CPU Unit Software: User's Manual

Machine Automation Controller
NJ/NX-series
CPU Unit
Software
User’s Manual
NX701-1
NX102-1
NX102-90
NX1P2-1
NX1P2-9
NJ501-
NJ301-1
NJ101-10
NJ101-90
CPU Unit
W501-E1-40
NOTE
1. All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or
transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or
otherwise, without the prior written permission of OMRON.
2. No patent liability is assumed with respect to the use of the information contained herein.
Moreover, because OMRON is constantly striving to improve its high-quality products, the infor-
mation contained in this manual is subject to change without notice.
3. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON as-
sumes no responsibility for errors or omissions.
Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.
Trademarks
• Sysmac and SYSMAC are trademarks or registered trademarks of OMRON Corporation in Japan
and other countries for OMRON factory automation products.
• Microsoft, Windows, Excel, Visual Basic, and Microsoft Edge are either registered trademarks or
trademarks of Microsoft Corporation in the United States and other countries.
• EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation
GmbH, Germany.
• ODVA, CIP, CompoNet, DeviceNet, and EtherNet/IP are trademarks of ODVA.
• The SD and SDHC logos are trademarks of SD-3C, LLC.
Other company names and product names in this document are the trademarks or registered trade-
marks of their respective companies.
Copyrights
• Microsoft product screen shots used with permission from Microsoft.
• This product incorporates certain third party software. The license and copyright information associ-
ated with this software is available at http://www.fa.omron.co.jp/nj_info_e/.
Introduction
Introduction
Thank you for purchasing an NJ/NX-series CPU Unit.
This manual contains information that is necessary to use the NJ/NX-series CPU Unit. Please read
this manual and make sure you understand the functionality and performance of the NJ/NX-series
CPU Unit before you attempt to use it in a control system.
Keep this manual in a safe place where it will be available for reference during operation.
Intended Audience
This manual is intended for the following personnel, who must also have knowledge of electrical sys-
tems (an electrical engineer or the equivalent).
• Personnel in charge of introducing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of installing and maintaining FA systems.
• Personnel in charge of managing FA systems and facilities.
For programming, this manual is intended for personnel who understand the programming language
specifications in international standard IEC 61131-3 or Japanese standard JIS B 3503.
Applicable Products
This manual covers the following products.
• NX-series CPU Units • NJ-series CPU Units

• NX701-17££ • NJ501-£5££
• NX701-16££ • NJ501-£4££
• NX102-12££ • NJ501-£3££
• NX102-11££ • NJ301-12££
• NX102-10££ • NJ301-11££
• NX102-90££ • NJ101-10££
• NX1P2-11££££ • NJ101-90££
• NX1P2-11££££1
• NX1P2-10££££
• NX1P2-10££££1
• NX1P2-90££££
• NX1P2-90££££1
• NX1P2-9B££££
• NX1P2-9B££££1
Part of the specifications and restrictions for the products may be given in other manuals.
Refer to Relevant Manuals on page 2 and Related Manuals on page 25.
NJ/NX-series CPU Unit Software User’s Manual (W501) 1

NJ/NX-series CPU Unit Software User’s Manual (W501)
NJ/NX-series
manuals that are relevant to your system configuration and application before you use the NJ/NX-ser-
Troubleshooting Manual
Most operations are performed from the Sysmac Studio Automation Software. Refer to the Sysmac
The following table provides the relevant manuals for the NJ/NX-series CPU Units. Read all of the
NJ/NY-series NC Integrated Controller

User’s Manual
NJ-series NJ Robotics CPU Unit
User's Manual
Studio Version 1 Operation Manual (Cat. No. W504) for information on the Sysmac Studio.
NJ-series Robot Integrated CPU Unit
¡
User’s Manual
NJ-series SECS/GEM CPU Units
User's Manual
NJ/NX-series Database Connection CPU Units
User's Manual
NX-series CPU Unit
FINS User’s Manual
NJ/NX-series CPU Unit OPC UA
User’s Manual
NJ/NX-series CPU Unit
¡
Built-in EtherNet/IP Port User’s Manual
Manual
¡
Built-in EtherCAT Port User´s Manual
NJ/NX-series
Motion Control Instructions Reference Manual
¡
Motion Control User’s Manual
NJ/NX-series
Instructions Reference Manual
NX-series NX1P2 CPU Unit
Built-in I/O and Option Board User's Manual
Basic information

Software User’s Manual
Relevant Manuals
NJ-series CPU Unit
¡
Hardware User’s Manual
¡
NX-series NX102 CPU Unit
¡
¡
NX-series CPU Unit
¡
Introduction to NJ-series Con-
Using robot control for OM-

Setting devices and hardware
ies CPU Unit.
Introduction to NX1P2 CPU

Introduction to NX701 CPU
Introduction to NX102 CPU

Purpose of use
Relevant Manuals
Using motion control
Using EtherNet/IP
Using EtherCAT
RON robots
trollers
Units
Units
Units
2
3
Relevant Manuals
NJ/NX-series
¡
Troubleshooting Manual
¡
¡
User’s Manual
¡
¡
User's Manual
¡
¡
User’s Manual
¡
¡
User's Manual
¡
¡
User's Manual
NX-series CPU Unit
¡
¡
¡
¡
User’s Manual
¡
¡
Manual

¡
¡
NJ/NX-series
¡
¡
¡
NJ/NX-series
¡
¡
Basic information
¡

NJ-series CPU Unit
NX-series CPU Unit
Using robot control by NJ Ro-
Programming error process-

Using the database connec-

Using the NX1P2 CPU Unit


Using the GEM Services

Using numerical control

Purpose of use
Writing the user program


Using EtherNet/IP
Using EtherNet/IP
Using EtherCAT
Using EtherCAT
Using OPC UA
Using OPC UA
Software settings
botics function
botics function
RON robots
RON robots
Using FINS
Using FINS
tion service
tion service
functions
functions
ing
NJ/NX-series
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the error management concepts and the error items. However,
refer to the manuals that are indicated with triangles for details on errors corresponding to the products with the manuals that are indi-
Troubleshooting Manual ¡
r
¡
User’s Manual
r
¡
User's Manual
r
¡
User’s Manual
r
¡
User's Manual
r
¡
User's Manual
NX-series CPU Unit
r
¡

r
¡
User’s Manual
¡
¡
Manual

¡
¡
NJ/NX-series
¡
¡
NJ/NX-series
¡
Basic information
¡
NJ-series CPU Unit
¡
¡
¡
NX-series CPU Unit
¡

Learning about error manage-

Testing operation and debug-

Purpose of use
Relevant Manuals
cated with triangles.


ment and corrections*1
Using EtherNet/IP
Using EtherNet/IP
Using EtherCAT
Using EtherCAT
Using OPC UA
botics function
RON robots
Using FINS
tion service
Maintenance
functions
ging
*1.
4
Manual Structure
Manual Structure
Page Structure
The following page structure is used in this manual.
4 Installation and Wiring Level 1 heading

Level 2 heading
Level 2 heading 4-3 Mounting Units Level 3 heading
Gives the current
Level 3 heading 4-3-1 Connecting Controller Components headings.
The Units that make up an NJ-series Controller can be connected simply by pressing the Units together
and locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the Controller.
A step in a procedure 1 Join the Units so that the connectors fit exactly.
Hook Hook holes

Indicates a procedure. Connector
4-3 Mo u n t i n g U n i t s
4 Page tab
2 Gives the number
4-3-1 Connecting Controller Components

The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders
toward the back of the Units as shown below until they click into place. of the main section.
Move the sliders toward the back
until they lock into place.
Lock
Release
Slider
Precautions for Correct Use

Special information The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, and CPU Bus Units must be completely locked (until they click into place) after connecting
Icons indicate the adjacent Unit connectors.
precautions, additional
information, or reference
information.
Manual name NJ-series CPU Unit Hardware User’s Manual (W500) 4-9
This illustration is provided only as a sample. It may not literally appear in this manual.

Manual Structure
Special Information
Special information in this manual is classified as follows:
Precautions for Safe Use

Precautions on what to do and what not to do to ensure safe usage of the product.

Precautions on what to do and what not to do to ensure proper operation and performance.
Additional Information
Additional information to read as required.
This information is provided to increase understanding or make operation easier.
Version Information
Information on differences in specifications and functionality for Controller with different unit versions
and for different versions of the Sysmac Studio is given.
Precaution on Terminology
In this manual, "download" refers to transferring data from the Sysmac Studio to the physical Control-
ler and "upload" refers to transferring data from the physical Controller to the Sysmac Studio.
For the Sysmac Studio, "synchronization" is used to both "upload" and "download" data. Here,
"synchronize" means to automatically compare the data for the Sysmac Studio on the computer with
the data in the physical Controller and transfer the data in the direction that is specified by the user.
6 NJ/NX-series CPU Unit Software User’s Manual (W501)

Sections in this Manual
Sections in this Manual
1 10
2 11
Introduction to
1 NJ/NX-series Controllers 10 Communications Setup
3 12
CPU Unit Example of Actual
2 Operation 11 Application Procedures
4 A
I/O Ports, Slave
3 Configuration, and
Unit Configuration
12 Troubleshooting
5 I
4 Controller Setup A Appendices 6
7
5 Designing Tasks I Index
8
6 Programming
9
Checking Operation and
7 Actual Operation
8 CPU Unit Functions
9 Backup Functions

CONTENTS
CONTENTS
Introduction .............................................................................................................. 1
Intended Audience...........................................................................................................................................1
Applicable Products .........................................................................................................................................1
Relevant Manuals..................................................................................................... 2
Manual Structure...................................................................................................... 5
Page Structure.................................................................................................................................................5
Special Information ..........................................................................................................................................6
Precaution on Terminology ..............................................................................................................................6
Sections in this Manual ........................................................................................... 7
Terms and Conditions Agreement........................................................................ 17

Warranty, Limitations of Liability ....................................................................................................................17
Application Considerations ............................................................................................................................18
Disclaimers ....................................................................................................................................................18
Statement of security responsibilities for assumed use cases and against threats.......................................19
Safety Precautions................................................................................................. 20
Precautions for Safe Use ...................................................................................... 21
Precautions for Correct Use ................................................................................. 22
Regulations and Standards .................................................................................. 23

Software Licenses and Copyrights ................................................................................................................23
Versions .................................................................................................................. 24
Unit Versions of CPU Units and Sysmac Studio Versions .............................................................................24
Related Manuals..................................................................................................... 25
Terminology............................................................................................................ 30
Revision History..................................................................................................... 35
Section 1 Introduction to NJ/NX-series Controllers

1-1 The NJ/NX-series Controllers ...............................................................................................1-2
1-1-1 Features ......................................................................................................................................1-2
1-1-2 Introduction to the System Configurations ..................................................................................1-5
1-2 Main Specifications .............................................................................................................1-14
1-3 Overall Operating Procedure for the NJ/NX-series...........................................................1-19
1-3-1 Overall Procedure .....................................................................................................................1-19
1-3-2 Procedure Details......................................................................................................................1-20
Section 2 CPU Unit operation

2-1 Overview of CPU Unit Operation ..........................................................................................2-2

CONTENTS
2-1-1 Introduction to CPU Unit .............................................................................................................2-2

2-1-2 Overview of Operation According to CPU Unit Status ................................................................2-3
2-2 Software..................................................................................................................................2-4
2-2-1 Software Configuration................................................................................................................2-4
2-2-2 Operation of Software .................................................................................................................2-4
2-3 Accessing I/O .......................................................................................................................2-12
2-3-1 Type of Variables.......................................................................................................................2-12
2-3-2 Accessing I/O with Variables .....................................................................................................2-15
2-4 I/O Refreshing of NX Bus Function Module ......................................................................2-24
2-4-1 I/O Refreshing Methods ............................................................................................................2-24
2-4-2 I/O Refreshing Method Operation .............................................................................................2-25
2-5 Sequence Control and Motion Control ..............................................................................2-28
2-5-1 Overview of Control...................................................................................................................2-28
2-5-2 Sequence Control System ........................................................................................................2-29
2-5-3 Motion Control System ..............................................................................................................2-31
2-5-4 Synchronizing Sequence Control and Motion Control ..............................................................2-33
2-6 Overview of CPU Unit Data .................................................................................................2-35
2-7 Operation for CPU Unit Status............................................................................................2-37
2-7-1 CPU Unit Status ........................................................................................................................2-37
2-7-2 Operation for CPU Unit Status ..................................................................................................2-38
2-7-3 Operating Modes.......................................................................................................................2-40
Section 3 I/O Ports, Slave Configuration, and Unit Configuration

3-1 Procedure to Create the Slave and Unit Configurations....................................................3-2
3-2 Creating and Comparing the Slave and Unit Configurations ............................................3-5
3-2-1 Creating the EtherCAT Slave Configuration................................................................................3-5
3-2-2 Creating the Unit Configuration ...................................................................................................3-6
3-2-3 Verifying the Unit Configuration...................................................................................................3-6
3-3 I/O Ports and Device Variables .............................................................................................3-8
3-3-1 I/O Ports ......................................................................................................................................3-8
3-3-2 I/O Port Names ...........................................................................................................................3-9
3-3-3 Device Variables........................................................................................................................ 3-11
3-4 Allocating Variables to Units ..............................................................................................3-14
3-4-1 Procedure to Assign Variables to Units .....................................................................................3-14
3-4-2 Using Variables Assigned to Units ............................................................................................3-15
3-5 Creating the Axes and Assigning Them to the Servo Drives/Encoder Input
Slaves/NX Units....................................................................................................................3-17
3-5-1 Introduction ...............................................................................................................................3-17
3-5-2 Axis Variables and Axes Group Variables .................................................................................3-17
3-5-3 Creating and Using Axes and Axis Variables ............................................................................3-19
Section 4 Controller Setup

4-1 Overview of the Controller Setup .........................................................................................4-2
4-2 Initial Settings for the PLC Function Module ......................................................................4-4
4-2-1 Introduction .................................................................................................................................4-4
4-2-2 Controller Setup ..........................................................................................................................4-4
4-2-3 Task Settings ...............................................................................................................................4-7
4-2-4 Unit Configuration and Unit Setup for NX102 and NX1P2 CPU Units ......................................4-13
4-2-5 Unit Configuration and Unit Setup for NJ-series CPU Units .....................................................4-16
4-3 Initial Settings for NX Units.................................................................................................4-18
4-3-1 NX Unit Settings ........................................................................................................................4-18
4-3-2 I/O Allocation Settings ...............................................................................................................4-19

CONTENTS
4-3-3 Unit Operation Settings .............................................................................................................4-21

4-4 Initial Settings for Special Units .........................................................................................4-22
4-5 Initial Settings for the Motion Control Function Module..................................................4-24
4-5-1 Introduction ...............................................................................................................................4-24
4-5-2 Setting Methods ........................................................................................................................4-24
4-6 Initial Settings for the EtherCAT Master Function Module ..............................................4-26
4-7 Initial Settings for the EtherNet/IP Function Module ........................................................4-27
4-8 Initial Settings for Built-in I/O .............................................................................................4-28
4-9 Initial Settings for Option Boards.......................................................................................4-29
4-10 Memory Settings for CJ-series Units .................................................................................4-30
4-10-1 Setting Procedure .....................................................................................................................4-30
4-10-2 Setting Screen...........................................................................................................................4-30
4-10-3 Settings .....................................................................................................................................4-31
Section 5 Designing Tasks

5-1 Overview of Task Designing Procedure ..............................................................................5-3
5-2 Overview of Tasks..................................................................................................................5-6
5-2-1 Tasks ...........................................................................................................................................5-6
5-2-2 Instructions Related to Tasks ......................................................................................................5-8
5-2-3 System-defined Variables Related to Tasks ................................................................................5-8
5-3 Specifications and Basic Operation of Tasks for NX701 ................................................. 5-11
5-3-1 Specifications of Tasks for NX701 CPU Units ........................................................................... 5-11
5-3-2 Guidelines for Separating Tasks for NX701 .............................................................................. 5-11
5-3-3 Basic Operation of Tasks for NX701 CPU Units .......................................................................5-12
5-3-4 Event Task Execution Conditions for NX701 CPU Units ...........................................................5-20
5-3-5 Event Task Execution Timing for NX701 CPU Units .................................................................5-25
5-3-6 Operation When Execution Condition Is Met Again Before Execution of the Event Task
Is Completed .............................................................................................................................5-29
5-4 Specifications and Basic Operation of Tasks for NX102 CPU Units and NX1P2
CPU Units .............................................................................................................................5-31
5-4-1 Specifications of Tasks for NX102 CPU Units and NX1P2 CPU Units......................................5-31
5-4-2 Guidelines for Separating Tasks for NX102 CPU Units and NX1P2 CPU Units .......................5-31
5-4-3 Basic Operation of Tasks for NX102 CPU Units and NX1P2 CPU Units ..................................5-32
5-4-4 Event Task Execution Conditions for NX102 CPU Units and NX1P2 CPU Units......................5-37
5-4-5 Event Task Execution Timing for NX102 CPU Units and NX1P2 CPU Units ............................5-42
Is Completed .............................................................................................................................5-46
5-5 Specifications and Basic Operation of Tasks for NJ-series Controllers ........................5-48
5-5-1 Specifications of Tasks for NJ-series Controllers ......................................................................5-48
5-5-2 Guidelines for Separating Tasks for NJ-series Controllers........................................................5-48
5-5-3 Basic Operation of Tasks for NJ-series Controllers...................................................................5-49
5-5-4 Event Task Execution Conditions for NJ-series Controllers ......................................................5-56
5-5-5 Event Task Execution Timing for NJ-series Controllers ............................................................5-61
Is Completed .............................................................................................................................5-65
5-6 Services Other Than Tasks .................................................................................................5-66
5-6-1 Execution Priorities and Execution Orders of Services Other Than Tasks ...............................5-68
5-6-2 Processing Performed in and Execution Timing of the Tag Data Link Service .........................5-72
5-6-3 Processing Performed in and Execution Timing of the Option Board Service ..........................5-75
5-6-4 Processing Performed in and Execution Timing of the Communications Bridge Service .........5-76
5-6-5 Processing Performed in and Execution Timing of the System Services..................................5-77
5-7 Assignment and Settings Related to Tasks ......................................................................5-81
5-7-1 Assigning I/O Refreshing to Tasks ............................................................................................5-81
5-7-2 Assigning Tasks to Programs ....................................................................................................5-88
5-7-3 Parameters for Primary Periodic Task and Periodic Tasks .......................................................5-89

CONTENTS
5-8 Ensuring Concurrency of Variable Values.........................................................................5-93

5-8-1 Ensuring Concurrency of Variable Values between Tasks ........................................................5-93
5-8-2 Variable Access from Outside the Controller.............................................................................5-99
5-9 Errors Related to Tasks.....................................................................................................5-104
5-10 Monitoring Task Execution Status and Task Execution Times .....................................5-107
5-11 Task Design Methods and I/O Response Times ............................................................. 5-112
5-11-1 Checking the Task Execution Time ......................................................................................... 5-112
5-11-2 Examples of Task Design ........................................................................................................ 5-115
5-11-3 System Input and Output Response Times............................................................................. 5-115
Section 6 Programming
6-1 Overview of Programming Procedures ...............................................................................6-3
6-2 POUs (Program Organization Units) ....................................................................................6-5
6-2-1 What Are POUs?.........................................................................................................................6-5
6-2-2 Overview of the Three Types of POUs........................................................................................6-5
6-2-3 Differences between Programs, Functions, and Function Blocks ...............................................6-6
6-2-4 Details on Programs....................................................................................................................6-7
6-2-5 Details on Function Blocks ..........................................................................................................6-8
6-2-6 Details on Functions..................................................................................................................6-16
6-2-7 Operation That Applies to Both Functions and Function Blocks ...............................................6-22
6-2-8 POU Restrictions.......................................................................................................................6-25
6-3 Variables ...............................................................................................................................6-28
6-3-1 Variables....................................................................................................................................6-28
6-3-2 Types of Variables .....................................................................................................................6-28
6-3-3 Types of User-defined Variables in Respect to POUs...............................................................6-28
6-3-4 Attributes of Variables ...............................................................................................................6-30
6-3-5 Data Types ................................................................................................................................6-32
6-3-6 Derivative Data Types ...............................................................................................................6-41
6-3-7 Array Specifications and Range Specifications for Data Types ................................................6-51
6-3-8 Variable Attributes .....................................................................................................................6-60
6-3-9 Changes to Variables for Status Changes ................................................................................6-68
6-3-10 Function Block Instances ..........................................................................................................6-82
6-3-11 Monitoring Variable Values........................................................................................................6-82
6-3-12 Restrictions on Variable Names and Other Program-related Names........................................6-83
6-4 Constants (Literals) .............................................................................................................6-85
6-4-1 Constants ..................................................................................................................................6-85
6-4-2 Notation for Different Data Types ..............................................................................................6-85
6-5 Programming Languages....................................................................................................6-90
6-5-1 Programming Languages ..........................................................................................................6-90
6-5-2 Ladder Diagram Language .......................................................................................................6-90
6-5-3 Structured Text Language .........................................................................................................6-97
6-6 Instructions ........................................................................................................................6-133
6-6-1 Instructions ..............................................................................................................................6-133
6-6-2 Basic Understanding of Instructions........................................................................................6-133
6-6-3 Instruction Errors .....................................................................................................................6-135
6-7 Namespaces .......................................................................................................................6-141
6-7-1 Namespaces ...........................................................................................................................6-141
6-7-2 Namespace Specifications ......................................................................................................6-142
6-7-3 Procedure for Using Namespaces ..........................................................................................6-145
6-8 Libraries..............................................................................................................................6-146
6-8-1 Introduction to Libraries...........................................................................................................6-146
6-8-2 Specifications of Libraries .......................................................................................................6-146
6-8-3 Library Object Specifications...................................................................................................6-147
6-8-4 Procedure to Use Libraries .....................................................................................................6-148
6-9 Programming Precautions ................................................................................................6-150
6-9-1 Array Specifications for Input Variables, Output Variables, In-Out Variables ..........................6-150

CONTENTS
6-9-2 Structure Variables for Input Variables, Output Variables, In-Out Variables............................6-150
6-9-3 Master Control.........................................................................................................................6-151
Section 7 Checking Operation and Actual Operation

7-1 Overview of Steps in Checking Operation and Actual Operation .....................................7-2
7-2 Offline Debugging..................................................................................................................7-3
7-2-1 Features of Simulation ................................................................................................................7-3
7-2-2 Simulation Execution...................................................................................................................7-3
7-2-3 Setting Up Simulations ................................................................................................................7-6
7-3 Checking Operation on the Actual System and Actual Operation....................................7-8
7-3-1 Checking Operation on the Actual System and Actual Operation...............................................7-8
7-3-2 Downloading the Project .............................................................................................................7-8
7-3-3 Checking I/O Wiring ....................................................................................................................7-9
7-3-4 MC Test Run ...............................................................................................................................7-9
7-3-5 Checking the Operation of the User Program ...........................................................................7-10
7-3-6 Starting Actual Operation .......................................................................................................... 7-11
Section 8 CPU Unit Functions

8-1 Data Management, Clock, and Operating Functions..........................................................8-3
8-1-1 Clearing All Memory ....................................................................................................................8-3
8-1-2 Clock ...........................................................................................................................................8-3
8-1-3 RUN Output.................................................................................................................................8-6
8-2 Management Functions for NX Units ...................................................................................8-7
8-2-1 NX Bus Function Module ............................................................................................................8-7
8-2-2 Mounting Settings of NX Units on the CPU Unit ....................................................................... 8-11
8-2-3 Restarting NX Units on the CPU Unit........................................................................................8-14
8-2-4 Checking Wiring for NX Units on the CPU Unit.........................................................................8-15
8-2-5 Fail-soft Operation for NX Units on the CPU Unit .....................................................................8-16
8-2-6 Monitoring Total Power-ON Time for NX Units on the CPU Unit...............................................8-19
8-3 Management Functions for CJ-series Units......................................................................8-21
8-3-1 Basic I/O Units ..........................................................................................................................8-21
8-3-2 Special Units .............................................................................................................................8-22
8-4 SD Memory Card Operations ..............................................................................................8-24
8-4-1 SD Memory Card Operations ....................................................................................................8-24
8-4-2 Specifications of Supported SD Memory Cards, Folders, and Files .........................................8-25
8-4-3 SD Memory Card Operation Instructions ..................................................................................8-28
8-4-4 FTP Client Communications Instructions ..................................................................................8-28
8-4-5 FTP Server ................................................................................................................................8-29
8-4-6 File Operations from the Sysmac Studio...................................................................................8-29
8-4-7 SD Memory Card Life Expiration Detection ..............................................................................8-29
8-4-8 List of System-defined Variables Related to SD Memory Cards ...............................................8-30
8-4-9 SD Memory Card Self-diagnostic Functions .............................................................................8-31
8-4-10 Exclusive Control of File Access in SD Memory Cards.............................................................8-33
8-5 Security.................................................................................................................................8-34
8-5-1 Authentication of User Program Execution IDs .........................................................................8-35
8-5-2 User Program Transfer with No Restoration Information ..........................................................8-38
8-5-3 Overall Project File Protection...................................................................................................8-39
8-5-4 Data Protection .........................................................................................................................8-39
8-5-5 Secure Communication Function ..............................................................................................8-41
8-5-6 Secure Socket Services ............................................................................................................8-42
8-5-7 TCP/UDP Port Close Function ..................................................................................................8-42
8-5-8 Packet Filter ..............................................................................................................................8-42
8-5-9 Operation Authority Verification.................................................................................................8-43
8-5-10 User Authentication ...................................................................................................................8-44
8-5-11 CPU Unit Write Protection.........................................................................................................8-48
8-5-12 CPU Unit Names and Serial IDs ...............................................................................................8-50

CONTENTS
8-5-13 Access log .................................................................................................................................8-51

8-6 Debugging ............................................................................................................................8-52
8-6-1 Forced Refreshing.....................................................................................................................8-52
8-6-2 Changing Present Values..........................................................................................................8-56
8-6-3 Online Editing ............................................................................................................................8-58
8-6-4 Data Tracing..............................................................................................................................8-59
8-6-5 Differential Monitoring ...............................................................................................................8-66
8-7 Event Logs............................................................................................................................8-72
8-7-1 Introduction ...............................................................................................................................8-72
8-7-2 Detailed Information on Event Logs ..........................................................................................8-74
8-7-3 Controller Events (Controller Errors and Information) ...............................................................8-78
8-7-4 User-defined Events (User-defined Errors and Information) .....................................................8-79
8-8 Changing Event Levels .......................................................................................................8-86
8-8-1 Applications of Changing Event Levels .....................................................................................8-86
8-8-2 Events for Which the Event Level Can Be Changed.................................................................8-86
8-8-3 Procedure to Change an Event Level .......................................................................................8-86
Section 9 Backing up Data

9-1 The Backup Functions ..........................................................................................................9-3
9-1-1 Applications of Backup Functions ...............................................................................................9-4
9-1-2 Examples of Operating Procedures for the Backup Functions ...................................................9-4
9-1-3 Data that Is Backed Up ...............................................................................................................9-6
9-1-4 Types of Backup Functions .........................................................................................................9-8
9-1-5 Relation between the Different Types of Backup Functions and Data Groups ......................... 9-11
9-1-6 Applicable Range of the Backup Functions ..............................................................................9-12
9-2 SD Memory Card Backups ..................................................................................................9-14
9-2-1 Backup (Controller to SD Memory Card) ..................................................................................9-15
9-2-2 Restore (SD Memory Card to Controller) ..................................................................................9-20
9-2-3 Verify (between Controller and SD Memory Card) ....................................................................9-28
9-3 Disabling Backups to SD Memory Cards ..........................................................................9-34
9-4 Automatic Transfers from SD Memory Cards ...................................................................9-36
9-5 Program Transfer from SD Memory Card ..........................................................................9-38
9-6 Sysmac Studio Controller Backups ...................................................................................9-45
9-6-1 Backup (Controller to Computer) ..............................................................................................9-46
9-6-2 Restore (Computer to Controller) ..............................................................................................9-47
9-6-3 Verify (between Controller and Computer) ................................................................................9-48
9-7 Importing and Exporting Sysmac Studio Backup File Data ............................................9-50
9-8 Sysmac Studio Variable and Memory Backup Functions ................................................9-52
9-8-1 Applicable Data for Sysmac Studio Variable and Memory Backup Functions ..........................9-52
9-8-2 Using Sysmac Studio Variable and Memory Backup Functions................................................9-52
9-8-3 Compatibility between CPU Unit Models ..................................................................................9-53
9-9 Backup Functions When EtherCAT Slaves Are Connected.............................................9-56
9-9-1 Backed Up EtherCAT Slave Data..............................................................................................9-56
9-9-2 Backup Support Depending on the Controller Status ...............................................................9-56
9-9-3 Conditions for Restoring EtherCAT Slave Data.........................................................................9-57
9-9-4 EtherCAT Slaves for Which You Can Back Up Data .................................................................9-58
9-10 Backup Functions When EtherCAT Slave Terminals Are Connected .............................9-61
9-10-1 Backing Up Data in an EtherCAT Slave Terminal .....................................................................9-61
9-10-2 Backup Support Depending on the EtherCAT Slave Terminal Status .......................................9-62
9-10-3 Conditions for Restoring EtherCAT Slave Terminal Data ..........................................................9-62
9-11 Backup Functions When NX Units Are Connected ..........................................................9-64
9-11-1 Backing Up Data in NX Units on the CPU Unit .........................................................................9-64
9-11-3 Conditions for Restoring NX Unit Data on the CPU Unit...........................................................9-65

CONTENTS
9-12 Backup Functions When CJ-series Units Are Connected ...............................................9-66

9-12-1 Backed Up CJ-series Unit Data ................................................................................................9-66
9-12-3 Conditions for Restoring CJ-series Unit Data ...........................................................................9-66
9-13 Backup-related Files............................................................................................................9-68
9-13-1 Types of Backup-related Files ...................................................................................................9-68
9-13-2 Specifications of a Backup File .................................................................................................9-69
9-13-3 Specifications of a Restore Command File ...............................................................................9-70
9-13-4 Specifications of an Automatic Transfer Command File ...........................................................9-72
9-13-5 Specifications of a Controller Verification Results File ..............................................................9-74
9-13-6 Specifications of an EtherCAT Verification Results File ............................................................9-75
9-13-7 Specifications of an EtherCAT Slave Terminal Verification Results File....................................9-76
9-13-8 Specifications of an NX Unit Verification Results File ...............................................................9-77
9-13-9 Specifications of a CJ-series Unit Verification Results File .......................................................9-78
9-14 Compatibility between Backup-related Files.....................................................................9-80
9-14-1 Compatibility between Backup Functions .................................................................................9-80
9-14-2 Compatibility between CPU Unit Models ..................................................................................9-81
9-14-3 Compatibility between Unit Versions of CPU Units ...................................................................9-82
9-15 Functions that cannot be Executed during Backup Functions.......................................9-84
Section 10 Communications Setup

10-1 Communications System Overview ...................................................................................10-2
10-1-1 Introduction ...............................................................................................................................10-3
10-2 Connection with Sysmac Studio ........................................................................................10-8
10-2-1 Configurations That Allow Online Connections .........................................................................10-8
10-2-2 Configurations That Do Not Allow Online Connections.............................................................10-9
10-2-3 Secure Communication ...........................................................................................................10-10
10-3 Connection with Other Controllers or Slaves .................................................................10-14
10-3-1 Connection Configurations between Controllers .....................................................................10-14
10-3-2 Connection Configuration between Controllers and Slaves ....................................................10-16
10-4 Connection with HMIs or Serial Communications Devices ...........................................10-18
10-4-1 Connection with HMIs .............................................................................................................10-18
10-4-2 Connection with Serial Communications Devices ...................................................................10-19
Section 11 Example of Actual Application Procedures

11-1 Example Application............................................................................................................ 11-2
11-1-1 System Configuration ................................................................................................................ 11-2
11-1-2 Operation .................................................................................................................................. 11-2
11-2 Overview of the Example Procedure.................................................................................. 11-3
11-2-1 Wiring and Settings ................................................................................................................... 11-3
11-2-2 Software Design ........................................................................................................................ 11-3
11-2-3 Software Settings from the Sysmac Studio ............................................................................... 11-4
11-2-4 Programming with the Sysmac Studio ...................................................................................... 11-7
11-2-5 Simulation with the Sysmac Studio ........................................................................................... 11-8
11-2-6 Checking Operation and Starting Operation on the Actual System .......................................... 11-9
Section 12 Troubleshooting
12-1 Overview of Troubleshooting .............................................................................................12-2

CONTENTS
Appendices
A-1 Specifications........................................................................................................................ A-3
A-1-1 General Specifications ............................................................................................................... A-3
A-1-2 Performance Specifications ....................................................................................................... A-3
A-1-3 Function Specifications ............................................................................................................ A-15
A-2 Calculating Guidelines for the Real Processing Times of Tasks for the NX701 SystemA-25
A-2-1 Calculating the Average Real Processing Times of Tasks ....................................................... A-26
A-2-2 Example of Calculating the Average Real Processing Time of a Task and Setting the
Task Period .............................................................................................................................. A-34
A-3 Calculating Guidelines for the Real Processing Times of Tasks for the NX102 SystemA-37
Task Period .............................................................................................................................. A-45
A-4 Calculating Guidelines for the Real Processing Times of Tasks for the NX1P2
System ................................................................................................................................. A-48
Task Period .............................................................................................................................. A-56
A-5 Calculating Guidelines for the Real Processing Times of Tasks for the NJ-ser-
ies System ........................................................................................................................... A-59
Task Period .............................................................................................................................. A-71
A-6 System-defined Variables .................................................................................................. A-75
A-6-1 System-defined Variables for the Overall NJ/NX-series Controller (No Category)................... A-76
A-6-2 PLC Function Module, Category Name: _PLC ........................................................................ A-86
A-6-3 PLC Function Module, Category Name: _CJB......................................................................... A-91
A-6-4 NX Bus Function Module, Category Name: _NXB ................................................................... A-93
A-6-5 Motion Control Function Module, Category Name: _MC ......................................................... A-97
A-6-6 EtherCAT Master Function Module, Category Name: _EC ...................................................... A-99
A-6-7 EtherNet/IP Function Module, Category Name: _EIP ............................................................ A-106
A-6-8 Meanings of Error Status Bits ................................................................................................ A-137
A-7 Specifications for Individual System-defined Variables ............................................... A-139
A-7-1 System-defined Variables for the Overall NJ/NX-series Controller (No Category)................. A-139
A-7-2 PLC Function Module, Category Name: _PLC ...................................................................... A-158
A-7-3 PLC Function Module, Category Name: _CJB....................................................................... A-164
A-7-4 NX Bus Function Module, Category Name: _NXB ................................................................. A-168
A-7-5 Motion Control Function Module, Category Name: _MC ....................................................... A-171
A-7-6 EtherCAT Master Function Module, Category Name: _EC .................................................... A-175
A-7-7 EtherNet/IP Function Module, Category Name: _EIP ............................................................ A-184
A-8 Attributes of CPU Unit Data ............................................................................................. A-210
A-9 Contents of Memory Used for CJ-series Units .............................................................. A-216
A-9-1 CIO Area ................................................................................................................................ A-216
A-9-2 Internal I/O Area ..................................................................................................................... A-219
A-9-3 Holding Area .......................................................................................................................... A-219
A-9-4 DM Area ................................................................................................................................. A-219
A-9-5 EM Area ................................................................................................................................. A-220
A-10 Variable Memory Allocation Methods ............................................................................. A-221
A-10-1 Variable Memory Allocation Rules.......................................................................................... A-221
A-10-2 Important Case Examples ...................................................................................................... A-230
A-11 Registering a Symbol Table on the CX-Designer........................................................... A-234
A-12 Enable/Disable EtherCAT Slave and Axes...................................................................... A-237
A-12-1 Project Settings When Using EtherCAT Slaves and Axes ..................................................... A-237
A-12-2 Using Instructions to Enable/Disable EtherCAT Slaves and Axes ......................................... A-237
A-12-3 System-defined Variables That Indicate EtherCAT Slave or Axis Status ............................... A-238
A-12-4 Enabling/Disabling Execution of Program .............................................................................. A-239
A-12-5 Checking Enabled/Disabled Program .................................................................................... A-239

CONTENTS
A-12-6 Settings with the Sysmac Studio ............................................................................................ A-240

A-12-7 Examples of Applications of Enabling/Disabling EtherCAT Slaves and Axes ........................ A-241
A-13 Size Restrictions for the User Program .......................................................................... A-244
A-13-1 User Program Object Restrictions.......................................................................................... A-244
A-13-2 Counting User Program Objects ............................................................................................ A-247
A-14 Replacing CPU Units with Unit Version 1.02 or Earlier ................................................. A-250
A-14-1 Uploading the Data from the CPU Unit .................................................................................. A-250
A-14-2 Connecting the New CPU Unit ............................................................................................... A-253
A-14-3 Downloading the Data to the CPU Unit .................................................................................. A-254
A-15 Possible Combination of Windows Versions and CPU Unit Versions ......................... A-257
A-16 Version Information for NX-series Controllers............................................................... A-258
A-16-1 Relationship between Unit Versions of CPU Units and Sysmac Studio Versions .................. A-258
A-16-2 Functions That Were Added or Changed for Each Unit Version ............................................ A-260
A-17 Version Information for NJ-series Controllers ............................................................... A-262
A-17-1 Relationship between Unit Versions of CPU Units and Sysmac Studio Versions .................. A-262
A-17-2 Relationship between Hardware Revisions of CPU Units and Sysmac Studio Versions ....... A-264
A-17-3 Functions That Were Added or Changed for Each Unit Version ............................................ A-265
A-17-4 Performance Improvements for Unit Version Upgrades......................................................... A-268
Index

Terms and Conditions Agreement
Warranty, Limitations of Liability
Warranties
l Exclusive Warranty
Omron’s exclusive warranty is that the Products will be free from defects in materials and work-
manship for a period of twelve months from the date of sale by Omron (or such other period ex-
pressed in writing by Omron). Omron disclaims all other warranties, express or implied.
l Limitations
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, ABOUT
NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE OF
THE PRODUCTS. BUYER ACKNOWLEDGES THAT IT ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE.
Omron further disclaims all warranties and responsibility of any type for claims or expenses based
on infringement by the Products or otherwise of any intellectual property right.
l Buyer Remedy
Omron’s sole obligation hereunder shall be, at Omron’s election, to (i) replace (in the form originally
shipped with Buyer responsible for labor charges for removal or replacement thereof) the non-com-
plying Product, (ii) repair the non-complying Product, or (iii) repay or credit Buyer an amount equal
to the purchase price of the non-complying Product; provided that in no event shall Omron be re-
sponsible for warranty, repair, indemnity or any other claims or expenses regarding the Products
unless Omron’s analysis confirms that the Products were properly handled, stored, installed and
maintained and not subject to contamination, abuse, misuse or inappropriate modification. Return
of any Products by Buyer must be approved in writing by Omron before shipment. Omron Compa-
nies shall not be liable for the suitability or unsuitability or the results from the use of Products in
combination with any electrical or electronic components, circuits, system assemblies or any other
materials or substances or environments. Any advice, recommendations or information given orally
or in writing, are not to be construed as an amendment or addition to the above warranty.
See http://www.omron.com/global/ or contact your Omron representative for published information.
Limitation on Liability; Etc

OMRON COMPANIES SHALL NOT BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL, OR CON-
SEQUENTIAL DAMAGES, LOSS OF PROFITS OR PRODUCTION OR COMMERCIAL LOSS IN ANY

WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED IN CONTRACT,
WARRANTY, NEGLIGENCE OR STRICT LIABILITY.
Further, in no event shall liability of Omron Companies exceed the individual price of the Product on
which liability is asserted.
Application Considerations
Suitability of Use
Omron Companies shall not be responsible for conformity with any standards, codes or regulations
which apply to the combination of the Product in the Buyer’s application or use of the Product. At Buy-
er’s request, Omron will provide applicable third party certification documents identifying ratings and
limitations of use which apply to the Product. This information by itself is not sufficient for a complete
determination of the suitability of the Product in combination with the end product, machine, system, or
other application or use. Buyer shall be solely responsible for determining appropriateness of the par-
ticular Product with respect to Buyer’s application, product or system. Buyer shall take application re-
sponsibility in all cases.
NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
PROPERTY OR IN LARGE QUANTITIES WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE
HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT(S) IS
PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIP-
MENT OR SYSTEM.
Programmable Products
Omron Companies shall not be responsible for the user’s programming of a programmable Product, or
any consequence thereof.
Disclaimers
Performance Data
Data presented in Omron Company websites, catalogs and other materials is provided as a guide for
the user in determining suitability and does not constitute a warranty. It may represent the result of
Omron’s test conditions, and the user must correlate it to actual application requirements. Actual per-
formance is subject to the Omron’s Warranty and Limitations of Liability.
Change in Specifications
Product specifications and accessories may be changed at any time based on improvements and oth-
er reasons. It is our practice to change part numbers when published ratings or features are changed,
or when significant construction changes are made. However, some specifications of the Product may

be changed without any notice. When in doubt, special part numbers may be assigned to fix or estab-
lish key specifications for your application. Please consult with your Omron’s representative at any
time to confirm actual specifications of purchased Product.
Errors and Omissions

Information presented by Omron Companies has been checked and is believed to be accurate; how-
ever, no responsibility is assumed for clerical, typographical or proofreading errors or omissions.
Statement of security responsibilities for assumed use cases and

against threats
OMRON SHALL NOT BE RESPONSIBLE AND/OR LIABLE FOR ANY LOSS, DAMAGE, OR EX-
PENSES DIRECTLY OR INDIRECTLY RESULTING FROM THE INFECTION OF OMRON PROD-
UCTS, ANY SOFTWARE INSTALLED THEREON OR ANY COMPUTER EQUIPMENT, COMPUTER
PROGRAMS, NETWORKS, DATABASES OR OTHER PROPRIETARY MATERIAL CONNECTED
THERETO BY DISTRIBUTED DENIAL OF SERVICE ATTACK, COMPUTER VIRUSES, OTHER
TECHNOLOGICALLY HARMFUL MATERIAL AND/OR UNAUTHORIZED ACCESS.
It shall be the users sole responsibility to determine and use adequate measures and checkpoints to
satisfy the users particular requirements for (i) antivirus protection, (ii) data input and output, (iii) main-
taining a means for reconstruction of lost data, (iv) preventing Omron Products and/or software instal-
led thereon from being infected with computer viruses and (v) protecting Omron Products from unau-
thorized access.

Safety Precautions
Safety Precautions
Refer to the following manuals for safety precautions.
• NX-series CPU Unit Hardware User's Manual (Cat. No. W535)
• NX-series NX102 CPU Unit Hardware User's Manual (Cat. No. W593)
• NX-series NX1P2 CPU Unit Hardware User's Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User’s Manual (Cat No. W500)


Refer to the following manuals for precautions for safe use.


Refer to the following manuals for precautions for correct use.

Regulations and Standards
Regulations and Standards

Refer to the following manuals for Regulations and Standards.
Software Licenses and Copyrights

Products that support the secure socket service or secure communication include the following third-
party software. The license and copyright information associated with this software is available at
http://www.fa.omron.co.jp/nj_info_e/.
• OpenSSL
This product includes software developed by the OpenSSL Project for use in the OpenSSL Toolkit
(http://www.openssl.org/).
Copyright (C) 1998-2019 The OpenSSL Project. All rights reserved.
Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com) All rights reserved.
This product includes cryptographic software written by Eric Young
(eay@cryptsoft.com)
For the products that support secure socket service, refer to 8-5-6 Secure Socket Services on page
8-42.
For the products that support secure communication, refer to 8-5-5 Secure Communication Function
on page 8-41.

Versions
Versions
Hardware revisions and unit versions are used to manage the hardware and software in NJ/NX-series
Units and EtherCAT slaves. The hardware revision or unit version is updated each time there is a
change in hardware or software specifications. Even when two Units or EtherCAT slaves have the
same model number, they will have functional or performance differences if they have different hard-
ware revisions or unit versions.
Refer to the following manuals for versions.

Unit Versions of CPU Units and Sysmac Studio Versions

The functions that are supported depend on the unit version of the NJ/NX-series CPU Unit. The ver-
sion of Sysmac Studio that supports the functions that were added for an upgrade is required to use
those functions.
Refer to A-16 Version Information for NX-series Controllers on page A-258 and A-17 Version Information
for NJ-series Controllers on page A-262 for the relationship between the unit versions of the CPU Units
and the Sysmac Studio versions, and for the functions that are supported by each unit version.

Related Manuals
Related Manuals
The followings are the manuals related to this manual. Use these manuals for reference.
Manual name Cat. No. Model numbers Application Description

NX-series CPU Unit W535 NX701-££££ Learning the basic An introduction to the entire NX701 system
Hardware User's Manual specifications of the is provided along with the following infor-
NX701 CPU Units, mation on the CPU Unit.
including introductory • Features and system configuration
information, design- • Introduction
ing, installation, and • Part names and functions
maintenance. • General specifications
Mainly hardware in- • Installation and wiring
formation is provided. • Maintenance and inspection
NX-series W593 NX102-££££ Learning the basic An introduction to the entire NX102 system
NX102 CPU Unit specifications of the is provided along with the following infor-
Hardware NX102 CPU Units, mation on the CPU Unit.
User’s Manual including introductory • Features and system configuration
NX-series W578 NX1P2-££££ Learning the basic An introduction to the entire NX1P2 system
NX1P2 CPU Unit specifications of the is provided along with the following infor-
Hardware NX1P2 CPU Units, mation on the CPU Unit.
User’s Manual including introductory • Features and system configuration
NJ-series CPU Unit W500 NJ501-££££ Learning the basic An introduction to the entire NJ-series sys-
Hardware User's Manual NJ301-££££ specifications of the tem is provided along with the following in-
NJ101-££££ NJ-series CPU Units, formation on the CPU Unit.
including introductory • Features and system configuration
NJ/NX-series CPU Unit W501 NX701-££££ Learning how to pro- The following information is provided on a
Software User’s Manual NX102-££££ gram and set up an Controller built with an NJ/NX-series CPU
NX1P2-££££ NJ/NX-series CPU Unit.
NJ501-££££ Unit. • CPU Unit operation
NJ301-££££ Mainly software infor- • CPU Unit features
NJ101-££££ mation is provided. • Initial settings
• Programming based on IEC 61131-3
language specifications

Related Manuals

NX-series NX1P2 CPU Unit W579 NX1P2-££££ Learning about the Of the functions for an NX1P2 CPU Unit,
Built-in I/O and Option Board details of functions the following information is provided.
User’s Manual only for an NX-series • Built-in I/O
NX1P2 CPU Unit and • Serial Communications Option Boards
an introduction of • Analog I/O Option Boards
functions for an An introduction of following functions for an
NJ/NX-series CPU NJ/NX-series CPU Unit is also provided.
Unit. • Motion control functions
• EtherNet/IP communications functions
• EtherCAT communications functions
NJ/NX-series Instructions W502 NX701-££££ Learning detailed The instructions in the instruction set (IEC
Reference Manual NX102-££££ specifications on the 61131-3 specifications) are described.
NX1P2-££££ basic instructions of
NJ501-££££ an NJ/NX-series
NJ301-££££ CPU Unit.
NJ101-££££
NJ/NX-series CPU Unit W507 NX701-££££ Learning about mo- The settings and operation of the CPU Unit
Motion Control User’s Man- NX102-££££ tion control settings and programming concepts for motion con-
ual NX1P2-££££ and programming trol are described.
NJ501-££££ concepts.
NJ301-££££
NJ101-££££
NJ/NX-series W508 NX701-££££ Learning about the The motion control instructions are descri-
Motion Control Instructions NX102-££££ specifications of the bed.
Reference Manual NX1P2-££££ motion control in-
NJ501-££££ structions.
NJ301-££££
NJ101-££££
NJ/NX-series W505 NX701-££££ Using the built-in Information on the built-in EtherCAT port is
CPU Unit NX102-££££ EtherCAT port on an provided.
Built-in EtherCAT® Port NX1P2-££££ NJ/NX-series CPU This manual provides an introduction and
User’s Manual NJ501-££££ Unit. provides information on the configuration,
NJ301-££££ features, and setup.
NJ101-££££
NJ/NX-series W506 NX701-££££ Using the built-in Information on the built-in EtherNet/IP port
CPU Unit NX102-££££ EtherNet/IP port on is provided.
Built-in EtherNet/IP™ Port NX1P2-££££ an NJ/NX-series Information is provided on the basic setup,
User’s Manual NJ501-££££ CPU Unit. tag data links, and other features.
NJ301-££££
NJ101-££££
NJ/NX-series W588 NX701-££££ Using the OPC UA. Describes the OPC UA.
CPU Unit NX102-££££
OPC UA NJ501-1£00
User’s Manual
NX-series W596 NX701-££20 Using the FINS func- Describes the FINS function of an NX-ser-
CPU Unit NX102-££££ tion of an NX-series ies CPU Unit.
FINS Function CPU Unit.
User’s Manual
NJ/NX-series W527 NX701-££20 Using the database Describes the database connection serv-
Database Connection CPU NX102-££20 connection service ice.
Units NJ501-££20 with NJ/NX-series
User’s Manual NJ101-££20 Controllers.
NJ-series W528 NJ501-1340 Using the GEM Serv- Provides information on the GEM Services.
SECS/GEM CPU Units ices with NJ-series
User’s Manual Controllers.
NJ-series O037 NJ501-R£££ Using the NJ-series Describes the settings and operation of the
Robot Integrated CPU Unit Robot Integrated CPU Unit and programming concepts for
User’s Manual CPU Unit. OMRON robot control.

Related Manuals

NJ-series W539 NJ501-4£££ Controlling robots Describes the functionality to control ro-
NJ Robotics CPU Unit NJ501-R£££ with NJ-series CPU bots.
User’s Manual Units.
NJ/NY-series O030 NJ501-5300 Performing numerical Describes the functionality to perform the
NC Integrated Controller NY532-5400 control with NJ/NY- numerical control.
User’s Manual series Controllers.
NJ/NY-series O031 NJ501-5300 Learning about the The G code/M code instructions are descri-
G code NY532-5400 specifications of the bed.
Instructions Reference Man- G code/M code in-
ual structions.
NJ/NX-series W503 NX701-££££ Learning about the Concepts on managing errors that may be
Troubleshooting Manual NX102-££££ errors that may be detected in an NJ/NX-series Controller and
NX1P2-££££ detected in an information on individual errors are descri-
NJ501-££££ NJ/NX-series Con- bed.
NJ301-££££ troller.
NJ101-££££
Sysmac Studio Version 1 W504 SYSMAC Learning about the Describes the operating procedures of the
Operation Manual -SE2£££ operating procedures Sysmac Studio.
and functions of the
Sysmac Studio.
Sysmac Studio W595 SYSMAC-SE2£££ Learning about the Describes the operating procedures of the
Robot Integrated System SYSMAC- operating procedures Sysmac Studio for Robot Integrated CPU
Building Function with Robot SE200D-64 and functions of the Unit.
Integrated CPU Unit Opera- Sysmac Studio to
tion Manual configure Robot Inte-
grated System using
Robot Integrated
CPU Unit.
Sysmac Studio W621 SYSMAC-SE2£££ Learning about the Describes the operating procedures of the
Robot Integrated System SYSMAC- operating procedures Sysmac Studio for IPC Application Control-
Building Function with IPC SE200D-64 and functions of the ler.
Application Controller Opera- Sysmac Studio to
tion Manual configure Robot Inte-
grated System using
IPC Application Con-
troller.
Sysmac Studio W618 SYSMAC-SE2£££ Learning about an Describes an outline, execution proce-
3D Simulation Function Op- SYSMAC-SA4££ outline of the 3D sim- dures, and operating procedures for the 3D
eration Manual £-64 ulation function of the simulation function of the Sysmac Studio.
Sysmac Studio and
how to use the func-
tion.
CNC Operator O032 SYSMAC Learning an introduc- An introduction of the CNC Operator, in-
Operation Manual -RTNC0£££D tion of the CNC Op- stallation procedures, basic operations,
erator and how to connection operations, and operating pro-
use it. cedures for main functions are described.
NX-series W519 NX-ECC£££ Learning how to use The following items are described: the
EtherCAT® Coupler Unit the NX-series Ether- overall system and configuration methods
User’s Manual CAT Coupler Unit of an EtherCAT Slave Terminal (which con-
and EtherCAT Slave sists of an NX-series EtherCAT Coupler
Terminals. Unit and NX Units), and information on
hardware, setup, and functions to set up,
control, and monitor NX Units through
EtherCAT.

Related Manuals

NX-series W525 NX-££££££ Referencing lists of Lists of the power consumptions, weights,
Data Reference Manual the data that is re- and other NX Unit data that is required to
quired to configure configure systems with NX-series Units are
systems with NX-ser- provided.
ies Units.
NX-series W521 NX-ID££££ Learning how to use Describes the hardware, setup methods,
NX Units NX-IA££££ NX Units. and functions of the NX Units.
User’s Manual NX-OC££££ Manuals are available for the following
NX-OD££££ Units.
NX-MD££££ Digital I/O Units, Analog I/O Units, System
W522 NX-AD££££ Units, Position Interface Units, Communi-
NX-DA££££ cations Interface Units, Load Cell Input
W592 NX-HAD£££ Unit, and IO-Link Master Units.
W566 NX-TS££££
NX-HB££££
W523 NX-PD1£££
NX-PF0£££
NX-PC0£££
NX-TBX01
W524 NX-EC0£££
NX-ECS£££
NX-PG0£££
W540 NX-CIF£££
W565 NX-RS££££
W567 NX-ILM£££
NX-series Z930 NX-SL££££ Learning how to use Describes the hardware, setup methods,
Safety Control Unit NX-SI££££ NX-series Safety and functions of the NX-series Safety Con-
User's Manual NX-SO££££ Control Units. trol Units.
Vision System Z340 FH-1£££ Learning how to use Describes the software functions, setup
FH/FZ5 Series Vision System FH-3£££ the FH/FZ5-series Vi- and operating methods required for using
User’s Manual FZ5-L35£ sion Systems. the FH/FZ5-series system.
FZ5-6££
FZ5-11££
Vision Sensor FQ-M-series Z314 FQ-MS12£ Learning how to use Describes the hardware, setup methods
Specialized Vision Sensor for the Specialized Vi- and functions of the Specialized Vision
Positioning sion Sensors for Po- Sensors for Positioning.
User’s Manual sitioning.
Vision Sensor FZ3 Series Z290 FZ3-££££ Learning how to use Describes the software functions, setup
User’s Manual the FZ3-series Vision and operating methods of the FZ3-series
Sensors. Vision Sensors.
Displacement Sensor ZW- Z332 ZW-CE1£ Learning how to use Describes the hardware, setup methods
series the ZW-series Dis- and functions of the ZW-series Displace-
Confocal Fiber Type Dis- placement Sensors. ment Sensors.
placement Sensors
User’s Manual

Related Manuals

CJ-series W490 CJ1W-AD£££ Learning how to use The methods and precautions for using
Special Unit Manuals CJ1W-DA£££ CJ-series Units with CJ-series Units with an NJ-series CPU
For NJ-series CPU Unit CJ1W-MAD42 an NJ-series CPU Unit are described, including access meth-
W491 CJ1W-TC£££ Unit. ods and programming interfaces.
W492 CJ1W-CT021 Manuals are available for the following
Units.
W498 CJ1W-PDC15
Analog I/O Units, Insulated-type Analog I/O
CJ1W-PH41U
Units, Temperature Control Units, ID Sen-
CJ1W-AD04U
sor Units, High-speed Counter Units, Serial
W493 CJ1W-CRM21 Communications Units, DeviceNet Units,
W494 CJ1W-SCU££ EtherNet/IP Units and CompoNet Master
W495 CJ1W-EIP21 Units.
W497 CJ1W-DRM21
Z317 CJ1W-V680£££
NA-series Programmable V118 NA5-£W££££ Learning about NA- Describes the pages and object functions
Terminal series PT pages and of the NA-series Programmable Terminals.
Software User’s Manual object functions.
NS-series Programmable V073 NS15-£££££ Learning how to use Describes the setup methods, functions,
Terminals NS12-£££££ the NS-series Pro- etc. of the NS-series Programmable Termi-
Programming Manual NS10-£££££ grammable Termi- nals.
NS8-£££££ nals.
NS5-£££££
CX-Designer V099 --- Learning to create Describes operating procedures for the
User’s Manual screen data for NS- CX-Designer.
series Programmable
Terminals.

Terminology
Terminology
Term Description
AT One of the attributes of a variable.
This attribute allows the user to specify what is assigned to a variable. An I/O
port or an address in memory used for CJ-series Units can be specified.
CJ-series Unit Any of the CJ-series Units that can be used with an NJ-series Controller.
memory used for CJ-series Units One type of I/O memory that contains addresses to which variables can be as-
signed, for example, when accessing a CJ-series Unit or CJ-series network. It
can be accessed only with variables with an AT attribute.
CPU Unit The Unit that serves as the center of control for a Machine Automation Control-
ler. The CPU Unit executes tasks, refreshes I/O for other Units and slaves, etc.
The NJ/NX-series CPU Units include the NX701-££££, NX102-££££,
NX1P2-££££, NJ501-££££.
EtherCAT Master Function Module One of the function modules. This function module controls the EtherCAT slaves
as the EtherCAT master.
EtherNet/IP Function Module One of the function modules. This function module controls the built-in
EtherNet/IP port.
FB An acronym for "function block."
FUN An abbreviation for "function."
I/O port A logical interface that is used by the CPU Unit to exchange data with an exter-
nal device (slave or Unit).
I/O map settings Settings that assign variables to I/O ports. Assignment information between I/O
ports and variables.
I/O refreshing Cyclic data exchange with external devices that is performed with predetermined
memory addresses.
MC Test Run A function to check motor operation and wiring from the Sysmac Studio.
NX bus An internal bus of the NX-series Controller. It is implemented on the NX102, and
NX1P2 CPU Units.
NX Units Any of the NX-series Units that perform I/O processing with connected external
devices. The Communications Coupler Units are not included with the NX Units.
PDO communications An abbreviation for process data communications. Data is exchanged between
the master and slaves on a process data communications cycle. (The process
data communications cycle is the same as the task period of the primary periodic
task.)
PLC Function Module One of the function modules. This function module executes the user program,
sends commands to the Motion Control Function Module, and provides an inter-
face to the USB and SD Memory Card.
POU An acronym for "program organization unit". A POU is a unit in a program execu-
tion model that is defined in IEC 61131-3.
A POU contains an algorithm and a local variable table and forms the basic unit
used to build a user program.
There are three types of POUs: programs, functions, and function blocks.
SDO communications One type of EtherCAT communications in which service data objects (SDOs) are
used to transmit information whenever required.
Sysmac Studio A computer software application for setting, programming, debugging, and trou-
bleshooting NJ/NX-series Controllers. It also provides operations for motion con-
trol and a Simulator.
upload To transfer data from the Controller to the Sysmac Studio with the synchroniza-
tion operation of the Sysmac Studio.

Terminology
Term Description
information One of the event levels for Controller events or user-defined events. These are
not errors, but appear in the event log to notify the user of specific information.
Event Setup Settings that define user-defined errors and user-defined information.
event task A task that executes a user program only once when the task execution condi-
tions are met.
event log A function that recognizes and records errors and other events.
inline ST ST programming that is included within a ladder diagram.
edge One of the attributes of a variable.
This attribute makes a BOOL variable pass TRUE to a function block when the
variable changes from FALSE to TRUE or when it changes from TRUE to
FALSE.
cam data variable A variable that represents the cam data as a structure array.
A cam data variable is an array structure that consists of phases and displace-
ments.
observation One of the event levels for Controller events or user-defined events.
These are minor errors that do not affect control operations, but appear in the
event log to notify the user of specific information.
function module One of the functional units of the software configuration of the CPU Unit.
basic data type Any of the data types that are defined by IEC 61131-3.
They include Boolean, bit string, integer, real, duration, date, time of day, date
and time, and text string data types.
"Basic data type" is used as opposed to derivative data types, which are defined
by the user.
forced refreshing Forcing the refreshing of an input from an external device or an output to an ex-
ternal device, e.g., when the user debugs a program.
Addresses that are subject to forced refreshing can still be overwritten from the
user program.
union One of the derivative data types. It allows you to handle the same data as differ-
ent data types.
global variable A variable that can be read or written from all POUs (programs, functions, and
function blocks).
minor fault level Controller error An error for which some of the control operations for one of the function modules
in the NJ/NX-series Controller stop.
An NJ/NX-series CPU Unit continues operation even after a minor fault level
Controller error occurs.
Special Unit Setup A generic term for the settings for a Special Unit, including the settings in allocat-
ed DM Area words.
structure One of the derivative data types. It consists of multiple data types placed togeth-
er into a layered structure.
Constant One of the attributes of a variable.
If you specify the Constant attribute for a variable, the value of the variable can-
not be written by any instructions, ST operators, or CIP message communica-
tions.
Controller The range of devices that are directly controlled by the CPU Unit.
In the NX-series System, the Controller includes the CPU Rack and EtherCAT
slaves (including general-purpose slaves and Servo Drives).
In the NJ-series System, the Controller includes the CPU Rack, Expansion
Racks, and EtherCAT slaves (including general-purpose slaves and Servo
Drives).

Terminology
Term Description
Controller error Errors that are defined by the NJ/NX-series System.
“Controller error” is a collective term for major fault level, partial fault level, minor
fault level, and observation Controller events.
Controller event One of the events in the NJ/NX-series System. Controller events are errors and
information that are defined by the system for user notification. A Controller
event occurs when the system detects a factor that is defined as a Controller
event.
Controller information Information that is defined by the NJ/NX-series System that is not an error. It rep-
resents an information Controller event.
Servo Drive/encoder input slave Any of the EtherCAT slaves that is assigned to an axis. In the NJ/NX-series Sys-
tem, it would be a Servo Drive or Encoder Input Slave Unit.
axis A functional unit within the Motion Control Function Module. An axis is assigned
to the drive mechanism in an external Servo Drive or the sensing mechanism in
an external Encoder Input Slave Unit.
axes group A functional unit that groups together axes within the Motion Control Function
Module.
Axes Group Variable A system-defined variable that is defined as a structure and provides status in-
formation and some of the axes parameters for an individual axes group.
An Axes Group Variable is used to specify an axes group for motion control in-
structions and to monitor the command interpolation velocity, error information,
and other information for the axes group.
Axis Variable A system-defined variable that is defined as a structure and provides status in-
formation and some of the axis parameters for an individual axis.
An Axis Variable is used to specify an axis for motion control instructions and to
monitor the command position, error information, and other information for the
axis.
system common processing System processing that is performed by the CPU Unit to perform I/O refreshing
and the user program execution within a task. Exclusive control of variables be-
tween tasks, data trace processing, and other processing is performed.
system service Processing that is performed by the CPU Unit in unused time between task proc-
essing. The system service includes communications processing, SD Memory
Card access processing, self-diagnosis processing, and other processing.
system-defined variable A variable for which all attributes are defined by the system and cannot be
changed by the user.
Initial Value One of the attributes of a variable. The variable is set to the initial value in the
following situations.
• When power is turned ON
• When the CPU Unit changes to RUN mode
• When you specify to initialize the values when the user program is transferred
• When a major fault level Controller error occurs
slave A device that performs remote I/O for a master.
Slave Terminal A building-block remote I/O terminal to which a Communications Coupler Unit
and NX Units are mounted. A Slave Terminal is one type of slave.
slave and Unit configurations A generic term for the EtherCAT configuration and Unit configuration.
absolute encoder home offset This data is used to restore in the CPU Unit the actual position of a Servo Drive
with an absolute encoder. The offset is the difference between the command po-
sition after homing and the absolute data that is read from the absolute encoder.
project unit version A unit version to be set for the project. It is set for the project in the Select Device
Area of the Project Properties Dialog Box on the Sysmac Studio.

Terminology
Term Description
major fault level Controller error An error for which all NJ/NX-series Controller control operations stop. The CPU
Unit immediately stops user program execution and turns OFF the loads for all
slaves and Units (including remote I/O).
download To transfer data from the Sysmac Studio to the Controller with the synchroniza-
tion operation of the Sysmac Studio.
task An attribute that defines when a program is executed.
task period The interval at which the primary periodic task or a periodic task is executed.
Communications Coupler Unit The generic name of an interface unit for remote I/O communications on a net-
work between NX Units and a host network master. For example, an EtherCAT
Coupler Unit is a Communications Coupler Unit for an EtherCAT network.
periodic task A tasks for which user program execution and I/O refreshing are performed each
period.
device A general term for any Unit or slave that is refreshed by the I/O refreshing that is
performed by the CPU Unit. Specifically, it refers to EtherCAT slaves, NX Units
on the CPU Unit, built-in I/O, Option Boards, and CJ-series Units.
device output An output for any Unit or slave that is refreshed by the I/O refreshing that is per-
formed by the CPU Unit.
device variable A variable that is used to access a specific device through an I/O port.
synchronization A function that automatically compares the information in the NJ/NX-series Con-
troller with the information in the Sysmac Studio, displays any differences and lo-
cations in a hierarchical form, and can be used to synchronize the information.
namespace A system that is used to group and nest the names of functions, function block
definitions, and data types.
Network Publish One of the attributes of a variable.
This attribute allows you to use CIP message communications or tag data links
to read/write variables from another Controller or from a host computer.
array specification One of the variable specifications. An array variable contains multiple elements
of the same data type. The elements in the array are specified by serial numbers
called subscripts that start from the beginning of the array.
derivative data type A data type that is defined by the user. Structures, unions, and enumerations are
derivative data types.
Range Specification One of the variable specifications. You can specify a range for a variable in ad-
vance. The variable can take only values that are in the specified range.
general-purpose slave Any of the EtherCAT slaves that cannot be assigned to an axis.
function A POU that is used to create an object that determines a unique output for the
same input, such as for data processing.
function block A POU that is used to create an object that can have a different output for the
same input, such as for a timer or counter.
partial fault level Controller error An error for which all of the control operations for one of the function modules in
the NJ/NX-series Controller stop.
An NJ/NX-series CPU Unit continues operation even after a partial fault level
Controller error.
primary periodic task The task with the highest priority.
program Along with functions and function blocks, one of the three types of POUs.
Programs are assigned to tasks to execute them.
process data communications One type of EtherCAT communications in which process data objects (PDOs)
are used to exchange information cyclically and in realtime. Process data com-
munications are also called PDO communications.

Terminology
Term Description
variable A representation of data, such as a numeric value or character string, that is
used in a user program.
You can change the value of a variable by assigned the required value. “Varia-
ble” is used as opposed to “constant,” for which the value does not change.
variable memory A memory area that contains the present values of variables that do not have AT
specifications. It can be accessed only with variables without an AT attribute.
Retain One of the attributes of a variable. The values of variables with a Retain attribute
are held at the following times. (Variables without a Retain attribute are set to
their initial values.)
• When power is turned ON after a power interruption
• When the CPU Unit changes to RUN mode
• When you specify to not initialize the values when the user program is trans-
ferred
instruction The smallest unit of the processing elements that are provided by OMRON for
use in POU algorithms.
There are ladder diagram instructions (program inputs and outputs), function in-
structions, function block instructions, and ST statements.
main memory The memory inside the CPU Unit that is used by the CPU Unit to execute the OS
and user program.
Motion Control Function Module One of the function modules. The MC Function Module performs motion control
based on commands from the motion control instructions that are executed in
the user program.
motion control instruction A function block instruction that executes motion control.
The Motion Control Function Module supports instructions that are based on
function blocks for PLCopen® motion control as well as instructions developed
specifically for the Motion Control Function Module.
user-defined event One of the events in the NJ/NX-series System. These events are defined by the
user. “User-defined events” is a generic term for user-defined errors and user-
defined information.
user-defined variable A variable for which all of the attributes are defined by the user and can be
changed by the user.
user program All of the programs in one project.
Unit A device that mounts to the CPU Rack or an Expansion Rack.
Unit configuration The configuration information for the Units that are set on the Sysmac Studio.
This information tells what Unit models are connected to the CPU Unit and
where they are connected.
literal A constant expression that is used in a user program.
enumeration One of the derivative data types. This data type takes one item from a prepared
name list of enumerators as its value.
enumerator One of the values that an enumeration can take expressed as a character string.
The value of an enumeration is one of the enumerators.
local variable A variable that can be accessed only from inside the POU in which it is defined.
“Local variable” is used as opposed to “global variable.”
Local variables include internal variables, input variables, output variables, in-out
variables, and external variables.

Revision History
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back covers of the
manual.
Cat. No. W501-E1-40

Revision code
Revision
Date Revised content
code
01 July 2011 Original production
02 March 2012 • Added information on the NJ301-££££.
• Added information on the functions supported by unit version 1.01
of the CPU Units.
• Corrected mistakes.
03 May 2012 • Added information on the functions supported by unit version 1.02
of the CPU Units.
04 August 2012 • Added information on the functions supported by unit version 1.03
of the CPU Units.
05 February 2013 • Added information on the functions supported by unit version 1.04
of the CPU Units.
06 April 2013 • Added information on the functions supported by unit version 1.05
of the CPU Units.
• Added information on the NX Series.
07 June 2013 • Added information on the functions supported by unit version 1.06
of the CPU Units.
08 September 2013 • Added information on the functions supported by unit version 1.07
of the CPU Units.
09 December 2013 • Added information on the functions supported by unit version 1.08
of the CPU Units.
10 July 2014 • Corrected mistakes.
11 January 2015 • Added information on the functions supported by unit version 1.10
of the CPU Units.
12 April 2015 • Added information on the NX701-££££and NJ101-££££.
13 October 2015 • Added information on the hardware revision.

Revision History
Revision
code
of the CPU Units.
15 July 2016 • Added information on the functions supported by unit version 1.12
of the CPU Units.
16 October 2016 • Added information on the NX1P2-££££££.
of the CPU Units.
17 January 2017 • Corrected mistakes.
of the CPU Units.
19 June 2017 • Corrected mistakes.
20 June 2017 • Added information on the functions supported by unit version 1.15
of the CPU Units.
21 October 2017 • Added information on the functions supported by unit version 1.16
of the CPU Units.
of the CPU Units.
of the CPU Units.
24 April 2018 • Added information on the NX102-££££.
of the CPU Units.
• Made changes accompanying the transfer of explanation for event
codes and errors to theNJ/NX-series Troubleshooting Manual.
25 July 2018 • Added information on the hardware revision.
of the NJ-series CPU Units.
of the NX102-££££.
of the NJ-series CPU Units.
of the NX102-££££.
of the NX1P2-££££££, NJ501-1£00, NJ301-££££, and
NJ101-££00.
of the NX102-££00, NX1P2-££££££, NJ501-1£00, NJ301-£
£££, and NJ101-££00.
of the NX701-££££, NJ501-4£00, NJ501-4£10, NJ501-1340,
and NJ501-5300.

Revision History
Revision
code
29 October 2019 • Added information on the NX1P2-9B££££.
of the NX102-££20.
of the NX701-££££, NJ501-1£20, NJ501-4320, and NJ101-£
£20.
31 August 2020 • Added information on the NJ501-R£00.
32 October 2020 • Added information on the functions supported by unit version 1.42
of the NX102-££00, NX1P2-££££££, NJ501-1£00, NJ301-£
£££, and NJ101-££00.
of the NX102-££00 and NJ501-1£00.
of the NX102-££20.
of the NX701-1£££.
34 July 2021 • Added information on the HMC-SD292, HMC-SD492, and HMC-
SD1A2 SD Memory Cards.
of the NX102-££00, NX1P2-£££££, NJ501-1£00, NJ501-R£
££, NJ301-££££, and NJ101-££00.
of the NJ501-££20, NJ501-1340, NJ501-5300, NJ501-4£££,
NJ101-1£20, and NX701-££££.
of the NX102-££20.
35 October 2021 • Added information related to the hardware revision A of the
NX701-££££.
36 November 2021 • Added information related to the hardware revision D of the NJ-ser-
ies CPU Unit.
of the NX102-££££ and NJ501-1£00.
of the NJ501-1£20, J501-4£££, NJ501-1340, NJ501-5300, and
NJ101-££20.
of NX701-££££.
38 April 2022 • Added information to Terms and Conditions Agreement.
39 June 2022 • Added information on the hardware revision B of NX701-££££.
• Added information on the hardware revision E of NJ501-££££.
• Changed descriptions on the accuracy of the built-in clock.
40 October 2022 • Made changes accompanying the release of unit version 1.50 of
the NJ-series, NX102, and NX1P2 CPU Units.

Revision History

1 1
Introduction to NJ/NX-series Con-

trollers
This section describes the features, basic system configuration, specifications, and
overall operating procedure of an NJ/NX-series Controller.
1-1 The NJ/NX-series Controllers ....................................................................... 1-2

1-1-1 Features .......................................................................................................... 1-2
1-1-2 Introduction to the System Configurations ...................................................... 1-5
1-2 Main Specifications...................................................................................... 1-14
1-3 Overall Operating Procedure for the NJ/NX-series ................................... 1-19
1-3-1 Overall Procedure ......................................................................................... 1-19
1-3-2 Procedure Details.......................................................................................... 1-20
NJ/NX-series CPU Unit Software User’s Manual (W501) 1-1

1 Introduction to NJ/NX-series Controllers
1-1 The NJ/NX-series Controllers

The SYSMAC NJ/NX-series Controllers are next-generation machine automation controllers that pro-
vide the functionality and high-speed performance that are required for machine control. They provide
the safety, reliability, and maintainability that are required of industrial controllers.
The NJ/NX-series Controllers provide the functionality of previous OMRON PLCs, and they also pro-
vide the functionality that is required for motion control. Synchronized control of I/O devices on high-
speed EtherCAT can be applied to safety devices, vision systems, motion equipment, discrete I/O, and
more.
OMRON offers the new Sysmac Series of control devices designed with unified communications spec-
ifications and user interface specifications. The NJ/NX-series Machine Automation Controllers are part
of the Sysmac Series. You can use them together with EtherCAT slaves, other Sysmac products, and
the Sysmac Studio Automation Software to achieve optimum functionality and ease of operation.
With a system that is created from Sysmac products, you can connect components and commission
the system through unified concepts and usability.
Sysmac Studio
Automation Software
Multitasking, Synchronized Control

Sequence control Motion control
NJ/NX-series Controller
IEC programming
EtherCAT control network
Safety devices I/O controls Servo Drives and Machine vision

Inverters
1-1-1 Features
Hardware Features
l Standard-feature EtherCAT Control Network Support

All CPU Units provide an EtherCAT master port for EtherCAT communications.
EtherCAT is an advanced industrial network system that achieves faster, more-efficient communi-
cations. It is based on Ethernet. Each node achieves a short fixed communications cycle time by
transmitting Ethernet frames at high speed.
1-2 NJ/NX-series CPU Unit Software User’s Manual (W501)


The standard-feature EtherCAT control network allows you to connect all of the devices required
for machine control (e.g., I/O systems, Servo Drives, Inverters, and machine vision) to the same
network.
l Support for EtherCAT Slave Terminals

You can use EtherCAT Slave Terminals to save space. You can also flexibly build systems with the
wide variety of NX Units.
1
l Achieving a Safety Subsystem
You can use NX-series Safety Control Units to integrate safety controls in a sequence and motion
1-1-1 Features
control system.
Version Information
A CPU Unit with unit version 1.06 or later and Sysmac Studio version 1.07 or higher are re-
quired to use the NX-series Safety Control Units.
l NX Units (Only for the NX102 and NX1P2)

The NX102 CPU Units and NX1P2 CPU Units allow you to mount NX-series Digital I/O Units, Ana-
log I/O Units and other Units to the CPU Unit, in addition to EtherCAT network slaves.
• You cannot mount NX-series Safety Control Units on the NX1P2 CPU Unit and use them.
Use NX-series Safety Control Units as a subsystem on EtherCAT.
l CJ-series Units (Only for the NJ£01)

NJ-series CPU Units allow you to mount CJ-series Basic I/O Units and Special Units on the I/O
bus, in addition to EtherCAT network slaves.
l Standard-feature EtherNet/IP Communications Port

All CPU Units provide an EtherNet/IP port for EtherNet/IP communications.
EtherNet/IP is a multi-vendor industrial network that uses Ethernet. You can use it for networks be-
tween Controllers or as a field network. The use of standard Ethernet technology allows you to con-
nect to many different types of general-purpose Ethernet devices.
l Standard-feature USB Port (Only for the NJ£01)

You can connect a computer that runs the Support Software directly to the CPU Unit with a USB
connection.
The NX701 CPU Unit of hardware revision A or later and CPU Units of NX102 and NX1P2 do
not provide a USB port.
l Standard-feature SD Memory Card Slot

You can access an SD Memory Card that is mounted in the CPU Unit from the user program.

l Highly Reliable Hardware

The NJ/NX-series Controllers provide the hardware reliability and RAS functions that you expect of
a PLC.
l Parallel Execution of Tasks with a Multi-core Processor (NX701, NX102,

and NX1P2)
The NX701-££££ CPU Unit has a multi-core processor that can execute more than one task in
parallel. This enables high-speed control of even large-scale devices including an improvement of
performance for large capacity data communications.
The NX102-££££ CPU Unit and NX1P2-££££ CPU Unit have a multi-core processor that can
execute the tasks, tag data link service, and system services in parallel. This maintains communi-
cations performance with the Sysmac Studio, an HMI, or other devices.
Software Features
l Integrated Sequence Control and Motion Control

A CPU Unit can perform both sequence control and motion control. You can simultaneously ach-
ieve both sequence control and multi-axes synchronized control. Sequence control, motion control,
and I/O refreshing are all executed in the same control period.
The same control period is also used for the process data communications cycle for EtherCAT. This
enables precise sequence and motion control in a fixed period with very little deviation.
l Multitasking
You assign I/O refreshing and programs to tasks and then specify execution conditions and execu-
tion order for them to flexibly combine controls that suit the application.
l Programming Languages Based on the IEC 61131-3 International Standard

The Controllers support language specifications that are based on IEC 61131-3. To these, OMRON
has added our own improvements. Motion control instructions that are based on PLCopen® stand-
ards and an instruction set (POUs) that follows IEC rules are provided.
l Programming with Variables to Eliminate Worrying about the Memory Map

You access all data through variables in the same way as for the advanced programming languag-
es that are used on computers. Memory in the CPU Unit is automatically assigned to the variables
that you create so that you do not have to remember the physical addresses.
l A Wealth of Security Features

The many security features of the NJ/NX-series Controllers include operation authority settings and
restriction of program execution with IDs.
l Complete Controller Monitoring

The CPU Unit monitors events in all parts of the Controller, including mounted Units and EtherCAT
slaves.
Troubleshooting information for errors is displayed on the Sysmac Studio or on an NS-series PT.
Events are also recorded in logs.


l Sysmac Studio Automation Software
The Sysmac Studio provides an integrated development environment that covers not only the Con-
troller, but also covers peripheral devices and devices on EtherCAT. You can use consistent proce-
dures for all devices regardless of the differences in the devices. The Sysmac Studio supports all
phases of Controller application, from designing through debugging, simulations, commissioning,
and changes during operation.
l A Wealth of Simulation Features 1

The many simulation features include execution, debugging, and task execution time estimates on
1-1-2 Introduction to the System Configurations

a virtual controller.

This section describes the system configurations of the NX-series and NJ-series Controllers.
Introduction to the System Configurations of the NX701 CPU Units

The NX701 CPU Unit supports the following system configurations.
l Basic System Configurations

The NX701 basic configurations include the EtherCAT network configuration and the Support Soft-
ware.
• EtherCAT network configuration
You can use the built-in EtherCAT port to connect to EtherCAT Slave Terminals, to general-
purpose slaves for analog and digital I/O, and to Servo Drives and encoder input slaves. An
EtherCAT network configuration enables precise sequence and motion control in a fixed cycle
with very little deviation.
• Support Software
You can connect the Support Software through an Ethernet cable that is connected to the
built-in EtherNet/IP port.
Refer to 10-2 Connection with Sysmac Studio on page 10-8 for details on the connection
configuration of the Support Software.

Support Software
Sysmac Studio
NX-series Controller
Power
Supply Unit CPU Unit
LAN
EtherNet/IP
EtherCAT Network
Configuration
Built-in EtherNet/IP port EtherCAT
Built-in EtherCAT port
Servo Drive/encoder
Slave Terminal General-purpose slaves
input slaves
• NX Units should be connected to Slave Terminals. The NX bus connector of the CPU Unit is
provided for future expansion so that it cannot be used to connect any NX Unit.
• The NX701 CPU Unit of hardware revision A or later does not provide a USB port.
You can connect the Sysmac Studio directly to the Communications Coupler Unit to set up the
Slave Terminal. Refer to the NX-series EtherCAT Coupler Units User’s Manual (Cat. No. W519)
for details.
l Network Configurations
• Host computers, HMIs, and other NJ/NX-series Controllers are connected to the built-in Ether-
Net/IP port.
• An NX701 CPU Unit has two built-in EtherNet/IP ports.


Host computer HMI
EtherNet/IP
HMI
1
NX-series Controller EtherNet/IP
Power Supply Unit CPU Unit

NJ-series Controller EtherNet/IP slave
Built-in EtherNet/IP port Built-in EtherCAT port
Refer to Section 10 Communications Setup on page 10-1 for details on the network config-
uration.
l Support Software
You can use the following Support Software to set up, monitor, and debug an NX701 CPU Unit.
• Sysmac Studio
The Sysmac Studio is the main Support Software that you use for an NX701 CPU Unit. On it,
you can set up the Controller configurations, parameters, and programs, and you can debug
and simulate operation.
• Other Support Software
The following Support Software is also included in the Sysmac Studio Software Package
Standard Edition.
Configuration software Application

Sysmac Studio The Sysmac Studio is used for sequence control, motion control, and all other
operations except those described below.
Network Configurator The Network Configurator is used for tag data links on EtherNet/IP ports.*1
*1. If the NJ/NX-series Controller is a target device, you may also use Sysmac Studio version 1.10 or
higher. Use the Network Configurator if a CS/CJ-series PLC operates as the originator device.
For the NX701 CPU Unit with unit version 1.29 or later, use Sysmac Studio on Windows 10 or
higher OS on the computer. Sysmac Studio on Windows 8.1 or lower cannot connect online to
the Controller.
Introduction to the System Configurations of the NX102 CPU Units

The NX102 CPU Unit supports the following system configurations.

The NX102 basic configurations include the EtherCAT network configuration, NX Unit configura-
tion, and the Support Software.

• EtherCAT Network Configuration

• NX Unit Configuration
In addition to the EtherCAT network, you can mount NX-series Digital I/O Units, Analog I/O
Units and other Units.
Support Software
NX Unit configuration
NX-series
NX102 CPU Unit
LAN
Built-in EtherNet/IP port 1
EtherNet/IP
Built-in EtherCAT port NX Units

CPU Rack
EtherCAT Network
EtherCAT configuration
Servo Drives/ General-purpose

Slave Terminal
Encoder input slaves slaves
An NX102 CPU Unit does not provide a USB port.
for details.


Net/IP port.
• An NX102 CPU Unit has two built-in EtherNet/IP ports.
Host computer HMI
1
EtherNet/IP
HMI

Power Supply Unit CPU Unit NJ-series Controller EtherNet/IP slave
Built-in EtherNet/IP port
Refer to Section 10 Communications Setup on page 10-1 for details on the network configu-
ration.
l Support Software
You can use the following Support Software to set up, monitor, and debug an NX102 CPU Unit.
• Sysmac Studio
The Sysmac Studio is the main Support Software that you use for an NX102 CPU Unit. On it,
• Other Support Soft
Standard Edition.

For the NX102 CPU Unit with unit version 1.49 or later, use Sysmac Studio on Windows 10 or
the Controller.
Introduction to the System Configurations of the NX1P2 CPU Units

The NX1P2 CPU Unit supports the following system configurations.


The NX1P2 basic configurations include the EtherCAT network configuration, NX Unit configura-
tion, and the Support Software.
• NX Unit configuration
In addition to the EtherCAT network, you can mount NX-series Digital I/O Units, Analog I/O
Units and other Units.
NX Unit
Support Software Configuration
NX-series NX1P2
CPU Unit
LAN
EtherNet/IP
NX Units
CPU Rack
EtherCAT Network
EtherCAT
Configuration
Servo Drive/encoder
Slave Terminal input slaves General-purpose slaves
An NX1P2 CPU Unit does not provide a USB port.
for details.


Net/IP port.
Host computer HMI
EtherNet/IP

NX-series
NX1P2

CPU Unit
Serial NJ/NX-series CPU Unit

Communications NX-series
Option Board Communications Interface Unit
Serial-communications devices
General-purpose components or OMRON components
Refer to Section 10 Communications Setup on page 10-1 for details on the network configu-
ration.
l Support Software
You can use the following Support Software to set up, monitor, and debug an NX1P2 CPU Unit.
• Sysmac Studio
The Sysmac Studio is the main Support Software that you use for an NX1P2 CPU Unit. On it,
Standard Edition.

For the NX1P2 CPU Unit with unit version 1.49 or later, use Sysmac Studio on Windows 10 or
the Controller.
Introduction to the System Configurations of the NJ-series Control-

lers
The NJ-series supports the following system configurations.


The NJ-series basic configurations include the EtherCAT network configuration, CJ-series Unit con-
figuration, and the Support Software.
• CJ-series Unit configuration
In addition to the EtherCAT network, you can mount CJ-series Basic I/O Units and Special
Units. CJ-series Units can be mounted both to the CPU Rack where the CPU Unit is mounted
and to Expansion Racks.
The Support Software is connected to the peripheral USB port on the CPU Unit with a com-
mercially available USB cable. You can also connect it through an Ethernet cable that is con-
nected to the built-in EtherNet/IP port.
Support Software
Sysmac Studio
NX-series Controller
Power
Supply Unit CPU Unit
LAN
EtherNet/IP
EtherCAT Network
Configuration
Built-in EtherNet/IP port EtherCAT
Servo Drive/encoder
Slave Terminal General-purpose slaves
input slaves
for details.
• Host computers, HMIs, and other NJ-series Controllers are connected to the built-in EtherNet/IP
port or to a CJ1W-EIP21 EtherNet/IP Unit.
• A DeviceNet network is connected to a DeviceNet Unit. A CompNet network is connected to a
CompNet Unit. A serial communications network is connected to a Serial Communications Unit.


Host computer HMI NJ-series Controller
EtherNet/IP
Serial Communications Unit
EtherNet/IP Unit
NJ-series Controller EtherNet/IP

1

CompoNet Master Unit
CompoNet
MS NS WORD NODE ADR 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MS NS WORD NODE ADR 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15

OUT OUT
CRT1-OD16 CRT1-OD16
REMOTE TERMINAL REMOTE TERMINAL
Serial General-purpose
device with serial
DeviceNet Unit communications
DeviceNet
Refer to Section 10 Communications Setup on page 10-1 for details on the network config-
uration.
l Support Software
You can use the following Support Software to set up, monitor, and debug an NJ-series Controller.
• Sysmac Studio
The Sysmac Studio is the main Support Software that you use for an NJ-series Controller. On
it, you can set up the Controller configurations, parameters, and programs, and you can de-
bug and simulate operation.
Standard Edition.

Network Configurator The Network Configurator is used for tag data links on EtherNet/IP ports or
Units. *1
CX-Integrator The CX-Integrator is used for remote I/O communications with a DeviceNet
Unit or CompoNet Master Unit.
CX-Protocol The CX-Protocol is used for protocol macros with Serial Communications
Units.
CX-Designer The CX-Designer is used to create screens for NS-series PTs.
For the NJ-series CPU Unit with unit version 1.49 or later, use Sysmac Studio on Windows 10
or higher OS on the computer. Sysmac Studio on Windows 8.1 or lower cannot connect online
to the Controller.

1-2 Main Specifications

This section gives the main specifications of the NJ/NX-series Controllers. Refer to A-1 Specifications on page
A-3 for general specifications, performance specifications, and function specifications.
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
Pro- Pro- Size 80 MB 5 MB 1.5 MB*2 20 MB 5 MB 3 MB
gram- gram Quanti- Num- 6,000 3,000 450 3,000 750 450
ming capacity ber of
ty*1 POU
defini-
tions
Num- 48,000 9,000 1,800 9,000 (*) 3,000 (*) 1,800
ber of
POU in-
stan-
ces
Memo- Retain Size 4 MB 1.5 MB 32 KB*4 2 MB 0.5 MB
ry ca- attrib- Num- 40,000 10,000 5,000 10,000 5,000 (*)
pacity utes*3 ber of
for var- varia-
iables bles
No Re- Size 256 MB 32 MB 2 MB 4 MB 2 MB
tain at-
tribu-
tes*5
Num- 360,000 90,000 90,000 180,000 90,000 22,500
ber of (*) (*)
varia-
bles
Data Number of data 8,000 1,000 1,000 2,000 1,000
type types
Memo- CIO Area --- 6,144 words (CIO 0 to CIO 6,144 words (CIO 0 to CIO
ry for 6143)*6 6143)
CJ-ser- Work Area --- 512 words (W0 to W511)
512 words (W0 to W511)*6
ies
Units Holding Area --- 1,536 words (H0 to H1535)*7 1,536 words (H0 to H1535)
(Can be
speci-
fied
with AT
specifi-
cations
for var-
iables.)
DM Area --- 32,768 words 16,000 words 32,768 words (D0 to D32767)
(D0 to (D0 to
D32767) D15999)*7


NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
Item
££££ ££££ £££££££ ££££ ££££ ££££
EM Area --- 32,768 words --- 32,768 32,768 words × 4
× 25 banks words × banks (E0_00000 to
(E0_00000 to 25 E3_32767)
E18_32767) banks
*7*8 (E0_000
00 to
E18_32 1
767)
Motion control Refer to Performance Specifications of Motion Control for Each Type of CPU
Units on page A-11.
Pe- Supported services ---*9 --- --- Sysmac Studio connection
ripher- Physical layer --- --- USB 2.0-compliant B-type con-
---*9
al nector
(USB)
port
Transmission distance ---*9 --- --- 5 m max.
Built- Number of ports 2 2 1
in Physical layer 10BASE-T/ 10BASE-T/100BASE-TX
Ether- 100BASE-
Net/IP TX /
port 1000BASE-T
Frame length 1,514 bytes max.
Media access method CSMA/CD
Modulation Baseband
Topology Star
Baud rate 1 Gbps 100 Mbps (100BASE-TX)
(1000BASE-
T)
Transmission media STP (shielded, twisted-pair) cable of Ethernet category 5, 5e or higher
Maximum transmission 100 m
distance between Ethernet
switch and node
Maximum number of cas- There are no restrictions if an Ethernet switch is used.
cade connections
CIP Maximum num- 256 per port 32 per port 32
serv- ber of connec- 512 total 64 total
ice: Tag tions
data Packet interval*10 Can be set Can be set for Can be set for Can be set for each connec-
links for each con- each connec- each connection.
(cyclic nection. tion. tion. 1 to 10,000 ms in 1-ms incre-
com- 0.5 to 10,000 1 to 10,000 ms 2 to 10,000 ms ments (*)
muni- ms in 0.5-ms in 1-ms incre- in 1-ms incre-
cati- increments ments ments
ons)
Permissible com- 40,000 12,000 3,000 pps*11 (including heartbeat) (*)
munications pps*11 (in- pps*11(includ-
band cluding ing heartbeat,
heartbeat) CIP Safety
routing)

NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
Maximum num- 256 per port 32 per port 32
ber of tag sets 512 total 40 total*12
Tag types Network vari- Network variables, CIO, Work, Network variables, CIO, Work,
ables Holding, and DM Areas Holding, DM, and EM Areas
Number of tags 8 (7 tags if Controller status is included in the tag set.)
per connection
(i.e., per tag set)
Maximum num- 256 per port 256
ber of tags 512 total
Maximum link 369,664 19,200 bytes

data size per bytes
node (total size
for all tags)
Maximum data 1,444 bytes 600 bytes
size per connec-
tion
Maximum num- 256 per port 32 per port 32 (1 connection = 1 tag set)
ber of registrable 512 total 40 total*12
tag sets (1 connec- (1 connection
tion = 1 tag = 1 tag set)
set)
Maximum tag set 1,444 bytes 600 bytes (Two bytes are used if Controller status is included in
size (Two bytes the tag set.)
are used if
Controller
status is in-
cluded in the
tag set.)
Multi-cast packet Supported.
filter*13
Built- Communications standard IEC 61158 Type12
in EtherCAT master specifica- Class B (Feature Pack Motion Control compliant)
Ether- tions
CAT Physical layer 100Base-TX
port
Modulation Baseband
Baud rate 100 Mbps (100BASE-TX)
Duplex mode Auto
Topology Line, daisy Line, daisy chain, branch, and ring *14
chain, and
branching
Transmission media Twisted-pair cable of category 5 or higher (double-shielded straight cable with
aluminum tape and braiding)
Maximum transmission 100 m
distance between nodes
Maximum number of 512 64 16*15 192 64
slaves


NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
Item
££££ ££££ £££££££ ££££ ££££ ££££
Serial Communications method --- Half duplex ---
com- (when con-
muni- nected to the
cati- Serial Commu-
ons nications Op-
tion Board)
Synchronization method --- Start-stop syn- ---
1
chronization
(when con-
nected to the
Serial Commu-
nications Op-
tion Board)
Baud rate --- 1.2/2.4/4.8/9.6/ ---
19.2/38.4/57.6/
115.2 kbps
(when con-
nected to the
Serial Commu-
nications Op-
tion Board)
Unit Maxi- Maximum num- --- 10
con- mum ber of CJ Units
figura- number per CPU Rack or
tion of con- Expansion Rack
necta-
ble
Units
Maximum num- --- 32 8 ---
ber of NX Units
per CPU Rack or
Expansion Rack
Maximum num- --- 40
ber of CJ Units
for entire control-
ler
Maximum num- 4,096 432 24 4,096 400
ber of NX Units
for entire control-
ler
Maximum number of Ex- 0 3
pansion Racks
I/O ca- Maximum num- --- 2,560
pacity ber of I/O points
on CJ-series
Units

NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
Power Model NX-PA9001 A non-isolated power supply for NJ-P£3001
Supply NX-PD7001 DC input is built into the CPU
Unit for Unit.
CPU Power AC 30 to 45 ms --- 30 to 45 ms
Rack OFF power
and Ex- detec- supply
pan- tion DC 5 to 20 ms 2 to 8 ms 22 to 25 ms
sion time power
Racks supply
Maximum NX Bus I/O data --- Inputs: 8,192 bytes ---
size Outputs: 8,192 bytes
*1. Execution objects and variable tables (including variable names)
*2. The size of program capacity is 1.0 MB for an NX1P2-9B£££££ CPU Unit.
*3. Does not include Holding, DM, and EM Area memory for CJ-series Units.
*4. Memory for CJ-series Units is included.
*5. Does not include CIO and Work Area memory for CJ-series Units.
*6. Variables without a Retain attribute are used. The value can be set for each word.
*7. Variables without a Retain attribute are used. The value can be set for each word.
*8. For the NX102 CPU Unit, creating all banks simultaneously at the maximum number of words is not possible, because
the capacity of the retain variable memory is limited to 1.5 MB.
*9. An NX701 CPU Unit without hardware revision provides a peripheral USB port of the following specification.
• Supported service: Sysmac Studio connection
• Physical layer: USB 2.0-compliant B-type connector
• Transmission distance: 5 m max.
*10. Data will be refreshed at the set interval, regardless of the number of nodes.
*11. “pps” means packets per second, i.e., the number of communications packets that can be sent or received in one sec-
ond.
*12. If more than 40 tag sets are registered in total, the Number of Tag Sets for Tag Data Links Exceeded (840E0000 hex)
event will occur.
*13. As the EtherNet/IP port implements the IGMP client, unnecessary multi-cast packets can be filtered by using an Ether-
net switch that supports IGMP Snooping.
*14. A ring topology can be used for project unit version 1.40 or later.
*15. The maximum number of slaves is 8 for an NX1P2-9B£££££ CPU Unit.
Note Items that are marked with asterisks in the table are improvements that were made during version upgrades. Refer to
A-16 Version Information for NX-series Controllers on page A-258 and A-17 Version Information for NJ-series Control-
lers on page A-262 for information on version upgrades.

1-3 Overall Operating Procedure

1-3 Overall Operating Procedure for the
for the NJ/NX-series

NJ/NX-series
This section gives the overall operating procedure of the NJ/NX-series and then describes it in more
detail.
1
1-3-1 Overall Procedure
1-3-1 Overall Procedure

The overall procedure to use an NJ/NX-series Controller is given below.
Step 1. Software Design

Design the overall system configuration, task configuration, programs, and variables.
Step 1-1 Designing I/O and Processing
Step 1-2 Designing Tasks
Step 1-3 Designing Programs
Step 2. Software Setups and Programming

Create the system configurations that you designed in step 1 on the Support Software and assign the
variables. Create the tasks and programs, and debug them, e.g., with simulations.
Step 2-1 Slave and Unit Configurations
Step 2-2 Controller Setup
Step 2-3 Programming
Step 2-4 Offline Debugging
Step 3. Mounting and Setting Hardware

Mount the Units and make the required hardware settings.
Step 4. Wiring
Connect the network cables and wire the I/O.
Step 5. Checking Operation and Starting Operation on the Actual System

Connect the Support Software to the physical system and download the project. Check operation on
the physical system and then start actual system operation.

1-3-2 Procedure Details

Step Description Reference
STEP1-1 • External I/O devices and Unit configuration NX-series CPU Unit
Designing I/O and • Refresh periods for external devices Hardware User's
Processing • Program contents Manual (Cat. No.
W535)
NX-series NX102
CPU Unit Hardware
User’s Manual (Cat.
No. W593)
NX-series NX1P2
CPU Unit Hardware
User's Manual (Cat.
No. W578)
NJ-series CPU Unit
Hardware User's
Manual (Cat. No.
W500)
STEP1-2 • Task configuration 4-2-3 Task Settings on

Designing Tasks • Relationship between tasks and programs page 4-7
• Task periods
• Slave and Unit refresh times
• Exclusive control methods for variables between tasks
STEP1-3
Designing Programs
POU (Program Or- • Programs Section 6 Program-
ganization Unit) De- • Functions and function blocks ming on page 6-1
sign • Determining the algorithm languages
Variable Design • Defining variables that you can use in more than one POU and varia- 6-3 Variables on page
bles that you use in only specific POUs 6-28
• Defining the variables names for the device variables that you use to
access slaves and Units
• Defining the attributes of variables, such as the Name and Retain at-
tributes
• Designing the data types of variables


Step 2. Software Setup and Programming

Step Description Sysmac Studio Op- Reference
erations
Project Creation 1. Create a project in the Sysmac Studio. New Project Button Sysmac Studio
Insert–Controller Version 1 Operation
2. Insert a Controller.
Manual (Cat. No.
W504)
1
The following Controller Configurations and Setup and the Programming and Task Settings can be performed in either or-

der.
STEP2-1
Slave and Unit con-
figurations
1) Creating the Slave 1. Creating the slave configuration and Unit EtherCAT Slave Set- 3-2-1 Creating the
and Unit Configura- configuration either offline or online. (For ting Editor EtherCAT Slave Con-
tions online configuration, make the online con- Unit Editor figuration on page
nection that is described in step 5.) 3-5
2. Setting up any Slave Terminals that are 3-2-2 Creating the Unit
used. Configuration on page
3-6
NX-series EtherCAT
Coupler Unit User’s
Manual (Cat. No.
W519)
2) Assigning Device Registering device variables in variable tables I/O Map 3-3 I/O Ports and De-
Variables to I/O (Variable names are user defined or automati- vice Variables on page
Ports cally created.) 3-8
(The following step is for motion control.)

3) Creating the Axes Creating the axes and setting them as real ax- Configurations and 3-5 Creating the Axes
and Assigning Them es or virtual axes. Setup - Motion and Assigning Them to
to the Servo Drive/ Creating axes groups to perform interpolated Control Setup the Servo Drives/
Encoder Input axes control. Encoder Input
Slaves Slaves/NX Units on
page 3-17

STEP2-2 Setting the following parameters from the Sys- Section 4 Controller
Controller Setup mac Studio Setup on page 4-1
Setting the initial values for the PLC Configurations and 4-2 Initial Settings for
Function Module Setup - Controller the PLC Function
Setup - Operation Module on page 4-4
Settings
For NX1P2 CPU Units Each setting is given 8-1-2 Clock on page
• Setting the clock data with clock below. 8-3
function when a Battery is mounted • Controller - 4-2-4 Unit Configura-
• Initial settings for the NX Bus Func- Controller Clock tion and Unit Setup for
tion Module • Configuration and NX102 and NX1P2
• Initial Settings for NX Units Setup - CPU/ CPU Units on page
• Initial settings for built-in I/O Expansion 4-13
• Initial settings for Option Boards RacksCPU Rack 4-3 Initial Settings for
• Memory settings for CJ-series Units • Configurations NX Units on page
and Setup - 4-18
Controller Setup - NX-series NX1P2 CPU
Built-in I/O Unit Built-in I/O and
Settings Option Board User's
• Configurations Manual (Cat. No.
and Setup - W579)
Controller Setup -
Option Board
Settings
• Configurations
and Setup -
Controller Setup -
Memory Settings
for CJ-series Units
For NJ-series CPU Units Configurations and 4-4 Initial Settings for
Initial Settings for Special Units Setup - CPU/ Special Units on page
Expansion Racks 4-22
To use motion control Configurations and 4-5 Initial Settings for
Setting the initial settings for the Motion Setup - Motion the Motion Control
Control Function Module Control Setup Function Module on
page 4-24
Setting the initial values for the Ether- Configurations and 4-6 Initial Settings for
CAT Function Module Setup - EtherCAT the EtherCAT Master
Function Module on
page 4-26
Setting the initial values for the Ether- Configurations and 4-7 Initial Settings for
Net/IP Function Module Setup - Controller the EtherNet/IP Func-
Setup - Built-in tion Module on page
EtherNet/IP Port 4-27
Settings


STEP2-3
Programming
1) Registering Varia- • Registering the variables used by more than Global Variable Table Sysmac Studio
bles one POU in the global variable table with Editor Version 1 Operation
Sysmac Studio Local Variable Table Manual (Cat. No.
• Registering the local variable table for each Editor W504)
program 6-3 Variables on page
• Registering the local variable table for each 6-28
function block and function
1
2) Writing Algo- Writing the algorithms for the POUs (programs, Programming Editor Section 6 Program-

rithms for POUs function blocks, and functions) in the required ming on page 6-1
languages NJ/NX-series
Instructions Reference
Manual (Cat. No.
W502) and NJ/NX-
series Motion Control
Instructions Reference
Manual (Cat. No.
W508)
3) Setting the Tasks Making task settings Task Settings 4-2-3 Task Settings on
page 4-7
STEP2-4 Checking the algorithms and task execution Section 7 Checking

Offline Debugging times on the Simulator (virtual controller) Operation and Actual
Operation on page
7-1

1. Mounting • Connecting adjacent Units NX-series CPU Unit
• Mounting to DIN Track Hardware User's
Manual (Cat. No.
W535)
NX-series NX102
CPU Unit Hardware
No. W593)
NX-series NX1P2
CPU Unit Hardware
No. W578)
NJ-series CPU Unit
Hardware User's
Manual (Cat. No.
W500)
2. Setting Hardware • Setting the node addresses of the EtherCAT slaves Operation manuals for
• Setting unit numbers on the rotary switches on the front of the Special the EtherCAT slaves
Units and Special Units

Step 4. Wiring
1. Connecting Ether- • Connecting the built-in EtherCAT port NX-series CPU Unit
net Cable • Connecting the built-in EtherNet/IP port Hardware User's
Manual (Cat. No.
W535)
NX-series NX102
CPU Unit Hardware
No. W593)
NX-series NX1P2
CPU Unit Hardware
No. W578)
NJ-series CPU Unit
Hardware User's
Manual (Cat. No.
W500)
2. Wiring I/O • Wiring I/O to EtherCAT slaves Operation manuals for
• Wiring Basic I/O Units and Special Units the EtherCAT slaves
NX-series CPU Unit
Hardware User's
Manual (Cat. No.
W535)
NX-series NX102
CPU Unit Hardware
No. W593)
NX-series NX1P2
CPU Unit Hardware
No. W578)
NJ-series CPU Unit
Hardware User's
Manual (Cat. No.
W500)
• Checking wiring Sysmac Studio
Version 1 Operation
Manual (Cat. No.
W504)
3. Connecting the • Connecting the USB cable*1 Sysmac Studio
Computer That Runs • Connecting the built-in EtherNet/IP port Version 1 Operation
the Sysmac Studio Manual (Cat. No.
W504)
*1. The NX701 CPU Unit of hardware revision A or later and CPU Units of NX102 and NX1P2 do
not provide a USB port.



Step Description Sysmac Studio Op- Reference
erations
1. Online Connection Turn ON the power supply to the Controller and Controller - Section 7 Checking
to Sysmac Studio place the Sysmac Studio online. Then, down- Communications Operation and Actual
and Project Down- load the project. *1 Setup Operation on page
load Perform this before you create the slave config- Controller– 7-1
uration from the mounted Units, which is ex- Synchronization
plained in STEP 2-1: Creating the Slave and
1
Unit Configurations.

2. Operation Check 1. Check the wiring by using forced refreshing --- Section 7 Checking
on Controller of real I/O from the I/O Map or Watch Tab Operation and Actual
Page. Operation on page
2. For motion control, use the MC Test Run 7-1
operations in PROGRAM mode to check
the wiring. Then check the motor rotation
directions for jogging, travel distances for
relative positioning (e.g., for electronic gear
settings), and homing operation.
3. Change the Controller to RUN mode and
check the operation of the user program.
3. Actual Controller Start actual operation. --- ---

Operation
*1. Use the Synchronize Menu of the Sysmac Studio to download the project.


2
2
CPU Unit operation
This section provides information that is necessary to use the CPU Unit, including how
the CPU Unit works and the operations that it performs depending on the status of the
CPU Unit.
2-1 Overview of CPU Unit Operation .................................................................. 2-2

2-1-1 Introduction to CPU Unit.................................................................................. 2-2
2-1-2 Overview of Operation According to CPU Unit Status .................................... 2-3
2-2 Software .......................................................................................................... 2-4
2-2-1 Software Configuration.................................................................................... 2-4
2-2-2 Operation of Software ..................................................................................... 2-4
2-3 Accessing I/O ............................................................................................... 2-12
2-3-1 Type of Variables ........................................................................................... 2-12
2-3-2 Accessing I/O with Variables ......................................................................... 2-15
2-4 I/O Refreshing of NX Bus Function Module............................................... 2-24
2-4-1 I/O Refreshing Methods ................................................................................ 2-24
2-4-2 I/O Refreshing Method Operation ................................................................. 2-25
2-5 Sequence Control and Motion Control....................................................... 2-28
2-5-1 Overview of Control....................................................................................... 2-28
2-5-2 Sequence Control System............................................................................. 2-29
2-5-3 Motion Control System .................................................................................. 2-31
2-5-4 Synchronizing Sequence Control and Motion Control................................... 2-33
2-6 Overview of CPU Unit Data ......................................................................... 2-35
2-7 Operation for CPU Unit Status .................................................................... 2-37
2-7-1 CPU Unit Status ............................................................................................ 2-37
2-7-2 Operation for CPU Unit Status ...................................................................... 2-38
2-7-3 Operating Modes........................................................................................... 2-40

2 CPU Unit operation
2-1 Overview of CPU Unit Operation

This section describes the operation of the CPU Unit and gives an overview of how it operates de-
pending on the status of the CPU Unit.
2-1-1 Introduction to CPU Unit

The NJ/NX-series CPU Unit executes the user program for sequence control and motion control. It al-
so performs other processing, such as I/O refreshing and external communications. These processes
are performed by the software in the CPU Unit.
The CPU Unit also contains settings, the user program, variables, and other data. The CPU Unit uses
this data to perform processing. Of this data, variables are used to access the CPU Unit and I/O, and
for external communications.
The internal software and the use of variables for I/O acess enable the CPU Unit to execute both se-
quence control and motion control.
Software Data
Settings
User program execution
Accessing I/O
Sequence control User program
Motion control EtherCAT slaves

I/O refreshing Variables
NX Units on the CPU Unit
External communications
Built-in I/O
Analog I/O Option Boards
CJ-series Units
Other Controllers,
host computers, etc.
External communications
Note You can use CJ-series Units only on the NJ-series CPU Units.
Note You can use NX Units on the CPU Unit only with the NX102 CPU Units and NX1P2 CPU Units. You can use
the built-in I/Os and Analog I/O Option Boards only with the NX1P2 CPU Units.
This section describes the following items to provide you with a basic understanding of how the CPU
Unit performs sequence control and motion control.
Description Reference
Software page 2-4
Accessing I/O page 2-12
Sequence control and motion control page 2-28
Overview of CPU Unit data page 2-35
Operation for CPU Unit status page 2-37

2-1 Overview of CPU Unit Operation

Refer to the following manuals for details on the use of variables for external communications.
Communication Manual
EtherNet/IP • For information on using variables with the built-in EtherNet/IP port, refer to the
NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506).
• For information on using variables with an EtherNet/IP Unit, refer to the CJ-series
EtherNet/IP Units Operation Manual for NJ-series CPU Unit (Cat. No. W495).
Serial communi- CJ-series Serial Communications Units Operation Manual for NJ-series CPU Unit
cations (Cat. No. W494).
2
2-1-2 Overview of Operation According to CPU Unit Status
2-1-2 Overview of Operation According to CPU Unit Status

The status of the CPU Unit changes when an error occurs or when you change the operating mode.
Changes in the status of the CPU Unit affect user program execution, I/O refreshing, and the process-
ing of external communications.
The CPU Unit operation according to the status of the CPU Unit is described in 2-7 Operation for CPU
Unit Status on page 2-37.

2-2 Software
This section describes the software configuration of the CPU Unit, and how the software components
operate.
2-2-1 Software Configuration

The software in the CPU Unit is divided into five modules. These functional units are called function
modules.
The function modules and the processing that they perform are described in the following table.
Function module name Processing

PLC Function Module Performs the following services: task scheduling, commands for other function
modules, event logging, execution of the user program, *1 USB port services*2,
SD Memory Card services, and data trace processing.
NX Bus Function Module*3 Performs processing such as event logging and I/O refreshing for the NX Units
that are connected to the NX bus of the CPU Unit.
Motion Control Function Mod- Performs motion control processing. *4
ule
EtherCAT Master Function Performs communications with EtherCAT slaves as the EtherCAT master, in-
Module cluding I/O refreshing*5 for the EtherCAT slaves, EtherCAT message communi-
cations*6, etc.
EtherNet/IP Function Module Performs processing for EtherNet/IP communications, including tag data link
processing, built-in EtherNet/IP port servicing, etc.
*1. Some CJ-series Units can also be connected to an NJ-series CPU Unit.
*2. The NX701 CPU Unit of hardware revision A or later and CPU Units of NX102 and NX1P2 do not provide a
USB port.
*3. Only the NX102 CPU Units and NX1P2 CPU Units have the NX Bus Function Module.
*4. This function module executes motion processing based on target values (such as the position or velocity
target value) from the motion control instructions. It outputs command values, controls status, and obtains
information through the EtherCAT Master Function Module.
*5. I/O refreshing for EtherCAT slaves is performed by using process data communications (also called PDO
communications). In PDO communications, the master and slaves exchange data cyclically at regular inter-
vals.
*6. This module communicates with the EtherCAT slaves as the EtherCAT master.
2-2-2 Operation of Software

The software in the CPU Unit performs the following four processes. Which process is performed de-
pends on the status of the CPU Unit and the execution conditions of the process itself.
Type of CPU Unit proc-

Status of CPU Unit Execution conditions Processing example
essing
Initialization Startup state Initialization is performed only Self diagnosis at
when the power supply is turned startup
ON.

Type of CPU Unit proc-

Status of CPU Unit Execution conditions Processing example
essing
Processing executed with Normal operation and The processing is executed with- User program execu-
tasks error states in the assigned task. These tasks tion and I/O refresh-
are executed either periodically ing
or only once when the specified
2-2 Software
condition is met.
Tag data link service These services are performed Tag data links
Option board service*1 only upon requests from the I/O refreshing for An-
hardware or other external devi- alog Option Boards
System services ces.
USB port service*2,
SD Memory Card 2
service, and commu-
nications processing

for Serial Communi-
cations Option
Boards*3
*1. The option board service is executed only by an NX1P2 CPU Unit.
USB port.
*3. Only the NX1P2 CPU Units support Serial Communications Option Boards.
Refer to 2-7-1 CPU Unit Status on page 2-37 for information on the CPU Unit status.
This section describes the operation of the processes.
Initialization
Initialization is performed only when the power supply is turned ON.
The following processing is performed for initialization.
Processing Description
Self diagnosis at startup Operation is monitored for the following errors: Power Supply Error, CPU
Unit Reset, CPU Unit Watchdog Timer Error, and Incorrect Power Supply
Unit Connected. *1
Data check The _RetainFail (Retention Failure Flag) system-defined variable
changes to TRUE at the following time: when the values of variables for
which the Retain attribute was set to retain the values and the values in
DM, EM, and HR Areas in the memory used for CJ-series Units*2 were
not retained after a power interruption.
Detecting NX Units*3 The NX Units mounted in the Controller are detected.
Detecting CJ-series Units*4 The CJ-series Units mounted in the Controller are detected.
Recording Power Turned ON and The Power Turned ON and Power Interrupted events are recorded.
Power Interrupted events
*1. Refer to Types of Fatal Errors in the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for information
on the following errors: Power Supply Error, CPU Unit Reset, CPU Unit Watchdog Timer Error, and Incorrect
Power Supply Unit Connected.
*2. You can use the memory used for CJ-series Units only with the NJ-series CPU Units, NX102 CPU Units,
and NX1P2 CPU Units.
*3. You can use NX Units only on the NX102 CPU Units and NX1P2 CPU Units.
*4. You can use CJ-series Units only on the NJ-series CPU Units.

Processing Executed with Tasks
l Types of Processing That Are Executed with Tasks

The following processing is performed with tasks.
Processing Description
I/O refreshing Data for EtherCAT slaves, NX Units on the CPU Unit*1, I/O built in the CPU
Unit*2, Analog I/O Option Boards in the CPU Unit*3, CJ-series*4 Basic I/O Units,
and CJ-series Special Units is input and output.
User program execution The user programming for sequence control is executed. It also sends com-
mands to the motion control process.
Motion control Motion control is executed based on commands from the user program.
System common proc- System common processing, such as data trace processing and tag data link
essing processing, is performed.
*2. You can use built-in I/O only with the NX1P2 CPU Units.
*3. You can use Analog Option Boards only with the NX1P2 CPU Units.
Refer to 5-3-3 Basic Operation of Tasks for NX701 CPU Units on page 5-12, 5-4-3 Basic Opera-
tion of Tasks for NX102 CPU Units and NX1P2 CPU Units on page 5-32, and 5-5-3 Basic Opera-
tion of Tasks for NJ-series Controllers on page 5-49 for details on the processing that is executed
with tasks.
l Task Operation
Processing is assigned to tasks. There are three kinds of tasks, as shown in the following table.
They are defined by their execution priorities and execution conditions.
Execution priority
Main processing con-
Type of periodic task (smaller values indi- Execution conditions
tent
cate higher priority)
Primary periodic task 4 The periodic task is peri- I/O refreshing, user pro-
The task has the highest odically executed. gram execution, and mo-
execution priority. tion control
Periodic task 5*1 The periodic task is peri- I/O refreshing, user pro-
This task has the next odically executed. gram execution, and mo-
highest execution priority The task period is an in- tion control
after the primary periodic teger multiple of the task
task. period of the primary pe-
riodic task.
16*2,17, or 18 The periodic task is peri- The processing that can
odically executed. be performed depends
The task period is an in- on the task execution pri-
teger multiple of the task ority.
period of the primary pe- Execution priority 16: I/O
riodic task. refreshing and user pro-
gram execution
Execution priority 17 or
18: User program execu-
tion

Execution priority
Main processing con-
Type of periodic task (smaller values indi- Execution conditions
tent
cate higher priority)
Event task 8 or 48 An event task is execut- User program execution
ed only once when the
specified condition is
2-2 Software
met.
*1. You can use the priority-5 periodic task only with the NX701 CPU Units.
*2. You cannot use the priority-16 periodic task with the NX102 CPU Unit or NX1P2 CPU Unit.
The CPU Unit executes the task with the highest execution priority first. The following operation ex-
ample is for the primary periodic task and a periodic task. If the primary periodic task is executed 2
while a periodic task is in execution, execution of the primary periodic task is prioritized.

Task period of primary Task period of primary Task period of primary
periodic task periodic task periodic task
Primary Task Task Task

periodic task
Task period of periodic task Task period of periodic task
Periodic task Task Task Task
The operation of tasks with lower priority during the execution of higher priority tasks differs be-
tween the NX701 CPU Unit, NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit. Refer to
5-2 Overview of Tasks on page 5-6 for details on task operation.
l Operation of Processing with Tasks

Processing that is assigned to a task is executed within the task in the order shown in the following
diagram. If the program contains a motion control instruction, the execution process for the pro-
gram in the task will send a command to the motion control process. The motion control process is
executed based on commands.
Task period Task period
Task Task
Processing
I/O System System

common User program execution Motion control common
refreshing processing processing
Command
Motion control instruction
Note The CPU Unit executes motion control in the primary periodic task and in the priority-5 periodic task.
Refer to 5-11-3 System Input and Output Response Times on page 5-115 for details.

With an NX701 CPU Unit, you can execute motion control in the primary periodic task and in
the priority-5 periodic task. If these two motion controls need to be identified, the motion control
in the primary periodic task is called motion control 1, while the motion control in the priority-5
periodic task is called motion control 2.
Tag Data Link Service
l Processing Performed by the Tag Data Link Service

The tag data link service processes communications that use tags with other controllers or devices
on an EtherNet/IP network. You can use the built-in EtherNet/IP port in the CPU Unit or a CJ-series
CJ1W-EIP21 EtherNet/IP Unit to connect to an HMI.
Note You can use the CJ1W-EIP21 EtherNet/IP Unit only with NJ-series CPU Units.
l Operation of the Tag Data Link Service

The tag data link service is executed periodically. The period and the time that is required for each
execution depend on the model of the CPU Unit and on the tag data link settings.
The execution priority of the tag data link service for an NJ-series CPU Unit is between the execu-
tion priorities of the priority-16 periodic task and the priority-17 periodic task. Therefore, the tag da-
ta link service will be given priority over execution of the priority-17 periodic task, but if the primary
periodic task or the priority-16 periodic task is executed, the execution of the primary periodic task
or the priority-16 periodic task is prioritized.
Task period of Task period of Task period of

primary periodic task primary periodic task primary periodic task

periodic task
Priority-16 periodic Task Task

task
Tag data link

service
Task period of periodic task
Priority-17 periodic
task Task
The tag data link service is executed with a priority that is between the execution
priorities of the priority-16 periodic task and the priority-17 periodic task.
The tag data link service for an NX-series CPU Unit is executed in parallel with the execution of
tasks.
For details on the tag data link service, refer to 5-6 Services Other Than Tasks on page 5-66.

Option Board Service
l Processing Performed by the Option Board Service

The option board service processes the I/O refreshing for an Analog Option Board that is mounted
on the NX1P2 CPU Unit.
2-2 Software
Note The option board service is executed only by an NX1P2 CPU Unit.
l Operation of the Option Board Service

The option board service for an NX1P2 CPU Unit is executed in parallel with the execution of tasks.
However, during execution of the tag data link service, the option board service is not executed. 2

periodic task
Tag data link

service
Option boad
service

Task
task
The option board service is executed in parallel with the execution of tasks.
Refer to 5-6 Services Other Than Tasks on page 5-66 for details on the option board service.
Communications Bridge Service
l Processing Performed by the Communications Bridge Service

The communications bridge service performs processing to relay CIP Safety communications be-
tween CIP Safety on EtherNet/IP devices and the NX-SL5£££ Safety CPU Unit that is mounted
to the NX102 CPU Unit.
Refer to the NX-series Safety Control Unit User’s Manual (Cat. No. Z930-E1-12 or later) for infor-
mation on the CIP Safety communications.
Note The communications bridge service is executed by an NX102 CPU Unit with unit version 1.31 or later.
l Operation of the Communications Bridge Service

The communications bridge service for an NX102 CPU Unit is executed in parallel with the execu-
tion of tasks. The tag data link service is not executed during execution of the communications
bridge service.



periodic task
Communications
bridge service
Tag data link

service

Task
task
The communications bridge service is executed in parallel with the execution of tasks.
Refer to 5-6 Services Other Than Tasks on page 5-66 for details on the communications bridge
service.
System Services
l System Services
System services include the following processing.
Processing Contents
USB port service*1 • Processing of service requests from the Sysmac Studio or host computers
Built-in EtherNet/IP port serv- • Processing of message service requests, such as CIP commands, from
ice the Sysmac Studio, an HMI, host computers, or other Controllers
• Execution of communications instructions for CIP and socket communica-
tions
Built-in EtherCAT port serv- • Execution of EtherCAT message communications
ice
Communications processing • Execution of communications processing for a Serial Communications
for a Serial Communications Option Board
Option Board*2
CJ-series Special Unit serv- • Event servicing for CJ-series Special Units
ice*3 • Execution of communications instructions (CIP)
SD Memory Card service • Access from FTP client
• SD Memory Card operations from the Sysmac Studio
• Execution of SD Memory Card instructions
Self-diagnosis • Hardware error detection
*1. The NX701 CPU Unit of hardware revision A or later and CPU Units of NX102 and NX1P2 do not pro-
vide a USB port.
*2. The communications processing for a Serial Communications Option Board is executed only by an
NX1P2 CPU Unit.
*3. The CPU Unit exchanges data between CJ-series Special Units and the memory words that are allocat-
ed to them during I/O refreshing.
You can use CJ-series Special Units only with NJ-series CPU Units.

l System Service Operations

For the NX701 CPU Units, if a request comes from the hardware or from outside of the CPU Unit,
system services are executed in parallel with other processes. System services are executed at the
required time without being affected by the execution of tasks.
For the NX102 CPU Units, if a request comes from the hardware or from outside of the CPU Unit,
2-2 Software
system services are executed in parallel with other processes. System services are executed at the
required time without being affected by the execution of tasks. However, during execution of the tag
data link service, system services are not executed.
For the NX1P2 CPU Units, if a request comes from the hardware or from outside of the CPU Unit,
system services are executed in parallel with other processes. System services are executed at the 2
required time without being affected by the execution of tasks. However, during execution of the tag
data link service or option board service, system services are not executed.

For NJ-series CPU Units, if a request comes from the hardware or from outside of the CPU Unit,
system services are executed during the unused time between the execution of all tasks.
Task period of primary Task period of primary Task period of primary Task period of primary
periodic task periodic task periodic task periodic task
Primary Task Task Task Task

periodic task
Periodic task Task Task Task Task
System
services
The system service is executed during unused time between

the execution of all tasks.
Refer to 5-6 Services Other Than Tasks on page 5-66 for details on the system services.

2-3 Accessing I/O

The CPU Unit uses variables to access I/O. This section describes how variables are used to access
I/O.
In this manual, I/O on EtherCAT slaves, NX Units on the CPU Unit, I/O built-in the CPU Unit, Analog
I/O Option Boards, and CJ-series Units are treated as I/O. Refer to the NJ/NX-series CPU Unit Built-in
EtherNet/IP Port User's Manual (Cat. No. W506) for details on how to access data in other Controllers
with tag data links.
2-3-1 Type of Variables

In an NJ/NX-series CPU Unit, you use variables in the user program to access I/O and memory in the
CPU Unit.
The type of a variable depends on whether it has attributes that are set by the user, and what it can
access.
Attribute set-
Variables Accessed data
tings
User-defined variables All attributes can CPU Unit
be set.
Semi-user-defined Device Varia- Device variables Some attributes EtherCAT slaves*2*3
variables bles for EtherCAT can be set. *1
slaves
Device variables NX Units on the CPU Unit
for NX Units*4
Device variables Built-in I/O
for built-in I/O*5
Device variables Analog I/O Option Boards
for Option
Boards*5
Device variables CJ-series Basic I/O Units and
for CJ-series CJ-series Special Units
Units*6
Cam data variables Servo Drives, encoder input
slaves, and CPU Unit
System-defined System-defined variables for PLC No attributes can CPU Unit
variables Function Module be set.
System-defined MC Common Vari- Servo Drives, encoder input
variables for able slaves, and CPU Unit
motion control Axis Variables
Axes Group Varia-
bles
System-defined variables for Ether- Built-in EtherNet/IP Port
Net/IP
System-defined variables for Ether- Built-in EtherCAT master port
CAT master
System-defined variables for NX CPU Unit
bus*7
*1. Refer to Device Variable Attributes on page 3-11 for the attributes that can be set.

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

*3. With the Sysmac Studio version 1.08 or lower, the EtherCAT slaves that are assigned to axes cannot be
accessed via EtherCAT slave device variables.
*4. You can use device variables for NX Units only with the NX102 CPU Units and NX1P2 CPU Units.
*5. You can use device variables for built-in I/Os and Option Boards only with the NX1P2 CPU Units.
2-3 Accessing I/O

*6. You can use device variables for CJ-series Units only with NJ-series CPU Units.
*7. You can use system-defined variables for NX bus only with the NX102 CPU Units and NX1P2 CPU Units.
User-defined Variables
The user defines all of the attributes of a user-defined variable. Refer to 6-3 Variables on page 6-28
2
for details on user-defined variables.
2-3-1 Type of Variables

Semi-user-defined Variables
Semi-user-defined variables have some attributes that you can set. These variables are used to ac-
cess specific data. A semi-user-defined variable can either be a device variable or a cam data varia-
ble, depending on what it can access.
l Device Variables
Device variables are used to access data in devices. A device is a general term for any Unit or
slave that is refreshed by the I/O refreshing that is performed by the CPU Unit. Specifically, it refers
to EtherCAT slaves, NX Units on the CPU Unit, built-in I/O, Analog I/O Option Boards, and CJ-ser-
ies Units.
The device and the data to access in that device determine the type of device variable, as shown
below.
Type of device variable Device Accessed data

Device variables for EtherCAT slaves*1 Process data for EtherCAT slaves*2
EtherCAT slaves
Device variables for NX NX Units on the CPU I/O data for NX Units
Units*3 Unit
Device variables for built- Built-in I/O I/O data for built-in I/O
in I/O*4
Device variables for Op- Analog I/O Option I/O data for Analog Option Boards
tion Boards*4 Boards
Device variables for CJ-series Basic I/O Units Real I/O data in Basic I/O Units
CJseries Units*5 CJ-series Special Units Operating data*6 and setup data*7 for Special Units
*2. This refers to I/O data that is exchanged during the process data communications cycle between the
master and slaves.
*3. You can use device variables for NX Units only with the NX102 CPU Units and NX1P2 CPU Units.
*4. You can use device variables for built-in I/Os and Option Boards only with the NX1P2 CPU Units.
*5. You can use device variables for CJ-series Units only with NJ-series CPU Units.
*6. This data is used in the operation of CJ-series Units. The CIO Area portion of the memory used for CJ-
series Units is used.
*7. This data is used to set up the CJ-series Units. The DM Area portion of the memory used for CJ-series
Units is used.

Device variables are used to access data for EtherCAT slaves, NX Units on the CPU Unit, built-in
I/O, Analog Option Boards, and CJ-series Units through the I/O ports. The I/O ports are logical
ports that are used to access devices.
CPU Unit
User program
Instruction
Device variable
EtherCAT slave, NX
I/O port Unit, or CJ-series Unit
Refer to 3-3-1 I/O Ports on page 3-8 for details on I/O ports and device variables.
l Cam Data Variables

Cam data variables are used to access data in cam tables, which are used for motion control. For
details, refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507).
System-defined Variables
System-defined variables are provided in advance in an NJ/NX-series Controller. The names and all
attributes are defined by the system. They have specific functions. You cannot change the variable
names or any other attributes.
The system-defined variables are specific to a function module. There are system-defined variables
for each function module. The types of system-defined variables are listed in the following table.
Function module Type of system-defined variable

PLC Function Module System-defined variables for PLC Function Module
NX Bus Function Module*1 System-defined variables for NX bus
Motion Control Function Module System-defined variables for motion control
EtherNet/IP Function Module System-defined variables for EtherNet/IP
EtherCAT Master Function Module System-defined variables for EtherCAT master
The system-defined variables for motion control are classified according to what the Motion Control
Function Module does, as listed in the following table.
System-defined variables for mo-

Description
tion control
MC Common Variables Common processing for the entire Motion Control Function Module
Axis Variables Control of individual axes
Axes Group Variables Control of axes groups*1
*1. An axes group consists of multiple axes. An axes group is used for interpolation.
Refer to A-6 System-defined Variables on page A-75 for details on system-defined variables.

2-3-2 Accessing I/O with Variables

In the CPU Unit, variables are used in the user program. Variables access the data of the assigned
I/O. The following table shows how I/O and variables are assigned in the CPU Unit. The type of varia-
ble that is used by a CJ-series Special Unit depends on the data to access.
2-3 Accessing I/O

I/O Data Variables
EtherCAT slaves EtherCAT slaves that --- Device variables for EtherCAT
are not assigned to slaves
axes
EtherCAT slaves that --- • Device variables for Ether-
are assigned to axes CAT slaves*1 2
• Axis Variables
NX Units on the CPU NX Units that are not --- Device variables for NX Units

Unit*2 assigned to axes
NX Units that are as- --- • Device variables for NX
signed to axes Units
• Axis variables
Built-in I/O*3 --- Device variables for built-in I/O
Analog I/O Option Boards*4 --- Device variables for Option

Boards
CJ-series Units*5 Basic I/O Units --- Device variables for CJ-series
Units
Special Units • Operating data Device variables for CJ-series
• Setup data Units
Assigned memory area User-defined variables
data*6
*4. You can use Analog Option Boards only with the NX1P2 CPU Units.
*6. This data is for extended functions and slave I/O that you assign by specifying addresses in memory. You
cannot access assigned memory area data with device variables.

CPU Unit
User program
Variables
Axis variables Device variables Device variables Device Device Device variables User-defined
for for NX Units variables for variables for for CJ-series Units variables
EtherCAT slaves built-in I/O Option Boards
*1
*1
I/O
EtherCAT slaves EtherCAT NX Units to Built-in Analog I/O Basic I/O

or NX Units to slaves to which which axes are I/O Option Units Assigned
which axes are axes are not not assigned Boards memory areas
assigned assigned
Operating data
Setup data
Special Units
Accessing EtherCAT Slaves

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

• Servo Drive and encoder input slaves*1 These slaves are accessed through I/O
• General-purpose slaves ports by using device variables for Ether-
CAT slaves.
Servo Drive and encoder input slaves that are assigned to axes These slaves are accessed directly with
axis variables.*2
*2. For a Servo Drive, one Servomotor is assigned as one axis to one axis variable. For an encoder input slave,
one counter is assigned as one axis to one axis variable.
Note EtherCAT slaves that cannot be assigned to axes are called general-purpose slaves. EtherCAT slaves that
can be assigned to axes are called Servo Drive and encoder input slaves. Refer to the NJ/NX-series CPU
Unit Motion Control User's Manual (Cat. No. W507) for details on Servo Drive and encoder input slaves.
l Accessing Servo Drive, Encoder Input, and General-purpose Slaves That

Are Not Assigned to Axes
These slaves are accessed through I/O ports for device variables for EtherCAT slaves. PDO com-
munications are used to access data from I/O ports.

CPU Unit
Example: General-purpose slave
Device variables
for EtherCAT slaves I/O ports
PDO communications
00
2-3 Accessing I/O

Variable
InBit00
to
to
PDO communications
15
Variable
InBit15

l Accessing Servo Drive and Encoder Input Slaves That Are Assigned to
Axes
Servo Drive and encoder input slaves that are assigned to axes are accessed directly through the
axis variable. PDO communications are used to access data from axis variables.
For example, if a Servomotor is controlled with a Servo Drive, the control commands for the Servo-
motor that is assigned to an axis variable are sent to the Servo Drive. The feedback from the Ser-
vomotor is sent from the Servo Drive to the CPU Unit by using the axis variable.
CPU Unit
Servo Drive
System-defined variables
PDO communications
Axis variable
Servomotor
Servo Drive
PDO communications
Axis variable
Servomotor
Refer to 3-5-2 Axis Variables and Axes Group Variables on page 3-17 for details on axis varia-
bles.
Version Information
With the Sysmac Studio version 1.09 or higher, device variables can be assigned to the I/O
ports of Servo Drive and encoder input slaves that are assigned to axes.
The I/O port to which a device variable can be assigned must meet either of the following condi-
tions.
• The value of the R/W attribute is R (Read only).
• The value of the R/W attribute is W (Write only), and <Not assigned> is set for the process
data field under Detailed Settings on the Axis Basic Settings Display in the Sysmac Studio.

If you perform the following steps, the system will clear the assignment of the device variable to
the I/O port of a Servo Drive and encoder input slave that is assigned to an axis. Perform it with
caution.
1. With the Sysmac Studio version 1.09 or higher, assign device variables to the I/O ports of
Servo Drive and encoder input slaves that are assigned to axes.
2. Save the project data.
3. Open the saved project data with the Sysmac Studio version 1.08 or lower.
There are two types of EtherCAT communications, PDO communications and SDO communi-
cations. PDO communications are used for commands to refresh I/O data, such as data for Ser-
vomotor position control, on a fixed control period. SDO communications are used for com-
mands to read and write data at specified times, such as for parameter transfers. Refer to the
NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) for details.
Accessing NX Units on the CPU Unit

The method that is used to access an NX Unit on the NX102 CPU Unit and NX1P2 CPU Unit depends
on the type of NX Unit.
Type of NX Unit on the CPU Unit*1 Access method

NX Units that are not assigned to axes These Units are accessed through I/O ports by using
device variables for NX Units.
NX Units that are assigned to axes These Units are accessed directly with axis variables.
These Units are accessed through I/O ports by using
device variables for NX Units.
l Accessing NX Units That Are Not Assigned to Axes

These Units are accessed through I/O ports for device variables for NX Units.
CPU Unit Digital Output Unit Digital Input Unit

Device variables
for NX Units I/O ports
Variable 00
Output Bit 00
…
…
Variable mm
Output Bit mm
Variable 00
Input Bit 00
…
…
Variable nn
Input Bit nn

l Accessing NX Units That Are Assigned to Axes

NX Units that are assigned to axes are accessed directly through the axis variable.
You can also assign the device variables to the I/O ports of NX Units that are assigned to axes.
CPU Unit
2-3 Accessing I/O

Example: Pulse Output Unit Servo Drive
Object
Axis variable
Servomotor

Device variables Example: Digital Input Unit
for NX Units I/O ports
Variable 00
Input Bit 00
to
to
Variable 01
Input Bit 01
bles.
The I/O port to which a device variable can be assigned in the NX Unit that is assigned to an
axis must meet either of the following conditions.
Accessing Built-in I/O

You access I/O that is built in an NX1P2 CPU Unit through the I/O ports for device variables for built-in
I/O.

CPU Unit
Device variables
for built-in I/O I/O ports Built-in I/O
Variable 00
Output Bit 00
…
…
Variable mm
Output Bit mm
Variable 00
Input Bit 00
…
…
Variable nn
Input Bit nn
Refer to 3-3-1 I/O Ports on page 3-8 for details.
Accessing Analog I/O Option Boards

You access Analog I/O Option Boards in an NX1P2 CPU Unit through the I/O ports for device varia-
bles for Option Boards.
CPU Unit Option Board

Device variables
for Option Boards I/O ports
Variable 00
Ch1 Analog Output Value
…
…
Variable mm
Variable 00
Ch1 Analog Input Value
…
…
Variable nn
Accessing Basic I/O Units

With an NJ-series CPU Unit, you access Basic I/O Units through the I/O ports for device variables for
the CJ-series Unit.

CPU Unit Basic Output Unit Basic Input Unit

Device variables
for CJ-series Units I/O ports
Variable 00
2-3 Accessing I/O

Ch1_In00
…
…
Variable 15
Ch1_In15
Variable 00
Ch2_In00
…
…
2
Variable 15
Ch2_In15

Accessing Special Units

With an NJ-series CPU Unit, there are two methods that you can use to access Special I/O Units.
Which method is used depends on the data to access.
Access method Data

Accessing Special Units through I/O ports by using device varia- • Operating data
bles for CJ-series Units • Setup data
Accessing Special Units by using user-defined variables with AT Assigned memory area data
specifications
l Accessing Special Units through I/O ports by Using Device Variables for
CJ-series Units
The operating data and setup data are accessed through the I/O ports for the device variables for
the CJ-series Unit. The data is exchanged during I/O refreshing.

CPU Unit Example: Analog Input Unit

Device variables
I/O ports
for CJ-series Unit
Operating data Operating data
Variable Input 1 converted

Ch1_RdAI value
Variable Input 1 disconnection

Ch1_SensErr detection
Setup data Setup data
Variable Input 1 enable setting

Ch1_InChUseCfg
Variable Input 1 mean value

processing setting
Ch1_AveCfg
l Accessing Special Units by Using User-defined Variables with AT Specifi-

cations
The assigned memory area addresses are accessed by using AT specifications for user-defined
variables to the memory addresses that are used for the CJ-series Units. The data in the memory
used for CJ-series Units is exchanged with the data in the CJ-series Units during I/O refreshing.
CPU Unit Example: DeviceNet Unit

Memory used Fixed allocations
User-defined variables for CJ-series Units for remote I/O
CIO
%3200.00
Variable 3200.00 Slave
%3201.00
Variable 3201.00 Slave
Variables that are assigned to memory Assigned memory addresses within

addresses with AT specifications the fixed allocations for remote I/O
The assigned memory addresses including the following addresses.

• Addresses in fixed allocations for DeviceNet Units
• Addresses in user-specified allocations for DeviceNet Units or CompoNet Master Units from the
CX-Integrator (A CompoNet Master Unit must be set to communications mode 8 to use the CX-
Integrator.)
• Addresses in expansion memory for High-speed Counter Units
• Addresses in expansion memory for Process I/O Units

Refer to A-9 Contents of Memory Used for CJ-series Units on page A-216 for information on the
memory used for CJ-series Units. Refer to 6-3-8 Variable Attributes on page 6-60 for information
on AT specifications.
2-3 Accessing I/O

2

2-4 I/O Refreshing of NX Bus Function

Module
This section describes I/O refreshing of the NX Bus Function Module for the NX102 CPU Units and
NX1P2 CPU Units.
The NX Bus Function Module of the NX102 CPU Unit and NX1P2 CPU Unit performs the data ex-
change cyclically with the NX Units on the CPU Unit.
The data exchange is executed by I/O refreshing in the primary periodic task. Therefore, the period of
I/O refreshing is the task period of the primary periodic task.
Only the NX102 CPU Units and NX1P2 CPU Units have the NX Bus Function Module.
2-4-1 I/O Refreshing Methods

The I/O refreshing methods of NX Units that are mounted on the NX102 CPU Unit and NX1P2 CPU
Unit are listed below.
I/O refreshing method for NX Units Actual operation

NX Units that support both Free-Run refreshing and synchronous Operates with synchronous I/O refreshing.
I/O refreshing
NX Units that support Free-Run refreshing, synchronous I/O re-
freshing, and task period prioritized refreshing
NX Units that support only time stamp refreshing Operates with time stamp refreshing.
NX Units that support only Free-Run refreshing Operates with Free-Run refreshing.
Note NX Units with different I/O refreshing methods can be mixed on the NX102 CPU Unit and NX1P2 CPU Unit.
Note You cannot change the I/O refreshing methods for NX Units on the NX102 CPU Unit or NX1P2 CPU Unit.
An outline of the I/O refreshing methods that are actually operated in the NX102 CPU Unit and NX1P2
CPU Unit is listed below.
I/O refreshing method Outline

Synchronous I/O refreshing With this I/O refreshing method, the timing to read inputs or to re-
fresh outputs is synchronized on a fixed interval between more than
one NX Units.
Time stamp refreshing With this I/O refresh method, the NX Units record the DC times*1 of
the input change asynchronously with the refresh cycle of the NX
bus or outputs at the specified DC time. Data exchange between the
NX Units and CPU Unit are performed cyclically on the NX bus re-
fresh cycles.
Input refreshing with input With this I/O refreshing method, the Input Units record the DC times
changed times when inputs change.
Output refreshing with specified With this I/O refreshing method, the Output Units refresh outputs at
time stamps specified DC times.

2-4 I/O Refreshing of NX Bus Function Mod-

I/O refreshing method Outline
Free-Run refreshing With this I/O refreshing method, the refresh cycle of the NX bus and
the I/O refresh cycles of the NX Units are asynchronous.
*1. The slaves or Units that support distributed clock synchronization have a clock that is shared by the slaves
and Units. The time that is based on this distributed clock is called the DC time.
The I/O refreshing methods that you can use depend on the model of the NX Unit. Select the NX Units
according to the I/O refreshing method to use.
ule
Refer to the manuals for the specific Units for the I/O refreshing methods that are supported by individ-
ual NX Units.
2
2-4-2 I/O Refreshing Method Operation

This section describes the operation of each I/O refreshing method in the NX102 CPU Unit and
NX1P2 CPU Unit.
The detailed operation of the I/O refreshing methods depends on the NX Units. Refer to the manuals
for the NX Units.
Operation of Synchronous I/O Refreshing

All NX Units that support synchronous I/O refreshing on the NX102 CPU Unit and NX1P2 CPU Unit
read their inputs at the same time that is synchronized with the I/O refreshing in the primary periodic
task. Outputs are also refreshed simultaneously, but at a separately set timing from inputs.
The NX Units on the CPU Unit, EtherCAT slaves, and EtherCAT Slave Terminals do not read
inputs or refresh outputs simultaneously.
l Operation Example of Synchronous I/O Refreshing

All NX Units that support synchronous I/O refreshing read their inputs at the same time.
All NX Units that support synchronous I/O refreshing refresh their outputs at the same time.
Primary period Primary period
Primary Output data Input data UPG MC Output data Input data UPG MC
periodic task processing Refreshing processing processing Refreshing processing
Synchronized
NX Unit (N1)
ON/OFF response time ON/OFF response time +
Input filter time
Synchronized
NX Unit (N2)
Synchronized ch1 ch2 ch1 ch2 ch1 ch2 ch1 ch2

NX Unit (N3)
DA conversion time All Units with synchronous All Units with AD conversion time
for each Unit input refreshing read their synchronous output for each Unit
inputs simultaneously refreshing refresh their
outputs simultaneously

Operation of Time Stamp Refreshing

The following describes the operation of time stamp refreshing.
l Operation of Input Refreshing with Input Changed Times

All NX Units that support input refreshing with input changed times on the NX102 CPU Unit and
NX1P2 CPU Unit record the DC times when inputs change (called input changed times). Then, the
input changed times are read at the time that is synchronized with the I/O refreshing in the primary
periodic task. The most recent values are always read as the input values.
The timing when the input changed times are read is the same as that for reading the inputs for
NX Units that support synchronous input refreshing.
l Operation of Output Refreshing with Specified Time Stamps

All NX Units that support output refreshing with specified time stamps on the NX102 CPU Unit and
NX1P2 CPU Unit change the outputs at the specified DC times for each NX Unit.
l Operation Example of Time Stamp Refreshing

All NX Units that support input refreshing with input changed times record the DC times when in-
puts change for each NX Unit and read the input changed times at the same time. All NX Units that
support output refreshing with specified time stamps change the outputs at the specified DC times
for each NX Unit.
periodic task processing Refreshing Refreshing
processing processing processing
DC time when input All Units that support input

changed is recorded. refreshing with input
NX Units in Input changed time read their
Refreshing with Input
Changed Time (N1) input changed times
simultaneously.
ON/OFF response time
NX Units in Output
Refreshing with
Specified Time Stamp
(N2)
Output at specified
DC time.
Operation of Free-Run Refreshing

With Free-Run refreshing, the refresh cycle of the NX bus and the I/O refresh cycle of the NX Units
operate asynchronously.
l Operation Example of Free-Run Refreshing

An example of operation for Free-Run refreshing method in the NX102 CPU Unit and NX1P2 CPU
Unit is provided in the following figure.
The NX Units that support Free-Run refreshing perform I/O processing based on their own unique
timings that is asynchronous with the I/O refreshing in the primary periodic task.

2-4 I/O Refreshing of NX Bus Function Mod-

periodic task processing Refreshing Refreshing
processing processing processing
Free-run Internal processing of NX Unit (N1) Internal processing of NX Unit (N1) Internal processing of NX Unit (N1)
NX Unit (N1)
ule
2

2-5 Sequence Control and Motion Control

This section describes the sequence control and motion control systems that are used by the CPU
Unit.
2-5-1 Overview of Control

The NJ/NX-series CPU Unit can perform both sequence control and motion control.
You execute sequence control with instructions other than motion control instructions in the user pro-
gram. Sequence control is for EtherCAT slaves, NX Units on the CPU Unit, built-in I/O, Option Boards,
and CJ-series Units. Control is performed by the PLC Function Module, NX Bus Function Module, and
the EtherCAT Master Function Module.
You perform motion control with motion control instructions in the user program for EtherCAT Servo
Drives and encoder input slaves that are assigned to axes. Control is performed by the PLC Function
Module, Motion Control Function Module, NX Bus Function Module, and the EtherCAT Master Func-
tion Module.

PLC Function Module
Sequence control
CJ-series Units
Basic I/O Unit

Device variables
Executed. Special Unit

Instruction
I/O ports
other than
a motion Built-in I/O
control
instruction Option Boards
NX Bus NX Units on the CPU Unit

Function that are not assigned to
Module axes
PDO
communi- EtherCAT slaves
cations
Servo Drive, encoder
input, and general-purpose
slaves that are not
EtherCAT assigned to axes
Master
Motion control Function EtherCAT
Executed. Module communi-
cations Servo Drive and encoder
Motion Motion Control input slaves that are
control Function assigned to axes
instruction Module
Axis variable
Command
Motion
control NX Units on the CPU
processing Unit that are assigned to
axes
Note You can use the NX Bus Function Module only with the NX102 CPU Units and NX1P2 CPU Units.
Note You can use the built-in I/Os and Option Boards only with the NX1P2 CPU Units.


Instruction Types in Terms of Control Systems

In terms of the controls, the instructions can be broadly separated into the following two types of
instructions.
Type of instruction Definition

All instructions other These instructions are executed in the user program in the PLC Function
than motion control in- Module and processing for them is completed there.
structions
(sequence control)
Motion control instruc- These instructions are executed in the user program in the PLC Function
tions Module to send commands to the Motion Control Function Module. 2
MC_Home (Homing), MC_Move (Positioning), MC_CamIn (Start Cam Oper-
ation), and other instructions for motion control operations
2-5-2 Sequence Control System

For details on motion control instructions, refer to the NJ/NX-series Motion Control Instructions
Reference Manual (Cat. No. W508). For details on other instructions, refer to the NJ/NX-series
Instructions Reference Manual (Cat. No. W502).
Version Information
With the Sysmac Studio version 1.09 or higher, device variables can be assigned to the I/O
ports of Servo Drive and encoder input slaves that are assigned to axes.
The I/O port to which a device variable can be assigned must meet either of the following condi-
tions.
If you perform the following steps, the system will clear the assignment of the device variable to
the I/O port of a Servo Drive and encoder input slave that is assigned to an axis. Program oper-
ations with caution.
1. With the Sysmac Studio version 1.09 or higher, assign device variables to the I/O ports of
Servo Drive and encoder input slaves that are assigned to axes.
2. Save the project data.
3. Open the saved project data with the Sysmac Studio version 1.08 or lower.
2-5-2 Sequence Control System

The way that the sequence control works depends on the device to control. This section describes the
operation of the function modules and the control period as part of the sequence control system.
Sequence Control System

Device
Operation of Function Modules Control Period
Servo Drive, encoder in- • The PLC Function Module executes the user The task period of the task
put*1,and general-purpose program and refreshes the device variables. to which the program is as-
slaves that are not assigned • The EtherCAT Master Function Module ex- signed (i.e., the task period
to axes changes data with the slaves through the I/O of the primary periodic task
ports for device variables. or a periodic task)*2

Sequence Control System

Device
Operation of Function Modules Control Period
NX Units on the CPU Unit • The PLC Function Module executes the user Primary periodic task*4
that are not assigned to program and refreshes the device variables.
axes*3 • The NX Bus Function Module exchanges data
with the NX Units on the CPU Unit through the
I/O ports for device variables.
Built-in I/O*5 The PLC Function Module executes the user pro- Primary periodic task
gram, refreshes the device variables, and ex-
changes data with the built-in I/O.
Option Boards*6 The PLC Function Module executes the user pro- Primary periodic task*7
gram, refreshes the device variables, and ex-
changes data with the Option Boards.
CJ-series Units*8 The PLC Function Module executes the user pro- The task period of the task
gram, refreshes the device variables, and ex- to which the program is as-
changes data with the CJ-series Units. signed (i.e., the task period
of the primary periodic task
or a periodic task)*9
*1. With the Sysmac Studio version 1.09 or higher, a Servo Drive and encoder input slave that is assigned to an
axis can also be a part of sequence controls if you assign the device variable to the I/O port of the slave.
*2. The data refresh period in the slave depends on settings in the slave.
*3. You can use NX Units on the CPU Unit only with the NX102 CPU Units and NX1P2 CPU Units. An NX Unit
on the CPU Unit to which an axis is assigned can also be a part of sequence controls if you assign the de-
vice variable to the I/O port of the NX Unit.
*4. The I/O refresh cycles of the NX Units that operate with Free-Run refreshing and the control period of the
CPU Unit are asynchronous.
*6. You can use Option Boards only with the NX1P2 CPU Units.
*7. The primary periodic task and the data exchange period of Option Boards are asynchronous.
*9. The data exchange period with a CJ-series Unit is the task period to which I/O refreshing for the CJ-series
Unit is assigned.
Servo Drive, encoder input, and general-purpose slaves that are not assigned to axes are refreshed in
the process data communications cycle. This means that I/O refreshing takes place in the task period
of the primary periodic task or the priority-5 periodic task. However, execution of the programs and re-
freshing of the device variables take place in the task period of the task to which the programs are
assigned. Therefore, the slave values are not reflected and not controlled by the device variables until
the task period of the task to which the programs are assigned.
If it is necessary to control a slave in the process data communications cycle, assign the program that
controls the slave to the primary periodic task or the priority-5 periodic task.


PLC Function Module
NX Units on the CPU Unit
User program NX Bus
Function that are not assigned to axes
execution
Module
Built-in I/O
I/O ports
Device variables
Option Board
Executed.
Instruction CJ-series Unit Servo Drive, encoder
input, and general-pur-
pose slaves that are not
assigned to axes
EtherCAT
Master PDO communications
Function
Module 2
2-5-3 Motion Control System

Sequence control period (task I/O refreshing in the process data communi-
period of the primary periodic task cations cycle (i.e., task period of the primary Data refresh
or the periodic task) periodic task or the priority-5 periodic task) period in slave
• You can use the priority-5 periodic task only with the NX701 CPU Unit.
• With an NX701 CPU Unit, you can perform process data communications in the primary peri-
odic task and the priority-5 periodic task. If these two process data communications cycles
need to be identified, the communications cycle for the primary periodic task is called process
data communications cycle 1, while the communications cycle for the priority-5 periodic task
is called process data communications cycle 2.
• The NX102 to CPU Units, NX1P2 CPU Units, and NJ-series CPU Units perform process data
communications only in the primary periodic task.
• You can use NX Units only on the NX102 and NX1P2 CPU Units.
• You can use the built-in I/Os and Option Boards only with the NX1P2 CPU Units.
• You can use CJ-series Units only on the NJ-series CPU Units.
2-5-3 Motion Control System

This section describes the operation of the function modules and the control period as part of the se-
quence control system.
l Operation of Function Modules

• The PLC Function Module executes motion control instructions in the user program and sends
commands for motion control to the Motion Control Function Module. Axis variables are used for
these commands.
• The Motion Control Function Module performs motion control processing based on commands
from the PLC Function Module. It then reflects the results of this processing in the axis variables.
• The EtherCAT Master Function Module sends the command values of the axis variable to the
Servo Drive or other slaves by using EtherCAT communications.
• The NX Bus Function Module outputs the command values of the axis variable to the NX-series
Pulse Output Unit or other Unit on the CPU Unit.
l Control Period
The motion control period is the task period of the primary periodic task or the priority-5 periodic
task.

Motion control processing in the Motion Control Function Module is executed in the task period of
the primary periodic task or the priority-5 periodic task. The Motion Control Function Module also
exchanges data with Servo Drive and encoder input slaves that are assigned to the axes to control
in the process data communications cycle of the primary periodic task or the priority-5 periodic
task. The process data communications cycle is synchronized with the primary periodic task or the
priority-5 periodic task.
Furthermore, in the NX102 CPU Units and NX1P2 CPU Units, the Motion Control Function Module
exchanges data with NX Units on the CPU Unit that are assigned to the axes to control in the pri-
mary periodic task.
This makes the motion control period the same as the task period of the primary periodic task or
the priority-5 periodic task, which allows complete synchronization of multiple axes.
However, the following restrictions apply:
• The motion control instruction is executed and the command for motion control is sent in the se-
quence control period.
• The data refresh period in the EtherCAT slave depends on settings in the slave.
PLC Function Module Motion Control EtherCAT

Function Master
User program execution Module Function Servo Drive and encoder
Module input slaves that are
assigned to axes
Executed. EtherCAT
Motion Motion communications
control
Axis variable
control processing
instruction Command
Axis variable
Motion control period = The process data communications Data refresh

Sequence control period (task period (i.e., task period of the cycle is the same as the task period period in slave
of the primary periodic task or the primary periodic task or of the primary periodic task or the
priority-5, or -16 periodic task) the priority-5 periodic priority-5 periodic task.
task)
• You can use the priority-5 periodic task only with the NX701 CPU Unit.
• With an NX701 CPU Unit, you can execute motion control in the primary periodic task and in
the priority-5 periodic task. If these two motion controls need to be identified, the motion con-
trol in the primary periodic task is called motion control 1, while the motion control in the prior-
ity-5 periodic task is called motion control 2.
• The NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units perform motion control
only in the primary periodic task.
• Use the Sysmac Studio to assign an axis to an EtherCAT slave and NX Unit mounted on the
NX102 and NX1P2 CPU Units, which are controlled by the Motion Control Function Module.
This allows the PLC Function Module to send commands to the Motion Control Function
Module for motion control instructions that are executed in the user program. It also allows
the PLC Function Module to obtain information from the Motion Control Function Module
through the axis variables.
• The task to which the program that contains the motion control instructions is assigned deter-
mines the I/O response time of the motion control system. Refer to 5-11-3 System Input and
Output Response Times on page 5-115 for details.


2-5-4 Synchronizing Sequence Control and Motion Control
The sequence control period is the task period of the task to which the program and I/O refreshing are
assigned. However, motion control is always executed in the task period of the primary periodic task or
the priority-5 periodic task. The process data communications cycle for the EtherCAT slave to use for
motion control is synchronized with the primary periodic task or the priority-5 periodic task.
With an NX701 CPU Unit, you can set motion control to execute motion processing for each axis and
each axes group. For axes or axes groups for which you set motion control 1, motion control and proc-
ess data communications are executed in the task period of the primary periodic task. For axes or ax-
es groups for which you set motion control 2, motion control and process data communications are
executed in the task period of the priority-5 periodic task. 2
The NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units perform motion control and proc-
ess data communications for axes and axes groups in the task period of the primary periodic task.
2-5-4 Synchronizing Sequence Control and Motion Control

If you assign the sequence control program to the task that motion control is executed, you can syn-
chronize the sequence control period and motion control period with the process data communications
cycle for EtherCAT.
The following diagram shows a program assigned to the primary periodic task. In the following dia-
gram, the sequence control period, motion control period, and process data communications cycle on
EtherCAT are all synchronized.
Sequence control
period (i.e., period of
primary periodic task) Sequence control period Sequence control period
User program User program User program

Sequence control execution execution execution
Motion control period Motion control period Motion control period
Motion Motion Motion

Motion control control control control
Process data Process data Process data

PDO communi-
communications cycle communications cycle communications cycle
cations on
EtherCAT
I/O refreshing I/O refreshing I/O refreshing
Slave/Unit Slave/Unit Slave/Unit

• Relationship among motion controls, tasks, and process data communications cycles for the
NX701 CPU Units
Process data communications

Motion control Task to execute
cycle
Motion control 1 Primary periodic task Process data communications cy-
cle 1
Motion control 2 Priority-5 periodic task Process data communications cy-
cle 2
• Relationship among motion controls, tasks, and process data communications cycles for the
NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units
Process data communications

Motion control Task to execute
cycle
Motion control Primary periodic task Process data communications cy-
cle

2-6 Overview of CPU Unit Data
2-6 Overview of CPU Unit Data

The CPU Unit also contains settings, the user program, present values, and other data. The main data
is described in the following table.
For all data on the CPU Unit, refer to A-8 Attributes of CPU Unit Data on page A-210.
Type of data Description

Settings EtherCAT EtherCAT Slave This is information on the EtherCAT slave configuration.
Configura- Configuration
tion EtherCAT Mas- The EtherCAT Master Settings contain parameter settings for
2
ter Settings the EtherCAT Master Function Module, such as the communi-
cations cycle.
Unit Configuration and Unit The Unit Configuration and Unit Setup contain information on
Setup the Unit configuration that enables the CPU Unit to recognize
the Units, and the initial settings of Units.
I/O Map The I/O Map contains assignment information between the
variables and the I/O ports that are automatically created
based on the Unit configuration.
Controller Operation Set- The Operation Settings include the Startup Mode setting, Se-
Setup tings curity Settings, and System Service Monitoring Settings.
Built-in Ether- The Built-in EtherNet/IP Port Settings contain the following set-
Net/IP Port Set- tings:
tings TCP/IP settings, Ethernet settings, DHCP settings, DNS set-
tings, FTP settings, NTP settings, and SNMP settings
Motion Control Setup The Motion Control Setup consists of settings for Axis Varia-
bles and Axes Group Variables for axis and axes groups, and
motion control parameter settings.
Cam Data Settings The cam data includes cam tables that consist of phase/
displacement data for use in cam operation for motion control
instructions.
Event Settings These settings are for user-defined errors and user-defined in-
formation.
Task Settings The Task Settings contain settings for the task types, number
of tasks, task execution conditions, task names, programs exe-
cuted in the task, and other task settings.
Data Trace Settings The Data Trace Settings include settings for trigger conditions.
Tag Data Link Tables The Tag Data Link Tables contain the tag data link settings for
EtherNet/IP.
Controller Name The Controller name is the name of the CPU Unit.
Operation Authority Verifica- This data contains the operation authority passwords to per-
tion form Sysmac Studio operations for the CPU Unit.
User Authentication This function authenticates each user when Sysmac Studio is
going online with the Controller and restricts operation accord-
ing to the user's privileges.
Built-in Set Time This is the time information that is used inside the CPU Unit.
Clock Time Zone Set- This is the time zone that is set for the clock in the CPU Unit.
ting

Type of data Description

User Pro- POUs (program organization These are the definitions of the programs, functions, and func-
gram units) tion blocks. The local variable tables and the initial values of
the variables are also included.
Data Data Types This data contains the definitions of the data types.
Global Varia- This data gives the attribute information of the global variables.
bles It includes the Initial Value and Retain attributes.
Present Values of Variables This data contains the values of the variables.
Values Contents of memory used for These are the values of the CIO, Working, Holding, DM, and
CJ-series Units*1 EM Areas in the memory for CJ-series Units.
Other Da- Event Logs The event logs include the error log for the Controller, and logs
ta of events other than errors, such as when the power supply
was turned ON and OFF and when operation started.
Absolute Encoder Home Off- This data is used to restore the actual position of a Servo Drive
sets with an absolute encoder in motion control. The offset is the
difference between the command position after homing and
the absolute data that is read from the absolute encoder.

2-7 Operation for CPU Unit Status

This section describes the processing that is performed for user program execution, I/O refreshing,
and external communications according to the status of the CPU Unit. It also describes the operating
modes that change the execution status of the user program when the CPU Unit is in the normal oper-
ation state.
2-7-1 CPU Unit Status

The CPU Unit can be in any of three states: startup state, normal operation state, or error state. These 2
states are defined as follows:
2-7-1 CPU Unit Status

State Definition
Startup state The software is initializing the system.
Normal operation The software is executing processing for instructions that are executed in a task or it is ex-
ecuting a system service. A Controller error has not occurred.
Error state A Controller error occurred when the software was executing processing for instructions
that are executed in a task or it was executing a system service.
The normal operation state has these three states for operation: PROGRAM mode, RUN mode, and
downloading. A CPU Unit in the normal operation state changes to the other states due to user inter-
action. This state is defined as follows:
State Definition
PROGRAM mode The operating mode is PROGRAM mode.
RUN mode The operating mode is RUN mode.
Downloading Data is being downloaded from the Sysmac Studio.
Note Refer to 2-7-3 Operating Modes on page 2-40 for details on PROGRAM mode and RUN mode.
l CPU Unit Status

The CPU Unit enters the startup state after the power supply is turned ON. About 10 to 20 seconds
after the CPU Unit enters the startup state, software processing begins and the CPU Unit changes
to normal operation. If a Controller error occurs during normal operation, the CPU Unit changes to
the error state. When you reset the Controller error, the CPU Unit returns to normal operation.
When the CPU Unit changes from startup state to normal operation, it will change to the operating
mode that you specify in the Controller Setup. You can set the operating mode at startup to PRO-
GRAM mode or RUN mode. Thereafter, changing the operating mode causes the CPU Unit to
change between PROGRAM mode and RUN mode. If you download data from the Sysmac Studio
during PROGRAM mode, the CPU Unit will change to the downloading state. The CPU Unit will
return to PROGRAM mode when the download is completed.

Power ON
Execution and comple- Startup state

tion of data download
from the Sysmac Studio. Software processing started.
Normal operation
PROGRAM
Controller error occurs
mode
Error state
Downloading Controller error is reset.
RUN mode
Operating mode is changed.
• You can check the operating status of the CPU Unit with the status indicators on the front
panel of the CPU Unit. Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503)
for troubleshooting procedures using the status indicators.
• Refer to A-8 Attributes of CPU Unit Data on page A-210 for information on data operations
when the CPU Unit status changes.
• Refer to 6-3-9 Changes to Variables for Status Changes on page 6-68 for the values that
variables take when the status of the CPU Unit changes.
2-7-2 Operation for CPU Unit Status

Changes in the status of the CPU Unit affect user program execution, I/O refreshing, and the operation
of external communications. The following table shows how each process operates in startup state
and during normal operation.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for information on the Non-fatal
Errors.
Operation Operation during normal operation

CPU Unit processing during start- PROGRAM
RUN mode Downloading
up mode
User program Stopped. Stopped. Executed. Stopped.
I/O refreshing for Ether- Stopped. Executed. EtherCAT communications
CAT slaves changes to safe-operational
state. *1*2
I/O refreshing for NX Stopped. Executed. Stopped. *2
Units on the CPU Unit,
built-in I/O, or Analog
I/O Option Boards
I/O refreshing for CJ- Stopped. Executed.
series Units
External communica- Stopped. Executed. Executed. *3
tions
*1. Only the input values are refreshed.
*2. I/O refreshing is executed when the device output hold configuration is set to enable (16#A5A5) in the
_DeviceOutHoldCfg (Device Output Hold Configuration) system-defined variable. Refer to Device Output


Hold Configurations on page 6-71 for the device output hold configurations. A CPU Unit with unit version
1.13 or later and Sysmac Studio version 1.17 or higher are required to use the _DeviceOutHoldCfg (Device
Output Hold Configuration) system-defined variable.
*3. The tag data links remain in effect, but the values of those links are not refreshed. The output tags retain the
values from before the download was started. The values in the input tags are not reflected in the variables.
l Values of Outputs in I/O Refreshing

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

Operation dur-
Outputs PROGRAM
ing startup RUN mode Downloading
mode 2
Outputs from EtherCAT slaves Controlled by the The outputs have the values Controlled by the
slave settings. *1 of the device variables for slave settings. *2*3
2-7-2 Operation for CPU Unit Status

EtherCAT slaves.
Outputs from NX Units on the Changed to the The outputs have the values Controlled by the Unit
CPU Unit initial values of of the device variables for NX settings. *3
Units. Units.
Outputs from built-in I/O Turned OFF. The outputs have the values Turned OFF. *3
of the device variables for
built-in I/O.
Outputs from Analog I/O Op- Turned OFF. The outputs have the values Turned OFF. *3
tion Boards of the device variables for Op-
tion Boards.
Outputs from CJ-series Basic Turned OFF. The outputs have the values of the device variables for
Output Units CJ-series Units. *3*4
*1. Refer to the manuals for each slave for information on the slave settings that apply until EtherCAT com-
munications starts after the power supply is turned ON.
*2. When the download is completed, initialization of the EtherCAT slaves starts. When initialization is in
progress, the outputs reflect the settings for the slave.
*3. Device outputs are retained even when the operating mode changes or when downloading if the device
output hold configuration is set to enable (16#A5A5) in the _DeviceOutHoldCfg (Device Output Hold
Configuration) system-defined variable. Refer to 6-3-9 Changes to Variables for Status Changes on
page 6-68 for details.
A CPU Unit with unit version 1.13 or later and Sysmac Studio version 1.17 or higher are required to use
the _DeviceOutHoldCfg (Device Output Hold Configuration) system-defined variable.
*4. When the download is completed and when the operating mode is changed, the values in the device
variables for CJ-series Units are initialized to the values of the Initial Value attributes.
Refer to 6-3-8 Variable Attributes on page 6-60 for information on the Initial Value attribute for var-
iables.
Refer to Device Output Hold Configurations on page 6-71 for details on the device output hold
configurations.
• You can use the built-in I/Os and Analog I/O Option Boards only with the NX1P2 CPU Units.
• You can use CJ-series Units only on the NJ-series CPU Units.

