt reconfirmed by MQTT Server
identifier

With QoS1 and QoS2, the message is saved until the acknowledgment arrives

JPV / Omron France

Omron Library for MQTT
3 Function Blocks

JPV / Omron France

Example Connection to MQTT Server

JPV / Omron France

Example
Publication txtJSON_OEE = {"Availability": 88.7, "Quality": 96.6, "Performance": 69.2}

Subscription

JPV / Omron France

FTP Services

JPV / Omron France

FTP Client
•5 Function Blocks for FTP Client:

• GetFile Copy file from Server to SD Card

• GetFileList List files and folders
• PutFile Copy file from SD Card to Server
• RemoveDir Delete a directory
• RemoveFile Delete a file

JPV / Omron France

FTP Server

•Access to SD Card
•6 Simultaneous Connections Max
•Access to files in Binary & Ascii Mode
•Simple Configuration in Studio

JPV / Omron France

Sysmac

JPV / Omron France

Sysmac IO

•Up to 63 slices per coupler

• 1024 bytes input + 1024 bytes output per coupler
•One I/O Coupler = One EtherCAT Node
• No slowing of the EtherCAT cycle
• Station in error has no impact on other EtherCAT stations
•Internal bus is synchronized with EtherCAT, and supports:
• Synchronous Inputs
• Synchronous Outputs
• High precision Timestamp I/O
• Encoder Input + Pulse Output, configurable as motion axes
• Large selection of I/O Cards

JPV / Omron France

NX I/O: The bus

Coupler Digital Analog Safety Position Temperature

Sysmac BUS NX-IO

3 Giga bits/ second

• EtherCAT • Synchronous • High Resolution • SIL 3 • Pulse Output • RTD

• Timestamp • Timestamp • PL-e • Encoder In • Thermocouple
• Response • Response Time • Inc SSI • 2/4 per Card
Time 1 µs 10 µs
• Input Only & PID
• Heater Burnout
Detection

JPV / Omron France

NX I/O: Bandwidth

• Much Faster than EtherCat.

Advantages:

• EtherCAT @ 125 µs*

• All I/O Data is available in the NX-ECC Coupler
• Each Coupler supports up to 63 slices ( 2048 bytes max)

JPV / Omron France

NX I/O: Timestamp

• Resolution: nanosecond!

Advantage:
• Enable very high precision operations

JPV / Omron France

NX I/O: Precision

• NX Bus can control I/O with a precision of 1µs

Advantage:
• Input, output can be activated/deactivated at the exact µs

JPV / Omron France

NX I/O: Family

Standard Wide I/O Slice

Coupler
I/O Slice Width 24mm
width 12mm

Safety CPU Safety I/O CIP

width 12mm Safety CPU

JPV / Omron France

NX I/O: Terminal Block Protection
In order to prevent unintentionally installing the wrong terminal
block, you can limit the combination of a Unit and a terminal
block.
Insert three Coding Pins (NX-AUX02) into three of the six incorrect
attachment prevention holes on the Unit and on the terminal
block.

JPV / Omron France

NX IO: Ethercat Coupler

Mini USB port Detachable

Second point to connect power supply
for local configuration, setup connector

IN

OUT

Station N°
(1 to 192)

JPV / Omron France

 NX IO: System/Power Modules
! Power Supply Unit for
Overload Signaled by NX-BUS
Sysmac Studio NX-PD1000

Power Supply NX- NX- NX- Sortie NX- Sortie NX- NX-
for NX BUS PF0630 PC030 PC020 NPN PC010 PNP TBX01 PD1000

Discontinuité électrique
NX Comm
Bus

Galvanic Isolation

Electrical Isolation
NX-IO BUS

External I/O Bus Power

0 & +24 Distribution Distribution Distribution Distribution
NX-PF0630(4A) 0 & +24VDC +24VDC 0V Ground
NX-PF0730(10A) NX-PC030 for NPN for PNP NX-TBX01
Power Supply 5-24 VDC
for NX-IO BUS Power Supply for NX-IO BUS

JPV / Omron France

NX IO: CurrentConsumptionCalculation

An overload is signalled
automatically by
Sysmac Studio

JPV / Omron France

JPV / Omron France
Input Cards

Standard Inputs: ON-delay < 20 µs, OFF-delay < 400 µs

Fast Inputs: ON-delay < 100 ns, OFF-delay < 100 ns
AC Inputs : < 10 ms

JPV / Omron France

Input Cards with Connector

JPV / Omron France

Output Cards

JPV / Omron France

Output Cards with Connector

JPV / Omron France

Output Cards

JPV / Omron France

NX IO: Analog Inputs
Card Signal Type Channels Part Number
2 NX-AD2203
4-20 mA
4 NX-AD3203
Single Ended
resolution 8 NX-AD4203
1/8000 250 µs/ch 2 NX-AD2204
4 NX-AD3204
4-20 mA 8 NX-AD4204
Differential 2 NX-AD2208
Resolution 1/30000
4 NX-AD3208
10 µs/ch
8 NX-AD4208
Analog Input
2 NX-AD2603
+/- 10 V
4 NX-AD3603
Single Ended
Resolution 1/8000 8 NX-AD4603
250 µs/ch 2 NX-AD2604
4 NX-AD3604
+/- 10 V 8 NX-AD4604
Differential 2 NX-AD2608
Resolution 1/30000
4 NX-AD3608
10 µs/ch
8 NX-AD4608

All cards have filtering function, sliding average, gain / offset, out-of-area detection. 4-20 mA input
resistance: 2 and 4 points = 250 Ω, 8 points = 85 Ω

JPV / Omron France

NX IO: Analog Inputs

Single Ended
Differential

JPV / Omron France

NX IO: Temperature Input
Channels Part Number
Card Signal Type
resolution 2 NX-TS2201
0.1 °C 250 ms/ch 4 NX-TS3201
RTD
resolution 2 NX-TS2202
0.1 °C 10 ms/ch 4 NX-TS3202
Pt100 (3-wire), Pt1000
resolution0.01 °C 2 NX-TS2204
60 ms/ch 4 NX-TS3204
Temperature
resolution0.1 °C 2 NX-TS2101
Thermocouple 250 ms/ch 4 NX-TS3101
resolution0.1 °C 2 NX-TS2102
(B),E,J,K,L,N,R,S,T,U, 10 ms/ch 4 NX-TS3102
WRe5-26,PLⅡ resolution0.01 °C 2 NX-TS2104
60 ms/ch 4 NX-TS3104

All TS cards incorporate a sliding average function and off-area

detection, cut-off probe, compensation.

Cold junction compensation on the T / C boards can be disabled

(on the terminal block)

JPV / Omron France

NX IO: Analog Ouptuts

Ch Part
Card Signal Type
Number
resolution1/8000 2 NX-DA2203
250 µs/ch 4 NX-DA3203
4-20 mA
resolution1/30000 2 NX-DA2205
Analog 10 µs/ch 4 NX-DA3205
Output resolution 2 NX-DA2603
1/8000 250 µs/ch 4 NX-DA3603
+/- 10 V
resolution1/30000 2 NX-DA2605
10 µs/ch 4 NX-DA3605

All analog output boards deliver a preset current / voltage signal in the event of a fault

JPV / Omron France

NX IO: Temperature Control

régulation Outputs Part

Input CH Output Type
Number
NX-TC2405
standard 2
Discrete NX-TC2406
2 Heat/Cool 4 NX-TC2407
Thermocouple 2 NX-TC2408
Current (0-20, 4-20mA)
& Pt100
standard NX-TC3405
4
Discrete NX-TC3406
4
Heat/Col 8 NX-TC3407
Current (0-20, 4-20mA) standard 4 NX-TC3408

JPV / Omron France

NX Motion

JPV / Omron France

NX Speciality Cards

JPV / Omron France

Couplers, System Cards

Card Description Connections Part Number

250 to 4000µs – 4A NX-ECC201

Communication 2 ports NX-ECC202
250 to 4000µs -10A
Coupler
125 to 10000µs - 10A NX-ECC203
256 I/O, 512Kb program 32 NX-SL3300
1024 I/O, 2Mb program 128 NX-SL3500
Safety CPU
1024 I/O, 2Mb program 128 NX-SL5500
2032 I/O, 4 Mb program 254 NX-SL5700
End Unit (Comes with Coupler) NX-END01
System Card
Ground Unit 16 NX-TBX01
NX Bus Power, 24 V DC non-isolated NX-PD1000
IO-Bus Power, 5 to 24V DC NX-PF0630
Power I/O Bus Distribution, IOV, 5 to 24V DC 16 NX-PC0020
I/O Bus Distribution, IOG, 5 to 24V DC input 16 NX-PC0010
I/O Bus Distributio, IOV+IOG, 5 to 24V DC input 8+8 NX-PC0030