Servo Drive Response to Changes in Operating Mode

If the operating mode changes from RUN to PROGRAM mode during a motion control opera-
tion, the axes will decelerate to a stop at the maximum deceleration rate.
Changing the Operating Mode during Initialization of EtherCAT Slaves
You can change the operating mode of the CPU Unit to RUN mode while EtherCAT slaves initi-
alization is in progress. If you do, provide programming to confirm that communications are es-
tablished before you attempt to use slave data in control operations. Your program can use the
_EC_PDSlavTbl (Process Data Communicating Slave Table) system-defined variable to see if
the process data inputs and outputs are valid for all of the slaves.
2-7-3 Operating Modes

You can change the operating mode according to the purpose of operation, such as functional testing
or actual operation. You can set the operating mode to RUN mode or PROGRAM mode, depending on
the purpose. The execution status of the user program is different in each operating mode. The follow-
ing table gives the purpose for each operating mode and the execution status of the user program.
Operating mode Application User program execution status

RUN mode*1 RUN mode is for trial operation or actual opera- Executed.
tion.
PROGRAM mode PROGRAM mode is for checking I/O wiring and Not executed.
other functional testing without executing the
user program.
*1. For the default setting, the CPU Unit will enter RUN mode when the CPU Unit changes from startup state to
normal operation.
The CPU Unit performs various operations when the operating mode is changed, i.e., the axes
are stopped, and motion control instructions are aborted. For details on how the Motion Control
Function Module operates when the operating mode is changed, refer to the NJ/NX-series
Motion Control Instructions Reference Manual (Cat. No. W508).
Operations You Can Perform from the Sysmac Studio or An HMI in

Each Operating Mode
The major operations that you can perform from the Sysmac Studio or an HMI in each operating mode
are listed in the following table.
Operation RUN mode PROGRAM mode

Sysmac Studio Synchronization Not possible. Possible.
Online editing Possible.
Forced refreshing Possible.
Changing the values of variables or memory Possible.
used for CJ-series Units*1
HMI Changing the values of variables or memory Possible.
used for CJ-series Units*1


Retention of Variable Values during Changes in Operating Mode
The following table shows how the Retain attribute affects the variable values when the operating
mode is changed between RUN mode and PROGRAM mode.
Retain attribute of vari-

Value of variables
able
Non-retain If initial values are set, the variables change to the initial values.
If no initial values are set, the variables change to the system-defined initial val-
ues.*1
Retain The values before the operating mode changed are retained. 2
*1. The system-defined initial values of variables depend on the data types of the variables. Refer to When the
Initial Value Specification Is Left Blank on page 6-66.
2-7-3 Operating Modes

Refer to 6-3-9 Changes to Variables for Status Changes on page 6-68 for the values that variables
take when the status of the CPU Unit changes.
Setting and Changing the Operating Mode

When operation starts after the power supply is turned ON, the CPU Unit operates in the operating
mode that you specify in the Controller Setup. During normal operation, you change the operating
mode for different purposes. You use the Sysmac Studio to set and change the operating mode.
l Operating Mode Setting After the Power Supply Is Turned ON

When the CPU Unit starts operating after the power supply is turned ON, the CPU Unit operates in
the operating mode that you set as the Startup Mode. Specify RUN mode or PROGRAM mode in
the Startup Mode setting in the Operation Settings in the Controller Setup. Refer to Section 4 Con-
troller Setup on page 4-1 for details on the Startup Mode setting.
l Changing the Operating Mode during Operation

You can change the operating mode from the Sysmac Studio. Select the RUN mode or PROGRAM
mode form Controller - Operating Mode on the menu bar.
Always confirm the safety of the controlled system before you change the setting of the Startup
Mode or the current operating mode.
Checking the Operating Mode

You can check the operating mode with the RUN indicator on the CPU Unit or the Sysmac Studio.
l Checking the RUN Indicator

The RUN indicator on the CPU Unit indicates the operating mode as given below.
RUN indicator status Operation mode

Not lit PROGRAM mode
Lit RUN mode

l Checking the Operating Mode from the Sysmac Studio

You can check the operating mode from the Controller Status Pane of the Sysmac Studio. The fol-
lowing Controller Status Panel indicates that the CPU Unit is in RUN mode.
With an NX701 CPU Unit or NJ-series CPU Unit, if you want to output a signal when the CPU
Unit is in RUN mode, use the RUN output on the Power Supply Unit. Refer to the NX-series
CPU Unit Hardware User’s Manual (Cat. No. W535) and the NJ-series CPU Unit Hardware
User's Manual (Cat. No. W500) for details on the RUN output on the Power Supply Unit.

3
I/O Ports, Slave Configuration,
and Unit Configuration
3
This section describes how to use I/O ports, how to create the slave and Unit configu-
rations, and how to assign functions.
3-1 Procedure to Create the Slave and Unit Configurations ............................ 3-2
3-2 Creating and Comparing the Slave and Unit Configurations..................... 3-5
3-2-1 Creating the EtherCAT Slave Configuration .................................................... 3-5
3-2-2 Creating the Unit Configuration ....................................................................... 3-6
3-2-3 Verifying the Unit Configuration....................................................................... 3-6
3-3 I/O Ports and Device Variables ..................................................................... 3-8
3-3-1 I/O Ports .......................................................................................................... 3-8
3-3-2 I/O Port Names................................................................................................ 3-9
3-3-3 Device Variables.............................................................................................3-11
3-4 Allocating Variables to Units....................................................................... 3-14
3-4-1 Procedure to Assign Variables to Units ......................................................... 3-14
3-4-2 Using Variables Assigned to Units ................................................................ 3-15
3-5 Creating the Axes and Assigning Them to the Servo Drives/
Encoder Input Slaves/NX Units.................................................................... 3-17
3-5-1 Introduction.................................................................................................... 3-17
3-5-2 Axis Variables and Axes Group Variables ..................................................... 3-17
3-5-3 Creating and Using Axes and Axis Variables ................................................ 3-19

3 I/O Ports, Slave Configuration, and Unit Configuration
3-1 Procedure to Create the Slave and

Unit Configurations
This section provides the procedures for the slave and Unit configurations.
The shaded steps in the overall procedure that is given below are for the slave and Unit configura-
tions.


Step 4. Wiring
Refer to 1-3 Overall Operating Procedure for the NJ/NX-series on page 1-19 for details.

3-1 Procedure to Create the Slave and Unit Configura-

Step 1 Create the EtherCAT slave configuration (if EtherCAT is used)
Reference
and the Unit configuration (if NX Units or CJ-series Units are used).
• Create the EtherCAT slave configuration. 3-2-1 Creating the Ether-
CAT Slave Configuration
EtherCAT slave configuration
on page 3-5
Sysmac Studio
3-2-2 Creating the Unit
CPU Configuration on page
Unit 3-6
EtherCAT
tions
Slave configuration information
Created with the EtherCAT slave configuration settings. 3

• Create the Unit configuration.
Unit configuration
Sysmac Studio Unit configuration information
CPU
Unit
Created in the Unit Configuration and Unit Setup
Step 2 Assign Device Variables to I/O ports. Reference

• Register the device variables. 2-3-1 Type of Variables
on page 2-12
Registering the device variables
Sysmac Studio 3-3 I/O Ports and Device
Slave/Unit I/O port Device variable
Variables on page 3-8
Assign a new device
variable or a variable
from a variable table for
each I/O port.
Created in the I/O Map.

Step 3 Create the axes and assigning them to the slaves or Units (if motion control is
Reference
used).
1. Create the axes. 3-5 Creating the Axes
and Assigning Them to
2. Assign the axes to the slaves or Units in the EtherCAT configuration or Unit configuration.
the Servo Drives/Encoder
Axis Setup EtherCAT slave configuration/Unit configuraton Input Slaves/NX Units on
Servo Drives page 3-17
Axes Assigned.
A CPU
Axis variable a Unit
Sysmac Studio
EtherCAT
Axis variable b B
A B C D
Axis variable c C
Servo Drives/encoder input slaves
Encoder input slave

Axis variable d D
Assigned in the Axis Setup. From EtherCAT configuration/Unit configuration

3-2 Creating and Comparing the Slave and Unit Configu-

3-2 Creating and Comparing the Slave
and Unit Configurations
To enable accessing the slaves and Units in the Controller, you create a slave Configuration and a
Unit configuration on the Sysmac Studio. You can also compare the Unit configuration that was creat-
ed on the Sysmac Studio with the physical Unit configuration.
3-2-1 Creating the EtherCAT Slave Configuration
rations
In the EtherCAT Tab Page of the Sysmac Studio, create the EtherCAT slave configuration that is rec-
ognized as “correct” by the CPU Unit.
3
CPU Unit
3-2-1 Creating the EtherCAT Slave Configuration

EtherCAT master
EtherCAT
EtherCAT EtherCAT EtherCAT

slave slave slave
EtherCAT slave configuration
Created with the Sysmac Studio.
The I/O ports are automatically registered for the slaves in the configuration. Later, the user assigns
device variables to the I/O ports.
You can specify device variables in the user program to access the slaves.
Refer to EtherCAT Configuration and Settings in the Sysmac Studio Version 1 Operation Manual (Cat.
No. W504) for specific procedures to create the EtherCAT slave configuration.
• If you connect EtherCAT Slave Terminals, create the EtherCAT slave configuration, create the
Slave Terminal configuration, and set the operation settings. Refer to the NX-series EtherCAT
Coupler Units User’s Manual (Cat. No. W519) for information on the Slave Terminal configu-
ration and operation settings.
• If you use built-in I/O or Option Boards with an NX1P2 CPU Unit, make the configuration set-
tings and other settings in the Controller Setup.
Version Information
quired to use EtherCAT Slave Terminals.

If the EtherCAT slaves are Servo Drives or encoder input slaves, after they are registered in the
EtherCAT slave configuration, Axis Variables are registered automatically by creating the axes.
Refer to Creating the Axes and Assigning Them to the Servo Drives/Encoder Input Slaves/NX
Units for details.
3-2-2 Creating the Unit Configuration

Use the Unit Editor in the Unit Configuration and Setup Tab Page of the Sysmac Studio to create the
Unit configuration that is recognized as correct by the CPU Unit.
Create the Unit configuration with
the Unit Editor of the Sysmac Studio.
Unit configuration
CPU Unit
Basic I/O Unit
Basic I/O Unit
Special Unit
Special Unit
When the power is turned ON, an automatic check is performed to determine whether the correct Unit
configuration matches the physical Unit configuration.
The I/O ports are automatically registered for Units that are specified in the Unit configuration.
Later, the user assigns device variables to the I/O ports.
The device variables are used in the user program to access the Units in the Unit configuration.
Refer to CPU/Expansion Rack Configuration and Setup in the Sysmac Studio Version 1 Operation
Manual (Cat. No. W504) for specific procedures to create the Unit configuration.
• You can start the Controller without creating the Unit configuration. However, if you do so, the
I/O ports and device variables will not be registered automatically, so you will not be able to
access the Units from the user program.
• Create the Unit Configuration to use NX Units with an NX102 CPU Unit and NX1P2 CPU
Unit, or to use CJ-series Units with an NJ-series CPU Unit.
The NX701 CPU Units do not have the Unit configuration because NX Units are not used.
3-2-3 Verifying the Unit Configuration

You can use either of the following two methods to compare the Unit configuration.
Comparison between the Unit Configuration on the Sysmac Studio

and the Physical Unit Configuration
You can verify if the Unit configuration on the Sysmac Studio and the physical Unit configuration are
the same.

3-2 Creating and Comparing the Slave and Unit Configu-

You can compare the Unit configuration on the Sysmac Studio with the physical Unit configuration to
see if they are the same before the first time you download the Unit configuration to the CPU Unit from
the Sysmac Studio.
Sysmac Studio Unit Configuration
Compared.
CPU Unit Configuration of physical Units
rations
3
3-2-3 Verifying the Unit Configuration

Comparison between the Unit Configuration on the Sysmac Studio
and the Unit Configuration in the CPU Unit
You can verify if the Unit configuration on the Sysmac Studio and the Unit configuration that is saved
in the CPU Unit are the same.
You can compare the Unit configuration on the Sysmac Studio with the Unit configuration information
that is stored in the CPU Unit to see if they match before you download the Unit configuration to the
CPU Unit from the Sysmac Studio.
Sysmac Studio Unit configuration
Compared.
CPU Unit
Unit configuration information

3-3 I/O Ports and Device Variables

This section describes the I/O ports and device variables that you use to access the EtherCAT slaves,
NX Units on the CPU Unit, built-in I/O, Option Boards, and CJ-series Units of an NJ/NX-series Control-
ler.
• You can use the built-in I/Os and Analog I/O Option Boards only with the NX1P2 CPU Units.
• You can use CJ-series Units only with NJ-series CPU Units.
3-3-1 I/O Ports

An I/O port is a logical interface that is used by the CPU Unit to exchange data with external devices
(slaves and Units), built-in I/O, and Analog I/O Option Boards.
I/O ports are automatically created when you create the slave and Unit configurations and other con-
figurations on the Sysmac Studio. You assign device variables to I/O ports to enable accessing the
slaves and Units from the user program.
CPU Unit
User program (or external communications)
Variables
Device variables
I/O ports are logical interfaces used by
the CPU Unit to exchange data with
external devices.
I/O ports
EtherCAT NX Units Built-in I/O Option CJ-series

slaves Boards Units
/O ports are automatically registered in the I/O Map when you create the EtherCAT slave configura-
tion, Unit configuration, and other configurations on the Sysmac Studio, or when you read either of
these configurations from the physical Controller from the Sysmac Studio.
You can check the I/O ports that were registered in the I/O Map of the Sysmac Studio.
I/O Map


3
3-3-2 I/O Port Names

3-3-2 I/O Port Names
The I/O port names are registered automatically. The I/O port names differ as given below depending
on whether the device is an EtherCAT slave, NX Unit on the CPU Unit, built-in I/O, Analog I/O Option
Board, CJ-series Basic I/O Unit, or CJ-series Special Unit.
EtherCAT Slave Devices

The following I/O port names are used for Remote I/O Terminals that are EtherCAT slave devices.
Example for a 16-point Remote I/O Terminal:
Bit00 to Bit15
For other slaves, all or part of the object names that are defined in the EtherCAT object dictionary are
used.
Example for Analog Input Unit:
CH0_input16-bit
Example for R88D-KN50H-ECT:
Position actual value and Digital inputs
NX Unit Devices on the CPU Units

If the device is an NX Unit on the CPU Unit, I/O port names are determined by the model number of
the NX Unit and the functionality.
Example for an Digital Input Unit:
Input Bit 00
Example for an Analog Output Unit:
Built-in I/O Devices

If the device is a built-in I/O, the I/O port names are created only for the number of bits for model num-
ber of the NX1P2 CPU Unit.

Example for an NX1P2-9024DT CPU Unit:

Input bits: Input Bit 00 to Input Bit 13
Output bits: Output Bit 00 to Output Bit 09
Option Board Devices

If the device is an Option Board, I/O port names are determined by the model number of the Option
Board and the functionality.
Example for an Analog Input Option Board:
Example for an Analog Output Option Board:
CJ-series Basic I/O Unit Devices

If the device is a CJ-series Basic I/O Unit, I/O port names are created according to the following rules.
l Rules for I/O Port Names for Basic I/O Units

Inputs Outputs
Ch£_In££ Ch£_Out££
Terminal number: 00 to 15 Terminal number: 00 to 15
16-bit words: 1 to 4 16-bit words: 1 to 4
l Example of I/O Port Names for Specific Numbers of I/O Points

Number of in- I/O port names
put points
Number of out- Inputs Data type Outputs Data type
put points
32 points Ch1_In WORD Ch1_Out WORD
Ch1_In00 to Ch1_In15 BOOL Ch1_Out00 to BOOL
Ch1_Out15
Ch2_In WORD Ch2_Out WORD
Ch2_In00 to Ch2_In15 BOOL Ch2_Out00 to BOOL
Ch2_Out15
CJ-series Special Unit Devices

If the device is a CJ-series Special Unit, I/O port names are determined by the model number of the
Unit and the functionality.
Examples for a CJ1W-AD041-V1 Analog Input Unit:
Ch1_PkHdCmd and Ch1_AveCfg

3-3-3 Device Variables

In an NJ/NX-series Controller, external devices are not assigned to specific memory addresses in the
CPU Unit. Rather, variables are assigned to the I/O ports.

These variables are called device variables.
Slave and Unit configuration I/O ports Variables assigned to I/O ports:
information created. created. Device variables
Slave and Unit configurations I/O ports Device variables
Assigned.
ch1_In00 J01_ch1_In00
3

You can specify device variables in the user program or in external communications to access the de-
vices (slaves or Units).
CPU Unit
User program (or external communications)

Variables are assigned to I/O ports.
These variables are called device
Variables variables.
Device variables
I/O ports
EtherCAT NX Units Built-in I/O Option CJ-series

slaves Boards Units
Refer to 2-3-1 Type of Variables on page 2-12 for the relationship of device variables to other varia-
bles.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on registering de-
vice variables with the Sysmac Studio.
Device Variable Attributes

The attributes of the device variables are described in the following table. You can change the settings
of some of the attributes, but not all of them.

Changes
Attribute Setting to set-
tings
Variable Name Automatically generated variables: [device_name] + [I/O_port_name] Allowed.
The default device names are as follows:

• For EtherCAT slaves, an E followed by a sequential number starting from
001.
• For CJ-series Units, the device names start with a J followed by a sequential
number starting from 01.
Refer to 3-3-2 I/O Port Names on page 3-9 for more information on I/O port
names.
If entered manually, the variable name is the string you enter.

Data Type According to the data type of the I/O port. Allowed.
AT Specification • NX Units connected through an EtherCAT Coupler Unit: Not al-
ECAT://node#[EtherCAT_Coupler_Unit_node_address.NX_Unit_number]/[I/ lowed.
O_port_name]
• NX Units on the CPU Unit:

IOBus://unit#[NX_Unit_number]/[I/O_port_name]
• Built-in I/O
BuiltInIO://cpu/#0/[I/O_port_name]
• Option Boards:
BuiltInIO://opt/#[physical_port_number]/[I/O_port_name]
• EtherCAT slave
ECAT://node#[node_address]/[I/O_port_name]
• CJ-series Units
IOBus://rack#[rack_number]/slot#[slot_number]/[I/O_port_name]
Retain • Device variables for EtherCAT slaves: Not retained. Not al-
• Device variables for NX Units: Not retained. lowed.
• Device variables for built-in I/O: Not retained.
• Device variables for Option Boards: Not retained.
• Device variables for CJ-series Units
Assigned to the Operating Data (CIO Area): Not retained
Assigned to the Setup Data (DM Area): Retained
Initial Value None Allowed.
Constant None Allowed.
Network Publish Do not publish. Allowed.
Edge None Not al-
lowed.
Note You can use NX Units on the CPU Unit only with the NX102 CPU Units and NX1P2 CPU Units.
Note You can use device variables for NX Units only with the NX102 CPU Units and NX1P2 CPU Units.
Note You can use the built-in I/Os and Option Boards only with the NX1P2 CPU Units.
Note You can use device variables for built-in I/Os and Option Boards only with the NX1P2 CPU Units.
Note The physical port number indicates a physical location for an I/O port. 0 is given for the option board slot 1
and 1 is given for the option board slot 2.
Refer to 6-3-4 Attributes of Variables on page 6-30 for the meanings of the attributes.

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

• You can choose the variable table (global variable table or local variable table for one POU)
in which to register a device variable in the I/O Map.

3-4 Allocating Variables to Units

For some instructions, the Units on EtherCAT Slave Terminals, NX Units on the NX102 CPU Units and
NX1P2 CPU Units are specified by using variables. Therefore, you must assign variables to the Units
in advance. After you assign variables to the Units, the connection locations of the Units are automati-
cally updated in the variables even if you change the locations. This means that you do not have to
assign variables again every time you change the Unit connection locations.
Version Information
quired to assign variables to Units.
You can assign variables to EtherCAT slaves other than Slave Terminals. This applies to Ether-
CAT slaves from other manufacturers. The variables are assigned to the EtherCAT slaves in the
same way as they are assigned to EtherCAT Coupler Units and NX Units.
3-4-1 Procedure to Assign Variables to Units

The variables assigned to the Units are not created automatically when you make configuration set-
tings for an EtherCAT Slave Terminal or Unit on the Sysmac Studio. You must make the following set-
tings to assign the variables to the Units.
1 On the Sysmac Studio, select Configurations and Setup - EtherCAT or Configurations and
Setup - CPU/Expansion Racks - CPU Rack and make configuation settings for EtherCAT
Slave Terminals or NX Units on the CPU Unit.
2 Select Configurations and Setup - I/O Map to display the I/O Map.
The I/O Map is displayed for the Units of the set EtherCAT Slave Terminals.
3 Right-click the model of Unit to which you want to assign variables and select Display Node
Location Port from the menu.
The Node location information port is added on the I/O Map.
4 Right-click the Node location information and select Create Device Variable.
The variable name is written to the Variable Field of the Node location information port.
The data type of variables assigned to the Units is _sNXUNIT_ID structure. The details on
the_sNXUNIT_ID structure data type are given in the following table.
Variable Name Meaning Data type

User specified Specified Unit Specified Unit _sNXUNIT_ID
NodeAdr Node address Node address of the Communications UINT
Coupler Unit*1
IPAdr IP address*2 IP address of the Communications BYTE[5]
Coupler Unit*1


UnitNo Unit number Unit number of the specified Unit UDINT
Path Path*2 Path information to the specified Unit BYTE[64]
3-4 Allocating Variables to Units

PathLength Valid path length Valid path length USINT
*1. This address is not used for an NX Unit on the CPU Unit.
*2. This information is used only inside the Controller. You cannot access or change it.
The values of variables assigned to the Units will be set automatically when you register the
variables. Do not change the values of the variables. If you change the value of a variable, the
Controller may not perform the intended operation.
3
The data type of variables assigned to EtherCAT slaves other than Slave Terminals is _sE-
CAT_ID structure. The details are given in the following table.
3-4-2 Using Variables Assigned to Units

User specified Specified slave Specified slave _sECAT_ID
NodeAdr Node address Node address of the specified UINT
slave
3-4-2 Using Variables Assigned to Units

This section describes how to use the variables assigned to the Units in the user program. In any cas-
es, the variable with the same name as the variable assigned to the Unit on the I/O Map must be reg-
istered in the variable table in advance. The data type of the variable is _sNXUNIT_ID structure.
Designating Units
The variables assigned to the Units are passed as parameters to the instructions for which specify the
Units.
Example: Executing the NX_SaveParam Instruction

In the following example, the NX Unit to which the NX1 variable is assigned is specified when the
NX_SaveParam instruction is executed. NX1 is passed to the UnitProxy variable.
Variable assigned to NX Unit
NX_SaveParam_instance
A NX_SaveParam B
Execute Done
NX1 UnitProxy Busy
UINT#0 TimeOut Error
ErrorID
ErrorIDEx

Designating Unit Attributes

You can specify members of the variables that you assign to Units to specify some of the Unit attrib-
utes.
Example: Executing an Instruction with the Unit Number of an NX Unit

The following programming example reads a data object from an NX Unit if the NX Unit number of the
NX Unit to which the NX1 variable is assigned is 2. The NX1.UnitNo member gives the NX Unit num-
ber.
IF (NX1.UnitNo = UINT#2) THEN

NX_ReadObj_instance(Execute:=TRUE, UnitProxy:=NX1, Obj:=S_Obj, ReadDat:=Rda
t);
END_IF;
Designating More Than One Unit

To designate more than one Unit, you can specify the elements of an array of the variables that are
assigned to the Units. This allows you to use loop processing to perform the same process for more
than one Unit.
Example: The following programming example changes multiple NX Units to the mode that enables
writing data.
NX0, NX1, and NX2 are the variables that were assigned to the NX Units. The variables are assigned
to the elements of the NXTable[0..2] and then the NX_ChangeWriteMode instruction is executed in or-
der for each.
• Variable Table
Variable Data type

NXTable ARRAY[0..2] OF_sNXUNIT_ID
• ST Program
FOR i:= 0 TO 2 DO
NX_ChangeWriteMode_instance[i](Execute:=FALSE);
END_FOR;
NXTable[0] := NX0;
NXTable[1] := NX1;
NXTable[2] := NX2;
FOR i:= 0 TO 2 DO
NX_ChangeWriteMode_instance[i](Execute:=TRUE, UnitProxy:=NXTable[i]);
END_FOR;

3-5 Creating the Axes and Assigning Them to the Servo

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

put Slaves/NX Units
This section describes how to create axes in the NJ/NX-series Controller and how to assign the axes
to the Servo Drive, encoder input slaves, and NX Units.
3-5-1 Introduction
When you use the Motion Control Function Module for operation with EtherCAT Servo Drive, encoder
input slaves, or NX Units, create axes in the Sysmac Studio and define them as EtherCAT servo axes,
3
encoder axes, or NX Units.
At a result, Axis Variables are automatically created as system-defined variables.
3-5-1 Introduction
Controlled by the Motion Control Function Module.
CPU Unit NX Unit NX Unit
Axis B Functional units within the

EtherCAT master
Axis A
Motion Control Function Module
Created. Created.
Axis variable A Axis variable B
Assigned. Assigned.
EtherCAT
EtherCAT
slave
Servo Drive/encoder Servo Drive/encoder

input slave input slave
You can specify an Axis Variable in a motion control instruction in the user program to easily access
and perform operations with Servo Drive, encoder input slaves, and NX Units.
3-5-2 Axis Variables and Axes Group Variables

The following table lists the types of Axis Variables and Axes Group Variables.
Type of variable Application Device to access Creation method

Axis Variables System-defined axis An Axis Variable The EtherCAT slave Provided by the sys-
variables is used to control (Servo Drive or en- tem.
Axis Variables auto- a single axis. coder input slave) or You must create an
matically created NX Unit that is as- axis with Sysmac Stu-
when axes are creat- signed to the axis dio and assign the de-
ed with the Sysmac vice to the axis.
Studio

Type of variable Application Device to access Creation method

Axes Group Vari- System-defined axes An Axes Group The EtherCAT slaves Provided by the sys-
ables group variables Variable is used (Servo Drive or en- tem.
Axes Group Variables for multi-axes co- coder input slaves) or You must create an
automatically created ordinated control. NX Units that are as- axes group with the
when axes groups are signed to the axes Sysmac Studio.
created with the Sys- group
mac Studio
Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for details
on Axis Variables and Axes Group Variables.
• Specifying Axis and Axes Group Variables
The variables can be specified with variable names that are created with the Sysmac Studio or with
system-defined variable names.
Names
Type
Axis Variables Axes Group Variables
Variable names cre- MC_Axis*** (“***” is assigned in ascending MC_Group*** (“***” is assigned in ascend-
ated with the Sys- order from 000 in the order the variables ing order from 000 in the order the varia-
mac Studio are created.) bles are created.)
You can change the names as required. You can change the names as required.
System-defined var- _MC_AX[***]*1 _MC_GRP[***]*1
iable names (The array element numbers are assigned (The array element numbers are assigned
in ascending order from 0 in the order the in ascending order from 0 in the order the
variables are created.) variables are created.)
*1. With the NX701 CPU Unit, you can also use _MC1_AX[***], _MC2_AX[***], _MC1_GRP[***], and
_MC2_GRP[***]. For details, refer to the .
• Application
There are two ways to use Axis Variables and Axes Group Variables.
1. Specifying Axes and Axes Groups in Motion Control Instructions:
If you specify an axis or axes group for an I/O variable for a motion control instruction, you can
perform operations for the OMRON Servo Drive, encoder input slave, or NX Unit.
2. Monitoring Axis Variable Members:
You can use instructions to monitor the actual position, error information, or other information on
the Servo Drive, encoder input slaves, and NX Units.


Details on Axis Variables

1. Assume that you create an axis with an axis name of A on the Sysmac Studio.
An Axis Variable with a variable name of A is created automatically based on the system-
defined axis variable. The Axis Variable consists of Axis Basic Settings, Unit Conversion
Settings, I/O, operating status, current values, error status, and warning status.
2. You specify the axis variable name A for the in-out variable of a motion control instruction.
With the axis variable name, you can access the OMRON Servo Drive or encoder input
slave, supported Servo Drive or encoder input slave from another company, or NX Unit and
perform operations for it.
3. You can specify the Axis Variable to use instructions as required to monitor the actual posi-
tion, error information, or other information on the Servo Drive, encoder input slave, or NX
Unit.

2. An axis or axes group is specified for a Global Variable Table 1. The axis MC_Axis*** is created on the Sysmac Studio. 3
motion control instruction.
Axis Variable An Axis Variable is made System-defined Variable
Only the axis variable name under a different name.
is specified. Axis variable name: MC_Axis*** _MC_AX[], _MC1_AX[], _MC2_AX[]
3-5-3 Creating and Using Axes and Axis Variables

Axis basic settings and unit conversions Axis basic settings and unit conversions
Motion I/O The data types I/O

control cannot be
Operating status and current values Operating status and current values
instruction changed.
Axis variable name: MC_Axis***
Error/warning status Error/warning status
3. You can monitor the members of the axis variable with instructions.
The values can be read and written with instructions.

A.××
Value of a member of
the Axis Variable
Assigned
axis
Control operations
OMRON Servo Drives or
EtherCAT
encoder input slaves, or
supported Servo Drives or
encoder input slaves from
other companies

You can create and use axes and Axis Variables as described below.
1 Right-click Axis Settings under Configurations and Setup − Motion Control Setup in the
Multiview Explorer and select Add − Axis Settings from the menu.
If necessary, you can change the axis variable names from the default names of MC_Axis***.
(“***” is incremented from 000 in the order that the axis variables are created.)
2 Assign the axes that you created to Servo Drives or encoder input slaves in the EtherCAT
slave configuration of the Sysmac Studio.
Set the Axis Basic Settings from the Sysmac Studio.

Classification Parameter name Setting

Axis Basic Set- Axis Number Axis numbers are automatically set in the order that the
tings axes are created.
Motion Control*1 Select Primary periodic task.
Axis Use Select Used axis.
Axis Type Select a servo axis or encoder axis.
Input Device/Output De- Specify the node address of the EtherCAT slave that is
vice assigned to the axis.
*1. You can select this parameter for NX701 CPU Units.
3 Use the Sysmac Studio to specify the settings required for Test Mode operation (Unit Conver-
sion, Count Mode, Limits, etc.) and the settings required for actual system operation. Then
transfer the settings to the CPU Unit with the project.
4 In the user program, an axis variable name is specified for the in-out variable Axis in motion
control instructions.
For the axis variable name, specify the axis name (axis variable name) that was specified in
the Motion Control Setup or a system-defined variable. You can execute motion control for the
assigned Servo Drive, encoder input slave, or NX Unit. An example that specifies the axis vari-
able name MyAxis1 is shown below.
Example:
In-out variable Axis
Specify an axis MyAxis1On

variable name. MC_Power
MyAxis1 Axis Axis MyAxis1 MyAxis1OnStatus
Enable Status
ServoOn Busy MyAxis1OnBusy
Error MyAxis1OnError
ErrorID MyAxis1OnErrorID


bles.

• For an NX701 CPU Unit, use the system-defined variables that correspond to the Motion
Control parameter for Axis Settings or Axes Group Settings. A building error occurs if you use
the system-defined variables that do not correspond.
Motion Control setting Corresponding system-defined variable

MC1: Primary periodic task _MC_AX[***], _MC1_AX[***], _MC_GRP[***], _MC1_GRP[***]
MC2: Priority-5 periodic task _MC2_AX[***], _MC2_GRP[***]


4
Controller Setup
This section describes the initial settings of the function modules.
4-1 Overview of the Controller Setup ................................................................. 4-2

4-2 Initial Settings for the PLC Function Module............................................... 4-4
4-2-1 Introduction...................................................................................................... 4-4
4-2-2 Controller Setup .............................................................................................. 4-4
4-2-3 Task Settings ................................................................................................... 4-7
4-2-4 Unit Configuration and Unit Setup for NX102 and NX1P2 CPU Units .......... 4-13
4-2-5 Unit Configuration and Unit Setup for NJ-series CPU Units.......................... 4-16
4-3 Initial Settings for NX Units ......................................................................... 4-18
4-3-1 NX Unit Settings ............................................................................................ 4-18
4-3-2 I/O Allocation Settings ................................................................................... 4-19
4-3-3 Unit Operation Settings ................................................................................. 4-21
4-4 Initial Settings for Special Units ................................................................. 4-22
4-5 Initial Settings for the Motion Control Function Module .......................... 4-24
4-5-1 Introduction.................................................................................................... 4-24
4-5-2 Setting Methods ............................................................................................ 4-24
4-6 Initial Settings for the EtherCAT Master Function Module....................... 4-26
4-7 Initial Settings for the EtherNet/IP Function Module ................................ 4-27
4-8 Initial Settings for Built-in I/O...................................................................... 4-28
4-9 Initial Settings for Option Boards ............................................................... 4-29
4-10 Memory Settings for CJ-series Units ......................................................... 4-30
4-10-1 Setting Procedure.......................................................................................... 4-30
4-10-2 Setting Screen............................................................................................... 4-30
4-10-3 Settings ......................................................................................................... 4-31

4 Controller Setup
4-1 Overview of the Controller Setup

This section provides an overview of the Controller Setup.
The shaded steps in the overall procedure that is shown below are related to the Controller Setup.
STEP 1. Software Design

STEP 2. Software Setups and Programming

STEP 3. Mounting and Setting Hardware
STEP 4. Wiring
STEP 5. Checking Operation and Starting Operation on the Actual System

4 Controller Setup
Controller Setup Reference

l Initial Settings Related to the PLC Function Module: 4-2 Initial Settings for the
Controller Setup: PLC Function Module on
Startup Mode, Write Protection, System Service Monitoring Settings, and other page 4-4
settings
l Initial Settings for NX Units: 4-3 Initial Settings for NX
4-1 Overview of the Controller Setup

Unit Configuration and Setup: Initial settings for the NX Units Units on page 4-18
l Initial Settings for Special Units: 4-4 Initial Settings for Spe-
Unit Configuration and Setup: Initial settings for the Special Units cial Units on page 4-22
l Initial Settings for the Motion Control Function Module: 4-5 Initial Settings for the
• Axis Parameters: Motion control parameters for single-axis operation Motion Control Function
• Axes Group Parameters: Module on page 4-24
Motion control parameters for multi-axes coordinated operation
• Cam data: Phase and displacement setting tables for cam motions
l Initial Settings for the EtherCAT Master Function Module: 4-6 Initial Settings for the
EtherCAT Master Parameters in the EtherCAT configuration: EtherCAT Master Function
Parameter settings for the EtherCAT master process data communications cy- Module on page 4-26
cle, and other settings 4
l Initial Settings for the EtherNet/IP Function Module: 4-7 Initial Settings for the
Ethernet Port Setup: EtherNet/IP Function Module
EtherNet/IP Port TCP/IP Settings, Ethernet Settings, and other settings on page 4-27

4 Controller Setup
4-2 Initial Settings for the PLC Function

Module
This section describes the initial settings that are required for the PLC Function Module.
4-2-1 Introduction
The initial settings for the PLC Function Module are listed below.
• Controller Setup
• Task Settings
Select Controller Setup and Task Settings under Configurations and Setup on the Sysmac Studio
to make these settings.
4-2-2 Controller Setup
Operation Settings Tab Page
l Basic Settings
The Basic Settings are for functions supported by the CPU Unit, such as the definitions of opera-
tions when the power is turned ON or when the operating mode changes.

4 Controller Setup
Changes
Setting Update
Parameter Description Set value Default in RUN
group timing
mode
4-2 Initial Settings for the PLC Function Module

Operation Startup Sets the CPU Unit's RUN mode RUN mode When Not al-
Settings mode operating mode at PROGRAM download- lowed.
startup. mode ed to CPU
Unit
Start delay Sets the time to wait 0 to 10 s*3 0s When Not al-
time at start- for an NS-series PT download- lowed.
up*1 to perform the tag ed to CPU
verifications with pri- Unit
ority during startup
after the power sup-
ply is turned ON. *2
Battery-relat- Sets whether to use Do not use Do not use When Allowed.
ed error de- battery-related error Use download-
tection*4 detection. ed to CPU
Unit
SD Memory Memory Sets whether to exe- Do not Do not When Not al- 4
Card Set- card diagno- cute self-diagnosis check check download- lowed.
tings sis at startup (file system check Check ed to CPU
4-2-2 Controller Setup

and restoration) on Unit
the inserted SD
Memory Card when
the power is turned
ON.
System System Sets the interval of 10 ms to 1 s 10 ms When Not al-
Service service exe- system service exe- download- lowed.
Monitoring cution inter- cution. ed to CPU
Settings val [ms] Unit
*5 System Sets the ratio of exe- 5% to 50% 10% When Not al-
service execution for monitoring download- lowed.
cution time system services in ed to CPU
ratio [%] relation to overall Unit
processing of the
CPU Unit.
SD Memory Program Sets whether to use Use Do not use When Not al-
Card Pro- transfer by the program transfer Do not use download- lowed.
gram Trans- system-de- from SD Memory ed to CPU
fer Setting*6 fined varia- Card. Unit
ble
Password Sets the password 8 to 32 sin- None When Not al-
that is used for verifi- gle-byte al- download- lowed.
cation when you ex- phanumeric ed to CPU
ecute the program characters Unit
transfer from the SD (case sensi-
Memory Card. tive)

4 Controller Setup
Changes
Setting Update
group timing
mode
SD Memory Restore by Set whether to use Use Do not use When Not al-
Card Re- system-de- the restore of SD Do not use download- lowed.
store Set- fined varia- Memory Card backed to CPU
ting*7 ble ups by the system- Unit
defined variable.
Password Sets the password 8 to 32 sin- None When Not al-
that is used for verifi- gle-byte al- download- lowed.
cation when you ex- phanumeric ed to CPU
ecute the restore of characters Unit
SD Memory Card (case sensi-
backups by the sys- tive)
tem-defined varia-
ble.
Event Log Instruction Sets whether to out- Do not use Do not use When Not al-
Settings*8 Error Output put events to an Use download- lowed.
event log when in- ed to CPU
struction errors oc- Unit
cur.
Security Set- Write protec- Sets whether to au- Do not use Do not use At power Allowed.
tings tion at start- tomatically enable or Use ON
up disable write protec-
tion when you turn
ON the power sup-
ply to the Controller.
Prohibit data Sets whether to ena- Do not use Do not use When Allowed.
backup to ble or disable SD Use download-
the SD Memory Card backed to CPU
Memory ups. Unit
Card*9
*1. This setting is enabled when an NS-series PT is connected to the built-in EtherNet/IP port on the CPU
Unit, and the power supplies for these devices are turned ON simultaneously.
A CPU Unit with unit version 1.10 or later and Sysmac Studio version 1.12 or higher are required to set
the Start delay time at startup.
*2. The processing time for verifying tags of an NS-series PT can be reduced with this setting. Set the value
to 10 if you want to give priority to the tag verifications. Otherwise, set the value to 0.
If you set the value to 10, after the power supply is turned ON, the CPU Unit gives priority to the tag
verifications of the NS-series PT for approximately 10 seconds during startup before the Unit changes
the startup state to the normal operation state. The time to complete the tag verifications can be reduced
because a part of the verification process is performed with priority during startup.
If you specify the value between 1 and 10, the time until the CPU Unit changes the state to the normal
operation state is increased because the Unit gives priority to the tag verifications for the specified time
regardless of whether an NS-series PT is used. Set the value to 0 if an NS-series PT is not connected,
or if you do not turn ON the power supplies for the NS-series PT and the CPU Unit simultaneously.
*3. For the following CPU Unit and Sysmac Studio, 0 to 30s can be set for the start delay time at startup.
Make this setting up to approximately 20 seconds because the time from when the power supply to the
CPU Unit is turned ON until the Unit changes to the normal operation is affected.
CPU Unit Sysmac Studio

• The NX102-££20 CPU Units with unit version 1.35 or later 1.41 or higher
• The NX701-££££, NJ501-1£20, NJ501-4320, and NJ101-££20 CPU Units
with unit version 1.23 or later

4 Controller Setup
CPU Unit Sysmac Studio

The NX102-££00, NX1P2-£££££££, NJ501-1£00, NJ301-1£00, and NJ101- 1.43 or higher
££00 CPU Units with unit version 1.42 or later

However, when more than 10 seconds are set, a minor fault level Controller error may occur. If a minor
fault level Controller error occurred, reset the error.
*4. These settings are only provided for the NX102 CPU Units and NX1P2 CPU Units.
*5. For NX-series CPU Units, the System Service Monitoring Settings are not provided.
*6. A CPU Unit with unit version 1.11 or later and Sysmac Studio version 1.15 or higher are required to use
the function.
the function.
the function.
the function.
Operation item Description

Setting Change You can change the set values of parameters that can be changed during RUN mode.
4
during RUN Mode Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the opera-
tions.
4-2-3 Task Settings

Start :Enables writing set values.
Transfer :Transfers set values to the Controller. The set values are overwritten.
Cancel :Prohibits writing set values.
If Use is selected for Event Log Settings - Instruction Error Output, an instruction error is
output each time an error occurs when an instruction with an error is executed repetitively. This
may cause the event log to exceed the maximum number of events. If this occurs, older events
are overwritten.
4-2-3 Task Settings
l Task Settings
The Task Settings are used to add and set up tasks.

4 Controller Setup
Changes
Setting Update
group timing
mode
Task Type Sets the task Primary periodic Primary peri- When Not al-
type. task odic task download- lowed.
Periodic task ed
Priority-5 periodic
task*1
Periodic task
Priority-16 period-
ic task*2
Periodic task
Priority-17 period-
ic task
Periodic task
Priority-18 period-
ic task
Event task
Priority-8 event
task
Event task
Priority-48 event
task
Execution Sets the task ex- Automatically set Primary peri- When Not al-
Priority ecution priority. according to the odic task: 4 download- lowed.
task type. ed
Task Name Sets the task Text string Primary peri- When Not al-
name. odic task: Pri- download- lowed.
maryTask ed
Periodic
tasks: Prio-
dicTask0
Event tasks:
EventTask0

4 Controller Setup
Changes
Setting Update
group timing
mode

Period/ Sets the task pe- Primary periodic Primary peri- When Not al-
Execution riod. task and periodic odic task: download- lowed.
Conditions tasks:Refer to 1ms *3 ed
5-3-1 Specifica- Periodic task:
tions of Tasks for 2ms (Priority
NX701 CPU 5)
Units on page 10 ms (Priori-
5-11. ty 16, 17, and
Refer to 18)
5-4-1 Specifica- Event tasks:
tions of Tasks for Execution
NX102 CPU with an in-
Units and NX1P2 struction
CPU Units on
page 5-31.
Refer to
4
5-5-1 Specifica-
tions of Tasks for
4-2-3 Task Settings

NJ-series Con-
trollers on page
5-48.
Event tasks: Exe-
cuted with an in-
struction or when
a variable expres-
sion is satisfied.
Task Peri- Sets whether to • Detect (a minor Primary peri- When Not al-
od Ex- detect an error fault level Con- odic task and download- lowed.
ceeded when the task pe- troller error oc- periodic ed
Detection riod is exceeded. curred). tasks: Detect
• Do not detect Event tasks:
(Store and ob- Do not detect
servation level (cannot be
log record.) changed).
Task Time- Sets the task ex- Primary periodic Primary peri- When Not al-
out Detec- ecution timeout task and periodic odic task and download- lowed.
tion Time time. tasks: periodic ed
A Task Execution Task period × 1 to tasks:
Timeout occurs Task period × 5 Task period x
when the timeout Event tasks: 5
time is exceeded. Execution priority Event tasks:
of 8: 1 to 500 ms Execution pri-
Execution priority ority of 8: 200
of 48: 1 ms to 10 ms
s Execution pri-
ority of 48: 1
s

4 Controller Setup
Changes
Setting Update
group timing
mode
Variable Sets the percent- Primary periodic 3% When Not al-
Access age of the task task and periodic download- lowed.
Time [%] period to assign tasks: ed
to variable ac- 1% to 50%
cess from outside Event tasks:
the Controller. None
*3. For the NX102 CPU Unit, NX1P2 CPU Unit, and NJ101 CPU Unit, the default of the primary periodic
task is 2 ms.
However, for the NX1P2-9B££££ CPU Unit, the default of the primary periodic task is 4 ms.
l I/O Control Task Settings

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

Parameter Description Set value Default
ing RUN mode
Task Name Sets the task to use to re- PrimaryTask or Pe- PrimaryTask When Not allowed.
fresh the specified Units or riodicTask downloaded
slaves. to CPU Unit
l Program Assignment Settings

The Program Assignments Settings are used to assign the programs to tasks, set the program exe-
cution order, and set the operation of the programs at the start of operation.

4 Controller Setup

ing RUN mode
Program Execu- Assigns the pro- Assign the pro- Program0 When down- Not allowed. 4
tion Order grams to the speci- grams in the or- loaded to
fied tasks and sets der to execute CPU Unit
4-2-3 Task Settings

the order of program them from top to
execution within the bottom.
tasks.
Initial Status of Sets whether to run Run Run When down- Not allowed.
Program*1 the program at the Stop loaded to
start of operation. CPU Unit
*1. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required.
• A program that contains the device variables used to access slaves and Units must be as-
signed to the same task as the one to which the slaves and Units that are set in the I/O Con-
trol Task Settings are assigned. A building error will occur if you assign the program to other
tasks.
• The default task set in the I/O Control Task Settings is the primary periodic task. If you want
to assign the program to a task other than the primary periodic task, change the setting in the
I/O Control Task Settings in advance to prevent a building error.
• For an NX-series CPU Unit, a program used to control slaves and Units that are assigned to
axes must be assigned to the tasks that correspond to the Motion Control parameter for Axis
Settings or Axes Group Settings. A building error will occur if you assign the program to the
tasks that do not correspond.
Use the system-defined variables that correspond to the setting values of the Motion control
parameter when you specify axes or axes groups in programs.
Corresponding task to pro- Corresponding system-de-

Motion Control setting
gram assignment fined variable
MC1: Primary periodic task Primary periodic task _MC_AX[], _MC1_AX[],
Priority-16 periodic task _MC_GRP[], _MC1_GRP[]
MC2: Priority-5 periodic task Priority-5 periodic task _MC2_AX[], _MC2_GRP[]
l Settings for Exclusive Control of Variables in Tasks

The Settings for Exclusive Control of Variables in Tasks are used to set the tasks that refresh speci-
fied global variables and the tasks that access specified global variables.

4 Controller Setup
Changes
Update
Item Parameter Description Set value Default in RUN
timing
mode
Each Task Variables to Sets the variables to None When Not al-
be refresh- refresh in the primary download- lowed.
ed periodic task or peri- ed to CPU
odic task. Unit
Data Type Sets the data type of None
variable.
Variable Sets a comment for None
Comment the variable.
Accessing Sets the tasks that ac-
Task cess the variable.
l Task Execution Status Monitor

The Task Execution Status Monitor displays the execution status of the programs.

4 Controller Setup

4
4-2-4 Unit Configuration and Unit Setup for NX102 and NX1P2 CPU Units
l Task Execution Time Monitor
The Task Execution Time Monitor displays the execution times of the tasks.
4-2-4 Unit Configuration and Unit Setup for NX102 and NX1P2 CPU
Units
This section describes the Unit configurations and settings for the NX Units on the NX102 CPU Units
and NX1P2 CPU Units. These settings are not provided for NX701 CPU Units and NJ-series CPU
Units.
Create the configuration of the NX Units on the CPU Unit and set each Unit.
Configure the settings on the CPU and Expansion Racks Tab Page on the Sysmac Studio.

4 Controller Setup
Unit Configuration Information

The Unit configuration information describes the configuration of the NX Bus Function Module: the
number and order of NX Units connected to the NX bus of the NX102 CPU Unit and NX1P2 CPU Unit,
individual Unit information, and information about the CPU Unit itself.
The settable items for the selected CPU Unit are listed below.
Item Description Set value Default

Serial Number Check Meth- Set this setting to Setting = Actual device to No check. No check.
od compare the serial numbers of the NX Units at Setting = Ac-
these times: when the power is turned ON and tual device
after the CPU Unit is restarted. The serial num-
bers of the NX Units saved in the Unit configu-
ration information are compared with the actual
serial numbers of the NX Units. *1
If differences are found, a Unit Configuration
Verification Error will occur.
Fail-soft Operation Setting Set whether to use fail-soft operation for the Fail-soft oper- Fail-soft oper-
NX Bus Function Module. Select Fail-soft ation ation
operation to perform fail-soft operation. Stop
Refer to 8-2-5 Fail-soft Operation for NX Units
on the CPU Unit on page 8-16 for details on
fail-soft operation.
*1. If this setting is set to Setting = Actual device and you replace an NX Unit on the CPU Unit, a Unit Configu-
ration Verification Error will occur. A Unit Configuration Verification Error will also occur if you swap the
mounting position of two Units of the same model.
If it becomes necessary to replace an NX Unit, or swap the mounting positions of two Units of the same
model while this setting is set to Setting = Actual device, you must correct the Unit configuration information
and download it to the CPU Unit. Set this parameter to Setting = Actual device if strict management of the
equipment configuration is required.
Precautions in Changing the Unit Configuration

This section provides precautions that apply when you change the NX Unit configuration on an NX102
CPU Unit and NX1P2 CPU Unit.

4 Controller Setup
l I/O Data That Require Specification of NX Unit Numbers

You must specify the NX Unit number to access some system-defined variables in I/O data. If you
change the Unit configuration on the CPU Unit, you must correct the specified NX Unit numbers,

such as those in programs.
_NXB_UnitRegTbl (NX Unit Registration Status) and _NXB_UnitErrFlagTbl (NX Unit Error Status)
are examples of the system-defined variables to specify the NX Unit number. The system-defined
variable for this status information uses BOOL arrays, and the NX Unit number is specified as the
subscript.
For example, if an NX Unit D is added to the CPU Unit, the NX Unit numbers of all NX Units to the
right of the new NX Unit will change.
NX Unit Number 1 2 3
NX Unit Registration Status _NXB_UnitRegTbl[1] _NXB_UnitRegTbl[2] _NXB_UnitRegTbl[3]
CPU Unit NX Unit A NX Unit B NX Unit C
4-2-4 Unit Configuration and Unit Setup for NX102 and NX1P2 CPU Units
The addition changes the NX Unit numbers,
NX Unit D added as 2nd NX Unit so you must correct the subscripts to specify
the same NX Units as before the addition in
the NX Unit Registration Status.
NX Unit Number 1 2 3 4
NX Unit Registration Status _NXB_UnitRegTbl[1] _NXB_UnitRegTbl[2] _NXB_UnitRegTbl[3] _NXB_UnitRegTbl[4]
CPU Unit NX Unit A NX Unit D NX Unit B NX Unit C
If you specify the subscripts of arrays directly with numbers, the subscripts in the program must be
corrected to specify the same NX Unit as before the addition.
If you use _sNXUNIT_ID data type variables that are assigned to the Units to specify the array sub-
scripts, you do not need to correct the program even if the Unit configuration changes. The NX Unit
number of a Unit is stored in the UnitNo member of the _sNXUNIT_ID structure variable.
For example, if the _sNXUNIT_ID variable NXUnitB is assigned to NX Unit B in the above figure,
the program would not need to be corrected even if the Unit configuration changed as long as the
array subscript is specified with _NXB_UnitRegTbl[NXUnitB.UnitNo].

4 Controller Setup
NX Unit Mounting Settings

If an NX Unit is removed or if you know in advance that an NX Unit is planned to be added, you
can use the NX Unit mounting settings to prevent the NX Unit numbers from changing.
Refer to 8-2-2 Mounting Settings of NX Units on the CPU Unit on page 8-11 for details on the
NX Unit mounting settings.
4-2-5 Unit Configuration and Unit Setup for NJ-series CPU Units
This section describes the Unit settings for NJ-series CPU Units. These settings are not provided for
NX-series CPU Units.
l Unit Information
l Settings for All Units

Set the device names.
Device names are automatically created when Units are added in the Unit Editor.
Default names: “J” followed by serial numbers that start from 01
We recommend that you change the name to one that is suitable to the device.
The device names that are set here are placed before the I/O port name when device variables
are automatically created.
l Special Units
Set the unit numbers of the Special Units.
Make sure you set the same unit numbers as the unit numbers that are set on the rotary
switches on the front of the Special Units. If they are not the same, operation will be according
to the unit numbers that are set on the front-panel rotary switches.
l Basic I/O Units

The following settings are made in the Unit Information of the Basic I/O Units.

4 Controller Setup

Parameter Setting group Description Set value Default
ing RUN mode
Unit Information Basic Input Unit Sets the input response No filter 8 ms When power Not allowed.

Note: Set the Input Response time (ON response time 0.5 ms is turned ON
information for Time = OFF response time) of 1 ms or the CPU
each slot. the Basic Input Unit. 2 ms Unit is reset
You can set no filter or 4 ms
you can set the value in 8 ms
increments from 0 to 32 16 ms
ms. 32 ms
You can increase the
value to reduce chatter-
ing and the effects of
external noise.
If you decrease the val-
ue, shorter input pulses
are received (but the
pulses must be longer
than the task period).
4
4-2-5 Unit Configuration and Unit Setup for NJ-series CPU Units

4 Controller Setup
4-3 Initial Settings for NX Units

This section describes the initial settings that are required for NX Units on the NX102 CPU Units and
NX1P2 CPU Units. These settings are not provided for the NX701 CPU Units and NJ-series CPU
Units.
4-3-1 NX Unit Settings

Select an NX Unit to set and make the settings on the CPU and Expansion Racks Tab Page on the
Sysmac Studio.
The settable items for the selected NX Unit are listed below.
Item Description Set value Default

Device name The name of the NX Unit. Any value*1 *2
NX Unit Mounting Setting This setting enables or disables the mount- Enabled Enabled
ing of an NX Unit. Refer to 8-2-2 Mounting Disabled
Settings of NX Units on the CPU Unit on
page 8-11 for details on this setting.
I/O allocation settings These are the settings for which I/O data in --- Refer to the
the NX Unit to exchange. *3 manual for the
Click the Edit I/O Allocation Settings But- specific NX Unit.
ton to edit these settings. You cannot change
this setting for System Units. Refer to
4-3-2 I/O Allocation Settings on page 4-19
for an overview of I/O allocation settings and
how to edit the settings.
Unit operation settings These are the Unit operation settings for the --- Refer to the
*4
NX Unit. Click the Edit Unit Operation manual for the
Settings Button to edit these settings. You specific NX Unit.
cannot change this setting for System Units.
Refer to 4-3-3 Unit Operation Settings on
page 4-21 for the Unit operation settings.
Unit application data This data controls the functionality that is --- Refer to the
specific to each NX Unit. Not all NX Units manual for the
have Unit application data. specific NX Unit.
*1. The device name that is set here is placed before the I/O port name when device variables are automatically
created.

4 Controller Setup
*2. "N" followed by serial numbers that start from "1".

*3. The NX Units contain default values for the I/O settings. You do not need to edit the default values for a
standard exchange. Change the settings as necessary.
*4. The settings that are available depend on the type of the NX Unit. For example, Digital Input Units have a
setting for the input filter value, and Digital Output Units have a setting for the output value at load rejection.
Refer to the manual for the specific NX Unit for the settings and their meanings.
4-3-2 I/O Allocation Settings

This section provides an overview of I/O allocation settings and how to edit the settings.
An Overview of I/O Allocation Settings

To allocate I/O, select an I/O entry mapping and register an I/O entry to the I/O entry mapping.
l Selecting I/O Entry Mappings

An I/O entry mapping defines a set of I/O data. Each Unit has its own I/O entry mapping.
4
The data for each I/O entry included in the selected I/O entry mappings are exchanged. Default val-
ues are assigned to the I/O entry mapping selections. Change the I/O entry mapping selections as
4-3-2 I/O Allocation Settings

necessary. If an I/O entry mapping must be selected, the option to deselect it will not be available.
l Registering I/O Entries

The I/O data assigned to an I/O entry mapping is called an I/O entry.
Default values are assigned to the I/O entries in each I/O entry mapping. Some I/O entry mappings
allow you to add or delete I/O entries. Also, the I/O data that you can assign to an I/O entry map-
ping is predetermined. Change the settings as necessary.
Allocatable I/O data points

I/O entry Selection of I/O I/O entry mapping Editing I/O entries I/O data not included
mapping entry mapping I/O entry in the I/O entry
selection
example
I/O data A I/O data I
Added.
Selected. Possible. I/O entry mapping A Possible. I/O data B
I/O data J I/O data K
I/O data C
Selected. Not possible. I/O entry mapping B Not possible.
I/O data D
I/O data E
Not selected. Possible. I/O entry mapping C Not possible.
I/O data F
I/O data G I/O data L

Selected. Possible. I/O entry mapping D Possible. Deleted.
I/O data H I/O data M
*The shaded I/O data is not exchanged with process data communications.

4 Controller Setup
Editing the I/O Allocation Settings

You can edit the I/O allocation settings for the NX Units as necessary.
When you click the Edit I/O Allocation Settings Button in the CPU and Expansion Racks Tab Page
on the Sysmac Studio, the Edit I/O Allocation Settings Pane is displayed.
Name/Label Description
I/O Allocation The usage of I/O allocation for the entire CPU Unit is displayed here.
Status • (1)I/O data size: The size of the I/O data that is allocated for the entire CPU Unit is given.
The denominator is the maximum allocatable size.
The I/O data size gives the amount of memory that is used by the I/O data. This value will
not necessarily be the same as the total sum of all I/O entry sizes.
• (2)Number of I/O entry mappings: The number of I/O entry mappings that are allocated to
the entire CPU Unit is given. The denominator is the maximum number of allocatable I/O
data.
I/O Entry Map- This is a mapping list of the I/O entries in the corresponding Unit.
ping List The I/O entry mapping list shows up to four inputs and outputs respectively.
The I/O entry mapping list shows the following items.
• Selection: This column is used to select the I/O entry mappings that you wish to allocate.
Select the I/O entry mapping that you wish to allocate.
If you do not want to allocate the I/O entry mapping as part of the I/O allocation informa-
tion, select No option.
• Input/Output: This column shows whether the data is an input or an output in terms of the
CPU Unit.
• I/O entry mapping name: This column gives the name of the I/O entry mapping.
• Flag: If the I/O entry is editable, this column says "Editable."
• If the I/O entry is not editable, this column says "---."
I/O entries This pane allows you to view and edit the I/O entries for the I/O entry mappings that are se-
lected in the I/O Entry Mapping List.
Each I/O entry contains the following information.
• Index: This is the index number for the NX object.
The index is displayed after “0x” as index_number: subindex_number.
• Size: This column gives the size of the I/O entry data.
• Data Type: This column gives the data type of the I/O entry.
• I/O entry name: This column gives the name of the I/O entry.
• Comment: This column gives a description of the I/O entry.

4 Controller Setup
Name/Label Description
Control buttons • Add I/O Entry Button: This button adds an I/O entry to the selected I/O entry mapping.
for the Edit I/O • Delete I/O Entry Button: This button deletes the selected I/O entry from the selected I/O
Allocation Set- entry mapping.
tings Pane • OK Button: This button confirms the settings in the Edit I/O Allocation Settings Pane, and
returns the display to the CPU and Expansion Racks Tab Page.
• Cancel Button: This button cancels the settings in the Edit I/O Allocation Settings Pane,
and returns the display to the CPU and Expansion Racks Tab Page.

• Apply Button: This button confirms the settings in the Edit I/O Allocation Settings Pane,
and allows you to edit other I/O entries.
4-3-3 Unit Operation Settings

The settings that are available depend on the type of the NX Unit. For example, Digital Input Units
have a setting for the input filter value, and Digital Output Units have a setting for the output value at
load rejection.
Refer to the manual for the specific NX Unit for the settings and their meanings.
4
Editing the Unit Operation Settings
4-3-3 Unit Operation Settings

You can edit the Unit operation settings for the NX Units as necessary.
When you click the Edit Unit Operation Settings Button in the CPU and Expansion Racks Tab Page
on the Sysmac Studio, the Edit Unit Operation Settings Tab Page is displayed.
If the connected position of an NX Unit is changed, the Unit operation settings return to initial
values.
Transfer the Unit operation settings again as necessary.

4 Controller Setup
4-4 Initial Settings for Special Units

This section describes the initial settings that are required for the Special Units with NJ-series CPU
Units. These settings are not provided for NX-series CPU Units.
You can use any of the following methods to set the initial settings of the Special Units.
l Method 1: Setting from the Unit Setting Pane of the Sysmac Studio
1 Select the Unit in the Unit Configuration and Setup.
2 Specify the settings in the Unit Settings Tab Page shown below.
3 Connect the CPU Unit online and transfer the settings to the CPU Unit.
l Method 2: Using the Sysmac Studio to Specify Initial Settings for the I/O
Ports in the I/O Map
1 Use the I/O Map in the Sysmac Studio to set values for the I/O ports.
2 Restart the Unit, reset the Controller, or cycle the power supply to the Controller.

4 Controller Setup
l Method 3: Using the Sysmac Studio to Specify Initial Settings for the De-
vice Variables of the CJ-series Units
1 Use the Sysmac Studio to specify the initial values for the device variables of the CJ-series
Units.
4-4 Initial Settings for Special Units

Download the variable table from the Sysmac Studio to the CPU Unit.
Select the Clear the present values of variables with Retain attribute Check Box.
3 Restart the Unit, reset the Controller, or cycle the power supply to the Controller.
l Method 4: Using Instructions to Set the Device Variables for the CJ-series
Units
1 Set the values for the device variables for the CJ-series Unit at the start of operation from the
user program (e.g., use the MOVE instruction) and then restart the Unit.
Example: 4
P_First_RunMode MOVE
EN ENO
First RUN
Period Flag
UINT#16#0101 In Out Unit0_RangeCfg
Instance
ResetUnit
Execute Done
_SIO_No00 UnitNo Busy
Error
ErrorID
Instance.Done
Processing after restarting
When you restart a Special Unit after you change the settings, confirm the safety of the devices
at the connection target before you restart the Unit.

4 Controller Setup
4-5 Initial Settings for the Motion Control

Function Module
This section describes the initial settings that are required for the MC Function Module.
4-5-1 Introduction
The initial settings for the Motion Control Function Module are called motion control parameters.
Motion control parameters include the following parameters.
• Axis Parameters: Settings for single-axis control
• Axes Group Parameters: Settings for multi-axes coordinated control
Sysmac Studio
Set the parameters in the
Motion Control Setup. CPU Unit
Motion control
parameters
Built-in non-vola-
tile memory When power is turned ON Main memory
When downloaded.
Read and check

Download. Axis Parameter Settings data. Axis Parameter Settings
User program
Axes Group
Upload. Axes group
Parameter Settings
parameter settings MC_Write instruction
Temporarily changes
some parameters.
4-5-2 Setting Methods

You can use either of the following methods to set motion control parameters.
Method 1: Setting the Motion Control Setup in the Sysmac Studio

Right-click Axis Settings under Configurations and Setup - Motion Control Setup in the Sysmac
Studio and make the settings in the Axis Setting Table.

4 Controller Setup
4-5 Initial Settings for the Motion Control Function Module

4
4-5-2 Setting Methods

Download the motion control parameters to the CPU Unit to save them in the non-volatile memory in
the CPU Unit. The downloaded settings are enabled when the power is turned ON or a download is
performed.
Method 2: Setting with the MC_Write Instruction

You can temporarily overwrite some motion control parameters with the MC_Write instruction.
Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for details.

4 Controller Setup
4-6 Initial Settings for the EtherCAT Mas-

ter Function Module
This section describes the initial settings that are required for the EtherCAT Master Function Module.
The initial settings for the EtherCAT Master Function Module include the following and other items.
• Device names
• Total Cable Length
• Fail-soft Operation Settings
• Wait Time for Slave Startup
• PDO Communications Timeout Detection Count
• Revision Check Method
• Serial Number Check Method
Double-click EtherCAT under Configurations and Setup and then select the master on the Sysmac
Studio. The Initial Setting Tab Page for the EtherCAT Master Function Module is displayed.
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) for details.

4 Controller Setup
4-7 Initial Settings for the EtherNet/IP
4-7 Initial Settings for the EtherNet/IP Function Module

Function Module
This section describes the initial settings that are required for the EtherNet/IP Function Module.
The initial settings for the EtherNet/IP Function Module are listed below.
• TCP/IP Settings
• Link Settings
• FTP Settings
• NTP Settings
• SNMP Settings
• SNMP Trap Settings
• FINS Settings
• CIP Settings
Select Configurations and Setup − Controller Setup − Built-in EtherNet/IP Port Settings on the 4
Sysmac Studio to make these settings.
Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for detail.
For the NX701-££00, FINS Settings are not provided.
Version Information
CIP Settings can be made in the following CPU Units of the stated unit versions.
• NJ-series, NX102, NX1P2 CPU Unit: Version 1.49 or later
• NX701 CPU Unit: Version 1.29 or later

4 Controller Setup
4-8 Initial Settings for Built-in I/O

This section describes the initial settings that are required for I/Os built in the NX1P2 CPU Units.
The initial settings for the built-in I/Os are listed below.
• Input Filter Setting
• Load Rejection Output Setting
Select Configurations and Setup − Controller Setup − Built-in I/O Settings on the Sysmac Studio
to make these settings.
Refer to the NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (Cat. No. W579)
for details.

4 Controller Setup
4-9 Initial Settings for Option Boards

This section describes the initial settings that are required for Option Boards in the NX1P2 CPU Units.
The initial settings for the Option Boards are listed below.
4-9 Initial Settings for Option Boards

• Configuration
• Option Board 1 Serial Communications Settings
• Option Board 2 Serial Communications Settings
Select Configurations and Setup - Controller Setup - Option Board Settings on the Sysmac Stu-
dio to make these settings.
for details.

4 Controller Setup
4-10 Memory Settings for CJ-series Units

This section describes the initial settings that are required for memory used for CJ-series Units in the
NX102 CPU Units and NX1P2 CPU Units.
The initial settings for memory for CJ-series Units are listed below. Set whether to enable or disable
memory for CJ-series Units and set the memory size when it is enabled.
• CIO
• WR
• HR
• DM
• EM
You cannot use the EM Area for the NX1P2 CPU Units.
Select Configurations and Setup – Controller Setup – Memory Settings on the Sysmac Studio to
make these settings.
4-10-1 Setting Procedure

The procedure to make the memory settings for CJ-series Units is described below.
No. Step Description Reference

1 Determining the usa- Determine the area type and the num- Manuals and technical materials for
ble memory ber of words of memory used for CJ-ser- connected devices
ies Units to make available for data ex-
change with connected devices.
2 Memory settings for In the Sysmac Studio, set the area type 4-10-2 Setting Screen on page
CJ-series Units and the number of words of memory 4-30
used for CJ-series Units to make availa-
ble for connected devices.
3 Programming Create the user program that uses the Section 6 Programming on page
memory used for CJ-series Units. 6-1
If the set memory size is not sufficient,
return to step 2 and increase the num-
ber of words.
4 Downloading the Download the project from the Sysmac Sysmac Studio Version 1 Operation
project Studio. Manual (Cat. No. W504)
5 Checking operation Check the operation of the user pro- Section 7 Checking Operation and
and actual operation gram and connected devices. Actual Operation on page 7-1
4-10-2 Setting Screen

Specify the memory used for CJ-series Units in the Memory Settings for CJ-series Units Tab Page,
which is displayed by selecting Memory Settings under Configurations and Setup - Controller
Setup.
The tab page used to make settings when an NX1P2 CPU Unit is used is shown below.

4 Controller Setup

4-10-3 Settings
For the NX102 CPU Units, the settings are as follows. 4
Setting Update tim- Changes in
Item Setting Description Set value Default
4-10-3 Settings
group ing RUN mode
Memory set- CIO*1 Enable Enable or disable the Enable Disable When down- Not allowed.
tings for CJ- generation of CIO area Disable loaded to
series Units type memory used for CPU Unit
CJ-series Units.
Size (Num- Specify the size of 1 to 6,144 6,144 When down- Not allowed.
ber of memory of area type loaded to
Words) CIO. CPU Unit
WR*1 Enable Enable or disable the Enable Disable When down- Not allowed.
generation of WR area Disable loaded to
type memory used for CPU Unit
CJ-series Units.
Size (Num- Specify the size of 1 to 512 512 When down- Not allowed.
Words) WR. CPU Unit
HR*2 Enable Enable or disable the Enable Disable When down- Not allowed.
generation of HR area Disable loaded to
CJ-series Units.
Size (Num- Specify the size of 1 to 1,536 512 When down- Not allowed.
Words) HR. CPU Unit
DM*2 Enable Enable or disable the Enable Disable When down- Not allowed.
generation of DM area Disable loaded to
CJ-series Units.
Size (Num- Specify the size of 1 to 4,096 When down- Not allowed.
ber of memory of area type 32,768 loaded to
Words) DM. CPU Unit

4 Controller Setup
Setting Update tim- Changes in

Item Setting Description Set value Default
group ing RUN mode
EM0- Enable Enable or disable the Enable Disable When down- Not allowed.
EM18*2 generation of EM area Disable loaded to
CJ-series Units
Words) EM. CPU Unit
*1. Variables without a Retain attribute are used. The value can be set in 1-word increments.
*2. Variables with a Retain attribute are used. The value can be set in 1-word increments.

4 Controller Setup
The settings for NX1P2 CPU Units are as follows:
Setting De- Update tim- Changes in

Item Setting Description Set value
group fault ing RUN mode
Memory set- CIO*1 Enable Enable or disable the Enable Disable When down- Not allowed.

tings for CJ- generation of CIO area Disable loaded to
series Units type memory used for CPU Unit
CJ-series Units.
Size (Num- Specify the size of 1 to 6,144 6,144 When down- Not allowed.
Words) CIO. CPU Unit
WR*1 Enable Enable or disable the Enable Disable When down- Not allowed.
generation of WR area Disable loaded to
CJ-series Units.
Size (Num- Specify the size of 1 to 512 512 When down- Not allowed.
Words) WR. CPU Unit
HR*2 Enable Enable or disable the Enable Disable When down- Not allowed. 4
generation of HR area Disable loaded to
4-10-3 Settings
CJ-series Units.
Size (Num- Specify the size of 1 to 1,536 512 When down- Not allowed.
Words) HR. CPU Unit
DM*2 Enable Enable or disable the Enable Disable When down- Not allowed.
generation of DM area Disable loaded to
CJ-series Units.
Words) DM. CPU Unit

4 Controller Setup
The setting for memory used for CJ-series Units can also be made when you use the NX701-£
£20 Units. The settings for memory used for CJ-series Units for an NX701-££20 Unit are as
follows.
Setting Default Update Changes in

Item Setting Set value Default
group timing RUN mode
Memory Set- CIO Enable Enable Disable When download- Not allowed.
tings for CJ-ser- *1 Disable ed to CPU Unit
ies Units Size 1 to 6,144 6,144 When download- Not allowed.
(Number of ed to CPU Unit
Words)
WR Enable Enable Disable When download- Not allowed.
*1 Disable ed to CPU Unit
Size 1 to 512 512 When download- Not allowed.
Words)
HR Enable Enable Disable When download- Not allowed.
Size 1 to 1,536 512 When download- Not allowed.
Words)
DM Enable Enable Disable When download- Not allowed.
Size 1 to 32,768 32,768 When download- Not allowed.
Words)
EM0- Enable Enable Disable When download- Not allowed.
EM18 Disable ed to CPU Unit
*2 Size 1 to 32,768 32,768 When download- Not allowed.
Words)

5
Designing Tasks
This section describes the task system and types of tasks.
5-1 Overview of Task Designing Procedure....................................................... 5-3

5-2 Overview of Tasks .......................................................................................... 5-6 5
5-2-1 Tasks ............................................................................................................... 5-6
5-2-2 Instructions Related to Tasks .......................................................................... 5-8
5-2-3 System-defined Variables Related to Tasks .................................................... 5-8
5-3 Specifications and Basic Operation of Tasks for NX701.......................... 5-11
5-3-1 Specifications of Tasks for NX701 CPU Units ................................................5-11
5-3-2 Guidelines for Separating Tasks for NX701 ...................................................5-11
5-3-3 Basic Operation of Tasks for NX701 CPU Units............................................ 5-12
5-3-4 Event Task Execution Conditions for NX701 CPU Units ............................... 5-20
5-3-5 Event Task Execution Timing for NX701 CPU Units ..................................... 5-25
5-3-6 Operation When Execution Condition Is Met Again Before Execution
of the Event Task Is Completed..................................................................... 5-29
5-4 Specifications and Basic Operation of Tasks for NX102 CPU
Units and NX1P2 CPU Units ......................................................................... 5-31
5-4-1 Specifications of Tasks for NX102 CPU Units and NX1P2 CPU Units.......... 5-31
5-4-2 Guidelines for Separating Tasks for NX102 CPU Units and NX1P2
CPU Units...................................................................................................... 5-31
5-4-3 Basic Operation of Tasks for NX102 CPU Units and NX1P2 CPU Units ...... 5-32
5-4-4 Event Task Execution Conditions for NX102 CPU Units and NX1P2
CPU Units...................................................................................................... 5-37
5-4-5 Event Task Execution Timing for NX102 CPU Units and NX1P2 CPU
Units .............................................................................................................. 5-42
5-5 Specifications and Basic Operation of Tasks for NJ-series Con-
trollers ............................................................................................................ 5-48
5-5-1 Specifications of Tasks for NJ-series Controllers .......................................... 5-48
5-5-2 Guidelines for Separating Tasks for NJ-series Controllers............................ 5-48
5-5-3 Basic Operation of Tasks for NJ-series Controllers....................................... 5-49
5-5-4 Event Task Execution Conditions for NJ-series Controllers .......................... 5-56
5-5-5 Event Task Execution Timing for NJ-series Controllers................................. 5-61
5-6 Services Other Than Tasks ......................................................................... 5-66
5-6-1 Execution Priorities and Execution Orders of Services Other Than Tasks.... 5-68

5 Designing Tasks
5-6-2 Processing Performed in and Execution Timing of the Tag Data Link
Service .......................................................................................................... 5-72
5-6-3 Processing Performed in and Execution Timing of the Option Board
Service .......................................................................................................... 5-75
5-6-4 Processing Performed in and Execution Timing of the Communica-
tions Bridge Service ...................................................................................... 5-76
5-6-5 Processing Performed in and Execution Timing of the System Services...... 5-77
5-7 Assignment and Settings Related to Tasks............................................... 5-81
5-7-1 Assigning I/O Refreshing to Tasks ................................................................ 5-81
5-7-2 Assigning Tasks to Programs ........................................................................ 5-88
5-7-3 Parameters for Primary Periodic Task and Periodic Tasks............................ 5-89
5-8 Ensuring Concurrency of Variable Values ................................................. 5-93
5-8-1 Ensuring Concurrency of Variable Values between Tasks ............................ 5-93
5-8-2 Variable Access from Outside the Controller................................................. 5-99
5-9 Errors Related to Tasks ............................................................................. 5-104
5-10 Monitoring Task Execution Status and Task Execution Times.............. 5-107
5-11 Task Design Methods and I/O Response Times...................................... 5-112
5-11-1 Checking the Task Execution Time ..............................................................5-112
5-11-2 Examples of Task Design .............................................................................5-115
5-11-3 System Input and Output Response Times..................................................5-115

5 Designing Tasks
5-1 Overview of Task Designing Proce-

dure
This section provides an overview of the task designing procedure.
The shaded steps in the overall procedure that is shown below are related to the task designing proce-
5-1 Overview of Task Designing Procedure

dure.
STEP 1. Software Design

Step 1-1 I/O Processing Design
STEP1-2 Designing Tasks
STEP 2. Software Setups and Programming

Step 2-2 Controller Setup 5
STEP 3. Mounting and Setting Hardware
STEP 4. Wiring
STEP 5. Checking Operation and Starting Operation on the Actual System
Refer to the 1-3 Overall Operating Procedure for the NJ/NX-series on page 1-19 for detail.

5 Designing Tasks
Designing the Tasks Reference

Design the task configuration. 5-3-3 Basic Operation of
Design the task configuration based on the I/O response performance that is re- Tasks for NX701 CPU
quired by the controlled devices. Units on page 5-12
5-4-3 Basic Operation of
Tasks for NX102 CPU
Units and NX1P2 CPU
Units on page 5-32
5-5-3 Basic Operation of
Tasks for NJ-series
Controllers on page
5-49
5-11 Task Design Meth-
ods and I/O Response
Times on page 5-112
Determine whether to use the primary periodic task, or the priority-5 or priori- 5-7-1 Assigning I/O Re-
ty-16 periodic task for the I/O refreshing of each Unit and slave. freshing to Tasks on
page 5-81
Devices (slaves/Units)
Primary periodic task
Priority-16 periodic task
Assign the slaves and Units to

the task for I/O refreshing.
Determine which programs to assign to the primary periodic task, to the priori- 5-7-2 Assigning Tasks
ty-5, priority-16, priority-17, and priority-18 periodic tasks, and to the priority-8 to Programs on page
and priority-48 event tasks. 5-88
Design the exclusive control methods for variables between tasks. 5-8-1 Ensuring Concur-
Design the exclusive control methods for variables between tasks when the same rency of Variable Values
global variables are used in different tasks. between Tasks on page
5-93
Design the tasks to access variables from outside of the Controller. 5-8-2 Variable Access
Design the tasks to enable synchronization of accessing variables in the CPU Unit from Outside the Con-
from outside of the Controller with the execution of a program in a specific task. troller on page 5-99
EtherNet/IP tag data links are included in accessing variables.
Task Settings on the Sysmac Studio

Setting the Tasks Reference
Initial Settings for the PLC Function Module: 4-2 Initial Settings for
Task Settings: Task Periods, I/O Settings, Program Assignments, the PLC Function Mod-
Task Interface Settings, and other settings ule on page 4-4

5 Designing Tasks
Offline Debugging with the Sysmac Studio

Desktop Operation Check Reference
Perform desktop debugging of sequence control and motion control with the Section 7 Checking
Simulator (virtual controller). Operation and Actual
Monitor the task execution times in the Task Execution Time Monitor Display. Operation on page
7-1
5-1 Overview of Task Designing Procedure

5-10 Monitoring Task
Execution Status and
Task Execution Times
on page 5-107

5 Designing Tasks
5-2 Overview of Tasks

This section provides an overview of tasks.
5-2-1 Tasks
Tasks are used to assign an execution condition and execution order to a series of processes, such as
I/O refreshing and user program execution.
There are three kinds of tasks, as shown in the following table. They are defined by their execution
conditions and execution priorities.
Number Task execu-

Type of task Definition Main processing content
of tasks tion priority
Primary peri- 1 4 The primary periodic task is I/O refreshing, user program execu-
odic task executed once every task tion, and motion control
period. It has the highest ex-
ecution priority.
Motion control instructions
and EtherCAT communica-
tions of the primary periodic
task are executed on the pri-
mary periodic task period.
Periodic 0 to 1 5*1 The priority-5 periodic task is I/O refreshing, user program execu-
tasks executed once every task tion, and motion control
period. It has the second
highest execution priority af-
ter the primary periodic task.
Motion control instructions
and EtherCAT communica-
tions of the priority-5 periodic
task are executed on the pri-
ority-5 periodic task period.
0 to 3 16*2, 17, or The priority-16, priority-17, The processing that can be per-
18 and priority-18 periodic tasks formed depends on the task execu-
are executed once every tion priority.
task period. Execution priority 16: I/O refreshing
Motion control instructions and user program execution
and EtherCAT communica- Execution priority 17 or 18: User
tions of the priority-16 period- program execution
ic task are executed on the
primary periodic task period.
Event tasks 0 to 32 8 or 48 An event task is executed User program execution
only once when the specified
execution condition is met.
Version Information
quired to use event tasks.

5 Designing Tasks
With an NX701 CPU Unit, you can execute motion control in the primary periodic task and in
the priority-5 periodic task. If these two motion controls need to be identified, the motion control
in the primary periodic task is called motion control 1, while the motion control in the priority-5
periodic task is called motion control 2.
l Primary Periodic Task and Periodic Tasks

The CPU Unit periodically execute both the primary periodic task and periodic tasks.
(The interval in which the CPU Unit execute the primary periodic task or a periodic task is called
the task period.)

Fixed period (an
Primary periodic task Fixed Periodic task integer multiple of
period the task period of
the primary
periodic task)
From 1 to 128 programs can be assigned to one task. The programs that are assigned to a task
are executed in the order that they are assigned. Execution of the all of the programs assigned to
each task is called user program execution. 5
Exchanging data with CJ-series Units or EtherCAT slaves is called I/O refreshing.
You can assign I/O refreshing for each slave and Unit to the primary periodic task or the priority-5
5-2-1 Tasks
or priority-16 periodic task. By default, I/O refreshing for all slaves and Units is assigned to the pri-
mary periodic task.
l Event Tasks
An event task is executed only once when the specified execution condition is met. There are the
following two types of execution conditions for event tasks.
Execution condition Specification

Execution with an in- The event task is executed when the ActEventTask (Execute Event Task) in-
struction struction is executed.
Execution when a condi- The event task is executed when the specified variable matches a predefined
tion for a variable is met condition.
From 1 to 128 programs can be assigned to one task. The programs that are assigned to a task
are executed in the order that they are assigned.
• I/O refreshing and motion control are not executed in event tasks. This means that you can-
not assign programs to event tasks if the program performs I/O control or executes motion
• Event tasks are not executed repeatedly every task period. Therefore, you cannot assign a
program to an event task if that program contains an instruction whose execution is not com-
pleted within one task period. Instructions that are executed over more than one task period
include some of the basic instructions, such as instructions for SD Memory Cards and com-
munications, all motion control instructions, and all simulation instructions. Refer to the
NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on the basic instruc-
tions that cannot be used in event tasks.

5 Designing Tasks
Tasks operate differently between the NX701 CPU Units, NX1P2 CPU Units, and NJ-series
CPU Units. Refer to 5-3 Specifications and Basic Operation of Tasks for NX701 on page 5-11,
5-4 Specifications and Basic Operation of Tasks for NX102 CPU Units and NX1P2 CPU Units
on page 5-31, and 5-5 Specifications and Basic Operation of Tasks for NJ-series Controllers
on page 5-48 for details.
5-2-2 Instructions Related to Tasks

The following instructions are supported to read the status of the current task, to determine if execu-
tion is in progress for other tasks, and to perform exclusive control for regional concurrency between
tasks.
Instruction Instruction name Introduction

GetMyTaskStatus Read Current Task Status Reads the following status of the current task.
Last Task Execution Time, Maximum Task Execution
Time, Minimum Task Execution Time, Task Execution
Count, Task Period Exceeded Flag, and Task Period
Exceeded Count
GetMyTaskInterval Read Current Task Period Reads the task period of the current task.
Task_IsActive Determine Task Status Determines if the specified task is currently in execu-
tion.
Lock Lock Tasks Starts a lock between Execution of any other
tasks. task with a lock region
Unlock Unlock Tasks Stops a lock between with the same lock num-
tasks. ber is disabled.
ActEventTask Activate Event Task Activates the specified event task.
5-2-3 System-defined Variables Related to Tasks

The following system-defined variables are provided for each task to show task status.
Do not use these variables in the user program. There may be a delay in updating them and concur-
rency problems in relation to the error status of the Function Module. It is used only to sample the task
status for data tracing from the Sysmac Studio.
You can also use the GetMyTaskStatus and Task_IsActive instructions to read task status from the
user program.
Variable name Meaning Function Data type R/W

_TaskName_Ac- Task Active Flag TRUE during task execution. BOOL R
tive FALSE from the completion of task execution
until the end of the task period.
_TaskName_Las- Last Task Execu- Gives the last execution time of the task. TIME R
tExecTime tion Time
_Tas- Maximum Task Gives the maximum value of the task execution TIME R
kName_MaxEx- Execution Time time.
ecTime
_Tas- Minimum Task Gives the minimum value of the task execution TIME R
kName_MinE- Execution Time time.
xecTime

5 Designing Tasks

_TaskName_Ex- Task Execution Contains the number of executions of the task. UDINT R
ecCount Count If the present value exceeds the maximum val-
ue of the data type, the present value returns
to 0 and the count is continued.
_TaskName_Ex- Task Period Ex- TRUE when task execution is completed if the BOOL R
ceeded ceeded Flag task period is exceeded.
FALSE if task execution was completed within
the task period.
_TaskName_Ex- Task Period Ex- Contains the number of times that the task pe- UDINT R
ceedCount ceeded Count riod was exceeded.
If the present value exceeds the maximum val-
ue of the data type, the present value returns
to 0 and the count is continued.

Note Example: The Task Period Exceeded Flag for the task named MainTask is _MainTask_Exceeded.
Flag Operation
l Task Active Flag (_TaskName_Active)

Task period 5
Primary
periodic task:
IO UPG MC IO UPG MC IO UPG MC
Task A
5-2-3 System-defined Variables Related to Tasks

_TaskA_Active
Event task
(execution priority
UPG
of 8): Task B
_TaskB_Active
Task execution
condition is met.*
Task period
Priority-16
periodic task:
IO UPG IO UPG
Task C
_TaskC_Active
* When the ActEventTask instruction is used

to execute an event task, the Task Active
Flag changes to TRUE.

5 Designing Tasks
l Task Period Exceeded Flag (_TaskName_Exceeded)

Task period
Primary
periodic task: IO IO IO UPG M
IO UPG M
Task A M
C C
UPG C
Period exceeded.
_TaskA Exceeded

5 Designing Tasks
5-3 Specifications and Basic Operation of

Tasks for NX701
5-3 Specifications and Basic Operation of Tasks for NX701

This section describes the specifications and basic operation of tasks for the NX701 with a multi-core
processor.
5-3-1 Specifications of Tasks for NX701 CPU Units

The specifications of tasks are given in the following table.
Item Specification
Type of task • Primary periodic task
• Periodic task (priority 5, 16, 17, or 18)
• Event task (priority 8 or 48)
Numbers of tasks • Primary periodic task: 1
• Periodic tasks: 0 to 4 tasks*1
• Event tasks: 0 to 32 tasks*2
Number of programs per task 128 max.
Task period of the primary periodic 125 μs 5
task 250 μs to 8 ms (in 250 μs increments)
Task periods of periodic tasks • Priority 5
5-3-1 Specifications of Tasks for NX701 CPU Units

125 μs
250 μs to 100 ms (in 250 μs increments)
• Priority 16, 17, or 18
1 ms to 100 ms (in 250-μs increments)
Set the task period of each periodic task to an integer multiple of the task
period of the primary periodic task.
You cannot select any combination of task periods whose least common
multiple exceeds 600 ms.
*1. There can be no more than one task with each of the following execution priorities: 5, 16, 17, and 18.
*2. There can be up to 32 tasks with each of the following priorities as long as there are no more than a total of
32 tasks with these priorities: 8 and 48.
Do not set the task period of primary periodic task to 4 ms or more when you use the priority-5
periodic task. If you set the task period to 4 ms or more, a Slave Application Error may occur.
5-3-2 Guidelines for Separating Tasks for NX701

All programs must be assigned to one of the tasks. Use the guidelines in the following table to deter-
mine which tasks to assign your programs to based on the requirements of the programs.

5 Designing Tasks
Task Programs that are suitable for this task

Primary periodic task • Programs that require periodic I/O refreshing, user program execution, motion
control, or system common processing at an exact execution period.
• Programs that require the highest execution priority and contain controls that
need high-speed response.
• Programs that contain motion control instructions with the highest execution pri-
ority.
Priority-5 periodic task • Programs that require periodic I/O refreshing, user program execution, motion
control, or system common processing at an exact execution period.
• Programs that require the second highest execution priority after the primary pe-
riodic task and contain controls that need high-speed response.
• Programs that contain motion control instructions with a relatively high execution
priority.
• Programs used for applications where the processes that require the highest-
speed processing are controlled with the primary periodic task and the rest is
controlled separately with the priority-5 periodic task.
Priority-16 periodic task • Programs with a relatively low execution priority that require periodic user pro-
gram execution or system common processing.
• Programs that contain controls for some slaves and Units whose I/O refreshing
is assigned to the primary periodic task.
• Programs that contain motion control instructions with a relatively low execution
priority.
• Programs used for applications where, among the processes for slaves and
Units controlled with the primary periodic task, those with a relatively low execu-
tion priority are controlled separately with the priority-16 periodic task.
Priority-17 or priority-18 • Programs with a relatively low execution priority that require periodic user pro-
periodic task gram execution or system common processing.
• Programs that contain data processing and communications processing controls
that do not need high-speed response.
Event task • Programs that are executed only when specified conditions are met.
5-3-3 Basic Operation of Tasks for NX701 CPU Units

With a multi-core processor, the NX701 CPU Units can execute the primary periodic task and the pri-
ority-5 periodic task in parallel. The order in which tasks are executed depends on the execution priori-
ty that is set for each task.
With an NX701 CPU Unit, you can execute multiple tasks, the tag data link service, and system
services in parallel.
Task Execution Priority

The type of the task determines its execution priority. The CPU Unit execute the task with the highest
execution priority first.
If the execution condition is met for another task, Tb, that has a higher execution priority while task Ta
execution is in progress, the NX-series CPU Unit will assign Tb to the available core for processing on
a priority basis.
The execution priority for each task type is given in the following table. The smaller the value of the
execution priority, the higher the priority.

5 Designing Tasks
Execution priori-
Task Tasks with the same execution priority
ty
Primary periodic task 4 ---

Periodic task 5, 16, 17, or 18 You cannot set the same execution priority for more than one
task.
Event task 8 or 48 You can set the same execution priority for more than one
event task.
Refer to 5-3-5 Event Task Execution Timing for NX701 CPU
Units on page 5-25 for the order of execution.
High Numbers of tasks
Primary
4 1
periodic task
5 Periodic task 0 or 1
Event tasks 0 to 32
8
Execution priority
(0 to 63)
5
A total of up to 32

tasks for both
priority levels.
Event tasks 0 to 32
48
Low
Task Periods for the Primary Periodic Task and Periodic Tasks
The CPU Unit repeatedly and cyclically execute the primary periodic task and periodic tasks.
The task periods for periodic tasks must be assigned as integer multiples of the task period of the pri-
mary periodic task (called the primary period). Therefore, execution of both tasks will start at the same
time every few cycles.
For example, if the primary period is set to 1 ms and the task period of the priority-16 periodic task is
set to 4 ms, the execution timing of the primary periodic task and the priority-16 periodic task is
synchronized after each four executions of the primary periodic task.
An event task is not executed periodically. Instead, it is executed only once when the specified
execution condition is met. Therefore, execution of an event task depends on when its execu-
tion condition is met and on its execution priority.

5 Designing Tasks
Examples of Execution Order for Tasks

This section gives a few examples of the execution order for the primary periodic task and periodic
tasks.
Refer to 5-3-5 Event Task Execution Timing for NX701 CPU Units on page 5-25 for the order of exe-
cution of event tasks.
l Projects with Only the Primary Periodic Task

The primary periodic task is executed every primary period.
The system service shown in this figure refers to non-task related processing, such as communica-
tions processing, that is performed by the CPU Unit. Refer to Processing Performed in System
Services on page 5-77 for details on the system services.
Execution priority Primary period Primary period

High
Primary
periodic IO UPG MC IO UPG MC
task
A double line means
that all processing for
that task has been
System SS completed.
services
Low
IO: Indicates I/O refreshing (data outputs and then data inputs).
UPG: User program execution.
MC: Indicates motion control.
SS: Indicates system services.
l Project with the Primary Periodic Task, Priority-5 Periodic Task, Priority-16
Periodic Task, and Priority-17 Periodic Task
• The tasks are classified into the following two groups and executed.
Group Type of task

Group 1 Primary periodic task
Group 2 Periodic task (priority 5, 17, or 18)
Event task (priority 8 or 48)
• Each task in the same group is preferentially executed in descending order of execution priority.
• The primary periodic task has the highest execution priority, so it is always executed in the pri-
mary period.
• The priority-5 periodic task is executed in parallel with the primary periodic task.
• The priority-16 periodic task is executed after execution of the primary periodic task is complet-
ed.
• The priority-17 periodic task has a lower execution priority than the priority-5 periodic task, so it is
executed when the priority-5 periodic task is not being executed.
• In this example, the task period for the priority-5 periodic task is set to twice the primary period.
Also, the task period for the priority-16 periodic task is set to four times the primary period. This
means that the timing at which execution of a task starts coincides with that of the primary peri-
odic task once every two primary periods for the priority-5 periodic task and once every four pri-
mary periods for the priority-16 periodic task.
• The system services are executed at the required time without being affected by the tasks.

5 Designing Tasks
Execution priority Primary period Primary period Primary period Primary period Primary period
High Primary
periodic task IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC

Task execution Task Task execution Task Task execution Task Task execution Task Task execution Task
condition is execution condition is execution condition is execution condition is execution condition is execution
met. is completed. met. is completed. met. is completed. met. is completed. met. is completed.
Priority-5
periodic task
Task execution Task Task execution Task Task execution Task

condition is execution condition is execution condition is execution
met. is completed. met. is completed. met. is completed.
Task period
Priority-16
UPG UPG
periodic task
Task execution Task Task execution Task

condition is execution condition is execution
met. is completed. met. is completed.
Task period
Priority-17
UPG
periodic task
Task execution Task

condition is execution
met. is completed.
System
SS
Low services
5

If you have multiple tasks that read and write to the same variables, make sure to use exclusive
control of variables between the tasks. Otherwise, a task other than the one currently in execu-
tion may change the variable values.
Refer to 5-8-1 Ensuring Concurrency of Variable Values between Tasks on page 5-93 for de-
tails.
Tasks and Operating Modes

The relationship between the operating modes and tasks of the CPU Unit is given in the following ta-
ble.
Task Specification
Primary periodic task • These tasks are executed in both RUN mode and PROGRAM mode.
Periodic tasks • The user program is executed only in RUN mode.
Event tasks Event tasks are executed only in RUN mode.
• Even if the execution condition for an event task is already met when you change the operat-
ing mode to RUN mode, the event task will not be executed. An event task is executed only
when its execution condition changes from not met to met during RUN mode.
• Even in RUN mode, an event task is not executed if there is a major fault level error.

5 Designing Tasks
The Processing Performed in Each Task
l Primary Periodic Task

The primary periodic task has the highest execution priority. It executes processes with high speed
and high precision.
In the specified period, this task performs system common processing, I/O refreshing, user pro-
gram execution, and motion control.
Task period*1 = Primary period (fixed)
Task execution time*2 (varies)
I/O refreshing Control processing

Output data
processing
processing 2
processing
processing 1
Input data
Motion
control
common
common
System
System
Refreshing User program

execution
*1 : Task period The CPU Unit executes tasks in this fixed period. This is a preset, fixed time.
*2 : Task execution time This is the actual time it takes from the point that the execution condition is met
until execution is completed.
Processing Processing contents

I/O refresh- Output data • Output refresh data is created for Output Units that refresh I/O.
ing processing • If forced refreshing is set, the forced refreshing values are reflected in the
output refresh data.
Refreshing • This process exchanges data with I/O.
Input data • Whether the condition expression for event task execution is met or not is
processing determined.
• Input refresh data is loaded from Input Units that refresh I/O.
• If forced refreshing is set, the forced refreshing values are reflected in the
input refresh data that was read.
System common processing • Processing for exclusive control of variables in tasks is performed (when
1 accessing tasks are set).
• Motion input processing is performed.*1
• Data trace processing (sampling and trigger checking) is performed.
User program execution • Programs assigned to tasks are executed in the order that they are as-
signed.
Motion control*2 • The motion control commands from the motion control instructions in the
user program assigned to the primary periodic task and the priority-16 pe-
riodic task are executed.
• Processing the motion outputs for I/O refreshing in the next primary peri-
odic task.

5 Designing Tasks

2 refreshing tasks are set).

• Processing for variables accessed from outside of the Controller is per-
formed to maintain concurrency with task execution (executed for the vari-
able access time that is set in the Task Settings).
• If there is processing for EtherNet/IP tag data links and refreshing tasks
are set for the tags (i.e., variables with a Network Publish attribute), varia-
ble access processing is performed.
*1. The Axis Current Values (Position, Velocity, and Torque) and Servo Drive status in the system-defined
variables for motion control are updated.
*2. When there are motion control instructions in user program execution in the primary periodic task, the
Controller executes the results from those instructions immediately afterward in motion control process-
ing as shown below. The CPU Unit outputs the results to the Servo Drives during I/O refreshing in the
next primary periodic task.
Note The processes in each cell in the above table are executed in the order of description.
Task period = Primary period (fixed)
I/O refreshing Control processing I/O refreshing

System common
processing 1
Output data
Output data
processing
processing
processing
User
processing
Input data
Input data
processing 2
common
System
Motion
control
program
Refreshing execution Refreshing
MC_
5
The system-defined variables for motion control When the CPU Unit executes a motion
are updated for use in the following motion control instruction, it executes the result of During output data processing in the next primary

that instruction in motion control processing period, the CPU Unit sends the results of motion
immediately afterward. control processing to the Servo Drive via EtherCAT.
When there is a motion control instruction in user program execution in the priority-16 periodic task,
the Controller executes the result from that instruction in the motion control processing (MC) of the
l Priority-5 Periodic Task

The priority-5 periodic task has the next highest execution priority after the primary periodic task. It
executes processes with high speed and high precision.
The priority-5 periodic task is available only for the NX701 CPU Units.
Task period (fixed)
Task execution time (varies)

Priority-5 periodic task is executed
* in parallel with primary periodic task.
I/O refreshing Control processing Pausing task is not necessary when
the primary periodic task is in
Output data
processing
processing 2
processing
processing 1
Input data
Motion
control
common
common
System
System
User program execution.

Refreshing
execution

5 Designing Tasks

I/O refreshing Output data • Output refresh data is created for Output Units that refresh I/O.
processing • If forced refreshing is set, the forced refreshing values are reflected in the
Input data • Input refresh data is loaded from Input Units that refresh I/O.
signed.
user program assigned to the priority-5 periodic task are executed.
• Processing the motion outputs for I/O refreshing in the next priority-5 peri-
odic task.
formed to maintain concurrency with task execution (executed for the var-
iable access time that is set in the Task Settings).
*2. When there are motion control instructions in user program execution in the priority-5 periodic task, the
CPU Unit executes the results from those instructions immediately afterward in motion control process-
next priority-5 periodic task.
Task period (fixed)

System common
processing 1
Output data
Output data
processing
processing
processing
User
processing
Input data
Input data
processing 2
common
System
Motion
control
program
MC_
are updated for use in the following motion control instruction, it executes the result of During output data processing in the next task period
control instructions. that instruction in motion control processing of priority-5 periodic task, the CPU Unit sends the
immediately afterward. results of motion control processing to the Servo Drive
via EtherCAT.
l Priority-16, Priority-17, or Priority-18 Periodic Task

A periodic task executes its programs every task period. The task period is specified as an integer
multiple of the primary period. You can use 0 to 3 periodic tasks.
The priority-16 periodic task allows you to write control programs for the slaves and Units for which
you set the priority-16 periodic task in the I/O Control Task Settings.
Processing for periodic tasks that do not control I/O is different from processing for periodic tasks
that do control I/O.

5 Designing Tasks
• Periodic Tasks That Do Not Control I/O
Task period (fixed)

* The Controller may pause the execution of
a priority-16, -17, or -18 periodic task in
* * order to execute a task with a higher
Control processing execution priority.
In the rest of this manual, description of
processing 2
processing 1
tasks in the NX-series CPU Unit will not
common
common
System
User
System
program refer to the pausing task scenario.

execution

System common proc- • Processing for exclusive control of variables in tasks is performed (when ac-
essing 1 cessing tasks are set).
User program execution • Programs assigned to tasks are executed in the order that they are assigned.
System common proc- • Processing for exclusive control of variables in tasks is performed (when re-
essing 2 freshing tasks are set).
• Processing for variables accessed from outside of the Controller is performed
to maintain concurrency with task execution (executed for the variable access
time that is set in the Task Settings). 5
• If there is processing for EtherNet/IP tag data links and refreshing tasks are
set for the tags (i.e., variables with a Network Publish attribute), variable ac-

cess processing is performed.
• Priority-16 Periodic Task That Controls I/O
Task period (fixed)

* The Controller may pause the execution of
a priority-16 periodic task in order to
* * execute a task with a higher execution
Control processing priority.
In the rest of this manual, description of
processing 2
processing 1
tasks in the NX-series CPU Unit will not

common
common
System
User
System
program refer to the pausing task scenario.

execution

System common proc- • Reflecting the input refresh data.*1
essing 1 • Processing for exclusive control of variables in tasks is performed (when ac-
cessing tasks are set).

5 Designing Tasks

time that is set in the Task Settings).
• Reflecting the execution results in the output refresh data.*2
*1. This loads the input refresh data from the EtherCAT slaves for which you set the priority-16 periodic task
in the I/O Control Task Settings. Input refresh data refers to the data that is input in process data com-
munications during I/O refreshing in the primary periodic task.
*2. This reflects the execution results of the user program for the EtherCAT slaves for which you set the pri-
ority-16 periodic task in the I/O Control Task Settings in the output refresh data. The output refresh data
will be output in process data communications during I/O refreshing in the primary periodic task.
l Event Tasks
An event task is executed only once when the specified execution condition is met. You can use 0
to 32 event tasks.
The processing details for event tasks are shown in the following figure.

* The Controller may pause the
execution of a task in order to
* * execute a task with a higher
Control processing execution priority.
In the rest of this manual, description
System common
System common
of tasks in the NX701 CPU Unit will

processing 1
processing 2
User program
execution not refer to the pausing task
scenario.
Task execution
condition is met.

essing 1 cessing tasks are set).*1
essing 2 freshing tasks are set).*1
*1. Refer to 5-8-1 Ensuring Concurrency of Variable Values between Tasks on page 5-93 for details on ex-
clusive control.
5-3-4 Event Task Execution Conditions for NX701 CPU Units

An event task is executed only once when the specified execution condition is met. There are the fol-
lowing two types of execution conditions for event tasks.

5 Designing Tasks
Execution condition Event task execution timing Reason for use

Execution with the ActEvent- When ActEventTask instruc- • When you need to explicitly specify which
Task instruction tion is executed event tasks to execute in the user program

• When the execution condition for the event
task may change before meeting the condi-
tion expression for the variable is deter-
mined
Execution when a condition When the specified variable When you want to simplify the user program
expression for a variable is value matches the specified by executing event tasks without user pro-
met condition expression*1 gramming
*1. Refer to Execution Timing When the Execution Condition Is a Condition Expression for a Variable on page
5-26 for the timing of when the value of the specified variable is checked to see if the specified condition
expression is met.
If the following variables are specified for a condition expression when the execution condition
is a condition expression for a variable, event tasks may not be executed when conditions are
met or event tasks may be executed when conditions are not met.
• Structure members whose data size is 16 bits or more, except for system-defined variables
for motion control
• Array elements whose data size is 16 bits or more
5
When the above variables are specified and the match evaluation is performed, perform either
of the followings.
• Copy the above variables to the internal variables with a basic data type other than a data

size of 64 bits, and access the copied internal variables.
• Use the settings for exclusive control of variables in tasks, and set the primary periodic task
as a refreshing task.
Executing Event Tasks for the ActEventTask Instruction

When the ActEventTask (Execute Event Task) instruction is executed in the user program, the speci-
fied event task is executed once. Refer to the NJ/NX-series Instructions Reference Manual (Cat. No.
W502) for the detailed specifications of the ActEventTask instruction.
Using the ActEventTask instruction to execute event tasks makes it easy to see which event tasks are
executed. Also, this method is also effective when the execution condition for the event task may
change before meeting the condition expression for the variable is determined.
l Example of User Programming Using the ActEventTask Instruction

Example 1: Executing an Event Task Only Once When the Value of a Variable Changes
In the following example, the upward differentiation option is used for the ActEventTask instruction.
This causes the Task1 event task to be executed only once when the BoolVar BOOL variable
changes to TRUE.
BoolVar @ActEventTask
EN ENO
'Task1' TaskName

5 Designing Tasks
Execution
priority
Primary period
High
Primary
periodic task
ActEventTask The event task is executed only once.

instruction is executed.
Task1
event task
Low
TRUE
BoolVar
FALSE
Example 2: Executing an Event Task Repeatedly While the Value of a Variable Matches a Specified
Value
In the following example, the upward differentiation option is not used for the ActEventTask instruc-
tion. This causes the Task1 event task to be executed as long as the BoolVar BOOL variable is
TRUE. Any ActEventTask instructions that specify Task1 will be ignored if Task1 is already in exe-
cution. After the execution of the event task has started, it is executed to the end even if the value
of BoolVar changes to FALSE during execution.
BoolVar ActEventTask
EN ENO
'Task1' TaskName
Execution
priority
Primary period
High
Primary
periodic task
ActEventTask instruction
is executed.
Task1
event task
Task1 is already in execution so any ActEventTask After the execution of the event
instructions that specify Task1 are ignored. task has started, it is executed
to the end even if the value of
Low
The event task is executed repeatedly the BoolVar variable changes
while the BoolVar variable is TRUE. to FALSE.
TRUE
BoolVar
FALSE

5 Designing Tasks
Executing Event Tasks When Condition Expressions for Variables

Are Met

This method executes the event task once when the specified condition expression is met for the val-
ue of a variable that was specified on the Sysmac Studio. The event task is not executed repeatedly
while the value of the variable matches the condition expression. It is executed only once when the
value of the variable first changes so that it meets the condition expression.
This method of execution does not require user programming to execute the event task.
l Variables for Which You Can Specify Condition Expressions

The following table lists the variables that you can specify for condition expressions.
Type of variables Specification

System-defined variables Possible.*1
Semi-user-defined variables Possible.
User-defined Global variables Possible.
variables Variables used in a program Possible.
Variables used in a function block Possible.*2
Variables used in a function Not possible.
*1. The following variables cannot be used. 5
EN, ENO, P_Off, P_CY, P_First_RunMode, P_First_Run, and P_PRGER
*2. In-out variables cannot be used.

l Data Types of Variables for Condition Expressions
The following table lists the data types of variables that you can specify for condition expressions.
Classification of data
Data type Specification
type
Basic data types Boolean, bit string, integer, and real Possible.
Duration, date, time of day, date and time, or text Not possible.
string data
Data type specifica- Array specification Arrays Not possible.
tions Elements Possible.*1
Derivative data type Structures Structures Not possible.
Members Possible.*2
Unions Unions Not possible.
Members Possible.*2
Enumerations Possible.
*1. The elements of the array must be Boolean variables, bit strings, integer data, or real data.
*2. The members must be Boolean, bit strings, integer data, or real data.
l Condition Expressions That You Can Specify

The condition expressions that you can specify depend on the data type of the variable that you
specify for the condition expression.
If the variable that you specify for a condition expression is bit string data, integer data, or real data,
you must set a comparison constant to compare to the value of the variable.

5 Designing Tasks
Data type Possible condition expressions

Boolean, Boolean array elements, Boolean structure members, and Change to TRUE
Boolean union members Change to FALSE
Bit string, real number, integer, as well as array element, structure Variable = {Comparison constant}
member, or union member with one of those data types Variable ≠ {Comparison constant}
Variable > {Comparison constant}
Variable ≥ {Comparison constant}
Variable < {Comparison constant}
Variable ≤ {Comparison constant}
l Valid Range of Comparison Constants

you must set a comparison constant to compare to the value of the variable. The valid range of
comparison constants is the same as the valid range of the data type of the variable that you speci-
fy for the condition expression.
Refer to Basic Data Types and Derivative Data Types on page 6-32 for the valid range of values
for each data type.
For example, if the variable that you specify for the condition expression is a BYTE variable, the
valid range of comparison constant values is from BYTE#16#00 to BYTE#16#FF.
l Example of Executing Event Tasks When Condition Expressions for Varia-

bles Are Met
Example 1: Execution Condition for Event Task Set to a Change to TRUE of the Program1.trigger1
Boolean Variable
When the value of Program1.trigger1 changes to TRUE, the event task is executed only once.
Execution
priority
Primary period
High
Primary IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC

periodic task
The event task is executed only once.

Condition expression Condition expression
is not met. is met.
Event task
TRUE is assigned to
Program1.trigger1 variable.
Low
TRUE
Program1.trigger1
FALSE
Example 2: Execution Condition for an Event Task Set to When Program1.curVal (INIT variable) ≥
10
The event task is executed only once when the value of Program1.curVal changes from less
than 10 to 10 or higher.

5 Designing Tasks
Execution
priority
Primary period
High

Primary
IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC
periodic task
Condition expression Not met. Value of 10 Value of 11 Value of 9

is not met. is assigned. is assigned. is assigned.
Not met.
Met
Event task Value of 9 is assigned to
Program1.curVal variable.
The event task is executed only once when

Low the value of the Program1.curVal variable
changes from less than 10 to 10 or higher.
Program1.curVal 0 9 10 11 9
If the value of a specified variable changes in the primary periodic task, the CPU Unit evaluates
whether the condition expression is met in the next primary periodic task. This means that the
event task will be executed on completion of this evaluation against the condition expression in 5
the next primary periodic task after the CPU Unit evaluates that the condition expression is met.
5-3-5 Event Task Execution Timing for NX701 CPU Units

The execution priority of event tasks is 8 or 48. With a multi-core processor, the NX701 CPU Units
execute event tasks for which the execution condition is met according to the task execution priority.
Depending on the user program, however, the CPU Unit may execute an event task in parallel with the
primary periodic task, periodic tasks, or other event tasks with different execution priorities.
If you have multiple tasks that read and write to the same variables, make sure to use the following
functions to control how an event task is executed with the primary periodic task, periodic tasks, or
other event tasks with different execution priorities.
Purpose Function to use

Accessing the same global variable from an event task Exclusive control of variables in tasks
and from another task • Settings for exclusive control of variables in tasks
• Lock (Lock Tasks) instruction
• Unlock (Unlock Tasks) instruction
Checking the execution status of other tasks Task_IsActive (Determine Task Status) instruction
Refer to 5-8-1 Ensuring Concurrency of Variable Values between Tasks on page 5-93 for details.
The execution of an event task also depends on its execution conditions.

You can also set the same execution priority for more than one event task. You must be careful when
the execution conditions are met for more than one event task that has the same execution priority.

5 Designing Tasks
Differences in Execution Timing Based on the Execution Condi-

tions of Event Tasks
The execution timing for event tasks depends on whether the execution condition is triggered by an
ActEventTask instruction or by when a condition expression for a variable is met.
l Execution Timing When the Execution Condition Is an ActEventTask In-

struction
If the execution condition for an event task is triggered by an ActEventTask instruction, the event
task execution condition will be met immediately after the ActEventTask instruction is executed.
The Controller executes event tasks for which the execution condition is met according to the task
execution priority.
Example 1: Executing an Event Task with an Execution Priority Higher Than the Task That Exe-
cutes an Instruction
The event task execution condition is met immediately after

Execution
the ActEventTask instruction is executed.
priority
High
Event task
(execution priority of 8)
Task period
Priority-16
periodic task
Low is executed.
Example 2: Executing an Event Task with an Execution Priority Lower Than the Task That Exe-
Execution
Primary period
priority
High
Primary
periodic task
is executed.
Event task
Low
The event task execution condition is met immediately after

the ActEventTask instruction is executed.
l Execution Timing When the Execution Condition Is a Condition Expres-

sion for a Variable
The condition expression is evaluated for a match inside the primary periodic task. The execution
condition for an event task is met when it is evaluated to match the condition expression. The Con-
troller executes event tasks for which the execution condition is met according to the task execution
priority.
Example 1: Project with a Priority-16 Periodic Task and an Event Task Execution with a Priority of 8

5 Designing Tasks
Execution
priority
High Primary period

Primary periodic
task
Value is assigned Event task is executed only once.

to variable in user
program.
Event task (execution
priority of 8)
Condition
Task period expression is met.
Priority-16
periodic task
Low
Example 2: Project with a Priority-16 Periodic Task and an Event Task Execution with a Priority of
48
Execution
priority
Primary period
High
Primary periodic
5
task
Value is assigned Condition expression

to variable in user is met.
Task period program.
Priority-16
periodic task Event task is executed
only once.

priority of 48)
Low
• For the NX701 CPU Units, the timing at which the execution condition for an event task is
met is the same regardless of whether the condition expression match is triggered by I/O re-
freshing in the primary periodic task, or by execution of a program that is assigned to the pri-
mary periodic task.
Timing at which the execution condition for

Trigger for condition expression to match
an event task is met
I/O refreshing in the primary periodic task Evaluation in the next primary periodic task
Execution of the programs in the primary periodic Evaluation in the next primary periodic task
task
• In order for an event task to be executed, the condition expression must be met in the evalua-
tion after the previous evaluation where the condition expression was not met. This means
that even if the status of the condition expression changes from not met to met, if the condi-
tion returns to not met before the next evaluation, the event task will not be executed.
• For an NX701 CPU Unit, specify an internal variable defined in the program that is assigned
to the primary periodic task if you specify an internal variable with a data size of 64 bits or
more to the condition expression. If an internal variable that is not defined in the primary peri-
odic task is specified, the concurrency of variable values may not be ensured. As the result,
the match evaluation may not be correctly performed.

5 Designing Tasks
Execution Timing for Event Tasks with the Same Execution Priority
You can also set the same execution priority for more than one event task. If the execution conditions
for more than one event task with the same execution priority are triggered by an ActEventTask in-
struction, the event tasks will be executed in the order that the instruction is executed.
Example 1: When Two ActEventTask Instructions Are Executed

In the example given below, two ActEventTask instructions are used to execute two event tasks. The
T1 event task is executed before the T2 event task because the ActEventTask instruction that trig-
gered T1 was executed first.
Execution
priority
High Primary period
Primary
periodic task
T1 event task is executed first because the ActEventTask

instruction that triggered it was executed first.
User program
T1 event task ActEventTask(‘T1’);
ActEventTask(‘T2’);
Execution priority
is the same.
T2 event task
Low
Example 2: When Both Condition Expressions for Variables and the ActEventTask Instruction Are
Used
In this example, the execution conditions of the T1, T2, and T3 event tasks are set as given below.
• T1: Condition expression for the VarA variable is met.
• T2: Condition expression for the VarB variable is met.
• T3: ActEventTask instruction
The operation would proceed as described below if the condition expression for VarA was met during
I/O refreshing, the ActEventTask instruction was executed in the user program, and the condition ex-
pression for VarB was met during execution of the user program all in the same primary period.
1. The condition expression for VarA is met during I/O refreshing.
2. The condition expression for VarB is met during execution of the user program.
3. At this point, T1 and T2 are not executed because the condition expressions are not yet evaluated.
4. The ActEventTask instruction is executed in the user program, so T3 is executed.
5. When I/O refreshing is executed in the primary periodic task, the match is detected that the condi-
tion expressions for VarA and VarB are met, so T1 and T2 are executed.
If the match is detected that more than one condition expression is met in the same execution peri-
od, the order of execution of event tasks is undefined. The following figure shows an example
when T1 is executed first.

5 Designing Tasks
Execution
priority
High Primary period

Primary periodic
IO UPG MC IO UPG MC
task
Condition expression The match for the condition

for VarA is met. ActEventTask expression for VarA and
Condition expression instruction is executed. VarB is detected.
for VarB is met.
T1 event task
T2 event task
T3 event task
Low
5-3-6 Operation When Execution Condition Is Met Again Before Exe-

cution of the Event Task Is Completed
If the execution condition for an event task is met again before the execution of that event task is com- 5
pleted, the second match of the execution condition is ignored. “Before an event task is completed”
includes the duration of execution of the event task and the time waiting for execution. After the execu-
5-3-6 Operation When Execution Condition Is Met Again Before Execution of the Event Task Is Completed
tion of the event task has started, it is executed to the end even if the condition expression is no longer
met.
Execution
priority
High Primary period
Primary
periodic task
ActEventTask ActEventTask
instruction is instruction is
executed for T1. executed for T1.
Execution of the event task has not completed yet,
so the second ActEventTask instruction is ignored.
T1 event task
Low

5 Designing Tasks
Execution
priority
High Primary period
Primary periodic
task
ActEventTask instruction ActEventTask instruction

is executed for T1 and T2. is executed for T2.
Task period
T1 event task
This event task (T2) was triggered by the first

ActEventTask instruction and is still waiting for
T2 event task execution. The second ActEventTask
(execution priority of 8) instruction is ignored.
Low

5 Designing Tasks
5-4 Specifications and Basic Operation of Tasks for NX102 CPU Units and
Tasks for NX102 CPU Units and
NX1P2 CPU Units
This section describes the specifications and basic operation of tasks for the NX102 CPU Units and
NX1P2 CPU Units with a multi-core processor.
5-4-1 Specifications of Tasks for NX102 CPU Units and NX1P2 CPU
Units
NX1P2 CPU Units

Item Specification
• Periodic task (priority 17 or 18)
Numbers of • Primary periodic task: 1
tasks • Periodic tasks: 0 to 2 tasks *1 5
• Event tasks: 0 to 32 tasks *2
Number of pro- 128 max.
5-4-1 Specifications of Tasks for NX102 CPU Units and NX1P2 CPU Units
grams per task
Task period of • NX102-££££ CPU Units: 1 ms to 32 ms (in 250-μs increments)
the primary peri- • NX1P2-1£££££ CPU Units: 2 ms to 8 ms (in 250-μs increments)
odic task • NX1P2-90££££ CPU Units: 2 ms to 8 ms (in 250-μs increments)
• NX1P2-9B££££ CPU Units: 4 ms to 8 ms (in 250-μs increments)
Task periods of • Priority 17 or 18
periodic tasks • NX102-££££ CPU Units: 1 ms to 32 ms (in 250-μs increments)
• NX1P2-1£££££ CPU Units: 2 ms to 100 ms (in 250-μs increments)
• NX1P2-90££££ CPU Units: 2 ms to 8 ms (in 250-μs increments)
• NX1P2-9B££££ CPU Units: 4 ms to 8 ms (in 250-μs increments)
Set the task period of each periodic task to an integer multiple of the task period of the pri-
mary periodic task.
You cannot select any combination of task periods whose least common multiple exceeds
600 ms.
*1. There can be no more than one task with each of the following execution priorities: 17 and 18.
5-4-2 Guidelines for Separating Tasks for NX102 CPU Units and
NX1P2 CPU Units

5 Designing Tasks

Primary periodic task • Programs that require periodic I/O refreshing, user program execution, mo-
tion control, or system common processing at an exact execution period.
• Programs that require the highest execution priority and contain controls that
need high-speed response.
• Programs that contain motion control instructions with the highest execution
priority.
Priority-17 or priority-18 peri- • Programs with a relatively low execution priority that require periodic user
odic task program execution or system common processing.
• Programs that contain data processing and communications processing con-
trols that do not need high-speed response.
5-4-3 Basic Operation of Tasks for NX102 CPU Units and NX1P2 CPU
Units
The NX102 CPU Units and NX1P2 CPU Units cannot execute more than one task at the same time.
The order in which tasks are executed depends on the execution priority that is set for each task.
• With an NX102 CPU Unit, you can execute the communications bridge service, tag data link
service and system services without being affected by the task execution.
• With an NX1P2 CPU Unit, you can execute the tag data link service, option board service,
and system services without being affected by the task execution.
Task Execution Priority

The type of the task determines its execution priority.
execution is in progress, execution of Ta will be interrupted to allow execution of Tb. Processing for Ta
will resume when processing for Tb is completed.
Execution
priority
Periodic task 17 or 18 You cannot set the same execution priority for more than one task.
Event task 8 or 48 You can set the same execution priority for more than one event
task.
Refer to 5-4-5 Event Task Execution Timing for NX102 CPU Units
and NX1P2 CPU Units on page 5-42 for the order of execution.

5 Designing Tasks
Primary
4 1
periodic task
Event tasks 0 to 32
8
Execution priority
(0 to 63)
A total of up to 32
tasks for both
priority levels.
NX1P2 CPU Units

Event tasks 0 to 32
48
Low
5
The CPU Unit repeatedly and cyclically executes the primary periodic task and periodic tasks.
5-4-3 Basic Operation of Tasks for NX102 CPU Units and NX1P2 CPU Units

tasks.
Refer to 5-4-5 Event Task Execution Timing for NX102 CPU Units and NX1P2 CPU Units on page
5-42 for the order of execution of event tasks.

tions processing, that is performed by the CPU Unit. Refer to Processing Performed in System
Services on page 5-77 for details on the system services.

5 Designing Tasks

High
Primary
task
A double line means
that task has been
System SS completed.
services
Low
l Project with the Primary Periodic Task and Priority-17 Periodic Task
mary period.
• The priority-17 periodic task has a lower execution priority than the primary periodic task, so it is
executed when the primary periodic task is not being executed.
• In this example, the task period for the priority-17 periodic task is set to four times the primary
period. This means that execution of the priority-17 periodic task will start at the same time once
every four primary periods.
• The system services are executed at the required time without being affected by the tasks.
Primary period Primary period Primary period Primary period Primary period
Execution priority
High Primary
periodic IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC
task
condition is execution condition is execution condition is execution condition is execution condition is execution
met. is completed. met. is completed. met. is completed. met. is completed. met. is completed.
Task period
Priority-17
periodic task
Pausing UPG Pausing Pausing UPG
Task execution Task execution Task execution

condition is met. is completed. condition is met.
System
SS
services
Low
tion may change the variable values. Refer to 5-8-1 Ensuring Concurrency of Variable Values
between Tasks on page 5-93 for details.

The relationship between CPU Unit operating modes and tasks is given in the following table.

5 Designing Tasks
Task Specification
NX1P2 CPU Units

and high precision.
5
*1
5-4-3 Basic Operation of Tasks for NX102 CPU Units and NX1P2 CPU Units

Output data
processing
processing 2
processing
processing 1
Input data
Motion
control
common
common
System
System

execution

Input data • Whether the condition expression for event task execution is met or not is
processing determined.
• Input refresh data is loaded from Input Units that refresh I/O.
• If forced refreshing is set, the forced refreshing values are reflected in the
signed.

5 Designing Tasks

user program assigned to the primary periodic task are executed.
odic task.

System common
processing 1
Output data
Output data
processing
processing
processing
User
processing
Input data
Input data
processing 2
common
System
Motion
control
program
MC_
control instructions. that instruction in motion control processing period, the CPU Unit sends the results of motion
l Priority-17 or Priority-18 Periodic Task

Task period (fixed)

* The Controller may pause the execution of a priority-17,
or -18 periodic task in order to execute a task with a
higher execution priority.
* *
Control processing
processing 1
processing 2
common
common
System
System

essing 1 cessing tasks are set).

5 Designing Tasks
time that is set in the Task Settings).
l Event Tasks
to 32 event tasks.
NX1P2 CPU Units


* The CPU Unit will temporarily interrupt the execution of a
task in order to execute a task with a higher execution
priority.
* *
Control processing
processing 1
processing 2
5
common
common
System
System
5-4-4 Event Task Execution Conditions for NX102 CPU Units and NX1P2 CPU Units
Task execution
condition is met.

clusive control.
5-4-4 Event Task Execution Conditions for NX102 CPU Units and
NX1P2 CPU Units

mined

5 Designing Tasks

expression is met.
for motion control
of the followings.

Using the ActEventTask instruction to execute event tasks makes it easy to see which event tasks are
executed. Also, this method is also effective when the execution condition for the event task may
change before meeting the condition expression for the variable is determined.

changes to TRUE.
EN ENO
'Task1' TaskName

5 Designing Tasks
Execution
priority
Primary period
High
Primary
periodic task

Task1 Interrupted.
event task
Low
TRUE
NX1P2 CPU Units

BoolVar
FALSE
Value
In the following example, the upward differentiation option is not used for the ActEventTask instruc- 5
EN ENO
'Task1' TaskName
Execution
priority
Primary period
High
Primary
periodic task
is executed.
Task1 Interrupted. Interrupted.

event task
Low
TRUE
BoolVar
FALSE

5 Designing Tasks

Are Met


User-defined Global variables Possible.
variables Variables used in a program Possible.
*1. The following variables cannot be used.
EN, ENO, P_Off, P_CY, P_First_RunMode, P_First_Run and P_PRGER

type
Duration, date, time of day, date and time, or text Not possible.
string data
Members Possible.*2
Members Possible.*2


5 Designing Tasks
Boolean union members FALSE to TRUE
Change to FALSE
TRUE to FALSE

NX1P2 CPU Units

for each data type.
For example, if the variable that you specify for the condition expression is a BYTE variable, the 5
bles Are Met
Boolean Variable
Execution
priority
High Primary period
Primary IO UPG MC
IO UPG MC IO UPG MC IO UPG MC IO UPG MC
periodic task
Condition expression Condition expression The event task is executed only once.
is not met. is met.
Event task
TRUE is assigned to
Low
TRUE
Program1.trigger1
FALSE
10

5 Designing Tasks
Execution
priority
Primary period
High
Primary
periodic task

Met Not met.


If the value of a specified variable changes in the primary periodic task, the CPU Unit evaluates
whether the condition expression is met in the next primary periodic task. This means that the
event task will be executed on completion of this evaluation against the condition expression in
the next primary periodic task after the CPU Unit evaluates that the condition expression is met.
5-4-5 Event Task Execution Timing for NX102 CPU Units and NX1P2
CPU Units
The execution priority of event tasks is 8 or 48. If the execution conditions for an event task are met
while another task is in execution, the task with the higher execution priority is given priority. The task
with the lower execution priority is interrupted. This is the same as with the primary periodic task and
periodic tasks.
If you have multiple tasks that read and write to the same variables, make sure to use the following
functions to control how an event task is executed with the primary periodic task, periodic tasks, or
other event tasks with different execution priorities.
Purpose Function to use

Accessing the same global variable from an event task Exclusive control of variables in tasks
and from another task • Settings for exclusive control of variables in tasks
• Lock (Lock Tasks) instruction
• Unlock (Unlock Tasks) instruction
Checking the execution status of other tasks Task_IsActive (Determine Task Status) instruction
Refer to 5-8-1 Ensuring Concurrency of Variable Values between Tasks on page 5-93 for details.
The execution of an event task also depends on its execution conditions.


5 Designing Tasks
Differences in Execution Timing Based on the Execution Condi-
The execution timing for event tasks depends on whether the execution condition is triggered by an
ActEventTask instruction or by when a condition expression for a variable is met.

struction
task execution condition will be met immediately after the ActEventTask instruction is executed.
The NX1P2 CPU Units execute event tasks for which the execution condition is met according to
the task execution priority.
Example 1: Executing an Event Task with an Execution Priority Higher Than the Task That Exe-
NX1P2 CPU Units

The event task is executed immediately after execution of ActEventTask.

Execution
priority
High
Event task
(execution
priority of 8)
Task period
5
Priority-17 Interrupted.
periodic task
5-4-5 Event Task Execution Timing for NX102 CPU Units and NX1P2 CPU Units
ActEventTask
Low instruction is executed.
Example 2: Executing an Event Task with an Execution Priority Lower Than the Task That Exe-
Execution
Primary period
priority
High
Primary
periodic task
is executed.
Event task
Low
Event task is executed when the primary periodic task is completed.

sion for a Variable
The condition expression is evaluated for a match inside the primary periodic task. The execution
condition for an event task is met when it is evaluated to match the condition expression. The CPU
Units execute event tasks for which the execution condition is met according to the task execution
priority.

5 Designing Tasks
The execution priority of the event task (execution priority of 8) is higher than the execution pri-
ority of the priority-17 periodic task. The priority-17 periodic task is therefore executed after the
event task is executed.
Execution
priority
Primary period
High
Primary IO UPG MC IO UPG MC IO UPG MC

periodic task IO UPG MC IO UPG MC
Value is assigned Condition Event task is executed

to variable in user expression only once.
program. is met.
Event task
(execution
priority of 8)
Task period
periodic task
Low
48
The execution priority of the event task is lower than the execution priority of the priority-17 peri-
odic task. The event task is therefore executed after the priority-17 periodic task is executed.
Execution
priority
Primary period
High
Primary IO UPG MC IO UPG MC IO UPG MC

periodic task IO UPG MC IO UPG MC
Value is assigned Condition

to variable in user expression
Task period program. is met.
Priority-17 Interrupted. Interrupted.

periodic task
Event task Event task is executed

(execution immediately after completion
priority of 48) of the periodic task.
Low

5 Designing Tasks
• For the NX102 CPU Units and NX1P2 CPU Units, the timing at which the execution condition
for an event task is met is the same regardless of whether the condition expression match is
triggered by I/O refreshing in the primary periodic task, or by execution of a program that is
assigned to the primary periodic task.
Timing at which the execution condition for

Trigger for condition expression to match
an event task is met
I/O refreshing in the primary periodic task Evaluation in the next primary periodic task
Execution of the programs in the primary periodic Evaluation in the next primary periodic task
task
NX1P2 CPU Units

for more than one event task with the same execution priority are triggered by an ActEventTask in-
struction, the event tasks will be executed in the order that the instruction is executed. 5
5-4-5 Event Task Execution Timing for NX102 CPU Units and NX1P2 CPU Units
Execution
priority
High Primary period
Primary
periodic task

User program
Execution priority
is the same.
T2 event task
Low
Used

5 Designing Tasks
3. At this point, T1 and T2 are not executed because the condition expressions are not yet evaluated.
5. When I/O refreshing is executed in the primary periodic task, the match is detected that the condi-
tion expressions for VarA and VarB are met, so T1 and T2 are executed.
If the match is detected that more than one condition expression is met in the same execution peri-
od, the order of execution of event tasks is undefined. The following figure shows an example
when T1 is executed first.
Execution
priority
High Primary period
Primary IO UPG MC IO UPG MC

periodic task
Condition expression
for VarA is met. ActEventTask
Condition expression instruction The match for the condition
for VarB is met. is executed. expression for VarA and
T1 event task VarB is detected.
(execution
priority of 8)
T2 event task
(execution
priority of 8)
T3 event task
(execution
priority of 8)
Low

If the execution condition for an event task is met again before the execution of that event task is com-
met.
Execution
priority
High Primary period
Primary
periodic task
instruction is instruction is Execution of the event task has not completed yet,
executed for T1. executed for T1. so the second ActEventTask instruction is ignored.
T1 event task
Interrupted.
Low

5 Designing Tasks
Execution
priority
Primary period
High
Primary
periodic task

is executed for T2. is executed for T2.
Task period
T1 priority-17
periodic task Interrupted. Interrupted.

ActEventTask instruction and is still waiting
T2 event task for execution. The second ActEventTask
(execution instruction is ignored.
priority of 48)
Low
NX1P2 CPU Units

5

5 Designing Tasks

Tasks for NJ-series Controllers
This section describes the specifications and basic operation of tasks for NJ-series CPU Units.
5-5-1 Specifications of Tasks for NJ-series Controllers

Item Specification
• Periodic task (priority 16, 17, or 18)
Numbers of tasks • Primary periodic task: 1
• Periodic tasks: 0 to 3 tasks*1
• Event tasks: 0 to 32 tasks*2
Number of programs per task 128 max.
Task period of the primary periodic 500 μs*3, 1 ms, 2 ms, or 4 ms
task
Task periods of periodic tasks Set the task period of each periodic task to an integer multiple of the task
period of the primary periodic task.
Refer to the table of valid task periods for periodic tasks that is given be-
low.
*1. There can be no more than one task with each of the following execution priorities: 16, 17, and 18.
*3. With the NJ301-££££, you can use this setting with unit version 1.03 or later.
You cannot use this setting with the NJ101-££££.
l Valid Task Periods for Periodic Tasks

Task period of the primary peri-
Task periods that you can set for periodic tasks
odic task
500 μs*1 1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms, 30
ms, 40 ms, 50 ms, 60 ms, 75 ms, or 100 ms
1 ms 1 ms, 2 ms, 3 ms, 4 ms, 5 ms, 8 ms, 10 ms, 15 ms, 20 ms, 25 ms, 30
ms, 40 ms, 50 ms, 60 ms, 75 ms, or 100 ms
2 ms 2 ms, 4 ms, 8 ms, 10 ms, 20 ms, 30 ms, 40 ms, 50 ms, 60 ms, or 100
ms
4 ms 4 ms, 8 ms, 20 ms, 40 ms, 60 ms, or 100 ms
*1. With the NJ301-££££, you can use this setting with unit version 1.03 or later.
5-5-2 Guidelines for Separating Tasks for NJ-series Controllers


5 Designing Tasks
5-5 Specifications and Basic Operation of Tasks for NJ-series Controllers

Primary periodic task • Programs that require I/O refreshing at an exact execution period.
• Programs that require the highest execution priority.
• Programs that contain motion control instructions with a high execution
priority.
Priority-16 periodic task • Programs that require I/O refreshing.
• Programs with a relatively low execution priority that must be executed
periodically.
• Programs that contain motion control instructions with a relatively low
execution priority.
Priority-17 or priority-18 periodic • Programs with a relatively low execution priority that must be executed
task periodically.
5-5-3 Basic Operation of Tasks for NJ-series Controllers

The CPU Unit cannot execute more than one task at the same time. The order in which tasks are exe-
cuted depends on the execution priority that is set for each task.
Task Execution Priority 5

The type of the task determines its execution priority.

execution is in progress, execution of Ta will be interrupted to allow execution of Tb. Processing for Ta
will resume when processing for Tb is completed.
Execution priori-
ty
Periodic task 16, 17, or 18 You cannot set the same execution priority for more than one
task.
Event task 8 or 48 You can set the same execution priority for more than one event
task.
Refer to 5-5-5 Event Task Execution Timing for NJ-series Con-
trollers on page 5-61 for the order of execution.

5 Designing Tasks

Primary
4 1
periodic task
Event tasks 0 to 32
8
Execution priority
(0 to 63)
A total of up to 32
tasks for both
priority levels.
Event tasks 0 to 32
48
Low
The CPU Unit repeatedly and cyclically executes the primary periodic task and periodic tasks.

tasks.
Refer to 5-5-5 Event Task Execution Timing for NJ-series Controllers on page 5-61 for the order of
execution of event tasks.

tions processing, that is performed by the CPU Unit. System services are executed in the unused

5 Designing Tasks

time between execution of the tasks. Refer to Processing Performed in System Services on page
5-77 for details on the system services.

High
Primary
task
A double line means
that task has been
System SS SS completed.
Pausing
services
Low
A dotted line represents a transition to another task.
l Project with the Primary Periodic Task, Priority-16 Periodic Task, and Pri-
ority-17 Periodic Task
mary period.
• The priority-16 periodic task has a lower execution priority than the primary periodic task, so it is 5
executed when the primary periodic task is not being executed.
• The priority-17 periodic task has an even lower execution priority, so it is executed when the

above two tasks are not under execution.
• In this example, the task period for the priority-16 periodic task is set to four times the primary
period. This means that once ever four primary periods, execution of the primary periodic task
and the priority-16 periodic task will start at the same time.
• System services are executed in the unused time between execution of the tasks.
Execution priority Primary period Primary period Primary period Primary period Primary period
High Primary
periodic task
condition is execution is condition is execution is condition is execution is condition is execution is condition is execution is
met. completed. met. completed. met. completed. met. completed. met. completed.
Task period
Priority-16 Pausing IO UPG Pausing UPG Pausing IO UPG Pausing

periodic task
Task execution Task execution Task execution

condition is met. is completed. condition is met.
Task period
Priority-17 Pausing UPG Pausing UPG Pausing

periodic task
Task execution
Task execution
condition is met.
is completed.
System SS
Low services

5 Designing Tasks
tion may change the variable values.
Refer to 5-8-1 Ensuring Concurrency of Variable Values between Tasks on page 5-93 for de-
tails.
Executing Other Tasks during the Unused Time of a Task

A task with a higher execution priority is never interrupted to start execution of a task with a lower exe-
cution priority. However, for NJ-series CPU Units, if unused time occurs during a task with higher prior-
ity, that time may be used to start execution of a task with lower priority. An example of this is the time
spent waiting for a data transfer to be completed in an I/O refresh process. As soon as processing
resumes for the task with higher priority, the task with lower priority will be interrupted. This processing
order is illustrated in the following figure.
Execution Primary period
priority
High Primary IO UPG MC IO UPG MC
periodic task Unused
Task period
UPG UPG
periodic task
Task execution Task execution

condition is met. is completed.
Low The priority-17 periodic task is executed during
the unused time of the primary periodic task.
Even if unused time occurs in the primary periodic task, the priority-16 periodic task is always
executed after the primary periodic task is completed.
However, for NJ-series CPU Units, this restriction does not apply to the priority-17 or priority-18
periodic task.
This restriction also does not apply to I/O refreshing in the priority-16 periodic task. I/O refresh-
ing for the priority-16 periodic task may be executed during the unused time of the primary peri-
odic task.

The relationship between CPU Unit operating modes and tasks is given in the following table.
Task Specification

5 Designing Tasks


and high precision.
gram execution, and motion control. The primary periodic task performs motion control processing
(MC).
Task period*1 = Primary period (fixed)
Control processing
5
I/O refreshing
Output data
processing
processing 2
processing
processing 1
Input data
Motion
control
common
common
System
System

execution


Input data • Input refresh data is loaded from Input Units that refresh I/O.
• Whether the condition expression for event task execution is met or not is
determined.
signed.
user program execution are executed.
odic task.

5 Designing Tasks


System common
processing 1
Output data
Output data
processing
processing
processing
User
processing
Input data
Input data
processing 2
common
System
Motion
control
program
MC_
control instructions. that instruction in motion control processing period, the CPU Unit sends the results of motion
When there is a motion control instruction in user program execution in the periodic task, the CPU
Unit executes the result from that instruction in the motion control processing (MC) of the next pri-
mary periodic task.
l Periodic Tasks
The priority-16 periodic task can also refresh I/O.
Processing for periodic tasks that do not control I/O is different from processing for periodic tasks
that do control I/O.
• Periodic Tasks That Do Not Control I/O
Task period (fixed)

* The Controller will pause the execution of a
periodic task in order to execute a task with
* * a higher execution priority.
Control processing
processing 2
processing 1
common
common
System
User
System
program
execution

5 Designing Tasks

System common processing 1 • Processing for exclusive control of variables in tasks is performed
(when accessing tasks are set).
User program execution • Programs assigned to tasks are executed in the order that they are
assigned.
(when refreshing tasks are set).
• Processing for variables accessed from outside of the Controller is
performed to maintain concurrency with task execution (executed for
the variable access time that is set in the Task Settings).
• If there is processing for EtherNet/IP tag data links and refreshing
tasks are set for the tags (i.e., variables with a Network Publish at-
tribute), variable access processing is performed.
• Periodic Tasks That Control I/O
Task period (fixed)

* The Controller will pause the 5
execution of a periodic task in
* * order to execute a task with a
higher execution priority.

Output data
processing
processing
Input data
processing 1
processing 2
common
common
System
User
System
Refreshing program
execution

ing*1 processing • If forced refreshing is set, the forced refreshing values are reflected in
the output refresh data.
Input data • Input refresh data is loaded from Input Units that refresh I/O. *2
processing • If forced refreshing is set, the forced refreshing values are reflected in
the input refresh data that was read.
(when accessing tasks are set).
User program execution • Programs assigned to tasks are executed in the order that they are
assigned.
(when refreshing tasks are set).
• Processing for variables accessed from outside of the Controller is
performed to maintain concurrency with task execution (executed for
the variable access time that is set in the Task Settings).
• If there is processing for EtherNet/IP tag data links and refreshing
tasks are set for the tags (i.e., variables with a Network Publish attrib-
ute), variable access processing is performed.
*1. I/O Refreshing for CJ-series Units is executed.

5 Designing Tasks
*2.If the input refresh data loaded in the priority-16 periodic task is accessed in the primary periodic task
for the NJ-series CPU Unit, copy the input refresh data to access in the priority-16 periodic task to a
global variable and access the values of the copied global variable in the primary periodic task. En-
sure concurrency of variable values for the global variable. Refer to 5-8-1 Ensuring Concurrency of
Variable Values between Tasks on page 5-93 for details.
If you do not perform the above processing, when an execution of the primary periodic task is started
during I/O refreshing in the priority-16 periodic task, the concurrency of values of the input refresh da-
ta accessed in the primary periodic task may not be ensured.
l Event Tasks
to 32 event tasks.

* The CPU Unit will temporarily interrupt the
execution of a task in order to execute a
* * task with a higher execution priority.
Control processing
processing 1
System common
processing 2
System common
User program
execution
Task execution
condition is met.

clusive control.
5-5-4 Event Task Execution Conditions for NJ-series Controllers


mined
expression is met.

5 Designing Tasks

for motion control
of the followings.

Using the ActEventTask instruction to execute event tasks makes it easy to see which event tasks are 5
executed. Also, this method is effective when the execution condition for the event task may change
before meeting the condition expression for the variable is determined.

changes to TRUE.
EN ENO
'Task1' TaskName
Execution
priority
Primary period
High
Primary
periodic task

Task1 Interrupted.
event task
Low
TRUE
BoolVar
FALSE

5 Designing Tasks
Value
In the following example, the upward differentiation option is not used for the ActEventTask instruc-
EN ENO
'Task1' TaskName
Execution
priority
Primary period
High
Primary
periodic task
is executed.
Task1 Interrupted. Interrupted.

event task
Low
TRUE
BoolVar
FALSE

Are Met



5 Designing Tasks

User-defined varia- Global variables Possible.
bles Variables used in a program Possible.
*1. The following variables cannot be used.
EN, ENO, P_Off, P_CY, P_First_RunMode, P_First_Run and P_PRGER

type
Duration, date, time of day, date and time, or text string Not possible.
data
Members Possible.*2
5

Members Possible.*2


Boolean union members Change to FALSE


5 Designing Tasks
for each data type.
For example, if the variable that you specify for the condition expression is a BYTE variable, the

bles Are Met
Boolean Variable
Execution
priority
Primary period
High

periodic task
The event task is executed only once.

Condition expression Condition expression
is not met. is met.
Event task
TRUE is assigned to
Low
TRUE
Program1.trigger1
FALSE
10
Execution
priority
Primary period
High
Primary
periodic task

Not met.
Met


5 Designing Tasks

The CPU Unit evaluates whether the condition expression is met before the programs that are
assigned to the primary periodic task are executed. Even if the specified value of the variable
matches the condition expression during execution of the program in the primary periodic task,
the condition is not evaluated until just before the next execution of the primary periodic task.
This means that the event task will be executed after the end of the execution of the primary
periodic task that follows the execution of the primary periodic task in which the value of the
variable meets the condition expression.
5-5-5 Event Task Execution Timing for NJ-series Controllers

The execution priority of event tasks is 8 or 48. If the execution conditions for an event task are met
while another task is in execution, the task with the higher execution priority is given priority. The task
with the lower execution priority is interrupted. This is the same as with the primary periodic task and
periodic tasks. The execution of an event task also depends on its execution conditions.
Differences in Execution Timing Based on the Execution Condi- 5


The execution of event tasks depends on whether the execution condition is triggered by an ActEvent-
Task instruction or by when an condition expression for a variable is met.

struction
task will be executed immediately after the ActEventTask instruction is executed.
Example 1: ActEventTask Instruction Executed in Priority-16 Periodic Task and an Event Task with
an Execution Priority of 8
The execution priority of the event task (execution priority of 8) is higher than the execution pri-
ority of the priority-16 periodic task. Execution of the priority-16 periodic task is therefore inter-
rupted and the event task is executed.
The event task is executed immediately after execution of ActEventTask.

Execution
priority
High
Event task
Task period
periodic task
Low is executed.
Example 2: Executing an ActEventTask Instruction within the Primary Periodic Task

The event task has a lower execution priority than the primary periodic task, so the event task is
executed after execution of the primary periodic task is completed.

5 Designing Tasks
Execution
Primary period
priority
High
Primary
periodic task
is executed.
Event task
Low
Event task is executed when the primary periodic task is completed.

sion for a Variable
The condition expression is evaluated for a match inside the primary periodic task. This means that
the event task will be executed immediately after the first execution of the primary periodic task af-
ter the specified value of the variable meets the condition expression. However, if there are tasks
with a higher execution priority than the event task, those tasks will be executed first.
The event task is executed immediately after the first execution of the primary periodic task after
the condition expression is met. The execution priority of the event task (execution priority of 8)
is higher than the execution priority of the priority-16 periodic task. The priority-16 periodic task
is therefore executed after the event task is executed.
Execution
priority
High Primary period
Primary periodic
task
Value is assigned Condition Event task is executed

to variable in user expression immediately after the
program. is met. condition expression is met.

priority of 8)
Task period
Interrupted.
periodic task
Low
48
The execution priority of the event task is lower than the execution priority of the priority-16 peri-
odic task. The event task is therefore executed after the priority-16 periodic task is executed.

5 Designing Tasks

Execution
priority
Primary period
High
Primary periodic
task
Value is assigned Condition expression

to variable in user is met.
Task period program.
Priority-16
Interrupted. Interrupted.
periodic task
Event task (execution Event task is executed

priority of 48) immediately after completion
of the periodic task.
Low
• The execution timing of an event task depends on how the condition expression is met. The
match can be triggered by I/O refreshing in the primary periodic task, or by execution of a
program that is assigned to the primary periodic task. This difference is described in the fol-
lowing table. This difference occurs because the condition expression is evaluated for a
match by system common processing 1 inside the primary periodic task. Processing in the
primary periodic task takes place in this order: I/O refreshing, system common processing 1, 5
and user program execution.

Trigger for condition expression to match Event task execution timing
I/O refreshing in the primary periodic task After completion of the primary periodic task
Execution of the programs in the primary periodic After completion of the next execution of the pri-
task mary periodic task
• For an NJ-series CPU Unit, specify an internal variable defined in the program that is as-
signed to the primary periodic task if you specify an internal variable with a data size of 64
bits or more to the condition expression. If an internal variable that is not defined in the pri-
mary periodic task is specified, the concurrency of variable values may not be ensured. As
the result, the match evaluation may not be correctly performed.
are met for more than one event task that has the same execution priority, the event tasks will be exe-
cuted in the order that their execution conditions are met.


5 Designing Tasks
Execution
priority
High Primary period
Primary
periodic task

User program
Execution priority
is the same.
T2 event task
Low
Used
2. In system common processing 1, the match is detected for the condition expression for VarA and
T1 is executed. The condition expression for VarB is not yet met, so T2 is not executed.
5. In system common processing 1 in the next primary period, the match is detected for the condition
expression for VarB and T2 is executed.
Execution
priority
High Primary period
Primary periodic
IO UPG MC IO UPG MC
task
Condition expression
for VarA is met. ActEventTask
The match for the condition Condition instruction is executed. The match for the condition
expression for VarA is detected. expression for expression for VarB is
VarB is met. detected.
T1 event task
T2 event task
T3 event task
Low

5 Designing Tasks

If the execution condition for an event task is met again before the execution of that event task is com-
met.
Execution
priority
High Primary period
Primary
periodic task
instruction is instruction is Execution of the event task has not completed yet,
executed for T1. executed for T1. so the second ActEventTask instruction is ignored.
T1 event task
Interrupted.
Low
Execution
priority
5
High Primary period
Primary periodic
task

is executed for T2. is executed for T2.
Task period
Priority-16
Interrupted. Interrupted.
periodic task: T1

ActEventTask instruction and is still waiting for
T2 event task execution. The second ActEventTask
(execution priority of 48) instruction is ignored.
Low

5 Designing Tasks
5-6 Services Other Than Tasks

The NJ/NX-series CPU Unit performs various processing in addition to the processing for the primary
periodic task, periodic tasks, and event tasks. This section describes the services other than tasks for
the NX701 CPU Units, NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units.
NX701 CPU Units

For the NX701 CPU Unit, the processing includes the tag data link service and system services. The
processing that is performed, the execution priority, and the execution timing for these two services
are given in the following table.
Item Tag data link service System services

Execution The tag data link service is executed in parallel with System services are executed in parallel
priority the task execution and system services. with the task execution and tag data link
service.
Processing Data is exchanged by using tags with other control- System services include services with low
lers and devices on an EtherNet/IP network. You can execution priority, such as the USB port
use the built-in EtherNet/IP port in the CPU Unit. *1 service and SD Memory Card service.
Execution The execution interval and the time that is required System services are executed at the re-
timing for each execution depend on the model of the CPU quired time if a request comes from the
Unit and on the tag data link settings. *2 hardware or from outside of the CPU Unit.
*1. Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for details on
the processing that is performed for tag data links.
*2. Refer to 5-6-2 Processing Performed in and Execution Timing of the Tag Data Link Service on page 5-72
for details on the execution interval and the time that is required for execution of tag data links.
NX102 CPU Units

For the NX102 CPU Units, the following three services are provided: the communications bridge serv-
ice, the tag data link service and system services. The processing that is performed, the execution pri-
ority, and the execution timing for these three services are given in the following table.
Communications bridge serv-

ice*1
Execu- The communications bridge serv- Tag data link service is executed in System services are exe-
tion pri- ice is executed in parallel with the parallel with the task execution. cuted in parallel with the
ority task execution and system serv- However, during execution of the task execution. However,
ices. It is prioritized than the tag communications bridge services, during execution of the
data link service and system serv- the tag data link service is not exe- communications bridge
ices. cuted. services and tag data link
It is prioritized than system serv- service, system services
ices. are not executed.
Proc- The processing to relay CIP Safe- Data is exchanged by using tags System services include
essing ty communications between CIP with other controllers and devices services with low execution
Safety on EtherNet/IP devices on an EtherNet/IP network. You priority, such as the SD
and the Safety CPU Unit that is can use the built-in EtherNet/IP Memory Card service.
mounted to the CPU Unit, is exe- port in the CPU Unit. *2
cuted in the communications
bridge service.

5 Designing Tasks
Communications bridge serv-

ice*1
Execu- The communications bridge serv- The execution interval and the time System services are exe-
tion tim- ice is executed when the frames that is required for each execution cuted depending on the ex-
ing of the CIP Safety communications depend on the model of the CPU ecution priority if a request
are sent and received by the built- Unit and on the tag data link set- comes from the hardware
in EtherNet/IP port. tings. *3 or from outside of the CPU
Unit.
*1. The service is executed for an NX102 CPU Unit with unit version 1.31 or later.

NX1P2 CPU Units

For the NX1P2 CPU Unit, the processing includes the tag data link service, option board service, and
system services. The processing that is performed, the execution priority, and the execution timing for
these three services are given in the following table.
Item Tag data link service Option board service System services
Execu- The tag data link service is execut- The option board service is System services are executed
tion pri- ed in parallel with the task execu- executed in parallel with the in parallel with the task execu-
ority tion. task execution. However, dur- tion. However, during execu-
5
It is prioritized than the option ing execution of the tag data tion of the tag data link service
5-6-1 Execution Priorities and Execution Orders of Services Other Than Tasks
board service and system serv- link service, the option board or option board service, sys-
ices. service is not executed. tem services are not executed.
It is prioritized than system
services.
Proc- Data is exchanged by using tags I/O refreshing for Analog I/O System services include serv-
essing with other controllers and devices Option Boards is executed. ices with low execution priority,
on an EtherNet/IP network. You such as the SD Memory Card
can use the built-in EtherNet/IP service.
port on the CPU Unit. *1
Execu- The execution interval and the The option board service is System services are executed
tion tim- time that is required for each exe- executed depending on the depending on the execution
ing cution depend on the model of the execution priority if a request priority if a request comes
CPU Unit and on the tag data link comes from the Option Board. from the hardware or from out-
settings. *2 side of the CPU Unit.
NJ-series CPU Units

For the NJ-series CPU Unit, the processing includes the tag data link service and system services.
The processing that is performed, the execution priority, and the execution timing for these two serv-
ices are given in the following table.

Execution The execution priority is between the execution priorities of The execution priority is lower than
priority the priority-16 periodic task and the priority-17 periodic task. that of any of the tasks.

5 Designing Tasks

Process- Data is exchanged by using tags with other controllers and System services include services
ing devices on an EtherNet/IP network. You can use the built-in with low execution priority, such as
EtherNet/IP port in the CPU Unit or a CJ-series CJ1W-EIP21 the USB port service and SD Mem-
EtherNet/IP Unit to connect to other Controllers or devices. ory Card service.
*1
Execution The execution interval and the time that is required for each The system services are executed
timing execution depend on the model of the CPU Unit and on the in the unused time between execu-
tag data link settings. *2 tion of the tasks and tag data link
service. *3
*1. For details on the processing that is performed for tag data links, refer to the NJ/NX-series CPU Unit Built-in
EtherNet/IP Port User's Manual (Cat. No. W506) or the CJ-series EtherNet/IP Unit Operation Manual for NJ-
series CPU Unit (Cat. No. W495).
You can use CJ-series Units only on the NJ-series CPU Units.
*3. If sufficient time cannot be obtained to execute the system services with an NJ-series CPU Unit, the proc-
essing of tasks with an execution priority of 17 or higher will be interrupted to allocate sufficient time. You
can set the time for execution of the system services in the System Service Monitoring Settings on the Sys-
mac Studio.
5-6-1 Execution Priorities and Execution Orders of Services Other

Than Tasks
This section provides examples of the execution priorities and execution orders of the communications
bridge service, tag data link service, option board service, and system services.
Execution Priorities of Services Other Than Tasks
l NX701 CPU Units

The tag data link service is not affected by the task execution priority and system services.
System services are not affected by the task execution priority and tag data link service.
l NX102 CPU Units

The communications bridge service, tag data link service and system services are not affected by
the task execution priority. The communications bridge service, tag data link service and system
services are executed in descending order of execution priority.
l NX1P2 CPU Units

The tag data link service, option board service and system services are not affected by the task
execution priority. The tag data link service, option board service and system services are executed
in descending order of execution priority.
l NJ-series CPU Units

The execution priorities of the tag data link service and system services are shown below.
The execution priority of the tag data link service is between the execution priorities of the priori-
ty-16 periodic task and the priority-17 periodic task. The execution priority of the system services is
lower than the execution priority of any of the tasks.

5 Designing Tasks
High
Numbers of tasks
Primary periodic
4 1
task
8 Event tasks 0 to 32

Tag data link A total of up to 32 tasks
Execution service for both priority levels.
priority
(0 to 63)
Event tasks 0 to 32
48
5
System services
Low
Examples of the Order of Execution for Services Other Than Tasks
As an example, the order of execution for the primary periodic task, priority-16 periodic task, priority-17
periodic task, tag data link service, option board service, and system services is shown below.
l NX701 CPU Units

• The tag data link service is executed without being affected by the tasks and system services.
• The system services are executed at the required time without being affected by the tasks and
tag data link service.

5 Designing Tasks
Execution
Primary period
priority
High
periodic task
Task period
Priority-16
periodic task
IO UPG Execution period of the IO UPG
tag data link service
Tag data link

service
Task period
Priority-17 System services are executed at the required

UPG
periodic task
time without being affected by the tasks and
Sysem
services
Low
l NX102 CPU Units

• You can execute the communications bridge service, tag data link service and system services in
parallel with the execution of tasks.
• The order of execution priority is communications bridge service, tag data link service and then
system services.

priority
High IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC
Primary
periodic task
Communications
bridge service
Execution period of the tag data link service
Tag data link

service
Task period
Priority-17
UPG Interrupted.
periodic task
System
services
Low
l NX1P2 CPU Units

• You can execute the tag data link service, option board service or system services in parallel with
the execution of tasks.
• The order of execution priority is tag data link service, option board service and then system
services.

5 Designing Tasks

priority
High IO UPG MC IO UPG MC IO UPG MC IO UPG MC IO UPG MC
Primary
periodic task
Execution period of the tag data link service
Tag data link

service
Option board
service
Task period
Priority-17
UPG Interrupted.

periodic task
System
services
Low

• Execution of the tag data link service is given priority over execution of the priority-17 periodic
task. However, execution of the primary periodic task and priority-16 periodic task is given even
higher priority.
5
• The system services are executed in the unused time between execution of all of the tasks and
Execution
Primary period
priority
High
periodic task
Task period
Priority-16
periodic task
IO UPG Execution period of the IO UPG
Tag data link

service
Task period
Priority-17
UPG Interrupted.
periodic task
Execution of the tag data link service

System is given priority over execution of the
services
priority-17 periodic task.
Low
The system services are executed in the

unused time between execution of the
tasks and tag data link service.
The execution interval and the execution time for one execution depend on the model of the CPU
Unit and on the tag data link settings. Refer to 5-6-2 Processing Performed in and Execution Tim-
ing of the Tag Data Link Service on page 5-72 for details.

5 Designing Tasks
5-6-2 Processing Performed in and Execution Timing of the Tag Data

Link Service
This section describes the processing that is performed in and the execution timing of the tag data link
service.
Processing Performed in Tag Data Link Service

The processing for tag data links is separated in multiple processes. This processing is performed in
the tag data link service, the system services, and the tasks. The following example shows the proc-
essing that is performed for the tag data links when the built-in EtherNet/IP ports on the CPU Unit is
used.
l Flow of Tag Data Reception Processing

• The tag data link service reads the tag data from the received tag sets.
• If a refreshing task is set, the task writes the values of the tag data to the variables that are as-
signed to the tags.
• If a refreshing task is not set, a system service writes the values of the tag data to the variables
that are assigned to the tags.
Task set as
refreshing task
Writes values Refreshing task

to variables. is specified.
Tag data Tag data
link service
Received Reads the
tag set tag data.
System service
Tag data Refreshing task
Writes values
to variables. is not specified.
l Flow of Tag Data Transmission Processing

• If a refreshing task is set, the task reads the values of the tag data from the variables that are
assigned to the tags.
• If a refreshing task is not set, a system service reads the values of the tag data from the varia-
bles that are assigned to the tags.
• Then, in the tag data link service, the tag set is created from the tag data and the tag set is sent.
Task set as
refreshing task
Refreshing task Reads values Tag data
is specified. from variables. Tag data
link service Tag set
Creates the is sent.
System service tag set.
Refreshing task Reads values
is not specified. from variables. Tag data

5 Designing Tasks
Differences in the Timing of Processing Tag Data Links Depending on Whether a Re-
freshing Task Is Set
The process to write values to and read values from variables is different depending on whether
a refreshing task is set. If a refreshing task is set, the values are read and written in that task. If
a refreshing task is not set, the values are read and written in a system service. This means
there is a difference in the execution timing of processing tag data links.
The difference in the execution timing when data is received for tag data links with an NJ-series
CPU Unit is shown below.
• When a Refreshing Task Is Specified
In this example, the primary periodic task is set as the refreshing task. Values are written to
the variables in the next primary periodic task after the tag data link service.

Values are written to the variables in the next primary
periodic task after the tag data links service.
Execution
Primary period
priority
High
periodic task
Task period
Priority-16
IO UPG IO UPG
periodic task
Tag data link 5

service
5-6-2 Processing Performed in and Execution Timing of the Tag Data Link Service
Task period
Priority-17
UPG Interrupted.
periodic task
Tag data is read
from the tag set.
System
service
Low
• When a Refreshing Task Is Not Specified

The values are written to the variables in a system service.
Execution
Primary period
priority
High
periodic task
Task period
Priority-16
IO UPG IO UPG
periodic task
Tag data link

service
Task period
UPG
periodic task
Tag data is read
from the tag set.
System
services
Low The values are written to the variables
in a system service.

5 Designing Tasks
Execution Timing of the Tag Data Link Service

The execution interval and the execution time depend on the model of the CPU Unit and on the tag
data link settings. Guidelines are provided below. For an NJ-series CPU Unit, however, if a task with a
higher execution priority than the tag data link service is executed, the execution interval and the exe-
cution time will be longer than the following values.
priority
High
periodic task
Task period
Priority-16
periodic task
IO UPG Execution interval of the tag data IO UPG
link service
Tag data link

service
Task period
Priority-17
UPG Interrupted.
periodic task
System Execution interval of the

service
Low
l Using the Built-in EtherNet/IP Port on the CPU Unit

Tag data link settings
Execution
Number of Execution time
CPU Unit Number of interval
connec- RPI [ms] (ms)
tags (ms)
tions
NJ501-££££ 8 1 1 1 0.02 to 0.04
4 2 1 0.02 to 0.10
32 50 1 0.02 to 0.10
NJ301-££££ 8 1 1 1 0.03 to 0.06
4 2 1 0.03 to 0.15
32 50 1 0.03 to 0.15
NJ101-££££ 8 1 1 1 0.04 to 0.09
4 2 1 0.04 to 0.28
32 50 1 0.04 to 0.28
For an NX-series CPU Unit, the priority-17 and priority-18 periodic tasks and the system service
are not affected by execution of the tag data link service.

5 Designing Tasks
l Using the CJ1W-EIP21 EtherNet/IP Unit

Tag data link settings
Number Execution in- Execution time
CPU Unit Number Send/
of con- RPI [ms] terval (ms) (ms)
of tags receive
nections
NJ501-££££ 8 1 1 Send 3 0.10
Receive 3 0.10
4 2 Send 4 0.22
Receive 4 0.13
32 50 Send 12 0.68

Receive 6 to 35 0.23 to 0.66
NJ301-££££ 8 1 1 Send 3 0.16
Receive 3 0.16
4 2 Send 3 0.21
Receive 4 0.33
32 50 Send 15 1.05
Receive 8 to 35 0.29 to 1.85
NJ101-££££ 8 1 1 Send 3 0.21
Receive 3 0.21
4 2 Send 6 0.46 5
Receive 13 0.80
32 50 Send 12 to 50 2.97 to 4.09
5-6-3 Processing Performed in and Execution Timing of the Option Board Service
Receive 25 2.36
Version Information
Execution of processing for tag data links depends on the unit version of the CPU Unit and the
Sysmac Studio version as given below.
Sysmac Studio version

Unit version of CPU Unit
1.03 or lower 1.04 or higher
1.03 or later Built-in EtherNet/IP port serv- Tag data link service*1
ice in system services
1.02 or earlier Built-in EtherNet/IP port service in system services
*1. If a unit version of 1.02 or earlier is set on the Sysmac Studio, the tag data links are processed in the
built-in EtherNet/IP port service in the system services.
5-6-3 Processing Performed in and Execution Timing of the Option

Board Service
Processing Performed in Option Board Service

For the NX1P2 CPU Units, I/O refreshing for Analog I/O Option Boards is executed in the processing
performed in the option board service.

5 Designing Tasks
Execution Timing of the Option Board Service

For the NX1P2 CPU Units, the option board service is executed without being affected by the tasks.
However, the tag data link service, option board service and system services are not executed in par-
allel.
The option board service is executed depend on the execution priority if a request comes from the Op-
tion Board. The internal processing of an Option Board, the option board service for an NX1P2 CPU
Unit, and the task execution are performed asynchronously.
When you input the data, the input data is imported in the internal processing of an Option Board and
processed in the option board service for an NX1P2 CPU Unit. When the processing in the option
board service is completed, you can use the input data in user program execution in the next primary
periodic task.
Input data Input data
Option Board
Option board
service
Primary
MC
MC
MC
MC
IO UPG IO UPG IO UPG IO UPG
periodic task
Primary period
When you output data, the output data is processed in the option board service after user program
execution is completed. When the processing in the option board service is completed, the output data
is output in the next internal processing of an Option Board.
Output data Output data
Option Board
Option board
service
Primary
MC
MC
MC
MC
IO UPG IO UPG IO UPG IO UPG

periodic task
Primary period
5-6-4 Processing Performed in and Execution Timing of the Communi-

cations Bridge Service

5 Designing Tasks
Processing Performed in Communications Bridge Service

For the NX102 CPU Units, the processing to relay CIP Safety communications between CIP Safety on
EtherNet/IP devices and the Safety CPU Unit that is mounted to the CPU Unit, is executed in the com-
munications bridge service.
Execution Timing of the Communications Bridge Service

For the NX102 CPU Units, the communications bridge service is executed without being affected by
the tasks. However, the communications bridge service, tag data link service and system services are
not executed in parallel.
The communications bridge service is executed when the frames of the CIP Safety communications
are sent and received by the built-in EtherNet/IP port.
priority
High
periodic task
5
Execution interval of the communications bridge service
5-6-5 Processing Performed in and Execution Timing of the System Services

Communications
bridge service
Task period
Priority-17
periodic task Execution time of UPG Interrupted.
the communications
bridge service
System
service
Low
The execution interval and execution time for the communications bridge service depend on the set-
tings of CIP Safety communications.
Refer to the NX-series Safety Control Unit User’s Manual (Cat. No. Z930-E1-12 or later) for informa-
tion on the CIP Safety communications.
5-6-5 Processing Performed in and Execution Timing of the System

Services
This section describes the processing that is performed in and the execution timing of the system
services.
Processing Performed in System Services

System services include the following processing.

5 Designing Tasks
System service Description

USB port service*1 • Processing of service requests from the Sysmac Studio or host com-
puters
Built-in EtherNet/IP port service • Processing of message service requests, such as CIP commands,
from the Sysmac Studio, an HMI, host computers, or other Controllers
• Execution of communications instructions for CIP and socket communi-
cations
Built-in EtherCAT port service • Execution of EtherCAT message communications
Communications processing for a • Execution of communications processing for a Serial Communications
Serial Communications Option Option Board
Board*2
Service for CJ-series Special • Event servicing for CJ-series Special Units
Units*3 • Execution of communications instructions (CIP)
SD Memory Card service • Access from FTP client
• SD Memory Card operations from the Sysmac Studio
• Execution of SD Memory Card instructions
Self-diagnosis • Hardware error detection
USB port.
*2. The communications processing for a Serial Communications Option Board is executed only by an NX1P2
CPU Unit.
*3. The CPU Unit exchanges data between CJ-series Special Units and the memory words that are allocated to
them during I/O refreshing.
You can use CJ-series Special Units only with NJ-series CPU Units.
Execution Timing of the System Services

For the NX701 CPU Units, the system services are executed at the required time without being affect-
ed by the task and tag data link service. It is designed to always secure sufficient time for system serv-
ice execution.
For the NX102 CPU Units, the system services are executed without being affected by the tasks. How-
ever, during execution of the communications bridge service or tag data link service, system services
are not executed.
For the NX1P2 CPU Units, the system services are executed without being affected by the tasks.
However, during execution of the tag data link service or option board service, system services are not
executed.
For NJ-series CPU Units, the system services are executed in the unused time between execution of
the tasks and tag data link service.
If sufficient time cannot be obtained to execute the system services, the processing of tasks with an
execution priority of 17 or higher will be interrupted to allocate sufficient time.
You can set the time for execution of the system services in the System Service Monitoring Settings
on the Sysmac Studio.
There is no priority in the processing of system services. All of the processing is executed in parallel
with time slicing.

5 Designing Tasks
l Execution Timing When Sufficient Execution Time for the System Services
Cannot Be Obtained
With an NJ-series CPU Unit, if there is not enough unused time between execution of the tasks and
tag data link service to execute the system services, the execution of tasks with an execution priori-
ty of 17 or higher will be interrupted to allocate sufficient time.
If the system service execution time cannot be obtained even if execution of tasks with an execu-
tion priority of 17 or higher is temporarily interrupted, an Insufficient System Service Time Error oc-
curs and user program execution stops.
You can set the time for execution of the system services in the System Service Monitoring Set-
tings on the Sysmac Studio.

Task period
Execution priority
High Primary
periodic task
Task
period
Priority-16
IO UPG
periodic task
Task
period
Priority-17
periodic task Pausing
Low
5
System
services
5-6-5 Processing Performed in and Execution Timing of the System Services

Execution of the primary periodic task and
If the time that is specified in the System Service Monitoring Settings
priority-16 periodic task is not paused.
cannot be allocated, execution of the priority-17 periodic task is
paused.
l System Service Monitoring Settings

The System Service Monitoring Settings are used to monitor whether sufficient system service exe-
cution time can be secured with NJ-series CPU Units. If the execution of all tasks cannot be com-
pleted within the system service execution interval, execution is monitored to see if at least the ratio
of execution that is set for the System Service Execution Time Ratio is completed.
You can set the System Service Monitoring Settings in the Basic Settings Display of the Operation
Settings Tab Page on the Sysmac Studio.
Changes
Access Setting Setting Set val- Update
Description Default in RUN
point group [unit] ue timing
mode
Opera- System System Sets the interval of 10 ms to 10 ms When Not al-
tion Set- Service Service Ex- system service exe- 1s down- lowed.
tings, Op- Monitor- ecution In- cution. loaded to
eration ing Set- terval [ms] CPU Unit
Settings tings System Sets the ratio for 5% to 10% When Not al-
Tab, Ba- Service Ex- monitoring system 50% down- lowed.
sic Set- ecution service execution. loaded to
tings Time Ratio CPU Unit
[%]

5 Designing Tasks
NX-series CPU Units are designed to always secure sufficient time for system service execu-
tion, so the System Service Monitoring Settings are not provided. Also an Insufficient System
Service Time Error will not occur.
• For NJ-series CPU Units, set the System Service Monitoring Settings to the minimum values
that are required to meet the response performance of the system services so that sufficient
time can be allocated to the system services and task execution. The System Service Moni-
toring Settings are used to monitor whether the specified system service execution time can
be obtained. System services will not necessarily be executed for the specified time.
• For NJ-series CPU Units, design the tasks so that sufficient time can be allocated to execu-
tion of the system services. Refer to 5-11 Task Design Methods and I/O Response Times on
page 5-112 for the setting procedures for tasks.
• To increase the system service execution time with an NJ-series CPU Unit, increase the task
period or take other steps to increase the unused time between task execution.
• With an NJ-series CPU Unit, if the time that is specified in the System Service Monitoring
Settings cannot be allocated to the system service execution time even if execution of tasks
with an execution priority of 17 or higher is interrupted, an Insufficient System Service Time
Error occurs and user program execution stops.
• With an NJ-series CPU Unit, if sufficient system service execution time cannot be allocated
and execution of tasks with an execution priority of 17 or higher is interrupted, a Task Period
Exceeded error will occur for the tasks that are interrupted. Design the tasks so that the exe-
cution of tasks with an execution priority of 17 or higher is completed within the task periods
even if the execution time of the system services satisfies the System Service Monitoring Set-
tings.

5 Designing Tasks
5-7 Assignment and Settings Related to

Tasks
This section describes the assignment and setting related to tasks.
5-7 Assignment and Settings Related to Tasks

5-7-1 Assigning I/O Refreshing to Tasks
I/O refreshing of the EtherCAT slaves, NX Units on the CPU Unit, I/O built in the CPU Unit, Option
Boards in the CPU Unit, and the CJ-series Units is assigned to the tasks. Unit of assignment and tasks
to which assignment is possible are different depending on the target for I/O refreshing. Unit of assign-
ment refers to a target or a group of targets for I/O refreshing assigned to one task. For example,
when the unit of assignment is Slave Terminal, you can assign I/O refreshing to only one task even if
more than one NX Unit is connected to a Communications Coupler Unit.
If you want to perform input and output operations in tasks to which I/O refreshing is not assigned,
refer to Input and Output Operations in Tasks to Which I/O Refreshing Is Not Assigned on page 5-83.
The following table shows the relationship among the target for I/O refreshing, the assignable task,
and the unit of assignment.
I/O refreshing target Assignable task Unit of assignment

5
Communications Coupler Unit Primary periodic task or priority-5 Slave Terminal

with an NX-series Safety Control Unit on the and priority-16 periodic tasks *1*2*3
Slave Terminal
Communications Coupler Unit Primary periodic task or priority-5
with an NX Unit assigned to an axis on the periodic task*3
Slave Terminal
Communications Coupler Unit Primary periodic task or priority-5
without an NX Unit assigned to an axis on the and priority-16 periodic tasks*2*3
Slave Terminal
EtherCAT slaves that are assigned to axes Primary periodic task or priority-5 Slave
periodic task*2*3
Other EtherCAT slaves Primary periodic task or priority-5
and priority-16 periodic tasks*2*3
NX Units on the CPU Unit*4 and I/O built in the Primary periodic task ---
CPU Unit*5
CJ-series Basic I/O Units*6 Primary periodic task or priority-16 Unit
periodic task
CJ-series Special I/O Units*6
Primary periodic task
CJ-series CPU Bus Units*6
*1. If there are multiple Slave Terminals on which an NX-series Safety Control Unit is mounted, you cannot as-
sign them to a combination of the periodic tasks other than primary-5 periodic task and primary-5 periodic
task.
*2. You can use the priority-5 periodic task only with the NX701 CPU Unit.
*3. You can only use the primary periodic task with the NX102 CPU Units or NX1P2 CPU Units.
*5. You can use I/Os built in the CPU Unit only with the NX1P2 CPU Units.
*6. You can use various CJ-series Units only with NJ-series CPU Units.

5 Designing Tasks
If two different function modules are used together, such as when you use CJ-series Basic
Units and EtherCAT slaves, take suitable measures in the user program and external controls
to ensure that safety is maintained in the controlled system if one of the function modules stops.
The relevant outputs will behave according to the slave or Unit specifications if a partial fault
level error occurs in one of the function modules.
Refer to Non-fatal Errors in the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for infor-
mation on the partial fault level Controller error.
When using both EtherCAT slaves and CJ-series Units, you can reduce the task execution time
of the primary periodic task by assigning the I/O refreshing to different tasks. Assign I/O refresh-
ing for EtherCAT slaves to the primary periodic task and assign I/O refreshing for CJ-series
Units to the priority-16 periodic task.
Sysmac Studio Setting Procedure

For the slaves and Units that are not assigned to axes, set the tasks in which to perform I/O refreshing
in I/O Control Task Settings under Configuration and Setup - Task Settings on the Sysmac Studio.
Refer to I/O Control Task Settings on page 4-10 for details.
For the slaves and Units that are assigned to axes, specify the motion controls to use in Motion
Control Setup on the Sysmac Studio. The tasks to perform I/O refreshing are set.
Refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507) for details.
Timing of I/O Refreshing

The table below shows when I/O is refreshed for EtherCAT slaves, NX Units on the CPU Unit, I/O built
in the CPU Unit, Option Boards in the CPU Unit, and CJ-series Units.
I/O refreshing target I/O refreshing task Period of I/O refreshing

EtherCAT slaves Primary periodic task Task period of primary periodic task
Priority-5 periodic task*1 Task period of the priority-5 periodic task
Priority-16 periodic task Task period of primary periodic task*2
NX Units on CPU Primary periodic task Task period of primary periodic task
Unit*3
I/O built in the CPU Primary periodic task Task period of primary periodic task
Unit*4
CJ-series Units*5 Primary periodic task Task period of primary periodic task
Priority-16 periodic task Task period of priority-16 periodic task
*2. EtherCAT communications is executed during I/O refreshing in the primary periodic task. If the priority-16
periodic task is used to control EtherCAT slaves, the data refresh period during I/O refreshing will be the
task period of the priority-16 periodic task.

5 Designing Tasks
l Priorities in Process Data Communications

EtherCAT process data communications is executed during I/O refreshing. With an NX701 CPU
Unit, you can perform process data communications in the primary periodic task and the priority-5
periodic task.
When process data communications is executed in the primary periodic task or the priority-5 peri-
odic task, process data communications in the primary periodic task is prioritized. Therefore, the

I/O refresh time of the priority-5 periodic task is longer even if the process data communications
cycle and process data size of two tasks are the same.
Accessing I/O from the User Program

You use device variables to access I/O ports from the user program.
Access the device variables from a program in the task that is set in the I/O Control Task Settings.
Input and Output Operations in Tasks to Which I/O Refreshing Is

Not Assigned
If you attempt to output data directly from a task to which I/O refreshing is not assigned, an error will
occur when you check the program on the Sysmac Studio. For example, if the processes for NX Units 5
are assigned to different tasks on the Slave Terminal, data can be output only from the task to which
I/O refreshing is assigned. In this case, you need to create the program to pass the data from the task

to which I/O refreshing is not assigned to the task to which I/O refreshing is assigned and output data
from the task to which I/O refreshing is assigned.
The following sample programming shows how to pass the data from the task to which I/O refreshing
is not assigned to the task to which I/O refreshing is assigned and output data from the task to which
I/O refreshing is assigned.
In this sample programming, the external data input processing is performed in a task to which I/O re-
freshing is not assigned. Usually, this kind of processing causes a warning to occur when you check
the program on the Sysmac Studio. However, the execution of processing is possible.
l Unit Configuration
A Slave Terminal is used. The following table shows the Unit configuration of the Slave Terminal.
Model number Product name

NX-ECC20£ EtherCAT Coupler Unit
NX-ID3317 DC Input Unit
NX-OD3256 Transistor Output Unit
l I/O Map
The following I/O map is used. The table below shows the bits that are used in the sample pro-
gramming.
Posi- Data Varia- Variable com-

Port Description R/W Variable type
tion type ble ment
Unit1 NX-ID3317
Input Bit 00 Input bit 00 R BOOL ComIn Common input Global variable
value
Unit2 NX-OD3256

5 Designing Tasks
Posi- Data Varia- Variable com-

Port Description R/W Variable type
tion type ble ment
Output Bit 00 Output bit 00 W BOOL OutA1 Output value Global variable
A1
Output Bit 01 Output bit 01 W BOOL OutA2 Output value Global variable
A2
Output Bit 02 Output bit 02 W BOOL OutB1 Output value Global variable
B1
Output Bit 03 Output bit 03 W BOOL OutB2 Output value Global variable
B2
l I/O Specifications
The I/O specifications are as follows:
• OutA1 changes from FALSE to TRUE one second after the value of ComIn changes from FALSE
to TRUE. In the same way, OutA2 changes to TRUE two seconds, OutB1 three seconds and
OutB2 four seconds.
• When the value of ComIn changes from TRUE to FALSE, the values of OutA1, OutA2, OutB1
and OutB2 change from TRUE to FALSE.
The following figure shows the timing chart.
TRUE
ComIn
FALSE
1s
TRUE
OutA1
FALSE
2s
OutA2 TRUE
FALSE
3s
OutB1 TRUE
FALSE
4s
OutB2 TRUE
FALSE
l Task Processing
The primary periodic task and priority-16 periodic task are used. The I/O refreshing is assigned to
the primary periodic task.
OutA1 and OutA2 are controlled in the primary periodic task. A series of processing, i.e., input of
ComIn, calculations and outputs of OutA1 and OutA2 , is performed in the primary periodic task.
For controls of OutB1 and OutB2, the processing from input of ComIn to calculations is performed
in the periodic task. The calculation results of the periodic task are assigned to the temporary glob-
al variables tmp_OutB1 and tmp_OutB2. In the primary periodic task, the values of tmp_OutB1 and
tmp_OutB2 are assigned to OutB1 and OutB2. Then, OutB1 and OutB2 are output.
The Controller may pause the periodic task in order to execute the primary periodic task. The as-
signment of calculation results to tmp_OutB1 and tmp_OutB2 may be performed before or after the
pause of the periodic task. And the timing of assignment determines the timing of output of calcula-
tion results in the primary periodic task.
The following figure shows an example of processing flow. The task period of the periodic task is
set to twice as long as that of the primary periodic task.

5 Designing Tasks
Task period
Primary
periodic task IO UPG IO UPG IO UPG IO UPG
(1) (2) (5) (6) (8) (9) (10)
Task period
Priority-16

IO Pausing IO Pausing
periodic task
(3) (4) (7)
If the values are assigned to tmp_OutB1 If the values are assigned to tmp_OutB1
and tmp_OutB2 in step (4), they are and tmp_OutB2 in step (7), they are
output in step (8). output in step (10).
1. ComIn is input during I/O refreshing in the primary periodic task.
2. The calculation is performed during the user program execution in the primary periodic task and
the values are assigned to OutA1 and OutA2.
Also, the values of tmp_OutB1 and tmp_OutB2 are assigned to OutB1 and OutB2. However,
the values of tmp_OutB1 and tmp_OutB2 are the initial values because the values are not as-
signed to tmp_OutB1 and tmp_OutB2 in the periodic task. Therefore, the values of OutB1 and 5
OutB2 are also the initial values.

3. ComIn is input during I/O refreshing in the periodic task.
4. The calculation is performed during the user program execution in the periodic task.
If the primary periodic task is executed while the periodic task execution is in progress, the peri-
odic task is paused. Depending on the timing of processing in the periodic task, the assignment
of the values to tmp_OutB1 and tmp_OutB2 may be performed before or after the pause of the
periodic task.
5. OutA1, OutA2, OutB1 and OutB2 are output during I/O refreshing in the primary periodic task.
Also, ComIn is input again.
Also, the values of tmp_OutB1 and tmp_OutB2 are assigned to OutB1 and OutB2. If the values
are assigned to tmp_OutB1 and tmp_OutB2 in step (4), the calculation results of the periodic
task are reflected in OutB1 and OutB2. If the values are not assigned to tmp_OutB1 and
tmp_OutB2 in step (4), the values of tmp_OutB1 and tmp_OutB2 are the initial values. There-
fore, the values of OutB1 and OutB2 are also the initial values.
7. The calculation is performed during the user program execution in the periodic task that follows
step (4).
If the values are not assigned to tmp_OutB1 and tmp_OutB2 in step (4), they are assigned
here.
If the values are assigned to tmp_OutB1 and tmp_OutB2 in step (4), the calculation results of
the periodic task are output as OutB1 and OutB2.
If the values are assigned to tmp_OutB1 and tmp_OutB2 in step (7), the initial values of OutB1
and OutB2 are output.

5 Designing Tasks
Also, the values of tmp_OutB1 and tmp_OutB2 are assigned to OutB1 and OutB2. If the values
are assigned to tmp_OutB1 and tmp_OutB2 in step (7), the calculation results of the periodic
task are reflected in OutB1 and OutB2.
If the values are assigned to tmp_OutB1 and tmp_OutB2 in step (7), the calculation results of
the periodic task are output as OutB1 and OutB2.
You can use the Lock and Unlock instructions to perform the task exclusive controls to prevent the
values of tmp_OutB1 and tmp_OutB2 from being overwritten by the periodic task before they are
accessed by the primary periodic task. Refer to 5-8-1 Ensuring Concurrency of Variable Values be-
tween Tasks on page 5-93 for details on task exclusive control.
l Global Variable Table

The global variables are shown below.
Global variable table
Initial val-
Name Data type AT specification Comment
ue
ComIn BOOL FALSE ECAT://node#[1,1]/Input Bit 00 Common input val-
ue
OutA1 BOOL FALSE ECAT://node#[1,2]/Output Bit 00 Output value A1
OutA2 BOOL FALSE ECAT://node#[1,2]/Output Bit 01 Output value A2
OutB1 BOOL FALSE ECAT://node#[1,2]/Output Bit 02 Output value B1
OutB2 BOOL FALSE ECAT://node#[1,2]/Output Bit 03 Output value B2
tmp_OutB1 BOOL FALSE Temporary variable
for B1
tmp_OutB2 BOOL FALSE Temporary variable
for B2
l Ladder Diagram for Primary Periodic Task

The ladder diagram for the primary periodic task is shown below.
Internal variable table
Name Data type

A1_Wait TON
A2_Wait TON
External variable table
Name Data type Comment

ComIn BOOL Common input value
OutA1 BOOL Output value A1
OutA2 BOOL Output value A2
OutB1 BOOL Output value B1
OutB2 BOOL Output value B2
tmp_OutB1 BOOL Temporary variable for B1

5 Designing Tasks

Algorithm
Input of ComIn, calculations and outputs and output of OutA1 and OutA2
A1_Wait

ComIn OutA1
TON
In Q
T#1s PT ET
A2_Wait
TON OutA2
In Q
T#2s PT ET
Assignment of the values tmp_OutB1 and tmp_OutB2 to OutB1 and OutB2, and output of OutB1 and OutB2
P_On
Lock
En ENO
USINT#1 Index
tmp_OutB1 OutB1
5
tmp_OutB2 OutB2

Unlock
En ENO
USINT#1 Index
l Ladder Diagram for Periodic Task

The ladder diagram for the periodic task is shown below.
Internal variable table
Name Data type

B1_Wait TON
B2_Wait TON
External variable table

ComIn BOOL Common input value
Algorithm for periodic task

5 Designing Tasks
Input of ComIn and calculations of tmp_OutB1 and tmp_OutB2

P_On
Lock
En ENO
USINT#1 Index
ComIn
B1_Wait
TON tmp_OutB1
In Q
T#3s PT ET
B2_Wait
TON tmp_OutB2
In Q
T#4s PT ET
Unlock
En ENO
USINT#1 Index
5-7-2 Assigning Tasks to Programs

You assign the programs to execute to tasks. (You can assign up to 128 programs to one task.) Also,
you set the operation of the programs at the start of operation.
Order of Program Execution

The order of execution of the programs in a task is set with the Sysmac Studio.
Initial Status for Programs at the Start of Operation

Set the operation of the programs at the start of operation. The Initial Status at the start of operation is
used to set whether to execute the program when the task to which the program is assigned is execut-
ed for the first time after the operating mode of the Controller is changed from PROGRAM mode to
RUN mode. You have a setting option between Run or Stop.
If the Initial Status is Stop, when enabling the execution of the specified program with the PrgStart in-
struction, it is executed from the next time the timing for executing the program occurs. If the Initial
Status is Run, when disabling the execution of the specified program with the PrgStop instruction, it is
disabled from the next time the timing for executing the program occurs.
l Sysmac Studio Setting Procedure

Assign programs to tasks, set the order of program execution within the task, and set the Initial Sta-
tus for each program in Program Assignment Settings under Configurations and Setup − Task
Settings on the Sysmac Studio. Refer to Program Assignment Settings on page 4-10 for details.

5 Designing Tasks
Version Information
The CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are re-
quired to use the Initial Status setting for programs at the start of operation, the PrgStart instruc-
tion and the PrgStop instruction.

POUs That You Can Assign to Tasks
From 0 to 128 programs can be assigned to one task.
You can assign only program POUs. You cannot assign function block instances or functions directly
to tasks. You cannot assign the same program to more than one task.
5-7-3 Parameters for Primary Periodic Task and Periodic Tasks

The parameters for primary periodic task and periodic tasks are given below.
l Parameters for Primary Periodic Tasks

Changes
Update
Parameter Setting range Default in RUN
timing
mode 5
Task Type Specify the primary periodic task. --- When Not al-
download- lowed.

ed
Execution pri- Always 4. ---
ority
Task Name Text string Primary
Task
Period/ Task period *1 • NX701 CPU Units 1 ms*4
Execution 125μs, 250μs to 8ms (in 250-μs
Conditions increments)
• NX102 CPU Units
1 ms to 32 ms (in 250-μs incre-
ments)
• NX1P2 CPU Units
2 ms to 8 ms (in 250-μs incre-
ments)*2
• For NJ-series CPU Units
500 μs*3, 1 ms, 2 ms, or 4 ms
Task Period Exceeded Detec- Specify whether to detect an error if Detect.
tion the task execution time exceeds the
specified task period.
• Detect (a minor fault level Con-
troller error occurred).
• Do not detect (an observation is
recorded in event log).
Refer to Task Period Exceeded on

5 Designing Tasks
Changes
Update
timing
mode
Task Timeout Detection Time Set the time to detect a timeout if 5
task execution does not end, e.g., if
there is an infinite loop.
Set a multiple of the task period.
1 to 5
Refer to Task Execution Timeout on
Variable Access Time [%] Set the percentage of the task peri- 3%
od to assign to variable access.
1% to 50%
Refer to Settings for Variable Ac-
cess Time on page 5-101 for de-
tails.
*1. The process data communications cycle (process data communications cycle 1) in the EtherCAT set-
tings will be the same as this period.
*2. However, for the NX1P2-9B££££ CPU Unit, the setting range of the task period is 4 ms to 8 ms (in
250-μs increments).
*3. You can use this setting with the NJ301-££££ unit version 1.03 or later.
*4. For the NX102-££££ CPU Unit, NX1P2-££££££ CPU Unit, and NJ101-££££ CPU Unit, the de-
fault of the primary periodic task is 2 ms.
However, for the NX1P2 9B££££ CPU Unit, the default of the primary periodic task is 4 ms.
l Parameters for Priority-5 Periodic Task

Changes
Update
timing
mode
Task Type Specify the priority-5 periodic --- When Not al-
task. *1 download- lowed.
Execution pri- Automatically set to 5. --- ed
ority
Task Name Text string PeriodicTask0
Period/ Task period *2 • NX701 CPU Units 2 ms
Execution 125μs, 250μs to 100ms (in 250-
Conditions μs increments)
Task Period Exceeded Detec- The same as for the primary peri- The same as
tion odic task. for the pri-
Task Timeout Detection Time mary periodic
Variable Access Time [%] task.
*2. The process data communications cycle 2 in the EtherCAT settings will be the same as this period.

5 Designing Tasks
l Parameters for Priority-16, Priority-17, and Priority-18 Periodic Tasks

Changes
Update
timing
mode
Task Type You can set any of the following. --- When Not al-
Priority-16 periodic task*1 download- lowed.

Priority-17 periodic task ed
Execution pri- Automatically set to 16, 17, or 18. ---
ority
Task Name Text string Periodic-
Task0
Period/ Task period • NX701 CPU Units 10ms
Execution Refer to 5-3-1 Specifications of
Conditions Tasks for NX701 CPU Units on
page 5-11.
• NX102 CPU Units and NX1P2
CPU Units
Refer to 5-4-1 Specifications of
Tasks for NX102 CPU Units and
NX1P2 CPU Units on page 5-31.
• NJ-series CPU Units
5
Refer to 5-5-1 Specifications of
Tasks for NJ-series Controllers on

page 5-48.
Task Period Exceeded Detec- The same as for the primary peri- The same as
tion odic task. for the pri-
Task Timeout Detection Time mary periodic
Variable Access Time [%] task.
*1. You cannot use the priority-16 periodic task with the NX102 CPU Units or NX1P2 CPU Units.
l Event Task Parameters

Changes
Update
timing
mode
Task Type You can set any of the following. --- When Not al-
Priority-8 event task download- lowed.
Priority-48 event task ed
Task Name Text string EvnetTask0
Execution Condition Select either Execution by Execution
instruction or When a variable with an in-
expression is satisfied. struction
Task Timeout Detection Set the time to detect a timeout if • Execution
Time task execution does not end, e.g., if priority of
there is an infinite loop. The setting 8: 200 ms
unit is milliseconds. • Execution
• Execution priority of 8: 1 to 500 priority of
ms 48: 1 s
• Execution priority of 48: 1 ms to
10 s

5 Designing Tasks

Add and set the tasks in the Task Settings under Configurations and Setup on the Sysmac Stu-
dio.
Refer to 4-2-3 Task Settings on page 4-7 for details.

5 Designing Tasks
5-8 Ensuring Concurrency of Variable

Values
This section describes how to ensure concurrency of variable values between tasks and provides an
overview of variable access from outside the Controller.
5-8 Ensuring Concurrency of Variable Values

5-8-1 Ensuring Concurrency of Variable Values between Tasks
If more than one task reads or writes the same global variable, you can use either of the following two
methods to ensure the concurrency of the value of the global variable between the tasks. These are
collectively called the exclusive control of variables in tasks.
Method 1: Write the global variable from only one task and read the variable from the other tasks.
Use the settings for exclusive control of variables in tasks.
Method 2: Write the global variable from more than one task.
Use the task exclusive control instructions.
5
Method 1: Settings for Exclusive Control of Variables in Tasks

l Introduction
You can specify the task that refreshes a global variable and the tasks that access the global varia-
ble. This ensures the concurrency of the value of the global variable from the point of view of the
tasks that access the variable.
A single task is set to read and write the value of a specified global variable. That task is called the
refreshing task. Tasks that only read the value of the global variable are also specified. These tasks
are called accessing tasks. This ensures the concurrency of the value of the global variable.
Accessing
Read only
task: Task B
Read/write
Refreshing
Global variable
task: Task A
Refreshing task is specified.
Refreshing task: Task A
Accessing
Read only
task: Task C
l Application Example
The refreshing task specification is used to ensure the concurrency of the value of a global variable
within a periodic task when the variable is written in the primary periodic task.

5 Designing Tasks
Refreshing task Accessing task
Program Program
Read/write Read only
External variable GVar1 Global variable GVar1 External variable GVar1
The most recent value of the

variable at the end of refreshing
task execution is read at the start
of accessing task execution.
l System
If a refreshing task is set for a global variable, the accessing task, at the start of accessing task
execution, always reads the most recent value of the variable that was written at the completion of
refreshing task execution.
Task period of task A Task period of task A Task period of task A
Refreshing Refreshing Refreshing

task: Task A task: Task A task: Task A
Write Write Write

Global variable Value of Global variable Value of variable Global variable Value of variable
variable is read. is not read. is not read.
Accessing task: Accessing task: Accessing task:

Task B Task B Task B
Task period of task B
This will allow you to maintain the concurrency of the values of global variables within the tasks
without performing any special programming.
If an instruction that writes the value to a global variable is used in the accessing task, an error will
occur when you check the program on the Sysmac Studio.

5 Designing Tasks
If you are using the ActEventTask instruction between two tasks, you must keep in mind when
the global variables are accessed, and when they are refreshed.
For example, in the following diagram, the value of the GVarA global variable that is accessed
from the event task is the value that was current at the end of task period 1. Therefore, even if
the periodic task in task period 2 writes the value of GVarA, that value will not be reflected in the
event task.

The value that the event task writes to the GVarB global variable is not passed to the periodic
task until the start of task period 3. Even if the periodic task in task period 2 accesses the value
of GVarB, the value that the event task writes will not be accessed.
Execution
priority Event task
(refreshing task)
High
A value of 123 A value of 654
is read. is written.
GVarA GVarB
The value of GVarA is passed The value of GVarB is passed to
123 654
to the event task at this point. the periodic task at this point.
Task period 1 Task period 2 Task period 3
Execution of
ActEventTask
Periodic task Periodic task Periodic task

(accessing task) (accessing task) (accessing task)
A value of
123 is 5
written. A value of 987 A value of 567 A value of A value of 654 is read.
Low is written. is written. 987 is read.
GVarA GVarB GVarA GVarB GVarB

123 987 567 987 654
The value that is written The value that the event task
here is not reflected in writes cannot be accessed.
the event task.
Because of this, do not use exclusive control of variables in tasks to pass the values of global
variables if you are using the ActEventTask instruction to execute event tasks.
To ensure the concurrency of global variables when using the ActEventTask instruction, you
should use the Task_IsActive (Determine Task Status) instruction. The Task_IsActive instruction
determines whether the specified task is in execution or waiting to be executed. Use this in-
struction to prevent other tasks from accessing variables that the event task writes to while it is
in execution. Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for de-
tails on the Task_IsActive instruction.
l Restrictions
• Only one refreshing task can be set for each global variable. If it is necessary to write a global
variable from more than one task, use the task exclusive control instructions described below to
ensure concurrency.
• If you specify a refreshing task for a structure or union variable, you must specify only one re-
freshing task for the entire structure or union variable. You cannot specify a different refreshing
task for different structure or union members.
• If you specify a refreshing task for an array variable, you must specify only one refreshing task
for the entire array variable. You cannot specify a different refreshing task for different array ele-
ments.

5 Designing Tasks
Do not write the value of a variable for which concurrency is required from any task that is not
the refreshing task, e.g., do not write the value from the accessing task. If you read or write the
value of a variable for which a refreshing task is set from any task that is not a refreshing or
accessing task, the concurrency of the global variable may be lost. If you write such a program,
a warning is given when the program is checked.
• You can use a data trace to sample an external variable for a global variable for which set-
tings for exclusive control of variables in tasks are used. This allows you to sample the values
of the global variable in the refreshing and accessing tasks in a data trace. Refer to
8-6-4 Data Tracing on page 8-59 for information on data tracing.

Set the global variables for which to specify refreshing tasks, and set the accessing tasks in Task
Settings - Settings for Exclusive Control of Variables in Tasks on the Sysmac Studio.
For details, refer to Settings for Exclusive Control of Variables in Tasks on page 4-11.
Method 2: Task Exclusive Control Instructions

Use the task exclusive control instructions (i.e., the Lock and Unlock instructions) when it is necessary
to write the value of a global variable from more than one task while maintaining concurrency in the
value of the variable.
The task exclusive control instructions create a lock region from one Lock instruction to the next Un-
lock instruction. If a lock region in one task is being executed, the lock regions with the same lock
number in other tasks are not executed. If you place the instructions that write to the global variable in
lock regions, the concurrency of the value is maintained even if you write the value of the variable from
more than one task.
Refer to information on the Lock and Unlock instructions in the NJ/NX-series Instructions Reference
Manual (Cat. No. W502) for details.
Example:
In this example, task A and task B both have lock region 1. The priority of task B is higher than the
priority of task A.
If the execution condition for task B is met during execution of lock region 1 in task A, execution of
task A is paused during lock region 1 and task B is executed. However, in this case, lock region 1 in
task A is not completed, so task B is paused before it processes lock region 1. When task B is paused,
execution of lock region 1 in task A is started again.

5 Designing Tasks
Task A
Program
Executed.
Lock instruction Global variable
Refreshed. Higher priority
Task B
Lock region 1
Executed. Executed.
Program

Unlock instruction Lock instruction
Execution is not
started until
execution of region Lock region 1
1 in task A is
completed.
Unlock instruction
When execution of lock region 1 in task A is completed, task A is paused again and the remainder of
lock region 1 in task B is executed. The concurrency of the value of the global variable is maintained
by implementing exclusive control of the write processing of the global variable between the tasks.
Task A
Program
Lock instruction
5
Task B
Lock region 1

Program
Lock instruction
Unlock instruction
Executed.
Lock region 1
Refreshed.
Global variable
Unlock instruction
• Do not make the locked regions any longer than necessary. If the lock regions are too long,
the task execution period may be exceeded.
• Always use the Lock and Unlock instructions together as a set in the same section of the
same POU.
Example of Accessing the Same Global Variable between Tasks

This section describes how to request processing to another task with multiple global variables.
The following sample programming uses one global variable gReq as an exclusive flag for processing
to perform exclusive control in the user program. Even in this case, exclusive control of variables in
tasks is required for the access logic to the gPar1, gPar2, and gReq global variables that are used
between tasks.
A sample programming that uses the task exclusive control instructions (i.e., the Lock and Unlock in-
structions) to perform exclusive control is shown.

5 Designing Tasks
l Global Variables
gReq BOOL Request flag
gPar1 ULINT Parameter 1
gPar2 DATA_AND_TIME Parameter 2
l Task That Makes Processing Requests (MainTask)

• Internal Variables

ReqTrg BOOL Request trigger
cCnt ULINT 100-ms counter value
cTime DATA_AND_TIME Current time
• ST Program
cCnt:=Get100msCnt(); (*Get the 100-ms counter value.*)
cTime:=GetTime(); (*Get the current time.*)
Lock(1); (*Start an exclusive lock between tasks.*)

IF ReqTrg=TRUE AND gReq=FALSE THEN (*Access the exclusive flag.*)
gPar1:=cCnt; (*Set the parameter to process in SubTask.*)
gPar2:=cTime; (*Set the parameter to process in SubTask.*)
gReq:=TRUE;
ReqTrg:=FALSE;
END_IF;
Unlock(1); (*Stop an exclusive lock between tasks.*)
l Task That Receives Processing Requests (SubTask)

• Internal Variables

ReqBusy BOOL ---
UserDefFB_ins UserDefFB User-defined function block instance that executes
processing
• ST Program
Lock(1); (*Start an exclusive lock between tasks.*)
IF gReq=TRUE AND ReqBusy=FALSE THEN (*Access the exclusive flag.*)
ReqBusy:=TRUE;
UserDefFB_ins.PutData:=gPar1; (*Read the parameter from MainTask.*)
UserDefFB_ins.PutDate:=gPar2; (*Read the parameter from MainTask.*)
gReq:=FALSE; (*Reset the exclusive flag.*)
UserDefFB_ins.Execute:=TRUE;
END_IF;
Unlock(1); (*Stop an exclusive lock between tasks.*)

5 Designing Tasks
UserDefFB_ins();
IF UserDefFB_ins.Done:=TRUE THEN
UserDefFB_ins.Execute:=FALSE;
ReqBusy:=FALSE;
END_IF;

5-8-2 Variable Access from Outside the Controller
A variable access from outside the Controller is executed during the system service. The system serv-
ice has a lower execution priority than tasks. This means, if multiple variables are accessed from out-
side the Controller, refreshing all variable values may not be completed in a task period. If refreshed
variables and not-refreshed variables are mixed in the user program, the Controller may perform unin-
tended operation.
To avoid this, make the variable access from outside the Controller be executed during the system
common processing 2 of the task. By making this, multiple variable values can be securely refreshed
in the same task period.
l Accessing Variables from Outside the Controller during the System Serv-
ice 5
Whether you use an NX-series CPU Unit or an NJ-series CPU Unit, access to multiple variables
may not be completed in the same task period.

NX-series CPU Unit

periodic task
System common
processing 1
System System common
processing 2 SS
services
Variable access 1 from Variable access 2 from

outside the Controller outside the Controller
NJ-series CPU Unit

periodic task
System common
processing 1
processing 2 SS Pausing SS
services

l Accessing Variables from Outside the Controller during the System Com-
mon Processing 2
Whether you use an NX-series CPU Unit or an NJ-series CPU Unit, access to multiple variables is
securely executed in the same task period.

5 Designing Tasks

periodic task
System common
processing 1
services processing 2

This section particularly describes how to execute the variable access from outside the Controller
during the system common processing 2 of the task.
Methods to Access Variables From Outside the Controller

There are the following four methods to access variables from outside the Controller.
• Sysmac Studio
• NA/NS-series PT
• EtherNet/IP tag data links
• CIP communications instruction from the host computer
If the Sysmac Studio is used to access variables, it can only refresh the variable values during the sys-
tem common processing 2 of the task. Values are accessed during the system services.
Tasks that Execute Variable Access during the System Common

Processing 2
The tasks that execute variable access from outside the Controller during the system common
processing 2 are predetermined as follows according to the variable types.
Variable Tasks that refresh values

Global variables specified in the settings for exclusive The refreshing task specified in Settings for
control of variables in tasks Exclusive Control of Variable in Tasks under
Configurations and Setup − Task Settings on the
Sysmac Studio.
Device variables for EtherCAT slaves Tasks specified in I/O Control Task Settings under
Device variables for CJ-series Basic I/O Units Configurations and Setup - Task Settings on the
Sysmac Studio.
Device variables for CJ-series Special Units Primary periodic task
Variables with AT specifications in memory used for
CJ-series Units
Note You can use the memory used for CJ-series Units only with the NJ-series CPU Units, NX102 CPU Units,

5 Designing Tasks
Settings for Executing Variable Access during the System Com-

mon Processing 2
To access variables from outside the Controller during the system common processing 2, it is neces-
sary to make the following two settings on the Sysmac Studio.
• Settings for exclusive control of variables in tasks (when the target variables are the global varia-

bles)
• Settings for variable access time
Settings for Exclusive Control of Variables in Tasks

If global variables are accessed from outside the Controller during the system common processing 2
of the task, it is necessary to make setting for exclusive control of variables in tasks. The exclusive
control of variables in tasks refers to the function that specifies the task that can refresh the target
global variable. This function prevents the target variable from being updated by other tasks or by oth-
er methods to access variables from outside the Controller.
For the details on the exclusive control of variables in tasks, refer to Settings for Exclusive Control of
Variables in Tasks on page 4-11.
5
When you use EtherNet/IP tag data links, always specify the same task as the refreshing task

for all tags (variables that have Network Publish attribute) in the same tag set. Otherwise, multi-
ple tags in a tag set may be refreshed in separate task periods.
Settings for Variable Access Time

When variable access from outside the Controller is executed during the system common processing
2 of the task, the task execution time may be longer. The user must set the upper limit of the process-
ing time for accessing variables on the Sysmac Studio. The variable access time refers to the upper
limit of the processing time for accessing variables.
l Calculating Variable Access Time

Use the following equation for calculating the variable access time.
Variable access time [μs] = total size of variables [bytes] * a + number of variables * b + number of
accesses * c + d
The values of the constants a to d in above equation vary depending on the model of the CPU Unit.
Constant value [μs]

CPU Unit model
a b c d
NX701-££££ 0.0005 0.033 2.67 7.22
NX102-££££ 0.0040 0.240 3.27 25.21
NX1P2-££££ 0.0040 0.240 3.27 25.21
NJ501-££££ 0.0010 0.490*1 1.41 6.68
NJ301-££££ 0.0015*2 0.560*3 2.15 7.52

5 Designing Tasks
Constant value [μs]

CPU Unit model
a b c d
NJ101-££££ 0.0015 1.070 3.83 10.29
*1. The constant value is 0.58 for a CPU Unit with unit version 1.02 or earlier.
l Setting Variable Access Time

Set the variable access time in Configurations and Setup – Task Settings on the Sysmac Studio.
The setting must be made for each task by entering the ratio to the task period. The default value is
3%. For the details on the settings, refer to the Sysmac Studio Version 1 Operation Manual (Cat.
No. W504).
l Example of Variable Access Time Setting

The following is an example of variable access time setting.
In this example, it is assumed that there are the following three variable accesses from outside the
Controller to the task that operates in the NJ501-££££ CPU Units.
Total size of varia- Number of

Number of
Access No. Source of variable access bles to access variables to
accesses
[bytes] access
1 EtherNet/IP tag data link 600 8 1
2 EtherNet/IP tag data link 200 4 1
3 CIP communications instruction 1,000 1 1
Using the equation, the variable access time for Access No.1 is calculated as follows.
Variable access time for Access No.1 = 600 * 0.001 + 8 * 0.49 + 1 * 1.41 + 6.68
= 12.61 [μs]
In the same way, you can calculate the access time for the other accesses and get the following
values.
Access No. Variable access time [μs]

1 12.61
2 10.25
3 9.58
If only one of these accesses occurs in one task period, you set the variable access time to the one
for Access No.1, which requires the longest access time.
The variable access time for Access No.1 is 12.61 μs. Therefore, when the task period is 500 μs,
the variable access time is set to 12.61/500 ≈ 3%.
If every access occurs once in one task period, the variable access time is calculated with the
equation as follows.
Variable access time = (600 + 200 + 1000) * 0.001 + (8 + 4 + 1) * 0.49 + ( 1 + 1 + 1) * 1.41 + 6.68
= 19.08 [μs]
When the task period is 500 μs, the variable access time is set to 19.08/500 ≈ 4%.

5 Designing Tasks
l Processing in the Case That Actual Variable Access Time Became Longer
Than Set Value
If actual variable access time became longer than the set value, the following processing is per-
formed depending on the number of variable accesses in one task period.
Set a sufficiently long access time so that multiple variable accesses can be completed within a
task period.

Number of varia-
ble accesses in Processing
one task period
Multiple times Variable accesses are executed for the number of times that can be completed within
the set variable access time. The rest of accesses that could not be done will be exe-
cuted in the next task period.
This means, the multiple variable accesses cannot be completed within the same task
period.
Once Variable accesses continue even after the set variable access time is exceeded. This
means, the task execution time gets longer.

5 Designing Tasks
5-9 Errors Related to Tasks

This section describes the following errors.
• Task Period Exceeded
• Motion Control Period Exceeded
• Task Execution Timeout
• I/O Refreshing Timeout Error
• Insufficient System Service Time Error
Task Period Exceeded

A Task Period Exceeded error occurs if the task execution time exceeds the specified task period.
This is a minor fault level Controller error. Operation continues even when this error occurs.
It can occur for the primary periodic task and periodic tasks.
You can also disable the Task Period Exceeded errors with a setting. Select Task Settings - Task
Settings on the Sysmac Studio and set it in Task Period Exceeded Detection setting. The default
setting is to detect the error.
Task period Task period Task period Task period
Primary
periodic task
IO UPG MC IO IO IO UPG MC
UPG MC
Task Period Exceeded

occurred.
Error name Error level Correction

Task Period Exceeded Minor fault Review the task settings and programs and download
the project again. Reset the error from the Sysmac Stu-
dio.
Even if the Task Period Exceeded Detection setting is disabled, information will be output to the event
log and the following system-defined variables if task processing is not completed within the period:
_<TaskName\>_Exceeded (Task Period Exceeded Flag), _<TaskName>_ExceededCount(Task Period
Exceeded Count), _ErrSta (Controller Error Status).
I/O is refreshed as follows according to what the I/O is for if task processing is not completed within
the task period.
I/O refresh operation if task processing is not completed within the task
I/O is for
period
EtherCAT slaves*1 Outputs: The values from the previous period are output.
Inputs: Inputs are refreshed, but the input data is not updated in the executed
user program.
NX Units on the CPU Unit*2
Built-in I/O*3
CJ-series Units I/O is not refreshed until execution of the task is completed.
*1. This includes NX Units on EtherCAT Slave Terminals.

5 Designing Tasks
If the Task Period Exceeded error occurs, shorten the programs to fit in the task period or in-
crease the setting of the task period.
Motion Control Period Exceeded

A Motion Control Period Exceeded error occurs if the motion control processing (MC) is not completed
within the primary period (i.e., the motion control period) twice or more in a row. A partial fault level
5-9 Errors Related to Tasks

Controller error will occur in the Motion Control Function Module. A Task Period Exceeded error will
occur at the same time.

Motion Control Peri- Partial fault Reduce the amount of processing in the programs or increase the
od Exceeded control period within the range that does not adversely affect op-
eration.
Task Execution Timeout 5

A Task Execution Timeout error occurs if task processing is not completed within the specified timeout
detection time.
This is a major fault level Controller error. Execution of the user program stops when the error occurs.
This error also occurs when normal task operation is not possible due to errors in program logic, such
as infinite loops.
Timeout Detection Time
Primary period Primary period Primary period Primary period
Primary
periodic task IO IO
UPG
Infinite loop, etc. Task Execution Timeout occurred.

Task Execution Major fault Review the task settings and download the user program again.
Timeout The power supply must be cycled or the CPU Unit reset.
I/O Refreshing Timeout Error

An I/O Refreshing Timeout Error occurs when I/O refreshing for the primary periodic task or priority-5
and priority-16 periodic tasks is not completed within the period twice or more in a row.

5 Designing Tasks
Primary period Primary period Primary period Primary period
Primary M M
IO UPG C IO UPG C
periodic task
I/O Refreshing Timeout Error occurred twice or more.

I/O Refreshing Major fault Review the task settings and download the project again.
Timeout Error The power supply must be cycled or the CPU Unit reset.
Insufficient System Service Time Error

With an NJ-series CPU Unit, an Insufficient System Service Time Error occurs if the system service
execution time that is specified in the System Service Monitoring Settings cannot be obtained.

Insufficient System Major fault Review the task settings and the system service monitoring set-
Service Time Error tings and download the project again.
The power supply must be cycled or the CPU Unit reset.
tion, so the System Service Monitoring Settings are not provided. Also an Insufficient System
Service Time Error will not occur.

5 Designing Tasks
5-10 Monitoring Task Execution Status
5-10 Monitoring Task Execution Status and Task Execution Times

and Task Execution Times
You can use online operations from the Sysmac Studio to monitor the task execution status and task
execution times.
Monitoring Task Execution Status

You can monitor the execution status of the programs in all of the tasks (started/stopped) from the
Sysmac Studio.
l Sysmac Studio Operation

Place the Sysmac Studio online with the CPU Unit and select Configurations and Setup − Task
Settings. Click the Task Execution Status Monitor Button to display the following window.
Task Execution Time Monitor

You can monitor the execution time of each task from the Sysmac Studio.
l Values You Can Monitor from the Sysmac Studio

The display depends on whether you connect to the physical Controller or to the Simulator.
Connected to the Controller

5 Designing Tasks
Connected to the Simulator
To check or estimate the system service execution time, the task execution time ratio, system
service execution ratio, estimated CPU usage rate, tag data service execution ratio, expanded
number of I/O points for CJ-series Unit, and built-in EtherNet/IP are displayed for NJ-series
CPU Units.
The above information are not displayed for NX-series CPU Units because the system services
are executed at the required time without being affected by the task.
Built-in EtherNet/IP Dialog Box for Simulator Connection

5 Designing Tasks
The parameters are listed in the following table.

Port or Unit that is
used
Built-in EtherNet/IP Number of This is the number of tag data link 0 to 32 0
port on the CPU Unit connections connections.
Minimum RPI This is the lowest packet interval 1 ms to 10 s ---
(RPI) that is set for all of the tag data in 1-ms in-
link connections. crements
CJ-series Number of This is the number of tags in the tag 0 to 256 0
EtherNet/IP Unit tags data links.
(CJ1W-EIP21)*1
*1. Entries are made on the Expanded number of I/O points for CJ-series Unit Dialog Box.
You can monitor the following items.
Connect- Connected
Monitor item Description ed to the to the Sim-
Controller ulator
Task execution time*1 Min. The minimum value of the task execu- Displayed. Not dis-
tion time. played. 5
Average The average value of the task execu- Displayed.
tion time.
Max. The maximum value of the task execu-
tion time.
Set period The specified task period. *2
Period exceeded If the task execution time exceeds the
task period (i.e., if the Task Period
Exceeded Flag system-defined varia-
ble is TRUE), the amount by which the
time was exceeded is displayed in the
bar. *2
Task execution count Displays the number of executions of
the task.
The value of the Task Execution Count
system-defined variable is displayed.
Real processing time of tasks*3 The time ratios are displayed with bars Not dis- Displayed.
for the system common processing, played.
I/O refreshing, user program execu-
tion, and motion control processing.
(Specific time values are not dis-
played.)
Average The estimated average value of the re-
estimation al processing time of task is displayed.
Max esti- The estimated maximum value of the
mation real processing time of task is dis-
played.
Task execution time ratio*4 The percentage of the total task execu- Displayed. Not dis-
tion time per unit time. played.
*1. This is the actual time required from the point that task execution was started until it was completed. This
interval includes both the time to execute other tasks and the time for system services that were execut-
ed from when task execution was started until it was completed.

5 Designing Tasks
Only the primary periodic task is displayed when a Simulator for an NX701 CPU Unit is connected.
*2. This item is not displayed for event tasks.
*3. This interval is the time required to execute only the task itself.
It is the same as the task execution time for the primary periodic task.
For periodic tasks, this is the task execution time minus the time to execute other tasks and the time for
system services that were executed between the point that the execution condition is met until execution
is completed.
Task period (fixed)
Real processing time of task (varies) Real processing time of task (varies)
System common
System common
Output data
processing
processing
Input data
processing 1
processing 2
execution
*4. This item was added for version 1.12 of the Sysmac Studio. It is not displayed for an NX-series CPU
Unit.
The above values when connected to the Simulator of the Sysmac Studio may contain more
error in comparison to the times when connected to the physical Controller. Use them as guide-
lines. Always confirm operation while connected to the physical Controller to study the designs
and before starting actual system operation.
Meaning of the Task Execution Time and the Real Processing Time
of the Task
The Task Execution Time and Real Processing Time of Tasks that are displayed in the Monitor View
for the execution time of tasks are described in the following table. The Real Processing Time of Tasks
shows only the time the Simulator was connected.
Displayed time Meaning

Task execution time This is the time from when the task period starts until task processing ends.
However, this includes the time when the periodic task is interrupted for execution
of tasks with higher execution priorities.
Real processing time of This is the time from when the task period starts until task processing ends.
task However, this does not include the time when the periodic task is interrupted for ex-
ecution of tasks with higher execution priorities.

5 Designing Tasks
Execution
priority Task period of primary periodic task

High
Primary
periodic task
a
Periodic task Interrupted. Interrupted. Interrupted. Interrupted.
c d
Low b
a: Task execution time of primary periodic task

b: Task execution time of periodic task
c+d: Real processing time of periodic tasks (only when the Simulator is connected).

5 Designing Tasks
5-11 Task Design Methods and I/O Re-

sponse Times
This section provides guidelines for designing tasks, information on estimating task execution times,
information on confirming system service monitoring settings, an example of task designing, and infor-
mation on I/O response times.
The primary periodic task and periodic tasks of an NJ/NX-series Controller operate according to the
specified task periods.
If the actual execution time exceeds the task period, an error occurs.
This section uses an example that consists of one primary periodic task to describe estimation and
appraisal methods.
The task execution times in the physical Controller depend 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, 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.
5-11-1 Checking the Task Execution Time

Always design your system so that the average and maximum task execution times that are estimated
with the methods that are described in this section sufficiently fit within the specified task periods.
l Desktop Calculations
First, refer to A-2 Calculating Guidelines for the Real Processing Times of Tasks for the NX701
System on page A-25, A-3 Calculating Guidelines for the Real Processing Times of Tasks for the
NX102 System on page A-37, A-4 Calculating Guidelines for the Real Processing Times of Tasks
for the NX1P2 System on page A-48 and A-5 Calculating Guidelines for the Real Processing
Times of Tasks for the NJ-series System on page A-59 to make a rough estimate of the average
task execution time on paper.
You cannot estimate the maximum value on paper.
l Estimating with the Simulator on the Sysmac Studio

Use the Task Execution Time Monitor of the Simulator on the Sysmac Studio to estimate the aver-
age and maximum task execution times.
Use the following procedure to check operation on the Simulator.
1 Create the Unit and slave configurations, create the global variables and device variables, and
create the axes (to create the Axis Variables).
2 Create the programs to check.

5 Designing Tasks
3 Set up the tasks and build the project.
4 Start the Simulator in Execution Time Estimation Mode.
5 Select the relevant hardware revision in the Unit that the hardware revision is displayed.
5-11 Task Design Methods and I/O Response Times

6 With an NJ-series CPU Unit, set the Expanded number of I/O points in the CJ-series Unit
parameters in the Task Execution Time Monitor to create user-defined variables for specified
CJ-series Special Units. Also set the sizes of the expansion areas (e.g., fixed I/O allocation
areas for the DeviceNet Unit) for AT specifications (i.e., the number of output words and the
number of input words).
These sizes are used to calculate the I/O refresh time for the specific Special Units.
7 Estimate the task execution times in the Task Execution Time Monitor.
You can check the following values in the Task Execution Time Monitor when you start the Simula-
tor in Execution Time Estimation Mode.
• The average and maximum values of the task execution time
• The average and maximum values of the real processing times of the tasks
• Bar graph that shows the system common processing time, I/O refresh time, user program exe-
cution time, and motion control time 5
• CPU usage
5-11-1 Checking the Task Execution Time

Note Only the primary periodic task is displayed for an NX-series CPU Unit.
You can check the following values when connected to the Simulator of the Sysmac Studio. You
cannot check these values when connected to the physical Controller.
• CPU usage:
Displays how much of the task period is used by the total of the maximum estimated task
processing time, the tag data link service execution time ratio, and the system service proc-
essing time of an NJ-series CPU Unit (as specified in the system service monitoring settings).
If CPU usage exceeds 100%, it means that there is not sufficient time for task processing and
the system service monitoring settings.
This is not displayed for an NX-series CPU Unit.
• Real processing time of tasks:
This is the time that was required for the task from when task execution is started until it is
completed. The time to execute other tasks that were executed from when task execution
was started until it was completed is not included.
l Calculating Times on the Physical Controller

You can check the following values in the Task Execution Time Monitor when you are connected to
the physical Controller.
• The minimum, average, and maximum values of the task execution time
• Set period
• Number of times a task is executed (Task Execution Count)
• Number of times the task period was exceeded (Task Period Exceeded Count)
• Task execution time ratio
The maximum values that are displayed on the Sysmac Studio are the results of operation on the
physical Controller.

5 Designing Tasks
As described previously, the maximum value of the task execution time varies depending on the
internal status of the physical Controller.
As a result, the maximum values obtained here may be exceeded in actual operation. Use the ob-
tained values or the larger values in the following calculating results as guidelines of maximum val-
ues.
NX-series CPU Units
(Average value of task execution time + (Average value of task execution time − Minimum value of
task execution time)) x 1.2 + 25 μs
NJ-series CPU Units
• Task period of 500 μs:
Average value of task execution time + (Average value of task execution time − Minimum value
of task execution time) + 100 μs
• Task period of 1, 2, or 4 ms:
Average value of task execution time + (Average value of task execution time − Minimum value
of task execution time) + 120 μs
For NJ-series CPU Units, you can also check whether sufficient system service execution time is
obtained.
Insufficient system service execution time may decrease the online operations of the Sysmac Stu-
dio or the communications response performance with external devices such as an HMI. For NJ-
series CPU Units, system services are executed during the unused time between execution of the
tasks.
Use the following guideline for the task execution time ratio.
CPU Unit model Guideline for task execution time ratio

NJ501-££££ 90% or less
NJ301-££££ 80% or less
NJ101-££££ 70% or less
Version Information
• The task execution time ratio is displayed when an NJ-series CPU Unit is used with Sysmac
Studio version 1.12 or higher.
• Use an NJ101-££££ CPU Unit with Sysmac Studio version 1.13 or higher. You cannot use
an NJ101-££££ CPU Unit with Sysmac Studio version 1.12 or lower.
• On an NJ101-££££, NJ301-££££, NJ501-££££, NX102-££££, and NX1P2-£££
££££ of unit version 1.47 or higher and an NX701-££££ of unit version 1.28 or higher,
performance (task time) will be improved if the number of registered device variable is large.
tion.
Therefore, the task execution time ratio is not displayed.
The average values of the task execution times that are displayed for task execution time moni-
toring are the averages for 10 task execution times.

5 Designing Tasks
5-11-2 Examples of Task Design

This section provides the design procedure for a project that consists of only the primary periodic task.
In any actual application or for specific conditions, you need to consider any elements for which the
design procedure must be changed. This example is therefore for reference only.

1 Find the I/O response times that are required for the system from the equipment specifications.
2 From the system I/O response times, determine the task period for the primary periodic task.
3 See if the task execution time fits into the task period that you determined.
Then, work on paper or use the Task Execution Time Monitor of the Sysmac Studio to estimate
the average and maximum values of the task execution time.
4 For NJ-series CPU Units, see if the system service times are within the monitor settings.
If you use the Sysmac Studio, check the CPU usage.
5 Use the physical Controller to see if the task execution time fits into the task period.
Place the Sysmac Studio online with the physical Controller and use Task Execution Time
Monitor to check the task execution times. 5
l If only the primary periodic task is too large to fit within the specified task
5-11-2 Examples of Task Design

period, consider separating it into periodic tasks as follows.
• For the NX701 CPU Units, among processes required for device control, assign those which re-
quire the high-speed control to the primary periodic task and other processes to the priority-5 pe-
riodic task.
• To reduce the task execution time, use the Enable Program (PrgStart) and Disable Program
(PrgStop) instructions to execute the program assigned to the primary periodic task only when
necessary.
• If the primary periodic task will still not fit within the specified task period after these measures,
among the processes of primary periodic task, assign those which do not require the high-speed
or high-accuracy control to the priority-16 periodic task or the priority-17 periodic task.
However, if variables such as the Axis Variables are accessed between the primary periodic task
and the priority-16 periodic task, the task execution time for the primary periodic task may be lon-
ger. For details, refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No.
W507).
• If the primary periodic task will still not fit within the specified task period even after you take all of
these measures, change the task period for the primary periodic task.
l If a task is separated, the periodic task will vary greatly with the unused
time for primary periodic task execution.
For a periodic task, use twice the average and maximum values calculated for the task execution
time to set the task period and then fine-tune the setting from there.
5-11-3 System Input and Output Response Times

The times that are required for the system to produce an output after it receives an input are described
in this section.

5 Designing Tasks
The I/O response times depend on various conditions.

The input response times and output response times between external devices and the slaves and
Units must be added to the system I/O response times.
Sequence Control with Basic I/O Units

I/O refreshing between Basic I/O Units and external devices is performed in the task to which I/O re-
freshing is assigned.
The I/O response times that include EtherCAT communications times are given below.
l Performing Control with the Programs in the Primary Periodic Task

The Controller makes a response in the following I/O response time.
Minimum I/O response time = Primary period
Example: Controlling Unit A and Unit B with the Primary Periodic Task
Unit A Unit B
Primary period (t)
Primary IO UPG
M
IO UPG
M
IO UPG
M
periodic task C C C
Task period 1 (e.g., t × 3)
Priority-16 UPG
periodic task
Note: The above diagram shows only one input and one output.
However, the I/O response time may be as follows depending on the timing of the input from the
Unit.
Maximum I/O response time = Primary period × 2
l Performing Control with the Programs in the Priority-16 Periodic Task

Minimum I/O response time = Priority-16 periodic task period
Example: Controlling Unit A and Unit B with the Priority-16 Periodic Task
Unit A Unit B
IN OUT
Primary period
Primary IO UPG MC IO UPG MC IO UPG MC IO UPG MC

periodic task
Task period
Priority-16 IO UPG IO UPG

periodic task

5 Designing Tasks
Unit.
Maximum I/O response time = Priority-16 periodic task period × 2

Sequence Control with EtherCAT Slaves
For EtherCAT slaves, EtherCAT communications with external devices is performed for I/O refreshing
in the primary periodic task.

Minimum I/O response time = Primary period (= process data communications cycle)
Example: Controlling EtherCAT Input Slave A and EtherCAT Output Slave B with the Primary Peri-
odic Task
Slave A Slave B
Process data
communications period =
Primary period (t)
5
Primary M M M
IO UPG IO UPG IO UPG
periodic task C C C

Priority-16 UPG
periodic task
slave.
Maximum I/O response time = Primary period (= process data communications cycle) × 2

When you perform control with the user program in the priority-5 periodic task, the NX701 CPU
Unit makes a response in the following I/O response time.
Minimum I/O response time = Priority-5 periodic task period (= process data communications cycle 2)
Example: Controlling EtherCAT Input Slave A and EtherCAT Output Slave B with the Priority-5 Pe-
riodic Task
Slave A Slave B
Process data
communications cycle 2 =
Task period
Priority-5 IO UPG
M
IO UPG
M
IO UPG
M
periodic task C C C

5 Designing Tasks
slave.
Maximum I/O response time = Priority-5 periodic task period (= process data communications cycle 2) x 2

I/O response time = Priority-16 periodic task period
Example: Controlling EtherCAT Input Slave A and EtherCAT Output Slave B with the Priority-16
Periodic Task
Slave A Slave B
IN
OUT
Process data
communications cycle
= Primary period (t)

periodic task
Task period
Priority-16 IO UPG IO UPG

periodic task
slave.
Refer to the NX-series EtherCAT Coupler Units User’s Manual (Cat. No. W519) for the I/O re-
sponse times for EtherCAT Slave Terminals that the NX Units are mounted on the EtherCAT
Coupler Units.
Sequence Control with NX Units on the CPU Unit

For NX Units on the NX102 CPU Unit and NX1P2 CPU Unit, data exchange with external devices is
performed for I/O refreshing in the primary periodic task.
For NX Units on the CPU Unit, the following describes both of the I/O response times for the CPU Unit
inside and I/O response times that include NX Unit processing times.
The I/O response times for the CPU Unit inside are given below.

Minimum I/O response time = Primary period
Example: Controlling Input Unit A and Output Unit B with the Primary Periodic Task

5 Designing Tasks
Unit A Unit B
Primary period (t)
Primary
MC
MC
MC
IO UPG IO UPG IO UPG
periodic task

Unit.
Maximum I/O response time = Primary period × 2

I/O response time = Priority-17 periodic task period
Example: Controlling Input Unit A and Output Unit B with the Priority-17 Periodic Task
Unit A Unit B
IN
OUT 5
Primary period (t)

periodic task
Task period
Priority-17 UPG UPG

periodic task
Unit.
Next, the I/O response times that include NX Unit processing times are given below.
The I/O response time is the time required for the following processing: The CPU Unit processes
an external signal input to one NX Unit, and another NX Unit outputs the processed result as an
external signal.
The I/O response times that include NX Unit processing times depend on the I/O refreshing method
of the NX Unit. The following provides a description to perform control with the programs in the pri-
mary periodic task for each of the I/O refreshing method of the NX Unit, including synchronous I/O
refreshing, time stamp refreshing, and Free-Run refreshing.
The elements in the formulas are as follows:
Tnx-InProc :Input data processing time of the NX Unit

Tnx-OutProc : Output data processing time of the NX Unit
Tnx-Indelay : Input delay time of the NX Unit
Tnx-Outdelay : Output delay time of the NX Unit

5 Designing Tasks
For each element, there is a unique value for each type of NX Unit. Refer to the appendix of the
NX-series Data Reference Manual (Cat. No. W525-E1-07 or later) for the value of each element.
l Synchronous I/O Refreshing

With synchronous I/O refreshing, when there is more than one NX Unit that is connected to the
CPU Unit, the inputs are read or the outputs are updated simultaneously for all NX Units that sup-
port synchronous I/O refreshing. Therefore, Tnx-InProc (input data processing time of the NX Unit)
and Tnx-OutProc (output data processing time of the NX Unit) are the longest time of the NX Units
that support synchronous I/O refreshing.
Minimum I/O response time = Tnx-InDelay + Tnx-InProc + Primary period + Tnx-OutDelay + Tnx-OutProc
Unit A Unit B
IN OUT
I/O response times that include
Signals to input NX Unit processing times
terminals on NX Unit
Input Unit A
Tnx-Indelay Tnx-InProc
Signals from output
terminals on NX
Output Unit B
Tnx-OutProc
Primary period (t) Tnx-Outdelay

periodic task
Unit.
Maximum I/O response time = Tnx-InDelay + Tnx-InProc + Primary period x 2

+ Tnx-OutDelay + Tnx-OutProc + NX Unit processing time*1
*1. Refer to NX Unit Processing Time on page A-50 for information on the NX Unit processing time.
l Time Stamp Refreshing

The I/O response time for time stamp refreshing is the specific time required to produce the output
after the input changed time. You specify the time in the user program. Specify a time that has a
sufficient leeway to ensure that the output is produced at the expected time.
The minimum specified time for which the expected output is produced is defined as the maximum
I/O response time for time stamp refreshing. It is described in the following.
With input refreshing with input changed times for time stamp refreshing, when there is more than
one NX Unit that is connected to the CPU Unit, the inputs for all NX Units that support synchronous
input refreshing and the changed times for all NX Units that support input refreshing with input
changed times are loaded at the same time. Therefore, Tnx-InProc (input data processing time of
the NX Unit) and Tnx-OutProc (output data processing time of the NX Unit) are the longest time of
the NX Units that support synchronous I/O refreshing.

5 Designing Tasks

Unit A Unit B
IN OUT
Input Unit A
Signals from output
terminals on NX
Output Unit B
Tnx-OutProc

periodic task
Unit. 5
Maximum I/O response time = Tnx-InDelay + Tnx-InProc + Primary period x 2

+ Tnx-OutDelay + Tnx-OutProc + NX Unit processing time*1
l Free-Run Refreshing
With Free-Run refreshing, the refresh cycle of the NX bus and the I/O refresh cycle of the NX Units
operate asynchronously.
Unit A Unit B
IN OUT
Input Unit A
Signals from output
terminals on NX
Output Unit B
Tnx-OutProc

periodic task

5 Designing Tasks
Unit and the timing of the output to the Unit.
Maximum I/O response time = Tnx-InDelay + Tnx-InProc × 2 + Primary period x 2

+ Tnx-OutDelay + Tnx-OutProc × 2+ NX Unit processing time*1
With Free-Run refreshing, the Input Unit, CPU Unit and Output Unit operate asynchronously.
Therefore, an offset of timing that the Input Unit reads signals from input terminals, an offset of
timing that the CPU Unit reads the input data from the Input Unit, and an offset of timing that the
Output Unit outputs signals to output terminals will occur.
Tnx-InProc, primary period, and Tnx-OutProc will be the longest time of an offset of timing for
each Unit.
Performing Motion Control with Motion Control Instructions

Motion control instructions access the Servo Drives and encoder input slaves that are assigned to ax-
es.
For the NX102 CPU Units and NX1P2 CPU Units, motion control instructions can be used in the pri-
mary periodic task.
The motion control instructions are processed in the "motion control processing (MC)" section of the
primary periodic task.
For , , and NJ-series CPU Units, motion control instructions can be used in the primary periodic task
and in a priority-16 periodic task.
In either case, the motion control instructions are processed in the "motion control processing (MC)"
section of the primary periodic task.
For the NX701 CPU Units, motion control instructions can be used in the primary periodic task, in the
priority-16 periodic task, and in the priority-5 periodic task.
The motion control instructions included in the primary periodic task and in a priority-16 periodic task
are executed in the "motion control processing (MC)" section of the primary periodic task.
The motion control instructions included in a priority-5 periodic task are executed in the "motion control
processing (MC)" section of the priority-5 periodic task.
l Programming Motion Control Instructions in the Primary Periodic Task

The motion control instructions are processed in the next motion control processing (MC) section of
the primary periodic task. The results of processing are output to the EtherCAT slave or NX Unit to
which the axis is assigned during the I/O refresh period in the next primary periodic task.
I/O response time = Primary period (= process data communications cycle)

5 Designing Tasks
Slave A Servo A
IN Execution command
Process data
= Primary period (t) Primary period (t)

Primary periodic

task FB
Motion control
Processing is performed in the Commands to Servo A are sent via
instructions
motion control processing (MC) EtherCAT communications when I/O is
executed.
section in the same primary period. refreshed in the next primary period.
Priority-16 UPG
periodic task
slave.
Maximum I/O response time = Primary period (= process data communications cycle) × 2
l Programming Motion Control Instructions in the Priority-5 Periodic Task 5

The motion control instructions are processed in the immediate motion control processing (MC)
section in the priority-5 periodic task. The results of processing are output to the EtherCAT slave to

which the axis is assigned during the I/O refresh period in the next priority-5 periodic task.
I/O response time = Priority-5 periodic task period (= process data communications cycle)
Slave A Servo A
IN Execution comand
Process data
communications cycle 2
= Task period
Priority-5 IO UPG MC IO UPG MC IO UPG MC

FB
periodic task
Motion control
Processing is performed in the instructions Commands to Servo A are sent via EtherCAT
motion control processing (MC) executed. communications when I/O is refreshed in the next
section in the same task period. task period.
slave.
Maximum I/O response time = Priority-5 periodic task period (= process data communications cycle 2) x 2
l Programming Motion Control Instructions in the Priority-16 Periodic Task

The motion control instructions are processed in the next motion control processing (MC) section of
the primary periodic task after the priority-16 periodic task. The results of processing are output via
EtherCAT communications to the EtherCAT slave to which the axis is assigned during the I/O re-
fresh period in the next primary periodic task.
The Controller responds in the following I/O response time regardless of the execution timing of the
motion control instructions.

5 Designing Tasks
Minimum I/O response time = Priority-16 periodic task period+

Primary period (= process data communications cycle)
Slave A Servo A
IN
Execution command
Process data
= Primary period (t)

periodic task
Processing is performed in
the motion control processing Commands to Servo A are sent via
(MC) section of the next EtherCAT communications when I/O
primary periodic task. is refreshed in the next primary period.
Task period (e.g., t × 2) Task period (e.g., t × 2)
Priority-16 UPG
UPG
periodic task FB FB
Motion control instructions executed. Motion control instructions executed.
However, the response time may be as follows depending on the timing of the input from the slave.
Maximum I/O response time = Priority-16 periodic task period +

Primary period (= process data communications cycle) × 2
l Simultaneous Execution of More Than One Axis

If more than one axis is controlled in the same task period by the programs in the same task, they
can be started at the same time.
Motion control
instructions
Axis A
Motion control Start commands

are output at the
Axis B instructions same time.
Motion control
Axis C instructions
You can access the values of Axis Variables in the tasks other than those for axis control.
For detailed usage and precautions, refer to the NJ/NX-series CPU Unit Motion Control User's
Manual (Cat. No. W507).

6
Programming
This section describes programming, including the programming languages, and the
variables and instructions that are used in programming.
6-1 Overview of Programming Procedures........................................................ 6-3

6-2 POUs (Program Organization Units) ............................................................ 6-5
6-2-1 What Are POUs?............................................................................................. 6-5
6-2-2 Overview of the Three Types of POUs............................................................ 6-5
6-2-3 Differences between Programs, Functions, and Function Blocks ................... 6-6 6
6-2-4 Details on Programs........................................................................................ 6-7
6-2-5 Details on Function Blocks .............................................................................. 6-8
6-2-6 Details on Functions...................................................................................... 6-16
6-2-7 Operation That Applies to Both Functions and Function Blocks ................... 6-22
6-2-8 POU Restrictions........................................................................................... 6-25
6-3 Variables ....................................................................................................... 6-28
6-3-1 Variables........................................................................................................ 6-28
6-3-2 Types of Variables ......................................................................................... 6-28
6-3-3 Types of User-defined Variables in Respect to POUs ................................... 6-28
6-3-4 Attributes of Variables ................................................................................... 6-30
6-3-5 Data Types .................................................................................................... 6-32
6-3-6 Derivative Data Types ................................................................................... 6-41
6-3-7 Array Specifications and Range Specifications for Data Types .................... 6-51
6-3-8 Variable Attributes ......................................................................................... 6-60
6-3-9 Changes to Variables for Status Changes .................................................... 6-68
6-3-10 Function Block Instances .............................................................................. 6-82
6-3-11 Monitoring Variable Values ............................................................................ 6-82
6-3-12 Restrictions on Variable Names and Other Program-related Names ............ 6-83
6-4 Constants (Literals) ..................................................................................... 6-85
6-4-1 Constants ...................................................................................................... 6-85
6-4-2 Notation for Different Data Types .................................................................. 6-85
6-5 Programming Languages ............................................................................ 6-90
6-5-1 Programming Languages .............................................................................. 6-90
6-5-2 Ladder Diagram Language............................................................................ 6-90
6-5-3 Structured Text Language ............................................................................. 6-97
6-6 Instructions................................................................................................. 6-133
6-6-1 Instructions .................................................................................................. 6-133
6-6-2 Basic Understanding of Instructions............................................................ 6-133
6-6-3 Instruction Errors ......................................................................................... 6-135
6-7 Namespaces ............................................................................................... 6-141

6 Programming
6-7-1 Namespaces ............................................................................................... 6-141

6-7-2 Namespace Specifications .......................................................................... 6-142
6-7-3 Procedure for Using Namespaces .............................................................. 6-145
6-8 Libraries ...................................................................................................... 6-146
6-8-1 Introduction to Libraries............................................................................... 6-146
6-8-2 Specifications of Libraries ........................................................................... 6-146
6-8-3 Library Object Specifications....................................................................... 6-147
6-8-4 Procedure to Use Libraries.......................................................................... 6-148
6-9 Programming Precautions ........................................................................ 6-150
6-9-1 Array Specifications for Input Variables, Output Variables, In-Out Var-
iables ........................................................................................................... 6-150
6-9-2 Structure Variables for Input Variables, Output Variables, In-Out Variables 6-150
6-9-3 Master Control............................................................................................. 6-151

6 Programming
6-1 Overview of Programming Proce-

dures
This section provides an overview of programming procedures.
The shaded steps in the overall procedure that is shown below are related to programming.

6-1 Overview of Programming Procedures


Step 4. Wiring
Refer to 1-3 Overall Operating Procedure for the NJ/NX-series on page 1-19 for detail.

6 Programming
POU (Program Organization Unit) Design Reference

Determine which processes to put into which POUs and design the POUs. 6-2 POUs (Program Or-
Note: Functions cannot contain function block instructions or function blocks. ganization Units) on page
6-5
Determine which languages, such as ladder diagrams, inline ST, and ST, to 6-5 Programming Lan-
use to create each process. guages on page 6-90
Note: Inline ST is structured text that is written as an element of a ladder diagram.
Variable Design Reference

Design the user-defined variables that you need to create. 6-3-1 Variables on page
6-28
6-3-2 Types of Variables
on page 6-28
Separate variables into those that you use in more than one POU (global vari- 6-3-3 Types of User-de-
ables) and variables that you use in only specific POUs (local variables). fined Variables in Respect
to POUs on page 6-28
Determine if you need to automatically generate the variable names for the 3-3 I/O Ports and Device
device variables that you use to access slaves and Units or if you need to de- Variables on page 3-8
fine them yourself.
Design the attributes for the variables. 6-3-4 Attributes of Varia-
Variable Name, Data Type, AT Specification, Initial Value, Retain, Constant, and bles on page 6-30
Network Publish 6-3-5 Data Types on page
Decide the data types of your variables (including array specifications, range speci- 6-32
fications, structures, and enumerations). 6-3-6 Derivative Data
Types on page 6-41
Keep the following precautions in mind when you design variables. 6-3-4 Attributes of Varia-
• Retention: bles on page 6-30
Set the Retain attributes to determine the values that are used for variables 6-3-5 Data Types on page
when the power supply is turned ON or when the operating mode changes. 6-32
• Structures: 6-3-6 Derivative Data
When a structure is used for a variable in an instruction, design the program to Types on page 6-41
use the same structure data type for the input parameter, output parameter, or
in-out parameter.
Example: Communications Instructions
• Array Specifications:
When an array variable is used for the variable for an instruction, design the pro-
gram to use an array variable for the input parameter, output parameter, or in-out
parameter.
Examples: Shift Instructions, Stack Instructions, and Table Instructions
• AT Specifications:
Use AT specifications for the variables used for input parameters to certain in-
structions.
Example: Fixed or user I/O allocations for DeviceNet Units
• Network Publishing:
Design the variables for EtherNet/IP tag data links.

6 Programming
6-2 POUs (Program Organization Units)

The user program that runs on an NJ/NX-seriesCPU Unit is made from a combination of POUs (pro-
gram organization units).
This section describes the configuration and specifications of POUs.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on creating POUs
in the Sysmac Studio.
6-2-1 What Are POUs?

A POU (program organization unit) is a unit that is defined in the IEC 61131-3 user program execution
model. A POU includes a local variable table and an algorithm (i.e., a series of code or logic). It is the
basic unit used to build the user program.
You combine POUs to build a complete user program.
There are three types of POUs, as described below.
• Programs
A program corresponds to a main routine. It is the main type of POU that is used for algorithms.
You can place any instruction, function, or function block in the algorithm of a program.
• Function Blocks (FBs)
A function block can output different values even with the same inputs. Function blocks are execut-
ed when they are called from a program or another function block.
• Functions (FUNs) 6
A function always outputs the same values for the same inputs. Functions are executed when they
6-2-1 What Are POUs?

are called from a program, another function, or a function block.
The POUs consists of a combination of these three types of POUs. You can create many POUs.
You assign the programs to tasks to execute them.
6-2-2 Overview of the Three Types of POUs
Programs
l Executing Programs and Execution Conditions

• You execute a task to execute the programs that are assigned to that task.
• Programs are always executed.
l Notation
• The POUs must include at least one program. You can assign up to 128 programs to a single
task.
Function Blocks (FBs)
l Executing Function Blocks and Execution Conditions

• You can call function blocks from programs or other function blocks to execute them.

6 Programming
• Function blocks are always executed.

• If you want a function block to execute only when a condition is met, you must define an input
variable that sets the execution condition.
l Notation
• You can use any instruction, user-defined function, or user-defined function block in the algorithm
of a function block.
• You can retain the values of internal variables. Therefore, you can retain status, such as for
timers and counters.
• There are both user-defined and system-defined functions.
User-defined function blocks are called user-defined function blocks. System-defined function
blocks are sometimes called FB instructions.
For details on function blocks, refer to 6-2-5 Details on Function Blocks on page 6-8.
Functions
l Executing Function and Execution Conditions

• You can call functions from programs, other functions, or function blocks to execute them.
• The EN input variable specifies the execution condition. A function is executed only once each
time EN changes to TRUE.
l Notation
• You cannot use FB instructions or user-defined function blocks in algorithms.
• The values of internal variables are not retained. Therefore, the output value remains constant if
the input values are the same.
• There are both user-defined and system-defined functions.
User-defined functions are called user-defined functions. System-defined functions are some-
times called FUN instructions.
For details on functions, refer to 6-2-6 Details on Functions on page 6-16.
6-2-3 Differences between Programs, Functions, and Function Blocks

POU type
Programs Function blocks Functions
Item
Execution method Executed upon execution Called from a program or Called from a program,
of assigned task. another function block. function, or function
block.
Algo- Any instruc- Supported. Supported. Not supported.
rithm tions
User-defined Supported. Supported. Supported.
functions
User-defined Supported. Supported. Not supported.
function
blocks

6 Programming
POU type
Programs Function blocks Functions
Item
Execution condition Executed each period. Executed each period. Specify the execution
Specify the execution condition with the EN in-
condition with an input put.
variable.
The hierarchical relationships between programs, functions, and function blocks are shown in the fol-
lowing figure.
Task

Program 1
Program 2
Functions Function blocks
Function blocks
Functions Functions
6-2-4 Details on Programs
6-2-4 Details on Programs

Program Structure
Programs consist of a local variable table and an algorithm.
You can use any function or function block in the algorithm of a program.
Program
Task
Program
Local variable table Assigned.
Program
Algorithm
FUN
FB
You cannot call programs from other POUs.
Program Execution Conditions

Programs are executed when the task they are assigned to is executed.

6 Programming
l Order of Execution
You can set the order of execution of all programs in a task. You specify this order under Task
Settings - Program Assignment Settings in the Sysmac Studio.
l Related System-defined Variables

All programs have the following system-defined variables in the local variables.
Data Read/
Variable name Meaning Function
type write
P_First_Run- First RUN Peri- This flag is TRUE for only one task period after BOOL Read
Mode od Flag the operating mode of the CPU Unit is
changed from PROGRAM mode to RUN mode
if execution of the program is in progress.
This flag remains FALSE if execution of the
program is not in progress.
Use this flag to perform initial processing when
the CPU Unit begins operation.
P_First_Run*1 First Program This flag is TRUE for one task period after ex- BOOL Read
Period Flag ecution of the program starts. *2
Use this flag to perform initial processing when

execution of a program starts.
P_PRGER Instruction Error This flag changes to and remains TRUE when BOOL Read/
Flag an instruction error occurs in the program or in write
a function/function block called from the pro-
gram. After this flag changes to TRUE, it stays
TRUE until the user program changes it back
to FALSE.
P_CY Carry Flag This flag is updated by some instructions. BOOL Read
*2. To enable or disable the program, use the PrgStart or PrgStop instruction. You can make setting for the
PrgStart instruction so that it executes the program without changing P_First_Run to TRUE.
6-2-5 Details on Function Blocks
Procedure to Create Function Blocks

A function block consists of a function block definition that is made in advance and instances that are
used in the actual programs.
Create function blocks in the following order.
1 Create the function block definition.

Create the algorithm.
2 Place an instance of the function block definition in a program.

Call the function block definition from a program or another function block. You can call the
same function block definition from more than one program or function block. After you place
an instance of a function block definition in a program or in another function block, you can ma-
nipulate and execute it as an independent entity.

6 Programming
Structure of Function Blocks

In a ladder diagram, function blocks are represented as rectangular boxes as shown below. Refer to
Calling Function Blocks from ST on page 6-10 for details about how to express function blocks in ST.
Function blocks consist of the following parts.
• Function Block in Ladder Diagram:
Instance name
Function block name or instruction name
In-out variable
MyFB_instance Output variable
TRIG MyFB OUT
In Q

InQ InQ
SET RESULT
SetValue Result
Input parameter Input variable Output variable Output parameter
Algorithm
• Function Block Settings

When you create an instance of a function block definition, make the following settings.
Settings of a function block instance in a program
6
Instance name

Function block name
Local Variable Table
Input parameters Output parameters

Input In-out Output
variables variables variables
Internal variables
Algorithm
• Written as a ladder diagram or in ST.
• You can use any instructions,
user-defined functions, and user-de-
fined function blocks.
Created in the Function Block Definition
l Function Block Name or Instruction Name

This is the function block name or instruction name assigned in the function block definition when
the function block is created.
l Instance Name
You give an instance name to a function block instance in a program to enable managing it.

6 Programming
You specify an instance name when you call a function block definition from a program or another
function block.
l Algorithm
You can code the algorithm either as a ladder diagram or in ST.
You can use any instruction, user-defined function, or user-defined function block in the algorithm.
l Local Variable Table

The local variable table is used to define input variables, output variables, in-out variables, internal
variables, and external variables.
Refer to Variable Designations for Function Blocks on page 6-11 for details.
l Parameters
Input Parameters to Input Variables
An input parameter passes a value to an input variable in a function block when function block exe-
cution begins. An input parameter can be either a variable or a constant.
Output Parameters from Output Variables
An output parameter receives a value from an output variable in a function block when function
block execution is completed. A variable is given as the parameter.
In-Out Parameters Shared between In-Out Variables
The value of the in-out parameter changes within the function block. The same variable is used for
both the input and output.
You can omit input and output parameters. Refer to information on operation when parameters
are omitted in Operation When Parameters Are Omitted on page 6-23 for details.
Calling Function Blocks from ST

The following example shows how to call function blocks from ST.
instance_name(input_variable_1:=input_parameter_1, ... input_variable_N:=input_parameter_N,in-

out_variable_1:=in-out_parameter_1, ... in-out_variable_N:=in-out_parameter_N,output_varia-
ble_1=>output_parameter_1, ... output_variable_N=>output_parameter_N);
You can also omit input variable names and other variable names, and give only the parameters. (If
you do, the parameters must be given in the order that they are given in the function block definition.)
Also, the number of parameters must match the number of input variables and other variables in the
function block definition.
TON_instance
a TON c
In Q
b PT ET d

6 Programming
Function Blocks Expressed in ST:

Instance name
TON_instance(In:=a, PT:=b, Q=>c, ET=>d);

TON_instance(In:=a, PT:=b, Q=>c); (*The ET output is omitted here.*)
TON_instance(a,b,c,d); (*Input and output variables are omitted here.*)
Refer to Function Block Calls on page 6-120 for details.
Variable Designations for Function Blocks

Instance Name
Function block definition name

Value is assigned. or instruction name Value is assigned.
Input parameter Input Internal Output Output parameter

Variable assignment variable variables variable Variable assignment itself is passed.
itself is passed.
In-out parameter In-out variable In-Out variable In-out parameter
6
The specifications for variables in function blocks are given below.
Variables Number Specification

1 to 64 Input variables are used as input arguments within the function block. They
cannot be changed inside the function block.
• When the function block is executed, the input variables are set to the values
of the input parameters.
• You can specify either constants or variables for input parameters.
• Omitting input parameters
Input varia-
Refer to information on operation when parameters are omitted in Operation
bles*1
When Parameters Are Omitted on page 6-23.
• You can specify to detect when the variable changes to TRUE or changes to
FALSE.
• You can access and change the values from outside the function block. Ac-
cess these values using the following format:
InstanceName.InputVariableName. *2
1 to 64 Output variables are used as output arguments from the function block.
• The output parameters are set to the values of the output variables at the
end of function block execution.
• You cannot specify a constant or a variable with constant attribute for an out-
Output varia- put parameter.
• You can omit output parameter connections. If you omit an output parameter,
bles*3
the value of the output variable is not assigned to any parameter.
• You can access the values of output variables from outside of the function
block. Access these values with the following format:
InstanceName.OutputVariableName. However, you cannot write values di-
rectly to an output variable.

6 Programming

0 to 64 In-out variables are used as inputs to and outputs from the function block. They
can be changed inside the function block.
• The value of an in-out parameter is passed to an in-out variable and the val-
ue of the in-out variable is then passed to the in-out parameter.
In-out varia-
• You cannot specify a constant or a variable with constant attribute for an in-
bles
out parameter.
• If you change the value of an in-out variable within a function block, the val-
ue of the in-out parameter changes at that time.
• You cannot omit in-out parameters.
No limit Internal variables are used for temporary storage within a function block.
• The values of internal variables are retained regardless of whether the func-
Internal vari- tion block is executed.
ables • Internal variables can have Retain attributes.
• You cannot access the values of internal variables from outside of the func-
tion block.
External var- No limit External variables are used to access global variables.
iables
0 An EN variable cannot be used in a function block. (This applies to both user-
EN
defined function blocks and FB instructions.)
0 or 1 Generally, this is a BOOL output variable that is set to TRUE for a normal end,
and to FALSE for an error end.
ENO
• You can also omit it for user-defined function blocks. *4
• Refer to ENO on page 6-20 for details.
*1. In the Sysmac Studio version 1.01 or lower, at least one BOOL input variable is required when you use func-
tion blocks in a ladder diagram or in ST.
*2. In the Sysmac Studio version 1.07 or lower, it is impossible to change the value of an input variable from
outside the function block. However, accessing it from outside the function block is possible.
*3. At least one BOOL output variable (including ENO) is required when you use function blocks in a ladder dia-
gram.
In the Sysmac Studio version 1.01 or lower, at least one BOOL output variable (including ENO) is required
when you use function blocks in ST.
*4. When an error occurs in an input parameter, the power flow output changes to FALSE. If you omit ENO for
user-defined function blocks, the power flow output remains FALSE from the next time you call the function
blocks. The power flow output cannot change to TRUE. When an error may occur in an input parameter,
define the ENO and write the algorithm so that the power flow output changes to TRUE when you call func-
tion blocks.
Refer to Operation for Parameter Errors on page 6-24 for information on the operation for the input param-
eter error.
Refer to 6-3-4 Attributes of Variables on page 6-30 for details on setting variable attributes.
If you define an external variable with the same name as a global variable in a function block, it
is defined automatically based on that global variable.
l ENO
When ENO is FALSE, the previous values of all other output variables are retained.

6 Programming
Function Block Definitions and Instances

A function block consists of a function block definition that is made in advance and instances that are
used in the actual programs.
All instances of a function block are based on the function block definition.
A function block definition consists of an algorithm and a local variable table.
l Function Block Instance

When you place an instance of a function block definition in a program or another function block,
the function block definition is treated as a part of that program or function block.
Function block definitions that are called from a program or another function block are called in-

stances.
Every instance of a function block has an identifier known as an instance name associated with it,
and every instance uses memory.
You can create instances of a function block definition to process different I/O data in the same
way.
Program POU
Instance name FB1_1

Function block definition name FB1
Variable Memory area Memory area

6
declarations reserved.

Algorithm Memory for
instance
FB1_1
Memory for
instance
FB1_2
Instance name FB1_2

Function block definition name FB1
Variable
declarations Memory area reserved.
Algorithm
Instances cannot be read from other programs or function blocks. If an instance with the same
name as another instance is placed in a different program or another function block, that instance
will operate as a completely separate instance.
Array Specifications for Instances

6 Programming
Array specifications can be made for instances.

You can indirectly specify an array element number with a variable to execute multiple instances
with one instance name.
Furthermore, you can switch input sources and output destinations and effectively execute multiple
instances with a single instance name if you use an array specification for the input parameter and
output parameter and specify the element numbers with the same variable.
Example:
Not Using an Array to Specify Instances Using an Array to Specify Instances

timer0
FOR
TON
IN[0] OUT[0] EN ENO
In Q
UINT#0 Initval Index i
PT[0] PT ET UINT#4 Endval
UINT#1 Stepval
timer1 Here, array variables are
timer[i]
TON used to specify instances of
IN[1] OUT[1] TON the function block definition
In Q IN[i] OUT[i] TON and all input parameters
In Q and output parameters. All of
PT[1] PT ET the element numbers are
PT[i] PT ET incremented to execute five
instances in succession.
timer2 NEXT
EN ENO
TON
IN[2] OUT[2]
In Q
PT[2] PT ET
timer3 Variable Table

TON Variable name Data type
IN[3] OUT[3] ARRAY [0..4] OF BOOL
IN
In Q
OUT ARRAY [0..4] OF BOOL
PT[3] PT ET PT ARRAY [0..4] OF TIME
timer ARRAY [0..4] OF TON
i UINT
timer4
TON
IN[4] OUT[4]
In Q
PT[4] PT ET
Execution Conditions for Function Blocks

Function blocks do not have an EN input like functions. They are executed each period.

6 Programming
Case Algorithm in FB ENO*1 Operations other than ENO

Normal oper- Executed. Normal end TRUE Output parameters:
ation Values are updated according to the internal
algorithm.
In-out parameters:
Values are updated according to the internal
algorithm.
Error end FALSE Output parameters:
Retained
In-out parameters:
Values are updated according to the internal
algorithm.

Inside a mas- Executed when the state of User-speci- One of the above, depending on the value of
ter control re- the power flow input is fied ENO.
gion FALSE.
*1. Refer to Variable Designations for Function Blocks on page 6-11 for details on the ENO specifications of
function blocks.
Refer to 6-5-2 Ladder Diagram Language on page 6-90 for details on power flow output and parame-
ter output.
You can specify the edge for an input variable to make the variable TRUE only when the input param-
eter changes to TRUE.
Instance
A
Variable A FB 6
X

Instance X
Specifies detecting a change to TRUE.
You can specify falling edges too.
Instance
Variable A FB
A
X
Instance X
Specifies detecting a change to FALSE.
Accessing Variables in a Function Block from Outside the Function

Block
You can access the input and output variables of a function block from outside the function block. Vari-
ables are written as follows:
InstanceName.VariableName
Example: To Access Output Variable B of Function Block Instance FB1_Instance

FB1_Instance.B

6 Programming
You can access the input and output variables for a function block only within the program that con-
tains the function block.
However, you cannot access these variables from within other function block instances even if they
are in the same program. You cannot access them from other programs.
Program P1
FB1_Instance
FB1
A B Input and Output Variables for FB1

• Access is possible only from within program P1.
Can be accessed. • Access is not possible from program P2.
• Access is not possible from within FB2.
FB1_Instance.B
Cannot be
accessed.
FB2_Instance
FB2
C D
Program P2
Cannot be
accessed.
FB2_Instance.B
The following variables cannot be accessed from external devices. If these variables are accessed, a
building error will occur.
• In-out variables for function blocks
• Input variables for FB instructions for which an initial value is not applied when the input parameter
is omitted
6-2-6 Details on Functions
Structure of Functions
In a ladder diagram, functions are represented as rectangular boxes as shown below.
Refer to Expressing Functions in ST on page 6-18 for details about how to express functions in ST.

6 Programming
A function consists of the following parts.

Function in Ladder Diagram:
Function name or instruction name
EN input
ENO output
MyFUN
EN ENO
Return value
Para1 In1 ret_val
Para2 In2 Out1 Output1

Input parameters Input variables Output variable Output parameter
l Function Name or Instruction Name

This is the function name or instruction name assigned in the function definition when the function
is defined.
l Instance Name
Functions do not have instance names.
l Algorithm 6
You can code the algorithm either as a ladder diagram or in ST.

You can use function instructions or user-defined functions in the algorithm of a function.
You cannot use any FB instructions or user-defined function blocks.
You also cannot use a differentiated instruction (e.g., R_TRIG or UP).
You cannot use the P_First_RunMode and P_First_Run system-defined variables.
Function
Local variable table

EN
Output parameter
Input parameter Output
Input In-out
variable variable variable
(return value)
Internal variables
Algorithm
FUN instruction
User-defined
function

6 Programming
l Local Variable Table

A local variable table defines the input variables, output variables, in-out variables, internal varia-
bles, and external variables.
Refer to Variable Designations for Functions on page 6-19 for details.
l Parameters
Input Parameters to Input Variables
An input parameter passes a value to an input variable in a function when function execution be-
gins. An input parameter can be either a variable or a constant.
Output Parameters from Output Variables
An output parameter receives a value from an output variable in a function when function execution
is completed. A variable is given as the parameter.
In-Out Parameters Shared between In-Out Variables
The value of the in-out parameter changes within the function. The same variable is used for both
the input and output.
Expressing Functions in ST
The following example shows how to call functions from ST.
return_value:=function_name (input_variable_1:=input_parameter_1, ... input_variable_N:=input_pa-

rameter_N,in-out_variable_1:=in-out_parameter_1, ... in-out_variable_N:=in-out_parameter_N,out-
put_variable_1=>output_parameter_1, ... output_variable_N=>output_parameter_N);
However, you can also omit the return value.
You can also omit input variable names and other variable names, and give only the parameters. (If
you do, the parameters must be given in the order that they are given in the function definition.) Also,
the number of parameters must match the number of input variables and other variables in the func-
tion definition.
Functions Expressed in ST:
MAX
EN ENO
Para1 In1 Para_MAX
Para2 In2
Function name
Para_MAX := MAX(In1:=Para1, In2:=Para2);

Para_MAX := MAX(Para1, Para2); (*The input variables are omitted here.*)
Refer to Function Calls on page 6-122 for details.

6 Programming
Variable Designations for Functions
Function name
name or
or instruction
instructionname
name Value is assigned.
Return value Return value parameter

Value is assigned.
Value is assigned.
Input Internal
Input parameter Output Output parameter
variable variables
Variable assignment variable Variable assignment
itself is passed. itself is passed.

In-out parameter In-out variable In-out variable In-out parameter
The specifications for variables in functions are given below.

Input varia- 0 to 64 Input variables are used as input arguments within the function. They cannot
bles be changed inside the function.
• When the function is executed, the input variables are set to the values of
the input parameters.
• You can specify either constants or variables for input parameters.
• Omitting Input Parameters:
Refer to information on operation when parameters are omitted in Operation
When Parameters Are Omitted on page 6-23.
• Unlike function blocks, you cannot specify to detect changes to TRUE or
6
FALSE.
• You cannot access the values of input variables from outside of the function.

• Some of the instructions provided by OMRON can have varying numbers of
input variables, but you cannot make a user-created function that has a vary-
ing number of input variables.
Output varia- 0 to 64 Output variables are used as output arguments from the function.
bles • The output parameters are set to the values of the output variables at the
end of function execution.
• You cannot specify a constant or a variable with constant attribute for an out-
put parameter.
• At least one BOOL output variable (including ENO and the return value) is
required.
• You can omit output parameter connections.
If you omit an output parameter, the value of the output variable is not as-
signed to any parameter.
• You cannot access the values of output variables from outside of the func-
tion.
• The values of the output variables of user-defined functions must always be
set in the algorithms of the functions. If the output variables are not set in the
algorithms of the functions, the values of the output variables are undefined.

6 Programming

In-out varia- 0 to 64 In-out variables are used as inputs to and outputs from the function. They can
bles be changed inside the function.
• In-out parameters (variable designations) are directly passed to or received
from the in-out variables.
• You cannot specify a constant or a variable with constant attribute for an in-
out parameter.
• If you change the value of an in-out variable within a function, the value of
the in-out parameter changes at that time.
• You cannot omit in-out parameters.
• You cannot access the values of in-out variables from outside of the func-
tion.
Internal vari- No limit Internal variables are used for temporary storage within a function.
ables • The value is not retained after execution is completed.
• You cannot access the values of internal variables from outside of the func-
tion.
External var- No limit External variables are used to access global variables.
iables
EN 1 This is a BOOL input variable used to execute the function.
• The function is executed when EN is TRUE. The value of EN in the function
is always TRUE.
• You must have one EN variable. (This applies to both user-defined functions
and FUN instructions).
ENO 0 or 1 Generally, this is a BOOL output variable that is set to TRUE for a normal end,
and to FALSE for an error end.
• You can omit the ENO variable from user-defined functions.
• Refer to ENO on page 6-20 for details.
Return value 1 The return value is the value that is returned to the calling instruction. It repre-
sents the results of the process after the algorithm in the function is executed.
• Each function must have one return value.
• You can specify enumerations of all basic data types. You cannot specify an
array, structure, or union.
• The return values of user-defined functions must always be set in the algo-
rithms of the functions. If return values are not set in the algorithms of the
functions, the return values are undefined.
• Refer to Return Values on page 6-21 for details.
Refer to 6-3-4 Attributes of Variables on page 6-30 for details on setting variable attributes.
You can register global variables as external variables in a function variable table to access
global variables.
We recommend that you create your functions so that they produce output values uniquely
based on their input parameter values. Algorithms that access global variables and use them to
affect the output values are not recommended. When you check the program on the Sysmac
Studio, a message will appear that says that it is not recommended to use global variables in
functions. Take appropriate measures if necessary.
l ENO
• When ENO is FALSE, the previous values of all other output variables are retained.

6 Programming
l Return Values
• Return values are blank in ladder diagrams.
Case Ladder diagram notation ST language notation

Using return val- variable_q:= MyFUN1(variable_i);
MyFUN1
ues EN ENO
Variable i Variable q
IN
Not using a return MyFUN2(In1:=variable_i1,In2:=vari-

MyFUN2
value EN able_i2, OutEQ=>variable_q1,

OutNE=>variable_q4);
Variable i1
In1
Variable i2 Variable q1
In2 OutEQ
OutGT
OutGE
Variable q4
OutNE
OutLT
OutLE
6
• The calling instruction is not required to use the return value in either a ladder diagram or ST.
• If you set the return value within a function algorithm, set the value to a variable with the same

name as the function.
For example, the return value of a function called MyFUN is MyFUN.
MyFUN Definition of MyFUN

EN ENO
IF IN>100
Variable i Variable q MyFUN:=100;
IN
ELSE
MyFUN:=IN;
END_IF;
Execution Conditions for Functions

A function is executed when EN is TRUE. The function stops processing when EN changes to FALSE.

6 Programming
Input variables Algorithm in FUN ENO Operations other than ENO

EN = TRUE Executed. Normal end TRUE Output parameters:
Values are updated according to the inter-
nal algorithm.
In-out parameters:
nal algorithm.
Error end FALSE Output parameters:
Retained
In-out parameters:
nal algorithm.
EN = FALSE Not executed. FALSE Output parameters and in-out parameters:
Values are retained.
Inside a master Not executed. FALSE Output parameters and in-out parameters:
control region Values are retained.
Example:
BOOL variable A Algorithm within function

in MyFUN
EN ENO MyFUN
P_On
BOOL variable B
in
EN
Function
execution
ENO You can change ENO with the

algorithm in the function.
BOOL variable A
BOOL variable B
6-2-7 Operation That Applies to Both Functions and Function Blocks
Using or Omitting EN and ENO

The following table shows when you can use and when you can omit EN and ENO in functions and
function blocks.

6 Programming
POU EN ENO
FB User-de- Cannot be used. Can be used or omitted.
fined func- A building error occurs if you try to de- You define ENO as an output variable in
tion blocks fine EN in the variable table from the the Sysmac Studio.
Sysmac Studio.
Instruction All FB instructions do not use EN. Some instructions use ENO, and others
do not.
FUN User-de- Required. Can be used or omitted.
fined func- When you create a function, the Sys- You define ENO as an output variable in
tions mac Studio automatically adds EN to the Sysmac Studio.
the variable table by default.
Instruction All FUN instructions use EN. Some instructions use ENO, and others

do not.
Operation When Parameters Are Omitted

You can omit both input and output parameters.
Operation when omitted

Parameters omitted in FB FUN
Input parameters to input • When the first time the instance is • EN is operated when its value is
variables executed, the initial value is used. TRUE.
• Thereafter, the function block is exe- • For other input parameters, the ini-
cuted with the previous value (if the tial value is used for operation.
input variable is omitted, the initial 6
value is always used).
Output parameters from Can be omitted. You can omit the output parameter. If it
6-2-7 Operation That Applies to Both Functions and Function Blocks

output variables You can access the results of the oper- is omitted, there is no way to retrieve
ation outside of the instruction by using the result of the operation.
InstanceName.OutputVariableName.*
In-out parameters to/from Cannot be omitted. Cannot be omitted.
in-out variables
*1. You can access the input and output variables of a function block from outside of the function block (but only
within the same program) with InstanceName.VariableName. However, you cannot access the input and out-
put variables of a function from outside the function.
FBinstance
FB
Omitted.
Done
FBinstance.Done
Can be specified by using InstanceName.Done.

6 Programming
Operation for Parameter Errors

The following operation occurs when there is an error in an input parameter, output parameter, or in-
out parameter.
l Errors in Input Parameters

If an error is detected in an input parameter, the function or function block is not executed and ENO
is FALSE. The power flow output is also FALSE, but all other values are retained.
Example:
Function
EN ENO
FALSE
x[i] IN1
x[10] IN2 OUT2 abc Retained. Variable Table

Variable name Array Data type
Example when variable i is outside the x [ 1 .. 10 ] INT
range of the elements in array variable x
When an error occurs in an input parameter, the power flow output changes to FALSE. If you
omit ENO for user-defined function blocks, the power flow output remains FALSE from the next
time you call the function blocks. The power flow output cannot change to TRUE. When an er-
ror may occur in an input parameter, define the ENO and write the algorithm so that the power
flow output changes to TRUE when you call function blocks.
l Errors in Output Parameters

If an error is detected in an output parameter, all values after that parameter are not output but their
values are retained.
Example:
Function
EN ENO
Example when variable i is outside the
IN1 OUT1 x[9]
IN2 OUT2 x[i]
OUT3 x[10] Retained.

Not output.
l Errors in In-Out Parameters

If an error is detected in an in-out parameter, the function or function block is not executed and
ENO is FALSE. The power flow output is also FALSE, but all other values are retained.

6 Programming
Function
OFF
EN ENO
x[i] x[i]
INOUT-- --INOUT
xyz Retained.
X
Example when variable i is outside the

Recursive Calling

The following recursive calls are not allowed for functions or function blocks. They will result in an error
when you build the user program on the Sysmac Studio.
• A function or function block cannot call itself.
• A called function or function block cannot call the calling parent.
6-2-8 POU Restrictions

This section describes the restrictions in the creation of POUs.
Names
6
Refer to 6-3-12 Restrictions on Variable Names and Other Program-related Names on page 6-83 for
restrictions on POU names and function block instance names.

Passing Multiple Arguments
If you need to pass multiple arguments to a function or function block, use an array specification or
structure to pass the required data. This will make your program simpler.
In this case, it is better to use an in-out variable than an input variable to reduce the processing time.
However, be aware that if you use an in-out variable, the data passed to the function block or function
as a parameter is written and the original data is not retained.

6 Programming
Specifying an Array Variable or Structure Variable as a Parameter

You can also specify an array variable or a structure variable as an input or output parameter.
However, it will take longer to pass and receive data for these data types in comparison to a
variable with a basic data type (depending on the size).
Therefore, when handling array variables or structure variables in a function block, we recom-
mend that you design them in such a way that these variables are passed to and received from
in-out variables.
Example 1: Specifying an Array
Program Variable Table

Variable name Data type
x ARRAY[0..199] OF INT
FB
x Do not assign INT variable x [0..199] to the function block input variable
IN1 OUT1
IN1 (Data type of the IN1 input variable in the function block:
ARRAY[0..199] OF INT).
FB
Instead, assign INT variable x [0..199] to the INOUT in-out variable of
x INOUT INOUT the function block. (Data type of INOUT in-out variable in the function
block: ARRAY[0..199] OF INT)
Example 2: Specifying a Structure Variable
Program Variable Table

x MyStructure
FB
Do not assign MyStructure variable x to the IN1 input
x IN1 OUT1 variable of the function block (Data type of IN1 input
variable of the function block: MyStructure).
FB
Instead, assign MyStructure variable x to the INOUT in-out
x INOUT INOUT variable of the function block. (Data type of INOUT in-out
variable of the function block: MyStructure)
Nesting Levels
Calling another function or function block from a function or function block that was called from a pro-
gram is called nesting. The limits that are given in the following table apply to the POUs that you can
call from a user-defined function or function block and the number of nesting levels. A building error
will occur if these limits are exceeded.
POU Called POUs Nesting depth

Function blocks Functions and function blocks 8 levels max.

6 Programming
POU Called POUs Nesting depth

Functions Functions 16 levels max.*1
*1. A CPU Unit with unit version 1.03 or later and Sysmac Studio version 1.04 or higher are required. For other
versions, the limit is 8 levels.
Example 1: From a program, you can call function blocks to a depth of 8 levels. You can then call func-
tions to a depth of 16 levels.
Program FB1 FB7 FB8 FUN15

FB1 FB2 FB8 FUN9 FUN16

Level 1 Level 2 Level 8 Level 9 Level 16
You cannot call a function You cannot call a function

block at level 9. at level 17.
Example 2: From a program, you can call functions to a depth of 16 levels.
Program FUN1 FUN15

FUN1 FUN2 FUN16
Level 1 Level 2 Level 16

6
You cannot call a
function at level 17.

6 Programming
6-3 Variables
In the NJ/NX-series System, variables are used to exchange I/O information with external devices, to
perform data calculations, and to perform other processes.
This section describes variable designations in detail.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on setting varia-
bles with the Sysmac Studio.
6-3-1 Variables
Variables store I/O data for exchange with external devices or temporary data that is used for internal
POU processing. In other words, a variable is a container for data with a name, data type, and other
attributes.
You do not need to assign a memory address to a variable. However, you can assign a specific memo-
ry address if necessary (see notes). The NJ/NX-series CPU Unit automatically allocates memory ad-
dresses in the memory area for variables.
*1. This is done to use specific functions for some CJ-series Special Units or perform the serial communications
using the host link (FINS) protocol. You must specify the CJ-series Unit memory address in the AT Specifica-
tion attribute of the variable. Refer to AT Specification on page 6-61 for details.
*2. You can use CJ-series Units only with NJ-series CPU Units.
6-3-2 Types of Variables

Variables are broadly classified into the following three types.
l User-defined Variables
The user defines all of the attributes of a user-defined variable.
The rest of this section describes user-defined variables.
l Semi-user-defined Variables
These variables are used to access specific devices and data.
There are two types of semi-user-defined variables: device variables and cam data variables.
Refer to 2-3-1 Type of Variables on page 2-12 and 3-3-1 I/O Ports on page 3-8 for details on device
variables.
l System-defined Variables
System-defined variables are provided in advance in an NJ/NX-series CPU Unit. The names and
all attributes are defined by the system. They have specific functions. System-defined variables are
supplied for each function module. Refer to A-6 System-defined Variables on page A-75 for de-
tails.
Refer to 2-3-1 Type of Variables on page 2-12 for details on the different types of variables.
6-3-3 Types of User-defined Variables in Respect to POUs

There are six types of user-defined variables as defined according to their function in a POU.

6 Programming
¡: Supported.
POU type
Type of user-defined variable
Programs FB FUN
Local variables Internal variables ¡ ¡ ¡
Input variables Not supported. ¡ ¡
Output variables Not supported. ¡ ¡
In-out variables Not supported. ¡ ¡
Global variables ¡ (see note) ¡ (see note) ¡ (see note)
External variables ¡ ¡ ¡
*1. You can define global variables as external variables to access the global variables through the external varia-
bles.
Local Variables
Local variables can be read and written only in the POU (program, function, or function block) in which
it is defined.
Local variables are the same as internal variables if the POU is a program. If the POU is a function
6-3 Variables
block or a function, “local variable” is a collective term for internal variables, input variables, output var-
iables, in-out variables, and external variables.
l Internal Variables
An internal variable can be used only within one POU. 6
An internal variable is declared in the local variable table of the POU.
You cannot access the values of internal variables from outside of the POU.
6-3-3 Types of User-defined Variables in Respect to POUs

You can declare internal variables with the same names in different POUs. Each of those variables
is assigned to a different memory area.
l Input Variables
When a POU is called, the values of the input parameters are assigned to the input variables from
the calling POU. An input variable is declared in the local variable table of the POU.
l Output Variables
Before processing a POU is completed, the output parameters returned to the calling POU are as-
signed to the output variables. An output variable is declared in the local variable table of the POU.
l In-Out Variables
When a POU is called, the in-out variables are assigned to the in-out parameters themselves (vari-
able designations) from the calling POU. If you change the value of an in-out variable within a
POU, the value of the in-out parameter changes at that time.
An in-out variable is declared in the local variable table of the POU.
l External Variables
External variables are used to access data outside of a POU.
You can access global variables from POUs.

6 Programming
Global Variables
A global variable is declared in the global variable table.
Device variables that are automatically generated from the Unit configuration and slave configuration
and axis/axes group variables that are generated from the Axis Setting Table are automatically regis-
tered as global variables.
6-3-4 Attributes of Variables

You can set the following attributes for variables.
Variable Attributes According to Variable Type
l Attributes of Variables
Attribute Description Specification Default
Variable name The variable name is used to identify --- ---
the variable.
Data Type The data type defines the format of --- BOOL
the data that is stored in the variable.
AT Specification If you want to handle a specific ad- • Not specified. Not specified.
dress for a CJ-series Unit as a varia- • Specify.
ble, specify the address to assign to
that variable. *1
Retain Specify whether to retain the value of • Retain: Value speci- Non-retain: Reset to
the variable in the following cases. fied on the left is re- initial value.
• When power is turned ON after a tained if there is a
power interruption Battery.
• When the CPU Unit changes to • Non-retain:
RUN mode Changes to initial
• When a major fault level Controller value.
error occurs
Initial Value You can select to set or not set an ini- Initial Value Depends on the data
tial value. • Yes type.
If the initial value is set, specify the • None (Refer to the section
value of the variable in the following on Initial Value on
cases and do not specify the Retain page 6-64.)
attribute.
• When operating mode changes
• When a major fault level Controller
error occurs
If the initial value is not set, the value
is not retained.
Constant If you set the Constant attribute, you Specify making the ---
can set the initial value of the variable value a constant or not
when it is downloaded, but you can- a constant.
not overwrite the value afterwards.

6 Programming
Attribute Description Specification Default

Network Publish This attribute allows you to use CIP • Do not publish Do not publish
communications and data links to • Publish Only
read/write variables from outside of • Input
the Controller. • Output
Edge An Edge attribute allows you to detect • None None
when the input parameter of a func- • Change to TRUE
tion block changes to TRUE or • Change to FALSE
changes to FALSE.
This can be used only on BOOL input
variables.
*1. You can use CJ-series Units only with NJ-series CPU Units.
Exclusive Control between Tasks

You can restrict writing to global variables to a single task to prevent changes to the values of
global variables during processing. Specify this as a task setting, not as a variable attribute.
l Attributes Supported by Each Type of Variable
6-3 Variables
Variable Data AT Spec- Initial Network
Type of variable Retain Constant Edge
Name Type ification Value Publish
Global variables Support- Support- Support- Support- Support- Support- Support- Not
ed. ed. ed. ed. ed. ed. ed. sup-
ported.
6
Pro- Internal Support- Support- Support- Support- Support- Support- Not sup- Not
grams variables ed. ed. ed. ed. ed. ed. ported. sup-
ported.
6-3-4 Attributes of Variables

External Not sup- Not sup- Not sup- Not sup- Not sup- Support- Not sup- Not
variables ported. ported. ported. ported. ported. ed. ported. sup-
ported.
Function Internal Support- Support- Support- Support- Support- Support- Not sup- Not
blocks variables ed. ed. ed. ed. ed. ed. ported. sup-
ported.
Input varia- Support- Support- Not sup- Support- Support- Support- Not sup- Sup-
bles ed. ed. ported. ed. ed. ed. ported. ported.
Output var- Support- Support- Not sup- Support- Not sup- Not sup- Not sup- Not
iables ed. ed. ported. ed. ported. ported. ported. sup-
ported.
In-out vari- Support- Support- Not sup- Not sup- Not sup- Support- Not sup- Not
ables ed. ed. ported. ported. ported. ed. ported. sup-
ported.
ported.

6 Programming
Variable Data AT Spec- Initial Network

Type of variable Retain Constant Edge
Name Type ification Value Publish
Func- Internal Support- Support- Not sup- Not sup- Support- Support- Not sup- Not
tions variables ed. ed. ported. ported. ed. ed. ported. sup-
ported.
Input varia- Support- Support- Not sup- Not sup- Support- Support- Not sup- Not
bles ed. ed. ported. ported. ed. ed. ported. sup-
ported.
Output var- Support- Support- Not sup- Not sup- Not sup- Not sup- Not sup- Not
iables ed. ed. ported. ported. ported. ported. ported. sup-
ported.
In-out vari- Support- Support- Not sup- Not sup- Not sup- Support- Not sup- Not
ables ed. ed. ported. ported. ported. ed. ported. sup-
ported.
ported.
6-3-5 Data Types

The Data Type attribute defines the type of data and range of data that is expressed by a variable.
The amount of memory that is allocated when you declare a variable depends on the data type of that
variable. The more memory allocated, the larger the range of values that the variable can express.
The data types for the input, output, and in-out variables of instructions depend on the instruction. Set
the data types of input, output, and in-out parameters for the instruction arguments according to the
data types of the input, output, and in-out variables for that instruction.
Basic Data Types and Derivative Data Types

There are two kinds of data types: basic data types, which have predefined specifications, and deriva-
tive data types, which are defined according to user specifications.
l Basic Data Types

The different kinds of basic data types are listed below.
Classification Definition
Boolean A data type with a value of either TRUE or FALSE.
Bit string A data type that represents a value as a bit string.
Integer A data type that represents an integer value.
Real number A data type that represents a real number.
Duration A data type that represents a time duration (days, hours, minutes, seconds, and millisec-
onds).
Time of day A data type that represents a specific time of day (hour, minutes, and seconds).
Date A data type that represents a date (year, month, and day).
Date and time A data type that represents a date and time (year, month, day, hour, minutes, seconds,
and milliseconds).
Text string A data type that contains a value that represents a text string.

6 Programming
There are a total of twenty different basic data types. The specifications are given in the following
table.
The meanings of the data size and alignment columns in the following table are as follows:
• Data size: The actual size of the value.
• Alignment: The unit used to allocate memory.
Classifica-
Data type Data size Alignment Range of values Notation
tion
Boolean BOOL 16 bits 2 bytes TRUE or FALSE BOOL#0 or BOOL#1
TRUE or FALSE
Bit strings BYTE 8 bits 1 byte BYTE#16#00 to FF BYTE#2#01011010
WORD 16 bits 2 bytes WORD#16#0000 to BYTE#2#0101_1010
FFFF BYTE#16#5A
DWORD 32 bits 4 bytes DWORD#16#00000000 You can also use the "_"
to FFFFFFFF character as a separa-
tor.
LWORD 64 bits 8 bytes LWORD#16#000000000
0000000 to
FFFFFFFFFFFFFFFF
6-3 Variables
Integers*1 SINT 8 bits 1 byte SINT#-128 to +127 100
INT 16 bits 2 bytes INT#-32768 to +32767 INT#2#00000000_01100
DINT 32 bits 4 bytes DINT#-2147483648 to 100
+2147483647 INT#8#144
INT#10#100
LINT 64 bits 8 bytes LINT#-92233720368547
75808 to
INT#16#64 6
-100
+922337203685477580
7
6-3-5 Data Types

USINT 8 bits 1 bytes USINT#0 to +255
UINT 16 bits 2 bytes UINT#0 to +65535
UDINT 32 bits 4 bytes UDINT#0 to
+4294967295
ULINT 64 bits 8 bytes ULINT#0 to
+184467440737095516
15
Real num- REAL 32 bits 4 bytes REAL#-3.402823e+38 REAL#3.14
bers to -1.175495e-38 LREAL#3.14
0 3.14
1.175495e-38 to -3.14
3.402823e+38 1.0E+6
+∞/-∞ 1.234e4
LREAL 64 bits 8 bytes LREAL#-1.7976931348
6231e+308 to
-2.22507385850721e-30
8
0
2.22507385850721e-30
8 to
1.79769313486231e
+308
+∞/-∞

6 Programming
Classifica-
Data type Data size Alignment Range of values Notation
tion
Dura- TIME 64 bits 8 bytes T#-9223372036854.775 T#12d3h3s
tions*1*2 808ms T#3s56ms
(T#-106751d_23h_47m TIME#6d_10m
_16s_854.775808ms) to TIME#16d_5h_3m_4s
T# T#12d3.5h
+9223372036854.77580 T#10.12s
7ms T#61m5s (Equivalent to
(T# T#1h1m5s)
+106751d_23h_47m_16 TIME#25h_3m
s_854.775807ms)
Date DATE 64 bits 8 bytes D#1970-01-01 to Add “DATE#”, “date#”,
D#2106-02-06 “D#”, or “d#” to the be-
(January 1, 1970 to Feb- ginning of the string and
ruary 6, 2106) express the date in the
yyyy-mm-dd format.
Example:
d#1994-09-23
Time of TIME_OF_ 64 bits 8 bytes TOD#00:00:00.0000000 Add “TIME_OF_DAY#”,
day*2 DAY 00 to “time_of_day#”, “TOD#”,
TOD#23:59:59.9999999 or “tod #” to the begin-
99 ning of the string and ex-
(00:00:0.000000000 press the time of day in
to 23:59:59.999999999) the hh-mm-ss format.
Example:
tod#12:16:28.12
Date and DATE_AN 64 bits 8 bytes DT#1970-01-01-00:00:0 Add “DT#” or “dt#” to the
time*2 D_TIME 0.000000000 to beginning of the string
DT#2106-02-06-23:59:5 and express the date
9.999999999 and time in the yyyy-
(January 1, 1970 mm-dd-hh:mm:ss for-
00:00:0.000000000 to mat.
February 6, 2106, Example:
23:59.999999999 sec- dt#1994-09-23-12:16:28.
onds.) 12
Text STRING (Number of 1 byte The character code is Enclose the string in sin-
strings single-byte UTF-8. gle-byte single quotation
characters 0 to 1,986 bytes (1,985 marks (').
plus 1) × 8 single-byte alphanumer- Example:
bits*3 ic characters plus the fi- 'OMRON''PLC'
nal NULL character, for
Japanese, this is ap-
proximately equal to 0 to
661 characters) *4
The default size is 256
bytes.
*1. Use the NanoSecToTime and TimeToNanoSec instructions to convert between durations and integer
data. Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for detailed instruc-
tion specifications.
*2. Variables are compared with nanosecond precision for comparison instructions. To change the preci-
sion for comparison, use the TruncTime, TruncDt, or TruncTod instruction. Refer to the NJ/NX-series
Instructions Reference Manual (Cat. No. W502) for detailed instruction specifications.

6 Programming
*3. A NULL character (1 byte) is added to the end of text strings. Therefore, reserve memory for one
more character than the number of handled characters. For example, if a maximum of 10 single-byte
characters are handled, define a STRING variable for 11 characters (11 bytes). STRING[11]
*4. If you want to insert tabs, line break codes, or other special characters, you can use a single-byte dol-
lar sign ($) as an escape character before them. Refer to Text Strings on page 6-88 for a list of the
escape characters.
The total amount of memory required by all variables is not equal to the total of the data sizes of
each of those variables.
This is because the first position where data is stored in memory is automatically set to a multi-
ple of the alignment value for that data type. This results in some empty space in memory be-
tween data types.
For example, even if the data types are the same, the overall memory space required depends
on the order of data types.
You must be aware of the alignment values for different data types when you exchange data
such as structure variables between devices so that you can properly align the position of the
data in memory.
Refer to A-10 Variable Memory Allocation Methods on page A-221 for details.
6-3 Variables
• You cannot compare the sizes of bit string data types (BYTE, WORD, DWORD, and
LWORD). If value comparisons are necessary, use instructions such as the WORD_TO_UINT
instruction to convert to integer data and compare the values of the integer data variables.
Example:
BCD_data : WORD 6
IF WORD_BCD_TO _UINT (BCD_data) > UINT#1234 THEN
• You cannot perform logic processing on integer data types (SINT, INT, DINT, LINT, USINT,
6-3-5 Data Types

UINT, UDINT, and ULINT). If logic processing is necessary, use instructions such as the
INT_TO_WORD instruction to convert to bit string data and perform the logic processing on
the bit string data variables.
Example:
In the following sample programming, 1 is added to variable a if the value of INT variable a is
an odd number.
IF (INT_TO_WORD (a) AND WORD#16#0001) = WORD#16#0001 THEN
a = a+1;
END_IF;
l Derivative Data Types

A derivative data type is a data type with user-defined specifications. Derivative data types are reg-
istered in the Data Type View in the Sysmac Studio. The following is a list of the derivative data
types.
Type Description
Structures This data type consists of multiple data types placed together into a single layered struc-
ture.
Unions This data type allows you to handle the same data as different data types depending on
the situation.
Enumerations This data type uses one item from a prepared name list as its value.
Refer to 6-3-6 Derivative Data Types on page 6-41 for details.

6 Programming
l Specifications for Data Types

The following array specifications and range specifications are possible for all data types.
Type Description
Array specifica- An array is a group of elements with the same data type. You specify the number (sub-
tion script) of the element from the first element to specify the element.
You can specify arrays for both basic data types and derivative data types.
Range specifi- You can specify a specific range for a data type in advance.
cation You can specify a range for any integer basic data type.
Refer to 6-3-7 Array Specifications and Range Specifications for Data Types on page 6-51 for de-
tails.
In addition to basic data types and derivative data types, there are also POU instance data
types. A POU instance data type is the data type of a function block instance. To create a func-
tion block instance, the instance name is registered as a variable and the function block defini-
tion name is registered as a data type in the local variable table.
Restrictions on Using Data Types

A list of the data types that you cannot use in different POUs is given below.
Unusable data types

POU type Type of variable
Basic data types Derivative data types
Programs Internal variables None
Global variables None
FUN Input variables, output variables, and None Unions
in-out variables
Internal variables None
Return values None A structure or union
FB Input variables, output variables, and None Unions
in-out variables
Internal variables None
Bit String, Real Number, and Text String Data Formats

This section describes the data formats for bit string data, real number data, and text string data.
l Bit String Data Format

Bit 0 is the least significant bit of a bit string variable.
Bit values are represented by values of either 1 or 0. However, you can also represent the value of
a single bit as a BOOL variable where 1 equals TRUE and 0 equals FALSE.
Bit 7 Bit 0
One-bit extraction
BYTE#16#3B 0 0 1 1 1 0 1 1 TRUE

6 Programming
l Real Numbers (REAL and LREAL Data)

REAL and LREAL data have a real number data format.
This section describes how to express real numbers and how to perform data processing with real
number data types.
Data Size
REAL data is 32 bits, while LREAL data is 64 bits.
Data Formats
The floating-point decimal format is a way to express a real number as a combination of a sign, an
exponent, and a mantissa.
To express a real number as shown below, the value of s is the sign, the value of e is the exponent,
and the value of f is the mantissa.
• REAL Data
Number = (−1)s2e-127(1 + f × 2-23)
• LREAL Data
Number = (−1)s2e-1023(1 + f × 2-52)
6-3 Variables
This floating-point decimal format follows the IEEE 754 standard. The formats are given below.
Sign Exponent Mantissa

REAL data (32 bits) s e f
31 30 23 22 0
Sign Exponent Mantissa 6
LREAL data (64 bits) s e f
63 62 52 51 0
6-3-5 Data Types

Example: Expressing −86.625 as REAL Data
1. This is a negative number, so s =1.
2. 86.625 in binary is 1010110.101.
3. Normalizing this value gives us 1.010110101 × 26.
4. From the above expression we can determine that e−127 = 6, so e = 133 (or 10000101 in bina-
ry).
5. Next we take the value after the decimal part of 1.010110101, which is 010110101. This is not
enough for the 23-bit mantissa, so f is this number with the required amount of zeroes added to
the end. Therefore, f = 01011010100000000000000.
Therefore, you can express −86.625 as shown in the following figure.

REAL data (32 bits) 1 10000101 01011010100000000000000
31 30 23 22 0
Valid Ranges
The valid ranges for REAL and LREAL data are shown in the following table.
There are a range of values that you cannot express as you approach 0.
Data type -∞ Negative numbers 0 Positive numbers +∞

REAL -∞ −3.402823e+38 to 0 +1.175495e-38 to +∞
-1.175495e-38 +3.402823e+38

6 Programming
Data type -∞ Negative numbers 0 Positive numbers +∞

LREAL -∞ −1.79769313486231e+308 to 0 +2.22507385850721e-308 to +∞
-2.22507385850721e-308 +1.79769313486231e+308
REAL −3.402823e+38 REAL +3.402823e+38

LREAL −1.79769313486231e+308 LREAL +1.79769313486231e+308
−∞ 0 +∞
REAL −1.175495e−38 REAL +1.175495e−38

LREAL −2.22507385850721e−308 LREAL +2.22507385850721e−308
Special Values
Values such as positive infinity, negative infinity, +0, −0, and nonnumeric data are called special
values.
Nonnumeric data refers to data that you cannot express as a floating-point number and therefore
cannot be treated as a numeric value.
Although +0 and −0 both mathematically mean 0, they are different for the purpose of data proc-
essing. Details are provided below.
The values for the sign s, exponent e, and mantissa f of special numbers are given in the following
table.
Data type name Special values Sign s Exponent e Mantissa f

REAL +∞ 0 255 0
-∞ 1 255 0
+0 0 0 0
-0 1 0 0
Nonnumeric --- 255 Not 0
Data type name Special values Sign s Exponent e Mantissa f

LREAL +∞ 0 2047 0
-∞ 1 2047 0
+0 0 0 0
-0 1 0 0
Nonnumeric --- 2047 Not 0
Subnormal Numbers
You cannot use the floating-point decimal format to express values close to 0 (i.e., values with an
extremely small absolute value). Therefore, you can use subnormal numbers to expand the valid
range of numbers near 0. You can use subnormal numbers to express values with a smaller abso-
lute value than with the normal data format (normal numbers).
Any number where the exponent e = 0 and the mantissa f ≠ 0 is a subnormal number and its value
is expressed as shown below.
• REAL Data
Number = (−1)s2-126(f × 2-23)

6 Programming
• LREAL Data
Number = (−1)s2-1022(f × 2-52)
Example: Expressing 0.75 × 2−127 as REAL Data
1. This is a positive number, so s = 0.
2. 0.75 in binary is 0.11.
3. From (0.11)2×2-127 = 2-126(f × 2-23) we can see that f = (0.11)2×222.
4. From the above expression, f = 01100000000000000000000.
Therefore, you can express 0.75 × 2−127 as shown in the following figure.

REAL data (32 bits) 0 00000000 01100000000000000000000
31 30 23 22 0
Subnormal numbers have less effective digits than normal numbers. Therefore, if a calculation with
normal numbers results in a subnormal number or if a subnormal number results in the middle of
such a calculation, the effective digits of the result may be less than the effective digits of a normal
6-3 Variables
number.
Data Processing
The floating-point decimal format expresses only an approximate value. Therefore, there may be a
difference between the floating-point number and its true value. There is also a limited number of
effective digits for these values. Therefore, the following actions are taken when you perform calcu- 6
lations with the floating-point decimal format.
6-3-5 Data Types

Generally, calculation results for real number data may be different if the hardware such as a
processor is different. Confirm the calculation results for real number data when you reuse pro-
grams and libraries with the different model number of the CPU Unit.
Rounding
If the real value exceeds the effective digits of the mantissa, the value is rounded off according to
the following rules.
• The result of the calculation will be the closest value to the value that can be expressed as a
floating-point number.
• If there are two values that are the closest to the real value (e.g., if the real value is the median
value of two approximate values), the mantissa with a least significant bit value of 0 is selected
as the result of the calculation.

6 Programming
When you determine if two values are equal, consider the true values and error.
A real number is expressed in the floating-point decimal format. Because of this, there is a
slight error from the actual value. When you try to determine if two values are equal, this error
may cause unintended results.
For example, if you compare 0.1 + 0.2 with 0.3 using boolv := (0.1 + 0.2 = 0.3); , the BOOL
variable boolv will not be TRUE. It will be FALSE.
To prevent this situation, do not use the EQ, =, NE, or <> instruction to determine if two real
numbers are equal. Instead, use the value comparison instructions and determine if the
absolute value of the difference between the two values is within a sufficiently small range.
For example, the following programming can be used to check to see if the sum of REAL varia-
bles real_a and real_b is equal to 0.3. If the value of boolv is TRUE, the two values are consid-
ered to be equal.
boolv := (ABS((real_a + real_b) - 0.3) < 0.000001); // Here, an allowable erro

r
// of 0.000001 is used.
Overflows and Underflows

When the true absolute value exceeds the values that can be expressed in the floating-point deci-
mal format, it is called an overflow.
On the other hand, if the value is smaller than the values that can be expressed in the floating-point
decimal format, it is called an underflow.
• If an overflow occurs and the true value is positive, the result of the calculation is positive infinity.
If the true value is negative, the result of the calculation is negative infinity.
• If an underflow occurs and the true value is positive, the result of the calculation is positive zero.
If the true value is negative, the result of the calculation is negative zero.
Special Value Calculations

Calculations that involve special values (i.e., positive infinity, negative infinity, +0, −0, and nonnu-
meric data) are performed according to the following rules.
• Addition of positive and negative infinity results in nonnumeric data.
• Subtraction of two infinite values of the same sign results in nonnumeric data.
• Multiplication of +0 or −0 with infinity results in nonnumeric data.
• Division of +0 by itself, −0 by itself, or infinity by itself results in nonnumeric data.
• Addition of positive and negative zero results in positive zero.
• Subtracting +0 from itself or −0 from itself results in +0.
• Any arithmetic that involves nonnumeric data results in nonnumeric data.
• Comparison instructions (such as for the Cmp instruction) treat +0 and -0 as equal.
• If you compare nonnumeric data with anything else, the result is always not equal.
l Text String Data Format

All STRING variables are terminated with a NULL character (character code BYTE#16#00).
Converting Data Types

When you use a variable of a different data type, the data type is automatically converted in some cas-
es. You can also perform the conversion yourself with a data type conversion instruction.

6 Programming
Data Type Conversion

All variables must have data types. Programs must operate properly according to these data types.
For example, the left and right sides of an assignment expression should normally use the same data
type. In some cases, however, it may be necessary to assign data of a different data type to a variable
in order to program something successfully.
Example:
var3 := var1; Assigning a value to a variable of a different data type
var1 is a variable of data type INT.

var3 is a variable of data type REAL.
In order to assign the data in var1 to the data type of var3, the data must first be converted. This type
of conversion is called “data type conversion” or just “type conversion” for short.
l When Data Type Conversion Occurs

Converting between data types occurs in the following two cases.
1. Conversion by User Execution of Data Type Conversion Instructions
6-3 Variables
2. Automatic Conversion for Assignments and Instructions
• ST assignments
• Connecting lines in ladder diagrams
6
Use the NanoSecToTime and TimeToNanoSec instructions to convert between INT and TIME
data. Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details.
6-3-6 Derivative Data Types

A derivative data type has a configuration that is based on one of the basic data types.
The following is a list of the derivative data types.
• Structures
• Unions
• Enumerations
restrictions on the number of characters in data type names and other restrictions when you create a
derivative data type.
NJ/NX-series Controllers come with three different types of system-defined derivative data
types.
• System-defined variables that are structures
• Structures used for input, output, and in-out variables for instructions
• Structures for Special Unit expansion memory (You must register these in the Unit Editor to
use them.)

6 Programming
Structures
A structure is a derivative data type that groups together data with the same or different variable types.
You can easily change data and add new data if you place your data into a structure.
For example, you can define a “Box” structure that has three members (Width, Height, and Depth) in
order to organize and group your data.
You can then use this structure data type to add a variable called Box1. You can then use it to access
the different levels of the data by placing a period after the variable name followed by the name of the
data you want to access. For example, Box1.Width or Box1.Height.
If you need to create a new variable to store more box data, you can perform the same steps to add a
new variable called Box2 to the variable table.
Height of Box1 Height of Box2 Height of Box3

Structure Variable Box1 Structure Variable Box2 Structure Variable Box3
Member Member Member
Height Height Height
Width Width Width
Depth Depth Depth
When a structure is used for a variable in an instruction, it is necessary to select a structure for the
input parameter, output parameter, or in-out parameter, and register the variable.
Example: Communications Instructions
l Expressing Structure Variables and Structure Variable Members

Specifying Members
The individual pieces of data that make up a structure are called “members.”
You can express individual members of a structure by putting a period after the variable name that
represents the entire structure followed by the member name that you want to access.
You can even have a structure that is the member of another structure.
Example:
abc.x: Member x of structure variable abc
abc.Order.z: Memober z of member structure variable Order of structure variable a
bc
Specifying the Structure

The structure represents all members that make up the structure.
A structure is expressed by the name of the structure variable.
In the example above, you would write abc.
l Creating a Structure

6 Programming
1 Create a structure data type in the Data Type Table.

Specify the data type name, members, and the data type.
Data Type Table

Name Member Data type
RGB red INT
green INT
blue INT
ITEM ItemNo INT
Color RGB
2 Specify the member name and the structure data type from above as the data type and register
the variable in the variable table.
Variables
Desk red
green Data type RGB
6-3 Variables
blue
Variable Table Chairs[0] ItemNo

Variable name Data type Color red
Desk RGB green Data type ITEM
blue
Chairs ARRAY[0..1]OF ITEM
Chairs[1] ItemNo 6
Color red
green Data type ITEM

blue
l Structure Specifications
The specifications of structure data types are given in the following table.
Item Specification
Structure names Names are not case sensitive.
Prohibited characters and character length restrictions are the same as for varia-
ble names.
Member data types Refer to the table on the data types of structure members that is given below for
details.
Member attributes Member name
Comment
Number of members 1 to 2,048
Nesting depth of struc- 8 levels max.
tures (however, a member name must be 511 bytes or less, including the variable
name)
Maximum size of one NX701-££££: 8 MB
structure variable NX102-££££: 4MB
NX1P2-££££: 1 MB
NJ501-££££: 4 MB
NJ301-££££: 2 MB
NJ101-££££: 2 MB
Data Type of Structure Members

6 Programming
Classification Data type Usage

Basic data types Boolean, bit string, integer, real, duration, date, time of day, date Supported.
and time, or text string data
Array of Boolean, bit string, integer, real, duration, date, time of Supported
day, date and time, or text string data
Derivative data types Arrays (see note), unions, and enumerations Supported
*1. Recursions and loops are not allowed. (An error will occur
when the program is checked.)
Array specifications for structures, unions, and enumerations Supported
POU instances Not sup-
ported.
l Arrays and Structures

You can set an array in which the elements are structures. You can also set a structure in which the
members are arrays.
l Specifying Structure Member Offsets

When you specify an offset for a member, you can set the memory configuration of the members
as required for each structure data type. This allows you to align the memory configuration of the
members of the structure data type when you use tag data links with CJ-series CPU Units or with
other external devices.
You can select NJ, CJ, or User as the offset type for structure members. If you select NJ, the mem-
ory configuration that is optimum for the NJ/NX-series Controllers is automatically used. Refer to
A-10 Variable Memory Allocation Methods on page A-221 for details on the memory configuration
of the NJ/NX-series Controllers. Refer to A-10-2 Important Case Examples on page A-230 for ex-
amples of tag data links with CJ-series CPU Units.
The meanings of the offset type are as follows:
Offset type Meaning

NJ The memory configuration that is optimum for the NJ/NX-series Controllers is auto-
matically used and operating speed is maximized.
CJ The memory configuration for CJ-series PLCs is automatically used.
This allows you to use the same memory configuration as a CJ-series CPU Unit.
User You can set the memory offsets for each member.
This allows you to use the same memory configuration as external devices other than
CJ-series CPU Units.
Version Information
The following table gives the unit version of the CPU Units and the Sysmac Studio version that
are required to specify member offsets.

1.01 or lower 1.02 1.03 or higher
1.01 or later Not possible. Possible.*1 Possible.
1.00 Not possible. Not possible. Not possible.
*1. You cannot select the memory offset type. You can set member offsets.
Setting Offsets

6 Programming
If you set the memory offset type to User, you can set memory offsets for each member of the
structure. There are byte offsets and bit offsets. If you set the memory offset type to NJ or CJ, the
memory configuration is determined automatically. You do not need to set offsets.
The meanings of the offsets are as follows:
Range of val-
Offset Meaning Unit
ues
Byte offset The byte offset is the offset of a member from the start of Byte *1
the structure.
Bytes offsets are used for all basic data types and deriva-
tive data types.
Bit offset The bit offset is the offset of a member from the start of Bit 0 to 63
the byte position that is specified with the byte offset.
*1. For NX-series CPU Units, the range of values is 0 to 8191. For NJ-series CPU Units, the range of values
is 0 to 1023.
Example:
This example shows the memory configuration when the following settings are made with the
Structure Editor.
6-3 Variables
Name Data type Offset type Byte offset Bit offset
StrA STRUCT User
VarA DINT 0 0
VarB INT 4 0
VarC DINT 6 0 6
Bit 7 Bit 0
Memory

First byte Byte offset: 0
First byte + 1 Bit offset: 0
First byte + 2 VarA
First byte + 3
First byte + 4 Byte offset: 4
First byte + 5 VarB Bit offset: 0
First byte + 6
First byte + 7 Byte offset: 6
First byte + 8 VarC Bit offset: 0
First byte + 9
First byte + 10
First byte + 11
Offsets That You Can Set

Even if you set the memory offset type to User, the offsets cannot be changed for some data types.
The following table shows when offsets can be set.
Classifica-
Data Type Byte offsets Bit offsets
tion
Boolean BOOL Can be set. Can be set.
Bit strings BYTE, WORD, DWORD, LWORD Can be set. Fixed.
Integers SINT, INT, DINT, LINT, USINT, Can be set. Fixed.
UINT, UDINT, ULINT
Real num- REAL, LREAL Can be set. Fixed.
bers

6 Programming
Classifica-
Data Type Byte offsets Bit offsets
tion
Durations TIME Can be set. Fixed.
Date DATE Can be set. Fixed.
Time of day TIME_OF_DAY Can be set. Fixed.
Date and DATE_AND_TIME Can be set. Fixed.
time
Text STRING Can be set. Fixed.
strings
Array spec- Can be set. Can be set only for BOOL
ifications elements.
Structures Can be set. Fixed.
Unions Can be set. Fixed.
Enumera- Can be set. Fixed.
tions
POU in- Fixed. Fixed.
stances
Restrictions in Specifying Member Offsets

The following restrictions apply when you specify member offsets. If you specify member offsets for
a structure, the same restrictions apply to structures that are members of that structure.
• If you set the memory offset type to User for a structure, you must set offsets for all members of
the structure.
• You cannot set initial values for members of structures for which offsets are set. The default initial
value for each data type is used. Refer to When the Initial Value Specification Is Left Blank on
• The memory size that is required for the structure is determined by the sizes of the members, the
alignment values of the data types, and the memory configuration.
Errors in Specifying Member Offsets

The following error can occur when setting member offsets.
Error name Meaning Offset type Correction

Offset Out of A value that is out of range was speci- User Change the values of the
Range Error fied for an offset. offsets to suitable values.
Offset Not Set There is a member for which the offsets User Set offsets for all members.
Error are not set.
Memory Config- The same memory location is allocated User Change the values of the
uration Overlap to more than one member. offsets to suitable values.
Error
Initial Value Set- An initial value was set for a structure CJ or User Do not set an initial value.
ting Error member for which an offset was speci-
fied when creating the variable table.
l Instructions That Take a Structure as a Parameter

Some instructions pass structure variables as parameters. To do so, specify the structure variable
as the input parameter.
Example: Passing a Member of a Structure Variable to the MOVE Instruction and Passing a Struc-
ture Variable to the MOVE Instruction

6 Programming
Data Type Table

RGB red UINT
green UINT
blue UINT
Variable Table
Color1 RGB
■Specifying Just One Member of a Structure

MOVE
EN ENO Transferring only the red member of the Color1 RGB structure to x.
Color1.red In Out x
■Specifying the Entire Structure

MOVE
EN ENO
Transferring all members of the Color1 RGB structure to x.
Color1 In Out x
6-3 Variables
Passing Values to System-defined Structure Input Variables for Certain Instructions
Some instructions take a predefined structure variable as an input variable.
Example:
The Port input variable for the Serial Communications Instructions (which specifies the target port) 6
is a structure with a data type name of _sPORT.
When you use one of these instructions, follow the procedure provided below to create a user-de-

fined structure variable and specify that variable for the input parameter to the instruction.
1 The system-defined data type for the instruction is registered in the Sysmac Studio in advance.
Select that system-defined data type in the Sysmac Studio and add a user-defined structure
variable to the variable table.
2 Use the user program or initial values to set the member values of that structure.
3 Specify the structure variable for the input parameter to the instruction.
Unions
A union is a derivative data type that enables access to the same data with different data types.
You can specify different data types to access the data, such as a BOOL array with 16 elements, 16
BOOL variables, or a WORD variable.
l Expressing Unions and Union Members

Specifying Members
When you define a union, you must name each data type that can be accessed. These names are
called members.
You can express individual members of a union by putting a period after the variable name that rep-
resents the entire union followed by the member name that you want to access.

6 Programming
Example:
Define the data type as a union as shown for My Union in the following example.
Data Type Definition

My Union data WORD
bit ARRAY [0..15] OF BOOL
Variable Table

Output My Union
Output.bit[0]: This notation specifies the 0th element, or value at bit 00, of union Output when it is
treated as a 16-bit BOOL array variable.
Output.data: This notation specifies the value when union Output is treated as a single WORD vari-
able.
Specifying the Union

The union represents all members that make up the union.
Unions are expressed by the name of the union variable.
In the example above, you would write Output.
l Creating Unions
1 Create a union data type in the Union Table.

Specify the data type names and different data types of the members of the union.
2 Specify the union data type from above as the data type and register the variable in the varia-
ble table.
Example:
Here, OUT16_ACCESS is defined as the data type of a union.
The members of this union are a BOOL array with 16 elements and a WORD variable.
The variable Output is registered with a data type of OUT16_ACCESS.
You can now read/write variable Output as a BOOL value for any of the 16 bits and as a WORD
value.

6 Programming
Data Type Definitions

Name Member Data type BoolData BoolData BoolData BoolData
[15] [8] [7] [0]
OUT16ACCESS BoolData ARRAY[0..15] of BOOL
ByteData ByteData
ByteData ARRAY[0..1] of BYTE
[1] [0]
WordData WORD
WordData
Output OUT16ACCESS
Output.WordData := WORD#16#1234;
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
BoolData 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0
ByteData 16#12 16#34
WordData 16#1234
Output.BoolData[11] :=TRUE;
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
BoolData * * * * 1 * * * * * * * * * * *
ByteData Bit 04 of ByteData[1] is TRUE No change
WordData Bit 11 of WordData is TRUE
l Union Specifications
6-3 Variables
Item Specification
Data types that can be specified Refer to the table on the valid data types for union members that is giv-
for members en below.
Number of members 4 max.
Setting initial values Not supported. Always zero. 6
Data Types of Union Members

Classification Data type Usage
Basic data types Boolean and bit strings Supported.
BOOL and bit string data array specifications Supported.
Other basic data types Not supported.
Derivative data types Array specifications for structures, unions, and enu- Not supported.
merations
POU instances --- Not supported.
l Restrictions
• The initial values for unions are always zero.
• You cannot move unions.
• You cannot specify unions for parameters to POUs.
Enumerations (ENUM)
An enumeration is a derivative data type that uses text strings called enumerators to express variable
values.
To use an enumeration, you must first set the values that can be obtained from that variable as enu-
merators (text strings).
Use enumerations to make it easier for humans to understand the meaning behind the values of a var-
iable.

6 Programming
l Expressing Enumerations
When you define an enumeration, you must define the possible values of the variable as enumera-
tors and give the enumeration a name.
l Creating Enumerations
1 Create an enumeration data type in the Enumeration Table.

Set the enumerators and their values for the enumeration.
2 Specify the enumeration data type from above as the data type and register the variable in the
variable table.
Example:
Here, Color is defined as the data type of an enumeration. For this example, we will set three enu-
merators: red, yellow, and green. The numbers associated with these enumerators are as follows:
red = 0, yellow = 1, green = 2.
The variable DiscColor is registered with a data type of Color. The variable DiscColor will change to
one of the following: red (0), yellow (1), or green (2).
Enumeration Table
FB Data type
Color ENUM
(Color)
Enumerator Value
Color#red IN
red 0
yellow 1
green 2
Variable Table
DiscColor Color
l Enumeration Specifications
Item Specification
Enumerator names Enumerator names consist of single-byte alphanumeric characters. They are not
case sensitive. Prohibited characters are the same as for variable names.
A building error will occur if you specify the same enumerator more than once.
A building error will occur if you specify an enumerator with the same name as a
variable in the user program or if you specify an enumerator that already exists
in another enumeration.
Values Valid range: Integers between −2,147,483,648 and 2,147,483,647
Values do not have to be consecutive.
A building error will occur if you specify the same value more than once.
Note: You cannot perform size comparisons with enumeration variables. You can
only test to see if the enumerators are the same.
Number of enumerators 1 to 2,048
l Notation to Use an Enumerator as a Function Block or Function Parameter

There are the following two notations that you can use to specify an enumerator for a function or
function block parameter.
Enumerator Only

6 Programming
For a function or function block for which the parameter specifies an enumerator, you can just
specify the enumerator.
Example: Passing an Enumerator to the BCDToBins_WORD Instruction
BinToBCDs_WORD
EN ENO
INT#1234 In BCDdata
_BCD1 Format
The Format input variable to the BinToBCDs_WORD is specified as an enumerator.

Therefore, it is necessary to specify only the enumerator.
Enumeration#Enumerator Notation
For a function or function block for which the data type of the parameter is not specified, specifying
just the enumerator is not valid. A building error will occur. To clarify that the parameter is an enu-
merator, the following notation is used: Enumeration#Enumerator.
Example: Passing an Enumerator to the MOVE Instruction
MOVE
EN ENO
6-3 Variables
Color#red In Out ColorA
The data type of the In input variable is not specified.

To pass an enumerator, use the Enumeration#Enumerator notation.
Additional Information 6
For a function or function block for which the parameter specifies an enumerator, you can also
6-3-7 Array Specifications and Range Specifications for Data Types

use the Enumeration#Enumerator notation.
Therefore, for the above BinToBCDs_WORD instruction, the following notation can be used to
pass the parameter to Format: _eBCD_FORMAT# _BCD1.
l Value Checks
When a value is written to an enumerated variable through execution of an instruction, an error will
not occur even if that value is not defined as one of the enumerators of that variable. Therefore, if it
is necessary to confirm that a value is defined as an enumerator of an enumeration, write the user
program to check the value.

You can specify the following attributes for variables with each data types.
• Array specifications
• Fixed-length array specifications
• Variable-length array specifications
• Range specifications
Array Specifications (ARRAY[]OF)

Use an array specification for a data type that handles a group of data with the same attributes as a
single entity. You can use an array specification for the basic data types and derivative data types.

6 Programming
Arrays are useful when you want to handle multiple pieces of data together as you would, for example,
coordinate values for motion control.
l Expressing Arrays and Array Elements

Specifying Elements
The individual pieces of data that make up an array are called “elements.”
The elements of an array are expressed by adding a subscript (element number) from the start of
the array to the name of the variable that represents the entire array.
Enclose the subscript in single-byte braces []. Subscripts can be either constants or variables. In
ST, you can also use expressions to express subscripts.
Examples:
Variable Table
Mem ARRAY[0..99] OF INT
x:=10;
Mem[x]: This expression specifies the xth element of the array variable Mem (the variable x has a
value of 10, so this would point to the 10th element).
Variable Table
Data ARRAY[0..99] OF INT
x:=10;
y:=20;
Data[x+y]: This expression specifies the x+yth element of the array variable Data
(the variable x has a value of 10 and variable y has a value of 20, so this would point to the 30th
element).
Specifying An Array (i.e., the Entire Array)

The array represents all elements that make up the array.
Arrays are expressed by the name of the array variable.
In the above examples, the arrays are written as Mem and Data.
l Creating an Array
1 Enter A into the Data type Column of the variable table and select ARRAY[?..?] OF ? from the
list of possible data type name candidates.
2 Enter the number of the first element in the array for the left question mark and the last number
for the right question mark in the “[?..?]” section. Next, enter the data type for the question
mark in the “OF ?” section and register the variable.

6 Programming
Variable Table
abc ARRAY [ 0 .. 4 ] OF INT
Represents the data type of the array variable.
Represents the last number of the elements of the array.
Represents the first number of the elements of the array.

abc[0]
abc[1]
abc[2] Array
abc[3]
abc[4]
You can use a fixed-length array specification for a variable when you specify the first number
6-3 Variables
and last number for the subscripts. You can use a variable-length array specification for a varia-
ble when you specify a single-byte asterisk (*) for the subscript.
There are the restrictions on fixed-length array specifications when you use a variable-length
array specification. Refer to Variable-length Array Specifications on page 6-56 for details on
variable-length array specifications.
6
Version Information

quired to use variable-length array specification.
l Array Variable Specifications

Item Specification
Maximum number of ele- 65,535
ments for an array varia-
ble
Element numbers 0 to 65535
The number for the first element in an array does not have to be 0.
Subscripts Constants: Integer value between 0 and 65535
Variables:*1
Arithmetic expressions: Arithmetic expressions can be specified only in ST.
Example: y:= x[a+b];
Maximum size of one ar- NX701-££££: 8 MB
ray variable NX102-££££: 4MB
NX1P2-££££: 1MB
NJ501-££££: 4MB
NJ301-££££: 2MB
NJ101-££££: 2MB

6 Programming
*1. Classification Data type Usage

Basic data types Integer SINT, INT, DINT, USINT, UINT, or UDINT Possoble.
LINT or ULINT Not possible.
Boolean, bit string, real, duration, date, time of day, date Not possible.
Derivative data types Structure data types, union data types, and enumeration Not possible.
data types
POU instances Not possible.
l Dimensions of Array Variables

You can regard the elements of a one-dimensional array as one-dimensional data lined up in a sin-
gle row.
You can set two-dimensional and three-dimensional arrays in the same way.
The array elements are expressed by adding the same number of subscripts to the array variable
name as the number of dimensions. Arrays can have a maximum of three dimensions.
Two-dimensional Array Specifications
Variable Table 0 1 2 3
0
1
abc ARRAY [0..5 , 0..3 ] OF INT 2 abc[ 2 , 3 ]
3
4
5
Three-dimensional Array Specifications
Variable Table
Y( 0 . 2 ) 2
ITEM ARRAY [ 0..1, 0..2, 0..3 ] OF INT
1
Z( 0 . 3 ) 0 3
2
1
0 1 0
X( 0 . 1 )
l Arrays and Structures

You can set an array in which the elements are structures.
You can also set a structure in which the members are arrays.
Arrays with Structure Elements

6 Programming
Date Type Table Variables

abc[1].x
Data type Member Member
abc[1].y
Str x INT
y DINT
abc[4].x
Variable Table abc[4].y
abc ARRAY [1..4 ] OF Str
Structure with Array Members
Data Type Table Variables

abc[1].x[0]
Data type Member Data type
abc[1].x[1]
Str x ARRAY [0..1] OF INT
abc[1].y
y DINT
Variable Table abc[4].x[0]
Variable name Data type abc[4].x[1]
abc ARRAY [1..4 ] OF Str abc[4].y
6-3 Variables
l Instructions with an Array Parameter
Some instructions pass array variables as parameters. To do so, specify only the name of the array
variable as the input parameter. 6
Example: Passing a Single Array Element to the MOVE Instruction and Passing an Array to the

MOVE instruction
Specifying One Element in the Array

MOVE Variable Table
EN ENO
x[0] y[0] Moves INT variable x[0] to y[0]
In Out
x ARRAY [ 0 .. 199 ]OF INT
y ARRAY [ 0 .. 199 ]OF INT
Specifying the Array
MOVE
EN ENO
x In Out y Moves INT variable x[0..199] to y[0..199]
Restrictions:
When you specify an array variable, it must be moved to a variable of the same data type with the same range of element numbers.
You cannot specify part of a multi-dimensional array as a parameter.

MOVE
× EN ENO Variable Table
x[0] y[0] Variable name Data type
In Out
x ARRAY [ 0..9 , 0..9 , 0..9 ]OF INT
y ARRAY [ 0..9 , 0..9 , 0..9 ]OF INT
× MOVE
EN ENO
x[0,1] y[0,1]
In Out

6 Programming
l Array Protection
The following errors occur if you attempt to access an element that exceeds the number of ele-
ments in an array.
When the Subscript Is a Constant

An error is displayed when you input the variable or when you check the program on the Sysmac
Studio.
Variable Table MOVE

EN ENO
INT#255 In Out [11]
x ARRAY [1..10] OF INT
When the Subscript Is a Variable

When an output parameter is assigned to an output variable, the CPU Unit checks to see if the
number of elements was exceeded after it executes the instruction. When a subscript variable ex-
ceeds the range of the elements of the array variable, an instruction error occurs. Even if this error
occurs, the value of ENO will be TRUE because internal processing of the instruction ends normal-
ly.
Variable Table MOVE If the value of variable i exceeds 10,

EN ENO an instruction error occurs.
INT#255 In Out [i]
x ARRAY [1..10] OF INT
Variable-length Array Specifications

You can use a variable-length array variable if you specify a single-byte asterisk (*) for the subscript
when you declare the array variable. The maximum number of elements, dimensions, and data types
that can be declared are the same as the specification of fixed-length array variables.
However, there are the restrictions on variable declaration and processing.
l Restrictions on Variable Declaration

Only in-out variables for functions (FUN) and in-out variables for function blocks (FB) can be de-
clared as variable-length array variables. Other variables cannot be declared as variable-length ar-
ray variables.
Array variable to declare Allowed or not allowed

In-out variables for functions Allowed.
In-out variables for function blocks Allowed.
Input variables or output variables for functions Not allowed.
Input variables or output variables for function blocks Not allowed.
Internal variables, external variables, and global variables Not allowed.
Members in structure variables or members in union variables Not allowed.
When you declare an array variable with two or three dimensions as a variable-length array varia-
ble, you need to specify a single-byte asterisk (*) for all dimensions. You cannot declare a variable
which uses both variable-length dimension and fixed-length dimension.

6 Programming
Allowed or not al-

Array variable to declare Specification example
lowed
Variable-length array specification for all dimensions • ARRAY[*] Allowed.
• ARRAY[*, *]
• ARRAY[*, *, *]
Both variable-length dimension and fixedlength dimen- • ARRAY[*, 3..5] Not allowed.
sion are used ARRAY[*, *, 3..5]
Individual specification for first number or last number • ARRAY[1..*] Not allowed.
• ARRAY[*..*]
l Restrictions on Processing
If an in-out variable for a function (FUN) and function block (FB) is a variable-length array variable,
an array variable that you can specify for the in-out parameter is only the one whose data type and
number of dimensions are the same as the in-out variable. You can use either a variable-length ar-
ray variable or fixed-length array variable as long as its data type and number of dimensions are
the same as the in-out variable. You cannot specify an array variable whose data type or number of
dimensions is different.
If an in-out variable for a function (FUN) and function block (FB) is a fixed-length array variable, you
6-3 Variables
cannot specify a variable-length array variable for the in-out parameter.
Example of in-out variable for function and Example of in-out parameter to speci- Allowed or
function block fy not allowed
Variable-length array whose data type is INT Variable-length array whose data type is Allowed.
and dimension is one INT and dimension is one
6
Variable-length array whose data type is INT Fixed-length array whose data type is Allowed.
and dimension is one INT and dimension is one

Variable-length array whose data type is INT Variable-length array whose data type is Not allowed.
and dimension is one UINT and dimension is one
Variable-length array whose data type is INT Variable-length array whose data type is Not allowed.
and dimension is one INT and dimension is two
Fixed-length array whose data type is INT and Variable-length array Not allowed.
dimension is one
When you write an assignment expression for the entire array in an ST, if you include a variable-
length array variable in either the left side or right side of the expression, a building error will occur.
Similarly, when you transfer the entire array with the MOVE instruction in a ladder diagram, if you
include a variable-length array variable in either the output parameters or input parameters, a build-
ing error will occur.
Example of expression
Left side/ Output parame- Right side/ Input parame- Allowed or not al-
in ST
ter ter lowed
*1
Variable-length array varia- Variable-length array varia- varlen_ary := varlen_ary; Not allowed.
ble ble
Variable-length array varia- Fixed-length array variable varlen_ary := fixed_ary; Not allowed.
ble
Fixed-length array variable Variable-length array varia- fixed_ary := varlen_ary; Not allowed.
ble
Fixed-length array variable Fixed-length array variable fixed_ary := fixed_ary; Allowed.
*1. varlen_ary shows a variable-length array variable, and fixed_ary shows a fixed-length array variable.

6 Programming
l First and Last Element Numbers of Variable-length Array Variable

When the user program is executed, the first and last element numbers are determined. You can
obtain the first and last numbers of each dimension of a variable-length array variable with the
LOWER_BOUND and UPPER_BOUND instructions.
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for the details on the
LOWER_BOUND and UPPER_BOUND instructions.
Range Specifications ((..))

Use the range specification to restrict the values of the following integer variables to specific ranges of
values.
Classification Data type

Integers SINT, INT, DINT, LINT, USINT, UINT, UDINT, and ULINT
You can check to make sure that the entered value is within the allowed range in the following cases.
• When you specify an initial value for a variable
• When you write a value to a variable with CIP message communications
l Making a Range Specification

Input the start point and end point after the data type name in the Data type Column in the variable
table.
Start point: The minimum value that you can store in the variable.
End point: The maximum value that you can store in the variable.
Example:
Variable Table
abc INT (0 ..100)
The end point of the range specification
The start point of the range specification
abc Range specification: Minimum 0 to maximum 100
l Specifications of Range Specifications

You can specify the range for integer variables.
Operation for attempts to write out-of-range value is given in the following table.
Case Operation
An error does not occur and the value is written.
The CPU Unit does not perform a range check when the val-
User program
ue of a variable changes due to the execution of an instruc-
tion.

6 Programming
Case Operation
When the value is an integer A command error occurs.
For an element of an integer
array variable
Write from the Sysmac For a member of an integer
Studio or a CIP message structure
Communica- For entire an integer struc- A command error does not
tions ture occur and the value is writ-
For an entire integer array ten.
Tag data links An error occurs if you attempt to write to a single member
(both via built-in that specifies a range.
EtherNet/IP ports and An error does not occur if you attempt to write to a structure
EtherNet/IP Units) that contains a member for which a range is specified.
Input refreshing from slaves and Units An error does not occur and the value is written.
Forced refreshing values An error does not occur and the value is written.
6-3 Variables
6

6 Programming
Variables with range specifications are not checked for changes in variable values that result
from the execution of instructions in the user program. To check the range of values for a varia-
ble that are set from execution of the user program, use instructions that perform range checks.
Variable Table
Variable x INT(10 .. 100)
ChkRange MOVE
EN EN ENO
Variable x
In Variable i In Out Variable x
Variable i
Val
You cannot perform any checks beforehand if you set data with arithmetic processing results. In
this case, check the range of values after arithmetic processing (e.g., ADD).
Variable Table
ADD Variable name Data type
EN ENO
Variable A INT(10 .. 100)
In1 Variable tmp
In2
ChkRange MOVE
EN EN ENO
Variable tmp In Variable tmp In Out Variable A
Variable A Val
If the results of the arithmetic

processing are within the range, set
variable A to the value.
Make sure that the initial value is within the range specified for the Range Specification.
If the initial value field on the Sysmac Studio is left blank, an initial value of 0 is used. This ap-
plies even if a range that does not include 0 is set for a Range Specification.
6-3-8 Variable Attributes

This section describes the variable attributes other than the Data Type.
Variable Name
The variable name is used to identify the variable.
Each variable in a POU must have a unique name. However, you can declare local variables with the
same variable name in different POUs. These are treated as two separate variables.

6 Programming
restrictions on variable names.
AT Specification
Use the AT Specification attribute to specify the internal I/O memory address of a variable in memory
used for CJ-series Units.
AT specifications are used mainly to specify specific memory addresses for the following Special
Units.
• Addresses in fixed allocations for DeviceNet Units
• Addresses in user-specified allocations for DeviceNet Units or CompoNet Master Units from the CX-
Integrator (A CompoNet Master Unit must be set to communications mode 8 to use the CX-Integra-
tor.)
• Addresses in expansion memory for High-speed Counter Units
• Addresses in expansion memory for Process I/O Units
• Addresses in target node information and user-defined status areas that are used with EtherNet/IP
Units
6-3 Variables
If this attribute is not set, the variable is automatically assigned to an address in variable memory.
You can use the memory used for CJ-series Units only with the NJ-series CPU Units, NX102
CPU Units, and NX1P2 CPU Units. 6

When you assign a device variable to an I/O port, they are automatically given an AT specifica-
tion internally.
l Allocation Areas
You can specify addresses in the following areas.
Area Expression
CIO 0 to 6143
WR W0 to W511
HR H0 to H1535
DM D0 to D32767*1
EM*2 NX102-££££: E0_0 to E18_32767
NJ501-££££: E0_0 to E18_32767
NJ301-££££: E0_0 to E3_32767
NJ101-££££: E0_0 to E3_32767
*1. For the NX1P2-££££, the address is D0 to D15999.
*2. For the NX1P2-££££, the EM Area is not supported.
The following table gives the data assignments by variable data type.
Variable data type Assignment position

BOOL You can specify an assignment for each bit.

6 Programming
Variable data type Assignment position

BYTE/SINT/USINT You can specify bit 0 or bit 8 of the specified CJ-series address as the start posi-
tion of the data assignment.
Example 1:
AT Specification at Bit 0 of D100 (%D100)
D100: 16#**12....One-byte data (12) is stored from bit 0.
Example 2:
AT Specification at Bit 8 of D100 (%D100.8)
D100: 16#12**....One-byte data (12) is stored from bit 8.
WORD/INT/UINT Stored in increments of the data size from bit 0 of the specified CJ-series ad-
DWORD/DINT/UDINT dress.
REAL
LWORD/LINT/ULINT
LREAL
STRING You can specify bit 0 or bit 8 of the specified CJ-series address as the start posi-
tion of the data assignment.
TIME Stored in increments of the data size from bit 0 of the specified CJ-series ad-
DATE dress.
TIME_OF_DAY
DATE_AND_TIME
l Variables for Which You Can Set AT Specifications

AT specifications are specified separately for each variable. Set them for all elements and mem-
bers of array, structure, and union variables.
l Attributes of Variables with AT Specifications

Specifica-
Remarks
tion
Name Supported.
Data Type Supported.
Retain Supported. An error occurs if the setting of the Retain attribute does not agree
with the attribute of the CJ-series Unit memory where the address
is assigned.
Initial Value Supported. Set the initial value setting to None if you want to use the memory
value as it is.
Constant Supported. You cannot write to a constant with an instruction.
Network Publish Supported.
Edge Not sup- (You can specify the Edge attribute only for function block input
ported. variables.)
l Entering and Displaying AT Specifications

When you specify the AT Specification attribute, input the following in the AT field of the variable
table in the Sysmac Studio. The following is displayed in the AT field of the variable table or the I/O
Map.
Type of variable Entries and displays in the AT field. Example

User-defined variables with AT %[word_address] %D100
specifications to word address-
es
User-defined variables with AT %[word_address].[bit_position] %W0.00
specifications to bit addresses

6 Programming
The following variables are also allocated an address internally. The following is displayed in the AT
field.
Type of variable Displays in the AT field. Example

Device variables for CJ- IOBus://rack#[rack_number]/ Basic I/O Units:
series Units slot#[slot_number]/[I/O_port_name] IOBus://rack#0/slot#1/Ch1_In/
Ch1_In00
Special Units
IOBus://rack#0/slot#1/
PeakHoldCmd/ch1_PeakHoldCmd
Device variables for Ether- NX Units on EtherCAT Slave Termi- ECAT://node#[10.15]/Input1
CAT slaves nals
ECAT://
node#[node_address.NX_Unit_num-
ber]/[I/O_port_name]
Other variables ECAT://node#1/Input1
ECAT://node#[node_address]/[I/
O_port_name]
Device variables for NX IOBus://unit#[NX_Unit_number]/[I/ IOBus://unit#8/Input Bit 00
Units*1 O_port_name]
6-3 Variables
Device variables for built- BuiltInIO://cpu/#0/[I/O_port_name] BuiltInIO://cpu/#0/Input Bit 00
in I/O*2
Device variables for Option BuiltInIO://opt/#[physical_port_num- BuiltInIO://cpu/#1/Ch1 Analog Input
Boards*2 ber*3]/[I/O_port_name] Value
Axis Variables MC://_MC_AX[] MC://_MC_AX[1] 6
MC://_MC1_AX[]*4
MC://_MC2_AX[]*4

Axes Group Variables MC://_MC_GRP[] MC://_MC_GRP[1]
MC://_MC1_GRP[]*4
MC://_MC2_GRP[]*4
*1. These system-defined variables are available only for the NX102 CPU Unit and NX1P2 CPU Unit.
*2. These system-defined variables are available only for the NX1P2 CPU Unit.
*3. The physical port number indicates a physical location for an I/O port. 0 is given for the option board slot
1 and 1 is given for the option board slot 2.
*4. These system-defined variables are available only for the NX701 CPU Unit.
You can assign the same address to more than one variable. However, this is not recommend-
ed as it reduces readability and makes the program more difficult to debug. If you do this, set an
initial value for only one of the variables. If you set a different initial value for each individual
variable, the initial value is undefined.
Retain
Use the Retain attribute to specify whether a variable should retain its value in the following cases.
• When power is turned ON after a power interruption
• When the operating mode is changed
If the Retain attribute is not set, the value of the variable is reset to its initial value in the above situa-
tions.

6 Programming
You can specify the Retain attribute when you need to retain the data that is stored in a variable (such
as the manufacturing quantities) even after the power to the CPU Unit is turned OFF.
For a variable with an AT specification, the setting of the Retain attribute must agree with address in
the memory area where the address is assigned.
(Retained areas: Holding, DM, and EM Areas
Non-retained areas: CIO and Work Areas)
l Conditions Required to Enable the Retain Attribute

For the CPU Unit that is retained variables by the Battery, the CPU Unit must mount the Battery.
For the NX102 and NX1P2 CPU Units, retained variables are retained in the non-volatile mem-
ory.
l Using Initial Values for Retain Variables

When you download the user program, select the Clear the present values of variables with Retain
attribute Check Box.
l Operation with and without the Retain Attribute

The following table shows when variable values are retained or not.
Value of variables
Case Retain attribute Retain attribute not
specified specified
When power is turned ON after a power interruption Retained. Not retained.
When the operating mode is changed
When a major fault level Controller error occurs
When you download When the Clear the present
the user program values of variables with Retain
attribute Check Box is not se-
lected.
When the Clear the present Not retained.
values of variables with Retain
attribute Check Box is selected.
l Variables for Which You Can Specify the Retain Attribute

AT specifications are specified separately for each variable. Set them for all elements and mem-
bers of array, structure, and union variables.
Initial Value
The variable is set to the initial value in the following situations.
• When changing between RUN mode and PROGRAM mode
• When you select the Clear the present value of variables with Retain attribute Check Box, and
download the user program

6 Programming
You can set an initial value for a variable in advance so that you do not have to write a program to
initialize all of the variables. For example, you can preset data such as a recipe as initial values.
You do not have to set any initial values.
l Types of Variables That Can Have Initial Values

You can set initial values for only some types of variables. A list is provided below.
Type of variable Initial Value

Global variables Supported.
Internal variables
Input variables
Output variables
Return values of functions Not supported.
In-out variables
External variables
l Enabling an Initial Value

You can specify whether a variable has an initial value when you create the variable.
6-3 Variables
Initial Value Specified
Initial value Initial value
Or
(Blank) 3.14
No Initial Value Specified

6
Initial value

None
The following table shows the variables for which you can set an initial value.
Type Example Enabling an Initial Value

Basic data type variables aaa Supported.
Array variables Arrays bbb Supported.
Elements bbb[2] Not supported.
Structure varia- Structures ddd Supported.
bles Members ddd.xxx Not supported.
Union variables Unions eee Not supported (initial values are always
0).
Members eee.word Initial values are always 0.
Enumerated variables ccc Supported.
POU instances instance Not supported.
Some Basic I/O Units have more than one access method for the same I/O port, such as bit
string data and BOOL data. If you use initial values for this type of I/O port, set the initial values
for one of the access types to None.
l When Initial Values Are Set

The initial value is assigned to the variable at the following times.

6 Programming

• When the operating mode changes from PROGRAM to RUN mode or from RUN to PROGRAM
mode
• When you select the Clear the present value of variables with Retain attribute Check Box, and
download the user program
l When the Initial Value Specification Is Left Blank

The following initial values are used for variables for which the initial value specification is left
blank.
Data type Default initial value

Boolean and bit strings BOOL, BYTE, WORD, DWORD, 0
and LWORD
Integers SINT, INT, DINT, LINT, 0
USINT, UINT, UDINT, and ULINT
Real numbers REAL and LREAL 0.0
Durations, dates, times of day, TIME T#0S
and dates and times DATE D#1970-01-01
TIME_OF_DAY TOD#00:00:00
DATE_AND_TIME DT#1970-01-01-00:00:00
Text strings STRING ''(blank character)
l Initial Value of Array Variables

Data type Initial value specifications
Array specifications • You can specify an initial value for each element.
• To specify initial values, you must specify a value or leave the specification
blank for each element.
l Initial Values for Derivative Data Types

You do not specify an initial value for the data type itself. You set an initial value for each individual
variable.
Data type Initial value specifications

Structures • You can specify an initial value for each member.
• To specify initial values, you must specify a value or leave the specification
blank for each element.
Unions • Initial values cannot be specified. Always zero.
Enumerations • Initial values can be specified.
l Variables That Do Not Apply Initial Values

For the following variables, initial values are not applied when the power is turned ON, and the val-
ues before the power interruption are retained.
• Variables with Retain attribute
• Variables with AT specifications (retained areas or DM, Holding, or EM Area specifications only)
For the CPU Unit that is retained variables by the Battery, if the CPU Unit has no Battery, the
above variables are also initialized.

6 Programming
Constant
If you specify the Constant attribute, the value of the variable cannot be written by any instructions, ST
operators, or CIP message communications. Setting the Constant attribute will prevent any program
from overwriting the variable.
The values of variables with a Constant attribute cannot be written from instructions after the initial val-
ue is set.
If there is an instruction in a POU that attempts to write a value to a variable with the Constant attrib-
ute, an error will occur when the user program is built.
l Operation
If there is an instruction or operator in a POU that attempts to write a value to a variable with the
Constant attribute, the following operations will occur.
Source Operation for attempts to write the value

User program An error is detected during the program check. The Sysmac
Studio checks the program when it is built. A building error
occurs at that time.
6-3 Variables
Communica- Writing from Sysmac Stu- Not supported.
tions dio
CIP messages A command error occurs.
Tag data links An error occurs when a tag data link starts. The tag data link
will continue to operate.
However, the values of variables with the Constant attribute 6
are not written.
Input refreshing from slaves and Units An error does not occur and the value is written.