JPV / Omron France

JPV / Omron France
EtherCat I/O Refresh

There are three modes for refreshing I/O on EtherCat

1.Asynchronous (Free-Run)

2.Synchronized (Sync)

3.Synchronized + Scheduled (TimeStamp)

217
Refresh Mode
The EtherCat cycle is asynchronous to the NX I/O bus
cycle of the NX boards mounted on the NX-ECC Tcycle Tcycle Tcycle
coupler. Multiple refreshes are removed during an NJ NJ NJ
Free-Run EtherCat cycle. I/Os are not refreshed at the same time
across the network NX I/O NX I/O NX I/O

Asynchronous

The EtherCat cycle is synchronous with the NX I/O bus

cycle of the NX boards mounted on the NX-ECC
coupler. Tcycle Tcycle Tcycle
• synchronous reading of inputs
Synchronous • Synchronous refresh of the outputs
NJ NJ NJ

Input reading or output refresh is performed at fixed NX I/O NX I/O NX I/O

intervals on multiple NX cards simultaneously.

Synchronous
(Default Mode for Most Omron Devices)
The EtherCat cycle is synchronous with the NX I / O bus
cycle of the NX boards mounted on the NX-ECC
Tcycle Tcycle Tcycle
coupler.
• synchronous reading of the entries stamped NJ NJ NJ
TimeStamp • refresh outputs at the time specified by the
NX I/O NX I/O NX I/O
Dout_Time stamps instruction (based on the
distributed clock).
Precise timings down to micro-seconds
TimeStamp

218
SYNC0 and the Primary Task

• In synchronous mode the equipment must be controlled from the

primary task.
• Sysmac Studio automatically calculates the Sync0 and NX cycle
values. In case of excess, Sysmac Studio signals the problem.

219
Distributed Clock(DC)

Start: 0 End: 25

0 The propagation times

12
7
of the Ethercat frame
Start: 5 End: 20
are calculated by the
master.

The registration offset

of the I / O with
Start: 10 End: 15 respect to the signal
SYNC0 is transmitted
to each slave.

220
NX IO: Cycle E/S standard

• Standard I / O is for non-critical data exchange. ON / OFF delay

from 0.4 to 1 ms
In this Example:
• EtherCAT Cycle: 2 ms
• On/Off Delay : 100µs

JPV / Omron France

NX IO: Synchronous I/O
• Fast I / O can be synchronized to less than 1 μs
• ON / OFF delay from 100 ns (input) to 300 ns (output)
• Sysmac Studio determines the precise time to freeze / synchronize I / O.
• The distributed clock synchronizes these actions on all cards.

JPV / Omron France

NX IO: Timestamp I/O

JPV / Omron France

TimeStamp
TimeStamp allows to activate the outputs with
a precision of about 1µs

The 2 outputs are activated with an interval of 1μs

with the help of the instruction Dout_TimeStamp

224
I/O Mapping Time Stamp

NX cards supporting TimeStamp mode

have a TimeStamp (ULINT) value for each in / out

225
IO-Link

JPV / Omron France

IO-Link
Identification
IO-Link allows the sensor / Configuration
actuator level to send / receive These parameters can be saved and
operating parameters, retransmitted automatically when the
diagnostic and identification sensor / actuator is replaced. No
information useful for example in programming device is needed.
the context of CRF21 A re-parameterization by
traceability programming also allows
modifications on the fly on the
manufacturing process (recipe)

Compatibility
IO-Link is compatible with any
standard non-IO-Link sensor, to
allow a great flexibility in the
management of the sensor / Predictive Maintenance
actuator fleet Malfunction, unstable detection can be
reported to the maintenance
department automatically

JPV / Omron France

Principal of Operation

• In IO-Link mode, signals are transmitted by UART using non-shielded cables at baud
rates of 4.8K, 38.4K or 230K baud at a max distance of 20m—compatible with
regular M12 sensor cables and connectors!