Forced refreshing
l Range for Constant Attribute Specification

The Constant attribute is specified separately for each variable. Set them for all elements and
members of array, structure, and union variables.
You cannot write to variables with the Constant attribute from the user program.
Network Publish
The Network Publish attribute allows a variable to be read/written from external devices (other Control-
lers, host computers, etc.) through CIP message communications or tag data links.
If this attribute is not set, you can read/write the variable from the Controller that declared the variable
and external devices (other Controllers, host computers, etc.) cannot read/write that variable.
Variables that have been published to the network are called network variables.
l Network Publish Specifications

There are three specifications for publishing variables to the network: Publish Only, Input, and Out-
put. The specifications are given in the following table.

6 Programming
Network Publish Specifications

Do not publish You cannot access a variable with this attribute from external devices.
However, Support Software can still access the variable regardless of this setting.
Publish Publish You can access a variable with this attribute from external devices through CIP
Only communications.
Tag data links are not possible for variables with this attribute setting.
Input You can access a variable with this attribute from external devices through CIP
communications or a tag data link.
For tag data links, this will be a variable for data input (from another CPU Unit to
the local CPU Unit).
Output You can access a variable with this attribute from external devices through CIP
communications or a tag data link.
For tag data links, this will be a variable for data output (from the local CPU Unit to
another CPU Unit).
l Ranges for Published to the Network

The Network publish attribute is specified separately for each variable. Set them for all elements
and members of array, structure, and union variables.
Edge
The Edge attribute makes the variable pass TRUE to a function block when a BOOL variable changes
from FALSE to TRUE or from TRUE to FALSE.
You can specify the Edge attribute only for BOOL input variables to function blocks.
l Application
Use the Edge attribute when you want the function block to accept the input only when the input
parameter changes from FALSE to TRUE or from TRUE to FALSE.
For example, you can use this attribute when you want to execute the function block any time there
is a change detected in an input parameter.
l Operation
• If you specify a change to TRUE, the input variable changes to TRUE only when the input pa-
rameter connected to that input variable changes from FALSE to TRUE.
• If you specify a change to FALSE, the input variable changes to TRUE only when the input pa-
rameter changes from TRUE to FALSE.
Specification Value of input parameter Value of variable

Change to FALSE to TRUE TRUE
TRUE Other FALSE
Change to TRUE to FALSE TRUE
FALSE Other FALSE
None --- Changes according to the input parameter value.
6-3-9 Changes to Variables for Status Changes

This section describes the changes to the values of variables for status changes of the CPU Unit.

6 Programming
Version Information
When you are using the or the CPU Unit Ver.1.13 or later and Sysmac Studio Ver.1.17 or higher
in combination, you can set the operations when the operating mode changes or when down-
loading according to the setting of the _DeviceOutHoldCfg (Device Output Hold Configuration)
system-defined variable.
The values of variables in the CPU Unit will change as shown in the following table when the power is
turned ON, when the operating mode changes, or when downloading.
After downloading
When the Clear the When the Clear the
Retain at- When the operat-
When power is present values of present values of
tribute of Type of variable ing mode is
turned ON variables with Retain variables with Retain
variable changed
attribute Check Box attribute Check Box
is selected. is not selected.
Non-retain User-defined variables • If initial values are set, the variables change to the initial values.
• If initial values are not set (None), the variables change to 16#00. *1
AT specifica- • If initial values are set, the variables • If initial values are set, the variables change
tions for CIO change to the initial values. to the initial values.
• •
6-3 Variables
and Work If initial values are not set (None), the If initial values are not set (None), the previ-
Area ad- variables change to 16#00. *1 ous value is retained.
dresses in
the memory
used for CJ-
series Units
Device variables for Ether- • If initial values are set, the variables change to the initial values. 6
CAT slaves*2 • If initial values are not set (None), the variables change to 16#00. *1
Device variables for NX • If initial values are set, the variables change to the initial values.

Units*2 • If initial values are not set (None), the variables change to 16#00. *1
Device variables for built- • If initial values are set, the variables change to the initial values.
in I/O*2 • If initial values are not set (None), the variables change to 16#00. *1
Device variables for Op- • If initial values are set, the variables change to the initial values.
tion Boards*2 • If initial values are not set (None), the variables change to 16#00. *1
Device variables for CJ- • If initial values are set, the variables • If initial values are set, the variables change
series Units*2 change to the initial values. to the initial values.
• If initial values are not set (None), the • If initial values are not set (None), the previ-
variables change to 16#00. *1 ous value is retained.
IO and Work Area ad- 16#00 The previous values are retained.
dresses in the memory
used for CJ-series Units
*2*3

6 Programming
After downloading
When the Clear the When the Clear the
Retain at- When the operat-
When power is present values of present values of
tribute of Type of variable ing mode is
turned ON variables with Retain variables with Retain
variable changed
attribute Check Box attribute Check Box
is selected. is not selected.
Retain User-de- Retain condi- No change No change • If initial values are The values before the
fined vari- tion is met. *4 (retains values be- (retains values when set, the variables download are re-
ables fore power inter- the operating mode change to the initial tained.
ruption). is changed). values.
Retain condi- • If initial values are • If initial values are
tion is not not set (None), the set, the variables
met. *3 variables change to change to the initial
16#00. *1 values.
• If initial values are
not set (None), the
variables change to
16#00. *1
At specifica- • If initial values are
tions for set, the variables
Holding, DM, change to the initial
and EM Area values.
addresses in • If initial values are
the memory not set (None), the
used for CJ- variables change to
series Units the values of the
memory addresses
in the AT specifica-
tions.
Device variables for CJ- • If initial values are The variables change
series Units set, the variables to the values of the
change to the initial memory addresses in
values. the AT specifications.
• If initial values are
not set (None), the
variables change to
the values of the
memory addresses
in the AT specifica-
tions.
Holding, DM, and EM Area The previous values The previous values
addresses in the memory are retained. are retained.
used for CJ-series Units • If device variables
*2 for CJ-series Units
are assigned to
setup data in the
DM Area, the initial
values that are set
for the variables
are used.
• If user-defined vari-
ables are assigned,
the initial values of
the variables are
used.
*1. Values other than 16#00 may be used depending on the data type. Refer to When the Initial Value Specification Is Left Blank on page
6-66 for details.
*2. Device outputs are retained even when the operating mode changes or when downloading if the device output hold configuration is set
to enable (16#A5A5) in the _DeviceOutHoldCfg (Device Output Hold Configuration) system-defined variable.

6 Programming
Refer to Device Output Hold Configurations on page 6-71 for the device output hold configurations.
*3. This does not include user-defined variables and device variables for CJ-series Units if they have AT specifications.
*4. Refer to Retain Condition on page 6-73 for the retain conditions.
The values of variables in the CPU Unit will change as shown in the following table when a major fault
level Controller error occurs, or during online editing.
Retain at- During online editing

When a major fault level Controller
tribute of Type of variable Variable added to a POU Variable in a POU for on-
error occurs
variable for online editing line editing
Non-retain User-defined varia- • If initial values are set, the variables • If initial values are set, No change
bles and device vari- change to the initial values. the variables change to
ables • If initial values are not set, the varia- the initial values.
bles change to 16#00. • If initial values are not
set, the variables
change to 16#00.
CIO and Work mem- 16#00 No change
ory areas for CJ-ser-
ies Units
Retain User-defined varia- No change • If initial values are set,
6-3 Variables
bles and device vari- (retains value before error). the variables change to
ables the initial values.
• If initial values are not
set, the variables
change to 16#00.
Holding, DM, and EM No change
memory areas for 6
CJ-series Units

Others Forced refreshing Cleared. No change
status
You can use the memory used for CJ-series Units only with the NJ-series CPU Units, NX102
CPU Units, and NX1P2 CPU Units.
Device Output Hold Configurations

You can set the operations when the operating mode changes or when downloading according to the
setting of the _DeviceOutHoldCfg (Device Output Hold Configuration) system-defined variable.
If the device output hold configuration is set to disable (other than 16#A5A5), device outputs will
change as given in 6-3-9 Changes to Variables for Status Changes on page 6-68.
Device outputs are retained even when the operating mode changes or when downloading if the de-
vice output hold configuration is set to enable (16#A5A5).
Device output hold configuration

Status
Disable (other than 16#A5A5) Enable (16#A5A5)
When the operating mode is Variables are initialized. Values of variables are retained.
changed
When downloaded I/O refreshing is stopped and varia- I/O refreshing is executed and val-
bles are initialized after download- ues of variables are retained after
ing. downloading.

6 Programming
l Device Outputs for Hold Configurations

The following gives the device outputs for the device output hold configuration.
• Device variables for EtherCAT slaves
• Device variables for NX Units
• Device variables for built-in I/O
• Device variables for Option Boards
• Device variables for CJ-series Units (operating data)
• CIO and Work Area in the memory used for CJ-series Units
l Conditions To Retain Device Outputs When Downloading

There are restrictions on the changeable items as the conditions to retain device outputs when
downloading.
The following table gives the items for which device outputs can be retained even if items are
changed.
Item
EtherCAT Backup Parameter Settings of EtherCAT slaves
CPU/Expansion Racks Special Unit Settings of CJ-series Units
I/O Map Variable Name
Variable Comment
Variable Type
Event Settings
Task Settings Program Assignment Settings
Programming - POUs Program
Section
Internal/External Variable
Function
Function Block
Programming - Data Data Type
Global Variable
EtherNet/IP Connection Settings
DB Connection Settings
If items other than those given in the above table are changed and downloaded, device outputs are
not retained.
Also, in the Synchronization Window of the Sysmac Studio, select the check box for the Do not
transfer the following. (All items are not transferred.) - CJ-series Special Unit parameters
and EtherCAT slave backup parameters. If you do not select the check box, device outputs are
not retained.
Perform the following procedure if you want to retain device outputs, and change EtherCAT slave
backup parameters or Unit operation settings of the NX bus.
1 Change the user program only and download it.
2 Select the slave in the EtherCAT Tab Page.

6 Programming
3 Click the Edit Backup Parameter Settings Button in the Slave Parameter Settings Area on
the right of the network configuration.
4 Click the Transfer to Slave Button in the Edit Backup Parameter Settings Tab Page.
5 Right-click a Unit in the CPU and Expansion Racks Tab Page and select Edit Unit Operation
Settings.
6 Click the Transfer to Unit Button for the Unit operation settings.
If you execute Transfer to Slave or Transfer to Unit, the slave or Unit is restarted after the data is
transferred. In this case, device outputs of the slave or Unit are not retained. However, device out-
puts are retained for the slave or Unit that the data is not transferred.

The system-defined variables that are related to the operation when system-defined variables are
used to back up data are shown below. Refer to A-7 Specifications for Individual System-defined
Variables on page A-139 for details on system-defined variables.
6-3 Variables
_DeviceOutHoldCfg Device Output It is 16#A5A5 if you retain the target device WORD RW
Hold Configu- output when the operating mode is changed
ration or when downloaded.
In the case other than 16#A5A5, the target
6
device output is initialized when the operat-
ing mode is changed or when downloaded.

_DeviceOutHoldStatus Device Output It is TRUE if the target device output is re- BOOL R
Hold Status tained when the operating mode is changed
or when downloaded.
When the device output hold configuration is
other than 16#A5A5, or when a major fault
level Controller error occurs, the target de-
vice output is initialized and changes to
FALSE.
Retain Condition
Retain condition indicates that all of the following conditions are met both before and after the down-
load.
• The variable name is the same.
• The data type (name) is the same.
• The Retain attribute is set to retain the value of the variable.
Refer to Values of Retain Variables After New Creations or Changes of POU Names on page 6-74
for the value of a variable with a Retain attribute after its POU name is changed. Also refer to Variable
Values When Data Types of Retained Variables Are Changed on page 6-76 for the value of a varia-
ble when its data type is changed.

6 Programming
Version Information
For the CPU Unit with unit version 1.10 or earlier, the retain condition indicates that all of the
following conditions are met both before and after the download.
• The variable name is the same.
• The data type name and data type size are the same.
• The Retain attribute is set to retain the value of the variable.
Values of Retain Variables After New Creations or Changes of POU

Names
When you download a project that you created with the Sysmac Studio to a Controller, the Controller
treats it with a POU name that is different from the POU name displayed on the Sysmac Studio. Even
if the POU name is the same as the one displayed on the Sysmac Studio, the Controller may treat it
as a different POU.
This section describes how the Controller treats POU names and the values of local variables with a
Retain attribute when POU names are changed or newly created on the Sysmac Studio and down-
loaded.
l Before an Operation with the Sysmac Studio

A project, named Poject_A, which was created with the Sysmac Studio is downloaded to a Control-
ler. The Poject_A contains POU_A in which a local variable VarA is contained.
Assume the POU that is displayed as POU_A on the Sysmac Studio is treated as POU_XXX on
the Controller. Also, assume the present value of the local variable VarA on the Controller is
changed to 20.
On the Sysmac Studio Download On the Controller

Project name: Project_A Project name: Project_A
POU name: POU_A POU name: POU_XXX
Variable name: VarA Variable name: VarA
Initial value of VarA: 0 Present value of VarA: 20
l After Changing a POU Name

The POU name and the present value of the local variable VarA do not change on the Controller
even after you change the POU name from POU_A to POU_B on the Sysmac Studio and down-
load it.

POU name: POU_B POU name: POU_XXX
l After Creating a New POU

When you create a new POU, POU_C, for a local variable on the Sysmac Studio and download it,
the Controller treats it as a new POU, POU_YYY, and as a new local variable VarA.
Therefore, the value of the new local variable VarA is the initial value, 0.

6 Programming

POU name: POU_C POU name: POU_YYY
l After Copying a POU Name

When you copy a POU, POU_A, to create a POU_A_copy on the Sysmac Studio and download it,
the Controller treats it as a new POU, POU_ZZZ, and as a new local variable VarA.
Therefore, the value of the new local variable VarA is the initial value, 0.

6-3 Variables
POU name: POU_A_copy POU name: POU_ZZZ
l When Copying an Exported Project File

The POU name and the present value of the local variable VarA do not change on the Controller 6
even after you copy the Project_A to create the Project_A_copy on the Sysmac Studio and down-
load it.

Project name: Project_A_copy Project name: Project_A_copy
The present value of the local variable VarB does not change on the Controller if you create a local
variable VarB that was nonexistent in the Project_A when the Project_A was copied, add VarB to
the Project_A and download it while you add a local variable VarB of the same definition to the
Project_A_copy and download it.
In the same manner, the present value of the local variable VarB does not change on the Controller
if you copy the local VarB from the Project_A or merge the variable table.

Project name: Project_A_copy Project name: Project_A_copy
Variable name: VarB Variable name: VarB
Initial value of VarB: 0 Present value of VarB: 50
l When Adding a POU of the Same Name to Another Project

When you create Project_B which has a POU, POU_A, that is the same name as the POU in the
Project_A on the Sysmac Studio and download it, the Controller treats it as a new POU, POU_YYY,

6 Programming
and as a new local variable VarA. Therefore, the value of the new local variable VarA is the initial
value, 0.

Project name: Project_B Project name: Project_B
POU name: POU_A POU name: POU_YYY
l When Copying a POU from Another Project to Original Project

When you create Project_B on the Sysmac Studio, copy and paste POU_A from the Project_A to
Project_B, and download it, the Controller treats it as a new POU, POU_YYY, and as a new local
variable VarA. Therefore, the value of the new local variable VarA is the initial value, 0.

Project name: Project_B Project name: Project_B
POU name: POU_A POU name: POU_YYY
Variable Values When Data Types of Retained Variables Are

Changed
This section describes how the Controller treats the variable values when the data types of variables
with a Retain attribute are changed on the Sysmac Studio and the present values of variables with a
Retain attribute are restored, transferred, or downloaded.
l Operation and Variable Values

There are two patterns in the way how the variables with a Retain attribute are treated. The table
below shows the relationship between the operations and treatment patterns.
Treatment pattern of
Operation
variable value
• Restoring with Sysmac Studio Controller backups Pattern 1
• Restoring with SD Memory Card backups
• Automatic transfer from SD Memory Cards
• Program transfer from SD Memory Card
• Restoring with variable and memory backup functions on the Sysmac Studio Pattern 2
• Downloading from the Sysmac Studio Pattern 2*1
*1. Pattern 1 applies for a CPU Unit with unit version 1.10 or earlier. The pattern difference depends only on
the unit version of the CPU Unit. It does not depend on the unit version settings for project devices.
The following section gives further description on the treatments of pattern 1 and 2 for each data
type.
l Changes in Basic Data Types

Assume the variables before changes on the Sysmac Studio are defined as in below.

6 Programming
Variable name Data type AT specification

ABC INT ---
DEF INT %D100
Assume the Retain attribute of each variable is set to retain, and the following present values are
given.
Variable/memory Present value

ABC 10
DEF 20
Assume the following present values are given for the memory used for CJ-series Units, DM100
and DM101.
Variable/memory Present value

D100 20
D101 50
The relationship between changes in the data types and how the Controller treats the variables are
6-3 Variables
given below.
Change description Pattern 1 Pattern 2

No change The variable value is retained.
ABC = 10
DEF = 20 6
Changing the variable name from The variable value will be the initial value.
ABC to GHI GHI = Initial value

Changing the data type of the vari- The variable value will be the initial value.
able ABC from INT to DINT ABC = Initial value
Changing the Retain attribute of The variable value will be the initial value. *1
the variable ABC to Non-retain ABC = Initial value
Changing the AT specification of The variable value will be the value of the AT specification.
the variable DEF from D100 to DEF = 50
D101
Deleting the AT specification of The variable value will be the initial value.
the variable DEF DEF = Initial value
*1. The variable value will be the initial value when the Retain attribute of the variable is changed from Non-
retain to Retain.
l Changes in a Structure
Assume the structure before changes on the Sysmac Studio is defined as in below.
Data type name Member Data type of the member

STR_1 x INT
y INT
Assume the data type of the variable ABC is STR_1, the Retain attribute is set to retain, and the
members have the following present values.
Member Present value

ABC.x 100

6 Programming

ABC.y -200
given below.
If the condition applies both to retain and to change to the initial value, the variable value changes
to the initial value.

No change The member value is retained.
ABC.x = 100
ABC.y = -200
Changing the variable name from The member value will be the initial value.
ABC to DEF DEF.x = Initial value
DEF.y = Initial value
Changing the member x to x1 The member value is retained. The value of the changed member
ABC.x1 = 100 will be the initial value.
ABC.y = -200 ABC.x1 = Initial value
ABC.y = -200
Changing the data type of the The member value is retained.
member x from INT to WORD*1 ABC.x = WORD#16#0064 (= 100)
(Same data size) ABC.y = -200
Changing the data type of the The member value is retained. The absolute value and sign will change
member y from INT to UINT*1 because the changed member is directly assigned.
(Same data size. Changing from ABC.x = 100
signed to unsigned) ABC.y = 65336
Changing the data type of the The member value will be the ini- The member value is retained.
member y from INT to DINT*1 tial value. The sign of the changed member
(Expanding data size) ABC.x = Initial value is expanded while the absolute
ABC.y = Initial value value and sign do not change.
ABC.x = 100
ABC.y = -200
member y from INT to UDINT*1 tial value. The sign of the changed member
(Expanding data size, and chang- ABC.x = Initial value is expanded and the absolute val-
ing from signed to unsigned) ABC.y = Initial value ue and sign change.
ABC.x = 100
ABC.y = 4294967096
Changing the data type of the The member value will be the ini- The value of the member whose
member y from INT to SINT*1 tial value. data size is decreased will be the
(Decreasing data size) ABC.x = Initial value initial value.
ABC.y = Initial value ABC.x = 100
ABC.y = Initial value
Changing the member x to y and The member value is retained in- The member value is retained.
the member y to x correctly. ABC.y = -200
ABC.y = 100 ABC.x = 100
ABC.x = -200
Adding the member z of INT after The member value will be the ini- The value of the existing member
the member y *2
tial value. is retained. The value of the add-
ABC.x = Initial value ed member will be the initial value.
ABC.y = Initial value ABC.x = 100
ABC.z = Initial value ABC.y = -200
ABC.z = Initial value

6 Programming

Adding the member z of INT be- The member value will be the ini- The value of the existing member
tween the member x and the *2
tial value. is retained. The value of the add-
member y ABC.x = Initial value ed member will be the initial value.
ABC.z = Initial value ABC.x = 100
ABC.y = Initial value ABC.z = Initial value
ABC.y = -200
Changing the number of array ele- The member value will be the ini- The value of the existing member
ments for the member x from 1 to tial value. *2 is retained. The value of the mem-
3 ABC.x[0] = Initial value ber whose number of array ele-
ABC.x[1] = Initial value ments was changed will be re-
ABC.x[2] = Initial value tained from the top, and the value
ABC.y = Initial value of the expanded member will be
the initial value.
ABC.x[0] = 100
ABC.x[1] = Initial value
ABC.x[2] = Initial value
ABC.y = -200
*1. Implicit casting applies for changes in data types. Refer to Implicit Casts on page 6-125 for details on
implicit casting.
6-3 Variables
*2. You can retain the value of the existing member if you upload the variable value before downloading and
then download the variable value after downloading.
l Changes in a Union
Assume the union before changes on the Sysmac Studio is defined as in below.
6
Data type name Member Data type of the member
UNI_1 x WORD

y DWORD
Assume the data type of the variable ABC is UNI_1, the Retain attribute is set to retain, and the
members have the following present values.

ABC WORD#16#0100
given below.

No change The member value is retained.
ABC = WORD#16#0100
Changing the variable name from The member value will be the initial value.
ABC to DEF DEF = Initial value
Changing the data type of the The member value is retained.
member x from WORD to BYTE*1 ABC = WORD#16#0100
(Same data size as union)

6 Programming

member x from WORD to tial value. ABC = WORD#16#0100
LWORD*1 ABC = Initial value
(Expanding data size as union)
Changing the data type of the The member value will be the initial value.
member y from DWORD to ABC = Initial value
BYTE*1
(Decreasing data size as union)
Changing the member x to y and The member value is retained.
the member y to x ABC = WORD#16#0100
Adding the member z of BYTE af- The member value is retained.
ter the member y ABC = WORD#16#0100
(Same data size as union)
Adding the member z of LWORD The member value will be the ini- The member value is retained.
after the member y tial value. ABC = WORD#16#0100
(Expanding data size as union) ABC = Initial value
Adding the member z of BYTE af- The member value will be the initial value.
ter the member y, and deleting the ABC = Initial value
member y.
(Decreasing data size as union)
implicit casting.
l Changes in Array Variables

Assume the array variables before changes on the Sysmac Studio are defined as in below.

ABC ARRAY[1..3] OF INT
Assume the Retain attribute of the variable ABC is set to retain, and the elements have the follow-
ing present values.

ABC[1] 100
ABC[2] 200
ABC[3] 300
given below.

No change The element value is retained.
ABC[1] = 100
ABC[2] = 200
ABC[3] = 300
Changing the variable name from The element value will be the initial value.
ABC to DEF DEF[1] = Initial value
DEF[2] = Initial value
DEF[3] = Initial value

6 Programming

Changing the data type of the ele- The element value will be the initial value.
ment from INT to UINT*1 ABC[1] = Initial value
(Same data size) ABC[2] = Initial value
ABC[3] = Initial value
ment from INT to DINT*1 ABC[1] = Initial value
(Expanding data size) ABC[2] = Initial value
ment from INT to SINT*1 ABC[1] = Initial value
(Decreasing data size) ABC[2] = Initial value
Changing the last number of the The element value will be the ini- The values of the existing element
array element from 3 to 4*2 tial value. numbers are retained. The values
(Expanding the number of ele- ABC[1] = Initial value of the new element numbers will
ments from 3 to 4) ABC[2] = Initial value be the initial values.
ABC[3] = Initial value ABC[1] = 100
ABC[3] = 300
6-3 Variables
Changing the first number of the The element value will be the ini- The values of the existing element
array element from 1 to 0*2 tial value. numbers are retained. The values
(Expanding the number of ele- ABC[0] = Initial value of the new element numbers will
ments from 3 to 4) ABC[1] = Initial value be the initial values.
ABC[2] = Initial value ABC[0] = Initial value 6
ABC[2] = 200

ABC[3] = 300
Changing the last number of the The element value will be the ini- The values of the existing element
array element from 3 to 2*2 tial value. numbers are retained.
(Decreasing the number of ele- ABC[1] = Initial value ABC[1] = 100
ments from 3 to 2) ABC[2] = Initial value ABC[2] = 200
Changing the first number of the The element value will be the ini- The values of the existing element
array element from 1 to 2*2 tial value. numbers are retained.
(Decreasing the number of ele- ABC[2] = Initial value ABC[2] = 200
ments from 3 to 2) ABC[3] = Initial value ABC[3] = 300
Changing the first number of the If the number of elements is the The values of the existing element
array element from 1 to 3 and the same, the values of the elements numbers are retained. The values
last number from 3 to 5*2 are retained from the top. *3 of the new element numbers will
(Same number of elements) ABC[3] = 100 be the initial values.
ABC[4] = 200 ABC[3] = 300
ABC[5] = 300 ABC[4] = Initial value
implicit casting.
*2. The result will be the same for basic and derivative data types.
*3. If the number of elements is expanded or decreased, all values of the elements will be the initial values.
l Changes in an Enumeration
Assume the enumeration before changes on the Sysmac Studio are defined as in below.

6 Programming
Data type name Enumerator Value

ENU_1 x 1
y 2
Assume the data type of the variable ABC is ENU_1, the Retain attribute is set to retain, and the
variable has the following present value.

ABC 1 ( = x)
given below.

No change The variable value is retained.
ABC = 1 ( = x)
Changing the variable name from The variable value will be the initial value.
ABC to DEF ABC = Initial value
Adding the enumerator z whose The variable value is retained.
value is 3 after the enumerator y ABC = 1 ( = x)
Deleting the enumerator x The variable value is retained even if the enumerator does not exist.
ABC = 1
Changing the value of the enu- The variable value is retained even after the enumerator value is
merator x from 1 to 5 changed.
ABC = 1
6-3-10 Function Block Instances

Function block instances are added to and displayed in the local variable table as a data type.
A function block instance is treated as a local variable of the program in which the instance is
created. As such, the instance is added to and displayed in the local variable table of the pro-
gram. You cannot treat these instances as global variables.
6-3-11 Monitoring Variable Values

You can monitor the value of variables from a Watch Tab Page on the Sysmac Studio.
1 Select Watch Tab Page from the View Menu.

The Watch Tab Page is displayed.
2 Establish an online connection with the Controller and register the variables in one of the fol-
lowing ways.
1) Enter the variable in the name cell in the Watch Tab Page.
2) Drag variables to the Watch Tab Page from an editor or variable table.
The present values of the variables are displayed.

6 Programming
6-3-12 Restrictions on Variable Names and Other Program-related

Names
The following is a list of restrictions on program-related names.
Character Restrictions
Multi-
Maxi-
byte
Re- Case mum
Program-related charac- Charac-
Applicable characters served sensitiv- size
name ter com- ter code
words ity (without
patibili-
NULL)
ty
Variable name Usable characters Refer to Support- Not case 127 UTF-8*1
(including POU in- • 0 to 9, A to Z, and a to z Reserve ed. sensi- bytes
stance names) • Single-byte kana d Words tive.
POU definition • _ (underlines) below.
names • Multibyte characters (e.g.,
Data type names Japanese)
6-3 Variables
Refer to Reserved Words below
Structure member
for a list of the reserved words.
names
Characters that cannot be
and union member
used together
names
• A text string that starts with a
Enumerator names
number (0 to 9) 6
Task names 63 bytes
• Strings that start with “P_”
Name of name- • A text string that starts in an 93 bytes
6-3-12 Restrictions on Variable Names and Other Program-related Names

space underline (_) character
Full paths of varia- • A text string that contains Network
ble names more than one underline (_) variable:
character 255
• A text string that ends in an bytes
underline (_) character Other:
• Any text string that consists 511
of an identifier and has a pre- bytes
Device names fix or postfix which contains 127
Section names more than one extended Case bytes
empty space character (i.e., sensi-
multi-byte spaces or any oth- tive.
Axis names er empty Unicode space Not case
characters) sensi-
Axes group names
Cam table names tive.
*1. For UTF-8, single-byte alphanumeric characters each use 1 byte. Multibyte characters each use more than
1 byte. Japanese characters require approximately 3 bytes.
Reserved Words
An error is detected during the program check for the following names.
• A name that is the same as any of the instructions that are described in the NJ/NX-series
Instructions Reference Manual (Cat. No. W502)

6 Programming
• A name that is the same as any of the instructions that are described in the NJ/NX-series Motion
Control Instructions Reference Manual (Cat. No. W508)
• Words that are reserved by the system
Names That Must Be Unique

The following names must be unique. An error is detected during the program check if they are not.
• Global variable names in the same CPU Unit
• Variable names in the same POU
• Section names in the same POU
• Member names in the same union or structure
• Enumerators in the same enumeration
• Local variable names and global variable names
• POU names and data type names
• Data type names and variable names
• Enumerators of an enumeration and enumerators of another enumeration
• Enumerators and variable names

6 Programming
6-4 Constants (Literals)

This section describes constants in detail.
6-4-1 Constants
The value of a variable changes depending on the data that is assigned to that variable. The value of
a constant never changes.
Unlike variables, constants are not stored in memory. You can use constants in the algorithm of a POU
without the need to declare them.
In the NJ/NX-series Controllers, constants have a data type in the same way as variables.
6-4-2 Notation for Different Data Types

This section gives the notation for constants with different data types. A building error will occur if you
use any other notation for a constant.
Boolean Data
“BOOL” is used as the data type name for Boolean data. You can use the following values: 1, 0,
TRUE, and FALSE. The meanings of the notations are given in the following table. 6
Notation Meaning
6-4-1 Constants
TRUE or FALSE All of the following are equivalent: TRUE, BOOL#1, BOOL#TRUE,
BOOL#1 or BOOL#0 and 1.
BOOL#TRUE or BOOL#FALSE All of the following are equivalent: FALSE, BOOL#0,
BOOL#FALSE, and 0.
1 or 0*1
*1. Sysmac Studio version 1.03 or higher is required to use 1 and 0. A building error will occur if you use 1 or 0
on Sysmac Studio version 1.02 or lower.
Bit Strings
You can use any of the following data type names for bit string data: BYTE, WORD, DWORD, and
LWORD. You can use any of the following bases: 2, 8, 10, and 16. The notations and notation exam-
ples are given in the following table.
Notation Notation example

{data_type_name}#{base}#{numeric_value} WORD#16#0064
{base}#{numeric_value}*1 16#0064
{numeric_value}*1*2 100
*1. Sysmac Studio version 1.03 or higher is required to omit the data type name. A building error will occur if
you omit the data type name on Sysmac Studio version 1.02 or lower.
*2. A base of 10 (i.e., a decimal number) is assumed.

6 Programming
Version Information
Sysmac Studio version 1.03 or higher is required to use base 10 for bit string data. A building
error will occur if you use 10 on Sysmac Studio version 1.02 or lower.
Integers
You can use any of the following data type names for integer data: SINT, USINT, INT, UINT, DINT,
UDINT, LINT, and ULINT. You can use any of the following bases: 2, 8, 10, and 16.
The notations and notation examples are given in the following table.

{data_type_name}#{base}#{numeric_value} INT#10#-1
{base}#{numeric_value}*1 10#-1
{data_type_name}#{numeric_value}*2 INT#−1
{numeric_value}*1*2 -1
Real Numbers
You can use any of the following data type names for real number data: REAL and LREAL. You can
use only base 10 for real number data. The notations and notation examples are given in the following
table.

{data_type_name}#{base}#{numeric_value} LREAL#10#-3.14
{base}#{numeric_value}*1 10#-3.14
{data_type_name}#{numeric_value}*2 LREAL#−3.14
{numeric_value}*1*2 -3.14
Durations
You can use any of the following data type names for durations: TIME and T. The notations and nota-
tion examples are given in the following table.

TIME#{day}d{hour}h{minutes}m{seconds}s{millisec- TIME#61m5s
onds}ms
T#{day}d{hour}h{minutes}m{seconds}s{millisec- T#61m5s
onds}ms
The following rules apply to duration data constants.

6 Programming
• It is not necessary to give all of the following: days, hours, minutes, seconds, and milliseconds. You
must give at least one of them.
• You can use decimal points, such as in TIME#12d3.5h.
• You can give times that exceed the valid time ranges. For example, T#-61m5s expresses the same
duration as T#-1h1m5s.
• All numeric values are interpreted as decimal values. A building error will occur if any number that is
not a decimal number is used.
• You can change the order of the duration units. For example, T#1h2d expresses the same duration
as T#2d1h.
Dates
You can use any of the following data type names for date data: DATE and D. The notations and nota-
tion examples are given in the following table.

DATE#{year}-{month}-{day} DATE#2010-1-10
D#{year}-{month}-{day} D#2010-1-10
The following rules apply to date data constants.

• You can add one or more zeroes to the beginning of the year, month, or day. For example,
DATE#2010-01-10 expresses the same date as D#2010-1-10.
• A building error will occur if a valid date range is exceeded. For example, D#2010-01-35 will cause 6
an error.

Times of Day
You can use any of the following data type names for time of day data: TIME_OF_DAY and TOD. The
notations and notation examples are given in the following table.

TIME_OF_DAY#{hour}:{minutes}:{seconds} TIME_OF_DAY#23:59:59.999999999
TOD#{hour}:{minutes}:{seconds} TOD#23:59:59.999999999
The following rules apply to time of day data constants.

• You can add one or more zeroes to the beginning of the hour, minutes, or seconds. For example,
TOD#23:01:01 expresses the same time of day as TOD#23:1:1.
• A building error will occur if a valid time range is exceeded. For example, TOD#24:00:00 causes an
error.

6 Programming
Dates and Times

You can use any of the following data type names for date and time data: DATE_AND_TIME and DT.
The notations and notation examples are given in the following table.

DATE_AND_TIME#{year}-{month}-{day}-{hour}:{mi- DATE_AND_TIME#2010-10-10-23:59:59.123
nutes}:{seconds}
DT#{year}-{month}-{day}:{hour}:{minutes}:{seconds} DT#2010-10-10-23:59:59.123
The following rules apply to date and time data constants.

• You can add one or more zeroes to the beginning of the year, month, day, hour, minutes, or sec-
onds. For example, DT#2010-01-10-23:01:01 expresses the same date and time as
DT#2010-1-10-23:1:1.
• A building error will occur if a valid date and time range is exceeded. For example,
DT#2010-01-35-00:00:00 or DT#2010-01-30-24:00:00 causes an error.
Text Strings
To give text string data, enclose the text string in single-byte single quotation marks ('). You can also
use “STRING” as the data type name. The notations and notation examples are given in the following
table.

'{String}' 'This is a string'
STRING#'{String}'*1 STRING#' ‘This is a string'
*1. Sysmac Studio version 1.08 or higher is required to use “STRING.”
The following rules apply to text string data constants.

• You can also specify a string with 0 characters. To do so, the notation is ’’.
• As in the following example, a building error will occur if you specify any strings that span across
multiple lines.
strVar := 'ABC
DEF'
• If you want to insert tabs, line break codes, or other special characters, you can use a dollar sign ($)
as an escape character before them. The escape character names and meanings are given in the
following table.
Escape character Name Meaning

$$ Single-byte dollar Single-byte dollar sign ($: character code 0x24)
sign
$' Single-byte single Single-byte single quotation mark (': character code 0x27)
quotation mark
$" Single-byte double Single-byte double quotation mark (”: character code 0x22)
quotation mark
$L or $l Line feed Moves the cursor to the next line.
LF control character (line feed: character code 0x0A)

6 Programming
Escape character Name Meaning

$N or $n New line Moves the cursor to the next line.
NL control character (new line: character code 0x0A)
$P or $p Form feed Moves the cursor to the next page.
FF control character (form feed: character code 0x0C)
$R or $r Carriage return Moves the cursor to the start of the line.
CR control character (carriage return: character code 0x0D)
$T or $t Horizontal tab Indicates a tab.
Tab character (character code 0x09)
$(character_code) Direct character Specify the character code with two hexadecimal digits. The
code specification range of the character codes is 00 to FF.
For example, “$L” is the same as “$0A”.
For characters of two bytes or more, add $ for each byte.
• You can also directly designate character codes. To do so, add $ to the front of the character code.
Give the character code with two hexadecimal digits. For example, the character code for a line

break ($L) is 0x0A, so $0A is given.
• If you designate the character codes directly for characters of two bytes or more, add $ for each
byte.
Enumerations
For enumeration data, the enumeration data type name and enumerator are given. The notations and 6
notation examples are given in the following table.

{enumeration_data_type_name}#{enumerator} _eDAYOFWEEK#_WED
To pass an enumerator to a function or function block for which the parameter specifies an enu-
merator, you can omit the enumeration data type name and give only the enumerator.
For example, the _eBCD_FORMAT enumeration is specified for the Format input variable in the
BinToBCDs instruction. Therefore, you can give either the enumeration data type name and
enumerator as _eBCD_FORMAT#_BCD0 or omit the enumeration data type name and give on-
ly _BCD0.

6 Programming
6-5 Programming Languages

This section describes the programming languages in detail.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on entering pro-
grams with the Sysmac Studio.
6-5-1 Programming Languages

The languages used to express the algorithms in a POU (program, function, or function block) are
called the programming languages.
There are two different programming languages that you can use for an NJ/NX-series Controller: lad-
der diagram language (LD) and ST (structured text) language.
6-5-2 Ladder Diagram Language

The ladder diagram language (LD) is a graphical programming language that is written in a form that
appears similar to electrical circuits. Each object for processing, including functions and function
blocks, is represented as a diagram. Those objects are connected together with lines to build the algo-
rithm. Algorithms that are written in the ladder diagram language are called ladder diagrams.
General Structure of the Ladder Diagram Language

A ladder diagram consists of left and right bus bars, connecting lines, ladder diagram structure ele-
ments (e.g., inputs and outputs), functions, and function blocks.*
* Only Jump instructions and Label instructions are expressed with symbols that indicate the jumps and labels.
Algorithms are made of multiple rungs connected together.

A rung is a connection of all configuration elements between the left bus bar and the right bus bar. A
program rung consists of logic blocks that begin with an LD/LD NOT instruction that indicates a logical
start.
Function or function block

Input Connecting line Output
Left bus bar Right bus bar
Rungs
Logic blocks

6 Programming
l Bus Bars
The vertical lines on the left and right sides of a ladder diagram are called the bus bars.
These bus bars always have a status of either TRUE or FALSE. If you think of the ladder diagram
as an electrical circuit, these states represent the flow of current through the circuit.
When a POU that is written as a ladder diagram is executed, the value of the left bus bar changes
to TRUE. As a result, all inputs and other configuration elements connected to the left bus bar also
become TRUE. Execution progresses as elements to the right are also changed to TRUE based on
the operation of these configuration elements.
This cascade of the TRUE state is called the “power flow.” The left bus bar is the source of this
power flow.
l Connecting Lines
The straight horizontal lines that connect the bus bar and the configuration elements are called

connecting lines.
Connecting lines can be either TRUE or FALSE and can transfer the power flow from the left to the
right.
l Inputs
Inputs are placed along the connecting line to receive the power flow and operate accordingly.
There are several different types of inputs and, depending on their specifications, they will either
transfer the power flow from the left to the right or prevent the power flow from passing through.
When an input transfers the power flow to the right, the connecting line to the right of the input will
become TRUE. If the power flow is inhibited, the connecting line to the right of the input will remain 6
FALSE.
For detailed specifications on inputs, refer to the NJ/NX-series Instructions Reference Manual (Cat.

No. W502).
l Outputs
Outputs are placed along the connecting line to receive the power flow and operate accordingly.
An output writes the TRUE or FALSE value to a variable.
There are different types of outputs. For detailed specifications on outputs, refer to the NJ/NX-
series Instructions Reference Manual (Cat. No. W502).
l Functions and Function Blocks

Functions and function blocks are placed along the connecting line to receive the power flow and
operate accordingly.
For detailed instruction specifications, refer to the NJ/NX-series Instructions Reference Manual
(Cat. No. W502).
Order of Execution for Ladder Diagrams

Inputs, outputs, functions, and function blocks are executed when they receive the power flow.
The order of execution for a ladder diagram is from top to bottom. Elements at the same level are exe-
cuted from left to right.

6 Programming
Ladder Diagram Completion

A ladder diagram is executed in order from top to bottom. When the execution reaches the very bot-
tom, the process is completed.
However, the process will also end if an END or RETURN instruction is encountered at any point dur-
ing the process. No processes after those instructions are executed.
Controlling Execution of Ladder Diagrams

Ladder diagrams are generally executed from top to bottom, but you can use execution control instruc-
tions to change the execution order.
In the following example, when the value of program input a changes to TRUE, execution will move to
the point labeled 'ExceptionProcessing’.
Input a
Label: ExceptionProcessing
Input b Input c
Label: ExceptionProcessing
Input d Input e
Connecting Functions and Function Blocks in a Ladder Diagram
l Connection Configurations
You use the following two types of connections for functions or function blocks.
1. Power Flow Input and Output
In a ladder diagram, the line that connects an input variable of a function or function block
and the left bus bar indicates a BOOL input and the line that connects an output variable to
the right bus bar indicates a BOOL output.
Example:
Inputs are connected in the power flow that connects to the left bus bar. Outputs are con-
nected in the power flow that connects to the right bus bar.
x1 FB y2
IN1 OUT1
x2 IN2 OUT2 y2

6 Programming
2. Parameter Inputs and Parameter Outputs

In a ladder diagram, parameter inputs and outputs are specified when the input and output
variables of a function or function block are not connected to the left and right bus bars.
x1 FB y2
IN1 OUT1
x2 IN2 OUT2 y2
As shown below, you can specify either variables or constants for input and output parameters.

Function/function block varia-
Input parameters Output parameters
bles
Input variables You can specify variables or con- ---
stants.
Output variables --- You can specify only variables.
In-out variables You can specify only variables. You can specify only variables.
l Number of BOOL Variables

At least one BOOL variable each is required for the input and the output (such as EN and ENO) of 6
a function or function block.
Example:

BOOL variable BOOL variable
MyFB
(BOOL) (BOOL)
IN Q
(INT)
Val_In
l Connections Based on the BOOL Variable Positions

The top BOOL variables are connected to the left and right bus bars. In other words, they become
the power flow input and power flow output.
Top BOOL
variable MyFB
(BOOL) (INT) Top BOOL variable
IN Val_Out
(INT) (BOOL)
Power flow Val_In Q
Power flow
There is only one power flow input and one power flow output for each function or function block.
All other BOOL variables that are not at the top are for parameter inputs and parameter outputs.

6 Programming
MyFB
(BOOL) (INT)
IN1 Val_Out
BOOL variable BOOL variable that is not
(INT) (BOOL)
that is not at the at the top
Val_In Q1
top
(BOOL) (BOOL)
a b
IN2 Q2
Parameter output
Parameter input
You cannot connect multiple BOOL variables to the left bus bar or the right bus bar as shown be-
low.
RS
(BOOL) (BOOL)
NG Set Q1
(BOOL)
Reset1
MyFB
(BOOL) (INT)
IN Val_Out
(INT) (BOOL)
Val_In Q1
(BOOL)
NG
Q2
You do not have to connect an OUT instruction to the right bus bar. You can connect the function or
function block directly.
MyFB
(BOOL) (BOOL)
OK
IN Q
(INT)
Val_In
A LD instruction is not necessarily required. You can also connect directly to the left bus bar.
OK MyFB
(BOOL) (BOOL)
IN Q
(INT)
Val_In
l Cascade Connections
Cascade connections in which the output of a function or function block is connected to the input of
another function or function block are allowed only for power flow outputs and inputs.

6 Programming
CIPRead CIPRead
GO (BOOL) (BOOL) (BOOL) (BOOL)
Execute Done Execute Done
(BOOL) (BOOL) (BOOL) (BOOL)
Handle Busy Handle Busy
SrcDat Error SrcDat Error
Size ErrorID Size ErrorID
(BOOL) (BOOL)
DstDat DstDat
(BOOL) (BOOL)
ErrorIDEx ErrorIDEx
(BOOL) (BOOL)
RcvSize RcvSize
MyFB

(BOOL) (INT)
IN Val_Out
MyFB
(INT) (BOOL) (BOOL) (INT)
Val_In Q IN Val_Out
(INT) (BOOL)
Val_In Q
• You can branch the power flow output.

Example:
OK 6
CIPRead CIPRead
GO (BOOL) (BOOL) (BOOL) (BOOL)
Execute Done Execute Done

Handle Busy Handle Busy
SrcDat Error SrcDat Error
Size ErrorID Size ErrorID
(BOOL) (BOOL)
DstDat DstDat
(BOOL) (BOOL)
ErrorIDEx ErrorIDEx
(BOOL) (BOOL)
RecvSize RecvSize
CIPRead
(BOOL) (BOOL)
Execute Done
(BOOL) (BOOL)
Handle Busy
(BOOL) (BOOL)
SrcDat Error
(BOOL) (BOOL)
Size ErrorID
(BOOL)
DstDat
(BOOL)
ErrorIDEx
(BOOL)
RecvSize
Restriction
• You cannot create closed loops or intersect connecting lines.

6 Programming
Example:
FB1 FB2
EN ENO EN ENO
IN1 OUT1 IN OUT
IN2 OUT2
NG
No closed loops
l Reversing Inputs
You can reverse the value of a BOOL input variable when you input it to an instruction.
NOT input
FB
(BOOL) (BOOL)
IN Q
TRUE→FALSE
FALSE→TRUE
Inline ST
l Introduction
Inline ST is a ladder diagram programming element in which you can write ST language code in a
box called an inline ST box (a blank text input area) within a ladder diagram.
This allows you to easily code numeric data processing and text string processing within ladder dia-
grams.
The connecting line to an inline ST box becomes its execution condition. The ST code inside of the
box is executed based on that connecting line. Refer to the following figure.
Execution Condition for Inline ST Inline ST
Inline ST box
i1 i2
taiseki := 4.0 * 3.14 * radius *radius * radius / 3.0;
Enter the ST language code here.
Inline ST is treated as a rung element in a ladder diagram. Therefore, unlike functions and function
blocks, they have no input, output, or in-out variables.

6 Programming
l Restrictions for Inline ST

You can write ST language code in inline ST boxes.
l Execution Conditions for Inline ST

The execution conditions for inline ST are shown in the following table.
Status Operation
TRUE execution condition Operation follows the execution condition.
You can use the execution condition at any point in the power flow
(e.g., you can connect the inline ST directly to the left bus bar).
To specify a change to TRUE or a change to FALSE, specify it for an
input in the execution condition.
FALSE execution condition Nothing is done.
Resetting in a master control region Nothing is done.

l Scope of Variables in Inline ST
The scope of variables that you can access from inline ST is the same as the POU of the ladder
diagram that contains the inline ST.
l Restrictions for Inline ST

Item Description
Number of inline ST boxes per rung 1
6
6-5-3 Structured Text Language

The ST (structured text) language is a high-level language code for industrial controls (mainly PLCs)
defined by the IEC 61131-3 standard.
The standard control statements, operators, and functions make the ST language ideal for mathemati-
cal processing that is difficult to write in ladder diagrams.
The features of ST are described below.
• Loop constructs and control constructs such as IF THEN ELSE are provided.
• You can write programs like high-level languages such as C, and you can include comments to
make the program easy to read.

6 Programming
Structure of ST
ST code consists of one or more statements. One statement is the equivalent of one process.
Statements are executed from top to bottom, one line at a time, until the process is completed.
Statements are made up of keywords and expressions. A keyword is a symbol or string that expresses
assignment or execution control. An expression is a code that calculates a value from variables, con-
stants, function return values, and/or a combination of those, along with various operators. A state-
ment represents a process that completes by itself. Expressions form a statement by using a combina-
tion of values and keywords.
Example of an Assignment Statement:
Assignment Variables Operators Constant Return value of function

keyword
Comment
A:= B + 100 * ABC (10, 20) ; (*Assign A to B + 100 * ABC (10, 20)*)
Expression
Example of an IF Construct:
IF keyword IF keyword
IF D = E + 100 * DEF(10,20) THEN
Expression
G := H ; (*TRUE if D and E+100*DEF(10,20) are equal, otherwise FALSE*)
Statement IF keyword
END_IF ;
ST Language Expressions
l Statement Separators
• Statements must end with a single-byte semicolon (;). Statements are not considered complete
with only a carriage return at the end. This allows you to write long statements across multiple
lines.
• One statement must end with one single-byte semicolon (;). In the following example, the IF con-
struct contains a single assignment statement. Each statement must be ended with a single-byte
semicolon (;).
IF A=B THEN
C := D; Assignment
IF construct
statement
END_IF;
l Comment
• You can write comments in your program to make the code easier to understand.

6 Programming
• Statements written as comments are not executed.

• The two methods to insert comments are described below.
Comment notation Examples Remarks

Enclose the comment in single- (* Commenting out multiple This type of comment can span over
byte parenthesis and asterisks, lines multiple lines.
for example, “(*This is a com- IF ErrCode = 3 THEN Comments cannot be nested.
ment*)”. Value := 1000;
END_IF;
down to here. *)
Begin the comment with two // Comment You can comment out only single
forward slashes (//) and end it // A := SIN(X)^2; lines.
with a carriage return.
l Spaces, Carriage Returns, and Tabs

• You can place any number of spaces, carriage returns, and tabs in your code at any location.
This allows you to add spaces or tabs before statements and carriage returns between opera-
tors/keywords and expressions in order to make your code easier to read.
• Always enter a token separator, such as a space, carriage return, or tab, between operators/
keywords and variables.
Example: ¢ indicates where you must insert a token separator, such as a space, carriage return, or
tab.
IF ¢ A>0 ¢ THEN ¢ X:=10;

ELSE 6
X:=0;
END_IF;

l Lowercase/Uppercase, Single-byte/double-byte Characters
• Operators, keywords, and variable names are not case sensitive.
• Operators, keywords, and variable names must always be in single-byte characters. A syntax er-
ror will occur if you input double-byte characters.
l Variables and Prohibited Characters

Refer to 6-3-12 Restrictions on Variable Names and Other Program-related Names on page 6-83
for restrictions on variable names.
l Text Strings
Refer to 6-3-12 Restrictions on Variable Names and Other Program-related Names on page 6-83
for restrictions on text strings.
ST Keywords and Operators
l Statement Keywords
Keyword Meaning Example
:= Assignment d := 10;
Calling functions and function FBname(para1 := 10, para2 := 20);
blocks Refer to Function Block Calls on page 6-120.
RETURN Return

6 Programming
Keyword Meaning Example

IF If IF d e THEN f := 1;
ELSIF d = e THEN f :=2;
ELSE f := 3;
END_IF;
CASE Case CASE f OF
1: g :=11;
2: g :=12;
ELSE g :=0;
END_CASE;
FOR For FOR i := 100 TO 1 BY -1 DO
Val[ i ] := i;
END_FOR;
WHILE While WHILE Val < MaxVal DO
Val := Val + 1;
END_WHILE;
REPEAT Repeat REPEAT
Val := Val + 1;
UNTIL ( Val > 4 )
END_REPEAT;
EXIT Exit the loop. FOR i:=1 TO 100 DO
FOR j := 1 TO 10 DO
IF Val[ i, j ]>100 THEN EXIT;
END_IF;
END_FOR;
END_FOR;
; Empty statement Val[ i ] := i
; (* Empty statement *)
WHILE (Var <>0) DO
; (* Empty statement *)
END_WHILE;
(* Text *) Comment (* Commenting out multiple lines
IF MyFun (ErrorCode) = 3
THEN ReturnValue := GetDetail();
END_IF;
down to here. *)
//Text Comment A := SIN( X ) ^ 2 + COS ( Y ) ^2 + 10;
// A := SIN( X ) ^ 2 + COS ( Y ) ^2 + 5;
l Operators
The following table gives the operators and their order of priority.
If operators with different priorities are mixed in one expression, the operators with the highest pri-
orities are executed first. You can use up to 64 operators in one expression.
Example: X:=(1+2)−3*4; In this case, variable X is assigned a value of −9.
1. The operation in 2. The multiplication 3. The subtraction

parentheses (priority (priority of 5) is (priority of 6) is
of 1) is performed. performed. performed.
(1+2)−3*4 3−3*4 3−12 −9

6 Programming
Operation Operator Notation example and evaluated value Priority

Parentheses () (1+2)*(3+4) 1
Value: 21
Function/func- FUN1( FUN2( Var2A, Var2B), Var1B) 2
tion block call When function and function block calls are nested, the
function or function block at the lower level is called first.
In the above example, FUN2 is executed first, and then
FUN1 is executed.
Sign +,- +100 3
-100
NOT NOT NOT TRUE
Value: FALSE
Exponent ** -2**2 4
Value: 4
A minus sign is given priority over an exponent operator.

Therefore, -2**2 in the above example is the same as
(-2)**2, so the value is 4.
2**3**2
Value: 64
If there is more than one exponent operator, calculations
are performed for them left to right. Therefore, 2**3**2 in
the above example is the same as (2**3)**2, so the val-
ue is 64.
Multiplication * 100*200 5
Value: 20000 6
Division / 100/200
Value: 0.5

Modulo division MOD 10 MOD 7
Value: 3
-17 MOD 6
Value: -5
−17 MOD (−6)

Value: -5
17 MOD 6
Value: 5
17 MOD (−6)
Value: 5
Addition + 100+200 6
Value: 300
Subtraction --- 100-200
Value: -100
Comparison <, >, <=, >= 100<200 7
If the comparison result is TRUE, the value is set to
TRUE. Otherwise, the value is set to FALSE.
In the above example, 100 is less than 200, so the value
is TRUE.

6 Programming
Operation Operator Notation example and evaluated value Priority

Matches = 100=200 8
If the two values match, the value is set to TRUE. Other-
wise, the value is set to FALSE.
In the above example, 100 does not equal 200, so the
value is FALSE.
Does not match <> 100<>200
If the two values do not match, the value is set to TRUE.
Otherwise, the value is set to FALSE.
In the above example, 100 does not equal 200, so the
value is TRUE.
Logical AND AND,& Applies 1-bit AND logic to all bits. 9
The results of 1-bit AND logic are as follows:
0 AND 0 = 0
0 AND 1 = 0
1 AND 0 = 0
1 AND 1 = 1
0101 AND 1100

Value: 0100
Logical exclu- XOR Applies 1-bit exclusive OR logic to all bits. 10
sive OR The results of 1-bit exclusive OR logic are as follows:
0 XOR 0 = 0
0 XOR 1 = 1
1 XOR 0 = 1
1 XOR 1 = 0
0101 XOR 1100

Value: 1001
Logical OR OR Applies 1-bit OR logic to all bits. 11
The results of 1-bit OR logic are as follows:
0 OR 0 = 0
0 OR 1 = 1
1 OR 0 = 1
1 OR 1 = 1
0101 OR 1100
Value: 1101
The intended operation may not occur if a function is nested under itself. Always separate the
functions into different statements as shown below.
Example: Incorrect notation out := MyFunc( In1:=x1, In2:=MyFunc( In1:=x2, In2:=x3 ) );

Correct notation tmp := MyFunc( In1:=x2, In2:=x3 );
out := MyFunc( In1:=x1, In2:=tmp );
The order of priority for operators is sometimes different for different standards and manufac-
tures. Special attention is necessary for the priority of exponent operators. We therefore recom-
mend that you use parentheses to ensure that calculations are performed in the intended order.
Example: For X:= -2**3**4; we recommend that you use the following expression: X:=
((-2)**3)**4;.

6 Programming
Calculations are performed based on the data types.

For example, the result of calculations with integer data will be integer data. Therefore, if the
expression A/B is calculated with INT variables A=3 and B=2, the result would not be 1.5 be-
cause all values after the decimal point are truncated. In this case, the expression (A/B)*2
would evaluate to 2 instead of 3.
l Data Types for Operator Operands

If all the operands for an operator have the same data type, any data type given as “Supported” in
the following table can be set as operands.
However, if an operand with a different data type is set for the operator, an implicit cast is required.
Refer to Implicit Casts on page 6-125 for details on implicit casting.
¡: Possible

x: A building error will occur.
Modu- Posi-
Assign- Argu- Com-
Numer- lo-divi- Power Equali- Logic tive/
ment ment parison
ic oper- sion opera- ty oper- opera- nega-
opera- setting opera-
ators operator ators tors tive
tor operator tors
tor signs
Data type
NOT
+ <
AND
:= - <= = +
:= MOD ** &
=> * >= <> -
/ >
OR 6
XOR
Boolean ¡ ¡ × × × × ¡ ¡ ×

Bit string ¡ ¡ × × × × ¡ ¡ ×
Integer ¡ ¡ ¡ ¡ ¡*1 ¡ ¡ × ¡
Real num- ¡ ¡ ¡ × ¡ ¡ ¡ × ¡
ber
Duration ¡ ¡ × × × × × × ¡
Date ¡ ¡ × × × × × × ×
Time of day ¡ ¡ × × × × × × ×
Date and ¡ ¡ × × × × × × ×
time
Text string ¡ ¡ × × × ×*2 ×*2 × ×
Enumera- ¡ ¡ × × × × ¡ × ×
tion
Structure ¡ ¡ × × × × × × ×
parent
Array pa- ¡ ¡ × × × × × × ×
rent
*1. If you select the version 1.15 or earlier in the Select Device Area of the Project Properties Dialog Box on
the Sysmac Studio for an NX701 CPU Unit and NJ-series CPU Unit, integer variables are calculated as
real number variables even if they set as operands. If a rounding error is included in the result of calcula-
tions, the result may not be an intended value because all values after the decimal point are truncated.
Use the EXPT and TO_** (Integer Conversion Group) instructions together to round values after the dec-
imal point.
Example: TO_INT(EXPT(X,Y))
*2. Do not use operators to compare text string variables. Use instructions (such as EQascii) instead.

6 Programming
ST Language Statements
l Assignment
Overview:
This statement assigns the right side (i.e., the value of the expression) to the left side (i.e., the vari-
able).
Reserved Words:
:=
Combination of a colon (:) and an equals sign (=)
Statement Structure:
<variable>:=<expression>;
<variable>:=<variable>;
<variable>:=<constant>;
Application:
Use this statement to assign a value to a variable.
For example, use it to set initial values or to store the results of a calculation.
Description:
This statement assigns (or stores) the <expression_value> to the <variable>.
Example:
Example 1: The following statement assigns the result of the expression X+1 to variable A.
A:=X+1;
Example 2: The following statement assigns the value of variable B to variable A.
A:=B;
Example 3: The following statement assigns a value of 10 to variable A.
A := 10;
Precautions:
• Either the source data type must match the destination data type, or the combination of data
types must allow implicit casting. A building error will occur if you do not use this notation.
• If the value that is assigned is STRING data, make the size of the destination STRING variable
larger than that of the source string. Otherwise, an error will occur.
• For STRING variables, assignment is allowed if the size of left-hand variable is greater than the
size of the text string stored in right-hand variable.
Example:
Assignment is allowed in the following case.
• Variable Table:
Variable name Data type Size

Var1 STRING 10
Var2 STRING 20
• User Program:
Var2 :='ABC';
Var1 := Var2;

6 Programming
You cannot make assignments to union variables. You must make the assignments to individual
members of the unions.
l RETURN
Overview:
The following actions occur depending on where the ST statement is used.
ST
The ST program is ended during operation and the next program is executed.
ST in a Function Inside a Function Block Instance
The function or function block is ended during operation and the next instruction after the calling
Inline ST
The POU that contains inline ST with a RETURN statement is ended.

Reserved Words:
RETURN
RETURN;
Application:
Use this statement to force the current program, function, or function block to end.
l IF with One Condition 6

Overview:
The construct executes the specified statement when a condition is met. If the condition is not met,

another statement is executed.
The following expressions are used to specify whether the condition is met.
TRUE: The condition is met.
FALSE: The condition is not met.
Reserved Words:
IF, THEN, (ELSE), END_IF
Note: You can omit ELSE.
IF <condition_expression> THEN
<statement_1>;
ELSE
<statement_2>;
END_IF;
Process Flow Diagram:

6 Programming
Condition FALSE
expression
TRUE
Statement 1 Statement 2
Application:
Use this construct to perform one of two processes depending on evaluation of a condition (condi-
tion expression).
Description:
If <condition_expression> is TRUE, <statement_1> is executed.
If <condition_expression> is FALSE, <statement_2> is executed.
Precautions:
• IF must always be used together with END_IF.
• Write a statement that evaluates to TRUE or FALSE (for example IF A>10) or a BOOL variable
(for example IF A) for the condition expression.
• You can write <statement_1> and <statement_2> on multiple lines. Separate statements with a
semicolon (;).
Example: Another IF Statement before <statement_1>
IF <condition_expression_1> THEN
IF <condition_expression_2> THEN
<statement_1>;
ELSE
<statement_2>;
END_IF;
END_IF;
Condition FALSE
expression 1
TRUE
Condition FALSE
expression 2
TRUE
Statement 1 Statement 2
ELSE corresponds to the previous THEN statement, as shown above.

6 Programming
• You can execute more than one statement for both <statement_1> and <statement_2>. Separate
statements with a semicolon (;).
• You can omit the ELSE statement. If it is omitted, nothing is executed when <condition_expres-
sion> is FALSE.
FALSE
Condition
TRUE
Statement

Example:
Example 1: A value of 10 is assigned to variable X when the statement A > 0 is TRUE. A value of 0
is assigned to variable X when the statement A > 0 is FALSE.
IF A>0 THEN
X:=10;
ELSE
X:=0;
END_IF; 6
Example 2: A value of 10 is assigned to variable X and a value of 20 is assigned to variable Y

when the statements A > 0 and B > 1 are both TRUE. A value of 0 is assigned to variable X and
variable Y when the statements A > 0 and B > 1 are both FALSE.
IF A>0 AND B>1 THEN

X:=10;Y:=20;
ELSE
X:=0;Y:=0;
END_IF;
Example 3: A value of 10 is assigned to variable X when the BOOL variable A is TRUE. A value of
0 is assigned to variable X when variable A is FALSE.
IF A THEN X:=10;
ELSE X:=0;
END_IF;
l IF with Multiple Conditions

Overview:
The construct executes the specified statement when a condition is met. If a condition is not met
but another condition is met, another statement is executed. If neither condition is met, another
statement is executed.
Reserved Words:

6 Programming
IF, THEN, ELSIF, (ELSE), END_IF

Note: You can omit ELSE.
IF <condition_expression_1> THEN <statement_1>;

ELSIF <condition_expression_2> THEN <statement_2>;
ELSIF <condition_expression_3> THEN <statement_3>;
·
·
·
ELSIF <condition_expression_n> THEN <statement_n>;
ELSE<statement_m>;
END_IF;
Condition FALSE
expression 1
TRUE Condition FALSE

expression 2
Statement 1 Condition FALSE
TRUE
expression 3
Statement 2
TRUE
Statement 3
Statement m
Application:
Use this construct to perform a process depending on evaluation of multiple conditions (condition
expressions).
Description:
If <condition_expression_1> is TRUE, <statement_1> is executed.
If <condition_expression_1> is FALSE and <conditon_expression_2> is TRUE, then
<statement_2> is executed.
If <condition_expression_2> is FALSE and <conditon_expression_3> is TRUE, then
<statement_3> is executed.
·
·
·
If <condition_expression_n> is TRUE, <statement_n> is executed.
If none of the conditions is TRUE, <statement_m> is executed.
Precautions:
• IF must always be used together with END_IF.
• Write statements that can be TRUE or FALSE for the condition expressions. Example: IF(A>10)
You can also specify a BOOL variable (including functions that return a BOOL value) for the con-
dition expressions instead of an actual expression. In that case, when the variable is TRUE, the
evaluated result is TRUE and when the variable is FALSE, the evaluated result is FALSE.

6 Programming
• You can write any of the statements on multiple lines. Separate statements with a semicolon (;).
• You can omit the ELSE statement. If it is omitted, and none of the conditions produces a match,
nothing is done.
Example:
A value of 10 is assigned to variable X when the statement A > 0 is TRUE.
A value of 1 is assigned to variable X when the statement A > 0 is FALSE and statement B = 1 is
TRUE.
A value of 2 is assigned to variable X when the statement A > 0 is FALSE and statement B = 2 is
TRUE.
If none of the conditions is TRUE, a value of 0 is assigned to the variable X.
IF A>0 THEN X:=10;

ELSIF B=1 THEN X:=1;
ELSIF B=2 THEN X:=2;

ELSE X:=0;
END_IF;
l CASE
Overview:
This construct executes a statement that corresponds to an integer set value that matches the val-
ue of an integer expression.
Reserved Words:
CASE 6

CASE <integer_expression> OF
<integer_expression_value_1>:<statement_1>;
<integer_expression_value_2>:<statement_2>;
·
·
·
<integer_expression_value_n>:<statement_n>;
ELSE<statement_m>;
END_CASE;

6 Programming
Equal to Yes
value 1?
No
Yes
Equal to
value 2?
No
Yes
Equal to
value n?
No
Statement m Statement n Statement 2 Statement 1
Application:
Use this construct to perform different actions based on the value of an integer.
Description:
If <integer_expression> matches <integer_expression_value_n>, <statement_n> is executed.
If <integer_expression> does not match any of the integer values, <statement_m> is executed.
Precautions:
• CASE must always be used together with END_CASE.
• Use one of the following for the <integer_expression>:
• An integer or enumeration variable (example: abc)
• An integer expression (example abc+def)
• A function that returns an integer value (example: xyz())
• To specify OR logic of multiple integers for <integer_expression_value_n>, separate the values
with commas. To specify a continuous range of integers, separate the start integer and the end
integer with two periods (..).
Example 1: You can specify a condition for a specific integer value, or the same condition for multi-
ple integer values.

6 Programming
CASE A OF
1: X:=1; A value of 1 is assigned to variable X when variable A is 1.
ELSE
X:=0; If none of the values is matched, a value of 0 is assigned to
the variable X.
END_CASE;
CASE A OF
2,5: X:=2; A value of 2 is assigned to variable X when variable A is 2 or 5.
6..10: X:=3; A value of 3 is assigned to variable X when variable A is between 6 and 10.
11,12,15..20: X:=4; A value of 4 is assigned to variable X when variable A is 11, 12,
or between 15 and 20.
ELSE
X:=0; If none of the values is matched, a value of 0 is assigned to the
END_CASE; variable X.

Example 2: You can give an integer variable, integer expression, integer function return value, enu-
meration variable, or enumeration function return value for the <integer_expression>. An example
is shown below.
• Example for an Integer Enumeration Variable
CASE ColorVar OF
RED:
X := 0;
6
BLUE:
X := 1;

ELSE
X := 2;
END_CASE;
• Example for an Integer Expression
CASE (a1 + a2) OF

0:
X := 0;
1:
X := 1;
ELSE
X := 2;
END_CASE;
• Example of an Integer Enumeration Function Return Value
CASE FUN( ) OF
0: Branches depending on the return value of FUN( ).
X := 10;
1:
X := 11;
ELSE
X := 12;
END_CASE;
Data Types That You Can Use in CASE Constructs

6 Programming
¡: Supported
×: Not supported
Classification Data type <integer_expression>

Basic data types Integers ¡
Boolean, bit string, real, duration, date, ×
time of day, date and time, or text string da-
ta
Data type specifica- Array specifications Arrays ×
tions Elements ¡ For integers and enumerations
only.
Derivative data Structures Structures ×
types Members ¡ For integers and enumerations
only.
Unions Unions ×
Members ¡ For integers and enumerations
only.
Enumerations ¡
l FOR
Overview:
This construct repeatedly executes the same statements until a variable (called the FOR variable)
changes from one value to another value.
Reserved Words:
FOR, TO, (BY), DO, END_FOR
Note: You can omit BY.
FOR <FOR_variable>:= <initial_value> TO <end_value> BY <increment/decrement> DO

<statement>;
END_FOR;

6 Programming
FOR variable = Initial value
TRUE
FOR variable >
end value?
Repeated
FALSE
Statement
FOR variable +
Increment/decrement value

End
Application:
Use this construct when you know in advance how many times you want to repeat a process.
This type of repeat construct is particularly effective to specify each element of an array variable
based on the value of a FOR variable.
Description:
A decision is made based on the evaluation of <initial_value>, <end_value>, and <increment/ 6
decrement>.
When <FOR_variable> is <initial_value>, <statement> is executed.

After execution, the value of <increment/decrement> is added to <FOR_variable> and <statement>
is executed again if <FOR_variable> is less than the value of the <end_value>.
After execution, the value of <increment/decrement> is added to <FOR_variable> and <statement>
is executed again if <FOR_variable> is less than the value of the <end_value>.
This process is repeated.
The loop ends when <FOR_variable> > <end_value>.
If <increment/decrement> is negative, the directions of the comparison symbols in the above state-
ments are reversed.
Precautions:
• If the FOR variable is signed, <increment/decrement> can be a negative number.
• FOR must always be used together with END_FOR.
• The FOR variable becomes the end value plus increment/decrement after execution of the proc-
ess is completed for the end value. This ends the FOR construct.
Example: When the FOR construct is completed in the following ST statements, the value of i is
101.
FOR i:=0 TO 100 DO

X[i]:=0;
END_FOR;
//Here, i is 101.
• Do not write code that directly modifies the FOR variable inside the FOR construct. Unintended
operation may result.

6 Programming
Example:
FOR i:=0 TO 100 BY 1 DO

X[i]:=0;
i:=i+INT#5;
END_FOR;
• You can omit BY<increment/decrement>. If it is omitted, the statement is executed with an incre-
ment value of 1.
• You can specify an integer (SINT, INT, DINT, LINT, USINT, UINT, UDINT, or ULINT) variable or
integer value for the <initial_value>,<end_value>, and <increment/decrement>. You can also
specify a function that returns an integer value.
Example 1: A value of 100 is assigned to array variable elements SP[n]. The FOR variable is varia-
ble n, the initial value is 0, the end value is 50, and the increment is 5.
FOR n := 0 TO 50 BY 5 DO
SP[n] := 100;
END_FOR;
Example 2: The total of elements DATA[1] through DATA[50] of array variable elements DATA[n] is
calculated and the result is assigned to the variable SUM.
IF a THEN
DATA[n]:= 1 ;
END_FOR;
SUM:= SUM + DATA[n] ;
END_FOR;
a:=FALSE;
END_IF;
Example 3: The maximum and minimum values of elements DATA[1] through DATA[50] of array
variable elements DATA[n] are found. The maximum value is assigned to the MAX variable, and
the minimum value is assigned to the MIN variable. The value of DATA[n] is from 0 to 1,000.
MAX :=0;
MIN :=1000;
FOR n :=1 TO 50 BY 1 DO
IF DATA[n] > MAX THEN
MAX :=DATA[n];
END_IF;
IF DATA[n] < MIN THEN
MIN :=DATA[n];
END_IF;
END_FOR;
• If the total execution time of the statements in the FOR construct from when the FOR variable is
incremented/decremented from the initial value until it reaches the end value exceeds the task
period, a Task Period Exceeded error occurs.
• When the FOR Variable Cannot Logically Reach the End Value
Example:

6 Programming
FOR i := 0 TO 100 BY 1 DO
intArray[i] := i;
i := INT#50; An infinite loop occurs and results in a Task
END_FOR; Period Exceeded error.
Example:
FOR i := 0 TO 100 BY 0 DO An infinite loop occurs and results in a Task

; Period Exceeded error.
END_FOR;
• When an Overflow or Underflow Occurs Because the FOR Variable Exceeds the End Value
Example:

When the data type of variable i is USINT, the end value 256 can be expressed. It is treated as 0
and an infinite loop occurs.
FOR i := 0 TO 254 BY 2 DO
INTArray[i] := i;
END_FOR;
Version Information
With the Sysmac Studio version 1.08 or higher, you can specify arithmetic expressions for
<end_value> and <increment/decrement>. 6
However, the evaluation is performed for <end_value> or <increment/decrement> only before
the execution of FOR loop operation. The values of <end_value> and <increment/decrement>

do not change after the FOR loop operation is started.
For example, in the following case, the value of <end_value> is 10 and <increment/decrement>
is 3. Even after the FOR loop operation is started and the values of variable A and C are
changed, the value of <end_value> is still 10 and <increment/decrement> is still 3.
A := INT#1;
B := INT#2;
C := INT#10;
FOR i := 0 TO C BY A+B DO
INTArray[i] := i;
A := B + i;
C := C + i;
END_FOR;
If an arithmetic expressions is specified for <end_value> or <increment/decrement> on the Sys-

mac Studio version 1.07 or lower, a building error will occur.
Data Types That You Can Use in FOR Constructs
¡: Supported
×: Not supported

6 Programming
<FOR_variable>, <initial_value>,<end_value>,
Classification Data type
and <increment/decrement>1
Basic data types Boolean, bit string, real, du- ×
ration, date, time of day, date
Integers ¡
Data type specifi- Array specifi- Arrays ×
cations cations Elements ¡ For integers and enumerations only.*2
Derivative data Structures Structures ×
types Members ¡ For integers and enumerations only.*2
Unions Unions ×
Members ×
Enumerations ¡*2
*1. You must use the same data type for the <FOR_variable>, <end_value> and <increment/decrement>.
Otherwise, an error occurs when the program is built on the Sysmac Studio.
*2. You cannot use enumerations for <FOR_variable>, <end_value> and <increment/decrement>.
l WHILE
Overview:
This construct repeatedly executes the specified statements as long as a condition expression is
TRUE.
Reserved Words:
WHILE, DO, END_WHILE
WHILE <condition_expression> DO
<statement>;
END_WHILE;
Repeated
Condition FALSE
expression
TRUE
Statement
End
Application:
Use this type of repeat construct when you do not know how many times to repeat a process (i.e.,
when you do not know how many times based on the condition) and you want to repeat a process
for as long as a certain condition is met.
You can also use this type of repeat construct to execute a process only when a condition expres-
sion is TRUE (pre-evaluation repeat construct).

6 Programming
Description:
The <condition_expression> is evaluated before <statement> is executed.
If <condition_expression> is TRUE, <statement> is executed. Then the <condition_expression> is
evaluated again. This process is repeated.
If the <condition_expression> is FALSE, <statement> is not executed and the <condition_expres-
sion> is no longer evaluated.
Precautions:
• WHILE must always be used together with END_WHILE.
• If the <condition_expression> is FALSE before <statement> is executed, the WHILE construct is
exited and <statement> is not executed.
• You can write <statement_1> and <statement_2> on multiple lines. Separate statements with a
semicolon (;).
• You can execute more than one statement for <statement>. Separate statements with a semico-

lon (;).
• You can also specify a BOOL variable (including functions that return a BOOL value) for the con-
dition expressions instead of an actual expression.
Example 1: The first multiple of 7 that exceeds 1,000 is calculated and assigned to variable A.
A := 0;
WHILE A <= 1000 DO
A := A+INT#7;
END_WHILE;
6
Example 2: The value of variable X is doubled if X is less than 3,000 and the value is assigned to
array variable element DATA[1]. Next, the value of X is doubled again and the value is assigned to

the array variable element DATA[2]. This process is repeated.
n := 1;
X := 1;
WHILE X < 3000 DO
X:= X*INT#10#2;
DATA[n]:= X;
n := n+INT#1;
END_WHILE;
• If you do not write correct condition expressions, the program execution time increases and may
cause a Task Period Exceeded error.
Example:
boolVar := TRUE;
WHILE boolVar DO
intVar := intVar + INT#1;
END_WHILE;
l REPEAT
Overview:
This construct repeatedly executes one or more statements until a condition expression is TRUE.

6 Programming
Reserved Words:
REPEAT, UNTIL, END_ REPEAT
REPEAT
<statement>;
UNTIL <condition_expression>
END_REPEAT;
Statement
Repeated
Condition FALSE
expression
TRUE
End
Application:
Use this type of repeat construct when you do not know how many times to repeat a process (i.e.,
when you do not know how many times based on the condition) and you want to repeat a process
for as long as a certain condition is met after processing.
Use this type of repeat construct to determine whether to repeat execution based on the result of
the execution of a process (post-evaluation repeat construct).
Description:
First, <statement> is executed unconditionally. Then the <condition_expression> is evaluated.
If <condition_expression> is FALSE, <statement> is executed.
If <condition_expression> is TRUE, <statement> is not executed and the REPEAT construct is exit-
ed.
Precautions:
• REPEAT must always be used together with END_REPEAT.
• Even if the <condition_expression> is TRUE before <statement> is executed, <statement> is
executed.
In other words, <statement> is always executed at least one time.
• <statement> can contain multiple lines of code for the statement. Separate statements with a
semicolon (;).
• You can also specify a BOOL variable (including functions that return a BOOL value) for the con-
dition expressions instead of an actual expression.
Example: Numbers from 1 to 10 are added and the values are assigned to the variable TOTAL.

6 Programming
A := 1;
TOTAL := 0;
REPEAT
TOTAL := TOTAL + A;
A := A+INT#1;
UNTIL A>10
END_REPEAT;
• If you do not write correct condition expressions, the program execution time increases and may
cause a Task Period Exceeded error.
Example:
intVar := INT#1;
REPEAT
intVar := intVar + INT#1;
UNTIL intVar = INT#0

END_REPEAT;
l EXIT
Overview:
Use this statement only inside a repeat construct (FOR construct, WHILE construct, or REPEAT
construct) to exit the repeat construct.
Use this statement inside an IF construct to exit from the repeat construct when a condition is met.
Reserved Words:
EXIT 6
Statement Structure (e.g., in an IF Construct):

FOR (WHILE, REPEAT) <statement>
·
·
·
IF<condition_expression> THEN EXIT;
END_IF;
·
·
·
END_FOR (WHILE, REPEAT);
Application:
Use EXIT to end a repeating process before the end condition is met.
Description (e.g., in an IF Construct):

If the <condition_expression> is TRUE, the repeat construct (FOR construct, WHILE construct, or
REPEAT construct) is ended and all code inside the repeat construct after the EXIT statement is
ignored.
Note 1. You can also specify a BOOL variable instead of an expression for the condition expressions.
Note 2. Even if the <condition_expression> is TRUE before <statement> is executed, <statement> is execut-
ed.
Example:
Variable n is repeatedly incremented by 1 from 1 to 50 while the value of n is added to array varia-
ble elements DATA[n]. However, if DATA[n] exceeds 100, the repeat construct is exited.

6 Programming
IF A THEN
DATA[3] :=98;
DATA[n] := DATA[n] + n;
IF DATA[n] > 100 THEN EXIT;
END_IF;
END_FOR;
A :=FALSE;
END_IF;
l Function Block Calls

Overview:
This statement calls a function block.
Reserved Words: None
Give the argument specifications (to pass the values of the specified variables to the input varia-
bles of the called function block) and the return value specification (to specify the variable that will
receive the value of the output variable of the called function block) in parenthesis after the in-
stance name of the function block.
There are two methods of writing this statement, as shown in (1) and (2) below.
We recommend method 1 for program readability.
Notation Method 1:
Give both the variable names of the called function block and the parameter names of the calling
POU.
ABC(A:=x1, B:=x2, C=>y1);
ABC: Function block instance name
A and B: Input or in-out variable names of called function block
x1 and x2: Input or in-out parameter of calling POU (can be a constant)
C: Output variable of called function block
y1: Output parameter of calling POU
• Ladder Diagram Expression
ABC
y1
x1 MyFB
A C
x2 B
• You can give the arguments and return values in any order.
• You can omit the input variable names and input parameter names. If you omit these names, the
values assigned to the input variables for the previous call are assigned to the input variables
again. If this is the first time that the function block is called, the input variables are set to their
initial values.
• You can omit the output variables and output parameters. If they are omitted, the value of the
output variable is not assigned to anything.
Notation Method 2:

6 Programming
Omit the variable names of the called function block and give the parameter names of the calling
POU.
ABC(x1, x2, y1);
ABC: Function block instance name
A and B: Omitted. (Input or in-out variable of called function block)
x1 and x2: Input or in-out parameter of calling POU (can be a constant)
C: Omitted. (Output variable of called function block or constant)
y1: Output parameter of calling POU
ABC
y1
x1 MyFB
A C

x2 B
• The order of parameters is based on the function block definition. The order is the same as the
local variable definition for the function block, from top to bottom.
Application:
This statement calls a function block.
Example
• Programming 6
• Notation 1
ChangeFixToFloat(Execute:=Exe,Data32_1:=FixPointData1,

Data32_2:=FixPointData2,
NoOfDigit_1:=FixPointPos1,
NoOfDigit_2:=FixPointPos2,OK=>Done,Double_1=>RealData1,
Double_2=>RealData2);
• Notation 2
ChangeFixToFloat(Exe, FixPointData1, FixPointData2, FixPointPos1, FixPointPos2,
Done, RealData1, RealData2);
ChangeFixToFloat
Exe ConvData32ToDouble Done
Execute OK
FixPointData1 Data32_1 Double_1 RealData1

FixPointPos1 NoOfDigit_1
• Function Block Definition

Function block name: ConvData32ToDouble
Function Block Variables

6 Programming
I/O Variable name Data type

Input variables Execute BOOL
Data32_1 DINT
Data32_2 DINT
NoOfDigit_1 INT
NoOfDigit_2 INT
Output variables OK BOOL
Double_1 LREAL
Double_2 LREAL
• Program Variables
Variable name Data type Comment

ChangeFixToFloat ConvData32ToDouble Convert from fixed-point to float-
ing-point.
Exe BOOL Execution trigger
FixPointData1 DINT Decimal point position specifica-
tion data 1
FixPointPos1 INT Number of digits below decimal
point 1
tion data 2
point 2
Done BOOL Normal end
RealData1 LREAL Floating-point data 1
Omitting Parameters
When you call a function block, you can omit parameters that are not required.
The following table shows when you can omit parameters.
¡: Possible (initial used).
Variables for the Notation pattern

POU type Omission
called POU Parameters included Example
FB Given All parameters given instance(x:=a,y:=b,z:=c);
(notation method More than one parameter instance(x:=a,y:=b);
1) ¡
given
One parameter given instance(y:=b);
No parameters given instance(x:=); ×
Not given All parameters given instance(a,b,c);
¡
(notation method All parameters not given instance();
2) Only the first parameter giv- instance(a);
en
One parameter given instance(a, , ); ×
More than one parameter instance(a,b);
given
l Function Calls
Overview:

6 Programming
This statement calls a function.
Reserved Words: None
Give the output parameter to which the return value is assigned on the left side of the assignment
keyword (:=). On the right side, give the argument specifications (to pass the values of the speci-
fied variables to the input variables of the called function) inside the parenthesis after the function
name.
There are two methods of writing this statement, as shown in (1) and (2) below.
We recommend method 1 for program readability.
Notation Method 1:
IF (x0=TRUE) THEN
y1 := MyFUN (A:=x1, B:=x2, C=>y2);

END_IF;
MyFUN
x0
EN ENO
x1 y1
A
x2 y2
B C
6
MyFUN :Function name

x0 :Specifies whether to call the function
A and B :Input variable names of the called function
x1 and x2 :Input parameters of the called function
C :Output variable name of the called function
y1 :Storage location for the return value from the called function
y2 :Output parameters of the called function
• You can give the arguments in any order.

• You can omit the input variable names and input parameter names. If they are omitted, the input
variables are assigned their initial values.
• You can omit EN as well. If it is omitted, EN is assigned a value of TRUE.
Notation Method 2:
Omit the variable names of the called function and give the parameter names of the calling POU.
IF (x0=TRUE) THEN
y1 := MyFUN (x1, x2, y2);
END_IF;
MyFUN
x0
EN ENO
x1 y1
A
x2 y2
B C

6 Programming
MyFUN :Function name

x0 :Specifies whether to call the function
A and B :Input variable names of the called function
x1 and x2 :Input parameters of the called function
C :Output variable name of the called function
y1 :Storage location for the return value from the called function
y2 :Output parameters of the called function
• The order of parameters is based on the function definition. The order is the same as the local
variable definition for the function, from top to bottom.
Example
• Programming
• Notation 1
ConvData32ToDouble(Data32_1:=FixPointData1,Data32_2:=FixPointData2,
NoOfDigit_1:=FixPointPos1, NoOfDigit_2:=FixPointPos2,
Double_1=>RealData1, Double_2=>RealData2);
• Notation 2
ConvData32ToDouble(FixPointData1, FixPointData2, FixPointPos1, FixPointPos2,
RealData1, RealData2);
P_On ConvData32ToDouble
EN

• Function Definition
Function name: ConvData32ToDouble
Function Variables
I/O Variable name Data type

Input variables Execute BOOL
Data32_1 DINT
Data32_2 DINT
NoOfDigit_1 INT
NoOfDigit_2 INT
Output variables Double_1 LREAL
Double_2 LREAL
Return value --- BOOL
• Program Variables

ChangeFixToFloat ConvData32ToDouble Convert from fixed-point to float-
ing-point.

6 Programming

Exe BOOL Execution trigger
tion data 1
point 1
tion data 2
point 2
Done BOOL Normal end
Application:

This statement calls a function.
Omitting Parameters
When you call a function, you can omit parameters that are not required.
The following table shows when you can omit parameters.
¡: Possible (initial used).

Variables for Notation pattern

POU type
the called POU Parameters included Example
Omission 6
FB Given All parameters given FUN(x:=a,y:=b,z:=c);
(notation meth-

More than one parameter FUN(x:=a,y:=b);
od 1) ¡
given
One parameter given FUN(y:=b);
No parameters given FUN(x:=); ×
Not given All parameters given FUN(a,b,c)
¡
(notation meth- No parameters given FUN();
od 2) Only the first parameter giv- FUN(a);
en
One parameter given FUN(a, , ); ×
More than one parameter FUN(a,b);
given
Precautions for the ST Language

Observe the following precautions when you use the ST language in the user program.
l Implicit Casts
If the data types of the operands do not match, as shown below, the data types are converted auto-
matically according to the implicit cast rules.
If the implicit cast rules are not satisfied, a building error occurs.
1. When the data types of the operands in the expression on the right side of the assignment
statement are not the same
Example:

6 Programming
A: = INT#10 + SINT#2;
2. When the data types of the operands on the right and left sides of the assignment statement
are not the same
Example:
A: = B + C;
REAL INT
3. When the data types of the operands in statement are not the same
Example:
INT LINT
CASE A+B OF
INT#1:
def:=INT#10;
The casting rules are described for the following three cases.
Casting Rules When the Right-hand Side of an Assignment Statement Is an Arithmetic Ex-
pression
• For the right-hand operand, you can use any combination of the data types that are supported for
the operator operand.
• Of the operands on the right side, the operand with the highest rank is considered the data type
of the entire side.
(Refer to the Data Type Ranking Table given below for the data type ranks.)
Data Type Ranking Table:

The higher the rank, the larger the range of numerical values that the data type can express.
Rank Data type

1 SINT
2 USINT
3 INT
4 UINT
5 DINT
6 UDINT
7 LINT
8 ULINT
9 REAL
10 LREAL
11 BYTE
12 WORD
13 DWORD
14 LWORD
Casting Rules When You Assign the Right-hand Value to the Left-hand Side
In the following chart, a cast is performed if an arrow connects the data type of the source to the
data type of the assignment destination.
Any combination that is not connected will cause a building error.

6 Programming
USINT UINT UDINT ULINT
SINT INT DINT LINT
REAL LREAL
When you assign the value, the sign and absolute value of the number do not change.
When you assign the value, the sign and absolute value of the number may change.

Example: intVar := -1; (* intVar := 16#FFFF *)
uintVar := 1;
uintVar := intVar; (* uintVar:= 16#FFFF, or −1 was
assigned but the result is 65535 *)
Even if the arrow does not connect directly to a data type, you can still perform assignments for the
data types.
For example, SINT->USINT->UINT->UDINT->ULINT are all connected, so you can write an assign-
ment such as ULINT:=SINT.
6

Observe the following precautions when casting UDINT to ULINT data, DINT to LINT data, or
DINT to LREAL data.
All of these are casts from 32-bit data to 64-bit data. If the result of the calculation of the right
side of the assignment statement exceeds the range of 32-bit data, the correct value may not
be assigned.
Example: For the following assignment statements, the result of the addition in the third state-
ment exceeds the range of 32-bit data. An overflow will result and 0 will be assigned to LintVar.
UdintVar := UDINT#16#FFFF_FFFF; // Upper limit of 32-bit data
DintVar := DINT#1; // 1
LintVar := (UdintVar + DintVar) / DINT#2; // (Upper limit of 32-bit data+1)/2
In a case like this one, convert the data to 64-bit data before you perform the calculation. To do
this for the above example, change the assignment status as shown below.
LintTmp1 := UDINT_TO_LINT(UDINT#16#FFFF_FFFF); // Convert UDINT to LINT data.
LintTmp2 := DINT_TO_LINT(DINT#1); // Convert DINT to LINT data.
LintVar := (LintTmp1 + LintTmp2) / DINT#2;
Casting Rules in Expressions in Statements

The implicit cast rules for right-hand arithmetic expressions in assignment statements and for as-
signing the value of the right-hand side to the left-hand side also apply to expressions in state-
ments.
Example:
CASE (A+B+C) OF
Result1:
to;
ResultN:

6 Programming
to;
END_CASE;
l Order of Execution of Functions

The order of execution of functions is not defined for functions in expressions. The order of execu-
tion of functions depends on the unit version of the CPU Unit, the version of the Sysmac Studio,
and the notation. Precaution is required in cases where the results of an expression may depend
on the order of execution of the functions, such as in the following cases.
• Expressions that contain more than one function that access the same global variable
• Expressions that contain a function and a variable whose value is changed by that function
Expressions That Contain More Than One Function That Access the Same Global Variable
In the following example, the order of execution of the three functions is not necessarily the same
as the order of execution of the calculations, which is determined by the priority of the operators.
Therefore, it is possible that the functions are executed in the following order: FUN2, FUN3, and
then FUN1.
result := FUN1() + FUN2() * FUN3();
If all three of the functions in the above expression access and write the same global variable, the
value of the result variable may change depending on the order of execution of the functions.
To ensure that the three functions are always executed in the same order, the expression is broken
up. The following notation is used to execute the functions in the following order: FUN2, FUN3, and
then FUN1.
tmp2 := FUN2();
tmp3 := FUN3();
result := FUN1() + tmp2 * tmp3;
Expressions That Contain a Function and a Variable Whose Value Is Changed by That Func-
tion
The following expression contains a function and a variable whose value is changed by that func-
tion.
result := varA + FUN4(out => varA);
In the above expression, the first element on the right side, variable varA, is not necessarily evalu-
ated before FUN4 is executed. Therefore, the value of the result variable may change depending
on the order of varA evaluation and FUN4 execution.
To ensure that that varA evaluation and FUN4 execution always occur in the same order, the ex-
pression is broken up.
The following notation is used to evaluate varA first and then execute FUN4.
tmp := varA;
result := tmp + FUN4(out => varA);
The following notation is used to execute FUN4 first and then evaluate varA.
tmp := FUN4(out => varA);
result := varA + tmp;

6 Programming
l Calculation Precision of Expressions with Constants without Data Type

Specifications
The calculation precision of an expression that contains a constant without a data type specification
is automatically determined by the data types of the variables and constants that are given in the
expression and destination.
Notation of Constants
If a constant is given without a decimal point, such as 100, it is processed as an integer. If a con-
stant is given with a decimal point, such as 100.0, it is processed as a real number.
Expression Calculation Precision

The calculation precision of an expression is either 32-bit integer, 64-bit integer, or long real preci-
sion depending of the data types of the variables and constants given in the expression and desti-
nation. The following rules apply to the calculation precision of an expression.

START
Real number constant or Yes

variable in expression or
destination?
No
6
Constant or variable greater Yes
than 32 bits in expression or

destination?
No
Calculation Calculation Calculation

performed with performed with performed
32-bit integer 64-bit integer with long real
precision. precision. precision.
END
Example:
realv := 2 + 3 *4; // The data type of the realv variable is REAL.
The realv variable is a real number, so the calculation is performed with long real precision. The
calculation result is 14.0.
realv := 2 + 3.0 *4; // The data type of the realv variable is REAL.
The 3.0 constant and the realv variable are real numbers, so the calculation is performed with long
real precision. The calculation result is 14.0.
lintv := 2 + 3 * 4; // The data type of the lintv variable is LINT.

There is no constant or variable that is a real number, but the lintv variable exceeds 32 bits, so the
calculation is performed with 64-bit integer precision. The calculation result is 14.

6 Programming
intv := 2 + 3 * 4; // The data type of the intv variable is INT.

There is no constant or variable that is a real number and there is no constant that exceeds 32 bits,
so the calculation is performed with 32-bit integer precision. The calculation result is 14.
However, the calculation precision of division is determined only by the divisor and dividend. The
rules for determining the calculation precision are the same as those in the previous flowchart.
Example:
realv := 2 / 3 *4; // The data type of the realv variable is REAL.
Dividing 2 by 3 does not include an integer that exceeds 32 bits for the divisor or dividend, so the
calculation is performed with 32-bit integer precision. The calculation result is 0.
In the next step, the realv variable is a real number, so the calculation of 0 * 4 is performed with
long real precision. The calculation result is 0.0.
The calculation precision of an expression that contains a constant without a data type specifi-
cation is automatically determined by the notation of the constant and the data types of the vari-
ables that are given in the expression. Therefore, calculations may be performed with unintend-
ed precision. We recommend that you specify the data type for real numbers, such as RE-
AL#1.0.
Differences between ST and Ladder Diagrams

The differences between ST and ladder diagrams are described below.

6 Programming
Item Ladder diagram ST (including inline ST)

Input differen- Change to TRUE Change to TRUE
tiation • Method 1
• Method 1
R_TRIG_instance (Clk:=start, Q=>do);
start do
* R_TRIG_instance is an instance of the
----|↑|-----------
R_TRIG instruction.
• Method 2
R_TRIG_instance
R_TRIG
start Clk Q do
• Method 3
Up

start In do
Change to FALSE Change to FALSE

• Method 1
• Method 1
F_TRIG_instance (Clk:=start, Q=>do);
start do
* F_TRIG_instance is an instance of the
----|↓|-----------
F_TRIG instruction.
• Method 2
F_TRIG_instance
F_TRIG 6
start Clk Q do

• Method 3
Down
start In do
Instruction dif- Upward Differentiation Upward Differentiation

ferentiation There is no equivalent in ST. You must create
start @Inst it in logic.
Example:
• Method 1
R_TRIG_instance (Clk:=start, Q=>do);
IF (do = TRUE) THEN Inst();
END_IF;
• Method 2
IF (start = TRUE) THEN
IF (pre_start = FALSE) THEN Inst();
END_IF;
END_IF;
pre_start:=start;// Update previous value.

6 Programming
Item Ladder diagram ST (including inline ST)

Instructions With the TON instruction, multiple cycles are You must declare two instances, one for exe-
that last multi- required from the start of instruction execution cution and one to reset, as shown below.
ple task peri- to the end and the instruction is reset when IF (start = TRUE) THEN
ods the power flow is FALSE. Therefore, you need TON_instance(In:=TRUE, omitted); // Start
to declare only one instance to both execute timer.
the instruction and reset it. ELSE
TON_instance(In:=FALSE, omitted); // Reset
TON_instance
timer.
start TON END_IF;
In Q
PT ET
Function/ Add a circle to indicate reversal at the inter- Add a NOT operator to the argument.
function block section of the BOOL argument and the func- * You can add NOT operators to any BOOL
argument re- tion/function block. variable, not just arguments.
versal specifi- IF (NOT emergency) THEN
cations emergency Func Func();
EN ENO END_IF;
Multi-stage start Func1 IF(start=TRUE) THEN

connections EN ENO Func2( in := Func1());
tmp END_IF;
Func2
EN ENO
tmp in
Post-connect- You can connect only other Out instructions You cannot continue the ladder diagram after
ing ladder in- after an Out instruction. inline ST.
structions
NG
// Inline ST
str :=‘ABC’;
Program divi- You can create sections. You cannot create sections.
sions

6 Programming
6-6 Instructions
This section describes the instructions that are pre-defined by the NJ/NX-series Controller.
For details on these instructions, refer to the NJ/NX-series Instructions Reference Manual (Cat. No.
W502) and NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508).
6-6-1 Instructions
Instructions are the smallest unit of the processing elements that are provided by OMRON for use in
POU algorithms.
Instructions are classified as shown below.
Ladder diagram structure elements (inputs and outputs)
FB instructions
6-6 Instructions
Instructions
FUN instructions
ST language statements
6
Programs, user-defined functions, and user-defined function blocks consist of these instructions.
6-6-1 Instructions
6-6-2 Basic Understanding of Instructions
The fundamental specifications of the instructions follow the specifications of functions and function
blocks.
This section describes specifications that are unique to instructions.
Ladder Diagram Structure Elements (Inputs and Outputs)
l Locations
Instructions for ladder diagram inputs and outputs have certain positions where they can be placed,
as shown below.
Classification Locations Diagram

Input instruc- Logical start Connected directly to the left bus bar or is at
tions the beginning of an instruction block.
Intermediate Between a logical start and the output in-

instructions struction.

6 Programming
Classification Locations Diagram

Output instructions Connected directly to the right bus bar.
l Instruction Options
Some ladder diagram instructions for inputs also detect changes to TRUE or changes to FALSE if
you add an upward arrow or downward arrow to them.
Change to Variable A The instruction reads input status, makes

TRUE comparisons, tests bits, or performs other
(↑) types of processing every task period and
Variable A outputs the power flow when result changes
Output
from FALSE to TRUE.
The output power flow changes to FALSE in
1 task period 1 task period the next task period (after it is TRUE for one
Time Chart task period).
Change to Variable A The instruction reads input status or per-

FALSE forms other types of processing every task
(↓) period and outputs the power flow when re-
Variable A
sult changes from TRUE to FALSE.
Output The output power flow changes to FALSE in
the next task period (after it is TRUE for one
1 task period 1 task period task period).
Time Chart
Function Block Instructions
l Execution Conditions
The operation of the execution condition for an FB instruction depends on the instruction.
A specific input variable for the execution condition is defined for each instruction.
Example:
Execute specifies a change to TRUE or a change to FALSE in the execution condition.
Enable causes the instruction to be executed each task period according to the current execution
condition.
Function block instructions are unconditionally executed for as long as the POU that called them is
executed.
Instruction options cannot be specified.
FUN Instructions
l Execution Conditions
All FUN instructions have EN inputs as execution conditions. The FUN instruction is executed each
task period as long as EN is TRUE.

6 Programming
In a ladder diagram, you can add the following instruction options to specify a change to TRUE or a
change to FALSE as the execution condition for that instruction. ST statements do not have op-
tions.
Instruction options Symbol

Differentiation op- Change to TRUE @ This option creates an upwardly differenti-
tion ated instruction.
The instruction is executed only once
when EN changes to TRUE.
To add an instruction option, add one of the option symbols listed in the table above before the in-
struction.
Example:
@ MAX
EN ENO
In1
6-6 Instructions
In2
Information That Applies to Both FB Instructions and FUN Instruc-

tions 6
l Condition Flags
6-6-3 Instruction Errors

System-defined variables that are assigned values that represent the result of instruction process-
ing are called Condition Flags. The only Condition Flag for an NJ/NX-series Controller is the Carry
Flag (P_CY).
The Carry Flag serves the following purposes.
• It shows whether the result of processing an instruction exceeds the range that can be ex-
pressed by the data type of the output variable.
• It shows whether an overflow occurred in a bit shift instruction for bit string data. For details, refer
to the NJ/NX-series Instructions Reference Manual (Cat. No. W502).

Instruction errors refer to the errors that occur when an instruction is executed. This section describes
when an instruction error occurs, which error is detected as an instruction error, and what operation
follow an instruction error, etc.
Timing When Instruction Errors Occur

The timing when instruction errors occur can be divided into the following three cases. Detectable er-
rors and operations following to the errors differ by the timing when instruction errors occur.
• When the values of input parameters or in-out parameters are checked before instruction execution.
• When internal processing is performed during instruction execution.
• When the values of output parameters are checked after instruction execution.

6 Programming
Errors Detected As Instruction Errors

The followings are the errors detected as instruction errors. Different errors are detected depending on
the timing when instruction errors occur.
l Errors detected before or after instruction execution

The followings are the errors detected before or after instruction execution.
• Reading or writing an array variable from or to an element beyond the array range.
• Assigning a string that is longer than the defined byte length to a STRING variable.
• Assigning a string that does not end with a NULL character to a STRING variable.
• Dividing an integer variable by 0.
l Errors detected during instruction execution

Errors detected during instruction execution differ by instruction. For details on errors detected in
each instruction, refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502).
Operation for Instruction Errors

The operation for the following elements differ depending on whether an instruction error occurs or
not: output variable ENO, output variable Error, output variable ErrorID, system-defined variable
P_PRGER, and events. The details on the operations are described below.
l Output variable ENO, output variable Error, and output variable ErrorID
ENO (enable out), Error, and ErrorID (error code) are the output variables that indicate whether an
error exists or not. Each instruction has different output variables. The meaning of each variable
and its value on an instruction error are shown below. The values vary by the timing when an in-
struction error occurs.
Value when an instruction error occurs

Output vari- Before in- During in- After in-
Data type Meaning
able struction ex- struction ex- struction ex-
ecution*1 ecution ecution*2
ENO BOOL TRUE: Normal end FALSE FALSE TRUE
FALSE: Error end, Execution
in progress, or Not executed
Error BOOL TRUE: Error end FALSE TRUE FALSE
FALSE: Error end, Execution
in progress, or Not executed
ErrorID WORD Error code on Error end, and WORD#16#0 Error code WORD#16#0
WORD#16#0 on Normal end
*1. If an instruction error occurs before execution of an instruction, the instruction will not be executed.
Therefore, the value of each output parameter before instruction execution will be retained.
*2. If an instruction error occurs after execution of an instruction, the instruction itself will be regarded as
normally ended. Therefore, the values of output variables of the instruction will be assigned to the output
parameters. Values of the output parameter to which an error occurred are retained as the one before
the instruction execution.

6 Programming
l System-defined variable P_PRGER

The system-defined variable P_PRGER is a flag that indicates the occurrence of an instruction er-
ror. If an instruction error occurs, the value will change to TRUE regardless of when the error occur-
red. When the instruction ends normally, the value will be retained. For the details on P_PRGER,
refer to Instruction Error Flag on page 6-139.
l Events
When an instruction error occurs, an event is created for it. For details on events, refer to Events
for Instruction Errors on page 6-140.
Version Information
A CPU Unit with unit version 1.02 or later is required to create events for instruction errors.
Output Parameters in Ladder Diagrams

The following table shows the values of output parameters when an instruction, user-defined function,
6-6 Instructions
or user-defined function block that is created in a ladder diagram ends normally or has an instruction
error.
Type of output parame-

Condition Value of output parameter
ter
Normal end Power flow output Values are updated according to the internal algorithm.
6
BOOL parameter output
Parameter output other

than BOOL
Instruction error Power flow output Set to FALSE.
BOOL parameter output The previous values are retained.
Parameter output other
than BOOL
Operation When a Syntax Error Occurs in a POU Written in ST
l Errors in Assignment Statements

When an error occurs in an assignment statement written in ST, that line is not executed.
5 a = b / (c + d) + e ∗ f + ABS(g);
6 x := 1;
For example, if a division by zero error occurs
in (b/(c+d)) on line 5, execution of line 5 is
cancelled (the value of a is not changed) and
line 6 is executed.
This operation is the same as when the output ENO of a user-created function is FALSE.

6 Programming
5 a = User-created_function (b) + c;
6 x := 1;
When the ENO output from the user-created
function is FALSE, execution of line 5 is
cancelled (the value of a is not changed) and
line 6 is executed.
l Errors in IF Constructs
If a syntax error occurs in ST, perform error processing for the syntax error.
When the value of (c+d), below, is zero, the lines between the IF and END_IF are not executed.
POU"AA"
5 IF a = b / (c + d) THEN
6 x := 1;
7 ELSE
8 x := 2;
9 END_IF;
10 y := 10;
: : The user must include a safety
IF P_PRGER = TRUE THEN processing for possible errors.
x:= initial_value; (*Processing when an error occurs*)
y:= initial_value;
END_IF;
l Syntax Errors in ST
The following syntax errors can occur in ST.
• Exceeding the number of elements in an array
• No parameter set for in-out variable
• STRING assignment: When the text string size (bytes) of the left side is less than the text string
length (bytes) of the right side
• Division by zero (excluding floating-point number calculations)
* When the value of a floating-point number is nonnumeric, the result of the calculation will also be
nonnumeric. This is not considered an error.
l Operation for Structure Errors

The P_PRGER Flag changes TRUE and the following occurs.
Syntax Error location Operation

Assignment state- The line is not executed.
ment
No statements between IF and END_IF are execut-
IF condition expression
ed.
CASE condition expression No statements between CASE and END_CASE are
executed.
Control con- FOR condition expression No statements between FOR and END_FOR are
structs executed.
WHILE condition expression No statements between WHILE and END_WHILE
are executed.
REPEAT condition expres- No statements between REPEAT and END_RE-
sion PEAT are executed.

6 Programming
Instruction Error Flag

When an instruction error occurs in a ladder algorithm or when a syntax/function error occurs in an ST
algorithm, the P_PRGER (Instruction Error Flag) system-defined variable changes to TRUE.
The P_PRGER Flag is a local variable for the program. This flag changes to TRUE when an instruc-
tion error occurs in the program, and remains TRUE during the next task period.
Variable Range of Initial val- Read/

Meaning Function Data type
name values ue write
P_PRGER Instruction Er- This flag changes to and BOOL TRUE or FALSE Read/
ror Flag remains TRUE when an FALSE write
instruction error occurs.
After this flag changes to
TRUE, it stays TRUE until
the user program
changes it back to
FALSE.
6-6 Instructions
You can write the P_PRGER Flag. You can temporarily set the value of this flag to FALSE through a
user operation to determine if the error occurs within a specific range, for example. After this flag
changes to TRUE, it remains TRUE until the operating mode is changed or the flag is overwritten by a
program.
Example:
6
User Program
P_PRGER

Initial process
R
If the flag is ON, you

Algorithm (instructions) know that the
Normal process #1
instruction error has
to be inside this
range.
P_PRGER
Error processing
Normal process #2 for normal
process #1 Example: Initial values
set for variables
The P_PRGER Flag also changes to TRUE when an instruction error occurs inside a user-defined
function block that is used by the program.
Example:
Program
P_PRGER : OFF
Inside function block definition
User-defined P_PRGER : OFF
function block
Instruction error
P_PRGER : ON
P_PRGER : ON

6 Programming
Events for Instruction Errors

When an instruction error occurs, an event is created for it.
Refer to 8-7 Event Logs on page 8-72 for the procedure to check events. For information on the
events that are created, refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502).
• To create events for instruction errors, you must select Use for Event Log Settings −
Instruction Error Output on the Sysmac Studio. Refer to 4-2-2 Controller Setup on page 4-4
and to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information on the
Controller Setup.
• If you change the user program after an instruction error occurs, the information in the event
log may no longer be correct.
• If an instruction with an error is executed repeatedly, an instruction error or event is created
each time the instruction is executed. This may cause the event log to exceed the maximum
number of events. If this occurs, older events are overwritten.
Version Information
• A CPU Unit with unit version 1.02 or later is required to create events for instruction errors.
• A CPU Unit with unit version 1.02 or later and Sysmac Studio version 1.03 or higher are re-
quired to specify whether to output instruction errors when they occur.
• If an error occurs in a motion control instruction, two events are created, one for the instruc-
tion error and one for the motion control instruction. For details on events for motion control
instructions, refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat.
No. W508).
• Events for motion control instruction are created even if you select Do not use for Event Log
Settings − Instruction Error Output in the Controller Setup on the Sysmac Studio.

6 Programming
6-7 Namespaces
This section provides the specifications for namespaces and the procedures to use them. Refer to the
Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the procedures to manipulate them.
Version Information
quired to use namespaces.
6-7-1 Namespaces
Namespaces are a system for grouping function block definitions and other entities to manage them in
nested structures. They are similar to grouping files in folders to manage them in a directory structure.
If you do not use namespaces, the name of each function block definition or other entity must be
unique. If you use namespaces, you can use the same name more than once by setting namespaces.
6-7 Namespaces
Using namespaces is not required.
Features of Namespaces
Namespaces provide the following features.
6
l Preventing Duplicated Names
As long as different namespaces are used, you can use the same name for a function block or oth-
6-7-1 Namespaces
er entity more than once.
For example, assume that several systems must be programmed, and that a different programmer
will program each of them. Here, it would be likely that the same names would be used for different
function block definitions or other entities. If you did not use namespaces, you would have to create
naming rules to prevent the duplication of names. However, if you set a different namespace for
each system, programming would be possible without worrying about duplicating names with other
systems.
Not Using Namespaces Using Namespaces

Programmer for Programmer for
system A system B Programmer for Programmer for
system A system B
Namespace: None Namespace: None
Namespace: System_A Namespace: System_B
FB: Read_recipe FB: Read_recipe
FB: Read_recipe FB: Read_recipe
FB: System_A_Read_recipe FB: System_B_Read_recipe

The same names can be used.
All names must be unique, so naming rules must be followed.

6 Programming
6-7-2 Namespace Specifications

This section describes what namespaces can be used for, namespace notation, and namespace dec-
larations.
Namespace Usage
You can use namespaces for the entities that are listed in the following table.
Library object Details

POU definitions Function definition names and function block definition names
Data types Structure data type names, union data type names, and enumeration da-
ta type names
Namespace Notation
Separate the levels in a namespace with backslashes (\). To use a namespace in a POU algorithm,
place two backslashes (\\) at the front of the namespace.
Example:
Location of namespace Expression

Outside of an algorithm System_A\Read_recipe
Inside of an algorithm \\System_A\Read_recipe
l Fully Qualified Names and Short Names

The fully qualified name of an entity is the name that includes the name of the namespace. The
short name of an entity is the name that does not include the name of the namespace.
In the algorithm in a POU definition, you can use the short name of any POU definition that has the
same namespace as the POU definition of the algorithm.
Example:
System_A\Read_recipe
Name of Short name

namespace
Fully qualified name
l Restrictions on Namespace Notation

• You can use the same characters as you can for variable names. For details, refer to 6-3-12 Re-
strictions on Variable Names and Other Program-related Names on page 6-83.
• The following table gives the limits to the number of characters in the names of namespaces.
Name Maximum size Character code

Name of namespace 93 bytes UTF-8
Short name 127 bytes

6 Programming
• An error will occur when you build the program if the short name of a variable is also used in
the name of the namespace.
System_A\Process_A\Read_recipe\Process_A
Not The short name is used in the name of the namespace.

allowed.
System_A\Read_recipe\System_A\Process_A
Not The same name is used twice within the overall name of
allowed.
the namespace.
• You can use the short name of a POU definition in the algorithm of a POU definition if it is in
the same namespace. However, an error will occur when you build the program if there is a
POU definition or data type with the same short name at a higher level in that namespace.
For example, assume that the following POU definitions are used. You can use the short
name to call System_A\Read_recipe\Process_A from within the algorithm of the Process_B
function block definition (which is in the System_A\Read_recipe namespace) because Proc-
ess_A is in the same namespace.
POU Definitions
6-7 Namespaces
System_A\Read_recipe\Process_A
System_A\Read_recipe\Process_B
Notation in the Algorithm of the

System_A\Read_recipe\Process_B Function Block Definition
Process_A 6
6-7-2 Namespace Specifications

If, however, a System_A POU definition also exists at a higher level than the System_A
\Read_recipe namespace, Process_A exists twice. Therefore, an error will occur when you
build the program.
In this case, you must use the fully qualified name or change the short name.
POU Definitions
Process_A (no namespace)
System_A\Process_A
• If any names are the same as a reserved word, an error will occur when you check the pro-
gram.
Namespace Declarations
To program with namespaces, you can declare the namespaces in advance before you use them in
the algorithm of a POU definition.
After you declare the namespace in the POU definition, you can use the short name of any POU defi-
nition or other entity that has the same namespace. You can also use the fully qualified name even if
you declare the namespace.
In the algorithm in a POU definition, you can use the short name of any function definition or function
block definition that has the same namespace as the POU definition of the algorithm even if you do
not declare the namespace.

6 Programming
You can declare more than one namespace for the same POU definition.
l Notation Examples
Notation examples are provided below for creating a function block definition when declaring the
namespaces to use in the function block definition and when not declaring the namespaces.
Example:
In this example, the Read_recipe and Calculate_upper_limit function block definitions are used in
the algorithm for the Lifter function block definition.
Each of these function block definitions is in a different namespace. In the Lifter function block defi-
nition, only the System_C namespace is declared.
The fully qualified name must be given for the Read_recipe function block definition, which is not in
the System_C namespace. The short name can be given for the Calculate_upper_limit function
block definition, which is in the System_C namespace.
Namespace Entity Short name

System_A Function block definition Lifter
System_B Function block definition Read_recipe
System_C Function block definition Calculate_upper_limit
The following notation is used in the namespace

declaration for the Lifter function block definition.
System_C
Notation for the Algorithm of the Lifter Function Block

Definition
• When Namespace Is Not Declared
The System_B namespace of the Read_recipe function
block definition is not declared, so you must give the fully
qualified name.
\\System_B\Read_recipe
• When Namespace Is Declared

The System_C namespace of the Calculate_upper_limit
function block definition is declared, so you can give the
short name.
Calculate_upper_limit
l Restrictions of Declarations
You can use short names only in the algorithm of a POU definition.

6 Programming
• An error is detected during the program check in the following cases.

• If a namespace that does not exist is declared
• If you declare more than one namespace for one POU definition, and a POU definition, da-
ta type, or other entity with the same name exists in two or more namespaces
• An error will occur when you build the program if the same name is used as follows for differ-
ent POU definitions or data types.
• If the same name is used for the namespace of a POU definition and at a higher level in
the namespace
• If the same name is used in a declared namespace
• If the same name is used without a namespace
Namespace Entity Short name

Not
System_A\Lifter Function block definition Process_A allowed. The name is used in the namespace of the POU definition.
System_A Function block definition Process_A Not
allowed.
The name is used at a higher level than the namespace
of the POU definition.
System_B Function block definition Process_B
Not
Process_A allowed. The name is used in a declared namespace.
Not
None Function block definition Process_A allowed. The name is used without a namespace.
6-7 Namespaces
The following notation is used in the namespace
declaration for the Process_A function block definition.
System_B
You cannot set a namespace for a program name. However, you can declare namespaces for 6
objects that are used in the algorithm of the program.
6-7-3 Procedure for Using Namespaces

6-7-3 Procedure for Using Namespaces
Use the Sysmac Studio to set the namespaces and then declare them.
Perform steps 1 and 2 when you create data types or when you create function definitions, function
block definitions, or other objects.
Declare a namespace with step 3 to use an object for which a namespace is set.
1 In the Data Type Editor, set the namespace for the data type.
2 Set the namespace in the properties of the function definition or function block definition.
3 In the Ladder Editor or ST Editor, declare the namespace in the properties of the function defi-
nition or function block definition.
4 Use the data types, function definitions, and function block definitions in the user program.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures.

6 Programming
6-8 Libraries
This section describes the specifications of libraries. Refer to the Sysmac Studio Version 1 Operation
Manual (Cat. No. W504) for specific procedures.
Version Information
quired to use libraries.
6-8-1 Introduction to Libraries

A library contains POU definitions and data types in a form that allows you to reuse them as objects in
programming. The objects in a library are called library objects.
An NJ/NX-series CPU Unit allow you to create and use libraries.
The following figure illustrates the use of library objects. Here, program A uses FUN:A1 and FB:B1
from the objects in the library, and program B uses Type:C1 and FB:B1.
Library
Sysmac Studio
Library objects
Create library. FUN:A1 FB:B1
FUN:A2 FB:B2
Type:C1 FB:B3
Type:C2
Reuse objects.
FUN:A1 Type:C1
FB:B1 FB:B1
Program A Program B
6-8-2 Specifications of Libraries

This section describes the library settings and synchronization.
Library Settings
The following settings are supported for libraries.
Setting Description
Name The name of the library.
Version The version of the library.

6 Programming
Setting Description
Author The creator of the library. (optional)
Creation date The date that the library was created.
Update date The date that the library was last updated.
Comment A comment on the library. (optional)
Company name The name of the company that created the library. (optional)
ID A unique ID that is used to access the library. The ID is generated auto-
matically. You cannot change it.
Display/hide source You can specify whether to display or hide the source. *1
Attached files You can attach one or more files.
*1. If data protection is set for a library object, a password is required to display the source code.
You can also access other libraries to create library objects. When you do, you can select whether to
include the library data from the accessed library.
When you select to include accessed library data, the accessing library is created so that it con-
tains a copy of the accessed library data. This means that only one library file is required. How-
6-8 Libraries
ever, if there is more than one accessing library, you must change each one of them to make
any changes.
When you select not to include accessed library data, the accessing library is created without
the accessed library data. This means that there will be two library files, the accessing file and
the accessed file. However, even if there is more than one accessing library, you need to
change only the accessed library to make changes.
6
l Selecting Library Objects
6-8-3 Library Object Specifications

You can select the objects to include in a library.
Library Synchronization
You can download a library to a Controller, upload a library from a Controller, or verify a Controller li-
brary against one on the computer.
• If you transfer a project for which transferring the source program is disabled from the Sys-
mac Studio to a Controller that contains libraries for which the source is displayed, the source
data for the library is not transferred.
• The libraries in the Controller are deleted for the Clear All Memory operation.
6-8-3 Library Object Specifications

This section describes the library objects that can be created and the settings for the library objects.
Applicable Library Objects

You can handle the following entities as library objects.

6 Programming
Library objects Details

POU definitions Functions and function blocks
Data types*1 Structure data types, union data types, and enumeration data types
*1. Data types are always included in the library object selections on the Sysmac Studio.
Library Object Settings

You can set the following for each library object.
Property Definition
Name The name of the library object.
Namespace The namespace of the library object.
Version*1 The version of the library object.
Author*1 The creator of the library object. (optional)
Creation date*1 The date that the library object was created.
Update date*1 The date that the object library was last updated.
Comment A comment on the library object. (optional)
*1. These items can be set only for functions and function blocks. They are set in the POU definition properties
6-8-4 Procedure to Use Libraries

Use the following procedures to create and use libraries.
Procedure to Create Libraries

Create a project to use as the library. Use the following procedure to create and save a library.
1 Create a library project.

When you create the project, select a library project as the project type in the Project Window.
2 Create library objects.

In the library project, create the required POU definitions and data types, and then check them
to make sure that they operate correctly.
3 Set the properties of the library.

Set the properties of the library project, including selecting the library objects, hiding/displaying
source code, and attached files.
4 Save the project as a library file.

Save the project in a library file in the Create Library File Dialog Box.

6 Programming
• You can change an existing project to a library project as long as the only device that is regis-
tered in the project is a Controller. Simply change the project type in the project properties to
a library project.
• You can create data that cannot be used as library objects in a library project. However, you
cannot select any of this data as library objects.
• We recommend that you use namespaces for names of the functions, function block defini-
tions, and data types that you create as library objects to prevent duplicating names with oth-
er libraries. For details on namespaces, refer to 6-7 Namespaces on page 6-141.
Procedure to Use Libraries

You can read objects that are created in libraries into a project to use them in the user program. Use
the following procedure to use libraries.
1 Specify the library.

Specify the library file to access in the Library Reference Dialog Box of the project in which to
use the library objects.
6-8 Libraries
2 Use the library objects in programming.
Use the library objects from the library that you read in the project. Use the library objects in
the same way as you use any other functions, function block definitions, or data types.
6
6-8-4 Procedure to Use Libraries

6 Programming
6-9 Programming Precautions

This section describes precautions for developing a user program.
6-9-1 Array Specifications for Input Variables, Output Variables, In-Out

Variables
Some instructions handle array variables.
Example:
Data Type Table

data ARRAY[0..4] OF INT
SetBlock
EN ENO
INT#0 In Out
data[0] AryOut data[0]
UINT#5 Size
6-9-2 Structure Variables for Input Variables, Output Variables, In-Out

Variables
Some instructions have structure variables for input, output, or in-out variables.
Example:
SerialRcv_instance
Operating SerialRcv
Execute Done
InPort Port Busy
UINT#13 Size Error
DstDat
RecvDat[0] RecvDat[0]
ErrorID
ErrorIDEx
RcvSize RecvSize
In this case, you must create a structure variable for the input, output, and in-out parameters, then use
the MOVE instruction to set the values.
Example:

6 Programming
Variable Table
InPort _sPORT
Execution Inline ST: Sets values in the Inport structure variable.

condition
1 InPort.UnitNo :=_CBU_No00; // Serial Communications Unit with unit number 0
2 InPort.PhysicPortNo :=USINT#2; // Serial port 2
SerialRcv_instance
SerialRcv
Execute Done
InPort Port Busy
UINT#13 Size Error
DstDat
RecvDat[0] RecvDat[0]
6-9 Programming Precautions

ErrorID
ErrorIDEx
RcvSize RecvSize
6-9-3 Master Control
Introduction
Master control is used to make output FALSE for all processing between the MC (Master Control Start) 6
instruction and the MCR (Master Control End) instruction.
Master control is useful to control the execution conditions of a relatively long series of instructions.
6-9-3 Master Control

Refer to information on the MC and MCR instructions in the NJ/NX-series Instructions Reference
Master Control Programming Languages

You can use master control in ladder diagrams.
You cannot use master control with ST. You also cannot use master control for inline ST inside a lad-
der diagram.
Example:
Inside a Master Control Region:
Ladder diagram algorithm The ladder diagram is reset by the master

Programs control.
User-defined For example, the output variables from OUT
function block instructions change to FALSE.
Inline ST Nothing is done.
Ladder diagram algorithm The ladder diagram is reset by the master

control.
For example, the output variables from OUT
instructions change to FALSE.

6 Programming
Operation of Instructions That Are Reset in a Master Control Re-

gion
Refer to information on the MC and MCR instructions in the NJ/NX-series Instructions Reference
Manual (Cat. No. W502) for the operation of other instructions in the master control region when mas-
ter control is reset.

7
Checking Operation and Actual
Operation
This section describes the items and procedures for checking the operation of an
NJ/NX-series Controller, including offline debugging procedures.
7-1 Overview of Steps in Checking Operation and Actual Operation ............. 7-2
7-2 Offline Debugging .......................................................................................... 7-3
7-2-1 Features of Simulation .................................................................................... 7-3
7-2-2 Simulation Execution....................................................................................... 7-3
7-2-3 Setting Up Simulations .................................................................................... 7-6
7-3 Checking Operation on the Actual System and Actual Operation ............ 7-8
7-3-1 Checking Operation on the Actual System and Actual Operation................... 7-8
7-3-2 Downloading the Project ................................................................................. 7-8 7
7-3-3 Checking I/O Wiring ........................................................................................ 7-9
7-3-4 MC Test Run.................................................................................................... 7-9
7-3-5 Checking the Operation of the User Program ............................................... 7-10
7-3-6 Starting Actual Operation ...............................................................................7-11

7 Checking Operation and Actual Operation
7-1 Overview of Steps in Checking Oper-

ation and Actual Operation
The shaded steps in the overall procedure that is shown below are related to the checking operation
and actual operation. In Step 2-4. Offline Debugging, a simulation is used to check operation without
going online with the Controller. In Step 5. Checking Operation and Starting Operation on the Actual
System, you go online with the Controller to check the operation of the physical Controller. When
checking operation is completed, you start actual operation.
Refer to 1-3 Overall Operating Procedure for the NJ/NX-series on page 1-19 for the overall procedure.


Step 4. Wiring

7-2 Offline Debugging

This section describes how to use simulation to debug operation offline. You can simulate the opera-
tion of an NJ/NX-series Controller on a computer to check the operation of the user program with only
the computer. There are also debugging operations that can be used during simulation that are not
supported on the physical Controller. This makes user program development and debugging more effi-
cient.
7-2-1 Features of Simulation

In the following way, simulation is more effective than going online with the Controller to debug opera-
tion.
• You can use breakpoints, step execution, pausing, and other functions to check program logic.
• You can select only specific programs to simulate to check only those programs.
• You can change the simulation execution speed to check operation at a slower speed than for actual
operation.
• You can use the Task Execution Time Monitor to estimate the task execution times.

• You can use debugging programs to manipulate inputs from outside the Controller.
7-2-2 Simulation Execution

You can do the following for simulations.
• Start and stop the Simulator
• Check the logic of programs.
• Estimate task execution times. 7
• Use online debugging functions.
7-2-1 Features of Simulation

Starting and Stopping the Simulator
You perform simulations by starting the Simulator from the Simulation Pane of the Sysmac Studio. Af-
ter you complete checking operation with the simulation, you stop the Simulator.
The following procedure shows how to start and stop simulations.
1 Select Simulation Pane from the View Menu of the Sysmac Studio.
The Simulation Pane is displayed on the lower right of the window.

Execute Button Stop Button
Simulation Pane
2 Click the Execute Button in the Simulation Pane.

The user program is transferred to the Simulator and the simulation starts. When a simulation
starts, the Editors and other parts of the Sysmac Studio window will enter the same state as
when the Sysmac Studio is online with the Controller.
3 After you complete checking operation, click the Stop Button in the Simulation Pane to stop the
Simulator.
Checking the Logic of Programs

You can use simulation debugging to stop the operation of the Simulator or to execute a program one
step at a time to check the validity of the program logic. You can perform the following operations with
the buttons in the Simulation Pane.
Operation Description of operation

Breakpoints Use a breakpoint to specify a location in a program and pause program execution
at that location.
Step execution Use step execution to execute one line of an ST program or one instruction in a
ladder diagram program and then pause the Simulator.
Continuous step execu- Use continuous step execution to continually perform step execution at a specified
tion interval.
Pausing Use pausing to pause execution of the simulation.
Step-in execution Use step-in execution to perform step execution of source code inside a function or
function block.
Step-out execution Use step-out execution to execute the current function or function block to the end.
One-period execution Use one-period execution to execute the current task for one period. Execution
pauses at the beginning of the program in the next period.
Conditional breakpoints Use conditional breakpoints to pause the execution of a program at a breakpoint
when the specified stopping condition is met.
Estimating Task Execution Times

If you execute the Simulator in Execution Time Estimation Mode, the estimated task execution time
from when task execution starts until it stops is displayed on the Task Execution Time Monitor. The

average and maximum estimated task execution times are displayed. Refer to Task Execution Time
Monitor on page 5-107 for the Task Execution Time Monitor.
• Select the relevant hardware revision in the Unit that the hardware revision is displayed.
• The estimated task execution times are not necessarily the same as the actual task execution
times on the physical Controller. Depending on the user program, I/O configuration, and
whether communications are used, the execution times on the physical Controller may ex-
ceed the estimated maximum value. Use them only as guidelines in task design. Always con-
firm the task execution times while connected to the physical Controller to study the designs
and before starting actual system operation.
Online Debugging Functions

With the Simulator, you can use some of the functions for debugging that are supported when you are
online with the Controller. The following table shows the differences between online debugging with
the Controller or offline debugging with the Simulator. Refer to the Sysmac Studio Version 1 Operation
Manual (Cat. No. W504) for details on the differences in debugging operations for the Controller and
for the Simulator.

(¡: Supported, ×: Not supported)
Debugging function Controller Simulator

Monitoring ¡ ¡
Monitoring in a Watch Tab Page ¡ ¡
Monitoring in the I/O Map ¡ ¡
Differential monitoring ¡ ¡
Controlling BOOL variables ¡ ¡
7
Forced Refreshing (TRUE/FALSE/Cancel) ¡ ¡
7-2-2 Simulation Execution

Changing present values of data ¡ ¡
Clearing all memory ¡ ×
Cross-reference pop-ups ¡ ¡
Online editing ¡ ¡
Monitoring Controller status ¡ ×
Monitoring task execution status ¡ ¡
Monitoring axis status (MC Monitor Table) ¡ ¡
Changing the operating mode ¡ ×
Resetting the Controller ¡ ×
Data tracing ¡ ¡
Setting triggers ¡ ¡
Setting variables to sample ¡ ¡
Starting and stopping tracing ¡ ¡
Displaying trace results ¡ ¡
Exporting trace results ¡ ¡
Creating 3D equipment models ¡ ¡
Displaying digital and analog charts ¡ ¡
Displaying 3D axis paths ¡ ¡
Monitoring task execution times ¡ ¡
Estimating execution processing times × ¡

Debugging function Controller Simulator

Debugging with program simulations × ¡
Setting simulation programs × ¡
Changing the simulation speed × ¡
Setting breakpoints × ¡
Step execution × ¡
Troubleshooting ¡ ¡
Monitoring error information ¡ ¡
Displaying error logs ¡ ¡
Setting event tables ¡ ¡
Monitoring user memory usage ¡ ¡
Clock information settings ¡ ×
Releasing access rights ¡ ×
7-2-3 Setting Up Simulations

You set the following for simulations.
• Setting simulation programs
• Setting debug programs
• Setting the simulation speed
Setting Simulation Programs

You can set the task or programs to simulate. You can choose to simulate some or all of the programs
in the user program.
The following procedure shows how to set the simulation programs.
1 Display the Simulation Pane.

Check boxes are displayed to the left of the programs that are listed under Tasks in the Multi-
view Explorer to designate programs for simulation.
2 Select the check boxes for the tasks or programs to simulate.

Setting Debug Programs

A debugging program is used to check operation with offline debugging. The debugging program con-
tains instructions to perform virtual input processing on inputs received from outside of the Controller,
force user-defined errors, and perform other such debugging tasks. You can execute debugging pro-
grams only on the Simulator.
The following procedure shows how to create debugging programs.
1 Right-click Programs under Programming − POU in the Multiview Explorer and select Add
for Debugging − Multipart Ladder or Add for Debugging − Structured Text from the menu.
A debug program is created.
2 Enter the test program code into the debugging program that you just created.
3 Assign the debugging program to a task.
You can also change a normal program that is already completed into a debug program in the
same way.

4 Right-click a program under Programming − POU − Programs in the Multiview Explorer and
select Settings For Debugging − Enable.
Setting the Simulation Speed

You can use the Simulation Speed Slider in the Simulation Pane to change the simulation speed from
0.1x to 1x. You can change simulation speed while a simulation is in progress or when it is stopped. 7
Use this to display the execution of the Simulator more slowly than for actual operation.
7-2-3 Setting Up Simulations

7-3 Checking Operation on the Actual

System and Actual Operation
This section describes the procedures from checking operation on the actual system to starting actual
operation.
7-3-1 Checking Operation on the Actual System and Actual Operation

The procedures from checking operation on the actual system to starting actual operation are given
below.
Step 1. Going Online from the Sysmac Studio and Downloading the Project Reference
1. Turn ON the power supply to the Controller. Sysmac Studio Version 1
Operation Manual (Cat.
2. Place the Sysmac Studio online with the Controller. *1
No. W504)
3. Download the project (i.e., the user program, Unit configuration, and other set-
tings) from the Sysmac Studio.
*1. You cannot connect a computer via USB to an NJ701 CPU Unit with hardware revision A or later, NX102
CPU Unit, or NX1P2 CPU Unit because they do not provide a peripheral USB port. Refer to 10-2 Connec-
tion with Sysmac Studio on page 10-8 for the procedure to connect to the Sysmac Studio.
Step 2. Checking Operation on the Controller Reference

1. In PROGRAM mode, check the I/O wiring by using forced refreshing of real I/O 7-3-3 Checking I/O Wiring
from the I/O Map or Ladder Editor. on page 7-9
2. For motion control, use the MC Test Run operations to perform the following: NJ/NX-series CPU Unit
check the wiring, jog to check the motor rotation directions, perform relative po- Motion Control User's
sitioning to check the travel distances (e.g., for electronic gear settings), and Manual (Cat. No. W507)
check homing operation. 7-3-5 Checking the Oper-
ation of the User Program
3. Change the Controller to RUN mode and check the operation of the user pro-
on page 7-10
gram.
Step 3. Starting Actual Controller Operation Reference

1. Confirm that operation is performed as designed and then start actual opera- ---
tion.
Use the synchronization function to download the project from the Sysmac Studio to the Con-
troller. Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for information
on the synchronization function.
7-3-2 Downloading the Project

Use the following procedure to download the project from the Sysmac Studio to the physical Control-
ler.

1 Go online with the Controller, and then select Synchronization from the Controller Menu.
The data on the computer and the data in the physical Controller are compared automatically.
2 Click the Transfer to Controller Button.
7-3 Checking Operation on the Actual System and Actual Operation

For CPU Units with unit version 1.40 or later, the Controller reset is required in any of the follow-
ing cases. Transfer the project according to the message on the Sysmac Studio.
• When an attempt is made to transfer a project with project unit version 1.40 or later to a CPU
Unit where a project with project unit version earlier than 1.40 is stored.
• When an attempt is made to transfer a project with project unit version earlier than 1.40 to a
CPU Unit where a project with project unit version 1.40 or later is stored.
• After the Clear All Memory operation is performed on a CPU Unit where a project with project
unit version 1.40 or later is stored, without executing the Controller reset, an attempt is made
to transfer a project with project unit version earlier than 1.40.
7-3-3 Checking I/O Wiring

Check the I/O wiring by using forced refreshing from the Watch Tab Page of the Sysmac Studio. You
can write values to I/O for Units or slaves to check the results to test the I/O wiring.
Refer to 8-6-1 Forced Refreshing on page 8-52 for information on forced refreshing.
7-3-4 MC Test Run

The MC Test Run function is used mainly to perform the following operations from the Sysmac Studio
without a user program. 7
• Checking wiring: You can monitor Servo Drive connector I/O signals and Servo Drive status.
• Checking the operation and direction of the motor: You can turn ON the Servo and jog axes.
7-3-3 Checking I/O Wiring

• Checking electronic gear settings: You can perform relative positioning, and check and change trav-
el distances.
• Checking homing: You can check the homing operation.
Connect online to the Controller from the Sysmac Studio and perform the MC Test Run on the MC Test
Run Tab Page.
For details, refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507).
Use the following procedure.
1 After you complete the necessary wiring, connect the Sysmac Studio online to the Controller.
2 Create axes, assign the axes, and set the following axis parameters.
Axis parameter settings required for an MC Test Run: Unit of Display, Command Pulses Per
Motor Rotation, Travel Distance Per Motor Rotation, Maximum Velocity, Maximum Jog Velocity,
Maximum Acceleration Rate, Maximum Deceleration Rate, Software Limit Function Selection,
Software Limits, and Count Mode
3 Open the MC Test Run Tab Page and perform the following.
Example:

• Monitoring and checking wiring

• Jogging to check the direction of the motor
• Check travel distances for relative positioning (electronic gear settings).
• Confirming the homing operation
7-3-5 Checking the Operation of the User Program

To check the operation of the user program on the actual system, change the operating mode of the
CPU Unit to RUN mode. You can use the following to check operation.
• Checking the operation of the user program
• Correcting the user program with online editing
• Checking the operation of the user program with data tracing
Checking the Operation of the User Program

You can perform the following to check the operation of the user program.
1 Monitor the execution status of the user program.
2 Check the operation by changing the status of program inputs and program outputs, and the
values of variables.
l Monitoring the Execution Status of the User Program

You can monitor the TRUE/FALSE status of program inputs and outputs and the present values of
variables in the Controller. You can monitor the status on the Ladder Editor, Watch Tab Page, or I/O
Map of the Sysmac Studio.
l Checking the Operation by Changing the Status of Program Inputs and

Program Outputs, and the Values of Variables
You can change the TRUE/FALSE status of program inputs and outputs and the present values of
variables in the user program to see if the user program operates as designed. Use forced refresh-
ing to change the status of program inputs and program outputs. Use one of the methods to
change the present values of variables.
Refer to 8-6-1 Forced Refreshing on page 8-52 and 8-6-2 Changing Present Values on page
8-56 for details.
Correcting the User Program with Online Editing

You can use online editing to correct a user program that you determined needs to be corrected while
checking operation. You can use online editing to change a user program without stopping the opera-
tion of the CPU Unit.
Refer to 8-6-3 Online Editing on page 8-58 for details.

Checking Operation with Data Tracing

You can use data tracing to check when program inputs and program outputs are changed to TRUE or
FALSE and to check changes in the values of variables.
Refer to 8-6-4 Data Tracing on page 8-59 for details.
7-3 Checking Operation on the Actual System and Actual Operation

7-3-6 Starting Actual Operation
Change the operating mode to RUN mode to start actual operation. Check the user program, data,
and parameter settings sufficiently for proper execution before you use them for actual operation.
7-3-6 Starting Actual Operation


8
CPU Unit Functions
This section describes the functionality provided by the CPU Unit.
8-1 Data Management, Clock, and Operating Functions .................................. 8-3

8-1-1 Clearing All Memory ........................................................................................ 8-3
8-1-2 Clock ............................................................................................................... 8-3
8-1-3 RUN Output..................................................................................................... 8-6
8-2 Management Functions for NX Units ........................................................... 8-7
8-2-1 NX Bus Function Module................................................................................. 8-7
8-2-2 Mounting Settings of NX Units on the CPU Unit ............................................8-11
8-2-3 Restarting NX Units on the CPU Unit............................................................ 8-14
8-2-4 Checking Wiring for NX Units on the CPU Unit............................................. 8-15
8-2-5 Fail-soft Operation for NX Units on the CPU Unit ......................................... 8-16
8-2-6 Monitoring Total Power-ON Time for NX Units on the CPU Unit ................... 8-19
8-3 Management Functions for CJ-series Units .............................................. 8-21
8-3-1 Basic I/O Units............................................................................................... 8-21
8-3-2 Special Units ................................................................................................. 8-22 8
8-4 SD Memory Card Operations ...................................................................... 8-24
8-4-1 SD Memory Card Operations ........................................................................ 8-24
8-4-2 Specifications of Supported SD Memory Cards, Folders, and Files ............. 8-25
8-4-3 SD Memory Card Operation Instructions ...................................................... 8-28
8-4-4 FTP Client Communications Instructions ...................................................... 8-28
8-4-5 FTP Server .................................................................................................... 8-29
8-4-6 File Operations from the Sysmac Studio....................................................... 8-29
8-4-7 SD Memory Card Life Expiration Detection................................................... 8-29
8-4-8 List of System-defined Variables Related to SD Memory Cards ................... 8-30
8-4-9 SD Memory Card Self-diagnostic Functions ................................................. 8-31
8-4-10 Exclusive Control of File Access in SD Memory Cards................................. 8-33
8-5 Security ......................................................................................................... 8-34
8-5-1 Authentication of User Program Execution IDs ............................................. 8-35
8-5-2 User Program Transfer with No Restoration Information .............................. 8-38
8-5-3 Overall Project File Protection....................................................................... 8-39
8-5-4 Data Protection.............................................................................................. 8-39
8-5-5 Secure Communication Function .................................................................. 8-41
8-5-6 Secure Socket Services ................................................................................ 8-42
8-5-7 TCP/UDP Port Close Function ...................................................................... 8-42
8-5-8 Packet Filter .................................................................................................. 8-42
8-5-9 Operation Authority Verification..................................................................... 8-43
8-5-10 User Authentication ....................................................................................... 8-44
8-5-11 CPU Unit Write Protection ............................................................................. 8-48
8-5-12 CPU Unit Names and Serial IDs ................................................................... 8-50

8-5-13 Access log ..................................................................................................... 8-51

8-6 Debugging..................................................................................................... 8-52
8-6-1 Forced Refreshing......................................................................................... 8-52
8-6-2 Changing Present Values .............................................................................. 8-56
8-6-3 Online Editing ................................................................................................ 8-58
8-6-4 Data Tracing .................................................................................................. 8-59
8-6-5 Differential Monitoring ................................................................................... 8-66
8-7 Event Logs .................................................................................................... 8-72
8-7-1 Introduction.................................................................................................... 8-72
8-7-2 Detailed Information on Event Logs .............................................................. 8-74
8-7-3 Controller Events (Controller Errors and Information) ................................... 8-78
8-7-4 User-defined Events (User-defined Errors and Information) ......................... 8-79
8-8 Changing Event Levels................................................................................ 8-86
8-8-1 Applications of Changing Event Levels ......................................................... 8-86
8-8-2 Events for Which the Event Level Can Be Changed..................................... 8-86
8-8-3 Procedure to Change an Event Level ........................................................... 8-86

8-1 Data Management, Clock, and Operat-

ing Functions
This section describes the data management, clock, and operating functions.
8-1-1 Clearing All Memory

You can initialize the user program, Controller Configurations and Setup, variables, and absolute en-
coder home offset in the CPU Unit to the defaults from the Sysmac Studio. This is called the Clear All
Memory operation.
8-1 Data Management, Clock, and Operating Functions

• The Clear All Memory operation can be performed only in PROGRAM mode.
• You cannot execute the Clear All Memory operation when write protection of the CPU Unit is
set in the security functions.
• Do not turn OFF the power supply to the CPU Unit during the Clear All Memory operation.
• The client private key, client certificate and secure socket setting for the secure socket com-
munications are out of the target of the Clear All Memory operation.
Use the Secure Socket Configuration commands to initial the client private key, client certifi-
cate and secure socket setting that are used for the secure socket communications.
After you clear the memory, the Controller operates in the same way as immediately after you create
the system configuration with the CPU Unit in the factory default condition.
l Operations from the Sysmac Studio

Connect the Sysmac Studio to the CPU Unit online, and select the Clear All Memory from the
Controller Menu.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific procedures. 8
8-1-2 Clock
8-1-1 Clearing All Memory

Overview
A clock (RTC) is built into the CPU Unit.
The clock data from this clock is used for timestamps in the event logs and for the time and date of
files that are created on the SD Memory Card.
The following functions are supported.
• Reading/writing the clock from the Sysmac Studio
• Reading/writing the clock with instructions
• Reading the clock from system-defined variables (Writing is not possible.)
• Correcting the clock from an NTP server

• Reading/writing the clock from the Sysmac Studio

• Reading/writing the clock with instructions
• Correcting the clock from an NTP server
CPU Unit
Clock data
• Event logs
• Time and date of files that are
created on SD Memory Card
Battery backup
Battery
CJ1W-BAT01
• The clock data is retained by the Battery when the power is turned OFF. If the battery is not
installed, the clock data is not correct when the power is turned ON. If the battery is not instal-
led, reset the clock data from an NTP server over an EtherNet/IP network after the power is
turned ON.
• The clock data is retained by a built-in capacitor when the battery-free operation is used in
the NX102 and NX1P2 CPU Units. When the power of the device is turned OFF if the reten-
tion time in the built-in capacitor is exceeded, the clock data are initialized. If you use the
clock data in the event log and other functions, specify the clock data when you turn ON the
power supply every time.
l Clock Data Range

• NX-series CPU Units:1970-01-01 to 2069-12-31 (January 1, 1970 to December 31, 2069).
• NJ-series CPU Units:1970-01-01 to 2106-02-06 (January 1, 1970 to February 6, 2106).
l Setting the Time Zone and the Local Time

Before you use the Controller for the first time, set the time zone and local time in the clock data.
You can set the time zone and local time from the Sysmac Studio in the Controller Clock Dialog
Box.
The clock data that is read by the EtherCAT slaves and CJ-series CPU Units from the CPU Unit
and the clock data that is set are the local times in the time zone.
When a Battery is not mounted or when the Battery voltage is low, the time zone setting is re-
tained, but the clock data is not retained and will not be correct.
Setting the Clock Data

Use one of the following methods.
l Changing Clock Data from the Sysmac Studio

You can use the Sysmac Studio to synchronize the clock data of the built-in clock with the clock on
the computer.

l Changing Clock Data with Instructions

You can use the SetTime instruction to set the clock data.
l Changing the Clock Data from an NTP Server

You can use an NTP server on EtherNet/IP to set the clock data.
Correcting the Clock from an NTP Server
l Application
In a network system, the clock data must be shared by the entire system. NTP is supported to ena-
ble easy time synchronization.
8-1 Data Management, Clock, and Operating Functions

l Specifications
An NTP client is provided.
Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for
details.
Reading the Clock Data

If the clock data is incorrect, the incorrect value is read.
l Reading the Clock Data from Instructions

You can use the GetTime instruction to read the clock data from the user program.
l Reading the Clock from System-defined Variables (Writing Is Not Possible)

You can use the following system-defined variable to read the clock data.
_CurrentTime (System Time)
8
l Sysmac Studio Procedure
8-1-2 Clock
You can select Controller Clock from the Controller Menu of the Sysmac Studio to display the
clock data.
Logging
When you change the clock data, an event is recorded in the event log.
However, nothing is recorded in the event log if the time is corrected for the NTP.
Related System-defined Variables

R/
Variable name Meaning Function Data type
W
_CurrentTime System Time This variable contains the CPU Unit’s internal DATE_AND_TIME R
clock data.

8-1-3 RUN Output
Introduction
The RUN output on NX-PA9001, NX-PD7001, or NJ-P£3001 Power Supply Unit is ON while the CPU
Unit is operating.
RUN
output
The RUN output operates as shown in the following table.
Status Operation
During RUN mode ON
Startup state OFF
(until RUN mode is entered according to the Startup
Mode setting)
During PROGRAM mode
When a major fault level Controller error occurs
The ratings of the RUN output on NX-PA9001, NX-PD7001, or NJ-P£3001 Power Supply Unit are as
follows:
Item Description
Contact form SPST-NO
Switching capacity 2 A at 250 VAC for resistive load
0.5 A at 120 VAC for inductive load
2 A at 24 VDC for resistive load
Application
• Obtain a signal to notify the host that the CPU Unit is functioning normally and is currently operating.
• Synchronize the completion of startup of more than one CPU Unit
• Release interlocks when the CPU Unit starts operation.
It takes up to approximately 10 to 20 seconds to enter RUN mode after the power is turned ON.
The outputs during this time behave according to the slave or Unit specifications.
Use the RUN output on the Power Supply Unit, for example, to implement fail-safe circuits so
that external devices do not operate incorrectly.

8-2 Management Functions for NX Units

This section describes the management functions used for NX Units on the NX102 CPU Unit or
NX1P2 CPU Unit.
You can use NX Units only on the NX102 and NX1P2 CPU Units.
8-2-1 NX Bus Function Module

The NX Bus Function Module performs processing such as a management of event logging, manage-
ment of status, and I/O refreshing for the NX Units that are connected to the NX bus of the CPU Unit
as a master of the NX bus (hereafter NX bus master).
For I/O data that are handled by the NX Bus Function Module, there are two kinds of I/O data, the
status of NX Units managed by the NX Bus Function Module as the NX bus master and I/O data for
individual NX Units. The variables are the assignable I/O ports for both of them.

There are two kinds of variables to access I/O data, device variables that are assigned to I/O ports
and system-defined variables for the NX Bus Function Module.
The following describes the status of NX Units managed by the NX Bus Function Module as the NX
bus master, I/O data for individual NX Units, assigning device variables to I/O ports, and programming
sample using device variables.
Status of NX Units Managed by the NX Bus Function Module as the

NX Bus Master
For the status of NX Units managed by the NX Bus Function Module as the NX bus master, you can
8
use only device variables assigned to I/O ports to access, only system-defined variables to access, or

both of device variables and system-defined variables to access.
l A List of Status of NX Units Managed by the NX Bus Function Module as

the NX Bus Master
Name I/O port System-defined variable
NX Unit Registration Status NX Unit Registration Status _NXB_UnitRegTbl
NX Unit Message Enabled Status NX Unit Message Enabled Status _NXB_UnitMsgActiveTbl
NX Unit I/O Data Active Status NX Unit I/O Data Active Status _NXB_UnitIOActiveTbl
NX Unit Error Status NX Unit Error Status _NXB_UnitErrFlagTbl
Time Stamp of Synchronous Input Time Stamp of Synchronous Input ---
Time Stamp of Synchronous Output TimeStamp of Synchronous Output ---
NX Bus Function Module Error Status --- _NXB_ErrSta
NX Bus Function Module Master Error Status --- _NXB_MstrErrSta
NX Bus Function Module Unit Error Status --- _NXB_UnitErrStaTbl

l Descriptions of Status of NX Units Managed by the NX Bus Function Mod-

ule as the NX Bus Master
Name Description
NX Unit Registration Status This status tells whether the NX Units are registered in the Unit configura-
tion.
Each bit has the following meaning.
TRUE: Registered
FALSE: Not registered
If the Unit configuration information is registered, the status is TRUE for

each Unit that is registered.
If the Unit configuration information was automatically created (with only
the actual Unit configuration information and no registered information),
the status is FALSE for all Units.
The status is TRUE for NX Units that are set as unmounted Units.
Each bit is updated at the following times.
• If the Unit Configuration Information Is Registered:
The status changes to TRUE when the system is started.
The status changes to FALSE when the configuration information is
cleared.
• If the Unit Configuration Information Is Automatically Created:
The status changes to TRUE when the configuration information is con-
firmed.
The status is always FALSE if the Unit configuration information is auto-
matically created.
NX Unit Message Enabled Sta- This status tells whether the NX Units can process message communica-
tus tions.
TRUE: Message communications possible.
FALSE: Message communications not possible.
The status says that message communications are enabled for NX Units
that meet the following conditions.
• The comparison shows no differences (only if the Unit configuration in-
formation is registered).
• The NX Unit does not have a WDT error.
The status is FALSE for NX Units that are set as unmounted Units.
Each bit is updated when the message communications status changes on
the corresponding NX Unit.
NX Unit I/O Data Active Status This status tells whether the NX Units can process I/O data communica-
tions.
TRUE: The I/O data in the NX Unit can be used for control.
FALSE: The I/O data in the NX Unit cannot be used for control.
Each bit is updated when the operating status changes on the correspond-
ing NX Unit.
If both of NX Unit Registration Status and NX Unit I/O Data Active Status
are TRUE, the target NX Units operate normally.

Name Description
NX Unit Error Status This status tells whether an error exists on the NX Units.
TRUE: Error
FALSE: No error
Each bit is set to TRUE when the level of the error is as follows:
• Major fault
• Partial fault
• Minor fault
• Observation
Each bit is updated at the following times.
The status changes to TRUE when an error occurs.
The status changes to FALSE when the error is reset. Even if the cause of
the error has been removed, you must reset the error for the status to
change to FALSE.
Time Stamp of Synchronous This time stamp tells when a synchronous input occurred in the NX Unit
Input that supports synchronous I/O refreshing. The unit is ns.

Time Stamp of Synchronous This time stamp tells when a synchronous output occurred in the NX Unit
Output that supports synchronous I/O refreshing. The unit is ns.
NX Bus Function Module Error Gives the NX Bus Function Module error status. This status collects the
Status NX Bus Function Module Master Error Status and NX Bus Function Mod-
ule Unit Error Status for all NX Units.
NX Bus Function Module Mas- Gives the status of errors that are detected in the NX Bus Function Module
ter Error Status of the CPU Unit. Refer to A-6-8 Meanings of Error Status Bits on page
A-137 for the meanings of the error status bits.
NX Bus Function Module Unit Gives the status of errors that are detected in the NX Unit on the CPU
Error Status Unit. This status is given as an array of WORD data. The subscript of the
array corresponds to the NX Unit number. Refer to A-6-8 Meanings of Er-
ror Status Bits on page A-137 for the meanings of the error status bits.
Refer to A-6-4 NX Bus Function Module, Category Name: _NXB on page A-93 for details on the 8
related system-defined variables.

l Update Timing of Status of NX Units Managed by the NX Bus Function
Module as the NX Bus Master
Name I/O port for an NX Unit System-defined variable
NX Unit Registration Status Not synchronized with task execution Not synchronized with task execution
NX Unit Message Enabled Status Not synchronized with task execution Not synchronized with task execution
NX Unit I/O Data Active Status Synchronized with primary periodic Synchronized with primary periodic
task task
NX Unit Error Status Synchronized with primary periodic Synchronized with primary periodic
task task
Time Stamp of Synchronous Input Synchronized with primary periodic ---
task
Time Stamp of Synchronous Output Synchronized with primary periodic ---
task
NX Bus Function Module Error Status --- Not synchronized with task execution
NX Bus Function Module Master Error --- Not synchronized with task execution
Status
NX Bus Function Module Unit Error --- Not synchronized with task execution
Status

I/O Data for Individual NX Units

I/O data are determined by the model number of the NX Unit and the functionality. You can use only
device variables that are assigned to an I/O port of an NX Unit to access I/O data.
Refer to the user’s manual for the specific NX Units for details on I/O data for individual NX Units.
Assigning Device Variables to I/O Ports

When you create the Unit configuration information on the Sysmac Studio, the status of NX Units man-
aged by the NX Bus Function Module as the NX bus master and I/O data for NX Units mounted on the
CPU Unit are automatically registered as I/O ports.
The variables that are assigned to I/O ports for status and I/O data are device variables.
l I/O Port Names

The status of NX Units managed by the NX Bus Function Module as the NX bus master is given as
the following six kinds of I/O port names for each NX Unit.
Name I/O port name Data type

NX Unit Registration Status Device name + NX Unit Registration Status BOOL
NX Unit Message Enabled Status Device name + NX Unit Message Enabled Status BOOL
NX Unit I/O Data Active Status Device name + NX Unit I/O Data Active Status BOOL
NX Unit Error Status Device name + NX Unit Error Status BOOL
Time Stamp of Synchronous Input Device name + Time Stamp of Synchronous Input ULINT
Time Stamp of Synchronous Output Device name + TimeStamp of Synchronous Output ULINT
Example for NX Unit Registration Status with a device name N1:

N1 NX Unit Registration Status
Example for Time Stamp of Synchronous Input with a device name N2:
N2 Time Stamp of Synchronous Input
I/O port names are determined by the model number of the NX Unit and the functionality for I/O
data for NX Units mounted on the CPU Unit.
Example for a Digital Input Unit:

Input Bit 00
Example for an Analog Output Unit:
l Registering Device Variables

You assign device variables to I/O ports in the I/O Map of the Sysmac Studio. The device variables
that you create are registered in the variable table.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on registering
device variables with the Sysmac Studio.
l Device Variable Attributes

Refer to Device Variable Attributes on page 3-11 for details on device variable attributes.

Programming Sample Using Device Variables

The following describes a programming sample when using the NX Unit device variables.
l Testing the Validity of I/O Data for Individual NX Units

A sample programming that determines whether NX Unit (NX Unit number: 5) I/O data on the CPU
Unit is valid is given below. The NX Unit I/O Data Active Status and the NX Unit Error Status are
used.
The I/O data is manipulated in the NX Unit (NX Unit number: 5) if I/O data is valid.
Nx_Unit5_IOActive Nx_Unit5_Error
MemCopy1
MemCopy
EN ENO
In1[1] In Out
AryOut1[1] AryOut
AryOut1[1]
UINT#3 Size

Nx_Unit5_IOActive: This is a device variable to indicate the NX Unit I/O Data Active Status with NX Unit number 5.
Nx_Unit5_Error: This is a device variable to indicate the NX Unit Error Status with NX Unit number 5.
l Testing Whether Individual NX Units Can Process Message Communica-

tions
A sample programming that confirms whether NX Unit (NX Unit number: 5) on the CPU Unit can
process message communications is given below. The NX Unit Message Enabled Status is used.
The Write NX Unit instruction is used to send a message to the NX Unit (NX Unit number: 5) if
message communications is enabled.
Nx_Unit5_MessageActive
NX_WriteObj1
NX_WriteObj 8
Execute Done
UnitProxy1 UnitProxy Busy
Obj1 Obj Error
8-2-2 Mounting Settings of NX Units on the CPU Unit

TimeOut ErrorID
WriteDat1 WriteDat ErrorIDEx
Nx_Unit5_MessageActive: This is a device variable to indicate the NX Unit Message Enabled Status with NX Unit number 5.

This section describes the mounting settings of NX Units on the CPU Unit.
Overview of Function
You can use this function to register NX Units that will be added to at a later time in the Unit configura-
tion information as unmounted Units. With this function, you can create the program in advance for NX
Units that are not mounted to the actual configuration.
You can use this function even if a specific Unit is temporarily unavailable such as when commission-
ing the system.

• I/O memory area is reserved for these unmounted NX Units in the same way that it is reserved for
NX Units that are mounted to the actual configuration.
• Unmounted NX Units are also assigned NX Unit numbers. This prevents the NX Unit numbers of
other NX Units on the CPU Unit from changing when you change the setting of an NX Unit that is
not mounted to the setting of an NX Unit that is mounted to the actual configuration.
♯2 ♯3 ♯7
NX Unit NX Unit NX Unit
NX Units to add later
End Cover
CPU Unit ♯1 ♯4 ♯5 ♯6 ♯8
NX Unit NX Unit NX Unit NX Unit NX Unit
Current Unit
configuration
CPU Unit ♯1 ♯2 ♯3 ♯4 ♯5 ♯6 ♯7 ♯8
NX Unit NX Unit NX Unit NX Unit NX Unit NX Unit NX Unit NX Unit
Unit configuration (Set as an (Set as an (Set as an
information that is unmounted unmounted unmounted
Unit configuration
created Unit.) Unit.) Unit.)
information
The Unit configuration information includes information on unmounted Units so that I/O memory area is
also reserved for them.
Operating Specifications for NX Units That Are Set as Unmounted

Units
The operating specifications for NX Units that are set as unmounted Units are given in the following
table.
Item Operation
Bandwidth reservation for I/O refresh data with the Bandwidth is reserved.
EtherCAT master
I/O refreshing with the EtherCAT master The I/O is not refreshed.
Detection of events Events are not detected.
Assignment of NX Unit numbers to NX Units Unit numbers are not assigned because the Units do
not exist.

Item Operation
Message communications Not possible because the Units do not exist.
Transfers for the synchronization function of the Sys- Not applicable.
mac Studio
Transfer of the Unit operation settings Not applicable.
Sysmac Studio Controller backup function Not applicable.
SD Memory Card backup function Not applicable.
Instructions Parameters cannot be read or written. An instruction
error will occur.
Clearing all memory Not applicable.
Reading/writing setting information through backup/ Not applicable.
restore operations
Reading event logs Not applicable.
Notification of status information Not applicable.
NX Units that are set as unmounted Units are included in the calculations for total power consumption
and total Unit width when the Unit configuration is created on the Sysmac Studio.

Check the user program, data, and parameter settings for proper execution before you use
them for actual operation.
When you mount an NX Unit that was set as an unmounted Unit, a Unit Configuration Verifica-
tion Error will occur.
Setting NX Units as Unmounted Units

In the CPU and Expansion Racks Tab Page on the Sysmac Studio, select the target NX Unit and set 8
the NX Unit Mounting Setting to Disabled. The selected NX Unit is set as an unmounted Unit. After
you change the settings for any NX Units, always transfer the Unit configuration information to the

CPU Unit.

8-2-3 Restarting NX Units on the CPU Unit

This section describes restarting an NX Unit on the NX1P2 CPU Unit. The restart function is used to
enable values that are set for the NX Unit without cycling the power supply to the Controller.
Types of Restarts
The following table gives the types of restarts for individual NX Units.
Type Function
Restarting NX Bus Function Module All NX Units on the CPU Unit are restarted.
Restarting Individual NX Units The specified NX Unit is restarted.
Restarting NX Bus Function Module

All NX Units on the CPU Unit are restarted.
Specify the NX Bus Function Module and then execute the restart. The restart of the NX Bus Function
Module does not affect the task execution of the CPU Unit. Also an error will not occur.
The methods for restarting are listed below.

• Sysmac Studio
• RestartNXUnit (Restart NX Unit) instruction
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on the RestartN-
XUnit instruction.

Restarting Individual NX Units

One specified NX Unit is restarted.
The methods for restarting an NX Unit are listed below.
• Sysmac Studio
• RestartNXUnit (Restart NX Unit) instruction
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on the RestartN-
XUnit instruction.
The NX Bus Function Module and all NX Units that were not specified for restarting continue to oper-
ate.
Restarting an NX Unit
Place the Sysmac Studio online. In the CPU and Expansion Racks Tab Page, right-click the CPU Unit
and select Restart for NX Bus/NX Unit – Yes. All NX Units on the CPU Unit are restarted.
In the same way, right-click the NX Unit to restart and select Restart for NX Bus/NX Unit – Yes. The

specified NX Unit is restarted.
8-2-4 Checking Wiring for NX Units on the CPU Unit

This section describes how to check the wiring for NX Units on the NX102 CPU Unit or NX1P2 CPU
Unit.
You can use the Sysmac Studio to check the wiring between NX Units on the CPU Unit and I/O devi-
ces during system commissioning even if the user program is not created.
Preparation 8
Create the NX Unit configuration information and check whether the Unit configuration on the Sysmac
Studio agrees with the actual Unit configuration if the NX Unit configuration information was transfer-
8-2-4 Checking Wiring for NX Units on the CPU Unit

red to the CPU Unit.
If the NX Unit configuration information was not transferred to the CPU Unit, go online, right-click any-
where in the CPU and Expansion Racks Tab Page and select Compare and Merger with Actual Unit
Configuration. The configuration is automatically configured.
How to Check the Wiring

Item to check Checking method
Checking inputs Place the Sysmac Studio online and you can monitor the present values of Unit I/O ports in
the I/O Map.
Checking out- Place the Sysmac Studio online, and forced refreshing or set/reset Unit I/O ports in the I/O
puts Map.
Refer to 8-6-1 Forced Refreshing on page 8-52 for information on forced refreshing.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the operations on the
Sysmac Studio.

• For Position Interface Units and other NX Units that are assigned to axes, use the MC Test
Run of the Sysmac Studio. Refer to the NJ/NX-series CPU Unit Motion Control User's Manual
(Cat. No. W507) for details.
• Use the I/O checking of EtherCAT Slave Terminals to check the wiring of NX Units on the
EtherCAT Coupler Unit. Refer to the NX-series EtherCAT Coupler Units User’s Manual (Cat.
No. W519) for details.
8-2-5 Fail-soft Operation for NX Units on the CPU Unit

This section describes the fail-soft operation for the NX Bus Function Module of the CPU Unit.
Only the NX102 CPU Units and NX1P2 CPU Units have the NX Bus Function Module.
This function allows the NX Bus Function Module to start or continue I/O refreshing only with the NX
Units on the CPU Unit that can operate normally when an error occurs for the NX Bus Function Mod-
ule.
For example, you can use this function in the following cases.
• When it is dangerous to stop all NX Units on the CPU Unit at once.
• To continue the operation of the NX Units on the CPU Unit until the system can be stopped safely
through the user program or user operation.
• To not stop all devices, i.e., to continue operation for only some devices
End Cover
CPU Unit ♯1 ♯2 ♯3 ♯4 ♯5
Error occurs.
End Cover
CPU Unit ♯1 ♯2 ♯3 ♯4 ♯5
Start or continue I/O Stop or do not start I/O

refreshing for NX Units refreshing for NX Units that
that can operate normally. cannot operate normally.

If you change the fail-soft operation setting, the output status when the error occurs may also
change. Confirm safety before you change the setting.
If you use fail-soft operation, write programming to determine whether Unit I/O data is valid.
Without such programming, the user program cannot distinguish between Units for which I/O
refreshing is continued and Units for which I/O refreshing is stopped.
To determine whether Unit I/O data is valid, use the variables to indicate the NX Unit I/O Data
Active Status and NX Unit Error Status from the NX Unit device variables.
A sample programming that determines whether NX Unit (NX Unit number: 5) I/O data on the
CPU Unit is valid is given below.
R_HandSensor_Active R_HandSensor_Error
MemCopy1
MemCopy
EN ENO
In1[1] In Out

AryOut1[1] AryOut
AryOut1[1]
UINT#3 Size
R_HandSensor_Active: This is a device variable to indicate the NX Unit I/O Data Active Status with NX Unit number 5.
R_HandSensor_Error: This is a device variable to indicate the NX Unit Error Status with NX Unit number 5.
Operations for Errors

The following table describes the operation of the NX Bus Function Module when the NX Bus Function
Module is used with and without fail-soft operation.
Operation when an error occurs while Operation when an error occurs dur-
Operating status
starting ing normal operation 8
With fail-soft operation The NX Bus Function Module starts I/O The NX Bus Function Module continues
8-2-5 Fail-soft Operation for NX Units on the CPU Unit

refreshing for the NX Units that can oper- I/O refreshing for the NX Units that can
ate normally. operate normally.
It does not start I/O refreshing for NX It stops I/O refreshing for NX Units that
Units that cannot operate normally. cannot operate normally.
Without fail-soft opera- The NX Bus Function Module does not The NX Bus Function Module stops I/O
tion*1 start I/O refreshing for any of the NX refreshing for any of the NX Units.
Units.
*1. When an error occurs, I/O refreshing for the NX Units on the CPU Unit that is not started, i.e., I/O refreshing
for the NX Units on the Controller that is stopped is called “entire stop”.
Except for the I/O refreshing, the operation when an error occurs for the NX Bus Function Module is
the same regardless of whether fail-soft operation is used. Specifically, error notification is provided
and errors are recorded in the event log.
Setting Fail-soft Operation

l Using Fail-soft Operation

To enable fail-soft operation, select the CPU Unit in the CPU and Expansion Racks Tab Page on
the Sysmac Studio and set the Fail-soft Operation Setting to Fail-soft operation.
The default for the Fail-soft Operation Setting for the NX Bus Function Module is Fail-soft
operation.
l Not Using Fail-soft Operation

To disable fail-soft operation, select the CPU Unit in the CPU and Expansion Racks Tab Page on
the Sysmac Studio, and set the Fail-soft Operation Setting to Stop.
• After you change the setting, always transfer the changed settings to the CPU Unit.
• Refer to 4-2-4 Unit Configuration and Unit Setup for NX102 and NX1P2 CPU Units on page
4-13 for information on the Unit configurations and settings for the NX102 CPU Units and
NX1P2 CPU Units.
Errors to Which Fail-soft Operation Applies

The following errors are examples of the errors to which fail-soft operation applies.
• NX Bus Communications Error
• Registered NX Unit Not Mounted
• NX Unit Communications Timeout
• NX Unit Initialization Error
• NX Unit Startup Error
Even if you enable Fail-soft operation, the NX Bus Function Module may not start I/O refreshing for
all of the NX Units when the CPU Unit is started, depending on the cause of the error.
Refer to Causes of Unit Configuration Verification Errors and Error Operation on page 8-18 for details
on the operation for different error causes.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the errors to which fail-soft op-
eration applies.
If an error occurs to which fail-soft operation does not apply, the NX Bus Function Module will stop I/O
refreshing for all NX Units even if you enable fail-soft operation.
Causes of Unit Configuration Verification Errors and Error Opera-

tion
Even if you enable Fail-soft operation, I/O refreshing may not start depending on the cause of the
error when the CPU Unit starts.
Examples are provided below.