Bi-Directional
Communications
IO-Link
Standard I/O,
Unidirectional
SIO

• In Standard IO Mode, Inputs/Outputs are compatible with standard 2/3 wire sensors

JPV / Omron France

IO-Link Masters

NX-ILM400 (IP20)

• 4 Channels
• Push In Terminals
• Works with EtherCat & EtherNet/IP
Couplers

GX-ILM08C (IP67)

• 8 Channels
• M12 Connectors
• EtherCat Slave

JPV / Omron France

IO-Link

3 Types of information
• Process Values, etc .. (Periodic) Photo Sensor
EtherNetIP E3Z-□-IL□
• Parameter settings etc. (Async)
SysmacStudio • Events (Alarms etc) (Async)
CX-Configurator-FDT Proximity Sensor
NJ/NX E2E-□-IL□

IODD
Maître IO-Link Proximity Sensor
NX-ILM400 E2EQ-□-IL□
Device Description File
NX_WriteObj
NX_ReadObj Color Sensor
E3S-DCP21-IL□
EtherCAT

Explicit Communications IOL_ReadObj

IOL_WriteObj
With EtherCat/IO-Link Couplers: Pressure Sensor
EC_CoESDOWrite EtherCAT Coupler E8PC-□
EC_CoESDORead IO-Link
GX-ILM08C
Directly with IO-Link Devices: EC_CoESDOWrite
IOL_ReadObj EC_CoESDORead
IOL_WriteObj
Flow Sensor
E8FC-□
・
・

Third Party
Productivity Improvements

No signal noise
• Analog measurement value is 01100101
10010011
sent by digital
communications

Detection Zone
Too Far Precise Detection
• Thresholds are set in the sensor
Too Close
• A drift in the detection range prevents fouling or sensor
wear
• Thresholds can be changed on the fly to fit the product to
control

231
IO-Link Function Blocks

Available on www.support-omron.fr
• E3S, E3Z Omron Photo Sensors
• Generic Read/Write

232
JPV / Omron France
Sysmac Safety Hybrid Solution
+ +
Multiple Safety Controllers Possible
NX1 NX-CSG320
NX-SL5
NX-1
NX-SL5

Backup
NX-ECC restore
NX-SL3
NX-SL3

NX-ECC

GI-SMD1624 GI-SMD1624

GI-SID1224 GI-SID1224

JPV / Omron France

Sysmac Safety: Lineup

PFH PFH PFH PFH PFH PFH PFH PFH PFH PFH
3.1 E-10 3.0 E-10 5 E-11 5 E-11 1.4 E-9 1.5 E-9 1.4 E-9 1.6 E-9 1.3 E-9 8.5 E-11
512KB 2 MB 2 MB 4 MB

256 I/O 1024 I/O 1024 I/O 2048 I/O 4 Inputs 8 Inputs 2 Outputs 4 Outputs 12 Inputs PNP 12 Inputs
32 Conn 128 Conn PNP PNP PNP PNP 4 Outputs PNP PNP

Backup Backup 2 Test Pulse Outputs Max 2A per output 12 Test Pulse Outputs
Restore Restore Total 2A max Max 2A per Output
by SD by SD Total 2A max

PFH : Probability of dangerous Failure per Hour

JPV / Omron France

CIP Safety Remote I/O

GI-SMD1624 GI-SID1224
Safety Inputs (PNP) 12 12
Safety Outputs (PNP) 4 X
Test Pulse Qty. 12 12
IP Degree IP-20 IP-20

JPV / Omron France

Compatibility
NX-SL3300 NX-SL3500 NX-SL5500 NX-SL5700

NX-CSG320 Yes, Yes,

CIP-S Gateway
No No Max 128 Max 254
connections.
connections

NX-102 Yes, Yes, Yes, Yes,

Controller
Max 32 Max 128 Max 128 conn. Max 254 conn.
conn. but CIP-S but CIP-S
conn max 16 conn. max 16 conn.