Example of Unit configuration information

and actual configuration Description of configura- Operation when CPU Unit
NX Unit numbers tion starts
1 2 3 4 5
Unit configuration A B C D E*1 The following models of ---
information Units are mounted after the
CPU Unit in the order given
on the left: A, B, C, D, and
E.
Actual Case 1 A B C --- --- Unit D is not mounted. I/O refreshing does not start
config- for NX Unit numbers 1, 2,
uration and 3 because fail-soft oper-
ation is enabled.
Case 2 A C D --- --- Unit B is not mounted. I/O refreshing does not start
for any of the NX Units.
Case 3 A B D C --- Unit C and D are mounted in I/O refreshing does not start
reverse order. for any of the NX Units.
Case 4 A B C D D An extra Unit D is mounted I/O refreshing does not start

for NX Unit number 5. for any of the NX Units.
Case 5 A B C F --- Unit F is mounted for NX I/O refreshing does not start
Unit number 4, but it does for any of the NX Units.
not exist in the Unit configu-
ration information.
Case 6 A B C D E Unit E is mounted for NX I/O refreshing does not start
Unit number 5 even though for any of the NX Units.
its NX Unit Mounting Setting
is set to Disable.
*1. Unit E has the NX Unit Mounting Setting set to Disable.
8-2-6 Monitoring Total Power-ON Time for NX Units on the CPU Unit
This section describes how to monitor the total power-ON time for NX Units on the CPU Unit.
8
Each of the NX Units on the CPU Unit records the total time that the Unit power supply is ON to it. You
8-2-6 Monitoring Total Power-ON Time for NX Units on the CPU Unit
can display these times on the Sysmac Studio.
Specifications of Monitoring Total Power-ON Times

The specifications of monitoring the total power-ON times are given in the following table.
Item Specification
Display unit • When total power-ON time is less than 1 hour : Minutes
• When total power-ON time is 1 hour or longer : Hours
Update interval • When total power-ON time is less than 24 hours : 10 minutes
• When total power-ON time is 24 hours or longer : 1 hour
Measurement error 1 hour/month max.
Default setting 0 minutes
Checking Total Power-ON Times

You can use the Sysmac Studio to check the total power-ON times of NX Units on the CPU Unit.

Or, you can use the following special instruction to check the total power-ON times.
• NX_ReadTotalPowerOnTime instruction
This section describes how to check the total power-ON times with the Sysmac Studio. Refer to the
NJ/NX-series Instructions Reference Manual (Cat. No. W502) for details on the NX_ReadTotalPower-
OnTime instruction.
l Checking Total Power-ON Times with Sysmac Studio

You can use the Production Information on the Sysmac Studio to check.
1 Go online.
2 Right-click CPU Rack under Configurations and Setup - CPU/Expansion Racks in the Multi-
view Explorer and select Production Information.
The Production Information Dialog Box is displayed.
You can check the total power-ON times of each NX Unit when you change the view to the pro-
duction information details.
l Display When Times Cannot Be Recorded

If the total power-ON time cannot be recorded because of a non-volatile memory hardware error,
the total power-ON time is displayed as Invalid record on the Sysmac Studio.
l Display for Units That Do Not Support Monitoring the Total Power-ON
Time
If a Unit does not support monitoring the total power-ON time, the total power-ON time for the Unit
is displayed as "---" on the Sysmac Studio.
l Display When Reading the Time Failed

If reading the time failed, the total power-ON time is displayed as "---" on the Sysmac Studio.

8-3 Management Functions for CJ-series

Units
This section describes the management functions used for Units in the Controller.
You can use CJ-series Units only with NJ-series CPU Units.
8-3-1 Basic I/O Units
Introduction
You can increase the input response time to reduce chattering and the effects of external noise. You
can decrease the input response time to enable detection of shorter input pulses. Do not set the ON
8-3 Management Functions for CJ-series Units

response time or OFF response time to less than the refresh time.
Pulses shorter than the input

response time are not detected.
Input from a
proximity sensor
or other device
Input bit
Input response time Input response time
8-3-1 Basic I/O Units

Setting Methods
From the Multiview Explorer of the Sysmac Studio, double-click CPU/Expansion Racks under
Configurations and Setup. Then select the input response times in the Unit information for the Basic
I/O Units.

You must do either of the following to enable the settings.

• Cycle the power supply to the Controller.
• Reset the Controller (the entire CPU Unit) from the Sysmac Studio.

The set values for the input response times of the Basic Input Units are output to the following system-
defined variable.

_CJB_InRespTm Basic Input Unit Input Contains the response times of the ARRAY [0..3, R
Response Times Basic I/O Units in 0.1-ms incre- 0..9] OF UINT
ments.
8-3-2 Special Units
Restarting Special Units

You can restart a Special Unit (Special I/O Unit or CPU Bus Unit) to enable values that are set for it. If
you restart a Special Unit, you do not have to cycle the power supply to the Controller.
Execute the following ResetUnit (Restart Unit) instruction to restart Special Units.
Instruction name Instruction Description

Restart Unit ResetUnit Restarts the CPU Bus Unit or Special I/O Unit.
ResetUnit
a b The ResetUnit instruction restarts a Special Unit
across multiple task periods when execution condition
Execute Done a changes to TRUE. If the restart ends normally, the
output variable Done (normal end) changes to TRUE
UnitNo Busy and variable b therefore changes to TRUE.
Error
ErrorID
If Special Unit settings are changed in any of the following ways, you must restart the Special Unit or
cycle the power supply to the Controller.
• Editing from the Special Unit Settings Tab Page of the Sysmac Studio
• Editing from the I/O Map or Watch Tab Page
• Setting the user program


Data
Variable name Meaning Function R/W
type
_CJB_CBU00InitSta CPU Bus Unit The corresponding variable is TRUE dur- BOOL R
to Initializing ing initialization of the CPU Bus Unit.
_CJB_CBU15InitSta Flags The corresponding variable changes to
FALSE when the initialization is complet-
ed.
The numbers in the variables indicate the
unit numbers of the applicable Units.
_CJB_SIO00InitSta Special I/O The corresponding variable is TRUE dur- BOOL R
to Unit Initializing ing initialization of the Special I/O Unit.
_CJB_SIO95InitSta Flags The corresponding variable changes to
ed.
8-3 Management Functions for CJ-series Units

_CJB_CBU00Restart CPU Bus Unit The CPU Bus Unit is restarted when the BOOL RW
to Restart Bits corresponding variable changes to
_CJB_CBU15Restart TRUE. (It is changed to FALSE by the
system after the CPU Bus Unit is restart-
ed.)
If you change the Restart Bit to TRUE
with an instruction, the restart process
begins from refresh processing in the
next task period.
_CJB_SIO00Restart Special I/O The Special I/O Unit is restarted when BOOL RW
to Unit Restart the corresponding variable changes to
_CJB_SIO95Restart Bits TRUE. (It is changed to FALSE by the
system after the Special I/O Unit is re-
started.)
8
8-3-2 Special Units

next task period.

8-4 SD Memory Card Operations

This section describes the functions that you can use for SD Memory Cards.
8-4-1 SD Memory Card Operations

The NJ/NX-series CPU Unit supports the following functions for SD Memory Cards.
Sysmac Studio
Memory Card operation

CPU Unit instructions
SD Memory Card
Creating/reading files
from Sysmac Studio
FTP client communications FTP server

instructions
Function Introduction
SD Memory Card operation in- You can access SD Memory Cards from instructions in the user program.
structions
FTP Client communications in- You can use these instructions to transfer files via FTP from the CPU Unit
structions*1 to computers or Controllers at Ethernet nodes.
You can use FTP commands from an FTP client on the Intranet to read
FTP server
and write large files in the SD Memory Card through EtherNet/IP.
You can perform file operations from the Sysmac Studio for the SD Mem-
File operations from the Sysmac ory Card inserted in the CPU Unit.
Studio You can perform file operations for Controller files in the SD Memory Card
and save standard document files on the computer.
SD Memory Card life expiration Notification of the expiration of the life of the SD Memory Card is provided
detection in a system-defined variable and event log.
You use the SD Memory Card inserted in the CPU Unit to backup, re-
SD Memory Card backup, auto-
store, and verify user programs and data in the Controller. For details, re-
matic transfer from SD Memory
fer to 9-2 SD Memory Card Backups on page 9-14, 9-4 Automatic Trans-
Card, and program transfer from
fers from SD Memory Cards on page 9-36, and 9-5 Program Transfer
SD Memory Card*2
from SD Memory Card on page 9-38 for details.
You can record I/O data for the NX-SL5£££ that is mounted to the NX
bus of the NX102 CPU Unit in a chronological order into an SD Memory
Safety Data Logging*3 card.
Refer to the NX-series Safety Control Unit User’s Manual (Cat. No. Z930-
E1-12 or later) for details.

Function Introduction
You can record parameters, starting, ending, and errors of a TLS session.
Secure socket communications
Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's
logging*4
*1. A CPU Unit with unit version 1.08 or later and Sysmac Studio version 1.09 or higher are required to use the
FTP client communications instructions.
*2. A CPU Unit with unit version 1.11 or later and Sysmac Studio version 1.15 or higher are required to use the
function.
*3. An NX102 CPU Unit with unit version 1.31 or later, an NX-SL5£££ Safety CPU Unit with unit version 1.3
or later, and Sysmac Studio version 1.24 or higher are required to use the Safety Data Logging.
*4. An NX102-££00 CPU Unit with unit version 1.46 or later, an NX102-££20 CPU Unit with unit version 1.37
or later, or an NX1P2 CPU Unit with unit version 1.46 or later and Sysmac Studio version 1.46 or later are
required to use the secure secure socket communications logging.
8-4-2 Specifications of Supported SD Memory Cards, Folders, and

Files
SD Memory Card Specifications

The NJ/NX-series Controllers support both SD cards and SDHC cards. However, operation was con-
firmed only for the OMRON SD Memory Card given in the following table. Correct operation may not
be possible if you use any other SD or SDHC card.
Ca- Number of re-

Weig
Model Card type pacity Formatting writes (per Write protection
ht
[GB] block)
HMC-SD291 SD card 2 FAT16 60,000 times You can write-pro- Ap-
HMC-SD292 50,000 times tect the SD Mem- prox.
HMC-SD491 SDHC card 4 FAT32 60,000 times ory Card with a 2g
hardware switch
HMC-SD492 100,000 times
on the Card. 8
HMC-SD1A1 16 60,000 times
HMC-SD1A2 100,000 times
8-4-2 Specifications of Supported SD Memory Cards, Folders, and Files

The system-defined variable _Card1Err (SD Memory Card Error Flag) changes to TRUE (observation
level) in the following cases.
• When there is a format error
If an error occurs, the SD PWR indicator on the front of the CPU Unit goes out, and accessing the SD
Memory Card will not be possible.

The SD Memory Card you can use depends on the model and version of the Controller.
CPU models other than NX102-££££
Type:HMC- Type:HMC- Type:HMC- Type:HMC- Type:HMC-

Unit version HMC-SD291
SD491 SD1A1 SD292 SD492 SD1A2
Ver.1.00 to *1 *3 *2 *1 *4 *4 *2
Ver.1.20
Ver.1.21 to Can be used without restric- *1 *4 *4
Ver.1.23 tions.
Ver.1.24 to *1 Can be used without restric-
Ver.1.29 tions.
Ver.1.40 to *1 *4 *4
Ver.1.42
Ver.1.43 or *1 Can be used without restric-
later tions.
NX102-££££
HMC- HMC-
Unit version HMC-SD291 HMC-SD491 HMC-SD292 HMC-SD492
SD1A1 SD1A2
Ver.1.30 to Can be used without restric- *2 *4 *2
Ver.1.31 tions.
Ver.1.32 to Can be used *4
Ver.1.35 without re-
Ver.1.36 to strictions. Can be used without restrictions.
Ver.1.39
Ver.1.40 to *4
Ver.1.42
Ver.1.43 or Can be used without restrictions.
later
*1. You cannot use an HMC-SD291 or HMC-SD292 for the NJ 501-££££ CPU Unit with the hardware
revision "A" and unit version 1.15 or later.
*2. Cannot be used.
*3. You cannot use a SD Memory Card with "MR£" written on the back for the NJ501-££££ CPU Unit
with unit version 1.12 or earlier or the NX701-££££ CPU Unit with unit version 1.13 or earlier.
*4. 8-4-7 SD Memory Card Life Expiration Detection on page 8-29 cannot be used.

Write Protection Key

You will not be able to write to the SD Memory Card if the key is set to the LOCK position. Use
this setting to prevent overwriting.
Folder and File Specifications
l Character Restrictions
Multibyte
Maximum size
Object named by Usable charac- character Case sen-

Reserved words (without
user ters compatibil- sitivity
NULL)
ity
Volume label 0 to 9, A to Z, and CON, PRN, AUX, Not sup- Case insen- 11 bytes
a to z, CLOCK$, NUL, ported.*2 sitive
as well as % - _ COM0, COM1,
@!‘()~=#&+^ COM2, COM3,
[ ] { } , . ; and sin- COM4, COM5,
gle-byte kana*1 COM6, COM7,
Directory name 0 to 9, A to Z, and COM8, COM9, 65 bytes
a to z, LPT0, LPT1,
File names 65 bytes
LPT2, LPT3,
as well as $ % ' - _ 8
@!`()~=#&+ LPT4, LPT5,
^ [ ] { } , . ; and sin- LPT6, LPT7,
8-4-2 Specifications of Supported SD Memory Cards, Folders, and Files

gle-byte kana LPT8, LPT9
*1. You cannot begin volume label names with a space.

*2. Even if the computer supports multibyte characters (e.g., for Japanese), you cannot use them in the
CPU Unit.
l Subdirectory Levels
You can create up to 5 levels (example: f1/f2/f3/f4/f5/abc.txt)
l Maximum Number of Stored Files

The number of files that you can store on an SD Memory Card depends on the directory level in
which you store the files. The maximum number of files for each is given in the following table.
However, the values in the table assume that 8.3 filename is used. If you use long file names, the
maximum number of stored files is less than the value given in the following table.
Maximum number of stored

Directory level Format
files
Root directory FAT16 511
FAT32 65,533

Maximum number of stored

Directory level Format
files
Subdirectory FAT16, FAT32 65,533
l Maximum Size of One File

The maximum size of any one file is 2,147,483,647 bytes (2 GB −1 byte).
8-4-3 SD Memory Card Operation Instructions

You can perform various operations on the SD Memory Card by using the following instructions.

Read Variable from FileReadVar The FileReadVar instruction reads the contents of a binary file on the
File SD Memory Card and stores it to the specified variable. You can speci-
fy array and structure variables.
Write Variable to FileWriteVar The FileWriteVar instruction writes the value of a specified variable to
File a binary file in the SD Memory Card. You can specify array and struc-
ture variables.
If the directory specified for the file name does not exist, it is created.
Open File FileOpen The FileOpen instruction opens the specified file.
Close File FileClose The FileClose instruction closes the specified file.
Seek File FileSeek The FileSeek instruction sets a file position indicator in the specified
file.
Read File FileRead The FileRead instruction reads the data from the specified file.
Write File FileWrite The FileWrite instruction writes data to the specified file.
Get Text String FileGets The FileGets instruction reads a text string of one line from the speci-
fied file.
Put Text String FilePuts The FilePuts instruction writes a text string of one line to the specified
file.
Delete File FileRemove The FileRemove instruction deletes the specified file from the SD
Memory Card.
Change File Name FileRename The FileRename instruction changes the name of the specified file or
directory.
Copy File FileCopy The FileCopy instruction copies the specified file to a different file.
Create Directory DirCreate The DirCreate instruction creates a directory in the SD Memory Card.
Delete Directory DirRemove The DirRemove instruction deletes a directory from the SD Memory
Card.
8-4-4 FTP Client Communications Instructions

FTP client communications instructions are used to transfer files via FTP from an NJ/NX-series CPU
Unit to computers or Controllers at Ethernet nodes. The files on the SD Memory Card are read and
written when the following instructions are executed.

Put File onto FTP Serv- FTPPutFile The FTPPutFile instruction uploads one or more files in the
er FTP client’s SD Memory Card to the FTP server.
Get File from FTP FTPGetFile The FTPGetFile instruction downloads one or more files from
Server the FTP server to the FTP client’s SD Memory Card.

Version Information
quired to use the FTP client communications instructions.
8-4-5 FTP Server

You can read and write files on the SD Memory Card via EtherNet/IP by sending FTP commands to
the built-in EtherNet/IP port from an FTP client.
Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for de-
tails.
CPU Unit
FTP Client
FTP
commands

SD Memory Card Built-in EtherNet/IP port: FTP server
EtherNet/IP
File transfers
8-4-6 File Operations from the Sysmac Studio

You can perform file operations from the Sysmac Studio for the SD Memory Card inserted in the CPU
Unit. 8
In addition to Controller files, you can also store document files or other files on the SD Memory Card.
8-4-5 FTP Server

8-4-7 SD Memory Card Life Expiration Detection
You can determine the remaining life of the SD Memory Card before the Card becomes physically de-
teriorated.
You can determine the remaining life of the SD Memory Card with the following functions.
• System-defined variable _Card1Deteriorated (SD Memory Card Life Warning Flag)
• SD Memory Card Life Exceeded (Observation) record in the event log
The life of the SD Memory Card is checked when the power is turned ON and periodically while the
SD Memory Card is inserted.
When the end of the life of the SD Memory Card is detected, save the data on the SD Memory Card
and replace the SD Memory Card.

Version Information
Combination of the CPU Unit version and SD Memory Card determines whether the SD memo-
ry card life expiration detection function can be used or not. Refer to 8-4-2 Specifications of
Supported SD Memory Cards, Folders, and Files on page 8-25.
8-4-8 List of System-defined Variables Related to SD Memory Cards

The following system-defined variables show the status of the SD Memory Card.

_Card1Ready SD Memory Card Ready TRUE when the SD Memory Card is recog- BOOL
Flag nized.
FALSE when an SD Memory Card is not
recognized.
TRUE: The Card can be used.
FALSE: The Card cannot be used.
_Card1Protect SD Memory Card Write Pro- TRUE when the SD Memory Card is write- BOOL
tected Flag protected.
TRUE: Write protected.
FALSE: Not write protected.
_Card1Err SD Memory Card Error Flag TRUE when an unusable SD Memory Card BOOL
is inserted or a format error occurs.
TRUE: There is an error
FALSE: There is no error
_Card1Access SD Memory Card Access TRUE during SD Memory Card access. BOOL
Flag*1 TRUE: Card is being accessed.
FALSE: Card is not being accessed.
_Card1Deteriorat- SD Memory Card Life Warn- TRUE when the life of the SD Memory Card BOOL
ed ing Flag is exceeded.
TRUE: The life of the Card has been ex-
ceeded.
FALSE: The Card can still be used.
_Card1PowerFail SD Memory Card Power In- TRUE when the power supply to the Con- BOOL
terruption Flag*2 troller was interrupted during access to the
SD Memory Card.
TRUE: Power was interrupted during SD
Memory Card access.
FALSE: Normal
_Card1Capacity SD Memory Card Storage Show the total capacity of the inserted SD UDINT
Capacity Memory Card.
The unit of capacity is MiB (1
MiB=1,048,576 bytes).
The value is updated every 60 seconds.
If the SD PWR indicator is not lit, such as
when an SD Memory Card is not inserted,
the value is "0".


_Card1Used SD Memory Card Storage Show the usage of the inserted SD Memory UDINT
Usage Card.
MiB=1,048,576 bytes).
when an SD Memory Card is not inserted,
the value is "0".
*1. Precaution When Using SD Memory Card Access Flag (_Card1Access)
The SD Memory Card Access Flag is intended for use in notifying external devices. The status of access to
the SD Memory Card is not updated in realtime. Because of this, do not use the flag in the user program.
Because the status of access to the SD Memory Card is not shown in realtime, it may cause unexpected
Controller operation if you use it in the user program.
*2. Precautions When Using the SD Memory Card Power Interruption Flag (_Card1PowerFail)
If the SD Memory Card Power Interruption Flag is TRUE, check to see if the correct file is in the SD Memory
Card and to see if the SD Memory Card operates properly.
If the correct file is missing or the SD Memory Card does not operate properly, download the correct file to
the SD Memory Card again. Cycle the power supply to the Controller or reset the Controller, and then see if
the SD Memory Card operates properly.
When it is finished, change SD Memory Card Power Interruption Flag to FALSE. (_Card1PowerFail does not

change to FALSE automatically.)
Note Refer to 9-2 SD Memory Card Backups on page 9-14 for the system-defined variables that are used with
the SD Memory Card backup function.
SD Memory Card Recognition and Unmounting Timing Chart

SD Memory Card inserted. Card recognized. Power supply stopped with power switch.
System processing Recognition Recognition reset
_Card1Ready
_Card1Err 8
_Card1Access
8-4-9 SD Memory Card Self-diagnostic Functions

SD PWR indicator Not lit. Lit. Lit. Not lit.
SD BUSY indicator Not lit. Flashing. Not lit. Not lit.
8-4-9 SD Memory Card Self-diagnostic Functions

You can perform self-diagnosis on the inserted SD Memory Card when the power supply is turned ON.
You can select whether to perform self-diagnosis when the power is turned ON in the Operation
Settings of the Controller Setup under the Configurations and Setup from the Sysmac Studio as
shown below.
• File system check
• Check equivalent to CHKDSK
• Restoration attempt when check fails

Setting
Access point Setting Description Set value
group
Operation Set- SD Memory Memory Card Sets whether to execute self-diagnosis Do not check.
tings, Operation Card Settings Diagnosis at (file system check and restoration) on Check.
Settings Tab, Startup*1 the inserted SD Memory Card when
Basic Settings the power is turned ON.
*1. Self-diagnosis is not executed if write protection is set on the SD Memory Card itself.
l Results of Self-diagnosis
Indicators
Case SD Error type Correction Remarks
RUN SD PWR
BUSY
Self-diagnosis in Flashing Not lit Lit --- --- ---
progress
When self-diagnosis --- Lit Not lit Normal None ---
found no problems
The format of the SD --- Not lit Not lit Observation Use the Sys- ---
Memory Card is not mac Studio to
correct. format the SD
Memory Card.
An error was detect- --- Lit Flashes Observation Use file opera- If a corrupted
ed during the file during tions in the file is detected,
system check and restore Sysmac Studio an attempt is
the file system was opera- or insert the made to re-
automatically re- tion. SD Memory store the file.
stored. Not lit af- Card into the
ter re- computer to
store op- check whether
eration is any files were
complet- deleted by the
ed. restore opera-
tion.
The SD Memory --- Not lit Not lit Observation Replace the ---
Card failed. SD Memory
Card.
If the recovery function is activated at startup, time is required to enter RUN mode. During that
time, outputs will be OFF and external communications are not performed.
Use the RUN output on the Power Supply Unit, for example, to implement fail-safe circuits so
that external devices do not operate incorrectly.
Never interrupt the power supply to the Controller during SD Memory Card access. That in-
cludes when SD Memory Card self-diagnosis at startup is enabled.
An attempt is made by the SD Memory Card restoration function to restore any corrupted files.
If the restoration fails, these files may be deleted automatically at startup.

8-4-10 Exclusive Control of File Access in SD Memory Cards

If the same file on the SD Memory Card is accessed from different sources, unintended operations
such as reading a file while it is being written or writing a file while it is being read may occur.
Therefore, it is necessary to perform exclusive controls in order to prevent multiple accesses ("reading
and writing data" or "writing and writing data") to the same file simultaneously. It is not necessary to
perform exclusive controls for "reading and reading data".
When you use a combination of operations that requires exclusive controls, always execute the later
processing only after checking that the first processing is finished.
Note that the exclusive controls are performed automatically for the file accesses with more than one
instruction.
When the following functions are used, an access to files on the SD Memory Card will occur.
• SD Memory Card operation instructions and FTP client instructions
• Backup, restore and verification operations with the SD Memory Card
• File operations in the SD Memory Card from the Sysmac Studio
• Backup, restore and verification operations from the Sysmac Studio
• FTP server

8
8-4-10 Exclusive Control of File Access in SD Memory Cards

8-5 Security
This section describes the security functions that are supported by the NJ/NX-series Controller.
To protect your assets, you can use security functions to protect the user program and data in the
Controller. To prevent incorrect operation, you can use security functions to restrict operations on the
Sysmac Studio.
The NJ/NX-series Controller supports the following security functions.
Application Security function Outline of function Reference

Prevention of the Authentication of You can ensure that a user program cannot 8-5-1 Authentication
theft of assets user program exe- be operated on another CPU Unit even if of User Program Ex-
cution IDs the user program is copied. ecution IDs on page
8-35
User program trans- You can transfer the user program to the 8-5-2 User Program
fer with no restora- CPU Unit without the source code. This Transfer with No Re-
tion information prevents anyone from displaying the user storation Information
program on another computer even if they on page 8-38
upload it.
Overall project file You can place a password on a project file 8-5-3 Overall
protection to protect your assets. Project File Protec-
tion on page 8-39
Data protection*1 You can place protection on part of the da- 8-5-4 Data Protec-
ta in a project file to protect your assets. tion on page 8-39
Secure communica- The communication data between Sysmac 8-5-5 Secure Com-
tion*2 Studio and the Controllers is encrypted, munication Function
and the data is transmitted and received on page 8-41
with a hash value. It can prevent data from
being eavesdropped or tampered with by a
third party.
Secure socket serv- You can use secure socket communication 8-5-6 Secure Socket
ices encrypted by TLS (Transport Layer Securi- Services on page
ty). 8-42
TCP/UDP port close You can close TCP/ UDP port of the built-in 8-5-7 TCP/UDP Port
function EtherNet/IP port to prevent unnecessary Close Function on
packets from being received. page 8-42
Packet Filter*2 You can restricts access from external de- 8-5-8 Packet Filter
vices by filtering IP packets through the re- on page 8-42
ception process of the built-in EtherNet/IP
port.
Prevention of incor- Operation authority You can set operation authorities to restrict 8-5-9 Operation Au-
rect operation verification the operations that can be performed on thority Verification
the CPU Unit from the Sysmac Studio. on page 8-43
User authentica- You can use this function to authenticate 8-5-10 User Authen-
tion*2 each user when Sysmac Studio is going tication on page
online with the Controller and restrict oper- 8-44
ation according to the user's privileges.
CPU Unit write-pro- You can prevent rewriting data in the Con- 8-5-11 CPU Unit
tection troller from the Sysmac Studio. Write Protection on
page 8-48

Application Security function Outline of function Reference

Prevention of incor- CPU Unit names You can check to see if the CPU Unit name 8-5-12 CPU Unit
rect connections and serial ID on the computer and in the Names and Serial
Controller are the same to prevent going IDs on page 8-50
online with the wrong Controller.
Prevention of repu- Access log Operations that the user performed to the 8-5-13 Access log
diation Controller using the tool are registered as on page 8-51
access logs. If the user authentication
function is used, the user name is regis-
tered in the access log that is important for
security.
You can see who performed, when, and
what operations, which can be used as a
repudiation preventative measure when
problems occur.
*2. This function is available in the following CPU Units of the stated unit versions.
8-5-1 Authentication of User Program Execution IDs
Introduction
You can set a specific ID (called a user program execution ID) in the CPU Unit in advance. If you do,
8-5 Security
you can execute only a user program with the same ID.
Sysmac Studio
8
A user program execution ID
is registered in the CPU Unit.

CPU Unit
User program execution ID

Download
The CPU Unit can

User program User program execute the user
program only when
these two match.
User program
execution ID assigned
to user program.
User program execution ID User program execution ID
You can therefore prevent different CPU Units (hardware) from executing a user program.
In contrast to the protection function, you can still display and edit the user program even if a user pro-
gram execution ID is set.

Operating Procedure
1 Always backup the project files before you assign a user program execution ID.
2 Assign the user program execution ID to the user program offline from the Sysmac Studio.
After you assign a user program execution ID to a user program, you cannot change or delete
the ID.
To use a different ID, read the project file without an ID that was backed up in step 1, above,
and assign another user program execution ID. To delete the ID, use the project file without an
ID that was backed up in step 1, above.
3 Connect the Sysmac Studio online and register the user program execution ID that was set in
step 2 in the CPU Unit.
The registration of the user program execution ID in the CPU Unit is recorded in the event log.
At this time, the user program execution ID in the CPU Unit is overwritten even if it is already
registered.
4 Transfer the user program with the same user program execution ID to the CPU Unit.
If the user program execution ID in the user program does not match the user program execu-
tion ID in the CPU Unit or if one of them does not have an ID, an ID Verification Error (major
fault level Controller error) occurs when you attempt to change to RUN mode and the CPU Unit
will not operate.
After you assign a user program execution ID to the CPU Unit, you cannot read or delete the
ID. To delete the ID from the CPU Unit, perform the Clear All Memory operation on the CPU
Unit.

Operation When an ID Verification Error Occurs
l When the User Program Execution ID in the CPU Unit Is Incorrect or Not
Registered
Connect online to the CPU Unit from the Sysmac Studio and perform the following steps.
1 Overwrite or register the correct user program execution ID in the CPU Unit.
2 Cycle the power supply to the Controller, or reset the CPU Unit from the Sysmac Studio.
l When the User Program Execution ID Is Not Assigned to the User Pro-
gram or Is Incorrect
1 Read the backed up project file from the Sysmac Studio, and assign the correct user program
execution ID.
2 Connect the Sysmac Studio to the CPU Unit online and transfer the user program.
3 Cycle the power supply to the Controller, or reset the Controller from the Sysmac Studio.
Other Situations
To Delete the User Program Execution ID Assigned to the User Program
8-5 Security
Read the backed up project file in the Sysmac Studio.
To Delete the User Program Execution ID from the CPU Unit

Connect the Sysmac Studio to the CPU Unit online and perform the Clear All Memory operation.
To Check the User Program Execution ID Assigned to the User Program 8

For security, the user program execution ID that is assigned to the user program cannot be checked
from the Sysmac Studio. Read the backed up project file in the Sysmac Studio and set the user pro-

gram execution ID again.
To Check the User Program Execution ID in the CPU Unit

For security, the user program execution ID that is set in the CPU Unit cannot be checked from the
Sysmac Studio. Perform the Clear All Memory operation and register the correct user program execu-
tion ID.
Specifications
l User Program Execution ID Verification Specifications

Timing of Verification
At startup, the CPU Unit compares the user program execution ID that is registered in the CPU Unit
with the user program execution ID that is assigned to the user program.
Verification Conditions
The conditions for verifications are given in the following table.

“A” and “B” indicate the IDs.
User program execution ID

User program execution ID that is
that is registered in the CPU Error Operation
assigned to the user program
Unit
A A None Possible.
None None
None A ID Verification Not possible.
A None Error
A B
Operation When the IDs Do Not Match

When the IDs do not match, an ID Verification Error (major fault level Controller error) occurs, and
the CPU Unit does not operate.
However, to reset the error you must cycle the power supply to the Controller or reset the Controller
from the Sysmac Studio.
l User Program Execution ID Character Specifications

Usable characters Case sensitivity Maximum size (without NULL)
0 to 9, A to Z, and a to z Case sensitive 8 to 32 characters
8-5-2 User Program Transfer with No Restoration Information

You can transfer the user program to the CPU Unit without the source code. This prevents anyone
from displaying the user program on another computer even if they upload it.
Introduction
Normally, when you transfer the user program from the Sysmac Studio to the CPU Unit, information is
transferred to restore it.
This function does not transfer information for restoration. That makes it impossible to read the user
program.
Normal Transfer User Program Transfer with No Restoration Information
Sysmac Studio Sysmac Studio
CPU Unit CPU Unit
User program User program

(for execution) (for execution)
User program
Normally, both User program Restoration information
Readable (restoration are transferred. (restoration
is not transferred.
information) information)
Not readable
This function is used to prevent theft of user program data when on-site maintenance of the user pro-
gram is not required.

Operating Procedure
When you transfer the user program to the CPU Unit, select the Do not transfer program source
Check Box in the Synchronization Window of the Sysmac Studio and then click the Transfer to
Controller Button.
8-5-3 Overall Project File Protection

You can place a password on a project file to protect your assets.
Operating Procedure
This section describes how to set a password for a project.
When you use Save As to save the project file, select the Enable password protection for the
project file Check Box to enable setting a password.
8-5 Security
8
8-5-3 Overall Project File Protection

Use the following procedure to open a project for which a password is set.
If you try to open or import a project file for which a password is set, the Enter a password Dialog Box
is displayed.
8-5-4 Data Protection

You can place protection on part of the data in a project file to protect your assets.

Version Information
quired to use data protection.
Introduction
You can place protection on part of the data in a project file to restrict access to that data.
You can select any of three levels of access restrictions when you set protection.
Protection must be temporarily cleared to access the restricted data. The length of time for which pro-
tection is cleared depends on the operation that you use.
Protected Data
Protection can be set for the following data.
• Ladder diagrams (applies to programs, functions, and function blocks)
• ST (applies to programs, functions, and function blocks)
• Cam profiles
Levels of Access Restrictions

You can select one of the following three levels of access restrictions. Only change protection can be
set for cam profiles.
• Prohibiting copying, displaying, and changing the data
• Prohibiting displaying and changing the data
• Prohibiting changing the data
The following table shows the data access methods, restrictions for each restriction level, and the
length of time that protection is cleared.
(¡: Restricted. ---: Not restricted.)
Levels of access restrictions

Prohibiting
Prohibiting
copying, dis- Prohibiting Length of time that protec-
Data access operation displaying
playing, and changing the tion is cleared
and chang-
changing the data
ing the data
data
Displaying the data ¡ ¡ --- While the project is open
Printing the data ¡ ¡ ---
Changing the data ¡ ¡ ¡
Copying the data ¡ --- --- Protection must be temporari-
ly cleared for each operation
Displaying basic comparison --- --- --- This operation is not restrict-
results ed.
Displaying detailed compari- ¡ ¡ --- While the project is open
son results
Jumping from an event log or ¡ ¡ ---
cross-reference to the data

Levels of access restrictions

Prohibiting
Prohibiting
copying, dis- Prohibiting Length of time that protec-
Data access operation displaying
playing, and changing the tion is cleared
and chang-
changing the data
ing the data
data
Registering objects in a library ¡ --- --- Not possible to clear protec-
tion temporarily.
Operating Procedure
This function is used when the Sysmac Studio is offline.
The settings are saved in the project file. When you use the synchronization function of the Sysmac
Studio to transfer the project, the data protection settings in the data in the computer or Controller are
transferred to Controller or computer.
Select Security − Set/Release Data Protection from the Controller Menu of the Sysmac Studio to set
protection.
8-5 Security
Select Security − Temporarily Change Prohibition of Data Protection from the Controller Menu of
the Sysmac Studio to temporarily clear protection. 8
8-5-5 Secure Communication Function
Select Security − Finish Temporary Change Prohibition of Data Protection from the Controller
Menu of the Sysmac Studio to end temporary change protection.
8-5-5 Secure Communication Function

The secure communication function encrypts communication data between Sysmac Studio and the
Controller and transmits and receives the data with a hash value. It can prevent data from being
eavesdropped or tampered with by a third party.
Refer to 10-2-3 Secure Communication on page 10-10 for more information on this function.

Version Information
Secure communication is available in the following CPU Units of the stated versions.
8-5-6 Secure Socket Services

The Secure Sockets Service function is a function that performs secure socket communication en-
crypted using TLS (Transport Layer Security).
The CPU Unit can be used as a client to connect to cloud and on-premises servers via TCP/IP and
exchange messages.
Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for more
information on this function.
Version Information
An NX102-££00 CPU Unit with unit version 1.46 or later or an NX102-££20 CPU Unit with
unit version 1.37 or later, and Sysmac Studio version 1.46 or higher are required to use secure
socket services.
An NX1P2-££££££ CPU Unit 1.46 or later and Sysmac Studio version 1.46 or higher are
required.
8-5-7 TCP/UDP Port Close Function

If you select the Do not use Option for the server function, such as FTP server, that is incorporated in
the built-in EtherNet/IP Port, you can close the TCP/UDP port used by the server function. This allows
you to open only TCP/UDP ports that you want to use in the system.
For details on the server function of the built-in EtherNet/IP port, refer to NJ/NX-series CPU Unit Built-
in EtherNet/IP Port User's Manual (Cat. No. W506) .
8-5-8 Packet Filter

This function restricts access from external devices by filtering IP packets in the reception process of
the built-in EtherNet/IP port.
While TCP/UDP port close function closes TCP/UDP ports to disable the corresponding server func-
tion, Packet Filter allows more detailed settings, such as allowing only certain clients to use specific
server functions.
Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for more
information on this function.
Version Information
Packet Filer is available in the following CPU Units of the stated versions.

8-5-9 Operation Authority Verification
Introduction
Online operations are restricted by operation rights to prevent damage to equipment or injuries that
may be caused by operating mistakes.
Examples are shown below.
• I/O Monitor: Writing, forced refreshing, etc.
• Controller operations: Changing the operating mode, online editing, MC Test Run, etc.
You can register passwords for operation authority for each CPU Unit in the Sysmac Studio. If a cor-
rect password is entered when an online connection is made to a Controller, the online operations for
the operation authority category for the password that was entered will be allowed.
The Administrator sets a password for each operation authority. Users are notified of the operation au-
thority name and password according to their skills.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for specific operating proce-
dures for operation authorities.
Operating Procedure
For operation authority verification, select Security − Setting of Operation Authority from the Con-
8-5 Security
troller Menu on the Sysmac Studio.
Specifications 8
l Types of Operation Authorities
8-5-9 Operation Authority Verification

You can use the following five operation authorities on the Sysmac Studio. They are given in de-
scending order of authority.
Type Password
Administrator Required.
Designer*1 Optional*2 Whether a password is required is determined by the default opera-
Maintainer tion authority that is set in the Setting of Operation Authority Dialog Box.
Operator*1
Observer*1 Not required.
*2. Whether a password is required is determined by the default operation authority that is set in the Setting
of Operation Authority Dialog Box. A password must be entered to perform operations that require an
operation authority that is higher than the default operation authority. A password is not required to per-
form operations that require an operation authority that is equal to or lower than the default operation
authority.

l Examples of Online Operations for Operation Rights

Examples of the online operations that are allowed for each operation authority are given below.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details.
(OK: Operation possible, VR: Verification required for each operation, NP: Operation not possible)
Adminis- Maintain-
Status monitor (example) Designer Operator Observer
trator er
Monitoring errors for troubleshooting OK OK OK OK OK
Adminis- Maintain-
I/O monitor operations (examples) Designer Operator Observer
trator er
I/O monitor: Reading OK OK OK OK NP
I/O monitor: Writing OK OK OK VR NP
Controlling BOOL variables OK OK OK VR NP
Forced refreshing OK OK OK NP NP
Adminis- Maintain-
Controller operations (examples) Designer Operator Observer
trator er
RUN mode/PROGRAM mode OK OK VR NP NP
Online editing OK OK VR NP NP
Resetting the Controller OK OK NP NP NP
Resetting errors for troubleshooting OK OK OK VR NP
Starting or restarting an MC Test Run OK OK VR NP NP
User program execution IDs for Controllers OK NP NP × NP
CPU Unit write-protection OK OK NP NP
l Password Specifications
Item Description
Valid number of characters 8 to 32
Applicable characters Single-byte alphanumeric characters (case sensitive)
8-5-10 User Authentication
Outline
The user authentication function assigns individual user names and passwords to users of the CPU
Unit and identifies who operated the CPU Unit online. When an online connection is made to the CPU
Unit, the user will be asked to enter user name and password. Online connections cannot be made
unless the user name and password match the predefined settings.
Furthermore, for each user, operation authority of any of administrator, designer, maintainer, operator
and observer is assigned. This ensures that users can operate the CPU Unit online within the authori-
ties assigned to them. Refer to the 8-5-9 Operation Authority Verification on page 8-43 for more infor-
mation on operation authority verification.
To place the CPU Unit online for the first time or to do so after clearing all memory, you need to be
registered as an administrator. Unless being registered as the administrator, you cannot place the Unit
online.

The user authentication function records user names in several event logs. This is useful to prevent
denial when a security problem occurs. For more information on events for which user names are log-
ged, refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503).
You can transfer and save the user authentication settings, including the user names, passwords, and
operation authority properties of the user in the CPU Unit. Then, you can use the user authentication
function even when another computer is connected to the CPU unit.
However, user authentication settings are not included in the Sysmac Studio project. Therefore, you
must configure the user authentication settings for each CPU Unit that you want to use with user au-
thentication.
Version Information
• The user authentication function is available in Ver.1.50 or higher of Sysmac Studio.

• User authentication is available in the following CPU Units of the stated unit versions.
a) NJ-series, NX102, NX1P2 CPU Unit: Version 1.49 or later
b) NX701 CPU Unit: Version 1.29 or later
Operating Procedure
Entering your user name and password when connecting Sysmac Studio online to the CPU Unit will
allow you to operate within the permissions assigned to you. Refer to the Sysmac Studio Version 1
Operation Manual (Cat. No. W504) for specific procedures.
8-5 Security
If user authentication is not enabled on the CPU Unit, then if a third party enables user authenti-
cation settings on the CPU Unit, online operations will be disabled unless you enter the user
name and password. Make an agreement with the user in advance whether to set up user au-
thentication settings.
8
User Authentication Settings

To use the user authentication function, it is necessary to set the user authentication settings in ad-
vance. User authentication settings assign each user a user name, password, and type of operational
authority.
You can also set the operation lock. Operation lock is a function that requires you to re-enter the user
name and password if you do not operate the support software for a set period of time after connect-
ing the support software online to the Controller.
You can set an expiration date for the password. If your password expires, you will be prompted to
change your password when you connect Sysmac Studio online.
You can also set how many days in advance to notify that the password will expire. On the set date,
you will be prompted to renew your password when you connect the Sysmac Studio online.

Major cate-
Minor category Description Setting range Default
gory
User Number of users*1 Number of users to register 1 to 64 ---
User name User name 1 to 16 characters*2 ---
Password Password 8 to 32 characters*2 ---
Authority*3 Operation authority to assign to Administrator, Design- Administrator

users er, Maintainer, Opera-
tor, and Observer
Enable/Disable Whether to enable or disable user Enable or Disable Disable
authentication for the user
Operation Enable/Disable Setting about whether to enable Enable or Disable Disable
lock or disable operation locking
Inactive time Set time for operation lock 1 to 360 minutes 10 minutes
Password Valid for Password validity period 14-730 days None
Can be used
without time
limit
Expiration notice How many days before to notify 1-30 days No prior notice
that the password will expire.
*1. You cannot register more than one same user name.
*2. Usable characters include 0 to 9, A to Z, and a to z.
*3. At least one Administrator must be registered to transfer the user authentication settings to the CPU Unit.
The user authentication settings must be made for each CPU Unit. They are not saved in the Sysmac
Studio project file. These settings can only be executed by users with administrator privileges, except
for initial settings.
For the details on the settings, refer to the Sysmac Studio Version 1 Operation Manual (Cat. No.
W504).
Other Specifications
This section describes other specifications of user authentication function.
l Adding and Deleting Users

Administrators can register and delete users in the user authentication settings of the Sysmac Stu-
dio. However, Administrators cannot delete their own user registration. If an administrator wants to
delete his or her own user registration, please ask another administrator to delete it. Deleting a
user registration during online operation will force the user's online connection to be disconnected.
For details on user registration and deletion of users, refer to the Sysmac Studio Version 1
Operation Manual (Cat. No. W504).
l Checking User Information

Administrators, designers, and maintainers can see all user names and operation authorities regis-
tered in the CPU Unit. The password cannot be checked.
All users can see their own user name and operation authority. The password cannot be checked.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the procedure to see
the user name and operation authority.

l Changing User Authentication Settings

The specifications for user authentication settings are as follows.
Items to be Users who

Specification
changed can change
Username Administrator It is not possible to modify the user name. Delete the registered user
name and register a new user name.
Password All users • The user can change his or her own password from the Password
change Dialog Box.
• Changing password will force the online connection to be disconnect-
ed.
Administrator • The administrator can change passwords of all users from the User
account setting Dialog Box.
• Changing a user password during online operation will force the us-
er's online connection to be disconnected.
Operation au- Administrator Operation authorities of all users can be changed in the User account
thority setting Dialog Box.
Operation lock Administrator Administrators can change the setting for operation lock from the User
account setting Dialog Box.
User account Administrator • Changing the user account setting will force the user's online connec-
setting tion to be disconnected.
• Performing clear all memory operation clears the entire user authenti-
cation settings saved in the CPU Unit. When the user authentication
settings are cleared, user authentication will be disabled.
l Clearing User Authentication Settings
8-5 Security
You can clear the user authentication settings in any of the following ways. Perform this to prevent
information leaks when you dispose of the CPU Unit.
• Perform Clear All Memory operation.
• Specify an early project unit version that does not support user authentication function to the
CPU Unit.
8
l What to Do If You Forget Your Password?

If a user forgets his or her password, there is no way to find it. Also, if you do not have administra-
tor operation privileges, you cannot perform Clear All Memory operation.
In a case Administrator forgets his or her password, use one of the following troubleshooting meth-
od.
State after troubleshoot-

Troubleshooting
ing
Prepare the backup file without user authentication settings beforehand, and User authentication is disa-
restore the settings using the SD Memory Card backups function. bled.
Prepare the backup file, which contains user authentication settings and Ad- The settings in the backup
ministrator’s user name and password settings, in advance, and use it for re- file are overwritten and ap-
storing the settings using the SD Memory Card backups function. plied.
Start the CPU Unit in Safe Mode and connect the Sysmac Studio online. Per- The user authentication set-
form Clear All Memory operation according to When You Cannot Log In in tings are cleared together
the Authentication (Safe Mode) dialog that appears. For information on how to with a user program, etc.
start in Safe Mode, refer to the description on DIP switch settings in the hard-
ware user's manual for each CPU Unit.

• The backup file must be prepared beforehand for the above actions. Note that these backup
files cannot be created after the Administrator forgets the password.
• If you execute the above measures, user program will be overwritten by the backup files.
Availability of User Authentication Function Depending on the

Combination of Versions
The following table shows the availability of user authentication function for different project unit ver-
sions of the CPU Unit and Sysmac Studio versions.
CPU Unit
Earlier version
not supporting
Unit version supporting user authentication function
user authentica-
tion function
Project unit version Project unit ver- Earlier project unit
not set sion supporting version not support- All project unit
(Factory default or user authentication ing user authentica- versions
memory all cleared) function tion function
Sys- Ver.1.50 Possible.*1 Possible. Not possible. Not possible.
mac or high-
Studio er
Lower Not possible.*1 Not possible.
than
Ver.1.50
*1. When user authentication is enabled when the project unit version is not set (factory default or memory all
cleared), Sysmac Studio Ver.1.50 will be connected after user authentication. However, Sysmac Studio low-
er than Ver.1.50 can connect without user authentication. Set the project unit version of the CPU Unit that
supports user authentication function.
8-5-11 CPU Unit Write Protection

This function disables the ability to write data to the CPU Unit to protect user program assets and pre-
vent misuse.
l Controller Write Protection at Startup

This setting automatically enables write protection when you turn ON the power supply to the Con-
troller.

Sysmac Studio
CPU Unit CPU Unit
At startup
Write protection Write Protection
Writing is not
possible.
Set whether to automatically enable write protection when the power supply is turned ON in the
Operation Settings under the Configurations and Setup - Controller Setup of the Sysmac Stu-
dio.
Access Setting
Setting Description Set value
point group
Operation Set- Security Set- Write Protec- Sets whether to enable write Do not use.
tings, Opera- tings tion at Startup protection. Use.
tion Settings
Tab, Basic
Settings
l Setting and Removing Write Protection from the Sysmac Studio

In the Sysmac Studio, go online and select Security − CPU Unit Write Protection from the
Controller Menu to toggle write protection.
8-5 Security
Sysmac Studio
CPU Unit
8
8-5-11 CPU Unit Write Protection

None
You can turn write
protection ON and
OFF.
When power is turned ON
Write protection Not

set? enabled.
Enabled
Changed from the

Writing disabled. Sysmac Studio. Writing enabled.

8-5-12 CPU Unit Names and Serial IDs
Introduction
Register a CPU Unit name in the CPU Unit.
When going online to a CPU Unit from the Sysmac Studio, the CPU Unit name in the project is com-
pared to the name of the CPU Unit being connected to.
This helps prevent incorrect connections to the CPU Unit from the Sysmac Studio. It is particularly ef-
fective for operations performed over an EtherNet/IP network.
Sysmac Studio
CPU Unit
name: A
CPU Unit CPU Unit
CPU Unit CPU Unit

name: A name: B
A check is performed
to see if the CPU Unit
name matches for
online connections.
In addition to the CPU Unit name, it is also possible to use serial ID identification based on the CPU
Unit production information (optional).
Setting Methods
1 Set the CPU Unit name when you create a project on the Sysmac Studio.
The CPU Unit name is displayed as shown below.
To change the name, right-click the Controller icon and select Rename.
2 When you first connect to the CPU Unit online, the Sysmac Studio prompts you to store the
CPU Unit name in the CPU Unit.
3 After that, when you connect to the CPU Unit online, the Sysmac Studio refers to the CPU Unit
name in the project and the CPU Unit name of the CPU Unit you connect to. A warning dialog
box is shown if they do not match, and you are asked whether to continue to connect.

You can name EtherNet/IP ports in the Network Configurator.
Serial IDs
When the Sysmac Studio first connects online, you can obtain the serial ID from the CPU Unit's pro-
duction information and store it in the project.
After that, when the Sysmac Studio connects online, both the CPU Unit name and the serial ID are
compared. This enables stricter verification of the CPU Unit.
Sysmac Studio
1. When you connect online, the serial ID is

CPU Unit name: A obtained from the CPU Unit.
Serial ID
CPU Unit
CPU Unit
CPU Unit name: CPU Unit name:

A B
Serial ID Serial ID
2. A check is performed to
see if the CPU Unit name
and serial ID match for
online connections.
8-5 Security
8-5-13 Access log
8
Operations that the user performed to the Controller using the tool are registered as access logs. If the
user authentication function is used, the user name is registered in the access log that is important for
8-5-13 Access log

security.
This allows you to see who performed, when, and what operations, and can be used as a repudiation
preventative measure when problems occur.
For the access log to register, refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503).

8-6 Debugging
This section describes debugging.
The NJ/NX-series Controller provides the following debugging operations.

• Forced refreshing
• Changing present values
• Online editing
• Data tracing
• Differential monitoring
8-6-1 Forced Refreshing
Introduction
Forced refreshing allows the user to refresh external inputs and outputs with user-specified values
from the Sysmac Studio to debug the system.
Forced refreshing is executed not for the specified device variables, but for the I/O ports that are as-
signed to the device variables.
The state that is specified with forced refreshing is retained until forced refreshing is cleared from the
Sysmac Studio. (Refer to Holding/Clearing Forced Refreshing on page 8-55 for information how
forced refreshing is retained or cleared according to changes in CPU Unit status.)
All forced refreshing is cleared when a fatal error occurs, when a Clear All Memory operation is per-
formed, when the operating mode is changed, when power is interrupted, or when the project is down-
loaded.
l Inputs
The I/O port and device variable change to the status that is specified with forced refreshing re-
gardless of the status of the external input.
Sysmac Studio
CPU Unit
I/O port
(1) I/O port changed to Device variable
TRUE with forced
refreshing. FALSE
TRUE TRUE
(2) I/O port and device variable change to TRUE.

l Outputs
The I/O port and the output to the external device change to the status that is specified with forced
refreshing.
In the user program, the status of the device variable that is assigned to the I/O port will not neces-
sarily be the status that was specified with forced refreshing. It will change with the results of user
program execution.
Sysmac Studio
CPU Unit
I/O port
(1) Output changed to Device variable
TRUE with forced
refreshing.
TRUE
FALSE TRUE
(2) The I/O port and the output to the external

device change to TRUE. The device variable
changes with the result of user program
execution.
8-6 Debugging
Applicable Areas
You can execute forced refreshing for the following I/O ports and memory used for CJ-series Units.
• I/O ports for EtherCAT slaves
• I/O ports from data handled by the NX Bus Function Module of the NX102 CPU Unit and NX1P2
CPU Unit 8
• I/O ports for I/O built in the NX1P2 CPU Unit
• I/O ports for Analog I/O Option Boards in the NX1P2 CPU Unit

• I/O ports for CJ-series Basic I/O Units
• I/O ports for CJ-series Special Units
• I/O bits for DeviceNet or CompoNet slaves that are specified for AT specifications from variables
If you execute forced refreshing from the Ladder Editor or the Watch Tab Page, the status of the I/O
port or memory element for a CJ-series Unit will change via the variable.
Note For I/O ports from data handled by the NX Bus Function Module of the NX102 CPU Unit and NX1P2 CPU
Unit, only the I/O ports for I/O data for individual NX Units are applicable. The I/O ports for status of NX
Units managed by the NX Bus Function Module as the NX bus master are not applicable.
Number of Simultaneous I/O for Forced Refreshing

The number of variables that you can refresh with forced refreshing is listed below.
• CJ-series Units: 64 points total
• EtherCAT slaves: 64 points total

The number of external I/O points are given for the above limits. For example, if more than one varia-
ble is assigned the same external I/O point as the AT specifications, it is counted as only one point.
Application
l Inputs
• To apply a simulated input signal to debug the user program
• To create a status that would occur only when a failure occurs (e.g., two exclusive bits turning
ON or OFF at the same time)
l Outputs
• To turn outputs ON and OFF to check wiring
• To intentionally turn OFF an output you do not want to operate regardless of results of user pro-
gram execution
Operating Procedure
Operations can be performed from the following panes.
• Program panes (Ladder diagram language)
• I/O Map
• Watch Tab Page
l Procedure for Forced Refreshing from Ladder Editor
1 Select Monitor from the Controller Menu. The monitor turns ON.
2 Double-click the ladder program, ladder function, or ladder function block under Programming
in the Multiview Explorer.
The rungs are displayed on the Ladder Editor in monitor status.
3 Right-click the input or output and select Forced Refreshing − TRUE. The input or output is
forced to TRUE. Right-click the input or output and select Forced Refreshing − FALSE. The
input or output is forced to FALSE.
4 The input or output in the Ladder Editor changes to TRUE or FALSE and the execution condi-
tion changes accordingly.
A mark that indicates that the input or output has forced status is displayed as shown below.
Ladder diagram
The TRUE or FALSE mark for forced status indicates the status that was specified for forced
refreshing. It does not indicate the current value of the input or output.

Forced status mark Operation

TRUE specified with forced refreshing
FALSE specified with forced refreshing
If there are other variables that are assigned the same memory address as one that is specified
as the AT specification of a variable for which forced refreshing is specified, the forced status
mark is displayed for all of the variables with that AT specification.
Affect of Operating Modes and Power Interruptions
l Operating Modes for Forced Refreshing

You can execute forced refreshing in either PROGRAM mode or RUN mode.
Forced refreshing is not possible while there is a major fault level Controller error.
l Status of Forced Refreshing during Operating Mode Changes or Power In-

terruptions
By default, the forced refreshing is cleared when the operating mode changes between RUN mode
and PROGRAM mode and when the power is interrupted.
8-6 Debugging
Holding/Clearing Forced Refreshing
Forced refreshing is retained and cleared according to changes in the status of the CPU Unit as
shown below.
Change in status Forced refreshing status

When power is turned ON Cleared
8
When operating RUN to PROGRAM mode Cleared

mode changes PROGRAM to RUN mode
After downloading Cleared
When a major fault level Controller error occurs Cleared
During online editing Retained
Programming Precautions for Forced Refreshing

If forced refreshing is set in the user program, the status of variables for which forced refreshing is
specified are overwritten by the user program. Therefore, the status that is specified for forced refresh-
ing is not maintained in the user program.
However, refreshing to external devices uses the values that were specified for forced refreshing, and
not the status of the variables in the user program.
If forced refreshing is used in a program, the values of variables in the program may be different from
the status of the external outputs.
Example: When a Is Refreshed to TRUE with Forced Refreshing

TRUE for forced refreshing, but

When FALSE
FALSE in the program.
a
x • a is FALSE in the program.
• When the output is refreshed, information from forced
OFF refreshing is reflected and the external output of a is
TRUE.
External output
of a: TRUE
When There Is Another Input That Is Controlled by the Forced Input
When FALSE TRUE for forced refreshing, but

FALSE in the program.
x
OFF a • a is FALSE in the program. Because of this, b is FALSE.
OFF • When the output is refreshed, information from forced
refreshing is reflected and the external output of a is
a TRUE.
OFF
b
OFF External output
of a: TRUE
a is FALSE in the program. As a result, b is FALSE.
• Confirm that no adverse effect will occur in the system before you use forced refreshing.
• Forced refreshing ignores the results of user program execution and refreshes I/O with the
specified values.
If forced refreshing is used for inputs for which I/O refreshing is not supported, the inputs will
first take the specified values, but they will then be overwritten by the user program.
Depending on the difference in the forced status, the control system may operate unexpectedly.
8-6-2 Changing Present Values
Introduction
You can change the present values of variables that are used in the user program and settings and
you can change program inputs and outputs to TRUE or FALSE. This allows you to check the opera-
tion of the user program and settings.

Sysmac Studio
CPU Unit
You can change the

values of variables
as required.
Always confirm the safety of the system before you change the present value of a variable.
Application
l Changing Program Inputs and Outputs to TRUE or FALSE

You can change the value of any BOOL variable to TRUE or FALSE. The specified value is then
overwritten by the execution results of the user program. If the operating mode is changed or the
power supply is cycled, the initial value is restored.
You can control BOOL variables in the Ladder Editor, Watch Tab Page, or I/O Map.
8-6 Debugging
l Changing the Values of Other Variables
You can change the present values of user-defined variables, system-defined variables, and device
variables as required. You can do this on a Watch Tab Page.
Precautions for Safe Use 8

Always confirm the safety of the system before you change the present value of a variable.
Operating Procedure 8-6-2 Changing Present Values
Operations can be performed from the following panes to change the present values. Refer to the
Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on the operating procedures
on the panes.
• Program panes (ladder diagrams and ST)
• I/O Map
• Watch Tab Page
Precautions on Changing the Status of Outputs Assigned to Exter-

nal Devices by Changing Present Values
Observe the following precautions when you change the status of an output that is assigned to an I/O
port of a CJ-series Basic Output Unit or EtherCAT output slave by changing a present value.

l Changing Present Values in the I/O Map in RUN Mode

Any value of an I/O port that is changed in the I/O Map is then overwritten by the execution results
of the user program.
The value that was specified by changing the present value is not output to the external device.
To change the value of an I/O port and output that value to an external device, use forced refresh-
ing.
l Changing Present Values in a Watch Tab Page in PROGRAM Mode

The value that was specified in a Watch Tab Page by changing the present value of a device varia-
ble* that is defined as an external or local variable is not output to the external device.
To output a specified value to an external device, do one of the following:
• Use forced refreshing.
• Change the present value in a Watch Tab Page of a device variable* that is defined as a global
variable.
* The devices variables must be assigned to an I/O port of a CJ-series Basic Output Unit or EtherCAT output slave. This
also applies to a global variable with an AT specification to an output bit that is assigned to a CJ-series Basic Output
Unit.
l Precaution When Directly Writing to I/O Memory Addresses Assigned to

Output Bits for CJ-series Basic Output Units
Any value that is written to an I/O memory address that corresponds to an output bit that is as-
signed to a CJ-series Basic Output Unit through a tag data link will be overwritten by the execution
results of the user program.
The value that is written directly to the I/O memory address from the tag data link will therefore not
be output to the external device.
8-6-3 Online Editing

This section introduces online editing. Refer to the Sysmac Studio Version 1 Operation Manual (Cat.
No. W504) for details.
Introduction
The online editing function is used to add to or change part of a program in the CPU Unit directly from
the Sysmac Studio.
You can select any of the following to perform online editing.

• POUs (programs, functions, and function blocks)
For a ladder diagram program, select a section.
• Global variables
Application
You can use online editing to change a user program without stopping the operation of the CPU Unit.

Sysmac Studio Operations
l Performing Online Editing
1 Select the item to edit online.
2 Select Online Edit - Start from the Project Menu.
3 Make the required changes.
4 Select Online Edit - Transfer from the Project Menu.
5 Check the results.
6 The user program will begin operation after online editing.
CAUTION
Execute online editing only after confirming that no adverse effects will oc-
cur if the I/O timing is disrupted. If you perform online editing, the task exe-
cution time may exceed the task period, I/O may not be refreshed with ex-
ternal devices, input signals may not be read, and output timing may be
changed.
8-6 Debugging
• The differentiation status of differentiated instructions in a program that is edited online is ini-
tialized.
• When online editing changes are applied, the execution times of the tasks are extended. Set
the task period appropriately so that you do not cause a Task Period Exceeded error due to
online editing. 8
• If the power supply to the Controller is interrupted when online edits are being saved,* a ma-
jor fault level Controller error (User Program/Controller Configurations and Setup Transfer Er-
8-6-4 Data Tracing

ror, Incorrect User Program/Controller Configurations and Setup, or Non-volatile Memory Re-
stored or Formatted) occurs. If one of these errors occurs, download the user program again.
• Do not execute the MC_SaveCamTable instruction while online edits are being saved.* Oth-
erwise the online edits may not be saved correctly.
* Online edits are saved from when you click the Yes Button in the confirmation dialog box until the Online
Editing Pane closes. However, with a CPU Unit with a unit version of 1.04 or later and Sysmac Studio ver-
sion 1.05 or higher, saving continues until the dialog box that indicates saving data to built-in non-volatile
memory (which is displayed after the confirmation dialog box) closes.
8-6-4 Data Tracing

You can use data tracing to sample variables without any additional programming. You can read and
check the data from the Sysmac Studio, and save the data to a file. This is used to start up, operate,
and maintain devices.
This section introduces data tracing. Refer to the Sysmac Studio Version 1 Operation Manual (Cat.
No. W504) for specific operating procedures.

If you use data tracing to sample following variables, correct data may not be sampled.
for motion control
If you sample the data with the above variables, perform either of the followings.
size of 64 bits, and trace data for the copied variables.
• Use the settings for exclusive control of variables in tasks, and the task for which you use
data tracing to sample is set as a refreshing task.
The two tracing methods are described below.
l Triggered Tracing
Trigger conditions are set to record data before and after an event. Sampling stops automatically
when the maximum number of sampled variables is reached. Even if the Sysmac Studio is not on-
line, you can trace data when trigger conditions are met and then upload the data after placing the
Sysmac Studio online.
• You can check the flow of the program based on the status of changes in the present values of
variables.
• You can use the data to investigate the cause of unexpected changes in the values of variables.
Sysmac Studio
CPU Unit
Data to trace
Sampling
Sampled data
Uploaded once.
When the maximum number of sampled

variables is reached, the trace stops
and the trace data is sent to the
Sysmac Studio and displayed.
l Continuous Tracing
Sampling starts without any trigger and continues on even after 10,000 samples are collected.
Sample data is transferred to a computer as it is collected and saved to a file.
When the display buffer is full, the data is automatically saved to a CSV file.
You can use this to store trace results data for a long tracing period in multiple CSV files.

Sysmac Studio
CPU Unit
Data to trace
Sampling
Sampled data
Continues.
Data Tracing Specifications

The following table gives the specifications of data tracing.
Item Description
Types of data Triggered tracing Set a trigger condition to start sampling. Data from before and after
traces the condition is met is saved.
8-6 Debugging
Continuous tracing Sample data is transferred to a computer as it is collected and
saved to a file.
Setting of tim- Period of specified Specify a task. The period of that task is set as the sampling period.
ing of sam- task *1
pling Specified fixed inter- The time you enter is set as the sampling period. However, the time
val you enter is rounded off to an integer multiple of the primary period- 8
ic task.
Trace sampling in- With this method, sampling is performed whenever the TraceSamp
8-6-4 Data Tracing

struction instruction is executed in the user program.
Setting sam- Maximum number of NX701-££££: 192 variables
pled data*2 targets NX102-££££: 48 variables
NX1P2-££££: 48 variables
NJ501-££££: 192 variables
Data types Basic data types except for text strings
Arrays (specify the element)
Enumerations
Members of structures and unions
Maximum number of records 10,000 samples per variable
Setting trigger positions The trigger position is set in respect to the overall trace time or
quantity.

Item Description
Setting trig- Condition data types Basic data types except for times, durations, dates, and text strings
gers Arrays (specify the element), structures (specify the member), and
unions (specify the member)
Condition expres- Tracing is started when one of the following conditions is met.
sion*3 BOOL: when it changes to TRUE or FALSE
Non- BOOL: Equals (=), Greater than (>), Greater than or equal (≥),
Less than (<), Less than or equal (≤), Not equal (≠)*4
Command from Sys- Tracing starts when the Trigger TRUE Button is clicked.
mac Studio
Data Trace Trigger in- Tracing starts when the TraceTrig instruction is executed.
struction
Evaluation timing • If something other than the TraceSamp instruction is used to set
the timing of sampling, the trigger is evaluated only once in the
• If the TraceSamp instruction is used to set the timing of sampling,
the trigger is evaluated whenever the instruction is executed.
Delay A slider is used to set the percentage of sampling before and after
the trigger condition is met. (Example: 20%/80%)
Starting a Command from Sys- Tracing is started when the Execute Button is clicked on the Sys-
trace mac Studio mac Studio.
Starting tracing at Tracing can be started when operation of the Controller starts (i.e.,
start of operation when the operating mode is changed from PROGRAM mode to
RUN mode).
Stopping a Triggered traces • Tracing stops when the maximum value of 10,000 samples is
trace reached.
• Tracing is stopped when the Stop Button is clicked on the Sys-
mac Studio.
Continuous traces • If stop tracing is set as the operation to perform when the maxi-
mum number of samples is reached, tracing stops when the max-
imum number of samples or maximum amount of time is
reached.
• Tracing is stopped when the Stop Button is clicked on the Sys-
mac Studio.
Setting con- Maximum data stor- You can set the maximum amount of time to save continuous trace
tinuous trac- age period data.
ing Maximum data stor- You can set the maximum total size of all files saved during continu-
age size ous tracing.
Data items per file You can set the number of samples to save in each file during a
continuous trace.
File save location You can specify the location to create files to save data during a
continuous trace.
File name prefix You can specify a prefix to automatically add to the beginning of the
file names.
Setting of operation You can specify the operation to perform when the storage time pe-
when limit is reached riod or size limit is reached.
• Stopping the trace
• Deleting the oldest files and continuing

Item Description
Displaying Graph display You can display a graph where the X axis represents time and the Y
trace results axis represents the value of the variable. You can display both
BOOL variables and other variables on the same graph.
Table display You can display the maximum value, minimum value, average val-
ue, and value at the specified time for each variable in a table.
3D Motion Monitor You can position a virtual composition model in 3D space and dis-
Display Mode play the composition motion based on the command positions and
actual positions of the motion axes.
Exporting Exporting to CSV files You can save the trace results and all settings other than the trace
trace data number to a CSV file.
Number of data traces that can be exe- NX701-££££: 4 traces
cuted simultaneously*5 NX102-££££: 2 traces
NX1P2-££££: 2 traces
NJ501-££££: 4 traces
Importing trace data You can display CSV format trace results on top of the current
graph.
Saving You can save the trace results in the project along with the trace
settings.
Printing You can print graphs. The Sysmac Studio's printing functionality is
used.
*1. For an NJ-series CPU Unit and NX701 CPU Unit, if you perform an internal variable with a data size of 64
bits or more to the sampled data, specify the task that assigns the program in which the target internal varia-
ble is defined. If the different task is specified, the concurrency of variable values may not be ensured.
8-6 Debugging
*2. You cannot perform data traces for the EN, ENO, P_off, P_on, P_CY, P_First_RunMode, P_First_Run and
P_PRGER system-defined variables, in-out variables that are used in function block instances, and varia-
bles in functions.
*3. Data tracing will not start when data trace is started even if the trigger condition is met.
*4. Combinations of multiple condition expressions are not permitted. Also, the valid range for comparison con-
stants is determined by the valid range of the literal expressions for the variable type on the left side of the 8
condition expression.
*5. Trace numbers 0 to 3 are set for the NX701 and NJ501. Trace numbers 0 and 1 are set for the NX102,
8-6-4 Data Tracing

NX1P2, NJ301, and NJ101. These numbers are used to execute instructions and to access system-defined
variables.
Data Trace Operation

Processing for data traces (sampling and trigger checking) are performed in System Common Proc-
essing 1, between I/O refreshing and user program execution.
Example: If sampling is specified in the primary periodic task, data tracing is executed in System Com-
mon Processing 1, as shown in the following diagram.

processing 1
processing 2
processing 1
processing 2
Motion
control
Motion
control
Primary periodic I/O User program I/O User program

common
common
common
common
System
System
System
System
task refreshing execution refreshing execution

I/O refreshing, user program execution, and motion control processing are all executed in the
same task period. For data tracing, user program execution and motion control processing for
the current task period and I/O refreshing for the next task period are displayed at the same
time. The timing charts in the NJ/NX-series Motion Control Instructions Reference Manual (Cat.
No. W508) are based on the task periods, so the display are not the same as those for data
tracing.
Display examples for data trace operations and execution results is given below for sampling in a
Example 1:
In this example, the SysRun variable is changed to TRUE in the user program when the Sensor1 vari-
able (assigned to the sensor input signal) changes to TRUE.
The data trace operations and display of the execution results are given below.
1. In data trace processing in System Common Processing 1, TRUE is obtained for Sensor1.
2. SysRun is changed to TRUE in the user program.
3. In data trace processing in System Common Processing 1 in the next primary period, TRUE is ob-
tained for SysRun.
Therefore, in the data trace display, SysRun is shown as TRUE one task period after Sensor1.
Data Trace Display
TRUE
Sensor1
Delayed.
TRUE
SysRun
1 task period
If the values of variables change during user program execution, the changes in the values and
changes for output processing for I/O refreshing are changed in the same task period.
Example 2:
When the Button2 variable (assigned to an input signal from a pushbutton) changes to TRUE during
velocity control, the user program in this example decelerates axis 0 (MC_Axis000) to a stop.

The data trace operations and display of the execution results are given below.
1. In data trace processing in System Common Processing 1, TRUE is obtained for Button2.
2. STP_BSY is changed to TRUE in the user program and the Motion Control Function Module per-
forms deceleration processing.
tained for STP_BSY and the status of the motion variable is obtained.
4. STP_ACT is changed to TRUE in the user program.
tained for STP_ACT.
The command value in the MC Function Module starts changing (B in the following diagram) when
STP_BSY changes to TRUE in the user program and the Motion Control Function Module starts to
perform deceleration processing. The command value changes stepwise in synchronization with the
primary periodic task.
8-6 Debugging
The data trace, however, interpolates the values to connect the values for the previous and current
periods. Therefore, the display shows that the command value for the Command Velocity motion con-
trol variable (MC_Axis000.Cmd.Vel) changes one period early, i.e., when Button2 changes to TRUE (A
in the following figure). The display also shows that STP_BSY changes to TRUE one period after de-
celeration starts and then STP_ACT changes to TRUE after another period.
8
Button2
8-6-4 Data Tracing

STP_D
STP_BSY
STP_ACT
Dotted lines: Command value in MC Function Module
MC_Axis000.Cmd.Vel
Task period
A B

For function blocks that contain motion control instructions, the values of input parameters are
passed to the input variables when execution of the function block starts, and the values of the
output variables are passed to the output parameters when execution of the function block
ends. (Refer to Variable Designations for Function Blocks on page 6-11.) On the data trace dis-
plays, input parameters and input variables, and output parameters and output variables,
change in the same task period.

Variable name
Member Meaning Function Data type R/W
name
_PLC_Trace- _sTRACE_STA R
Sta[0..3]*1
.IsStart Trace Busy TRUE when a trace starts. BOOL R
Flag
.IsComplete Trace Com- TRUE when a trace is completed. BOOL R
pleted Flag Changes to FALSE when the next trace
starts.
.IsTrigger Trace Trigger TRUE when the trigger condition is met. BOOL R
Monitor Flag Changes to FALSE when the next trace
starts.
.ParamErr Trace Parame- Changes to TRUE when a trace starts if there BOOL R
ter Error Flag is an error in the trace settings.
FALSE when the settings are normal.
*1. These numbers correspond to the data trace numbers 0 to 3.
Note You cannot use these system-defined variables in the user program. Use the GetTraceStatus instruction to
read the status of data tracing from the user program.
8-6-5 Differential Monitoring

Differential monitoring reports the number of times the value of the specified BOOL variable matches
the specified condition. The specified condition is evaluated for a match in every task period of the pri-
mary periodic task (called the primary period). Differential monitoring provides a running total of the
number of times the condition is matched.
Sysmac Studio
CPU Unit
The number of times the

value of the BOOL variable
changes is reported.

Version Information
quired to use differential monitoring.
Application
You can use differential monitoring to check or count the number of times an external input signal
turns ON or OFF or an input in the user program changes to TRUE or FALSE. This is useful during
system commissioning and for troubleshooting operation failures during production.
Specifications of Differential Monitoring

The specifications of differential monitoring are given in the following table.
Item Specification
Differential monitor- Number of variables 8 max.
ing condition Specified variables • BOOL
• Element of BOOL array
• BOOL member of structure or union
Condition expres- • Change to TRUE
sion • Change to FALSE
Conditional match Timing Once every primary period
evaluation
8-6 Debugging
Match count The number of times the specified variable matches the condition
is counted.
Starting and stop- Start condition Command from Sysmac Studio
ping Stop condition • Command from Sysmac Studio
• Occurrence of a major fault level Controller error
• User program download
• Clear All Memory operation 8
• Disconnecting online connection to Sysmac Studio
Operation modes • RUN Mode

• PROGRAM mode
Differential Monitoring Conditions

The variables and the changes that you can monitor with differential monitoring are called differential
monitoring conditions. The specifications for the differential monitoring conditions are described below.
l Number of Variables
You can specify a maximum of eight variables. This means differential monitoring can detect the
numbers of times conditions are met for eight variables in parallel.
l Specified Variables
The data types of the variables that you can specify for differential monitoring are given below.
• BOOL
• Elements of BOOL arrays
• BOOL members of structures or unions

You cannot specify an array, structure, or union.

The types of variables that you can specify are listed below.

Semi-user-defined Variables Possible.
User-defined variables Global variables Possible.
Variables used in a program Possible.
*1. The following variables cannot be used:
EN, ENO, P_Off, P_CY, P_First_RunMode, P_First_Run, and P_PRGER.
l Condition Expressions
The condition of the change in the variable to detect is called the condition expression. There are
two types of condition expressions that you can select from. You specify a condition expression for
each variable.
• Change to TRUE
• Change to FALSE
For example, we will assume the condition expression was set to a change to TRUE. Even if
the value of the specified variable is TRUE when differential monitoring is started, the status of
the value of the variable is not detected as a change to TRUE. The value of the variable must
first change to FALSE and then to TRUE to be considered as a change to TRUE.
When Conditions Are Evaluated and the Match Count

The condition for the specified variable is evaluated every primary period. The value of the variable
from the previous evaluation is compared with the value of the variable for the current evaluation. If
the value of the variable that matches the specified condition has changed, the count is incremented.
• The number of times a condition match occurs is counted separately for each variable.
• The count values are reset to zero when differential monitoring is started.
• The count value for just one variable cannot be reset to zero.
• Even if the value changes to match the condition expression more than one time within the
same primary period, the count will be incremented only once in each primary period.
• If the values of the variable are the same at the time of the previous and current evaluations,
the condition is not considered to be a match, even if the value changed between evalua-
tions.
Start Condition and Stop Condition

Use the Sysmac Studio to start differential monitoring.

Normally, use the Sysmac Studio to stop differential monitoring. Differential monitoring will stop auto-
matically at the following cases.
• When the user program is downloaded
• When the Clear All Memory operation is performed
• When an online connection to the Sysmac Studio is disconnected
Operating Procedure
Use the following procedures to control differential monitoring. Refer to the Sysmac Studio Version 1
Operation Manual (Cat. No. W504) for details.
1 Select Differential Monitor from the View Menu on the Sysmac Studio.
2 Right-click a variable that can be specified for differential monitoring and select Add
Differential Monitor.
3 Set the differential monitoring condition expression for each variable in the Differential Monitor
Window.
8-6 Debugging
8
4
Execute the user program.
The number of times that the condition is met for each variable is displayed in the Differential
Monitor Window.
Precautions for Differential Monitoring

Observe the following precautions when you use differential monitoring.

l Loss of Communications with Sysmac Studio While Differential Monitor-

ing Is in Progress
Let’s assume that communications with the Sysmac Studio were cut off during differential monitor-
ing because the communications cable was disconnected or because the Sysmac Studio ended
due to an error. In such cases, the CPU Unit will continue execution of differential monitoring. To
restart execution of differential monitoring, you must resume communications with the Sysmac Stu-
dio and stop differential monitoring.
l Simultaneous Execution of Differential Monitoring

You cannot run differential monitoring from more than one copy of the Sysmac Studio running on
the same computer or from the Sysmac Studio running on different computers.
l Specifying Global Variables and External Variables

You can specify global variables or external variables (which specify global variables in POUs) for
differential monitoring. Keep in mind that the values of global variables and external variables are
updated at different times.
A global variable is updated as soon as the value is written. An external variable, however, is up-
dated only when the CPU Unit executes the POU in which that external variable is declared.
The following figure shows this. In this example, the following two variables are monitored.
Variable name Type of variable POU that executes the read/write

GVar1 Global variable The P1 program that is assigned to the
primary periodic task
P2.GVar1 This is an external variable that is de- The P2 program that is assigned to the
clared in the P2 program and points to periodic task
GVar1.
The GVar1 global variable is read and written by the P1 program that is assigned to the primary
periodic task. Therefore, it will be updated in the primary period as long as the program writes to it
every period. The P2.GVar1 external variable, however, is updated only when the CPU Unit exe-
cutes the P2 program that is assigned to the periodic task. This means the external variable is up-
dated only in the task period of the periodic task. Because the task period of the periodic task is
longer than the primary periodic, the count for P2.GVar1 is updated fewer times than the count for
GVar1.
Refreshing task Accessing task

Program P1 Program P2
Read/write Reading
External variable GVar1 Global variable GVar1 External variable GVar1

The GVar1 global variable is updated as soon as P1 writes a value to the

P1.GVar1 external variable.
TRUE
GVar 1 FALSE
(global
variable)
Timing for condition evaluation by differential monitoring
Primary period
Primary periodic task P1 P1 P1 P1 P1 P1 P1 P1

(refreshing task)
TRUE is FALSE is TRUE is FALSE is TRUE is FALSE is TRUE is FALSE is
written. written. written. written. written. written. written. written.
P1.GVar1 TRUE
(external FALSE
variable)
Number of times
condition for GVar1 is 0 1 2 3 4
met (change to TRUE)
Task period
Periodic task
(accessing task)
P2 P2 P2
P2.GVar1 TRUE
FALSE
(external
variable)
The value of the P2.GVar1 external variable is updated only when
P2 is executed.
Number of times
0 1 2
condition for P2.GVar1 is
met (change to TRUE)
8-6 Debugging
8

8-7 Event Logs

This section describes the event logs.
8-7-1 Introduction
The event logs contain records of events,* such as errors, status changes, and user-defined events,
that occurred in the NJ/NX-series Controller.
* Here, events are unscheduled events that occur on the Controller, such as errors. “Event” refers to
an error or to information that does not indicate an error but for which the user must be notified by the
Controller or for a user definition.
There are two types and four classifications of events.
• Controller events
Controller errors
Controller information
• User-defined events
User-defined errors
User-defined information
l NX-series CPU Units

You can check the current
Controller events and the event
log of past events.
Sysmac Studio NX-series CPU Unit NX Units NX Units

Event PLC Function Motion Control EtherCAT Master EtherNet/IP NX Bus Function
sources Module Function Module Function Module Function Module Module
User program Event logs

Or Create User-defined
Error (SetAlarm)
Event logs instruction
NS/NA-series PT Create User-defined

Information (SetInfo)
instruction
Battery
backup *1
You can check the current EtherCAT slave EtherCAT
Controller events and the event Terminal slave
log of past events.
Event logs
*1. The event logs are saved in battery-backup memory in the NX701 CPU Unit.
The event logs are saved in the non-volatile memory in the NX102 CPU Unit and NX1P2 CPU Unit.
• Only the NX102 CPU Units and NX1P2 CPU Units have the NX Bus Function Module.
• You can use NX Units only on the NX102 CPU Units and NX1P2 CPU Units.
• Refer to the appendices of the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the
applicable range of the HMI Troubleshooter.


Controller events and the event
log of past events.
NJ/NX-series CPU Unit CJ-series

Units
Event PLC Function Motion Control EtherCAT Master EtherNet/IP Errors in

sources Module Function Module Function Module Function Module Special Units
Sysmac Studio
Or User program
Create User-defined
Error (SetAlarm)
Event logs instruction
NS/NA-series PT Create User-defined

Information (SetInfo)
instruction
Battery backup
Controller events and the event EtherCAT
slave
log of past events.
To use an NS-series PT to check events, connect the PT to the built-in EtherNet/IP port on the
CPU Unit.
8-7 Event Logs

• You can use CJ-series Units only with NJ-series CPU Units.
• Refer to the appendices of the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for the
applicable range of the HMI Troubleshooter.
8
Features
8-7-1 Introduction
Event logs have the following features.
• In addition to error records, various records are recorded for events such as the time the power sup-
ply is turned ON or OFF, and the time when operation is started.
• You can check these records based on the time. You can therefore use them to isolate the causes of
errors when problems occur.
Types of Events
Events are classified as shown below.
l System-defined Events (Controller Events)

The Controller automatically detects these events. Controller events include events for the function
modules in the CPU Unit, NX Units, NX-series Slave Terminals, EtherCAT slaves, and CJ-series
Units.
The different types of system-defined events are as follows:
• Controller errors

• Controller information
l User-defined Events
These are events that occur in applications that the user developed. You can execute instructions
to create the following types of events.
• User-defined errors
• User-defined information
You can read the event logs from the Sysmac Studio or from an HMI.
8-7-2 Detailed Information on Event Logs
Event Sources
This information identifies where an event occurred in the Controller.
The event sources are given below for Controller events and user-defined events.
l Sources of Controller Events

Controller events occur in the function modules in the CPU Unit.
For some function modules, there is more detailed information about the event source. This infor-
mation is called the "detailed event source".
The following are Controller events.
Event Sources Detailed event source

PLC Function Module Instruction, power supply, built-in I/O, Option Board, I/O bus master or
CJ-series Unit*1
NX Bus Function Module*2 Master or NX Unit
Motion Control Function Module Common, Axis, Axes group
EtherCAT Master Function Module Communications port, EtherCAT master, or EtherCAT slave
EtherNet/IP Function Module Communications port/communications port 1/communications port 2,
CIP/CIP1/CIP2, FTP, NTP, or SNMP
*1. The source details information does not show information from the error histories from within CJ-series
CPU Special Units or EtherCAT slaves. Read the error histories from the appropriate Support Software.
l Sources of User-defined Events

User-defined events occur in the PLC Function Module.
Category
This information displays the category of event log.
It is used to access error logs from the Sysmac Studio or an HMI.
Event type Event log category Description

Controller events System log The Controller automatically detects and records
these events. CJ-series Unit errors are also in-
cluded.
Access log This is a record of events that have affected Con-
troller operation due to user actions.

Event type Event log category Description

User-defined events User-defined event log This is a log of events that are defined by the
user.
Number of Records
Each event log can contain the following number of records.
If the number of events exceeds the number of records permitted, the CPU Unit overwrites the oldest
events.
Event log catego- Maximum number of records

Event type
ry NX701 NX102 NX1P2 NJ501 NJ301 NJ101
Controller events System log 2,048 768*1 576 1,024 512 512
Access log 1,024 576 528 1,024 512 512
User-defined User-defined event 1,024 512 512 1,024 512 512
events log
*1. Up to 512 system logs generated on CPU Units and up to 256 system logs generated on NX Units can be
recorded.
Retaining Events during Power Interruptions

When the power is interrupted, the NJ-series CPU Unit and NX701 CPU Unit use a Battery to retain
the event logs, and the NX102 CPU Unit and NX1P2 CPU Unit use non-volatile memory to retain the
8-7 Event Logs

event logs.
For the CPU Unit that uses a Battery to retain the event logs, the event logs are not retained
when there is no Battery.
Periodically export event logs as required. 8

Event Codes
Event codes are assigned to Controller events by the system in advance according to the type of
event. Event codes are assigned to user-defined events by the user. Controller event codes are 8-digit
hexadecimal values.
You can use the Get Error Status instruction to read the error codes of current errors.
You can assign a decimal number from 1 to 60,000 as the event code for a user-defined event.
Event Levels
Each event has an "event level" that indicates its level.
The event level depends on the type of event. Levels are defined separately for Controller events and
user-defined events.

l Controller Events
Controller events are classified into five levels according to the degree of the effect that the events
have on control, as shown in the following table.
No. Level Classification

1 High Controller errors Major fault level
2 Partial fault level
3 Minor fault level
4 Observation level
5 Low Controller information Information level
Errors with a higher level have a greater impact on the functions that the Controller provides, and
are more difficult to recover from.
When an event in one of these levels occurs, the Sysmac Studio or an HMI will display the error.
l User-defined Events
User-defined events are classified into the following levels. These levels are defined by the NJ/NX-
series System.
The event levels are defined for user-defined events.
No. Level Type Meaning

1 High User fault Level1 These event levels indicate a user-defined error in
2 User fault Level2 an application.
3 User fault Level3 The user executes the SetAlarm (Create User-de-
fined Error) instruction to create the event.
4 User fault Level4
5 User fault Level5
6 User fault Level6
7 User fault Level7
8 User fault Level8
9 Low User Information These event levels indicate user-defined information
in an application.
The user executes the SetInfo (Create User-defined
Information) instruction to create the event.
Displaying Event Logs

The Sysmac Studio or an HMI displays two event logs: the Controller event log and the user-defined
event log. The Controller logs include both the access log and the system log.
The Sysmac Studio can also display the error logs that are recorded in the CJ-series Units and Ether-
CAT slaves.
The events in these logs are displayed in tables on the Sysmac Studio. Select an event from the table
to display detailed information.

If an event occurs in the Controller that is not supported by the version of the Sysmac Studio or
an HMI, the source is displayed as Unknown and the event name is displayed as Unknown
8-7 Event Logs

Event. The event code and attached information are displayed correctly.
Clearing Event Logs
l Clearing Event Logs from the Sysmac Studio or an HMI 8

You can clear the event logs from the Sysmac Studio or from an HMI. You can clear the Controller

event log and user-defined event log separately.
• If you need to delete event log in the CPU Unit from the Sysmac Studio or an HMI, make sure
you do not need any of the event information before you delete the event log. You may have
overlooked some important information and observation level Controller events or user-de-
fined events. Always check for these before you delete an event log.
• Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for restrictions on clear-
ing an event log from the PT.
l Clearing Event Logs with the Clear All Memory Operation

When you perform the Clear All Memory operation for an NJ/NX-series CPU Unit from the Sysmac
Studio, you can select whether to clear the event logs.
Exporting Event Logs

You can use the Sysmac Studio or an HMI to export the displayed event log to a CSV file.

8-7-3 Controller Events (Controller Errors and Information)
Introduction
Controller errors and information are defined by the NJ/NX-series System.
These events occur when the NJ/NX-series System detects an error or information factor.
l Controller Errors
These are system-defined errors.
“Controller error” is a collective term for major fault level, partial fault level, minor fault level, and
observation level Controller events.
Errors in the function modules of the CPU Unit, NX Units, NX-series Slave Terminals, EtherCAT
slaves, and CJ-series Units are detected. When one of these events occurs, a Controller error is
recorded in the event log.
To check the status of a Controller error on the user program, you execute the Get Error Status
instruction to access the status of the Error Status variable, which is a system-defined variable.
Note You can use NX Units only on the NX102 CPU Units and NX1P2 CPU Units.
Controller errors are not reset when the operating mode changes.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for details on Controller errors.
l Controller Information
Controller information is system-defined notification information. This information does not indicate
errors. It represents information level Controller events.
Examples include events other than errors, such as turning the power ON and OFF, starting and
stopping operation, connecting the Sysmac Studio online, and downloading user programs.

Function Modules
PLC Function
Module
Event logs
Motion Control
Function Module
An error or information occurs.
EtherCAT Controller events
Master Function
Module
EtherNet/IP
Function Module
Errors in Special
Units Error status
Detected Controller errors
Errors in EtherCAT
slaves
8-7-4 User-defined Events (User-defined Errors and Information)
8-7 Event Logs

Introduction
These errors and information are defined by the user. You can use instructions to create them.
8
l User-defined Errors
These errors are defined by the user.

Use the Create User-defined Error (SetAlarm) instruction to create user-defined errors. When this
instruction is executed, a user-defined error is recorded in the event log.
The corresponding system-defined variable changes to TRUE.
User-defined errors are not reset when the operating mode changes.
l User-defined Information
User-defined information is user-defined notification information. This information does not indicate
errors.
Use the Create User-defined Information (SetInfo) instruction to create user-defined information.
When this instruction is executed, user-defined information is recorded in the event log.

Event Setting Tables
Event code Event name Level Group Details

100 Failure X User fault level 1 Control A (001)
Instruction Event logs

Program
SetAlarm An event occurs.

User-defined events
System-defined Variables
User-defined error status
Application Procedures
Use the following procedures.
l User-defined Errors
1. Register a user-defined error in the Event Setting Table.
2. Execute the Create User-defined Error (SetAlarm) instruction.

(Specify an event code that is defined in the Event Setting Table.)
3. A user-defined error occurs.
4. The corresponding system-defined variable _AlarmFlag (User-defined Error Status) changes to TRUE.
Execute any process for that condition.

5. Check the user-defined error in the event log with the Sysmac Studio, an instruction, or an HMI.
l User-defined Information
1. Register user-defined information in the Event Setting Table.
2. Execute the Create User-defined Information (SetInfo) instruction.
3. Check the record in the event log.
Setting the Event Setting Table

To create a user-defined error or user-defined information, register the user-defined error or user-de-
fined information in the Event Setting Table in the Sysmac Studio in advance.
The user events that you set here can be displayed on the Sysmac Studio or an HMI with the same
information.
You can register up to 5,120 events in the Event Setting Table.
8-7 Event Logs

Event Setting Table
Event Setting Table

10001 Failure X User fault Level3 Control A (001)

Details
Description 8
Failure X occurred.
Correction
Perform safety checks and handle the problem

according to the cause code.
Programming Example
Detection condition Failure
SetAlarm
Normal end
EN ENO
Code OutVal
UINT#102
Var1 Info1
Var2 Info2
The following items are set in the Event Setting Table.

l Contents of the Event Setting Table

Item Description Values
Event Code You can specify a number to identify the event ac- User-defined error: 1 to 40,000
cording to the event level. User-defined information: 40,001
to 60,000
Event Name You can include a title for the event. 128 characters max.
Event Level You can specify the level of the event. User-defined error: User fault lev-
The level is indicated with a number. The lower the els: 1 to 8
number is, the higher the level is. User-defined information: User in-
formation
Group You can specify a group name to represent the loca- 32 characters max.
tion or type of the event. You can use user-defined There are no restrictions on the
groupings for the events. characters that can be used.
Case sensitive.
Reserved words: None
Details You can include a message that describes the event. 1,024 characters max.
The user can enter any text string. The message is There are no restrictions on the
used when the event is displayed on the Sysmac characters that can be used.
Studio or an HMI. Case sensitive.
Reserved words: None
Error details Refer to Displaying User Messages on an HMI When 128 characters max.
that are dis- a Major Fault Level Controller Error Occurs page There are no restrictions on the
played on the 8-82 that is given below in the additional informa- characters that can be used.
HMI when a tion for more details. Case sensitive.
major fault level Reserved words: None
Controller error
occurs
Comment The comment is attached for each set of table en-
tries.
You can set up to nine different languages for the same event code for different regions and
users. On the Sysmac Studio, you can import an Event Setting Table from a Microsoft Excel file
via the clipboard.
Displaying User Messages on an HMI When a Major Fault Level Controller Error Occurs:
When a major fault level Controller error occurs, the user program execution stops.
The NJ/NX-series Controllers can display user messages on an HMI when a major fault level
Controller error occurs. You can set the display messages under the list of user-defined events
in the Event Setting Table on the Sysmac Studio.

l Event Levels and Event Codes

Event
Range of correspond-
classifica- Level Event level category* Description
ing event code
tion
User-de- High User fault Level1 1 to 5000 Select from eight levels.
fined errors User fault Level2 5001 to 10000
User fault Level3 10001 to 15000
Low User fault Level8 35001 to 40000
User-de- Lowest User Information 40001 to 60000 The event type is user-
fined Infor- defined information.
mation
* User-defined error levels are separate from Controller error levels.
If you update the Event Setting Table and transfer it to the CPU Unit, the event logs for user-
defined events still contain old information. This can result in inconsistencies with the new
Event Setting Table. Program operations with caution.
8-7 Event Logs

Related Instructions
There are instructions that you can use to create and check user-defined errors and to clear existing
user-defined errors.
l Creating and Clearing User-defined Errors 8

Use the following instructions to create and reset user-defined errors and to create user-defined in-
formation.

Up to 32 events per level can occur simultaneously, for a total of 256 possible simultaneous events.

Create User-defined Error SetAlarm The SetAlarm instruction creates a user-defined error.
Reset User-defined Error ResetAlarm The ResetAlarm instruction resets a user-defined error.
Create User-defined Infor- SetInfo The SetInfo instruction records the specified user-defined
mation information in the event log.
l Checking for User-defined Errors

You can use the Get User-defined Error Status (GetAlarm) instruction to obtain the status of the
current user-defined errors and the highest priority event level and code of the current user-defined
errors.
Example:

Event Setting Table
10001 Failure X User fault Level3 Control A (001)

Details
Description
Failure X occurred.
Correction
Perform safety checks and handle the problem
according to the cause code.
Actual Programming
Detection condition Error

GetAlarm
EN
Level
Code
You can use user-defined errors to add a message on possible corrections or other information
when a Controller error occurs.
Use instructions such as the GetPLCError instruction to obtain information about the error sta-
tus or event code when a Controller error occurs. You can then use the information to trigger a
user-defined error.
Example 1
When a Low Battery Voltage error occurs, the event code (16#000B0000) is obtained and the
following message is displayed.
Battery is dead.
Apply power for at least five minutes before changing the Battery.
Install a new Battery within five minutes of turning OFF the power supply.
Example 2
When a partial fault level Controller error occurs, the event error level is obtained (highest level
status: 2) and the following message is displayed.
A device failed. Call the following number for support.

Repair Contact
Hours: 8:00 AM to 9:00 PM
TEL: xxx-xxxx-xxxx
System-defined Variables Related to User-defined Errors

_AlarmFlag User-defined Error The bit corresponding to the event level WORD R
Status is TRUE while there is a user-defined
error.
Bits 00 to 07 correspond to user fault
levels 1 to 8.

Records in Event Log

An event is recorded in the event log when you create user-defined information or a user-defined er-
ror, or when you use the ResetAlarm instruction to reset an error. When this happens, the time, event
code, event level, and attached information 1 and 2 are recorded in the user-defined event log in the
event logs.
Reset User-defined Errors

User-defined errors are cleared when the power supply to the NJ/NX-series Controller is turned ON.
You can also clear errors with the Sysmac Studio, the Reset User-defined Error instruction (ResetA-
larm) and an HMI.
8-7 Event Logs

8

8-8 Changing Event Levels

Errors, status changes, and user-defined events that occur in the NJ/NX-series Controller are all
called events. You can tell what type of event has occurred by viewing the display in Sysmac Studio,
or by checking the indicators on the front panel of the CPU Unit.
There are two types of events: Controller events that are defined in the system and user-defined
events. The Controller events are further classified into five event levels. Refer to Event Levels on
page 8-75 for details on event levels.
You can change the event levels that are assigned to some of the Controller events.
Version Information
quired to change event levels.
8-8-1 Applications of Changing Event Levels

The lighting pattern for the indicators on the front panel of the CPU Unit is predefined according to the
event level that is assigned to each Controller event. You can change the event level for some events
to change how the Controller operates when that event occurs.
For example, the ERROR indicator flashes for minor fault level events and stays unlit for observation
level events. You can change the lighting pattern of the ERROR indicator so that it goes out or flashes
for a given event.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for details on how the Controller
operates for different event levels.
8-8-2 Events for Which the Event Level Can Be Changed

Whether an event level can be changed depends on the specific event.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for details on the types and levels
of the Controller events, and whether the event levels can be changed.
8-8-3 Procedure to Change an Event Level
1 Double-click Operation Settings under Configurations and Setup - Controller Setup in the
Sysmac Studio. Or right-click Operation Settings and select Edit from the menu.
The Basic Settings Display is displayed on the Operation Setting Tab Page in the Edit Pane.

8-8 Changing Event Levels

2 Click the Event Level Settings Button.
A list of the events for which you can change the event level is displayed.
8-8-3 Procedure to Change an Event Level
3 Change the levels of the required events in the Event Level column.

If you change an event level on the Sysmac Studio and download the event level setting to the
Controller when the event already exists on the Controller, the event will be reset when the
download is started. If the same event occurs again while the download is in progress, the
Controller will operate according to the previous event level. If the same event occurs after the
download is completed, the Controller will operate according to the new level.

9
Backing up Data
This section describes the backup functions for the settings in an NJ/NX-series Con-
troller. Various types of backup functions are available. The target data and storage lo-
cation are different for each type. It starts with the overall description of the backup
functions and then introduces each backup function.
9-1 The Backup Functions................................................................................... 9-3

9-1-1 Applications of Backup Functions ................................................................... 9-4
9-1-2 Examples of Operating Procedures for the Backup Functions........................ 9-4
9-1-3 Data that Is Backed Up ................................................................................... 9-6
9-1-4 Types of Backup Functions ............................................................................. 9-8
9-1-5 Relation between the Different Types of Backup Functions and Data
Groups............................................................................................................9-11
9-1-6 Applicable Range of the Backup Functions................................................... 9-12
9-2 SD Memory Card Backups .......................................................................... 9-14
9-2-1 Backup (Controller to SD Memory Card)....................................................... 9-15
9-2-2 Restore (SD Memory Card to Controller) ...................................................... 9-20
9-2-3 Verify (between Controller and SD Memory Card) ........................................ 9-28
9-3 Disabling Backups to SD Memory Cards................................................... 9-34
9-4 Automatic Transfers from SD Memory Cards ........................................... 9-36
9
9-5 Program Transfer from SD Memory Card .................................................. 9-38
9-6 Sysmac Studio Controller Backups ........................................................... 9-45
9-6-1 Backup (Controller to Computer)................................................................... 9-46
9-6-2 Restore (Computer to Controller) .................................................................. 9-47
9-6-3 Verify (between Controller and Computer) .................................................... 9-48
9-7 Importing and Exporting Sysmac Studio Backup File Data..................... 9-50
9-8 Sysmac Studio Variable and Memory Backup Functions ........................ 9-52
9-8-1 Applicable Data for Sysmac Studio Variable and Memory Backup
Functions....................................................................................................... 9-52
9-8-2 Using Sysmac Studio Variable and Memory Backup Functions.................... 9-52
9-8-3 Compatibility between CPU Unit Models....................................................... 9-53
9-9 Backup Functions When EtherCAT Slaves Are Connected ..................... 9-56
9-9-1 Backed Up EtherCAT Slave Data.................................................................. 9-56
9-9-2 Backup Support Depending on the Controller Status.................................... 9-56
9-9-3 Conditions for Restoring EtherCAT Slave Data............................................. 9-57
9-9-4 EtherCAT Slaves for Which You Can Back Up Data ..................................... 9-58
9-10 Backup Functions When EtherCAT Slave Terminals Are Connected ..... 9-61

9 Backing up Data
9-10-1 Backing Up Data in an EtherCAT Slave Terminal ......................................... 9-61

9-10-2 Backup Support Depending on the EtherCAT Slave Terminal Status ........... 9-62
9-10-3 Conditions for Restoring EtherCAT Slave Terminal Data .............................. 9-62
9-11 Backup Functions When NX Units Are Connected................................... 9-64
9-11-1 Backing Up Data in NX Units on the CPU Unit ............................................. 9-64
9-11-3 Conditions for Restoring NX Unit Data on the CPU Unit............................... 9-65
9-12 Backup Functions When CJ-series Units Are Connected ....................... 9-66
9-12-1 Backed Up CJ-series Unit Data..................................................................... 9-66
9-12-3 Conditions for Restoring CJ-series Unit Data................................................ 9-66
9-13 Backup-related Files .................................................................................... 9-68
9-13-1 Types of Backup-related Files ....................................................................... 9-68
9-13-2 Specifications of a Backup File ..................................................................... 9-69
9-13-3 Specifications of a Restore Command File ................................................... 9-70
9-13-4 Specifications of an Automatic Transfer Command File................................ 9-72
9-13-5 Specifications of a Controller Verification Results File .................................. 9-74
9-13-6 Specifications of an EtherCAT Verification Results File ................................ 9-75
9-13-7 Specifications of an EtherCAT Slave Terminal Verification Results File........ 9-76
9-13-8 Specifications of an NX Unit Verification Results File ................................... 9-77
9-13-9 Specifications of a CJ-series Unit Verification Results File ........................... 9-78
9-14 Compatibility between Backup-related Files ............................................. 9-80
9-14-1 Compatibility between Backup Functions...................................................... 9-80
9-14-2 Compatibility between CPU Unit Models....................................................... 9-81
9-14-3 Compatibility between Unit Versions of CPU Units ....................................... 9-82
9-15 Functions that cannot be Executed during Backup Functions ............... 9-84

9 Backing up Data
9-1 The Backup Functions

The following three functions are supported for data backup for an NJ/NX-series Controller.
Function Description
Backing up data You can back up all of the data in the Controller to an SD Memory Card or to a computer.
A file to save is called a backup file.
Restoring data You can transfer the contents of a backup file on the SD Memory Card or computer to
the Controller. All of the data in the Controller are replaced with the data when it is
backed up.
Verifying data You can compare the contents of a backup file on the SD Memory Card or computer with
the data in the Controller to see if they are the same.
The following items are described for the backup functions.
Item Description
Applications of backup Effective usage of the backup functions is described.
functions
Examples of operating The backup functions are executed with simple procedures. Examples are provid-
procedures for the backup ed.
functions
Data that is backed up The data that can be saved with the backup functions from the connected Units
and slaves is described.
Types of backup functions There are different types of backup functions that differ in where the data is saved.
The types of backup functions and the difference between them are described.

Relation between the dif- Different types of backup functions handle different data groups. The relation be-
ferent types of backup tween the different types of backup functions and data groups is described.
functions and data groups
Applicable range of the The connected Units and slaves for which you can save data with the backup func-
backup functions tions are described.
• The performance may be different if the hardware revisions are different. Before you transfer
the user program, data, and parameter settings to the CPU Units with the different hardware
9
revisions, check them for proper execution and then use them for actual operation.
• For NX-series CPU Unit, we recommend that you back up the present values of variables
9-1-1 Applications of Backup Functions
while the retained variables are not refreshed.

If you back up the following variables while the values of retained variables are refreshed, the
data may not be saved correctly.
• Structure members whose data size is 16 bits or more.
• Array elements whose data size is 16 bits or more.

9 Backing up Data
• The client certificate and client private key that are related to the secure socket communica-
tions are information that are attached to the individual CPU Unit, therefore, the information
are out of the target of backup and restoration.
Transfer the client certificate and client private key to the CPU Unit when you replace the
hardware of the CPU Unit.
Similarly, the secure socket setting is also out of the target of backup and restoration. Use the
Secure Socket Configuration commands to make the setting to the CPU Unit.
• Network security issues such as the server data be illegally obtained or tampered, or commu-
nications to the server be disabled may occur due to theft, information leaks and tampering of
the client certificate, private key and secure socket setting by third parties.
Take necessary measures for the management of the client certificate, private key and se-
cure socket setting and for the prevention of theft, information leaks and tampering of those.
Especially, use an encrypted safe communications path, etc. when obtaining the private key
to avoid information leaks.
Furthermore, store the private key in a location where possibilities of leaks are eliminated as
much as possible.
information on the secure socket communications.
9-1-1 Applications of Backup Functions

You can use the backup functions in the following instances.
Item Application
Program and setting When you change the user program and settings for equipment that is currently in
changes operation.
Hardware replacements When you replace the hardware for the CPU Unit, other Units, or slaves.
Troubleshooting equip- When you want to save data in the Controller to analyze the cause of an error that
ment failures occurs in the equipment.
Equipment backup and When an error occurs in the equipment, and when you want to restore the equip-
recovery ment with data from a normal operating status. When you want to backup the data
in the equipment while it is in operation.
Manufacture of equipment When you want to manufacture the same equipment and need to transfer the data
from the existing equipment to new equipment in its initial state.
9-1-2 Examples of Operating Procedures for the Backup Functions

You can use the backup functions to easily back up, restore, and verify Controller data.
This section describes the procedure for performing a backup, restore or compare operation of the SD
Memory Card using CPU Unit front-panel switch.
For the NX701 CPU Units, eight pins, pins 1 to 8, are provided on the DIP switch. Before you
use the backup functions, set all of pins 5 to 8 to OFF.
Backup Procedure
l Preparations

9 Backing up Data
1 Insert the SD Memory Card into the CPU Unit.
2 Set pins 1 to 4 on the DIP switch on the CPU Unit as follows: 1: OFF, 2: OFF, 3: ON, and 4:
OFF.
l Executing the Backup
1 Press the SD Memory Card power supply switch for 3 seconds.

The backup is started. The SD PWR indicator will flash, lighting for 3 seconds and going out for
0.5 seconds. When the backup operation is completed, the SD PWR indicator will stop flashing
and remain lit.
l Ending the Backup Procedure
1 Set all of pins 1 to 4 on the DIP switch on the CPU Unit to OFF.
2 Press the SD Memory Card power supply switch to turn OFF the SD PWR indicator.
3 Remove the SD Memory Card.
Restoration Procedure

l Preparations
1 Turn OFF the power supply to the NJ/NX-series Controller and to the EtherCAT slaves.
2 Insert the SD Memory Card that contains the backup file into the CPU Unit.
3 Set pins 1 to 4 on the DIP switch on the CPU Unit as follows: 1: OFF, 2: OFF, 3: ON, and 4:
ON.
9
l Restoring Data
Functions
9-1-2 Examples of Operating Procedures for the Backup
1 Turn ON the power supply to the NJ/NX-series Controller and to the EtherCAT slaves.
The restoration operation is started. The SD PWR indicator will flash, lighting for 3 seconds
and going out for 0.5 seconds. When the restoration operation is completed, the SD PWR indi-
cator will stop flashing and remain lit.
l Ending the Restoration Procedure
2 Turn OFF the power supply to the NJ/NX-series Controller and to the EtherCAT slaves.
l Starting Normal Operation

9 Backing up Data
3 Turn ON the power supply to the NJ-series Controller and to the EtherCAT slaves.
Restoring Data when EtherCAT Slaves Are Connected

• Always cycle the power supply to the NJ/NX-series Controller and the EtherCAT slaves after
you restore data when EtherCAT slaves are connected. If you start operation without cycling
the power supply, the Controller may perform unexpected operation.
• To verify the data after you restore data with EtherCAT slaves connected, first turn OFF the
power supply to the NJ/NX-series Controller and EtherCAT slaves, and then start in Safe
Mode before you perform the verification procedure. If you cycle the power supply normally,
the Controller will start operation before you can perform the verification procedure. That
means that operation could be started with data that is not correct. For information on Safe
Mode, refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503).
Verification Procedure
l Preparations
1 Insert the SD Memory Card that contains the backup file into the CPU Unit.
l Verifying the Data
1 Press the SD Memory Card power supply switch for 3 seconds.

Data comparison is started. The SD PWR indicator will flash, lighting for 3 seconds and going
out for 0.5 seconds.
If the verification operation is completed and the data is the same, the SD PWR indicator will
stop flashing and remain lit.
If the verification operation is completed and differences were found in the data, the SD PWR
indicator will flash, lighting for 0.5 seconds and going out for 0.5 seconds.
l Ending the Verification Procedure
9-1-3 Data that Is Backed Up

The following data is backed up.
This section describes the backup functions based on the following data groups for the backup data.

9 Backing up Data
Data group Data items

User program and settings EtherCAT configuration (EtherCAT slave configuration and EtherCAT
master settings)
Unit Configuration and Unit Setup*1
I/O Map
Controller Setup (Operation Settings, Built-in EtherNet/IP Port Settings,
Built-in I/O Settings, and Option Board Settings)*2
Motion Control Setup
Cam Data Settings
Event Settings
Task Settings
Data Trace Settings
Tag Data Link Tables
Controller name
Operation authority verification
User authentication*3
User program execution ID in user program
Built-in clock (time zone setting)
POU
Data (data types and global variables)
Memory Settings for CJ-series Units*4
IP address of the built-in Of the TCP/IP Settings in the Built-in EtherNet/IP Port Settings, setting
EtherNet/IP port*5 type, IP address, subnet mask, and default gateway
Present values of variables Values of variables with a Retain attribute*6
Present values of memory used for Values of the Holding, DM, and EM Areas in the memory for CJ-series

CJ-series Units Units*4
Units and slaves settings Backup parameters for EtherCAT slaves*7
Parameters in the CJ-series Units*4*8
NX Unit Settings
Absolute encoder home offsets The set value to restore the actual position of a Servo Drive with an abso-
lute encoder
*1. For the NX Units on the NX102 CPU Units and NX1P2 CPU Units, data of configuration information, Unit
operation settings and Unit application data is backed up.
*2. Data of Built-in I/O Settings and Option Board Settings is backed up only for the NX1P2 CPU Units.
*3. User authentication is backed up for the following CPU Units of the stated unit versions.
9
• NJ-series, NX102, NX1P2 CPU Unit: Version 1.49 or later 9-1-3 Data that Is Backed Up
and NX1P2 CPU Units. You can use parameters in the CJ-series Units only with NJ-series CPU Units.
*5. With a combination of the CPU Unit with unit version 1.14 or later and Sysmac Studio version 1.18 or higher,
IP address of the Built-in EtherNet/IP Port Settings can be used as a data group.
IP address is included in the user program and settings for other combinations.
*6. Of the system-defined variables with a Retain attribute, some variables are not applicable for the data back-
up function. Refer to A-7 Specifications for Individual System-defined Variables on page A-139 for details on
the specifications for individual system-defined variables.
*7. A part or all of the set parameters are not backed up for some EtherCAT slave models. For the details on
the target EtherCAT slaves for the data backup function, refer to 9-9-4 EtherCAT Slaves for Which You Can
Back Up Data on page 9-58.
*8. Refer to the CJ-series CJ2 CPU Unit Hardware User’s Manual (Cat. No. W472) for details on the data that is
backed up.

9 Backing up Data
Precautions on the Absolute Encoder Home Offset

The absolute encoder home offsets are retained in the CPU Unit as absolute encoder informa-
tion. If any of the following conditions is met, clear the absolute encoder home offsets from the
list of data items to restore, and then restore the data. Then, define the absolute encoder home
again. If you do not define home, unintended operation of the controlled system may occur.
• The Servomotor or Servo Drive was changed since the data was backed up.
• The absolute encoder was set up after the data was backed up.
• The absolute data for the absolute encoder was lost.
9-1-4 Types of Backup Functions

There are backup functions for the NJ/NX-series Controllers that save data to SD Memory Cards and
others that save data to a computer. Also, there are three methods used to execute the backup func-
tions: the CPU Unit front-panel DIP switches, system-defined variables, and the Sysmac Studio.
Functions That Save Data to SD Memory Cards

The SD Memory Card backup functions are used to back up, restore, and compare data on SD Memo-
ry Cards. Related functions include disabling backups to SD Memory Cards, automatic transfers from
SD Memory Cards, and program transfer from SD Memory Card.
Operation method
CPU
Sys-
Unit
tem-de-
Function name Description front- Sysmac Reference
fined
panel Studio
varia-
DIP
bles
switch
SD Backing The Controller data is saved ¡ ¡ ¡ 9-2-1 Backup (Controller
Memory up data in a backup file on the SD to SD Memory Card) on
Card Memory Card. page 9-15
Backups Restor- The data in a backup file on ¡ ¡ 9-2-2 Restore (SD Memo-
ing data the SD Memory Card is ry Card to Controller) on
transferred to the Controller. page 9-20
Verify- The Controller data and the ¡ ¡ ¡ 9-2-3 Verify (between
ing data data in a backup file on the Controller and SD Memory
SD Memory Card are com- Card) on page 9-28
pared.
Disabling backups You can disable backing up ¡ 9-3 Disabling Backups to
to SD Memory data to SD Memory Cards. SD Memory Cards on
Cards page 9-34

9 Backing up Data
Operation method
CPU
Sys-
Unit
tem-de-
fined
panel Studio
varia-
DIP
bles
switch
Automatic transfers When the power supply is ¡ 9-4 Automatic Transfers
from SD Memory turned ON, the data in a from SD Memory Cards on
Card backup file on the SD Mem- page 9-36
ory Card is automatically
transferred to the Controller.
After the data transfer, the
operating mode of the CPU
Unit will change to the mode
that is specified in Startup
Mode setting.
Program transfer With a system-defined varia- ¡ 9-5 Program Transfer from
from SD Memory ble, you can transfer a pro- SD Memory Card on page
Card gram that is stored in the SD 9-38
Memory Card to the Control-
ler.
After the transfer, the operat-
ing mode of the CPU Unit
will change to the mode that
is specified in Startup Mode
setting.

Safety unit re- The data in a Safety Unit re- *2 NX-series Safety Control
store*1 store file on the SD Memory Unit User’s Manual (Cat.
Card is transferred to the No. Z930-E1-12 or later)
NX-SL5£££ that is mount-
ed to the NX102 CPU Unit.
*1. An NX102 CPU Unit with unit version 1.31 or later and Sysmac Studio version 1.24 or higher are required to
use the function.
The safety unit restore function restores only the data in the NX-SL5£££. If you restore in the entire sys-
tem, you must execute the safety unit restore with a combination of the SD Memory Card backups.
*2. Set the front-panel DIP switch on the NX-SL5£££ Safety CPU Unit. Refer to the NX-series Safety Control
9
Unit User’s Manual (Cat. No. Z930-E1-12 or later) for details. 9-1-4 Types of Backup Functions
Functions That Save Data to the Computer

The Sysmac Studio Controller backup functions are used to back up, restore, and compare data on
the computer.
Importing and exporting Sysmac Studio backup file data are used to save and read different types of
data between the Sysmac Studio projects and backup files on the computer without using a Controller.
The Sysmac Studio variable and memory backup functions are used to back up battery-backup
present values to the computer and restore them from the computer.

9 Backing up Data
Operating method
CPU
Sys-
Unit
tem-de-
fined
panel Studio
varia-
DIP
bles
switch
Sysmac Backing The Controller data is saved ¡ 9-6-1 Backup (Controller
Studio up data in a backup file on the com- to Computer) on page
Controller puter. 9-46
backups Restor- The data in a backup file on ¡ 9-6-2 Restore (Computer
ing data the computer is transferred to Controller) on page
to the Controller. 9-47
Verify- The Controller data and the ¡ 9-6-3 Verify (between
ing data data in a backup file on the Controller and Computer)
computer are compared. on page 9-48
Importing Export- The data is exported from ¡ 9-7 Importing and Export-
and ex- ing data the project on the Sysmac ing Sysmac Studio Back-
porting Studio to a backup file with- up File Data on page
Sysmac out using a Controller. 9-50
Studio Import- The data in the backup file is ¡
backup ing data imported into the Sysmac
file data Studio project without using
a Controller.
Sysmac Backing You can back up the present ¡ 9-8 Sysmac Studio Varia-
Studio up data values of data that is backed ble and Memory Backup
variable up by a battery to an XML Functions on page 9-52
and mem- file on the computer.
ory back- Restor- You can restore the present ¡
up func- ing data values of data that is backed
tions up by a battery from the
computer to the CPU Unit.
Version Information
quired to use the following backup functions: SD Memory Card backups, automatic transfers
from SD Memory Cards, Sysmac Studio Controller backups, and importing and exporting
Sysmac Studio backup file data.
quired to transfer programs from the SD Memory Card.
quired to use the restore of SD Memory Card backups by the system-defined variable.
The backup functions are executed as a system service. This means that if you perform a back-
up or verification operation in RUN mode with an NJ-series CPU Unit, it may take time for the
operation to be completed. If you perform a backup or verification operation in RUN mode,
make sure that the sufficient execution time is allocated for the system service. You can reduce
the processing time by performing the system service in PROGRAM mode.

9 Backing up Data
9-1-5 Relation between the Different Types of Backup Functions and

Data Groups
Different types of backup functions handle different data groups. The relation between the different
types of backup functions and data groups is given in the following table.
(¡: Applicable, x: Not applicable)
Data group
User program and set- Present
tings values of Absolute
Present Units and
Type of backup function memory encoder
IP address of values of slaves set-
used for home off-
built-in Ether- variables tings
CJ-series sets
Net/IP port*2
Units*1
SD Memory Backing up ¡ ¡ ¡*3 ¡*4 ¡ ¡
Card back- data
ups Restoring ¡ ¡ ¡*3 ¡*4 ¡ ¡
data
Verifying ¡*5 ¡ × × ¡ ×
data
Automatic transfers from ¡ ¡ ¡*3 ¡*4 × ×
SD Memory Cards*6
Program transfer from SD ¡ ¡ ¡*3 ¡*4 × ×
Memory Card*7
Sysmac Backing up ¡ ¡ ¡*3 ¡*4 ¡*8 ¡

Studio Con- data
troller back- Restoring ¡ ¡ ¡*3 ¡*4 ¡*8 ¡
ups data
Verifying ¡*5 ¡ × × ¡*8 ×
data
Importing Exporting ¡*9 ¡ × × × ×
and export- backup file
ing Sysmac data
Studio Importing ¡*9 ¡ × × ¡ ×
backup file backup file 9
data data
Sysmac Backing up × × ¡*3 ¡*4 × ¡
tions and Data Groups
9-1-5 Relation between the Different Types of Backup Func-
Studio vari- and restor-

able and ing data
memory
backup
functions
IP address is included in the user program and settings other than the above combination.
*3. The backup data is processed only for the present values of variables that are specified for retention with
the Retain attribute.
*4. The backup data is processed only for the present values of addresses that are specified for retention with
the Retain attribute in the memory for CJ-series Units.
*5. Of the user program and setting data groups, the Data Trace Settings are not compared.

9 Backing up Data
*6. For all of the data groups except for the user program and setting group, only the items that are specified to
be transferred in the automatic transfer command file are transferred.
*7. For all of the data groups, only the data that is specified as the transfer target by the system-defined varia-
ble is transferred.
*8. If the CJ-series Units are specified for backup, the parameters in the CJ-series Units are backed up. If the
EtherCAT slaves are specified for the backup, parameters for the EtherCAT slaves are backed up.
*9. The following data is not processed: The data that is not processed depends on the version of the Sysmac
Studio.
Using Sysmac Studio Version 1.16 or Higher
The built-in EtherNet/IP port name in the Controller name
Words allocated to CPU Bus Units in the Unit Configuration and Unit Settings
Data Trace Settings
Using Sysmac Studio Version 1.15 or Lower
The built-in EtherNet/IP port name in the Controller name
The built-in EtherNet/IP tag data link settings in the Controller Setup
Words allocated to CPU Bus Units in the Unit Configuration and Unit Settings
Data Trace Settings
The files that are handled for backing up variables and memory from the Sysmac Studio are not
compatible with other backup files.
Refer to9-8 Sysmac Studio Variable and Memory Backup Functions on page 9-52for details on
the Sysmac Studio variable and memory backup functions.
9-1-6 Applicable Range of the Backup Functions

Different types of backup functions handle data for different Units or slaves. The applicable Units and
slaves for each backup function are given in the following table.
(¡: Applicable, ×: Not applicable)
Units/slaves
NX Units CJ-series Units*4
Type of backup func- NJ/NX- Comput-
EtherCAT on the Units and EtherNet/
tion series er and
slaves*1 CPU Master Slaves IP slaves
CPU Unit HMIs
Unit*2*3 Units
SD Memory Card ¡ ¡*3 ¡ ¡ × × ×
backups
Automatic transfers ¡ × × × × × ×
from SD Memory Card
Program transfer from ¡ × × × × × ×
SD Memory Card
Sysmac Studio Con- ¡ ¡*3 ¡ ¡ × × ×
troller backups
Importing and export- ¡ ¡*5 ¡ × × × ×
ing backup file data on
Sysmac Studio

9 Backing up Data
Units/slaves
NX Units CJ-series Units*4
Type of backup func- NJ/NX- Comput-
EtherCAT on the Units and EtherNet/
tion series er and
slaves*1 CPU Master Slaves IP slaves
CPU Unit HMIs
Unit*2*3 Units
Variable and memory ¡ × × × × × ×
backup functions of
Sysmac Studio
*1. EtherCAT Slave Terminals are included. If EtherCAT Slave Terminals are set for backup, the backup func-
tion applies to both the EtherCAT Coupler Unit and the NX Units.
*3. This does not apply to Safety Control Units. Refer to the NX-series Safety Control Unit User’s Manual (Cat.
No. Z930-E1-12 or later) for information on importing and exporting settings and safety unit restore settings
for a Safety Control Unit.
*5. Only importing data is possible. Exporting is not possible.
The Units and slaves that are shown in the following figure are covered by the SD Memory Card back-
up functions and Sysmac Studio Controller backup functions.
Computer HMI

NJ-series
CPU Unit NX Units or Expansion Rack CPU Unit NX Units or
CJ-series Units CJ-series Units
Slaves
EtherCAT slaves
9
9-1-6 Applicable Range of the Backup Functions
EtherCAT EtherNet/IP slaves

NX Units
Coupler Unit
EtherCAT Slave Terminal
Applicable range for the SD Memory Card backup

functions and Sysmac Studio Controller backup functions.
Note You can use NX Units only on the NX102 CPU Units and NX1P2 CPU Units.
Note You can use CJ-series Units and NJ-series Expansion Racks only with the NJ-series CPU Unit.
Version Information
quired to connect EtherCAT Slave Terminals.

9 Backing up Data
9-2 SD Memory Card Backups

You can use SD Memory Cards to back up, restore, and verify Controller data.
SD Memory Card Controller
Backing up data
Restoring data Data that is
Verifying data backed up
Backup file
Restore command file
Automatic transfer command file
Verification results files
When you back up data, the Backup file, Restore command file, and Automatic transfer command file
are created in the specified directory on the SD Memory Card. When you verify data, the Verification
results files are created in the specified directory.
All of these files are collectively referred to as Backup-related files.
The functions of the backup-related files are given in the following table.
Function
File Backing up Restoring da- Verifying da-
Description
data ta ta
Backup file This file contains the Controller data Created. Accessed. Accessed.
that is handled by the functions that
are related to data backup.
Restore command This file specifies the data groups to Created. Accessed. Accessed.
file restore when restoring data.You can
edit this file with a text editor on a
computer to specify the data groups to
restore.
Automatic transfer This file specifies the data groups to Created. Nothing is Nothing is
command file transfer when automatically transfer- done. done.
ring data from an SD Memory Card.
You can edit this file with a text editor
on a computer to specify the data
groups to transfer.
Verification results These files contain the verification re- Nothing is Nothing is Created.
files sults after data is verified. done. done.
The execution method for the functions, applicable directory, and applicable operating modes are giv-
en in the following table.
Applicable operating modes

Procedure Directory*1 Restoring
Backing up data Verifying data
data
CPU Unit front-pan- The root directory RUN mode and When power RUN mode and
el DIP switch*2 PROGRAM mode is turned ON PROGRAM mode

9 Backing up Data
Applicable operating modes

Procedure Directory*1 Restoring
Backing up data Verifying data
data
System-defined var- The directory that you RUN mode and RUN mode RUN mode and
iables*3*4 specified in the system-de- PROGRAM mode and PRO- PROGRAM mode
fined variable GRAM
mode*5
SD Memory Card The directory that you RUN mode and Cannot be RUN mode and
Window in Sysmac specified in the tab page PROGRAM mode executed PROGRAM mode
Studio
*1. You can specify a directory only on the SD Memory Card.
*2. Before you restore or verify data, save the backup file and restore command file in the root directory.
*3. This method is used to control the backup functions from an HMI. You can access the system-defined varia-
bles only for the restore from the user program.
*4. Make arrangements to prevent backup or verification operations from being performed on HMIs while a
backup, restore, or verification operation is in progress. Otherwise, the intended operation may not occur.
*5. CPU Units with unit version 1.13 or earlier do not support restoring with the system-defined variables, and
restoration cannot be executed.
9-2-1 Backup (Controller to SD Memory Card)

This operation is used to save data in the Controller to the SD Memory Card in the CPU Unit.

Processing Contents
• This backup operation processes all data groups.
• When you back up data, the backup file, restore command file, and automatic transfer command file
are created in the specified directory on the SD Memory Card.
• If the backup-related files are already in the specified directory, they are overwritten.
• If an error occurs while writing the backup-related files to the SD Memory Card, the previous back-
up-related files will be deleted. Also, the new backup-related files will not be created.
• If an error occurs before the new backup-related files are created, the previous files are retained and
the new files are not created.
9
• The power is continued to supply even if the SD Memory Card power supply switch is pressed when
a backup is in progress. 9-2-1 Backup (Controller to SD Memory Card)
• The SD Memory Card will remain mounted after completion of the backup.
Procedure
l Backing Up Data with the CPU Unit Front-panel DIP Switch

Processing stage Procedure
Start command The backup starts when the SD Memory Card power supply switch is pressed for 3
seconds with the DIP switch pins set as follows: 1: OFF, 2: OFF, 3: ON, and 4: OFF.*1

9 Backing up Data

Executing Immediately after Starting Backup*2
The SD PWR indicator will light, go out for 0.5 seconds, and then light again.
While Backing Up Data

The SD PWR indicator will flash, lighting for 3 seconds and going out for 0.5 seconds.
The SD BUSY indicator will flash irregularly.
The value of the _BackupBusy (Backup Function Busy Flag) system-defined variable
will change to TRUE.
Execution results Normal End:
The SD PWR indicator will light.
Error End:
The SD PWR indicator will flash, lighting for 0.5 seconds and going out for 0.5 sec-
onds. Press the SD Memory Card power supply switch so that the indicator will light.
*1. For the NX701 CPU Unit, set all of pins 5 to 8 on the DIP switch to OFF.
*2. If an SD Memory Card is not inserted, the SD PWR indicator will not light.
l Backing Up Data with the _Card1BkupCmd (SD Memory Card Backup

Command) System-defined Variable
Start command The name of the directory where the files are saved is stored in the
_Card1BkupCmd.DirName (Directory Name) system-defined variable.
Example: “dirA/dirB” specifies the dirB directory inside the dirA directory.
The backup operation starts when you change the _Card1BkupCmd.ExecBkup (Exe-
cute Backup Flag) system-defined variable to TRUE.
Cancel command You can cancel the backup operation.
The backup operation ends in an error if you change the _Card1BkupCmd.CancelBk-
up (Cancel Backup Flag) system-defined variable to TRUE.
Executing The _Card1BkupSta.Active (Active Flag) system-defined variable changes to TRUE.
The _Card1BkupSta.Done (Done Flag) system-defined variable changes to TRUE.
Error End:
The _Card1BkupSta.Err (Error Flag) system-defined variable changes to TRUE.
Note Do not use this system-defined variable from the user program.
l Backing Up Data from the SD Memory Card Window on the Sysmac Studio
Start command Click the SD Memory Card Backup Button on the SD Memory Card Window in the
Sysmac Studio, specify the directory to save the backup file in, and execute the back-
up.
Executing The progress of the backup is displayed in the dialog box.
Execution results A message will appear when the backup is completed. You will then be asked to con-
firm whether to verify the backup data.

9 Backing up Data
l Backing Up Data with Special Instruction

Start command Execute the BackupToMemoryCard instruction in the user program.
Executing The value of the Busy output variable from the BackupToMemoryCard instruction will
change to TRUE.
The value of the Done output variable from the BackupToMemoryCard instruction
changes to TRUE.
Error End:
The value of the Error output variable from the BackupToMemoryCard instruction
changes to TRUE.
The error code is stored in the ErrorID output variable from the BackupToMemoryCard
instruction.
Version Information
quired to use the BackupToMemoryCard instruction.

used to back up data are shown below. Refer to A-7 Specifications for Individual System-defined Vari-
ables on page A-139 for details on system-defined variables.
Variable name
Meaning Function Data type R/W
Member name
_Card1BkupCmd*1 SD Memory Card _sBKUP_CMD RW
Backup Commands
ExecBkup*1 Execute Backup Change this variable to TRUE to BOOL RW
Flag back up Controller data to an SD
9
Memory Card. 9-2-1 Backup (Controller to SD Memory Card)
CancelBkup*1 Cancel Backup Flag Change this variable to TRUE to can- BOOL RW
cel backing up data to an SD Memory
Card.
DirName*1 Directory Name Use this variable to specify the direc- STRING(64) RW
tory name in the SD Memory Card for
which to back up data.
_Card1BkupSta*1 SD Memory Card _sBKUP_STA R
Backup Status
Done*1 Done Flag TRUE when a backup is completed. BOOL R
Active*1 Active Flag TRUE when a backup is in progress. BOOL R
Err*1 Error Flag TRUE when processing a backup BOOL R

ended in an error.
_BackupBusy Backup Function TRUE when a backup, restoration, or BOOL R
Busy Flag verification is in progress.
*1. Do not use this system-defined variable from the user program.

9 Backing up Data
• Refer to the NA-series Programmable Terminal Software User’s Manual (Cat. No. V118) for
information on mapping variables when you connect an NA-series PT to the NJ/NX-series
Controller.
• Refer to A-11 Registering a Symbol Table on the CX-Designer on page A-234 for the proce-
dure to register these system-defined variables in the variable table of the CX-Designer when
you connect an NS-series PT to the NJ/NX-series Controller.
Timing Charts
The operation of the system-defined variables when they are used to backup data is shown below.
In the charts, “pre-execution checks” indicates processing to check whether there is an SD Memory
Card in the CPU Unit and other items before the backup starts. The value of _Card1BkupSta.Active
(Active Flag) changes to TRUE only after all of the pre-execution checks are cleared and the actual
backup is started.
l Normal Operation
Backup start Pre-execution
command checks cleared. Normal end
_Card1BkupCmd.ExecBkup TRUE
FALSE
_Card1BkupCmd.CancelBkup TRUE
FALSE
_Card1BkupSta.Done TRUE
FALSE
_Card1BkupSta.Active TRUE
FALSE
_Card1BkupSta.Err TRUE
FALSE
_BackupBusy TRUE
FALSE
l Operation When the Backup Cannot Start Because Another Backup Func-
tion Is in Progress
Backup start Pre-execution
command checks not cleared.
TRUE
_Card1BkupCmd.ExecBkup
FALSE
_Card1BkupCmd.CancelBkup TRUE
FALSE
FALSE
TRUE
_Card1BkupSta.Active
FALSE
TRUE
_Card1BkupSta.Err
FALSE
_BackupBusy TRUE
FALSE

9 Backing up Data
l Operation When the Backup Fails After a Normal Start

Backup start Pre-execution Error occurred
command checks cleared. during backup.
TRUE
_Card1BkupCmd.ExecBkup
FALSE
TRUE
_Card1BkupCmd.CancelBkup
FALSE
FALSE
TRUE
_Card1BkupSta.Active
FALSE
TRUE
_Card1BkupSta.Err
FALSE
TRUE
_BackupBusy
FALSE
l Operation When the Backup Is Canceled While the Backup Is in Progress

The time required to stop the backup operation after it is canceled depends on the progress of the
backup operation.
Backup cancel
command
Backup start Pre-execution Backup stopped
command checks cleared. with an error.
_Card1BkupCmd.ExecBkup TRUE
FALSE
TRUE
_Card1BkupCmd.CancelBkup
FALSE

FALSE
_Card1BkupSta.Active TRUE
FALSE
TRUE
_Card1BkupSta.Err
FALSE
_BackupBusy TRUE
FALSE
Processing Time and Backup File Size 9

The time that is required to back up the data depends on factors such as the CPU Unit, operating 9-2-1 Backup (Controller to SD Memory Card)
mode, Unit configuration, and user program. The size of the backup file depends on factors such as
the Unit configuration and user program. Some guidelines for the backup time and backup file size are
given in the following table.
Connect- Connected Number User pro-

Operat- Connect-
ed Ether- NX Units or of user- gram Backup Backup file
CPU Unit ing ed Option
CAT CJ-series defined memory time (s) size (MB)
mode Boards
slaves Units POUs size (MB)
NX701-££ PRO- *1 --- --- 113 7.13 Approx. 30 29.45
££ GRAM
mode
NX102-££ *2 *3 --- 15 0.37 Approx. 30 13.8
££
NX1P2-££ *2 *3 *4 15 0.35 Approx. 30 2.96
££

9 Backing up Data
Connect- Connected Number User pro-

Operat- Connect-
ed Ether- NX Units or of user- gram Backup Backup file
CPU Unit ing ed Option
CAT CJ-series defined memory time (s) size (MB)
mode Boards
slaves Units POUs size (MB)
NJ501-££ *1 *5 --- 53 2.36 Approx. 50 20
££
NJ301-££ *6 --- 20 0.53 Approx. 30 9.85
££
NJ101-££ *2 --- 15 0.38 Approx. 30 9.94
££
*1. Thirty-two each of the following: R88D-KNA-ECT AC Servo Drives, GX-ID1611 Digital I/O Terminals, and GX-OD1611
Digital I/O Terminals.
*2. Two each of the following: R88D-KNA-ECT AC Servo Drives, GX-ID1611 Digital I/O Terminals, and GX-OD1611 Digital
I/O Terminals.
*3. One NX-PF0630 Additional I/O Power Supply Unit, three NX-ID5342 Digital Input Units, two NX-OD3153 Digital Output
Units, one NX-AD4608 Analog Input Unit, and one NX-DA3605 Analog Output Unit.
*4. Two NX1W-CIF01 Serial Communications Option Boards.
*5. Four CJ1W-SCU22 Serial Communications Units and one CJ1W-EIP21 EtherNet/IP Unit.
*6. Eight each of the following: R88D-KNA-ECT AC Servo Drives, GX-ID1611 Digital I/O Terminals, and GX-OD1611 Digi-
tal I/O Terminals.
9-2-2 Restore (SD Memory Card to Controller)

You can transfer the data in a backup file on the SD Memory Card in the CPU Unit to the Controller.
You can use the front-panel DIP switch on the CPU Unit or system-defined variables to perform this
operation.
The transfer starts when the power supply is turned ON with the CPU Unit front-panel DIP switch. You
can specify data to restore by the restore command file. You cannot specify the source directory for
backup-related files. The backup file to restore must be stored in the root directory on the SD Memory
Card.
With system-defined variables, you can specify the data to restore and source directory for backup-
related files, and give a command to start the transfer by a system-defined variable. You can specify
whether to use this function or not and set a password in the Controller Setup. You can use this func-
tion to operate the CPU Unit with the data in a backup file on the SD Memory Card, by operating an
HMI.
Processing Contents
The following describes the processing contents for restoring data with the CPU Unit front-panel DIP
switch and with system-defined variables.
Restoring Data with theCPU UnitFront-panel DIP Switch

• The data in a backup file in the root directory on the SD Memory Card is transferred to the Control-
ler.
• The data groups that are processed by therestoration operationin the RestoreCommand.ini file (re-
store command file) that is stored in the root directory. Refer to9-13-3 Specifications of a Restore
Command File on page 9-70for details on the restore command file.
• If there is not a restore command file in the root directory of the SD Memory Card, all of the data
from the backup files in the root directory that can be transferred to the Controller will be transferred.

9 Backing up Data
• After the operation is completed, the operating mode will change to PROGRAM mode. You cannot
start operation in this state. To start operation, turn OFF all DIP switch pins and then cycle the power
supply to the Controller or reset the Controller.
• Cycle the power supply to all of the EtherCAT slaves after you restore data.
• While the data is being restored, the CPU Unit will be in startup state.
• If an error occurs in the checks that are performed before starting to restore the data, the previous
data will be retained in the Controller.
• If the power supply to the Controller is interrupted while the data is being restored, aUser Program/
Controller Configurations and Setup Transfer Error (a major fault level Controller error)will occur. If
that occurs, the data in the Controller is not dependable. Use one of the following methods to clear
the error.
• Perform the restore operation again.
• Clear all of memory and then download the project from the Sysmac Studio.
• If the configuration for Units and slaves in the backup file does not match the actual configuration
where data is restored, a Restore Execution Error will occur when you restore the data.
• The restore operation is possible even if the Option Board configuration in the backup file do not
match the actual configuration where data is restored. However, the Option Board does not operate.
Refer to theNX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual(Cat. No.
W579) for details.
• If the present values of variables that are set to be retained (with the Retain attribute) are not set to
be restored, the previous present values of those variables will be retained. However, the values of
any variables that do not meet the retain conditions are initialized. These are the retain conditions

for the variable:
• The variable name, data type name, and data type size must be the same before and after restor-
ing the data.
• For the NX102 CPU Unit and NX1P2 CPU Unit, memory for CJ-series Units is generated by the set-
tings in the Memory Settings for CJ-series CPU Units in the backup file.
• If the present values of memory for CJ-series Units are not set to be restored in the NX102 CPU
Unit or NX1P2 CPU Unit, the previous present values in the DM, EM and Holding Areas will be re-
tained. However, when the DM, EM and Holding Areas are newly generated or the area is expand-
ed, the values in those areas will be the initial values.
• The SD Memory Card will remain mounted after completion of the restore operation. 9
• The write protection for theCPU Unitthat is set in theWrite Protection at Startupsetting is used after
completion of the restore operation.
Restoring Data with System-defined Variables

9 Backing up Data
• The data to be restored is the group of data specified with the system-defined variable. A
specification of the restore command file (RestoreCommand.ini) is not affected. Refer toRe-
lated System-defined Variables on page 9-25for details on the related system-defined varia-
bles.
• To prevent an unexpected restoration, set to enter the password every time before the restore
operation.
• Executing this function automatically resets the Controller. The outputs during the Controller
reset behave according to the slave and Unit specifications. Also, during the Controller reset,
variables in the Controller cannot be accessed from the outside.
• If a variable on the Controller that was accessed before the transfer is deleted by the restora-
tion, the system-defined variables may not be accessed because the deleted variable cannot
be recovered by an HMI. For example with an NS-series PT, if the tag verification result finds
any inconsistency, the list of tag verification result is displayed and the screen cannot be
changed to others. Confirm, in advance, no variables that are used on the HMI are deleted.
• If the power is interrupted while this function is in progress, a User Program/Controller Con-
figurations and Setup Transfer Error (event code 10200000 hex) or other errors may occur.
• You cannot execute the restore by the system-defined variable after you transfer a backup file
for whichRestore by system-defined variableis set toDo not usein the Controller Setup. If
you intend to continue restoring, transfer a backup file for which the above setting is set
toUse.
• You cannot execute other backup function while a restore operation is in progress.
• With the _Card1RestoreCmd (SD Memory Card Restore Command) system-defined variable, you
can transfer the data saved in the SD Memory Card that is mounted on the CPU Unit to the Control-
ler.
• The backup file to be restored is the file stored in the directory specified with the system-defined var-
iable. The target backup file must be stored in a directory on the SD Memory Card in advance.
• If the password set on thePasswordof theSD Memory Card Restore Settingdiffers from the pass-
word set in the _Card1RestoreCmd.Password system-defined variable, the Restore Operation
Failed to Start error occurs.
• When the restore is started, the password set in the _Card1RestoreCmd.Password system-defined
variable is initialized.
• The Controller is automatically reset during the restore operation.
• After the Controller reset, the CPU Unit will be in startup state. After the restore operation is com-
pleted, the operating mode will change to PROGRAM mode. You cannot start operation in this state.
To start operation, cycle the power supply to the Controller or reset the Controller.
• If an error occurs in the checks that are performed before starting the restore operation or in the pre-
execution checks, the previous data will be retained in the Controller.
• If the power supply to the Controller is interrupted while the data is being restored, a User Program/
Controller Configurations and Setup Transfer Error (a major fault level Controller error) will occur. If
the error.
• All data items that are not specified for the restore will retain their present values.
be transferred, the previous present values of those variables will be retained. However, the values

9 Backing up Data
of any variables that do not meet the retain conditions are initialized. These are the retain conditions
for the variable:
• The variable name, data type name, and data type size must be the same before and after trans-
ferring the data.
• The power is continued to supply even if the SD Memory Card power supply switch is pressed when
a restore operation is in progress.
• The SD Memory Card will remain mounted after completion of the restore operation.
• The write protection for the CPU Unit that is set in the Write Protection at Startup setting is used
after completion of the restore operation.
Procedure
l Restoring Data with the CPU Unit Front-panel DIP Switch

Start command Turn ON the power supply to the Controller with the DIP switch set as follows: 1: OFF,
2: OFF, 3: ON, and 4: ON. *1
Executing While Restoring Data

The RUN indicator will flash, lighting for 0.5 seconds and going out for 0.5 seconds.
Error End:
onds. The indicator stop flashing and stay lit when the SD Memory Card power supply
switch is pressed. *2
*1. For the NX701 CPU Unit, set all of pins 5 to 8 on the DIP switch to OFF. 9
l Restoring Data with the _Card1RestoreCmd (SD Memory Card Restore
Command) System-defined Variable
Pre-start prepara- To use the restore by the system-defined variable, set to use the Restore by system-
tion defined variable in the Controller Setup. *1

9 Backing up Data

Start command Specify the name of the directory where the backup files are saved in the _Card1Re-
storeCmd.DirName (Directory Name) system-defined variable.
Specify a password in the _Card1RestoreCmd.Password (Password) system-defined
variable. 2
Change the _Card1RestoreCmdTargetIPAdr (IP Address Transfer Flag) system-de-
fined variable to TRUE to specify the IP address of the built-in EtherNet/IP port as the
restore target. 3
Change the _Card1RestoreCmdTargetVariable (Present Values of Variables with the
Retain Attribute Transfer Flag) system-defined variable to TRUE to specify the
present values of variables with the Retain attribute as the restore target.
Change the _Card1RestoreCmdTargetMemory (Present Values of Memory Used for
CJ-series Units with the Retain Attribute Transfer Flag) system-defined variable to
TRUE to specify the present values of the memory used for CJ-series Units with the
Retain attribute as the restore target.
Change the _Card1RestoreCmdTargetUnitConfig (Unit and Slave Parameters Trans-
fer Flag) system-defined variable to TRUE to specify Units and slaves settings as the
restore target.
Change the _Card1RestoreCmdTargetAbsEncoder (Absolute Encoder Home Offset
Transfer Flag) system-defined variable to TRUE to specify the absolute encoder home
offsets as the restore target.
Change the _Card1RestoreCmdTargetOpcuaSPF (OPCUA Security Profile Transfer
Flag) system-defined variable to TRUE to specify the OPC UA Security Profile as the
restore target.
The restore operation starts when you change the _Card1RestoreCmd.Exec (Execute
Restore Flag) system-defined variable to TRUE.
Executing The _BackupBusy (Backup Function Busy Flag) system-defined variable changes to
TRUE.
The _Card1RestoreSta.Active (Active Flag) system-defined variable changes to
TRUE.
While Restoring Data

The Controller is automatically reset during the restore operation.
The RUN indicator goes out.
The _Card1RestoreSta.Done (Done Flag) system-defined variable changes to TRUE.
Error End at Checks Performed Before Restore Start:

The SD PWR indicator will light.*4
RUN and ERR indicators are in the state before the restore starts.
The _Card1RestoreSta.Err (Error Flag) system-defined variable changes to TRUE.
The Controller is not reset for an error end at checks performed before restore start.
Error End at Pre-execution Check or during Execution:

The SD PWR indicator will light. *4
The RUN indicator goes out.
The _Card1RestoreSta.Err (Error Flag) system-defined variable changes to TRUE.
*1. You cannot execute the restore by the system-defined variable after you transfer a backup file for which
Restore by system-defined variable is set to Do not use in the Controller Setup. If you intend to con-
tinue restoring, transfer a backup file for which the above setting is set to Use.

9 Backing up Data
*2. The password is initialized when the restore by the system-defined variable is started. Specify a pass-
word every time you start a restore.
If a password is not set on the Password of the SD Memory Card Restore Setting on the Controller Set-
up, the restore is started when the value of the _Card1RestoreCmd.Password system-defined variable is
the initial value. The restore is not started if the value is not the initial value.
*3. The IP address means setting type, IP address, subnet mask, and default gateway.

The following table lists the related system-defined variables. Refer to A-7 Specifications for Individual
System-defined Variables on page A-139 for details on system-defined variables.
Variable name
Member name
_Card1RestoreCmd SD Memory Card _sRES- RW
Restore Com- TORE_CMD
mand
Exec Execute Restore Change this variable to TRUE to re- BOOL RW
Flag store the data in a backup file on the
SD Memory Card to the Controller.
DirName Directory Name Use this variable to specify the direc- STRING(64) RW
tory name in the SD Memory Card in
which the backup file to be restored

by the system-defined variable is
stored.
Password Password Use this variable to specify the pass- STRING(33) RW
word that is used for verification
when you start the restore by the sys-
tem-defined variable.
The password is initialized every time
when the restore by the system-de-
fined variable is started.
_Card1RestoreSta SD Memory Card _sRES- R
Restore Status TORE_STA 9
Done Done Flag TRUE when a restore operation is BOOL R
completed. 9-2-2 Restore (SD Memory Card to Controller)
Active Active Flag TRUE when a restore operation is in BOOL R

progress.
Err Error Flag TRUE when a restore operation BOOL R
ended in an error.

_Card1Restor- User Program Change this variable to TRUE to set BOOL RW
eCmdTargetUser- and Settings a user program or setting for the re-
Program Transfer Flag store by the system-defined variable
as the transfer target.
Always set this variable to TRUE for
the restore by the system-defined
variable.

9 Backing up Data

_Card1Restor- IP Address Change this variable to TRUE to in- BOOL RW
eCmdTargetIPAdr Transfer Flag clude the IP address of the built-in
EtherNet/IP port for the restore by the
system-defined variable as the trans-
fer target.
The IP address means setting type,
IP address, subnet mask, and default
gateway.
_Card1Restor- Present Values of Change this variable to TRUE to set BOOL RW
eCmdTargetVariable Variables with the the present values of variables with
Retain Attribute the Retain attribute for the restore by
Transfer Flag the system-defined variable as the
transfer target.
_Card1Restor- Present Values of Change this variable to TRUE to set BOOL RW
eCmdTargetMemory Memory Used for the present values of the memory
CJ-series Units used for CJ-series Units with the Re-
with the Retain tain attribute for the restore by the
Attribute Transfer system-defined variable as the trans-
Flag fer target.
_Card1Restor- Unit and Slave Change this variable to TRUE to set BOOL RW
eCmdTargetUnit- Parameters the Unit and slave settings for the re-
Config Transfer Flag store by the system-defined variable
as the transfer target.
_Card1Restor- Absolute Encod- Change this variable to TRUE to set BOOL RW
eCmdTargetAbsEn- er Home Offset the absolute encoder home offset for
coder Transfer Flag the restore by the system-defined
variable as the transfer target.
Controller.
Timing Charts
The operation of the system-defined variables when they are used for the restart of SD Memory Card
backups is shown below.
In the charts, “checks performed before starting” indicates the processing performed before the re-
store operation to check whether the password matches. The value of _Card1PrgRestoreSta.Active
(Active Flag) changes to TRUE only after the checks performed before starting result in OK.

9 Backing up Data
l Normal Operation
Restore Checks
start before starting
command a restore was Controller
OK. reset Normal end
TRUE
_Card1RestoreCmd.Exec FALSE
Setting Initial
_Card1RestoreCmd.Password Initial Setting value
value
TRUE
_Card1RestoreSta.Done FALSE
TRUE
_Card1RestoreSta.Active FALSE
TRUE
_Card1RestoreSta.Err FALSE
_BackupBusy TRUE
FALSE
l Operation When the Restoration Cannot Start Because Another Backup

Function Is in Progress
Restore Checks before
start starting a restore
command was NG.
TRUE
_Card1RestoreCmd.Exec FALSE
Setting
_Card1RestoreCmd.Password Initial Setting Initial value
value
TRUE

TRUE
TRUE
_BackupBusy TRUE
FALSE
l Operation When the Restoration Fails After a Normal Start

Restore Checks before
start starting a
command restore was Controller Error occurred before
OK. reset or during execution.
TRUE
_Card1RestoreCmd.Exec FALSE 9
Setting Initial
_Card1RestoreCmd.Password Initial Setting value 9-2-2 Restore (SD Memory Card to Controller)
value
TRUE
TRUE
TRUE
_BackupBusy TRUE
FALSE
Processing Time
The time that is required to restore the data depends on factors such as the CPU Unit, Unit configura-
tion, and user program. Guidelines for the restoration time are given in the following table.

9 Backing up Data
Connected Number of
Connected Connected User program
NX Units or user-de- Restoration
CPU Unit EtherCAT Option memory size
CJ-series fined time (s)
slaves Boards (MB)
Units POUs
NX701-££££ *1 *3 --- 113 7.13 Approx. 50
NX102-££££ *2 *3 --- 15 0.37 Approx. 70
NX1P2-££££ *2 *3 *4 15 0.35 Approx. 60
NJ501-££££ *1 *5 --- 53 2.36 Approx. 100
NJ301-££££ *6 --- 20 0.53 Approx. 70
NJ101-££££ *2 --- 15 0.38 Approx. 70
*1. Thirty-two each of the following: R88D-KNA-ECT AC Servo Drives, GX-ID1611 Digital I/O Terminals, and GX-OD1611
Digital I/O Terminals.
*2. Two each of the following: R88D-KNA-ECT AC Servo Drives, GX-ID1600 Digital I/O Terminals, and GX-OD1611 Digital
I/O Terminals.
*3. One NX-PF0630 Additional I/O Power Supply Unit, three NX-ID5342 Digital Input Units, two NX-OD3153 Digital Output
Units, one NX-AD4608 Analog Input Unit, and one NX-DA3605 Analog Output Unit.
*4. Two NX1W-CIF01 Serial Communications Option Boards.
*5. Four CJ1W-SCU22 Serial Communications Units and one CJ1W-EIP21 EtherNet/IP Unit.
*6. Eight each of the following: R88D-KNA-ECT AC Servo Drives, GX-ID1611 Digital I/O Terminals, and GX-OD1611 Digi-
tal I/O Terminals.
9-2-3 Verify (between Controller and SD Memory Card)

You can compare the Controller data and the data in a backup file on the SD Memory Card in the CPU
Unit.
Processing Contents
• The Controller data and the data in a backup file that is saved in the specified directory of the SD
Memory Card are compared.
• The data groups that are processed by the restoration operation are specified in the RestoreCom-
mand.ini file (restore command file).
• The present values of variables, the present values in memory used for the CJ-series Units, and the
absolute encoder home offsets are not compared because these values may change while the veri-
fication is in process.
• When you verify the data, the verification results file (VerifyResult.log) is created in the specified di-
rectory. The verification results are stored in this file. If a verification results file already exists in the
specified directory, it will be overwritten. However, if the SD Memory Card is write-protected, the ver-
ification results files will not be created.
• If there is not a restore command file in the specified directory of the SD Memory Card, all of the
data from the backup files in the specified directory that can be compared will be compared.
• If the Unit and slave configuration in the backup file is not the same as the actual configuration of
the Controller, a Verification Error will occur.
• The SD Memory Card will remain mounted after completion of the verification operation.

9 Backing up Data
Procedure
l Verifying Data with the CPU Unit Front-panel DIP Switch

Start command The verification operation starts when the SD Memory Card power supply switch is
pressed for 3 seconds with the DIP switch pins set as follows: 1: OFF, 2: OFF, 3: OFF,
and 4: OFF.*1
Executing Immediately after Starting Verification*2
The SD PWR indicator will light, go out for 0.5 seconds, and then light again.
While Verifying Data

Execution results Normal End with No Differences Found:
Normal End with Differences Found:

onds. The indicator stop flashing and stay lit when the SD Memory Card power supply
switch is pressed.
Error End:

onds. Press the SD Memory Card power supply switch so that the indicator will light.
l Verifying Data with the _Card1BkupCmd (SD Memory Card Backup Com-
mand) System-defined Variable
Start command The name of the directory where the files are saved is stored in the
_Card1BkupCmd.DirName (Directory Name) system-defined variable.
Example: “dirA/dirB” specifies the dirB directory inside the dirA directory. 9
The verification operation starts when you change the _Card1BkupCmd.ExecVefy 9-2-3 Verify (between Controller and SD Memory Card)
(Execute Verify Flag) system-defined variable to TRUE.
Cancel command You can cancel the verification operation.
The verification operation ends in an error if you change the _Card1BkupCmd.Cancel-
Vefy (Cancel Verify Flag) system-defined variable to TRUE.
Executing The _Card1VefySta.Active (Active Flag) system-defined variable changes to TRUE.

9 Backing up Data

Execution results Normal End with No Differences Found:
The _Card1BkupSta.Done (Done Flag) system-defined variable and the _Card1Bkup-
Sta.VefyRslt (Verify Result Flag) system-defined variable change to TRUE.
Normal End with Differences Found:

The _Card1BkupSta.Done (Done Flag) system-defined variable changes to TRUE
and the _Card1BkupSta.VefyRslt (Verify Result Flag) system-defined variable
changes to FALSE.
Error End:
The _Card1BkupSta.Err (Error Flag) system-defined variable changes to TRUE.
Note Do not use this system-defined variable from the user program.
l Verifying Data from the SD Memory Card Window on the Sysmac Studio
Start command Click the Compare SD Memory Card Backup Button on the SD Memory Card Win-
dow in Sysmac Studio, specify the directory that contains the file to compare, and ex-
ecute the verification.
Executing The progress of the verification is displayed in the dialog box. The value of the _Back-
upBusy (Backup Function Busy Flag) system-defined variable will change to TRUE.
Execution results The results of the verification are displayed in the dialog box.

used to verify data are shown below. Refer to A-7 Specifications for Individual System-defined Varia-
bles on page A-139 for details on system-defined variables.
Variable name
Member name
_Card1BkupCmd*1 SD Memory Card _sBKUP_CMD RW
Backup Com-
mands
ExecVefy*1 Execute Verify Change this variable to TRUE to BOOL RW
Flag compare the Controller data to a
backup file in the SD Memory Card.
CancelVefy*1 Cancel Verify Change this variable to TRUE to can- BOOL RW
Flag cel comparing the Controller data to a
backup file in the SD Memory Card.
DirName*1 Directory Name Use this variable to specify the direc- STRING(64) RW
_Card1VefySta*1 SD Memory Card _sVEFY_STA R
Verify Status

9 Backing up Data
Variable name
Member name
Done*1 Done Flag TRUE when a verification is complet- BOOL R
ed.
Active*1 Active Flag TRUE when a verification is in prog- BOOL R
ress.
VefyRslt*1 Verify Result Flag TRUE if the data was the same. BOOL R
FALSE if differences were found.
Err*1 Error Flag TRUE when processing a verification BOOL R
ended in an error.
_BackupBusy Backup Function TRUE when a backup, restoration, or BOOL R
Busy Flag verification is in progress.
*1. Do not use this system-defined variable from the user program.
Controller.
Timing Charts

The operation of the system-defined variables when they are used to verify data is shown below.
In the charts, “pre-execution checks” indicates processing to check whether there is an SD Memory
Card in the CPU Unit and other items. The value of _Card1VefySta.Active (Active Flag) changes to
TRUE only after all of the pre-execution checks are cleared and the actual verification is started.
l Normal End with No Differences Found

Verification Pre-execution Normal end, no
start command checks cleared. differences found
_Card1BkupCmd.ExecVefy
TRUE
FALSE
9
Card1BkupCmd.CancelVefy TRUE
FALSE
TRUE
_Card1VefySta.Done
FALSE
TRUE
_Card1VefySta.Active
FALSE
_Card1VefySta.Rslt TRUE
FALSE
TRUE
_Card1VefySta.Err
FALSE
_BackupBusy TRUE
FALSE

9 Backing up Data
l Normal End with Differences Found

Verification Pre-execution Normal end,
start command checks cleared. differences found
_Card1BkupCmd.ExecVefy TRUE
FALSE
_Card1BkupCmd.CancelVefy TRUE
FALSE
_Card1VefySta.Done TRUE
FALSE
_Card1VefySta.Active TRUE
FALSE
FALSE
_Card1VefySta.Err TRUE
FALSE
_BackupBusy TRUE
FALSE
l Operation When the Verification Cannot Start Because Another Backup

Function Is in Progress
Verification Pre-execution
start command checks not cleared.
FALSE
TRUE
_Card1BkupCmd.CancelVefy
FALSE
FALSE
FALSE
TRUE
_Card1VefySta.Rslt
FALSE
TRUE
_Card1VefySta.Err
FALSE
_BackupBusy TRUE
FALSE
l Operation When the Verification Fails After a Normal Start

Verification Pre-execution Error occurred
start command checks cleared. during verification.
FALSE
_Card1BkupCmd.CancelVefy TRUE
FALSE
FALSE
FALSE
FALSE
TRUE
_Card1VefySta.Err
FALSE
_BackupBusy TRUE
FALSE

9 Backing up Data
l Operation When the Operation Is Canceled While Verification Is in Prog-

ress
The time required to stop the verification operation after it is canceled depends on the progress of
the verification operation.
Verification
canceled.
Verification Pre-execution Verification stopped
start command checks cleared. with an error.
FALSE
TRUE
_Card1BkupCmd.CancelVefy
FALSE
FALSE
TRUE
_Card1VefySta.Active
FALSE
FALSE
TRUE
_Card1VefySta.Err
FALSE
_BackupBusy TRUE
FALSE

9

9 Backing up Data
9-3 Disabling Backups to SD Memory

Cards
You can disable the backup function from writing data to the SD Memory Card to protect your pro-
gramming assets.
The following three functions are applicable for disabling backup to SD Memory Card.
• Backups using the CPU Unit front-panel DIP switch
• Backups using system-defined variables
• Backups from the SD Memory Card Window on the Sysmac Studio
Backup function using the BackupToMemoryCard instruction is not applicable. This means that you
can backup data using the BackupToMemoryCard instruction even if the Prohibit data backup to the
SD Memory Card setting is set to be used.
Use the following procedure to set the Prohibit data backup to the SD Memory Card setting.
Select the Use Option for the Prohibit data backup to the SD Memory Card setting in the Basic Set-
tings Display of the Operation Settings Tab Page under Configurations and Setup − Controller
Setup on the Sysmac Studio.

9 Backing up Data
Version Information
quired to use the BackupToMemoryCard instruction.
9-3 Disabling Backups to SD Memory Cards

9

9 Backing up Data
9-4 Automatic Transfers from SD Memory

Cards
This function automatically transfers the data in a backup file to the Controller when the power supply
is turned ON. The backup file must be stored in the /autoload directory on the SD Memory Card in the
CPU Unit.
You can use this to operate the CPU Unit with the data in a backup file on the SD Memory Card.
The only way to perform this operation is to use the front-panel DIP switch on the CPU Unit.

Set the DIP switch
pins to OFF, ON,
OFF, and OFF, and
then turn ON the
power. Data that is
/autoload
backed up
Backup file and automatic

transfer command file
The automatic transfer uses a backup file that is created with the backup function and an automatic
transfer command file. Save both files in the /autoload directory in advance.
File Function
Backup file This file contains the Controller data that is handled by the functions that are relat-
ed to data backup.
Automatic transfer com- This file specifies the data groups to transfer when transferring data from an SD
mand file Memory Card. You can edit this file with a text editor on a computer to specify the
data groups to transfer.
The following tables gives the procedure, the applicable directory, and the timing at which the transfer
is executed.
Procedure Directory Execution timing

CPU Unit front-panel DIP /autoload directory on the SD Memory Card At startup
switch
Processing Contents
• When the power is turned ON, the data in the backup file in the /autoload directory on the SD Mem-
ory Card is automatically transferred to the Controller.
• The automatic transfer function transfers the data in the data groups that are specified in the Aut-
loadCommand.ini file in the /autoload directory. Refer to 9-13-4 Specifications of an Automatic
Transfer Command File on page 9-72 for details on the automatic transfer command file.
• If an AutoloadCommand.ini file is not in the /autoload directory on the SD Memory Card, all of the
data from the backup file in the /autoload directory that can be transferred will be transferred.
• The operating mode that is set in the Startup Mode setting in the Controller Setup is used after com-
pletion of the automatic transfer.
• While the data is being automatically transferred, the CPU Unit will be in startup state.

9 Backing up Data
• If an error occurs in the checks that are performed before starting the automatic transfer, the previ-
ous data will be retained in the Controller.
• If the power supply to the Controller is interrupted while the data is being automatically transferred, a
User Program/Controller Configurations and Setup Transfer Error (a major fault level Controller er-
ror) will occur. If that occurs, the data in the Controller is not dependable. Use one of the following
methods to clear the error.
• Perform the automatic transfer again.
• All data items that are not specified for the automatic transfer will retain their present values.
for the variable:
ferring the data.
9-4 Automatic Transfers from SD Memory Cards

tained. However, the values in the DM, EM and Holding Areas, which are newly generated or the
area is expanded, will be the initial values.
• The SD Memory Card will remain mounted after completion of the automatic transfer operation.
after completion of the automatic transfer operation.
Procedure
l Transferring Data with the CPU Unit Front-panel DIP Switch

Start command Turn ON the power supply to the Controller with the DIP switch set as follows: 1: OFF,
2: ON, 3: OFF, and 4: OFF.*1
9
Executing The transfer is in progress.
The operating mode that is set in the Startup Mode setting in the Controller Setup is
used after completion of the transfer.
Error End:
The RUN indicator goes out, the ERR indicator lights, and a major fault level Control-
ler error occurs.

9 Backing up Data
9-5 Program Transfer from SD Memory

Card
With the _Card1PrgTransferCmd (SD Memory Card Program Transfer Command) system-defined var-
iable, you can transfer a program stored in the SD Memory Card that is mounted on the CPU Unit to
the Controller.
You can specify whether to use this function or not and set a password in the Controller Setup.
You can use this function to operate the CPU Unit with the program in a backup file on the SD Memory
Card, by operating an HMI.
Set and execute with the

system-defined variable.
Target data
Backup file
The transfer uses a backup file that is created with the backup function. Save the backup file in a di-
rectory on the SD Memory Card in advance.
Use the system-defined variable to specify the directory that contains the backup file.
File Function
Backup file This file contains the Controller data that is handled by the functions that are related to
data backup.
The execution method for the functions, applicable directory, and applicable operating modes are giv-
Operating method Directory*1 Applicable operating modes

System-defined varia- The directory that you specified in the system- RUN mode and PROGRAM mode
ble defined variable
*1. You can specify a directory only on the SD Memory Card.

9 Backing up Data
• When you use this function to transfer a program whose Startup Mode setting is set to RUN
mode, the operating mode changes to RUN after the transfer is completed regardless of the
status and setting before the transfer. Use this function after you confirm that system startup
does not cause any problem.
• To prevent an unexpected transfer of a program, set to enter the password every time before
a transfer.
• Executing this function automatically resets the Controller. The outputs during the Controller
reset behave according to the slave and Unit specifications. Also, during the Controller reset,
variables in the Controller cannot be accessed from the outside.
• When an EtherCAT slave is used or a motion control is executed, an error may occur in the
EtherCAT Master Function Module or Motion Control Function Module after the program
transfer is completed. If an error occurs, reset the error after the program transfer is complet-
ed. Refer to sample programming for the ResetMCError instruction in the NJ/NX-series
Instructions Reference Manual (Cat. No. W502) for details on resetting errors in the user
program.
• If a variable on the Controller that was accessed before the transfer is deleted by the program
transfer, the system-defined variables may not be accessed because the deleted variable
cannot be recovered by an HMI. For example with an NS-series PT, if the tag verification re-
sult finds any inconsistency, the list of tag verification result is displayed and the screen can-
not be changed to others. Confirm, in advance, no variables that are used on the HMI are
deleted.
9-5 Program Transfer from SD Memory Card

• If the power is interrupted while this function is in progress, a User Program/Controller Con-
figurations and Setup Transfer Error (event code 10200000 hex) or other errors may occur.
• You cannot transfer programs after you transfer a backup file for which Program transfer by
system-defined variable is set to Do not use in the Controller Setup. If you intend to contin-
ue transferring programs, transfer a backup file for which the above setting is set to Use.
• You cannot execute other backup function while a program transfer is in progress.
Processing Contents
• With the _Card1PrgTransferCmd (SD Memory Card Program Transfer Command) system-defined
variable, you can transfer a program saved in the SD Memory Card that is mounted on the CPU Unit
to the Controller.
• The backup file of the programs to be transferred is the file stored in the directory specified with the
system-defined variable. The target backup file must be stored in a directory on the SD Memory 9
Card in advance.
• The data of the programs to be transferred is the group of data specified with the system-defined
variable. Refer to Related System-defined Variables on page 9-42 for details on the related sys-
tem-defined variables.
• If the password set on the Password of the SD Memory Card Program Transfer Setting differs
from the password set in the _Card1PrgTransferCmd.Password system-defined variable, the SD
Memory Card Program Transfer Failed to Start error occurs.
• When the program transfer is started, the password set in _Card1PrgTransferCmd.Password sys-
tem-defined variable is initialized.
• The Controller is automatically reset during the program transfer. The outputs during the Controller
reset behave according to the slave and Unit specifications.
• After the Controller reset, the CPU Unit will be in startup state. Then when the program transfer is
completed, the CPU Unit will be in normal operation state and operate in the operating mode set in
the Startup Mode setting in the Controller Setup, which was transferred by the program transfer
function.

9 Backing up Data
However, the CPU Unit will operate in PROGRAM mode when the CPU Unit front-panel DIP switch
is set to the Safe Mode.
• If an error occurs in the checks that are performed before starting the program transfer or in the pre-
execution checks, the previous data will be retained in the Controller.
• If the power supply to the Controller is interrupted while the user program transfer is in progress, a
User Program/Controller Configurations and Setup Transfer Error (a major fault level Controller
error) will occur. If that occurs, the data in the Controller is not dependable. Use one of the following
methods to clear the error.
• Transfer the programs from the SD Memory Card again.
• Use the automatic transfer from SD Memory Card function, or restore with SD Memory Card
backup function.
• All data items that are not specified for the program transfer will retain their present values.
for the variable:
ferring the data.
• The power is continued to supply even if the SD Memory Card power supply switch is pressed while
the program transfer is in progress.
• The SD Memory Card will remain mounted after completion of the program transfer operation.
after completion of the program transfer operation.
Procedure
l _Card1PrgTransferCmd (SD Memory Card Program Transfer Command)

System-defined Variable
Processing
Procedure
stage
Pre-start prepara- To use the program transfer from the SD Memory Card, set to use the Program
tion transfer by system-defined variable in the Controller Setup. *1

9 Backing up Data
Processing
Procedure
stage
Start command Specify the name of the directory where the backup files are saved in the
_Card1PrgTransferCmd.DirName (Directory Name) system-defined variable.
Specify a password in the _Card1PrgTransferCmd.Password (Password) system-de-
fined variable. *2
Change the _Card1PrgTransferCmd.TargetIPAdr (IP Address Transfer Flag) system-de-
fined variable to TRUE to specify the built-in EtherNet/IP port settings as the transfer
target. *3
Change the _Card1PrgTransferCmd.TargetVariable (Present Values of Variables with
the Retain Attribute Transfer Flag) system-defined variable to TRUE to specify the
present values of variables with the Retain attribute as the transfer target.
Change the _Card1PrgTransferCmd.TargetMemory (Present Values of Memory Used
for CJ-series Units with the Retain Attribute Transfer Flag) system-defined variable to
TRUE to specify the present values of the memory used for CJ-series Units with the Re-
tain attribute as the transfer target.
Change the _Card1PrgTransferCmd.Exec (Execute Program Transfer Flag) system-de-
fined variable to TRUE to start the transfer operation.
Executing The _BackupBusy (Backup Function Busy Flag) system-defined variable changes to
TRUE.

The _Card1PrgTransferSta.Active (Active Flag) system-defined variable changes to
TRUE.
During program transfer
The Controller is automatically reset during the program transfer.
The operating mode that is set in the Startup Mode setting in the Controller Setup is
used after completion of the transfer.
The _Card1PrgTransferSta.Done (Done Flag) system-defined variable changes to
TRUE.
Error End at Checks Performed Before Transfer Start:
The SD PWR indicator will light. *4 9
RUN and ERR indicators are in the state before the transfer starts.
The _Card1PrgTransferSta.Err (Error Flag) system-defined variable changes to TRUE.
The Controller is not reset for an error end at checks performed before transfer start.
Error End at Pre-execution Check or during Execution:
The RUN indicator goes out, the ERR indicator lights, and a major fault level Controller
error occurs.
The _Card1PrgTransferSta.Err (Error Flag) system-defined variable changes to TRUE.
*1. You cannot transfer programs after you transfer a backup file for which Program transfer by system-
defined variable is set to Do not use in the Controller Setup. If you intend to continue transferring pro-
grams, transfer a backup file for which the above setting is set to Use.
*2. The password is initialized when transferring programs from the SD Memory Card is started. Specify a
password every time you start a transfer.
If a password is not set on the Password of the SD Memory Card Program Transfer Setting on the
Controller Setup, the program transfer is started when the value of the _Card1PrgTransferCmd.Pass-
word system-defined variable is the initial value. The transfer is not started if the value is not the initial
value.
*3. The IP address means setting type, IP address, subnet mask, and default gateway.

9 Backing up Data

The following table lists the related system-defined variables. Refer to A-7 Specifications for Individual
System-defined Variables on page A-139 for details on system-defined variables.
Variable name
Member name
_Card1PrgTrans- SD Memory Card _sPRGTRANS- RW
ferCmd Program Transfer FER_CMD
Command
Exec Execute Program Change this variable to TRUE to BOOL RW
Transfer Flag transfer the data in a backup file on
the SD Memory Card to the Control-
ler by using the function to transfer
programs from the SD Memory Card.
DirName Directory Name Use this variable to specify the direc- STRING(64) RW
Password Password Use this variable to specify the pass- STRING(33) RW
word that is used for verification
when you start transferring the pro-
grams.
you start transferring programs from
the SD Memory Card.
TargetUserPro- User Program Change this variable to TRUE to set BOOL RW
gram and Settings a user program or setting as the
Transfer Flag*1 transfer target.
transferring programs from SD Mem-
ory Card.
TargetIPAdr IP Address Change this variable to TRUE to in- BOOL RW
Transfer Flag clude the IP address of the built-in
EtherNet/IP port as the transfer tar-
get.
The IP address means setting type,
IP address, subnet mask, and default
gateway.
TargetVariable Present Values of Change this variable to TRUE to set BOOL RW
Variables with the the present values of variables with
Retain Attribute the Retain attribute as the transfer
Transfer Flag target.
TargetMemory Present Values of Change this variable to TRUE to set BOOL RW
Memory Used for the present values of the memory
CJ-series Units used for CJ-series Units with the Re-
with the Retain tain attribute as the transfer target.
Attribute Transfer
Flag
_Card1PrgTransfer- SD Memory Card _sPRGTRANS- R
Sta Program Transfer FER_STA
Status

9 Backing up Data
Variable name
Member name
Done Done Flag TRUE when a program transfer is BOOL R
completed.
Active Active Flag TRUE when a program transfer is in BOOL R
progress.
Err Error Flag TRUE when a program transfer BOOL R
ended in an error.
*1. The data in the user program and setting data groups is the target of settings. However, the IP address for
the built-in EtherNet/IP port is set with the IP Address Transfer Flag.
Controller.

Timing Charts
The operation of the system-defined variables when they are used to transfer programs from the SD
Memory Card is shown below.
In the charts, “checks performed before starting” indicates the processing performed before the pro-
gram transfer to check whether the password matches. The value of _Card1PrgTransferSta.Active
(Active Flag) changes to TRUE only after the checks performed before starting result in OK.
l Normal Operation
Program Checks
transfer before starting
start a transfer was Controller
command OK. reset Normal end
TRUE
_Card1PrgTransferCmd.Exec FALSE
Setting Initial 9
_Card1PrgTransferCmd.Password Initial Setting value
value
TRUE
_Card1PrgTransferSta.Done FALSE
TRUE
_Card1PrgTransferSta.Active FALSE
TRUE
_Card1PrgTransferSta.Err FALSE
_BackupBusy TRUE
FALSE

9 Backing up Data
l Operation When the Program Transfer Cannot Be Started Because Anoth-

er Backup Function Is in Progress
Program
transfer Checks before
start starting a
command transfer was NG.
TRUE
Setting
_Card1PrgTransferCmd.Password Initial Setting Initial value
value
TRUE
TRUE
TRUE
_BackupBusy TRUE
FALSE
l Operation When the Program Transfer Fails After a Normal Start of Pro-
gram Transfer
Program Checks before
transfer starting a
start transfer was Controller Error occurred before
command OK. reset or during execution.
TRUE
Setting Initial
_Card1PrgTransferCmd.Password Initial Setting value
value
TRUE
TRUE
TRUE
_BackupBusy TRUE
FALSE

9 Backing up Data
9-6 Sysmac Studio Controller Backups

You can use Sysmac Studio to back up, restore, and verify Controller data from a computer.
Sysmac Studio Controller
Backing up data
Restoring data Data that is
Verifying data backed up
Backup file
Restore command file
Automatic transfer command file
Verification results files
When you back up data, the backup file, restore command file, and automatic transfer command file
are created in the specified directory in the computer. The functions of the backup-related files are giv-

Function
File Backing up Restoring Verifying da-
Contents
data data ta
Backup file This file contains the Controller data that is Created. Accessed. Accessed.
handled by the functions that are related to
data backup.
Restore com- This file specifies the data groups to transfer Created. Accessed. Accessed.
mand file when restoring data. You can edit this file with
a text editor on a computer to specify the data
groups to transfer.
Automatic This file specifies the data groups to transfer Created. Nothing is Nothing is
transfer com- when automatically transferring data from an done. done.
mand file SD Memory Card. You can edit this file with a
text editor on a computer to specify the data
9
groups to transfer. 9-6-1 Backup (Controller to Computer)
This function can be executed in the following operating modes:
Processing Applicable operating modes

Backing up data RUN mode and PROGRAM mode
Restoring data PROGRAM mode
Verifying data RUN mode and PROGRAM mode
You can change the operating mode of the CPU Unit while a backup or verification operation is
in progress.
However, an error will occur if the backup or verification cannot be processed normally due to
faulty memory in the CPU Unit, or some other failure.

9 Backing up Data
9-6-1 Backup (Controller to Computer)

The Controller data is saved in the specified directory on the computer.
Processing Contents
• For the Units and slaves settings in the backup data, you must select all the NX Units connected to
the CPU Unit, all the EtherCAT slaves that are connected, and all of the CJ-series Units that are
connected.
• The backing up conditions for data groups are given in the following table.
Data group Backing up condition

User program and settings The CPU Unit must be selected.
IP address of the built-in EtherNet/IP port*1 The CPU Unit must be selected.
Present values of variables The CPU Unit must be selected.
Present values of memory used for CJ-series Units The CPU Unit must be selected.
Event logs The CPU Unit must be selected.
Units and slaves settings The NX Units on the CPU Unit*2, CJ-series Units*3,
and EtherCAT slaves must be selected.
Absolute encoder home offsets The CPU Unit must be selected.
*2. You can select NX Units on the CPU Unit only for the NX102 CPU Units and NX1P2 CPU Units.
*3. You can select CJ-series Units only for NJ-series CPU Units.
• When you back up data, the backup file, restore command file, and automatic transfer command file
are created in the specified directory in the computer.
• If the backup-related files are already in the specified directory, they are overwritten.
• If an error occurs while writing the backup-related files to specified directory, the previous backup-
related files will be deleted. Also, the new backup-related files will not be created.
• If an error occurs before the new backup-related files are created, the previous files are retained and
the new files are not created.
• The value of the _BackupBusy (Backup Function Busy Flag) system-defined variable will be TRUE
during the backup operation.
Procedure
1 Select Backup − Backup Controller from the Tools Menu on the Sysmac Studio.
2 Specify the folder in which to save the backup file, restore command file, and automatic trans-
fer command file.
3 Click the Execute Button on the Backup Confirmation Dialog Box.

The data is backed up and the backup file, restore command file, and automatic transfer com-
mand file are created.

9 Backing up Data
9-6-2 Restore (Computer to Controller)

The data in a backup file in the specified directory on the computer is restored to the Controller.
This operation can only be performed in PROGRAM mode.
ing cases. Transfer the project according to the message on the Sysmac Studio.
• When an attempt is made to transfer a project with project unit version 1.40 or later to a CPU
Unit where a project with project unit version earlier than 1.40 is stored.
• When an attempt is made to transfer a project with project unit version earlier than 1.40 to a
CPU Unit where a project with project unit version 1.40 or later is stored.
• After the Clear All Memory operation is performed on a CPU Unit where a project with project
unit version 1.40 or later is stored, without executing the Controller reset, an attempt is made
to transfer a project with project unit version earlier than 1.40.
Processing Contents
• The data in a backup file in the specified directory on the computer is restored to the Controller.
• You can select the data groups to restore from the Sysmac Studio. The conditions for restoring the
data are given in the following table.

Data group Restoring condition
The IP address of built-in EtherNet/IP The IP address of built-in EtherNet/IP port must be selected.
port*1
Present values of variables The present values of variables with Retain attribute must be se-
lected.
Present values of memory used for CJ-ser- The present values of memory for CJ-series Units with Retain
ies Units attribute must be selected.*2
Units and slaves settings The NX Units on the CPU Unit*3, CJ-series Units*2, and
EtherCAT slaves must be selected.
Absolute encoder home offsets The absolute encoder home offsets must be selected. 9
*2. You can select the present values of variables with a Retain attribute in memory used for CJ-series Units
9-6-2 Restore (Computer to Controller)
only for the NJ-series CPU Units, NX102 CPU Units, and NX1P2 CPU Units.
• If an error occurs in the checks that are performed before starting to restore the data, the previous
data will be retained in the Controller.
• If the power supply to the Controller is interrupted while the data is being restored, a User Program/
Controller Configurations and Setup Transfer Error (a major fault level Controller error) will occur. If
the error.
be restored, the previous present values of those variables will be retained. However, the values of

9 Backing up Data
any variables that do not meet the retain conditions are initialized. These are the retain conditions
for the variable:
• The variable name, data type name, and data type size must be the same before and after restor-
ing the data.
• The restore operation is possible even if the Option Board configuration in the backup file do not
match the actual configuration where data is restored. However, the Option Board does not operate.
Refer to the NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (Cat. No.
W579) for details.
• If Sysmac Studio Ver.1.50 or later is used and user authentication function is enabled in the backup
file to be used for restoration, the Controller will be automatically reset when restoration is complet-
ed.
Procedure
1 Select Backup − Restore Controller from the Tools Menu on the Sysmac Studio.
2 Specify the folder that contains the backup file and restore command file.
3 Click the Execute Button on the Restoration Confirmation Dialog Box.

The restoration operation is executed.
9-6-3 Verify (between Controller and Computer)

The Controller data and the data in a backup file in the specified directory on the computer are com-
pared.
Processing Contents
• The Controller data and the data in a backup file in the specified directory on the computer are com-
pared. You can select the data groups to verify from the Sysmac Studio. The conditions for verifying
the data are given in the following table. If you select them all at once, all of these data will be refer-
enced.
Data group Verification condition

IP address of built-in EtherNet/IP port*1 The IP address of built-in EtherNet/IP port must be selected.
Units and slaves settings The NX Units on the CPU Unit*2, CJ-series Units*3, and Ether-
CAT slaves must be selected.

9 Backing up Data
*3. You can select CJ-series Units only for NJ-series CPU Units.
• The results of the verification are displayed in the dialog box on the Sysmac Studio.
• The value of the _BackupBusy (Backup Function Busy Flag) system-defined variable will be TRUE
during the backup operation.
Procedure
1 Select Backup − Compare with Backup File from the Tools Menu on the Sysmac Studio.
2 Specify the folder that contains the backup file.
3 Click the Execute Button on the Comparison Confirmation Dialog Box.

The data is compared and the verification results files are created in the folder that contains the
backup file. The comparison results are displayed in the Output Tab Page.

9
9-6-3 Verify (between Controller and Computer)

9 Backing up Data
9-7 Importing and Exporting Sysmac Stu-

dio Backup File Data
You can create or read from a backup file in the specified directory on the computer from the Sysmac
Studio project without using the Controller.
This following data is processed:
Data group
User program and set- Present
tings values of Absolute
Present Units and
Function IP address memory encoder
values of slaves
of built-in used for home off-
variables settings
EtherNet/IP CJ-series sets
port*2 Units*1
Importing and ex- Exporting ¡*3 ¡ × × × ×
porting Sysmac backup file
Studio backup file data
data Importing ¡*4*5 ¡ × × ¡ ×
backup file
data
IP address is included in the user program and settings other than the above combination.
*3. The following data is not processed.
• The built-in EtherNet/IP port name in the Controller name
• The built-in EtherNet/IP tag data link settings in the Controller Setup
• Words allocated to CPU Bus Units in the Unit Configuration and Unit Settings
• Operation authority verification
• User authentication
• Data trace settings
*4. The following data is not processed.
• The built-in EtherNet/IP port name in the Controller name
• Words allocated to CPU Bus Units in the Unit Configuration and Unit Settings
• Data trace settings
*5. The following data is not processed:
Using Sysmac Studio Version 1.15 or Lower
• The built-in EtherNet/IP tag data link settings in the Controller Setup
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for more information on
these functions.

9 Backing up Data
The data related to OPC UA server function is included in the user program and setting data
groups. However, the data related to OPC UA server function is stored in the CPU Unit, so the
data is not subject to the importing and exporting Sysmac Studio backup file data.
9-7 Importing and Exporting Sysmac Studio Backup File Data

9

9 Backing up Data
9-8 Sysmac Studio Variable and Memory

Backup Functions
You can back up the present values of the battery-backup memory in the CPU Unit to an XML file on
your computer or restore the battery-backup memory from a previously saved backup file.
This section describes the applicable data, operating procedures, and CPU Unit model compatibility
for the Sysmac Studio variable and memory backup functions.
Sysmac Studio
Select Backup − Backup Variables and

Memory or Backup − Restore Variables and
XML file Memory from the Tools Menu.
CPU Unit
Restoring
Present values of
battery-backup memory
Backup
Backup and Restore Targets:

Present values of retained variables
Present values in the DM, EM, and Holding Areas of memory used for CJ-series Units
Absolute encoder home offsets
9-8-1 Applicable Data for Sysmac Studio Variable and Memory Backup
Functions
The Sysmac Studio variable and memory backup functions cover the following data.
• Present values of variables with a Retain attribute
• Present values in the DM, EM, and Holding Areas of memory used for CJ-series Units
• Absolute encoder home offsets
Version Information
With a CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher, you
can select specific variables to back up or restore the present values of variables with a Retain
attribute.
9-8-2 Using Sysmac Studio Variable and Memory Backup Functions

The Sysmac Studio procedure is as follows:
Place the Sysmac Studio online with the CPU Unit, and select either Backup − Backup Variables
and Memory or Backup − Restore Variables and Memory from the Tools Menu.

9 Backing up Data
9-8-3 Compatibility between CPU Unit Models

With the Sysmac Studio variable and memory backup functions, you can restore the data even if the
models of the CPU Units for backing up and restoring data are different.
Database Connection CPU Units, SECS/GEM CPU Units, NJ Robotics CPU Units, Robot Inte-
grated CPU Units, and NC Integrated Controller are not compatible.
Refer to the relevant manuals for specific Units for details on the compatibility of these CPU
Units.
Version Information
The models of the CPU Units for backing up and restoring data can be different only when us-
ing a CPU Unit with version 1.04 or later and Sysmac Studio version 1.05 or higher. The com-
patibility for all other cases is given in the following table.
(¡: Compatible, ×: Not compatible.)
9-8 Sysmac Studio Variable and Memory Backup Functions

CPU Unit model to restore to
NJ501-1500
CPU Unit model where data was backed up NJ301-1200
NJ501-1400
NJ301-1100
NJ501-1300
NJ501-1500, NJ501-1400, or NJ501-1300 ¡ ×
NJ301-1200 or NJ301-1100 × ¡
The following precautions are required for the data that is being backed up and restored.
Present Values of Variables with a Retain Attribute

There are no precautions for the present values of variables with a Retain attribute. You can restore
the data with no problems regardless of the models of the backup and restore CPU Units.
Present Values in the DM, EM, and Holding Areas of Memory Used 9
for CJ-series Units 9-8-3 Compatibility between CPU Unit Models
For memory used for CJ-series Units, if the area data saved in the backup file and area data in the
actual CPU Unit to restore to are different, only the duplicated area data is restored.
The following precautions are necessary for the present values in the DM, EM, and Holding Areas of
memory used for CJ-series Units if the models of the backup and restore CPU Units are different. An
example of the NJ-series CPU Unit is given in the following table.
CPU Unit model where CPU Unit model to re-

Precaution
data was backed up store to
NJ501-1300, NJ301-1200, For EM Area data, only data for banks E0 to E3 in the
NJ501-1400, NJ301-1100, backup file is restored. The data for banks E4 to E18
or NJ501-1500 NJ101-1000, in the backup file is ignored.
or NJ101-9000

9 Backing up Data

Precaution
NJ301-1200, NJ501-1300, For EM Area data, only data for banks E0 to E3 in the
NJ301-1100, NJ501-1400, backup file is restored. Banks E4 to E18 for the CJ-
NJ101-1000, or NJ501-1500 series Units retain their previous values.
or NJ101-9000
The following provides examples when the area data saved in the backup file and area data in the
actual CPU Unit to restore to are different.
l If Area Data in the Backup File Is Larger Than Area Data in the Restore
CPU Unit
Size of DM Area data in the restore CPU Unit = 4
Size of DM Area data when backed up = 8 words
words
Address Value Address Value
DM0 0x0001 DM0 0x0001
DM1 0x0002 DM1 0x0002
DM2 0x0003 DM2 0x0003
DM3 0x0004 DM3 0x0004
DM4 0x0005 --- ---
DM5 0x0006 --- ---
DM6 0x0007 --- ---
DM7 0x0008 --- ---
l If Area Data in the Backup File Is Less Than Area Data in the Restore CPU
Unit
Size of DM Area data in the restore CPU Unit = 4
Size of DM Area data when backed up = 8 words
words
Address Value Address Value
DM0 0x0001 DM0 0x0001
DM1 0x0002 DM1 0x0002
DM2 0x0003 DM2 0x0003
DM3 0x0004 DM3 0x0004
--- --- DM4 No change
Absolute Encoder Home Offsets

The following precautions are necessary for the absolute encoder home offsets if the models of the
backup and restore CPU Units are different. An example of the NJ-series CPU Unit is given in the fol-
lowing table.

9 Backing up Data

Precaution
NJ501-1300, NJ301-1200, Regardless of the number of enabled axes in the
NJ501-1400, NJ301-1100, backup CPU Unit, the data for all axis in the backup
or NJ501-1500 or NJ101-1000 file is restored in order for the number of enabled axes
in the restore CPU Unit. Any remaining data in the
backup file is ignored.
NJ301-1200, NJ501-1300, Regardless of the number of enabled axes in the
NJ301-1100, NJ501-1400, backup CPU Unit, the data for all axis in the backup
or NJ101-1000 or NJ501-1500 file is restored in order for the number of enabled axes
in the restore CPU Unit. If the number of enabled axes
in the restore CPU Unit exceeds the number of ena-
bled axes for which there is data in the backup file, the
remaining data in the restore CPU Unit retains the pre-
vious values.
9-8 Sysmac Studio Variable and Memory Backup Functions

9

9 Backing up Data
9-9 Backup Functions When EtherCAT

Slaves Are Connected
For EtherCAT slaves, you can use the SD Memory Card backup functions, the Sysmac Studio Control-
ler backup functions, and Sysmac Studio backup import function.
This section provides precautions for connected EtherCAT slaves for the data that is backed up, back-
up support according to Controller status, restore conditions, and specific models of EtherCAT slaves.
To use the backup functions for EtherCAT Slave Terminals, refer to 9-10 Backup Functions
When EtherCAT Slave Terminals Are Connected on page 9-61.
9-9-1 Backed Up EtherCAT Slave Data

The data that is backed up for EtherCAT slaves is given in the following table.
Setting Data that is backed up

EtherCAT Master Settings The following data is backed up: Model name, Product name, Number of Slaves,
PDO Communications Cycle, Fail-soft Operation Setting, Wait Time for Slave Start-
up, PDO communications timeout detection count, Revision Check Method, and
Serial Number Check Method.
EtherCAT Slave Settings The following data is backed up: Device name, model name, product name, revi-
sion, node address, enabled/disabled settings, serial number, PDO map settings,
enable distributed clock, reference clock, and setting parameter settings.
9-9-2 Backup Support Depending on the Controller Status

The following table shows when backup, restore, and verify operations can be performed for EtherCAT
slaves based on the Controller status.
Execution
Controller status
Backing up data Restoring data Verifying data
Link OFF Not possible.*1 Not possible.*2 Possible.*3
Illegal master status*4 Not possible. *1*5 Not possible.*2 Possible.*3
Network configuration mismatch with configu- Not possible.*1 Not possible.*2 Possible.*3
ration information*6
Network configuration mismatch with configu- Possible. Not possible.*2 Possible.*3
ration at time of backup
Disabled slave in Disabled slaves in ac- Possible.*7 Possible.*7 Possible.*7
network configura- tual configuration
tion No disabled slaves in Possible. Possible. Possible.
actual configuration

9 Backing up Data
Execution
Controller status
Slave disconnected Disconnected slaves in Not possible.*1 Possible. Possible.
for “Disconnect” des- actual configuration Data for discon- Data for discon-
ignation in network nected slaves is nected slaves is
configuration also restored. also restored.
No disconnected Not possible.*1 Not possible.*2 Possible.*3
slaves in actual config-
uration
Slave State Transition Failed*8 Not possible.*1 Not possible.*2 Possible.*3
*1. EtherCAT Slave Backup Failed events are recorded in the event log.
*2. EtherCAT Slave Restore Operation Failed events are recorded in the event log.
*3. The verification results will show differences.
*4. For project unit version earlier than 1.40, this refers to the following errors: Duplicate Slave Node Address,
Network Configuration Information Error, Network Configuration Error, Slave Initialization Error, Network
Configuration Verification Error for Fail-soft Operation Setting of “Stop”, Link OFF Error, and EtherCAT
9-9 Backup Functions When EtherCAT Slaves Are Connected

Frame Not Received.
For project unit version 1.40 or later, this refers to the following errors: Incorrect Wiring Detected, Duplicate
Slave Node Address, Network Configuration Information Error, Network Configuration Verification Error (Un-
necessary Slave Connected), Network Configuration Verification Error (Mismatched Slave), Network Config-
uration Verification Error (Slave Unconnected), Network Configuration Verification Error (Incorrect Ring Wir-
ing), Link OFF Error, and EtherCAT Frame Not Received.
*5. The backup operation can be executed when the Network Configuration Information Error occurs.
*6. For project unit version earlier than 1.40, this refers to the following errors: Network configuration mismatch
with configuration when the backup was performed (incorrect connection ports for slaves on branched net-
works are treated as a mismatch) and network configuration information mismatch with actual network con-
figuration (incorrect connection ports for slaves on branched network are treated as a match).
For project unit version 1.40 or later, this refers to the following errors: Network configuration mismatch with
configuration when the backup was performed (incorrect connection ports for slaves on branched networks
are treated as a mismatch), network configuration information mismatch with actual network configuration
(incorrect connection ports for slaves on branched network are treated as a mismatch) and Ring Disconnec-
tion Detected.
*7. For a CPU Unit with unit version 1.04 or later and Sysmac Studio version 1.05 or higher, data for disabled
slaves is also covered by the backup functions. Data for disabled slaves is not backed up for other versions.
*8. For project unit version earlier than 1.40, this is a status in which the Slave Initialization Error occurs.
9
9-9-3 Conditions for Restoring EtherCAT Slave Data 9-9-3 Conditions for Restoring EtherCAT Slave Data
The following conditions must be met before you restore the backup data to the EtherCAT slaves.
• The backup files must contain the EtherCAT slave data.
• The Network Configuration Information must match the actual network configuration where data is
being restored.
• The revision values that are preset in the EtherCAT slaves must match. The conditions used to eval-
uate the match are based on the Revision Check Method in the backup file. Even if you set the Re-
vision Check Method to not check revisions, the restoration operation cannot be performed if the set
revision is greater than the actual revision of the slave. You cannot change the revision values.
• The serial numbers must match if the Serial Number Verification setting in the backup file is set to
verify the serial numbers.
• The node addresses must match if the hardware switches are used to set the node address.

9 Backing up Data
• All slaves are disconnected after the data is restored. You must connect the target slaves
again to reset the disconnected slaves.
• If you set the Serial Number Verification setting in the backup file to verify the serial numbers,
the data cannot be restored if you replace any of the hardware for the EtherCAT slaves. In
this case, change the network configuration in Sysmac Studio and download the configura-
tion data to the new slaves. Then, transfer the slave parameters to restore the slaves to their
original condition. If the node address is set on the hardware switches, use the same setting
as when the data was backed up.
9-9-4 EtherCAT Slaves for Which You Can Back Up Data

You can back up data for the following EtherCAT slaves. Observe the precautions.
EtherCAT slaves Precautions

NX-series You cannot back up, restore, or compare data for Safety Control Units on Ether-
EtherCAT Coupler Unit CAT Slave Terminals. Refer to the NX-series Safety Control Unit User’s Manual
NX-ECC (Cat. No. Z930) for information on importing and exporting settings for a Safety
Control Unit.
AC Servo Drives *1
R88D-1SN£££-ECT
R88D-1SAN£££-ECT
AC Rotary Servo Drives *1*2
R88D-KN£££-ECT
AC Linear Servo Drives *1*2
R88D-KN£££-ECT-L
Inverters • When the unit version of the CPU Unit is 1.11 or later, the inverter parameters
3G3AX-MX2-ECT are not included in the restore target. An EtherCAT Slave Restore Operation
3G3AX-RX-ECT Failed event (event code 10300000 hex) will not occur for Inverters.
• Refer to Procedure to Write Parameters for a 3G3AX-MX2-ECT or 3G3AX-RX-
ECT Inverter on page 9-60 to write the parameters from the Sysmac Studio to
the Inverter.
If you execute verification without writing the parameters, the verification result
for the inverter will be Not matched in the EtherCAT slaves verification result
file.
• When the unit version of the CPU Unit is 1.10 or earlier, data is sometimes not
restored due to Inverter restrictions.
If an EtherCAT Slave Restore Operation Failed event (event code 10300000
hex) occurs when you try to restore the data, refer to Procedure to Write Pa-
rameters for a 3G3AX-MX2-ECT or 3G3AX-RX-ECT Inverter on page 9-60 to
write the parameters from the Sysmac Studio to the Inverter.
Note that even if the restore operation for the Inverter fails, all other data are
restored including settings of Units and slaves, user program settings, and
present values of variables.
Vision Sensors The setup data for these Vision Sensors (such as the scene data and system da-
FH-3££££ ta) is not backed up, restored, or verified.
FH-1££££ To transfer the setup data to an external file or to the Vision Sensor, select
Sensor data − Save to file or Sensor data − Load from file from the Tools
Menu on the editing tab page for the Configurations and Setup of the Sysmac
Studio. Refer to the Vision System FH/FZ5 series User’s Manual (Cat. No. Z340)
for details.

9 Backing up Data
EtherCAT slaves Precautions

FQ-M££££-ECT ta) is not backed up, restored, or verified.
FQ-M££££-M-ECT To transfer the setup data to an external file or to the Vision Sensor, select
Sensor data − Save to file or Sensor data − Load from file from the Tools
Menu on the editing tab page for the Configurations and Setup of the Sysmac
Studio.
Refer to the FQ-M-series Specialized Vision Sensor for Positioning User’s Manual
(Cat. No. Z314) for details.
FZM1-£££-ECT ta) is not backed up, restored, or verified.
To save the setup data for the Vision Sensor to a USB memory device or to write
it to the Controller, use the software tool for the Vision Sensor.
Refer to the FZ3 Vision Sensor User’s Manual (Cat. No. Z290) for details.
Digital I/O Terminals *1
GX-£D16££
9-9 Backup Functions When EtherCAT Slaves Are Connected

GX-£D32£8
GX-OC1601
Analog I/O Terminals *1
GX-AD0471
GX-DA0271
Encoder Input Terminals ---
GX-EC0211
GX-EC0241
EtherCAT Junction Slaves There is no internal data that needs to be backed up.
GX-JC0£
Confocal Fiber Type Dis- None of the settings are backed up, restored, or verified.
placement Sensors Refer to the Displacement Sensor ZW Series Confocal Fiber Type Displacement
ZW-CE1£ Sensor User’s Manual (Cat. No. Z332) for information on saving the settings and
loading them to the Controller.
Digital Sensors The parameters in the Sensor are not backed up, restored, or verified.
E3NW-ECT
E3X-ECT
Slaves from other manufac- • Data is backed up, restored, and verified only when it is correctly defined in the
turers ESI. To back up, restore, or verify data that is not defined in the ESI, use the
software tool for the slave. 9
• If backing up, restoring, or verifying data fails, contact the manufacturer of the
slave for the appropriate procedures.
9-9-4 EtherCAT Slaves for Which You Can Back Up Data
*1. Cycle the power supply to a slave after you restore data. Cycle the power supply to a slave before you verify
the data after you restore it. The verification will fail if you do not cycle the power supply before you perform
the verification.
*2. If any of the following conditions applies, do not turn the Servo ON while the data is being backed up or
restored before you verify the data. If you turn the Servo ON while the data is being backed up or restored
before you verify the data, the parameters are updated before the verification operation and may cause dif-
ferences in the verification results.
• When the Realtime Autotuning Mode Selection (3002 hex) is set to 1 to 4, or 6 (enabled).
• When the Adaptive Filter Selection (3200 hex) is set to 1 or 2 (enabled).

9 Backing up Data
Procedure to Write Parameters for a 3G3AX-MX2-ECT or 3G3AX-

RX-ECT Inverter
When the unit version of the CPU Unit is 1.11 or later, the inverter parameters are not included in the
restore target.
When the unit version of the CPU Unit is 1.10 or earlier, an EtherCAT Slave Restore Operation Failed
event (event code 10300000 hex) will occur if you restore data while a 3G3AX-MX2-ECT or 3G3AX-
RX-ECT Inverter is connected.
Use the follow procedure from the Sysmac Studio to write the backup parameters to the Inverter. Re-
fer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details.
1 Import the Inverter parameters from the backup file with the backup file import function of the
Sysmac Studio.
Display the Inverter parameters on the Inverter Parameters Tab Page for the Controller Config-
urations and Setup of the Sysmac Studio.
2 Confirm that the model number of the Inverter in the parameters that you imported agrees with
the model number of the Inverter that is actually connected.
3 Download the parameters to the Inverter using the “To Drive” menu on the Inverter Parameters
Tab Page for the Controller Configurations and Setup of the Sysmac Studio.
If you use the Inverter Mode Selection parameter (parameter number b171) in a 3G3AX-MX2-
ECT Inverter, change the Inverter to the mode that was used when the backup data was creat-
ed before you write the parameters. After you change the mode setting, you must initialize the
Inverter to enable the change.
When the unit version of the CPU Unit is 1.10 or earlier, even if the restore operation for the
Inverter fails, all other data are restored including settings of Units and slaves, user program
settings, and present values of variables.

9 Backing up Data
9-10 Backup Functions When EtherCAT

Slave Terminals Are Connected
For EtherCAT Slave Terminals, you can use the SD Memory Card backup functions, the Sysmac Stu-
dio Controller backup functions, and Sysmac Studio backup import function.
This section provides information on the data that is backed up, backup support according to Control-
ler status, and restore conditions when EtherCAT Slave Terminals are connected.
9-10 Backup Functions When EtherCAT Slave Terminals Are Connected

You cannot back up, restore, or compare data for Safety Control Units on EtherCAT Slave Ter-
minals. Refer to the NX-series Safety Control Unit User’s Manual (Cat. No. Z930) for informa-
tion on importing and exporting settings for a Safety Control Unit.
Version Information
quired to use EtherCAT Slave Terminals.
9-10-1 Backing Up Data in an EtherCAT Slave Terminal

The data that can be backed up for an EtherCAT Slave Terminal is different for the EtherCAT Coupler
Unit and the NX Units. The data that is backed up is given in the following table.
Unit Data Backup Restore Compare

EtherCAT Coupler Unit Configuration information*1 ¡ ¡ ¡
Unit operation settings ¡ ¡ ¡
NX Units Configuration information*1 ¡ ¡ ¡
Unit operation settings ¡ ¡ ¡ 9
Unit application data*2 ¡ ¡ ¡
9-10-1 Backing Up Data in an EtherCAT Slave Terminal
*1. The configuration information includes the Unit configuration information and I/O allocation information.
*2. This is the specific data for each NX Unit. Some NX Units do not have Unit application data.
To restore backup data to an EtherCAT Slave Terminal that has an identical Unit configuration
to the EtherCAT Slave Terminal from which data was backed up, make sure that all hardware
switches are set to the same settings as when the backup was made. Backup data cannot be
restored if the hardware switches are set differently from those in the backup data. This will
cause a Restore Operation Failed to Start (EtherCAT Slave) observation event to occur.

9 Backing up Data
9-10-2 Backup Support Depending on the EtherCAT Slave Terminal Sta-

tus
The following table shows when backup, restore, and compare operations can be performed for Ether-
CAT Slave Terminals based on the EtherCAT Slave Terminal status.
Execution
EtherCAT Slave Terminal status Backing up Restoring Verifying da-
data data ta
Automatic creation of the Unit configuration information Possible.*1 Possible.*2 Possible.
Waiting for NX Unit participation Not possi- Not possi- Possible.*5
ble.*3 ble.*4
Watchdog time error in EtherCAT Coupler Unit or NX Unit Not possi- Not possi- Possible.*5
ble.*3 ble.*4
During Bus Controller Error Not possi- Not possi- Possible.*5
ble.*3 ble.*4
During Unit Configuration Information Error Not possi- Possible. Possible.*5
ble.*3
During Unit Configuration Verification Error Not possi- Possible. Possible.*5
ble.*3
The Unit configuration information does not agree with the Unit --- Not possi- Possible.*5
configuration information in the backup data. ble.*4
*1. The backup contains information saying that the Unit configuration information does not exist.
*2. After the data is restored, automatic Unit configuration status continues.
*3. A Backup Failed event is recorded in the event log.
*4. A Restore Operation Failed event is recorded in the event log.
9-10-3 Conditions for Restoring EtherCAT Slave Terminal Data

The following conditions must be met before you restore the backup data to the EtherCAT Slave Ter-
minals.
• The backup files must contain the data for the EtherCAT Coupler Unit and NX Unit.
• The original Unit configuration in the backup must match the actual Unit configuration where data is
being restored.
• The serial number of the EtherCAT Coupler Unit from which the data was backed up and the serial
number of the EtherCAT Coupler Unit to which the data is restored must be the same. However, this
assumes that the setting of the Serial Number Check Method in the Unit operation settings of the
Communications Coupler Unit in the backup file is set to Setting = Actual device.
• The serial numbers of the NX Units from which the data was backed up and the serial numbers of
the NX Units to which the data is restored must be the same. However, this assumes that the setting
of the Serial Number Check Method in the Unit operation settings of the Communications Coupler
Unit in the backup file is set to Setting = Actual device.
• The hardware switch settings of the EtherCAT Coupler Unit from which the data was backed up and
the hardware switch settings of the EtherCAT Coupler Unit to which the data is restored must be the
same.
• The unit version setting of the EtherCAT Coupler Unit from which the data was backed up and the
unit version of the actual EtherCAT Coupler Unit to which the data is restored must be the same.

9 Backing up Data
• The unit version settings of the NX Unit from which the data was backed up and the unit versions of
the actual NX Units to which the data is restored must be the same.
9-10 Backup Functions When EtherCAT Slave Terminals Are Connected

9
Data
9-10-3 Conditions for Restoring EtherCAT Slave Terminal

9 Backing up Data
9-11 Backup Functions When NX Units Are

Connected
For NX Units on the NX102 CPU Unit and NX1P2 CPU Unit, you can use the SD Memory Card back-
up functions and the Sysmac Studio Controller backup functions.
This section provides information on the data that is backed up, backup support according to Control-
ler status, and restore conditions when NX Units are connected to the NX1P2 CPU Unit.
You can mount an NX-SL££££ Safety Control Unit on the NX102 CPU Unit. However, you
cannot back up, restore, or compare data for the Safety Control Unit. Refer to the NX-series
Safety Control Unit User’s Manual (Cat. No. Z930-E1-12 or later) for information on importing
and exporting settings and safety unit restore settings for a Safety Control Unit.
9-11-1 Backing Up Data in NX Units on the CPU Unit

The data that is backed up for NX Units on the CPU Unit is given in the following table.
Unit Data Backup Restore Compare

NX Units Configuration information*1 Possible Possible Possible
Unit operation settings Possible Possible Possible
Unit application data*2 Possible Possible Possible
*1. The configuration information includes the Unit configuration information and I/O allocation information.
*2. This is the specific data for each NX Unit. Some NX Units do not have Unit application data.

The following table shows when backup, restore, and compare operations can be performed for NX
Units based on the Controller status.
Execution
Controller status Backing up da-
Restoring data Verifying data
ta
Automatic creation of the Unit configuration informa- Possible*1 Possible*2 Possible
tion
Watchdog time error in NX Unit Not possible*3 Not possible*4 Possible*5
During NX Bus Controller Error Not possible*3 Not possible*4 Possible*5
During Unit Configuration Verification Error Not possible*3 Possible Possible*5
The Unit configuration information does not agree with --- Not possible*4 Possible*5
the Unit configuration information in the backup data.
*1. The backup contains information saying that the Unit configuration information does not exist.
*2. After the data is restored, automatic Unit configuration status continues.
*3. An NX Unit Backup Failed event is recorded in the event log.
*4. An NX Unit Restore Operation Failed event is recorded in the event log.

9 Backing up Data
9-11-3 Conditions for Restoring NX Unit Data on the CPU Unit

The following conditions must be met before you restore the backup data to the NX Units on the CPU
Unit.
• The backup files must contain the data of the relevant CPU Unit and the data of the NX Units on the
relevant CPU Unit.
• The original Unit configuration in the backup must match the actual Unit configuration where data is
being restored.
• The serial numbers of the NX Units from which the data was backed up and the serial numbers of
the NX Units to which the data is restored must be the same. However, this assumes that the setting
of the Serial Number Check Method in the CPU Racks in the backup file is set to Setting = Actual
device.
• The unit version settings of the NX Unit from which the data was backed up and the unit versions of
the actual NX Units to which the data is restored must be the same.
9-11 Backup Functions When NX Units Are Connected

9
Unit
9-11-3 Conditions for Restoring NX Unit Data on the CPU

9 Backing up Data
9-12 Backup Functions When CJ-series

Units Are Connected
Data in CJ-series Units is covered by the SD Memory Card backup functions and Sysmac Studio Con-
troller backup functions.
This section provides precautions for connected CJ-series Units for the data that is backed up, backup
support according to Controller status, and restore conditions.
You can connect CJ-series Units only with NJ-series CPU Units.
9-12-1 Backed Up CJ-series Unit Data

The present values in memory used for CJ-series Units and the parameters in the CJ-series Units are
backed up. Some of this data is in the CJ-series Unit and some are in the CPU Unit.
You do not need to be aware of where the data is located because the backup, restoration, and verifi-
cation operations will automatically process this data.

The following table shows when backup, restore, and verify operations can be performed for CJ-series
Units based on the Controller status.
Execution
Controller status
I/O Bus Check Error Not possible.*1 Not possible.*2 Possible.*3
End Cover Missing
Incorrect Unit/Expansion Rack Connection
Duplicate Unit Number Error
Too Many I/O Points
I/O Setting Check Error
Restarting the CJ-series Unit Not possible.*1 Possible. Possible.*3
*1. CJ-series Unit Backup Failed events are recorded in the event log.
*2. CJ-series Unit Restore Operation Failed events are recorded in the event log.
9-12-3 Conditions for Restoring CJ-series Unit Data

The following conditions must be met before you restore the backup data to the CJ-series Units.
• The backup files must contain the CJ-series Unit data.
• The Unit configuration in the backup file must match the actual Unit configuration where data is be-
ing restored.
• Each CJ-series Unit must meet the conditions for that Unit. (Refer to the manuals for the CJ-series
Units for the specific conditions for each Unit.)

9 Backing up Data
If you restore data using the SD Memory Card backup functions or the Sysmac Studio Control-
ler backup functions while CJ-series Units are connected, a CPU Unit Service Monitor Error will
occur. This means that servicing the CJ-series Units from the CPU Unit was not completed
within a specific amount of time. However, this is the result of the time that is required to restore
the data and it does not indicate an error. The following will occur at this time.
• For communications-related CJ-series Units, the MS indicator flashes red.
• For CJ-series Units with seven-segment indicator, the indicator displays “HE”.
• For CJ-series Units that have an ERH indicator, the ERH indicator lights.
• An event code of 00000002 hex is recorded in the Controller event logs to indicate a CPU
Unit Service Monitor Error or Refresh Timeout event.
• If a CJ-series CJ1W-CT021 High-speed Counter Unit is connected, an event code of
68010000 hex is recorded in the Controller event logs to indicate a Unit Error. The attached
information will be 0002 hex.
9-12 Backup Functions When CJ-series Units Are Connected

9
9-12-3 Conditions for Restoring CJ-series Unit Data

9 Backing up Data
9-13 Backup-related Files

This section describes the specifications of the backup-related files.
These backup-related files apply to all backup functions except for the Sysmac Studio variable and
memory backup functions.
9-13-1 Types of Backup-related Files

There are four types of files that are related to backup functions: backup files, restore command files,
automatic transfer command files, and verification results files.
l Backup File
This file contains the Controller data that is handled by the backup-related functions. These files
are created when data is backed up.
l Restore Command File

This file specifies the data groups to transfer by restoring data from an SD Memory Card. You can
edit this file with a text editor on a computer to specify the data groups to transfer. These files are
created when data is backed up.
l Automatic Transfer Command File

This file specifies the data groups to transfer when automatically transferring data from an SD
Memory Card. You can edit this file with a text editor on a computer to specify the data groups to
transfer. These files are created when data is backed up.
l Verification Results Files

The verification results files contain the results of comparing the Controller data and the data in a
backup file on the SD Memory Card in the CPU Unit.
There are four different verification results files, as described below. These files are generated
when you perform a verification using the SD Memory Card backup function.
Verification results
Description
files
Controller verification re- This file contains the verification results for all backup data specified by the re-
sults file store command file.
EtherCAT slave verifica- This file contains the verification results for each EtherCAT slave. It is created
tion results file when the Unit and slave settings are set to be restored in the restore command
file and the EtherCAT slave settings are contained in the backup file.
EtherCAT Slave Termi- This file contains the verification results for each EtherCAT Coupler Unit and NX
nal verification results Unit. This file is created when all of the following conditions are met.
file • The Unit and slave settings are specified for restoration in the restore com-
mand file.
• The EtherCAT slave settings are included in the backup file.
• One or more EtherCAT Slave Terminals is connected.
If an EtherCAT Slave Terminal verification results file is created, an EtherCAT

slave verification results file is always created at the same time.

9 Backing up Data
Verification results
Description
files
NX Unit verification re- This file contains the verification results for each NX Unit on the CPU Unit. It is
sults file*1 generated when the Unit and slave settings are set to be restored in the restore
command file and the backup file contains settings of the NX Unit on the CPU
Unit.
CJ-series Unit verifica- This file contains the verification results for each CJ-series Unit. It is created
tion results file*2 when the Unit and slave settings are set to be restored in the restore command
file and the CJ-series Unit settings are contained in the backup file.
9-13-2 Specifications of a Backup File

This section describes the file name, creation timing, and created directory for a backup file.
File Name
A different backup file name is given depending on the CPU Unit series.
File CPU Units File name

Backup file NX-series CPU Units NXBackup.dat
NJ-series CPU Units NJBackup.dat

File Creation Timing and Created Directories
Function Procedure Creation timing Created directory
SD Memory Card CPU Unit Front-panel DIP When backup is Root directory on the SD Mem-
backups Switch executed ory Card
System-defined variables When backup is Directory on the SD Memory
executed Card that you specified with the
system-defined variable
SD Memory Card Window in When backup is Directory on the SD Memory 9
Sysmac Studio executed Card that you specified with the
Sysmac Studio 9-13-2 Specifications of a Backup File
Special instruction*1 When backup is The directory on the SD Memo-

executed ry Card that you specified for
the input variable of the Back-
upToMemoryCard instruction
Sysmac Studio Con- Sysmac Studio Controller Back- When backup is Directory in the computer that
troller backups up Dialog Box executed you specified with the Sysmac
Studio
Importing and ex- Sysmac Studio Backup File Ex- When data is ex- Directory in the computer that
porting Sysmac Stu- port Dialog Box ported you specified with the Sysmac
dio backup file data Studio

9 Backing up Data
9-13-3 Specifications of a Restore Command File

This section describes the file name, creation timing, created directory, and data group specification
method for a restore command file.
File Name
File File name
Restore command file RestoreCommand.ini

SD Memory Card CPU Unit Front-panel DIP When backup is Same directory as backup file
backups Switch executed
System-defined variables When backup is Same directory as backup file
executed
SD Memory Card Window in When backup is Same directory as backup file
Sysmac Studio executed
Sysmac Studio Con- Sysmac Studio Controller Back- When backup is Same directory as backup file
troller backups up Dialog Box executed
Importing and ex- Sysmac Studio Backup File Ex- When data is ex- Same directory as backup file
porting Sysmac Stu- port Dialog Box ported
dio backup file data
Specifying the Data Groups to Restore

The restore command file allows you to specify the data groups to restore.
You can change the data group specifications by editing the file with a text editor on a computer.
For example, if you change Variable=yes on line 8 in the File contents that are shown in the following
table to Variable=no, the present values of variables will not be restored.
File contents (defaults when the file is created) Description

[Restore]
; --- User Program and Configuration. --- User program and settings
; Always select "yes". This data group is always restored. Al-
UserProgram=yes ways select “yes”.
; --- IP Address of Built-in EtherNet/IP Port Settings. --- IP address of built-in EtherNet/IP port
; "yes":will be restored, "no":will not be restored yes/no: Restore/Do not restore.
IPAdr=yes
; --- Present values of variables (Retained variables only). --- Present values of variables (only vari-
; "yes":will be restored, "no":will not be restored ables that are set to be retained with
Variable=yes the Retain attribute)
yes/no: Restore/Do not restore.

9 Backing up Data

; --- Present values of memory used for CJ-series Units (Holding, EM, Present values of memory used for
and DM Area data). --- CJ-series Units (only addresses that
; "yes":will be restored, "no":will not be restored are set to be retained with the Retain
Memory=yes attribute)
yes/no: Restore/Do not restore.
:---Unit/Slave Parameters.--- Units and slaves settings

; "yes";will be restored."no";will not be restored yes/no: Restore/Do not restore.
UnitConfig=yes
; --- Absolute encoder home offset. --- Absolute encoder home offsets
; "yes":will be restored, "no":will not be restored yes/no: Restore/Do not restore.
AbsEncoder=yes
Note 1. The default file contents when the restore command file is created are given above. All of the data
groups that are listed in the file are set to be restored.
Note 2. The restore command file lists the restorable data groups that were in the backup file when the backup
file was created.
Note 3. Only single-byte alphanumeric characters are used. The text is not case sensitive.
Note 4. An entry of IP Address of Built-in EtherNet/IP Port Settings is not created if the backup is performed in
the CPU Unit with unit version 1.13 or earlier.
In the CPU Unit with unit version 1.14 or later, if an entry of IP Address of Built-in EtherNet/IP Port Set-
tings for which the restore command file is not created is used, the operation is performed as
“IPAdr=yes”.
Refer to Compatibility between Restore Command Files on page 9-71 for compatibility between the re-
store command file with unit version 1.13 or earlier and the restore command file with unit version 1.14
or later.

When you edit the restore command file, do not change anything in the file except for the “yes”
and “no” specifications for the selectable data groups. If you change anything else in the file,
the Controller may perform unexpected operation when you restore the data.
Compatibility between Restore Command Files

9
The following table shows the compatibility between the restore command file with unit version 1.13 or
earlier and the restore command file with unit version 1.14 or later. 9-13-3 Specifications of a Restore Command File
Unit version of CPU Unit that cre- Unit version of CPU Unit where data is being restored
ates the restore command file
Version 1.13 or earlier Version 1.14 or later
and backup file
Version 1.13 or earlier Restorable. Restorable.
IP Address of Built-in EtherNET/IP IP Address of Built-in EtherNET/IP
Port Settings is restored. Port Settings is restored.

9 Backing up Data
Unit version of CPU Unit that cre- Unit version of CPU Unit where data is being restored
ates the restore command file
Version 1.13 or earlier Version 1.14 or later
and backup file
Version 1.14 or later Not restorable. Restorable.
In the CPU Unit with unit version IP Address of Built-in EtherNET/IP
1.13 or earlier, because the entry of Port Settings corresponds to
IP Address of Built-in EtherNET/IP “yes/no” of “IPAdr”.
Port Settings cannot be interpreted,
a Restore Operation Failed to Start
error in an observation level occurs.
The error details will be “0104 hex:
The contents of the restore com-
mand file are not correct”.
9-13-4 Specifications of an Automatic Transfer Command File

This section describes the file name, creation timing, created directory, and data group specification
method for an automatic transfer command file.
File Name
File File name
Automatic transfer command file AutoloadCommand.ini

SD Memory Card CPU Unit front-panel DIP When backup is Same directory as backup file
backups switch executed
System-defined variables When backup is Same directory as backup file
executed
SD Memory Card Window in When backup is Same directory as backup file
Sysmac Studio executed
Sysmac Studio Con- Sysmac Studio Controller Back- When backup is Same directory as backup file
troller backups up Dialog Box executed
Importing and ex- Sysmac Studio Backup File Ex- When data is ex- Same directory as backup file
porting Sysmac Stu- port Dialog Box ported
dio backup file data
Specifying the Data Groups to Automatically Transfer

The automatic transfer command file allows you to specify the data groups to transfer automatically.
You can change the data group specifications by editing the file with a text editor on a computer.
For example, if you change “Variable=yes” on line 8 in the file contents that are shown in the following
table to “Variable=no,” the present values of variables will not be automatically transferred.

[Autoload]

9 Backing up Data

; Always select "yes". This data group is always transfer-
UserProgram=yes red. Always select “yes”.
; --- IP Address of Built-in EtherNet/IP Port Settings. --- IP address of built-in EtherNet/IP
; "yes":will be transferred, "no":will not be transferred port
IPAdr=yes yes/no: Transfer/Do not transfer.
; --- Present values of variables (Retained variables only). --- Present values of variables (only
; "yes":will be transferred, "no":will not be transferred variables that are set to be retained
Variable=yes with the Retain attribute)
yes/no: Transfer/Do not transfer.
; --- Present values of memory used for CJ-series Units (Holding, EM, and Present values of memory used for
DM Area data). --- CJ-series Units (only addresses
; "yes":will be transferred, "no":will not be transferred that are set to be retained with the
Retain attribute)
yes/no: Transfer/Do not transfer.
Note 1. The default file contents when the automatic transfer command file is created are given above. All of the
data groups that are listed in the file are set to be automatically transferred.
Note 2. The automatic transfer command file lists the transferable data groups that were in the backup file when
the backup file was created.
Note 3. Only single-byte alphanumeric characters are used. The text is not case sensitive.
Note 4. An entry of IP Address of Built-in EtherNet/IP Port Settings is not created if the backup is performed in
the CPU Unit with unit version 1.13 or earlier.
In the CPU Unit with unit version 1.14 or later, if an entry of IP Address of Built-in EtherNet/IP Port Set-
tings for which the automatic transfer file is not created is used, the operation is performed as

“IPAdr=yes”.
Refer to Compatibility between Automatic Transfer Files on page 9-73 for compatibility between the au-
tomatic transfer file with unit version 1.13 or earlier and the automatic transfer file with unit version 1.14
or later.
When you edit the automatic transfer command file, do not change anything in the file except
for the “yes” and “no” specifications for the selectable data groups. If you change anything else
in the file, the Controller may perform unexpected operation when you automatically transfer the 9
data. File
9-13-4 Specifications of an Automatic Transfer Command
Compatibility between Automatic Transfer Files

The following table shows the compatibility between the automatic transfer file with unit version 1.13 or
earlier and the automatic transfer file with unit version 1.14 or later.
Unit version of CPU Unit that cre- Unit version of CPU Unit where data is being automatically transfer-
ates the automatic transfer file red
and backup file Version 1.13 or earlier Version 1.14 or later
Version 1.13 or earlier Automatic transfer is possible. Automatic transfer is possible.
IP Address of Built-in EtherNET/IP IP Address of Built-in EtherNET/IP
Port Settings is automatically trans- Port Settings is automatically trans-
ferred. ferred.

9 Backing up Data
Unit version of CPU Unit that cre- Unit version of CPU Unit where data is being automatically transfer-
ates the automatic transfer file red
and backup file Version 1.13 or earlier Version 1.14 or later
Version 1.14 or later Automatic transfer is not possible. Automatic transfer is possible.
In the CPU Unit with unit version IP Address of Built-in EtherNET/IP
1.13 or earlier, because the entry of Port Settings corresponds to
IP Address of Built-in EtherNET/IP “yes/no” of “IPAdr”.
Port Settings cannot be interpreted,
an Error in Starting Automatic
Transfer in a major fault level oc-
curs. The error details will be “0104
hex: The contents of the automatic
transfer command file are not cor-
rect”.
9-13-5 Specifications of a Controller Verification Results File

This section describes the file name, creation timing, created directory, and verification results confir-
mation method for a Controller verification results file.
File Name
File File name
Controller verification results file VerifyResult.log

SD Memory Card SD Memory Card Window in When verification is Same directory as backup file
backups Sysmac Studio executed
System-defined variables When verification is Same directory as backup file
executed
CPU Unit front-panel DIP When verification is Same directory as backup file
switch executed
Note However, if the SD Memory Card is write-protected, the verification results files will not be created.
How to Check the Verification Results

backup file on the SD Memory Card in the CPU Unit for each data group.
You can check the verification results in the portion that gives the verification results for each data
group.
Result=Matched indicates a data group for which no differences were found. Result=Not matched indi-
cates a data group for which differences were found.
In the file shown below, the user program and configuration data matched, and the Units and slave
parameters did not match.

9 Backing up Data
File contents Description

[UserProgram]
Result=Matched Matched: No differences were found, Not matched:
Differences were found.
[UnitConfig] Units and slaves settings

; --- Unit/Slave Parameters. --- Matched: No differences were found, Not matched:
Result=Not matched Differences were found.
Note 1. The verification results are given only for the data groups that were compared.
Note 2. The verification results of IP Address of Built-in EtherNet/IP Port Settings are included in an entry of user
program and settings even for the CPU Unit with unit version 1.14 or later.
9-13-6 Specifications of an EtherCAT Verification Results File

mation method for an EtherCAT verification results file.
File Name
File File name
EtherCAT verification results file VerifyResult_ECAT.log

executed
switch executed
9
File
9-13-6 Specifications of an EtherCAT Verification Results

You can check the verification results in the portion that gives the verification results for each Ether-
CAT slave.
“Result=Matched” indicates a data group for which no differences were found. “Result=Not matched”
indicates a data group for which differences were found.
The following table gives an example of the verification results for the following file contents.
• Matched: EtherCAT slave called Master and EtherCAT Slave Terminal E022
• Not matched: EtherCAT slave E001

9 Backing up Data

[Verification Results]
; --- EtherCAT Parameters. ---
: --- See the VerifyResult_ECAT_NX.log about detail The slaves are indicated with the user-set device names.
result if NX mark is included in square brackets. For an EtherCAT Slave Terminal, “:NX” is added to the
end of the device name. *1
[Master]
Result=Matched
The verification results are given as follows:
Result=Matched Same
[E001]
Result=Not matched Different
Result=Not matched
Factor=Verification error
[E002:NX]
Result=Matched
*1. If EtherCAT Slave Terminals are set for verification, the EtherCAT Slave Terminal verification results file is
created. The detailed verification results for the EtherCAT Slave Terminals are given in the EtherCAT Slave
Terminal verification results file.
Note The verification results are given only for the EtherCAT slaves that were compared.
9-13-7 Specifications of an EtherCAT Slave Terminal Verification Re-

sults File
mation method for an EtherCAT Slave Terminal verification results file.
File Name
File File name
EtherCAT Slave Terminal verification results file VerifyResult_ECAT_NX.log

executed
switch executed

You can check the verification results in the portion that gives the verification results for the EtherCAT
Coupler Units and NX Units.

9 Backing up Data
• Matched: EtherCAT Coupler Unit E002, NX Unit N1, and NX Unit N2
• Not matched: EtherCAT Coupler Unit E005 and NX Unit N3

[Verification Results] The Units are indicated in the following format:
; --- NX Parameters. --- {Device name}:UnitNo.{Unit number}[blank]{Unit model}
[E002:UnitNo.0 NX-ECC201] Device Name:

Result=Matched The device name set by the user.
Unit Number:
[N1:UnitNo.1 NX-AD2203] Text string of decimal numbers. The value will be between 0
Result=Matched and 125.
Unit Model:
[N2:UnitNo.2 NX-DA2203] Text string that identifies the Unit model.
Result=Matched Consecutive spaces at the end of the model number are
deleted.
[N3:UnitNo.3 NX-TS3201]
Result=Not matched The verification results are given as follows:
Factor=Verification error Result=Matched Same
[E005:UnitNo.0 NX-ECC201]
Result=Not matched

9-13-8 Specifications of an NX Unit Verification Results File
mation method for an NX Unit verification results file.
You can use NX Units only on the NX102 CPU Units and NX1P2 CPU Units.
9
9-13-8 Specifications of an NX Unit Verification Results File
File Name
File File name
NX Unit verification results file VerifyResult_NXUnit.log

executed
switch executed

9 Backing up Data

You can check the verification results in the portion that gives the verification results for the NX Units.
Result=Matched indicates a data group for which no differences were found. Result=Not matched indi-
cates a data group for which differences were found.
• Matched: NX Unit N1
• Not matched: NX Unit N3
• Not verified: NX Unit N2

; --- NX Parameters. --- {Device name}:UnitNo.{Unit number}[blank]{Unit model}
[N1:UnitNo.1 NX-AD2203] Device Name:

Result=Matched The device name set by the user.
Unit Number:
[N2:UnitNo.2 NX-DA2203] Text string of decimal numbers. The value will be between 0 and
Result=Not verified 125.
Unit Model:
[N3:UnitNo.3 NX-TS3201] Text string that identifies the Unit model.
Result=Not matched Consecutive spaces at the end of the model number are deleted.
The verification results are given as follows:
Result=Matched Same
Result=Not verified No verification
9-13-9 Specifications of a CJ-series Unit Verification Results File

mation method for a CJ-series Unit verification results file.
You can use CJ-series Units only with NJ-series CPU Units.
File Name
File File name
CJ-series Unit verification results file VerifyResult_CJUnit.log

9 Backing up Data

executed
switch executed

You can check the verification results in the portion that gives the verification results for each CJ-ser-
ies Unit.
In the file shown below, CJ1W-CRM21 (MODE0) and CJ1W-EIP21 matched, and CJ1W-DRM21 and
CJ1W-PRM21-DPV1 did not match.

; --- CJ Unit Parameters. --- Rack{Rack No.}[space]Slot{Slot No}:[space]{Unit mod-
[Rack0 Slot0: CJ1W-CRM21(MODE0) UnitNo.10] el}[space]Unit No.{unit number}
Result=Matched
Rack No.:
[Rack0 Slot9: CJ1W-DRM21 UnitNo.0] Text string of decimal numbers. The value will be be-
Result=Not matched tween 0 and 3.
Slot No.:
[Rack1 Slot0: CJ1W-EIP21 UnitNo.10] Text string of decimal numbers. The value will be be-
Result=Matched tween 0 and 9. 9
Unit Model:
[Rack1 Slot1: CJ1W-PRM21-DPV1 UnitNo.1] Text string that identifies the Unit model.
File
9-13-9 Specifications of a CJ-series Unit Verification Results
Result=Not matched The Unit model is obtained from the cyclic initialization
data. Consecutive spaces at the end of the model
number are deleted.
Unit No.:
Text string of decimal numbers. Leading zeros are
suppressed. Range for a CPU Bus Unit: 0 to 15. Spe-
cial I/O Units: 0 to 95.
The match/no match results are given in the following

format:
Result=Matched Same
Note The verification results are given only for the EtherCAT slaves that were compared.

9 Backing up Data
9-14 Compatibility between Backup-relat-

ed Files
The files may not be compatible if you back up and restore data under different conditions.
The files may not be compatible in these three cases:
• When the function that was used to back up data is different from the function that was used to re-
store it.
• When the model number of the CPU Unit where the data was backed up from does not match the
model number where data is being restored.
• When the unit versions of the CPU Unit, other Units, or slaves where the data was backed up from
do not match the unit versions where data is being restored.
In this context, the term restore is used collectively for these backup functions: restore, automatic
transfer, program transfer, and read (back up).
9-14-1 Compatibility between Backup Functions

The following table shows the file compatibility when the function used to back up the data is different
from the function used to restore it.
Function used to restore data

Restoring Restoring
Restoring
with SD Mem- with Sysmac Importing
with Sysmac
ory Card Automatic Studio varia- Sysmac Stu-
Function used to back Studio Con-
backup func- transfer and ble and mem- dio backup
up data troller backup
tions program- ory backup file data
functions
(SD Memory transfer functions (computer to
(computer to
Card to Con- (computer to project)
Controller)
troller) Controller)
Backing up with SD ¡ ¡ ¡ × ¡*1
Memory Card backup
functions
(Controller to SD Mem-
ory Card)
Backing up with Sys- ¡ ¡ ¡ × ¡*1
mac Studio Controller
backup functions
(Controller to computer)
Backing up with Sys- × × × ¡ ×
mac Studio variable
and memory data back-
up functions
(Controller to computer)
Exporting from a Sys- ¡*1 ¡*1 ¡*1 × ¡
mac Studio backup file
(project to computer)
*1. The following data is not included.
• The built-in EtherNet/IP port name and built-in EtherNet/IP tag data link settings in the Controller Setup

9 Backing up Data
• Words allocated to CPU Bus Units in the Unit Configuration

• Data Trace Settings
• Time zone setting
• Present values of variables
• Present values of memory used for CJ-series Units
The files that are handled for backing up variables and memory from the Sysmac Studio are not
compatible with other backup files.
Refer to 9-8 Sysmac Studio Variable and Memory Backup Functions on page 9-52 for details on
these functions.

The following table shows the file compatibility when the CPU Unit model where the data was backed
up from is different from the group where the data is being restored.
9-14 Compatibility between Backup-related Files

CPU Unit model to restore to

NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
CPU Unit model
where data was 1140DT
1200 1500
backed up 1700 1140DT1 9024DT 9B40DT 9B24DT 1200
1100 9000 1400 1000 9000
1600 1040DT 9024DT1 9B40DT1 9B24DT1 1100
1000 1300
1040DT1
NX701-1700 ¡ ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1
NX701-1600
NX102-1200 ×*1 ¡ ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1
NX102-1100
NX102-1000
NX102-9000 ×*1 ×*1 ¡ ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1
NX1P2-1140DT ×*1 ×*1 ×*1 ¡ ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1
NX1P2-1140DT1
NX1P2-1040DT 9
NX1P2-1040DT1
NX1P2-9024DT ×*1 ×*1 ×*1 ×*1 ¡ ×*1 ×*1 ×*1 ×*1 ×*1 ×*1
NX1P2-9024DT1
NX1P2-9B40DT ×*1 ×*1 ×*1 ×*1 ×*1 ¡ ×*1 ×*1 ×*1 ×*1 ×*1
NX1P2-9B40DT1
NX1P2-9B24DT ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ¡ ×*1 ×*1 ×*1 ×*1
NX1P2-9B24DT1
NJ501-1500 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ¡ ×*1 ×*1 ×*1
NJ501-1400
NJ501-1300
NJ301-1200 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ¡ ×*1 ×*1
NJ301-1100
NJ101-1000 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ¡ ×*1
NJ101-9000 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ×*1 ¡
*1. The Sysmac Studio variable and memory backup functions are compatible. However, a CPU Unit with unit version 1.04 or later and
Sysmac Studio version 1.05 or higher are required. Refer to 9-8-3 Compatibility between CPU Unit Models on page 9-53 for the com-
patibility between CPU Unit models for the Sysmac Studio variable and memory backup functions.

9 Backing up Data
Database Connection CPU Units, SECS/GEM CPU Units, NJ Robotics CPU Units, Robot Inte-
grated CPU Units, and NC Integrated Controller are not compatible.
Refer to the relevant manuals for specific Units for details on the compatibility of these CPU
Units.
Even if the CPU Unit models are compatible, there may be restrictions between various CPU Unit
models.
The following table shows which restoration function can be used based on whether the CPU Unit
models are compatible.
(¡: Restored, ×: Not restored.)

Restoring with Restoring with
Restoring with Importing Sys-
Compatibility SD Memory Automatic mac Studio
Controller variable and
between CPU Card backup transfer and backup file da-
backup func- memory back-
Unit Models functions (SD program trans- ta
tions (comput- up functions
Memory Card fer (computer to
er to Control- (computer to
to Controller) project)
ler)*1 Controller)
Compatible ¡*2 ¡*2 ¡ ¡ ¡
Not compatible ×*3 ×*4 × × ×
*1. Only the files that were backed up using this function can be restored.
*2. If the contents of the backup file are outside the range of specifications where the data is restored, the Con-
troller will not operate normally. When you operate the Controller, a major fault level Controller error or a
partial fault level Controller error will occur. For example, this error occurs if the number of controlled axes
that is used is outside the specifications.
*3. A Restore Start Failed observation will occur.
*4. The Error in Starting Automatic Transfer (a major fault level Controller error) occurs during an automatic
transfer. The SD Memory Card Program Transfer Failed to Start error (an observation level Controller error)
occurs during a program transfer.
9-14-3 Compatibility between Unit Versions of CPU Units

The following table shows the compatibility of backup files when the unit versions of the CPU Unit are
different between where the data was backed up and where it is being restored.
You can restore data without any restrictions if the unit versions are the same before and after the
backup and restoration.
(¡: Restored, ×: Not restored.)

9 Backing up Data

Restoring with
Restoring with
Restoring with SD Sysmac Studio
Sysmac Studio
Unit version of Memory Card Automatic transfer variable and mem-
Controller backup
CPU Unit backup functions and program ory backup func-
functions
(SD Memory Card transfer tions
(computer to Con-
to Controller) (computer to Con-
troller)
troller)
Version of CPU Unit ¡ ¡ ¡ ¡
where data is being
restored is newer.
Unit version of CPU × ×*1 × ¡
Unit where data is
being restored is
older.
*1. The Error in Starting Automatic Transfer (a major fault level Controller error) occurs during an automatic
transfer. The SD Memory Card Program Transfer Failed to Start error (an observation level Controller error)
occurs during a program transfer.
9-14 Compatibility between Backup-related Files

9
9-14-3 Compatibility between Unit Versions of CPU Units

9 Backing up Data
9-15 Functions that cannot be Executed

during Backup Functions
The following functions cannot be executed at the same time as any of the backup functions. Do not
execute any backup function while the CPU Unit is executing any of these functions. Also, do not exe-
cute any of these functions during execution of any of the backup functions.
• While a backup function is being performed
• Synchronization transfer from the computer to the Controller
• Execution of online editing
• Execution of Memory All Clear operation
• Time zone changes
• Execution of the Save Cam Table instruction (MC_SaveCamTable)
• Execution of CPU Unit name write operation
• Execution of transferring Slave Terminal parameters

10 10
Communications Setup
This section describes how to go online with the CPU Unit and how to connect to other
devices.
10-1 Communications System Overview ........................................................... 10-2

10-1-1 Introduction.................................................................................................... 10-3
10-2 Connection with Sysmac Studio................................................................. 10-8
10-2-1 Configurations That Allow Online Connections ............................................. 10-8
10-2-2 Configurations That Do Not Allow Online Connections................................. 10-9
10-2-3 Secure Communication ............................................................................... 10-10
10-3 Connection with Other Controllers or Slaves.......................................... 10-14
10-3-1 Connection Configurations between Controllers ......................................... 10-14
10-3-2 Connection Configuration between Controllers and Slaves ........................ 10-16
10-4 Connection with HMIs or Serial Communications Devices ................... 10-18
10-4-1 Connection with HMIs ................................................................................. 10-18
10-4-2 Connection with Serial Communications Devices ....................................... 10-19

10 Communications Setup
10-1 Communications System Overview

This section gives an overview of the communications systems that are supported by NJ/NX-series
Controllers.
The shaded steps in the overall procedure that is shown below are related to the communications sys-
tems.


Step 4. Wiring

10-1 Communications System

10-1-1 Introduction
l NX701 System
Overview
You can use the NX701 System to build the communications system shown below.
HMI NX-series Controller NJ-series Controller
Sysmac Studio
10
NTP server
BOOTP server
DNS server
EtherNet/IP
HMI CJ2 series
10-1-1 Introduction

EtherCAT
General-purpose slaves
Slave Terminal Servo Drives
Connection Connection method

Sysmac Studio connection Use the built-in EtherNet/IP port.
Connections between Connections with NJ/NX-series Con- Use the built-in EtherNet/IP port.
Controllers troller or CJ2 CPU Unit
Connections between Connections to Servo Drives and gen- Use the built-in EtherCAT port.
Controllers and slaves eral-purpose slaves
Connections to HMIs Use the built-in EtherNet/IP port.
Connections to servers Connections to FTP servers, BOOTP Use the built-in EtherNet/IP port.
servers, DNS servers, or NTP servers

l NX102 System
You can use the NX102 System to build the communications system shown below.
Sysmac Studio HMI NX-series Controller NJ-series Controller
NTP server
BOOTP server
DNS server
EtherNet/IP
CJ2 Series
NX102 CPU Unit
NX-series Communications
Interface Unit
Serial communications device
EtherCAT
EtherNet/IP slave
EtherNet/IP

Sysmac Studio connection Use the Built-in EtherNet/IP port.
Connections between Connections with NJ/NX-series Con- Use the Built-in EtherNet/IP port.
Controllers and slaves eralpurpose slaves
Connections to HMIs Use the Built-in EtherNet/IP port.
Connections to servers Connections to FTP servers, BOOTP Use the Built-in EtherNet/IP port.


l NX1P2 System
You can use the NX1P2 System to build the communications system shown below.
Sysmac Studio HMI NX-series Controller NJ-series Controller
Overview
NTP server
BOOTP server
DNS server
EtherNet/IP
NX1P2
CJ2 series 10
CPU Unit
10-1-1 Introduction
NX-series
Communications Interface Unit
Built-in EtherCAT port Serial

Communications
Option Board Serial-communications devices
EtherCAT

Sysmac Studio connection Use the built-in EtherNet/IP port.
Connections between Connections with NJ/NX-series Con- Use the built-in EtherNet/IP port.
Connections to HMIs Use the built-in EtherNet/IP port.
Connections to servers Connections to FTP servers, BOOTP Use the built-in EtherNet/IP port.

l NJ-series System
You can use the NJ-series System to build the communications system shown below.
HMI NJ-series Controller NJ-series Controller
Sysmac Studio
NTP server
BOOTP server
DNS server
EtherNet/IP EtherNet/IP
CJ2 Series
Example: Serial Communications Unit
Sysmac Studio
Example: EtherNet/IP Unit
NJ-series Controller EtherNet/IP
Power Supply Unit CPU Unit NJ-series Controller

EtherNet/IP slave
USB
Example: CompoNet Master Unit
CompoNet
MS NS WORD NODE ADR 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MS NS WORD NODE ADR 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
OUT OUT
Built-in EtherCAT port CRT1-OD16

REMOTE TERMINAL
CRT1-OD16
REMOTE TERMINAL
Serial General-purpose
device with serial
Example: DeviceNet Unit communications
DeviceNet
EtherCAT

Sysmac Studio connection Use USB or the built-in EtherNet/IP
port.
Connections between Connections with NJ/NX-series Con- Use the built-in EtherNet/IP port or a
Controllers troller or CJ2 CPU Unit port on an EtherNet/IP Unit.*1
I/O controls Mount a DeviceNet Unit and use Devi-
ceNet or mount a CompoNet Master
Unit and use CompoNet.
Connections to HMIs Use the built-in EtherNet/IP port or a
port on an EtherNet/IP Unit.*1*2
Connections for serial communications Mount a Serial Communications Unit.
Connections to servers Connections to FTP servers*3, BOOTP Use the built-in EtherNet/IP port or a
servers, DNS servers, or NTP servers port on an EtherNet/IP Unit.*1
*1. Use an EtherNet/IP Unit with unit version 2.1 or later.
Also use a CPU Unit with unit version 1.01 or later and Sysmac Studio version 1.02 or higher.
Refer to A-17 Version Information for NJ-series Controllers on page A-262 for information on version
upgrades.
*2. Connect an NA-series PT to the built-in EtherNet/IP port on the CPU Unit. To perform troubleshooting
from an NS-series PT, connect the PT to the built-in EtherNet/IP port on the CPU Unit.


FTP servers.
Overview
10
10-1-1 Introduction

10-2 Connection with Sysmac Studio

This section describes the configurations for connecting the Sysmac Studio to an NJ/NX-series Con-
troller.
10-2-1 Configurations That Allow Online Connections

You can connect online from the Sysmac Studio to the peripheral USB port or built-in EtherNet/IP port
of the NJ/NX-series CPU Unit.
For the following CPU Unit versions, use Sysmac Studio on Windows 10 or higher OS on the
computer. Sysmac Studio on Windows 8.1 or lower cannot connect online to the Controller.
ing cases. Connect online according to the message on the Sysmac Studio.
• When an attempt is made to connect the Sysmac Studio where a project with project unit ver-
sion 1.40 or later is opened online to a CPU Unit in the factory default condition. However, the
Controller reset is not necessary for the NX1P2-9B££££ CPU Units only with unit version
1.40 or later.
l Connecting with USB

Sysmac Studio
USB
A direct connection is made from the computer that runs Sysmac Studio. You do not need to specify the
connection device.
Note Connect a computer and the CPU Unit with a USB 2.0 certified cable. Do not use a USB hub to connect
them.
Note You cannot connect a computer to an NJ701 CPU Unit with hardware revision A or later, NX102 CPU
Unit or NX1P2 CPU Unit via USB because they do not provide a peripheral USB port.
l Connecting with EtherNet/IP

1:1 Connection 1:N Connections

10-2 Connection with Sysmac

Studio
EtherNet/IP EtherNet/IP
10
• A direct connection is made from the computer • Specify the IP address of the remote node
that runs Sysmac Studio. You do not need to from the Sysmac Studio.
10-2-2 Configurations That Do Not Allow Online Connections

specify the IP address or connection device. • You can use either a cross cable or a straight
• You can make the connection either with or cable.
without a Ethernet switch.
• You can use either a cross cable or a straight
cable.
• For NX701 CPU Units and NX102 CPU Units,
1:1 connection is supported only for port 1.
l Connecting to EtherNet/IP through USB

You can connect to the built-in EtherNet/IP port through a USB port of the NJ-series CPU Unit.
Sysmac Studio
USB
EtherNet/IP
• Specify the IP address of the remote node from the Sysmac Studio.
• You can use either a cross cable or a straight cable.
Note Connect a computer and the CPU Unit with a USB 2.0 certified cable. Do not use a USB hub to connect
them.
Note The NX701 CPU Unit of hardware revision A or later and CPU Units of NX102 and NX1P2 do not pro-
vide the peripheral USB port.
10-2-2 Configurations That Do Not Allow Online Connections
l Connection through an EtherNet/IP Unit

You cannot connect through a CJ1W-EIP21 EtherNet/IP Unit that is connected to an NJ-series
CPU Unit.

Sysmac Studio
EtherNet/IP
CJ1W-EIP21
EtherNet/IP Unit
Note You cannot use a CJ1W-EIP21 EtherNet/IP Unit for NX-series CPU Units.
l Routing through CS/CJ-series EtherNet/IP Units/Ports

You cannot connect to an NJ/NX-series CPU Unit by routing through a CS/CJ-series Ethernet/IP
Unit or port (CS1W-EIP2, CJ1W-EIP21, CJ2 CPU Unit built-in EtherNet/IP port, or CJ2M CPU Unit
built-in EtherNet/IP port).
EtherNet/IP
CJ2 CPU Unit built-in EtherNet/IP port or EtherNet/IP Units
l Routing through Networks Other Than EtherNet/IP, Such as DeviceNet

You cannot route through any networks other than EtherNet/IP networks. (For example, routing is
not possible for Controller Link networks and DeviceNet networks.)
Sysmac Studio
USB
DeviceNet network
DeviceNet Unit
Note You cannot connect a DeviceNet Unit with NX-series CPU Units.
10-2-3 Secure Communication

Secure communication function is intended to improve the security performance of communications
between Sysmac Studio and the Controller.


Overview of Secure Communications
Since secure communication function encrypts communication data and sends and receives data with
a hash value, it is useful to prevent data tapping and tampering by third parties.
Studio
10
To improve security, we recommend installing the Sysmac Studio on an operating system that is
within the Microsoft Windows support period.

Version Information
Secure communication is available in the following CPU Units of the stated versions.
The secure communication function may affect the communication response performance and
the execution processing performance of some instructions.
When you use a CPU Unit that supports the secure communication, check the operation suffi-
ciently in advance.
If there is a problem with the performance, consider changing settings to allow connection to
Sysmac Studio or an NA-series Programmable Terminal that do not support secure
communication.
Combinations of Versions for Which Secure Communication Func-

tions Are Available
This section describes the combination of CPU Unit and Sysmac Studio versions and the combination
of CPU Units and NA-series Programmable Terminal versions for which secure communication func-
tions can be used.
l Combination of CPU Unit and Sysmac Studio

The combinations of the CPU Unit and Sysmac Studio versions for which the secure communica-
tion function can be used are shown separately for Sysmac Studio version Ver. 1.50 or higher and
Ver. 1.49 or lower.
When Sysmac Studio version is Ver.1.50 or higher
Project unit version in the Sysmac Studio project

Ver.1. 49 or later Ver.1. 48 or earlier
Ver.1.49*1 or later Secure communication available Secure communication available
Ver.1. 48 *2 or earlier Not connectable Can be connected without using secure

communication
*1. This is the unit version for the NJ-series, NX102, or NX1P2 CPU Units. If you use the NX701 CPU Unit,
read it as version 1.29.
When Sysmac Studio version is Ver.1.49 or lower

Project unit version in the Sysmac Studio

CPU Unit
project
Unit version Project unit version Ver.1. 48 or earlier
Ver.1. 49*1 or later Ver.1. 49*1 or later Not connectable
Ver.1. 48 *2 or earlier, factory de- Follow the DIP switch settings of the CPU Unit.
fault, or when all memory is *3
cleared
Ver.1. 48 *2 or earlier Can be connected without using secure com-
munication
*3. For details on the DIP switch settings of the CPU Unit, refer to How to Allow Connection to Sysmac Stu-
dio or NA-series Programmable Terminal that Do Not Support Secure Communication on page 10-12.
l Combination of CPU Unit and NA-series Programmable Terminal

The combinations of the CPU Unit and the NA-series Programmable Terminal or Soft-NA versions
for which the secure communication functions can be used are as follows.
Unit version of CPU Unit versions of NA-series Programmable Terminal and Soft-NA
Unit Ver.1.16 or later Ver.1.15 or earlier
Ver.1.49*1 or later Secure communication available Follow the DIP switch settings of the
CPU Unit. *3
Ver.1. 48 *2 or earlier Can be connected without using se- Can be connected without using secure
cure communication communication
*3. For details on the DIP switch settings of the CPU Unit, refer to How to Allow Connection to Sysmac Stu-
dio or NA-series Programmable Terminal that Do Not Support Secure Communication on page 10-12.
How to Allow Connection to Sysmac Studio or NA-series Program-

mable Terminal that Do Not Support Secure Communication
The following versions of Sysmac Studio, NA-series Programmable Terminal, and Soft-NA do not sup-
port secure communication.
• Sysmac Studio: Ver.1.49 or lower
• NA-series Programmable Terminal and Soft-NA: Ver.1.15 or earlier
The following unit versions of the CPU Unit support secure communication.
When combining these for communication, it is necessary to set the DIP switches of the CPU Unit. Set
the DIP switches are as follows. However, in these cases, normal communication is used and secure
communication cannot be performed.


DIP switch Operation
4 3 2 1
OFF OFF ON ON Enables connections to the Sysmac Studio or NA-series Programmable Termi-
nal that do not support secure communication.
Studio
ON OFF ON ON Enables connections to the Sysmac Studio or NA-series Programmable Termi-
nal that do not support secure communication, and starts the CPU Unit in Safe
Mode.
OFF ON ON ON Enables connections to the Sysmac Studio or NA-series Programmable Termi- 10
nal that do not support secure communication and automatic transfer from SD
Memory Card

• The DIP switch on the NX701 CPU Unit has 8 positions. When using the function, set the DIP switch
positions 5 to 8 to OFF.
• This function operates when the power supply to the CPU Unit is turned ON after you change the
DIP switch settings. If you want to use this function, turn ON power to the CPU Unit after you
change the DIP switch settings.
When you use a CPU Unit that supports secure communication and an NA-series Programma-
ble Terminal or a Soft-NA that do not support secure communication, please note that there are
following restrictions if the DIP switch is not set as shown above.
• The NA-series Programmable Terminal cannot be connected.
• The troubleshooter of the NS-series Programmable Terminal cannot be used.

10-3 Connection with Other Controllers or

Slaves
This section shows the connection configurations that are used between Controllers and between
Controllers and slaves.
10-3-1 Connection Configurations between Controllers
EtherNet/IP
You can use the built-in EtherNet/IP ports or ports on CJ1W-EIP21 EtherNet/IP Units.
Refer to the NJ/NX-series CPU Unit Built-in EtherNet/IP Port User's Manual (Cat. No. W506) for de-
tails on the built-in EtherNet/IP port and CJ-series EtherNet/IP Unit Operation Manual for NJ-series
CPU Unit (Cat. No. W495) for details on the CJ1W-EIP21 EtherNet/IP Unit.
l Tag Data Links

You can create tag data links between NJ/NX-series CPU Units on an EtherNet/IP network.
EtherNet/IP
l Message Communications
You can send CIP messages from the user program.
EtherNet/IP
CIP communications
instruction
l Sending and Receiving Files

You can send and receive files on the SD Memory Card that is inserted in the NJ/NX-series CPU
Unit from an FTP client application.

10-3 Connection with Other Con-

FTP client application
trollers or Slaves
Sending and Receiving Files
EtherNet/IP
FTP server
SD Memory Card 10
10-3-1 Connection Configurations between Controllers

l 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
l Updating Clock Information

You can obtain clock information from an NTP server to update the built-in clock.
NTP server
Clock information
EtherNet/IP
NTP client
l Specifying Host Names

You can use the DNS client or set up your Hosts so that you can specify the IP address of the NTP
server or 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
l Obtaining an IP Address When the Power Is Turned ON

You can obtain an IP address for the built-in EtherNet/IP port from the BOOTP server when the
power supply is turned ON.
BOOTP server
IP address
EtherNet/IP
BOOTP commands
BOOTP client
l Specifying an SNMP Agent

Built-in EtherNet/IP port internal status information is provided to network management software
that uses an SNMP manager.
SNMP manager
Administration
information
EtherNet/IP
SNMP messages
SNMP agent
10-3-2 Connection Configuration between Controllers and Slaves
EtherCAT
High-speed, high-precision communications are possible with Servo Drives and general-purpose
slaves.
Refer to the NJ/NX-series CPU Unit Built-in EtherCAT Port User's Manual (Cat. No. W505) for details.

10-3 Connection with Other Con-

trollers or Slaves
EtherCAT
10
Slave Terminal General-purpose slave
10-3-2 Connection Configuration between Controllers and Slaves

Servo Drives

10-4 Connection with HMIs or Serial Com-

munications Devices
This section shows the connection configurations used to connect HMIs and devices with serial com-
munications to the NJ/NX-series Controller.
10-4-1 Connection with HMIs
l EtherNet/IP
You can use a built-in EtherNet/IP port or a CJ1W-EIP21 EtherNet/IP Unit to connect to an HMI.
HMI
EtherNet/IP
Built-in EtherNet/IP port CJ1W-EIP21

EtherNet/IP Unit
Connect an NA-series PT to the built-in EtherNet/IP port on the CPU Unit.

To perform troubleshooting from an NS-series PT, connect the PT to the built-in EtherNet/IP port on
the CPU Unit.
details on the built-in EtherNet/IP port and CJ-series EtherNet/IP Unit Operation Manual for NJ-
series CPU Unit (Cat. No. W495) for details on the CJ1W-EIP21 EtherNet/IP Unit.
l Serial Communications
You can use a Serial Communications Unit to connect to an NS-series PT.
High-speed Serial Communications Unit
NS-series PT
RS-232C or
RS-422A/485
Note You cannot use a Serial Communications Unit for NX-series CPU Units.
Refer to the CJ-series Serial Communications Units Operation Manual for NJ-series CPU Unit (Cat.
No. W494) for details on the Serial Communications Unit.

Serial Communications Devices

10-4 Connection with HMIs or
10-4-2 Connection with Serial Communications Devices
NX701 CPU Units

Connect an NX-series Communications Interface Unit to the Communications Coupler Unit before use.
Refer to the NX-series Communications Interface Units User’s Manual (Cat. No. W540) for details of
NX-series Communications Interface Units. 10
The following is an example where an NX-series EtherCAT Coupler Unit is used as the Communica-
10-4-2 Connection with Serial Communications Devices

tions Coupler Unit.
EtherCAT
NX-series EtherCAT Coupler Unit
RS-232C or
RS-422A/485
NX-series Communications Interface Unit
The NX bus connector of the CPU Unit is provided for future expansion, so it cannot be used to
connect any NX-series Communications Interface Unit.
You cannot use a CJ-series Serial Communications Unit or a Serial Communications Option
Board to connect to an NX701 CPU Unit, either.
NX102 CPU Units

You can use an NX-series Communications Interface Unit.
Refer to the NX-series Communications Interface Units User’s Manual (Cat. No. W540) for details of
NX-series Communications Interface Units.
NX-series Communications Interface Unit
RS-232C or
RS-422A/485

NX1P2 CPU Units

You can use a Serial Communications Option Board or an NX-series Communications Interface Unit to
connect to an NX1P2 CPU Unit.
for details on the Serial Communications Option Board and NX-series Communications Interface Units
User's Manual (Cat. No. W540) for details on the NX-series Communications Interface Unit.
Serial Communications NX-series Communications

Option Board Interface Unit
Device with serial
communications
RS-232C or
RS-422A/485
NJ-series CPU Units

You can use a Serial Communications Unit to connect to an NJ-series CPU Unit.
Refer to the CJ-series Serial Communications Units Operation Manual for NJ-series CPU Unit (Cat.
No. W494) for details on the Serial Communications Unit.
High-speed Serial Communications Unit

Device with serial
communications
RS-232C or
RS-422A/485

11
Example of Actual Application 11
Procedures
This section describes the procedures that are used to actually operate an NJ-series
Controller.
11-1 Example Application .................................................................................... 11-2

11-1-1 System Configuration .....................................................................................11-2
11-1-2 Operation........................................................................................................11-2
11-2 Overview of the Example Procedure .......................................................... 11-3
11-2-1 Wiring and Settings ........................................................................................11-3
11-2-2 Software Design .............................................................................................11-3
11-2-3 Software Settings from the Sysmac Studio ....................................................11-4
11-2-4 Programming with the Sysmac Studio ...........................................................11-7
11-2-5 Simulation with the Sysmac Studio ................................................................11-8
11-2-6 Checking Operation and Starting Operation on the Actual System ...............11-9

11 Example of Actual Application Procedures
11-1 Example Application

This section describes an example application for an NJ-series Controller.
11-1-1 System Configuration

Unit name Qty Connected device
Power Supply Unit 1 ---
CPU Unit 1 ---
CJ-series Basic I/O Units 2 ---
CJ-series Analog Input Unit 1 Displacement Sensor
EtherCAT slaves Servo Drives 2 ---
(G5 EtherCAT)
I/O Terminal 1 ---
Sysmac Studio
NJ-series Controller Analog Input Unit
Basic I/O Units

USB
Displacement Sensor
EtherCAT
G5 EtherCAT
Positive limit input

Negative limit input
Immediate stop input General-purpose slaves
Home signal
External latch signal, etc. Servo Drives Servo Drives
11-1-2 Operation
Interrupt feeding starts when the sensor signal changes to ON during velocity control.
Velocity Velocity control Interrupt feeding
Sensor turns ON. Time
The vertical position changes based on the analog input from the Displacement Sensor.

11-2 Overview of the Example Procedure

This section describes examples of the actual operating procedures for an NJ-series Controller.
11-2-1 Wiring and Settings

Wire the Controller and make the hardware settings.
11-2-2 Software Design 11

Design the I/O, tasks, POUs, and variables.
11-2-1 Wiring and Settings

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
variables that you use in only specific POUs (local variables)
• Defining the variables names for the device variables that you use to access slaves and Units
• Defining the attributes of variables, such as the Name and Retain attributes
• Designing the data types of variables

11-2-3 Software Settings from the Sysmac Studio

On the Sysmac Studio, you set the Unit and slave configurations, register global variables and device
variables, create axes (axis variables), and set the Controller Setup and Special Unit Setup.
Start the Sysmac Studio

Create a project in Sysmac Studio.
Create the Unit Configuration
1 Double-click CPU/Expansion Racks under Configurations and Setup.
2 Create the Unit configuration by dragging Units.
3 Select each Unit and make the required settings.


Create the EtherCAT Slave Configuration
1 Double-click EtherCAT under Configurations and Setup.
2 Create the slave configuration by dragging slaves.
11
11-2-3 Software Settings from the Sysmac Studio

3 Select the master and set the master parameters.
4 Select each slave and set the slave parameters.
At this point, you can use forced refreshing from the I/O Map to check the wiring.
Register the Global Variables and Device Variables
l Registering Global Variables
1 Double-click Global Variables under Programming - Data.
2 Register the global variables in the global variable table.
l 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 Unit and 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.
Create Axes (Axis Variables)
1 Right-click Axis Settings under Configurations and Setups - Motion Control Setup and se-
lect Add - Axis Settings from the menu.
2 Assign Servo Drives to the axes (axis variables) that you created in the EtherCAT configura-
tion.
• Set the Axis Use parameter to Used Axis.

• For an NX-series CPU Unit, set the Motion Control parameter to Primary periodic task.
• 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 and the Special Unit Setup
l Initial Settings for the PLC Function Module:

The Controller Setup includes the Startup Mode and other parameters.
l Initial Settings for Special Units:

Unit Configuration and Setup: Set the initial settings of the Analog Input Unit.
11-2-4 Programming with the Sysmac Studio

11
On the Sysmac Studio, create the programs, set the tasks, and build the project.
11-2-4 Programming with the Sysmac Studio

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 FunctionBlock£ 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 pri-
ority-16 periodic task.
Build the Project

Select Build from the Project Menu.
11-2-5 Simulation with the Sysmac Studio

Simulation is used to perform desktop debugging.
Check the task execution times and the real processing times of tasks. Review the task design as re-
quired.
Starting the Simulator and Connecting to It

Select Run in Execution Time Estimation Mode from the Simulation Menu.
Select the relevant hardware revision in the Unit that the hardware revision is displayed.
The Simulator (i.e., the virtual Controller) starts. An online connection is created automatically.
Checking the Task Execution Time on the Simulator

Double-click Task Settings under Configurations and Setup.
Check to see if the task execution times in the Task Execution Time Monitor exceed the task peri-
ods.


11
11-2-6 Checking Operation and Starting Operation on the Actual System

If necessary, review the task configuration, program assignments, and task periods.
Saving the Project

Select Save As from the File Menu.
11-2-6 Checking Operation and Starting Operation on the Actual Sys-

tem
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 NJ-series Controller.
2 Connect the computer and the CPU Unit with a USB cable.
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 using forced refreshing of real I/O from the I/O Map or Ladder Editor.
MC Test Run
1 Open the MC Test Run Tab Page.
2 Change the CPU Unit to PROGRAM mode.
3 Monitor input signals on the display to check the wiring.
4 Jog the axis from the display.
Manual Operation
Change the CPU Unit to RUN mode.
• Turning the Servo ON and OFF: Execute the MC_Power motion control instruction.
• Jogging: Execute the MC_MoveJog motion control instruction.
Homing
Homing: Execute the MC_Home instruction.
Actual Operation
Select Operation Mode - RUN Mode from the Controller Menu.
If an error occurs, investigate the cause and edit the user program.

12
Troubleshooting
12
This section describes the overview of methods for checking errors.
12-1 Overview of Troubleshooting...................................................................... 12-2

12 Troubleshooting
12-1 Overview of Troubleshooting

You manage all of the errors that occur on the NJ/NX-series Controller as events.
This allows you to see what errors have occurred and find corrections for them with the same methods
for the entire range of errors that is managed (i.e., CPU Unit, NX Units, NX-series Slave Terminals,
EtherCAT slaves, *1 and CJ-series Units).
*1. Only Sysmac devices are supported.
Host computer
HMI
Checking Network
Status
EtherNet/IP
Troubleshooter
Network Configurator
Built-in
NJ/NX-series EtherNet/IP port CJ-series Units
CPU Unit and NX Units
Troubleshooting
Sysmac Studio
EtherCAT
EtherCAT
slave
Error management range

for NJ/NX-series Controller
You can use the troubleshooting functions of the Sysmac Studio or the Troubleshooter on an HMI to
quickly check for errors that have occurred and find corrections for them.
Refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503) for types of errors, meanings, spe-
cific corrections when errors occur and for troubleshooting information on the entire NJ/NX-series Con-
troller.

A
Appendices
The appendices provide the CPU Unit specifications, real processing times of tasks,
system-defined variable lists, and other supplemental information for the body of this
manual. A
A-1 Specifications ................................................................................................ A-3

A-1-1 General Specifications .................................................................................... A-3
A-1-2 Performance Specifications............................................................................. A-3
A-1-3 Function Specifications ................................................................................. A-15
A-2 Calculating Guidelines for the Real Processing Times of Tasks
for the NX701 System .................................................................................. A-25
A-2-1 Calculating the Average Real Processing Times of Tasks ............................ A-26
A-2-2 Example of Calculating the Average Real Processing Time of a Task
and Setting the Task Period .......................................................................... A-34
for the NX102 System .................................................................................. A-37
for the NX1P2 System .................................................................................. A-48
for the NJ-series System ............................................................................. A-59
A-6 System-defined Variables........................................................................... A-75
A-6-1 System-defined Variables for the Overall NJ/NX-series Controller (No
Category)....................................................................................................... A-76
A-6-2 PLC Function Module, Category Name: _PLC.............................................. A-86
A-6-3 PLC Function Module, Category Name: _CJB.............................................. A-91
A-6-4 NX Bus Function Module, Category Name: _NXB ........................................ A-93
A-6-5 Motion Control Function Module, Category Name: _MC............................... A-97
A-6-6 EtherCAT Master Function Module, Category Name: _EC ........................... A-99
A-6-7 EtherNet/IP Function Module, Category Name: _EIP ................................. A-106
A-6-8 Meanings of Error Status Bits...................................................................... A-137
NJ/NX-series CPU Unit Software User’s Manual (W501) A-1

Appendices
A-7 Specifications for Individual System-defined Variables........................ A-139

A-7-1 System-defined Variables for the Overall NJ/NX-series Controller (No
Category)..................................................................................................... A-139
A-7-2 PLC Function Module, Category Name: _PLC............................................ A-158
A-7-3 PLC Function Module, Category Name: _CJB............................................ A-164
A-7-4 NX Bus Function Module, Category Name: _NXB ...................................... A-168
A-7-5 Motion Control Function Module, Category Name: _MC............................. A-171
A-7-6 EtherCAT Master Function Module, Category Name: _EC ......................... A-175
A-7-7 EtherNet/IP Function Module, Category Name: _EIP ................................. A-184
A-8 Attributes of CPU Unit Data...................................................................... A-210
A-9 Contents of Memory Used for CJ-series Units....................................... A-216
A-9-1 CIO Area ..................................................................................................... A-216
A-9-2 Internal I/O Area .......................................................................................... A-219
A-9-3 Holding Area................................................................................................ A-219
A-9-4 DM Area ...................................................................................................... A-219
A-9-5 EM Area ...................................................................................................... A-220
A-10 Variable Memory Allocation Methods ..................................................... A-221
A-10-1 Variable Memory Allocation Rules............................................................... A-221
A-10-2 Important Case Examples ........................................................................... A-230
A-11 Registering a Symbol Table on the CX-Designer ................................... A-234
A-12 Enable/Disable EtherCAT Slave and Axes .............................................. A-237
A-12-1 Project Settings When Using EtherCAT Slaves and Axes .......................... A-237
A-12-2 Using Instructions to Enable/Disable EtherCAT Slaves and Axes .............. A-237
A-12-3 System-defined Variables That Indicate EtherCAT Slave or Axis Status .... A-238
A-12-4 Enabling/Disabling Execution of Program ................................................... A-239
A-12-5 Checking Enabled/Disabled Program ......................................................... A-239
A-12-6 Settings with the Sysmac Studio ................................................................. A-240
A-12-7 Examples of Applications of Enabling/Disabling EtherCAT Slaves and
Axes ............................................................................................................ A-241
A-13 Size Restrictions for the User Program .................................................. A-244
A-13-1 User Program Object Restrictions............................................................... A-244
A-13-2 Counting User Program Objects ................................................................. A-247
A-14 Replacing CPU Units with Unit Version 1.02 or Earlier ......................... A-250
A-14-1 Uploading the Data from the CPU Unit ....................................................... A-250
A-14-2 Connecting the New CPU Unit .................................................................... A-253
A-14-3 Downloading the Data to the CPU Unit ....................................................... A-254
A-15 Possible Combination of Windows Versions and CPU Unit Versions . A-257
A-16 Version Information for NX-series Controllers ....................................... A-258
A-16-1 Relationship between Unit Versions of CPU Units and Sysmac Studio
Versions....................................................................................................... A-258
A-16-2 Functions That Were Added or Changed for Each Unit Version ................. A-260
A-17 Version Information for NJ-series Controllers ....................................... A-262
A-17-1 Relationship between Unit Versions of CPU Units and Sysmac Studio
Versions....................................................................................................... A-262
A-17-2 Relationship between Hardware Revisions of CPU Units and Sysmac
Studio Versions ........................................................................................... A-264
A-17-3 Functions That Were Added or Changed for Each Unit Version ................. A-265
A-17-4 Performance Improvements for Unit Version Upgrades.............................. A-268
A-2 NJ/NX-series CPU Unit Software User’s Manual (W501)

Appendices
A-1 Specifications
This section gives the specifications of the NJ/NX-series Controllers.
A-1-1 General Specifications

Refer to the following hardware manuals for general specifications.
• NX-series NX102 CPU Unit Hardware User’s Manual (Cat. No. W593)
A-1 Specifications
• NX-series NX1P2 CPU Unit Hardware User’s Manual (Cat. No. W578)
• NJ-series CPU Unit Hardware User's Manual (Cat. No. W500)
A-1-2 Performance Specifications

NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
Item £££££ A
££££ ££££ ££££ ££££ ££££
££
Proc- Instruc- LD instruction 0.37ns or more 3.3 ns 1.2 ns (1.9 2.0 ns (3.0 3.3 ns (5.0
A-1-1 General Specifications

essing tion exe- ns or ns or ns or
time cution less)*1 less)*2 less)*3
times
Math instructions (for 3.2 ns or more 70 ns or more 26 ns or 42 ns or 70 ns or
long real data) more*4 more*5 more*6
Pro- Program Size 80 MB 5 MB 1.5 MB*8 20 MB 5 MB 3 MB
gram- capacity*7 Quantity Number 6,000 3,000 450 3,000 750 450
ming
of POU
defini-
tions
Number 48,000 9,000 1,800 9,000 (*) 3,000 (*) 1,800
of POU
instances
Memory Retain at- Size 4 MB 1.5 MB 32 KB*10 2 MB 0.5 MB
capacity tributes*9 Number 40,000 10,000 5,000 10,000 5,000 (*)
for varia-
of varia-
bles
bles
No Retain Size 256 MB 32 MB 2 MB 4 MB 2 MB
attrib- Number 360,000 90,000 90,000 180,000 (*) 90,000 (*) 22,500
utes*11 of varia-
bles
Data Number of data types 8,000 1,000 1,000 2,000 1,000
types
Memory CIO Area --- 6,144 words (CIO 0 to 6,144 words (CIO 0 to CIO 6143)
for CJ- CIO 6143) *12
series
Work Area --- 512 words (W0 to W511) 512 words (W0 to W511)
Units *12
(Can be
specified Holding Area --- 1,536 words (H0 to 1,536 words (H0 to H1535)
with AT H1535)*13
specifica-
tions for
varia-
bles.)

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item £££££
££££ ££££ ££££ ££££ ££££
££
DM Area --- 32,768 16,000 32,768 words (D0 to D32767)
words (D0 words (D0
to to
D32767)*13 D15999)*13
EM Area --- 32,768 --- 32,768 32,768 words × 4 banks
words x 25 words × 25 (E0_00000 to E3_32767)
bank banks
(E0_00000 (E0_00000
to to
E18_3276 E18_3276
7)*13 7)
Motion control Refer to Performance Specifications of Motion Control for Each Type of CPU Units on
page A-11.
Periph- Supported services ---*14 --- --- Sysmac Studio connection
eral
Physical layer ---*14 --- --- USB 2.0-compliant B-type connector
USB
port
Transmission distance ---*14 --- --- 5 m max.
Built-in Number of ports 2 2 1
Ether- Physical layer 10BASE-T/ 10BASE-T/100BASE-TX
Net/IP 100BASE-TX /
port 1000BASE-T
Frame length 1,514 bytes max.
Media access method CSMA/CD
Modulation Baseband
Topology Star
Baud rate 1 Gbps 100 Mbps (100BASE-TX)
(1000BASE-T)
Transmission media Shielded twisted-pair (STP) cable, Category 5, 5e, or higher
Maximum transmission distance 100 m
between Ethernet switch and
node
Maximum number of cascade con- There are no restrictions if an Ethernet switch is used.
nections
CIP serv- Maximum number of 256 per port 32 per port 32
ice: Tag connections 512 total 64 total
data links Can be set for Can be set Can be set Can be set for each connection.
Packet interval*15
(cyclic each connec- for each for each 1 to 10,000 ms in 1-ms increments (*)
commu- tion. connec- connec-
nications) 0.5 to 10000 ms tion. tion.
in 0.5-ms incre- 1 to 10000 2 to 10000
ments ms in 1-ms ms in 1-ms
increments increments
Permissible commu- 40,000 12,000 3,000 pps*16(including heartbeat)(*)
nications band pps*16(including pps*16(in-
heartbeat) cluding
heartbeat,
CIP Safety
routing)
Maximum number of 256 per port 32 per port 32
tag sets 512 total 40 total*17
Tag types Network varia- Network variables, CIO, Network variables, CIO, Work, Holding,
bles Work, Holding, and DM DM, and EM Areas
Areas

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item £££££
££££ ££££ ££££ ££££ ££££
££
Number of tags per 8 (7 tags if Controller status is included in the tag set.)
connection (i.e., per
tag set)
Maximum number of 256 per port 256
tags 512 total
Maximum link data 369,664 byte 19,200 byte

size per node (total
size for all tags)
A-1 Specifications
Maximum data size 1,444 byte 600 bytes
per connection
Maximum number of 256 per port 32 per port 32 (1 connection = 1 tag set)
registrable tag sets 512 total 40 total*17
(1 connection = (1 connec-
1 tag set) tion = 1 tag
set)
Maximum tag set size 1,444 bytes 600 bytes (Two bytes are used if Controller status is included in the A
(Two bytes are tag set.)
used if Control-

ler status is in-
cluded in the tag
set.)
Multicast packet fil- Supported.
ter*18
CIP mes- Class 3 (number of 128 per port 32 per port 32 (clients plus server)
sage connections) 256 total 64 total
service: (clients plus (clients
Explicit server) plus serv-
messag- er)
es UCMM Maximum 32 per port 32
(non-con- number 64 total
nection of clients
type) that can
commu-
nicate at
one time
Maximum 32 per port 32
number 64 total
of serv-
ers that
can com-
municate
at one
time
CIP Safe- Maximum number of --- 16 total ---
ty routing routable CIP Safety
(*) connections
Maximum routable --- 32 bytes ---
safety data length per
connection
Number of TCP sockets 30 (*) 60 30 (*)
Secure Number of secure --- 60 30 --- --- ---
Sockets sockets
Service*19 TLS version --- 1.2 1.2 --- --- ---

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item £££££
££££ ££££ ££££ ££££ ££££
££
OPC UA Support Profile/Model Micro Embedded Device Serv- --- Micro Em- ---
Serv- er Profile bedded
er*20*21 PLCopen Information Model Device
Server
Profile
PLCopen
Information
Model
Default Endpoint/Port opc.tcp://192.168.250.1:4840/ opc.tcp:// ---
192.168.25
0.1:4840/
Maximum number of 5 --- 5 ---
sessions (Client)
Maximum number of 2,000 --- 2,000 ---
Monitored items per
server
Sampling Rate (ms) of 0*22, 50, 100, 250, 500, 1,000, --- 0*22, 50, ---
the Monitored Items 2,000, 5,000, 10,000 100, 250,
500, 1,000,
2,000,
5,000,
10,000
Maximum number of 100 --- 100 ---
subscriptions per
server
variables that can be
published
value attributes for a
variable that can be
published*23
Structure definitions 100 --- 100 ---
that can be published
Variables unable to *24 --- *24 ---
publish
Security Policy/Mode *25 --- *25 ---
Applica- Authenti- Conforms to X.509 --- Conforms ---
tion Au- cation to X.509
thentica- Maximum Trusted certificates: 32 --- Trusted ---
tion number Issuer certificate: 32 certificates:
of certifi- Rejection list: 32 32
cate Issuer cer-
tificate: 32
Rejection
list: 32
User Au- Authenti- You can set the following --- You can ---
thentica- cation items. set the fol-
tion User name/Password lowing
Anonymous items.
User
name/
Password
Anony-
mous

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item £££££
££££ ££££ ££££ ££££ ££££
££
Built-in Communications standard IEC 61158 Type12
Ether- EtherCAT master specifications Class B (Feature Pack Motion Control compliant)
CAT Physical layer 100BASE-TX
port
Modulation Baseband
Baud rate 100 Mbps (100BASE-TX)
Duplex mode Auto
Topology Line, daisy Line, daisy chain, branching, and ring*26
chain, and
A-1 Specifications
branching
Transmission media Twisted-pair cable of category 5 or higher (double-shielded straight cable with alumi-
num tape and braiding)
Maximum transmission distance 100 m
between nodes
Maximum number of slaves 512 64 16*27 192 64
Range of node addresses that can 1 to 512 1 to 192
be set A
Maximum process data size Inputs: 11,472 Inputs: Inputs: Inputs: 5,736 bytes
bytes 5,736 1,434 Outputs: 5,736 bytes

Outputs: 11,472 bytes bytes *29
bytes Outputs: Outputs:
*28 5,736 1,434
bytes bytes
*29 *30
Maximum process data size per Inputs: 1,434 bytes

slave Outputs: 1,434 bytes
Communications cycle • Primary peri- 1,000 μs to 2,000μs to 500, 1,000, 2,000, or 1,000,
odic task 32,000 μs 8,000μs (in 4,000 µs (*) 2,000, or
125 μs (in 250-μs 250-μs in- 4,000 μs
250μs to 8ms (in incre- cre-
250-μs increments) ments)*31
ments)
• Priority-5 pe-
riodic task
125 μs
250 μs to 100
ms (in 250 μs in-
crements)
Sync jitter 1μs max.
Serial Communications method --- --- Half duplex ---
commu- (when con-
nica- nected to
tions the Serial
Communi-
cations
Option
Board)

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item £££££
££££ ££££ ££££ ££££ ££££
££
Synchronization method --- --- Start-stop ---
synchroni-
zation
(when con-
nected to
the Serial
Communi-
cations
Option
Board)
Baud rate --- --- 1.2/2.4/4.8/ ---
9.6/19.2/38
.4/57.6/115
.2 kbps
(when con-
nected to
the Serial
Communi-
cations
Option
Board)
Unit Maximum Maximum number of --- 10
configu- number CJ Units per CPU
ration of con- Rack or Expansion
nectable Rack
Units
Maximum number of --- 32 8 ---
NX Units per CPU
Rack or Expansion
Rack
Maximum number of --- 40
CJ Units for entire
controller
Maximum number of 4,096 432 24 4,096 400
NX Units for entire
controller
Maximum number of Expansion 0 3
Racks
I/O ca- Maximum number of --- 2,560
pacity I/O points on CJ-ser-
ies Units
Power Model NX-PA9001 A non-isolated power NJ-P£3001
Supply NX-PD7001 supply for DC input is
Unit for built into the CPU Unit.
CPU Power AC power 30 to 45 ms --- 30 to 45 ms
Rack and OFF de- supply
Expan- tection
sion time
Racks
DC power 5 to 20 ms 2 to 8 ms 22 to 25 ms
supply
Maximum NX Bus I/O data size --- Inputs: 8,192 bytes ---
Outputs: 8,192 bytes
Option Number of slots --- *32 ---
Board

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item £££££
££££ ££££ ££££ ££££ ££££
££
Built-in Input Number of points --- *33 ---
I/O
Output Number of points --- *34 ---
Load short-circuit --- *35 ---
protection
Internal Accuracy*36 At ambient tem- At ambient temperature At ambient temperature of 55°C:
Clock perature of of 55°C: Monthly difference -4.5 minutes to +4.5
55°C: Monthly difference -3.0 minutes
Monthly differ- minutes to +2.0 minutes Ambient temperature of 25°C:
ence -4.5 mi- Ambient temperature of Monthly difference -3.5 minutes to +3.5
A-1 Specifications
nutes to +4.5 mi- 25°C: minutes
nutes Monthly difference -2.0 At ambient temperature of 0°C:
Ambient temper- minutes to +2.0 minutes Monthly difference -4.5 minutes to +4.5
ature of 25°C: At ambient temperature minutes
Monthly differ- of 0°C:
ence -3.5 mi- Monthly difference -3.0
nutes to +3.5 mi- minutes to +2.0 minutes
nutes
A
At ambient tem-
perature of 0°C:
Monthly differ-

ence -4.5 mi-
nutes to +4.5 mi-
nutes
Retention time of built-in capaci- --- Ambient temperature ---
tor 40°C: 10 days
*1. When the hardware revision for the Unit is A or later, the processing time is 1.1 ns (1.7 ns or less).
*4. When the hardware revision for the Unit is A or later, the processing time is 24 ns or more.
*7. Execution objects and variable tables (including variable names)
*8. The size of program capacity is 1.0 MB for an NX1P2-9B£££££ CPU Unit.
*9. Does not include Holding, DM, and EM Area memory for CJ-series Units.
*11. Does not include CIO and Work Area memory for CJ-series Units.
• Supported service: Sysmac Studio connection
• Physical layer: USB 2.0-compliant B-type connector
• Transmission distance: 5 m max.
*15. Data will be refreshed at the set interval, regardless of the number of nodes.
*16. “pps” means packets per second, i.e., the number of communications packets that can be sent or received in one second.
*17. If more than 40 tag sets are registered in total, the Number of Tag Sets for Tag Data Links Exceeded (840E0000 hex) event will occur.
*18. 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.
*19. An NX102-££00 CPU Unit with unit version 1.46 or later, an NX102-££20 CPU Unit with unit version 1.37 or later, or an NX1P2
CPU Unit with unit version 1.46 or later are required.
*20. The CPU Unit that supports OPC UA in NJ-series is an NJ501-1£00 CPU Unit with unit version 1.17 or later.
*21. An NX701-££££ with unit version 1.24 supports OPC UA.
*22. If set to 0, it is assumed that is set to 50.
*23. The number of value attributes is the value defined in the following formula.
Number of value attributes = (number of variables of base type) + (number of elements specified by array) + (number of values in the
structure)

Appendices
*24. The following variables cannot be published. For details on the following maximum values, refer to the NJ/NX-series CPU Unit OPC
UA User’s Manual (Cat. No. W588).
• Variable whose size exceeds the maximum value
• Two-dimensional or higher structure arrays
• Structures that include two-dimensional and higher arrays
• Structures where nesting exceeds the maximum value
• Unions
• Arrays whose index number suffix does no start from 0
• Array whose number of elements exceeds the maximum value
•
Structure with more than the maximum number of members
*25. The followings can be selected.
• None
• Sign - Basic128Rsa15
• Sign - Basic256
• Sign - Basic256Sha256
• SignAndEncrypt - Basic128Rsa15
• SignAndEncrypt - Basic256
• SignAndEncrypt - Basic256Sha256
*26. A ring topology can be used for project unit version 1.40 or later.
*27. The maximum number of slaves is 8 for an NX1P2-9B£££££ CPU Unit.
*28. However, the data must be within eight frames.
*29. However, for project unit version earlier than 1.40, the data must be within four frames.
*30. However, for project unit version earlier than 1.40, the data must be within one frame.
*31. The communications cycle is 4,000 μs to 8,000 μs (in 250-µs increments) for an NX1P2-9B£££££ CPU Unit.
*32. NX1P2-££40£££: 2, NX1P2-££24£££: 1
*33. NX1P2-££40£££: 24, NX1P2-££24£££: 14
*34. NX1P2-££40£££: 16, NX1P2-££24£££: 10
*35. NX1P2-£££££: None (NPN), NX1P2-££££££1: Provided (PNP)
*36. These are values in continuous operation state.
Note Items that are marked with asterisks in the table are improvements that were made during version upgrades. Refer to
A-16 Version Information for NX-series Controllers on page A-258 and A-17 Version Information for NJ-series Control-
lers on page A-262 for information on version upgrades.

Appendices
Performance Specifications of Motion Control for Each Type of

CPU Units
NX701-
Item
17££ 16££
Number of controlled Maximum number of controlled axes 256 axes 128 axes
axes*1 Motion control axes 256 axes 128 axes
Single-axis position control ---
axes
Maximum number of used real axes 256 axes 128 axes
A-1 Specifications
Used motion control servo 256 axes 128 axes
axes
Used single-axis position ---
control servo axes
Maximum number of axes for linear interpolation axis 4 axes per axes group
control
Number of axes for circular interpolation axis control 2 axes per axes group
Maximum number of axes groups 64 axes groups
A
Motion control period The same control period as that is
used for the process data communica-

tions cycle for EtherCAT.
Cams Number of cam data Maximum points per cam ta- 65,535 points
points ble
Maximum points for all cam 1,048,560 points
tables
Maximum number of cam tables 640 tables
Position units Pulse, mm, μm, nm, degree, and inch
Override factors 0.00%, or 0.01% to 500.00%
*1. Refer to the NJ/NX-series CPU Unit Motion Control User's Manual (Cat. No. W507) for descriptions of axes.

Appendices
NX102-
Item
12££ 11££ 10££ 90££
Number of con- Maximum number of controlled axes 15 axes 4 axes
trolled axes*1 Motion control axes 11 axes ---
Single-axis position 4 axes
control axes
Maximum number of used real axes 12 axes 8 axes 6 axes 4 axes
Used motion control 8 axes 4 axes 2 axes ---
servo axes
Used single-axis po- 4 axes
sition control servo
axes
Maximum number of axes for linear in- 4 axes per axes group ---
terpolation axis control
Number of axes for circular interpola- 2 axes per axes group ---
tion axis control
Maximum number of axes groups 8 axes groups ---
Motion control period The same control period as that is used for the process data
communications cycle for EtherCAT.
Cams Number of cam Maximum points per 65,535 points ---
data points cam table
Maximum points for 262,140 points ---
all cam tables
Maximum number of cam tables 160 tables ---
NX1P2-
Item 90££££ 9B£££
11£££££ 10£££££
£ ££
Number of con- Maximum number of controlled axes 12 axes 10 axes 4 axes 2 axes
trolled axes*1 Motion control axes 8 axes 6 axes ---
Single-axis position 4 axes 2 axes
control axes
Maximum number of used real axes 8 axes 6 axes 4 axes 2 axes
Used motion control 4 axes 2 axes ---
servo axes
Used single-axis posi- 4 axes 2 axes
tion control servo axes
Maximum number of axes for linear interpo- 4 axes per axes group ---
lation axis control
Number of axes for circular interpolation 2 axes per axes group ---
axis control
Motion control period Same as the period for primary periodic task
Cams Number of cam Maximum points per 65,535 points ---
Maximum points for all 262,140 points ---
cam tables

Appendices
NJ501-
Item
£5££ £4££ £3££
Number of con- Maximum number of controlled axes 64 axes 32 axes 16 axes
trolled axes*1 Motion control axes 64 axes 32 axes 16 axes
Single-axis position ---
control axes
Maximum number of used real axes 64 axes 32 axes 16 axes
Used motion control 64 axes 32 axes 16 axes
servo axes
Used single-axis posi- ---
tion control servo axes
A-1 Specifications
Maximum number of axes for linear interpo- 4 axes per axes group
lation axis control
Number of axes for circular interpolation ax- 2 axes per axes group
is control
Motion control period The same control period as that is used for the proc-
ess data communications cycle for EtherCAT.
Cams Number of cam Maximum points per 65,535 points A
Maximum points for all 1,048,560 points

cam tables
NJ301-
Item
12££ 11££
Number of controlled Maximum number of controlled axes 15 axes (*)
axes*1 Motion control axes 15 axes (*)
Single-axis position control ---
axes
Maximum number of used real axes 8 axes 4 axes
Used motion control servo 8 axes 4 axes
axes
Used single-axis position ---
control servo axes
Maximum number of axes for linear interpolation ax- 4 axes per axes group
is control
Number of axes for circular interpolation axis control 2 axes per axes group
Motion control period The same control period as that is used
for the process data communications
cycle for EtherCAT.
Cams Number of cam data Maximum points per cam ta- 65,535 points
points ble
Maximum points for all cam 262,140 points
tables

Appendices
Note Items that are marked with asterisks in the table are improvements that were made during version up-
grades. Refer to A-16 Version Information for NX-series Controllers on page A-258 and A-17 Version Infor-
mation for NJ-series Controllers on page A-262 for information on version upgrades.
NJ101-
Item
10££ 90££
Number of controlled Maximum number of controlled axes 6 axes ---
axes*1 Motion control axes 6 axes ---
Single-axis position control ax- ---
es
Maximum number of used real axes 2 axes ---
Used motion control servo ax- 2 axes ---
es
Used single-axis position con- ---
trol servo axes
Maximum number of axes for linear interpolation axis 4 axes per axes group ---
control
Number of axes for circular interpolation axis control 2 axes per axes group ---
Motion control period The same control peri- ---
od as that is used for
the process data com-
munications cycle for
EtherCAT.
Cams Number of cam data Maximum points per cam table 65,535 points ---
points Maximum points for all cam ta- 262,140 points ---
bles
Position units Pulse, mm, μm, nm, de- ---
gree, and inch
Override factors 0.00%, or 0.01% to ---
500.00%

Appendices
A-1-3 Function Specifications

NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
Item
££££ ££££ £££££££ ££££ ££££ ££££
Tasks Function I/O refresh and the user program are executed in units that are called tasks. Tasks are
used to specify execution conditions and execution priority.
Periodi- Maximum 1
cally number of
execut- primary peri-
ed odic tasks
tasks Maximum 4 2 3
number of
A-1 Specifications
periodic
tasks
Condi- Maximum 32
tionally number of
execut- event tasks
ed Execution When Activate Event Task instruction is executed or when condition expression for
tasks (*) conditions variable is met
Setup System Service Moni- --- The execution interval and the percent- A
toring Settings age of the total user program execution
time are monitored for the system serv-
ices (processes that are executed by

the CPU Unit separate from task exe-
cution).
Pro- POUs Programs POUs that are assigned to tasks.
gram- (program Function blocks POUs that are used to create objects with specific conditions.
ming organi-
zation Functions POUs that are used to create an object that determine unique outputs for the inputs,
units) such as for data processing.
Pro- Types Ladder diagrams*1 and structured text (ST)
gram-
ming
languag-
es
Namespaces (*) Namespaces are used to create named groups of POU definitions.
Variables Exter- Network var- The function which allows access from the HMI, host computers, or other Controllers
nal ac- iables
cess of
varia-
bles
Data Basic Boolean BOOL
types data
types Bit strings BYTE, WORD, DWORD, and LWORD
Integers INT, SINT, DINT, LINT, UINT, USINT, UDINT, and ULINT
Real num- REAL and LREAL
bers
Durations TIME
Dates DATE
Time of day TIME_OF_DAY
Dates and DATE_AND_TIME
times
Text strings STRING
Derivative data types Structures, Unions and Enumerations

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
Struc- Function A derivative data type that groups together data with different data types.
tures Maximum 2,048
number of
members
Nesting 8
maximum
levels
Member da- Basic data types, structures, unions, enumerations, or array variables
ta types
Specifying You can use member offsets to place structure members at any memory locations.
member off-
sets (*)
Unions Function A derivative data type that enables access to the same data with different data types.
Maximum 4
number of
members
Member da- BOOL, BYTE, WORD, DWORD, and LWORD
ta types
Enu- Function A derivative data type that uses text strings called enumerators to express variable
mera- values.
tions
Data Array Function An array is a group of elements with the same data type. You specify the number (sub-
type at- specifi- script) of the element from the first element to specify the element.
tributes cations
Maximum 3
number of
dimensions
Maximum 65,535
number of
elements
Array speci- Supported
fications for
FB instan-
ces
Range specifications You can specify a range for a data type in advance. The data type can take only val-
ues that are in the specified range.
Libraries (*) You can use user libraries.
Motion Control modes Position control, Velocity control, and Torque control
con- Axis types Servo axes, Virtual servo axes, Encoder axes, and Virtual encoder axes
trol*2 Positions that can be managed Command positions and actual positions
Single Single- Absolute po- Positioning is performed for a target position that is specified with an absolute value.
axes axis positioning
sition Relative po- Positioning is performed for a specified travel distance from the command current po-
control sitioning sition.
Interrupt Positioning is performed for a specified travel distance from the position where an in-
feeding terrupt input was received from an external input.
Cyclic syn- A positioning command is output each control period in Position Control Mode.
chronous
absolute po-
sitioning (*)

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
Single- Velocity Velocity control is performed in Position Control Mode.
axis ve- control
locity Cyclic syn- A velocity command is output each control period in Velocity Control Mode.
control chronous
velocity con-
trol
Single- Torque con- The torque of the motor is controlled.
axis tor- trol
que
control
A-1 Specifications
Single- Starting cam A cam motion is performed using the specified cam table.
axis operation
synchro
nized
control
Ending cam The cam motion for the axis that is specified with the input parameter is ended.
operation
Starting A gear motion with the specified gear ratio is performed between a master axis and
gear opera- slave axis.
A
tion
Positioning A gear motion with the specified gear ratio and sync position is performed between a

gear opera- master axis and slave axis.
tion
Ending gear The specified gear motion or positioning gear motion is ended.
operation
Synchro- Positioning is performed in sync with a specified master axis.
nous posi-
tioning
Master axis The phase of a master axis in synchronized control is shifted.
phase shift
Combining The command positions of two axes are added or subtracted and the result is output
axes as the command position.
Single- Powering The Servo in the Servo Drive is turned ON to enable axis motion.
axis the Servo
manual Jogging An axis is jogged at a specified target velocity.
opera-
tion
Auxili- Resetting Axes errors are cleared.
ary axis errors
func-
tions
for sin-
gle-axis
control
Homing A motor is operated and the limit signals, home proximity signal, and home signal are
used to define home.
Homing with The parameters are specified, the motor is operated, and the limit signals, home prox-
specified pa- imity signal, and home signal are used to define home.
rameters (*)
High-speed Positioning is performed for an absolute target position of 0 to return to home.
homing
Stopping An axis is decelerated to a stop.
Immediately An axis is stopped immediately.
stopping
Setting over- The target velocity of an axis can be changed.
ride factors

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
Changing The command current position or actual current position of an axis can be changed to
the current any position.
position
Enabling ex- The position of an axis is recorded when a trigger occurs.
ternal latch-
es
Disabling The current latch is disabled.
external
latches
Zone moni- You can monitor the command position or actual position of an axis to see when it is
toring within a specified range (zone).
Enabling You can turn a digital output ON and OFF according to the position of an axis.
digital cam
switches (*)
Monitoring You can monitor whether the difference between the command positions or actual po-
axis follow- sitions of two specified axes exceeds a threshold value.
ing error
Resetting The error between the command current position and actual current position is set to
the follow- 0.
ing error
Torque limit The torque control function of the Servo Drive can be enabled or disabled and the tor-
que limits can be set to control the output torque.
Slave axis This function compensates the position of the slave axis currently in synchronized con-
position trol.
compensa-
tion (*)
Cam moni- Outputs the specified offset position for the slave axis in synchronous control.
tor (*)
Start veloci- You can set the initial velocity when axis motion starts.
ty (*)
Axes Multi- Absolute lin- Linear interpolation is performed to a specified absolute position.
groups axes ear interpo-
coordi- lation
nated Relative lin- Linear interpolation is performed to a specified relative position.
control ear interpo-
lation
Circular 2D Circular interpolation is performed for two axes.
interpolation
Axes group A positioning command is output each control period in Position Control Mode.
cyclic syn-
chronous
absolute po-
sitioning (*)
Auxili- Resetting Axes group errors and axis errors are cleared.
ary axes group
func- errors
tions
for mul-
ti-axes
coordi-
nated
control
Enabling ax- Motion of an axes group is enabled.
es groups
Disabling Motion of an axes group is disabled.
axes groups

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
Stopping ax- All axes in interpolated motion are decelerated to a stop.
es groups
Immediately All axes in interpolated motion are stopped immediately.
stopping ax-
es groups
Setting axes The blended target velocity is changed during interpolated motion.
group over-
ride factors
Reading ax- The command current positions and actual current positions of an axes group can be
es group po- read.
A-1 Specifications
sitions (*)
Changing The Composition Axes parameter in the axes group parameters can be overwritten
the axes in temporarily.
an axes
group (*)
Common Cams Setting cam The end point index of the cam table that is specified in the input parameter is
items table proper- changed.
ties
A
Saving cam The cam table that is specified with the input parameter is saved in non-volatile memo-
tables ry in the CPU Unit.

Generating The cam table is generated from the cam property and cam node that are specified in
cam tables input parameters.
(*)
Param- Writing MC Some of the axis parameters or axes group parameters are overwritten temporarily.
eters settings
Changing Some of the axis parameters can be accessed or changed from the user program.
axis parame-
ters (*)
Auxiliary Count modes You can select either Linear Mode (finite length) or Rotary Mode (infinite length).
func-
tions
Unit conversions You can set the display unit for each axis according to the machine.
Accel- Automatic Jerk is set for the acceleration/deceleration curve for an axis motion or axes group mo-
eration/ acceleration/ tion.
deceler- deceleration
ation control
control Changing You can change the acceleration or deceleration rate even during acceleration or de-
the accelera- celeration.
tion and de-
celeration
rates
In-position check You can set an in-position range and in-position check time to confirm when position-
ing is completed.
Stop method You can set the stop method to the immediate stop input signal or limit input signal.
Re-execution of motion You can change the input variables for a motion control instruction during execution
control instructions and execute the instruction again to change the target values during operation.
Multi-execution of mo- You can specify when to start execution and how to connect the velocities between
tion control instruc- operations when another motion control instruction is executed during operation.
tions (Buffer Mode)
Continuous axes You can specify the Transition Mode for multi-execution of instructions for axes group
group motions (Transi- operation.
tion Mode)

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
Moni- Software The movement range of an axis is monitored.
toring limits
func- Following The error between the command current value and the actual current value is moni-
tions error tored for an axis.
Velocity, ac- You can set and monitor warning values for each axis and each axes group.
celeration
rate, decel-
eration rate,
torque, in-
terpolation
velocity, ve-
locity, inter-
polation ac-
celeration
rate, and in-
terpolation
deceleration
rate
Absolute encoder sup- You can use an OMRON 1S-series or G5-series Servomotor with an Absolute Encod-
port er to eliminate the need to perform homing at startup.
Input signal logic in- You can inverse the logic of immediate stop input signal, positive limit input signal,
version (*) negative limit input signal, or home proximity input signal.
External interface signals The Servo Drive input signals given below are used.
Home signal, home proximity signal, positive limit signal, negative limit signal, immedi-
ate stop signal, and interrupt input signal.
Unit Ether- Maximum number of 512 64 16 192 64
(I/O) CAT slaves
man- slaves
age-
ment
CJ-ser- Maximum number of --- 40
ies Units Units
Com- Peripheral (USB) port ---*3 --- A port for communications with various
munica- kinds of Support Software running on a
tions personal computer.
Ether- Communications pro- TCP/IP and UDP/IP
Net/IP tocol
port CIP Tag data Programless cyclic data exchange is performed with the devices on the EtherNet/IP
commu- links network.
nica- Message CIP commands are sent to or received from the devices on the EtherNet/IP network.
tions Communica-
serv- tions
ices

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
TCP/IP Socket serv- Data is sent to and received from any node on Ethernet using the UDP or TCP proto-
applica- ices col. Socket communications instructions are used.
tions Secure --- A TLS session is establish- --- --- ---
socket served and data is sent and re-
ices (cli- ceived with secure socket
ent)*4 instructions between the
server and any node on
Ethernet.
FTP client (*) Files are transferred via FTP from the CPU Unit to computers or Controllers at other
Ethernet nodes. FTP client communications instructions are used.
A-1 Specifications
FTP server Files can be read from or written to the SD Memory Card in the CPU Unit from com-
puters at other Ethernet nodes.
Automatic Clock information is read from the NTP server at the specified time or at a specified
clock adjust- interval after the power supply to the CPU Unit is turned ON. The internal clock time in
ment the CPU Unit is updated with the read time.
SNMP agent Built-in EtherNet/IP port internal status information is provided to network manage-
ment software that uses an SNMP manager.
OPC Server Func- Functions to respond to re- --- Functions ---
A
UA*5*6 tion quests from clients on the to respond
OPC UA network to requests
from cli-

ents on the
OPC UA
network
Ether- Sup- Process da- A communications method to exchange control information in cyclic communications
CAT port ported ta communi- between the EtherCAT master and slaves. This communication method is defined by
serv- cations CoE.
ices SDO com- A communications method to exchange control information in noncyclic event commu-
munications nications between the EtherCAT master and slaves. This communication method is
defined by CoE.
Network scanning Information is read from connected slave devices and the slave configuration is auto-
matically generated.
DC (distributed clock) Time is synchronized by sharing the EtherCAT system time among all EtherCAT devi-
ces (including the master).
Packet monitoring*7 The frames that are sent by the master and the frames that are received by the master
can be saved. The data that is saved can be viewed with WireShark or other applica-
tions.(*)
Enable/disable settings The slaves can be enabled or disabled as communications targets.
for slaves
Disconnecting/recon- Temporarily disconnects a slave from the EtherCAT network for maintenance, such as
necting slaves for replacement of the slave, and then connects the slave again.
Support CoE SDO messages of the CAN application can be sent to slaves via EtherCAT.
applica-
tion
proto-
col
Serial Protocol --- Host link ---
commu- (FINS), no-
nications protocol, and
Modbus-RTU
master
(when con-
nected to the
Serial Com-
munications
Option Board)

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
Communications instructions FTP client instructions, CIP communications FTP client instructions (*), CIP commu-
instructions, socket communications instruc- nications instructions, socket communi-
tions, SDO, service data object message in- cations instructions, SDO message in-
structions, no-protocol communications instructions, no-protocol communications
structions, Modbus RTU protocol instruc- instructions, protocol macro instruc-
tions(*), and Modbus TCP protocol instructions, and Modbus RTU protocol in-
tions*8 structions (*)
Opera- RUN output contacts The output --- The output on the Power Supply Unit
tion on the Power turns ON in RUN mode.
man- Supply Unit
age- turns ON in
ment RUN mode.
System Event Function Events are recorded in the logs.
man- logs Maxi- System 2,048 1,024 512
768*9 576*10
age- mum event log
ment number Access 1,024 1,024 512
576*11 528*12
of event log
events User-defined 1,024 512 512 1,024 512
event log
Debug- Online editing Programs, function blocks, functions, and global variables can be changed online.
ging More than one operators can change POUs individually via network.
Forced refreshing The user can force specific variables to TRUE or FALSE.
Maxi- Device vari- 64
mum ables for
number EtherCAT
of slaves
forced Device vari- --- 64
varia- ables for CJ-
bles series Units
and varia-
bles with AT
specifica-
tions
MC Test Run*2 Motor operation and wiring can be checked from the Sysmac Studio.
Synchronizing The project file in the Sysmac Studio and the data in the CPU Unit can be made the
same when online.
Differential monitoring (*) You can monitor when a variable changes to TRUE or changes to FALSE.
Maximum number of 8
monitored variables
Data Types Single trig- When the trigger condition is met, the specified number of samples are taken and then
tracing gered trace tracing stops automatically.
Continuous Data tracing is executed continuously and the trace data is collected by the Sysmac
trace Studio.
Maximum number of 4 2 2 4 2
simultaneous data
traces
Maximum number of 10,000
records
Maximum number of 192 variables 48 varia- 48 variables 192 varia- 48 variables
sampled variables bles bles
Timing of sampling Sampling is performed for the specified task period, at the specified time, or when a
sampling instruction is executed.
Triggered traces Trigger conditions are set to record data before and after an event.

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
Trigger con- • When BOOL variable changes to TRUE or FALSE
ditions • Comparison of non-BOOL variable with a constant
Comparison Method: Equals (=), Greater than (>), Greater than or equals (≥), Less
Than (<), Less than or equals (≤), Not equal (≠)
Delay Trigger position setting: A slider is used to set the percentage of sampling before and
after the trigger condition is met.
Simulation The operation of the CPU Unit is emulated in the Sysmac Studio.
Reliabil- Self-di- Control- Levels Major faults, partial faults, minor faults, observation, and information
ity func- agnosis ler er-
tions rors
A-1 Specifications
Maximum 9 (Sysmac Studio)
number of 2 (NS-series PT)
message
languages
User- Function User-defined errors are registered in advance and then records are created by execut-
defined ing instructions.
errors Levels 8
Maximum 9 A
number of
message

languages
Security Protect- CPU Unit names and When going online to a CPU Unit from the Sysmac Studio, the CPU Unit name in the
ing soft- serial IDs project is compared to the name of the CPU Unit being connected to.
ware as-
sets and
prevent-
ing oper-
ating
mistakes
Protec- User pro- You can prevent reading data in the CPU Unit from the Sysmac Studio.
tion gram trans-
fer with no
restoration
information
CPU Unit You can prevent writing data to the CPU Unit from the Sysmac Studio or SD Memory
write-protec- Card.
tion
Overall You can use passwords to protect .smc files from unauthorized opening on the Sys-
project file mac Studio.
protection
Data protec- You can use passwords to protect POUs on the Sysmac Studio.
tion (*)
Verification of opera- Online operations can be restricted by operation rights to prevent damage to equip-
tion authority ment or injuries that may be caused by operating mistakes.
Number of 5
groups (*)
Verification of user The user program cannot be executed without entering a user program execution ID
program execution ID from the Sysmac Studio for the specific hardware (CPU Unit).
SD Storage type SD card or SDHC card
Memory Applica- Automatic transfer When the power supply to the Controller is turned ON, the data that is stored in the
Card tion from SD Memory Card autoload directory of the SD Memory Card is transferred to the Controller.
func- (*)
tions
Program transfer from With the specification of the system-defined variable, you can transfer a program that
SD Memory Card (*) is stored in the SD Memory Card to the Controller.

Appendices
NX701- NX102- NX1P2- NJ501- NJ301- NJ101-

Item
££££ ££££ £££££££ ££££ ££££ ££££
SD Memory Card oper- You can access SD Memory Cards from instructions in the user program.
ation instructions
File operations from You can perform file operations to save and read for Controller files in the SD Memory
the Sysmac Studio Card and general-purpose document files on the computer.
SD Memory Card life Notification of the expiration of the life of the SD Memory Card is provided in a system-
expiration detection defined variable and event log.
Backing SD Mem- Operat- CPU Unit Backup, verification, and restoration operations are performed by manipulating the
up data ory Card ing front-panel front-panel DIP switch on the CPU Unit.
(*) backups meth- DIP switch
ods Specifica- Backup and verification operations are performed by manipulating system-defined var-
tion with iables.
system-de-
fined varia-
bles
SD Memory Backup and verification operations are performed from the SD Memory Card Window
Card Win- of the Sysmac Studio.
dow in Sys-
mac Studio
Special in- The special instruction is used to backup data.
struction (*)
Protec- Disabling Backing up data to an SD Memory Card is prohibited.
tion backups to
SD Memory
Cards
Safety unit restore (*) --- You can ---
perform to
restore da-
ta in a
Safety
CPU Unit
with an SD
Memory
Card and
the front-
panel DIP
switch on
the Safety
CPU Unit.
Sysmac Studio Controller backups The Sysmac Studio is used to backup, restore, or verify Controller data.
*1. Inline ST is supported. (Inline ST is ST that is written as an element in a ladder diagram.)
*2. This function is not available for NJ101-90££ CPU Units.
• Function: A port for communications with various kinds of Support Software running on a personal computer.
*4. The secure socket services can be used for an NX102-££00 CPU Unit with unit version 1.46 or later, NX102-££20 CPU Unit with
unit version 1.37 or later, and NX1P2 CPU Unit with unit version 1.46 or later.
*5. The CPU Unit that supports OPC UA in NJ-series is an NJ501-1£00 CPU Unit with unit version 1.17 or later.
*6. An NX701-££££ CPU Unit with unit version 1.24 or later supports OPC UA.
*7. For project unit version 1.40 or later, packet monitoring cannot be used.
*8. Available only with NX102-££££ CPU Units.
*9. This is the total of 512 events for the CPU Unit and 256 events for the NX Unit.
Note Items that are marked with asterisks in the table were added for version upgrades. Refer to A-16 Version Information
for NX-series Controllers on page A-258 and A-17 Version Information for NJ-series Controllers on page A-262 for in-
formation on version upgrades.

Appendices

A-2 Calculating Guidelines for the Real
Processing Times of Tasks for the
NX701 System
This section describes how to calculate guidelines for the average real processing times of tasks on
paper for the NX701 System.
for the NX701 System

You must use the physical Controller to check the real processing times of tasks and task execution
times. Refer to 5-11 Task Design Methods and I/O Response Times on page 5-112 for details.
Before starting actual operation, you must test performance under all foreseeable conditions on A
• Calculation of the average real processing times of tasks for the priority-5 periodic task will
require the value of the PDO Communications Cycle 2: Transmission Delay Time, which
is displayed in the EtherCAT Tab Page after the EtherCAT configuration is created with the
Sysmac Studio.
• Processing performance of I/O refresh, user program, and motion control has been improved
in the hardware revision B or later, so the actual processing time may be shorter.
Periodic tasks may be 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,
including 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 5-110.

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.

¡: Performed, ---: Not performed.
Priori-
Priori- ty-17 and
Primary Priority-5
ty-16 pe- priori-
Processing Processing contents periodic periodic
riodic ty-18 pe-
task task
task riodic
tasks
I/O refresh processing I/O is refreshed for EtherCAT ¡ ¡ --- ---
slaves.
User program execution Programs assigned to tasks are ¡ ¡ ¡ ¡
executed in the order that they are
assigned.
Motion control process- • Motion control commands from ¡ ¡ --- ---
ing the user program are executed.
• Motion output processing
Common System • Variable refresh processing (if ¡ ¡ ¡ ¡
process- common there are accessing tasks) is
ing time processing performed.
1 • Motion input processing
• Data trace processing
System • Variable refresh processing (if ¡ ¡ ¡ ¡
common there are refreshing tasks) is
processing performed.
2 • Variable access processing ex-
ternal to the Controller to en-
sure concurrency with task exe-
cution
System Other system common processing ¡ ¡ ¡ ¡
overhead
time
Guidelines are provided below for calculating the various processing times.
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 formula for calculating the EtherCAT slave processing time is different between the primary peri-
odic task and the priority-5 periodic task.

Appendices

The following describes how to determine the EtherCAT slave processing time for each type of tasks.
• When calculating for the priority-5 periodic task, you need to determine the task period of the
primary periodic task in advance.
• Performance of I/O refresh execution has been improved in the hardware revision B or later,
so the actual processing time may be shorter.

The EtherCAT slave processing time is 0 in tasks to which EtherCAT slaves are not assigned.
l EtherCAT Slave Processing Time in Primary Periodic Task

Use the following formula for the EtherCAT slave processing time in the primary periodic task.
EtherCAT slave processing time [μs] = 0.0006 × pDout + 0.0001 × pDin + 0.082 × pDinout
+ (1.24 × Snum + 0.01 × Clen) + 25.58
A
pDout : Total output processing data size [byte] of EtherCAT slaves assigned to the primary periodic

task or the priority-16 periodic task
pDin : Total input processing data size [byte] of EtherCAT slaves assigned to the primary periodic
pDinout : Total of the larger of the input and output processing data size of each EtherCAT slave as-
signed to the primary periodic task or the priority-16 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]
l EtherCAT Slave Processing Time in Priority-5 Periodic Task

Use the following formula for the EtherCAT slave processing time in the priority-5 periodic task.
EtherCAT slave processing time [μs] = 0.0006 × pDout + (Larger of the following A and B)
+ sTsend + 0.0001 × sDin + 16
A [μs] = ((0.0623 × sDout + 37) × pTcycle) ÷ (pTcycle - (0.0243 × pDout + 35))

B [μs] = 0.082 × pDinout
task
sTsend*1 : Transmission delay time for PDO communications cycle 2 [μs] displayed on the Sysmac
Studio
sDin : Total input processing data size [byte] of EtherCAT slaves assigned to the priority-5 periodic
task
sDout : Total output processing data size [byte] of EtherCAT slaves assigned to the priority-5 period-
ic task
pTcycle : Task period of the primary periodic task [μs]
signed to the primary periodic task [byte]

Appendices
*1. The value of sTsend (transmission delay time) cannot be calculated on paper. Assign the value of the PDO
Communications Cycle 2: Transmission Delay Time, which is displayed in the EtherCAT Tab Page
after the EtherCAT configuration is created with the Sysmac Studio, to sTsend (transmission delay time).
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for how to display the PDO
Communications Cycle 2: Transmission Delay Time on the Sysmac Studio.

Appendices

User Program Execution Time
The user program execution time depends on the specific instructions multiplied by the numbers of in-
structions 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-29 and Instruction Configuration for Standard ST
Instructions on page A-31 for information on the instruction configuration.
l Simple Estimate
For the number of instructions in each group, read the execution time for each instruction group A
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
Execution time (µs)
700
600
500
400
300
200
NX701-££££
100
0 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 exe-
Percent of in- cution time in in-
Types of instructions Instructions
structions [%] struction group
[%]
Ladder diagram instruc- LD, AND, OUT, SET, and RESET 81.0 40.2
tions
Comparison instructions EQ and LT 4.1 8.3

Appendices
Percent of exe-
Percent of in- cution time in in-
structions [%] struction group
[%]
Timer and counter instruc- Timer, TON/TOF, and CTU/CTD 1.6 7.3
tions
Math instructions +, -, *, /, ADD, SUB, MUL, and DIV 2.4 6.5
BCD conversion instruc- INT_TO_DINT and 0.2 1.2
tions and data conversion WORD_BCD_TO_UINT
instructions
Bit string processing in- AND and OR 6.2 13.0
structions
Data movement instruc- MOVE 4.6 23.5
tions
Total 100.0 100.0
Execution Times for Ladder Diagram Arithmetic and Trigonometric Instructions for LREAL
Data
300
270
240
210
NX701-££££
180
150
120
90
60
NX701-££££
30
0 300 600 900 1200 1500 1800 2100 2400 2700 3000
Trigonometric instructions for LREAL data Arithmetic instructions for LREAL data
• Structure of Arithmetic instructions for LREAL data
Instructions Percent of instructions [%]

Addition instructions for LREAL data 20.0
Subtraction instructions for LREAL data 20.0
Multiplication instructions for LREAL da- 30.0
ta
Division instructions for LREAL data 30.0
Total 100.0
• Structure of Trigonometric instructions for LREAL data

Sin of LREAL data 16.7
Cos of LREAL data 16.7
Tan of LREAL data 16.7
Sin-1 of LREAL data 16.7

Appendices

Cos-1 of LREAL data 16.7
Tan-1 of LREAL data 16.7

Total 100.0
Execution Time for Standard ST Instructions
1000
900
800

700
600
500
400
300
NX701-££££
200
100
0 A
0 10000 20000 30000 40000 50000 60000 70000

• Instruction Configuration for Standard ST Instructions
Percent of execu-
Percent of instruc-
Types of instructions Instructions tion time in instruc-
tions [%]
tion group [%]
ST constructs IF ELSIF END_IF 75.4 41.6
Timer and counter instruc- Timer, TON/TOF, and 2.1 18.8
tions CTU/CTD
Math instructions +, -, *, and / 3.1 10.2
instructions
structions
Data movement instruc- := 5.9 7.3
tions
Total 100.0 100.0
Execution Times for ST Arithmetic and Trigonometric Instructions for LREAL Data

Appendices
300
270
240
210
NX701-££££
180
150
120
90
60
NX701-££££
30
0 300 600 900 1200 1500 1800 2100 2400 2700 3000
• Structure of Arithmetic instructions for LREAL data

ta
Total 100.0
• Structure of Trigonometric instructions for LREAL data


Total 100.0
Performance of user program execution has been improved in the hardware revision B or later,
so the actual execution time may be shorter.
Motion Control Processing Time

The motion control processing time depends on the number of servo axes and virtual servo axes that
are used.
For the number of servo and virtual servo axes, read the motion control processing time from the fol-
lowing graph.

Appendices

NX701-££££
300
250
Processing time (µs)
200
150
100
50

0
0 32 64 96 128 160 192 224 256

Number of axes
Processing performance of motion control has been improved in the hardware revision B or lat- A
er, so the actual processing time may be shorter.

Common Processing Time
The common processing time is the following values by the total time for system overhead, system
common processing 1, and system common processing 2. The common processing time depends on
the type of task.
Common processing times [μs] (reference values)

Type of task
NX701-££££
Primary periodic task 15
Priority-5 periodic task 55
Priority-16, 17, or 18 periodic task 10

Appendices
A-2-2 Example of Calculating the Average Real Processing Time of a

Task and Setting the Task Period
Example of Calculating the Average Real Processing Times of

Tasks
If you are using an NX701-££££ CPU Unit with a unit version of 1.10, first find the average real
processing time of the task for the following conditions.
The task is the primary periodic task.
Item Conditions
Input slave GX-ID1611 (Ver. 1.1): 1
Output slave GX-OD1611 (Ver. 1.1): 1
Servo Drives R88D-1SN£££-ECT: 4
EtherCAT Slave Terminal: 1
EtherCAT Coupler Unit NX-ECC203: 1
Slaves/Units that
EtherCAT slaves DC Input Unit NX-ID5342: 1
are used
Transistor Output Unit NX-OD5121: 1
Analog Input Unit NX-AD3608: 1
Analog Output Unit NX-DA2605: 1
Communications Interface NX-CIF101: 1
Units NX-CIF105: 1
Language Ladder diagrams
Standard instruc- Number of instructions: 5,000
tion configuration
Arithmetic instruc- Number of instructions: 200
User program tions for LREAL
data
Trigonometric in- Number of instructions: 100
structions for
LREAL data
Motion control 4
Number of axes
processing
Note Total length of cables connected to the built-in EtherCAT port is 10 [m].
l I/O Refresh Time

EtherCAT slave processing time:
The following table gives the pDout (output processing data size), pDin (input processing data
size), and pDinout (larger of the input and output data size) values of the GX-ID1611 (Ver. 1.1) In-
put Slave, GX-OD1611 (Ver. 1.1) Output Slave, R88D-1SN£££-ECT Servo Drives, and EtherCAT
Slave Terminal configured with Units shown above.
pDout: Output proc- pDin: Input proc- pDinout: Larger of

EtherCAT slave essing data size essing data size the input and out-
in bytes in bytes put data size
GX-ID1611 (Ver. 1.1) 0 3 3
GX-OD1611 (Ver. 1.1) 2 1 2
R88D-1SN£££-ECT 23 26 26

Appendices

pDout: Output proc- pDin: Input proc- pDinout: Larger of
EtherCAT slave essing data size essing data size the input and out-
in bytes in bytes put data size
EtherCAT Slave Terminal (Total) 62 88 88
NX-ECC203 0 18
NX-ID5342 0 2
NX-OD5121 2 0
NX-AD3608 0 8 ---
NX-DA2605 4 0
NX-CIF101 28 30

NX-CIF105 28 30
Total number of bytes are given below for pDout, pDin and pDinout.
pDout = 2 + 23 × 4 + 62 = 156 [byte]
pDin = 3 + 1 + 26 × 4 + 88 = 196 [byte]
pDinout = 3 + 2 + 26 × 4 + 88 = 197 [byte]
A
From these values, the I/O refresh time is calculated by the following formula.
I/O refresh processing time
A-2-2 Example of Calculating the Average Real Processing Time of a Task and Setting the Task Period
= EtherCAT slave processing time
= 0.0006 × pDout + 0.0001 × pDin + 0.082 × pDinout + (1.24 × Snum + 0.01 × Clen) + 25.58
= 0.0006 × 156 + 0.0001 × 196 + 0.082 × 197 + (1.24 × 7 + 0.01 × 10) + 25.58
= 0.0936 + 0.0196 + 16.154 + (8.68 + 0.1) + 25.58
≈ 51 [μs]
l User Program Execution Time

The graphs show the following values.
• Standard instruction configuration
From the graph of the execution time for standard ladder diagram instructions, the user program
execution time of 5,000 instructions for the NX701-££££ is 12 μs.
From the graph of the execution time for ladder diagram arithmetic and trigonometric instructions
for LREAL data, the user program execution time of 200 instructions for the NX701-££££ is 4
μs.
μs.
Therefore, the user program execution time is the total of the above values, which is given by the
following formula.
User program execution time = 12+ 4 + 9
= 25 [μs]
l Motion Control Processing Time

From the graph of the execution time for motion control processing, the execution time of the mo-
tion control processing for four axes for the NX701-££££ with a unit version 1.10 is read as 10
μs.

Appendices
l Common Processing Time

Because the task is the primary periodic task, the common processing time for the NX701-££££
is 15 μs.
Therefore, the average real processing time of the task is given by the following formula.
=51 + 25 + 10 + 15
= 101 [μs]
Setting the Task Period

The task period is set based on the average real processing time of the task that is calculated as
above. The task is the primary periodic task.
The value of the task period must be larger than the average real processing time of the task that you
calculated. More specifically, you should allow sufficient margin and set the task period value to at
least 1.1 times as large as the average real processing time of the task.
Task period ≥ Average real processing time of task x 1.1
Because the average real processing time of the task that is calculated above is 101 μs, the task peri-
od is set to 125 μs, which is larger than 1.1 times the average time.
The task execution times in the physical Controller depend on the logic operations that are performed
in the user program, the presence of communications commands and data links, on whether data trac-
ing is performed, and on other factors. The task execution time for a periodic task depends on whether
it is interrupted for the execution of tasks with higher execution priorities.
Use the physical Controller and verify the task execution time with the Task Execution Time Monitor.

Appendices

NX102 System
paper for the NX102 System.

Before starting actual operation, you must test performance under all foreseeable conditions on A
Periodic tasks will be interrupted for the execution of tasks with higher execution priorities. The

Appendices


Priority-17
Primary pe- and priori-
riodic task ty-18 peri-
odic tasks
I/O refresh processing I/O is refreshed for NX Units on the CPU Unit and ¡ ----
EtherCAT slaves.
User program execution Programs assigned to tasks are executed in the order ¡ ¡
that they are assigned.
Motion control process- • Motion control commands from the user program ¡ ---
ing are executed.
Common System • Variable refresh processing (if there are accessing ¡ ¡
processing common tasks) is performed.
time processing • Motion input processing
1 • Data trace processing
System • Variable refresh processing (if there are refreshing ¡ ¡
common tasks) is performed.
processing • Variable access processing external to the Control-
2 ler to ensure concurrency with task execution
System Other system common processing ¡ ¡
overhead
time

I/O refresh processing time = EtherCAT slave processing time + NX Unit processing time
The following describes how to determine the EtherCAT slave processing time and NX Unit processing
time used in the above formula.
l EtherCAT Slave Processing Time

Use the following formula for the EtherCAT slave processing time.
+ (1.24(*1) × Snum + 0.01 × Clen) + 151.11

Appendices

task
task
*1 For project unit version 1.40 or later, this value is 1.6.

The EtherCAT slave processing time is 0 if EtherCAT slaves are not connected.
l NX Unit Processing Time

Use the following formula for the NX Unit processing time.
The calculation must include all NX Units on the CPU Unit. A
NX Unit processing time [μs] = 0.149 × Dnxout + 0.064 × Dnxin × 0.549 × Dnxnum + 97.48

Dnxout : : Total output data size [byte]*1
Dnxin : : Total input data size [byte]*1
Dnxnum : Number of connected NX Units
*1. If the data size of an NX Unit is less than 2 bytes, calculate as 2 bytes.
The NX Unit processing time is 0 if NX Units are not connected to the CPU Unit.

Appendices

structions used.
l Simple Estimate
For the number of instructions in each group, read the execution time for each instruction group
500
450
400
350
300
250
200
150
100
NX102-££££
50
0 1500 3000 4500 6000 7500 9000 10500 12000 13500 15000

Percent of execu-
Percent of instruc-
tions [%]
tion group [%]
Ladder diagram instruc- LD, AND, OUT, SET, and RE- 81.0 40.2
tions SET

Appendices

Percent of execu-
Percent of instruc-
tions [%]
tion group [%]
tions CTU/CTD
Math instructions +, -, *, /, ADD, SUB, MUL, and 2.4 6.5
DIV
instructions

structions
tions
Total 100.0 100.0
Data A
1000

900
800
NX102-££££
700
600
500
400
NX102-££££
300
200
100
0 300 600 900 1200 1500 1800 2100 2400 2700 3000
• Configuration of Arithmetic Instructions for LREAL Data

ta
Total 100.0
• Configuration of Trigonometric Instructions for LREAL Data


Appendices


Total 100.0
1000
900
800
700
600
500
400
300
NX102-££££
200
100
0 1000 2000 3000 4000 5000 6000 7000

Percent of execu-
Percent of instruc-
tions [%]
tion group [%]
tions CTU/CTD
instructions
structions
tions
Total 100.0 100.0

Appendices

1000
900
Execution time (µs) 800
700
NX102-££££
600
500
400
NX102-££££
300
200
100

0
0 300 600 900 1200 1500 1800 2100 2400 2700 3000

A

ta
Total 100.0


Total 100.0

are used.
lowing graph.

Appendices
NX102-££££
300
250
200
150
100
50
0
0 1 2 3 4 5 6 7 8
Number of axes

the type of task.

Type of task
NX102-££££
Periodic task 175

Appendices


Tasks
If you are using an NX102-££££ CPU Unit with a unit version of 1.30, first find the average real

Item Conditions
• GX-ID1611 (Ver. 1.1) Input Slave: 1
EtherCAT slaves • GX-OD1611 (Ver. 1.1) Output Slave: 1
• R88D-1SN£££-ECT Servo Drives: 4
• NX-PF0630 Additional I/O Power Supply Unit: 1
Slaves/Units that are used
• NX-ID5342 Digital Input Units: 3
NX Units
• NX-OD3153 Digital Output Units: 2
A
(on CPU Rack)
• NX-AD4608 Analog Input Unit: 1
• NX-DA3605 Analog Output Unit: 1
Standard instruction Number of instructions: 5,000
configuration
User program
tions for LREAL data
structions for LREAL
data
Motion control processing Number of axes 4
l I/O Refresh Time

put Slave, GX-OD1611 (Ver. 1.1) Output Slave, R88D-1SN£££-ECT Servo Drives.
pDout: Output proc- pDin: Input process- pDinout: Larger of

EtherCAT slave essing data size ing data size the input and output
in bytes in bytes data size
GX-ID1611 (Ver. 1.1) 0 3 3
GX-OD1611 (Ver. 1.1) 2 1 2
R88D-1SN£££-ECT 23 26 26
pDout = 2 + 23 × 4 = 94 [byte]
pDin = 3 + 1 + 26 × 4 = 108 [byte]
pDinout = 3 + 2 + 26 × 4 = 109 [byte]
NX Unit processing time:

Appendices
The following table gives the Dnxout (output data size), Dnxin (input data size) values of the NX-
PF0630 Additional I/O Power Supply Unit, NX-ID5342 Digital Input Unit, NX-OD3153 Digital Output
Unit, NX-AD4608 Analog Input Unit, and NX-DA3605 Analog Output Unit.
NX Units Dnxout: Output data size Dnxin: Input data size

NX-PF0630 0 0
NX-ID5342 0 2
NX-OD3153 2 0
NX-AD4608 0 16
NX-DA3605 8 0
Total number of bytes are given below for Dnxout and Dnxin.
Dnxout = 2 × 2 + 8 = 12 [byte]
Dnxin = 2 × 3 + 16 = 22 [byte]
= EtherCAT slave processing time + NX Unit processing time
= 0.017 × pDout + 0.010 × pDin + 0.082 × pDinout + (1.24 × Snum + 0.01 × Clen)
+ 151.11 + 0.149 × Dnxout + 0.064 × Dnxin + 0.549 × Dnxnum + 97.48
= 0.017 × 94 + 0.010 × 108 + 0.082 × 109 + (1.24 × 6 + 0.01 × 10) + 151.11
+ 0.149 × 12 + 0.064 × 22 + 0.549 × 8 + 97.48
= 1.598 + 1.080 + 8.938 + (7.24 + 0.1) + 151.11
+ 1.788 + 1.408 + 4.392 + 97.48
≈ 275 [μs]

execution time of 5,000 instructions for the NX102-££££ is 189 μs.
μs.
μs.
following formula.
User program execution time = 189 + 41 + 51
= 281 [μs]

tion control processing for four axes for the NX102-££££ with a unit version 1.30 is read as 148
μs.

Appendices

Because the task is the primary periodic task, the common processing time for the NX102-££££
is 133 μs.
= 275 + 281 + 148 + 133

= 837 [μs]

A

Appendices

NX1P2 System
paper for the NX1P2 System.
Before starting actual operation, you must test performance under all foreseeable conditions on

Appendices


for the NX1P2 System

Priority-17
odic tasks
I/O refresh processing I/O is refreshed for NX Units on the CPU Unit, built-in ¡ ---
I/Os, and EtherCAT slaves.
User program execution Programs assigned to tasks are executed in the order ¡ ¡
that they are assigned.
A
Motion control process- • Motion control commands from the user program ¡ ---

ing are executed.
Common System • Variable refresh processing (if there are accessing ¡ ¡
processing common tasks) is performed.
time processing • Motion input processing
1 • Data trace processing
System • Variable refresh processing (if there are refreshing ¡ ¡
common tasks) is performed.
processing • Variable access processing external to the Control-
2 ler to ensure concurrency with task execution
System Other system common processing ¡ ¡
overhead
time

I/O refresh processing time = EtherCAT slave processing time + NX Unit processing time
The following describes how to determine the EtherCAT slave processing time and NX Unit processing
time used in the above formula.

+ (1.24(*1) × Snum + 0.01 × Clen) + 151.11

Appendices
task
task
The EtherCAT slave processing time is 0 if EtherCAT slaves are not connected.
l NX Unit Processing Time

Use the following formula for the NX Unit processing time.
The calculation must include all NX Units on the CPU Unit.
NX Unit processing time [μs]= 0.248 × Dnxout + 0.241 × Dnxin + 0.549 × Dnxnum + 125.36
Dnxout : Total output data size [byte]*1

Dnxin : Total input data size [byte]*1
Dnxnum : Number of connected NX Units
*1. If the data size of an NX Unit is less than 2 bytes, calculate as 2 bytes.
The NX Unit processing time is 0 if NX Units are not connected to the CPU Unit.

Appendices

structions used.

Standard Ladder Diagram Instructions page A-51 and Instruction Configuration for Standard ST
Instructions page A-53 for information on the instruction configuration.
l Simple Estimate

500
450
400
350
300
250
200
150
100
NX1P2-££££
50
0 1500 3000 4500 6000 7500 9000 10500 12000 13500 15000

Percent of execu-
Percent of instruc-
tions [%]
tion group [%]
tions SET

Appendices
Percent of execu-
Percent of instruc-
tions [%]
tion group [%]
tions CTU/CTD
DIV
instructions
structions
tions
Total 100.0 100.0
Data
1000
900
800
NX1P2-££££
700
600
500
400
NX1P2-££££
300
200
100
0 300 600 900 1200 1500 1800 2100 2400 2700 3000

ta
Total 100.0


Appendices


Total 100.0
1000

900
800
700
600
500
400
300
NX1P2-££££
200
100
A
0

0 1000 2000 3000 4000 5000 6000 7000
Percent of execu-
Percent of instruc-
tions [%]
tion group [%]
tions CTU/CTD
instructions
structions
tions
Total 100.0 100.0

Appendices
1000
900
800
700
NX1P2-££££
600
500
400
NX1P2-££££
300
200
100
0 300 600 900 1200 1500 1800 2100 2400 2700 3000

ta
Total 100.0


Total 100.0

are used.
lowing graph.

Appendices

NX1P2-££££
300
250
200
150
100
50

0
0 1 2 3 4 5 6 7 8
Number of axes

The common processing time is the following values by the total time for system overhead, system A

the type of task.

Type of task
NX1P2-££££
Periodic task 175

Appendices


Tasks
If you are using an NX1P2-££££ CPU Unit with a unit version of 1.13, first find the average real
Item Conditions
• NX-PF0630 Additional I/O Power Supply Unit: 1
Slaves/Units that are used
• NX-ID5342 Digital Input Units: 3
NX Units
• NX-OD3153 Digital Output Units: 2
(on CPU Rack)
• NX-AD4608 Analog Input Unit: 1
• NX-DA3605 Analog Output Unit: 1
Standard instruction Number of instructions: 5,000
configuration
User program
tions for LREAL data
structions for LREAL
data
Motion control processing Number of axes 4
l I/O Refresh Time

put Slave, GX-OD1611 (Ver. 1.1) Output Slave, R88D-1SN£££-ECT Servo Drives.
pDout: Output proc- pDin: Input process- pDinout: Larger of

EtherCAT slave essing data size ing data size the input and output
in bytes in bytes data size
GX-ID1611 (Ver. 1.1) 0 3 3
GX-OD1611 (Ver. 1.1) 2 1 2
R88D-1SN£££-ECT 23 26 26
pDout = 2 + 23 × 4 = 94 [byte]
pDin = 3 + 1 + 26 × 4 = 108 [byte]
pDinout = 3 + 2 + 26 × 4 = 109 [byte]
NX Unit processing time:

Appendices

The following table gives the Dnxout (output data size), Dnxin (input data size) values of the NX-
PF0630 Additional I/O Power Supply Unit, NX-ID5342 Digital Input Unit, NX-OD3153 Digital Output
Unit, NX-AD4608 Analog Input Unit, and NX-DA3605 Analog Output Unit.
NX Units Dnxout: Output data size Dnxin: Input data size

NX-PF0630 0 0
NX-ID5342 0 2
NX-OD3153 2 0
NX-AD4608 0 16
NX-DA3605 8 0

Total number of bytes are given below for Dnxout and Dnxin.
Dnxout = 2 × 2 + 8 = 12 [byte]
Dnxin = 2 × 3 + 16 = 22 [byte]
= EtherCAT slave processing time + NX Unit processing time A
= 0.017 × pDout + 0.010 × pDin + 0.082 × pDinout + (1.24 × Snum + 0.01 × Clen)
+ 151.11 + 0.248 × Dnxout + 0.241 × Dnxin + 0.549 × Dnxnum + 125.36
= 0.017 × 94 + 0.010 × 108 + 0.082 × 109 + (1.24 × 6 + 0.01 × 10) + 151.11
+ 0.248 × 12 + 0.241 × 22 + 0.549 × 8 + 125.36
= 1.598 + 1.080 + 8.938 + (7.24 + 0.1) + 151.11
+ 2.976 + 5.302 + 4.392 + 125.36
≈ 308 [μs]

execution time of 5,000 instructions for the NX1P2-££££ is 189 μs.
for LREAL data, the user program execution time of 200 instructions for the NX1P2-££££ is
41 μs.
for LREAL data, the user program execution time of 100 instructions for the NX1P2-££££ is
51 μs.
following formula.
= 281 [μs]

tion control processing for four axes for the NX1P2-££££ with a unit version 1.13 is read as 148
μs.

Appendices

Because the task is the primary periodic task, the common processing time for the NX1P2-££££
is 133 μs.
= 308 + 281 + 148 + 133
= 870 [μs]


Appendices

NJ-series System
paper for the NJ-series System.
for the NJ-series System

• The task execution times in the physical Controller depend on the logic operations that are
performed in the user program, the presence of communications commands and data links,
on whether data tracing is performed, and on other factors.
Before starting actual operation, you must test performance under all foreseeable conditions A
on the actual system and make sure that the task periods are not exceeded and that suitable
communications performance is achieved.
• The performance may be different if the hardware revisions are different. Before you transfer
the user program, data, and parameter settings to the CPU Units with the different hardware
revisions, check them for proper execution and then use them for actual operation.
• When the hardware revisions are different, the actual execution timing of the event tasks, tag
data link service and system services may be different even if the user program, data, and
parameter settings are same.
• Processing performance of I/O refresh, user program, and motion control has been improved
in the hardware revision E or later, so the actual processing time may be shorter.

Appendices


Priority-17
Priority-16
Processing Processing contents periodic
task
odic tasks
I/O refresh processing I/O is refreshed for CJ-series Units (Ba- ¡ ¡ ---
sic I/O Units, Special I/O Units, and
CPU Bus Units) and EtherCAT slaves.
User program execu- Programs assigned to tasks are execut- ¡ ¡ ¡
tion ed in the order that they are assigned.
Motion control proc- • Motion control commands from the ¡ --- ---
essing user program are executed.
Common System • Variable refresh processing (if there ¡ ¡ ¡
process- common are accessing tasks) is performed.
ing time process- • Motion input processing
ing 1 • Data trace processing
System • Variable refresh processing (if there ¡ ¡ ¡
common are refreshing tasks) is performed.
process- • Variable access processing external
ing 2 to the Controller to ensure concurren-
cy with task execution
System Other system common processing ¡ ¡ ¡
overhead
time

Appendices

I/O refresh processing time = I/O refresh overhead time

+ (Larger of the EtherCAT slave processing time and the CJ-series Unit processing time)
The following describes how to determine the I/O refresh overhead time, EtherCAT slave processing

time, and CJ-series Unit processing time used in the above formula.
Performance of I/O refresh execution has been improved in the hardware revision E or later, so
the actual processing time may be shorter.
l I/O Refresh Overhead Time

The I/O refresh overhead time is given by the following table, depending on whether there are
A
Ether-CAT slaves and CJ-series Units, and also depending on the models of the CPU Units.

CJ-series I/O refresh overhead time [μs]
EtherCAT slave
Unit NJ501-££££ NJ301-££££ NJ101-££££
Present Present 65*1 95 135
Present None 35*2 50 65
None Present 30 45 70
*1. The value is 90 for a CPU Unit with unit version 1.01 or earlier.