NX-ECC20□ Yes, Yes,

coupler
Max 32
Max 128
conn No No
conn

NX-EIC202 Yes, No No No
coupler
local I/O
slices only

JPV / Omron France

Sysmac Safety FSoE:
NJ series Controller

Safety Controller

omron NX-ECC201
SL3300 OD ID SIH SOD OD

• All communications are managed by the EtherCat

Master
• Safety CPU can be placed anywhere on the network omron NX-ECC201

• Program both with Sysmac Studio SIH SOD

Local USB port only allows local

access to I / O card
configuration

JPV / Omron France

Sysmac Safety CIP-S

NX-Safety

NX-S-RI/O

JPV / Omron France

Sysmac Safety
Automatic Safety Code Generation
S-Inputs /S-Outputs Auto Programming Worksheet Code AutoProgram1

Auto

industrial.omron.eu J.Plassa
JPV / Omron France
Sysmac Safety:
Steps for Safety Program Validation
FS TS
Power ON FS TS

VALID RUN
VALID RUN
DEBUG
DEBUG
Starting CPU

Safety Program
Mode PROGRAM NO
validate YES RUN mode

Transfer Validation.
program Transfer
FS TS FS TS
into program
RUN RUN
main VALID VALID
into
memory DEBUG DEBUG
permanent
memory

DEBUG Mode
Stop Mode Start Operational Mode
Stop

JPV / Omron France

Sysmac Safety:

PROGRAM Mode -> DEBUG Mode

PROGRAM Mode

Transfer
program
into
main
memory

DEBUG Mode

JPV / Omron France

Sysmac Safety:
DEBUG Mode -> RUN Mode

RUN Mode

Validation.
Transfer
program
into
permanente
memory

Debug Mode

JPV / Omron France

Sysmac Safety
PLC Open Standard
Safety Function Blocks

JPV / Omron France

Sysmac Safety

Safety Input Configuration (potential-free Contacts)

PL c / SIL 1 PL d / SIL 2 PL e / SIL 3

245
Sysmac Safety
Input wiring(potential-free Contacts)
PL e / SIL 3
PL c / SIL 1 PL d / SIL 2

•Single Channel • Dual Channel • Dual Channel

•With Test Output • With Test • Independent Test
output Outputs
• No short circuit
detection …
• 2-Hand
• Foot
Switch
..etc 246
Sysmac Safety
Emergency Stop function PL d or e

Configuration
Wiring

247
Sysmac Safety

Safety program are created using Sysmac Studio

JPV / Omron France

Sysmac Safety

Drag & Drop from the library

Drag
Drop

JPV / Omron France

Sysmac Safety
Configuring a dual channel input

250
Sysmac Safety
Configuring a dual channel input

251
Sysmac Safety

Configuring a single channel input (Test output)

252
Sysmac

JPV / Omron France

FH Vision System

Characteristics
Very fast CMOS Camera
High speed controller
12M pixel Camera
Function Shape Search III
Quad Core Parallel Processor
EtherCAT & Sysmac Studio

JPV / Omron France

Converting Measurement Results to Output User Units

JPV / Omron France

Vision: FH controller

•SD Card
SDHC

•2 Ethernet ports Gigabit

•EtherCAT

•Camera x2, x4, x8

•4 port USB2
mouse, keyboard, memory
USB, HDD
•2 encoder inputs
•DVI-I
Can be connected to an RGB
monitor using adaptor
•Digital IO
DVI to RGB (NPN & PNP)

•RS-232C/422
•Power supply

JPV / Omron France

Vision: Shape Detection
Once measurement unit has been added,
a click on the icon open the editor

Click

JPV / Omron France

Vision: Shape Detection
Right panel allows you to define the search method

Inspected shape
(green)

JPV / Omron France

Vision: Shape Detection

Measure Live Image

Measure Next (or
Previous)

JPV / Omron France

Vision: Color Filter

How to filter black pieces?

<image >
Vision: Color Filter

Add
Extract
Color
Filter Tool
 Vision: Color Filter
Set the parameter following a procedure below

Click and
drag on
image to Use
auto-set Sliders to
HSV adjust
ranges HSV
ranges
Vision: Calibration
Convert from pixels to real-world coordinates and correct for skew
Thank You!

JPV / Omron France