EtherCAT slave processing time [μs] = Tout × Dout + Tin × Din + Tref × Dinout
+ (1.24(*1) × Snum + 0.01 × Clen - Tec)
Tout : Output processing time per byte [µs]

Dout : Total output processing data size [byte] of EtherCAT slaves assigned to the primary periodic
Tin : Input processing time per byte [µs]
Din : Total input processing data size [byte] of EtherCAT slaves assigned to the primary periodic task
or the priority-16 periodic task
Snum : Number of connected EtherCAT slaves
Tref : Refresh processing time per byte [µs]
Dinout : Total of the larger of the input and output processing data size of each EtherCAT slave as-
signed to the primary periodic task or the priority-16 periodic task [byte]
Clen : Total cable length [m]
Tec : EtherCAT communications adjustment time [μs]

Appendices
The values of the output processing time, input processing time, refresh processing time, and
EtherCAT communications adjustment time in the above formula are fixed. They are determined by
the model of the CPU Unit as given in the following table.
Tout: Output Tin: Input proc- Tec: EtherCAT

Tref: Refresh proc-
processing time essing time per communications
CPU Unit essing time per byte
per byte byte adjustment time
[µs]
[µs] [µs] [μs]
NJ501-££££ 0.004 0.011 0.082 55*1
NJ301-££££ 0.005 0.013 0.082 90
NJ101-££££ 0.010 0.004 0.082 145
If the result that is calculated from the part (1.24 × Snum + 0.01 × Clen - Tec) of the above formula
is a negative number, the result is regarded as 0.
l CJ-series Unit Processing Time

Use the following formula for the CJ-series Unit processing time.
Σ (I/O refresh time for each CJ-series Unit × Number of Units) − Tcj [μs]
In the above formula, Σ represents the total processing time for all CJ-series Units.
If the result that is calculated from the above formula is a negative number, the CJ-series Unit proc-
essing time is regarded as 0 μs.
The method for calculating the I/O refresh time for each CJ-series Unit is provided later.
The value of Tcj depends on the model and the unit version of the CPU Unit.
Model Unit version Tcj [μs]

NJ501-££££ Ver. 1.01 or earlier 230
Ver. 1.02 or later 110
NJ301-££££ Ver. 1.01 or earlier 230
Ver. 1.02 or later 165
NJ101-££££ Ver. 1.10 or later*1 225
*1. There is no NJ101-££££ CPU Unit with unit version 1.09 or earlier.
If any of the following CJ-series Units is used, add Tcj [μs] to the result that is calculated from the
above formula, regardless of the number of Units.
• CJ1W-PH41U Isolated-type Units with Universal Inputs
• CJ1W-AD04U Isolated-type Units with Universal Inputs
• CJ1W-PDC15 Isolated-type DC Input Unit
• CJ1W-V680C11 ID Sensor Unit
• CJ1W-V680C12 ID Sensor Unit
• CJ1W-CRM21 CompoNet Master Unit
I/O Refresh Times for CJ-series Units

This section gives the I/O refresh times for CJ-series Units.

Appendices

l Basic I/O Units
The following table gives the I/O refresh times for Basic I/O Units that are used on the CPU Rack.
The I/O refresh times for these Units on Expansion Racks are approx. 1.5 times the values that are
given in the table.
I/O refresh time per Unit

Unit name Model numbers
[µs]
8/16-point DC Input Units CJ1W-ID201/211/212 1
32-point DC Input Units CJ1W-ID231/232/233 2

64-point DC Input Units CJ1W-ID261/262 4
8/16-point AC Input Units CJ1W-IA201/111 1
16-point Interrupt Input Unit CJ1W-INT01 1
16-point Quick-response Input CJ1W-IDP01 1
Unit
Relay Contact Output Units CJ1W-OC201/211 1
Triac Output Unit CJ1W-OA201 1
8/16-point Transistor Output CJ1W- 1
Units OD201/202/203/204//211/212/213 A
32-point Transistor Output Units CJ1W-OD231/232/233/234 2
64-point Transistor Output Units CJ1W-OD261/262/263 4

24-VDC Input/Transistor Output CJ1W-MD231/232/233 1
Units (16 inputs/16 outputs)
24-VDC Input/Transistor Output CJ1W-MD261/263 2
Units (32 inputs/32 outputs)
TTL I/O Unit (16 inputs/16 out- CJ1W-MD563 4
puts)
B7A Interface Units CJ1W-B7A04 4
CJ1W-B7A14 4
CJ1W-B7A22 4
l Special I/O Units

The following table gives the I/O refresh times for Special I/O Units that are used on the CPU Rack.
The I/O refresh times for these Units on Expansion Racks are approx. 1.5 times the values that are
given in the table.

[µs]
Isolated-type Units with Univer- CJ1W-AD04U 66
sal Inputs
Analog Input Units CJ1W-AD041-V1/081-V1/042 24
Analog Output Units CJ1W-DA021/041/042V/08V/08C 24
Analog I/O Units CJ1W-MAD42 24
Isolated-type Units with Univer- CJ1W-PH41U 80 (180)*1
sal Inputs
Isolated-type DC Input Unit CJ1W-PDC15 60 (100)*1
Temperature Control Units CJ1W-TC£££ 114
ID Sensor Units CJ1W-V680C11 76
CJ1W-V680C12 86
High-speed Counter Unit CJ1W-CT021 54

Appendices

[µs]
CompoNet Master Unit CJ1W-CRM21 Communications 34
mode 0
Communications 52
mode 1
Communications 88
mode 2
Communications 84
mode 3
Communications 14 + (1.0 × Number of allo-
mode 8 cated words)*2
*1. The values in parentheses are the I/O refresh times when an expansion allocation area is used.
*2. The number of allocated words is the total number of I/O area words that are allocated to all of the
slaves.
l CPU Bus Units

The following table gives the I/O refresh times for CPU Bus Units. The times are the same regard-
less of whether the Units are used on the CPU Rack or an Expansion Rack.

[μs]
Serial Communications Units CJ1W-SCU42 Coefficient*1 x 25*2
CJ1W-SCU32
CJ1W-SCU22
DeviceNet Unit CJ1W-DRM21 Coefficient*1 x (Number of allocated
words*3 + 25)
EtherNet/IP Unit CJ1W-EIP21 7.0 + 0.8 x Number of tags*4
*1. The coefficient is determined by the model of the CPU Unit as follows.
NJ501-££££: 0.1
NJ301-££££: 0.2
NJ101-££££: 0.3
*2. The following maximum time is added if a protocol macro is executed:
Coefficient × Number of refresh words [μs]
*3. The number of allocated words is the total number of I/O area words that are allocated to all of the
slaves.
*4. For a CPU Unit with unit version 1.03 or later, the I/O refresh times for EtherNet/IP Units are not added.

Appendices

structions used.

l Simple Estimate

2000
NJ501-££££
1800
1600
NJ301-££££
1400
Execution time (ms)
1200
NJ101-££££ NJ101-££££ *1
1000
800
600
NJ301-££££ *1
400
NJ501-££££ *1
200
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
*1. It is the case when the hardware revision for the Unit is A or later. The other cases are for the Units that
the hardware revisions are in blank.

Percent of execu-
Percent of instruc-
tions [%]
tion group [%]
tions SET

Appendices
Percent of execu-
Percent of instruc-
tions [%]
tion group [%]
Timer and counter instruc- Timer, TON/TOF, and CTU/CTD 1.6 7.3
tions
DIV
instructions
structions
tions
Total 100.0 100.0
Data
• When hardware revisions for the Units are in blank
200
NJ101-££££ NJ501-££££
180
NJ301-££££
160
NJ101-££££
140
120
100
80
60
NJ301-££££
40
NJ501-££££
20
0 100 200 300 400 500 600 700 800 900 1000
• When hardware revisions for the Units are A or later

Appendices

200
180
NJ301-££££
160
NJ101-££££
140
120
NJ501-££££
100
80
60
NJ101-££££
40

NJ501-££££
20
NJ301-££££
0
0 100 200 300 400 500 600 700 800 900 1000

A

ta
Total 100.0
• Composition of Trigonometric instructions for LREAL data


Total 100.0

Appendices
2000
NJ501-££££
1800
1600
NJ301-££££
Execution time (ms)
1400
1200
NJ101-££££
1000
NJ101-££££ *1
800
NJ301-££££ *1
600
400
NJ501-££££ *1
200
0 5000 10000 15000 20000 25000 30000 35000
*1. It is the case when the hardware revision for the Unit is A or later. The other cases are for the Units that
the hardware revisions are in blank.
Percent of execu-
Percent of instruction time in in-
tions [%] struction group
[%]
tions CTU/CTD
instructions
structions
tions
Total 100.0 100.0
• When hardware revisions for the Units are in blank

Appendices

200
NJ501-££££
180
NJ101-££££ NJ301-££££
160
NJ101-££££
140
120
100
80
60
NJ301-££££
40

NJ501-££££
20
0 100 200 300 400 500 600 700 800 900 1000
• When hardware revisions for the Units are A or later
200
180
A
NJ301-££££
160
NJ101-££££

140
120
NJ501-££££
100
80
60
NJ101-££££
40
NJ501-££££
20
NJ301-££££
0
0 100 200 300 400 500 600 700 800 900 1000

ta
Total 100.0


Appendices

Total 100.0
Performance of user program execution has been improved in the hardware revision E or later,
so the actual execution time may be shorter.

are used.
lowing graph.
NJ501-££££ NJ301-££££
600 120
500 100
Unit version 1.01 Unit version 1.01
or earlier
or earlier
400 80
Unit version 1.02
or later Unit version 1.02
or later
300 60
*1
200 40
*1
100 20
0 0
0 8 16 24 32 40 48 56 64 0 1 2 3 4 5 6 7 8
Number of axes Number of axes
NJ101-10££
120
100
80
60
*1
40
20
0
0 1 2
Number of axes
*1. It is the case when the hardware revision for the Unit is A or later. The other cases are for the Units that the
hardware revisions are in blank.
Note You cannot use the motion control functions with an NJ101-90££ CPU Unit.
Processing performance of motion control has been improved in the hardware revision E or lat-
er, so the actual processing time may be shorter.

Appendices

the type of task.

Type of task
NJ501-££££ NJ301-££££ NJ101-££££
Primary periodic task 150*1 240*2 300

Periodic task 10 32 82
*1. The processing time is 265 μs for a CPU Unit with unit version 1.01 or earlier.
*2. The processing time is 360 μs for a CPU Unit with unit version 1.01 or earlier.

A
Tasks
If you are using an NJ501-££££ CPU Unit with a unit version of 1.02 and the hardware revision for
the Unit is in blank, first find the average real processing time of the task for the following conditions.
Item Conditions
• CJ1W-ID211 DC Input Unit: 1
Slaves/Units that are
• CJ1W-OD211 Transistor Output Unit: 1
used
CJ-series Units • CJ1W-AD042 Analog Input Unit: 1
(on CPU Rack) • CJ1W-DA021 Analog Output Unit: 1
• CJ1W-SCU42 Serial Communications Unit: 1
(Protocol macros are not used.)
Standard instruc- Number of instructions: 5,000
tion configuration
User program tions for LREAL da-
ta
structions for
LREAL data
Motion control process- 4
Number of axes
ing
l I/O Refresh Time

I/O refresh overhead time:

Appendices
The I/O refresh overhead time is 65 μs because the EtherCAT slaves and CJ-series Units are con-
nected.

The following table gives the Tout (output processing time per byte), Tin (input processing time per
byte), and Tref (refresh processing time per byte) values when an NJ501-££££ CPU Unit is
used.
Tec: EtherCAT commu-

Tout: Output process- Tin: Input processing Tref: Refresh process-
nications adjustment
ing time per byte time per byte ing time per byte
time
[µs] [µs] [µs]
[μs]
0.004 0.011 0.082 55
The following table gives the Dout (output processing data size), Din (input processing data size),
and Dinout (larger of the input and output data size) values of the GX-ID1611 (Ver. 1.1) Input Slave,
GX-OD1611 (Ver. 1.1) Output Slave, R88D-1SN£££-ECT Servo Drives.
Dout: Output proc- Dinout: Larger of the

Din: Input processing
EtherCAT slave essing data size in input and output data
data size in bytes
bytes size
GX-ID1611 (Ver. 1.1) 0 3 3
GX-OD1611 (Ver. 1.1) 2 1 2
R88D-1SN£££-ECT 23 26 26
Total number of bytes are given below for Dout, Din and Dinout.
Dout = 2 + 23 × 4 = 94 [byte]
Din = 3 + 1 + 26 × 4 = 108 [byte]
Dinout = 3 + 2 + 26 × 4 = 109 [byte]
= EtherCAT slave processing time
= Tout × Dout + Tin × Din + Tref × Dinout + (1.24 × Snum + 0.01 × Clen - Tec)
= 0.004×94 + 0.011×108 + 0.082×109 + (1.24×6 + 0.01×10 - 55)
= 0.376 + 1.188 + 8.938 + (7.44 + 0.1 - 55)
= 10.502 + 0*1
≈ 11[μs]
Because the result that is calculated inside the parenthesis is a negative number, it is regarded as
"0" μs.
CJ-series Unit processing time:

The following table gives the I/O refresh time per Unit for the CJ1W-ID211 DC Input Unit, CJ1W-
OD211 Transistor Output Unit, CJ1W-AD042 Analog Input Unit, CJ1W-DA021 Analog Output Unit,
and CJ1W-SCU42 Serial Communications Unit that are used on the CPU Rack.
Model number I/O refresh time per Unit [µs]

CJ1W-ID211 1
CJ1W-OD211 1

Appendices

Model number I/O refresh time per Unit [µs]
CJ1W-AD042 24
CJ1W-DA021 24
CJ1W-SCU42 2.5
Because the number of Units is all one, use the following formula for the CJ-series Unit processing
time.
CJ-series Unit processing time = Σ (I/O refresh time for each CJ-series Unit x Number of Units) -
110

= 1 x 1 + 1 × 1 + 24 × 1 + 24 × 1 + 2.5 × 1 - 110
= -57.5 [μs]
Because the result that is calculated from the above formula is a negative number, the CJ-series
Unit processing time is regarded as 0 μs.
The following values of the I/O refresh overhead time, EtherCAT slave processing time, and CJ-
series Unit processing time are found by the above calculations. A
Item Value [μs]
I/O refresh overhead time 65
EtherCAT slave processing time 11
CJ-series Unit processing time 0
I/O refresh time = I/O refresh overhead time +
(Larger of the EtherCAT slave processing time and the CJ-series Unit processing time)
=65 + 11
=76 [μs]

execution time of 5,000 instructions for the NJ501-££££ is 100 μs.
for LREAL data, the user program execution time of 200 instructions for the NJ501-££££ is 20
μs.
for LREAL data, the user program execution time of 100 instructions for the NJ501-££££ is 27
μs.
following formula.
= 147 [μs]

Appendices

tion control processing for four axes for the NJ501-££££ with a unit version 1.02 is read as 46
μs.

Because the task is the primary periodic task, the common processing time for the NJ501-££££
is 150 μs.
=76 + 147 + 46 + 150
=419[μs]


Appendices
A-6 System-defined Variables

System-defined variables are assigned specific functions by the system.
They are registered in the global variable table, or the local variable table for each POU, in advance.
These variables cannot be changed. Some of the variables start with an underbar and some start
with ”P_”.

Some of the system-defined variables are read-only and some are read/write.
You read and write the variables with the user program, with communications from external devices,
with the Sysmac Studio, or with an NS/NA-series PT.
Basically, system-defined variables are classified according to the function modules.
The variables start with the following category names.
Function module Category name

System-defined variables for the overall NJ/NX-series None
A
Controller
PLC Function Module _PLC
_CJB
NX Bus Function Module _NXB
Motion Control Function Module _MC, _MC1, and _MC2
EtherCAT Master Function Module _EC
EtherNet/IP Function Module _EIP, _EIP1, and _EIP2
The variables are described in the tables of this appendix as shown below.
Range of
Variable name Meaning Function Data type Reference
values
This is the system- This is the mean- The function of the variable is descri- The data The range The page of
defined variable ing of the variable. bed. type of the of values the individ-
name. The prefix variable is that the var- ual system-
gives the category given. iable can defined var-
name. take is giv- iable speci-
en. fications ta-
ble is given.
A version in parentheses of the Variable name column is the unit version of the CPU Unit when the
system-defined variable was added.
There are system-defined variables that are not supported or differ in specifications such as the
number of arrays. Refer to A-7 Specifications for Individual System-defined Variables on page
A-139 for details on the specifications for individual system-defined variables.

Appendices
A-6-1 System-defined Variables for the Overall NJ/NX-series Controller

(No Category)
l Functional Classification: Clock

Range of
values
_CurrentTime System Time Contains the CPU Unit’s internal clock DATE_AND_ • NX-series page A-139
data. TIME CPU Units
DT#1970-01-
01-00:00:00
to
DT#2069-12-
31-23:59:59
• NJ-series
CPU Units
DT#1970-01-
01-00:00:00
to
DT#2106-02-
06-23:59:59
l Functional Classification: Tasks

Range of
values
_TaskName Task Active Flag TRUE during task execution. BOOL TRUE or page A-140
_Active FALSE when task execution is not in FALSE
progress.
Note You cannot use this system-
defined variable in the user
program. It is used only to ac-
cess task status for data trac-
ing from the Sysmac Studio.
_TaskName Last Task Execution Contains the task execution time the last TIME Depends on page A-140
_LastExecTime Time time the task was executed (unit: 0.1 μs). data type.
_TaskName Maximum Task Exe- Contains the maximum value of the task TIME Depends on page A-140
_MaxExecTime cution Time execution time (unit: 0.1 μs). data type.
_TaskName Minimum Task Exe- Contains the minimum value of the task TIME Depends on page A-140
_MinExecTime cution Time execution time (unit: 0.1 μs). data type.

Appendices
Range of
values
_TaskName Task Execution Contains the number of executions of the UDINT Depends on page A-141
_ExecCount Count task. data type.
If 4294967295 is exceeded, the value re-
turns to 0 and counting is continued.

_TaskName Task Period Exceed- TRUE if the task period was exceeded. BOOL TRUE or page A-141
_Exceeded ed Flag FALSE if task execution was completed FALSE
within the task period.
_TaskName Task Period Exceed- Contains the number of times that the pe- UDINT Depends on page A-141
_ExceedCount ed Count riod was exceeded. data type. A
If the present value exceeds the maxi-
mum value of the data type, the present
A-6-1 System-defined Variables for the Overall NJ/NX-series Controller (No Category)
value returns to 0 and the count is contin-
ued.
If 4294967295 is exceeded, the value re-
turns to 0 and counting is continued.
l Functional Classification: Errors

Range of
values
_ErrSta Controller Error Sta- TRUE if there is a Controller error. WORD 16#0000 to page A-142
tus FALSE if there is no Controller error. 16#C0F0
Note Do not use this variable in the
user program. There may be a
delay in updating it and con-
currency problems in relation
to the error status of the func-
tion module. Use this variable
only to access status through
communications from an exter-
nal device. Refer to information
on the meanings of the error
status bits at the end of this
appendix for details.
_AlarmFlag User-defined Error The bit corresponding to the event level WORD 16#0000 to page A-142
Status is TRUE while there is a user-defined er- 16#00FF
ror.
Bits 00 to 07 correspond to user fault lev-
els 1 to 8.
This variable contains 0000 hex when
there is no user-defined error.

Appendices
l Functional Classification: SD Memory Card

Range of
values
_Card1Ready SD Memory Card TRUE when the SD Memory Card is rec- BOOL TRUE or page A-142
Ready Flag ognized. FALSE
FALSE when the SD Memory Card is not
recognized.
TRUE: Can be used.
_Card1Protect SD Memory Card TRUE when the SD Memory Card is BOOL TRUE or page A-143
Write Protected Flag write-protected with the LOCK switch. FALSE
_Card1Err SD Memory Card Er- TRUE when an unusable SD Memory BOOL TRUE or page A-143
ror Flag Card is inserted or a format error occurs. FALSE
_Card1Access SD Memory Card Ac- TRUE during SD Memory Card access. BOOL TRUE or page A-143
cess Flag TRUE: Card is being accessed. FALSE
The system updates the flag every 100
ms. Because of this, access to the SD
Memory Card is shown by this flag with a
delay of up to 100 ms. We therefore do
not recommend the use of this variable in
the user program.
_Card1Deteriorated SD Memory Card TRUE when the life of the SD Memory BOOL TRUE or page A-143
Life Warning Flag Card is exceeded. FALSE
TRUE: The life of the Card has been ex-
ceeded.
_Card1PowerFail SD Memory Card TRUE when the power supply to the CPU BOOL TRUE or page A-144
Power Interruption Unit was interrupted during access to the FALSE
Flag SD Memory Card.
TRUE: Power was interrupted during SD
Memory Card access.
FALSE: Normal
_Card1Capacity SD Memory Card Show the total capacity of the inserted UDINT Depends on page A-144
(Ver.1.21/Ver.1.32) Storage Capacity SD Memory Card. data type.
MiB=1,048,576 bytes).
when an SD Memory Card is not insert-
ed, the value is "0".
_Card1Used SD Memory Card Show the usage of the inserted SD Mem- UDINT Depends on page A-144
(Ver.1.21/Ver.1.32) Storage Usage ory Card. data type.
MiB=1,048,576 bytes).
when an SD Memory Card is not insert-
ed, the value is "0".
Variable name Range of

Meaning Function Data type Reference
Member name values
_Card1BkupCmd SD Memory Card _sBKUP_CM page A-144
(Ver.1.03) Backup Commands D

Appendices

Member name values
ExecBkup Execute Backup Flag Change this variable to TRUE to back up BOOL TRUE or page A-144
Controller data to the SD Memory Card. FALSE
program. Use it in CIP mes-
sage communications when
sending a command from an

HMI or host computer.
CancelBkup Cancel Backup Flag Change this variable to TRUE to cancel BOOL TRUE or page A-145
backing up data to the SD Memory Card. FALSE
ExecVefy Execute Verify Flag Change this variable to TRUE to com- BOOL TRUE or page A-145
pare the Controller data to a backup file FALSE
A
in the SD Memory Card.
CancelVefy Cancel Verify Flag Change this variable to TRUE to cancel BOOL TRUE or page A-145
comparing the Controller data to a back- FALSE
up file in the SD Memory Card.
DirName Directory Name Use this variable to specify the directory STRING(64) Depends on page A-145
name in the SD Memory Card for which data type.
to back up data.
_Card1BkupSta SD Memory Card _sBKUP_ST page A-146
(Ver.1.03) Backup Status A
Done Done Flag TRUE when a backup is completed. BOOL TRUE or page A-146
Note You cannot use this system- FALSE

Appendices

Member name values
Active Active Flag TRUE when a backup is in progress. BOOL TRUE or page A-146
Err Error Flag TRUE when processing a backup ended BOOL TRUE or page A-146
in an error. FALSE
_Card1VefySta SD Memory Card _sVE- page A-146
(Ver.1.03) Verify Status FY_STA
Done Done Flag TRUE when a verification is completed. BOOL TRUE or page A-146
Active Active Flag TRUE when a verification is in progress. BOOL TRUE or page A-147
VefyRslt Verify Result Flag TRUE if the data was the same. FALSE if BOOL TRUE or page A-147
differences were found. FALSE
Err Error Flag TRUE when processing a verification BOOL TRUE or page A-147
ended in an error. FALSE
_Card1PrgTrans- SD Memory Card _sPRGTRAN page A-147
ferCmd (Ver.1.11) Program Transfer SFER_CMD
Command
Exec Execute Program Change this variable to TRUE to transfer BOOL TRUE or page A-147
Transfer Flag the data in a backup file on the SD Mem- FALSE
ory Card to the Controller by using the
function to transfer programs from the SD
Memory Card.

Appendices

Member name values
name in the SD Memory Card in which data type.
the backup file to be transferred is stored.
Password Password Use this variable to specify the password STRING(33) Depends on page A-148
that is used for verification when you start data type.
transferring the programs.

you start transferring programs from the
SD Memory Card.
TargetUserPro- User Program and Change this variable to TRUE to set a BOOL TRUE or page A-148
gram Settings Transfer user program or setting as the transfer FALSE
Flag target.
transferring programs from SD Memory
Card.
TargetIPAdr IP Address Transfer Change this variable to TRUE to include BOOL TRUE or page A-148
Flag the IP address of the built-in EtherNet/IP FALSE
port as the transfer target.
The IP address means setting type, IP
A
address, subnet mask, and default gate-
way.
TargetVariable Present Values of Change this variable to TRUE to set the BOOL TRUE or page A-149
Variables with the present values of variables with the Re- FALSE
Retain Attribute tain attribute as the transfer target.
Transfer Flag
TargetMemory Present Values of Change this variable to TRUE to set the BOOL TRUE or page A-149
Memory Used for CJ- present values of the memory used for FALSE
series Units with the CJ-series Units with the Retain attribute
Retain Attribute as the transfer target.
Transfer Flag
_Card1PrgTransfer- SD Memory Card _sPRGTRAN page A-149
Sta (Ver.1.11) Program Transfer SFER_STA
Status
Done Done Flag TRUE when a program transfer is com- BOOL TRUE or page A-149
pleted. FALSE
Active Active Flag TRUE when a program transfer is in BOOL TRUE or page A-149
progress. FALSE
Err Error Flag TRUE when a program transfer ended in BOOL TRUE or page A-150
an error. FALSE
_Card1RestoreCmd SD Memory Card _sRES- page A-150
(Ver.1.14) Restore Command TORE_CMD
Exec Execute Restore Change this variable to TRUE to restore BOOL TRUE or page A-150
Flag the data in a backup file on the SD Mem- FALSE
ory Card to the Controller.
name in the SD Memory Card in which data type.
the backup file to be restored by the sys-
tem-defined variable is stored.
Password Password Use this variable to specify the password STRING(33) Depends on page A-150
that is used for verification when you start data type.
the restore by the system-defined varia-
ble.
when the restore by the system-defined
variable is started.

Appendices

Member name values
_Card1RestoreSta SD Memory Card _sRES- page A-151
(Ver.1.14) Restore Status TORE_STA
Done Done Flag TRUE when a restore operation is com- BOOL TRUE or page A-151
pleted. FALSE
Active Active Flag TRUE when a restore operation is in BOOL TRUE or page A-151
progress. FALSE
Err Error Flag TRUE when a restore operation ended in BOOL TRUE or page A-151
an error. FALSE
Range of
values
_Card1RestoreCmd- User Program and Change this variable to TRUE to set a BOOL TRUE or page A-151
TargetUserProgram Settings Transfer user program or setting for the restore by FALSE
(Ver.1.14) Flag the system-defined variable as the trans-
fer target.
Always set this variable to TRUE for the
restore by the system-defined variable.
_Card1RestoreCmd- IP Address Transfer Change this variable to TRUE to include BOOL TRUE or page A-152
TargetIPAdr Flag the IP address of the built-in EtherNet/IP FALSE
(Ver.1.14) port for the restore by the system-defined
variable as the transfer target.
The IP address means setting type, IP
address, subnet mask, and default gate-
way.
_Card1RestoreCmd- Present Values of Change this variable to TRUE to set the BOOL TRUE or page A-152
TargetVariable Variables with the present values of variables with the Re- FALSE
(Ver.1.14) Retain Attribute tain attribute for the restore by the sys-
Transfer Flag tem-defined variable as the transfer tar-
get.
_Card1RestoreCmd- Present Values of Change this variable to TRUE to set the BOOL TRUE or page A-152
TargetMemory Memory Used for CJ- present values of the memory used for FALSE
(Ver.1.14) series Units with the CJ-series Units with the Retain attribute
Retain Attribute for the restore by the system-defined var-
Transfer Flag iable as the transfer target.
_Card1RestoreCmd- Unit and Slave Pa- Change this variable to TRUE to set the BOOL TRUE or page A-152
TargetUnitConfig rameters Transfer Unit and slave settings for the restore by FALSE
(Ver.1.14) Flag the system-defined variable as the trans-
fer target.
_Card1RestoreCmd- Absolute Encoder Change this variable to TRUE to set the BOOL TRUE or page A-153
TargetAbsEncoder Home Offset Transfer absolute encoder home offset for the re- FALSE
(Ver.1.14) Flag store by the system-defined variable as
the transfer target.
_Card1RestoreCmd- OPCUA Security Change this variable to TRUE to set the BOOL TRUE or page A-153
TargetOpcuaSPF Profile Transfer Flag OPC UA security profile for the restore by FALSE
(Ver.1.17) the system-defined variable as the trans-
fer target.
l Functional Classification: Backup

Range of
values
_BackupBusy Backup Function TRUE when a backup, restoration, or BOOL TRUE or page A-153
(Ver.1.03) Busy Flag verification is in progress. FALSE

Appendices
l Functional Classification: Power Supply

Range of
values
_PowerOnHour Total Power ON Time Contains the total time that the power UDINT 0 to page A-153
has been ON. 4294967295
Contains the total time that the CPU Unit
has been ON in 1-hour increments.
To reset this value, overwrite the current

value with 0.
The value is not updated after it reaches
4294967295.
This variable is not initialized at startup.
_PowerOnCount Power Interruption Contains the number of times that the UDINT 0 to page A-154
Count power supply has been interrupted. 4294967295
The value is incremented by 1 each time
the power supply is interrupted after the
first time that the power to the CPU Unit
was turned ON.
To reset this value, overwrite the current
value with 0.
The value is not updated after it reaches
A
4294967295.
_RetainFail Retention Failure TRUE at the following time (failure of re- BOOL TRUE or page A-154
Flag tention during power interruptions). FALSE
• When an error is detected in the bat-
tery-backup memory check at startup.
FALSE at the following times (no failure
of retention during power interruptions).
• When no error is detected in the bat-
tery-backup memory check at startup.
• When the user program is download-
ed.
• When the Clear All Memory operation
is performed.
Note When the absolute encoder
home offset data is not re-
tained, the status is given in
the error status of the axis vari-
able, and not in this flag.
l Functional Classification: Programming

Range of
values
P_On Always TRUE Flag This flag is always TRUE. BOOL TRUE page A-154
P_Off Always FALSE Flag This flag is always FALSE. BOOL FALSE page A-154
P_CY Carry Flag This flag is updated by some instructions. BOOL TRUE or page A-155
FALSE

Appendices
Range of
values
P_First_RunMode First RUN Period This flag is TRUE for only one task peri- BOOL TRUE or page A-155
Flag od after the operating mode of the Con- FALSE
troller is changed from PROGRAM mode
to RUN mode if execution of the program
is in progress.
This flag remains FALSE if execution of
the program is not in progress.
Use this flag to perform initialization
when the Controller begins operation.
defined variable inside func-
tions.
P_First_Run First Program Period This flag is TRUE for one task period af- BOOL TRUE or page A-155
(Ver.1.08) Flag ter execution of the program starts. FALSE
Use this flag to perform initial processing
when execution of a program starts.
defined variable inside func-
tions.
P_PRGER Instruction Error Flag This flag changes to and remains TRUE BOOL TRUE or page A-155
when an instruction error occurs in the FALSE
program or in a function/function block
called from the program. After this flag
changes to TRUE, it stays TRUE until the
user program changes it back to FALSE.
l Functional Classification: Communications

Range of
values
_Port_numUsingPort Number of Used Gives the number of internal logical ports USINT 0 to 32 page A-155
Ports that are currently used. You can use this
variable when you debug the user pro-
gram.
Note You can use this system-de-
fined variable only for NJ-ser-
ies CPU Units.
_Port_isAvailable Network Communi- Indicates whether there is an available in- BOOL TRUE or page A-156
cations Instruction ternal logical port. FALSE
Enabled Flag TRUE when an internal logical port is
available. Otherwise FALSE.
ies CPU Units.
_FINSTCPConnSta FINS/TCP Connec- Gives the FINS/TCP connection status. WORD 16#0000 to page A-156
tion Status Note You can use this system-de- 16#FFFF
ies CPU Units.

Appendices
l Functional Classification: Version

Range of
values
_UnitVersion Unit Version Contains the unit version of the CPU ARRAY[0..1] 0 to 99 page A-156
(Ver.1.08) Unit. OF USINT
The integer part of the unit version is
stored in element number 0.
The fractional part of the unit version is

Example 1) If the unit version is 1.08, “1”
is stored in element number 0 and “8” is
Example 2) If the unit version is 1.10, “1”
is stored in element number 0 and “10” is
_HardwareRevision Hardware Revision Contains the hardware revision of the STRING[2] - or A to Z page A-156
(Ver.1.11) CPU Unit. Contains - if the hardware revi-
sion is in blank, and A to Z for other cas-
es.
_ProjectUnitVersion Project Unit Version Contains the project unit version of the ARRAY[0..1] 0 to 99 page A-157 A
(Ver.1.40) project in the CPU Unit. OF USINT
The integer part of the project unit ver-
sion is stored in element number 0.
The fractional part of the project unit ver-
sion is stored in element number 1.
Example 1) If the project unit version is
1.09, “1” is stored in element number 0
and “9” is stored in element number 1.
Example 2) If the project unit version is
1.40, “1” is stored in element number 0
and “40” is stored in element number 1.
l Functional Classification: Self-diagnosis

Range of
values
_SelfTest_HighTem- CPU Unit High Tem- TRUE when the internal temperature of BOOL TRUE or page A-157
perature perature Flag the CPU Unit is too high. FALSE
(Ver.1.10) Note Always FALSE for the NX102
CPU Unit and NX1P2 CPU
Unit.
_SelfTest_LowBat- Low Battery Flag TRUE when the battery is disconnected BOOL TRUE or page A-157
tery or the battery voltage is dropped. FALSE
(Ver.1.10)
_SelfTest_LowFan- Low FAN Revolution TRUE when the fan is disconnected or BOOL TRUE or page A-157
Revolution Flag the rotation speed of a fan is decreased. FALSE
(Ver.1.10) Note Always FALSE for the NX102
CPU Unit, NX1P2 CPU Unit,
and NJ-series CPU Unit.

Appendices
l Functional Classification: PLC Built-in

Range of
values
_DeviceOutHoldCfg Device Output Hold It is 16#A5A5 if you retain the target de- WORD 16#0000 to page A-158
(Ver.1.13) Configuration vice output when the operating mode is 16#FFFF
changed or when downloaded.
In the case other than 16#A5A5, the tar-
get device output is initialized when the
operating mode is changed or when
downloaded.
_DeviceOutHoldSta- Device Output Hold It is TRUE if the target device output is BOOL TRUE or page A-158
tus Status retained when the operating mode is FALSE
(Ver.1.13) changed or when downloaded.
When the device output hold configura-
tion is other than 16#A5A5, or when a
major fault level Controller error occurs,
the target device output is initialized and
changes to FALSE.
A-6-2 PLC Function Module, Category Name: _PLC
l Functional Classification: Debugging

Member name values
_PLC_TraceSta[0..3] _sTRACE_S page A-158
TA
.IsStart Trace Busy Flag TRUE when a trace starts. BOOL TRUE or page A-158
program. It is used only to
monitor the status of data trac-
.IsComplete Trace Completed TRUE when a trace is completed. BOOL TRUE or page A-159
Flag Note You cannot use this system- FALSE
.IsTrigger Trace Trigger Monitor TRUE when the trigger condition is met. BOOL TRUE or page A-159
Flag FALSE when the next trace starts. FALSE
.ParamErr Trace Parameter Er- TRUE when a trace starts, but there is an BOOL TRUE or page A-159
ror Flag error in the trace settings. FALSE

Appendices

Range of
values
_PLC_ErrSta PLC Function Mod- TRUE when there is a Controller error WORD 16#0000 to page A-159
ule Error Status that involves the PLC Function Module. 16#00F0
FALSE when there is no Controller error
that involves the PLC Function Module.
Refer to information on the meanings of

the error status bits at the end of this ap-
pendix for details.
l Functional Classification: Option Boards

Member name values
_PLC_OptBoardSta Option Board Status Contains the status of Option Boards. ARRAY[1..2] page A-160
(Ver. 1.13) This variable is commonly used regard- OF _sOPT-
less of the models of Option Boards. BOARD_STA
The array element 1 corresponds to the
option board slot 1 and array element 2 A
corresponds to the option board slot 2.

fined variable only for NX1P2
CPU Units.
isDetect Option Board Mount- Indicates an Option Board is mounted to BOOL TRUE or page A-160
ed the option board slot. FALSE
TRUE: Mounted.
FALSE: Not mounted.
CPU Units.
Run Option Board Normal Indicates whether an Option Board is BOOL TRUE or page A-160
Operation normally operating. FALSE
To use device variables or communica-
tions instructions for an Option Board,
program this member as an interlock
condition in the user program.
TRUE: Normally operating.
FALSE: Initializing, changing settings, or
an error occurred.
CPU Units.
Error Option Board Error Indicates whether an Option Board error BOOL TRUE or page A-160
occurred. FALSE
TRUE: An error occurred.
FALSE: An error not occurred.
CPU Units.

Appendices

Member name values
_PLC_OptSerialErr- Serial Option Board Contains the error status of a transmis- ARRAY[1..2] page A-161
Sta Error Status sion error for the Serial Communications OF _sOPT-
(Ver.1.13) Option Board. SERIAL-
When the Serial communications mode ERR_STA
of a Serial Communications Option Board
is only set to Host Link (FINS), the value
of each member is updated.
Other than the above setting, the values
of all members are FALSE.
The array element 1 corresponds to the
option board slot 1 and array element 2
corresponds to the option board slot 2.
Note We do not recommend the use
of this variable in the user pro-
gram. There may be a delay in
updating it. Use this variable
nal device such as an HMI.
CPU Units.
Error Transmission Error Indicates whether a transmission error BOOL TRUE or page A-161
occurred. FALSE
TRUE: A parity error, framing error, or an
overrun error occurred.
FALSE: FALSE due to one of the follow-
ing causes.
• A parity error, framing error, or an
overrun error not occurred.
• A port is restarted.
• The Serial communications mode is
not set to Host Link (FINS).
• The Option Board that is mounted is
not a Serial Communications Option
Board.
• The Option Board is not mounted.
CPU Units.

Appendices

Member name values
ParityErr Parity Error Indicates whether a parity error occurred. BOOL TRUE or page A-162
If this error occurs, it means that the seri- FALSE
al communications settings may not ap-
ply to the remote device to connect.
TRUE: A parity error occurred.
ing causes.

• A parity error not occurred.
Board.
updating it. Use this variable A

CPU Units.
FramingErr Framing Error Indicates whether a framing error occur- BOOL TRUE or page A-162
red. If this error occurs, it means that the FALSE
serial communications settings may not
apply to the remote device to connect.
TRUE: A framing error occurred.
ing causes.
• A framing error not occurred.
Board.
CPU Units.

Appendices

Member name values
OverRun Overrun Error Indicates whether an overrun error occur- BOOL TRUE or page A-163
red. If this error occurs, it means that the FALSE
baud rate of an Option Board may be too
large.
TRUE: An overrun error occurred.
ing causes.
• An overrun error not occurred.
Board.
CPU Units.
l Functional Classification: Safety Data Logging

Member name values
_PLC_SFLogSta Safety Data Logging Stores the status of safety data logging. ARRAY[0..1] page A-163
(Ver.1.31) Status Element number 0 corresponds to Log- OF
ging Setting Number 1. Element number _sSFLOG_S
1 corresponds to Logging Setting Num- TA
ber 2.
fined variable only for the
NX102 CPU Units.
.IsStart Safety Data Logging TRUE when safety data logging starts. BOOL TRUE or
Busy Flag Note You can use this system-de- FALSE
NX102 CPU Units.
.IsComplete Safety Data Logging TRUE when logging stops. FALSE when BOOL TRUE or
Completed Flag the next logging starts. FALSE
When this flag is TRUE, it means that the
logging has completed.
NX102 CPU Units.
.IsOutput Log File Output Com- TRUE when the log file is output. FALSE BOOL TRUE or
pleted Flag when the next logging starts. FALSE
NX102 CPU Units.

Appendices
A-6-3 PLC Function Module, Category Name: _CJB
l Functional Classification: I/O Bus Status

Range of
values
_CJB_MaxRackNo Largest Rack Num- Contains the largest rack number of the UINT 0 to 3 page A-164
ber Expansion Racks that are detected by 0: Only CPU
the Controller. Rack.

ies CPU Units.
_CJB_MaxSlotNo Largest Slot Number Contains one higher than the largest slot ARRAY [0..3] 0 to 10 page A-164
number with a CJ-series Unit on each of OF UINT 0: No CJ-ser-
the Racks that are detected by the Con- ies Unit
troller. mounted.
ies CPU Units.
A
l Functional Classification: I/O Bus Errors
Range of

values
_CJB_ErrSta I/O Bus Error Status Gives the I/O bus error status. WORD 16#0000 to page A-165
Note Do not use this variable in the 16#C0F0
delay in updating it. Use this
variable only to access status
through communications from
an external device.
Refer to information on the
meanings of the error status
bits at the end of this appendix
for details.
ies CPU Units.
_CJB_MstrErrSta I/O Bus Master Error Gives the I/O bus master error status. WORD 16#0000 to page A-165
Status Note Do not use this variable in the 16#00F0
an external device.
for details.
ies CPU Units.

Appendices
Range of
values
_CJB_UnitErrSta I/O Bus Unit Error Gives the error status of the I/O Bus Unit. ARRAY [0..3, 16#0000 to page A-165
Status Note Do not use this variable in the 0..9] OF 16#80F0
user program. There may be a WORD
an external device.
for details.
ies CPU Units.
_CJB_InRespTm Basic Input Unit Input Contains the response times of the Basic ARRAY [0..3, 0 to 320 page A-166
Response Times Input Units. 0..9] OF
Note You can use this system-de- UINT
ies CPU Units.
l Functional Classification: Auxiliary Area Bits for CJ-series Units

Range of
values
_CJB_IOUnitInfo Basic I/O Unit Infor- Shows the status of the Basic I/O Unit ARRAY [0..3, TRUE or page A-166
mation alarm output (load short-circuit protec- 0..9, 0..7] OF FALSE
tion). BOOL
TRUE: Load short-circuit
FALSE: No load short-circuit
ies CPU Units.
_CJB_CBU00InitSta CPU Bus Unit Initial- The corresponding variable is TRUE dur- BOOL TRUE or page A-166
to izing Flags ing initialization of the CPU Bus Unit. FALSE
_CJB_CBU15InitSta The corresponding variable changes to
ed.
ies CPU Units.
_CJB_SIO00InitSta Special I/O Unit Initi- The corresponding variable is TRUE dur- BOOL TRUE or page A-167
to alizing Flags ing initialization of the Special I/O Unit. FALSE
_CJB_SIO95InitSta The corresponding variable changes to
ed.
ies CPU Units.

Appendices
Range of
values
_CJB_CBU00Restart CPU Bus Unit Re- The CPU Bus Unit is restarted when the BOOL TRUE or page A-167
to start Bits corresponding variable changes to FALSE
_CJB_CBU15Restart TRUE. (It is changed to FALSE by the
system after the CPU Bus Unit is restart-
ed.)

next task period.
ies CPU Units.
_CJB_SIO00Restart Special I/O Unit Re- The Special I/O Unit is restarted when BOOL TRUE or page A-167
to start Bits the corresponding variable changes to FALSE
_CJB_SIO95Restart TRUE. (It is changed to FALSE by the
system after the Special I/O Unit is re-
started.) A
A-6-4 NX Bus Function Module, Category Name: _NXB

next task period.
ies CPU Units.
_CJB_SCU00P1Chg Serial Communica- TRUE when the parameters of the speci- BOOL TRUE or page A-168
Sta tions Unit 0, Port 1/2 fied port are being changed. FALSE
_CJB_SCU00P2Chg Settings Changing FALSE after the parameters are
Sta Flags changed.
to It is also possible for the user to indicate
_CJB_SCU15P1Chg Serial Communica- a change in serial port settings by turning BOOL TRUE or page A-168
Sta tions Units 1 to 15, ON the corresponding flag through the FALSE
_CJB_SCU15P2Chg Port 1/2 Settings execution of an instruction or a user op-
Sta Changing Flags eration.
ies CPU Units.

Appendices
l Functional Classification: NX Bus Function Module Status

Range of
values
_NXB_MaxUnitNo Largest Unit Number Contains the largest NX Unit number of UINT 0 to 32*1 page A-168
(Ver.1.13) the NX Units on the CPU Unit that are 0: No NX
detected by the NX Bus Function Mod- Unit mount-
ule. ed.
If the Unit configuration information is
registered by the Sysmac Studio, the val-
ue will be the largest NX Unit number of
the registered Unit configuration. Units
that are set as unmounted Units are also
included.
If the Unit configuration information is not
registered by the Sysmac Studio, the val-
ue will be the largest Unit number of an
actual Unit configuration.
NX102 CPU Units and NX1P2
CPU Units.
_NXB_UnitIOActi- NX Unit I/O Data Ac- Indicates whether the I/O data in the NX ARRAY TRUE or page A-169
veTbl tive Status Units on the CPU Unit is valid. This sta- [0..32] OF FALSE
(Ver.1.13) tus is given as an array of BOOL data. BOOL*2
The subscript of the array corresponds to
the NX Unit number. A subscript of 0 indi-
cates the NX Bus Function Module and it
is always TRUE.
TRUE: The I/O data in the NX Unit is val-
id.
FALSE: The I/O data in the NX Unit is in-
valid.
The status is FALSE for NX Units that are
set as unmounted Units.
CPU Units.
_NXB_UnitMsgActi- NX Unit Message Indicates whether the NX Units on the ARRAY TRUE or page A-169
veTbl Enabled Status CPU Unit can process message commu- [0..32] OF FALSE
(Ver.1.13) nications. This status is given as an array BOOL*2
of BOOL data. The subscript of the array
corresponds to the NX Unit number. A
subscript of 0 indicates the NX Bus Func-
tion Module and it is always TRUE.
TRUE: Message communications possi-
ble.
FALSE: Message communications not
possible.
The status is FALSE for NX Units that are
set as unmounted Units.
CPU Units.

Appendices
Range of
values
_NXB_UnitRegTbl NX Unit Registration Indicates whether the NX Units on the ARRAY TRUE or page A-169
(Ver.1.13) Status CPU Unit are registered in the Unit con- [0..32] OF FALSE
figuration. This status is given as an ar- BOOL*2
ray of BOOL data. The subscript of the
array corresponds to the NX Unit num-
ber. A subscript of 0 indicates the NX Bus
Function Module.

TRUE: Registered.
FALSE: Not registered.
If the Unit configuration information is not
registered by the Sysmac Studio, the sta-
tus is FALSE for all Units. The status is
TRUE for NX Units that are set as un-
mounted Units.
CPU Units.
*1. For the NX1P2 CPU Units, the range of values is 0 to 8. A
*2. For the NX1P2 CPU Units, the data type is ARRAY [0..8] OF BOOL.

l Functional Classification: NX Bus Function Module Errors
Range of
values
_NXB_ErrSta NX Bus Function Gives the NX Bus Function Module error WORD 16#0000 to page A-170
(Ver.1.13) Module Error Status status. 16#40F2
This system-defined variable provides
the collective status of the NX Bus Func-
tion Module Master Error Status and NX
Bus Function Module Unit Error Status
for all NX Units.
Refer to A-6-8 Meanings of Er-
ror Status Bits on page A-137
for the meanings of the error
status bits.
CPU Units.

Appendices
Range of
values
_NXB_MstrErrSta NX Bus Function Gives the status of errors that are detect- WORD 16#0000 to page A-170
(Ver.1.13) Module Master Error ed in the NX Bus Function Module of the 16#40F2
Status CPU Unit.
status bits.
CPU Units.
_NXB_UnitErrStaTbl NX Bus Function Gives the status of errors that are detect- ARRAY 16#0000 to page A-171
(Ver.1.13) Module Unit Error ed in the NX Bus Function Module of the [1..32] OF 16#40F2
Status CPU Unit. This status is given as an ar- WORD*1
ray of WORD data. The subscript of the
array corresponds to the NX Unit num-
ber.
status bits.
CPU Units.
_NXB_UnitErr- NX Unit Error Status Indicates whether errors occurred in the ARRAY TRUE or page A-171
FlagTbl NX Unit on the CPU Unit. This status is [0..32] OF FALSE
(Ver.1.13) given as an array of BOOL data. The BOOL*2
subscript of the array corresponds to the
NX Unit number. A subscript of "0" indi-
cates the NX Bus Function Module and
whether an event occurred that is detect-
ed by the NX Bus Function Module.
TRUE: Error.
FALSE: No error.
The status is "FALSE" for NX Units that
are set as unmounted Units.
CPU Units.
*1. For the NX1P2 CPU Units, the data type is ARRAY [1..8] OF WORD.

Appendices
A-6-5 Motion Control Function Module, Category Name: _MC
l Functional Classification: Motion Control Functions

Range of
values
_MC_ErrSta Motion Control Func- Shows the status of errors that are de- WORD 16#0000 to page A-172
tion Module Error tected in the Motion Control Function 16#40F0
Status Module.

You can use this variable directly in the
user program.
Refer to Meanings of Error Status Bits for
the meanings of the error status bits.
_MC_ComErrSta Common Error Sta- Shows the status of errors that are de- WORD 16#0000 to page A-172
tus tected in common processing for motion 16#00F0
control.
user program. Refer to Meanings of Error
Status Bits for the meanings of the error
status bits.
_MC_AX_ErrSta Axis Error Status Shows the error status for each axis. The Array [0..255] 16#0000 to page A-172
A
status of up to 256 axes*1 is shown. OF WORD*1 16#00F0

status bits.
_MC_GRP_ErrSta Axes Group Error Shows the error status for each axes Array [0..63] 16#0000 to page A-172
Status group. The error status for up to 64 axes OF WORD*2 16#00F0
groups*2 is shown.
status bits.
_MC_COM Common Variable Shows the status that is common to the _sCOM- --- page A-173
Motion Control Function Module. MON_REF
Refer to the NJ/NX-series Motion Control
Instructions Reference Manual (Cat. No.
W508) for details on structure members.
_MC_GRP Axes Group Varia- NX701 CPU Units: Used to specify axes AR- --- page A-173
bles groups and shows multi-axes coordinat- RAY[0..63]
ed control status, and multi-axes coordi- OF
nated control settings for motion control _sGROUP_R
instructions used for motion control 1. EF*3
NX102 CPU Units, NX1P2 CPU Units,
and NJ-series CPU Units: Used to speci-
fy axes groups and shows multi-axes co-
ordinated control status, and multi-axes
coordinated control settings for motion
When you create an axes group on the
System Studio, a user-defined axes
group variable with a different name is
created.
Normally, you use an Axes Group Varia-
ble with a different name.

Appendices
Range of
values
_MC1_GRP Axes Group Varia- Used to specify axes groups and shows AR- --- page A-173
bles multi-axes coordinated control status, RAY[0..63]
and multi-axes coordinated control set- OF
tings for motion control instructions used _sGROUP_R
for motion control 1. EF
created.
fined variable only for NX701
CPU Units.
You can access the same val-
ues of _MC1_GRP and
_MC_GRP if the array element
numbers of them are the
same.
_MC2_GRP Axes Group Varia- Used to specify axes groups and shows AR- --- page A-174
bles multi-axes coordinated control status, RAY[0..63]
and multi-axes coordinated control set- OF
tings for motion control instructions used _sGROUP_R
for motion control 2. EF
created.
CPU Units.
_MC_AX Axis Variables NX701 CPU Units: Used to specify axes AR- --- page A-174
and shows single-axis control status, and RAY[0..255]
single-axis control settings for motion OF _sAX-
control instructions used for motion con- IS_REF*4
trol 1.
NX102 CPU Units, NX1P2 CPU Units,
and NJ-series CPU Units: Used to speci-
fy axes and shows single-axis control
status, and single-axis control settings for
motion control instructions.
When you create an axis on the System
Studio, a user-defined axis variable with
a different name is created.
Normally, you use an Axis Variable with a
different name.

Appendices
Range of
values
_MC1_AX Axis Variables Used to specify axes and shows single- AR- --- page A-174
axis control status, and single-axis con- RAY[0..255]
trol settings for motion control instruc- OF _sAX-
tions used for motion control 1. IS_REF

different name.
CPU Units. You can access the
same values of _MC1_AX and
_MC_AX if the array element
numbers of them are the
same. A
_MC2_AX Axis Variables Used to specify axes and shows single- AR- --- page A-175
axis control status, and single-axis con- RAY[0..255]
A-6-6 EtherCAT Master Function Module, Category Name: _EC

trol settings for motion control instruc- OF _sAX-
tions used for motion control 2. IS_REF
different name.
CPU Units.
*1. For the NX102 CPU Units and NX1P2 CPU Units, the error status of up to 16 axes is shown and the data type is ARRAY [0..15] OF
WORD.
For NJ-series CPU Units, the error status of up to 64 axes is shown and the data type is ARRAY [0..63] OF WORD.
*2. For the NX102 CPU Units and NX1P2 CPU Units, the error status of up to 8 axes groups is shown and the data type is ARRAY [0..7]
OF WORD.
For NJ-series CPU Units, the error status of up to 32 axes groups is shown and the data type is ARRAY [0..31] OF WORD.
OF _sGROUP_REF.
For NJ-series CPU Units, the error status of up to 32 axes groups is shown and the data type is ARRAY [0..31] OF _sGROUP_REF.
_sAXIS_REF.
For NJ-series CPU Units, the error status of up to 64 axes is shown and the data type is ARRAY [0..63] OF _sAXIS_REF.

Appendices
l Functional Classification: EtherCAT Communications Errors

Range of
values
_EC_ErrSta Built-in EtherCAT Er- This system-defined variable provides WORD 16#0000 to page A-175
ror the collective status of errors in the 16#40F0
EtherCAT Master Function Module.
_EC_PortErr Communications Port This system-defined variable provides WORD 16#0000 to page A-175
Error the collective status of errors in the com- 16#00F0
munications ports for the EtherCAT mas-
ter.
_EC_MstrErr Master Error This system-defined variable provides WORD 16#0000 to page A-175
the collective status of EtherCAT master 16#00F0
errors and slave errors detected by the
EtherCAT master.
_EC_SlavErr Slave Error This system-defined variable provides WORD 16#0000 to Refer to
the collective status of all the error status 16#00F0 page A-176.
for EtherCAT slaves.
_EC_SlavErrTbl Slave Error Table This system-defined variable gives the Array [1..512] 16#0000 to page A-176
error status for each EtherCAT slave. OF WORD*1 16#00F0
This error status shows status of error in
each slave in the actual system configu-
ration. This variable array indicates
slaves in which there are errors. Status is
provided for each EtherCAT slave node
address (1 to 512)*1.
_EC_MacAdrErr MAC Address Error TRUE if the MAC Address Error BOOL TRUE or page A-176
(14400000 hex) event occurred. FALSE
_EC_LanHwErr Communications TRUE if the Communications Controller BOOL TRUE or page A-176
Controller Error Error (047C0000 hex) event occurred. FALSE
_EC_LinkOffErr Link OFF Error TRUE if the Link OFF Error (84200000 BOOL TRUE or page A-176
hex) event occurred. FALSE
_EC_NetCfgErr Network Configura- TRUE if the Network Configuration Infor- BOOL TRUE or page A-177
tion Information Error mation Error (34400000 hex) event oc- FALSE
curred.

Appendices
Range of
values
_EC_NetCfgCmpErr Network Configura- TRUE if one of the following events oc- BOOL TRUE or page A-177
tion Verification Error curred. FALSE
• Network Configuration Verification Er-
ror (84220000 hex)
ror (Slave Unconnected) (84380000
hex)

ror (Unnecessary Slave Connected)
(84320003 hex)
ror (Mismatched Slave) (84330004
hex)
ror (Incorrect Ring Wiring) (843A0000
hex)
_EC_NetTopologyErr Network Configura- TRUE if one of the following events oc- BOOL TRUE or page A-177
tion Error curred. FALSE
• Network Configuration Error A
(84210000 hex)
• Incorrect Wiring Detected (843C0000

hex)
_EC_PDCommErr Process Data Com- TRUE if one of the following events oc- BOOL TRUE or page A-177
munications Error curred. FALSE
• Process Data Communications Error
(842C0000 hex)
• Illegal Slave Disconnection Detected
(84310002 hex)
• Slave PDI WDT Error Detected
(84340000 hex)
_EC_PDTimeoutErr Process Data Recep- TRUE if the Process Data Reception BOOL TRUE or page A-177
tion Timeout Error Timeout (842B0000 hex) event occurred. FALSE
_EC_PDSendErr Process Data Trans- TRUE if the Process Data Transmission BOOL TRUE or page A-178
mission Error Error (84290000 hex) event occurred. FALSE
_EC_SlavAdrDupErr Slave Node Address TRUE if the Slave Node Address Dupli- BOOL TRUE or page A-178
Duplicated Error cated (24200000 hex) event occurred. FALSE
_EC_SlavInitErr Slave Initialization TRUE if one of the following events oc- BOOL TRUE or page A-178
Error curred. FALSE
• Slave Initialization Error (84230000
hex)
• Slave State Transition Failed
(84300001 hex)
_EC_SlavAppErr Slave Application Er- TRUE if one of the following events oc- BOOL TRUE or page A-178
ror curred. FALSE
• Slave Application Error (84280000
hex)
• Slave AL Status Error Detected
(84360000 hex)
_EC_MsgErr EtherCAT Message TRUE if one of the following events oc- BOOL TRUE or page A-178
Error curred. FALSE
• EtherCAT Message Error (842D0000
hex)
• Illegal Mailbox Received (84350000
hex)
_EC_SlavEmergErr Emergency Message TRUE if the Emergency Message Detect- BOOL TRUE or page A-179
Detected ed (64200000 hex) event occurred. FALSE

Appendices
Range of
values
_EC_IndataInvalidErr Input Process Data TRUE if the Input Process Data Invalid BOOL TRUE or page A-179
(Ver.1.13) Invalid Error Error (842F0000 hex) event occurred. FALSE
_EC_CommErrTbl Communications Er- Slaves are given in the table in the order Array [1..512] TRUE or page A-179
ror Slave Table of slave node addresses. The corre- OF BOOL*1 FALSE
sponding slave element is TRUE if the
master detected an error for the slave.
_EC_CycleExceeded EtherCAT Communi- TRUE if the EtherCAT Communications BOOL TRUE or page A-179
cations Cycle Ex- Cycle Exceeded (34410000 hex) event FALSE
ceeded occurred.
fined variable only for NX-ser-
ies CPU Units.
*1. For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the node address is 1 to 192 and the data type is ARRAY
[1..192] OF WORD.

Appendices
Typical Relationships for the Built-in EtherCAT Error Flags
Variable Variable Event Lev-

Meaning Meaning Variable name Meaning
name name els
_EC_ErrSta Built-in Ether- _EC_PortErr Communi- _EC_MacAdrErr MAC Address Partial fault
CAT Error cations Port Error level
Error _EC_LanHwErr Communications

Controller Error
_EC_LinkOffErr Link OFF error
_EC_MstrErr Master Er- _EC_NetCfgErr Network Config- Minor fault
ror uration Informa- level
tion Error
_EC_NetCfgCm- Network Config-
pErr uration Verifica-
tion Error
_EC_NetTopolo- Network Config-
gyErr uration Error
_EC_PDCommErr Process Data
Communications
A
Error
_EC_PDTimeoutErr Process Data

Reception Time-
out Error
_EC_PDSendErr Process Data
Transmission Er-
ror
_EC_SlavAdrDu- Slave Node Ad-
pErr dress Duplicated
Error
_EC_SlavInitErr Slave Initializa-
tion Error
_EC_SlavAppErr Slave Applica-
tion Error
_EC_CommErrTbl Communications
Error Slave Ta-
ble
_EC_CycleExceed- EtherCAT Com-
ed munications Cy-
cle Exceeded
_EC_MsgErr EtherCAT Mes- Observation
sage Error
_EC_SlavEmergErr Emergency Mes-
sage Detected
_EC_SlavErr Slave Error _EC_SlavErrTbl Slave Error Ta- Defined by
ble the slave.
Note The values of all system-defined variables that are related to errors in EtherCAT communications do not
change until the cause of the error is removed and then the error in the Controller is reset with the trou-
bleshooting functions of the Sysmac Studio or the ResetECError instruction.

Appendices
l Functional Classification: EtherCAT Communications Status

Range of
values
_EC_RegSlavTbl Registered Slave Ta- This table indicates the slaves that are Array [1..512] TRUE or page A-179
ble registered in the network configuration in- OF BOOL*1 FALSE
formation.
Slaves are given in the table in the order
of slave node addresses.
The element for a slave is TRUE if the
corresponding slave is registered.
_EC_EntrySlavTbl Network Connected This table indicates which slaves are Array [1..512] TRUE or page A-180
Slave Table connected to the network. OF BOOL*1 FALSE
Slaves are given in the table in the order
corresponding slave has entered the net-
work.
_EC_MBXSlavTbl Message Communi- This table indicates the slaves that can Array [1..512] TRUE or page A-180
cations Enabled perform message communications. OF BOOL*1 FALSE
Slave Table Slaves are given in the table in the order
The element for a slave is TRUE if mes-
sage communications are enabled for it
(pre-operational, safe-operation, or op-
erational state).
Note Use this variable to confirm
that message communications
are possible for the relevant
slave before you execute mes-
sage communications with an
EtherCAT slave.
_EC_PDSlavTbl Process Data Com- This table indicates the slaves that are Array [1..512] TRUE or page A-180
municating Slave Ta- performing process data communica- OF BOOL*1 FALSE
ble tions. Slaves are given in the table in the
order of slave node addresses.
The element for a slave is TRUE if proc-
ess data of the corresponding slave is
enabled (operational) for both slave in-
puts and outputs.
Note Use this variable to confirm
that the data for the relevant
slave is valid before controlling
an EtherCAT slave.
_EC_DisconnSlavTbl Disconnected Slave Slaves are given in the table in the order Array [1..512] TRUE or page A-181
Table of slave node addresses. OF BOOL*1 FALSE
corresponding slave was disconnected.
_EC_DisableSlavTbl Disabled Slave Table Slaves are given in the table in the order Array [1..512] TRUE or page A-181
of slave node addresses. OF BOOL*1 FALSE
corresponding slave is disabled.
_EC_PDActive Process Data Com- TRUE when process data communica- BOOL TRUE or page A-181
munications Status tions are performed with all slaves*. FALSE
*Disabled slaves are not included.
_EC_PktMonStop Packet Monitoring TRUE when packet monitoring is stop- BOOL TRUE or page A-181
Stopped ped. FALSE
_EC_LinkStatus Link Status TRUE if the Communications Controller BOOL TRUE or page A-181
link status is Link ON. FALSE

Appendices
Range of
values
_EC_PktSaving Saving Packet Data Shows whether a packet data file is being BOOL TRUE or page A-182
File saved. FALSE
TRUE: Packet data file being saved.
FALSE: Packet data file not being saved.
_EC_InDataInvalid Input Data Invalid TRUE when process data communica- BOOL TRUE or page A-182
tions established in the primary periodic FALSE
task are not normal and the input data is

not valid.
_EC_InData1Invalid Input Data1 Invalid TRUE when process data communica- BOOL TRUE or page A-182
tions established in the primary periodic FALSE
not valid.
ies CPU Units.
_EC_InData2Invalid Input Data2 Invalid TRUE when process data communica- BOOL TRUE or page A-182
tions established in the priority-5 periodic FALSE
not valid. A

ies CPU Units.
Note Always TRUE for the NX102
CPU Unit and NX1P2 CPU
Unit.
_EC_RingBreaking Ring Disconnection TRUE when all slaves in the ring topolo- BOOL TRUE or page A-183
(Ver.1.40) gy except for disabled slaves are con- FALSE
nected and if there is only one point of
disconnection in the communications ca-
bles in the ring topology.
_EC_RingBreakNo- Slave Node Address When the _EC_RingBreaking (Ring Dis- UINT 0 to maxi- page A-183
deAdr Before Ring Discon- connection) system-defined variable is mum number
(Ver.1.40) nection TRUE, the slave node address before of node ad-
point of disconnection is stored. dresses
When the _EC_RingBreaking (Ring Dis-
connection) system-defined variable is
FALSE, “0” is stored.
*1. For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the data type is ARRAY [1..192] OF BOOL.
Note All system-defined variables that are related to the status of EtherCAT communications give the current status.
l Functional Classification: EtherCAT Communications Diagnosis/Statistics

Log
Range of
values
_EC_StatisticsLo- Diagnosis/Statistics Changes to TRUE when the diagnosis/ BOOL TRUE or page A-183
gEnable Log Enable statistics log is started. FALSE
(Ver.1.11) Changes to FALSE when the diagnosis/
statistics log is ended.

Appendices
Range of
values
_EC_StatisticsLog- Diagnosis/Statistics Specifies the interval to write the diag- UINT 0, or 30 to page A-183
CycleSec Log Cycle nostic and statistical information of the di- 1800
(Ver.1.11) agnosis/statistics log in units of seconds.
When 0 is specified, the diagnostic and
statistical information is written only once
when the diagnosis/statistics log is
ended.
Note The write interval does not
change even if you change the
value of this system-defined
variable while the diagnosis/
statistics log operation is in
progress.
_EC_Statistic- Diagnosis/Statistics TRUE while the diagnosis/statistics log BOOL TRUE or page A-184
sLogBusy Log Busy operation is in progress. FALSE
(Ver.1.11)
_EC_StatisticsLogErr Diagnosis/Statistics TRUE when the diagnosis/statistics log BOOL TRUE or page A-184
(Ver.1.11) Log Error failed to start or it is impossible to write FALSE
into the log.
The value of this flag is determined when
_EC_StatisticsLogBusy (Diagnosis/
Statistics Log Busy) changes to FALSE
after the diagnosis/statistics log operation
is started.
The error end is caused by the following.
• Another records cannot be added in
the log file because the capacity of the
SD Memory Card is fully used.
• The SD Memory Card is write-protect-
ed.
• There is no SD Memory Card.
• The function cannot be started be-
cause the value specified for
_EC_StatisticsLogCycleSec (Diagno-
sis/Statistics Log Cycle) is invalid.
A-6-7 EtherNet/IP Function Module, Category Name: _EIP

Appendices
l Functional Classification: EtherNet/IP Communications Errors

Range of
values
_EIP_ErrSta Built-in EtherNet/IP This is the error status variable for the WORD 16#0000 to page A-184
Error built-in EtherNet/IP port. 16#00F0
NX-series CPU Units: Represents the
collective status of the following error
flags.

• _EIP1_PortErr (Communications Port1
Error)
• _EIP2_PortErr (Communications Port2
Error)
• _EIP1_CipErr (CIP Communications1
Error)
• _EIP2_CipErr (CIP Communications2
Error)
• _EIP_TcpAppErr (TCP Application
Communications Error)
NJ-series CPU Units: Represents the col-
lective status of the following error flags. A
• _EIP_PortErr (Communications Port
Error)
•

_EIP_CipErr (CIP Communications Er-
ror)
• _EIP_TcpAppErr (TCP Application
Communications Error)
Note Refer to Meanings of Error
Status Bits for the meanings of
the error status bits.

Appendices
Range of
values
_EIP_PortErr Communications Port This is the error status variable for the WORD 16#0000 to page A-185
Error communications port. 16#00F0
flags.
• _EIP1_MacAdrErr (Port1 MAC Ad-
dress Error)
• _EIP1_LanHwErr (Port1 Communica-
tions Controller Error)
• _EIP1_EtnCfgErr (Port1 Basic Ether-
net Setting Error)
• _EIP1_IPAdrCfgErr (Port1 IP Address
Setting Error)
• _EIP1_IPAdrDupErr (Port1 IP Address
Duplication Error)
• _EIP1_BootpErr (Port1 BOOTP Serv-
er Error)
• _EIP_DNSCfgErr (DNS Setting Error)
• _EIP_DNSSrvErr (DNS Server Con-
nection Error)
• _EIP_IPRTblErr (IP Route Table Error)
lective status of the following error flags.
• _EIP_MacAdrErr (MAC Address Error)
• _EIP_LanHwErr (Communications
Controller Error)
• _EIP_EtnCfgErr (Basic Ethernet Set-
ting Error)
• _EIP_IPAdrCfgErr (IP Address Setting
Error)
• _EIP_IPAdrDupErr (IP Address Dupli-
cation Error)
• _EIP_BootpErr (BOOTP Server Error)
Note If a Link OFF Detected or Built-
in EtherNet/IP Error occurs, it
is recorded in the event log
and then the corresponding bit
turns ON.
Refer to Meanings of Error

Appendices
Range of
values
_EIP1_PortErr Communications This is the error status variable for the WORD 16#0000 to page A-185
Port1 Error communications port 1. 16#00F0
Represents the collective status of the
following error flags.
dress Error)

net Setting Error)
Setting Error)
Duplication Error)
er Error)
nection Error) A

turns ON.
ies CPU Units.

Appendices
Range of
values
_EIP2_PortErr Communications This is the error status variable for the WORD 16#0000 to page A-186
Port2 Error communications port 2. 16#00F0
dress Error)
net Setting Error)
Setting Error)
Duplication Error)
er Error)
nection Error)
turns ON.
NX701, and NX102 CPU Units.

Appendices
Range of
values
_EIP_CipErr CIP Communications This is the error status variable for CIP WORD 16#0000 to page A-186
Error communications. 16#00F0
flags.
• _EIP1_IdentityErr (CIP Communica-
tions1 Identity Error)

• _EIP1_TDLinkCfgErr (CIP Communi-
cations1 Tag Data Link Setting Error)
• _EIP1_TDLinkOpnErr (CIP Communi-
cations1 Tag Data Link Connection
Failed)
• _EIP1_TDLinkErr (CIP Communica-
tions1 Tag Data Link Communications
Error)
• _EIP1_TagAdrErr (CIP Communica-
tions1 Tag Name Resolution Error)
• _EIP1_MultiSwONErr (CIP Communi-
cations1 Multiple Switches ON Error) A
lective status of the following error flags.

• _EIP_IdentityErr (Identity Error)
• _EIP_TDLinkCfgErr (Tag Data Link
Setting Error)
• _EIP_TDLinkOpnErr (Tag Data Link
Connection Failed)
• _EIP_TDLinkErr (Tag Data Link Com-
munications Error)
• _EIP_TagAdrErr (Tag Name Resolu-
tion Error)
• _EIP_MultiSwOnErr (Multiple
Switches ON Error)
Note If a Tag Name Resolution Error
occurs, it is recorded in the
event log and this variable
changes to TRUE. Refer to
Meanings of Error Status Bits
status bits.

Appendices
Range of
values
_EIP1_CipErr CIP Communica- This is the error status variable for CIP WORD 16#0000 to page A-187
tions1 Error communications 1. 16#00F0
Failed)
Error)
cations1 Multiple Switches ON Error)
status bits.
ies CPU Units.
_EIP2_CipErr CIP Communica- This is the error status variable for CIP WORD 16#0000 to page A-187
tions2 Error communications 2. 16#00F0
Failed)
Error)
cations2 Multiple Switches ON Error)
status bits.
NX701, and NX102 CPU Units.

Appendices
Range of
values
_EIP_TcpAppErr TCP Application This is the error status variable for TCP WORD 16#0000 to page A-187
Communications Er- application communications. 16#00F0
ror Represents the collective status of the
• _EIP_TcpAppCfgErr (TCP Application
Setting Error)
• _EIP_NTPSrvErr (NTP Server Con-

nection Error)
Note Refer to Meanings of Error
_EIP_MacAdrErr MAC Address Error NX-series CPU Units: Indicates that an BOOL TRUE or page A-188
error occurred when the MAC address FALSE
was read on the communications port 1
at startup.
TRUE: Error
FALSE: Normal
NJ-series CPU Units: Indicates that an
error occurred when the MAC address A
was read at startup.
TRUE: Error

FALSE: Normal
_EIP1_MacAdrErr Port1 MAC Address Indicates that an error occurred when the BOOL TRUE or page A-188
Error MAC address was read on the communi- FALSE
cations port 1 at startup.
TRUE: Error
FALSE: Normal
ies CPU Units.
_EIP2_MacAdrErr Port2 MAC Address Indicates that an error occurred when the BOOL TRUE or page A-188
Error MAC address was read on the communi- FALSE
cations port 2 at startup.
TRUE: Error
FALSE: Normal
NX701 and NX102 CPU Units.
_EIP_LanHwErr Communications NX-series CPU Units: Indicates that a BOOL TRUE or page A-188
Controller Error communications controller failure occur- FALSE
red on the communications port 1.
TRUE: Failure
FALSE: Normal
NJ-series CPU Units: Indicates that a
communications controller failure occur-
red.
TRUE: Failure
FALSE: Normal
_EIP1_LanHwErr Port1 Communica- Indicates that a communications control- BOOL TRUE or page A-189
tions Controller Error ler failure occurred on the communica- FALSE
tions port 1.
TRUE: Failure
FALSE: Normal
ies CPU Units.

Appendices
Range of
values
_EIP2_LanHwErr Port2 Communica- Indicates that a communications control- BOOL TRUE or page A-189
tions Controller Error ler failure occurred on the communica- FALSE
tions port 2.
TRUE: Failure
FALSE: Normal
_EIP_EtnCfgErr Basic Ethernet Set- NX-series CPU Units: Indicates that the BOOL TRUE or page A-189
ting Error Ethernet communications speed setting FALSE
(Speed/Duplex) for the communications
port 1 is incorrect. Or, a read operation
failed.
TRUE: Setting incorrect or read failed.
FALSE: Normal
NJ-series CPU Units: Indicates that the
Ethernet communications speed setting
(Speed/Duplex) is incorrect. Or, a read
operation failed.
FALSE: Normal
_EIP1_EtnCfgErr Port1 Basic Ethernet Indicates that the Ethernet communica- BOOL TRUE or page A-189
Setting Error tions speed setting (Speed/Duplex) for FALSE
the communications port 1 is incorrect.
Or, a read operation failed.
FALSE: Normal
ies CPU Units.
_EIP2_EtnCfgErr Port2 Basic Ethernet Indicates that the Ethernet communica- BOOL TRUE or page A-190
Setting Error tions speed setting (Speed/Duplex) for FALSE
the communications port 2 is incorrect.
FALSE: Normal
_EIP_IPAdrCfgErr IP Address Setting NX-series CPU Units: Indicates the IP BOOL TRUE or page A-190
Error address setting errors for the communi- FALSE
cations port 1.
TRUE:
• There is an illegal IP address setting.
• A read operation failed.
• The IP address obtained from the
BOOTP server is inconsistent.
FALSE: Normal
NJ-series CPU Units: Indicates the IP ad-
dress setting errors.
TRUE:
• The default gateway settings are not
correct.
FALSE: Normal

Appendices
Range of
values
_EIP1_IPAdrCfgErr Port1 IP Address Indicates the IP address setting errors for BOOL TRUE or page A-190
Setting Error the communications port 1. FALSE
TRUE:

FALSE: Normal
ies CPU Units.
_EIP2_IPAdrCfgErr Port2 IP Address Indicates the IP address setting errors for BOOL TRUE or page A-191
Setting Error the communications port 2. FALSE
TRUE:
FALSE: Normal A

_EIP_IPAdrDupErr IP Address Duplica- NX-series CPU Units: Indicates that the BOOL TRUE or page A-191
tion Error same IP address is assigned to more FALSE
than one node for the communications
port 1.
TRUE: Duplication occurred.
FALSE: Other than the above.
same IP address is assigned to more
than one node.
_EIP1_IPAdrDupErr Port1 IP Address Du- Indicates that the same IP address is as- BOOL TRUE or page A-191
plication Error signed to more than one node for the FALSE
communications port 1.
ies CPU Units.
_EIP2_IPAdrDupErr Port2 IP Address Du- Indicates that the same IP address is as- BOOL TRUE or page A-191
plication Error signed to more than one node for the FALSE
communications port 2.
_EIP_DNSCfgErr*1 DNS Setting Error Indicates that the DNS or hosts settings BOOL TRUE or page A-192
are incorrect. Or, a read operation failed. FALSE
FALSE: Normal

Appendices
Range of
values
_EIP_BootpErr BOOTP Server Error NX-series CPU Units: Indicates that a BOOL TRUE or page A-192
BOOTP server connection failure occur- FALSE
red on the communications port 1.
TRUE: There was a failure to connect to
the BOOTP server (timeout).
FALSE: The BOOTP is not enabled, or
BOOTP is enabled and an IP address
was normally obtained from the BOOTP
server.
BOOTP server connection failure occur-
red.
server.
_EIP1_BootpErr Port1 BOOTP Server Indicates that a BOOTP server connec- BOOL TRUE or page A-192
Error tion failure occurred on the communica- FALSE
tions port 1.
server.
ies CPU Units.
_EIP2_BootpErr Port2 BOOTP Server Indicates that a BOOTP server connec- BOOL TRUE or page A-192
Error tion failure occurred on the communica- FALSE
tions port 2.
server.
_EIP_IPRTblErr IP Route Table Error NX-series CPU Units: Indicates that the BOOL TRUE or page A-193
default gateway settings or IP router ta- FALSE
ble settings are incorrect.
FALSE: Normal
IP router table or hosts settings are incor-
rect. Or, a read operation failed.
FALSE: Normal

Appendices
Range of
values
_EIP_IdentityErr Identity Error NX-series CPU Units: Indicates that the BOOL TRUE or page A-193
identity information for CIP communica- FALSE
tions 1 (which you cannot overwrite) is in-
correct. Or, a read operation failed.
FALSE: Normal

identity information (which you cannot
overwrite) is incorrect. Or, a read opera-
tion failed.
FALSE: Normal
_EIP1_IdentityErr CIP Communica- Indicates that the identity information for BOOL TRUE or page A-193
tions1 Identity Error CIP communications 1 (which you cannot FALSE
tion failed.
FALSE: Normal
Note You can use this system-de- A
ies CPU Units.

_EIP2_IdentityErr CIP Communica- Indicates that the identity information for BOOL TRUE or page A-193
tions2 Identity Error CIP communications 2 (which you cannot FALSE
tion failed.
FALSE: Normal
_EIP_TDLinkCfgErr Tag Data Link Setting NX-series CPU Units: Indicates that the BOOL TRUE or page A-194
Error tag data link settings for CIP communica- FALSE
tions 1 are incorrect. Or, a read operation
failed.
FALSE: Normal
tag data link settings are incorrect. Or, a
read operation failed.
FALSE: Normal
_EIP1_TDLinkCfgErr CIP Communica- Indicates that the tag data link settings BOOL TRUE or page A-194
tions1 Tag Data Link for CIP communications 1 are incorrect. FALSE
Setting Error Or, a read operation failed.
FALSE: Normal
ies CPU Units.
_EIP2_TDLinkCfgErr CIP Communica- Indicates that the tag data link settings BOOL TRUE or page A-194
tions2 Tag Data Link for CIP communications 2 are incorrect. FALSE
Setting Error Or, a read operation failed.
FALSE: Normal

Appendices
Range of
values
_EIP_TDLinkOpnErr Tag Data Link Con- NX-series CPU Units: Indicates that es- BOOL TRUE or page A-195
nection Failed tablishing a tag data link connection for FALSE
CIP communications 1 failed.
TRUE: Establishing a tag data link con-
nection failed due to one of the following
causes.
• The information registered for a target
node in the tag data link parameters is
different from the actual node informa-
tion.
• There was no response from the re-
mote node.
NJ-series CPU Units: Indicates that es-
tablishing a tag data link connection
failed.
causes.
tion.
mote node.
_EIP1_TDLinkOp- CIP Communica- Indicates that establishing a tag data link BOOL TRUE or page A-195
nErr tions1 Tag Data Link connection for CIP communications 1 FALSE
Connection Failed failed.
causes.
tion.
mote node.
ies CPU Units.
_EIP2_TDLinkOp- CIP Communica- Indicates that establishing a tag data link BOOL TRUE or page A-195
nErr tions2 Tag Data Link connection for CIP communications 2 FALSE
Connection Failed failed.
causes.
tion.
mote node.

Appendices
Range of
values
_EIP_TDLinkErr Tag Data Link Com- NX-series CPU Units: Indicates that a BOOL TRUE or page A-196
munications Error timeout occurred in a tag data link con- FALSE
nection for CIP communications 1.
TRUE: A timeout occurred.
timeout occurred in a tag data link con-

nection.
_EIP1_TDLinkErr CIP Communica- Indicates that a timeout occurred in a tag BOOL TRUE or page A-196
tions1 Tag Data Link data link connection for CIP communica- FALSE
Communications Er- tions 1.
ror TRUE: A timeout occurred.
ies CPU Units.
_EIP2_TDLinkErr CIP Communica- Indicates that a timeout occurred in a tag BOOL TRUE or page A-196 A
tions2 Tag Data Link data link connection for CIP communica- FALSE
Communications Er- tions 2.

ror TRUE: A timeout occurred.

Appendices
Range of
values
_EIP_TagAdrErr Tag Name Resolution NX-series CPU Units: Indicates that the BOOL TRUE or page A-197
Error tag resolution for CIP communications 1 FALSE
failed (i.e., the address could not be iden-
tified from the tag name).
TRUE: Tag resolution failed (i.e., the ad-
dress could not be identified from the tag
name). The following causes are possi-
ble.
• The size of the network variable is dif-
ferent from the tag settings.
• The I/O direction that is set in the tag
data link settings does not agree with
the I/O direction of the variable in the
CPU Unit.
• There is no network variable in the
CPU Unit that corresponds to the tag
setting.
NJ-series CPU Units: Indicates that tag
name resolution failed (i.e., the address
could not be identified from the tag
name).
ble.
CPU Unit.
setting.
_EIP1_TagAdrErr CIP Communica- Indicates that the tag resolution for CIP BOOL TRUE or page A-197
tions1 Tag Name communications 1 failed (i.e., the ad- FALSE
Resolution Error dress could not be identified from the tag
name).
ble.
CPU Unit.
setting.
ies CPU Units.

Appendices
Range of
values
_EIP2_TagAdrErr CIP Communica- Indicates that the tag resolution for CIP BOOL TRUE or page A-198
tions2 Tag Name communications 2 failed (i.e., the ad- FALSE
Resolution Error dress could not be identified from the tag
name).

ble.
CPU Unit.
setting.
Note You can use this system-de- A

_EIP_MultiSwONErr Multiple Switches ON NX-series CPU Units: Indicates that more BOOL TRUE or page A-198
Error than one switch turned ON at the same FALSE
time in CIP communications 1.
TRUE: More than one data link start/stop
switch changed to TRUE at the same
time.
NJ-series CPU Units: Indicates that more
than one switch turned ON at the same
time.
time.
_EIP1_MultiSwO- CIP Communica- Indicates that more than one switch BOOL TRUE or page A-198
NErr tions1 Multiple turned ON at the same time in CIP com- FALSE
Switches ON Error munications 1.
time.
ies CPU Units.
_EIP2_MultiSwO- CIP Communica- Indicates that more than one switch BOOL TRUE or page A-198
NErr tions2 Multiple turned ON at the same time in CIP com- FALSE
Switches ON Error munications 2.
time.

Appendices
Range of
values
_EIP_TcpAppCfgErr TCP Application Set- TRUE: At least one of the set values for a BOOL TRUE or page A-199
ting Error TCP application (FTP, NTP, SNMP) is in- FALSE
correct. Or, a read operation failed.
FALSE: Normal
_EIP_NTPSrvErr NTP Server Connec- TRUE: The NTP client failed to connect BOOL TRUE or page A-199
tion Error to the server (timeout). FALSE
FALSE: NTP is not set. Or, NTP is set
and the connection was successful.
_EIP_DNSSrvErr DNS Server Connec- TRUE: The DNS client failed to connect BOOL TRUE or page A-199
tion Error to the server (timeout). FALSE
FALSE: DNS is not enabled. Or, DNS is
enabled and the connection was suc-
cessful.
*1. With the NJ-series CPU Unit, this variable can be used with the unit version 1.11 or later.
Hierarchical Relationship of System-defined Variables Related to EtherNet/IP Errors in the

NJ-series CPU Unit
The system-defined variables that are related to EtherNet/IP errors have the following hierarchical
relationship. For example, if the value of any of the _EIP_PortErr, _EIP_CipErr, or _EIP_TcpAppErr
variables in the second level is TRUE, then the _EIP_ErrSta variable in the first level also changes
to TRUE. Therefore, you can check the values of system-defined variables in a higher level to see
if an error has occurred for a variable in a lower level.

Variable Name Variable Name Variable Name
_EIP_ErrSta Built-in Ether- _EIP_Por- Communi- _EIP_MacAdrErr MAC Address Error
Net/IP Error tErr cations _EIP_LanHwErr Communications Controller Error
Port Error _EIP_EtnCfgErr Basic Ethernet Setting Error
_EIP_IPAdrCfgErr IP Address Setting Error
_EIP_IPAdrDupErr IP Address Duplication Error
_EIP_BootpErr BOOTP Server Error
_EIP_DNSSrvErr DNS Server Connection Error
_EIP_IPRTblErr IP Route Table Error
_EIP_Ci- CIP Com- _EIP_IdentityErr Identity Error
pErr munica- _EIP_TDLinkCfgErr Tag Data Link Setting Error
tions Error _EIP_TDLinkOpnErr Tag Data Link Connection Failed
_EIP_TDLinkErr Tag Data Link Communications Er-
ror
_EIP_TagAdrErr Tag Name Resolution Error
_EIP_MultiSwONErr Multiple Switches ON Error
_EIP_Tcp TCP Ap- _EIP_TcpAppCfgErr TCP Application Configuration Error
AppErr plication _EIP_NTPSrvErr NTP Server Connection Error
Communi-
cations
Error
Hierarchical Relationship of System-defined Variables Related to EtherNet/IP Errors in the

NX-series CPU Unit
The system-defined variables that are related to EtherNet/IP errors have the following hierarchical
relationship. For example, if the value of any of the _EIP1_PortErr, _EIP2_PortErr, EIP1_CipErr,

Appendices
_EIP2_CipErr, and _EIP_TcpAppErr variables in the second level is TRUE, then the _EIP_ErrSta
variable in the first level also changes to TRUE. Therefore, you can check the values of system-
defined variables in a higher level to see if an error has occurred for a variable in a lower level.

Variable Name Variable Name Variable Name
_EIP_ErrSta Built-in Ether- _EIP1_Po Communi- _EIP1_MacAdrErr Port1 MAC Address Error
Net/IP Error rtErr cations _EIP1_LanHwErr Port1 Communications Controller

Port1 Er- Error
ror _EIP1_EtnCfgErr Port1 Basic Ethernet Setting Error
_EIP1_IPAdrCfgErr Port1 IP Address Setting Error
_EIP1_IPAdrDupErr Port1 IP Address Duplication Error
_EIP1_BootpErr Port1 BOOTP Server Error
_EIP_DNSCfgErr DNS Setting Error
_EIP2_Po Communi- _EIP2_MacAdrErr Port2 MAC Address Error
rtErr cations _EIP2_LanHwErr Port2 Communications Controller
Port2 Er- Error A
ror _EIP2_EtnCfgErr Port2 Basic Ethernet Setting Error
_EIP2_IPAdrCfgErr Port2 IP Address Setting Error

_EIP2_IPAdrDupErr Port2 IP Address Duplication Error
_EIP2_BootpErr Port2 BOOTP Server Error
_EIP_DNSCfgErr DNS Setting Error
_EIP1_Ci- CIP Com- _EIP1_IdentityErr CIP Communications1 Identity Error
pErr munica- _EIP1_TDLinkCfgErr CIP Communications1 Tag Data
tions1 Er- Link Setting Error
ror _EIP1_TDLinkOpnErr CIP Communications1 Tag Data
Link Connection Failed
_EIP1_TDLinkErr CIP Communications1 Tag Data
Link Communications Error
_EIP1_TagAdrErr CIP Communications1 Tag Name
Resolution Error
_EIP1_MultiSwONErr CIP Communications1 Multiple
Switches ON Error
_EIP2_Ci- CIP Com- _EIP2_IdentityErr CIP Communications2 Identity Error
pErr munica- _EIP2_TDLinkCfgErr CIP Communications2 Tag Data
tions2 Er- Link Setting Error
ror _EIP2_TDLinkOpnErr CIP Communications2 Tag Data
Link Connection Failed
_EIP2_TDLinkErr CIP Communications2 Tag Data
Link Communications Error
_EIP2_TagAdrErr CIP Communications2 Tag Name
Resolution Error
_EIP2_MultiSwONErr CIP Communications2 Multiple
Switches ON Error
_EIP_Tcp TCP Ap- _EIP_TcpAppCfgErr TCP Application Configuration Error
AppErr plication _EIP_NTPSrvErr NTP Server Connection Error
Communi-
cations
Error
Note 1. You can access the same values of the system-defined variables whose variable names with _EIP1
and the system-defined variables whose variable names with _EIP. For example, you can access the

Appendices
same values of _EIP1_PortErr (Communications Port1 Error) and _EIP_PortErr (Communications

Port Error).
Note 2. You can use the system-defined variables whose variable names with _EIP2 only for the NX701 CPU
Units and NX102 CPU Units.
l Functional Classification: EtherNet/IP Communications Status

Range of
values
_EIP_EtnOnlineSta Online NX-series CPU Units: Indicates that the BOOL TRUE or page A-199
built-in EtherNet/IP port's communica- FALSE
tions can be used via the communica-
tions port 1 (that is, the link is ON, IP ad-
dress is defined, and there are no errors.)
TRUE: The built-in EtherNet/IP port’s
communications can be used.
FALSE: The built-in EtherNet/IP port’s
communications is disabled due to an er-
ror in initial processing, restart process-
ing, or link OFF status.

built-in EtherNet/IP port's communica-
tions can be used via the communica-
tions port (that is, the link is ON and IP
address is defined, and there are no er-
rors.)
_EIP1_EtnOnlineSta Port1 Online Indicates that the built-in EtherNet/IP BOOL TRUE or page A-200
port's communications can be used via FALSE
the communications port 1 (that is, the
link is ON, IP address is defined, and
there are no errors.)
ies CPU Units.

Appendices
Range of
values
_EIP2_EtnOnlineSta Port2 Online Indicates that the built-in EtherNet/IP BOOL TRUE or page A-200
port's communications can be used via FALSE
the communications port 2 (that is, the
link is ON, IP address is defined, and
there are no errors.)

NX701 CPU Units and NX102
CPU Units.
_EIP_TDLinkRunSta Tag Data Link Com- NX-series CPU Units: Indicates that at BOOL TRUE or page A-200
munications Status least one connection is in normal opera- FALSE
tion in CIP communications 1.
TRUE: Normal operation A
NJ-series CPU Units: Indicates that at

least one connection is in normal opera-
tion.
TRUE: Normal operation
_EIP1_TDLinkRun- CIP Communica- Indicates that at least one connection is BOOL TRUE or page A-200
Sta tions1 Tag Data Link in normal operation in CIP communica- FALSE
Communications Sta- tions 1.
tus TRUE: Normal operation
ies CPU Units.
_EIP2_TDLinkRun- CIP Communica- Indicates that at least one connection is BOOL TRUE or page A-201
Sta tions2 Tag Data Link in normal operation in CIP communica- FALSE
Communications Sta- tions 2.
tus TRUE: Normal operation
CPU Units.
_EIP_TDLinkAllRun- All Tag Data Link NX-series CPU Units: Indicates that all BOOL TRUE or page A-201
Sta Communications Sta- tag data links are communicating in CIP FALSE
tus communications 1.
TRUE: Tag data links are communicating
in all connections as the originator.
FALSE: An error occurred in at least one
connection.
NJ-series CPU Units: Indicates that all

tag data links are communicating.
TRUE: Tag data links are communicating
in all connections as the originator.
connection.

Appendices
Range of
values
_EIP1_TDLinkAll- CIP Communica- Indicates that all tag data links are com- BOOL TRUE or page A-201
RunSta tions1 All Tag Data municating in CIP communications 1. FALSE
Link Communications TRUE: Tag data links are communicating
Status in all connections as the originator.
connection.
ies CPU Units.
_EIP2_TDLinkAll- CIP Communica- Indicates that all tag data links are com- BOOL TRUE or page A-201
RunSta tions2 All Tag Data municating in CIP communications 2. FALSE
Link Communications TRUE: Tag data links are communicating
Status in all connections as the originator.
connection.
CPU Units.
_EIP_RegTarget- Registered Target NX-series CPU Units: Gives a list of no- ARRAY TRUE or page A-202
Sta[255] Node Information des for which built-in EtherNet/IP connec- [0..255] OF FALSE
tions are registered for CIP communica- BOOL
tions 1.
This variable is valid only when the built-
in EtherNet/IP port is the originator.
Array[x] is TRUE:
The connection to the node with a target
node ID of x is registered.
Array[x] is FALSE:
node ID of x is not registered.
NJ-series CPU Units: Gives a list of no-

des for which built-in EtherNet/IP connec-
tions are registered.
This variable is valid only when the built-
Array[x] is TRUE:
Array[x] is FALSE:
_EIP1_RegTarget- CIP Communica- Gives a list of nodes for which built-in ARRAY TRUE or page A-202
Sta[255] tions1 Registered EtherNet/IP connections are registered [0..255] OF FALSE
Target Node Informa- for CIP communications 1. BOOL
tion This variable is valid only when the built-
Array[x] is TRUE:
Array[x] is FALSE:
ies CPU Units.

Appendices
Range of
values
_EIP2_RegTarget- CIP Communica- Gives a list of nodes for which built-in ARRAY TRUE or page A-202
Sta[255] tions2 Registered EtherNet/IP connections are registered [0..255] OF FALSE
Target Node Informa- for CIP communications 2. BOOL
tion This variable is valid only when the built-
Array[x] is TRUE:

Array[x] is FALSE:
CPU Units.
_EIP_EstbTarget- Normal Target Node NX-series CPU Units: Gives a list of no- ARRAY TRUE or page A-203
Sta[255] Information des that have normally established built- [0..255] OF FALSE
in EtherNet/IP connections for CIP com- BOOL
munications 1. A
Array[x] is TRUE:

node ID of x was established normally.
Array[x] is FALSE:
node ID of x was not established, or an
error occurred.
NJ-series CPU Units: Gives a list of no-

des that have normally established built-
in EtherNet/IP connections.
Array[x] is TRUE:
Array[x] is FALSE:
error occurred.
_EIP1_EstbTarget- CIP Communica- Gives a list of nodes that have normally ARRAY TRUE or page A-203
Sta[255] tions1 Normal Target established built-in EtherNet/IP connec- [0..255] OF FALSE
Node Information tions for CIP communications 1. BOOL
Array[x] is TRUE:
Array[x] is FALSE:
error occurred.
ies CPU Units.

Appendices
Range of
values
_EIP2_EstbTarget- CIP Communica- Gives a list of nodes that have normally ARRAY TRUE or page A-203
Sta[255] tions2 Normal Target established built-in EtherNet/IP connec- [0..255] OF FALSE
Node Information tions for CIP communications 2. BOOL
Gives a list of nodes that have normally
established EtherNet/IP connections for
CIP communications 2.
Array[x] is TRUE:
Array[x] is FALSE:
error occurred.
CPU Units.
_EIP_TargetPLCMo- Target PLC Operat- NX-series CPU Units: Shows the operat- ARRAY TRUE or page A-204
deSta[255] ing Mode ing status of the target node Controllers [0..255] OF FALSE
that are connected for CIP communica- BOOL
tions 1, with the built-in EtherNet/IP port
as the originator.
The array elements are valid only when
the corresponding Normal Target Node
Information is TRUE. If the corresponding
Normal Target Node Information is
FALSE, it indicates the previous operat-
ing status.
Array[x] is TRUE:
This is the operating state of the target
Controller with a node address of x.
Array[x] is FALSE:
Other than the above.
NJ-series CPU Units: Shows the operat-

ing status of the target node Controllers
that are connected with the built-in Ether-
Net/IP port as the originator.
ing status.
Array[x] is TRUE:
Array[x] is FALSE:

Appendices
Range of
values
_EIP1_TargetPLC- CIP Communica- Shows the operating status of the target ARRAY TRUE or page A-204
ModeSta[255] tions1 Target PLC node Controllers that are connected for [0..255] OF FALSE
Operating Mode CIP communications 1, with the built-in BOOL
EtherNet/IP port as the originator.

ing status.
Array[x] is TRUE:
Array[x] is FALSE:
ies CPU Units.
_EIP2_TargetPLC- CIP Communica- Shows the operating status of the target ARRAY TRUE or page A-204 A
ModeSta[255] tions2 Target PLC node Controllers that are connected for [0..255] OF FALSE
Operating Mode CIP communications 2, with the built-in BOOL

EtherNet/IP port as the originator.
ing status.
Array[x] is TRUE:
Array[x] is FALSE:
CPU Units.

Appendices
Range of
values
_EIP_TargetPL- Target PLC Error In- NX-series CPU Units: Shows the error ARRAY TRUE or page A-205
CErr[255] formation status (logical OR of fatal and non-fatal [0..255] OF FALSE
errors) of the target node Controllers that BOOL
are connected for CIP communications 1,
with the built-in EtherNet/IP ports as the
originator. The array elements are valid
only when the corresponding Normal Tar-
get Node Information is TRUE. The im-
mediately preceding value is retained if
this variable is FALSE.
Array[x] is TRUE:
A fatal or non-fatal error occurred in the
target Controller with a target node ID of
x.
Array[x] is FALSE:
NJ-series CPU Units: Shows the error

status (logical OR of fatal and non-fatal
errors) of the target node Controllers that
are connected with the built-in
EtherNet/IP ports as the originator. The
array elements are valid only when the
corresponding Normal Target Node Infor-
mation is TRUE. The immediately pre-
ceding value is retained if this variable is
FALSE.
Array[x] is TRUE:
x.
Array[x] is FALSE:
_EIP1_TargetPL- CIP Communica- Shows the error status (logical OR of fa- ARRAY TRUE or page A-205
CErr[255] tions1 Target PLC Er- tal and non-fatal errors) of the target [0..255] OF FALSE
ror Information node Controllers that are connected for BOOL
CIP communications 1, with the built-in
FALSE.
Array[x] is TRUE:
x.
Array[x] is FALSE:
ies CPU Units.

Appendices
Range of
values
_EIP2_TargetPL- CIP Communica- Shows the error status (logical OR of fa- ARRAY TRUE or page A-205
CErr[255] tions2 Target PLC Er- tal and non-fatal errors) of the target [0..255] OF FALSE
ror Information node Controllers that are connected for BOOL
CIP communications 2, with the built-in

FALSE.
Array[x] is TRUE:
x.
Array[x] is FALSE:
NX701 CPU Units and NX102 A
CPU Units.

Appendices
Range of
values
_EIP_TargetNo- Target Node Error In- NX-series CPU Units: Indicates that the ARRAY TRUE or page A-206
deErr[255] formation connection for the Registered Target [0..255] OF FALSE
Node Information for CIP communica- BOOL
tions 1 was not established or that an er-
ror occurred in the target Controller.
the Registered Target Node Information
is TRUE.
Array[x] is TRUE:
A connection was not normally establish-
ed with the target node for a target node
ID of x (the Registered Target Node Infor-
mation is TRUE and the Normal Target
Node Information is FALSE), or a con-
nection was established with the target
node but an error occurred in the target
Controller.
Array[x] is FALSE:
The target node is not registered for a
target node ID of x (the Registered Target
nection was normally established with the
target node (the Registered Target Node
Information is TRUE and the Normal Tar-
get Node Information is TRUE). An error
occurred in the target Controller (the Tar-
get PLC Error Information is TRUE).

connection for the Registered Target
Node Information was not established or
that an error occurred in the target Con-
troller.
is TRUE.
Array[x] is TRUE:
Controller.
Array[x] is FALSE:

Appendices
Range of
values
_EIP1_TargetNo- CIP Communica- Indicates that the connection for the Reg- ARRAY TRUE or page A-206
deErr[255] tions1 Target Node istered Target Node Information for CIP [0..255] OF FALSE
Error Information communications 1 was not established or BOOL
troller.

is TRUE.
Array[x] is TRUE:
Controller.
Array[x] is FALSE:
A

ies CPU Units.

Appendices
Range of
values
_EIP2_TargetNo- CIP Communica- Indicates that the connection for the Reg- ARRAY TRUE or page A-207
deErr[255] tions2 Target Node istered Target Node Information for CIP [0..255] OF FALSE
Error Information communications 2 was not established or BOOL
troller.
is TRUE.
Array[x] is TRUE:
Controller.
Array[x] is FALSE:
CPU Units.
_EIP_NTPResult NTP Operation Infor- Use the GetNTPStatus instruction to read _sNTP_RE- page A-207
mation the NTP operation information from the SULT
user program.
Direct access is not possible.
.ExecTime NTP Last Operation Gives the last time that NTP processing DATE_AND_ Depends on page A-207
Time ended normally. TIME data type.
The time that was obtained from the NTP
server is stored when the time is ob-
tained normally.
The time is not stored if it is not obtained
from the NTP server normally.
an external device.
.ExecNormal NTP Operation Re- TRUE: Indicates an NTP normal end. BOOL TRUE or page A-207
sult FALSE: Indicates that NTP operation FALSE
ended in an error or has not been execut-
ed even once.
an external device.

Appendices
Communications Status with Target Node

The communications status with the target node of an NJ/NX-series Controller is shown by the
combination of the values of four system-defined variables.
• _EIP_RegTargetSta (Registered Target Node Information)
• _EIP_EstbTargetSta (Normal Target Node Information)
• _EIP_TargetPLCErr (Target PLC Error Information)
• _EIP_TargetNodeErr (Target Node Error Information)

Value of Value of Value of Value of
Communications status
_EIP_RegTarget- _EIP_EstbTar- _EIP_Tar- _EIP_Target-
with target node
Sta getSta getPLCErr NodeErr
TRUE TRUE FALSE FALSE A connection with the target
node was established normal-
ly and there is no error in the
target PLC.
TRUE TRUE A connection with the target
node was established but
there is an error in the target A
PLC.
FALSE --- TRUE A connection with the target

node was not established nor-
mally.
FALSE --- --- --- The information is not valid
because the target node is not
registered.
For the NX-series Controller, the communications status of CIP communications 1 and CIP
communications 2 is shown by the combination of the values of four system-defined variables in
the same way as shown in the above table.
• CIP Communications 1
• _EIP1_RegTargetSta (CIP Communications1 Registered Target Node Information)
• _EIP1_EstbTargetSta (CIP Communications1 Normal Target Node Information)
• _EIP1_TargetPLCErr (CIP Communications1 Target PLC Error Information)
• _EIP1_TargetNodeErr (CIP Communications1 Target Node Error Information)
• CIP Communications 2
• _EIP2_RegTargetSta (CIP Communications2 Registered Target Node Information)
• _EIP2_EstbTargetSta (CIP Communications2 Normal Target Node Information)
• _EIP2_TargetPLCErr (CIP Communications2 Target PLC Error Information)
• _EIP2_TargetNodeErr (CIP Communications2 Target Node Error Information)

Appendices
l Functional Classification: EtherNet/IP Communications Switches

Range of
values
_EIP_TDLink- Tag Data Link Com- NX-series CPU Units: Change this varia- BOOL TRUE or page A-208
StartCmd munications Start ble to TRUE to start tag data links for CIP FALSE
Switch communications 1.
It automatically changes back to FALSE
after tag data link operation starts.
NJ-series CPU Units: Change this varia-
ble to TRUE to start tag data links.
after tag data link operation starts.
Note Do not force this switch to
change to FALSE from the
user program or from the Sys-
mac Studio. It changes to
FALSE automatically.
_EIP1_TDLink- CIP Communica- Change this variable to TRUE to start tag BOOL TRUE or page A-208
StartCmd tions1 Tag Data Link data links for CIP communications 1. FALSE
Communications It automatically changes back to FALSE
Start Switch after tag data link operation starts.
ies CPU Units.
_EIP2_TDLink- CIP Communica- Change this variable to TRUE to start tag BOOL TRUE or page A-208
StartCmd tions2 Tag Data Link data links for CIP communications 2. FALSE
Start Switch after tag data link operation starts.
CPU Units.
_EIP_TDLink- Tag Data Link Com- NX-series CPU Units: Change this varia- BOOL TRUE or page A-208
StopCmd munications Stop ble to TRUE to stop tag data links for CIP FALSE
Switch communications 1.
after tag data link operation stops.
NJ-series CPU Units: Change this varia-
ble to TRUE to stop tag data links.
after tag data link operation stops.

Appendices
Range of
values
_EIP1_TDLink- CIP Communica- Change this variable to TRUE to stop tag BOOL TRUE or page A-209
StopCmd tions1 Tag Data Link data links for CIP communications 1. FALSE
Stop Switch after tag data link operation stops.

ies CPU Units.
_EIP2_TDLink- CIP Communica- Change this variable to TRUE to stop tag BOOL TRUE or page A-209
StopCmd tions2 Tag Data Link data links for CIP communications 2. FALSE
Stop Switch after tag data link operation stops.
user program or from the Sys- A
A-6-8 Meanings of Error Status Bits

CPU Units.
A-6-8 Meanings of Error Status Bits

The meanings of the individual bits in the following error status are the same.
• _ErrSta (Controller Error Status)
• _PLC_ErrSta (PLC Function Module Error Status)
• _CJB_ErrSta (I/O Bus Error Status)
• _CJB_MstrErrSta (I/O Bus Master Error Status)
• _CJB_UnitErrSta (I/O Bus Unit Error Status)
• _NXB_ErrSta (NX Bus Function Module Error Status)
• _NXB_MstrErrSta (NX Bus Function Module Master Error Status)
• _NXB_UnitErrStaTbl (NX Bus Function Module Unit Error Status)
• _MC_ErrSta (MC Error Status)
• _MC_ComErrSta (MC Common Error Status)
• _MC_AX_ErrSta (Axis Error Status)
• _MC_GRP_ErrSta (Axes Group Error Status)
• _EC_ErrSta (Built-in EtherCAT Error)
• _EC_PortErr (Communications Port Error)
• _EC_MstrErr (Master Error)
• _EC_SlavErr (Slave Error)
• _EC_SlavErrTbl (Slave Error Table)
• _EIP_ErrSta (Built-in EtherNet/IP Error)
• _EIP_PortErr (Communications Port Error), _EIP1_PortErr (Communications Port1 Error),
_EIP2_PortErr (Communications Port2 Error)
• _EIP_CipErr (CIP Communications Error), _EIP1_CipErr (CIP Communications1 Error),
_EIP2_CipErr (CIP Communications2 Error)

Appendices
• _EIP_TcpAppErr (TCP Application Communications Error)
The meanings of the bits are shown in the following table. However, do not use the following variables
in the user program: _ErrSta (Controller Error Status), _CJB_ErrSta (I/O Bus Error Status),
_CJB_MstrErrSta (I/O Bus Master Error Status), _CJB_UnitErrSta (I/O Bus Unit Error Status),
_NXB_ErrSta (NX Bus Function Module Error Status), _NXB_MstrErrSta (NX Bus Function Module
Master Error Status), and _NXB_UnitErrStaTbl (NX Bus Function Module Unit Error Status). There
may be a delay in updating them and concurrency problems in relation to the error status of the func-
tion module. Use these variables only to access status through communications from an external de-
vice.
Bit: 1 5 1 4 1 3 1 2 11 1 0 9 8 7 6 5 4 3 2 1 0
WORD - - - - - - - - - -
Bit Description
15 Master-detected error: This bit indicates whether the master detected a Controller error in the Unit/slave for the
error status of the Controller error.
TRUE: The master detected a Controller error.
FALSE: The master has not detected a Controller error. (Valid for _CJB_UnitErrSta.)
14 Collective slave error status: This bit indicates if a Controller error is detected for levels (e.g., a Unit, slave, axis,
or axes group) that are lower than the event source (i.e., a function module).
TRUE: A Controller error has occurred at a lower level.
FALSE: A Controller error has not occurred at a lower level. (Valid for _CJB_ErrSta, _MC_ErrSta, and _EC_Err-
Sta.)
13 to 8 Reserved.
7 This bit indicates whether a major fault level Controller error has occurred.
TRUE: A major fault level Controller error has occurred.
FALSE: A major fault level Controller error has not occurred.
6 This bit indicates whether a partial fault level Controller error has occurred.
TRUE: A partial fault level Controller error has occurred.
FALSE: A partial fault level Controller error has not occurred.
5 This bit indicates whether a minor fault level Controller error has occurred.
TRUE: A minor fault level Controller error has occurred.
FALSE: A minor fault level Controller error has not occurred.
4 This bit indicates whether an observation level Controller error has occurred.
TRUE: An observation level Controller error has occurred.
FALSE: An observation level Controller error has not occurred.
3 to 0 Reserved.
Note Bits 14 and 15 are never TRUE for the built-in EtherNet/IP port.

Appendices
A-7 Specifications for Individual System-defined Variables

A-7 Specifications for Individual System-
defined Variables
The specifications for each system-defined variable are given as described below.
Variable name This is the system-defined variable name. The Members (for struc- The member names are given for
prefix gives the category name. tures) structure variables only.
Meaning This is the meaning of the variable. Global/local Global: Global variable, Local: Local
variable
Function The function of the variable is described.
Data type The data type of the variable is given. Range of values The range of values that the variable
can take is given.
R/W access R: Read only, Retained The Retain at- Network Publish The Network Publish attribute of the
RW: Read/ tribute of the variable is given.
write variable is
given.
Usage in user pro- Whether you Related in- The instructions that are related to the variable are given.
gram can use the structions If you cannot use the variable directly in the user program, the instructions that
A
variable di- access the variable are given.
rectly in the
user program
is specified.
A-7-1 System-defined Variables for the Overall NJ/NX-series Controller

(No Category)
l Functional Classification: Clock
Variable name _CurrentTime

Meaning System Time Global/local Global
Function Contains the CPU Unit’s internal clock data.
Data type DATE_AND_TIME Range of values • NX-series CPU Units
DT#1970-01-01-00:00:00 to
DT#2069-12-31-23:59:59
• NJ-series CPU Units
DT#1970-01-01-00:00:00 to
DT#2106-02-06-23:59:59
R/W access R Retained Not retained. Network Publish Published.
Usage in user pro- Possible. Related in- Clock instructions
gram structions

Appendices
l Functional Classification: Tasks
Variable name _TaskName_Active

Meaning Task Active Flag Global/local Global
Function TRUE during task execution.
FALSE when task execution is not in progress.
Note You cannot use this system-defined variable in the user program. It is used only to access task
Data type BOOL Range of values TRUE or FALSE
R/W access R Retained Not retained. Network Publish Not published.
Usage in user pro- Not possible. Related in- • ActEventTask
gram structions You can access this variable from the user program only with the following in-
struction.
• Task_IsActive
Variable name _TaskName_LastExecTime

Meaning Last Task Execution Time Global/local Global
Function Contains the task execution time the last time the task was executed (unit: 0.1 μs).
Data type TIME Range of values Depends on data type.
Usage in user pro- Not possible. Related in- You can access this variable from the user program only with the following in-
gram structions struction.
• GetMyTaskStatus
Variable name _TaskName_MaxExecTime

Meaning Maximum Task Execution Time Global/local Global
Function Contains the maximum value of the task execution time (unit: 0.1 μs).
• GetMyTaskStatus
Variable name _TaskName_MinExecTime

Meaning Minimum Task Execution Time Global/local Global
Function Contains the minimum value of the task execution time (unit: 0.1 μs).
• GetMyTaskStatus

Appendices

Variable name _TaskName_ExecCount
Meaning Task Execution Count Global/local Global
Function Contains the number of executions of the task.
If 4294967295 is exceeded, the value returns to 0 and counting is continued.
Data type UDINT Range of values Depends on data type.
• GetMyTaskStatus
Variable name _TaskName_Exceeded

Meaning Task Period Exceeded Flag Global/local Global
Function TRUE if the task period was exceeded.
FALSE if task execution was completed within the task period.
Data type BOOL Range of values TRUE or FALSE A
• GetMyTaskStatus
Variable name _TaskName_ExceedCount

Meaning Task Period Exceeded Count Global/local Global
Function Contains the number of times that the period was exceeded.
If the present value exceeds the maximum value of the data type, the present value returns to 0 and the count is
continued.
If 4294967295 is exceeded, the value returns to 0 and counting is continued.
• GetMyTaskStatus

Appendices
Variable name _ErrSta

Meaning Controller Error Status Global/local Global
Function TRUE if there is a Controller error.
FALSE if there is no Controller error.
Note Do not use this variable in the user program. There may be a delay in updating it and concur-
rency problems in relation to the error status of the function module. Use this variable only to
access status through communications from an external device. Refer to A-6-8 Meanings of Er-
ror Status Bits on page A-137 for the meanings of the error status bits.
Data type WORD Range of values 16#0000 to 16#C0F0
Usage in user pro- Not possible. Related in- • ResetPLCError
gram structions • ResetCJBError
• ResetECError
• ResetMCError
• MC_Reset
• MC_GroupReset
You can access this variable from the user program only with the following in-
struction.
• GetPLCError
• GetCJBError
• GetECError
• GetMCError
• GetEIPError
Variable name _AlarmFlag

Meaning User-defined Error Status Global/local Global
Function The bit corresponding to the event level is TRUE while there is a user-defined error.
Bits 00 to 07 correspond to user fault levels 1 to 8.
This variable contains 0000 hex when there is no user-defined error.
Data type WORD Range of values 16#0000 to 16#00FF
Usage in user pro- Possible. Related in- • SetAlarm
gram structions • ResetAlarm
• GetAlarm
l Functional Classification: SD Memory Card
Variable name _Card1Ready

Meaning SD Memory Card Ready Flag Global/local Global
Function TRUE when the SD Memory Card is recognized.
FALSE when the SD Memory Card is not recognized.
TRUE: The Card can be used.
Usage in user pro- Possible. Related in- ---
gram structions

Appendices

Variable name _Card1Protect
Meaning SD Memory Card Write Protected Flag Global/local Global
Function TRUE when the SD Memory Card is write-protected with the LOCK switch.
gram structions
Variable name _Card1Err

Meaning SD Memory Card Error Flag Global/local Global
Function TRUE when an unusable SD Memory Card is inserted or a format error occurs.
gram structions A
Variable name _Card1Access
Meaning SD Memory Card Access Flag Global/local Global
Function TRUE during SD Memory Card access.
TRUE: Card is being accessed.
The system updates the flag every 100 ms. Because of this, access to the SD Memory Card is shown by this flag
with a delay of up to 100 ms. We therefore do not recommend the use of this variable in the user program.
gram structions
Variable name _Card1Deteriorated

Meaning SD Memory Card Life Warning Flag Global/local Global
Function TRUE when the life of the SD Memory Card is exceeded.
If this variable changed to TRUE, replace the SD Memory Card.
Read/write operation may fail if the SD Memory Card is not replaced.
TRUE: The life of the Card has been exceeded.
gram structions

Appendices
Variable name _Card1PowerFail

Meaning SD Memory Card Power Interruption Flag Global/local Global
Function TRUE when the power supply to the CPU Unit was interrupted during access to the SD Memory Card.
TRUE: Power was interrupted during SD Memory Card access.
FALSE: Normal
R/W access RW Retained Retained.*1 Network Publish Published.
gram structions
*1. This system-defined variable is not applicable for the data backup function even with a Retain attribute.
Variable name _Card1Capacity*1

Meaning SD Memory Card Storage Capacity Global/local Global
Function Show the total capacity of the inserted SD Memory Card.
The unit of capacity is MiB (1 MiB=1,048,576 bytes).
If the SD PWR indicator is not lit, such as when an SD Memory Card is not inserted, the value is “0”"0".
R/W access R Retained Not retained. Network Publish Published
gram structions
*1. This system-defined variable was added for unit version 1.21 or 1.32 of the CPU Unit.
Variable name _Card1Used*1

Meaning SD Memory Card Storage Usage Global/local Global
Function Show the usage of the inserted SD Memory Card.
The unit of capacity is MiB (1 MiB=1,048,576 bytes).
If the SD PWR indicator is not lit, such as when an SD Memory Card is not inserted, the value is “0”"0".
R/W access R Retained Not retained. Network Publish Published
gram structions
*1. This system-defined variable was added for unit version 1.21 or 1.32 of the CPU Unit.
Variable name _Card1BkupCmd*1 Member name .ExecBkup

Meaning Execute Backup Flag Global/local Global
Function Change this variable to TRUE to back up Controller data to an SD Memory Card.
Note You cannot use this system-defined variable in the user program. Use it in CIP message com-
munications when sending a command from an HMI or host computer.
Data type Structure: _sBKUP_CMD, Member: BOOL Range of values TRUE or FALSE
R/W access RW Retained Not retained. Network Publish Published.
Usage in user pro- Not possible. Related in- ---
gram structions
*1. This system-defined variable was added for unit version 1.03 of the CPU Unit.

Appendices

Variable name _Card1BkupCmd*1 Member name .CancelBkup
Meaning Cancel Backup Flag Global/local Global
Function Change this variable to TRUE to cancel backing up data to an SD Memory Card.
gram structions
Variable name _Card1BkupCmd*1 Member name .ExecVefy

Meaning Execute Verify Flag Global/local Global
Function Change this variable to TRUE to compare the Controller data to a backup file in the SD Memory Card.
A
gram structions
Variable name _Card1BkupCmd*1 Member name .CancelVefy

Meaning Cancel Verify Flag Global/local Global
Function Change this variable to TRUE to cancel comparing the Controller data to a backup file in the SD Memory Card.
gram structions
Variable name _Card1BkupCmd*1 Member name .DirName

Meaning Directory Name Global/local Global
Function Use this variable to specify the directory name in the SD Memory Card for which to back up data.
Data type Structure: _sBKUP_CMD, Member: Range of values Depends on data type.
STRING(64)
gram structions

Appendices
Variable name _Card1BkupSta*1 Member name .Done

Meaning Done Flag Global/local Global
Function TRUE when a backup is completed.
munications to read the status from an HMI or host computer.
Data type Structure: _sBKUP_STA, Member: BOOL Range of values TRUE or FALSE
gram structions
Variable name _Card1BkupSta*1 Member name .Active

Meaning Active Flag Global/local Global
Function TRUE when a backup is in progress.
gram structions
Variable name _Card1BkupSta*1 Member name .Err

Meaning Error Flag Global/local Global
Function TRUE when processing a backup ended in an error.
gram structions
Variable name _Card1VefySta*1 Member name .Done

Function TRUE when a verification is completed.
Data type Structure: _sVEFY_STA, Member: BOOL Range of values TRUE or FALSE
gram structions

Appendices

Variable name _Card1VefySta*1 Member name .Active
Function TRUE when a verification is in progress.
gram structions
Variable name _Card1VefySta*1 Member name .VefyRslt

Meaning Verify Result Flag Global/local Global
Function TRUE if the data was the same. FALSE if differences were found.
A
gram structions
Variable name _Card1VefySta*1 Member name .Err

Function TRUE when processing a verification ended in an error.
gram structions
Variable name _Card1PrgTransferCmd*1 Member name .Exec

Meaning Execute Program Transfer Flag Global/local Global
Function Change this variable to TRUE to transfer the data in a backup file on the SD Memory Card to the Controller by
using the function to transfer programs from the SD Memory Card.
Note You can use this system-defined variable only for NJ/NX-series CPU Units.
Data type Structure: _sPRGTRANSFER_CMD, Member: Range of values TRUE or FALSE
BOOL
gram structions

Appendices
Variable name _Card1PrgTransferCmd*1 Member name .DirName

Function Use this variable to specify the directory name in the SD Memory Card in which the backup file to be transferred
is stored.
Data type Structure: _sPRGTRANSFER_CMD, Member: Range of values Depends on data type.
STRING(64)
gram structions
Variable name _Card1PrgTransferCmd*1 Member name .Password

Meaning Password Global/local Global
Function Use this variable to specify the password that is used for verification when you start transferring the programs.
The password is initialized every time you start transferring programs from the SD Memory Card.
Data type Structure: _sPRGTRANSFER_CMD, Member: Range of values Depends on data type.
STRING(33)
gram structions
Variable name _Card1PrgTransferCmd*1 Member name .TargetUserProgram

Meaning User Program and Settings Transfer Flag Global/local Global
Function Change this variable to TRUE to set a user program or setting as the transfer target.
BOOL
gram structions
Variable name _Card1PrgTransferCmd*1 Member name .TargetIPAdr

Meaning IP Address Transfer Flag Global/local Global
Function Change this variable to TRUE to include the IP address of the built-in EtherNet/IP port as the transfer target.
The IP address means setting type, IP address, subnet mask, and default gateway.
BOOL
gram structions

Appendices

Variable name _Card1PrgTransferCmd*1 Member name .TargetVariable
Meaning Present Values of Variables with the Retain At- Global/local Global
tribute Transfer Flag
Function Change this variable to TRUE to set the present values of variables with the Retain attribute as the transfer tar-
get.
BOOL

gram structions
Variable name _Card1PrgTransferCmd*1 Member name .TargetMemory

Meaning Present Values of Memory Used for CJ-series Global/local Global
Units with the Retain Attribute Transfer Flag
Function Change this variable to TRUE to set the present values of the memory used for CJ-series Units with the Retain A
attribute as the transfer target.
BOOL
gram structions
Variable name _Card1PrgTransferSta*1 Member name .Done

Function TRUE when a program transfer is completed.
Data type Structure: _sPRGTRANSFER_STA, Member: Range of values TRUE or FALSE
BOOL
gram structions
Variable name _Card1PrgTransferSta*1 Member name .Active

Function TRUE when a program transfer is in progress.
BOOL
gram structions

Appendices
Variable name _Card1PrgTransferSta*1 Member name .Err

Function TRUE when a program transfer ended in an error.
BOOL
gram structions
Variable name _Card1RestoreCmd*1 Member name .Exec

Meaning Execute Restore Flag Global/local Global
Function Change this variable to TRUE to restore the data in a backup file on the SD Memory Card to the Controller.
Data type Structure: _sRESTORE_CMD, Member: BOOL Range of values TRUE or FALSE
gram structions
Variable name _Card1RestoreCmd*1 Member name .DirName

Function Use this variable to specify the directory name in the SD Memory Card in which the backup file to be restored by
the system-defined variable is stored.
Data type Structure: _sRESTORE_CMD, Member: Range of values Depends on data type.
STRING(64)
gram structions
Variable name _Card1RestoreCmd*1 Member name .Password

Meaning Password Global/local Global
Function Use this variable to specify the password that is used for verification when you start the restore by the system-
defined variable.
The password is initialized every time when the restore by the system-defined variable is started.
Data type Structure: _sRESTORE_CMD, Member: Range of values Depends on data type.
STRING(33)
gram structions

Appendices

Variable name _Card1RestoreSta *1 Member name .Done
Function TRUE when a restore operation is completed.
Data type Structure: _sRESTORE_STA, Member: BOOL Range of values TRUE or FALSE
gram structions
Variable name _Card1RestoreSta*1 Member name .Active

Function TRUE when a restore operation is in progress.
gram structions A
Variable name _Card1RestoreSta*1 Member name .Err
Function TRUE when a restore operation ended in an error.
gram structions
Variable name _Card1RestoreCmdTargetUserProgram*1

Meaning User Program and Settings Transfer Flag Global/local Global
Function Change this variable to TRUE to set a user program or setting for the restore by the system-defined variable as
Always set this variable to TRUE for the restore by the system-defined variable.
gram structions

Appendices
Variable name _Card1RestoreCmdTargetIPAdr*1

Meaning IP Address Transfer Flag Global/local Global
Function Change this variable to TRUE to include the IP address of the built-in EtherNet/IP port for the restore by the sys-
tem-defined variable as the transfer target.
The IP address means setting type, IP address, subnet mask, and default gateway.
gram structions
Variable name _Card1RestoreCmdTargetVariable*1

Meaning Present Values of Variables with the Retain At- Global/local Global
tribute Transfer Flag
Function Change this variable to TRUE to set the present values of variables with the Retain attribute for the restore by the
system-defined variable as the transfer target.
gram structions
Variable name _Card1RestoreCmdTargetMemory*1

Meaning Present Values of Memory Used for CJ-series Global/local Global
Units with the Retain Attribute Transfer Flag
Function Change this variable to TRUE to set the present values of the memory used for CJ-series Units with the Retain
attribute for the restore by the system-defined variable as the transfer target.
gram structions
Variable name _Card1RestoreCmdTargetUnitConfig*1

Meaning Unit and Slave Parameters Transfer Flag Global/local Global
Function Change this variable to TRUE to set the Unit and slave settings for the restore by the system-defined variable as
gram structions

Appendices

Variable name _Card1RestoreCmdTargetAbsEncoder*1
Meaning Absolute Encoder Home Offset Transfer Flag Global/local Global
Function Change this variable to TRUE to set the absolute encoder home offset for the restore by the system-defined vari-
able as the transfer target.
gram structions
Variable name _Card1RestoreCmdTargetOpcuaSPF*1

Meaning OPCUA Security Profile Transfer Flag Global/local Global
Function Change this variable to TRUE to set the OPC UA security profile for the restore by the system-defined variable as
A
R/W access RW Retained Retained. *2 Network Publish Published.
gram structions
l Functional Classification: Backup
Variable name _BackupBusy*1

Meaning Backup Function Busy Flag Global/local Global
Function TRUE when a backup, restoration, or verification is in progress.
gram structions
l Functional Classification: Power Supply
Variable name _PowerOnHour

Meaning Total Power ON Time Global/local Global
Function Contains the total time that the power has been ON.
Contains the total time that the CPU Unit has been ON in 1-hour increments.
To reset this value, overwrite the current value with 0.
The value is not updated after it reaches 4294967295.
Data type UDINT Range of values 0 to 4294967295

gram structions

Appendices
Variable name _PowerOnCount

Meaning Power Interruption Count Global/local Global
Function Contains the number of times that the power supply has been interrupted.
The value is incremented by 1 each time the power supply is interrupted after the first time that the power to the
CPU Unit was turned ON.
To reset this value, overwrite the current value with 0.
The value is not updated after it reaches 4294967295.
Data type UDINT Range of values 0 to 4294967295
gram structions
Variable name _RetainFail

Meaning Retention Failure Flag Global/local Global
Function TRUE at the following time (failure of retention during power interruptions).
• When an error is detected in the battery-backup memory check at startup.
FALSE at the following times (no failure of retention during power interruptions).
• When no error is detected in the battery-backup memory check at startup.
• When the user program is downloaded.
• When the Clear All Memory operation is performed.
Note When the absolute encoder home offset data is not retained, the status is given in the error sta-
tus of the axis variable, and not in this flag.
gram structions
l Functional Classification: Programming
Variable name P_On

Meaning Always TRUE Flag Global/local Global
Function This flag is always TRUE.
Data type BOOL Range of values TRUE
gram structions
Variable name P_Off

Meaning Always FALSE Flag Global/local Global
Function This flag is always FALSE.
Data type BOOL Range of values FALSE
gram structions

Appendices

Variable name P_CY
Meaning Carry Flag Global/local Local
Function This flag is updated by some instructions.
gram structions
Variable name P_First_RunMode

Meaning First RUN Period Flag Global/local Local
Function This flag is TRUE for only one task period after the operating mode of the CPU Unit is changed from PROGRAM
mode to RUN mode if execution of the program is in progress.
This flag remains FALSE if execution of the program is not in progress.
Use this flag to perform initialization when the CPU Unit begins operation.
Note You cannot use this system-defined variable inside functions.
gram structions A
Variable name P_First_Run*1
Meaning First Program Period Flag Global/local Local
Function This flag is TRUE for one task period after execution of the program starts.
Use this flag to perform initial processing when execution of a program starts.
Note You cannot use this system-defined variable inside functions.
gram structions
Variable name P_PRGER

Meaning Instruction Error Flag Global/local Local
Function This flag changes to and remains TRUE when an instruction error occurs in the program or in a function/function
block called from the program. After this flag changes to TRUE, it stays TRUE until the user program changes it
back to FALSE.
R/W access RW Retained Not retained. Network Publish Not published.
gram structions
l Functional Classification: Communications
Variable name _Port_numUsingPort

Meaning Number of Used Ports Global/local Global
Function Gives the number of internal logical ports that are currently used.
You can use this variable when you debug the user program.
Note You can use this system-defined variable only for NJ-series CPU Units.
Data type USINT Range of values 0 to 32
Usage in user pro- Possible. Related in- Communications instructions
gram structions (ExecPMCR, SerialSend, SerialRcv, Send, Rcv, and SendCmd)

Appendices
Variable name _Port_isAvailable

Meaning Network Communications Instruction Enabled Global/local Global
Flag
Function Indicates whether there is an available internal logical port.
TRUE when an internal logical port is available. Otherwise FALSE.
Usage in user pro- Possible. Related in- Communications instructions
gram structions (ExecPMCR, SerialSend, SerialRcv, Send, Rcv, and SendCmd)
Variable name _FINSTCPConnSta

Meaning FINS/TCP Connection Status Global/local Global
Function Gives the FINS/TCP connection status.
Data type WORD Range of values 16#0000 to 16#FFFF
R/W access R Retained Not retained. Network Publish Published.*1
gram structions
*1. The network for CPU Units with unit version 1.07 or earlier is not published.
l Functional Classification: Version
Variable name _UnitVersion*1

Meaning Unit Version Global/local Global
Function Contains the unit version of the CPU Unit.
The integer part of the unit version is stored in element number 0.
The fractional part of the unit version is stored in element number 1.
Example 1) If the unit version is 1.08, “1” is stored in element number 0 and “8” is stored in element number 1.
Example 2) If the unit version is 1.10, “1” is stored in element number 0 and “10” is stored in element number 1.
Data type ARRAY[0..1] OF USINT Range of values 0 to 99
gram structions
Variable name _HardwareRevision*1

Meaning Hardware Revision Global/local Global
Function Contains the hardware revision of the CPU Unit.
Contains - if the hardware revision is in blank, and A to Z for other cases.
Data type STRING[2] Range of values - or A to Z
gram structions

Appendices

Variable name _ProjectUnitVersion*1
Meaning Project Unit Version Global/local Global
Function Contains the project unit version of the project in the CPU Unit.
The integer part of the project unit version is stored in element number 0.
The fractional part of the project unit version is stored in element number 1.
Example 1) If the project unit version is 1.09, “1” is stored in element number 0 and “9” is stored in element num-
ber 1.
Example 2) If the project unit version is 1.40, “1” is stored in element number 0 and “40” is stored in element num-
ber 1.
Data type ARRAY[0..1] OF USINT Range of values 0 to 99
gram structions
l Functional Classification: Self-diagnosis
Variable name _SelfTest_HighTemperature*1

Meaning CPU Unit High Temperature Flag Global/local Global A
Function TRUE when the internal temperature of the CPU Unit is too high.
Note Always FALSE for the NX102 CPU Unit and NX1P2 CPU Unit.
gram structions
Variable name _SelfTest_LowBattery*1

Meaning Low Battery Flag Global/local Global
Function TRUE when the battery is disconnected or the battery voltage is dropped.
gram structions
Variable name _SelfTest_LowFanRevolution*1

Meaning Low FAN Revolution Flag Global/local Global
Function TRUE when the fan is disconnected or the rotation speed of a fan is decreased.
Note Always FALSE for the NX102 CPU Unit, NX1P2 CPU Unit, and NJ-series CPU Unit.
gram structions

Appendices
l Functional Classification: PLC Built-in
Variable name _DeviceOutHoldCfg*1

Meaning Device Output Hold Configuration Global/local Global
Function It is 16#A5A5 if you retain the target device output when the operating mode is changed or when downloaded.
In the case other than 16#A5A5, the target device output is initialized when the operating mode is changed or
when downloaded.
Data type WORD Range of values 16#0000 to 16#FFFF
R/W access RW Retained Retained. Network Publish Published.
gram structions
Variable name _DeviceOutHoldStatus*1

Meaning Device Output Hold Status Global/local Global
Function It is TRUE if the target device output is retained when the operating mode is changed or when downloaded.
When the device output hold configuration is other than 16#A5A5, or when a major fault level Controller error oc-
curs, the target device output is initialized and changes to FALSE.
gram structions
l Functional Classification: Debugging
Variable name _PLC_TraceSta[0..3] Member name .IsStart

Meaning Trace Busy Flag Global/local Global
Function TRUE when a trace starts.
Note You cannot use this system-defined variable in the user program. It is used only to monitor the
status of data tracing from the Sysmac Studio.
Data type Structure: _sTRACE_STA, Members: BOOL Range of values TRUE or FALSE
Usage in user pro- Not possible. Related in- • TraceTrig
gram structions • TraceSamp
struction.
• GetTraceStatus

Appendices

Variable name _PLC_TraceSta[0..3] Member name .IsComplete
Meaning Trace Completed Flag Global/local Global
Function TRUE when a trace is completed.
struction.
• GetTraceStatus
Variable name _PLC_TraceSta[0..3] Member name .IsTrigger

Meaning Trace Trigger Monitor Flag Global/local Global
Function TRUE when the trigger condition is met.
FALSE when the next trace starts.
status of data tracing from the Sysmac Studio. A
R/W access R Retained Retained. Network Publish Not published.

struction.
• GetTraceStatus
Variable name _PLC_TraceSta[0..3] Member name .ParamErr

Meaning Trace Parameter Error Flag Global/local Global
Function TRUE when a trace starts, but there is an error in the trace settings.
• GetTraceStatus
Variable name _PLC_ErrSta

Meaning PLC Function Module Error Status Global/local Global
Function TRUE when there is a Controller error that involves the PLC Function Module.
FALSE when there is no Controller error that involves the PLC Function Module.
Refer to A-6-8 Meanings of Error Status Bits on page A-137 for the meanings of the error status bits.
Data type WORD Range of values 16#0000 to 16#00F0
Usage in user pro- Possible. Related in- • GetPLCError
gram structions You can use the following instruction to clear this variable.
• ResetPLCError

Appendices
l Functional Classification: Option Boards
Variable name _PLC_OptBoardSta*1

Meaning Option Board Status Global/local Global
Function Contains the status of Option Boards. This variable is commonly used regardless of the models of Option Boards.
The array element 1 corresponds to the option board slot 1 and array element 2 corresponds to the option board
slot 2.
Note You can use this system-defined variable only for NX1P2 CPU Units.
Data type ARRAY[1..2] OF _sOPTBOARD_STA Range of values ---
gram structions
Variable name _PLC_OptBoardSta*1 Member name IsDetect

Meaning Option Board Mounted Global/local Global
Function Indicates an Option Board is mounted to the option board slot.
TRUE: Mounted.
FALSE: Not mounted.
gram structions
Variable name _PLC_OptBoardSta*1 Member name Run

Meaning Option Board Normal Operation Global/local Global
Function Indicates whether an Option Board is normally operating.
To use device variables or communications instructions for an Option Board, program this member as an interlock
condition in the user program.
TRUE: Normally operating.
FALSE: Initializing, changing settings, or an error occurred.
gram structions
Variable name _PLC_OptBoardSta*1 Member name Error

Meaning Option Board Error Global/local Global
Function Indicates whether an Option Board error occurred.
TRUE: An error occurred.
FALSE: An error not occurred.
gram structions

Appendices

Variable name _PLC_OptSerialErrSta*1
Meaning Serial Option Board Error Status Global/local Global
Function Contains the error status of a transmission error for the Serial Communications Option Board.
When the Serial communications mode of a Serial Communications Option Board is only set to Host Link (FINS),
the value of each member is updated.
Other than the above setting, the values of all members are FALSE.
The array element 1 corresponds to the option board slot 1 and array element 2 corresponds to the option board
slot 2.
Note We do not recommend the use of this variable in the user program. There may be a delay in
updating it. Use this variable only to access status through communications from an external
device such as an HMI.
Data type ARRAY[1..2] OF _sOPTSERIALERR_STA Range of values ---
gram structions
Variable name _PLC_OptSerialErrSta*1 Member name Error A

Meaning Transmission Error Global/local Global
Function Indicates whether a transmission error occurred.

TRUE: A parity error, framing error, or an overrun error occurred.
FALSE: FALSE due to one of the following causes.
• A parity error, framing error, or an overrun error not occurred.
• The Serial communications mode is not set to Host Link (FINS).
• The Option Board that is mounted is not a Serial Communications Option Board.
gram structions

Appendices
Variable name _PLC_OptSerialErrSta*1 Member name ParityErr

Meaning Parity Error Global/local Global
Function Indicates whether a parity error occurred. If this error occurs, it means that the serial communications settings
may not apply to the remote device to connect.
TRUE: A parity error occurred.
• A parity error not occurred.
gram structions
Variable name _PLC_OptSerialErrSta*1 Member name FramingErr

Meaning Framing Error Global/local Global
Function Indicates whether a framing error occurred. If this error occurs, it means that the serial communications settings
may not apply to the remote device to connect.
TRUE: A framing error occurred.
• A framing error not occurred.
gram structions

Appendices

Variable name _PLC_OptSerialErrSta*1 Member name OverRun
Meaning Overrun Error Global/local Global
Function Indicates whether an overrun error occurred. If this error occurs, it means that the baud rate of an Option Board
may be too large.
TRUE: An overrun error occurred.
• An overrun error not occurred.
gram structions
*1. This system-defined variable was added for unit version 1.13 of the CPU Unit. A
l Functional Classification: Safety Data Logging

Variable name _PLC_SFLogSta*1
Meaning Safety Data Logging Status Global/local Global
Function Stores the status of safety data logging.
Element number 0 corresponds to Logging Setting Number 1. Element number 1 corresponds to Logging Setting
Number 2.
Note You can use this system-defined variable only for the NX102 CPU Units.
Data type ARRAY[0..1] OF _sSFLOG_STA Range of values ---
gram structions
Variable name _PLC_SFLogSta*1 Member name .IsStart

Meaning Safety Data Logging Busy Flag Global/local Global
Function TRUE when safety data logging starts.
gram structions

Appendices
Variable name _PLC_SFLogSta*1 Member name .IsComplete

Meaning Safety Data Logging Completed Flag Global/local Global
Function TRUE when logging stops. FALSE when the next logging starts.
When this flag is TRUE, it means that the logging has completed.
gram structions
Variable name _PLC_SFLogSta*1 Member name .IsOutput

Meaning Log File Output Completed Flag Global/local Global
Function TRUE when the log file is output. FALSE when the next logging starts.
gram structions
l Functional Classification: I/O Bus Status
Variable name _CJB_MaxRackNo

Meaning Largest Rack Number Global/local Global
Function Contains the largest rack number of the Expansion Racks that are detected by the Controller.
Data type UINT Range of values 0 to 3
“0” means there are no Expansion
Racks.
gram structions
Variable name _CJB_MaxSlotNo

Meaning Largest Slot Number Global/local Global
Function Contains one higher than the largest slot number with a CJ-series Unit on each of the Racks that are detected by
the Controller.
Data type ARRAY [0..3] OF UINT Range of values 0 to 10
0: No CJ-series Unit mounted.
gram structions

Appendices

l Functional Classification: I/O Bus Errors
Variable name _CJB_ErrSta

Meaning I/O Bus Error Status Global/local Global
Function Gives the I/O bus error status.
Note Do not use this variable in the user program. There may be a delay in updating it. Use this vari-
able only to access status through communications from an external device. Refer to
A-6-8 Meanings of Error Status Bits on page A-137 for the meanings of the error status bits.
Data type WORD Range of values 16#0000 to 16#C0F0
gram strucitons struction.
• GetCJBError
You can use the following instruction to clear this variable.
• ResetCJBError
Variable name _CJB_MstrErrSta

Meaning I/O Bus Master Error Status Global/local Global A
Function Gives the I/O bus master error status.

• GetCJBError
• ResetCJBError
Variable name _CJB_UnitErrSta

Meaning I/O Bus Unit Error Status Global/local Global
Function Gives the error status of the I/O Bus Unit.
Data type ARRAY [0..3, 0..9] OF WORD Range of values 16#0000 to 16#80F0
• GetCJBError
• ResetCJBError

Appendices
Variable name _CJB_InRespTm

Meaning Basic Input Unit Input Response Times Global/local Global
Function Contains the response times of the Basic Input Units.
Data type ARRAY [0..3, 0..9] OF UINT Range of values 0 to 320
gram structions
l Functional Classification: Auxiliary Area Bits for CJ-series Units
Variable name _CJB_IOUnitInfo

Meaning Basic I/O Unit Information Global/local Global
Function Shows the status of the Basic I/O Unit alarm output (load short-circuit protection).
TRUE: Load short-circuit
FALSE: No load short-circuit
Data type ARRAY [0..3, 0..9, 0..7] OF BOOL Range of values TRUE or FALSE
gram structions
Auxiliary Words A50 to A69
Area Bits A50.00 to A69.15
Addresses
Variable name _CJB_CBU00InitSta

to
_CJB_CBU15InitSta
Meaning CPU Bus Unit Initializing Flags Global/local Global
Function The corresponding variable is TRUE during initialization of the CPU Bus Unit.
The corresponding variable changes to FALSE when the initialization is completed.
The numbers in the variables indicate the unit numbers of the applicable Units.
Usage in user pro- Possible. Related in- • ResetUnit
gram structions
Auxiliary Words A302
Addresses

Appendices

Variable name _CJB_SIO00InitSta
to
_CJB_SIO95InitSta
Meaning Special I/O Unit Initializing Flags Global/local Global
Function The corresponding variable is TRUE during initialization of the Special I/O Unit.
The corresponding variable changes to FALSE when the initialization is completed.
gram structions
Addresses
Variable name _CJB_CBU00Restart

to
_CJB_CBU15Restart
A
Meaning CPU Bus Unit Restart Bits Global/local Global
Function The CPU Bus Unit is restarted when the corresponding variable changes to TRUE. (It is changed to FALSE by

the system after the CPU Bus Unit is restarted.)
If you change the Restart Bit to TRUE with an instruction, the restart process begins from refresh processing in
the next task period.
gram structions
Auxiliary Words A501
Addresses
Variable name _CJB_SIO00Restart

to
_CJB_SIO95Restart
Meaning Special I/O Unit Restart Bits Global/local Global
Function The Special I/O Unit is restarted when the corresponding variable changes to TRUE. (It is changed to FALSE by
the system after the Special I/O Unit is restarted.)
If you change the Restart Bit to TRUE with an instruction, the restart process begins from refresh processing in
the next task period.
gram structions
Addresses

Appendices
Variable name _CJB_SCU00P1ChgSta

_CJB_SCU00P2ChgSta
to
_CJB_SCU15P1ChgSta
_CJB_SCU15P2ChgSta
Meaning Serial Communications Unit 0, Port 1/2 Settings Global/local Global
Changing Flags
to
Serial Communications Units 1 to 15, Port 1/2
Settings Changing Flags
Function TRUE when the parameters of the specified port are being changed.
FALSE after the parameters are changed.
It is also possible for the user to indicate a change in serial port settings by turning ON the corresponding flag
through the execution of an instruction or a user operation.
gram structions
Auxiliary Words Port on Serial Communications Unit with unit number 0: A620
Area Ports on Serial Communications Unit with unit numbers 1 to 15: A621 to A635
Addresses Bits Port on Serial Communications Unit with unit number 0: A620.01 to A620.02
Ports on Serial Communications Unit with unit numbers 1 to 15: A621.01 to A635.02
l Functional Classification: NX Bus Function Module Status
Variable name _NXB_MaxUnitNo*1

Meaning Largest Unit Number Global/local Global
Function Contains the largest NX Unit number of the NX Units on the CPU Unit that are detected by the NX Bus Function
Module.
If the Unit configuration information is registered by the Sysmac Studio, the value will be largest NX Unit number
of the registered Unit configuration. Units that are set as unmounted Units are also included.
If the Unit configuration information is not registered by the Sysmac Studio, the value will be the largest Unit num-
ber of an actual Unit configuration.
Note You can use this system-defined variable only for the NX102 CPU Units and NX1P2 CPU
Units.
Data type UINT Range of values 0 to 32*2
0: No NX Unit mounted.
gram structions
*2. For the NX1P2 CPU Units, the range of values is 0 to 8.

Appendices

Variable name _NXB_UnitIOActiveTbl*1
Meaning NX Unit I/O Data Active Status Global/local Global
Function Indicates whether the I/O data in the NX Units on the CPU Unit is valid. This status is given as an array of BOOL
data. The subscript of the array corresponds to the NX Unit number. A subscript of 0 indicates the NX Bus Func-
tion Module and it is always TRUE.
TRUE: The I/O data in the NX Unit is valid.
FALSE: The I/O data in the NX Unit is invalid.
Units.
Data type ARRAY [0..32] OF BOOL*2 Range of values TRUE or FALSE
Usage in user pro- Possible. Related in- • ResetNXBError
gram structions • RestartNXUnit
Variable name _NXB_UnitMsgActiveTbl*1

Meaning NX Unit Message Enabled Status Global/local Global A
Function Indicates whether the NX Units on the CPU Unit can process message communications. This status is given as
an array of BOOL data. The subscript of the array corresponds to the NX Unit number. A subscript of 0 indicates

the NX Bus Function Module and it is always TRUE.
TRUE: Message communications possible.
FALSE: Message communications not possible.
Units.
Usage in user pro- Possible. Related in- • ResetNXBError
gram structions • RestartNXUnit
Variable name _NXB_UnitRegTbl*1

Meaning NX Unit Registration Status Global/local Global
Function Indicates whether the NX Units on the CPU Unit are registered in the Unit configuration. This status is given as an
array of BOOL data. The subscript of the array corresponds to the NX Unit number. A subscript of 0 indicates the
NX Bus Function Module.
TRUE: Registered.
FALSE: Not registered.
If the Unit configuration information is not registered by the Sysmac Studio, the status is FALSE for all Units. The
status is TRUE for NX Units that are set as unmounted Units.
Units.
gram structions

Appendices
l Functional Classification: NX Bus Function Module Errors
Variable name _NXB_ErrSta*1

Meaning NX Bus Function Module Error Status Global/local Global
Function Gives the NX Bus Function Module error status.
This system-defined variable provides the collective status of the NX Bus Function Module Master Error Status
and NX Bus Function Module Unit Error Status for all NX Units.
device such as an HMI. Refer to A-6-8 Meanings of Error Status Bits on page A-137 for the
meanings of the error status bits.
Units.
Usage in user pro- Possible. Related in- You can access this variable from the user program only with the following in-
• GetNXBError
You can use the following instructions to clear this variable.
• ResetNXBError
• RestartNXUnit
Variable name _NXB_MstrErrSta*1

Meaning NX Bus Function Module Master Error Status Global/local Global
Function Gives the status of errors that are detected in the NX Bus Function Module of the CPU Unit.
Units.
• GetNXBError
• ResetNXBError
• RestartNXUnit

Appendices

Variable name _NXB_UnitErrStaTbl*1
Meaning NX Bus Function Module Unit Error Status Global/local Global
Function Gives the status of errors that are detected in the NX Bus Function Module of the CPU Unit. This status is given
as an array of WORD data. The subscript of the array corresponds to the NX Unit number.
Units.
Data type ARRAY [1..32] OF WORD*2 Range of values 16#0000 to 16#40F2
• GetNXBError
• ResetNXBError
• RestartNXUnit
*2. For the NX1P2 CPU Units, the data type is ARRAY [0..8] OF WORD. A

Variable name _NXB_UnitErrFlagTbl*1
Meaning NX Unit Error Status Global/local Global
Function Indicates whether errors occurred in the NX Unit on the CPU Unit. This status is given as an array of BOOL data.
The subscript of the array corresponds to the NX Unit number. A subscript of "0" indicates the NX Bus Function
Module and whether an event occurred that is detected by the NX Bus Function Module.
TRUE: Error.
FALSE: No error.
The status is "FALSE" for NX Units that are set as unmounted Units.
Units.
• GetNXBError
• ResetNXBError
• RestartNXUnit

Appendices
l Functional Classification: Motion Control Functions
Variable name _MC_ErrSta

Meaning Motion Control Function Module Error Status Global/local Global
Function Shows the status of errors that are detected in the Motion Control Function Module.
You can use this variable directly in the user program. Refer to A-6-8 Meanings of Error Status Bits on page
Usage in user pro- Possible. Related in- • GetMCError
gram structions • ResetMCError
• MC_Reset
• MC_GroupReset
Variable name _MC_ComErrSta

Meaning Common Error Status Global/local Global
Function Shows the status of errors that are detected in common processing for motion control.
Variable name _MC_AX_ErrSta

Meaning Axis Error Status Global/local Global
Function Shows the error status for each axis. The status of up to 256axes*1 is shown.
• MC_Reset
WORD.
For NJ-series CPU Units, the error status of up to 64 axes is shown and the data type is ARRAY [0..63] OF WORD.
Variable name _MC_GRP_ErrSta

Meaning Axes Group Error Status Global/local Global
Function Shows the error status for each axes group. The error status for up to 64 axes groups *1 is shown.
• MC_GroupReset
OF WORD.
For NJ-series CPU Units, the error status of up to 32 axes groups is shown and the data type is ARRAY [0..31] OF WORD.

Appendices

Variable name _MC_COM
Meaning Common Variable Global/local Global
Function Shows the status that is common to the Motion Control Function Module.
Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for details on structure
members.
Data type _sCOMMON_REF Range of values ---
gram structions
Variable name _MC_GRP

Meaning Axes Group Variables Global/local Global
Function NX701 CPU Units: Used to specify axes groups and shows multi-axes coordinated control status, and multi-axes
coordinated control settings for motion control instructions used for motion control 1.
NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units: Used to specify axes groups and shows multi-
axes coordinated control status, and multi-axes coordinated control settings for motion control instructions.
When you create an axes group on the System Studio, a user-defined axes group variable with a different name
is created.
Normally, you use an Axes Group Variable with a different name.
A
members.

Data type ARRAY[0..63] OF _sGROUP_REF*1 Range of values ---
gram structions
*1. For the NX102 CPU Units and NX1P2 CPU Units, the data type is ARRAY [0..7] OF _sGROUP_REF.
For NJ-series CPU Units, the data type is ARRAY[0..31] OF _sGROUP_REF.
Variable name _MC1_GRP

Function Used to specify axes groups and shows multi-axes coordinated control status, and multi-axes coordinated control
settings for motion control instructions used for motion control 1.
is created.
members.
Note You can use this system-defined variable only for the NX701 CPU Units. You can access the
same values of _MC1_GRP and _MC_GRP if the array element numbers of them are the
same.
Data type ARRAY[0..63] OF _sGROUP_REF Range of values ---
gram structions

Appendices
Variable name _MC2_GRP

Function Used to specify axes groups and shows multi-axes coordinated control status, and multi-axes coordinated control
settings for motion control instructions used for motion control 2.
is created.
members.
Data type ARRAY[0..63] OF _sGROUP_REF Range of values ---
gram structions
Variable name _MC_AX

Meaning Axis Variables Global/local Global
Function NX701 CPU Units: Used to specify axes and shows single-axis control status, and single-axis control settings for
motion control instructions used for motion control 1.
NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units: Used to specify axes and shows single-axis
control status, and single-axis control settings for motion control instructions.
When you create an axis on the System Studio, a user-defined axis variable with a different name is created.
Normally, you use an Axis Variable with a different name.
members.
Data type ARRAY[0..255] OF _sAXIS_REF*1 Range of values ---
gram structions
*1. For the NX102 CPU Units and NX1P2 CPU Units, the data type is ARRAY [0..15] OF _sAXIS_REF.
For NJ-series CPU Units, the data type is ARRAY[0..63] OF _sAXIS_REF.
Variable name _MC1_AX

Function Used to specify axes and shows single-axis control status, and single-axis control settings for motion control in-
structions used for motion control 1.
members.
Note You can use this system-defined variable only for the NX701 CPU Units. You can access the
same values of _MC1_AX and _MC_AX if the array element numbers of them are the same.
Data type ARRAY[0..255] OF _sAXIS_REF Range of values ---

gram structions

Appendices

Variable name _MC2_AX
Function Used to specify axes and shows single-axis control status, and single-axis control settings for motion control in-
structions used for motion control 2.
members.
Data type ARRAY[0..255] OF _sAXIS_REF Range of values ---

gram structions
l Functional Classification: EtherCAT Communications Errors

A
Variable name _EC_ErrSta
Meaning Built-in EtherCAT Error Global/local Global

Function This system-defined variable provides the collective status of errors in the EtherCAT Master Function Module.
Usage in user pro- Possible. Related in- Get EtherCAT Error Status
gram structions • GetECError
Reset EtherCAT Error
• ResetECError
Variable name _EC_PortErr

Meaning Communications Port Error Global/local Global
Function This system-defined variable provides the collective status of errors in the communications ports for the EtherCAT
master.
• ResetECError
Variable name _EC_MstrErr

Meaning Master Error Global/local Global
Function This system-defined variable provides the collective status of EtherCAT master errors and slave errors detected
by the EtherCAT master.
• ResetECError

Appendices
Variable name _EC_SlavErr

Meaning Slave Error Global/local Global
Function This system-defined variable provides the collective status of all the error status for EtherCAT slaves.
• ResetECError
Variable name _EC_SlavErrTbl

Meaning Slave Error Table Global/local Global
Function This system-defined variable gives the error status for each EtherCAT slave.
This error status shows status of error in each slave in the actual system configuration. This variable array indi-
cates slaves in which there are errors. Status is provided for each EtherCAT slave node address (1 to 512)*1.
Data type Array [1..512] OF WORD*1 Range of values 16#0000 to 16#00F0
• ResetECError
*1. For the NX102 CPU Units, NX1P2 CPU Units, and NJ-series CPU Units, the node address is 1 to 192 and the data type is ARRAY
[1..192] OF WORD.
Variable name _EC_MacAdrErr

Meaning MAC Address Error Global/local Global
Function TRUE if the MAC Address Error (14400000 hex) event occurred.
gram structions
Variable name _EC_LanHwErr

Meaning Communications Controller Error Global/local Global
Function TRUE if the Communications Controller Error (047C0000 hex) event occurred.
gram structions
Variable name _EC_LinkOffErr

Meaning Link OFF Error Global/local Global
Function TRUE if the Link OFF Error (84200000 hex) event occurred.
Usage in user pro- Possible. Related in- Reset EtherCAT Error
gram structions • ResetECError

Appendices

Variable name _EC_NetCfgErr
Meaning Network Configuration Information Error Global/local Global
Function TRUE if the Network Configuration Information Error (34400000 hex) event occurred.
gram structions
Variable name _EC_NetCfgCmpErr

Meaning Network Configuration Verification Error Global/local Global
Function TRUE if one of the following events occurred.
• Network Configuration Verification Error (84220000 hex)
• Network Configuration Verification Error (Slave Unconnected) (84380000 hex)
• Network Configuration Verification Error (Unnecessary Slave Connected) (84320003 hex)
• Network Configuration Verification Error (Mismatched Slave) (84330004 hex)
• Network Configuration Verification Error (Incorrect Ring Wiring) (843A0000 hex)
Usage in user pro- Possible. Related in- Reset EtherCAT Error A

Variable name _EC_NetTopologyErr
Meaning Network Configuration Error Global/local Global
• Network Configuration Error (84210000 hex)
• Incorrect Wiring Detected (843C0000 hex)
Variable name _EC_PDCommErr

Meaning Process Data Communications Error Global/local Global
• Process Data Communications Error (842C0000 hex)
• Illegal Slave Disconnection Detected (84310002 hex)
• Slave PDI WDT Error Detected (84340000 hex)
Variable name _EC_PDTimeoutErr

Meaning Process Data Reception Timeout Error Global/local Global
Function TRUE if the Process Data Reception Timeout (842B0000 hex) event occurred.

Appendices
Variable name _EC_PDSendErr

Meaning Process Data Transmission Error Global/local Global
Function TRUE if the Process Data Transmission Error (84290000 hex) event occurred.
Variable name _EC_SlavAdrDupErr

Meaning Slave Node Address Duplicated Error Global/local Global
Function TRUE if the Slave Node Address Duplicated (24200000 hex) event occurred.
Variable name _EC_SlavInitErr

Meaning Slave Initialization Error Global/local Global
• Slave Initialization Error (84230000 hex)
• Slave State Transition Failed (84300001 hex)
Variable name _EC_SlavAppErr

Meaning Slave Application Error Global/local Global
• Slave Application Error (84280000 hex)
• Slave AL Status Error Detected (84360000 hex)
Variable name _EC_MsgErr

Meaning EtherCAT Message Error Global/local Global
• EtherCAT Message Error (842D0000 hex)
• Illegal Mailbox Received (84350000 hex)
Usage in user pro- Possible. Related in- CoE messages (Read EtherCAT CoE SDO)
gram structions • EC_CoESDORead
CoE messages (Write EtherCAT CoE SDO)
• EC_CoESDOWrite

Appendices

Variable name _EC_SlavEmergErr
Meaning Emergency Message Detected Global/local Global
Function TRUE if the Emergency Message Detected (64200000 hex) event occurred.
Variable name _EC_IndataInvalidErr*1

Meaning Input Process Data Invalid Error Global/local Global
Function TRUE if the Input Process Data Invalid Error (842F0000 hex) event occurred.
Variable name _EC_CommErrTbl

A
Meaning Communications Error Slave Table Global/local Global

Function Slaves are given in the table in the order of slave node addresses. The corresponding slave element is TRUE if
the master detected an error for the slave.
Data type Array [1..512] OF BOOL*1 Range of values TRUE or FALSE
Note The values of all system-defined variables that are related to errors in EtherCAT communications do not change until
the cause of the error is removed and then the error in the Controller is reset with the troubleshooting functions of the
Sysmac Studio or the ResetECError instruction.
Variable name _EC_CycleExceeded

Meaning EtherCAT Communications Cycle Exceeded Global/local Global
Function TRUE if the EtherCAT Communications Cycle Exceeded (34410000 hex) event occurred.
Note You can use this system-defined variable only for NX-series CPU Units.
gram structions
l Functional Classification: EtherCAT Communications Status
Variable name _EC_RegSlavTbl

Meaning Registered Slave Table Global/local Global
Function This table indicates the slaves that are registered in the network configuration information.
Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave is registered.
gram structions

Appendices
Variable name _EC_EntrySlavTbl

Meaning Network Connected Slave Table Global/local Global
Function This table indicates which slaves are connected to the network. Slaves are given in the table in the order of slave
node addresses.
The element for a slave is TRUE if the corresponding slave has entered the network.
gram structions
Variable name _EC_MBXSlavTbl

Meaning Message Communications Enabled Slave Table Global/local Global
Function This table indicates the slaves that can perform message communications. Slaves are given in the table in the
order of slave node addresses.
The element for a slave is TRUE if message communications are enabled for it (pre-operational, safe-operation,
or operational state).
Note Use this variable to confirm that message communications are possible for the relevant slave
before you execute message communications with an EtherCAT slave.
Usage in user pro- Possible. Related in- Disconnect EtherCAT Slave
gram structions • EC_DisconnectSlave
Connect EtherCAT Slave
• EC_ConnectSlave
Variable name _EC_PDSlavTbl

Meaning Process Data Communicating Slave Table Global/local Global
Function This table indicates the slaves that are performing process data communications. Slaves are given in the table in
the order of slave node addresses.
The element for a slave is TRUE if process data of the corresponding slave is enabled (operational) for both slave
inputs and outputs.
Note Use this variable to confirm that the data for the relevant slave is valid before controlling an
EtherCAT slave.
• EC_ConnectSlave

Appendices

Variable name _EC_DisconnSlavTbl
Meaning Disconnected Slave Table Global/local Global
Function Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave was disconnected.
• EC_ConnectSlave
Variable name _EC_DisableSlavTbl

Meaning Disabled Slave Table Global/local Global
Function Slaves are given in the table in the order of slave node addresses.
The element for a slave is TRUE if the corresponding slave is disabled.
A
gram structions

Variable name _EC_PDActive

Meaning Process Data Communications Status Global/local Global
Function TRUE when process data communications are performed with all slaves*1.

• EC_ConnectSlave
*1. Disabled slaves are not included.
Variable name _EC_PktMonStop

Meaning Packet Monitoring Stopped Global/local Global
Function TRUE when packet monitoring is stopped.
Usage in user pro- Possible. Related in- Stop Packet Monitor
gram structions • EC_StopMon
Start Packet Monitor
• EC_StartMon
Variable name _EC_LinkStatus

Meaning Link Status Global/local Global
Function TRUE if the communications controller link status is Link ON.
gram structions

Appendices
Variable name _EC_PktSaving

Meaning Saving Packet Data File Global/local Global
Function Shows whether a packet data file is being saved.
TRUE: Packet data file being saved.
FALSE: Packet data file not being saved.
Usage in user pro- Possible. Related in- Saving Packet Data File
gram structions • EC_SaveMon
Variable name _EC_InDataInvalid

Meaning Input Data Invalid Global/local Global
Function TRUE when process data communications established in the primary periodic task are not normal and the input
data is not valid.
gram structions
Note 1. All system-defined variables that are related to the status of EtherCAT communications give the current status.
Note 2. The variable temporarily changes to TRUE if the EC_DisconnectSlave (Disconnect EtherCAT Slave) instruction,
EC_ConnectSlave (Connect EtherCAT Slave) instruction, or EC_ChangeEnableSetting (Enable/Disable EtherCAT
Slave) instruction is executed.
Variable name _EC_InData1Invalid

Meaning Input Data1 Invalid Global/local Global
Function TRUE when process data communications established in the primary periodic task are not normal and the input
data is not valid.
gram structions
Variable name _EC_InData2Invalid

Meaning Input Data2 Invalid Global/local Global
Function TRUE when process data communications established in the priority-5 periodic task are not normal and the input
data is not valid.
Note Always TRUE for the NX102 CPU Unit and NX1P2 CPU Unit.
gram structions

Appendices

Variable name _EC_RingBreaking*1
Meaning Ring Disconnection Global/local Global
Function TRUE when all slaves in the ring topology except for disabled slaves are connected and if there is only one point
of disconnection in the communications cables in the ring topology.
gram structions
Variable name _EC_RingBreakNodeAdr*1

Meaning Slave Node Address Before Ring Disconnection Global/local Global
Function When the _EC_RingBreaking (Ring Disconnection) system-defined variable is TRUE, the slave node address be-
fore point of disconnection is stored.
When the _EC_RingBreaking (Ring Disconnection) system-defined variable is FALSE, “0” is stored.
Data type UINT Range of values 0 to maximum number of node ad-
dresses
A
gram structions

l Functional Classification: EtherCAT Communications Diagnosis/Statistics

Log
Variable name _EC_StatisticsLogEnable*1

Meaning Diagnosis/Statistics Log Enable Global/local Global
Function Changes to TRUE when the diagnosis/statistics log is started.
Changes to FALSE when the diagnosis/statistics log is ended.
gram structions
Variable name _EC_StatisticsLogCycleSec*1

Meaning Diagnosis/Statistics Log Cycle Global/local Global
Function Specifies the interval to write the diagnostic and statistical information of the diagnosis/statistics log in units of
seconds.
When 0 is specified, the diagnostic and statistical information is written only once when the diagnosis/statistics log
is ended.
Note The write interval does not change even if you change the value of this system-defined variable
while the diagnosis/statistics log operation is in progress.
Data type UINT Range of values 0, or 30 to 1800
gram structions

Appendices
Variable name _EC_StatisticsLogBusy*1

Meaning Diagnosis/Statistics Log Busy Global/local Global
Function TRUE while the diagnosis/statistics log operation is in progress.
gram structions
Variable name _EC_StatisticsLogErr*1

Meaning Diagnosis/Statistics Log Error Global/local Global
Function TRUE when the diagnosis/statistics log failed to start or it is impossible to write into the log.
The value of this flag is determined when _EC_StatisticsLogBusy (Diagnosis/Statistics Log Busy) changes to
FALSE after the diagnosis/statistics log operation is started.
The error end is caused by the following.
• Another records cannot be added in the log file because the capacity of the SD Memory Card is fully used.
• The SD Memory Card is write-protected.
• There is no SD Memory Card.
• The function cannot be started because the value specified for _EC_StatisticsLogCycleSec (Diagnosis/Statis-
tics Log Cycle) is invalid.
gram structions
l Functional Classification: EtherNet/IP Communications Errors
Variable name _EIP_ErrSta

Meaning Built-in EtherNet/IP Error Global/local Global
Function This is the error status variable for the built-in EtherNet/IP port.
NX-series CPU Units: Represents the collective status of the following error flags.
• _EIP1_PortErr (Communications Port1 Error)
• _EIP2_PortErr (Communications Port2 Error)
• _EIP1_CipErr (CIP Communications1 Error)
• _EIP2_CipErr (CIP Communications2 Error)
NJ-series CPU Units: Represents the collective status of the following error flags.
• _EIP_PortErr (Communications Port Error)
• _EIP_CipErr (CIP Communications Error)
Note Refer to A-6-8 Meanings of Error Status Bits on page A-137 for the meanings of the error sta-
tus bits.
Usage in user pro- Possible. Related in- You can access this variable from the user program with the following instruc-
gram structions tion.
• GetEIPError

Appendices

Variable name _EIP_PortErr
Meaning Communications Port Error Global/local Global
Function This is the error status variable for the communications port.
• _EIP1_MacAdrErr (Port1 MAC Address Error)
• _EIP1_LanHwErr (Port1 Communications Controller Error)
• _EIP1_EtnCfgErr (Port1 Basic Ethernet Setting Error)
• _EIP1_IPAdrCfgErr (Port1 IP Address Setting Error)
• _EIP1_IPAdrDupErr (Port1 IP Address Duplication Error)
• _EIP1_BootpErr (Port1 BOOTP Server Error)
• _EIP_DNSSrvErr (DNS Server Connection Error)
• _EIP_MacAdrErr (MAC Address Error)
• _EIP_LanHwErr (Communications Controller Error)
• _EIP_EtnCfgErr (Basic Ethernet Setting Error)
• _EIP_IPAdrCfgErr (IP Address Setting Error)
• _EIP_IPAdrDupErr (IP Address Duplication Error)
• _EIP_BootpErr (BOOTP Server Error)
A
Note If a Link OFF Detected or Built-in EtherNet/IP Error occurs, it is recorded in the event log and

then the corresponding bit turns ON. Refer to A-6-8 Meanings of Error Status Bits on page
• GetEIPError
Variable name _EIP1_PortErr

Meaning Communications Port1 Error Global/local Global
Function This is the error status variable for the communications port 1.
It represents the collective status of the following error flags.
• GetEIPError

Appendices
Variable name _EIP2_PortErr

Meaning Communications Port2 Error Global/local Global
Function This is the error status variable for the communications port 2.
Note You can use this system-defined variable only for the NX701 CPU Units and NX102 CPU Units.
• GetEIPError
Variable name _EIP_CipErr

Meaning CIP Communications Error Global/local Global
Function This is the error status variable for CIP communications.
• _EIP1_IdentityErr (CIP Communications1 Identity Error)
• _EIP1_TDLinkCfgErr (CIP Communications1 Tag Data Link Setting Error)
• _EIP1_TDLinkOpnErr (CIP Communications1 Tag Data Link Connection Failed)
• _EIP1_TDLinkErr (CIP Communications1 Tag Data Link Communications Error)
• _EIP1_TagAdrErr (CIP Communications1 Tag Name Resolution Error)
• _EIP1_MultiSwONErr (CIP Communications1 Multiple Switches ON Error)
• _EIP_IdentityErr (Identity Error)
• _EIP_TDLinkCfgErr (Tag Data Link Setting Error)
• _EIP_TDLinkOpnErr (Tag Data Link Connection Failed)
• _EIP_TDLinkErr (Tag Data Link Communications Error)
• _EIP_TagAdrErr (Tag Name Resolution Error)
• _EIP_MultiSwOnErr (Multiple Switches ON Error)
Note If a Tag Name Resolution Error occurs, it is recorded in the event log and this variable changes
to TRUE. Refer to A-6-8 Meanings of Error Status Bits on page A-137 for the meanings of the
error status bits.
• GetEIPError

Appendices

Variable name _EIP1_CipErr
Meaning CIP Communications1 Error Global/local Global
Function This is the error status variable for CIP communications 1.
error status bits.
• GetEIPError
A
Variable name _EIP2_CipErr

Meaning CIP Communications2 Error Global/local Global
Function This is the error status variable for CIP communications 2.
error status bits.
• GetEIPError
Variable name _EIP_TcpAppErr

Meaning TCP Application Communications Error Global/local Global
Function This is the error status variable for TCP application communications.
• _EIP_TcpAppCfgErr (TCP Application Setting Error)
• _EIP_NTPSrvErr (NTP Server Connection Error)
Note Refer to A-6-8 Meanings of Error Status Bits on page A-137 for the meanings of the error sta-
tus bits.
• GetEIPError

Appendices
Variable name _EIP_MacAdrErr

Meaning MAC Address Error Global/local Global
Function NX-series CPU Units: Indicates that an error occurred when the MAC address was read on the communications
port 1 at startup.
TRUE: Error
FALSE: Normal
NJ-series CPU Units: Indicates that an error occurred when the MAC address was read at startup.
TRUE: Error
FALSE: Normal
gram structions
Variable name _EIP1_MacAdrErr

Meaning Port1 MAC Address Error Global/local Global
Function Indicates that an error occurred when the MAC address was read on the communications port 1 at startup.
TRUE: Error
FALSE: Normal

gram structions
Variable name _EIP2_MacAdrErr

Meaning Port2 MAC Address Error Global/local Global
Function Indicates that an error occurred when the MAC address was read on the communications port 2 at startup.
TRUE: Error
FALSE: Normal
gram structions
Variable name _EIP_LanHwErr

Meaning Communications Controller Error Global/local Global
Function NX-series CPU Units: Indicates that a communications controller failure occurred on the communications port 1.
TRUE: Failure
FALSE: Normal
NJ-series CPU Units: Indicates that a communications controller failure occurred.
TRUE: Failure
FALSE: Normal
gram structions

Appendices

Variable name _EIP1_LanHwErr
Meaning Port1 Communications Controller Error Global/local Global
Function Indicates that a communications controller failure occurred on the communications port 1.
TRUE: Failure
FALSE: Normal
Data type BOOL Range of values TTRUE or FALSE
gram structions
Variable name _EIP2_LanHwErr

Meaning Port2 Communications Controller Error Global/local Global
Function Indicates that a communications controller failure occurred on the communications port 2.
TRUE: Failure
FALSE: Normal
R/W access R Retained Not retained. Network Publish Published. A
gram structions

Variable name _EIP_EtnCfgErr
Meaning Basic Ethernet Setting Error Global/local Global
Function NX-series CPU Units: Indicates that the Ethernet communications speed setting (Speed/Duplex) for the communi-
cations port 1 is incorrect. Or, a read operation failed.
FALSE: Normal
NJ-series CPU Units: Indicates that the Ethernet communications speed setting (Speed/Duplex) is incorrect. Or, a
FALSE: Normal
gram structions
Variable name _EIP1_EtnCfgErr

Meaning Port1 Basic Ethernet Setting Error Global/local Global
Function Indicates that the Ethernet communications speed setting (Speed/Duplex) for the communications port 1 is incor-
FALSE: Normal
gram structions

Appendices
Variable name _EIP2_EtnCfgErr

Meaning Port2 Basic Ethernet Setting Error Global/local Global
Function Indicates that the Ethernet communications speed setting (Speed/Duplex) for the communications port 2 is incor-
FALSE: Normal
gram structions
Variable name _EIP_IPAdrCfgErr

Meaning IP Address Setting Error Global/local Global
Function NX-series CPU Units: Indicates the IP address setting errors for the communications port 1.
TRUE:
• The IP address obtained from the BOOTP server is inconsistent.
FALSE: Normal
NJ-series CPU Units: Indicates the IP address setting errors.

TRUE:
• The default gateway settings are not correct.
FALSE: Normal
gram structions
Variable name _EIP1_IPAdrCfgErr

Meaning Port1 IP Address Setting Error Global/local Global
Function Indicates the IP address setting errors for the communications port 1.
TRUE:
FALSE: Normal
Usage in user pro- Related in- Related in- ---
gram structions structions

Appendices

Variable name _EIP2_IPAdrCfgErr
Meaning Port2 IP Address Setting Error Global/local Global
Function Indicates the IP address setting errors for the communications port 2.
TRUE:
FALSE: Normal
gram structions
Variable name _EIP_IPAdrDupErr

Meaning IP Address Duplication Error Global/local Global
Function NX-series CPU Units: Indicates that the same IP address is assigned to more than one node for the communica-
tions port 1.
TRUE: Duplication occurred. A
NJ-series CPU Units: Indicates that the same IP address is assigned to more than one node.

gram structions
Variable name _EIP1_IPAdrDupErr

Meaning Port1 IP Address Duplication Error Global/local Global
Function Indicates that the same IP address is assigned to more than one node for the communications port 1.
gram structions
Variable name _EIP2_IPAdrDupErr

Meaning Port2 IP Address Duplication Error Global/local Global
Function Indicates that the same IP address is assigned to more than one node for the communications port 2.
gram structions

Appendices
Variable name _EIP_DNSCfgErr*1

Meaning DNS Setting Error Global/local Global
Function Indicates that the DNS or hosts settings are incorrect. Or, a read operation failed.
FALSE: Normal
gram structions
*1. With the NJ-series CPU Unit, this variable can be used with the unit version 1.11 or later.
Variable name _EIP_BootpErr

Meaning BOOTP Server Error Global/local Global
Function NX-series CPU Units: Indicates that a BOOTP server connection failure occurred on the communications port 1.
TRUE: There was a failure to connect to the BOOTP server (timeout).
FALSE: The BOOTP is not enabled, or BOOTP is enabled and an IP address was normally obtained from the
BOOTP server.
NJ-series CPU Units: Indicates that a BOOTP server connection failure occurred.
BOOTP server.
gram structions
Variable name _EIP1_BootpErr

Meaning Port1 BOOTP Server Error Global/local Global
Function Indicates that a BOOTP server connection failure occurred on the communications port 1.
BOOTP server.
gram structions
Variable name _EIP2_BootpErr

Meaning Port2 BOOTP Server Error Global/local Global
Function Indicates that a BOOTP server connection failure occurred on the communications port 2.
BOOTP server.
gram structions

Appendices

Variable name _EIP_IPRTblErr
Meaning IP Route Table Error Global/local Global
Function NX-series CPU Units: Indicates that the default gateway settings or IP router table settings are incorrect. Or, a
FALSE: Normal
NJ-series CPU Units: Indicates that the IP router table or hosts settings are incorrect. Or, a read operation failed.
FALSE: Normal
gram structions
Variable name _EIP_IdentityErr

Meaning Identity Error Global/local Global
Function NX-series CPU Units: Indicates that the identity information for CIP communications 1 (which you cannot over-
write) is incorrect. Or, a read operation failed.
TRUE: Setting incorrect or read failed. A
FALSE: Normal

NJ-series CPU Units: Indicates that the identity information (which you cannot overwrite) is incorrect. Or, a read
operation failed.
FALSE: Normal
gram structions
Variable name _EIP1_IdentityErr

Meaning CIP Communications1 Identity Error Global/local Global
Function Indicates that the identity information for CIP communications 1 (which you cannot overwrite) is incorrect. Or, a
FALSE: Normal
gram structions
Variable name _EIP2_IdentityErr

Meaning CIP Communications2 Identity Error Global/local Global
Function Indicates that the identity information for CIP communications 2 (which you cannot overwrite) is incorrect. Or, a
FALSE: Normal
gram structions

Appendices
Variable name _EIP_TDLinkCfgErr

Meaning Tag Data Link Setting Error Global/local Global
Function NX-series CPU Units: Indicates that the tag data link settings for CIP communications 1 are incorrect. Or, a read
operation failed.
FALSE: Normal
NJ-series CPU Units: Indicates that the tag data link settings are incorrect. Or, a read operation failed.
FALSE: Normal
gram structions
Variable name _EIP1_TDLinkCfgErr

Meaning CIP Communications1 Tag Data Link Setting Global/local Global
Error
Function Indicates that the tag data link settings for CIP communications 1 are incorrect. Or, a read operation failed.
FALSE: Normal
gram structions
Variable name _EIP2_TDLinkCfgErr

Meaning CIP Communications2 Tag Data Link Setting Global/local Global
Error
Function Indicates that the tag data link setting for CIP communications 2 are incorrect. Or, a read operation failed.
FALSE: Normal
gram structions

Appendices

Variable name _EIP_TDLinkOpnErr
Meaning Tag Data Link Connection Failed Global/local Global
Function NX-series CPU Units: Indicates that establishing a tag data link connection for CIP communications 1 failed.
TRUE: Establishing a tag data link connection failed due to one of the following causes.
• The information registered for a target node in the tag data link parameters is different from the actual node
information.
• There was no response from the remote node.
NJ-series CPU Units: Indicates that establishing a tag data link connection failed.
information.
gram structions
A
Variable name _EIP1_TDLinkOpnErr
Meaning CIP Communications1 Tag Data Link Connec- Global/local Global

tion Failed
Function Indicates that establishing a tag data link connection for CIP communications 1 failed.
information.
gram structions
Variable name _EIP2_TDLinkOpnErr

Meaning CIP Communications2 Tag Data Link Connec- Global/local Global
tion Failed
Function Indicates that establishing a tag data link connection for CIP communications 2 failed.
information.
gram structions

Appendices
Variable name _EIP_TDLinkErr

Meaning Tag Data Link Communications Error Global/local Global
Function NX-series CPU Units: Indicates that a timeout occurred in a tag data link connection for CIP communications 1.
NJ-series CPU Units: Indicates that a timeout occurred in a tag data link connection.
gram structions
Variable name _EIP1_TDLinkErr

Meaning CIP Communications1 Tag Data Link Communi- Global/local Global
cations Error
Function Indicates that a timeout occurred in a tag data link connection for CIP communications 1.
gram structions
Variable name _EIP2_TDLinkErr

cations Error
Function Indicates that a timeout occurred in a tag data link connection for CIP communications 2.
gram structions

Appendices

Variable name _EIP_TagAdrErr
Meaning Tag Name Resolution Error Global/local Global
Function NX-series CPU Units: Indicates that the tag resolution for CIP communications 1 failed (i.e., the address could not
be identified from the tag name).
TRUE: Tag resolution failed (i.e., the address could not be identified from the tag name). The following causes are
possible.
• The size of the network variable is different from the tag settings.
• The I/O direction that is set in the tag data link settings does not agree with the I/O direction of the variable in
the CPU Unit.
• There is no network variable in the CPU Unit that corresponds to the tag setting.
NJ-series CPU Units: Indicates that tag name resolution failed (i.e., the address could not be identified from the
tag name).
possible.
the CPU Unit.
A

gram structions
Variable name _EIP1_TagAdrErr

Meaning CIP Communications1 Tag Name Resolution Global/local Global
Error
Function Indicates that the tag resolution for CIP communications 1 failed (i.e., the address could not be identified from the
tag name).
possible.
the CPU Unit.
gram structions

Appendices
Variable name _EIP2_TagAdrErr

Meaning CIP Communications2 Tag Name Resolution Global/local Global
Error
Function Indicates that the tag resolution for CIP communications 2 failed (i.e., the address could not be identified from the
tag name).
possible.
the CPU Unit.
gram structions
Variable name _EIP_MultiSwONErr

Meaning Multiple Switches ON Error Global/local Global
Function NX-series CPU Units: Indicates that more than one switch turned ON at the same time in CIP communications 1.
TRUE: More than one data link start/stop switch changed to TRUE at the same time.
NJ-series CPU Units: Indicates that more than one switch turned ON at the same time
gram structions
Variable name _EIP1_MultiSwONErr

Meaning CIP Communications1 Multiple Switches ON Global/local Global
Error
Function Indicates that more than one switch turned ON at the same time in CIP communications 1.
gram structions
Variable name _EIP2_MultiSwONErr

Meaning CIP Communications2 Multiple Switches ON Global/local Global
Error
Function Indicates that more than one switch turned ON at the same time in CIP communications 2.
gram structions

Appendices

Variable name _EIP_TcpAppCfgErr
Meaning TCP Application Setting Error Global/local Global
Function TRUE: At least one of the set values for a TCP application (FTP, NTP, SNMP) is incorrect. Or, a read operation
failed.
FALSE: Normal
gram structions
Variable name _EIP_NTPSrvErr

Meaning NTP Server Connection Error Global/local Global
Function TRUE: The NTP client failed to connect to the server (timeout).
FALSE: NTP is not set. Or, NTP is set and the connection was successful.
gram structions A

Variable name _EIP_DNSSrvErr
Meaning DNS Server Connection Error Global/local Global
Function TRUE: The DNS client failed to connect to the server (timeout).
FALSE: DNS is not enabled. Or, DNS is enabled and the connection was successful.
R/W access R Retained Not retained. Network Publish Global
gram structions
l Functional Classification: EtherNet/IP Communications Status
Variable name _EIP_EtnOnlineSta

Meaning Online Global/local Global
Function NX-series CPU Units: Indicates that the built-in EtherNet/IP port's communications can be used via the communi-
cations port 1 (that is, the link is ON, IP address is defined, and there are no errors.)
TRUE: The built-in EtherNet/IP port’s communications can be used.
FALSE: The built-in EtherNet/IP port’s communications is disabled due to an error in initial processing, restart
processing, or link OFF status.
NJ-series CPU Units: Indicates that the built-in EtherNet/IP port's communications can be used via the communi-
cations port (that is, the link is ON and IP address is defined, and there are no errors.)
gram structions

Appendices
Variable name _EIP1_EtnOnlineSta

Meaning Port1 Online Global/local Global
Function Indicates that the built-in EtherNet/IP port's communications can be used via the communications port 1 (that is,
the link is ON, IP address is defined, and there are no errors.)
gram structions
Variable name _EIP2_EtnOnlineSta

Meaning Port2 Online Global/local Global
Function Indicates that the built-in EtherNet/IP port's communications can be used via the communications port 2 (that is,
the link is ON, IP address is defined, and there are no errors.)
gram structions
Variable name _EIP_TDLinkRunSta

Meaning Tag Data Link Communications Status Global/local Global
Function NX-series CPU Units: Indicates that at least one connection is in normal operation in CIP communications 1.
NJ-series CPU Units: Indicates that at least one connection is in normal operation.
gram structions
Variable name _EIP1_TDLinkRunSta

cations Status
Function Indicates that at least one connection is in normal operation in CIP communications 1.
gram structions

Appendices

Variable name _EIP2_TDLinkRunSta
cations Status
Function Indicates that at least one connection is in normal operation in CIP communications 2.
gram structions
Variable name _EIP_TDLinkAllRunSta

Meaning All Tag Data Link Communications Status Global/local Global
Function NX-series CPU Units: Indicates that all tag data links are communicating in CIP communications 1.
TRUE: Tag data links are communicating in all connections as the originator.
FALSE: An error occurred in at least one connection.
NJ-series CPU Units: Indicates that all tag data links are communicating.
TRUE: Tag data links are communicating in all connections as the originator. A

gram structions
Variable name _EIP1_TDLinkAllRunSta

Meaning CIP Communications1 All Tag Data Link Com- Global/local Global
munications Status
Function Indicates that all tag data links are communicating in CIP communications 1.
gram structions
Variable name _EIP2_TDLinkAllRunSta

Meaning CIP Communications2 All Tag Data Link Com- Global/local Global
munications Status
Function Indicates that all tag data links are communicating in CIP communications 2.
gram structions

Appendices
Variable name _EIP_RegTargetSta[255]

Meaning Registered Target Node Information Global/local Global
Function NX-series CPU Units: Gives a list of nodes for which built-in EtherNet/IP connections are registered for CIP com-
munications 1.
This variable is valid only when the built-in EtherNet/IP port is the originator.
Array[x] is TRUE: The connection to the node with a target node ID of x is registered.
Array[x] is FALSE: The connection to the node with a target node ID of x is not registered.
NJ-series CPU Units: Gives a list of nodes for which built-in EtherNet/IP connections are registered.
Data type ARRAY [0..255] OF BOOL Range of values TRUE or FALSE
gram structions
Variable name _EIP1_RegTargetSta[255]

Meaning CIP Communications1 Registered Target Node Global/local Global
Information
Function Gives a list of nodes for which built-in EtherNet/IP connections are registered for CIP communications 1.
gram structions
Variable name _EIP2_RegTargetSta[255]

Meaning CIP Communications2 Registered Target Node Global/local Global
Information
Function Gives a list of nodes for which built-in EtherNet/IP connections are registered for CIP communications 2.
gram structions

Appendices

Variable name _EIP_EstbTargetSta[255]
Meaning Normal Target Node Information Global/local Global
Function NX-series CPU Units: Gives a list of nodes that have normally established built-in EtherNet/IP connections for
CIP communications 1.
Array[x] is TRUE: The connection to the node with a target node ID of x was established normally.
Array[x] is FALSE: The connection to the node with a target node ID of x was not established, or an error occur-
red.
NJ-series CPU Units: Gives a list of nodes that have normally established built-in EtherNet/IP connections.
red.
gram structions
Variable name _EIP1_EstbTargetSta[255]

Meaning CIP Communications1 Normal Target Node In- Global/local Global
formation A
Function Gives a list of nodes that have normally established built-in EtherNet/IP connections for CIP communications 1.

red.
gram structions
Variable name _EIP2_EstbTargetSta[255]

Meaning CIP Communications2 Normal Target Node In- Global/local Global
formation
Function Gives a list of nodes that have normally established built-in EtherNet/IP connections for CIP communications 2.
red.
gram structions

Appendices
Variable name _EIP_TargetPLCModeSta[255]

Meaning Target PLC Operating Mode Global/local Global
Function NX-series CPU Units: Shows the operating status of the target node Controllers that are connected for CIP com-
munications 1, with the built-in EtherNet/IP port as the originator.
The array elements are valid only when the corresponding Normal Target Node Information is TRUE. If the corre-
sponding Normal Target Node Information is FALSE, it indicates the previous operating status.
Array[x] is TRUE: This is the operating state of the target Controller with a node address of x.
Array[x] is FALSE: Other than the above.
NJ-series CPU Units: Shows the operating status of the target node Controllers that are connected with the built-
in EtherNet/IP port as the originator.
gram structions
Variable name _EIP1_TargetPLCModeSta[255]

Meaning CIP Communications1 Target PLC Operating Global/local Global
Mode
Function Shows the operating status of the target node Controllers that are connected for CIP communications 1, with the
built-in EtherNet/IP port as the originator.
gram structions
Variable name _EIP2_TargetPLCModeSta[255]

Meaning CIP Communications2 Target PLC Operating Global/local Global
Mode
Function Shows the operating status of the target node Controllers that are connected for CIP communications 2, with the
built-in EtherNet/IP port as the originator.
gram structions

Appendices

Variable name _EIP_TargetPLCErr[255]
Meaning Target PLC Error Information Global/local Global
Function NX-series CPU Units: Shows the error status (logical OR of fatal and non-fatal errors) of the target node Control-
lers that are connected for CIP communications 1, with the built-in EtherNet/IP ports as the originator. The array
elements are valid only when the corresponding Normal Target Node Information is TRUE. The immediately pre-
ceding value is retained if this variable is FALSE.
Array[x] is TRUE: A fatal or non-fatal error occurred in the target Controller with a target node ID of x.
NJ-series CPU Units: Shows the error status (logical OR of fatal and non-fatal errors) of the target node Control-
lers that are connected with the built-in EtherNet/IP ports as the originator. The array elements are valid only
when the corresponding Normal Target Node Information is TRUE. The immediately preceding value is retained if
gram structions
A
Variable name _EIP1_TargetPLCErr[255]
Meaning CIP Communications1 Target PLC Error Infor- Global/local Global

mation
Function Shows the error status (logical OR of fatal and non-fatal errors) of the target node Controllers that are connected
for CIP communications 1, with the built-in EtherNet/IP ports as the originator. The array elements are valid only
gram structions
Variable name _EIP2_TargetPLCErr[255]

Meaning CIP Communications2 Target PLC Error Infor- Global/local Global
mation
Function Shows the error status (logical OR of fatal and non-fatal errors) of the target node Controllers that are connected
for CIP communications 2, with the built-in EtherNet/IP ports as the originator. The array elements are valid only
gram structions

Appendices
Variable name _EIP_TargetNodeErr[255]

Meaning Target Node Error Information Global/local Global
Function NX-series CPU Units: Indicates that the connection for the Registered Target Node Information for CIP communi-
cations 1 was not established or that an error occurred in the target Controller.
The array elements are valid only when the Registered Target Node Information is TRUE.
Array[x] is TRUE: A connection was not normally established with the target node for a target node ID of x (the
Registered Target Node Information is TRUE and the Normal Target Node Information is FALSE), or a connection
was established with the target node but an error occurred in the target Controller.
Array[x] is FALSE: The target node is not registered for a target node ID of x (the Registered Target Node Infor-
mation is FALSE), or a connection was normally established with the target node (the Registered Target Node
Information is TRUE and the Normal Target Node Information is TRUE). An error occurred in the target Controller
(the Target PLC Error Information is TRUE).
NJ-series CPU Units: Indicates that the connection for the Registered Target Node Information was not establish-
ed or that an error occurred in the target Controller.
gram structions
Variable name _EIP1_TargetNodeErr[255]

Meaning CIP Communications1 Target Node Error Infor- Global/local Global
mation
Function Indicates that the connection for the Registered Target Node Information for CIP communications 1 was not es-
tablished or that an error occurred in the target Controller.
gram structions

Appendices

Variable name _EIP2_TargetNodeErr[255]
Meaning CIP Communications2 Target Node Error Infor- Global/local Global
mation
Function Indicates that the connection for the Registered Target Node Information for CIP communications 2 was not es-
tablished or that an error occurred in the target Controller.
gram structions
Variable name _EIP_NTPResult Member name .ExecTime A

Meaning NTP Last Operation Time Global/local Global
Function Gives the last time that NTP processing ended normally.

The time that was obtained from the NTP server is stored when the time is obtained normally.
The time is not stored if it is not obtained from the NTP server normally.
able only to access status through communications from an external device.
Data type Structure: _sNTP_RESULT Range of values Depends on data type.
Members: DATE_AND_TIME
Usage in user pro- Not possible. Related in- You can read the contents of this variable with the GetNTPStatus instruction.
gram structions
Variable name _EIP_NTPResult Member name .ExecNormal

Meaning NTP Operation Result Global/local Global
Function This variable shows if the NTP operation ended normally.
TRUE: Indicates an NTP normal end.
FALSE:Indicates that NTP operation ended in an error or has not been executed even once.
able only to access status through communications from an external device.
Usage in user pro- Not possible. Related in- You can read the contents of this variable with the GetNTPStatus instruction.
gram structions

Appendices
l Functional Classification: EtherNet/IP Communications Switches
Variable name _EIP_TDLinkStartCmd

Meaning Tag Data Link Communications Start Switch Global/local Global
Function NX-series CPU Units: Change this variable to TRUE to start tag data links for CIP communications 1.
It automatically changes back to FALSE after tag data link operation starts.
NJ-series CPU Units: Change this variable to TRUE to start tag data links.
Note Do not force this switch to change to FALSE from the user program or from the Sysmac Studio.
It changes to FALSE automatically.
gram structions
Variable name _EIP1_TDLinkStartCmd

cations Start Switch
Function Change this variable to TRUE to start tag data links for CIP communications 1.
gram structions
Variable name _EIP2_TDLinkStartCmd

cations Start Switch
Function Change this variable to TRUE to start tag data links for CIP communications 2.
gram structions
Variable name _EIP_TDLinkStopCmd

Meaning Tag Data Link Communications Stop Switch Global/local Global
Function NX-series CPU Units: Change this variable to TRUE to stop tag data links for CIP communications 1.
It automatically changes back to FALSE after tag data link operation stops.
NJ-series CPU Units: Change this variable to TRUE to stop tag data links.
gram structions

Appendices

Variable name _EIP1_TDLinkStopCmd
cations Stop Switch
Function Change this variable to TRUE to stop tag data links for CIP communications 1.
gram structions
Variable name _EIP2_TDLinkStopCmd

cations Stop Switch
Function Change this variable to TRUE to stop tag data links for CIP communications 2.
It automatically changes back to FALSE after tag data link operation stops. A

gram structions

Appendices
A-8 Attributes of CPU Unit Data

The following table shows the attributes of the CPU Unit data including the Retain/Non-retain attribute
in the following cases: power interruption, power on, operating mode change, and major fault level
Controller error.
Transfer-
ring data
Data re- Status changes with the
Over-
tention at Sysmac
Writing writing
power in- Studio
When when Operating in RUN
terrup- Synchro
power is Chang- When a write modes per- mode
CPU Unit data tions nized da-
turned ing be- major protec- mitting ¡: Al-
¡: Re- ta
ON tween fault lev- tion is writing lowed.
tained. ¡: Appli-
PRO- el Con- enabled ×: Not
×: Not-re- cable.
GRAM troller er- allowed.
tained. ×: Not
and RUN ror oc-
applica-
Mode curs
ble.
User POUs and ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM/ ¡
pro- user program execution (with non- before ported. RUN mode Online
gram ID in user program volatile power in- (online edit- editing
memory) terruption. ing)
Task Task Settings ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
Set- (with non- before ported. mode
tings volatile power in-
memory) terruption.
Varia- Varia- Device variable ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM x
bles ble ta- (with non- before ported. mode
bles volatile power in-
(not memory) terruption.
varia- User-defined ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM/ ¡
ble variables (with non- before ported. RUN mode Online
val- volatile power in- (online edit- editing
ues) memory) terruption. ing)
Data type User-defined ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM/ ¡
data types (with non- before ported. RUN mode Online
volatile power in- (online edit- editing
memory) terruption. ing)
Controller CPU Unit name ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM/ ¡
name (with non- before ported. RUN mode
volatile power in-
memory) terruption.
Built-in Ether- ¡ Same as Retained. Retained. Support- × PROGRAM/ ¡
Net/IP port (with non- before ed. RUN mode
name volatile power in-
memory) terruption.

Appendices
Transfer-
ring data
Over-
tention at Sysmac
Writing writing
power in- Studio
terrup- Synchro
¡: Re- ta
tained. ¡: Appli-

×: Not-re- cable.
tained. ×: Not
and RUN ror oc-
applica-
Mode curs
ble.
Con- Oper- Operation Set- ¡ Same as Retained. Retained. Not sup- ¡ CPU Unit ×
troller ation tings (with non- before ported. name: RUN/
Setup Set- Error Settings volatile power in- PROGRAM
tings memory) terruption. mode,
Other set-
tings: PRO-
GRAM
mode A
Se- Protection Set- ¡ Same as Retained. Retained. Not sup- ¡ Write Pro- ¡
curity tings at Startup (with non- before ported. tection and
Set- volatile power in- other set-
tings memory) terruption. tings: PRO-
GRAM
mode
Built- TCP/IP Settings ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
in LINK Settings (with non- before ported. mode
Ether- SNMP Settings volatile power in-
Net/IP SNMP Trap Set- memory) terruption.
Port tings,
Set- NTP Settings
tings FTP Settings
CIP Settings*1
Tag data link ¡ Same as Retained. Retained. Support- × PROGRAM/ ×
settings for (with non- before ed. RUN mode
built-in Ether- volatile power in-
Net/IP port memory) terruption.
FINS Node Address ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
Set- Settings, (with non- before ported. mode
tings FINS/UDP Set- volatile power in-
tings, memory) terruption.
FINS/TCP Set-
tings,
FINS Routing
Tables,
FINS Write Pro-
tection

Appendices
Transfer-
ring data
Over-
tention at Sysmac
Writing writing
power in- Studio
terrup- Synchro
¡: Re- ta
tained. ¡: Appli-
×: Not-re- cable.
tained. ×: Not
and RUN ror oc-
applica-
Mode curs
ble.
Built-in I/O Settings ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
(with non- before ported. mode
volatile power in-
memory) terruption.
Option Board Settings ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
volatile power in-
memory) terruption.
Memory Settings for CJ- ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
series Units (with non- before ported. mode
volatile power in-
memory) terruption.
OPC OPC Server Settings ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
UA UA Network Set- (with non- before ported. mode
Set- Serv- tings volatile power in-
tings er End Point Set- memory) terruption.
Set- tings
tings Execution Log
Settings
Client Certification ¡ Same as Retained. Retained. Support- × PROGRAM/ ¡
Certif- Trust List (with non- before ed. RUN mode
ica- Certification volatile power in-
tion Trust List (Ex- memory) terruption.
Set- pired)
tings Certification
Reject List
Root Certifica-
tion/Intermedi-
ate Certification
List
Root Certifica-
tion/Intermedi-
ate Certification
List (Expired)
User User Authenti- ¡ Same as Retained. Retained. Support- × PROGRAM/ ¡
Set- cation Defini- (with non- before ed. RUN mode
tings tion File volatile power in-
memory) terruption.
Motion Axis assignments, ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
Con- axis parameter settings, (with non- before ported. mode
trol axes group parameter volatile power in-
Setup settings, memory) terruption.
MC common parameter
settings

Appendices
Transfer-
ring data
Over-
tention at Sysmac
Writing writing
power in- Studio
terrup- Synchro
¡: Re- ta
tained. ¡: Appli-

×: Not-re- cable.
tained. ×: Not
and RUN ror oc-
applica-
Mode curs
ble.
Cam Data ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
volatile power in-
memory) terruption.
Event Event User-defined er- ¡ Same as Retained. Retained. Not sup- ¡ RUN/ ×
Set- Set- ror messages (with non- before ported. PROGRAM
ting ting volatile power in- mode
Table Table memory) terruption. A
Bus NX Units ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
config- (with non- before ported. mode
ura- volatile power in-
tion memory) terruption.
CJ- I/O table ¡ Same as Retained. Retained. Not sup- ¡ PROGRAM ×
series (with non- before ported. mode
bus volatile power in-
con- memory) terruption.
figu-
ration
Spe- CJ- Data in CJ-ser- ¡ --- Retained. Retained. Support- × Depends on
cial I/O series ies Units, (Depends ed. the Unit.
Unit Unit such as proto- on CJ-ser-
Set- Set- col macros ies Unit)
tings/ tings Words allocat- ¡ Same as Retained. Retained. Support- × RUN/ ¡
CPU ed to CPU Bus (with non- before ed. PROGRAM
Bus Units, volatile power in- mode
Unit Example: memory) terruption.
Set- Controller Link
tings Data Link Ta-
bles.
Words allocat- ¡ Same as Retained. Retained. Support- ¡ RUN/ ¡
ed in DM Area (with Bat- before ed. PROGRAM
tery) power in- mode
terruption.
Ether- Ether- Network config- ¡ Same as Retained. Retained Not sup- ¡ PROGRAM ×
CAT CAT uration informa- (with non- before ported. mode
Con- Net- tion volatile power in-
figura- work memory) terruption.
tion Con-
figu-
ration

Appendices
Transfer-
ring data
Over-
tention at Sysmac
Writing writing
power in- Studio
terrup- Synchro
¡: Re- ta
tained. ¡: Appli-
×: Not-re- cable.
tained. ×: Not
and RUN ror oc-
applica-
Mode curs
ble.
Ether- Ether- Master ¡ Same as Retained. Retained Not sup- ¡ PROGRAM ×
CAT CAT (with non- before ported. mode
Set- Set- volatile power in-
tings tings memory) terruption.
Settings in ¡ --- Retained. Retained. Support- ¡ RUN/ ¡
Slaves (by ed. PROGRAM
slaves) mode
Operation Authority Verification ¡ Same as Retained. Retained. Not sup- × RUN/ ¡
(with non- before ported. PROGRAM
volatile power in- mode
memory) terruption.
User Authentication*1 ¡ Same as Retained. Retained. Not sup- × RUN/ ¡
(with non- before ported. PROGRAM
volatile power in- mode
memory) terruption.
User program execution ID ¡ Same as Retained. Retained. Not sup- × PROGRAM ×
in CPU Unit (with non- before ported. mode
volatile power in-
memory) terruption.
Values Val- User-defined × Initial val- Initial val- Initial val- Support- × RUN/ ¡
of Var- ues of variables and ues ues ues ed. PROGRAM
iables non- device varia- mode
re- bles
tained
varia-
bles
Val- User-defined ¡ Same as Retained. Retained. Support- × RUN/ ¡
ues of variables and (with Bat- before ed. PROGRAM
re- device varia- tery*2) power in- mode
tained bles terruption.
varia-
bles
Con- CIO/WR × 16#0000 16#0000 16#0000 Support- × RUN/ ¡
tents ed. PROGRAM
of mode
memo- HR/DM/EM ¡ Same as Retained. Retained. Support- × RUN/ ¡
ry (with Bat- before ed. PROGRAM
used power in- mode
tery*2)
for CJ- terruption.
series *3
Units
Event Logs System log ¡ Same as Retained. Retained. Support- × ¡
logs User event log (with Bat- before ed.
tery*2) power in-
terruption.

Appendices
Transfer-
ring data
Over-
tention at Sysmac
Writing writing
power in- Studio
terrup- Synchro
¡: Re- ta
tained. ¡: Appli-

×: Not-re- cable.
tained. ×: Not
and RUN ror oc-
applica-
Mode curs
ble.
Inter- Current time of system ¡ With Bat- Retained Retained Support- × RUN/ ¡
nal clock (with Bat- tery: Re- (contin- (contin- ed. PROGRAM
Clock tery) tained ued). ued). mode
(contin-
ued),
Without
Battery:
Not pre- A
dictable
(may
stop).
Absolute encoder home offsets ¡ Same as Retained Retained Support- × ×
(with Bat- before (contin- (contin- ed.
tery*2) power in- ued). ued).
terruption.
*1. CIP settings and user authentication are available in the following CPU Units of the stated unit versions.
*2. For the NX102 CPU Unit and NX1P2 CPU Unit, data is retained in the non-volatile memory.
*3. For the NX102 CPU Units and NX1P2 CPU Units, the value is 16#0000 if the Battery-related error detection is set to Do not use.

Appendices
A-9 Contents of Memory Used for CJ-ser-

ies Units
You can specify addresses in the memory used for CJ-series Units for AT specifications for variables.
Details on each area are provided below.
• You can use the memory used for CJ-series Units only with the NJ-series CPU Units, NX102
CPU Units, and NX1P2 CPU Units.
• Refer to the NX-series NX1P2 CPU Unit Built-in I/O and Option Board User's Manual (Cat.
No. W579) for how to use memory for CJ-series Units on the NX1P2 CPU Units.
A-9-1 CIO Area
I/O Bits
l Description
The bits in this area are allocated to input and output terminals on CJ-series Basic I/O Units.
The number of words (16 bits each) that is required for each CJ-series Basic I/O Unit are allocated
in order based on the position where the Units are connected (from left to right starting from the
Unit that is closest to the CPU Unit).
Data in this area is cleared when power is cycled or when the operating mode is changed between
PROGRAM and RUN mode.
l Addresses
Addresses Word addresses Bit addresses
Range CIO 0 to CIO 159 CIO 0.00 or CIO 159.15
You can access this area on NJ-series CPU Units through device variables allocated to I/O
ports. We therefore recommend that you do not use AT specifications to access this area.
You should use AT specifications for the CIO Area only when you specify addresses for some of
the Special Units.
CPU Bus Unit Area
l Description
The bits in this area are allocated to control and status information for CJ-series CPU Bus Units.
Each Unit is allocated 25 words based on its unit number.

Appendices
l Addresses
Addresses Word addresses Bit addresses Words per Unit
A-9 Contents of Memory Used for CJ-series Units

Range CIO 1500 to CIO 1899 CIO 1500.00 to CIO 25 words
1899.15
The words that are allocated are listed in the following table.
Word addresses Unit Number

CIO 1500 to CIO 1524 0
CIO 1525 to CIO 1549 1
to to
CIO 1875 to CIO 1899 F
For details on how to use the allocated words, refer to the operation manual for the CJ-series CPU
Bus Unit.
You can access the CPU Bus Unit Area in NJ-series CPU Units through the device variables A
that are allocated to I/O ports. We therefore recommend that you do not use AT specifications
to access this area.
A-9-1 CIO Area

You should use AT specifications for the CIO Area only when you specify addresses for some of
the Special Units.
Special I/O Unit Area
l Description
The bits in this area are allocated to control and status information for CJ-series Special I/O Units.
Each Unit is allocated 10 words based on the unit number for up to a total of 96 Units (unit num-
bers 0 to 95).
l Addresses
Addresses Word addresses Bit addresses Words per Unit
Range CIO 2000 to CIO 2959 CIO 2000.00 to CIO 10 words
(10 words × 96 unit num- 2959.15
bers)

CIO 2000 to CIO 2009 0
CIO 2010 to CIO 2019 1
to to
CIO 2950 to CIO 2959 95
For details on how to use the allocated words, refer to the operation manual for the CJ-series Spe-
cial I/O Unit.

Appendices
You can access the Special I/O Unit Area in NJ-series CPU Units through the device variables
that are allocated to I/O ports. We therefore recommend that you do not use AT specifications
to access this area.
DeviceNet Area
l Description
The bits in this area are allocated to the slaves when the remote I/O master function of a DeviceNet
Unit is used (fixed allocations only).
l Addresses
Range CIO 3200 to CIO 3799 CIO 3200.00 to CIO 3799.15
Words in this area are allocated to slaves for fixed allocations according to fixed allocation setting
1, 2, or 3 in the software switches in the CIO Area. Select one of these fixed areas.
Addresses Master to slave output area Slave to master input area

Fixed allocation area 1 CIO 3200 to CIO 3263 CIO 3300 to CIO 3363
You can allocate memory in the DeviceNet Area even if you use fixed allocations to use the remote
I/O slave function of a DeviceNet Unit.
Addresses Master to slave output area Slave to master input area

Fixed allocation area 1 CIO 3370 CIO 3270
Refer to the CJ-series DeviceNet Units Operation Manual for NJ-series CPU Unit (Cat. No. W497)
for details.
CIO Area Work Areas
l Description
You use the bits in these areas only in programming. You cannot use them to input or output data
through external I/O terminals. If you need work bits, you should normally use bits in this area.

Appendices
l Addresses
A-9 Contents of Memory Used for CJ-series Units

Range CIO 1300 to CIO 1499 and CIO CIO 1300.00 to CIO 1499.15 and
3800 to CIO 6143 CIO 3800.00 to CIO 6143.15
A-9-2 Internal I/O Area
l Description
You use the bits in these areas only in programming. You cannot use them to input or output data
through external I/O terminals. If you need work bits, you should normally use bits in this area.
l Addresses
Range W000 to W511 W000.00 to W511.15 A
A-9-2 Internal I/O Area

A-9-3 Holding Area
l Description
You use the words and bits in this area only in programming. The status of the words and bits in
this area are retained during power interruptions or when the operating mode is changed between
l Addresses
Range H0 to H511 H0.00 to H511.15
A-9-4 DM Area
l Description
This is a general-purpose data area used to read and write 16-bit words.
You can also add a bit number to address specify bits.
Data in this area is retained during power interruption or when the operating mode is changed be-
tween PROGRAM and RUN mode.
l Addresses
Range D0 to D32767 D0.00 to D32767.15
DM Area Words for Special Units
l Description
The following words in the DM Area are allocated to initial settings for Special Units.

Appendices
l Addresses
Type of CJ-series
Addresses Word addresses Words per Unit
Special Unit
Range CJ-series Special I/O D20000 to D29599 100 words
Units (100 words × 96 unit num-
bers)
CJ-series CPU Bus D30000 to D31599 100 words
Units (100 words × 16 unit num-
bers)
CJ-series Special I/O Units

D20000 to D20099 0
D20100 to D20199 1
to to
D29500 to D29599 95
CJ-series CPU Bus Units

D30000 to D30099 0
D30100 to D30199 1
to to
D31500 to D31599 F
For details on how to use the allocated words, refer to the operation manual for the Special Unit.
You can access the DM Area words that are allocated to Special Units in NJ-series CPU Units
through the device variables that are allocated to I/O ports. We therefore recommend that you
do not use AT specifications to access this area.
A-9-5 EM Area
l Description
This is a general-purpose data area used to read and write 16-bit words.
You can also add a bit number to address specify bits.
Data in this area is retained during power interruption or when the operating mode is changed be-
tween PROGRAM and RUN mode.
l Addresses
Range NJ501-££££: E0_0 to E18_32767 NJ501-££££: E0_0.00 to E18_32767.15
NJ301-££££: E0_0 to E3_32767 NJ301-££££: E0_0.00 to E3_32767.15
NJ101-££££: E0_0 to E3_32767 NJ101-££££: E0_0.00 to E3_32767.15
Note The number of banks is given in hexadecimal.

Appendices
A-10 Variable Memory Allocation Methods

You must be aware of the way in which memory is allocated to variables to align the memory locations

of the members of structure or union variables with variables in other devices. Adjustments are neces-
sary mainly when structure or union variables are used in the following type of communications with
other devices.
• When using EtherNet/IP tag data links or CIP messages to access variables between NJ/NX-series
CPU Units and other CPU Units
• When using structure or union variables to exchange data with devices other than CPU Units, such
as ID Tags
A-10-1 Variable Memory Allocation Rules

The amount of memory and the memory locations that are allocated for a variable depend on the data
type of the variable. The amount of memory and the memory locations that are allocated for array ele-
ments, structure members, and union members depend on the data types, but also on the declara- A
tions that are made for the arrays, structures, and unions.

Data Type Alignment and Memory Allocation Amounts
The data size is determined for each data type. The data size is the minimum amount of memory that
is required to store the value or values of that data type.
On the other hand, memory for variables is automatically structured by the Controller for the most effi-
cient access. Therefore, the total amount of memory that is required for variables is not necessarily the
total of the data sizes of the variables. For example, if WORD and DWORD variables are declared, the
total of the data sizes is six bytes, but eight bytes are allocated in memory, as shown in the following
figure.
Memory Variable Table

Bytes Name Data type
Variable A First byte A WORD
First byte + 1 WORD data: 2 bytes
B DWORD
First byte + 2
First byte + 3 Not used: 2 bytes
Variable B First byte + 4
First byte + 5
DWORD data: 4 bytes
First byte + 6
First byte + 7
This information for determining the location of a variable in memory is called the alignment. The align-
ment is determined for each data type. The amount of memory and the memory locations for the varia-
bles are given below.
Item Specification
Amount of memory that is allo- An integral multiple of the alignment. However, the minimum amount
cated of memory is the data size.

Appendices
Item Specification
Locations in memory At an integral multiple of the alignment starting from the start of the
variable in memory.
The alignments and the amounts of memory that are allocated for the basic data types and enumera-
tions are given below.
Amount of memory that is allo-

Data type Alignment [bytes]
cated [bytes]
BOOL 2 2
BYTE, USINT, or SINT 1 1
WORD, UINT, or INT 2 2
DWORD, UDINT, or DINT 4 4
LWORD, ULINT, or LINT 8 8
REAL 4 4
LREAL 8 8
TIME, DATE, TIME_OF_DAY, or 8 8
DATE_AND_TIME
STRING[N+1]*1 1 N+1
Enumerations 4 4
*1. N is the maximum number of characters handled. For example, if a maximum of 10 single-byte characters
are handled, the NULL character is added, so memory for 11 characters must be reserved.
The elements of arrays and the members of structures and unions are located in memory for the most
efficient access. The alignments and the amounts of memory that are allocated for arrays, structures,
and unions are determined by the variable declarations, as described below.
Data type Alignment Amount of memory that is allocated

Array Same as alignment of the data type of (Amount of memory that is allocated for the data type of
the elements the elements) × Number of elements*1
Structure The largest alignment of all of the The integral multiple of the alignment that is larger than
members the total amount of memory that is allocated when the
members are arranged in order at integral multiples of
the alignment of the data types of the members
Union The largest alignment of all of the The largest amount of memory that is allocated for any
members of the members
*1. BOOL arrays are an exception. Refer to Precautions for Correct Use, below, for the amount of memory that
is allocated for BOOL arrays.

Appendices
Amount of Memory That Is Allocated for BOOL Arrays

Two bytes are allocated in memory for individual BOOL variables, BOOL structure members, and
BOOL union variables.

However, for a BOOL array, two bytes of memory are not allocated for each element. One bit is
allocated in order for each element. For the entire array, a multiple of two bytes of memory is allo-
cated (including unused bits).

Variable A First byte A BOOL
Two bytes are allocated.
First byte + 1 B ARRAY[1..5]OF BOOL
Variable B First byte + 2 C ARRAY[0..18]OF BOOL
Two bytes are allocated
First byte + 3
for 5 elements.
Variable C First byte + 4
First byte + 5
Four bytes are allocated
First byte + 6 for 19 elements.
First byte + 7
A
Therefore, the following formula gives the amount of memory that is allocated for a BOOL array.
For 1 to 16 elements, 2 bytes are allocated. For 17 to 32 elements, 4 bytes are allocated.

Number of
elements − 1
Amount of memory = 2 +2
16
Truncate the decimal portion of the result
of the calculation in brackets.
Specific examples of the rules for memory allocation for variables of each data type are given below.
Basic Data Types
l Variables with One-Byte Alignments (e.g., BYTE)

One byte of memory is allocated for the one-byte alignment.
Example: Two consecutive BYTE variables

First byte Variable A, 1 byte A BYTE
First byte + 1 Variable B, 1 byte B BYTE
l Variables with Two-byte Alignments (e.g., BOOL and WORD)

Two bytes of memory are allocated for the two-byte alignment.
Example: Two consecutive BOOL variables

Appendices
First byte + Variable Table

(integer multiple of 2) Memory
Name Data type
Bytes
First byte + First byte A BOOL
(integer multiple of 2) Variable A, 2 bytes
First byte + 1 B BOOL
First byte + 2
Variable B, 2 bytes
First byte + 3
l Variables with Four-byte Alignments (e.g., DWORD)

Four bytes of memory are allocated for the four-byte alignment.
The location of the first byte of data in memory is an integer multiple of four bytes. Therefore, if a
variable with a two-byte alignment, such as WORD data, is inserted, two bytes of unused memory
will remain.
Example: Consecutive variables in the following order: DWORD, WORD, and DWORD

Memory
(integer multiple of 4) Name Data type
Bytes
First byte A DWORD
First byte + 1 Variable A, B WORD
First byte + C DWORD
First byte + 2 4 bytes
(integer multiple of 2)
First byte + 3
First byte + 4 Variable B,
First byte +
(integer multiple of 4) First byte + 6 Not used.
First byte + 7
First byte + 8
First byte + 9 Variable C,
First byte + 11
l Variables with Eight-byte Alignments (e.g., LWORD)

Eight bytes of memory are allocated for the eight-byte alignment.
The location of the first byte of data in memory is an integer multiple of eight bytes. Therefore, if a
variable with a two-byte alignment, such as WORD data, is inserted, six bytes of unused memory
will remain. If a variable with a four-byte alignment, such as DWORD data, is inserted, four bytes of
unused memory will remain.
Example: Consecutive variables in the following order: LWORD, WORD, and LWORD

Appendices

Name Data type
Bytes
First byte A LWORD
First byte + 1 B WORD
First byte + 2 C LWORD

Variable A,
First byte + 3
8 bytes
First byte + 4
First byte + 5
First byte +
(integer multiple of 2) First byte + 6
First byte + 7
First byte + 8
Variable B,
First byte + 9
2 bytes
First byte + 10
First byte + 11
First byte + 12
Not used.
First byte + 13
First byte + First byte + 14
First byte + 15
First byte + 16
First byte + 17
First byte + 18
Variable C, A
First byte + 19
8 bytes
First byte + 20

First byte + 21
First byte + 22
First byte + 23
Arrays
A continuous section of memory is allocated for the elements of the array based on the data size of
the data type of the array variable. The alignment of an array is the same as alignment of the data
type of the elements.
Example: Continuous variables in the following order: two BOOL variable, one BOOL array with five
elements, one BOOL array with 19 elements, and one BOOL array with four elements

Memory
Bytes
First byte + First byte A BOOL
Variable A,
First byte + 1 B BOOL
2 bytes
First byte + C ARRAY[1..5]OF BOOL
First byte + 3 D ARRAY[0..18]OF BOOL
2 bytes
First byte + E ARRAY[5..8]OF BOOL
First byte + 6
First byte + 7 Variable D,
First byte + First byte + 8 4 bytes
First byte + 9
First byte + 10 Variable E,
Example: INT array with five elements

Appendices
First byte + Memory Variable Table

(integer multiple of 2) Bytes Name Data type
First byte + A[0] First byte Variable A ARRAY[0..4] OF INT
First byte + 1
First byte + A[1] First byte + 2
Variable A,
First byte + A[2] First byte + 4 10 bytes
First byte + 5
First byte + A[3] First byte + 6
A[4] First byte + 8

First byte + 9
Example: BYTE array with four elements for each dimension with two-dimensional array

A[0, 0] First byte Variable A ARRAY[0..3, 0..3] OF BYTE
A[0, 1] First byte + 1
Example: WORD array with three elements for each dimension with two-dimensional array
First byte + Memory Variable Table

(integer multiple of 2) Bytes Name Data type
First byte + B[0, 0] First byte Variable B ARRAY[0..2, 0..2] OF WORD
First byte + B[0, 1] First byte + 2
B[2, 2] First byte + 16

First byte + 17

Appendices
Structures
For a structure variable, the members are located in memory in the order that they are declared. Each
member is located at an integer multiple of the alignment of the data type of the member. Therefore,

there can be unused memory between members or at the end of members. The alignment of a struc-
ture is the largest alignment of all of the members. The amount of memory that is allocated is the inte-
gral multiple of the alignment that is larger than the total amount of memory that is allocated when the
members are arranged in order at integral multiples of the alignment of the data types of the members.
Example: The alignments and the amounts of memory that are allocated for the four variable declara-
tions given in the following figure are given in the following table.
Amount of memory that is allocated

Variable Alignment [bytes]
[bytes]
A 4 8
B 4 8
C 4 16
A
D 4 16

Appendices
First byte + Data Type Definitions

Name Data type
Bytes
A.a First byte Structure STR_A STRUCT
First byte + 1 a DINT
First byte + 2 b INT
First byte + 3 Variable A, Name Data type

A.b First byte + 4 8 bytes Structure STR_B STRUCT
First byte + 5 c INT
First byte + First byte + 6 d DINT
(integer multiple of 4) Not used.
First byte + 7
Variable Table
B.c First byte + 8
Name Data type
First byte + 9
Variable A Structure STR_A
Not used. Variable B Structure STR_B
Variable C ARRAY[0..1] OF STR_A
B.d First byte + 12
Variable D ARRAY[0..1] OF STR_B
First byte + 13
First byte +
First byte + 15
C[0].a First byte + 16
First byte + 17
First byte + 18
First byte + 19
C[0].b First byte + 20
First byte + 21
Not used.
C[1].a First byte + 24
First byte + 25
First byte + 26
First byte + 27
C[1].b First byte + 28
First byte + 29
First byte +
First byte + 30
(integer multiple of 4) Not used.
First byte + 31
D[0].c First byte + 32
First byte + 33
First byte + 34
Not used.
First byte + 35
D[0].d First byte + 36
First byte + 37
First byte + 38 Variable D,
D[1].c First byte + 40
First byte + 41
First byte + 42
Not used.
First byte + 43
D[1].d First byte + 44
First byte + 45
First byte + 46
First byte + 47

[bytes]
E 2 4
F 2 4

Appendices

[bytes]
G 2 8
H 2 8

Data Type Definitions
Memory
First byte + Name Data type
Bytes
E.a[0] to E.a[7] First byte Structure STR_C STRUCT
First byte + 1 Not used. Variable E, a ARRAY[0..7] OF BOOL
E.b First byte + 2 4 bytes b BYTE
First byte +
First byte + 3 Not used.
F.c First byte + 4
Structure STR_D STRUCT
First byte + 5 Not used. Variable F, c BYTE
F.d[0] to F.d[7] First byte + 6 4 bytes
First byte + d ARRAY[0..7] OF BOOL
(integer multiple of 2) Variable Table
G[0].a[0] to G[0].a[7] First byte + 8
Name Data type
G[0].b Variable E Structure STR_C
First byte + 10
Variable F Structure STR_D
First byte + 11 Not used. Variable G,
G[1].a[0] to G[1].a[7] Variable G ARRAY[0..1] OF STR_C
First byte + 12
8 bytes
Variable H ARRAY[0..1] OF STR_D A
G[1].b First byte + 14
First byte +

H[0].c First byte + 16
H[0].d[0] to H[0].d[7] First byte + 18
First byte + 19 Not used. Variable H,
H[1].c First byte + 20 8 bytes
H[1].d[0] to H[1].d[7] First byte + 22
Unions
For a union variable, the members overlap in the same memory locations.
The alignment of a union is largest alignment of all of the members. The amount of memory that is
allocated is the largest amount of memory that is allocated for any of the members.

[bytes]
A 4 4
B 4 4
C 4 8
D 4 8

Appendices
First byte + Data Type Definitions

Name Data type
Bytes
A.a A.b First byte Union UNI_A UNION
First byte + 1 a DWORD
First byte + Variable A,
First byte + 2 b WORD
(integer multiple of 4) 4 bytes
First byte + 3 Name Data type
B.c B.d First byte + 4 Union UNI_B UNION
First byte + 5 c WORD
First byte + Variable B,
First byte + 6 d DWORD
(integer multiple of 4) 4 bytes
First byte + 7
Variable Table
C[0].a C[0].b First byte + 8
Name Data type
First byte + 9
Variable A Union UNI_A
First byte + 10
Variable C, Variable B Union UNI_B
First byte + 11
8 bytes Variable C ARRAY[0..1] OF UNI_A
C[1].a C[1].b First byte + 12
Variable D ARRAY[0..1] OF UNI_B
First byte + 13
First byte +
First byte + 14
First byte + 15
D[0].c D[0].d First byte + 16
First byte + 17
First byte + 18
Variable D,
First byte + 19
8 bytes
D[1].c D[1].d First byte + 20
First byte + 21
First byte + 22
First byte + 23
A-10-2 Important Case Examples

When you exchange structure variable data between an NJ/NX-series CPU Unit and a remote device,
you must align the memory configuration of the structure variable members with those of the remote
device.
This section describes what to do in either the NJ/NX-series CPU Unit or in the remote device.
This is not necessary when you exchange data between NJ/NX-series CPU Units.
Aligning the Memory Configuration with a Remote Device

There are two methods that you can use to align the memory configuration with a remote device.
For example, the differences in the memory configuration for structure variables between an NJ/NX-
series CPU Unit and a CJ-series CPU Unit are shown below.
This section describes how to align the memory configuration for these Units.

Appendices
Data Type Definitions Data Type Definitions
Name Data type NJ/NX-series Structure Variable NJ_X Name Data type CJ-series Structure Variable CJ_X
Structure Y STRUCT Bytes Structure Y STRUCT Bytes
a DINT First byte a a DINT First byte a
b INT b INT

c DINT First byte + 4 b c DINT First byte + 4 b
Variable Table First byte + 6 Not used. Variable Table First byte + 6 c
Name Data type First byte + 8 c Name Data type
Variable NJ_X Structure Y Variable CJ_X Structure Y
l Method 1: Changing the Memory Configuration of the Structure Variable in

the NJ/NX-series CPU Unit
With an NJ/NX-series CPU Unit, you can specify member offsets to change the memory configura-
tion of the members of a structure variable. You can change the memory configuration of the mem-
bers of a structure variable in the NJ/NX-series CPU Unit so that it is the same as the memory con-
figuration in a remote device that the CPU Unit will communicate with.
Specify the member offsets for a structure variable when you register the structure data type. A
To communicate with a CJ-series CPU Unit, you can set the offset type to CJ to automatically use
the CJ-series memory configuration.

You can set the offset type to User to freely set your own offsets.
Version Information
The following table gives the unit version of the CPU Units and the Sysmac Studio version that
are required to specify member offsets.

Ver.1.01 or lower Ver.1.02 Ver.1.03 or higher
Ver.1.01 or later Not possible. Possible.*1 Possible.
Ver.1.00 Not possible. Not possible. Not possible.
*1. You cannot select the memory offset type. You can set member offsets.
If you change the memory configuration of a structure variable by setting offsets, you must make
the same changes for the same structure variable in other NJ/NX-series CPU Units on the network.
Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for the procedure to
change the memory configuration of a structure variable.

Appendices
Example: The following example shows how the memory configuration of the structure variable in
the NJ/NX-series CPU Unit is changed to match the memory configuration of the structure variable
in the CJ-series CPU Unit.
Data Type Definitions NJ/NX-series Structure Data Type Definitions

CJ-series Structure
Name Data type Variable NJ_X Name Data type Variable CJ_X
b INT b INT
c DINT First byte + 4 b c DINT First byte + 4 b
Communications is
not possible
Name Data type First byte + 8 c because the memory Name Data type
Variable NJ_X Structure Y configuration is not Variable CJ_X Structure Y
the same.
To align the memory configurations in the NJ-series and CJ-series CPU Units, offsets are set in the Sysmac Studio.
Here, the following offsets are set for member c of data type Y of the structure variable NJ_X.
(1) Offset type is set to CJ.
(3) Bit Offset

Set the location of the first bit of the member variable.
(2) Byte Offset
Set the location of the first byte of the member from
the beginning of the structure variable.
(1) Offset Type
Specify User.
Memory Bytes Memory Bytes
First byte First byte
(2) Byte Offset
First byte + 1 First byte + 1 Variable c starts from the 6th
Variable a Variable a
First byte + 2 First byte + 2 byte from the start of the
First byte + 3 First byte + 3 structure.
First byte + 4 First byte + 4
Variable b Variable b
Not used.
The location of Variable c
variable c changes
Variable c according to the
First byte + 10 offsets. First byte + 10
(3) Bit Offset

Set a byte offset of 6 and a bit offset Variable c starts from the 0th
of 0 (no offset) for variable c. bit from the start of the byte.

Appendices
l Method 2: Changing the Memory Configuration of the Structure Variable in

the Remote Device
You can insert a member into the structure variable of the remote device to change it to match the
memory configuration of the structure variable in the NJ/NX-series CPU Unit.

Both the memory configuration and the data types must be the same between the two structure
variables. You therefore need to create the same members in both the remote device and the
NJ/NX-series CPU Unit.
Example: The following example shows how the memory configuration of the structure variable in
the CJ-series CPU Unit is changed to match the memory configuration of the structure variable in
the NJ/NX-series CPU Unit.

NJ/NX-series Structure Variable NJ_X CJ-series Structure Variable CJ_X
Name Data type Name Data type
b INT b INT
c DINT First byte + 4 b c DINT First byte + 4 b A
Name Data type First byte + 8 Name Data type

Variable NJ_X Structure Y c Variable CJ_X Structure Y
Make the following changes to align the memory

configurations in the NJ/NX-series and CJ-series CPU Units.

Name Data type NJ/NX-series Structure Variable NJ_X Name Data type CJ-series Structure Variable CJ_X
b INT b INT
b2 INT First byte + 4 b b2 INT First byte + 4 b
c DINT First byte + 6 b2 c DINT First byte + 6 b2
Variable Table First byte + 8 c Variable Table First byte + 8 c
Name Data type Name Data type
Variable NJ_X Structure Y Variable CJ_X Structure Y
(2) Add the dummy variable b2 that you created in the (1) Add a dummy member variable b2 that matches the
CJ-series CPU Unit to the NJ/NX-series CPU Unit as well. unused memory location on the NJ/NX-series CPU Unit.

Appendices
A-11 Registering a Symbol Table on the

CX-Designer
When you connect the NJ/NX-series Controller to an NS-series PT, you can use variables on the CX-
Designer to set addresses for the functional objects. The variables are managed in a Symbol Table.
This section shows how to copy a table of variables from a Microsoft Excel spreadsheet to register
them all at the same time in a symbol table. Refer to the CX-Designer User’s Manual (Cat. No. V099)
for detailed information on the CX-Designer.
1 Use the following format to create a table of variables in a Microsoft Excel spreadsheet.
You must use the same number and arrangement of columns as in the following format. Do not
omit any columns even if they are empty, like the Address Type/Number and I/O Comment
columns that are shown below.
Host Name Type Address Type/Number I/O Comment Tag

HOST3 _Card1BkupCmd.ExecBkup BOOL TRUE
HOST3 _Card1BkupCmd.CancelBkup BOOL TRUE
HOST3 _Card1BkupCmd.ExecVefy BOOL TRUE
HOST3 _Card1BkupCmd.CancelVefy BOOL TRUE
HOST3 _Card1BkupCmd.DirName STRING(64) TRUE
HOST3 _Card1BkupSta.Done BOOL TRUE
HOST3 _Card1BkupSta.Active BOOL TRUE
HOST3 _Card1BkupSta.Err BOOL TRUE
HOST3 _Card1VefySta.Done BOOL TRUE
HOST3 _Card1VefySta.Active BOOL TRUE
HOST3 _Card1VefySta.VefyRslt BOOL TRUE
HOST3 _Card1VefySta.Err BOOL TRUE
HOST3 _BackupBusy BOOL TRUE
HOST3 _Card1PrgTransferCmd.Exec BOOL TRUE
HOST3 _Card1PrgTransferCmd.DirName STRING(64) TRUE
HOST3 _Card1PrgTransferCmd.Password STRING(33) TRUE
HOST3 _Card1PrgTransferCmd.TargetUserProgram BOOL TRUE
HOST3 _Card1PrgTransferCmd.TargetIPAdr BOOL TRUE
HOST3 _Card1PrgTransferCmd.TargetVariable BOOL TRUE
HOST3 _Card1PrgTransferCmd.TargetMemory BOOL TRUE
HOST3 _Card1PrgTransferSta.Done BOOL TRUE
HOST3 _Card1PrgTransferSta.Active BOOL TRUE
HOST3 _Card1PrgTransferSta.Err BOOL TRUE
HOST3 _Card1RestoreCmd.Exec BOOL TRUE
HOST3 _Card1RestoreCmd.DirName STRING(64) TRUE
HOST3 _Card1RestoreCmd.Password STRING(33) TRUE
HOST3 _Card1RestoreSta.Done BOOL TRUE
HOST3 _Card1RestoreSta.Active BOOL TRUE
HOST3 _Card1RestoreSta.Err BOOL TRUE
HOST3 _Card1RestoreCmdTargetUserProgram BOOL TRUE
HOST3 _Card1RestoreCmdTargetIPAdr BOOL TRUE
HOST3 _Card1RestoreCmdTargetVariable BOOL TRUE

Appendices
HOST3 _Card1RestoreCmdTargetMemory BOOL TRUE
A-11 Registering a Symbol Table on the CX-Designer

HOST3 _Card1RestoreCmdTargetUnitConfig BOOL TRUE
HOST3 _Card1RestoreCmdTargetAbsEncoder BOOL TRUE
2 Start the CX-Designer and open the Symbol Table Dialog Box.
A
3 Copy the shaded portion of the Microsoft Excel spreadsheet.
Always copy all of the columns that are shown below.
Host Name Type Address Type/Number I/O Comment Tag

HOST3 _Card1BkupCmd.ExecBkup BOOL TRUE
HOST3 _Card1BkupCmd.CancelBkup BOOL TRUE
HOST3 _Card1BkupCmd.ExecVefy BOOL TRUE
HOST3 _Card1BkupCmd.CancelVefy BOOL TRUE
HOST3 _Card1BkupCmd.DirName STRING(64) TRUE
HOST3 _Card1BkupSta.Done BOOL TRUE
HOST3 _Card1BkupSta.Active BOOL TRUE
HOST3 _Card1BkupSta.Err BOOL TRUE
HOST3 _Card1VefySta.Done BOOL TRUE
HOST3 _Card1VefySta.Active BOOL TRUE
HOST3 _Card1VefySta.VefyRslt BOOL TRUE
HOST3 _Card1VefySta.Err BOOL TRUE
HOST3 _BackupBusy BOOL TRUE
HOST3 _Card1PrgTransferCmd.Exec BOOL TRUE
HOST3 _Card1PrgTransferCmd.DirName STRING(64) TRUE
HOST3 _Card1PrgTransferCmd.Password STRING(33) TRUE
HOST3 _Card1PrgTransferCmd.TargetUserProgram BOOL TRUE
HOST3 _Card1PrgTransferCmd.TargetIPAdr BOOL TRUE
HOST3 _Card1PrgTransferCmd.TargetVariable BOOL TRUE
HOST3 _Card1PrgTransferCmd.TargetMemory BOOL TRUE
HOST3 _Card1PrgTransferSta.Done BOOL TRUE
HOST3 _Card1PrgTransferSta.Active BOOL TRUE
HOST3 _Card1PrgTransferSta.Err BOOL TRUE
HOST3 _Card1RestoreCmd.Exec BOOL TRUE
HOST3 _Card1RestoreCmd.DirName STRING(64) TRUE
HOST3 _Card1RestoreCmd.Password STRING(33) TRUE
HOST3 _Card1RestoreSta.Done BOOL TRUE

Appendices
HOST3 _Card1RestoreSta.Active BOOL TRUE

HOST3 _Card1RestoreSta.Err BOOL TRUE
HOST3 _Card1RestoreCmdTargetUserProgram BOOL TRUE
HOST3 _Card1RestoreCmdTargetIPAdr BOOL TRUE
HOST3 _Card1RestoreCmdTargetVariable BOOL TRUE
HOST3 _Card1RestoreCmdTargetMemory BOOL TRUE
HOST3 _Card1RestoreCmdTargetUnitConfig BOOL TRUE
HOST3 _Card1RestoreCmdTargetAbsEncoder BOOL TRUE
4 Right-click in the Symbol Table Dialog Box in the CX-Designer and select Paste from the
menu.
5 In the Host Selection Dialog Box on the CX-Designer, select the NJ/NX-series Controller host
and then click the OK Button.
The variables are registered in the Symbol Table Dialog Box of the CX-Designer.

Appendices
A-12 Enable/Disable EtherCAT Slave and

Axes
A-12 Enable/Disable EtherCAT Slave and Axes

You can enable and disable EtherCAT slaves and axes using programming instructions. You can use
this for the following types of applications.
• Managing more than one machine with different EtherCAT slave configurations and axis composi-
tions with one project on the Sysmac Studio.
• Leaving one production line running while you change the EtherCAT slave configuration or axis
composition of another line.
This section describes the instructions and system-defined variables that are used and provides some
application examples.
Version Information
quired to use the instructions to enable and disable EtherCAT slaves and axes. A
A-12-1 Project Settings When Using EtherCAT Slaves and Axes

A-12-1 Project Settings When Using EtherCAT Slaves and Axes
When you turn ON the power supply or download the project, disable in advance any EtherCAT slaves
that may not be installed in the EtherCAT network. Also, set any axes for those EtherCAT slaves to
unused axes. If any EtherCAT slaves that are not installed on the EtherCAT network are enabled or if
any of their axes are set to used axes, an error will occur when operation is started.
• You can also enable and disable EtherCAT slaves in the following Sysmac Studio settings:
Configurations and Setup - EtherCAT - Network Configuration - Enable/Disable
Settings. If you use the Sysmac Studio settings, however, you would have to use the Sys-
mac Studio to change the settings every time or you would have to change the project file
depending on the machine to handle the application that is described later in Application 1:
Centralized Management of Machines with Different EtherCAT Slave Configuration and Axis
Composition on page A-241.
• You can disable an EtherCAT slave to enable removing it or installing it on the EtherCAT net-
work.
A-12-2 Using Instructions to Enable/Disable EtherCAT Slaves and Axes

You can use instructions in the user program to enable and disable EtherCAT slaves and axes. Sepa-
rate instructions are used to enable and disable EtherCAT slaves and to enable and disable axes.
Both instructions are given in the following table.
Item changed Instruction

EtherCAT slaves EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave) instruction
Axes MC_ChangeAxisUse (Change Axis Use) instruction

Appendices
Version Information
quired to use the EC_ChangeEnableSetting and MC_ChangeAxisUse instructions.
EC_ChangeEnableSetting Instruction
The EC_ChangeEnableSetting (Enable/Disable EtherCAT Slave) instruction is used to enable and dis-
able EtherCAT slaves. You can use the EC_ChangeEnableSetting instruction to enable or disable the
EtherCAT slave with the specified node address. If you cycle the power supply to the Controller after
this instruction is executed, the settings will return to the settings from before instruction execution.
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for the detailed specifica-
tions of the EC_ChangeEnableSetting instruction.
MC_ChangeAxisUse Instruction
The MC_ChangeAxisUse (Change Axis Use) instruction is used to enable and disable axes. The
MC_ChangeAxisUse instruction changes the setting of the Axis Use axis parameter of the specified
axis between Used Axis and Unused Axis. If you cycle the power supply to the Controller after this
instruction is executed, the settings will return to the settings from before instruction execution.
Refer to the NJ/NX-series Motion Control Instructions Reference Manual (Cat. No. W508) for the de-
tailed specifications of the MC_ChangeAxisUse instruction.
A-12-3 System-defined Variables That Indicate EtherCAT Slave or Axis

Status
You can check the values of system-defined variables to get the current status of EtherCAT slaves and
axes. The system-defined variables for these are given below.
Accessed status System-defined variable name

EtherCAT slaves _EC_DisableSlavTbl[] (Disabled Slave Table)
Axes _MC_AX[*].Cfg.AxEnable (Axis Use)*1
*1. You can also use _MC1_AX[].Cfg.AxEnable and _MC2_AX[].Cfg.AxEnable with the NX701 CPU Unit.
_EC_DisableSlavTbl[] (Disabled Slave Table)

The _EC_DisableSlavTbl[] (Disabled Slave Table) system-defined variable tells whether each Ether-
CAT slave is currently disabled. The node address is specified for the array subscript. The meanings
of the values in _EC_DisableSlavTbl[] (Disabled Slave Table) are given below.
Value Meaning
TRUE The EtherCAT slave with the specified node address is disabled.
FALSE The EtherCAT slave with the specified node address is enabled.

Appendices
_MC_AX[].Cfg.AxEnable (Axis Use)

The _MC_AX[ ].Cfg.AxEnable (Axis Use) system-defined variable tells whether each axis is defined

and whether each axis is used. The axis number is specified for the array subscript. The meanings of
the values in _MC_AX[].Cfg.AxEnable (Axis Use) are given below.
Value Meaning
0:_mcNoneAxis The specified axis is an undefined axis.
1: _mcUnusedAxis The specified axis is an unused axis.
2: _mcUsedAxis The specified axis is a used axis.
A-12-4 Enabling/Disabling Execution of Program

There are certain programs associated with the EtherCAT slaves and axes, which are enabled or disa-
bled. These associated programs must be enabled or disabled as the EtherCAT slaves and axes are
enabled or disabled. To enable or disable the program, use the following instructions in the user pro-
gram. A
Function Instruction
A-12-4 Enabling/Disabling Execution of Program

Enable program PrgStart instruction
Disable program PrgStop instruction
Refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) for the detailed specifica-
tions of the PrgStart instruction and PrgStop instruction.
When you want to disable the program, first disable the EtherCAT slave and axis which the pro-
gram is associated with, and then disable the program.
Version Information
quired to use the PrgStart and PrgStop instructions.
A-12-5 Checking Enabled/Disabled Program

You can use the PrgStatus instruction to check the program is enabled or disabled that is associated
with the EtherCAT slave and axis that are enabled and disabled. Refer to the NJ/NX-series
Instructions Reference Manual (Cat. No. W502) for the detailed specifications of the PrgStatus instruc-
tion.
Version Information
A CPU Unit with unit version 1.08 or later and the Sysmac Studio version 1.09 or higher are
required to use the PrgStatus instruction.

Appendices
A-12-6 Settings with the Sysmac Studio

You can also enable/disable the EtherCAT slaves and axes and set to enable/disable the program at
the start of operation using the Sysmac Studio. Some applications require that EtherCAT slave status,
axis status and program status at the start of operation are set in advance with the Sysmac Studio.
Enabling/Disabling EtherCAT Slaves with Sysmac Studio

Use the following procedure to enable an EtherCAT slave on the Sysmac Studio.
1 Right-click EtherCAT under Configurations and Setup and select Edit from the menu.
The EtherCAT Tab Page is displayed.
2 In the Toolbox, right-click the EtherCAT slave you want to connect and select Insert from the
menu.
The selected EtherCAT slave is displayed under the EtherCAT master on the EtherCAT Tab
Page. Also, the Parameter Settings Area for the EtherCAT slave is displayed on the right side
of the EtherCAT Tab Page.
3 Set the value of Enable/Disable Settings to Enabled on the Parameter Settings Area for the
EtherCAT slave.
Enabling/Disabling Axis with Sysmac Studio

Use the following procedure to enable an axis on the Sysmac Studio.
1 Right-click Axis Settings under Configurations and Setup - Motion Control Setup and se-
lect Add - Axis Settings from the menu.
The axis MC_Axis000(0) is added under Axis Settings.
2 Right-click MC_Axis000(0) and select Edit from the menu.

The Axis Basic Settings Display appears.
3 Set Axis Use to Used Axis.
Running/Stopping Program at the Start of Operation with Sysmac

Studio
Use the following procedure to execute a program at the start of operation on the Sysmac Studio.
1 Right-click Task Settings under Configurations and Setup and select Edit from the menu.
The Task Settings Tab Page is displayed.
2 Click the Program Assignment Settings Button.

The Program Assignment Settings Display appears.

Appendices
3 Set Initial Status of the program to Run on the Program Assignment Settings Display.
A-12-7 Examples of Applications of Enabling/Disabling EtherCAT

Slaves and Axes
This section provides concrete examples of applications in which EtherCAT slaves and axes are ena-
bled and disabled.
Application 1: Centralized Management of Machines with Different

EtherCAT Slave Configuration and Axis Composition
Assume that the EtherCAT slave configuration and axis composition for the NJ-series Controllers are
different for machines 1 and 2 as shown below. These two machines are centrally managed using one
Sysmac Studio project.
EtherCAT Slave Configuration and EtherCAT Slave Configuration and

Axis Composition of Machine 1 Axis Composition of Machine 2 A
CPU CPU
A-12-7 Examples of Applications of Enabling/Disabling EtherCAT Slaves and Axes

Unit Unit
EtherCAT EtherCAT
A B C A B C D
EtherCAT slaves, axes EtherCAT slaves, axes Sensor
In the Sysmac Studio project, an EtherCAT Slave Configuration is created for all four EtherCAT slaves
and axes in A, B, C, and D in the figure. Then, on the Sysmac Studio, you set the EtherCAT slave
enable/disable settings, Axis Use parameter settings, and the associated program run/stop status at
the start of operation according to machine 1, as shown in the following table.
Enable/ Axis Use

EtherCAT slave Installed in EtherCAT network Disable parameter Associated programs
setting setting
A, B, and C Installed. Enabled. Used Axis Run at the start of op-
eration.
D Not installed. Disabled. Unused Ax- Stop at the start of op-
is eration.
To make changes for machine 2, you use instructions to change the EtherCAT slave enable/disable
settings, Axis Use parameter settings, and the associated program enable/disable settings as shown
in the following table.
Enable/ Axis Use

setting setting
A, B, and C Installed. Enabled. Used Axis Enabled.
D Installed. Enabled. Used Axis Enabled.

Appendices
The user program algorithm is shown in the following figure. A signal is input to the Controller from an
external device to specify whether machine 1 or machine 2 is operated.
External signal input.
Yes
Machine 1?
No
The EC_ChangeEnableSetting instruction is executed to enable

the slave for node D and the MC_ChangeAxisUse instruction is
executed to change the axis for node D to a used axis.
The program associated with node D is executed by the
PrgStart instruction.
Operation started.
Application 2: Changing the EtherCAT Slave Configuration and Ax-

is Composition during Operation
In the following figure, production line 1 is left running while the EtherCAT slave configuration and axis
composition on production line 2 are changed.
CPU CPU
Unit Unit
Production line 1 is left
running while the EtherCAT
EtherCAT EtherCAT
slave configuration and axis
composition on production
line 2 are changed.
A B Production line 1 A B Production line 1
EtherCAT slaves, axes EtherCAT slaves, axes
Production line 2 F G Production line 2

C D E
EtherCAT slaves, axes EtherCAT slaves, axes
In the Sysmac Studio project, an EtherCAT slave configuration is created for all seven EtherCAT
slaves and axes in A to G in the figure.
On the Sysmac Studio, set the EtherCAT slave enable/disable settings, Axis Use parameter settings,
and the associated program run/stop status at the start of operation for nodes A to G as shown in the
following table. These are the settings for the configuration before change.
Enable/ Axis Use

setting setting
A and B Installed. Enabled. Used Axis Run at the start of op-
eration.

Appendices
Enable/ Axis Use

setting setting

C, E, and D Installed. Enabled. Used Axis Run at the start of op-
eration.
F and G Not installed. Disabled. Unused Ax- Stop at the start of op-
is eration.
The following procedure is used to change the EtherCAT slaves and axes that are used from C, D, E
to F and G.
1 Stop production line 2.
2 Use the MC_ChangeAxisUse instruction to set the Axis Use parameters for C, D, and E to Un-
used Axis.
3 Use the EC_ChangeEnableSetting instruction to disable the settings for EtherCAT slaves C, D,
A
and E.
A-12-7 Examples of Applications of Enabling/Disabling EtherCAT Slaves and Axes

Use the PrgStop instruction to disable the programs associated with C, D and E.
5 Remove EtherCAT slaves C, D, and E from production line 2.
6 Install EtherCAT slaves F and G on production line 2.
7 Use the EC_ChangeEnableSetting instruction to enable the settings for EtherCAT slaves F and
G.
8 Use the MC_ChangeAxisUse instruction to set the Axis Use parameters for F and G to Used
Axis.
9 Use the PrgStart instruction to enable the programs associated with F and G.
10 Start production line 2 again.

As the result of the above steps, the EtherCAT slave enable/disable settings, Axis Use parameter set-
tings, and the associated programs enable/disable settings are changed as shown below.
Enable/ Axis Use

setting setting
A and B Installed. Enabled. Used Axis Enabled.
C, E, and D Not installed. Disabled. Unused Ax- Disabled.
is
F and G Installed. Enabled. Used Axis Enabled.
When you want to disable the program, first disable the EtherCAT slave and axis which the pro-
gram is associated with, and then disable the program.

Appendices
A-13 Size Restrictions for the User Pro-

gram
There are size restrictions for the user program due to the limitations of the memory capacity in the
CPU Unit and other factors. If you exceed these restrictions, errors will occur during operation. This
section describes each of the size restrictions of a user program that is created in a CPU Unit.
You can check the approximate sizes of the user program and variables with the memory display func-
tions of the Sysmac Studio.
Be careful not to exceed these restrictions when you create the user program. The restrictions that are
given in this section, however, are only reference values for use as guidelines. We recommend that
you ensure ample leeway for the restrictions to allow for the possibility of future user program expan-
sion as well as for other reasons.
Errors can occur during online editing even if the user program size restrictions are not exceed-
ed. This is because even if you change the user program with online editing, other data that is
allocated in the memory of the CPU Unit may remain. If errors occur, change the Controller to
PROGRAM mode and transfer the user program to the Controller again to reset the errors.
A-13-1 User Program Object Restrictions

This section describes the restrictions to user program objects. There are restrictions for the following
objects.
• POU
• Variables
• Data type definitions
• Constants (literals)
POU Restrictions
There are restrictions both on POU definitions and POU instances.
l POU Definition Restrictions

POU definitions are subject to the following restrictions.
CPU Unit model

Restriction NX701-£ NX102-£ NX1P2-£ NJ501-£ NJ301-£ NJ101-£
£££ £££ £££ £££ £££ £££
Maximum number of pro- 1,000 1,000 500 500 500 500
grams
Maximum value of the follow- 6,000 3,000 450 3,000 750 450
ing: Number of function block
definitions + Number of func-
tion definitions + Number of
ladder diagram sections

Appendices
CPU Unit model

£££ £££ £££ £££ £££ £££
Maximum total number of in- 64 64 64 64 64 64
A-13 Size Restrictions for the User Program

put, output, and in-out varia-
bles in function block and
function definitions
l POU Instance Restrictions

POU instances are subject to the following restrictions. The maximum number of POU instances
depends on the model and unit version of the CPU Unit and the version of the Sysmac Studio.
Maximum Number of POU Instances for the NX701-££££
CPU Unit model

Restriction
NX701-££££
Maximum number of POU instances 48,000
A
Maximum Number of POU Instances for the NX102-££££
A-13-1 User Program Object Restrictions

CPU Unit model
Restriction
NX102-££££
Maximum Number of POU Instances for the NX1P2-££££
CPU Unit model

Restriction
NX1P2-££££
Maximum Number of POU Instances for the NJ501-££££
Version CPU Unit model

Restriction
Sysmac Studio NJ501-££££
Maximum number of POU instances 1.05 or lower 6,000
1.06 or higher 9,000
Version CPU Unit model

Restriction
CPU Unit Sysmac Studio NJ301-££££
Maximum number of POU instances --- 1.04 or lower 1,500
1.03 or lower 1.05 or higher 2,400
1.04 or later 3,000
CPU Unit model

Restriction
NJ101-££££

Appendices
Refer to Number of POU Instances on page A-248 for information on counting POU instances.
Restrictions to Variables
There are restrictions to both variable usage and variable definitions.
l Restrictions to Variable Usage

The usage of variables is subject to the following restrictions.
CPU Unit model

Restriction NX701- NX102- NX1P2- NJ501- NJ301- NJ101-
££££ ££££ ££££ ££££ ££££ ££££
Maximum total size*1 in 256 32 2*2 4 2 2
Mbytes of variables without a
Retain attribute
Maximum total size*1 in 4 1.5 0.032*2 2 0.5 0.5
Mbytes of variables with a
Retain attribute
Maximum number of varia- 360,000 90,000 90,000 *4 *5 22,500
bles*3 without a Retain attrib-
ute
Maximum number of varia- 40,000 10,000 5,000 10,000 *7 5,000
bles*6 with a Retain attribute
Maximum number of network 40,000 40,000 27,500 40,000 27,500 27,500
variables
*1. The data size of each variable depends on its data type. Refer to 6-3-5 Data Types on page 6-32 for the
sizes of the data types.
*3. Refer to Number of Variables without a Retain Attribute on page A-248 for information on counting varia-
bles.
*4. The restriction depends on the Sysmac Studio version and the unit version of the CPU Unit as follows:
Sysmac Studio version 1.26 or higher and CPU Unit with unit version 1.20 or later: 180,000
Other combinations: 90,000
Other combinations: 22,500
*6. Refer to Number of Variables with a Retain Attribute on page A-248 for information on counting varia-
bles.
Other combinations: 2500
l Restrictions to Variable Definitions

Variable definitions are subject to the following restrictions.
CPU Unit model

££££ ££££ ££££ ££££ ££££ ££££
Maximum number of ele- 65,535 65,535 65,535 65,535 65,535 65,535
ments per array

Appendices
CPU Unit model

££££ ££££ ££££ ££££ ££££ ££££
Maximum number of dimen- 3 3 3 3 3 3

sions in an array
Maximum size in MB of an 8 4 1 4 2 2
array
Maximum value of a sub- 65,535 65,535 65,535 65,535 65,535 65,535
script (element number) for
an array
Maximum size in bytes*1 of a 1,986 1,986 1,986 1,986 1,986 1,986
string variable
*1. The NULL character at the end must be counted. Therefore, there are 1,985 single-byte characters in a
string that has a size of 1,986 bytes.
Restrictions to Data Type Definitions

A
Data type definitions are subject to the following restrictions.
CPU Unit model
A-13-2 Counting User Program Objects

£££ £££ £££ £££ £££ £££
Maximum number of data type 8,000 1,000 1,000 2,000 1,000 1,000
definitions*1
Maximum number of levels in a 8 8 8 8 8 8
structure definition
Maximum number of members in 2,048 2,048 2,048 2,048 2,048 2,048
a structure definition
Maximum size in MB of a struc- 8 4 1 4 2 2
ture variable
Maximum number of members in 4 4 4 4 4 4
a union definition
Maximum number of enumerators 2,048 2,048 2,048 2,048 2,048 2,048
in an enumeration definition
*1. Refer to Number of Data Type Definitions on page A-249 for information on counting data types.
Restrictions to Constants (Literals)

The constants (literals) are subject to the following restrictions.
CPU Unit model

Restriction NX701-££ NX102-££ NX1P2-££ NJ501-££ NJ301-££ NJ101-££
££ ££ ££ ££ ££ ££
Maximum size in bytes of 1,985 1,985 1,985 1,985 1,985 1,985
a constant (literal)

This section describes how to count POU instances, variables with a Retain attribute, variables without
a Retain attribute, and data type definitions. The information in this section is provided only as

Appendices
guidelines. The methods for counting objects sometimes varies with the unit version of the CPU Unit.
Always use the Sysmac Studio to confirm that user program object sizes are suitable.
Number of POU Instances

POU instances are counted as described below.
l Objects Counted as POU Instances

The following objects are counted as POU instances.
• Programs
• Function block instances (both user-created instances and instructions are included)
• Functions (both user-created instances and instructions are included)
l Precautions in Counting POU Instances

Observe the following precautions when you count POU instances.
• If n instances of a function block are used for the same function block definition, count them as n
instances.
• If the same function is used more than once in the same task, count them as one instance re-
gardless of the actual number of functions.
• If the same function is used in different tasks, count them as one instance for each task.
Number of Variables without a Retain Attribute

Variables without a Retain attribute are counted as described below.
l Objects Counted as Variables without a Retain Attribute

The following objects are counted as variables without a Retain attribute.
• Global variables without a Retain attribute
• Local variables without a Retain attribute in programs and function block instances (both user-
created instances and instructions are included)
l Precautions in Counting Variables without a Retain Attribute

Observe the following precautions when you count variables without a Retain attribute.
• Count arrays as one variable each regardless of the number of elements.
• Count function block instances as one variable. Both user-created instances and instructions are
included for function block instances.
• Count arrays of function block instances as one variable each regardless of the number of ele-
ments. However, count one variable for each element of the array for the number of variables
without a Retain attribute that are used in the function block.
Number of Variables with a Retain Attribute

Variables with a Retain attribute are counted as described below.
l Objects Counted as Variables with a Retain Attribute

The following objects are counted as variables with a Retain attribute.

Appendices
• Global variables with a Retain attribute

• Local variables with a Retain attribute in programs and function block instances (both user-creat-
ed instances and instructions are included)

l Precautions in Counting Variables with a Retain Attribute
Observe the following precautions when you count variables with a Retain attribute.
• Count arrays as one variable each regardless of the number of elements.
• Do not count arrays of function block instances. However, count one variable for each element of
the array for the number of variables with a Retain attribute that are used in the function blocks.
Number of Data Type Definitions

Data type definitions are counted as described below.
l Objects Counted as Data Type Definitions

The following objects are counted as data type definitions.
A
• User-created structure definitions
• User-created union definitions

• User-created enumeration definitions

Appendices
A-14 Replacing CPU Units with Unit Ver-

sion 1.02 or Earlier
An NJ-series CPU Unit with a unit version of 1.02 or earlier does not support the SD Memory Card
backup functions and Sysmac Studio Controller backup functions. Therefore, the following work is re-
quired to replace a CPU Unit when it fails or to change to a newer version.
Work Description
Upload the data from the CPU Unit. Upload the following three types of data from the old CPU Unit.
Each of these must be uploaded separately.
• Project
• Present values of variables and memory
• Tag data link tables
Connect the new CPU Unit. Remove the old CPU Unit from the Controller and connect the
new CPU Unit.
Download the data to the CPU Unit. Download the three types of data that you stored in the comput-
er to the new CPU Unit.
Details on the above work is provided in the following sections.
A-14-1 Uploading the Data from the CPU Unit

Upload the following three types of data from the old CPU Unit. Each of these must be uploaded sepa-
rately. Use the Sysmac Studio and the Network Configurator.
Data to upload Contents of data Support Software

Project • Unit Configuration and Unit Setup Sysmac Studio
• I/O Map
• Controller Setup (Operation Settings and Built-
in EtherNet/IP Port Settings)
• Motion Control Setup
• Cam Data Settings
• Event Setup
• Task Settings
• POUs
• Data type definitions and global variable defini-
tions
Present values of variables • Values of variables with a Retain attribute Sysmac Studio
and memory • Values of the Holding, DM, and EM Areas in
the memory for CJ-series Units
Tag data link tables*1 • Tag data link settings for EtherNet/IP Sysmac Studio
Network Configurator*2
*1. You need to upload tag data link tables only when tag data links are set.
*2. Use the Network Configurator with the Sysmac Studio version 1.09 or lower.

Appendices
A-14 Replacing CPU Units with Unit Version 1.02 or Earlier

The following data in the CPU Unit is not included in the project, present values of variables and
memory, or tag data link tables. Therefore, you must set them again after you replace the CPU
Unit.
• Data Trace Settings
• Controller name
• Time zone setting for the built-in clock
Uploading the Project

Use the following procedure to upload the project.
1 Start the Sysmac Studio on the computer that is connected to the NJ-series Controller.
2 Click the New Project Button and create a new project. A
3 Select the Device and Version of the CPU Unit to replace.
A-14-1 Uploading the Data from the CPU Unit
4 Click the Online Button in the toolbar.
5 Click the Synchronize Button in the toolbar.
6 Clear the Do not transfer the EtherNet/IP connection settings (built-in port and Unit)
Check Box and click the Transfer From Controller Button.

Appendices
The project in the Controller is uploaded to the computer.
7 Click the Recompare Button.

The uploaded project is compared to the project in the Controller.
8 Click the Save Button.

The project is saved in the computer.
Uploading the Present Values of Variables and Memory

Use the Sysmac Studio variable and memory backup functions to upload the present values of varia-
bles and memory. Refer to 9-8 Sysmac Studio Variable and Memory Backup Functions on page 9-52
for details on the Sysmac Studio variable and memory backup functions.
1 Select Backup - Backup Variables and Memory from the Tools Menu on the Sysmac Studio.
2 Select the Present value of Retain attribute variables, DM, EM and Holding Memory used for
CJ -series Units, and Absolute encoder home offset value Check Boxes and click the Execute
Button.
The variable and memory data is uploaded to the computer.
Uploading Tag Data Link Tables

The Network Configurator is used with the Sysmac Studio version 1.09 or lower.

Appendices

Use the following procedure to upload the tag data link tables.
1 Start the Network Configurator on the computer that is connected to the NJ-series Controller.
2 Select Network - Connect from the toolbar.
3 Select Network - Upload from the toolbar.

The following message is displayed: Uploading all devices parameters from network will
start based on the current document, OK?
4 Click the Yes Button.
5 Select only the IP address of the connected CPU Unit as the device and click the OK Button.
A-14-2 Connecting the New CPU Unit

6 Select File - Save As.
The tag data link tables are uploaded to the computer.
A-14-2 Connecting the New CPU Unit

Remove the old CPU Unit and connect the new CPU Unit. Refer to the NJ-series CPU Unit Hardware
User's Manual (Cat. No. W500) for details on the connection methods.
Perform the following actions for the new CPU Unit.

• Insert the SD Memory Card that was in the old CPU Unit into the new CPU Unit.
• Set the DIP switch to the same settings as the old CPU Unit.

Appendices
A-14-3 Downloading the Data to the CPU Unit

Download the project, present values of variables and memory, and tag data link tables to the new
CPU Unit.
Check the operation of the downloaded project for proper execution before you use it for actual
operation.
Downloading the Project

Use the following procedure to download the project.
1 Start the Sysmac Studio on the computer that is connected to the NJ-series Controller.
2 Click the Open Project Button.
3 From the project list, select the project that you uploaded from the old CPU Unit.
In the following example, the name of the project that you uploaded from the previous CPU
Unit is BackupData.
4 Click the Online Button in the toolbar.
5 Click the Synchronize Button in the toolbar.
6 Clear the Do not transfer the EtherNet/IP connection settings (built-in port and Unit)
Check Box and click the Transfer To Controller Button.
The project in the computer is downloaded to the Controller.

Appendices

Downloading the Present Values of Variables and Memory
Use the Sysmac Studio variable and memory backup functions to download the present values of vari-
ables and memory. Refer to 9-8 Sysmac Studio Variable and Memory Backup Functions on page 9-52
for details on the Sysmac Studio variable and memory backup functions.
1 Select Backup - Restore Variables and Memory from the Tools Menu on the Sysmac Studio.
2 Select the data file that you uploaded from the old CPU Unit and click the Execute Button.
The variable and memory data is downloaded to the Controller.
A-14-3 Downloading the Data to the CPU Unit

Downloading Tag Data Link Tables
The Network Configurator is used with the Sysmac Studio version 1.09 or lower.
Use the following procedure to download the tag data link tables.
1 Start the Network Configurator on the computer that is connected to the NJ-series Controller.
2 Select Network - Connect from the toolbar.
3 Select File - Open and open the tag data link table file that you uploaded from the old CPU
Unit.
4 To download tag data link tables to a CPU Unit with unit version 1.03 or later when the tag data
link tables were uploaded from a CPU Unit with unit version 1.02 or earlier, select Device–
Change Device and select NJ£££-1£££ Rev2 as the New Device.

Appendices
5 Select Network − Download from the toolbar.

The following message is displayed: In order to enable new configuration, downloading
parameters to all devices will start, OK?
6 Click the Yes Button.

A list of the currently active devices is displayed.
7 Click the Download after changed to Program mode Button.

The tag data link tables are downloaded to the Controller.
If NJ£££-1£££ Rev2 is not displayed as a new device selection in step 4, above, use the
newest version of the Network Configurator.

Appendices
A-15 Possible Combination of Windows Versions and CPU Unit Ver-

A-15 Possible Combination of Windows
Versions and CPU Unit Versions
Depending on the unit version of the CPU Unit, the Windows version on which support software can
be used differs.
The target support software is as follows.
Support Software Description

Sysmac Studio
Sysmac Controller Log Upload Tool Included with Sysmac Studio.
CX-ConfiguratorFDT Included with Sysmac Studio.
sions
Event Log Utility Included with SYSMAC Gateway.
The Windows versions on which support software can be used for each CPU Unit version are shown
below. Use a computer with the required version of Windows according to the unit version of the CPU A
Unit.
Windows version Reason why they cannot be

CPU Unit Unit version
10 or higher 7/8/8.1 used in combination
NX102-££££ Ver. 1.49 or later Can be used. Cannot be The support software and the
NX1P2-££££££ used. CPU Unit cannot communicate.
NJ501-££££ Version earlier Can be used. Can be used. ---
NJ301-££££ than 1.49
NJ101-££££
NX701-££££ Ver.1.29 or later Can be used. Cannot be The support software and the
used. CPU Unit cannot communicate.
Version earlier Can be used. Can be used. ---
than 1.29

Appendices
A-16 Version Information for NX-series

Controllers
This section describes the relationship between the unit versions of NX-series CPU Units and the Sys-
mac Studio versions, and the functions that are supported for each unit version.
A-16-1 Relationship between Unit Versions of CPU Units and Sysmac

Studio Versions
This section also describes how the unit versions of NX-series CPU Units correspond to Sysmac Stu-
dio versions. Normally use the corresponding versions.
• NX102, NX1P2 CPU Unit: Version 1.49 or later
Unit Versions and Corresponding Sysmac Studio Versions

The following table gives the relationship between unit versions of NX-series CPU Units and the corre-
sponding Sysmac Studio versions.
Unit version of CPU Unit Corresponding version of Sysmac Studio

Ver.1.50*1 Ver.1.52
Ver.1.49*1 Ver.1.50
Ver.1.29*2
Ver.1.48*3 Ver.1.49
Ver.1.28*2
Ver.1.47*4 Ver.1.47
Ver.1.38*5
Ver.1.27*6
Ver.1.46*4 Ver.1.46
Ver.1.37*5
Ver.1.26*6
Ver.1.43*7 Ver.1.44
Ver.1.36*5
Ver.1.24*6
Ver.1.42*4 Ver.1.43
Ver.1.35*5 Ver.1.41
Ver.1.23*6
Ver.1.41*8 Ver.1.40
Ver.1.34*5

Appendices

Ver.1.22*6
A-16 Version Information for NX-series Controllers

Ver.1.40*9 Ver.1.30*10
Ver.1.29
Ver.1.21*11
Ver.1.32*3 Ver.1.28
Ver.1.21*12
Ver.1.31*13 Ver.1.24
Ver.1.30*14 Ver.1.23
Ver.1.18*15 Ver.1.22
Ver.1.16*16 Ver.1.20
Ver.1.14 Ver.1.18
Ver.1.13*17 Ver.1.17*18
Ver.1.12 Ver.1.16
Ver.1.11 Ver.1.15
A
Ver.1.10 Ver.1.13
*1. This is the unit version of NX102-££££ CPU Units and NX1P2-£££££££ CPU Units.
A-16-1 Relationship between Unit Versions of CPU Units and Sysmac Studio Versions
*2. This is the unit version of NX701-££££ CPU Units.
*4. This is the unit version of NX102-££00 CPU Units and NX1P2-£££££££ CPU Units.
*5. This is the unit version of NX102-££20 CPU Units.
*7. This is the unit version of NX102-££00 CPU Units.
There is no NX1P2-9B£££££ CPU Unit with unit version earlier than 1.40.
*10. Use an NX1P2-9B£££££ CPU Unit with Sysmac Studio version 1.30 or higher.
You cannot use an NX1P2-9B£££££ CPU Unit with Sysmac Studio version 1.29 or lower.
*12. This is the unit version of NX1P2-£££££££ CPU Units.
*13. This is the unit version of NX102-££££ CPU Units. There is no NX701-££££ CPU Unit and NX1P2-£
££££££ CPU Unit with unit version 1.31.
*14. This is the unit version of NX102-££££ CPU Units. There is no NX102-££££ CPU Unit with unit ver-
sion 1.29 or earlier. There are no NX701-££££ CPU Unit and NX1P2-£££££££ CPU Unit with unit
version 1.30.
*15. There are no NX701-££££ CPU Unit and NX1P2-£££££££ CPU Unit with unit version 1.17.
*16. There are no NX701-££££ and NX1P2-£££££££ CPU Units with unit version 1.15.
*17. There is no NX1P2-£££££££ CPU Unit with unit version 1.12 or earlier.
*18. Use an NX1P2-£££££££ CPU Unit with Sysmac Studio version 1.17 or higher. You cannot use an
NX1P2-£££££££ CPU Unit with Sysmac Studio version 1.16 or lower.
Specifications When Not Using the Sysmac Studio Version That

Corresponds to the Unit Version of the CPU Unit
The specifications when you do not use the Sysmac Studio version that corresponds to the unit ver-
sion of the NX-series CPU Unit are given in this section.
l Using Sysmac Studio Version 1.12 or Lower

You cannot use the NX-series CPU Unit with Sysmac Studio version 1.12 or lower.

Appendices
l Using a Lower Version of Sysmac Studio

If you use a lower version of the Sysmac Studio, you can use only the functions of the unit version
of the CPU Unit that corresponds to the Sysmac Studio version.
Example: Unit version of CPU Unit: 1.11
Sysmac Studio version: 1.13
Unit version 1.10 of the CPU Unit corresponds to Sysmac Studio version 1.13. Therefore, you
can use only the functions that are supported by unit version 1.10 of the CPU Unit. You cannot
use functionality that was added for unit version 1.11 or later of the CPU Unit.
l Using a CPU Unit with an Earlier Unit Version

If you use an NX-series CPU Unit with an earlier version, select the unit version of the used CPU
Unit or an earlier unit version in the Select Device Area of the Project Properties Dialog Box on the
Sysmac Studio. The unit version that you selected is the project unit version of the project. You can
use only the functions that are supported by the project unit version.
Unit version 1.12 of the CPU Unit corresponds to Sysmac Studio version 1.16. However, the
used CPU Unit is unit version 1.11, so select version 1.11 or earlier as the version in the Select
Device Area of the Project Properties Dialog Box.
If you select version 1.11 as the version in the Select Device Area of the Project Properties Dia-
log Box, you can use only the functions that are supported by project unit version 1.11. You can-
not use functionality that was added for unit version 1.12 or later of the CPU Unit.
Project Unit Version for Projects

• With Sysmac Studio version 1.02 or higher, you can select the unit version in the Select De-
vice Area of the relevant dialog boxes.
• You can select any unit version that is the same as or earlier than the unit version of the CPU
Unit. For example, if the unit version of the CPU Unit is 1.11, select either 1.10 or 1.11.
• The Sysmac Studio will treat the project unit version as the unit version for the CPU Unit. For
example, if the project unit version is 1.10, you can use the functionality for unit version 1.10
• You can transfer a project to the Sysmac Studio if the project unit version is the same as or
earlier than the unit version of the destination CPU Unit.
• Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on the
Select Device Area of the relevant dialog boxes.
A-16-2 Functions That Were Added or Changed for Each Unit Version
This section describes the functions that were added or changed for each unit version of NX-series
CPU Unit.
l Additions and Changes to Functional Specifications

The following table gives the unit version of the CPU Units and the Sysmac Studio version for each
addition or change to the functional specifications.

Appendices
Unit Sysmac
Addition/
Function ver- Studio Reference
change
A-16 Version Information for NX-series Controllers

sion version
Program- Variable Arrays Variable- Addition Ver.1.1 Ver.1.22 6-3-7 Array Specifications
ming length array 8 and Range Specifications
for Data Types on page 6-51
Motion Single axis Auxiliary Cam Monitor Addition Ver.1.3 Ver.1.28 NJ/NX-series CPU Unit
control functions for 2/ / Motion Control User's
single-axis Ver.1.2 Ver.1.29 Manual (Cat. No. W507)
control 1
Communi- Built-in TCP/IP Packet Filter Addition Ver.1.3 Ver.1.23 NJ/NX-series CPU Unit
cations EtherNet/IP function (Simple) 0 Built-in EtherNet/IP Port
port *1 User's Manual (Cat. No.
Packet Filter Addition *2 Ver.1.50 W506)
Security Asset pro- User au- Number of Addition *2 Ver.1.50 8-5-10 User Authentication
tection and thentication groups on page 8-44
preventing
incorrect op-
A
eration
SD Mem- Application Program transfer from SD Addition Ver.1.1 Ver.1.15 9-5 Program Transfer from
ory Cards Memory Card 1 SD Memory Card on page
9-38
Backing Safety unit restore*1 Addition Ver.1.3 Ver.1.24 9-1-4 Types of Backup
up Data 1 Functions on page 9-8
*1. This addition applies only to an NX102-££££.
*2. For information on the CPU Unit models and unit versions supporting the function, refer to the listed references.
*3. This addition applies to an NX102-££££ CPU Unit and an NX1P2 CPU Unit.
*4. Packet monitoring can be used with project unit version earlier than 1.40. It cannot be used with project unit version
1.40 or later.
Note Refer to the manuals for the function modules for additions and changes to function module functions for each unit
version of the CPU Units.
l Additions and Changes to Basic Instructions and Motion Control Instruc-

tions
The basic instructions and motion control instructions that you can use have added or changed for
the new unit version of the CPU Unit.
For details, refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) and NJ/NX-
series Motion Control Instructions Reference Manual (Cat. No. W508).
l Additions and Changes to Controller Events

The events that can occur have added or changed for the new unit version of the CPU Unit. There
are also changes in the recovery methods to use when some errors occur.
For details, refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503).
l Additions and Changes to System-defined Variables

The system-defined variables that you can use have added or changed for the new unit version of
the CPU Unit.
Refer to A-6 System-defined Variables on page A-75 for details.

Appendices
A-17 Version Information for NJ-series

Controllers
This section describes the relationship between the unit versions of NJ-series CPU Units and the Sys-
mac Studio versions, and the functions that are supported for each unit version.
A-17-1 Relationship between Unit Versions of CPU Units and Sysmac

Studio Versions
This section also describes how the unit versions of NJ-series CPU Units correspond to Sysmac Stu-
dio versions. Normally use the corresponding versions.
• NJ-series CPU Unit: Ver. 1.49 or later
Unit Versions and Corresponding Sysmac Studio Versions

The following table gives the relationship between unit versions of NJ-series CPU Units and the corre-
sponding Sysmac Studio versions.

Ver.1.50 Ver.1.52
Ver.1.49 Ver.1.50
Ver.1.48*1 Ver.1.49
Ver.1.47*2
Ver.1.47*3 Ver.1.47
Ver.1.27*4
Ver.1.46*3 Ver.1.46
Ver.1.26*4
Ver.1.43*5 Ver.1.44
Ver.1.42*6 Ver.1.43
Ver.1.41*7 Ver.1.42
Ver.1.23*8 Ver.1.41
Ver.1.41*9 Ver.1.40
Ver.1.40*10 Ver.1.29
Ver.1.21*11
Ver.1.21*12 Ver.1.28
Ver.1.20 Ver.1.26
Ver.1.19 Ver.1.24
Ver.1.18 Ver.1.22
Ver.1.17 Ver.1.21

Appendices

Ver.1.16 Ver.1.20
A-17 Version Information for NJ-series Controllers

Ver.1.15 Ver.1.19
Ver.1.14 Ver.1.18
Ver.1.13 Ver.1.17
Ver.1.12 Ver.1.16
Ver.1.11 Ver.1.15
Ver.1.10*13 Ver.1.13*14
Ver.1.12
Ver.1.09 Ver.1.10
Ver.1.08 Ver.1.09
Ver.1.07 Ver.1.08
Ver.1.06 Ver.1.07
Ver.1.05 Ver.1.06
Ver.1.04 Ver.1.05
Ver.1.03 Ver.1.04
Ver.1.02 Ver.1.03 A
Ver.1.01 Ver.1.02
Ver.1.00*15 Ver.1.01
A-17-1 Relationship between Unit Versions of CPU Units and Sysmac Studio Versions
Ver.1.00
*1. This is the unit version of NJ501-1£00 CPU Units.
*2. This is the unit version of NJ501-££20, NJ501-1340, NJ501-5300, NJ501-4£££, and NJ101-££20 CPU
Units.
*3. This is the unit version of NJ501-1£00, NJ501-R£££, NJ301-££££, and NJ101-££00 CPU Units.
*4. This is the unit version of NJ501-££20, NJ501-4£££, NJ501-1340, NJ501-5300, and NJ101-1£20 CPU
Units.
*5. This is the unit version of NJ501-1£00 CPU Units.
*6. This is the unit version of NJ501-1£00, NJ301-1£00, and NJ101-££00 CPU Units.
*7. This is the unit version of NJ501-R£00 CPU Units.
*8. This is the unit version of NJ501-1£20, NJ501-4320, and NJ101-££20 CPU Units.
*10. This is the unit version of NJ501-1£00, NJ301-1£££, and NJ101-££00 CPU Units.
*11. This is the unit version of NJ501-4£00, NJ501-4£10, NJ501-1340, and NJ501-5300 CPU Units.
*13. There is no NJ101-££££ CPU Unit with unit version 1.09 or earlier.
*14. Use an NJ101-££££ CPU Unit with Sysmac Studio version 1.13 or higher. You cannot use an NJ101-££
££ CPU Unit with Sysmac Studio version 1.12 or lower.
*15. There is no NJ301-££££ CPU Unit with unit version 1.00. Therefore, you cannot use an NJ301-££££
CPU Unit with Sysmac Studio version 1.01 or lower.
Specifications When Not Using the Sysmac Studio Version That

Corresponds to the Unit Version of the CPU Unit
The specifications when you do not use the Sysmac Studio version that corresponds to the unit ver-
sion of the NJ-series CPU Unit are given in this section.
l Using a Lower Version of Sysmac Studio

If you use a lower version of the Sysmac Studio, you can use only the functions of the unit version
of the CPU Unit that corresponds to the Sysmac Studio version.

Appendices

Unit version 1.03 of the CPU Unit corresponds to Sysmac Studio version 1.04. Therefore, you
can use only the functions that are supported by unit version 1.03 of the CPU Unit. You cannot
l Using a CPU Unit with an Earlier Unit Version

If you use an NJ-series CPU Unit with an earlier version, select the unit version of the used CPU
Unit or an earlier unit version in the Select Device Area of the Project Properties Dialog Box on the
Sysmac Studio. The unit version that you selected is the project unit version of the project. You can
use only the functions that are supported by the project unit version.
Unit version 1.04 of the CPU Unit corresponds to Sysmac Studio version 1.05. However, the
used CPU Unit is unit version 1.03, so select version 1.03 or earlier as the version in the Select
Device Area of the Project Properties Dialog Box.
If you select version 1.03 as the version in the Select Device Area of the Project Properties Dia-
log Box, you can use only the functions that are supported by project unit version 1.03. You can-
not use functionality that was added for unit version 1.04 or later of the CPU Unit. You cannot
An error will occur if you perform the following type of operation. Use it with caution.
• Create a project on Sysmac Studio version 1.02 or higher with unit version 1.01 or later se-
lected as the version in the Select Device Area of the Project Properties Dialog Box.
• Upload the project to Sysmac Studio version 1.01.
Project Unit Version for Projects

• With Sysmac Studio version 1.02 or higher, you can select the unit version in the Select De-
vice Area of the relevant dialog boxes.
• You can select any unit version that is the same as or earlier than the unit version of the CPU
Unit. For example, if the unit version of the CPU Unit is 1.01, select either 1.00 or 1.01.
• The Sysmac Studio will treat the project unit version as the unit version for the CPU Unit. For
example, if the project unit version is 1.00, you can use the functionality for unit version 1.00
• You can transfer a project to the Sysmac Studio if the project unit version is the same as or
earlier than the unit version of the destination CPU Unit.
• Refer to the Sysmac Studio Version 1 Operation Manual (Cat. No. W504) for details on the
Select Device Area of the relevant dialog boxes.
A-17-2 Relationship between Hardware Revisions of CPU Units and

Sysmac Studio Versions
The following table shows how the hardware revisions of the NJ-series CPU Units correspond to Sys-
mac Studio versions. Use the corresponding version of Sysmac Studio or higher if you execute the
Simulator in Execution Time Estimation Mode. You cannot select the relevant hardware revision if you
use a lower version of the Sysmac Studio.

Appendices
Corresponding version of Sysmac

Model number Hardware revision of CPU Unit
Studio

NJ501-££££ A Ver.1.14
B Ver.1.24
C Ver.1.46
D Ver.1.47
NJ301-££££ A Ver.1.24
C Ver.1.46
D Ver.1.47
NJ101-££££ A Ver.1.24
C Ver.1.46
D Ver.1.47
This section gives the functions that were added or changed for each unit version of NJ-series CPU
Unit. A
l Additions and Changes to Functional Specifications
The following table gives the unit version of the CPU Units and the Sysmac Studio version for each
addition or change to the functional specifications.
Unit Sysmac
Addition/
Function ver- Studio ver- Reference
Change
sion sion
Tasks Function Conditionally executed tasks Addition 1.03 1.04 5-2 Overview of Tasks
on page 5-6
Program- Namespaces Addition 1.01 1.02 6-7 Namespaces on
ming page 6-141
Data types Structure da- Specifying Addition 1.01 1.02 Specifying Structure
ta types member offsets Change 1.03 Member Offsets on
page 6-44
Variables Arrays Variable-length Addition 1.18 1.22 6-3-7 Array Specifica-
array tions and Range Speci-
fications for Data Types
on page 6-51
Libraries Addition 1.01 1.02 6-8 Libraries on page
6-146

Appendices
Unit Sysmac
Addition/
Change
sion sion
Motion Single axis Single-axis Cyclic synchro- Addition 1.03 1.04 NJ/NX-series CPU Unit
control position con- nous absolute Motion Control User's
trol positioning Manual (Cat. No. W507)
Auxiliary Homing with Addition 1.03 1.04
functions for specified pa-
single-axis rameters
control Enabling digital Addition 1.06 1.07
cam switches
Slave axis po- Addition 1.10 1.12
sition compen-
sation
Cam monitor Addition 1.21 1.28/1.29
Start velocity Addition 1.05 1.06
Axes Multi-axes Axes group cy- Addition 1.01 1.02
groups coordinated clic synchro-
control nous absolute
positioning
Auxiliary Reading axes Addition 1.01 1.02
functions for group positions
multi-axes Changing the Addition 1.01 1.02
coordinated axes in a group
control
Common Cams Generating Addition 1.08 1.09
items cam tables
Parameters Changing axis Addition 1.08 1.09
parameters
Auxiliary Input signal logic inversion Addition 1.05 1.06
functions
Unit (I/O) NX Units Addition 1.05 1.06 NX-series EtherCAT
manage- Coupler Unit User’s
ment Manual (Cat. No. W519)
Commu- Built-in TCP/IP func- Packet Filter Addition *1 1.50 NJ/NX-series CPU Unit
nications EtherNet/IP tion Built-in EtherNet/IP Port
port TCP/IP ap- FTP client Addition 1.08 1.09 User's Manual (Cat. No.
plications W506)
OPC UA Server Func- Addition Refer to the NJ/NX-series CPU Unit OPC UA
tion User’s Manual (Cat. No. W588) for models and
unit versions of the CPU Units which support
OPC UA function and corresponding Sysmac
Studio versions.
Built-in Packet monitoring*2 Addition 1.10 1.12 NJ/NX-series CPU Unit
EtherCAT (NJ301-££££) Change*3 1.40 1.29 Built-in EtherCAT Port
port User's Manual (Cat. No.
W505)
Communications instructions Change 1.08 1.09 NJ/NX-series
1.11 1.15 Instructions Reference
Manual (Cat. No. W502)
Debug- Differential monitoring Addition 1.03 1.04 8-6-5 Differential Moni-
ging func- toring on page 8-66
tion

Appendices
Unit Sysmac
Addition/
Change

sion sion
Reliability Self diagno- Controller er- Changing lev- Addition 1.03 1.04 8-8 Changing Event
functions sis rors els Levels on page 8-86
Security Asset pro- Protection Data protection Addition 1.01 1.02 8-5-4 Data Protection
tection and on page 8-39
preventing Operation Number of Change 1.01 1.02 8-5-9 Operation Authori-
incorrect authority ver- groups ty Verification on page
operation ification 8-43
User authen- Number of Addition *1 1.50 8-5-10 User Authentica-
tication groups tion on page 8-44
SD Mem- Application Program Transfer from SD Addition 1.11 1.15 9-5 Program Transfer
ory Cards Memory Card from SD Memory Card
on page 9-38
Backing SD Memory Operation CPU Unit front- Addition 1.03 1.04 9-2 SD Memory Card
up Data Card back- methods panel DIP Backups on page 9-14
ups switch
Specification Addition 1.03 1.04
A
with system-
defined varia-
bles
SD Memory Addition 1.03 1.04
Card Window
in Sysmac Stu-
dio
Special instruc- Addition 1.08 1.09
tion
Protection Disabling back- Addition 1.03 1.04 9-3 Disabling Backups
ups to SD to SD Memory Cards on
Memory Cards page 9-34
Sysmac Studio Controller backups Addition 1.03 1.04 9-6 Sysmac Studio Con-
troller Backups on page
9-45
*1. For information on the CPU Unit models and unit versions supporting the function, refer to the listed references.
*2. This addition applies only to an NJ301-££££ CPU Unit. The NJ501-££££ and NJ101-££££ CPU Units support
packet monitoring with all versions.
*3. Packet monitoring can be used with project unit version earlier than 1.40. It cannot be used with project unit version
1.40 or later.
Note Refer to the manuals for the function modules for additions and changes to function module functions for each unit
version of the CPU Units.
l Addition of Mountable CJ-series Units

The CJ-series Units that can be mounted have added for the new unit version of the CPU Unit.
For details, refer to the NJ-series CPU Unit Hardware User's Manual (Cat. No. W500).
l Additions and Changes to Basic Instructions and Motion Control Instruc-

tions
The basic instructions and motion control instructions that you can use have added or changed for
the new unit version of the CPU Unit.

Appendices
For details, refer to the NJ/NX-series Instructions Reference Manual (Cat. No. W502) and NJ/NX-
series Motion Control Instructions Reference Manual (Cat. No. W508).
l Additions and Changes to Controller Events

The events that can occur have added or changed for the new unit version of the CPU Unit. There
are also changes in the recovery methods to use when some errors occur.
For details, refer to the NJ/NX-series Troubleshooting Manual (Cat. No. W503).
l Additions and Changes to System-defined Variables

The system-defined variables that you can use have added or changed for the new unit version of
the CPU Unit.
Refer to A-6 System-defined Variables on page A-75 for details.
A-17-4 Performance Improvements for Unit Version Upgrades

This section introduces the functions for which performance was improved for each unit version of NJ-
series CPU Unit and for each Sysmac Studio version.
Sysmac Stu-
Function Performance value Unit version
dio version
Program- Program Quanti- Number of POU 9,000 --- 1.06 or higher
ming capacity ties instances 6,000 --- 1.05 or lower
(NJ501-£££
£)
Number of POU 3,000 1.04 or later 1.05 or higher
instances 1,500 1.04 or lower
(NJ301-£££ 2,400 1.03 or earlier 1.05 or higher
£)
1,500 1.04 or lower
Memory Variables Number of vari- 5,000 1.04 or later 1.05 or higher
capacity with a ables*1 2,500 1.04 or lower
for varia- Retain (NJ301-£££ 2,500 1.03 or earlier ---
bles attribute £)
Variables Number of vari- 180,000 Ver.1.20 or lat- Ver.1.26 or
without a ables er higher
Retain (NJ501-£££ 90,000 Other than the above combina-
attribute £) tion
Number of vari- 90,000 Ver.1.20 or lat- Ver.1.26 or
ables er higher
(NJ301-£££ 22,500 Other than the above combina-
£) tion
Motion Number of Maximum number of con- 15 axes 1.06 or later 1.07 or higher
control controlled trolled axes*2*3*4 8 axes Other than the above combina-
axes (NJ301-££££) (NJ301-1200) tion
4 axes
(NJ301-1100)
Maximum number of axes 15 single axes 1.06 or later 1.07 or higher
for single-axis control*4*5 8 single axes Other than the above combina-
(NJ301-££££) (NJ301-1200) tion
4 single axes
(NJ301-1100)

Appendices
Sysmac Stu-
Function Performance value Unit version
dio version

Built-in CIP serv- Packet interval Can be set for each 1.03 or later ---
EtherNet/ ice: Tag connection.
IP port data links 1 to 10,000 ms in 1-
(cyclic ms increments
communi- Can be set for each 1.02 or earlier
cations) connection.
10 to 10,000 ms in 1-
ms increments
Allowed communications 3,000 pps*6 (includ- 1.03 or later ---
bandwidth per Unit ing heartbeat)
1,000 pps (including 1.02 or earlier
heartbeat)
Number of TCP sockets 30 1.03 or later ---
16 1.02 or earlier
Built-in Communications cycle*7 500, 1000, 2000, or 1.03 or later ---
EtherCAT (NJ301-££££) 4000 µs A
port 1,000, 2,000, or 1.02 or earlier
4,000 μs
A-17-4 Performance Improvements for Unit Version Upgrades

*1. This performance improvement applies only to an NJ301-££££ CPU Unit. The maximum number of varia-
bles with a Retain attributes for the NJ501-££££ is 10,000.
*2. This is the total for all axis types.
*3. This performance improvement applies only to an NJ301-££££ CPU Unit. The maximum number of con-
trolled axes for the NJ501-££££ are as follows:
NJ501-£5££: 64 axes, NJ501-£4££: 32 axes, and NJ501-£3££: 16 axes
*4. There is no change in the maximum number of used real axes.
*5. This performance improvement applies only to an NJ301-££££ CPU Unit. The maximum number of axes
for single-axis control for the NJ501-££££ are as follows:
NJ501-£5££: 64 axes, NJ501-£4££: 32 axes, and NJ501-£3££: 16 axes
*6. Here, pps means “packets per second” and indicates the number of packets that can be processed in one
second.
*7. This performance improvement applies only to an NJ301-££££ CPU Unit. You can use 500, 1,000, 2,000
or 4,000 µs communications cycle with an NJ501-££££ CPU Unit, and 1,000, 2,000 or 4,000 µs commu-
nications cycle with an NJ101-££££ CPU Unit.

Appendices

I
Index
NJ/NX-series CPU Unit Software User’s Manual (W501) I-1

Index
Index
Numerics _EC_SlavAdrDupErr (Slave Node Address Duplicated Error)
....................................................................... A-101, A-178
_<TaskName>_Exceeded (Task Period Exceeded Flag)....... _EC_SlavAppErr (Slave Application Error)....... A-101, A-178
................................................................................... 5-104 _EC_SlavEmergErr (Emergency Message Detected)............
_Card1RestoreCmdTargetOpcuaSPF (OPCUA Security ....................................................................... A-101, A-179
Profile Transfer Flag)....................................... A-82, A-153 _EC_SlavErr (Slave Error)................................ A-100, A-176
_EC_CommErrTbl (Communications Error Slave Table)........ _EC_SlavErrTbl (Slave Error Table)..................A-100, A-176
....................................................................... A-102, A-179 _EC_SlavInitErr (Slave Initialization Error)........A-101, A-178
_EC_CycleExceeded (EtherCAT Communications Cycle Ex- _EIP_BootpErr (BOOTP Server Error).............. A-116, A-192
ceeded).......................................................... A-102, A-179 _EIP_CipErr (CIP Communications Error)......... A-111, A-186
_EC_DisableSlavTbl (Disabled Slave Table).....A-104, A-181 _EIP_DNSCfgErr (DNS Setting Error)............... A-115, A-192
_EC_DisconnSlavTbl (Disconnected Slave Table)................. _EIP_DNSSrvErr (DNS Server Connection Error).................
....................................................................... A-104, A-181 ....................................................................... A-122, A-199
_EC_EntrySlavTbl (Network Connected Slave Table)............ _EIP_ErrSta (Built-in EtherNet/IP Error)............A-107, A-184
....................................................................... A-104, A-180 _EIP_EtnCfgErr (Basic Ethernet Setting Error). A-114, A-189
_EC_ErrSta (Built-in EtherCAT Error)................A-100, A-175 _EIP_IdentityErr (Identity Error).........................A-117, A-193
_EC_InData1Invalid (Input Data1 Invalid)......... A-105, A-182 _EIP_IPAdrCfgErr (IP Address Setting Error)....A-114, A-190
_EC_InData2Invalid (Input Data2 Invalid)......... A-105, A-182 _EIP_IPAdrDupErr (IP Address Duplication Error).................
_EC_InDataInvalid (Input Data Invalid)............. A-105, A-182 ....................................................................... A-115, A-191
_EC_IndataInvalidErr (Input Process Data Invalid Error)....... _EIP_IPRTblErr (IP Route Table Error)............. A-116, A-193
....................................................................... A-102, A-179 _EIP_LanHwErr (Communications Controller Error)..............
_EC_LanHwErr (Communications Controller Error)............... ....................................................................... A-113, A-188
....................................................................... A-100, A-176 _EIP_MacAdrErr (MAC Address Error)............. A-113, A-188
_EC_LinkOffErr (Link OFF Error)...................... A-100, A-176 _EIP_MultiSwONErr (Multiple Switches ON Error).................
_EC_LinkStatus (Link Status)............................A-104, A-181 ....................................................................... A-121, A-198
_EC_MacAdrErr (MAC Address Error)..............A-100, A-176 _EIP_NTPSrvErr (NTP Server Connection Error)..................
_EC_MBXSlavTbl (Message Communications Enabled ....................................................................... A-122, A-199
Slave Table)................................................... A-104, A-180 _EIP_PortErr (Communications Port Error).......A-108, A-185
_EC_MsgErr (EtherCAT Message Error)...........A-101, A-178 _EIP_TagAdrErr (Tag Name Resolution Error)..A-120, A-197
_EC_MstrErr (Master Error).............................. A-100, A-175 _EIP_TcpAppCfgErr (TCP Application Setting Error).............
_EC_NetCfgCmpErr (Network Configuration Verification Er- ....................................................................... A-122, A-199
ror)................................................................. A-101, A-177 _EIP_TcpAppErr (TCP Application Communications Error)...
_EC_NetCfgErr (Network Configuration Information Error).... ....................................................................... A-113, A-187
....................................................................... A-100, A-177 _EIP_TDLinkCfgErr (Tag Data Link Setting Error)..................
_EC_NetTopologyErr (Network Configuration Error).............. ....................................................................... A-117, A-194
....................................................................... A-101, A-177 _EIP_TDLinkErr (Tag Data Link Communications Error)........
_EC_PDActive (Process Data Communications Status)........ ....................................................................... A-119, A-196
....................................................................... A-104, A-181 _EIP_TDLinkOpnErr (Tag Data Link Connection Failed)........
_EC_PDCommErr (Process Data Communications Error)..... ....................................................................... A-118, A-195
....................................................................... A-101, A-177 _EIP1_BootpErr (Port1 BOOTP Server Error)...A-116, A-192
_EC_PDSendErr (Process Data Transmission Error)............ _EIP1_CipErr (CIP Communications1 Error).....A-112, A-187
....................................................................... A-101, A-178 _EIP1_EtnCfgErr (Port1 Basic Ethernet Setting Error)...........
_EC_PDSlavTbl (Process Data Communicating Slave Ta- ....................................................................... A-114, A-189
ble)................................................................. A-104, A-180 _EIP1_IdentityErr (CIP Communications1 Identity Error).......
_EC_PDTimeoutErr (Process Data Reception Timeout Er- ....................................................................... A-117, A-193
ror)................................................................. A-101, A-177 _EIP1_IPAdrCfgErr (Port1 IP Address Setting Error).............
_EC_PktMonStop (Packet Monitoring Stopped)..................... ....................................................................... A-115, A-190
....................................................................... A-104, A-181 _EIP1_IPAdrDupErr (Port1 IP Address Duplication Error)......
_EC_PktSaving (Saving Packet Data File)........A-105, A-182 ....................................................................... A-115, A-191
_EC_PortErr (Communications Port Error)....... A-100, A-175 _EIP1_LanHwErr (Port1 Communications Controller Error)...
_EC_RegSlavTbl (Registered Slave Table).......A-104, A-179 ....................................................................... A-113, A-189
_EC_Ring Breaking (Ring Disconnection).................... A-105 _EIP1_MacAdrErr (Port1 MAC Address Error)..A-113, A-188
_EC_RingBreaking (Ring Disconnection)..................... A-183 _EIP1_MultiSwONErr (CIP Communications1 Multiple
_EC_RingBreakNodeAdr (Slave Node Address Before Ring Switches ON Error)........................................ A-121, A-198
Disconnection)............................................... A-105, A-183 _EIP1_PortErr (Communications Port1 Error)...A-109, A-185
I-2 NJ/NX-series CPU Unit Software User’s Manual (W501)

Index
_EIP1_TagAdrErr (CIP Communications1 Tag Name Reso- Backing up data.................................................................9-3

lution Error).................................................... A-120, A-197 Backup Function Busy Flag.................................A-82, A-153
_EIP1_TDLinkCfgErr (CIP Communications1 Tag Data Link _BackupBusy (Backup Function Busy Flag)....... A-82, A-153
Setting Error).................................................. A-117, A-194 Basic Ethernet Setting Error.............................. A-114, A-189
_EIP1_TDLinkErr (CIP Communications1 Tag Data Link Basic I/O Unit Information....................................A-92, A-166
Communications Error).................................. A-119, A-196 Basic Input Unit Input Response Times..... 8-22, A-92, A-166
_EIP1_TDLinkOpnErr (CIP Communications1 Tag Data Link Bit strings................................................................6-33, 6-45
Connection Failed)......................................... A-118, A-195 BOOL..................................................................... 6-33, 6-45
_EIP2_BootpErr (Port2 BOOTP Server Error)...A-116, A-192 Boolean.................................................................. 6-33, 6-45
_EIP2_EtnCfgErr (Port2 Basic Ethernet Setting Error)........... BOOTP Server Error..........................................A-116, A-192
....................................................................... A-114, A-190 Built-in EtherCAT Error...................................... A-100, A-175
_EIP2_IdentityErr (CIP Communications2 Identity Error)....... Built-in EtherNet/IP Error................................... A-107, A-184
....................................................................... A-117, A-193 BYTE...................................................................... 6-33, 6-45
_EIP2_IPAdrCfgErr (Port2 IP Address Setting Error).............
....................................................................... A-115, A-191 C
_EIP2_IPAdrDupErr (Port2 IP Address Duplication Error)......
....................................................................... A-115, A-191 _Card1Access (SD Memory Card Access Flag).....................
_EIP2_LanHwErr (Port2 Communications Controller Error)... ................................................................8-30, A-78, A-143
....................................................................... A-114, A-189 _Card1BkupCmd (SD Memory Card Backup Commands).....
_EIP2_MacAdrErr (Port2 MAC Address Error)..A-113, A-188 ......................................................................... A-78, A-144
_EIP2_MultiSwONErr (CIP Communications2 Multiple _Card1BkupSta (SD Memory Card Backup Status)...............
Switches ON Error)........................................ A-121, A-198 ......................................................................... A-79, A-146
_EIP2_PortErr (Communications Port2 Error)... A-110, A-186 _Card1Capacity (SD Memory Card Storage Capacity)..........
_EIP2_TagAdrErr (CIP Communications2 Tag Name Reso- ................................................................8-30, A-78, A-144
lution Error).................................................... A-121, A-198 _Card1Deteriorated (SD Memory Card Life Warning Flag).... I
_EIP2_TDLinkCfgErr (CIP Communications2 Tag Data Link .......................................................8-29, 8-30, A-78, A-143
Setting Error).................................................. A-117, A-194 _Card1Err (SD Memory Card Error Flag)...............................
_EIP2_TDLinkErr (CIP Communications2 Tag Data Link .......................................................8-25, 8-30, A-78, A-143
Communications Error).................................. A-119, A-196 _Card1PowerFail (SD Memory Card Power Interruption
_EIP2_TDLinkOpnErr (CIP Communications2 Tag Data Link Flag)........................................................8-30, A-78, A-144
Connection Failed)......................................... A-118, A-195 _Card1PrgTransferCmd (SD Memory Card Program Trans-
_ErrSta (Controller Error Status).............. 5-104, A-77, A-142 fer Command).................................................. A-80, A-147
_MC_AX (Axis Variables).................................... A-98, A-174 _Card1PrgTransferSta (SD Memory Card Program Transfer
_MC_AX_ErrSta (Axis Error Status)....................A-97, A-172 Status)..............................................................A-81, A-149
_MC_COM (Common Variable)...........................A-97, A-173 _Card1Protect (SD Memory Card Write Protected Flag)........
_MC_ComErrSta (Common Error Status)........... A-97, A-172 ................................................................8-30, A-78, A-143
_MC_GRP (Axes Group Variables)..................... A-97, A-173 _Card1Ready (SD Memory Card Ready Flag).......................
_MC_GRP_ErrSta (Axes Group Error Status).... A-97, A-172 ................................................................8-30, A-78, A-142
_MC1_AX (Axis Variables).................................. A-99, A-174 _Card1RestoreCmd (SD Memory Card Restore Command).
_MC1_GRP (Axes Group Variables)................... A-98, A-173 ......................................................................... A-81, A-150
_MC2_AX (Axis Variables).................................. A-99, A-175 _Card1RestoreCmdTargetAbsEncoder (Absolute Encoder
_MC2_GRP (Axes Group Variables)................... A-98, A-174 Home Offset Transfer Flag)............................. A-82, A-153
_TaskName_Exceeded Count (Task Period Exceeded _Card1RestoreCmdTargetIPAdr (IP Address Transfer Flag)..
Count)........................................................................ 5-104 ......................................................................... A-82, A-152
_Card1RestoreCmdTargetMemory (Present Values of Mem-
A ory Used for CJ-series Units with the Retain Attribute
Transfer Flag)...................................................A-82, A-152
Absolute Encoder Home Offset Transfer Flag.....A-82, A-153 _Card1RestoreCmdTargetUnitConfig (Unit and Slave Pa-
accessing tasks............................................................... 5-93 rameters Transfer Flag)................................... A-82, A-152
_AlarmFlag (User-defined Error Status).....8-84, A-77, A-142 _Card1RestoreCmdTargetUserProgram (User Program and
All Tag Data Link Communications Status.........A-125, A-201 Settings Transfer Flag).....................................A-82, A-151
Always FALSE Flag............................................. A-83, A-154 _Card1RestoreCmdTargetVariable (Present Values of Varia-
Always TRUE Flag.............................................. A-83, A-154 bles with the Retain Attribute Transfer Flag)....A-82, A-152
Axes Group Error Status..................................... A-97, A-172 _Card1RestoreSta (SD Memory Card Restore Status)..........
Axes Group Variables.....................A-97, A-98, A-173, A-174 ......................................................................... A-82, A-151
Axis Error Status..................................................A-97, A-172 _Card1Used (SD Memory Card Storage Usage)...................
Axis Variables................................. A-98, A-99, A-174, A-175 ................................................................8-31, A-78, A-144
_Card1VefySta (SD Memory Card Verify Status) A-80, A-146
B Carry Flag.....................................................6-8, A-83, A-155

Index
CIP Communications Error................................ A-111, A-186 CIP Communications2 Target PLC Operating Mode..............
CIP Communications1 All Tag Data Link Communications ....................................................................... A-129, A-204
Status.............................................................A-126, A-201 CIP Safety communications.............................................. 2-9
CIP Communications1 Error.............................. A-112, A-187 CJ-series Unit configuration............................................ 1-12
CIP Communications1 Identity Error..................A-117, A-193 _CJB_CBU££InitSta (CPU Bus Unit Initializing Flags).........
CIP Communications1 Multiple Switches ON Error................ ................................................................8-23, A-92, A-166
....................................................................... A-121, A-198 _CJB_CBU££Restart (CPU Bus Unit Restart Bits)..............
CIP Communications1 Normal Target Node Information........ ................................................................8-23, A-93, A-167
....................................................................... A-127, A-203 _CJB_ErrSta (I/O Bus Error Status).................... A-91, A-165
CIP Communications1 Registered Target Node Information.. _CJB_InRespTm (Basic Input Unit Input Response Times)...
....................................................................... A-126, A-202 ................................................................8-22, A-92, A-166
CIP Communications1 Tag Data Link Communications Error _CJB_IOUnitInfo (Basic I/O Unit Information)..... A-92, A-166
....................................................................... A-119, A-196 _CJB_MaxRackNo (Largest Rack Number)........A-91, A-164
CIP Communications1 Tag Data Link Communications Start _CJB_MaxSlotNo (Largest Slot Number)............A-91, A-164
Switch............................................................ A-136, A-208 _CJB_MstrErrSta (I/O Bus Master Error Status). A-91, A-165
CIP Communications1 Tag Data Link Communications Sta- _CJB_SCU00P£ChgSta (Serial Communications Unit 0,
tus.................................................................. A-125, A-200 Port 1/2 Settings Changing Flags)................... A-93, A-168
CIP Communications1 Tag Data Link Communications Stop _CJB_SCU15P£ChgSta (Serial Communications Units 1 to
Switch............................................................ A-137, A-209 15, Port 1/2 Settings Changing Flags)............. A-93, A-168
CIP Communications1 Tag Data Link Connection Failed....... _CJB_SIO££InitSta (Special I/O Unit Initializing Flags).......
....................................................................... A-118, A-195 ................................................................8-23, A-92, A-167
CIP Communications1 Tag Data Link Setting Error................ _CJB_SIO££Restart (Special I/O Unit Restart Bits).............
....................................................................... A-117, A-194 ................................................................8-23, A-93, A-167
CIP Communications1 Tag Name Resolution Error................ _CJB_UnitErrSta (I/O Bus Unit Error Status)...... A-92, A-165
....................................................................... A-120, A-197 Common Error Status..........................................A-97, A-172
CIP Communications1 Target Node Error Information........... Common Variable................................................ A-97, A-173
....................................................................... A-133, A-206 Communications Controller Error...........................................
CIP Communications1 Target PLC Error Information............. ................................................ A-100, A-113, A-176, A-188
....................................................................... A-130, A-205 Communications Error Slave Table................... A-102, A-179
CIP Communications1 Target PLC Operating Mode.............. Communications Port Error........ A-100, A-108, A-175, A-185
....................................................................... A-129, A-204 Communications Port1 Error............................. A-109, A-185
CIP Communications2 All Tag Data Link Communications Communications Port2 Error..............................A-110, A-186
Status.............................................................A-126, A-201 Controller Error Status.........................................A-77, A-142
CIP Communications2 Error.............................. A-112, A-187 CPU Bus Unit Initializing Flags...................8-23, A-92, A-166
CIP Communications2 Identity Error..................A-117, A-193 CPU Bus Unit Restart Bits..........................8-23, A-93, A-167
CIP Communications2 Multiple Switches ON Error................ CPU Unit High Temperature Flag........................ A-85, A-157
....................................................................... A-121, A-198 _CurrentTime (System Time)....................... 8-5, A-76, A-139
CIP Communications2 Normal Target Node Information........
....................................................................... A-128, A-203 D
CIP Communications2 Registered Target Node Information..
....................................................................... A-127, A-202 Date........................................................................6-34, 6-46
CIP Communications2 Tag Data Link Communications Error DATE...................................................................... 6-34, 6-46
....................................................................... A-119, A-196 Date and time......................................................... 6-34, 6-46
CIP Communications2 Tag Data Link Communications Start DATE_ AND_ TIME................................................ 6-34, 6-46
Switch............................................................ A-136, A-208 Derivative data types....................................................... 6-36
CIP Communications2 Tag Data Link Communications Sta- Device Output Hold Configuration....................... A-86, A-158
tus.................................................................. A-125, A-201 Device Output Hold Status.................................. A-86, A-158
CIP Communications2 Tag Data Link Communications Stop _DeviceOutHoldCfg (Device Output Hold Configuration).......
Switch............................................................ A-137, A-209 ......................................................................... A-86, A-158
CIP Communications2 Tag Data Link Connection Failed....... _DeviceOutHoldStatus (Device Output Hold Status)..............
....................................................................... A-118, A-195 ......................................................................... A-86, A-158
CIP Communications2 Tag Data Link Setting Error................ Diagnosis/Statistics Log Busy........................... A-106, A-184
....................................................................... A-117, A-194 Diagnosis/Statistics Log Cycle.......................... A-106, A-183
CIP Communications2 Tag Name Resolution Error................ Diagnosis/Statistics Log Enable........................ A-105, A-183
....................................................................... A-121, A-198 Diagnosis/Statistics Log Error........................... A-106, A-184
CIP Communications2 Target Node Error Information........... DINT................................................................................ 6-33
....................................................................... A-134, A-207 Disabled Slave Table......................................... A-104, A-181
CIP Communications2 Target PLC Error Information............. Disconnected Slave Table................................. A-104, A-181
....................................................................... A-131, A-205 DNS Server Connection Error........................... A-122, A-199

Index
DNS Setting Error.............................................. A-115, A-192 _EIP_TDLinkAllRunSta (All Tag Data Link Communications
Durations................................................................ 6-34, 6-46 Status)............................................................A-125, A-201
DWORD...........................................................................6-33 _EIP_TDLinkCfgErr (Tag Data Link Setting Error)..................
....................................................................... A-117, A-194
E _EIP_TDLinkErr (Tag Data Link Communications Error)........
....................................................................... A-119, A-196
_EC_EntrySlavTbl (Network Connected Slave Table)............ _EIP_TDLinkOpnErr (Tag Data Link Connection Failed)........
....................................................................... A-104, A-180 ....................................................................... A-118, A-195
_EC_LinkOffErr (Link OFF Error)...................... A-100, A-176 _EIP_TDLinkRunSta (Tag Data Link Communications Sta-
_EC_StatisticsLogBusy (Diagnosis/Statistics Log Busy)........ tus)................................................................. A-125, A-200
....................................................................... A-106, A-184 _EIP_TDLinkStartCmd (Tag Data Link Communications
_EC_StatisticsLogCycleSec (Diagnosis/Statistics Log Cycle) Start Switch)...................................................A-136, A-208
....................................................................... A-106, A-183 _EIP_TDLinkStopCmd (Tag Data Link Communications
_EC_StatisticsLogEnable (Diagnosis/Statistics Log Enable). Stop Switch)...................................................A-136, A-208
_EC_StatisticsLogErr (Diagnosis/Statistics Log Error)........... _EIP1_CipErr (CIP Communications1 Error).....A-112, A-187
....................................................................... A-106, A-184 _EIP1_EstbTargetSta (CIP Communications1 Normal Target
_EIP_BootpErr (BOOTP Server Error).............. A-116, A-192 Node Information).......................................... A-127, A-203
_EIP_CipErr (CIP Communications Error)......... A-111, A-186 _EIP1_EtnCfgErr (Port1 Basic Ethernet Setting Error)...........
_EIP_DNSCfgErr (DNS Setting Error)............... A-115, A-192 ....................................................................... A-114, A-189
_EIP_DNSSrvErr (DNS Server Connection Error)................. _EIP1_EtnOnlineSta (Port1 Online).................. A-124, A-200
....................................................................... A-122, A-199 _EIP1_IdentityErr (CIP Communications1 Identity Error).......
_EIP_ErrSta (Built-in EtherNet/IP Error)............A-107, A-184 ....................................................................... A-117, A-193
_EIP_EstbTargetSta (Normal Target Node Information)......... _EIP1_IPAdrCfgErr (Port1 IP Address Setting Error).............
....................................................................... A-127, A-203 ....................................................................... A-115, A-190 I
_EIP_EtnCfgErr (Basic Ethernet Setting Error). A-114, A-189 _EIP1_IPAdrDupErr (Port1 IP Address Duplication Error)......
_EIP_EtnOnlineSta (Online)..............................A-124, A-199 ....................................................................... A-115, A-191
_EIP_IdentityErr (Identity Error).........................A-117, A-193 _EIP1_LanHwErr (Port1 Communications Controller Error)...
_EIP_IPAdrCfgErr (IP Address Setting Error)....A-114, A-190 ....................................................................... A-113, A-189
_EIP_IPAdrDupErr (IP Address Duplication Error)................. _EIP1_MacAdrErr (Port1 MAC Address Error)..A-113, A-188
....................................................................... A-115, A-191 _EIP1_MultiSwONErr (CIP Communications1 Multiple
_EIP_IPRTblErr (IP Route Table Error)............. A-116, A-193 Switches ON Error)........................................ A-121, A-198
_EIP_LanHwErr (Communications Controller Error).............. _EIP1_PortErr (Communications Port1 Error)...A-109, A-185
....................................................................... A-113, A-188 _EIP1_RegTargetSta (CIP Communications1 Registered
_EIP_MacAdrErr (MAC Address Error)............. A-113, A-188 Target Node Information)............................... A-126, A-202
_EIP_MultiSwONErr (Multiple Switches ON Error)................. _EIP1_TagAdrErr (CIP Communications1 Tag Name Reso-
....................................................................... A-121, A-198 lution Error).................................................... A-120, A-197
_EIP_NTPResult (NTP Operation Information).............A-134 _EIP1_TargetNodeErr (CIP Communications1 Target Node
_EIP_NTPResult.ExecNormal (NTP Operation Result)......... Error Information)...........................................A-133, A-206
....................................................................... A-134, A-207 _EIP1_TargetPLCErr (CIP Communications1 Target PLC
_EIP_NTPResult.ExecTime (NTP Last Operation Time)........ Error Information)...........................................A-130, A-205
....................................................................... A-134, A-207 _EIP1_TargetPLCModeSta (CIP Communications1 Target
_EIP_NTPSrvErr (NTP Server Connection Error).................. PLC Operating Mode).................................... A-129, A-204
....................................................................... A-122, A-199 _EIP1_TDLinkAllRunSta (CIP Communications1 All Tag Da-
_EIP_PortErr (Communications Port Error).......A-108, A-185 ta Link Communications Status).................... A-126, A-201
_EIP_RegTargetSta (Registered Target Node Information).... _EIP1_TDLinkCfgErr (CIP Communications1 Tag Data Link
....................................................................... A-126, A-202 Setting Error).................................................. A-117, A-194
_EIP_TagAdrErr (Tag Name Resolution Error)..A-120, A-197 _EIP1_TDLinkErr (CIP Communications1 Tag Data Link
_EIP_TargetNodeErr (Target Node Error Information)............ Communications Error).................................. A-119, A-196
....................................................................... A-132, A-206 _EIP1_TDLinkOpnErr (CIP Communications1 Tag Data Link
_EIP_TargetPLCErr (Target PLC Error Information)............... Connection Failed)......................................... A-118, A-195
....................................................................... A-130, A-205 _EIP1_TDLinkRunSta (CIP Communications1 Tag Data Link
_EIP_TargetPLCModeSta (Target PLC Operating Mode)...... Communications Status)................................A-125, A-200
....................................................................... A-128, A-204 _EIP1_TDLinkStartCmd (CIP Communications1 Tag Data
_EIP_TcpAppCfgErr (TCP Application Setting Error)............. Link Communications Start Switch)............... A-136, A-208
....................................................................... A-122, A-199 _EIP1_TDLinkStopCmd (CIP Communications1 Tag Data
_EIP_TcpAppErr (TCP Application Communications Error)... Link Communications Stop Switch)............... A-137, A-209
_EIP2_CipErr (CIP Communications2 Error).....A-112, A-187

Index
_EIP2_EstbTargetSta (CIP Communications2 Normal Target Framing Error...................................................... A-89, A-162

Node Information).......................................... A-128, A-203 Function module: EtherCAT Master Function Module....... 2-4
_EIP2_EtnCfgErr (Port2 Basic Ethernet Setting Error)........... Function module: EtherNet/IP Function Module................2-4
....................................................................... A-114, A-190 Function module: Motion Control Function Module........... 2-4
_EIP2_EtnOnlineSta (Port2 Online).................. A-125, A-200 Function module: NX Bus Function Module...................... 2-4
_EIP2_IdentityErr (CIP Communications2 Identity Error)....... Function module: PLC Function Module........................... 2-4
....................................................................... A-117, A-193
_EIP2_IPAdrCfgErr (Port2 IP Address Setting Error)............. H
....................................................................... A-115, A-191
_EIP2_IPAdrDupErr (Port2 IP Address Duplication Error)...... Hardware Revision.............................................. A-85, A-156
....................................................................... A-115, A-191 _HardwareRevision (Hardware Revision)........... A-85, A-156
_EIP2_LanHwErr (Port2 Communications Controller Error)...
....................................................................... A-114, A-189 I
_EIP2_MacAdrErr (Port2 MAC Address Error)..A-113, A-188
_EIP2_MultiSwONErr (CIP Communications2 Multiple I/O Bus Error Status............................................ A-91, A-165
Switches ON Error)........................................ A-121, A-198 I/O Bus Master Error Status................................ A-91, A-165
_EIP2_PortErr (Communications Port2 Error)... A-110, A-186 I/O Bus Unit Error Status..................................... A-92, A-165
_EIP2_RegTargetSta (CIP Communications2 Registered Identity Error...................................................... A-117, A-193
Target Node Information)............................... A-127, A-202 In-out variables.......................................................6-20, 6-93
_EIP2_TagAdrErr (CIP Communications2 Tag Name Reso- Initial Status of Program...................................................4-11
lution Error).................................................... A-121, A-198 Input Data Invalid...............................................A-105, A-182
_EIP2_TargetNodeErr (CIP Communications2 Target Node Input Data1 Invalid.............................................A-105, A-182
Error Information)...........................................A-134, A-207 Input Data2 Invalid.............................................A-105, A-182
_EIP2_TargetPLCErr (CIP Communications2 Target PLC Input Process Data Invalid Error........................A-102, A-179
Error Information)...........................................A-131, A-205 Input variables................................................................. 6-19
_EIP2_TargetPLCModeSta (CIP Communications2 Target Instruction Error Flag.........................6-8, 6-139, A-84, A-155
PLC Operating Mode).................................... A-129, A-204 INT...................................................................................6-33
_EIP2_TDLinkAllRunSta (CIP Communications2 All Tag Da- Integers.................................................................. 6-33, 6-45
ta Link Communications Status).................... A-126, A-201 Internal variables.................................................... 6-20, 6-36
_EIP2_TDLinkCfgErr (CIP Communications2 Tag Data Link IP Address Duplication Error..............................A-115, A-191
Setting Error).................................................. A-117, A-194 IP Address Setting Error.................................... A-114, A-190
_EIP2_TDLinkErr (CIP Communications2 Tag Data Link IP Address Transfer Flag.....................................A-82, A-152
Communications Error).................................. A-119, A-196 IP Route Table Error.......................................... A-116, A-193
_EIP2_TDLinkOpnErr (CIP Communications2 Tag Data Link
Connection Failed)......................................... A-118, A-195 L
_EIP2_TDLinkRunSta (CIP Communications2 Tag Data Link
Largest Rack Number..........................................A-91, A-164
Communications Status)................................A-125, A-201
Largest Slot Number............................................A-91, A-164
_EIP2_TDLinkStartCmd (CIP Communications2 Tag Data
Largest Unit Number........................................... A-94, A-168
Link Communications Start Switch)............... A-136, A-208
Last Task Execution Time.............................5-8, A-76, A-140
_EIP2_TDLinkStopCmd (CIP Communications2 Tag Data
Link OFF Error...................................................A-100, A-176
Link Communications Stop Switch)............... A-137, A-209
Link Status.........................................................A-104, A-181
Emergency Message Detected......................... A-101, A-179
LINT.................................................................................6-33
EN....................................................................................6-20
Log File Output Completed Flag..........................A-90, A-164
ENO.................................................................................6-20
Low Battery Flag..................................................A-85, A-157
_ErrSta (Controller Error Status).............. 5-104, A-77, A-142
Low FAN Revolution Flag.................................... A-85, A-157
EtherCAT Communications Cycle Exceeded.... A-102, A-179
LREAL............................................................................. 6-33
EtherCAT Message Error...................................A-101, A-178
LWORD............................................................................6-33
EtherCAT network configuration.............. 1-5, 1-8, 1-10, 1-12
Event Log Settings............................................................ 4-6
Event task...............................................................5-12, 5-49
M
External variables............................................................ 6-20 MAC Address Error.....................A-100, A-113, A-176, A-188
Master Error.......................................................A-100, A-175
F Maximum Task Execution Time....................5-8, A-76, A-140
_MC_AX (Axis Variables).................................... A-98, A-174
FINS/TCP Connection Status..............................A-84, A-156
_MC_AX_ErrSta (Axis Error Status)....................A-97, A-172
_FINSTCPConnSta (FINS/TCP Connection Status)..............
_MC_COM (Common Variable)...........................A-97, A-173
......................................................................... A-84, A-156
_MC_ComErrSta (Common Error Status)........... A-97, A-172
First Program Period Flag............................ 6-8, A-84, A-155
_MC_ErrSta (Motion Control Function Module Error Status).
First RUN Period Flag.................................. 6-8, A-84, A-155
......................................................................... A-97, A-172

Index
_MC_GRP (Axes Group Variables)..................... A-97, A-173 P

_MC_GRP_ErrSta (Axes Group Error Status).... A-97, A-172
_MC1_AX (Axis Variables).................................. A-99, A-174 P_CY (Carry Flag).............................6-8, 6-135, A-83, A-155
_MC1_GRP (Axes Group Variables)................... A-98, A-173 P_First_Run (First Program Period Flag).....6-8, A-84, A-155
_MC2_AX (Axis Variables).................................. A-99, A-175 P_First_RunMode (First RUN Period Flag)..6-8, A-84, A-155
_MC2_GRP (Axes Group Variables)................... A-98, A-174 P_Off (Always FALSE Flag).................................A-83, A-154
Memory settings for CJ-series Units...................... 4-31, 4-33 P_On (Always TRUE Flag)..................................A-83, A-154
Message Communications Enabled Slave Table.................... P_PRGER (Instruction Error Flag).... 6-8, 6-139, A-84, A-155
....................................................................... A-104, A-180 Packet Monitoring Stopped............................... A-104, A-181
Minimum Task Execution Time.....................5-8, A-76, A-140 Parity Error.......................................................... A-89, A-162
Motion Control Function Module Error Status..... A-97, A-172 Period/Execution Conditions............................................. 4-9
Multiple Switches ON Error............................... A-121, A-198 PLC Function Module Error Status......................A-87, A-159
_PLC_ErrSta (PLC Function Module Error Status)................
N ......................................................................... A-87, A-159
_PLC_OptBoardSta (Option Board Status)......... A-87, A-160
Network Communications Instruction Enabled Flag............... _PLC_OptBoardSta.Error (Option Board Error).. A-87, A-160
......................................................................... A-84, A-156 _PLC_OptBoardSta.isDetect (Option Board Mounted)..........
Network Configuration Error.............................. A-101, A-177 ......................................................................... A-87, A-160
Network Configuration Information Error........... A-100, A-177 _PLC_OptBoardSta.Run (Option Board Normal Operation)..
Network Configuration Verification Error........... A-101, A-177 ......................................................................... A-87, A-160
Network Connected Slave Table....................... A-104, A-180 _PLC_OptSerialErrSta (Serial Option Board Error Status).....
Normal Target Node Information....................... A-127, A-203 ......................................................................... A-88, A-161
NTP Last Operation Time.................................. A-134, A-207 _PLC_OptSerialErrSta.Error (Transmission Error).................
NTP Operation Information........................................... A-134 ......................................................................... A-88, A-161
NTP Operation Result....................................... A-134, A-207 _PLC_OptSerialErrSta.FramingErr (Framing Error)............... I
NTP Server Connection Error............................A-122, A-199 ......................................................................... A-89, A-162
Number of Used Ports......................................... A-84, A-155 _PLC_OptSerialErrSta.OverRun (Overrun Error)A-90, A-163
NX Bus Function Module Error Status.................A-95, A-170 _PLC_OptSerialErrSta.ParityErr (Parity Error)....A-89, A-162
NX Bus Function Module Master Error Status.....A-96, A-170 _PLC_SFLogSta (Safety Data Logging Status).. A-90, A-163
NX Bus Function Module Unit Error Status......... A-96, A-171 _PLC_SFLogSta.IsComplete (Safety Data Logging Com-
NX Unit configuration............................................... 1-8, 1-10 pleted Flag)...................................................... A-90, A-164
NX Unit Error Status............................................ A-96, A-171 _PLC_SFLogSta.IsOutput (Log File Output Completed Flag)
NX Unit I/O Data Active Status............................A-94, A-169 ......................................................................... A-90, A-164
NX Unit Message Enabled Status....................... A-94, A-169 _PLC_SFLogSta.IsStart (Safety Data Logging Busy Flag)....
NX Unit Registration Status.................................A-95, A-169 ......................................................................... A-90, A-163
_NXB_ErrSta (NX Bus Function Module Error Status)........... _PLC_TraceSta.IsComplete (Trace Completed Flag)............
......................................................................... A-95, A-170 ................................................................8-66, A-86, A-159
_NXB_MaxUnitNo (Largest Unit Number)...........A-94, A-168 _PLC_TraceSta.IsStart (Trace Busy Flag). 8-66, A-86, A-158
_NXB_MstrErrSta (NX Bus Function Module Master Error _PLC_TraceSta.IsTrigger (Trace Trigger Monitor Flag)..........
Status)..............................................................A-96, A-170 ................................................................8-66, A-86, A-159
_NXB_UnitErrFlagTbl (NX Unit Error Status)...... A-96, A-171 _PLC_TraceSta.ParamErr (Trace Parameter Error Flag).......
_NXB_UnitErrStaTbl (NX Bus Function Module Unit Error ................................................................8-66, A-86, A-159
Status)..............................................................A-96, A-171 _Port_isAvailable (Network Communications Instruction En-
_NXB_UnitIOActiveTbl (NX Unit I/O Data Active Status)....... abled Flag)....................................................... A-84, A-156
......................................................................... A-94, A-169 _Port_numUsingPort (Number of Used Ports).... A-84, A-155
_NXB_UnitMsgActiveTbl (NX Unit Message Enabled Status) Port1 Basic Ethernet Setting Error.....................A-114, A-189
......................................................................... A-94, A-169 Port1 BOOTP Server Error................................ A-116, A-192
_NXB_UnitRegTbl (NX Unit Registration Status) A-95, A-169 Port1 Communications Controller Error............. A-113, A-189
Port1 IP Address Duplication Error.................... A-115, A-191
O Port1 IP Address Setting Error...........................A-115, A-190
Port1 MAC Address Error.................................. A-113, A-188
Online................................................................ A-124, A-199 Port1 Online.......................................................A-124, A-200
OPCUA Security Profile Transfer Flag................ A-82, A-153 Port2 Basic Ethernet Setting Error.....................A-114, A-190
Operation Settings.............................................................4-5 Port2 BOOTP Server Error................................ A-116, A-192
Option Board Error.............................................. A-87, A-160 Port2 Communications Controller Error............. A-114, A-189
Option Board Mounted........................................ A-87, A-160 Port2 IP Address Duplication Error.................... A-115, A-191
Option Board Normal Operation.......................... A-87, A-160 Port2 IP Address Setting Error...........................A-115, A-191
Option Board Status............................................ A-87, A-160 Port2 MAC Address Error.................................. A-113, A-188
Output variables.............................................................. 6-19 Port2 Online.......................................................A-125, A-200
Overrun Error.......................................................A-90, A-163

Index
Power Interruption Count.....................................A-83, A-154 _SelfTest_HighTemperature (CPU Unit High Temperature

_PowerOnCount (Power Interruption Count).......A-83, A-154 Flag).................................................................A-85, A-157
_PowerOnHour (Total Power ON Time).............. A-83, A-153 _SelfTest_LowBattery (Low Battery Flag)........... A-85, A-157
Present Values of Memory Used for CJ-series Units with the _SelfTest_LowFanRevolution (Low FAN Revolution Flag).....
Retain Attribute Transfer Flag.......................... A-82, A-152 ......................................................................... A-85, A-157
Present Values of Variables with the Retain Attribute Trans- Semi-user-defined variables............................................2-12
fer Flag.............................................................A-82, A-152 Sequence control and motion control................................ 2-2
Process Data Communicating Slave Table....... A-104, A-180 Serial Communications Unit 0, Port 1/2 Settings Changing
Process Data Communications Error................ A-101, A-177 Flags................................................................ A-93, A-168
Process Data Communications Status.............. A-104, A-181 Serial Communications Units 1 to 15, Port 1/2 Settings
Process Data Reception Timeout Error............. A-101, A-177 Changing Flags................................................A-93, A-168
Process Data Transmission Error......................A-101, A-178 Serial Option Board Error Status......................... A-88, A-161
Program Execution Order................................................ 4-11 Setting Change during RUN Mode.................................... 4-7
PROGRAM mode...................................................2-40, 2-41 Setting debug programs.................................................... 7-6
Project Unit Version............................................. A-85, A-157 Setting simulation programs.............................................. 7-6
_ProjectUnitVersion (Project Unit Version).......... A-85, A-157 simulation.......................................................................... 7-3
SINT....................................................................... 6-33, 6-45
R Slave Application Error...................................... A-101, A-178
Slave Error.........................................................A-100, A-176
REAL...................................................................... 6-33, 6-45 Slave Error Table............................................... A-100, A-176
Real numbers......................................................... 6-33, 6-45 Slave Initialization Error.....................................A-101, A-178
real processing time of task........................................... 5-110 Slave Node Address Before Ring Disconnection...................
refreshing tasks............................................................... 5-93 ....................................................................... A-105, A-183
Registered Slave Table......................................A-104, A-179 Slave Node Address Duplicated Error...............A-101, A-178
Registered Target Node Information..................A-126, A-202 Special I/O Unit Initializing Flags................8-23, A-92, A-167
Restoring data................................................................... 9-3 Special I/O Unit Restart Bits.......................8-23, A-93, A-167
Retained.......................................................................... 6-22 Start and stop the Simulator.............................................. 7-3
_RetainFail (Retention Failure Flag)....................A-83, A-154 STRING..................................................................6-34, 6-46
Retention Failure Flag......................................... A-83, A-154 Support Software..................................... 1-5, 1-8, 1-10, 1-12
Return value.................................................................... 6-20 System Service Monitoring Settings..................................4-5
Ring Disconnection............................................A-105, A-183 System Time........................................................A-76, A-139
RUN mode..............................................................2-40, 2-41 System-defined variables................................................ 2-12
RUN output........................................................................8-6 system-defined variables for motion control.................... 2-14
S T
Safety Data Logging Busy Flag........................... A-90, A-163 Tag Data Link Communications Error................ A-119, A-196
Safety Data Logging Completed Flag..................A-90, A-164 Tag Data Link Communications Start Switch.....A-136, A-208
Safety Data Logging Status.................................A-90, A-163 Tag Data Link Communications Status..............A-125, A-200
Saving Packet Data File.................................... A-105, A-182 Tag Data Link Communications Stop Switch.....A-136, A-208
SD Memory Card Access Flag................... 8-30, A-78, A-143 Tag Data Link Connection Failed....................... A-118, A-195
SD Memory Card Backup Commands................ A-78, A-144 Tag Data Link Setting Error................................A-117, A-194
SD Memory Card Backup Status.........................A-79, A-146 Tag Name Resolution Error............................... A-120, A-197
SD Memory Card Error Flag............. 8-25, 8-30, A-78, A-143 Target Node Error Information........................... A-132, A-206
SD Memory Card Life Warning Flag. 8-29, 8-30, A-78, A-143 Target PLC Error Information.............................A-130, A-205
SD Memory Card Power Interruption Flag. 8-30, A-78, A-144 Target PLC Operating Mode..............................A-128, A-204
SD Memory Card Program Transfer Command.. A-80, A-147 Task Active Flag........................................... 5-8, A-76, A-140
SD Memory Card Program Transfer Setting......................4-5 Task Execution Count....................... 5-9, 5-109, A-77, A-141
SD Memory Card Program Transfer Status.........A-81, A-149 task execution time........................................................ 5-110
SD Memory Card Ready Flag.................... 8-30, A-78, A-142 Task Name............................................................... 4-8, 4-10
SD Memory Card Restore Command..................A-81, A-150 Task Period Exceeded Count............5-9, 5-104, A-77, A-141
SD Memory Card Restore Setting..................................... 4-6 Task Period Exceeded Detection.......................................4-9
SD Memory Card Restore Status....................................A-82 Task Period Exceeded Flag... 5-9, 5-104, 5-109, A-77, A-141
SD Memory Card Settings.................................................4-5 Task Timeout Detection Time............................................ 4-9
SD Memory Card Storage Capacity........... 8-30, A-78, A-144 Task Type.......................................................................... 4-8
SD Memory Card Storage Usage...............8-31, A-78, A-144 _TaskName_Active (Task Active Flag)......... 5-8, A-76, A-140
SD Memory Card Verify Status............................A-80, A-146 _TaskName_ExceedCount (Task Period Exceeded Count)...
SD Memory Card Write Protected Flag...... 8-30, A-78, A-143 ..................................................................5-9, A-77, A-141
Secure Communication................................................. 10-10
Security Settings................................................................4-6

Index
_TaskName_Exceeded (Task Period Exceeded Flag)............

.......................................................5-9, 5-109, A-77, A-141
_TaskName_ExecCount (Task Execution Count)...................
.......................................................5-9, 5-109, A-77, A-141
_TaskName_LastExecTime (Last Task Execution Time)........
..................................................................5-8, A-76, A-140
_TaskName_MaxExecTime (Maximum Task Execution
Time).........................................................5-8, A-76, A-140
_TaskName_MinExecTime (Minimum Task Execution Time).
..................................................................5-8, A-76, A-140
TCP Application Communications Error............ A-113, A-187
TCP Application Setting Error............................A-122, A-199
Text strings............................................................. 6-34, 6-46
TIME.......................................................................6-34, 6-46
Time of day.............................................................6-34, 6-46
TIME_ OF_DAY......................................................6-34, 6-46
Total Power ON Time...........................................A-83, A-153
Trace Busy Flag......................................... 8-66, A-86, A-158
Trace Completed Flag................................ 8-66, A-86, A-159
Trace Parameter Error Flag........................8-66, A-86, A-159
Trace Trigger Monitor Flag......................... 8-66, A-86, A-159
Transmission Error.............................................. A-88, A-161
U
I
UDINT..............................................................................6-33
UINT................................................................................ 6-33
ULINT.............................................................................. 6-33
Unions............................................................................. 6-36
Unit and Slave Parameters Transfer Flag........... A-82, A-152
Unit Version......................................................... A-85, A-156
_UnitVersion (Unit Version)................................. A-85, A-156
User Program and Settings Transfer Flag........... A-82, A-151
User-defined Error Status...........................8-84, A-77, A-142
User-defined variables.....................................................2-12
USINT..............................................................................6-33
V
Variable Access Time...................................................... 4-10
Verifying data.....................................................................9-3
version................................................................................ 24
W
WORD............................................................................. 6-33
Write Protection Key........................................................ 8-27

Index

OMRON Corporation Industrial Automation Company Authorized Distributor:
Kyoto, JAPAN Contact : www.ia.omron.com
Regional Headquarters
OMRON EUROPE B.V. OMRON ELECTRONICS LLC

Wegalaan 67-69, 2132 JD Hoofddorp 2895 Greenspoint Parkway, Suite 200
The Netherlands Hoffman Estates, IL 60169 U.S.A.
Tel: (31) 2356-81-300 Fax: (31) 2356-81-388 Tel: (1) 847-843-7900 Fax: (1) 847-843-7787
OMRON ASIA PACIFIC PTE. LTD. OMRON (CHINA) CO., LTD. ©OMRON Corporation 2011-2022 All Rights Reserved.
438B Alexandra Road, #08-01/02 Alexandra Room 2211, Bank of China Tower, In the interest of product improvement,
Technopark, Singapore 119968 200 Yin Cheng Zhong Road, specifications are subject to change without notice.
Tel: (65) 6835-3011 Fax: (65) 6835-2711 PuDong New Area, Shanghai, 200120, China
Tel: (86) 21-5037-2222 Fax: (86) 21-5037-2200 Cat. No. W501-E1-40 1022

CPU Unit Software: User's Manual

Uploaded by

Copyright:

Available Formats

CPU Unit Software: User's Manual

Uploaded by

Document Information

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

CPU Unit Software: User's Manual

Uploaded by

Copyright:

Available Formats

Machine Automation Controller

• The SD and SDHC logos are trademarks of SD-3C, LLC.

• NX-series CPU Units • NJ-series CPU Units

NJ/NX-series CPU Unit Software User’s Manual (W501) 1

NJ/NY-series NC Integrated Controller

NJ-series Robot Integrated CPU Unit

NJ/NX-series CPU Unit

NJ/NX-series CPU Unit

NJ-series CPU Unit

Introduction to NJ-series Con-

Using robot control for OM-

Introduction to NX1P2 CPU

Introduction to NX102 CPU

Using motion control

NJ/NX-series CPU Unit

NJ/NX-series CPU Unit

NJ/NX-series CPU Unit Software User’s Manual (W501)

Using robot control by NJ Ro-

Using robot control by NJ Ro-

Programming error process-

Using the database connec-

Using the NX1P2 CPU Unit

Using robot control for OM-

Using the GEM Services

Using numerical control

Writing the user program

Using motion control

FINS User’s Manual

NJ/NX-series CPU Unit

NJ/NX-series CPU Unit

Using robot control by NJ Ro-

Learning about error manage-

Using the GEM Services

Using numerical control

cated with triangles.

Using motion control

4 Installation and Wiring Level 1 heading

Hook Hook holes

4-3-1 Connecting Controller Components

Precautions for Correct Use

NJ/NX-series CPU Unit Software User’s Manual (W501) 5

Precautions for Safe Use

Precautions for Correct Use

6 NJ/NX-series CPU Unit Software User’s Manual (W501)

Sections in this Manual

4 Controller Setup A Appendices 6

8 CPU Unit Functions

NJ/NX-series CPU Unit Software User’s Manual (W501) 7

Sections in this Manual ........................................................................................... 7

Terms and Conditions Agreement........................................................................ 17

Precautions for Safe Use ...................................................................................... 21

Precautions for Correct Use ................................................................................. 22

Regulations and Standards .................................................................................. 23

Section 1 Introduction to NJ/NX-series Controllers

Section 2 CPU Unit operation

8 NJ/NX-series CPU Unit Software User’s Manual (W501)

2-1-1 Introduction to CPU Unit .............................................................................................................2-2

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

Section 4 Controller Setup